WO2020001160A1

WO2020001160A1 - Dental handpiece suitable for robotic surgery

Info

Publication number: WO2020001160A1
Application number: PCT/CN2019/085481
Authority: WO
Inventors: 王利峰; 刘洪澎; 沈晨; 任建勇
Original assignee: 雅客智慧（北京）科技有限公司
Priority date: 2018-06-25
Filing date: 2019-05-05
Publication date: 2020-01-02
Also published as: CN209032678U

Abstract

A dental handpiece suitable for robotic surgery, comprising a handle (1), a head (2) and a drill bit (3). One end of the head (1) is connected to the handle (2), and the other end of the head is provided with the drill bit (3). The axis of the head (1) is collinear with the axis of the handle (2), and the axis of the drill bit (3) is perpendicular to the axis of the head (2). The head and the handle of the dental handpiece are coaxially provided, and the axis of the drill bit is perpendicular to the axis of the head at the same time, such that the variable in the calculation formula of the position coordinate of an end of the drill bit can be reduced, thereby reducing the difficulty of positioning the end of the drill bit. By means of coaxially providing the head and the handle, the difficulty of processing an entire dental handle can be reduced.

Description

Dental handpiece suitable for robotic surgery

cross reference

This application refers to the Chinese patent application No. 2018209821515 entitled "A Dental Handpiece for Robotic Surgery" filed on June 25, 2018, which is incorporated by reference in its entirety.

Technical field

The present application relates to the technical field of medical devices, and in particular, to a dental handpiece suitable for robotic surgery.

Background technique

Dental handpieces are used clinically to cut, drill and sharpen teeth. At present, when doctors use dental mobile phones to treat patients, they usually directly drill and polish the teeth of the patients by holding the dental mobile phones directly. Because the doctor needs to bend down and lower his head for a long time during the entire treatment process, the work intensity is very high. Therefore, in order to reduce the doctor's work intensity, a robot can be used to hold the dental mobile phone for related operations.

However, when operating with a robot, the position of the end of the drill bit needs to be obtained in real time. In order to facilitate manual operation by the doctor, the angle between the axis of the handpiece of the existing dental handpiece and the axis of the handle is usually about 20 °, so the calculation formula of the end position coordinates of the drill is very complicated. For example, as shown in FIG. 1, when the bottom end of the handle 1 is used as the coordinate origin, the theoretical values of the abscissa x ₁ and the ordinate y ₁ of the end P ₁ of the drill bit can be calculated by the following formulas:

x ₁ = t ₁ cosθ-l ₁ sinθ (1);

y ₁ = l ₀ + l ₁ cosθ + t ₁ sinθ (2);

Among them, l ₀ represents the length of the handle 1, l ₁ represents the length of the head 2, t ₁ represents the length of the drill bit, and θ represents the angle between the axis of the handle 1 and the axis of the head 2. Therefore, the straight line equation of the drill's axis is:

y = xtanθ + l ₀ + l ₁ cosθ + l ₁ sinθtanθ (3);

Due to the included angle between the handle 1 and the head 2 of the dental handpiece, a machining error will inevitably occur during the manufacturing process of the dental handpiece. When the parameters in the above formulas all produce errors, the calculation formula of the end position coordinates of the drill bit is more complicated. Specifically, the actual values of the abscissa x ₁ ′ and ordinate y ₁ ′ of the end of the bit can be calculated by the following formulas :

among them,

Represents the error of the length of the handle 1,

The error value representing the length of the machine head 2,

An error value indicative of the bit _length, Δ θ represents the angle error between the axis of the handpiece handle 1 2.

Summary of the invention

This application is to solve the technical problem that the calculation formula of the position coordinates of the end of the drilling rig in the prior art is complicated and difficult to locate.

In order to solve the above problems, the present application provides a dental handpiece suitable for robotic surgery. The dental handpiece includes a handle, a handpiece, and a drill bit, one end of the handpiece is connected to the handle, and the other end is provided with the drill bit; The axis of the head is collinear with the axis of the handle, and the axis of the drill is perpendicular to the axis of the head.

Wherein, it also includes a speed reducer provided in the handle and a driving bevel gear and a driven bevel gear provided in the machine head; a jack is provided on a side wall at the top of the machine head, A first end is inserted in the jack, and a second end is protruded out of the machine head; the driven bevel gear is disposed on the first end of the drill, and the driving bevel gear and the driven The bevel gear meshes, and the driving bevel gear is connected to the reducer through a transmission shaft.

The axis of the driving bevel gear is perpendicular to the axis of the driven bevel gear.

The speed reducer includes a first speed reducer and a second speed reducer, and the first speed reducer is connected to the transmission shaft through a second speed reducer.

The first reduction gear includes a first ring gear and a first planetary gear, a first planet carrier, a first sun gear, and a rotating shaft disposed in the first ring gear; the first sun gear is fixed On the rotating shaft, the first planetary gear is located between the first ring gear and the first sun gear, and the first planetary gear is respectively connected with the first ring gear and the first ring gear. A sun gear meshes; the first planet gear is rotatably connected to one end of the first planet carrier, and the other end of the first planet gear is connected to the second speed reducer.

The second reducer includes a second ring gear and a second planetary gear, a second planet carrier, and a second sun gear disposed in the second ring gear; the second sun gear and the second sun gear A first planet carrier is connected, the second planet gear is located between the second ring gear and the second sun gear, and the second planet gear is connected to the second ring gear and the first ring gear, respectively. The two sun wheels mesh; the second planet wheel is rotatably connected to one end of the second planet carrier, and the other end of the second planet carrier is connected to the transmission shaft.

The application has a simple structure and convenient installation. By setting the head and the handle coaxially, and at the same time making the axis of the drill perpendicular to the axis of the head, the variables in the calculation formula of the position of the end of the bit can be reduced, thereby greatly reducing the positioning of the end of the bit. Difficulty, so that the abscissa of the end of the drill bit can be determined only by the variable of the length of the drill bit, and the ordinate of the end of the drill bit can be determined only by the two variables of the length of the handle and the head. In addition, by setting the handpiece and the handle coaxially, the processing difficulty of the entire dental mobile phone can be reduced, and the processing error of each component in the dental mobile phone can be greatly reduced.

BRIEF DESCRIPTION OF THE DRAWINGS

1 is a front view of a dental handpiece in the prior art;

2 is a front view of a dental handpiece suitable for robotic surgery in an embodiment of the present application;

3 is a side view of a dental handpiece suitable for robotic surgery in an embodiment of the present application;

4 is a cross-sectional view of a dental handpiece suitable for robotic surgery in an embodiment of the present application.

Reference signs:

1. Handle; 2. Head; 3. Drill bit; 4. Driven bevel gear; 5. Drive bevel gear; 6. Drive shaft; 7. First sun gear; 8. First planetary gear; 9. First inner Ring gear; 10, first planet carrier; 11, second sun gear; 12, second planet gear; 13, second ring gear; 14, second planet carrier.

detailed description

In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution in the utility model will be clearly described below with reference to the drawings in the utility model. Obviously, the described embodiments are part of the utility model. Not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by a person of ordinary skill in the art without making creative work fall into the scope of protection of the utility model.

In the description of this application, unless otherwise stated, the orientations or positional relationships indicated by the terms "upper", "lower", "top", "bottom" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of It is convenient to describe this application and simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application.

It should be noted that the term “connected” should be understood in a broad sense unless otherwise specified and defined. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or through Intermediate media are indirectly connected. For those of ordinary skill in the art, the specific meanings of the above terms in the utility model can be understood on a case-by-case basis.

As shown in FIG. 2 and FIG. 3, this application provides a dental handpiece suitable for robotic surgery. The dental handpiece includes a handle 1, a handpiece 2, and a drill 3. One end of the handpiece 2 is connected to the handle 1 and the other end is provided. There is a drill bit 3; the axis of the head 2 and the axis of the handle 1 are co-linear, and the axis of the drill 3 is perpendicular to the axis of the head 2; that is, the axis of the drill 3 is perpendicular to the axis of the handle 1.

Therefore, when the bottom end of the handle 1 is used as the coordinate origin, the theoretical values of the abscissa x ₀ and ordinate y ₀ of the end position of the drill 3 on the dental handpiece, that is, the end P ₀ of the drill 3, can be calculated by the following formulas:

x ₀ = t ₁ (6);

y ₀ = l (7);

Among them, l = l ₀ + l ₁ , l ₀ represents the length of the handle 1, l ₁ represents the length of the machine head 2, and t ₁ represents the length of the drill 3.

Therefore, the linear equation of the axis of the drill 3 is: y = l ₀ + l ₁

It can be seen that by setting the head 2 and the handle 1 coaxially, and simultaneously making the axis of the drill 3 perpendicular to the axis of the head 2, the variables in the position coordinate calculation formula of the end of the bit 3 can be reduced, and the end of the bit 3 can be greatly reduced. The difficulty of positioning is such that the abscissa of the end of the drill 3 can be determined only by the variable of the length of the drill 3, and the ordinate of the end of the drill 3 can be determined only by the two variables of the length of the handle 1 and the head 2. In addition, since the head 2 and the handle 1 are coaxially disposed, the processing difficulty of the entire dental mobile phone is greatly reduced, and the processing error of each component in the dental mobile phone is also reduced accordingly. This can significantly reduce the processing error of each component.

Optionally, as shown in FIG. 4, the dental handpiece further includes a speed reducer provided in the handle 1 and a driving bevel gear 5 and a driven bevel gear 4 provided in the handpiece 2; a side wall at the top of the handpiece 2 A jack is provided on the top, the first end of the drill 3 is inserted in the jack, and the second end is protruded out of the head 2; the driven bevel gear 4 is provided on the first end of the drill 3, and the driving bevel gear 5 and the follower The moving bevel gear 4 meshes, and the driving bevel gear 5 is connected to the reducer through a transmission shaft 6. Because the driving bevel gear 5 and the driven bevel gear 4 mesh with each other, when the reducer drives the driving bevel gear 5 through the transmission shaft 6, the driven bevel gear 4 will rotate together, and the drill 3 will be driven to rotate .

Optionally, the axis of the driving bevel gear 5 is perpendicular to the axis of the driven bevel gear 4 to avoid generating an axial force when the driving bevel gear 5 and the driven bevel gear 4 mesh with each other.

Optionally, the speed reducer includes a first speed reducer and a second speed reducer, and the first speed reducer is connected to the transmission shaft 6 through the second speed reducer, that is, the output of the first speed reducer is connected to the input of the second speed reducer. And the output end of the second reducer is connected to the transmission shaft 6.

Optionally, the first reducer includes a first ring gear 9 and a first planetary gear 8, a first planet carrier 10, a first sun gear 7, and a rotating shaft provided in the first ring gear 9; the first sun gear 7 is fixed on the rotating shaft, the first planetary gear 8 is located between the first ring gear 9 and the first sun gear 7, and the first planetary gear 8 meshes with the first ring gear 9 and the first sun gear 7, respectively; A planet wheel 8 is rotatably connected to one end of the first planet carrier 10, and the other end of the first planet carrier 10 is connected to a second speed reducer. Further, the second reducer includes a second ring gear 13 and a second planetary gear 12, a second planet carrier 14, and a second sun gear 11 provided in the second ring gear 13; the second sun gear 11 and the first A planet carrier 10 is connected, the second planet gear 12 is located between the second ring gear 13 and the second sun gear 11, and the second planet gear 12 is meshed with the second ring gear 13 and the second sun gear 11; The two planet wheels 12 are rotatably connected to one end of the second planet carrier 14, and the other end of the second planet carrier 14 is connected to the transmission shaft 6.

Since the first sun gear 7 and the first planetary gear 8 mesh with each other, when the rotating shaft drives the first sun gear 7 to rotate, the first planetary gear 8 will rotate together under the driving of the first sun gear 7 and then drive the first sun gear 7 together. A planet carrier 10 rotates; at the same time, the second sun gear 11 connected to the first planet carrier 10 also rotates, which in turn can drive the second planet gear 12 and the second planet carrier 14 to rotate, and the second planet The frame 14 can also drive the transmission shaft 6 to rotate.

In the end, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than limiting it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that it is still The technical solutions described in the foregoing embodiments may be modified, or some of the technical features are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the utility model. .

Claims

A dental handpiece suitable for robotic surgery, comprising a handle, a handpiece and a drill bit, one end of the handpiece is connected to the handle and the other end is provided with the drill bit; the axis of the handpiece and the The axis of the handle is collinear, and the axis of the drill is perpendicular to the axis of the handpiece.
The dental handpiece suitable for robotic surgery according to claim 1, further comprising a speed reducer provided in the handle and a driving bevel gear and a driven bevel gear provided in the handpiece; the A jack is opened on the side wall of the top of the machine head, the first end of the drill is inserted in the jack, and the second end is protruded out of the machine head; the driven bevel gear is provided in the On the first end of the drill, the driving bevel gear meshes with the driven bevel gear, and the driving bevel gear is connected to the reducer through a transmission shaft.
The dental handpiece suitable for robotic surgery according to claim 2, wherein the axis of the driving bevel gear is perpendicular to the axis of the driven bevel gear.
The dental handpiece suitable for robotic surgery according to claim 2, wherein the speed reducer comprises a first speed reducer and a second speed reducer, and the first speed reducer is connected to the transmission shaft through a second speed reducer. connection.
The dental handpiece suitable for robotic surgery according to claim 4, wherein the first reduction gear comprises a first ring gear, a first planetary gear provided in the first ring gear, a first A planet carrier, a first sun gear, and a rotating shaft; the first sun gear is fixed on the rotating shaft, the first planet gear is located between the first ring gear and the first sun gear, and the The first planetary gear meshes with the first ring gear and the first sun gear, respectively; the first planetary gear is rotatably connected to one end of the first planet carrier, and the other of the first planetary gear is One end is connected to the second speed reducer.
The dental handpiece suitable for robotic surgery according to claim 5, wherein the second reducer comprises a second ring gear, a second planetary gear, a second planetary gear provided in the second ring gear, A planet carrier and a second sun gear; the second sun gear is connected to the first planet carrier, the second planet gear is located between the second ring gear and the second sun gear, and the A second planetary gear meshes with the second ring gear and the second sun gear, respectively; the second planetary gear is rotatably connected to one end of the second planet carrier, and the other of the second planet carrier One end is connected to the transmission shaft.