WO2022017008A1 - 一种根管治疗导板及其制备方法 - Google Patents

一种根管治疗导板及其制备方法 Download PDF

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Publication number
WO2022017008A1
WO2022017008A1 PCT/CN2021/097812 CN2021097812W WO2022017008A1 WO 2022017008 A1 WO2022017008 A1 WO 2022017008A1 CN 2021097812 W CN2021097812 W CN 2021097812W WO 2022017008 A1 WO2022017008 A1 WO 2022017008A1
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Prior art keywords
root canal
guide
base
channel
guide plate
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French (fr)
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夏泽洋
熊璟
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C5/00—Filling or capping teeth
    • A61C5/40—Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots
    • A61C5/42—Files for root canals; Handgrips or guiding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C5/00—Filling or capping teeth
    • A61C5/40—Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots

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  • the invention relates to the technical field of oral auxiliary medical devices, in particular to a root canal treatment guide plate and a preparation method thereof.
  • CBCT is usually used to scan the affected tooth, combined with related software to make the patient's tooth model and root canal channel, and then extend the root canal access.
  • the root canal guide is made, so that the root canal pulp opening instrument enters the pulp cavity (root canal) along the guide channel, but the guide channel does not completely match the root canal channel due to theoretical and practical errors or due to the bending of the root canal itself
  • the structure of the guide plate cannot guarantee the optimal angle of the guide plate channel, and thus cannot guarantee that the guide plate completely matches the root canal channel.
  • the root canal direction is difficult to determine or the root canal access is not smooth.
  • the positioning guide In order to accurately determine the root canal hole Positioning, it is a good choice to use the positioning guide to assist.
  • Using the root canal guide plate can accurately locate the root canal orifice and obtain the root canal access, thereby reducing the occurrence of iatrogenic injury, so as to maximize the retention of tooth tissue, thereby improving the success rate of root canal treatment of the tooth.
  • the root canal guide generally adopts the form of the tooth and the fixed restoration (root canal guide), and its accuracy is related to the degree of tightness of the two.
  • the existing clinical root canal guide channel usually adopts a fixed structure, and once it is designed, its angle will be difficult to change.
  • the actual guide plate channel does not cooperate well with the root canal channel or the angle needs to be adjusted due to the root canal structure, it does not have the function of adaptive fine-tuning according to the actual error or demand during the implementation process.
  • the purpose of the present invention is to overcome the above-mentioned defects of the prior art, and to provide a root canal treatment guide plate and a preparation method thereof, which is an angle-adjustable root canal guide plate, which can be adapted during the matching process between the guide plate channel and the root canal channel.
  • the precision of the positioning of the root canal of the affected tooth is improved.
  • a root canal treatment guide includes a base, a guide seat provided on the base, and a guide device mounted on the guide seat, wherein the base
  • the guide seat and the base are connected by a positioning connection structure, and a root canal guide channel is set on the guide device, and the guide device is installed according to the direction of the root canal channel of the affected tooth.
  • the root canal treatment instrument is guided to position the root canal of the affected tooth through the root canal guide channel by adaptively adjusting the direction and position of the root canal guide channel.
  • one or more root canal guiding channels are provided on the guiding device, and the guiding device is configured to move with multiple degrees of freedom on the guiding seat.
  • the guide device is a ball bearing guide device
  • the ball bearing guide device is provided with a supporting arc surface and a universal ball
  • one or more root canal guide channels are provided on the universal ball
  • the ball The bearing guide is arranged to roll freely on the guide seat.
  • the guide base and the base comprise soft materials of the same or different elastic moduli.
  • a plurality of guide seats and a plurality of corresponding ball bearing guide devices are arranged on the base according to the number of affected teeth, and each guide seat and corresponding ball bearing guide device corresponds to one affected tooth.
  • the lower surface of the guide seat is provided with a positioning connection structure corresponding to the upper surface of the base, and the positioning connection structure is a slot, a buckle or a tenon-and-mortise connection.
  • guide rails or screw positioning structures along two mutually perpendicular directions are arranged in the plane of the upper surface of the base, so that the position of the guide seat can be adjusted in the plane.
  • a method for preparing a root canal treatment guide includes the following steps:
  • the digital 3D model of tooth CT was obtained by reconstructing the pulp cavity data obtained by 3D graphics processing software
  • the base of the digital root canal guide was constructed by using Boolean operations
  • the base and the guide seat are fabricated by 3D printing.
  • the base and the guide seat are made integrally or independently.
  • the advantage of the present invention lies in that a soft-body root canal treatment guide plate with adjustable position and angle is proposed. After it is fixed on the patient's teeth, the direction of the root canal channel can be fine-tuned by the guiding device, and the direction of the root canal channel can be fine-tuned by the soft body.
  • the guide seat made of material can fine-tune the position to reduce the influence of angle and position error, and due to the soft property of the guide seat, it can absorb the vibration generated by the treatment device to a certain extent and prevent the position of the guide plate from changing.
  • FIG. 1 is a schematic diagram of an assembly structure of a root canal treatment guide according to an embodiment of the present invention.
  • FIG. 2 is a partial cross-sectional view of an assembly structure of a root canal treatment guide according to an embodiment of the present invention.
  • the root canal treatment guide provided by the present invention includes a base, a guide seat and a guide device.
  • the base is used to fit the tooth during root canal treatment.
  • the base and the guide seat are connected and fixed via the positioning connection structure.
  • the guide device can be installed on the guide seat according to the direction of the root canal channel of the tooth.
  • the guiding device is provided with one or more root canal guiding channels. During the root canal treatment, the position and direction of the guiding channels on the guiding device can be adjusted adaptively, so as to guide the root canal treatment instrument to the root canal through the root canal guiding channel. Position the tube.
  • the guide device is designed to be suitable for fine-tuning the direction of the root canal guide channel, and the guide seat is designed to be suitable for fine-tuning the position.
  • the guide device can be designed to move with multiple degrees of freedom on the guide seat, for example, using a spherical or ellipsoid structure.
  • the guide device is a ball bearing guide device
  • the base and the guide seat are made of soft material
  • a direction-adjustable ball bearing guide device is installed in the guide seat.
  • the optimal angle of the guide plate channel can be obtained by fine-tuning the position of the guide seat and the direction of the ball bearing guide channel.
  • the root canal treatment guide plate of this embodiment includes a base 1 , a guide seat 2 , and a ball bearing guide device 3 .
  • the base 1 is designed according to the scanned image of the patient's teeth, and can be precisely matched and fixed with the patient's teeth.
  • the base 1 is preferably made of soft material and is nested on the surface of the patient's teeth.
  • the upper surface of the base 1 (taking the actual operation process as a reference) is provided with a positioning connection structure for connecting with the guide base 2 .
  • the guide base 2 is preferably made of a soft material, which can fine-tune the shape within a certain range, and can absorb the vibration generated by the surgical instrument during root canal treatment to a certain extent because of its good flexibility.
  • the lower surface of the guide base 2 is provided with a positioning connection structure corresponding to the upper surface of the base 1 .
  • a ball bearing guide device 3 is installed in the guide seat 2 .
  • the ball bearing guide device 3 has a supporting arc surface 301 and a universal ball 302 .
  • the supporting arc surface 301 is used to fix the universal ball 302 in the guide seat 2 and roll freely in the guide seat.
  • the universal ball 302 is provided with a root canal guide channel 303, and one or more root canal guide channels 303 can be provided.
  • the diameter of the root canal guide channel 303 is determined according to the outer diameter of the treatment instrument, which is not limited in the present invention.
  • the positioning connection structure between the guide base 2 and the base 1 may be a slot connection, a snap connection, or a tenon-and-mortise connection using a combination of concave and convex parts.
  • positioning structures such as guide rails or screw rods along two mutually perpendicular directions can be arranged in the plane of the upper surface of the base 1, so that the guide seat 2 can be adjusted in the plane.
  • the base 1 and the guide base 2 can be manufactured separately as independent components, or can be manufactured integrally, and the overall structure can be manufactured from materials with the same or different elastic moduli from the bottom to the top.
  • the guide plate channel is generally made of materials with greater hardness (such as alloys). It will be magnified at the weakest position (such as where the tooth and the fixed restoration fit together), resulting in a change in position, which affects the fit accuracy.
  • the guide seat is preferably made of a soft material, which can absorb vibration to a certain extent and prevent the position of the treatment guide plate from changing.
  • the process of preparing a root canal treatment guide includes the following steps:
  • step S21 CBCT scan is performed on the patient's mouth and jaw before surgery.
  • step S22 the software is used to mark the medullary cavity range on the CBCT scan result of the patient's mouth and jaw, to obtain the medullary cavity data, and to obtain the central axis of the root canal channel.
  • Mimics 16.0 software to annotate the extent of the pulp cavity on the CBCT scan results of the patient's mouth and jaw to obtain final data, including the central axis of the root canal channel of the patient.
  • Step S23 reconstructing the dental CT digital three-dimensional model using the pulp cavity data obtained by the three-dimensional graphics processing software.
  • step S24 an optical digital three-dimensional model of the tooth is made by using the dental model optical scanner.
  • step S25 virtual registration is performed between the obtained dental CT digital three-dimensional model and the obtained dental optical digital three-dimensional model to form an overall digital three-dimensional model of the tooth.
  • step S26 the base of the digital root canal guide is constructed by using Boolean operation based on the overall digital three-dimensional model of the tooth.
  • the base is made of soft material, the elastic modulus is relatively low, and it has good expansion and contraction adaptability, and it can be nested on the surface of the patient's teeth.
  • Step S27 install the root canal channel guide seat on the base, and determine the root canal channel guide in the root canal guide plate according to the overall digital three-dimensional model of the tooth and the central axis of the root canal channel, and determine its position and direction.
  • a root canal channel guide seat is installed on the base, and the guide seat is made of a soft material with stimulus response characteristics.
  • the root canal channel guide in the root canal guide plate is determined according to the tooth model and the central axis of the root canal channel.
  • step S28 the guiding device is installed on the guiding seat, and its direction is preliminarily fixed according to the direction of the root canal channel.
  • a ball bearing guide is installed on the guide seat, and its direction is preliminarily fixed according to the direction of the root canal channel.
  • the base and the guide seat can be printed by 3D printing.
  • the entire root canal treatment guide plate is installed on the patient's teeth through its base, and it maintains the position and orientation of the in vitro design in the preparation stage, and root canal treatment instruments (such as root canal files) pass through the root canal guide channel 303 Locating the root canal of the affected tooth.
  • root canal treatment instruments such as root canal files
  • the angle can be fine-tuned through the ball bearing guide device. Fine-tune the shape to an extent to reduce the effect of errors.
  • external stimulation is applied to the guide seat to fix its shape.
  • the guide seat and base made of soft material can absorb the vibration generated by the treatment instrument to a certain extent, thereby preventing the position change of the root canal treatment guide plate.
  • multiple guide seats and multiple ball bearing guide devices may be provided and positioned on the base to correspond to different affected teeth.
  • multiple root canal guide channels can be set on the universal ball at the same time, and the doctor can use the ball bearing guide device according to the needs or feel during the operation.
  • the direction adjustment function and the soft material properties of the guide seat and the base can fine-tune the direction and position of the root canal guide channel, so that the root canal guide channel is in the same direction as the root canal channel of the affected tooth.
  • the provided soft root canal treatment guide plate with adjustable position and angle after it is fixed on the patient's teeth, can fine-tune the direction of the root canal channel through the ball bearing guide device, which can be made of soft material
  • the guide seat can fine-tune the position, reduce the influence of angle and position error, and play the role of the doctor's feel. Due to the soft properties of the guide seat, it can absorb the vibration generated by the treatment device to a certain extent and prevent the position of the guide plate from changing.
  • the root canal treatment guide plate provided by the present invention can improve the guiding accuracy of the guide plate by adaptively fine-tuning the angle and position of the root canal guide channel on the guide device. And by setting the base and guide seat containing soft material, the vibration generated by the treatment instrument can be absorbed to a certain extent during the treatment process, preventing the position of the guide plate from changing, further improving the root canal positioning accuracy and improving the root canal treatment experience.

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Abstract

一种根管治疗导板及其制备方法。根管治疗导板包括基座（1）、设置在基座（1）上的导向座（2）和安装在导向座（2）上的导向装置（3），基座（1）在治疗过程中与患牙贴合固定，导向座（2）和基座（1）通过定位连接结构连接，导向装置（3）上设置根管导向通道，导向装置（3）根据患牙的根管通道方向安装在导向座（2）上，并且在治疗过程中通过适应性调节根管导向通道的方向和位置来引导根管治疗器械经由根管导向通道对患牙根管进行定位。根管治疗导板在导板通道与根管通道进行匹配的过程中能够进行适应性微调，从而提高了患牙根管的定位精度。

Description

一种根管治疗导板及其制备方法 技术领域
本发明涉及口腔辅助医疗器械技术领域，尤其涉及一种根管治疗导板及其制备方法。
背景技术
在牙科治疗，特别是根管治疗过程中，为了获取更加精确的根管通路，通常使用CBCT对患牙进行扫描，结合相关软件制作患者牙齿模型和根管通道，再对根管通路进行延伸，制作根管导板，使得根管开髓器械沿着导板通道进入髓腔(根管)，但由于理论误差和实际误差的原因导致的导板通道与根管通道不完全匹配或由于根管本身的弯曲结构，并不能保证导板通道为最优角度，进而不能保证导板与根管通道完全匹配。
在临床根管治疗过程中，由于根管系统复杂的解剖结构，并且当根管钙化或进行显微根尖手术时，根管方向难以确定或根管通路不畅，为了对根管孔进行精确定位，采用定位导板辅助的方式是一种很好的选择。利用根管导板可以准确定位根管口并获取根管通路，进而减少医源性损伤的发生，以最大限度保留牙体组织，从而提高患牙根管治疗的成功率。根管导板一般采用牙体与固定修复体(根管导板)配合的形式，其精确度与两者的密合程度有关。研究表明，牙科根管导板在配合过程中均存在一定的位置误差和角度误差。因此，为了使根管导板通路通过根管口与根管通路进行最大程度地匹配，降低实际误差对匹配的影响，并且在治疗过程中为根管治疗器械提供柔性支撑，一种通道可微调的软体根管导管将极大程度上解决上述问题。
现有的临床根管导板通道通常采用固定结构，一旦设计好之后，其角度将难以改变。当实际导板通道与根管通道配合不佳或者由于根管结构原因需要进行角度调整时，在实施过程中不具备根据实际的误差或需求进行适应性微调的功能。
发明内容
本发明的目的在于克服上述现有技术的缺陷，提供一种根管治疗导板及其制备方法，其是角度可调的根管导板，在导板通道与根管通道进行匹配的过程中可进行适应性微调，从而提高了患牙根管的定位精度。
根据本发明的第一方面，提供了一种根管治疗导板，该根管治疗导板包括基座、设置在基座上的导向座和安装在导向座上的导向装置，其中，所述基座在治疗过程中与患牙贴合固定，所述导向座和所述基座通过定位连接结构连接，所述导向装置上设置根管导向通道，所述导向装置根据患牙的根管通道方向安装在所述导向座上，并且在治疗过程中通过适应性调节根管导向通道的方向和位置来引导根管治疗器械经由根管导向通道对患牙根管进行定位。
在一个实施例中，所述导向装置上设置一个或多个根管导向通道，所述导向装置被设置为在所述导向座上实现多自由度移动。
在一个实施例中，所述导向装置是球轴承导向装置，所述球轴承导向装置设有支撑弧面和万向球，万向球上设有一个或多个根管导向通道，所述球轴承导向装置被设置为在所述导向座上实现自如滚动。
在一个实施例中，所述导向座和所述基座包含相同或不同弹性模量的软体材料。
在一个实施例中，根据患牙数目在所述基座上设置多个导向座和相应的多个球轴承导向装置，每个导向座和相应的球轴承导向装置对应于一颗患牙。
在一个实施例中，所述导向座下表面对应于所述基座上表面设置有定位连接结构，该定位连接结构为卡槽、卡扣或榫卯连接。
在一个实施例中，所述基座上表面平面内设置沿相互垂直的两个方向的导轨或丝杆定位结构，使所述导向座进行平面内的位置调节。
根据本发明的第二方面，提供一种根管治疗导板的制备方法。该方法包括以下步骤：
对患者口颌进行CBCT扫描；
使用软件对患者口颌的CBCT扫描结果标注髓腔范围，以获得髓腔数据；
利用三维图形处理软件所获取的髓腔数据重建得到牙齿CT数字化三维模型；
利用牙科模型光学扫描仪制作牙齿光学数字化三维模型；
将得到的牙齿CT数字化三维模型与得到的牙齿光学数字化三维模型进行虚拟配准，形成牙齿整体数字化三维模型；
基于牙齿整体数字化三维模型运用布尔运算构建数字化根管导板的基座；
在基座上安装根管通道导向座，并根据牙齿整体数字化三维模型与患牙根管通道中轴线确定根管导板中的根管通道导向；
根据所确定的根管通道导向将导向装置安装于导向座上。
在一个实施例中，采用3D打印制作所述基座和所述导向座。
在一个实施例中，所述基座和所导向座一体化制作或独立制作。
与现有技术相比，本发明的优点在于，提出位置和角度可微调的软体根管治疗导板，当其固定于患者牙齿上之后，可通过导向装置对根管通道方向进行微调，可通过软体材料制成的导向座对位置进行微调，降低角度与位置误差的影响，并且由于导向座的软体属性，可一定程度吸收治疗器械产生的震动，防止导板位置变化。
附图说明
以下附图仅对本发明作示意性的说明和解释，并不用于限定本发明的范围，其中：
图1是根据本发明一个实施例的根管治疗导板装配结构示意图。
图2是根据本发明一个实施例的根管治疗导板装配结构的局部剖视图。
具体实施方式
为了使本发明的目的、技术方案、设计方法及优点更加清楚明了，以下结合附图通过具体实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅用于解释本发明，并不用于限定本发明。
在本文示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在一个实施例中，本发明提供的根管治疗导板包括基座、导向座和导向装置。基座用于在根管治疗过程中与患牙贴合。基座与导向座经由定位连接结构连接固定。导向装置可根据患牙的根管通道方向安装在导向座上。导向装置设有一个或多个根管导向通道，在根管治疗过程中，可适应性地调节导向装置上导向通道的位置和方向，以引导根管治疗器械经由根管导向通道对患牙根管进行定位。优选地，为了提高根管定位精确度并避免由于导向装置大幅度调节而影响治疗过程，导向装置设计为适用于微调根管导向通道的方向，导向座设计为适用于微调位置。
为了微调导向装置上根管导向通道的方向，导向装置可设计为在导向座上多自由度移动，例如，采用球体或椭球体结构。
在一个优选实施例中，所述导向装置是球轴承导向装置，基座和导向座由软体材料制成，导向座内安装有方向可调的球轴承导向装置。通过导向座的位置微调与球轴承导向通道的方向微调获取导板通道的最优角度。
在下文的描述中，为了更清楚地描述本发明的思想，将以设有球轴承导向装置的软体根管治疗导板为例进行介绍。
具体地，参见图1和图2所示，以球轴承导向装置为例，该实施例的根管治疗导板包括基座1、导向座2、球轴承导向装置3。基座1根据患者牙齿扫描图像进行设计，可与患者牙齿精确配合固定。例如，基座1优选由软体材料制成，嵌套于患者牙齿表面，基座1上表面(以实际操作过程为参考)设置有定位连接结构，用于与导向座2连接。导向座2优选由软体材料制成，其在一定小范围内上可以进行形状微调，并且由于其具有良好的柔顺性，可以在一定程度上吸收根管治疗过程中手术器械产生的震动。导向座2下表面对应于基座1上表面设置有定位连接结构。导向座2内安装有球轴承导向装置3。
参见图2所示，球轴承导向装置3具有支撑弧面301和万向球302。支撑弧面301用于将万向球302固定在导向座2内，并在导向座内自如滚动。万向球302上设有根管导向通道303，根管导向通道303可设置为一个或多个。根管导向通道303的直径根据治疗器械的外径确定，本发明对此不进行限制。
在一个实施例中，导向座2和基座1之间的定位连接结构可以是卡槽连接、卡扣连接、或采用凹凸部位相结合的榫卯连接等多种方式。
在另一实施例中，基座1上表面平面内可设置沿相互垂直的两个方向 的导轨或丝杆等定位结构，使导向座2进行平面内的位置调节。
应理解的是，在实际使用中，基座1与导向座2可以作为独立部件分别制造，也可以一体化制造，其整体结构从底部到顶部可以选用相同或不同弹性模量的材料进行制造。
在现有的根管治疗过程中，导板通道一般选用硬度较大的材料制作(如合金)，当手术器械(如根管锉)工作时，往往会产生较大的震动，震动产生的不利结果将在最薄弱的位置(如牙体与固定修复体配合处)，得到放大，导致位置变化，从而影响配合精度。本发明实施例优选采用软体材料制作导向座，可一定程度吸收震动，防止治疗导板位置变化。
在一个实施例中，制备根管治疗导板的过程包括以下步骤：
步骤S21，术前对患者口颌进行CBCT扫描。
步骤S22，使用软件对患者口颌的CBCT扫描结果标注髓腔范围，获得髓腔数据，并获取根管通道中轴线。
例如，使用Mimics16.0软件对患者口颌的CBCT扫描结果标注髓腔范围，以获得最终数据，包括患牙根管通道中轴线。
步骤S23，利用三维图形处理软件所获取的髓腔数据重建得到牙齿CT数字化三维模型。
步骤S24，利用牙科模型光学扫描仪制作牙齿光学数字化三维模型。
步骤S25，将得到的牙齿CT数字化三维模型与得到的牙齿光学数字化三维模型进行虚拟配准，形成牙齿整体数字化三维模型。
步骤S26，基于牙齿整体数字化三维模型运用布尔运算构建数字化根管导板的基座。
由于基座由软体材料制成，弹性模量相对低，具有良好的伸缩适应性，其可嵌套于患者牙齿表面。
步骤S27，在基座上安装根管通道导向座，并根据牙齿整体数字化三维模型与根管通道中轴线确定根管导板中根管通道导向，确定其位置和方向。
具体地，在基座上安装根管通道导向座，导向座采用具有刺激响应特性的软体材料制成。并根据牙齿模型与根管通道中轴线确定根管导板中根管通道导向。
步骤S28，将导向装置安装于导向座上，并根据根管通道方向将其方向初步固定。
例如，将球轴承导向装置安装于导向座上，根据根管通道方向初步固定其方向。
在上述制备过程中，可采用3D打印方式将基座和导向座进行打印。
为了进一步理解本发明，以下具体介绍所提供的根管治疗导板的实际操作过程。
具体地，首先将根管治疗导板整体通过其基座安装于患者牙齿上，并使其维持制备阶段的体外设计时的位置和方向，根管治疗器械(如根管锉)通过根管导向通道303对患牙根管进行定位。当通道初始角度出现偏差或者需要根据操作者手感进行调整时，可通过球轴承导向装置进行角度微调，并且当通道初始位置出现偏差或需要调整时，由于导向座本身的软体材料属性，可在一定程度上进行形状微调，以降低误差的影响。当形状微调完成后，对导向座施加外界刺激将其形状固定。在治疗过程中，由软体材料制成的导向座和基座可一定程度吸收治疗器械产生的震动，从而防止引起根管治疗导板的位置变化。
在一个实施例中，对于多个患牙需要治疗的情况，可设置多个导向座和多个球轴承导向装置，定位于基座上，以对应于不同的患牙。
在另一实施例中，针对单个牙齿上多个根管需要进行治疗的情况，可于万向球上同时设置多个根管导向通道，操作过程中医生可根据需求或手感利用球轴承导向装置的方向调节功能以及导向座和基座的软体材料属性对根管导向通道的方向和位置进行微调，使根管导向通道与患牙的根管通道方向一致。
在上述实施例中，所提供的位置和角度可微调的软体根管治疗导板，当其固定于患者牙齿上之后，可通过球轴承导向装置对根管通道方向进行微调，可通过软体材料制成的导向座对位置进行微调，降低角度与位置误差的影响，发挥医生手感的作用，并且由于导向座的软体属性，可一定程度吸收治疗器械产生的震动，防止导板位置变化。
综上所述，本发明提供的根管治疗导板，通过对导向装置上的根管导向通道的角度和位置进行适应性微调，能够提高导板的导向精度。并且通过设置含有软体材料的基座、导向座等，在治疗过程中可一定程度吸收治疗器械产生的震动，防止导板位置变化，进一步提高了根管定位精度并改善了根管治疗体验。
需要说明的是，虽然上文按照特定顺序描述了各个步骤，但是并不意 味着必须按照上述特定顺序来执行各个步骤，实际上，这些步骤中的一些可以并发执行，甚至改变顺序，只要能够实现所需要的功能即可。
以上已经描述了本发明的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (10)

  1. 一种根管治疗导板，包括基座、设置在基座上的导向座和安装在导向座上的导向装置，其中，所述基座在治疗过程中与患牙贴合固定，所述导向座和所述基座通过定位连接结构连接，所述导向装置上设置根管导向通道，所述导向装置根据患牙的根管通道方向安装在所述导向座上，并且在治疗过程中通过适应性调节根管导向通道的方向和位置来引导根管治疗器械经由根管导向通道对患牙根管进行定位。
  2. 根据权利要求1所述的根管治疗导板，其特征在于，所述导向装置上设置一个或多个根管导向通道，所述导向装置被设置为在所述导向座上实现多自由度移动。
  3. 根据权利要求2所述的根管治疗导板，其特征在于，所述导向装置是球轴承导向装置，所述球轴承导向装置设有支撑弧面和万向球，万向球上设有一个或多个根管导向通道，所述球轴承导向装置被设置为在所述导向座上实现自如滚动。
  4. 根据权利要求1所述的根管治疗导板，其特征在于，所述导向座和所述基座包含相同或不同弹性模量的软体材料。
  5. 根据权利要求3所述的根管治疗导板，其特征在于，根据患牙数目在所述基座上设置多个导向座和相应的多个球轴承导向装置，每个导向座和相应的球轴承导向装置对应于一颗患牙。
  6. 根据权利要求1所述的根管治疗导板，其特征在于，所述导向座下表面对应于所述基座上表面设置有定位连接结构，该定位连接结构为卡槽、卡扣或榫卯连接。
  7. 根据权利要求1所述的根管治疗导板，其特征在于，所述基座上表面平面内设置沿相互垂直的两个方向的导轨或丝杆定位结构，使所述导向座进行平面内的位置调节。
  8. 一种根管治疗导板的制备方法，包括以下步骤：
    对患者口颌进行CBCT扫描；
    使用软件对患者口颌的CBCT扫描结果标注髓腔范围，以获得髓腔数据；
    利用三维图形处理软件所获取的髓腔数据重建得到牙齿CT数字化三维模型；
    利用牙科模型光学扫描仪制作牙齿光学数字化三维模型；
    将得到的牙齿CT数字化三维模型与得到的牙齿光学数字化三维模型进行虚拟配准，形成牙齿整体数字化三维模型；
    基于牙齿整体数字化三维模型运用布尔运算构建数字化根管导板的基座；
    在基座上安装根管通道导向座，并根据牙齿整体数字化三维模型与患牙根管通道中轴线确定根管导板中的根管通道导向；
    根据所确定的根管通道导向将导向装置安装于导向座上。
  9. 根据权利要求8所述的根管治疗导板的制备方法，其特征在于，采用3D打印制作所述基座和所述导向座。
  10. 根据权利要求8所述的根管治疗导板的制备方法，其特征在于，所述基座和所导向座一体化制作或独立制作。
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