WO2022098334A1

WO2022098334A1 - A robotic system used in dental treatment education

Info

Publication number: WO2022098334A1
Application number: PCT/TR2021/051129
Authority: WO
Inventors: Hakan Akin
Original assignee: Proface Medi̇kal Sağlik Hi̇zmetleri̇ Ti̇caret Li̇mi̇ted Şi̇rketi̇
Priority date: 2020-11-03
Filing date: 2021-11-03
Publication date: 2022-05-12

Abstract

The invention is related to a robotic system used in dental treatment education (1), on which the challenges in a patient's mouth can exactly be applied to bring practical training in dental treatment closer to reality, which can automatically realize reflexes and movements on a modelled human head and allows for configuring both head and jaw movements in the desired position by both students and the operator, and comprises a moving head connection plate (1.1), a fixed maxilla body (1.2) and a moving mandible body (1.4) on the lower surface of the head connection plate (1.1), a mandible movement center (1.6) where the mandible body (1.4) connects to the head connection plate (1.1) and which is the movement center of the mandible body (1.4), engine 4 (1.9) that moves the mandible body (1.4) is placed on the upper surface of the head connection plate (1.1), engine 3 (1.8) that lets the circular rotation of the head to the right and left and is placed on the upper surface of the head connection plate (1.1), a movement center plate (1.16) that lets the neck move upwards and downwards, engine 1 (1.25) and engine 2 (1.26) that allow for positioning the movement center plate (1.16) as desired and can move in different coordination, a table connection plate (1.28) that allows for placing the invention anywhere including a table etc., and detachable tongue made of elastic material to exactly copy the patient mouth.

Description

A ROBOTIC SYSTEM USED IN DENTAL TREATMENT EDUCATION

Technical Field:

This invention is related to a robotic system used in dental treatment education, on which the challenges in a patient’s mouth can exactly be applied to bring practical training in dental treatment closer to reality, which can automatically realize reflexes and movements on a modelled human head and allows for configuring both head and jaw movements in the desired position by both students and the operator.

Prior Art:

Dentistry is a profession in which, as in many health branches, practice is of utmost importance and certain practices can only be developed through multiple repetitions. In dentistry education, pre-clinical laboratory courses are highly important to let students gain sufficient hand skills and learn fundamental dentistry practices. Educational approaches that are based on sufficiency in both pre-clinical and clinical assessments are benefitted from in the education program.

Pre-clinical education constitutes a large part of theoretical courses and laboratory practice hours before students’ transitioning to clinical application field. The said pre- clinical education resembles an exact copy of clinical practices. The procedures rendered in this part of education are the first fundamental practices that students learn and they have a high memorability throughout their professional life. Students who succeed in pre-clinical practical and theoretical courses are expected to highly reflect their knowledge and skills to clinical practices. Problems experienced in the standardization of systems used in pre-clinical education limit students’ ability to engage in similar practices. For example, it is a requirement to perform pre-clinical education of root canal treatment on extracted real human teeth, however, it is almost impossible to realize a standard education and grade assessment in real teeth that have varying morphologies. A similar problem is experienced in grasping and treating the cavities in tissues. These problems pose an obstacle to teaching and evaluating on equal standards.

Simulation based education has become an integral part of dentistry as in many health branches. Simulation can be defined as artificially creating a real situation for studying or experimenting purposes. Compared to conventional educational methods, current simulation-based education systems facilitate interest in education and learning by carrying the place of education from conventional classrooms to virtual reality environments.

In prior art, simulation based educational models used in dentistry education are rather robotic systems that imitate a modelled human head. However, as these robotic systems have a simple design and a passive structure, they fail in presenting a real patient model and are not fully able to provide a realistic practical training in dentistry.

In prior art, the operating principles and shortcomings of robotic systems used in dentistry education are as follows:

1. The modelled human head cannot be manually configured by the student or trainer, which causes poor concentration during training,

2. The modelled human head cannot be moved to a desired extent, which moves training away from a real experience,

3. The modelled human head allows for configuring the space between jaws only on a single level (not to a desired extent), which prevents studying on different types of patient samples,

4. The tongue is the organ that challenges the dentist the most in the mouth. It is essential to succeed in interventions such as cutting the tooth and cleaning out the cavity without damaging or rupturing the tongue. Therefore, students should work on models with a tongue and learn how to deal with the tongue. The modelled human head does not include a tongue in the mouth or on robots which include a tongue, the tongue cannot be moved and positioned, which moves training away from a real experience. 5. While performing tooth cutting with water inside the mouth on the modelled human head, the water supplied by a device called the aerator that does not imitate a real patient mouth is automatically drained, which moves training away from a real experience.

Purpose of Invention:

The invention intends to provide a more realistic training in dental treatment by allowing for studying on every type of human model thanks to its automatically adjustable head and jaw movements and mouth opening.

Description of Drawings:

Below are the descriptions of drawings for a robotic system used in dental treatment education.

Figure 1. Side view of a robotic system used in dental treatment

Figure 2. Perspective view of a robotic system used in dental treatment

Figure 3. Rear view of a robotic system used in dental treatment

Figure 4. Top view of a robotic system used in dental treatment

Figure 5. Assembled view of a robotic system used in dental treatment

Description of References in Drawings:

Below are the descriptions of the reference numbers in drawings.

1. A robotic system used in dental treatment education

1.1. Head connection plate

1.2. Maxilla body

1.3. Upper teeth palate group

1.4. Mandible body

1.5. Lower teeth palate group

1.6. Mandible movement center

1.7. Push brace jaw lever 1.8. Engine 3

1.81. Engine 3 holder

1.9. Engine 4

1.91. Engine 4 holder

1.10. Push brace

1.11. Jaw screw nut

1.12. Jaw screw shaft

1.13. Coupling

1.14. Pulley

1.15. Belt

1.16. Movement center plate

1.17. Hinge

1.18. Adjustable extension piece

1.19. Chrome plated shaft

1.20. Screw shaft nut

1.21. Linear bearing

1.22. Piece 3

1.23. Piece 4

1.24. Ball screw

1.25. Engine 1

1.26. Engine 2

1.27. Spring

1.28. Table connection plate

1.29. Elastic material

Description of Invention:

The robotic system used in dental treatment education (1) allows students to learn with an experience that is closer to reality by capturing reality with easy positioning and human like reflexes by letting users make adjustments to reflect the challenges in the patient’s mouth onto the model. The invention offers easy use, improves students’ adaptation and eliminates loss of time. The invention makes it possible to electronically configure all positions of the head including left, right, front and back movements on the model. Therefore, the invention intends to bring practical training in dental treatment closer to reality by allowing for studying on every type of human model thanks to automatically adjustable head and jaw movements and mouth opening.

The most important characteristic of the robotic system used in dental treatment education (1) is offering the end user with the ability to electronically and automatically configure through engines and transmission components in place of a complicated adjustment and configuration system compared to previous models.

The robotic system used in dental treatment education (1) has a detachable tongue made of an elastic material. This detachable tongue made of an elastic material gives the sensation of working on a real patient. It is highly important to easily attach, detach and replace the tongue as it can be easily damaged by students during treatment procedures.

In the robotic system used in dental treatment education (1), both head and jaw movements can be set to a desired position by students. All movements can be realized at any time again by the operator. The thing that was not available on previous models but is available in this model is that the model’s mouth opening can be configured while working to imitate mouth opening that can vary between individuals. It is important to study also by imitating a limited mouth opening. For example, it is possible to work on a mouth opening or 30 mm or 40 mm as adjustable by the operator.

In the systems available in prior art, the water supplied by the device called the aerator while cutting the tooth is automatically drained. This is not an imitation of a patient’s mouth. To eliminate such disadvantage, in the robotic system used in dental treatment education (1), water is drained by a system called the saliva absorber. Therefore, the patient’s mouth is exactly copied. The invention has voice command feature. Moreover, when the operation on the tooth inside the jaw takes long, the invention can give reactions such as I am tired, it hurts etc. like a real patient. The neck movements of the robotic system used in dental treatment education (1) are realized as follows:

The circular movements coming from engine 1 (1.25) and engine 2 (1.26) are transferred by ball screws (1.24) and move the screw shaft nuts (1.20) linearly upwards and downwards. There are springs (1.27) where engine 1 (1.25) and engine 2 (1.26) connect with ball screws (1.24). Screw shaft nuts (1.20) give a linear upward and downward movement to piece 3 (1.22) and piece 4 (1.23) they are connected to. The linear bearings (1.21) on chrome plated shafts (1.19) maintain the linearity of this movement and act like a guide in the upward and downward movement. The adjustable extension pieces (1.18) connected to piece 3 (1.22) and piece 4 (1.23) transfer the movements they receive to the movement center plate (1.16) and let the neck to move upwards and downwards. Another feature of the invention is that engine 1 (1.25) and engine 2 (1.26) move in different coordination and can also place the movement center plate (1.16) transversely. In other words, the neck can perform lateral flexion to the right and left transversely in addition to the upward and downward movement.

The movable hinge (1.17) connected in an exact triangle position with the adjustable extension pieces (1.18) keeps the center point of the neck fixed and confirms the movement. In other words, the movement center plate (1.16) connected at 3 points increases the ability of movement by maintaining the connection with the hinge (1.17) made at three points with the force applied from two points.

The circular rotation around its own axis is performed through the transit bearing connection of the head connection plate (1.1) to the movement center plate (1.16). The pulley (1.14) is fastened directly to the hinge (1.17) with a screw that goes through the transit bearing and made independent of the head connection plate (1.1). The belt (1.15) connected to the pulley (1.14) is connected to engine 3 (1.8) and lets the circular rotation of the head to the left and right. With the functioning of this entire mechanism, it is possible to electronically move the head upwards, downwards, full right, full left, right transverse and left transverse. Engine 3 (1.8) is fastened to the head connection plate (1.1) with the engine 3 holder (1.81). The jaw movements of the robotic system used in dental treatment education (1) are realized as follows:

Engine 4 (1.9) provides propulsion for the jaw movement. Engine 4 (1.9) is fastened to the head connection plate (1.1) with engine 4 holder (1.91). Engine 4 (1.9) is connected to the jaw screw shaft (1.12) with the help of the coupling (1.13). The jaw screw nut (1.11) that is connected to the jaw screw shaft (1.12) is connected to the push brace (1.10). With the circular rotation of engine 4 (1.9), the jaw screw shaft (1.12) linearly moves the jaw screw nut (1.11). The push brace (1.10) that is moved by the said linear movement moves the push brace jaw lever (1.7). The push brace jaw lever (1.7) that is connected to the mandible movement center (1.6) transfers the movement in the opposite direction to the mandible body (1.4) and opens and closes the mandible body (1.4). Therefore, it is possible to adjust the jaw opening to a desired extent. This movement, together with gradual rotation of engine 4 (1.9) also makes the jaw movement gradual.

The invention is a robotic system used in dental treatment education (1), on which the challenges in a patient’s mouth can exactly be applied to bring practical training in dental treatment closer to reality, which can automatically realize reflexes and movements on a modelled human head and allows for configuring both head and jaw movements in the desired position by both students and the operator, and comprises;

A moving head connection plate ( 1.1 ) ,

A fixed maxilla body (1.2) on the lower surface of the head connection plate (1.1),

A replaceable upper teeth palate group (1.3) on the maxilla body (1.2),

A moving mandible body (1.4) on the lower surface of the head connection plate (1.1),

A replaceable lower teeth palate group (1.5) on the mandible body (1.4), A mandible movement center (1.6) where the mandible body (1.4) connects to the head connection plate (1.1) and which is the movement center of the mandible body (1.4), Engine 4 (1.9) that provides the movement of the mandible body (1.4) and is placed on the upper surface of the head connection plate (1.1),

An engine 4 holder (1.91) that fastens engine 4 (1.9) to the upper surface of the head connection plate (1.1),

A push brace (1.10) and a push brace jaw lever (1.7) that transfers the circular movement of engine 4 (1.9) to the mandible body (1.4),

Engine 3 (1.8) that provides the circular rotation of the head to the right and left and is placed on the upper surface of the head connection plate (1.1), An engine 3 holder (1.81) that fastens engine 3 (1.8) to the upper surface of the head connection plate (1.1),

A transit bearing that connects the head connection plate ( 1.1 ) to the movement center plate (1.16) to provide its circular rotation around its own axis,

A pulley (1.14) that becomes independent from the head connection plate (1.1) by being fastened directly to the hinge (1.17) with a screw that goes through the transit bearing, and lets the circular rotation of the head connected to the belt (1.15) driven by engine 3 (1.8) to the left and right,

A movement center plate (1.16) that provides the neck move upwards and downwards,

A hinge (1.17) that is connected in the exact triangle position with the adjustable extension pieces (1.18) and keeps the center point of the neck fixed and confirms the movement,

Adjustable extension pieces (1.18) that are connected to piece 3 (1.22) and piece 4 (1.23) and provide the neck its upward and downward movement by transferring the movements they receive to the movement center plate (1.16), Screw shaft nuts (1.20) that provide the linear upward and downward movement of piece 3 (1.22) and piece 4 (1.23) they are connected to, ball screws (1.24) that provide the upward and downward linear movement of the screw shaft nuts ( 1.20) by transferring the circular movements coming from engine 1 (1.25) and engine 2 (1.26) to the screw shaft nuts (1.20), linear bearings (1.21) placed on chrome plated shafts (1.19) that maintain the linearity of the said movement and function as a guide in the upward and downward movement, Engine 1 (1.25) and engine 2 (1.26) that provide positioning the movement center plate (1.16) as desired and can move in different coordination,

A table connection plate (1.28) that provides placing the invention anywhere including a table etc.,

An elastic material (1.29) that gives the sensation of working on a real human and covers the entire surface of the invention including the face, head, neck, body etc.

Application of Invention to Industry;

The invention is used in practical education in dental treatment and can easily be manufactured.

Claims

CLAIMS The invention is a robotic system used in dental treatment education (1), on which the challenges in a patient’s mouth can exactly be applied to bring practical training in dental treatment closer to reality, which can automatically realize reflexes and movements on a modelled human head and allows for configuring both head and jaw movements in the desired position by both students and the operator, and comprising; a moving head connection plate (1.1), a fixed maxilla body (1.2) on the lower surface of the head connection plate (1.1), a replaceable upper teeth palate group (1.3) on the maxilla body (1.2), a moving mandible body (1.4) on the lower surface of the head connection plate (1.1), a replaceable lower teeth palate group (1.5) on the mandible body (1.4), a mandible movement center (1.6) where the mandible body (1.4) connects to the head connection plate (1.1) and which is the movement center of the mandible body (1.4), engine 4 (1.9) that provides the movement of the mandible body (1.4) and is placed on the upper surface of the head connection plate (1.1), a push brace (1.10) and a push brace jaw lever (1.7) that transfers the circular movement of engine 4 (1.9) to the mandible body (1.4), engine 3 (1.8) that provides the circular rotation of the head to the right and left and is placed on the upper surface of the head connection plate (1.1), a transit bearing that connects the head connection plate ( 1.1 ) to the movement center plate (1.16) to provide its circular rotation around its own axis, a movement center plate (1.16) that provides the neck move upwards and downwards, engine 1 (1.25) and engine 2 (1.26) that provide positioning the movement center plate (1.16) as desired and can move in different coordination, a table connection plate (1.28) that provides placing the invention anywhere including a table etc., an elastic matenal (1.29) that gives the sensation of working on a real human and covers the entire surface of the invention including the face, head, neck, body etc., a detachable tongue made of elastic material to provide exactly to copy the patient mouth. A robotic system used in dental treatment education (1) according to claim 1, comprising; a pulley (1.14) that becomes independent from the head connection plate (1.1) by being fastened directly to the hinge (1.17) with a screw that goes through the transit bearing, and lets the circular rotation of the head connected to the belt (1.15) driven by engine 3 (1.8) to the left and right, a hinge (1.17) that is connected in the exact triangle position with the adjustable extension pieces (1.18) and keeps the center point of the neck fixed and confirms the movement. A robotic system used in dental treatment education (1) according to claim 1 or claim 2, comprising; adjustable extension pieces (1.18) that are connected to piece 3 (1.22) and piece

4 (1.23) and provide the neck its upward and downward movement by transferring the movements they receive to the movement center plate (1.16), screw shaft nuts (1.20) that provide the linear upward and downward movement of piece 3 (1.22) and piece 4 (1.23) they are connected to, ball screws (1.24) that provide the upward and downward linear movement of the screw shaft nuts ( 1.20) by transferring the circular movements coming from engine 1 (1.25) and engine 2 (1.26) to the screw shaft nuts (1.20), linear bearings (1.21) placed on chrome plated shafts (1.19) that maintain the linearity of the said movement and function as a guide in the upward and downward movement, An engine 3 (1.8) according to claim 1, comprising; an engine 3 holder (1.81) that fastens engine 3 (1.8) to the upper surface of the head connection plate (1.1). An engine 4 (1.9) according to claim 1, comprising; an engine 4 holder (1.91) that fastens engine 4 (1.9) to the upper surface of the head connection plate. A robotic system used in dental treatment education (1) according to claim 1 or claim 2 or claim 3, comprising; voice command feature providing jaw movements and head neck movements automatically. A robotic system used in dental treatment education (1) according to claim 1 or claim 2 or claim 3 or claim 6, comprising; ability to give reactions such as I am tired, it hurts etc. like a real patient when the operation on the tooth inside the jaw takes long. A robotic system used in dental treatment education (1) according to claim 1 or claim 2 or claim 3 or claim 6 or claim 7, comprising; saliva absorber system that provides discharge of water while performing tooth related operation with water to provide exact copy of the patient’s mouth. A robotic system used in dental treatment education (1) according to claim 1 or claim 2 or claim 3 or claim 6 or claim 7 or claim 8, comprising; ability to adjust of all head, neck and jaw movements electronically by students or an operator to prevent loss of concentration and time of student during the training. A robotic system used in dental treatment education (1) according to claim 1 or claim 2 or claim 3 or claim 6 or claim 7 or claim 8 or claim 9, comprising; ability to adjust of mouth opening at desired level during the operation to imitate mouth openings that may differ from person to person.