WO2022109760A1

WO2022109760A1 - Oral cavity robot and method for use thereof

Info

Publication number: WO2022109760A1
Application number: PCT/CN2020/130964
Authority: WO
Inventors: 曹庆恒
Original assignee: 曹庆恒
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2022-06-02
Also published as: CN112638316A

Abstract

Provided are an oral cavity robot and method for use thereof; the oral cavity robot comprises a support assembly and a robot body (10); the support assembly is used for holding open the oral cavity, and comprises at least one support arm (120); the robot body (10) is connected to the support assembly, and comprises a surgical arm (14) and an image acquisition apparatus (13). The method for using the oral cavity robot comprises: the oral cavity robot enters the oral cavity, and the support assembly supports inside the oral cavity; the image acquisition apparatus (13) captures images of the interior of the oral cavity; the surgical arm (14) performs medical procedures and operations according to the images of the interior of the oral cavity. By means of the oral cavity robot and method for use thereof, a doctor can perform oral cavity examinations and surgical procedures with the help of the oral cavity robot, greatly improving the automation and operability of oral cavity examination and surgery and also helping with oral cavity cleaning and self-examinations, improving patient comfort, increasing the accuracy of examinations and surgical procedures, and also reducing the time of the procedure and the recovery time of the wound bed, thus being of great significance for improving quality of medical care, improving medical experience, and avoiding medical safety accidents.

Description

An oral robot and method of using the same

technical field

The invention relates to the technical field of medical devices, in particular to an oral robot and a method for using the same.

Background technique

With the improvement of people's living standards, people's demand for medical services is getting higher and higher, and oral health has been paid more and more attention by people. In addition, in traditional oral surgery, due to the small space inside the oral cavity, the doctor's field of vision and operation will be limited during the operation, and even the most experienced doctor will inevitably make errors.

Therefore, there is an urgent need for an oral robot and its use method. Doctors use the oral robot to perform oral inspection and surgery, which can greatly improve the automation and operability of oral inspection and surgery, improve the comfort of patients, and improve the accuracy of inspection and surgery. It can also shorten the operation time and wound recovery time.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide an oral robot and a method of using the same, so that doctors can perform oral inspection and surgery with the aid of the oral robot, which can greatly improve the degree of automation and operability of oral inspection and surgery, and can also help oral cleaning. It can improve the comfort of patients, improve the accuracy of inspection and surgery, and shorten the operation time and wound recovery time. It is of great significance to improve the quality of medical care, improve the medical experience, and avoid medical safety accidents.

In order to achieve the above purpose, the present invention provides an oral robot, which includes a support assembly and a robot body,

The support assembly is used to open the oral cavity, and includes at least one support arm;

The robot body is connected to the support component, and includes an operating arm and an image acquisition device, the operating arm is used for performing medical operations and operations in the oral cavity; the image acquisition device is used for capturing images in the oral cavity.

In the above-mentioned oral robot, the support assembly further includes at least one fixing device, and the fixing device is used to be fixed on the teeth or the inner wall of the oral cavity.

In the above-mentioned oral robot, the support assembly further comprises a track on which the robot body can move.

In the above-mentioned oral robot, the oral robot further comprises a robotic arm, and the image acquisition device is arranged on the robotic arm, so that the image acquisition device can acquire images at a suitable position.

In the above-mentioned oral robot, the operating arm includes a knife, a scissor, a needle, a forceps, a clamp, an electric welding head, an electric cautery head, an electric baking head, a light probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device, At least one of a cleaning device, a drug application device, a brush head, an ultrasonic cleaning head, a dental floss, and a toothpick.

In the above-mentioned oral robot, the oral robot further includes a protection device for protecting the tongue and other non-surgical parts in the oral cavity from being damaged by the surgical arm when the surgical arm performs medical operations and operations.

An oral robot as described above, the oral robot further includes a processor, and the processor can automatically control the oral robot to perform medical operations and operations according to the actual situation in the oral cavity according to the intra-oral image captured by the image acquisition device .

In the above-mentioned oral robot, the oral robot further includes a communication module for returning the captured intraoral image and/or receiving operation instructions, and the oral robot operates according to the received operation instructions.

An oral robot as described above, the oral robot transmits the captured intraoral image to an external server, constructs an intraoral model of the patient, and displays the real situation in the patient's oral cavity, which is used for oral cleaning and self-inspection of the user, or Medical staff perform symptom analysis, give diagnostic results, design/recommend/determine operation or operation plans, locate operation sites, and assist in the execution of operations/operations.

The present invention also provides a method for using the above-mentioned oral robot, the method comprising:

S1: the oral robot enters the oral cavity, and the support assembly is supported in the oral cavity;

S2: The image acquisition device captures an image in the oral cavity;

S3: The operating arm performs medical operations and operations according to images in the oral cavity.

The present invention provides an oral robot and a method of using the same. The oral robot includes a support assembly and a robot body. The support assembly is used to open the oral cavity and includes at least one support arm. The robot body is connected to the support assembly and includes a surgical arm and an image acquisition device. . The use method of the oral robot includes: the oral robot enters the oral cavity, and the support assembly is supported in the oral cavity; the image acquisition device captures an image in the oral cavity; and the operating arm performs medical operations and operations according to the image in the oral cavity. The oral robot and its using method of the present invention enable doctors to perform oral inspection and operation with the aid of the oral robot, which can greatly improve the automation and operability of oral inspection and operation, and can also help oral cleaning and self-inspection. Patient comfort, improved inspection and surgical accuracy, and shortened surgery time and wound recovery time are of great significance for improving medical quality, improving medical experience, and avoiding medical safety accidents.

Description of drawings

FIG. 1 is a schematic diagram of an oral robot of the present invention.

FIG. 2 is a flow chart of a method of using an oral robot according to the present invention.

Detailed ways

In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings and embodiments.

Refer to FIG. 1 for the first embodiment of the present invention. FIG. 1 is a schematic diagram of an oral robot of the present invention. As shown in the figure, the oral robot of the present invention includes a support assembly and a robot body 10 . The support assembly is used to open the oral cavity, and includes at least one support arm 120. The support arm 120 is used to support the teeth or the inner wall of the oral cavity, to open the oral cavity and stabilize the position of the oral robot in the oral cavity. The robot body is connected to the support assembly, and includes an operating arm 14 and an image acquisition device 13. The operating arm is used to perform medical operations and operations in the oral cavity; the image acquisition device is used to capture images in the oral cavity. . The robot body may further include a casing 11, which is used to prevent liquid from entering and corroding various components of the robot body, including the surgical arm and the image acquisition device.

The oral robot of the present invention can be used for oral examination, oral image acquisition, oral surgery and the like. The support arm 120 may include a support seat 121, an angle adjustment device 123 and a telescopic device 122, the support seat contacts and supports the teeth or the inner wall of the oral cavity, the angle adjustment device is used to adjust the angle of the support arm, and the telescopic device is used for for adjusting the length of the support arm.

The support assembly can be retracted into the housing 11 or located outside the housing. Correspondingly, the support arm 120 can be located on the outer surface of the housing 11; or the housing 11 has a sandwich, and the support arm 120 is located in the sandwich; or it is located inside the housing 11, and extends out of the housing 11 through the opening when being stretched, and the support base 121 contacts the inner wall It is supported in the oral cavity, the angle of the support arm 120 can be adjusted by the angle adjustment device 123 , and the length of the support arm 120 can be adjusted by the telescopic device 122 . The cooperative support of the plurality of support arms 120 makes the position of the oral robot stable in the oral cavity. In the present invention, the number of the support arms 120 included in the support assembly is preferably 4 or 6, and other numbers are also possible, and each support arm 120 includes the shape, size, and position according to the actual situation in the oral cavity. The length and the cooperating support make the position of the oral robot fixed in the oral cavity. The support assembly can be electric or manually adjustable. The oral robot may also include a battery for power supply. The dental robot can also be powered by an external power cord.

In the oral robot of the present invention, a pressure sensor can also be provided on the support arm 120 to monitor the pressure of the support arm 120 on the teeth or the inner wall of the oral cavity, and set a suitable threshold. When the pressure on the teeth or the inner wall of the oral cavity reaches or approaches the threshold, limit The support arm 120 continues to extend to prevent injury to the patient.

In the oral robot of the present invention, in order to increase the stability of fixation, the support assembly may further be provided with a fixing device, and the fixing device is used to be fixed on the teeth or the inner wall of the oral cavity. In the present invention, the fixation device may be provided in the support seat 121 of the support arm 120, at the position where the support arm contacts the teeth or the inner wall of the oral cavity, and is integrated with the support arm; the fixation device may also be provided separately in the support assembly and the teeth or Where the lining of the mouth touches, not on the support arm. The fixation device is preferably a dental occlusion device or a negative pressure adsorption device, and may also be other types of fixation devices. For increased comfort, the support base 121 of the support arm 120 may be provided with a soft pad. The support base 121 can also be selected from a material with a certain coefficient of friction, which can also play a role of preventing sliding.

In the oral robot of the present invention, the support assembly may further include a rail on which the robot body 10 can move. Tracks can be set individually or as multiple tracks. The rails may include: rails along the horizontal direction of the teeth distribution, and U-shaped rails perpendicular to the horizontal direction along the front and rear, up and down of the teeth. The housing 11 of the dental robot is provided with track wheels matching the tracks, so that the housing 11 of the dental robot and the components therein can move on the tracks.

In the oral robot of the present invention, the length and angle of different support arms 120 can also be adjusted to make the oral robot move in the oral cavity. When the oral robot is supported and fixed in the oral cavity by a plurality of support arms 120, if a moving position is required for photographing or performing medical operations, the oral robot can be moved in the oral cavity by adjusting the length and angle of different support arms 120. For example, the telescopic device 122 of the support arm 120 on the left side of the dental robot can be adjusted to shorten the length of the left support arm, and at the same time, the telescopic device 122 of the support arm 120 on the right side of the dental robot can be adjusted to lengthen the length of the right support arm, which is equivalent to As the oral robot moves to the left in the oral cavity, the angle and length of the support arms 120 in other directions also need to be adjusted according to the actual situation in the oral cavity, so that the oral robot can be supported and fixed in the new position after the movement, or the fixing device can be loosened first, and the After the oral robot moves to a new position, it will find a suitable tooth or the inner wall of the oral cavity for fixation. The adjustment of the length and angle of each support arm can be analyzed by the processor according to the actual situation in the oral cavity and given specific instructions for adjustment, or the server can give the actual adjustment instruction based on the intraoral image and send it to the oral robot. The oral robot adjusts as instructed.

The oral robot of the present invention can also be supported and fixed by moving the support arm, and the position of the oral robot in the oral cavity can be moved, so that the shooting or medical operation can be performed more conveniently, and the effect of the shooting or medical operation is better.

The image acquisition device 13 is used for capturing images in the oral cavity. The image acquisition device 13 may be a camera, an infrared imaging device, an ultrasonic imaging device, etc., which is not limited in the present invention. The oral robot of the present invention may include one image acquisition device 13 , or may include multiple image acquisition devices 13 . The image capturing device 13 may be located at the front, rear or side of the housing 11, and may also include a corresponding light source for imaging. The oral robot of the present invention can also establish an intraoral model through intraoral images captured by the image acquisition device 13 at different positions and angles, and can also include a holographic model for inspection and subsequent diagnosis and treatment.

The oral robot of the present invention may further include a robotic arm, and the image acquisition device 13 is disposed on the robotic arm, so that the image acquisition device 13 can acquire images at a suitable position. The image acquisition device 13 can be located inside the casing 11 or mounted on a robotic arm, and the image in the oral cavity can be acquired through the robotic arm extending out of the casing 11 . The image acquisition device 13 may also include a rotation device, which can make the image acquisition device 13 rotate, so that the image acquisition device 13 can be combined with a robotic arm to capture images in the oral cavity at more angles and more positions, and can obtain more suitable positions and angles. The intraoral image makes the results obtained by the oral robot of the present invention more accurate.

An oral robot of the present invention may also include an operating arm 14 for performing medical operations and operations in the oral cavity, and the operating arm includes a knife, a scissors, a needle, a forceps, a clamp, an electric welding head, an electric soldering head, an electric baking head At least one of a head, a light probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a rinsing device, a cleaning device, a drug application device, a brush head, an ultrasonic cleaning head, a dental floss, and a toothpick. The surgical arm can be used for cutting, shearing, puncturing, suturing, clipping, welding, irrigation, sampling, probing, coagulation, hemostasis, tissue separation and incision, dredging, radiation therapy, phototherapy, hyperthermia, magnetic therapy, cleaning operations such as waste or wastewater. In the present invention, the cleaning device is preferably a device similar to a vacuum cleaner. In the present invention, the radioactive probe is preferably a gamma knife. The surgical arm 14 can also be retracted and rotated to facilitate the movement of the surgical arm to an appropriate position. The operating arm can also be equipped with a pressure sensor to monitor the pressure on the teeth or the inner wall of the oral cavity, and set a suitable threshold. When the pressure on the teeth or the inner wall of the oral cavity reaches or approaches the threshold, the operation of the operating arm is limited to prevent harm to the patient. The surgical arm can be placed inside the shell/sandwich and can be extended out of the shell during operation. The operating arm can also be arranged outside the housing, and is close to the target position to perform the relevant operation during operation.

The oral robot of the present invention can also be used for tooth brushing, oral cleaning, tooth picking, etc., through the brush head, ultrasonic cleaning head, dental floss, toothpicks, etc. that come with the operating arm, to realize operations such as tooth brushing, oral cleaning, and tooth picking, so that the User-friendly brushing, oral cleaning and flossing with better results.

In the oral robot of the present invention, the medicine application device is used for applying medicine in the oral cavity. The medicine application device can be a spray device, which is used to spray liquid medicine to the position where medicine needs to be applied; it can also be a smear device, which is used to apply medicine to the position where medicine needs to be applied, and can also be used to apply toothpaste; it can also be an injection device, with It is used to inject drugs to a designated location; it can also be an implantable device for implanting a drug in a specific location. The medicine application device can be located on the surface of the housing 11 or on the operating arm 14, or the medicine application device can also have a retractable and rotatable mechanical arm, which is convenient for the medicine application device to move to an appropriate position to apply medicine.

The oral robot of the present invention may further include a protection device for protecting the tongue and other non-surgical parts in the oral cavity from being damaged by the surgical arm when the surgical arm performs medical operations and operations. The protective device can be a baffle plate or other devices that can protect the tongue guard and other non-surgical parts in the oral cavity.

In the oral robot of the present invention, the parts of the oral robot in contact with the oral cavity, such as support arms, operating arms, etc., can be provided with local anesthetics, thereby reducing local irritation and sensitivity and improving the comfort of patients.

An oral robot of the present invention may further include a processor, which can automatically control the oral robot to perform medical operations and operations according to the actual situation in the oral cavity according to the intra-oral image captured by the image acquisition device 13 . In the present invention, the oral robot may further include a communication module for returning the captured intraoral image and/or receiving operation instructions, and the oral robot operates according to the received operation instructions. By transmitting the intraoral image to an external server, the server gives the actual operation plan according to the intraoral image, and sends the corresponding operation instruction to the oral robot. After the communication module of the oral robot receives the operation instruction, the processor operates according to the operation instructions. The instruction controls the oral robot to operate. The above-mentioned operating instructions may also be given by medical personnel based on intraoral images. The oral robot of the present invention can also be operated through the combination of its own processor and external medical personnel or servers to give an operation plan. In the present invention, when the oral robot operates in the oral cavity, it may receive the operation instruction sent from the outside through the communication module, and then perform the corresponding operation according to the operation instruction, or it may automatically perform the corresponding operation according to the actual situation of the intraoral image. .

The method of giving the operation plan based on the intraoral image may be: based on the intraoral image to identify the lesion and give the examination result, and then give the appropriate surgical plan according to the result combined with the surgical template. The surgical template may be obtained according to the surgical treatment specification, or It can be obtained through the continuous accumulation and refinement of clinicians in the process of surgical treatment, or through big data analysis, or through artificial intelligence deep learning. The surgical template can be continuously adjusted and updated during use.

In the oral robot of the present invention, the position of the oral robot in the oral cavity can also be determined by the positioning device. The positioning device may determine the position of the oral robot through images taken by multiple cameras at different angles and/or positions of different teeth in the images. Or it can be located in other ways.

The oral robot of the present invention can transmit the captured intraoral image to an external server, construct an intraoral model of the patient, and display the real situation in the patient's oral cavity, which is used for oral cleaning and self-inspection of users, or for medical personnel to perform symptom analysis, Give diagnostic results, design/recommendation/determination of surgery or operation plans, locate operation sites, and assist in the execution of surgery/operations.

The intraoral model can be constructed using the captured intraoral images alone or in combination with the images of the human oral cavity. The image in the oral cavity of the human body may be a general intraoral image of the human body, or may be an intraoral image of a patient acquired by an X-ray device or the like. The intraoral model can easily show medical personnel the real situation in the patient's mouth. Medical personnel can use the intraoral model to analyze symptoms, give diagnostic results, design/recommend/determine surgery or operation plans, and can also combine the intraoral model. The model locates the operation site and assists in the execution of the surgery/operation.

The oral robot of the present invention may have a trunk connected to the outside of the human body at the tail, and the pipe may include wires, data lines, inflatable tubes, infusion tubes, drug delivery tubes, waste discharge tubes, and the like. The oral robot can also be a separate capsule robot without a pipeline. During the process of the oral robot entering the oral cavity, the support components, operating arms, etc. are all in a retracted state, shrinking to the inside of the casing or close to the casing. When the oral robot reaches a suitable position or receives corresponding instructions, the supporting components are opened again; you can also It is to manually support part or all of the support arms of the support assembly in a suitable position when the oral robot performs the oral cavity. When the operation is over, the relevant components return to the retracted state, which is convenient for taking out the oral robot.

Refer to FIG. 2 for the second embodiment of the present invention. FIG. 2 is a flow chart of a method of using an oral robot according to the present invention. The method of using the oral robot of the present invention includes:

S2: The image acquisition device captures an image in the oral cavity;

A method of using an oral robot of the present invention is based on an oral robot of the present invention, and their technical features are in one-to-one correspondence, and can refer to the description of the aforementioned oral robot, which will not be repeated here.

In summary, the present invention provides an oral robot and a method of using the same. The oral robot includes a support assembly and a robot body. The support assembly is used to open the oral cavity and includes at least one support arm. The robot body is connected to the support assembly, including surgery. arm and image acquisition device. The use method of the oral robot includes: the oral robot enters the oral cavity, and the support assembly is supported in the oral cavity; the image acquisition device captures an image in the oral cavity; and the operating arm performs medical operations and operations according to the image in the oral cavity. The oral robot and its using method of the present invention enable doctors to perform oral inspection and operation with the aid of the oral robot, which can greatly improve the automation and operability of oral inspection and operation, and can also help oral cleaning and self-inspection. Patient comfort, improved inspection and surgical accuracy, and shortened surgery time and wound recovery time are of great significance for improving medical quality, improving medical experience, and avoiding medical safety accidents.

The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

An oral robot, characterized in that the oral robot comprises a support assembly and a robot body,

The support assembly is used to open the oral cavity, and includes at least one support arm;

The robot body is connected to the support assembly, and includes an operating arm and an image acquisition device, the operating arm is used for performing medical operations and operations in the oral cavity; the image acquisition device is used for capturing images in the oral cavity.
The oral robot according to claim 1, wherein the support assembly further comprises at least one fixing device, and the fixing device is used to be fixed on the teeth or the inner wall of the oral cavity.
The oral robot according to claim 1, wherein the support assembly further comprises a track, and the robot body can move on the track.
The oral robot according to claim 1, wherein the oral robot further comprises a robotic arm, and the image acquisition device is arranged on the robotic arm, so that the image acquisition device can acquire the image at a suitable position image.
An oral robot according to claim 1, wherein the operating arm comprises a knife, a scissors, a needle, a forceps, a clamp, an electric welding head, an electric welding head, an electric baking head, a light probe, a radioactive probe, an ultrasonic probe , at least one of an electromagnetic probe, a rinsing device, a cleaning device, a medicine application device, a brush head, an ultrasonic cleaning head, a dental floss, and a toothpick.
An oral robot according to claim 1, characterized in that: the oral robot further comprises a protection device for protecting the tongue and other non-surgical parts in the oral cavity when the surgical arm performs medical operations and operations. Injury to the surgical arm.
The oral robot according to any one of claims 1-5, wherein the oral robot further comprises a processor, and the processor can automatically control the intraoral image captured by the image acquisition device The oral robot performs medical operations and operations according to the actual situation in the oral cavity.
An oral robot according to claims 1-5, characterized in that: the oral robot further comprises a communication module for returning the captured intra-oral image and/or receiving operation instructions, the oral robot according to the received Operation command to operate.
An oral robot according to claims 1-7, wherein the oral robot transmits the captured intraoral image to an external server, constructs an intraoral model of the patient, displays the real situation in the patient's oral cavity, and uses For user oral cleaning and self-inspection, or medical staff to analyze symptoms, give diagnostic results, design/recommend/determine surgery or operation plans, locate operation sites, and assist in the execution of operations/operations.
A method of using an oral robot according to any one of claims 1-9, wherein the method comprises:

S1: the oral robot enters the oral cavity, and the support assembly is supported in the oral cavity;

S2: The image acquisition device captures an image in the oral cavity;

S3: The operating arm performs medical operations and operations according to images in the oral cavity.