WO2023040181A1 - 根管治疗设备的机电控制系统及其切削控制方法和装置 - Google Patents

根管治疗设备的机电控制系统及其切削控制方法和装置 Download PDF

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Publication number
WO2023040181A1
WO2023040181A1 PCT/CN2022/076764 CN2022076764W WO2023040181A1 WO 2023040181 A1 WO2023040181 A1 WO 2023040181A1 CN 2022076764 W CN2022076764 W CN 2022076764W WO 2023040181 A1 WO2023040181 A1 WO 2023040181A1
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Prior art keywords
root canal
file
cutting
perform
control
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PCT/CN2022/076764
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English (en)
French (fr)
Inventor
韦锋文
龙忠实
寺内吉继
徐家振
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桂林市啄木鸟医疗器械有限公司
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Application filed by 桂林市啄木鸟医疗器械有限公司 filed Critical 桂林市啄木鸟医疗器械有限公司
Priority to EP22868561.6A priority Critical patent/EP4331527A1/en
Priority to JP2023575994A priority patent/JP2024520173A/ja
Publication of WO2023040181A1 publication Critical patent/WO2023040181A1/zh

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
    • A61C1/0007—Control devices or systems
    • A61C1/0015—Electrical systems
    • A61C1/003—Control of rotation of instrument
    • 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

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  • Root canal treatment equipment is a commonly used medical device in dental treatment. It controls the movement of the root canal file through the internal electromechanical control system to achieve cutting of the root canal of the tooth, remove impurities in the root canal to achieve effective shaping.
  • the electromechanical control system of the existing root canal treatment equipment mainly realizes cutting of root canal debris by controlling the continuous motion and reciprocating motion of the root canal file.
  • the above-mentioned control method cannot make the root canal file go over and eliminate the steps, and cannot realize the shaping of the root canal.
  • the present application provides an electromechanical control system of root canal treatment equipment and its cutting control method and device, which are used to enable the root canal file to effectively overcome and eliminate the steps in the root canal, so as to realize the shaping of the root canal.
  • a cutting control method applied to an electromechanical control system of a root canal treatment device comprising the steps of:
  • the root canal file is controlled to perform a pendulum movement in a preset angle range
  • the root canal file After the root canal file passes over the step in the root canal through the pendulum motion, the root canal file is controlled to perform cutting operations according to the working mode preset by the user.
  • the preset angle range is greater than or equal to 0 and less than or equal to 400.
  • performing the cutting operation according to the user-preset working mode includes the steps of:
  • the root canal file is controlled to perform adaptive motion.
  • the forward angle range of the reciprocating motion is greater than zero and less than or equal to 600, and the reverse angle range is greater than zero and less than or equal to 600.
  • controlling the root canal file to perform adaptive movement includes the steps of:
  • the continuous motion is resumed when the resistance is removed or is less than the torque.
  • a cutting control device applied to the electromechanical control system of root canal treatment equipment, the cutting control device includes:
  • the first control module is configured to control the root canal file to perform a pendulum movement in a preset angle range after the drive motor for driving the root canal file in the root canal treatment device is started;
  • the second control module is configured to control the root canal file to perform a cutting operation according to a working mode preset by the user after the root canal file passes over the step in the root canal through the pendulum motion.
  • the preset angle range is greater than or equal to 0 and less than or equal to 400.
  • the second control module includes:
  • a first control unit configured to control the endodontic file to perform reciprocating motion
  • a second control unit configured to control the root canal file to perform continuous rotation
  • the third control unit is configured to control the root canal file to perform adaptive motion.
  • the forward angle range of the reciprocating motion is greater than zero and less than or equal to 600, and the reverse angle range is greater than zero and less than or equal to 600.
  • the second control unit is configured to control the endodontic file to perform continuous rotation, including continuous forward rotation and continuous reverse rotation, at a set speed and torque.
  • the third control unit is configured to control the root canal file to perform adaptive motion.
  • the root canal file is controlled to rotate continuously at the set speed and torque.
  • the reciprocating motion of the file is controlled when the encountered resistance is greater than the torque, and the continuous motion is resumed when the resistance is relieved or less than the torque.
  • An electromechanical control system applied to root canal treatment equipment comprising the above-mentioned cutting control device.
  • this application discloses an electromechanical control system of root canal treatment equipment and its cutting control method and device.
  • the method and device are applied to the electromechanical control system of root canal treatment equipment, specifically in root canal treatment
  • the root canal file is controlled to perform a pendulum movement in a preset angle range; mode performs a cutting operation to remove steps.
  • the pendulum movement can effectively cross the steps.
  • the root canal file can be controlled to clean the root canal according to the conventional control scheme, so that the root canal with steps can be effectively shaped.
  • FIG. 1 is a flowchart of a cutting control method according to an embodiment of the present application
  • Figure 2 is a cross-sectional view of a tooth
  • Fig. 3 is a block diagram of a cutting control device according to an embodiment of the present application.
  • Fig. 4 is a block diagram of another cutting control device according to the embodiment of the present application.
  • Fig. 5 is a block diagram of another cutting control device according to the embodiment of the present application.
  • Fig. 6 is a block diagram of another cutting control device according to the embodiment of the present application.
  • Fig. 7 is a block diagram of another cutting control device according to the embodiment of the present application.
  • FIG. 8 is a block diagram of an electromechanical control system according to an embodiment of the present application.
  • Fig. 1 is a flowchart of a cutting control method according to an embodiment of the present application.
  • the cutting control method provided by this embodiment is applied to the electromechanical control system of the root canal treatment equipment, and the root canal treatment equipment is provided with a root canal file.
  • the cutting control method specifically includes the following steps:
  • the root canal file placed in the root canal of the tooth is controlled to perform a pendulum movement according to a preset angle range, and the preset angle range is greater than 0 and less than or equal to 400.
  • a step in the root canal can be crossed by a pendulum movement, which step is shown in FIG. 2 , where a step 102 is located in the root canal 101 of the tooth 100 .
  • the root canal file is controlled to perform the cutting operation according to the working mode preset by the user until the step is eliminated and the material in the root canal is removed.
  • the working modes preset by the user in this application include reciprocating motion, continuous rotation and adaptive motion. Specifically, after the root canal file crosses the step, the root canal file is controlled to perform reciprocating motion, the root canal file is controlled to perform continuous rotation, or the root canal file is controlled to perform adaptive motion.
  • the forward angle range of reciprocating motion is greater than zero and less than or equal to 600, and the reverse angle range is greater than zero and less than or equal to 600; the continuous rotation here is continuous forward rotation or reverse rotation.
  • the adaptive motion specifically includes the following steps:
  • the root canal file is controlled to rotate continuously with the set speed and torque.
  • the continuous rotation here can be forward rotation or reverse rotation; when the resistance encountered is greater than the torque set above, the root canal file is controlled to reciprocate , to eliminate the obstruction; when the resistance is lifted or is less than the above-mentioned torque, the continuous movement is resumed until the removal of the root canal is completed.
  • this embodiment provides a cutting control method, which is applied to the electromechanical control system of root canal treatment equipment, specifically, the drive motor used to drive the root canal file in the root canal treatment equipment starts Finally, the root canal file is controlled to perform a pendulum movement in a preset angle range; when the root canal file crosses the steps in the root canal through the pendulum movement, the cutting operation is performed according to the working mode preset by the user to eliminate steps and clean debris.
  • the pendulum movement can effectively cross the steps.
  • the root canal file can be controlled according to the conventional control scheme to clean the root canal, thereby eliminating the steps and enabling the root canal to be effectively formed.
  • Fig. 3 is a block diagram of a cutting control device according to an embodiment of the present application.
  • the cutting control device As shown in Figure 3, the cutting control device provided by this embodiment is applied to the electromechanical control system of root canal treatment equipment, and the root canal treatment equipment is provided with a root canal file.
  • the cutting control device specifically includes a first control module 10 and a second control module 10. control module 20.
  • the first control module is used to control the pendulum motion of the root canal file according to the preset angle range.
  • the root canal file placed in the root canal of the tooth is controlled to perform a pendulum movement according to a preset angle range, and the preset angle range is greater than 0 and less than or equal to 400.
  • a step in the root canal can be crossed by a pendulum movement, which step is shown in FIG. 2 , where a step 102 is located in the root canal 101 of the tooth 100 .
  • the second control module is used to control the root canal file to perform the cutting operation according to the working mode preset by the user.
  • the root canal file is controlled to perform the cutting operation according to the working mode preset by the user, so as to eliminate the step in the root canal and complete the cutting and removal of the material in the root canal at the same time.
  • the working modes preset by the user in this application include reciprocating motion, continuous rotation and adaptive motion.
  • the second control module includes part or all of the first control unit 21 , the second control unit 22 and the third control unit 23 , as shown in FIGS. 4 to 7 .
  • the first control unit is used to control the file to perform reciprocating motion after the file passes over the step
  • the second control unit is used to control the file to perform continuous rotation
  • the third control unit is used to control the The file performs adaptive motion.
  • the forward angle range of reciprocating motion is greater than zero and less than or equal to 600
  • the reverse angle range is greater than zero and less than or equal to 600
  • the continuous rotation here is forward rotation or reverse rotation.
  • the third control unit specifically performs the control of the root canal file according to the following steps.
  • the root canal file is controlled to rotate continuously with the set speed and torque.
  • the continuous rotation here can be forward rotation or reverse rotation; when the resistance encountered is greater than the torque set above, the root canal file is controlled to reciprocate , to eliminate the obstruction; when the resistance is released or less than the above-mentioned torque, the continuous movement is resumed until the removal of the root canal is completed.
  • this embodiment provides a cutting control device, which is applied to the electromechanical control system of root canal treatment equipment, specifically, the drive motor used to drive the root canal file in the root canal treatment equipment starts Finally, the root canal file is controlled to perform a pendulum movement in a preset angle range; when the root canal file crosses the steps in the root canal through the pendulum movement, the cutting operation is performed according to the working mode preset by the user.
  • the pendulum movement can effectively cross the steps.
  • the root canal file can be controlled according to the conventional control scheme to eliminate the steps in the root canal and clean the root canal at the same time, so that the root canal with steps can be effectively formed.
  • This embodiment provides an electromechanical control system, which is provided with the cutting control device adopted in the above embodiments.
  • the device is specifically used to control the pendulum motion of the root canal file in a preset angle range after the drive motor used to drive the root canal file in the root canal treatment equipment; , to perform cutting operations according to the working mode preset by the user.
  • the pendulum movement can effectively cross the steps.
  • the root canal file can be controlled to clean the root canal according to the conventional control scheme, so that the root canal with steps can be effectively shaped.
  • the electromechanical control system includes at least one processor 201 and a memory 202, both of which are connected through a data bus 203, as shown in FIG. 8 .
  • the memory is used to store computer programs or instructions
  • the processor is used to execute corresponding computer programs or instructions, so that the electromechanical control system implements the cutting control method in the embodiment.
  • the method is specifically to control the root canal file to perform a pendulum motion in a preset angle range after the drive motor used to drive the root canal file in the root canal treatment equipment is started; when the root canal file passes through the steps in the root canal through the pendulum motion, Cutting operations are performed according to the working mode preset by the user.
  • the pendulum movement can effectively cross the steps.
  • the root canal file can be controlled to clean the root canal according to the conventional control scheme, so that the root canal with steps can be effectively formed.
  • embodiments of the present invention may be provided as methods, devices, or computer program products. Accordingly, embodiments of the invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • Embodiments of the present invention are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor or processor of other programmable data processing terminal equipment to produce a machine such that instructions executed by the computer or processor of other programmable data processing terminal equipment Produce means for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

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Abstract

一种根管治疗设备的机电控制系统及其切削控制方法和装置，方法和装置应用于根管治疗设备的机电控制系统，具体为在根管治疗设备中用于驱动根管锉的驱动电机启动后，控制根管锉以预设角度范围进行钟摆运动；当根管锉通过钟摆运动越过根管（101）内的台阶（102）后，按用户预设的工作模式执行切削操作以消除台阶（102）。通过钟摆运动可以有效越过台阶（102），当越过台阶（102）后即可按常规控制方案控制根管锉对根管（101）进行清扫，从而使具有台阶（102）的根管（101）能够有效成型。

Description

根管治疗设备的机电控制系统及其切削控制方法和装置 技术领域
本申请要求于2021年09月16日提交中国专利局、申请号为202111086294.0、发明名称为“根管治疗设备的机电控制系统及其切削控制方法和装置”的国内申请的优先权，其全部内容通过引用结合在本申请中。
背景技术
根管治疗设备是牙科治疗中常用的医疗设备，其通过内部的机电控制系统控制根管锉的运动来实现对牙齿的根管的切屑，去除根管中杂质以实现对其有效成型。
现有的根管治疗设备的机电控制系统主要是通过控制根管锉连续运动、往复运动来实现对根管碎屑的切屑。对于复杂根管，特别是形成台阶的根管，上述控制方法无法使根管锉越过并消除台阶，无法实现根管的成型。
发明内容
有鉴于此，本申请提供一种根管治疗设备的机电控制系统及其切削控制方法和装置，用于使根管锉能够有效越过并消除根管中的台阶，以实现根管的成型。
为了实现上述目的，现提出的方案如下：
一种切削控制方法，应用于根管治疗设备的机电控制系统，所述切削控制方法包括步骤：
在所述根管治疗设备中用于驱动根管锉的驱动电机启动后，控制所述根管锉以预设角度范围进行钟摆运动；
当所述根管锉通过所述钟摆运动越过根管内的台阶后，控制所述根管 锉按用户预设的工作模式执行切削操作。
可选的，所述预设角度范围为大于等于0且小于等于400。
可选的，所述按用户预设的工作模式执行切削操作，包括步骤：
控制所述根管锉执行往复运动；
控制所述根管锉执行连续转动；
或，控制所述根管锉执行自适应运动。
可选的，所述往复运动的正向角范围为大于零且小于等于600、反向角范围为大于零且小于等于600。
可选的，所述控制所述根管锉执行自适应运动，包括步骤：
以设定的转速和扭矩控制所述根管锉进行连续转动；
当遇到的阻力大于所述扭矩时控制所述根管锉往复运动；
当所述阻力解除或小于所述扭矩时恢复所述连续运动。
一种切削控制装置，应用于根管治疗设备的机电控制系统，所述切削控制装置包括：
第一控制模块，被配置为在所述根管治疗设备中用于驱动根管锉的驱动电机启动后，控制所述根管锉以预设角度范围进行钟摆运动；
第二控制模块，被配置为当所述根管锉通过所述钟摆运动越过根管内的台阶后，控制所述根管锉按用户预设的工作模式执行切削操作。
可选的，所述预设角度范围为大于等于0且小于等于400。
可选的，所述第二控制模块包括：
第一控制单元，被配置为控制所述根管锉执行往复运动；
第二控制单元，被配置为控制所述根管锉执行连续转动；
或，第三控制单元，被配置为控制所述根管锉执行自适应运动。
可选的，所述往复运动的正向角范围为大于零且小于等于600、反向角范围为大于零且小于等于600。
可选的，所述第二控制单元被配置为以设定的转速和扭矩控制所述根管锉进行连续转动，包括连续正向转动和连续反向转动。
可选的，所述第三控制单元被配置为控制所述根管锉执行自适应运动。以设定的转速和扭矩控制根管锉进行连续转动。当遇到的阻力大于所述扭 矩时控制所述根管锉往复运动，当所述阻力解除或小于所述扭矩时恢复所述连续运动。
一种机电控制系统，应用于根管治疗设备，包括如上所述的切削控制装置。
从上述的技术方案可以看出，本申请公开了一种根管治疗设备的机电控制系统及其切削控制方法和装置，该方法和装置应用于根管治疗设备的机电控制系统，具体为在根管治疗设备中用于驱动根管锉的驱动电机启动后，控制根管锉以预设角度范围进行钟摆运动；当根管锉通过钟摆运动越过根管内的台阶后，按用户预设的工作模式执行切削操作以消除台阶。在上述方案中通过钟摆运动可以有效越过台阶，当越过台阶后即可按常规控制方案控制根管锉对根管进行清扫，从而使具有台阶的根管能够有效成型。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例的一种切削控制方法的流程图；
图2为牙齿的剖面图；
图3为本申请实施例的一种切削控制装置的框图；
图4为本申请实施例的另一种切削控制装置的框图；
图5为本申请实施例的又一种切削控制装置的框图；
图6为本申请实施例的又一种切削控制装置的框图；
图7为本申请实施例的又一种切削控制装置的框图；
图8为本申请实施例的一种机电控制系统的框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
实施例一
图1为本申请实施例的一种切削控制方法的流程图。
如图1所示，本实施例提供的切削控制方法应用于根管治疗设备的机电控制系统，该根管治疗设备设置有根管锉，该切削控制方法具体包括如下步骤：
S1、控制根管锉按预设角度范围进行钟摆运动。
即在根管治疗设备中用于驱动根管锉的驱动电机启动后，控制置于牙齿的根管内的根管锉按预设角度范围进行钟摆运动，该预设角度范围大于0且小于等于400。通过钟摆运动可以越过根管内的台阶，该台阶如图2所示，其中台阶102位于牙齿100的根管101内。
S2、控制根管锉按用户预设的工作模式执行切削操作。
即在根管锉按钟摆运动越过根管内的台阶后，控制根管锉按用户预设的工作模式执行切削操作，直至完成对台阶的消除和根管内物质的切削清除。
本申请中用户预设的工作模式包括往复运动、连续转动和自适应运动。具体来说，是在根管锉越过该台阶后控制根管锉执行往复运动、控制根管锉执行连续转动或者控制根管锉执行自适应运动。往复运动的正向角范围为大于零且小于等于600，其反向角范围为大于零且小于等于600；这里的连续转动为持续的正向转动或反向转动。
该自适应运动具体包括如下步骤：
首先以设定的转速和扭矩控制根管锉进行连续转动，这里的连续转动可以为正向转动也可以为反向转动；当遇到的阻力大于上述设定的扭矩时 控制根管锉往复运动，以消除该阻碍；当阻力解除或小于上述扭矩时恢复连续运动，直至完成根管的清除。
从上述技术方案可以看出，本实施例提供了一种切削控制方法，该方法应用于根管治疗设备的机电控制系统，具体为在根管治疗设备中用于驱动根管锉的驱动电机启动后，控制根管锉以预设角度范围进行钟摆运动；当根管锉通过钟摆运动越过根管内的台阶后，按用户预设的工作模式执行切削操作，消除台阶，清洗碎屑。在上述方案中通过钟摆运动可以有效越过台阶，当越过台阶后即可按常规控制方案控制根管锉对根管进行清扫，从而消除台阶，使根管能够有效成型。
实施例二
图3为本申请实施例的一种切削控制装置的框图。
如图3所示，本实施例提供的切削控制装置应用于根管治疗设备的机电控制系统，该根管治疗设备设置有根管锉，该切削控制装置具体包括第一控制模块10和第二控制模块20。
第一控制模块用于控制根管锉按预设角度范围进行钟摆运动。
即在根管治疗设备中用于驱动根管锉的驱动电机启动后，控制置于牙齿的根管内的根管锉按预设角度范围进行钟摆运动，该预设角度范围大于0且小于等于400。通过钟摆运动可以越过根管内的台阶，该台阶如图2所示，其中台阶102位于牙齿100的根管101内。
第二控制模块用于控制根管锉按用户预设的工作模式执行切削操作。
即在根管锉按钟摆运动越过该台阶所在位置后，控制根管锉按用户预设的工作模式执行切削操作，将根管内的台阶予以消除，同时完成对根管内物质的切削清除。
本申请中用户预设的工作模式包括往复运动、连续转动和自适应运动。基于此，该第二控制模块包括第一控制单元21、第二控制单元22和第三控制单元23中的部分或全部，如图4～图7所示。具体来说，该第一控制单元用于在根管锉越过该台阶后控制根管锉执行往复运动，第二控制单元用于控制根管锉执行连续转动，第三控制单元用于控制根管锉执行自适应 运动。往复运动的正向角范围为大于零且小于等于600，其反向角范围为大于零且小于等于600；这里的连续转动为正向转动或反向转动。
该第三控制单元具体按如下步骤执行对根管锉额控制。
首先以设定的转速和扭矩控制根管锉进行连续转动，这里的连续转动可以为正向转动也可以为反向转动；当遇到的阻力大于上述设定的扭矩时控制根管锉往复运动，以消除该阻碍；当阻力解除或小于上述扭矩时恢连续运动，直至完成根管的清除。
从上述技术方案可以看出，本实施例提供了一种切削控制装置，该装置应用于根管治疗设备的机电控制系统，具体为在根管治疗设备中用于驱动根管锉的驱动电机启动后，控制根管锉以预设角度范围进行钟摆运动；当根管锉通过钟摆运动越过根管内的台阶后，按用户预设的工作模式执行切削操作。在上述方案中通过钟摆运动可以有效越过台阶，当越过台阶后即可按常规控制方案控制根管锉对根管内的台阶进行消除同时清扫根管，从而使具有台阶的根管能够有效成型。
实施例三
本实施例提供了一种机电控制系统，该机电控制系统设置有上述实施例中通过的切削控制装置。该装置具体用于在根管治疗设备中用于驱动根管锉的驱动电机启动后，控制根管锉以预设角度范围进行钟摆运动；当根管锉通过钟摆运动越过根管内的台阶后，按用户预设的工作模式执行切削操作。在上述方案中通过钟摆运动可以有效越过台阶，当越过台阶后即可按常规控制方案控制根管锉对根管进行清扫，从而使具有台阶的根管能够有效成型。
另外，该机电控制系统包括至少一个处理器201和存储器202，两者通过数据总线203实现连接，如图8所示。该存储器用于存储计算机程序或指令，该处理器用于执行相应计算机程序或指令，以使该机电控制系统实现实施例中的切削控制方法。
该方法具体为在根管治疗设备中用于驱动根管锉的驱动电机启动后，控制根管锉以预设角度范围进行钟摆运动；当根管锉通过钟摆运动越过根 管内的台阶后，按用户预设的工作模式执行切削操作。在上述方案中通过钟摆运动可以有效越过台阶，当越过台阶后即可按常规控制方案控制根管锉对根管进行清扫，从而使具有台阶的根管能够有效成型。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本发明实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本发明实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明实施例是参照根据本发明实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方 框中指定的功能的步骤。
尽管已描述了本发明实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本发明所提供的技术方案进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (12)

  1. 一种切削控制方法，应用于根管治疗设备的机电控制系统，其特征在于，所述切削控制方法包括步骤：
    在所述根管治疗设备中用于驱动根管锉的驱动电机启动后，控制所述根管锉以预设角度范围进行钟摆运动；
    当所述根管锉通过所述钟摆运动越过根管内的台阶后，控制所述根管锉按用户预设的工作模式执行切削操作。
  2. 如权利要求1所述的切削控制方法，其特征在于，所述预设角度范围为大于等于0且小于等于400。
  3. 如权利要求1所述的切削控制方法，其特征在于，所述按用户预设的工作模式执行切削操作，包括步骤：
    控制所述根管锉执行往复运动；
    控制所述根管锉执行连续转动；
    或，控制所述根管锉执行自适应运动。
  4. 如权利要求3所述的切削控制方法，其特征在于，所述往复运动的正向角范围为大于零且小于等于600、反向角范围为大于零且小于等于600。
  5. 如权利要求3所述的切削控制方法，其特征在于，所述控制所述根管锉执行自适应运动，包括步骤：
    以设定的转速和扭矩控制所述根管锉进行连续转动；
    当遇到的阻力大于所述扭矩时控制所述根管锉往复运动；
    当所述阻力解除或小于所述扭矩时恢复所述连续运动。
  6. 一种切削控制装置，应用于根管治疗设备的机电控制系统，其特征在于，所述切削控制装置包括：
    第一控制模块，被配置为在所述根管治疗设备中用于驱动根管锉的驱动电机启动后，控制所述根管锉以预设角度范围进行钟摆运动；
    第二控制模块，被配置为当所述根管锉通过所述钟摆运动越过根管内的台阶后，控制所述根管锉按用户预设的工作模式执行切削操作。
  7. 如权利要求6所述的切削控制装置，其特征在于，所述预设角度范围为大于等于0且小于等于400。
  8. 如权利要求6所述的切削控制装置，其特征在于，所述第二控制模块包括：
    第一控制单元，被配置为控制所述根管锉执行往复运动；
    第二控制单元，被配置为控制所述根管锉执行连续转动；
    或，第三控制单元，被配置为控制所述根管锉执行自适应运动。
  9. 如权利要求8所述的切削控制装置，其特征在于，所述往复运动的正向角范围为大于零且小于等于600、反向角范围为大于零且小于等于600。
  10. 如权利要求8所述的切削控制装置，其特征在于，所述第二控制单元被配置为以设定的转速和扭矩控制所述根管锉进行连续转动，包括连续正向转动和连续反向转动。
  11. 如权利要求8所述的切削控制装置，其特征在于，所述第三控制单元被配置为控制所述根管锉执行自适应运动，以设定的转速和扭矩控制根管锉进行连续转动，当遇到的阻力大于所述扭矩时控制所述根管锉往复运动，当所述阻力解除或小于所述扭矩时恢复所述连续运动。
  12. 一种机电控制系统，应用于根管治疗设备，其特征在于，包括如权利要求6～11任一项所述的切削控制装置。
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