CN106235998A - A kind of dental tooth repair device and system - Google Patents
A kind of dental tooth repair device and system Download PDFInfo
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- CN106235998A CN106235998A CN201610741118.9A CN201610741118A CN106235998A CN 106235998 A CN106235998 A CN 106235998A CN 201610741118 A CN201610741118 A CN 201610741118A CN 106235998 A CN106235998 A CN 106235998A
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- miniature
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- joint robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
-
- 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
- A61C1/08—Machine parts specially adapted for dentistry
-
- 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
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/088—Illuminating devices or attachments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C3/00—Dental tools or instruments
- A61C3/02—Tooth drilling or cutting instruments; Instruments acting like a sandblast machine
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- Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Dentistry (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Surgery (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The invention discloses a kind of dental tooth repair device, including: support, for the dental articulation for fit object to strut two upper and lower row's teeth, described support includes working hole and the occlusion position of described rack surface setting at middle part；Miniature six-joint robot, one end is fixed on outside the oral cavity for fit object, and free end stretches in the oral cavity for fit object from described working hole；Topping machanism, is arranged on the free end of described miniature six-joint robot, for cutting with the action of described miniature six-joint robot.The invention also discloses a kind of dental fit system.The support of the present invention can ensure that the tooth of patient is maintained at specific settling position, can accurately be controlled the parameter such as cutting position and the degree of depth of topping machanism by miniature six-joint robot, it is ensured that tool track controls in accuracy rating accurately, and stock-removing efficiency is high；Meanwhile, utilize ultrasound wave osteotome to carry out cutting energy and be prevented effectively from the cutter injury to patient muscle tissue.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly relate to a kind of dental tooth repair device and system.
Background technology
The fit technology of the current state-of-the-art country of dentistry (U.S., France) the most in the world or doctor's manual operation,
According to parameters such as on-the-spot clinical observation the cutting shape of tooth, positions, assist work by the observation system with camera head simultaneously
Make.
This technology disadvantage is that eye judges that form accuracy is the lowest, and people can be tired simultaneously, and doctor completes a fit
Needing several hours, the odontoid size meeting error of people's estimation under fatigue state is bigger.The punch of the such precision drawn
Coordinating the most very inaccuracy with the die of tooth set, gap is very big, is easily caused the fixing shakiness of tooth set.And make tooth set outside the venue
Design size is the most difficult to be determined, efficiency is the lowest.
Have tried to replace manually with machinery, but because patient can move, machine is difficult to location according to technical grade precision
Cutting tooth, cutting tool is likely to produce surprisingly simultaneously, damages patient oral cavity.
Summary of the invention
The deficiency existed in view of prior art, the invention provides a kind of dental tooth repair device and system, it is possible to replace
Manual operation, has the advantage that working performance is high, precision is good.
In order to realize above-mentioned purpose, present invention employs following technical scheme:
A kind of dental tooth repair device, including:
Support, for the dental articulation for fit object to strut two upper and lower row's teeth, described support includes middle part
The occlusion position that working hole and described rack surface are arranged；
Miniature six-joint robot, one end is fixed on outside the oral cavity for fit object, and free end stretches into from described working hole
For in the oral cavity of fit object；
Topping machanism, is arranged on the free end of described miniature six-joint robot, for described miniature six-joint robot
Action is cut.
As one of which embodiment, described support is ring-type, and described occlusion position is for being opened in described support outer ring surface
Occlusal crib.
As one of which embodiment, described occlusal crib has many groups, often organizes described occlusal crib and is respectively arranged on described support
On the outer ring of different-diameter.
As one of which embodiment, the material of described support is medical silica-gel.
As one of which embodiment, described topping machanism is ultrasound wave osteotome.
As one of which embodiment, described occlusion position surface configuration has pressure transducer.
As one of which embodiment, described miniature six-joint robot includes turning of multiple tubulose being rotationally connected successively
Swing arm and the dynamical system being located in cursor, described topping machanism is fixed on the cursor of described miniature six-joint robot end
On.
As one of which embodiment, the syphon shape that described miniature six-joint robot includes being arranged alternately and straight tube-like
Cursor.
Another object of the present invention is to provide a kind of dental fit system, including:
Driver element, is used for electrically connecting miniature six-joint robot and controlling to drive corresponding cursor to rotate；
Cutting control unit, is used for electrically connecting ultrasound wave osteotome and controlling its cutting frequency；
Central control unit, electrically connects described driver element and described cutting control unit, for controlling institute according to instruction
State driver element and the work of described cutting control unit；
Detector unit, is located in the oral cavity for fit object, for detecting the tooth positioning states for fit object, and root
Optionally send according to positioning states enabling signal or stop signal give described central control unit, with change described cutting control
The duty of unit.
As one of which embodiment, described detector unit is pressure transducer, when described pressure transducer suffers oppression
Time, described central control unit sends enabled instruction to described cutting control unit；When described pressure transducer pressure is removed
When going, described central control unit sends halt instruction to described cutting control unit.
The support of the present invention can ensure that the tooth of patient is maintained at specific settling position, by miniature six-joint robot
The parameters such as cutting position and the degree of depth that can accurately control topping machanism, it is ensured that tool track controls in accuracy rating accurately
In, stock-removing efficiency is high；Meanwhile, utilize ultrasound wave osteotome to carry out cutting energy and be prevented effectively from the cutter injury to patient muscle tissue.
Accompanying drawing explanation
Fig. 1 is the structural representation of the dental tooth repair device of the embodiment of the present invention.
Fig. 2 is the structural representation of the support of the embodiment of the present invention.
Fig. 3 A is a use status architecture schematic diagram of the miniature six-joint robot of the embodiment of the present invention.
Fig. 3 B is another use status architecture schematic diagram of the miniature six-joint robot of the embodiment of the present invention.
Fig. 3 C is another use status architecture schematic diagram of the miniature six-joint robot of the embodiment of the present invention.
Fig. 4 is the dental fit system structure schematic diagram of the embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention further describes.Should be appreciated that specific embodiment described herein, and need not only in order to explain the present invention
In limiting the present invention.
This product is mainly used in when doctor installs artificial tooth set to patient, accurately repaiies system and tooth set die is joined on tooth
The punch closed.Refering to Fig. 1, the dental tooth repair device of the present invention includes support 10, miniature six-joint robot 20 and topping machanism
30, wherein, support 10 is for the dental articulation for fit object to strut two upper and lower row's teeth, and it includes the working hole at middle part
11 and the occlusion position 100 of support 10 surface configuration；One end of miniature six-joint robot 20 is fixed on outside the oral cavity for fit object,
The other end (i.e. free end) passes support 10, in working hole 11 stretches into the oral cavity for fit object (i.e. patient)；Topping machanism
30 i.e. fit cutter, is arranged on the free end of miniature six-joint robot 20, can with the stretching of miniature six-joint robot 20, contract, go up,
Under, the action such as rotation cuts.
In conjunction with Fig. 1 and Fig. 2, the support 10 of the present embodiment occlusal surface form fit, substantially ring after opening one's mouth with human body
Shape, middle part offers working hole 11, and occlusion position 100 is positioned on the side face of support 10, is the most more preferably opened in support
The occlusal crib of the outer ring surface of 10.This occlusal crib be shaped as arc, with the form fit of tooth.Wherein, occlusal crib can be whole
Circle groove, it is also possible to be in the multiple short groove that the not homonymy of working hole 11 is oppositely arranged.
For improving the compatibility of support 10, the outer peripheral face of support 10 also can offer many group occlusion positions 100 further, i.e.
Occlusal crib has many groups (each group of corresponding above-mentioned circle groove or multiple short grooves), and often group occlusal crib is respectively arranged on support 10 not
With on the outer ring of diameter.Make that there are on same support 10 the many groups of occlusion positions 100 that size is different, it is simple to different size of mouth
Crowd (such as child and adult, or the most agnate crowd) occlusion of type.It addition, on working hole 11 surface of support 10 also
It is coated with a lamination and becomes sheet coating so that miniature six-joint robot 20 or the topping machanism 30 of tooth repair device once touch people
Coating around body oral cavity, the pressure transducer in coating will can send request signal stopping action immediately, and buckling sheet sense
The pressure known is adjustable, so that doctor can be according to practical situation from main regulation sensitivity, it is achieved function self-defined.
The material of the support 10 of the present invention preferably employs medical silica-gel.Time clinical, patient opens one's mouth to bite the support of location
10, thereby may be ensured that stablizing relative to position between tooth and support 10, in order to topping machanism 30 next step to carry out cutting dynamic
Make.
It addition, the topping machanism 30 of the present embodiment is preferably ultrasound wave osteotome, the ultrasonic energy of ultrasound wave osteotome is the most right
Teeth-cutting, reactionless to muscular tissue, it converts electric energy to mechanical energy by piezoelectric transducer device makes alloy cutter head be in
High-frequency resonance mode, utilizes the mechanical acceleration of cutter head to the tooth bone group of (unit can be as accurate as micron order) in very low range
Knit and cut accurately, cutter patient harm muscular tissue can be prevented effectively from, by regulating the operating frequency of topping machanism 30
Cutting dynamics can be changed.
Further, being additionally provided with pressure transducer 12 on the surface of occlusion position 100, pressure transducer 12 can be arranged on
The bottom of occlusal crib, accurately detects the interlocking pattern of patient.When patient bites during pressure transducer 12, occlusion signal is delivered to
Central control system, starts tooth repair device work；When patient's releases clamp 10, pressure transducer 12 transmission stops signal, repaiies
Tooth device stopping action.It is understood that when support 10 is designed to have the occlusion position that many groups are positioned on different-diameter,
Often on group occlusion position, at least there is a pressure transducer.
As shown in fig.3 a 3 c, Fig. 3 A is miniature six-joint robot free end in towards projecting forwardly to the state signal grown most
Figure；Fig. 3 B is that miniature six-joint robot free end is in towards left view；Fig. 3 C is miniature six-joint robot free end
It is in the view towards obliquely downward.Miniature six-joint robot 20 has multiple cursor, and one end is installed in rotation on and turns
On dynamic seat 2, topping machanism 30 is fixed on the cursor of miniature six-joint robot 20 end.Each cursor of the present embodiment
Being tubular structure, multiple cursors are rotatably coupled (socket) successively, the cursor inner hollow of tubulose, drive corresponding rotation
The dynamical system of arm rotation and drive system, as motor, transmission band or drive link, bearing etc. can be arranged on inside cursor,
The volume and the size that make miniature six-joint robot 20 be can be made smaller, and precision is higher, are more suitable for use of performing the operation, by miniature six
The motion of axle robot 20, topping machanism 30 can carry out fit in any direction in the periodontal any position in cavity
Action.In dynamical system, driven by motor it is preferably used, the servomotor of motor employing type band harmonic speed reducer or motor,
Can ensure that enough running precisions and positioning precision.Motor is arranged on the junction of each two cursor, by with the joining of bearing
Close and drive relatively rotating of adjacent two cursors.
Specifically, miniature six-joint robot 20 includes the cursor of the syphon shape being arranged alternately: the first cursor the 21, the 3rd
Cursor 23 and the 5th cursor 25, and the cursor of straight tube-like: the second cursor the 22, the 4th cursor 24 and the 6th cursor
26, the first cursor 21 is rotatably mounted on rotation seat 2, and topping machanism 30 is fixed on the 6th cursor 26, adjacent two
Can be rotatably sleeved in together by bearing between individual cursor.Here, the first cursor the 21, the 3rd cursor 23 and the 5th
Cursor 25 is further configured to syllogic, and each head, tail two ends towards and differ so that miniature six axles
Robot 20 can use less size to obtain most degree of freedom, and action is more flexible, and procedure efficiency is higher.
In other embodiments, it is also possible to the cursor of only one of which syphon shape, or be only merely one of them or
The cursor of multiple syphon shapes is syllogic, by the head of cursor of the syphon shape of syllogic, tail two ends can towards difference
To realize similar effect, but effect be not so good as the present embodiment.
It addition, as shown in Figure 4, corresponding with this structure, the dental fit system of the present invention includes central control unit
01, driver element 02, cutting control unit 03 and detector unit 04, wherein driver element 02 is used for electrically connecting miniature six axle machines
People 20 also controls to drive corresponding cursor to rotate；Cutting control unit 03 is used for electrically connecting ultrasound wave osteotome and controlling its cutting
Frequency；Central control unit 01 electrically connects driver element 02 and cutting control unit 03, for (outside mutual according to various instructions
Instruction and internal feedback instruct) control driver element 02 and cutting control unit 03 works；Detector unit 04 is located at the mouth of patient
Intracavity, for detecting the tooth positioning states of patient, and optionally sends enabling signal or stops signal according to positioning states
To central control unit, to change the duty of cutting control unit.Central control unit 01 can use computer generation to replace,
Can realize man-machine interaction and display function, during fit, miniature six-joint robot 20 can be with rotation seat 2 as initial point, with solid
The support 10 reserved is reference object, realizes topping machanism 30 relative to support 10 by controlling the rotation of corresponding cursor
Relative coordinate position (namely position of tooth) conversion.
Here, detector unit is the pressure transducer 12 being arranged on the support 10 for the occlusion of fit object, when pressure passes
When sensor 12 suffers oppression, central control unit sends enabled instruction to cutting control unit 03；When 12 pressurizeds of pressure transducer
When power removes, central control unit 01 sends halt instruction to cutting control unit 03.
During product uses, it is also possible to according to the differential responses of patient, reasonably change occlusion fixed mount hardness,
Shape, and increase other parameter sensors adapted to required for patient's physiology is experienced, as be used for detecting upper lower jaw change in location,
Dropsy in mouth cavity is handled up sensing etc., to having more comfortable experience to patient when treatment.
In other embodiments, tooth repair device also include display, monitor (such as photographic head) and illuminator (as
LED), display can be used for showing driver element, cutting control unit, central control unit and the work of detector unit in real time
Parameter state；Monitor and illuminator are installed over the mount 10 near the side in oral cavity, or are arranged on miniature six axle machines
On the free end of people 20 adjacent with topping machanism, or be directly installed on topping machanism, by this monitor, doctor can be real
In time, observed for the intraoral situation of fit object, as observe the cutting cutting face situation at position, upper lower jaw change in location situation,
Dropsy in mouth cavity and situation of handling up, in order to central control unit is made and adjusted action accordingly.Fit system includes driving showing accordingly
Show device display unit 05, drive monitor monitor unit 06 and drive illuminator lighting unit 07, its each via
Central control unit is adjusted and controls.
The support of the present invention can ensure that the tooth of patient is maintained at specific settling position, by miniature six-joint robot
The parameters such as cutting position and the degree of depth that can accurately control topping machanism, it is ensured that tool track controls in accuracy rating accurately
In, stock-removing efficiency is high；Meanwhile, utilize ultrasound wave osteotome to carry out cutting energy and be prevented effectively from the cutter injury to patient muscle tissue.
The above is only the detailed description of the invention of the application, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the application principle, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as the protection domain of the application.
Claims (10)
1. a dental tooth repair device, it is characterised in that including:
Support (10), for the dental articulation for fit object to strut two upper and lower row's teeth, during described support (10) includes
The working hole (11) in portion and the occlusion position (100) of described support (10) surface configuration；
Miniature six-joint robot (20), one end is fixed on outside the oral cavity for fit object, and free end is from described working hole (11)
Stretch in the oral cavity for fit object；
Topping machanism (30), is arranged on the free end of described miniature six-joint robot (20), for described miniature six axle machines
The action of people (20) is cut.
Dental tooth repair device the most according to claim 1, it is characterised in that described support (10) is ring-type, described in sting
Closing position (100) is the occlusal crib being opened in described support (10) outer ring surface.
Dental tooth repair device the most according to claim 2, it is characterised in that described occlusal crib has many groups, often group is described
Occlusal crib is respectively arranged on the outer ring of described support (10) different-diameter.
Dental tooth repair device the most according to claim 1, it is characterised in that the material of described support (10) is medical silicon
Glue.
Dental tooth repair device the most according to claim 1, it is characterised in that described topping machanism (30) is ultrasonic bone
Cutter.
Dental tooth repair device the most according to claim 1, it is characterised in that described occlusion position (100) surface configuration has
Pressure transducer (12).
7. according to the arbitrary described dental tooth repair device of claim 1-6, it is characterised in that described miniature six-joint robot
(20) cursor including multiple tubulose being rotationally connected successively and the dynamical system being located in cursor, described topping machanism
(30) it is fixed on the cursor of described miniature six-joint robot (20) end.
Dental tooth repair device the most according to claim 7, it is characterised in that described miniature six-joint robot (20) includes
The cursor with straight tube-like of the syphon shape being arranged alternately.
9. a dental fit system, it is characterised in that including:
Driver element, is used for electrically connecting miniature six-joint robot (20) and controlling to drive corresponding cursor to rotate；
Cutting control unit, is used for electrically connecting ultrasound wave osteotome and controlling its cutting frequency；
Central control unit, electrically connects described driver element and described cutting control unit, for driving according to instruction control
Moving cell and the work of described cutting control unit；
Detector unit, is located in the oral cavity for fit object, for detecting the tooth positioning states for fit object, and according to fixed
Condition selecting ground, position sends enabling signal or stops signal to described central control unit, to change described cutting control unit
Duty.
Dental fit system the most according to claim 9, it is characterised in that described detector unit is pressure transducer
(12), when described pressure transducer (12) suffers oppression, described central control unit sends enabled instruction and controls to described cutting
Unit；When described pressure transducer (12) pressure removes, described central control unit send halt instruction to described in cut
Cut control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610741118.9A CN106235998A (en) | 2016-08-26 | 2016-08-26 | A kind of dental tooth repair device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610741118.9A CN106235998A (en) | 2016-08-26 | 2016-08-26 | A kind of dental tooth repair device and system |
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| Publication Number | Publication Date |
|---|---|
| CN106235998A true CN106235998A (en) | 2016-12-21 |
Family
ID=57596880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610741118.9A Pending CN106235998A (en) | 2016-08-26 | 2016-08-26 | A kind of dental tooth repair device and system |
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| CN (1) | CN106235998A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108186139A (en) * | 2017-12-25 | 2018-06-22 | 东莞市松研智达工业设计有限公司 | A kind of tooth cutting mechanism of band protection |
| CN109620415A (en) * | 2019-02-14 | 2019-04-16 | 北京水木天蓬医疗技术有限公司 | Robot assisted ultrasound bone dynamical system |
| US11967063B2 (en) | 2020-03-30 | 2024-04-23 | Industrial Technology Research Institute | Automatic bio-specimen inspection system and inspection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108186139A (en) * | 2017-12-25 | 2018-06-22 | 东莞市松研智达工业设计有限公司 | A kind of tooth cutting mechanism of band protection |
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| US11967063B2 (en) | 2020-03-30 | 2024-04-23 | Industrial Technology Research Institute | Automatic bio-specimen inspection system and inspection method thereof |
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