CN107625559A - A kind of intelligent dental medical apparatus and its control method - Google Patents
A kind of intelligent dental medical apparatus and its control method Download PDFInfo
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- CN107625559A CN107625559A CN201710702908.0A CN201710702908A CN107625559A CN 107625559 A CN107625559 A CN 107625559A CN 201710702908 A CN201710702908 A CN 201710702908A CN 107625559 A CN107625559 A CN 107625559A
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- skin
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- pigmentary deposit
- abnormal pigmentary
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Abstract
The present invention relates to a kind of intelligent dental medical apparatus and its control method, the equipment includes control unit, mechanical arm, camera, execution unit；Mechanical arm is connected with camera, is sequentially connected between camera, control unit, execution unit；The camera, it is used for configuration and captures intraoral image；Described control unit, it is arranged to：According to the image of camera, judge whether to eat into abnormal pigmentary deposit on the skin；And judge mechanical arm with the presence or absence of alignment moth abnormal pigmentary deposit on the skin position；And control execution unit；And the position of adjustment mechanical arm；The execution unit, is configured to be arranged at and is relatively fixed with mechanical arm, for handling the moth abnormal pigmentary deposit on the skin detected.The beneficial effects of the invention are as follows：Pass through said apparatus, it is possible to achieve the full-automatic detection and processing of abnormal pigmentary deposit on the skin are eaten into oral cavity, meanwhile, medical personnel can reduce the experience dependence to medical personnel by the real-time detection process situation of host computer display unit.
Description
Technical field
The present invention relates to medical field, specifically, the invention discloses intelligent dental medical apparatus and its control method.
Background technology
Dental treatment device is a kind of medicine equipment generally used in department of stomatology, Hospital and dental clinic, and it is mainly used in
Oral care (such as cleaning tartar, polishing, sealing at all), oral cavity is safeguarded (such as dental filling, reparation), dental pulp disease (such as root pipe
Treatment), implantation, maintenance, repairing, the replacement of artificial tooth, and periodontitis regulation etc..As people are to dental health and attractive in appearance more next
More pay attention to, increasing crowd selects that tooth is treated and safeguarded.
But the automatic controlling level for the dental therapeutic apparatus that oneself has is not high at present, mostly place one's entire reliance upon medical matters
Worker；And the quality of medical treatment, the then experience dependent on medical personnel.At the same time, over the course for the treatment of, medical personnel
It must concentrate, otherwise, it will cause serious consequence.
In order to overcome above mentioned problem, the patent application of Application No. 201610895555.6, it is proposed that one kind digitlization control
The dentistry apparatus for ultrasonic therapeutic treatment of system, for adjusting the power and water yield of control；The patent of Application No. 201710366471.8
Application, and the coordination control of current is only realized, and combine the scheme handled with automatically controlling for automatic detection, relate to
It is and very few.
Therefore, the present invention proposes a kind of intelligent dental medical apparatus.
The content of the invention
The shortcomings that it is an object of the invention to overcome prior art, the present invention propose a kind of intelligent dental medical apparatus and its
Control method.
Specifically, a kind of intelligent dental medical apparatus, it is characterised in that the equipment includes control unit, mechanical arm, taken the photograph
As head, execution unit；
Mechanical arm is connected with camera, is sequentially connected between camera, control unit, execution unit；
The camera, it is used for configuration and captures intraoral image；
Described control unit, it is arranged to：According to the image of camera, judge whether to eat into abnormal pigmentary deposit on the skin；And judge mechanical arm
With the presence or absence of alignment moth abnormal pigmentary deposit on the skin position；And control execution unit；And the position of adjustment mechanical arm；
The execution unit, is configured to be arranged at and is relatively fixed with mechanical arm, for handling the moth abnormal pigmentary deposit on the skin detected.
Preferably, the intelligent dental medical apparatus also includes motor, and the mechanical arm includes multiple joints, how free is
Structure is spent, each joint carries out position adjustments using motor, and the motor is controlled by the driver element being connected with control unit.
Preferably, the execution unit can be in hydraulic water spraying installation, ultrasonic unit, sanding apparatus, dental filling device
One or more.
Optionally, in the front end of the execution unit, also including drive module.
Preferably, the equipment also includes host computer display unit, can be with the intraoral disposition of real-time display.
Optionally, between described control unit and the motor, drive module also be present.
Corresponding, the invention also provides a kind of control method corresponding with the intelligent dental medical apparatus, its feature
It is, methods described comprises the following steps：
S1：Initialization；
S2：Using the real-time capture images of camera, and it is uploaded to control unit；
S3：Judge whether to eat into abnormal pigmentary deposit on the skin, if in the presence of, mechanical arm position and the direction of motion now is recorded, and step S4 is performed,
Otherwise step S7 is performed；
S4：The position of adjusting mechanical arm, until the zone of action of execution unit is directed at the moth abnormal pigmentary deposit on the skin；
S5：Control execution unit carries out processing operation, and the image information of capture moth abnormal pigmentary deposit on the skin position in real time；
S6：Judge whether the moth abnormal pigmentary deposit on the skin is disposed, if so, then performing step S7, otherwise perform S5；
S7：Judge whether to scan through all areas, if not, performing step S8, otherwise, perform step S9；
S8：Scan position is adjusted, performs S2；
S9：Terminate.
Preferably, the initialization in the S1 includes：Oral cavity is scanned, increasing radius is determined, is laterally incremented by amplitude, by machinery
Arm is adjusted to initial position.
Preferably, judged whether in the S3 eat into abnormal pigmentary deposit on the skin method be：Judge in current scan image, first extraction is special
Fixed region, in specific region, region of the aberration different from other parts is judged whether, if it is present thinking to eat into
Abnormal pigmentary deposit on the skin is present.
Preferably, concretely comprising the following steps the zone of action alignment moth abnormal pigmentary deposit on the skin of execution unit in the S4：
S41：The image of abnormal pigmentary deposit on the skin will be eaten into, enter line translation, obtain rectangular image corresponding to moth abnormal pigmentary deposit on the skin；
S42：Obtain the central point of rectangular image；
S43：Adjust the position of mechanical arm so that the central point of camera capture figure is overlapping with the central point of rectangular image.
Preferably, judge that eating into the method whether abnormal pigmentary deposit on the skin is disposed is in the S6：Judge in current scan image, first carry
Specific region is taken, in specific region, judges whether region of the aberration different from other parts, if it does not exist, then
Think that abnormal pigmentary deposit on the skin is processed finishes for moth.
Preferably, the specific method of adjustment scan position is in the S8：Judge laterally be incremented by whether reach scanning area
Border, if so, new sweep radius is then determined according to scanning result and increasing radius, by the lateral attitude of new sweep radius
Homonymy boundary, as scan position；Otherwise, moved with being laterally incremented by amplitude according to predetermined movement direction, as scan position.
Optionally, mechanical arm of the invention could be arranged to multiple degrees of freedom form, such as, the design of the specific free degree can
It is actually needed and is determined with foundation, such as, five degree of freedom, and then, realize full angle scanning and movement.
Wherein, the control method can individually be implemented, can also be with intelligent dental medical apparatus common implementing.
By the invention it is possible to overcome the dependence for artificial experience in the prior art, it is possible to achieve eat into the full-automatic of abnormal pigmentary deposit on the skin
Change detection and processing.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings, and protection scope of the present invention is not limited to as described below：
As shown in figure 1, the present invention proposes a kind of intelligent dental medical apparatus, it is characterised in that it is single that the equipment includes control
Member, mechanical arm, camera, execution unit；
Mechanical arm is connected with camera, is sequentially connected between camera, control unit, execution unit；
The camera, it is used for configuration and captures intraoral image；
Described control unit, it is arranged to：According to the image of camera, judge whether to eat into abnormal pigmentary deposit on the skin；And judge mechanical arm
With the presence or absence of alignment moth abnormal pigmentary deposit on the skin position；And control execution unit；And the position of adjustment mechanical arm；
The execution unit, is configured to be arranged at and is relatively fixed with mechanical arm, for handling the moth abnormal pigmentary deposit on the skin detected.
Preferably, the intelligent dental medical apparatus also includes motor, and the mechanical arm includes multiple joints, how free is
Structure is spent, each joint carries out position adjustments using motor, and the motor is controlled by the driver element being connected with control unit.
Preferably, the execution unit can be in hydraulic water spraying installation, ultrasonic unit, sanding apparatus, dental filling device
One or more.
Optionally, in the front end of the execution unit, also including drive module.
Preferably, the equipment also includes host computer display unit, can be with the intraoral disposition of real-time display.
Optionally, between described control unit and the motor, drive module also be present.
Corresponding, the invention also provides a kind of control method corresponding with the intelligent dental medical apparatus, its feature
It is, methods described comprises the following steps：
S1：Initialization；
S2：Using the real-time capture images of camera, and it is uploaded to control unit；
S3：Judge whether to eat into abnormal pigmentary deposit on the skin, if in the presence of, mechanical arm position and the direction of motion now is recorded, and step S4 is performed,
Otherwise step S7 is performed；
S4：The position of adjusting mechanical arm, until the zone of action of execution unit is directed at the moth abnormal pigmentary deposit on the skin；
S5：Control execution unit carries out processing operation, and the image information of capture moth abnormal pigmentary deposit on the skin position in real time；
S6：Judge whether the moth abnormal pigmentary deposit on the skin is disposed, if so, then performing step S7, otherwise perform S5；
S7：Judge whether to scan through all areas, if not, performing step S8, otherwise, perform step S9；
S8：Scan position is adjusted, performs S2；
S9：Terminate.
Preferably, the initialization in the S1 includes：Oral cavity is scanned, increasing radius is determined, is laterally incremented by amplitude, by machinery
Arm is adjusted to initial position.
Preferably, judged whether in the S3 eat into abnormal pigmentary deposit on the skin method be：Judge in current scan image, first extraction is special
Fixed region, in specific region, region of the aberration different from other parts is judged whether, if it is present thinking to eat into
Abnormal pigmentary deposit on the skin is present.
Preferably, concretely comprising the following steps the zone of action alignment moth abnormal pigmentary deposit on the skin of execution unit in the S4：
S41：The image of abnormal pigmentary deposit on the skin will be eaten into, enter line translation, obtain rectangular image corresponding to moth abnormal pigmentary deposit on the skin；
S42：Obtain the central point of rectangular image；
S43：Adjust the position of mechanical arm so that the central point of camera capture figure is overlapping with the central point of rectangular image.
Preferably, judge that eating into the method whether abnormal pigmentary deposit on the skin is disposed is in the S6：Judge in current scan image, first carry
Specific region is taken, in specific region, judges whether region of the aberration different from other parts, if it does not exist, then
Think that abnormal pigmentary deposit on the skin is processed finishes for moth.
Preferably, the specific method of adjustment scan position is in the S8：Judge laterally be incremented by whether reach scanning area
Border, if so, new sweep radius is then determined according to scanning result and increasing radius, by the lateral attitude of new sweep radius
Homonymy boundary, as scan position；Otherwise, moved with being laterally incremented by amplitude according to predetermined movement direction, as scan position.
Optionally, mechanical arm of the invention could be arranged to multiple degrees of freedom form, such as, the design of the specific free degree can
It is actually needed and is determined with foundation, such as, five degree of freedom, and then, realize full angle scanning and movement.
Wherein, the control method can individually be implemented, can also be with intelligent dental medical apparatus common implementing.
It should be noted that for foregoing each embodiment of the method, in order to be briefly described, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should know, the application is not limited by described sequence of movement, because
For according to the application, certain some step can use other orders or carry out simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and unit not necessarily this Shen
Please be necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in some embodiment
Part, may refer to the associated description of other embodiment.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, described program can be stored in computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, ROM, RAM etc..
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (10)
1. a kind of intelligent dental medical apparatus, it is characterised in that the equipment includes control unit, mechanical arm, camera, execution
Unit；
Mechanical arm is connected with camera, is sequentially connected between camera, control unit, execution unit；
The camera, it is used for configuration and captures intraoral image；
Described control unit, it is arranged to：According to the image of camera, judge whether to eat into abnormal pigmentary deposit on the skin；And judge mechanical arm
With the presence or absence of alignment moth abnormal pigmentary deposit on the skin position；And control execution unit；And the position of adjustment mechanical arm；
The execution unit, is configured to be arranged at and is relatively fixed with mechanical arm, for handling the moth abnormal pigmentary deposit on the skin detected.
2. a kind of intelligent dental medical apparatus as claimed in claim 1, it is characterised in that the equipment also includes motor, institute
Stating mechanical arm includes multiple joints, is Level Multiple Degree of Freedom Structures, and each joint carries out position adjustments using motor, and the motor is controlled
In the driver element being connected with control unit.
3. a kind of intelligent dental medical apparatus as claimed in claim 1, it is characterised in that the execution unit can be hydraulic pressure
One or more in water injector, ultrasonic unit, sanding apparatus, dental filling device.
4. a kind of intelligent dental medical apparatus as claimed in claim 1, it is characterised in that the equipment also shows including host computer
Show unit, can be with the intraoral disposition of real-time display.
A kind of 5. control method corresponding to intelligent dental medical apparatus as described in claim 1-4, it is characterised in that the side
Method comprises the following steps：
S1：Initialization；
S2：Using the real-time capture images of camera, and it is uploaded to control unit；
S3：Judge whether to eat into abnormal pigmentary deposit on the skin, if in the presence of, mechanical arm position and the direction of motion now is recorded, and step S4 is performed,
Otherwise step S7 is performed；
S4：The position of adjusting mechanical arm, until the zone of action of execution unit is directed at the moth abnormal pigmentary deposit on the skin；
S5：Control execution unit carries out processing operation, and the image information of capture moth abnormal pigmentary deposit on the skin position in real time；
S6：Judge whether the moth abnormal pigmentary deposit on the skin is disposed, if so, then performing step S7, otherwise perform S5；
S7：Judge whether to scan through all areas, if not, performing step S8, otherwise, perform step S9；
S8：Scan position is adjusted, performs S2；
S9：Terminate.
6. a kind of control method as claimed in claim 5, it is characterised in that the initialization in the S1 includes：Scan oral cavity,
Determine increasing radius, be laterally incremented by amplitude, mechanical arm is adjusted to initial position.
7. a kind of control method as claimed in claim 5, it is characterised in that judge whether to eat into the method for abnormal pigmentary deposit on the skin in the S3
For：
Judge in current scan image, first extract specific region, in specific region, judge whether aberration different from
The region of other parts, if it is present thinking that eating into abnormal pigmentary deposit on the skin is present.
8. a kind of control method as claimed in claim 5, the zone of action of execution unit is directed at the moth abnormal pigmentary deposit on the skin in the S4
Concretely comprise the following steps：
S41：The image of abnormal pigmentary deposit on the skin will be eaten into, enter line translation, obtain rectangular image corresponding to moth abnormal pigmentary deposit on the skin；
S42：Obtain the central point of rectangular image；
S43：Adjust the position of mechanical arm so that the central point of camera capture figure is overlapping with the central point of rectangular image.
9. a kind of control method as claimed in claim 5, it is characterised in that judge to eat into what whether abnormal pigmentary deposit on the skin was disposed in the S6
Method is：
Judge in current scan image, first extract specific region, in specific region, judge whether aberration different from
The region of other parts, if it does not exist, then thinking moth, abnormal pigmentary deposit on the skin is processed finishes.
10. a kind of control method as claimed in claim 5, it is characterised in that the specific side of scan position is adjusted in the S8
Method is：
Judge laterally to be incremented by the border for whether reaching scanning area, if so, then being determined newly according to scanning result and increasing radius
Sweep radius, by the lateral attitude homonymy boundary of new sweep radius, as scan position；Otherwise, it is incremented by amplitude with horizontal
Moved according to predetermined movement direction, as scan position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710702908.0A CN107625559A (en) | 2017-08-16 | 2017-08-16 | A kind of intelligent dental medical apparatus and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710702908.0A CN107625559A (en) | 2017-08-16 | 2017-08-16 | A kind of intelligent dental medical apparatus and its control method |
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| CN107625559A true CN107625559A (en) | 2018-01-26 |
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| CN201710702908.0A Pending CN107625559A (en) | 2017-08-16 | 2017-08-16 | A kind of intelligent dental medical apparatus and its control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166520A (en) * | 2020-01-17 | 2020-05-19 | 宋辉 | Automatic ultrasonic scaling device and automatic ultrasonic scaling method |
| CN116492093A (en) * | 2023-05-04 | 2023-07-28 | 中国科学院大学深圳医院(光明) | Automatic change clean tooth system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166520A (en) * | 2020-01-17 | 2020-05-19 | 宋辉 | Automatic ultrasonic scaling device and automatic ultrasonic scaling method |
| CN111166520B (en) * | 2020-01-17 | 2021-12-21 | 宋辉 | Automatic ultrasonic scaling device and automatic ultrasonic scaling method |
| CN116492093A (en) * | 2023-05-04 | 2023-07-28 | 中国科学院大学深圳医院(光明) | Automatic change clean tooth system |
| CN116492093B (en) * | 2023-05-04 | 2024-06-14 | 中国科学院大学深圳医院(光明) | Automatic change clean tooth system |
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