CN206315150U - A kind of miniature six-joint robot for medicine equipment - Google Patents
A kind of miniature six-joint robot for medicine equipment Download PDFInfo
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- CN206315150U CN206315150U CN201620957218.0U CN201620957218U CN206315150U CN 206315150 U CN206315150 U CN 206315150U CN 201620957218 U CN201620957218 U CN 201620957218U CN 206315150 U CN206315150 U CN 206315150U
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- cursor
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- joint robot
- medicine equipment
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Abstract
The utility model discloses the cursor and the dynamical system in the cursor of a kind of miniature six-joint robot for medicine equipment, including multiple tubuloses for rotating connection successively, the cursor is hollow tubular structure.By the way that one end of miniature six-joint robot of the present utility model is fixed, the other end arbitrarily can be moved and rotated within the specific limits, by the way that other components are arranged in hollow cursor, it can make it that the size of robot is very small, action is more accurate, can be perfectly suitable for medical field, its movement locus can be controlled in accurate accuracy rating, operating efficiency is high, and security is good.
Description
Technical field
The utility model is related to technical field of medical instruments, more particularly to a kind of miniature six axles machine for medicine equipment
People.
Background technology
The fit technology of dentistry state-of-the-art national (U.S., France) or doctor manually operate in the world at present,
The parameter such as shape, position of tooth is cut according to live clinical observation, while with the observation system backman for carrying camera device
Make.
The technology disadvantage is that eye judges that form accuracy is very low, while people can fatigue, doctor's fit of completion
Several hours are needed, the odontoid size meeting error that people estimates under fatigue state is larger.The punch-pin of the such precision drawn
Coordinate just very inaccurate with the cavity plate that tooth covers, gap is very big, is easily caused tooth set fixed unstable.And tooth set is made outside the venue
Design size is also more difficult to be determined, efficiency is very low.
Have tried to be replaced manually with mechanical device, but because patient can move, machine is difficult positioning according to industrial class precision
To cut tooth, while cutting tool may also produce accident, patient oral cavity is damaged.
Utility model content
In view of the deficiency that prior art is present, the utility model provides a kind of miniature six axles machine for medicine equipment
People, it is applied to that during fit artificial operation can be replaced, and has the advantages that operating efficiency height, precision are good.
In order to realize above-mentioned purpose, the utility model employs following technical scheme：
A kind of miniature six-joint robot for medicine equipment, including multiple cursors for rotating connection successively and located at institute
The dynamical system in cursor is stated, the cursor is hollow tubular structure.
As one of which embodiment, the dynamical system includes the servomotor with harmonic speed reducer or/and stepping
Motor.
As one of which embodiment, the cursor includes the cursor of at least one syphon shape.
As one of which embodiment, the cursor includes the cursor of syphon shape being arranged alternately and straight tube-like
Cursor.
As one of which embodiment, the cursor of syphon shape includes the first cursor, the 3rd cursor and the 5th turn
Swing arm, the cursor of straight tube-like includes the second cursor, the 4th cursor and the 6th cursor, and first cursor is used to turn
It is arranged on dynamicly on rotation seat, is used to fix topping machanism on the 6th cursor.
As one of which embodiment, at least one of the cursor of syphon shape is three-stage, and three-stage is curved
The head of the cursor of tubulose, the direction at tail two ends are different.
By the way that one end of miniature six-joint robot of the present utility model is fixed, the other end can be moved arbitrarily within the specific limits
Dynamic and rotation, by the way that other components are arranged in hollow cursor, can make it that the size of robot is very small, act
It is more accurate, medical field can be perfectly suitable for, its movement locus can be controlled in accurate accuracy rating, operating efficiency
Height, and security is good.
Brief description of the drawings
Fig. 1 is the structural representation of the dental tooth repair device of the utility model embodiment.
Fig. 2 is the structural representation of the support of the utility model embodiment.
Fig. 3 A are a use state structural representation of the miniature six-joint robot of the utility model embodiment.
Fig. 3 B are another use state structural representation of the miniature six-joint robot of the utility model embodiment.
Fig. 3 C are another use state structural representation of the miniature six-joint robot of the utility model embodiment.
Fig. 4 is the dental fit system structure diagram of the utility model embodiment.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further described.It should be appreciated that specific embodiment described herein is only to explain this reality
With new, it is not used to limit the utility model.
It is that miniature six-joint robot of the present utility model applies an example in dental prosthetic operation refering to Fig. 1.Should
Dental tooth repair device includes support 10, miniature six-joint robot 20 and topping machanism 30, wherein, support 10 is used to supply fit pair
The occlusion position that the dental articulation of elephant is set with two row's teeth above and below strutting, its working hole 11 for including middle part and the surface of support 10
100；One end of miniature six-joint robot 20 is fixed on outside the oral cavity for fit object, and the other end (i.e. free end) passes through support
10, stretched into from working hole 11 in the oral cavity for fit object (i.e. patient)；Topping machanism 30 is fit cutter, installed in miniature six
The free end of axle robot 20, can with the stretching of miniature six-joint robot 20, contract, the action such as upper and lower, rotation is cut.
With reference to Fig. 1 and Fig. 2, the support 10 of the present embodiment is used for occlusal surface form fit, substantially ring after being opened one's mouth with human body
Shape, middle part offers working hole 11, and occlusion position 100 is located on the side face of support 10, is more preferably opened in support here
The occlusal crib of 10 outer ring surface.The occlusal crib is shaped as arc, form fit with tooth.Wherein, occlusal crib can be whole
Multiple short grooves that circle groove or the not homonymy positioned at working hole 11 are oppositely arranged.
Can also further offer multigroup occlusion position 100 on the compatibility of support 10, the outer peripheral face of support 10 to improve, i.e.,
Occlusal crib has multigroup (each group of correspondence above-mentioned a circle groove or multiple short grooves), and every group of occlusal crib is respectively arranged on support 10 not
With on the outer ring of diameter.So that having the different multigroup occlusion position 100 of size on same support 10, it is easy to different size of mouth
Crowd (such as child and adult, or not agnate crowd) occlusion of type.In addition, on the surface of working hole 11 of support 10 also
Become piece coating covered with a lamination so that the miniature six-joint robot 20 or topping machanism 30 of tooth repair device once touch people
Pressure sensor on coating around body oral cavity, coating will can send request signal stopping and act immediately, and buckling piece sense
The pressure known is adjustable, so that doctor can realize the self-defined of function according to actual conditions from main regulation sensitivity.
The material of support 10 of the present utility model is preferred to use medical silica-gel.When clinical, patient opens one's mouth to bite positioning
Support 10, thereby may be ensured that the stabilization of relative position between tooth and support 10, so that the next step of topping machanism 30 is cut
Cut action.
In addition, the topping machanism 30 of the present embodiment is preferably ultrasonic wave osteotome, the ultrasonic energy of ultrasonic wave osteotome is only right
Teeth-cutting, reactionless to musculature, it converts electric energy to mechanical energy by piezoelectric transducer device is in alloy cutter head
High-frequency resonance mode, using 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 accurately cut, cutter patient harm musculature can be prevented effectively from, by the working frequency for adjusting topping machanism 30
Cutting dynamics can be changed.
Further, pressure sensor 12 is additionally provided with the surface of occlusion position 100, pressure sensor 12 can be arranged on
The bottom of occlusal crib, the interlocking pattern of accurate detection patient.When patient bites during pressure sensor 12, occlusion signal transmission is arrived
Central control system, starts tooth repair device work；When patient's releases clamp 10, the transmission stop signal of pressure sensor 12 is repaiied
The stopping of tooth device is acted.It is understood that when support 10 is designed to have multigroup occlusion on different-diameter,
At least there is a pressure sensor on every group of occlusion position.
As shown in fig.3 a 3 c, Fig. 3 A are that miniature six-joint robot free end projects forwardly to most long state signal in court
Figure；Fig. 3 B are miniature six-joint robot free end in the view towards a left side；Fig. 3 C are miniature six-joint robot free end
In the view towards obliquely downward.Miniature six-joint robot 20 has multiple cursors, and one end, which is installed in rotation on, to be turned
On dynamic seat 2, topping machanism 30 is fixed on the cursor of the miniature end of six-joint robot 20.Each cursor of the present embodiment
It is tubular structure, multiple cursors are rotatably coupled (socket) successively, the cursor inner hollow of tubulose, driving is corresponding to be rotated
Dynamical system and transmission system that arm is rotated, such as motor, transmission belt or drive link, bearing can be arranged on inside cursor,
So that the volume and size of miniature six-joint robot 20 be can be made smaller, precision is higher, is more suitable for operation and uses.For example, motor
Appearance and size is about 14-16mm, and the external diameter of cursor is about 18-20mm, and the size of whole robot is very small, is acted cleverer
Living, homework precision is higher.By the motion of miniature six-joint robot 20, what topping machanism 30 can be in cavity is periodontal
Any position carries out fit action in any direction.In dynamical system, motor drive is preferably used, motor is subtracted using type band harmonic wave
The servomotor or stepper motor of fast device, it is ensured that enough running precisions and positioning precision.Motor is rotated installed in each two
The junction of arm, the relative rotation of two neighboring cursor is driven by the cooperation with bearing.
Specifically, miniature six-joint robot 20 includes the cursor for the syphon shape being arranged alternately：First cursor the 21, the 3rd
The cursor 25 of cursor 23 and the 5th, and straight tube-like cursor：Second cursor 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, and adjacent two
It can be rotatably sleeved in together by bearing between individual cursor.Here, the first cursor 21, the 3rd cursor 23 and the 5th
Cursor 25 is further configured to three-stage, and each head, the direction at tail two ends and differs so that miniature six axle
Robot 20 can use smaller size to obtain most frees degree, and action is more flexible, and procedure efficiency is higher.
Further, outer surface (the cursor appearance of i.e. each tubulose of miniature six-joint robot 20 of the present utility model
Face) lamination change piece coating is each coated with, buckling piece coating is made up of pressure sensor, in the robot course of work, when it
When outer surface touches human body or other components, buckling piece coating is to sense, and sends command adapted thereto to control centre,
With pause or correction motion track.
In other embodiments, can also only one of which syphon shape cursor, or be only merely one of them or
The cursor of multiple syphon shapes is three-stage, can by the direction difference of the head of the cursor of the syphon shape of three-stage, tail two ends
To realize similar effect, but effect and not as the present embodiment.
In addition, as shown in figure 4, corresponding with this structure, dental fit system of the present utility model includes center and controlled
Unit 01, driver element 02, cutting control unit 03 and detection unit 04, wherein driver element 02 are used to electrically connect miniature six axle
Robot 20 simultaneously controls to drive corresponding cursor to rotate；Cutting control unit 03 is used to electrically connect ultrasonic wave osteotome and control it
Cut frequency；Central control unit 01 electrically connects driver element 02 and cutting control unit 03, for (outside according to various instructions
Interactive instruction and internal feedback instruction) control driver element 02 and cutting control unit 03 to work；Detection unit 04 is located at patient
Oral cavity in, tooth positioning states for detecting patient, and optionally send according to positioning states enabling signal or stopping
Signal is to central control unit, to change the working condition of cutting control unit.Central control unit 01 can use computer
Instead of, it is possible to achieve during man-machine interaction and display function, fit, miniature six-joint robot 20 can be origin with rotation seat 2,
It is reference object with the support 10 fixed, is rotated by controlling corresponding cursor so as to realize topping machanism 30 relative to branch
Relative coordinate position (namely position of the tooth) conversion of frame 10.
Here, detection unit is the pressure sensor 12 being arranged on the support 10 for the occlusion of fit object, when pressure is passed
When sensor 12 suffers oppression, central control unit sends enabled instruction and gives cutting control unit 03；When pressure sensor 12 is pressurized
When power is removed, central control unit 01 sends halt instruction and gives cutting control unit 03.
During product use, according to the differential responses of patient, can also reasonably change occlusion fixed mount hardness,
Shape, and increase adapt to the other parameters sensor required for the experience of patient physiology, be such as used to detecting lower jaw change in location,
Dropsy in mouth cavity handle up sensing etc., to patient treatment when have more comfortable experience.
In other embodiments, tooth repair device also includes display, monitor (such as camera) and lighting device is (such as
LED), display can be used for the work of real-time display driver element, cutting control unit, central control unit and detection unit
Parameter state；Monitor and lighting device are installed over the mount 10 close to the side in oral cavity, or installed in miniature six axles machine
It is adjacent with topping machanism on the free end of people 20, or be directly installed on topping machanism, by the monitor, doctor can be real
When observe for the intraoral situation of fit object, such as the cutting face situation at observation cutting position, upper lower jaw change in location situation,
Dropsy in mouth cavity and situation of handling up, so that central control unit makes corresponding adjustment action.It is aobvious that fit system accordingly includes driving
Show device display unit 05, drive monitor monitoring unit 06 and drive lighting device lighting unit 07, its each via
Central control unit is adjusted and controlled.
Support of the present utility model can ensure that the tooth of patient is maintained at specific settling position, pass through miniature six axles machine
Device people can be with parameters such as the cutting positions and depth of precise control topping machanism, it is ensured that tool track is controlled in accurate precision
In the range of, stock-removing efficiency is high；Meanwhile, carry out cutting energy using ultrasonic wave osteotome and be prevented effectively from wound of the cutter to patient muscle tissue
Evil.
It is only an application of the miniature six-joint robot of the present utility model in medical field above, it is possible to understand that
It is that miniature six-joint robot of the present utility model is not limited in Teeth-cutting, can also be by by miniature six-joint robot 20
Free end install fix other corresponding functional devices after realize other functions, for example, operation or checking process in seam
Close, take out stitches, picking and placeing, coating, choose, insert.
By the way that one end of miniature six-joint robot of the present utility model is fixed, the other end can be moved arbitrarily within the specific limits
Dynamic and rotation, by the way that other components are arranged in hollow cursor, can make it that the size of robot is very small, act
It is more accurate, medical field can be perfectly suitable for, its movement locus can be controlled in accurate accuracy rating, operating efficiency
Height, and security is good.
The above is only the embodiment of the application, it is noted that for the ordinary skill people of the art
For member, on the premise of the application principle is not departed from, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as the protection domain of the application.
Claims (6)
1. a kind of miniature six-joint robot for medicine equipment, it is characterised in that including multiple rotations for rotating connection successively
Arm and the dynamical system in the cursor, the cursor are hollow tubular structure.
2. the miniature six-joint robot according to claim 1 for medicine equipment, it is characterised in that the dynamical system
Including servomotor or/and stepper motor with harmonic speed reducer.
3. the miniature six-joint robot according to claim 1 or 2 for medicine equipment, it is characterised in that the rotation
Arm includes the cursor of at least one syphon shape.
4. the miniature six-joint robot according to claim 3 for medicine equipment, it is characterised in that the cursor bag
Include the cursor for the syphon shape being arranged alternately and the cursor of straight tube-like.
5. the miniature six-joint robot according to claim 3 for medicine equipment, it is characterised in that the rotation of syphon shape
Arm includes the first cursor (21), the 3rd cursor (23) and the 5th cursor (25), and the cursor of straight tube-like includes second turn
Swing arm (22), the 4th cursor (24) and the 6th cursor (26), first cursor (21), which is used to be rotatably mounted at, to be turned
It is used to fix topping machanism on dynamic seat (2), on the 6th cursor (26).
6. the miniature six-joint robot according to claim 3 for medicine equipment, it is characterised in that the rotation of syphon shape
At least one of arm is three-stage, and the head of the cursor of the syphon shape of three-stage, the direction at tail two ends are different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620957218.0U CN206315150U (en) | 2016-08-26 | 2016-08-26 | A kind of miniature six-joint robot for medicine equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620957218.0U CN206315150U (en) | 2016-08-26 | 2016-08-26 | A kind of miniature six-joint robot for medicine equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206315150U true CN206315150U (en) | 2017-07-11 |
Family
ID=59262168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620957218.0U Expired - Fee Related CN206315150U (en) | 2016-08-26 | 2016-08-26 | A kind of miniature six-joint robot for medicine equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206315150U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109662789A (en) * | 2019-01-31 | 2019-04-23 | 上海交通大学医学院附属第九人民医院 | Cranio-maxillofacial deformity reduction robot based on the positioning of 3D printing fixed plate |
| KR102062008B1 (en) * | 2019-02-14 | 2020-01-03 | 베이징 에스엠티피 테크놀로지 씨오., 엘티디. | Robot-assisted ultrasonic osteotome powered system |
| CN115040247A (en) * | 2022-06-24 | 2022-09-13 | 北京大学口腔医学院 | Femtosecond laser minimally invasive surgery robot system |
-
2016
- 2016-08-26 CN CN201620957218.0U patent/CN206315150U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109662789A (en) * | 2019-01-31 | 2019-04-23 | 上海交通大学医学院附属第九人民医院 | Cranio-maxillofacial deformity reduction robot based on the positioning of 3D printing fixed plate |
| KR102062008B1 (en) * | 2019-02-14 | 2020-01-03 | 베이징 에스엠티피 테크놀로지 씨오., 엘티디. | Robot-assisted ultrasonic osteotome powered system |
| US10588645B1 (en) | 2019-02-14 | 2020-03-17 | Beijing Smtp Technology Co., Ltd. | Robot-assisted ultrasonic osteotome powered system |
| CN115040247A (en) * | 2022-06-24 | 2022-09-13 | 北京大学口腔医学院 | Femtosecond laser minimally invasive surgery robot system |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170711 Termination date: 20180826 |