WO2022063253A1 - 远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置 - Google Patents

远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置 Download PDF

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Publication number
WO2022063253A1
WO2022063253A1 PCT/CN2021/120503 CN2021120503W WO2022063253A1 WO 2022063253 A1 WO2022063253 A1 WO 2022063253A1 CN 2021120503 W CN2021120503 W CN 2021120503W WO 2022063253 A1 WO2022063253 A1 WO 2022063253A1
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Prior art keywords
robot
treatment
oral
main system
module
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PCT/CN2021/120503
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English (en)
French (fr)
Inventor
谈斯聪
于皓
于梦非
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谈斯聪
于皓
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Priority to AU2021348604A priority Critical patent/AU2021348604A1/en
Publication of WO2022063253A1 publication Critical patent/WO2022063253A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/51—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for dentistry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/06—Saliva removers; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/16—Power-driven cleaning or polishing devices
    • A61C17/20—Power-driven cleaning or polishing devices using ultrasonics
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/06—Implements for therapeutic treatment
    • 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
    • A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
    • A61L2/08—Radiation
    • A61L2/10—Ultraviolet radiation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation

Definitions

  • the invention belongs to the technical field of artificial intelligence robot health medical equipment, and relates to the field of robot technology, and the field of artificial intelligence for intelligent image acquisition, inspection and treatment.
  • a remote and autonomously controlled robotic device for data collection, intelligent identification, and treatment of dental diseases include:
  • Robot main system described robot main system and X-ray vision device acquisition module, oral scanning device module, forceps, pliers, electric drill device general inspection module, root canal treatment device, ultrasonic tooth cleaning device, dental implant device, water pipe and saliva
  • the suction device module is connected to realize the main control of the robot.
  • a voice device and a voice module are connected to the main robot system for interaction and voice guidance between the main control system and the user.
  • a visual device and a visual acquisition module are connected to the robot main system and the robot arm, and are used to collect face images, oral organ images, and locate the position of the mouth according to the oral images and face images. .
  • An X-ray vision device and a vision acquisition module are connected with the main robot system and the robot arm for collecting tooth images, pulp images, and other images in the oral cavity.
  • An oral scanning device and a scanning module are connected with a robot main system and a robotic arm, and are used for scanning teeth, oral walls, and tongue images, collecting detailed images of teeth, intraoral 3D imaging, and assisting identification. Dental diseases, diagnosis and treatment of oral diseases.
  • a radar device and an autonomous positioning and navigation module is connected with the main robot system and the mobile base is connected for autonomous positioning, navigation and movement.
  • General inspection and treatment device and inspection and treatment module the general inspection and treatment device is connected with the robot main system and the robot arm, including tweezers, hooks, electric drill devices, ultraviolet disinfection lamps for dental inspection, oral inspection, dental caries treatment, root canal treatment , dental implants.
  • Root canal treatment device and module said root canal treatment device is connected with robot main system and robot arm, including forceps, hooks, electric drill device, pulp body cleaning device, fine needle tube device, ultraviolet disinfection lamp for remote and autonomous root canal treatment.
  • Dental implant device and module said dental implant device is connected with robot main system and robotic arm, including tweezers, gingival scalpel, electric drill device, dental abutment implant device, ultraviolet disinfection lamp, used for remote and autonomous dental implant .
  • An ultrasonic tooth cleaning device the ultrasonic tooth cleaning module is connected with a robot main system and a robot arm, and includes forceps, forceps, and electric drill devices, which are used for remote and autonomous tooth cleaning.
  • Water pipe and saliva suction device and suction module are connected with the robot main system and the robot arm, and are used for water pipe and saliva suction, suction, auxiliary ultrasonic cleaning, root canal treatment, and dental implantation.
  • the main system of the robot is connected with a voice device and a voice module
  • the voice device includes: a sound collection device, a sound pickup device, a microphone device, a voice input device, a speaker device, and a voice output device
  • the voice module is used between the robot and the user.
  • Interaction including voice recognition, voice-to-text conversion, voice guidance, voice commands, and voice medical Q&A.
  • the main robot system is connected with a vision device and a vision acquisition module.
  • the vision device and the vision module are used to collect images of the mouth and face images, and locate the mouth according to the images of the mouth, so as to facilitate the detection of the position of the facial mouth.
  • the main system communicates with the main system, and the image information collected by the visual device is sent to the main system client through the service communication method to communicate with the robot arm to realize the acquisition action.
  • the main system of the robot is connected to the X-ray vision device, the robot arm is connected to the vision device and the vision acquisition module, and the vision device is used to detect and locate the peripheral collection position of the mouth.
  • the position information collected by the X-ray vision device is communicated through messages and services. , sent to the main system, the main system communicates with the vision device, publishes the oral information, communicates with the robot arm node, receives the position information, the robot arm is connected with the X-ray vision device, and moves to the peripheral position of the oral cavity for collecting tooth images, Root images, other images inside the mouth.
  • the main system of the robot is connected to the oral scanner, the vision device and the robotic arm, and the vision device is used to detect and locate the position of the mouth.
  • the position information collected by the vision device is sent to the main system through messages and service communication methods, and the main system communicates with the vision device.
  • publish the oral information communicate with the robot arm node, receive the position information, connect the robot arm with the oral scanner, move to the inside of the oral cavity, scan the teeth, collect the oral wall, tongue images, and detailed tooth images, and use the intraoral 3D imaging , to make 3D printed dental molds to assist in the identification of dental diseases and the treatment of oral diseases.
  • the main system of the robot and the robot arm A are connected to the general inspection device, the water pipe and the saliva suction device, and the parameters are set through the adjustment of the administrator and the training of the robot arm through the neural network improvement method.
  • Planning using the robot arm action planning method to realize the robot arm to locate the mouth position, move to the target tooth position, locate the location of the bad caries, and use tweezers, pliers, electric drills, and cleaning devices to drill the crown according to the action plan for the treatment of bad caries.
  • the main system of the robot is connected with the radar device and the mobile base.
  • the information collected by the radar device is sent to the main system client through the communication method of message and service to realize the scene self-built map.
  • the main system is connected with the mobile chassis: the created map information is released, Communicate with mobile chassis nodes, accept map information, and realize autonomous positioning, navigation, and movement.
  • the main robot system and the robot arm B are connected to the root canal treatment device, the water tube and the saliva suction device, and the parameters are set through the adjustment of the administrator and the training of the robot arm through the neural network improvement method to learn the planning action and the self-adaptive mediation to set the action planning parameters.
  • Root canal treatment devices include: forceps, hooks, electric drill devices, endodontic cleaning devices, thin-needle tube devices and oral scanners, endoscopes, ultraviolet disinfection lamp treatment devices for distal And self-treatment of bad caries, according to the action plan of the root canal, locate the position of bad caries, drill the pulp of the crown, clean the bad caries and pulp, insert the root canal, abutment, crown, complete the task of root canal treatment, To achieve distal and autonomous root canal treatment.
  • the main robot system and the robot arm B are connected to the dental implant treatment device, the water pipe and the saliva suction device, and the dental implant action of the robot arm is planned.
  • the parameters are set by the administrator and the neural network improvement method is used to train the robot arm to learn the planning action and self-adaptive adjustment. Set the action planning parameters for action planning.
  • the robot main system is connected to the vision device and the vision acquisition module to autonomously identify the position of the oral cavity and each tooth inside, locate the position of the mouth, move to the target tooth position, the position of the gums, the remote and autonomous Dental implant treatment devices include: forceps, gingival scalpel, electric drill device, oral scanner, endoscope, dental abutment implant device, ultraviolet disinfection lamp, used for distal and autonomous dental implantation; implantation action using robotic arms Planning method, positioning, moving to the position of the implanted gingiva, incising the gingiva with a gingival scalpel, drilling the gingival abutment hole, inserting the abutment, crown, completing the implant treatment task, and realizing distal implantation and autonomous dental implantation.
  • the main robot system is connected with the robotic arm C, the ultrasonic cleaning device and the saliva suction device to plan the ultrasonic cleaning action of the robot arm, set the parameters through the adjustment of the administrator and train the robot arm to learn the planning action and self-adaptive adjustment through the neural network improvement method
  • Action planning parameters are used for action planning.
  • the robot main system is connected to the visual device and the visual acquisition module to autonomously identify the position of the oral cavity and internal teeth, calculus and tartar on the teeth, and move to the oral cavity by using the ultrasonic cleaning action planning method of the robot arm.
  • the position of each internal tooth, the position of calculus and tartar on the teeth, the doctor's remote control and autonomous action, the ultrasonic cleaning device can autonomously and remotely control the ultrasonic device to complete the tooth cleaning task according to the action plan.
  • the main robot system, the remote client is connected to the communication module, through the communication module, the remote client communicates with the main control device of the machine, the remote control robot, scaling, image collection, dental implant, root canal treatment, the communication module includes : One or more communication modes among wireless communication modules, Bluetooth communication modules, wired Internet communication modules, radio frequency communication modules, and radio communication modules.
  • the invention can solve the remote control robot isolation collection, autonomous collection, oral inspection, autonomous positioning and mobile navigation through the medical robot device. Realize unmanned, isolated collection of oral images, teeth cleaning, oral examination, root canal treatment, dental caries treatment, dental implants, treatment of common oral diseases. It has improved the problems of doctors and nurses with high work pressure and complicated work. At the same time, the data and images collected by the machine are obtained in real time, which greatly improves the work efficiency.
  • efficient and high-precision acquisition, remote autonomous acquisition of images, autonomous oral examination, root canal treatment, dental caries treatment, tooth scaling, and dental implantation can be realized.
  • Fig. 1 is the schematic diagram of the medical robot device module in the specification of this application; Fig. 1 is marked:
  • 101-Robot main system 102-Voice module; 103-Radar mapping positioning and navigation module; 104-Oral scanning collector; 105-Vision module; 106-X-ray imaging equipment; 107-Water pipe and saliva suction module; 108-General Examination, dental caries treatment device; 109-ultrasonic cleaning module; 110-implantation module; 111-root canal treatment module; 001-distal control module;
  • Figure 2 is a schematic diagram of the composition of the medical robot device in the description of the application; Figure 2 is marked:
  • robot arm A 201-tooth shield, ultraviolet disinfection lamp; 202-image X-ray camera device; 203-camera; robot arm B 204-hook; 205-tweezers; 206-electric drill; 207-root canal treatment Device; 208-Intraoral Scanner; 209-Oral Scalpel; 210-Ultrasonic Scaling Device; Lifting Table C 211-Water Pipe and Saliva Suction Device; 212-Strut; 213-Mobile Base; 214-Sound Acquisition Device, Voice Input device, voice output device; 215-radar; 216-endodontic cleaning device;
  • the purpose of the present invention is to design a remote control robot that can replace human work, and realize the remote control machine to collect oral images, oral examination, treatment of oral caries, root canal treatment, tooth cleaning, dental implant and other diseases. At the same time, it can effectively solve autonomous and remote collection, oral examination, and autonomous treatment.
  • artificial intelligence robot technology automation field, remote and autonomous control of machine movement, oral examination, collection of oral images, dental caries, tooth cleaning, dental implantation, root canal treatment actions.
  • a machine device includes: 101 - main robot system; 102 - voice module; 103 - radar mapping, positioning and navigation module; 104 - oral scanning collector; 105 - camera vision module; 106 -X-ray imaging equipment module; 107-Water pipe and saliva suction module; 108-General inspection, dental caries treatment device; 109-Ultrasonic cleaning module; 110-Dental implant module; 111-Root canal treatment module; 001-Distal control module ;
  • the remote and autonomously controlled oral disease data collection, diagnosis and treatment robot device includes:
  • the device 110, the water pipe and the saliva suction module 107 are connected to realize the main control of the robot.
  • the voice module 102 is connected with the main robot system 101, and is used for interaction and voice guidance between the main control system and the user.
  • the camera acquisition module 105, the camera vision module 105 is connected with the robot main system 101, the robot arm A, the robot arm B, and is used to collect face images, oral organ images, and locate the mouth according to the oral images and face images. Location.
  • the X-ray camera vision acquisition module 106, the X-ray camera vision module 106 is connected with the robot main system 201, the robot arm A, and the robot arm B for collecting tooth images, pulp images, and other images in the oral cavity.
  • the oral scanning module 104 is connected with the robot main system 101, the robot arm A, and the robot arm B, and is used for scanning teeth, oral walls, and tongue images, collecting detailed images of teeth, intraoral 3D imaging, assisting Identify dental diseases, diagnose and treat oral diseases.
  • the radar autonomous positioning and navigation module 103, the radar module 103 is connected with the robot main system 101, and the mobile base 213 is connected for autonomous positioning and navigation.
  • General inspection module 108 the general inspection module 108 is connected with the robot main system 101, robot arm A, robot arm B, including tweezers 204, hooks 205, electric drill device 206, ultraviolet disinfection lamp 201 for dental inspection, oral inspection, Root canal treatment, dental implants.
  • the root canal treatment module 111, the root canal treatment module 111 is connected with the robot main system 101, the robot arm A, and the robot arm B, including a hook 204, a forceps 205, an electric drill device 206, and a pulp cleaning device with a fine needle tube device 216, UV disinfection lamp 201 is used for distal and autonomous root canal treatment.
  • the dental implant module 110 is connected with the robot main system 101, the robot arm A, and the robot arm B, including hooks 204, tweezers 205, gingival scalpel 209, electric drill device 206, dental abutment implant device, ultraviolet disinfection Lamp 201, for distal and autonomous dental implants.
  • the ultrasonic cleaning device 210, the ultrasonic cleaning device 109 is connected with the robot main system 101, the robot arm A, and the robot arm B, including hooks 204, tweezers 205, and electric drill device 206, which are used for remote and autonomous tooth cleaning.
  • the water pipe and saliva suction module 211, the water pipe and saliva suction module 211 are connected with the robot main system 101, the robot arm A, and the robot arm B, which are used for water pipe and saliva suction 211, assisting ultrasonic cleaning, root canal treatment, dental implantation .
  • Management users such as doctors and administrators use the remote control module 001 to communicate with the main control system 200 , the remote sends out control commands, and the main control system 200 communicates with the robot arm A and the robot arm B.
  • the camera vision module 203 uses the camera 203 to collect an image of the mouth, collects a face image, returns the position information of the mouth according to the image of the mouth, and locates the mouth.
  • the remote control module 001 remotely controls the robotic arm A, the robotic arm B moves to the oral position, and collects pictures of the oral cavity to assist in oral examination and oral treatment.
  • the voice module 102, the voice device 102 includes a sound acquisition device, a microphone device and a speaker 214, the sound pickup device 214 can obtain voice information, input user voice through the microphone device 214 and human-machine interaction through the speaker device, voice guidance, text and voice exchange, Speech synthesis, voice wake-up.
  • the radar module 103, the main control system 200 communicates with the mobile chassis 213, and the information collected by the radar 215 is sent to the main system through a message, a service communication method, and a scene self-built map is realized. Publish the created map information to the mobile chassis node, and the mobile chassis accepts the map information to realize autonomous navigation.
  • Robot arm B the main control system 200 communicates with the camera 203, the mouth image information collected by the camera 203 is positioned and returned to the mouth image position information, the robot arm B moves the robot arm A to the outside of the mouth according to the voice guidance of the voice device 102,
  • the intraoral scanner 208 scans the information of each tooth in the intraoral position, and collects tooth images.
  • the robot arm carries the intraoral scanner 208 to move, rotate the angle, and collect different angles of tooth images, tongue images, oral wall images and 3D imaging.
  • the X-ray camera vision acquisition module 106, the 202 image X-ray camera device is connected to the robot main system 201, and the robot arm A is used to collect tooth images, pulp images, and other images in the oral cavity.
  • the mobile robot arm A uses the X-ray collector 202 to move to the outside of the oral cavity, and the robot arm A is used to place the tooth shield 201, and the robot arm A moves to collect X-ray image images.
  • Robot arm B the main control system 200 communicates with the camera 203, the oral image information collected by the camera 203 is positioned and returned to the oral image position information, the robotic arm B moves the robotic arm B to the oral cavity according to the voice guidance of the voice device 102, and uses The general inspection device hook 204, tweezers 205, electric drill 206, water pipe and saliva suction device 211 are connected.
  • the general inspection device uses the robot arm motion planning method to realize the robot arm to locate the mouth position and move to the target tooth position.
  • Action planning for the treatment of bad caries under the guidance of oral scanner and endoscope, use hook 204, tweezers 205 and electric drill 206 to check crown and pulp, remove bad caries of dental crown and pulp, use water pipe and saliva suction device 211 Absorb saliva, and complete the general inspection tasks of motion planning remotely and autonomously, so as to realize the functions of remote inspection and autonomous inspection.
  • Robot arm B the main system 101 communicates with the camera 203, the oral image information collected by the camera 203, positioning and returning the oral image position information, the robotic arm B moves the robotic arm B to the oral cavity according to the voice guidance of the voice device 102, and uses the general Inspection device tweezers 204, hook 204, electric drill device 206, endodontic cleaning device fine needle device 216, ultraviolet disinfection lamp 201, water tube and saliva suction device 211, root canal treatment device 207 is connected, using the robot arm motion planning method, the robot arm Locate the position of the mouth, move to the position of pulp damage, and under the guidance of the oral scanner and endoscope, use forceps 205, hooks 204 and electric drill 206 to rotate the direction angle of the robot arm to check the crown and pulp, and remove the bad caries of the caries , use the water pipe and the saliva suction device 211 to suck saliva, and complete the general inspection task of action planning remotely and autonomously, so as to realize the functions of remote inspection and self-inspection.
  • Robot arm B the main system 101 communicates with the camera 203, the oral image information collected by the camera 203, positioning and returning the oral image position information, the robotic arm B moves the robotic arm B to the oral cavity according to the voice guidance of the voice device 102, the robotic arm
  • the action planning method realizes that the robot arm locates the mouth position, moves to the target tooth position, and according to the position of the bad caries, the bad caries treatment action planning, under the guidance of the oral scanner and the endoscope, using the hook 204, the tweezers 205 and the electric drill 206
  • the device drills the pulp of the tooth crown, cleans the bad caries, and the pulp.
  • the saliva device 211 sucks saliva.
  • the ultraviolet disinfection lamp 201 is used to irradiate the oral cavity for disinfection and sterilization, so as to realize remote and autonomous root canal treatment.
  • Robot arm B the main system 101 communicates with the camera 203, the oral image information collected by the camera 203 is positioned and returned to the oral image position information, the robotic arm B moves the robotic arm B to the oral cavity according to the voice guidance of the voice device 102, according to the implantation.
  • the robot arm locates the position of the mouth, moves to the target tooth and gingiva, locates the position of the implant gingiva, uses the hook 204, the forceps 205 and the electric drill 206 to drill the dental crown and pulp, and the gingival scalpel 209 cuts the gingiva, Drill the hole of the gum abutment, insert the abutment and crown with the oral scanner and endoscope 208, complete the implantation of the dental abutment, use the water pipe and the saliva suction device 211 to absorb the saliva, and use the ultraviolet disinfection lamp 201 to irradiate and sterilize to complete the implantation. Tooth treatment tasks.
  • Robot arm B the main system 101 communicates with the camera 203, the mouth image information collected by the camera 203, positioning and returning the mouth image position information, the robot arm B is guided by the voice of the voice device 102, the robot main control system 101 and the robot arm C , the ultrasonic cleaning device 210 is connected to the saliva suction device, move the robotic arm B to the oral cavity, move to each tooth according to the tooth cleaning action planned by the action plan, use the lifting platform C water pipe and the saliva suction device 211 to absorb saliva, and use the image to identify the teeth on the teeth.
  • the ultrasonic cleaning device 210 autonomously and remotely controls the ultrasonic device to complete the tooth cleaning task.

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Abstract

远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置是利用人工智能机器人技术，提供一种医疗用人工智能机器人健康医疗设备，涉及机器人技术领域，图像智能采集，智能化检查，治疗领域。因疫情等感染性高，人工采集效率低下，治疗不精准，人为失误问题，采用机器代替人，远端及自主采集，治疗成为口腔专科在医疗领域的重要课题。利用机器臂，一般检查治疗装置，根管治疗装置（207），超声洗牙装置（210），X光摄像采集器，口腔扫描仪（208），实现远端及自主采集口腔内牙齿、舌、口腔壁图像，超声洗牙，口腔检查，龋齿治疗，根管治疗，植牙。远端及自主检查、治疗口腔专科疾病，应用于各级医院口腔专科，海外医疗机构。

Description

远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置 背景技术
本发明属于人工智能机器人健康医疗设备技术领域，涉及机器人技术领域，图像智能采集，检查，治疗的人工智能领域。
 技术问题
在口腔科检查过程，由于各种人为因素，口腔图像采集难，精准度低，特别是疫情蔓延时期，近距离采集，治疗感染性强，通过口腔易传播各种传染病。为解决疫情时期，病毒蔓延状态下的防感染，隔离式采集治疗等问题，采用机器代替人，远端及自主采集，检查，治疗成为口腔专科在医疗领域的重要课题。口腔科医生远端控制，利用与其通信的机器人装置及智能识别，人工智能算法解决效率低下，人工采集，治疗不精准，内窥镜口腔扫描装置成像问题，人为失误问题。利用机器臂，根管治疗装置，洗牙装置，X光摄像采集器，口腔扫描仪，采集治疗口腔内牙齿，舌，口腔壁图像，超声洗牙，根管治疗，植牙。远端自主采集，治疗口腔专科疾病。
利用客户端与机器人远端通信，实现远端控制，自主采集口腔内牙齿，舌，口腔壁图像，根管治疗，洗牙，植牙等口腔常见疾病。特别是对于隔离感染性，智能化，有效防止传染病，实现高精度采集，减少人为诊断失误，治疗失误。
 技术解决方案
远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置包括：
机器人主***，所述的机器人主***与X光视觉装置采集模块、口腔扫描装置模块、镊子、钳子、电钻装置一般检查模块、根管治疗装置、超声洗牙装置、植牙装置、水管及唾液吸取装置模块连接，用于实现机器人的主控制。
语音装置及语音模块，所述的语音装置及语音模块与机器人主***连接，用于主控制***与用户间交互和语音引导。
视觉装置及视觉采集模块，所述的视觉装置及视觉采集模块与机器人主***，机器臂连接，用于采集人脸图像、口部器官图像、依据口部图像、人脸图像、定位口部位置。
X光视觉装置及视觉采集模块，所述的X光视觉装置及视觉模块与机器人主***，机器臂连接用于采集牙齿图像、牙髓体图像、口腔内其他图像。
口腔扫描装置及扫描模块，所述的口腔扫描装置及口腔扫描模块与机器人主***，机器臂连接，用于扫描牙齿、口腔壁、舌部图像，采集牙齿细部图像、口腔内3D成像，辅助识别牙齿疾病，诊断治疗口腔疾病。
雷达装置及自主定位导航模块，所述的雷达装置与机器人主***连接，移动底座连接，用于自主定位导航移动。
一般检查治疗装置及检查治疗模块，所述的一般检查治疗装置与机器人主***，机器臂连接，包括镊子、钩子、电钻装置、紫外线消毒灯用于牙齿检查，口腔检查，龋齿治疗，根管治疗，植牙。
根管治疗装置及模块，所述的根管治疗装置与机器人主***，机器臂连接，包括镊子、钩子、电钻装置、牙髓体清理装置、细针管装置、紫外线消毒灯用于远端及自主的根管治疗。
植牙装置及模块，所述的植牙装置与机器人主***，机器臂连接，包括镊子、牙龈手术刀、电钻装置、牙齿基台种植装置、紫外线消毒灯，用于远端及自主的植牙。
超声洗牙装置，所述的超声洗牙模块与机器人主***，机器臂连接，包括镊子、钳子、电钻装置，用于远端及自主的洗牙。
水管及唾液吸取装置及抽吸模块，所述的水管及唾液吸取装置与机器人主***，机器臂连接，用于水管及唾液吸取，抽吸，辅助超声洗牙，根管治疗，植牙。
机器人主***与语音装置与语音模块连接，所述语音装置包括：声音采集装置、拾音装置，麦克装置、语音输入装置，扬声装置、语音输出装置，所述语音模块用于机器人与用户间交互，包括语音识别、语音文字互转、语音引导、语音指令、语音医疗问答。
机器人主***与视觉装置及视觉采集模块连接，所述视觉装置及视觉模块用于采集口部图像采集，人脸图像采集，依据口部图像，定位口部，以利于检测到面部口的位置，辅助口腔图像采集，主***与通信，视觉装置采集的图像信息通过服务的通信方式，发送至主***客户端与机器臂通信实现采集动作。
机器人主***与X光视觉装置连接，机器臂连接，与视觉装置及视觉采集模块连接，利用视觉装置检测，定位口部***采集位置，X光视觉装置采集的位置信息通过消息，服务的通信方式，发送至主***，主***与视觉装置通信，将口部信息发布，与机器臂节点通信，接受位置信息，机器臂与X光视觉装置连接，移动至口腔***位置，用于采集牙齿图像、牙根图像、口腔内其他图像。
机器人主***与口腔扫描仪、视觉装置、机器臂连接，利用视觉装置检测，定位口部位置，视觉装置采集的位置信息通过消息，服务的通信方式，发送至主***，主***与视觉装置通信，将口部信息发布，与机器臂节点通信，接受位置信息，机器臂与口腔扫描仪连接，移动至口腔内部，扫描牙齿，采集口腔壁、舌部图像、牙齿细部图像，利用口腔内3D成像，制作3D打印齿模，辅助识别牙齿疾病，治疗口腔疾病。
机器人主***与机器臂A与一般检查装置，水管及唾液吸取装置连接，通过管理员调解设置参数及通过神经网络改进方法训练机器人机器臂学习规划动作及自适应调解设置动作规划参数，用于动作规划，利用机器人手臂动作规划方法，实现机器人手臂定位口部位置，移动至目标牙齿位置，定位坏龋所在位置，依据坏龋治疗动作规划，利用镊子、钳子、电钻、清理装置，钻开牙冠，清理去除坏齿，清理损坏牙体，制作3D牙齿模型，牙齿填充，利用紫外线消毒灯治疗器械消毒杀菌，远端及自主完成动作规划的一般检查，治疗龋齿任务。
机器人主***与雷达装置与移动底座连接，雷达装置采集的信息通过消息，服务的通信方式，发送至主***客户端实现场景自建地图，主***与移动底盘连接：将创建的地图信息发布，与移动底盘节点通信，接受地图信息，实现自主定位，导航，移动。
机器人主***与机器臂B与根管治疗装置，水管及唾液吸取装置连接，通过管理员调解设置参数及通过神经网络改进方法训练机器人机器臂学习规划动作及自适应调解设置动作规划参数，用于动作规划，规划机器人手臂根管治疗动作，机器人主***与视觉装置及视觉采集模块连接，自主识别口腔及内部各牙齿位置，坏龋所在位置，定位口部位置，移动至目标牙齿位置，坏龋所在位置，远端及自主龋齿治疗根管治疗装置包括：镊子、钩子、电钻装置、牙髓体清理装置、细针管装置与口腔扫描仪、内窥镜、紫外线消毒灯治疗装置，用于远端及自主治疗坏龋，按照根管动作规划的动作，定位坏龋所在位置，钻开牙冠牙髓，清理坏龋、牙髓，***根管、基台、牙冠，完成根管治疗任务，实现远端及自主根管治疗。
机器人主***与机器臂B与植牙治疗装置，水管及唾液吸取装置连接，规划机器人手臂植牙动作，通过管理员调解设置参数及通过神经网络改进方法训练机器人机器臂学习规划动作及自适应调解设置动作规划参数，用于动作规划，机器人主***与视觉装置及视觉采集模块连接，自主识别口腔及内部各牙齿位置，定位口部位置，移动至目标牙齿位置，牙龈所在位置，远端及自主植牙治疗装置包括：镊子、牙龈手术刀、电钻装置、口腔扫描仪、内窥镜、牙齿基台种植装置、紫外线消毒灯，用于远端及自主的植牙；利用机器人手臂的植牙动作规划方法，定位，移动至种植牙龈所在位置，牙龈手术刀切开牙龈，钻牙龈基台孔，***基台，牙冠，完成植牙治疗任务，实现远端植牙及自主植牙。
机器人主***与机器臂C，超声洗牙装置及唾液吸取装置连接，规划机器人手臂超声洗牙动作，通过管理员调解设置参数及通过神经网络改进方法训练机器人机器臂学习规划动作及自适应调解设置动作规划参数，用于动作规划，机器人主***与视觉装置及视觉采集模块连接，自主识别口腔及内部各牙齿位置，牙齿上牙石及牙垢，利用机器人手臂的超声洗牙动作规划方法，移动至口腔内部各牙齿位置，牙齿上牙石及牙垢位置，医生远端控制及自主动作，超声洗牙装置按照动作规划的动作自主及远端控制超声装置完成洗牙任务。
机器人主***，远端客户端，与通信模块连接，通过通信模块，远端客户端与机器主控制装置通信，远端控制机器人，洗牙、采集图像、植牙、根管治疗，通信模块包括：无线通信模块、蓝牙通信模块、有线互联网通信模块、射频通信模块、无线电通信模块中的一种及多种通信方式。
 有益效果
本发明能够通过医疗用机器人装置，解决远端控制机器人隔离采集，自主采集，检查口腔，自主定位移动导航。实现无人，隔离采集口腔图像，洗牙，口腔检查，根管治疗，龋齿治疗，植牙，口腔常见病治疗。改善了医生，护士工作作业压力大，作业繁杂等问题。同时，实时获取机器采集的数据及图像，大幅度提高工作效率。通过本发明，能够实现高效，高精准采集，远端自主采集图像，自主口腔检查，根管治疗，龋齿治疗，洗牙，植牙。
 附图说明
图1是本申请说明书中医疗用机器人装置模块示意图；附图1标记：
101-机器人主***；102-语音模块；103-雷达建图定位导航模块；104-口腔扫描采集器；105-视觉模块；106-X光成像设备；107-水管及唾液吸取模块；108-一般检查，龋齿治疗装置；109-超声洗牙模块；110-植牙模块；111-根管治疗模块；001-远端控制模块；
图2是本申请说明书中医疗用机器人装置组成结构示意图；附图2标记：
200-主***；机器臂A  201-牙齿挡片，紫外线消毒灯；202-影像X光摄像装置；203-摄像头；机器臂B  204-钩子；205-镊子；206-电钻；207-根管治疗装置；208-口内扫描仪；209-口腔手术刀；210-超声洗牙装置；升降台C  211-水管及唾液吸取装置；212-支杆；213-移动底座；214-声音采集装置，语音输入装置，语音输出装置；215-雷达；216-牙髓体清理装置；
 本发明的实施方式
本发明的目的是设计取代人类工作的可远端控制机器人，实现远端控制机器采集口腔图像，口腔检查，治疗口腔龋齿，根管治疗，洗牙，植牙等疾病。同时有效解决自主及远端采集，口腔检查，自主治疗。利用人工智能机器人技术，自动化领域，远端及自主控制机器移动，口腔检查，采集口腔图像，龋齿，洗牙，植牙，根管治疗动作。
实现自主，远端采集口腔内图像，远端语音命令，医生-患者通过检查采集设备语音交互，实现远端控制机器人及自主采集自动化领域的，远端，自主控制机器移动，动作，采集口腔图像，检查口腔，实施口腔治疗。解决了人为的诊断治疗失误，实现机器人远端及自主采集，自主检查，自主治疗，提高了智能采集，自主检查，治疗的精准度。解决了异常采集，检查等问题。为了更好的理解上述技术方案，下面结合实施例及附图，对本发明作进一步地的详细说明，但本发明的实施方式不限于此。
实施例 1 ：
如图1，如图2所示，一种机器装置包括：101-机器人主***；102-语音模块；103-雷达建图定位导航模块；104-口腔扫描采集器；105-摄像头视觉模块；106-X光成像设备模块；107-水管及唾液吸取模块；108-一般检查，龋齿治疗装置；109-超声洗牙模块；110-植牙模块；111-根管治疗模块；001-远端控制模块；
所述的远端及自主控制的口腔疾病数据采集诊断治疗机器人装置包括：
机器人主***101，所述的机器人主***101与X光摄像采集模块106，口腔扫描模块104，镊子，钳子，电钻装置一般检查模块108，根管治疗装置111，超声洗牙装置109，植牙装置110，水管及吸唾液模块107连接，用于实现机器人的主控制。
语音模块102，所述的语音模块102与机器人主***101连接，用于主控制***与用户间交互和语音引导。
摄像头采集模块105，所述的摄像头视觉模块105与机器人主***101，机器臂A机器臂B连接，用于采集人脸图像，口部器官图像，依据口部图像，人脸图像，定位口部位置。
X光摄像视觉采集模块106，所述的X光摄像头视觉模块106与机器人主***201，机器臂A,机器臂B连接用于采集牙齿图像，牙髓体图像，口腔内其他图像。
口腔扫描模块104，所述的口腔扫描模块104与机器人主***101，机器臂A，机器臂B连接，用于扫描牙齿，口腔壁，舌部图像，采集牙齿细部图像，口腔内3D成像，辅助识别牙齿疾病，诊断治疗口腔疾病。
雷达自主定位导航模块103，所述的雷达模块103与机器人主***101连接，移动底座213连接，用于自主定位导航。
一般检查模块108，所述的一般检查模块108与机器人主***101，机器臂A,机器臂B连接，包括镊子204，钩子205，电钻装置206，紫外线消毒灯201用于牙齿检查，口腔检查，根管治疗，植牙。
根管治疗模块111，所述的根管治疗模块111与机器人主***101，机器臂A,机器臂B连接，包括钩子204，镊子205，电钻装置206，牙髓体清理装置细针管装置216，紫外线消毒灯201用于远端及自主的根管治疗。
植牙模块110，所述的植牙模块110与机器人主***101，机器臂A,机器臂B连接，包括钩子204镊子205，牙龈手术刀209，电钻装置206，牙齿基台种植装置，紫外线消毒灯201，用于远端及自主的植牙。
超声洗牙装置210，所述的超声洗牙装置109与机器人主***101，机器臂A,机器臂B连接，包括钩子204，镊子205，电钻装置206，用于远端及自主的洗牙。
水管及吸唾液模块211，所述的水管及吸唾液模块211与机器人主***101，机器臂A,机器臂B连接，用于水管及吸唾液211，辅助超声洗牙，根管治疗，植牙。
医生，管理员等管理用户利用远端控制模块001与主控制***200通信，远端发出控制命令，主控制***200与机器臂A,机器臂B通信。摄像头视觉模块203，应用摄像头203采集口部图像，采集人脸图像，依据口部图像，返回口部位置信息，定位口部。远端控制模块001远端控制机器臂A,机器臂B移动至口腔位置，采集口腔图片辅助口腔检查，口腔治疗。
语音模块102，语音装置102包括声音采集装置麦克装置及扬声器214，拾音装置214可以获得语音信息，通过麦克风装置214输入用户语音及通过扬声器装置人机间交互，语音引导，文字语音互换，语音合成，语音唤醒。
雷达模块103，主控制***200与移动底盘213通信，雷达215采集的信息通过消息，服务的通信方式，发送至主***，实现场景自建地图。将创建的地图信息发布至移动底盘节点，移动底盘接受地图信息，实现自主导航。
机器臂B，主控制***200与摄像头203通信，摄像头203采集的口部图像信息，定位及返回口部图像位置信息，机器臂B按照语音装置102的语音引导，移动机器臂A至嘴外部，口内扫描仪208 扫描口内位置的各牙齿信息，采集牙齿图像，机器臂搭载口内扫描仪208移动，转动角度，采集不同角度牙齿图像，舌头图像，口腔壁图像及3D成像。
X光摄像视觉采集模块106，所述的202 影像X光摄像装置与机器人主***201，机器臂A连接用于采集牙齿图像，牙髓体图像，口腔内其他图像。移动机器臂A利用X光采集器 202移动至口腔外部，利用机器臂A放置牙齿挡片201 ,机器臂A移动采集X光影像图像。
机器臂B，主控制***200与摄像头203通信，摄像头203采集的口部图像信息，定位及返回口部图像位置信息，机器臂B按照语音装置102的语音引导，移动机器臂B至口腔，利用一般检查装置钩子204，镊子205，电钻206，水管及吸唾液装置211连接，一般检查装置利用机器人手臂动作规划方法，实现机器人手臂定位口部位置，移动至目标牙齿位置，依据坏龋所在位置，坏龋治疗动作规划，在口腔扫描仪，内窥镜引导下，利用钩子204，镊子205及电钻206检查牙冠，牙髓，清除牙冠牙髓龋齿的坏龋，利用水管及吸唾液装置211吸取唾液，远端及自主完成动作规划一般检查任务，从而实现远端检查及自主检查功能。
机器臂B，主***101与摄像头203通信，摄像头203采集的口部图像信息，定位及返回口部图像位置信息，机器臂B按照语音装置102的语音引导，移动机器臂B至口腔，利用一般检查装置镊子204，钩子204，电钻装置206，牙髓体清理装置细针管装置216，紫外线消毒灯201，水管及吸唾液装置211，根管治疗装置207连接，利用机器人手臂动作规划方法，机器人手臂定位口部位置，移动至牙髓损伤位置，在口腔扫描仪，内窥镜引导下，利用镊子205，钩子204及电钻206转动机器臂方向角度，检查牙冠，牙髓，清除龋齿的坏龋，利用水管及吸唾液装置211吸取唾液，远端及自主完成动作规划一般检查任务，从而实现远端检查及自主检查功能。
机器臂B，主***101与摄像头203通信，摄像头203采集的口部图像信息，定位及返回口部图像位置信息，机器臂B按照语音装置102的语音引导，移动机器臂B至口腔，机器人手臂动作规划方法，实现机器人手臂定位口部位置，移动至目标牙齿位置，依据坏龋所在位置，坏龋治疗动作规划，在口腔扫描仪，内窥镜引导下，利用钩子204，镊子205及电钻206装置钻开牙冠牙髓，清理坏龋，牙髓。利用牙髓体清理装置细针管装置216，根管治疗装置207与口腔扫描仪208，内窥镜208，转动角度，***根管，基台，牙冠，完成根管治疗任务，利用水管及吸唾液装置211吸取唾液。利用紫外线消毒灯201照射口腔位置消毒杀菌，实现远端及自主的根管治疗。
机器臂B，主***101与摄像头203通信，摄像头203采集的口部图像信息，定位及返回口部图像位置信息，机器臂B按照语音装置102的语音引导，移动机器臂B至口腔，按照植牙动作规划的动作，机器人手臂定位口部位置，移动至目标牙齿牙龈，定位种植牙龈所在位置，利用钩子204，镊子205及电钻206装置钻开牙冠牙髓，牙龈手术刀209 切开牙龈，钻牙龈基台孔，利用口腔扫描仪，内窥镜208，***基台，牙冠，完成牙齿基台种植，利用水管及吸唾液装置211吸取唾液，利用紫外线消毒灯201照射消毒杀菌，完成植牙治疗任务。
机器臂B，主***101与摄像头203通信，摄像头203采集的口部图像信息，定位及返回口部图像位置信息，机器臂B按照语音装置102的语音引导，机器人主控制***101与机器臂C，超声洗牙装置210及吸唾液装置连接，移动机器臂B至口腔，按照动作规划的洗牙动作，移动至各牙齿，利用升降台C水管及吸唾液装置211吸取唾液，利用图像识别牙齿上牙石及牙垢，超声洗牙装置210 自主及远端控制超声装置完成洗牙任务。

Claims (11)

  1. 远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置包括：
    机器人主***控制装置，所述的机器人主***控制装置与X光视觉装置、口腔扫描装置、镊子、钳子、电钻装置,一般检查装置、根管治疗装置、超声洗牙装置、植牙装置、水管及唾液吸取装置连接，用于实现机器人的主控制；
    语音装置，所述的语音装置与机器人主***控制装置连接，用于主控制***与用户间交互和语音引导；
    视觉装置，所述的视觉装置与机器人主***控制装置，机器臂连接，用于采集人脸图像、口部器官图像、依据口部图像、人脸图像、定位口部位置；
    X光视觉装置，所述的X光视觉装置及视觉模块与机器人主***控制装置，机器臂连接用于采集牙齿图像、牙髓体图像、口腔内其他图像；
    口腔扫描装置，所述的口腔扫描装置及口腔扫描模块与机器人主***控制装置，机器臂连接，用于扫描牙齿、口腔壁、舌部图像，采集牙齿细部图像、口腔内3D成像，辅助识别牙齿疾病，诊断治疗口腔疾病；
    雷达装置，所述的雷达装置与机器人主***控制装置连接，移动底座连接，用于自主定位导航移动；
    一般检查治疗装置，所述的一般检查治疗装置与机器人主***控制装置，机器臂连接，包括镊子、钩子、电钻装置、紫外线消毒灯用于牙齿检查，口腔检查，龋齿治疗，根管治疗，植牙；
    根管治疗装置，所述的根管治疗装置与机器人主***控制装置，机器臂连接，包括镊子、钩子、电钻装置、牙髓体清理装置、细针管装置、紫外线消毒灯用于远端及自主的根管治疗；
    植牙装置，所述的植牙装置与机器人主***控制装置，机器臂连接，包括镊子、牙龈手术刀、电钻装置、牙齿基台种植装置、紫外线消毒灯，用于远端及自主的植牙；
    超声洗牙装置，所述的超声洗牙模块与机器人主***控制装置，机器臂连接，包括镊子、钳子、电钻装置，用于远端及自主的洗牙；
    水管及唾液吸取装置及抽吸模块，所述的水管及唾液吸取装置与机器人主***控制装置，机器臂连接，用于水管及唾液吸取，抽吸，辅助超声洗牙，根管治疗，植牙。
  2. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，语音装置及语音模块，所述的语音装置与机器人主***控制装置连接,所述的语音装置包括：声音采集装置、拾音装置，麦克装置、语音输入装置，扬声装置、语音输出装置，所述语音模块,用于机器人与用户间交互包括语音识别、语音文字互转、语音引导、语音指令、语音医疗问答。
  3. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，视觉装置及视觉采集模块，所述的视觉装置与机器人主***控制装置连接，所述的视觉装置及视觉模块用于采集口部图像采集，人脸图像采集，依据口部图像，定位口部，以利于检测到面部口的位置，辅助口腔图像采集，视觉采集模块与机器人主***通信，视觉装置采集的图像信息通过服务的通信方式，发送至主***客户端与机器臂通信实现采集动作。
  4. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，X光视觉装置及视觉采集模块，所述的X光视觉装置，与机器臂，与视觉装置，与机器人主***控制装置连接，利用视觉装置,视觉采集模块检测，定位口部***采集位置，X光视觉装置采集的位置信息通过消息，服务的通信方式，发送至机器人主***，机器人主***与视觉装置,视觉采集模块通信，将口部信息发布，与机器臂节点通信，接受位置信息，机器臂与X光视觉装置连接，移动至口腔***位置，用于采集牙齿图像、牙根图像、口腔内其他图像。
  5. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，口腔扫描装置及扫描模块, 所述的口腔扫描仪与视觉装置与机器臂机器人主***控制装置连接，利用视觉装置检测，定位口部位置，视觉装置采集的位置信息通过消息，服务的通信方式，发送至主***，主***与视觉装置通信，将口部信息发布，与机器臂节点通信，接受位置信息，机器臂与口腔扫描仪连接，移动至口腔内部，扫描牙齿，采集口腔壁、舌部图像、牙齿细部图像，利用口腔内3D成像，制作3D打印齿模，辅助识别牙齿疾病，治疗口腔疾病。
  6. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，一般检查治疗装置及检查治疗模块,所述的一般检查装置，与水管及唾液吸取装置，与机器人主***控制装置，机器臂A连接，通过管理员调解设置参数及通过神经网络改进方法训练机器人机器臂学习规划动作及自适应调解设置动作规划参数，用于动作规划，利用机器人手臂动作规划方法，实现机器人手臂定位口部位置，移动至目标牙齿位置，定位坏龋所在位置，依据坏龋治疗动作规划，利用镊子、钳子、电钻、清理装置，钻开牙冠，清理去除坏齿，清理损坏牙体，制作3D牙齿模型，牙齿填充，利用紫外线消毒灯治疗器械消毒杀菌，远端及自主完成动作规划的一般检查，治疗龋齿任务。
  7. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，雷达装置及自主定位导航模块,所述的雷达装置与机器人主***控制装置与移动底座连接，雷达装置采集的信息通过消息，服务的通信方式，发送至主***客户端实现场景自建地图，主***与移动底盘连接：将创建的地图信息发布，与移动底盘节点通信，接受地图信息，实现自主定位，导航，移动。
  8. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，根管治疗装置及模块, 所述的根管治疗装置与机器人主***控制装置与机器臂B与水管及唾液吸取装置连接，通过管理员调解设置参数及通过神经网络改进方法训练机器人机器臂学习规划动作及自适应调解设置动作规划参数，用于动作规划，规划机器人手臂根管治疗动作，机器人主***控制装置与视觉装置连接,机器人主***与及视觉采集模块通信，自主识别口腔及内部各牙齿位置，坏龋所在位置，定位口部位置，移动至目标牙齿位置，坏龋所在位置，远端及自主龋齿治疗根管治疗装置包括：镊子、钩子、电钻装置、牙髓体清理装置、细针管装置与口腔扫描仪、内窥镜、紫外线消毒灯治疗装置，用于远端及自主治疗坏龋，按照根管动作规划的动作，定位坏龋所在位置，钻开牙冠牙髓，清理坏龋、牙髓，***根管、基台、牙冠，完成根管治疗任务，实现远端及自主根管治疗。
  9. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，植牙装置及模块，所述的植牙治疗装置与机器人主***控制装置，与机器臂B，水管及唾液吸取装置连接，规划机器人手臂植牙动作，通过管理员调解设置参数及通过神经网络改进方法训练机器人机器臂学习规划动作及自适应调解设置动作规划参数，用于动作规划，机器人主***控制装置与视觉装置连接，机器人主***及视觉采集模块通信，自主识别口腔及内部各牙齿位置，定位口部位置，移动至目标牙齿位置，牙龈所在位置，远端及自主植牙治疗装置包括：镊子、牙龈手术刀、电钻装置、口腔扫描仪、内窥镜、牙齿基台种植装置、紫外线消毒灯，用于远端及自主的植牙；利用机器人手臂的植牙动作规划方法，定位，移动至种植牙龈所在位置，牙龈手术刀切开牙龈，钻牙龈基台孔，***基台，牙冠，完成植牙治疗任务，实现远端植牙及自主植牙。
  10. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，超声洗牙装置及模块，所述的超声洗牙装置及唾液吸取装置与机器人主***控制装置与机器臂C连接，规划机器人手臂超声洗牙动作，通过管理员调解设置参数及通过神经网络改进方法训练机器人机器臂学习规划动作及自适应调解设置动作规划参数，用于动作规划，机器人主***控制装置与视觉装置连接，机器人主***及视觉采集模块通信，自主识别口腔及内部各牙齿位置，牙齿上牙石及牙垢，利用机器人手臂的超声洗牙动作规划方法，移动至口腔内部各牙齿位置，牙齿上牙石及牙垢位置，医生远端控制及自主动作，超声洗牙装置按照动作规划的动作自主及远端控制超声装置完成洗牙任务。
  11. 根据权利要求 1，所述的远端及自主控制的口腔专科疾病数据采集、智能识别、治疗机器人装置，其特征在于，远端客户端及通信模块，机器人主***控制装置，远端客户端，与通信模块连接，通过通信模块，所述的远端客户端与机器主控制装置通信，远端控制机器人，洗牙、采集图像、植牙、根管治疗，通信模块包括：无线通信模块、蓝牙通信模块、有线互联网通信模块、射频通信模块、无线电通信模块中的一种及多种通信方式。 
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