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Movable robot for preparing tooth body for dentistry and control method

A mobile robot and tooth preparation technology, applied in surgical robots, dental prostheses, dentistry, etc., can solve problems such as improper drilling depth and angle, damage to nerve tissue, and affect the patient's taste, so as to improve experience and speed , to avoid the effect of hand tremor

Inactive Publication Date: 2021-09-03
苏州苏穗绿梦生物技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, in the process of tooth preparation, doctors mainly rely on their own clinical experience to operate on patients. Due to the complex oral structure of the human body and the fact that it is easily affected by environmental factors such as vision during the operation, doctors cannot perform surgery on patients' oral cavity. All parts have a clear cognition, which leads to certain deviations during the operation, which affects the patient's taste, and more seriously, due to the improper grasp of the depth and angle of the drilling, it causes serious bone fractures, perforations, and damage to nerve tissue. Phenomenon

Method used

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  • Movable robot for preparing tooth body for dentistry and control method
  • Movable robot for preparing tooth body for dentistry and control method
  • Movable robot for preparing tooth body for dentistry and control method

Examples

Experimental program
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Effect test

Embodiment 1

[0046] The first aspect of the present invention provides a mobile tooth preparation robot for dentistry, including a lifting assembly 1 , a moving assembly 2 , a working assembly 3 and an optical tracking assembly 4 .

[0047] Such as figure 1 As shown, the working assembly 3 includes a main manipulator 101 and a sub manipulator 102, the main manipulator 101 and the sub manipulator 102 are arranged symmetrically, the main manipulator includes a first manipulator 103 and a second manipulator 104, the The sub-manipulator 102 includes a third mechanical arm 105 and a fourth mechanical arm 106, the free end of the second mechanical arm 104 is connected with a high-speed mobile phone 107, and the free end of the fourth mechanical arm 106 is connected with an artificial hand. 108, the main manipulator 101 and the auxiliary manipulator 102 are provided with sensors, the sensors are used to monitor the real-time information on the position, state and trajectory of the manipulator, th...

Embodiment 2

[0060] The second aspect of the present invention provides a method for controlling a mobile robot for dental preparation, such as Image 6 Shown, be applied to any described a kind of tooth preparation mobile robot for dentistry, comprise the following steps:

[0061] S102: Obtain tooth body signals, establish a tooth body model through the tooth body information, and generate model information;

[0062] S104: Upload the model information to the cloud database, generate a tooth preparation training set, use the tooth preparation training set to train the preset model, and obtain tooth preparation data;

[0063] S106: According to the comparison between the tooth preparation data and the real-time tooth preparation information, the pairing rate is obtained;

[0064] S108: Determine whether the matching rate is greater than a preset matching rate threshold;

[0065] S110: If greater than, proceed to the next tooth preparation step;

[0066] S112: Send the information of the ...

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Abstract

The invention discloses a movable robot for preparing a tooth body for dentistry. The movable robot comprises a lifting assembly, a moving assembly, a working assembly and an optical tracking assembly, wherein the working assembly comprises a main manipulator and an auxiliary manipulator, the main manipulator and the auxiliary manipulator are symmetrically arranged, and the main manipulator comprises a first mechanical arm and a second mechanical arm; the auxiliary manipulator comprises a third mechanical arm and a fourth mechanical arm, a high-speed mobile phone is cooperatively connected to the free end of the second mechanical arm, a simulation hand is cooperatively connected to the free end of the fourth mechanical arm, a plurality of tooth preparation tools are arranged in the high-speed mobile phone, a plurality of tool cavities are formed in the end of the high-speed mobile phone, and a plurality of telescopic mechanisms are arranged in the high-speed mobile phone; and the telescopic mechanisms and the tooth preparation tools are correspondingly arranged, the telescopic mechanisms are used for pushing out or withdrawing the tooth preparation tools along the tool cavities, and sensors are arranged on the main manipulator and the auxiliary manipulator. The full-automatic operation process is achieved, the operation process is safer, the precision is higher, the speed is higher, and the operation area is larger.

Description

[0001] Application field [0002] The invention relates to the field of medical equipment, in particular to a dental preparation mobile robot used in dentistry. Background technique [0003] According to the survey report on oral health in my country, the oral prevalence rate of the Chinese population is as high as 97%. Oral problems have become one of the important diseases that affect health and quality of life. Dental caries is an important cause of tooth defect, dentition defect and tooth loss. As an important means of treatment, oral restoration and implantation have become an indispensable and important technology in the field of stomatology. In oral restoration and implantation, tooth Preparation has become a necessary part of treatment, and the effect of tooth preparation also directly determines the quality of various oral diseases and medical services. However, at present, in the process of tooth preparation, doctors mainly rely on their own clinical experience to o...

Claims

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Application Information

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IPC IPC(8): A61C13/08A61C13/00A61C13/38A61C19/06A61B34/30
CPCA61C13/08A61C13/0003A61C19/06A61B34/30
Inventor 卢扬建
Owner 苏州苏穗绿梦生物技术有限公司