Root canal preparation machine with root canal measurement function and intelligent control system thereof

Abstract

The invention provides a root canal preparation machine with a root canal measurement function and an intelligent control system of the root canal preparation machine. The root canal preparation machine comprises a root canal measurement module, a power driving module, a control module and a man-machine interaction module, wherein the control module is electrically connected with the root canal measuring module, the power driving module and the man-machine interaction module respectively; wherein the root canal measuring module comprises a measuring electrode, a signal transmitting and receiving unit and a signal processing unit; the signal transmitting and receiving unit transmits and receives a measuring signal through the measuring electrode; measurement signals are output to the control module after being processed by the signal processing unit. According to the root canal preparation machine with the root canal measurement function and the intelligent control system of the root canal preparation machine, root canal measurement and root canal preparation are both considered, equipment does not need to be switched even if re-measurement is needed in the root canal preparation process, and the root canal preparation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of root canal preparation equipment technology, and in particular to a root canal preparation machine with root canal measurement function and its intelligent control system. Background Technology

[0002] Root canal preparation machines (usually referring to root canal motors or root canal treatment motors) are one of the core pieces of equipment in dental root canal treatment, mainly used to efficiently, accurately, and safely complete root canal preparation. Before operating the root canal preparation machine, root canal measurements are required; during the operation, root canal measurements are also needed. Currently, root canal preparation and root canal measurement equipment are separate and require switching, which significantly impacts root canal preparation efficiency. Summary of the Invention

[0003] One of the objectives of this invention is to provide a root canal preparation machine with root canal measurement function and its intelligent control system, which takes into account both root canal measurement and root canal preparation. Even if re-measurement is required during root canal preparation, there is no need to switch equipment, thus improving the efficiency of root canal preparation.

[0004] The present invention provides a root canal preparation machine with root canal measurement function, comprising: a root canal measurement module, a power drive module, a control module, and a human-computer interaction module; wherein the control module is electrically connected to the root canal measurement module, the power drive module, and the human-computer interaction module respectively; The root canal measurement module includes: a measuring electrode, a signal transmitting and receiving unit, and a signal processing unit; the signal transmitting and receiving unit sends and receives measurement signals through the measuring electrode; the measurement signals are processed by the signal processing unit and then output to the control module.

[0005] Preferably, the power drive module includes: a motor, a reduction gearbox, and a head clamping device; the head clamping device is used to clamp nickel-titanium files of various sizes.

[0006] Preferably, the root canal preparation machine with root canal measurement function further includes: an automatic irrigation module; wherein, the automatic irrigation module includes: an irrigation fluid storage tank, a pump and an output line; the output line can be connected to a first connection port on one side of the head clamping device, and can also be connected to a second connection port on one side of the measuring electrode.

[0007] Preferably, the root canal preparation machine with root canal measurement function also includes: a communication module, which is electrically connected to the control module; The communication module includes one or more of the following: Bluetooth, WIFI, USB-C data port, and CBCT integrated interface.

[0008] Preferably, the human-computer interaction module includes: a touch screen and / or buttons.

[0009] Preferably, the root canal preparation machine with root canal measurement function further includes: an image acquisition module, which is located on one side of the power drive module and electrically connected to the control module, for taking images of the corresponding work area when the power drive module is working.

[0010] Preferably, the root canal preparation machine with root canal measurement function further includes: a scanning module, which is located on one side of the power drive module and electrically connected to the control module, for scanning the working area when the power drive module is working.

[0011] Preferably, the root canal preparation machine with root canal measurement function further includes: a water suction module, electrically connected to the control module, used to suction the cutting material and rinsing water during the root canal preparation process.

[0012] The present invention also provides an intelligent control system, applied to any of the above-mentioned root canal preparation machines with root canal measurement function, comprising: The data receiving unit is used to receive input X-ray periapical radiograph data; The measurement data receiving unit is used to receive measurement data measured by the root canal measurement module; The fusion unit combines X-ray periapical film data with measurement data to generate root canal simulation data; The root canal preparation analysis unit is used to generate root canal preparation instructions based on root canal simulation data. The output unit is used to output the root canal preparation instructions to the human-computer interaction module.

[0013] Preferably, the intelligent control system also includes: The real-time update unit is used to update the root canal simulation data in real time based on the image data from the image acquisition module and / or the scanning data from the scanning module; The root canal preparation analysis unit is used to update the root canal preparation instructions based on the updated root canal simulation data.

[0014] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1This is a schematic diagram of a root canal preparation machine with root canal measurement function according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the intelligent control system in an embodiment of the present invention. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0018] Example 1: This invention provides a root canal preparation machine with root canal measurement function, such as... Figure 1 As shown, it includes: root canal measurement module 1, power drive module 2, control module 3, and human-computer interaction module 4; wherein, the control module 3 is electrically connected to root canal measurement module 1, power drive module 2, and human-computer interaction module 4 respectively; The root canal measurement module includes: measuring electrodes, a signal transmitting and receiving unit, and a signal processing unit. The signal transmitting and receiving unit sends and receives measurement signals through the measuring electrodes; the measurement signals are processed by the signal processing unit and then output to the control module. The measurement principle of the root canal measurement module is based on the different impedance / frequency dependence characteristics of different tissues in the human oral cavity (periodontal ligament, root canal fluid, and oral mucosa). When the tip of the instrument (file) approaches or reaches the apical stop (periodontal ligament region), the instrument indicates that the working length has been reached through screen display, sound, or light changes. Specifically, one electrode (lip hook) is attached to the patient's lip in contact with the oral mucosa, and the other electrode is connected to the file inserted into the root canal (the handle must be insulated). As the file moves within the root canal, the instrument measures the impedance / frequency change from the file tip to the lip hook. When the file tip reaches the apical stop (entering the periodontal ligament region), a characteristic change in impedance / frequency occurs, which the instrument uses to determine its position. Therefore, the measuring electrodes include: a lip hook electrode (attached to the patient's oral mucosa) and an insulated root canal file electrode (as a probe conductor).

[0019] The power drive module includes a motor, a reduction gearbox, and a head clamping device. The head clamping device is used to clamp nickel-titanium files of various sizes. The motor provides high-precision speed and torque output; the reduction gearbox converts the motor torque to the working range required for the file needle; and the head clamping device is used to hold the file needle.

[0020] The human-computer interaction module includes a touchscreen and / or buttons. The touchscreen can visualize the real-time curve of root canal length and preparation progress; the buttons include function buttons, emergency stop knobs, and mode switching knobs.

[0021] To enable data exchange and transmission between the device and the outside world, the root canal preparation machine with root canal measurement function also includes: a communication module, which is electrically connected to the control module; The communication module includes one or more of the following: Bluetooth, WIFI, USB-C data port, and CBCT integrated interface.

[0022] This invention also provides an intelligent control system applied to the aforementioned root canal preparation machine with root canal measurement function, such as... Figure 2 As shown, it includes: The data receiving unit 11 is used to receive input X-ray periapical film data; the X-ray periapical film data is image data obtained by taking pictures of the patient with X-ray imaging equipment before root canal preparation; The measurement data receiving unit 12 is used to receive measurement data measured by the root canal measurement module; the measurement data received at this time is measured by the root canal measurement module of the root canal preparation machine of the present invention before root canal preparation. Fusion unit 13 fuses X-ray periapical radiograph data with measurement data to generate root canal simulation data. The fusion unit obtains root canal simulation data by fusing X-ray periapical radiograph data and measurement data. The specific fusion steps are as follows: First, the root canal outline is initially constructed based on the X-ray periapical radiograph data to obtain an initial three-dimensional model of the outline; then, the root apex position is located based on the measurement data to obtain the three-dimensional model corresponding to the root canal simulation data. The root canal preparation analysis unit 14 is used to generate root canal preparation instructions based on root canal simulation data; it extracts features from the root canal simulation data to obtain multiple root canal feature parameters; based on the root canal feature parameters and pre-input root canal preparation requirements, it retrieves root canal preparation instructions from a pre-configured instruction library. The root canal feature parameters include: parameters representing root canal length, apical width, number of root canals, root canal curvature, type of root canal cross-section (circular, elliptical, C-shaped, teardrop-shaped, etc.), and morphology of the apical foramen. The root canal preparation requirements are manually input by the dentist and mainly reflect the desired shape after preparation. The root canal preparation instructions in the instruction library are correlated with the root canal preparation requirements and root canal feature parameters. Output unit 15 is used to output root canal preparation instructions to the human-machine interface module. Root canal preparation instructions include: the selected tool type, the working mode of the power drive module, and one or more combinations of grinding thickness / depth.

[0023] The intelligent control system provided in this embodiment obtains accurate root canal simulation data by comprehensively analyzing the input X-ray periapical film data and the data measured by the measurement module. Based on the root canal simulation data, it analyzes and generates root canal preparation instructions, which are then displayed and output through the touch screen of the human-computer interaction module. Doctors can quickly understand the required operations by following the prompts, further improving operational efficiency.

[0024] Example 2: This invention provides a root canal preparation machine with root canal measurement function, including: a root canal measurement module, a power drive module, a control module, and a human-computer interaction module; wherein the control module is electrically connected to the root canal measurement module, the power drive module, and the human-computer interaction module respectively; To facilitate the removal of materials cut during root canal preparation, root canal preparation machines with root canal measurement functions also include an automatic irrigation module. This module comprises an irrigation solution reservoir, a pump, and an output line. The output line connects to a first port on the side of the head clamp and a second port on the side of the measuring electrode. The pump outputs irrigation solution from the reservoir to the output line, which can either exit from the end of the head clamp or from the end of the insulated root canal file electrode. The water from the automatic irrigation module is used for cleaning. Irrigation via the automatic irrigation module during root canal preparation removes cut materials, facilitating subsequent procedures.

[0025] To enable data exchange and transmission between the device and the outside world, the root canal preparation machine with root canal measurement function also includes: a communication module, which is electrically connected to the control module; The communication module includes one or more of the following: Bluetooth, WIFI, USB-C data port, and CBCT integrated interface. This communication module enables communication with the management platform. When the X-ray imaging equipment is also connected to the management platform, X-ray periapical film data can be directly obtained through communication with the management platform. The present invention also provides an intelligent control system applied to the above-mentioned root canal preparation machine with root canal measurement function, comprising: The data receiving unit is used to receive input X-ray periapical radiograph data; The measurement data receiving unit is used to receive measurement data measured by the root canal measurement module; The fusion unit combines X-ray periapical film data with measurement data to generate root canal simulation data; The root canal preparation analysis unit is used to generate root canal preparation instructions based on root canal simulation data. The output unit is used to output the root canal preparation instructions to the human-computer interaction module.

[0026] In order to achieve automatic control of the automatic flushing module, the intelligent control system also includes: an automatic water discharge control unit, which is used to synchronously control the automatic flushing module to work in the corresponding mode after the power drive module starts working; Furthermore, the reaction force of the power drive module is monitored; when the power drive module drives the nickel-titanium file for root canal preparation, the torque is monitored, and the torque is used to indirectly represent the monitoring of the reaction force. Based on the monitoring data, the corresponding control parameters are determined from the pre-configured control parameter table. The control parameter table is pre-built and can be configured as a table showing the relationship between torque and water output, that is, the water output is configured according to the monitored torque. The operation of the pump is controlled by defined control parameters.

[0027] This embodiment analyzes and adjusts the pump output during the operation to adaptively adjust the water output of the automatic flushing, making the flushing more efficient.

[0028] Example 3: This invention provides a root canal preparation machine with root canal measurement function, including: a root canal measurement module, a power drive module, a control module, and a human-computer interaction module; wherein the control module is electrically connected to the root canal measurement module, the power drive module, and the human-computer interaction module respectively; To enable process monitoring, the root canal preparation machine with root canal measurement function also includes an image acquisition module, which is located on one side of the power drive module and electrically connected to the control module, used to capture images of the corresponding work area when the power drive module is working.

[0029] The present invention also provides an intelligent control system applied to the above-mentioned root canal preparation machine with root canal measurement function, comprising: The data receiving unit is used to receive input X-ray periapical radiograph data; The measurement data receiving unit is used to receive measurement data measured by the root canal measurement module; The fusion unit combines X-ray periapical film data with measurement data to generate root canal simulation data; The root canal preparation analysis unit is used to generate root canal preparation instructions based on root canal simulation data. The output unit is used to output the root canal preparation instructions to the human-computer interaction module.

[0030] To enable data updates during root canal procedures, the intelligent control system also includes: The real-time update unit is used to update the root canal simulation data in real time based on the image data from the image acquisition module; The root canal preparation analysis unit is used to update the root canal preparation instructions based on the updated root canal simulation data.

[0031] Example 4: This invention provides a root canal preparation machine with root canal measurement function, including: a root canal measurement module, a power drive module, a control module, and a human-computer interaction module; wherein the control module is electrically connected to the root canal measurement module, the power drive module, and the human-computer interaction module respectively; To enable monitoring during root canal preparation, the root canal preparation machine with root canal measurement function also includes a scanning module, which is located on one side of the power drive module and electrically connected to the control module, for scanning the work area when the power drive module is working.

[0032] To ensure effective drainage of irrigation water, the root canal preparation machine with root canal measurement function also includes: a water suction module, which is electrically connected to the control module, for suctioning cutting materials and irrigation water during root canal preparation.

[0033] The present invention also provides an intelligent control system applied to the above-mentioned root canal preparation machine with root canal measurement function, comprising: The data receiving unit is used to receive input X-ray periapical radiograph data; The measurement data receiving unit is used to receive measurement data measured by the root canal measurement module; The fusion unit combines X-ray periapical film data with measurement data to generate root canal simulation data; The root canal preparation analysis unit is used to generate root canal preparation instructions based on root canal simulation data. The output unit is used to output the root canal preparation instructions to the human-computer interaction module.

[0034] To enable data updates during root canal procedures, the intelligent control system also includes: The real-time update unit is used to update the root canal simulation data in real time based on the scanning data of the scanning module; The root canal preparation analysis unit is used to update the root canal preparation instructions based on the updated root canal simulation data.

[0035] Example 5: This invention provides a root canal preparation machine with root canal measurement function, including: a root canal measurement module, a power drive module, a control module, and a human-computer interaction module; wherein the control module is electrically connected to the root canal measurement module, the power drive module, and the human-computer interaction module respectively; To enable monitoring during root canal preparation, root canal preparation machines with root canal measurement functions also include: The image acquisition module is located on one side of the power drive module and is electrically connected to the control module. It is used to capture images of the corresponding work area when the power drive module is working. The scanning module, located on one side of the power drive module and electrically connected to the control module, is used to scan the work area when the power drive module is working.

[0036] To ensure effective drainage of irrigation water, the root canal preparation machine with root canal measurement function also includes: a water suction module, which is electrically connected to the control module, for suctioning cutting materials and irrigation water during root canal preparation.

[0037] The present invention also provides an intelligent control system applied to the above-mentioned root canal preparation machine with root canal measurement function, comprising: The data receiving unit is used to receive input X-ray periapical radiograph data; The measurement data receiving unit is used to receive measurement data measured by the root canal measurement module; The fusion unit combines X-ray periapical film data with measurement data to generate root canal simulation data; The root canal preparation analysis unit is used to generate root canal preparation instructions based on root canal simulation data. The output unit is used to output the root canal preparation instructions to the human-computer interaction module.

[0038] To enable data updates during root canal procedures, the intelligent control system also includes: The real-time update unit is used to update the root canal simulation data in real time based on the image data from the image acquisition module and the scanning data from the scanning module. The root canal preparation analysis unit is used to update the root canal preparation instructions based on the updated root canal simulation data.

[0039] Both the image acquisition module and the scanning module take pictures from the outside, scanning the working area during the root canal preparation operation to determine the root canal preparation status. Based on this, the three-dimensional model corresponding to the root canal simulation data is updated, thereby realizing the update of the instruction operation.

[0040] Furthermore, to further achieve perception and monitoring of the root canal preparation process, a sensing module is configured within the head clamping device of the power drive module to detect changes in the posture of the head clamping device and monitor the posture of the nickel-titanium file during root canal preparation. The sensing module can be configured as multiple three-axis gyroscopes, arranged sequentially from top to bottom within the head clamping device. During root canal preparation, by monitoring the reaction force, when the reaction force changes from zero to non-zero (nickel-titanium file in contact with the tooth), the system detects the reaction force based on the first N (any value between 2 and 10) time points (between 10ms and 1000ms). The working direction is determined by sensing the attitude change of the headstock clamping device (any numerical value), and the movement distance in the working direction is monitored. When the monitored movement distance exceeds a threshold, an alarm message is output to remind the operator to pay attention to the force applied during operation and to ensure operational safety. During monitoring, it is based on a simulated space, that is, the corresponding three-dimensional model (the combined model of the headstock clamping device and the nickel-titanium file) is mapped into the simulated space using a three-axis gyroscope at the position of the headstock clamping device. The three-dimensional model is then segmented using finite element methods (using the component size corresponding to the three-axis gyroscope as the segmentation unit from the position of the three-axis gyroscope). (Splitting outwards) to obtain finite element elements corresponding to each three-axis gyroscope. The finite element elements corresponding to the three-axis gyroscope are used as positioning finite elements, and the relative positional relationship between other finite element elements and the positioning finite element is recorded. Then, the position of the positioning finite element is adjusted according to the positional change monitored by the three-axis gyroscope. On this basis, the position is updated according to the relative positional relationship between other finite element elements and the positioning finite element. The finite element element corresponding to the end of the nickel-titanium file in the three-dimensional model is used as the monitoring finite element. The position parameters of the monitoring finite element at the first N time moments are recorded. The working direction is based on the direction of change of the position parameters. When N is 2, the working direction is the position of the previous monitoring finite element pointing to the position of the next monitoring finite element. When N is greater than 2, multiple direction vectors are obtained by pointing the position of the previous monitoring finite element to the position of the next monitoring finite element. The angle between each pair of direction vectors is calculated, and the direction vector with the largest sum of angles is used as the working direction. For the monitoring of the movement distance, the position of the monitoring finite element when the reaction force changes from zero to non-zero is taken as the zero point. The monitoring coordinate is constructed with the working direction as the coordinate axis, and the movement distance is the distance between the position on the coordinate axis and the zero point. During monitoring, the threshold is related to the nickel-titanium file held by the head clamp and the root canal preparation steps. The corresponding threshold is retrieved from a pre-configured threshold table based on the type code of the nickel-titanium file and the root canal preparation steps.

[0041] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A root canal preparation machine with root canal measurement function, characterized in that, include: The system includes a root canal measurement module, a power drive module, a control module, and a human-machine interaction module; the control module is electrically connected to the root canal measurement module, the power drive module, and the human-machine interaction module. The root canal measurement module includes: a measuring electrode, a signal transmitting and receiving unit, and a signal processing unit; the signal transmitting and receiving unit sends and receives measurement signals through the measuring electrode; the measurement signals are processed by the signal processing unit and then output to the control module.

2. The root canal preparation machine with root canal measurement function as described in claim 1, characterized in that, The power drive module includes: a motor, a reduction gearbox, and a head clamping device; the head clamping device is used to clamp nickel-titanium files of various sizes.

3. The root canal preparation machine with root canal measurement function as described in claim 1, characterized in that, Also includes: An automatic rinsing module; wherein, the automatic rinsing module includes: a rinsing fluid storage tank, a pump and an output pipeline; the output pipeline can be connected to a first connection port on one side of the head clamping device, and can also be connected to a second connection port on one side of the measuring electrode.

4. The root canal preparation machine with root canal measurement function as described in claim 1, characterized in that, Also includes: The communication module is electrically connected to the control module; The communication module includes one or more of the following: Bluetooth, WIFI, USB-C data port, and CBCT integrated interface.

5. The root canal preparation machine with root canal measurement function as described in claim 1, characterized in that, The human-computer interaction module includes: a touch screen and / or buttons.

6. The root canal preparation machine with root canal measurement function as described in claim 1, characterized in that, Also includes: The image acquisition module is located on one side of the power drive module and is electrically connected to the control module. It is used to capture images of the corresponding work area when the power drive module is working.

7. The root canal preparation machine with root canal measurement function as described in claim 1, characterized in that, Also includes: The scanning module, located on one side of the power drive module and electrically connected to the control module, is used to scan the work area when the power drive module is working.

8. The root canal preparation machine with root canal measurement function as described in claim 1, characterized in that, Also includes: The water suction module, electrically connected to the control module, is used to suction cuttings and rinsing water during root canal preparation.

9. An intelligent control system, applied to a root canal preparation machine with root canal measurement function as described in any one of claims 1 to 8, characterized in that, include: The data receiving unit is used to receive input X-ray periapical radiograph data; The measurement data receiving unit is used to receive measurement data measured by the root canal measurement module; The fusion unit combines X-ray periapical film data with measurement data to generate root canal simulation data; The root canal preparation analysis unit is used to generate root canal preparation instructions based on root canal simulation data. The output unit is used to output the root canal preparation instructions to the human-computer interaction module.

10. The intelligent control system as described in claim 9, characterized in that, Also includes: The real-time update unit is used to update the root canal simulation data in real time based on the image data from the image acquisition module and / or the scanning data from the scanning module; The root canal preparation analysis unit is used to update the root canal preparation instructions based on the updated root canal simulation data.

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