Minimally invasive dental pulp opening device and intelligent root canal preparation system

Abstract

The present invention discloses a minimally invasive dental pulp-opening device, a preparation method and an application. The minimally invasive dental pulp-opening device comprises: an affected tooth fixing module, which is used to fix the affected tooth of the user and expose the occlusal surface of the affected tooth to the working field of the drilling pulp-opening module; the drilling pulp-opening module is provided with a drill bit, and the drill bit is provided with a flushing passage and a suction passage inside, which are used to perform drilling pulp-opening on the occlusal surface of the tooth according to a predetermined path, and to flush the working surface of the drill bit through the flushing passage with medical flushing liquid, and to suck back the liquid in the oral cavity through the suction passage; and an adjustment module, which is used to adjust the working position and working angle of the drill bit of the drilling pulp-opening module on the occlusal surface of the tooth.

Description

Technical Field

[0001] The invention belongs to the technical field of oral medical instruments and relates to a tooth minimally invasive pulp opening device and an intelligent root canal preparation system. Background Art

[0002] Pulp opening and root canal preparation are necessary steps in the clinical practice of dentistry for root canal treatment of teeth with pulp disease, apical periodontitis and other diseases. Root canal preparation refers to the use of mechanical and chemical methods to remove infected substances in the root canal system as much as possible to achieve the purpose of cleaning and shaping the root canal. The quality of root canal preparation is one of the important factors that determine whether the tooth can be preserved for a long time after root canal treatment. At present, the quality of root canal preparation is closely related to the doctor's training level, root canal preparation technology and instrument use. Pulp opening is to make the entrance of the pulp cavity connect to the root canal in an approximately straight line, so that the pulp opening instruments of root canal treatment can enter all root canals without hindrance and reach the narrow part of the root canal, so as to facilitate the removal of the contents of the infected pulp and pulp horn, facilitate root canal preparation, and finally fill the root canal tightly to seal the apical foramen.

[0003] At present, the pulp opening in clinical practice excessively removes healthy tooth tissue at the crown part due to the operator's proficiency and the need for root canal flushing, which reduces the tooth resistance after root canal treatment. The root canal preparation method has problems such as root canal deviation, over-preparation, and lateral penetration of the root canal. The treatment effect on completely calcified and partially calcified root canals is not good. In addition, the root canal preparation is mainly completed by the doctor's manual operation. The quality of the completion varies greatly with the operator's experience and proficiency, which seriously affects the subsequent treatment effect. Faced with a large number of patients in clinical practice, the current pulp opening and root canal preparation methods not only consume a lot of time for doctors, but also cause discomfort in the temporomandibular joints of patients due to long-term mouth opening. Therefore, there is an urgent need for a fast, accurate and standardized method for pulp opening and root canal preparation, so as to achieve a standardized treatment effect that is not affected by the operator. The present invention comes from this. Summary of the invention

[0004] The present invention aims to provide a minimally invasive dental pulp opening device and an intelligent root canal preparation system to solve the problems in the prior art.

[0005] In order to achieve the above object, one aspect of the present invention provides a minimally invasive dental pulp opening device, the device comprising:

[0006] The affected tooth fixing module is used to fix the affected tooth of the user and expose the occlusal surface of the affected tooth to the working field of the drilling and pulp opening module;

[0007] A drilling and pulping module is provided with a drill bit, wherein a flushing passage and a suction passage are provided inside the drill bit, and is used to perform a drilling and pulping operation on the occlusal surface of the tooth according to a predetermined path, and to flush the working surface of the drill bit through the flushing passage with a medical flushing liquid, and to suck back the liquid in the oral cavity through the suction passage; and,

[0008] The adjustment module is used to adjust the working position and working angle of the drill bit of the drilling and pulp opening module on the occlusal surface of the tooth.

[0009] In a preferred technical solution, all or part of the minimally invasive dental pulp-opening device can be accommodated in the patient's oral cavity.

[0010] In the preferred technical solution, the minimally invasive dental pulp opening device also includes a shell, a mounting bracket is arranged inside the shell, a working hole is arranged at the lower end of the shell, an affected tooth fixing module is installed at the lower end of the mounting bracket, the affected tooth fixing module protrudes from the outside of the shell through the working hole, the upper end of the mounting bracket is connected to the drilling pulp opening module, and the drill bit of the drilling pulp opening module extends out of the working hole for drilling operation.

[0011] In the preferred technical solution, the adjustment module includes an X-axis adjustment mechanism for adjusting the left and right position of the drill bit of the drilling and opening module in the horizontal direction, a Y-axis adjustment mechanism for adjusting the up and down position of the drill bit of the drilling and opening module in the vertical direction, and a Z-axis adjustment mechanism for adjusting the front and back position of the drill bit of the drilling and opening module in the horizontal direction.

[0012] In the preferred technical solution, a front and rear adjustment window is provided on the side of the mounting bracket, and the Z-axis adjustment mechanism is connected to the drilling module, and the working angle of the drill bit is adjusted through the front and rear adjustment windows.

[0013] In the preferred technical solution, the drilling and medullary opening module includes a drill bit, which is a hollow cone. A suction passage and a flushing passage are arranged inside the hollow cone. A flushing hole is arranged at the tip of the spiral working surface of the hollow cone. A suction hole is arranged in the middle or upper part of the spiral working surface of the hollow cone. Both the flushing hole and the suction hole are connected to the liquid passage. Preferably, 3 to 5 flushing holes with side openings are arranged at thread intervals below 1 / 3 of the spiral working surface of the drill bit, the interior of which is connected to the flushing passage, and the flushing is performed by a positive pressure flushing system. Preferably, 3 to 5 suction holes are arranged at thread intervals above 2 / 3 of the spiral working surface of the drill bit, the interior of which is connected to the suction passage, and the suction is performed by a negative pressure suction system.

[0014] In the preferred technical solution, a Y-axis adjustment mechanism is provided at the rear end of the drill bit for adjusting the working height of the drill bit.

[0015] In a preferred technical solution, the device further comprises:

[0016] The control module is used to control and drive the affected tooth fixing module, the drilling and pulp opening module, and the adjustment module to perform drilling operations according to a predetermined working mode.

[0017] The control module is used to control the transmission of the tooth fixing module, the drilling and pulp opening module, and the adjustment module. The control module can determine the clamping or fixing force, direction and angle of the tooth fixing module according to the preset instructions. The control module can transmit the motion parameters of the drilling and pulp opening module according to the preset instructions; the control module can transmit the adjustment module according to the preset instructions to adjust the three degrees of freedom to adjust the drill direction, force and angle of the drilling and pulp opening module.

[0018] In a preferred technical solution, the working mode of the drill bit is continuous rotation or reciprocating motion, and the material of the drill bit is diamond.

[0019] Another object of the present invention is to provide an intelligent root canal preparation system, characterized in that the system comprises:

[0020] An affected tooth image acquisition module is used to obtain a tomographic image of the affected tooth and an image of the tooth occlusal surface;

[0021] An information processing module is used to perform three-dimensional reconstruction of the affected tooth based on the tomographic image of the affected tooth and the image of the tooth occlusal surface, and determine the position and path of the root canal channel for drilling and root canal preparation;

[0022] The minimally invasive dental pulp-opening device is used to perform drilling and pulp-opening according to the instructions of the information processing module, and to flush the root canal channel after drilling and pulp-opening and to suction and clean it.

[0023] The intelligent root canal preparation module system of the present invention can be based on computer-aided design, including an image system for acquiring tooth anatomical structure data, a tooth fixing module for fixing the affected tooth, a drilling and pulp opening module for drilling and pulp opening, and a flushing and suction system for flushing and suctioning liquid in cooperation with the drilling and pulp opening module. Each unit of the intelligent root canal preparation module system can be controlled by a computer-aided control transmission system.

[0024] The tooth anatomical structure data is acquired through micro-CT or cone-beam CT scanning, and the tooth occlusal imaging data is acquired through computer-aided design and production equipment; the imaging system reconstructs the three-dimensional image of the tooth through software and micro-CT or cone-beam CT scanning data and other data. The big data of the three-dimensional image of the tooth reconstructed by the micro-CT or cone-beam CT scanning data is used to control the precise three-dimensional movement of the drill bit with the assistance of computer software;

[0025] The drilling and pulping module for root canal preparation uses a mechanical drill bit made of diamond or other suitable materials. The movement mode of the mechanical drill bit for root canal preparation is continuous rotation or reciprocating motion. The drill bit transmission device adopts pneumatic, electric or other power modes. There are 3 to 5 suction holes arranged at intervals above 2 / 3 of the thread of the drill bit, and a negative pressure suction system is built in. There are 3-5 irrigation holes with side openings arranged at intervals below 1 / 3 of the thread of the drill bit, which are connected to the irrigation pipeline.

[0026] The flushing suction system includes a single or multiple pipes and holes that can spray distilled water, sodium hypochlorite and other liquids. The suction system is a vacuum negative pressure suction system to suck back the liquid discharged from the flushing system.

[0027] The present invention relates to an intelligent root canal preparation module system, which is used for minimally invasive pulp opening and root canal preparation of teeth. Based on the analysis of digital tooth anatomical structure data and tooth occlusal surface image data, the system accurately drives a drill bit to perform pulp opening and root canal preparation on target teeth. For teeth with completely calcified or partially calcified root canals, the system manually designs the preparation path according to the tooth anatomical structure.

[0028] Compared with the prior art, the beneficial effects of the present invention are at least:

[0029] (1) The minimally invasive dental pulp-access device of the present invention integrates the functions of fixing the affected tooth, drilling the dental pulp, and flushing and cleaning the foreign matter in the oral cavity after drilling. The dental pulp-access operation can be performed in a narrow space such as the oral cavity, thereby avoiding the dependence of existing dental pulp-access instruments on the doctor's training level and the maturity of the doctor's skill level, and simplifying the operation of dental clinicians.

[0030] (2) The intelligent root canal preparation module system of the present invention combines the technical characteristics of artificial intelligence, analyzes and reconstructs the occlusal surface imaging data of the patient's affected teeth, and simulates and constructs the precise path of minimally invasive pulp opening of the teeth. It can design a root canal preparation path that matches the actual conditions of different patients and affected teeth, and perform personalized root canal preparation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 This is a schematic diagram of the principle structure of the intelligent root canal preparation system according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of a minimally invasive dental pulp access device according to an embodiment of the present invention;

[0034] Figure 3 A three-dimensional diagram of a drill bit according to an embodiment of the present invention;

[0035] Figure 4 A side view of a drill bit according to an embodiment of the present invention;

[0036] Figure 5 Another side view of the drill bit according to the embodiment of the present invention;

[0037] Figure 6 2 is a cross-sectional view of a drill bit according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In view of the deficiencies in the prior art, the inventor of this case, after long-term research and extensive practice, was able to propose the technical solution of the present invention. The technical solution, its implementation process and principle, etc. will be further explained as follows.

[0039] An aspect of an embodiment of the present invention provides a minimally invasive dental pulp opening device, which is used to solve the problems of flushing, cooling and disinfection in the root canal during pulp opening and root canal preparation, and includes:

[0040] The affected tooth fixing module is used to fix the affected tooth of the user and expose the occlusal surface of the affected tooth to the working field of the drilling and pulp opening module;

[0041] A drilling and pulping module is provided with a drill bit, wherein a flushing passage and a suction passage are provided inside the drill bit, and is used to perform a drilling and pulping on the occlusal surface of the tooth according to a predetermined path, and to flush the working surface of the drill bit through the flushing passage using a medical flushing liquid, and to suck back the liquid in the oral cavity through the suction passage; and,

[0042] The adjustment module is used to adjust the working position and working angle of the drill bit of the drilling and pulp opening module on the occlusal surface of the tooth.

[0043] Another object of the present invention is to provide an intelligent root canal preparation system, comprising:

[0044] An affected tooth image acquisition module is used to obtain a tomographic image of the affected tooth and an image of the tooth occlusal surface;

[0045] An information processing module is used to perform three-dimensional reconstruction of the affected tooth based on the tomographic image of the affected tooth and the image of the tooth occlusal surface, and determine the position and path of the root canal channel for drilling and root canal preparation;

[0046] The minimally invasive dental pulp-opening device is used to perform drilling and pulp-opening according to the instructions of the information processing module, and to flush the root canal channel after drilling and pulp-opening and to suction and clean it.

[0047] The system is used according to the following steps:

[0048] 1) First, digital tooth anatomical structure data and tooth occlusal surface imaging data are obtained;

[0049] 2) Perform three-dimensional reconstruction of digital teeth;

[0050] 3) By analyzing the image data of the tooth occlusal surface and performing real-time comparison and calibration with the digital teeth, the position of any point on the tooth and its root canal can be identified and located;

[0051] 4) Based on the analysis of digital tooth structure data and the three-dimensional reconstruction simulation of teeth, the movement position, direction and depth distance of the working drill can be accurately controlled;

[0052] 5) Flushing, cooling and root canal disinfection during pulp opening and root canal preparation.

[0053] The acquisition of digital tooth anatomical structure data in the present invention is to obtain the data of the target tooth anatomical structure and the three-dimensional reconstruction model through micro-CT or cone beam CT scanning. The precise control of the working drill can be achieved by pre-designing the path and shape of the root canal preparation on the digitally reconstructed tooth and the three-dimensional model, and after the intelligent module system is installed in the patient's mouth, the three-dimensional parameters of the working drill preparation process are determined by comparing the occlusal surface image data, and the various working drills are precisely controlled by software to perform pulp opening and root canal preparation on the tooth according to the designed path.

[0054] The irrigation during the pulp opening and root canal preparation process is designed in the mechanical work drill. Different irrigation fluids can be used for irrigation, including water, sodium hypochlorite, saline, etc., to flush away the debris generated during the root canal preparation process and play a role in disinfection and cooling. The existence of the suction pipe can remove foreign matter such as debris from the oral cavity.

[0055] The technical solution of the present invention will be described in detail below in conjunction with several embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all embodiments obtained by those skilled in the art without making creative work belong to the protection scope of the present invention.

[0056] Example

[0057] like Figure 1 As shown, the intelligent root canal preparation system includes: an image acquisition module for an affected tooth, which is used to obtain a tomographic image of the affected tooth and an image of the tooth occlusal surface; an information processing module, which is used to perform three-dimensional reconstruction of the affected tooth based on the tomographic image of the affected tooth and the image of the tooth occlusal surface, and determine the position and path for drilling and pulp opening and root canal preparation and shaping on the root canal channel; the tooth minimally invasive pulp opening device is used to perform drilling and pulp opening according to the instructions of the information processing module, and to flush the root canal channel after drilling and pulp opening and to clean it by suction.

[0058] The specific application of dental minimally invasive pulp opening devices is as follows Figure 2As shown, it includes: an affected tooth fixing module, which is used to fix the affected tooth of the user and expose the occlusal surface of the affected tooth to the working field of the drilling and pulp opening module; a drilling and pulp opening module 8, which is provided with a drill bit, and the drill bit is also provided with a flushing passage and a suction passage inside, which are used to perform drilling and pulp opening on the occlusal surface of the tooth according to a predetermined path, and use medical flushing liquid to flush the drill bit working surface through the flushing passage, and suck back the liquid in the oral cavity through the suction passage; and an adjustment module, which is used to adjust the working position and working angle of the drill bit of the drilling and pulp opening module on the occlusal surface of the tooth.

[0059] The whole or part of the minimally invasive dental endodontic device 2 can be accommodated in the patient's oral cavity. The minimally invasive dental endodontic device has a shell, a mounting bracket 3 is arranged in the shell, a working hole is arranged at the lower end of the shell, a sick tooth fixing module is installed at the lower end of the mounting bracket, the sick tooth fixing module protrudes from the outside of the shell through the working hole, the upper end of the mounting bracket is connected to the drilling endodontic module, and the drill bit of the drilling endodontic module extends out of the working hole for drilling. The sick tooth fixing module includes an alveolar gasket 1 for clamping the sick tooth and a mechanical fixing arm 2 for providing a clamping force for clamping and fixing, and the two cooperate to clamp the sick tooth.

[0060] An adjustment module is arranged on the mounting bracket, and the adjustment module includes an X-axis adjustment mechanism 5 for adjusting the left and right position of the drill bit of the drilling and opening module in the horizontal direction, a Y-axis adjustment mechanism 7 for adjusting the up and down position of the drill bit of the drilling and opening module in the vertical direction, and a Z-axis adjustment mechanism 6 for adjusting the front and back position of the drill bit of the drilling and opening module in the horizontal direction. A front and back adjustment window 4 is arranged on the side of the mounting bracket, and the Z-axis adjustment mechanism 7 is connected to the drilling and opening module, and the working angle of the drill bit is adjusted through the front and back adjustment window.

[0061] like Figure 3 to Figure 6 As shown, the drilling and medullary opening module includes a drill bit 100, which is a hollow cone. A suction passage 104 and a flushing passage 102 are arranged inside the hollow cone. A flushing hole 101 is arranged at the tip of the spiral working surface of the hollow cone, and a suction hole 103 is arranged in the middle or upper part of the spiral working surface of the hollow cone. Both the flushing hole and the suction hole are connected to the liquid passage. Preferably, 3 to 5 flushing holes with side openings are arranged at thread intervals below 1 / 3 of the spiral working surface of the drill bit, the interior of which is connected to the flushing passage, and the flushing is performed by a positive pressure flushing system. Preferably, 3 to 5 suction holes are arranged at thread intervals above 2 / 3 of the spiral working surface of the drill bit, the interior of which is connected to the suction passage, and the suction is performed by a negative pressure suction system.

[0062] When performing pulp drilling, the tooth is first scanned with micro-CT or cone-beam CT, and intraoral scanning is performed to obtain image data of the tooth occlusal surface; the scan data is entered into a computer, and the data in the computer is reconstructed in three dimensions; the position and path of pulp drilling and root canal preparation are designed on the three-dimensionally reconstructed tooth and root canal channel; for partially and completely calcified root canals, the center intersection position of the three-dimensional model of the target tooth is designed as the root canal preparation path.

[0063] The position and path data are transmitted to the mechanical working drill; during the working drill, the flushing device flushes the entire process to remove debris and reduce temperature, and the root canal is disinfected after preparation is completed.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A minimally invasive dental pulp opening device, characterized in that: The device comprises: The affected tooth fixing module is used to fix the affected tooth of the user and expose the occlusal surface of the affected tooth to the working field of the drilling and pulp opening module; A drilling and pulping module is provided with a drill bit, wherein a flushing passage and a suction passage are provided inside the drill bit, and is used to perform a drilling and pulping operation on the occlusal surface of the tooth according to a predetermined path, and to flush the working surface of the drill bit through the flushing passage with a medical flushing liquid, and to suck back the liquid in the oral cavity through the suction passage; and, An adjustment module, used to adjust the working position and working angle of the drill bit of the drilling and pulp-opening module on the occlusal surface of the tooth; The whole or part of the minimally invasive dental endodontic device can be accommodated in the patient's oral cavity. The minimally invasive dental endodontic device has a shell, a mounting bracket is arranged in the shell, a working hole is arranged at the lower end of the shell, an affected tooth fixing module is installed at the lower end of the mounting bracket, the affected tooth fixing module protrudes from the outside of the shell through the working hole, the upper end of the mounting bracket is connected to the drilling endodontic module, and the drill bit of the drilling endodontic module extends out of the working hole for drilling operation; the affected tooth fixing module includes an alveolar gasket for clamping the affected tooth and a mechanical fixing arm for providing a clamping force for clamping and fixing, and the two cooperate to clamp the affected tooth.

2. The minimally invasive dental pulp opening device according to claim 1, characterized in that: The adjustment module includes an X-axis adjustment mechanism for adjusting the left and right position of the drill bit of the drilling and opening module in the horizontal direction, a Y-axis adjustment mechanism for adjusting the up and down position of the drill bit of the drilling and opening module in the vertical direction, and a Z-axis adjustment mechanism for adjusting the front and back position of the drill bit of the drilling and opening module in the horizontal direction.

3. The minimally invasive dental pulp opening device according to claim 2, characterized in that: A front and rear adjustment window is arranged on the side of the mounting bracket, and the Z-axis adjustment mechanism is connected to the drilling module, and the working angle of the drill bit is adjusted through the front and rear adjustment window.

4. The minimally invasive dental pulp opening device according to claim 2, characterized in that: The drilling and medullary opening module includes a drill bit, which is a hollow cone. A suction passage and a flushing passage are arranged inside the hollow cone. A flushing hole is arranged at the tip of the hollow cone spiral working surface of the drill bit, and a suction hole is arranged in the middle or upper part of the hollow cone spiral working surface. Both the flushing hole and the suction hole are connected to the liquid passage; 3 to 5 flushing holes with side openings are arranged at thread intervals below 1 / 3 of the spiral working surface of the drill bit, the interior of which is connected to the flushing passage, and flushing is performed through a positive pressure flushing system; 3 to 5 suction holes are arranged at thread intervals above 2 / 3 of the spiral working surface of the drill bit, the interior of which is connected to the suction passage, and suction is performed through a negative pressure suction system.

5. The minimally invasive dental pulp opening device according to claim 2, characterized in that: The rear end of the drill bit is provided with a Y-axis adjustment mechanism for adjusting the working height of the drill bit.

6. The minimally invasive dental pulp opening device according to claim 2, characterized in that: The device also includes: The control module is used to control and drive the affected tooth fixing module, the drilling and pulp opening module, and the adjustment module to perform drilling operations according to a predetermined working mode.

7. The minimally invasive dental pulp-opening device according to claim 1, characterized in that: The working mode of the drill bit is continuous rotation or reciprocating motion, and the material of the drill bit is diamond.

8. An intelligent root canal preparation system, characterized in that: The system comprises: An affected tooth image acquisition module is used to obtain a tomographic image of the affected tooth and an image of the tooth occlusal surface; An information processing module is used to perform three-dimensional reconstruction of the affected tooth based on the tomographic image of the affected tooth and the image of the tooth occlusal surface, and determine the position and path of the root canal channel for drilling and root canal preparation; The minimally invasive dental pulp-opening device according to any one of claims 1 to 7 is used to perform pulp-opening drilling according to the instructions of the information processing module, and to flush the root canal channel after pulp-opening drilling and suction cleaning.

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