Motion control method and device of root canal treatment instrument, electronic equipment and storage medium

Abstract

This application discloses a motion control method, device, electronic equipment, and storage medium for a root canal treatment instrument. The method and device are applied to an electronic equipment used to control the movement of the root canal file of the root canal treatment instrument. The motion control method involves controlling the root canal file of the root canal treatment instrument to rotate at a predetermined speed; during the rotation of the root canal file, the root canal file is controlled to perform a conical oscillating motion. Through the above control process, the root canal file can easily be positioned at the root canal orifice or bypass obstacles, thereby improving treatment efficiency.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a motion control method, device, electronic device, and storage medium for a root canal treatment instrument. Background Technology

[0002] Root canal treatment instruments are medical devices that use a motor-controlled system to control the movement of root canal files to cut debris from root canals, removing impurities and effectively shaping the canal. Existing root canal treatment instruments achieve this by controlling the continuous or reciprocating motion of the root canal files to cut root canal debris. However, for complex root canals, such as small canals, calcified canals, or canals with obstructions, simple continuous or reciprocating motions are insufficient for the root canal files to easily locate the canal orifice or bypass obstructions, hindering canal shaping and resulting in low root canal treatment efficiency. Summary of the Invention

[0003] In view of this, this application provides a motion control method, device, electronic device and storage medium for a root canal treatment instrument, used to control the motion direction of the root canal file of the root canal treatment instrument to improve treatment efficiency.

[0004] To achieve the above objectives, the following solution is proposed:

[0005] A motion control method for a root canal treatment device, applied to an electronic device, wherein the electronic device is used to control the movement process of the root canal file of the root canal treatment device, and the motion control method includes the following steps:

[0006] The root canal file of the root canal treatment device is controlled to rotate at a predetermined speed.

[0007] During the rotation of the root canal file, the root canal file is controlled to perform a conical oscillating motion.

[0008] Optionally, the predetermined rotational speed is 100 to 2500 rpm.

[0009] Optionally, controlling the root canal file to perform a conical oscillating motion includes the following steps:

[0010] The root canal file has multiple start and stop positions during its weekly movement. When moving from one start and stop position to the next, the root canal file is controlled to move at a constant speed to the next start and stop position with a preset torque.

[0011] After reaching each of the aforementioned start / stop positions, the root canal file is controlled to remain stationary for a preset static time period, and then the root canal file is controlled to move to the next aforementioned start / stop position.

[0012] Optionally, the preset torque is 0.4 to 5.0 N·cm.

[0013] Optionally, the preset stillness duration is 1 second.

[0014] A motion control device for a root canal treatment instrument, applied to an electronic device, the electronic device being used to control the movement of the root canal file of the root canal treatment instrument, the motion control device comprising:

[0015] The first control module is configured to control the root canal file of the root canal treatment device to rotate at a predetermined speed.

[0016] The second control module is configured to control the root canal file to perform a conical oscillating motion during the rotation of the root canal file.

[0017] Optionally, the predetermined rotational speed is 100 to 2500 rpm.

[0018] Optionally, the second control module includes:

[0019] The first control unit is configured to have multiple start and stop positions during the weekly movement of the root canal file, and to control the root canal file to move at a constant speed to the next start and stop position at a preset torque during the movement from one start and stop position to the next start and stop position.

[0020] The second control unit is configured to, after reaching each of the start / stop positions, control the root canal file to remain stationary for a preset static duration, and then control the root canal file to move to the next start / stop position.

[0021] Optionally, the preset torque is 0.4 to 5.0 N·cm.

[0022] Optionally, the preset stillness duration is 1 second.

[0023] An electronic device for use in a root canal treatment apparatus, the electronic device comprising at least one processor and a memory connected to the processor, wherein:

[0024] The memory is used to store computer programs or instructions;

[0025] The processor is used to execute the computer program or instructions to enable the electronic device to implement the motion control method described above.

[0026] A storage medium is used in an electronic device, the storage medium carrying one or more computer programs that, when executed by the electronic device, enable the electronic device to perform the motion control method described above.

[0027] As can be seen from the above technical solution, this application discloses a motion control method, device, electronic equipment, and storage medium for a root canal treatment instrument. The method and device are applied to the electronic equipment, which controls the movement of the root canal file of the root canal treatment instrument. The motion control method involves controlling the root canal file of the root canal treatment instrument to rotate at a predetermined speed; during the rotation of the root canal file, the method controls the root canal file to perform a conical oscillating motion. Through the above control process, the root canal file can easily be positioned at the root canal orifice or bypass obstacles, thereby improving treatment efficiency. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a flowchart illustrating a motion control method for a root canal treatment device according to an embodiment of this application;

[0030] Figure 2 This is a schematic diagram of the movement of the root canal file according to an embodiment of this application;

[0031] Figure 3 This is a block diagram of a motion control device for a root canal treatment instrument according to an embodiment of this application;

[0032] Figure 4 This is a block diagram illustrating another motion control method for a root canal treatment device according to an embodiment of this application.

[0033] Figure 5 This is a block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0035] Example 1

[0036] Figure 1 This is a flowchart illustrating a motion control method for a root canal treatment device according to an embodiment of this application.

[0037] like Figure 1As shown, the motion control method provided in this embodiment is applied to an electronic device that controls the movement of the root canal file of a root canal treatment instrument. This electronic device can be understood as a computer or embedded device with data computing and information processing capabilities. The motion control method includes the following steps:

[0038] S1. Control the root canal file of the root canal treatment equipment to rotate at a predetermined speed.

[0039] Specifically, starting up includes the root canal treatment main unit, auxiliary unit, main control device and drive motor, so that the drive motor drives the root canal file to rotate at a predetermined speed, so that the root canal file can mill the root canal of the tooth, the predetermined speed being 100 to 2500 rpm.

[0040] S2. Control the root canal file to make a conical pendulum motion within a certain range.

[0041] That is, based on the root canal file rotating at a predetermined speed, its axial direction is controlled to perform a conical oscillating motion. Furthermore, this conical oscillating motion is not continuous, but rather pauses at corresponding start and stop positions at a certain frequency. That is, multiple start and stop positions 101 are preset on the motion circumference 100. In this embodiment, one start and stop is selected every 90° of rotation, meaning four start and stop positions 101 are set on the motion circumference. For example... Figure 2 As shown. The specific control process of the conical pendulum is as follows:

[0042] First, the root canal file is controlled to move at a constant speed with a preset torque from the first start-stop position 101 to the next start-stop position 101. Then, when the root canal file moves to the next start-stop position, it stops and remains stationary for a preset duration before moving to the next start-stop position. This cycle is repeated until the root canal file is positioned at the root canal orifice or around an obstacle.

[0043] When the torque of this conical oscillation exceeds the preset torque mentioned above, it is determined that the root canal file has found the root canal orifice, and the conical oscillation motion is stopped at this point. The preset torque is preferably 0.4 to 5.0 N·cm, and the preset static time is preferably 1 second.

[0044] As can be seen from the above technical solution, this application provides a motion control method for a root canal treatment instrument. This method is applied to an electronic device, which controls the movement of the root canal file of the instrument. The motion control method involves controlling the root canal file to rotate at a predetermined speed; during the rotation of the root canal file, the device also controls it to perform a conical oscillating motion. Through this control process, the root canal file can easily be positioned at the root canal orifice or bypass obstacles, thereby improving treatment efficiency.

[0045] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0046] Although the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous.

[0047] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0048] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer.

[0049] Example 2

[0050] Figure 3 This is a block diagram of a motion control device for a root canal treatment instrument according to an embodiment of this application.

[0051] like Figure 3As shown, the motion control device provided in this embodiment is an electronic device that controls the movement of the root canal file of the root canal treatment instrument. The electronic device can be understood as a computer or embedded device with data computing and information processing capabilities. The motion control device includes a first control module 10 and a second control module 20.

[0052] The first control module is used to control the root canal file of the root canal treatment equipment to rotate at a predetermined speed.

[0053] Specifically, starting up includes the root canal treatment main unit, auxiliary unit, main control device and drive motor, so that the drive motor drives the root canal file to rotate at a predetermined speed, so that the root canal file can mill the root canal of the tooth, the predetermined speed being 100 to 2500 rpm.

[0054] The second control module is used to control the root canal file to perform a conical pendulum motion within a certain range.

[0055] That is, based on the root canal file rotating at a predetermined speed, its axial direction is controlled to perform a conical oscillating motion. Furthermore, this conical oscillating motion is not continuous, but rather pauses at corresponding start and stop positions at a certain frequency. That is, multiple start and stop positions 101 are preset on the motion circumference 100. In this embodiment, one start and stop is selected every 90° of rotation, meaning four start and stop positions are set on the motion circumference. Figure 2 As shown, the second control module specifically includes a first control unit 21 and a second control unit 22, as follows: Figure 4 As shown.

[0056] The first control unit controls the root canal file to move at a constant speed with a preset torque from the first start-stop position 101 to the next start-stop position 101; the second control unit stops the root canal file when it reaches the next start-stop position and holds it still for a preset time before moving to the next start-stop position. This cycle is repeated until the root canal file is positioned at the root canal orifice or around an obstacle.

[0057] When the torque of this conical oscillation exceeds the preset torque mentioned above, it is determined that the root canal file has found the root canal orifice, and the conical oscillation motion is stopped at this point. The preset torque is preferably 0.4 to 5.0 N·cm, and the preset static time is preferably 1 second.

[0058] As can be seen from the above technical solution, this application provides a motion control device for a root canal treatment instrument. This device is applied to an electronic device, which controls the movement of the root canal file of the root canal treatment instrument. The motion control method involves controlling the root canal file of the root canal treatment instrument to rotate at a predetermined speed; during the rotation of the root canal file, the root canal file is controlled to perform a conical oscillating motion. Through the above control process, the root canal file can easily be positioned at the root canal orifice or bypass obstacles, thereby improving treatment efficiency.

[0059] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The name of a unit does not necessarily limit the unit itself; for example, the first acquisition unit can also be described as "a unit that acquires at least two Internet Protocol addresses".

[0060] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0061] Example 3

[0062] Figure 5 This is a block diagram of an electronic device according to an embodiment of this application.

[0063] refer to Figure 5 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this disclosure. The terminal device in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. This electronic device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this disclosure.

[0064] The electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from an input device 606 into a random access memory (RAM) 603. The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0065] Typically, the following devices can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various devices are shown in the figures, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0066] Example 4

[0067] This embodiment provides a computer-readable storage medium. The computer-readable storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to control the root canal file of the root canal treatment device to rotate at a predetermined speed; during the rotation of the root canal file, the device is also controlled to perform a conical oscillating motion. Through this control process, the root canal file can easily be positioned at the root canal orifice or bypass obstacles, thereby improving treatment efficiency.

[0068] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0069] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0070] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0071] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0072] The technical solution provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A motion control method of a root canal treatment instrument, applied to an electronic device, the electronic device being used to control a motion process of a root canal file of the root canal treatment instrument, characterized in that, The motion control method comprises the steps of: controlling a root canal file of the root canal treatment device to rotate at a predetermined rotating speed; during the rotation of the root canal file, there are multiple start-stop positions in each cycle of the root canal file, and when moving from one start-stop position to the next start-stop position, the root canal file is controlled to move at a preset torque to the next start-stop position at a constant speed; after reaching each start-stop position, the root canal file is controlled to remain stationary for a preset stationary duration, and then the root canal file is controlled to move to the next start-stop position; when the torque of the conical oscillation exceeds the preset torque, it is determined that the root canal file has found the root canal orifice, and the conical oscillation is stopped.

2. The motion control method of claim 1, wherein, The predetermined rotating speed is 100-2500 rpm.

3. The motion control method of claim 1, wherein, The preset torque is 0.4-5.0 N·cm.

4. The motion control method of claim 1, wherein, The preset stationary duration is 1 s.

5. A motion control device for a root canal therapy apparatus, applied to an electronic device for controlling a motion process of a root canal file of the root canal therapy apparatus, characterized in that, The motion control device comprises: a first control module configured to control a root canal file of the root canal treatment device to rotate at a predetermined rotating speed; a second control module configured to control the root canal file to perform conical oscillation during the rotation of the root canal file, wherein the second control module comprises: a first control unit configured to, during each cycle of the root canal file, there are multiple start-stop positions, and when moving from one start-stop position to the next start-stop position, the root canal file is controlled to move at a preset torque to the next start-stop position at a constant speed; a second control unit configured to, after reaching each start-stop position, control the root canal file to remain stationary for a preset stationary duration, and then control the root canal file to move to the next start-stop position; when the torque of the conical oscillation exceeds the preset torque, it is determined that the root canal file has found the root canal orifice, and the conical oscillation is stopped.

6. The motion control apparatus of claim 5 wherein, The predetermined rotating speed is 100-2500 rpm.

7. The motion control apparatus of claim 5 wherein, The preset torque is 0.4-5.0 N·cm.

8. The motion control apparatus of claim 5 wherein, The preset stationary duration is 1 s.

9. An electronic device applied to a root canal therapy instrument, characterized in that, The electronic device comprises at least one processor and a memory connected to the processor, wherein: the memory is used to store computer programs or instructions; the processor is used to execute the computer programs or instructions to enable the electronic device to implement the motion control method according to any one of claims 1-4.

10. A storage medium for use in an electronic device, the storage medium comprising: The storage medium carries one or more computer programs, which, when executed by the electronic device, can enable the electronic device to implement the motion control method according to any one of claims 1-4.

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