A tooth root canal treatment robot

Abstract

The present invention discloses a dental root canal treatment robot. The robot consists of a rough positioning device, a precise positioning device, and a root canal file device. The rough positioning device includes a first lifting mechanism, a second lifting mechanism, a horizontal advance and retreat mechanism, two rotating platforms, and a linear pair. One end of the horizontal advance and retreat mechanism is connected to the lifting portion of the first lifting mechanism via a rotating platform, and the other end is connected to the lifting portion of the second lifting mechanism via a second rotating platform and a linear pair connected in series. The rough positioning device has two degrees of freedom: lift and pitch. The precise positioning device includes three degrees of freedom: lateral movement, pitch, and lift. The root canal file device itself has one degree of freedom: advance and retreat. Therefore, the present invention has at least five degrees of freedom in total. The present invention can realize various movement modes and posture adjustments of the root canal file, solve the problems of lack of experience and misoperation existing in manual methods, improve the success rate of root canal treatment, reduce treatment time, and reduce the burden on doctors and patients.

Description

Technical Field

[0001] The present invention belongs to the field of medical equipment, and in particular relates to a tooth root canal treatment robot. Background Art

[0002] Root canal therapy is the most common, effective, and comprehensive method for treating pulp disease and periapical periodontitis. Currently, the main steps of root canal therapy are: pulpectomy, root canal preparation, root canal disinfection, and root canal filling. Root canal preparation has always been a major challenge for clinicians.

[0003] Currently, root canal treatment is primarily performed manually. Within the confined oral space, doctors rely on manual rotation and lifting, or use rotating nickel-titanium instruments to prepare the root canals. Since teeth typically have multiple root canals, preparing the entire tooth takes a long time. During root canal treatment, doctors must maintain a fixed posture for extended periods, placing significant workload on the treating doctor, leading to fatigue and potentially causing cervical and lumbar spine problems, while also causing pain for the patient.

[0004] Root canal preparation is heavily dependent on the doctor's experience and skill level. Improper operation may lead to medical accidents such as root canal file breakage and lateral perforation. Inexperienced doctors may also cause incomplete root canal preparation, leading to secondary infection. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems of lack of experience and misoperation existing in manual methods, improve the success rate of root canal treatment, reduce treatment time, and reduce the burden on doctors and patients. The present invention provides a tooth root canal treatment robot.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows

[0007] A tooth root canal treatment robot, comprising

[0008] Root canal file device: used for root canal treatment of teeth;

[0009] Precise positioning device: used to precisely adjust the position and posture of the root canal file device to achieve the complex movements required by the root canal file;

[0010] Rough positioning device: used to adjust the precise positioning device to the vicinity of the affected tooth and preliminarily adjust the posture of the root canal file device;

[0011] The rough positioning device includes three linear motion mechanisms, two rotating tables and a linear pair. The three linear motion mechanisms are respectively a first lifting mechanism, a second lifting mechanism and a horizontal advance and retreat mechanism. The horizontal advance and retreat mechanism is provided with two installation points spaced apart in the advance and retreat direction, wherein the first installation point is connected to the lifting part of the first lifting mechanism through the first rotating table, and the second installation point is connected to the lifting part of the second lifting mechanism through the second rotating table and the linear pair connected in series; the height and pitch angle of the horizontal advance and retreat mechanism can be adjusted through the lifting and retreat motion of the two lifting mechanisms, and the sliding part of the horizontal advance and retreat mechanism is the output.

[0012] The present invention forms a two-dimensional plane motion mechanism capable of performing motion in a horizontal plane by cooperating with a horizontal lateral movement mechanism and a horizontal advance and retreat mechanism. The height and coarse pitch angle of the two-dimensional plane motion mechanism can be adjusted by cooperating with a first lifting mechanism and a second lifting mechanism, thereby achieving preliminary adjustment of the root canal file device in three-dimensional space. The pitch angle of the root canal file device is then further fine-tuned by the pitch mechanism to obtain a suitable root canal file posture. The height of the root canal file device is then fine-tuned by the third lifting mechanism, thereby achieving the purpose of rapid and high-precision adjustment.

[0013] Compared with the existing technology, the present invention can quickly and accurately make the root canal file reach the patient's oral cavity, and during the treatment process, it can also accurately adjust the posture and fine-tune the position of the root canal file, which greatly facilitates root canal operation and improves the efficiency of root canal treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall assembly of the tooth root canal treatment robot in an embodiment of the present invention.

[0015] Figure 2 Schematic diagram of a rough positioning device of a tooth root canal treatment robot in an embodiment of the present invention.

[0016] Figure 3 It is a schematic diagram of the structure of a manual linear module in an embodiment of the present invention.

[0017] Figure 4 Schematic diagram of the horizontal advance and retreat mechanism in an embodiment of the present invention.

[0018] Figure 5 Schematic diagram of the adjustment principle of the rough positioning device in an embodiment of the present invention.

[0019] Figure 6 Schematic diagram of a precise positioning device in an embodiment of the present invention.

[0020] Figure 7 Schematic diagram of the structure of the root canal file device in an embodiment of the present invention.

[0021] Figure 8 1 is a top view of the root canal file device in an embodiment of the present invention.

[0022] Figure 9 It is a front view of the root canal file device in an embodiment of the present invention.

[0023] Figure 10 yes Figure 8 Middle AA section view.

[0024] Figure 11 yes Figure 10 A partial enlarged schematic diagram of the middle left half.

[0025] Figure 12 yes Figure 11 Partially enlarged schematic diagram B.

[0026] Figure 13 3D schematic diagram of the terminal shell in an embodiment of the present invention.

[0027] Figure 14 It is a three-dimensional schematic diagram of the base sleeve in an embodiment of the present invention.

[0028] Figure 15 It is a three-dimensional schematic diagram of the clamping base in a top view according to an embodiment of the present invention.

[0029] Figure 16 It is a three-dimensional schematic diagram of the clamping base in an embodiment of the present invention when viewed from above.

[0030] Figure 17 3D schematic diagram of the clamping member in an embodiment of the present invention.

[0031] Figure 18 3D schematic diagram of the root canal file in the embodiment of the present invention.

[0032] 100-root canal file device, 110-root canal file, 1101-tail, 1102-cage, 1103-limiting boss, 120-telescopic shaft, 121-spline shaft, 122-spline shaft sleeve, 130-telescopic drive member, 131-rope drive base, 132-rope drive guide sleeve, 133-traction rope, 134-rope reel, 1341-reel, 1342-servo motor, 135-avoidance groove, 136-guide hole, 140-drive device, 141-root canal file motor, 142-worm gear, 143-worm, 150-root canal support device, 151-spline shaft guide sleeve, 152-vertical plate, 153-horizontal plate, 154-bearing, 155-axis hole, 160-gear reversing mechanism, 161-end housing, 1611-first cylindrical housing, 1612-guide block, 1613-second cylindrical housing, 1614-annular protrusion, 162-first bevel gear, 163-second bevel gear, 164-transmission shaft, 165-transmission sleeve, 166-bearing, 167-root canal file clamp, 1671-clamping base, 16711-circular hole, 16712-non-circular hole, 16713-avoidance groove, 1672-bearing, 1673-clamping mechanism, 16731-clamping member, 167311-cylindrical ring, 167312-elastic sheet, 167313-extrusion part , 167314-protrusion, 16732-fixed cover, 16733-movable cover, 16734-spring, 16735-release column, 1674-base sleeve, 16741-anti-rotation key, 16742-avoidance hole, 168-sleeve fixing part, 1681-first locking sleeve, 1682-second locking sleeve, 1683-limiting structure, 169-camera, 200-precision positioning device, 210-horizontal traverse mechanism, 220-pitch mechanism, 221-pitch motor, 222-first pitch connection, 223-second pitch connection, 224-pitch drive shaft, 225-worm gear, 226-worm, 230-third lift Lowering mechanism, 300-rough positioning device, 310-first lifting mechanism, 320-second lifting mechanism, 330-first rotating table, 331-first rotating connection, 332-second rotating connection, 340-second rotating table, 350-linear pair, 351-guide rail, 352-slider, 360-horizontal advance and retreat mechanism, 371-module bracket, 3711-base plate, 3712-vertical support plate, 3713-top plate, 372-slide table, 373-screw, 374-slide rod, 375-crank handle, 376-slide rail, 377-motor, 378-first installation point, 379-second installation point; 400-posterior tooth opener. DETAILED DESCRIPTION

[0033] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0036] like Figures 1 to 5 As shown, the present invention provides a tooth root canal treatment robot, comprising

[0037] The root canal file device 100 is used for performing root canal treatment of teeth;

[0038] Precise positioning device 200: used to precisely adjust the position and posture of the root canal file device 100 to achieve the complex movements required by the root canal file 110;

[0039] The rough positioning device 300 is used to adjust the precise positioning device 200 to the vicinity of the affected tooth and preliminarily adjust the posture of the root canal file device 100;

[0040] The rough positioning device 300 includes three linear motion mechanisms, two rotating tables and a linear pair 350. The three linear motion mechanisms are the first lifting mechanism 310, the second lifting mechanism 320 and the horizontal advance and retreat mechanism 360. The horizontal advance and retreat mechanism 360 is provided with two installation points spaced apart in the advance and retreat directions, wherein the first installation point 378 is connected to the lifting part of the first lifting mechanism 310 through the first rotating table 330, and the second installation point 379 is connected to the lifting part of the second lifting mechanism 320 through the serially connected second rotating table 340 and the linear pair 350; the height and pitch angle of the horizontal advance and retreat mechanism 360 can be adjusted through the lifting and lowering motion of the two lifting mechanisms, and the sliding part of the horizontal advance and retreat mechanism 360 is the output.

[0041] like Figure 5As shown, the present invention comprises three linear motion mechanisms, two rotating tables and a linear pair 350 to form a motion pair, which can adjust the height and pitch angle of the linear pair 350 in real time, and can quickly perform rough positioning of the root canal file 110 so that it can quickly reach the patient's oral cavity and be in a suitable posture.

[0042] In some embodiments, as Figure 1 As shown, the precise positioning device 200 includes

[0043] The horizontal traverse mechanism 210 is mounted on the sliding portion of the horizontal advance and retreat mechanism 360 and is used for horizontal movement perpendicular to the horizontal advance and retreat direction;

[0044] The pitch mechanism 220 is mounted on the horizontal movement mechanism 210 and is used to adjust the pitch angle;

[0045] The third lifting mechanism 230 is installed on the pitch mechanism 220 for performing height adjustment. The root canal file device 100 is installed on the lifting portion of the third lifting mechanism 230 .

[0046] like Figure 1 and Figure 5 As shown, the present invention cooperates with a horizontal traverse mechanism 210 and a horizontal advance and retreat mechanism 360 to form a two-dimensional planar motion mechanism capable of performing motion in a horizontal plane. The first lifting mechanism 310 and the second lifting mechanism 320 cooperate to adjust the height and coarsely adjust the pitch angle of the two-dimensional planar motion mechanism, thereby achieving preliminary adjustment of the root canal file device 100 in three-dimensional space. The pitch angle of the root canal file device 100 is then further fine-tuned by the pitch mechanism 220 to obtain a suitable posture of the root canal file 110. The height of the root canal file device 100 is then fine-tuned by the third lifting mechanism 230, thereby achieving the purpose of rapid and high-precision adjustment.

[0047] In some embodiments, universal wheels are provided at the bottom of the two lifting mechanisms, which can be moved and locked in position at any time to achieve the movement of the dental root canal treatment robot.

[0048] It should be noted that the relative position (i.e., the spacing) between the two lifting mechanisms can remain fixed and can move relative to each other within a certain range. The adjustment range depends on the movement stroke of the linear pair 350. The specific form of the linear pair 350 is not limited. For example, it can include a linear guide rail 351 fixedly connected to the second rotating table 340 and a slider 352 installed on the guide rail 351, and the slider 352 is connected to the horizontal advance and retreat mechanism 360.

[0049] In some embodiments, both lifting mechanisms are manual linear modules with self-locking function, and the horizontal advance and retreat mechanism 360 is an electric-controlled linear module. The structures of the two manual linear modules are basically the same, both are screw 373 nut mechanisms. One of them is illustrated as an example. Figure 3 As shown, it includes a module bracket 371, a slide 372, a screw 373, a slide rod 374 and a crank 375. The module bracket 371 is composed of a base plate 3711, a vertical support plate 3712 and a top plate 3713. The two ends of the screw 373 are respectively installed in the middle of the base plate 3711 and the top plate 3713 through bearings. The two slide rods 374 are provided on both sides of the screw 373 and are respectively fixed on the base plate 3711 and the top plate 3713. The middle part of the slide 372 is installed on the screw 373 through threaded cooperation. The slide 372 is also installed with the two slide rods 374 through sliding holes. The crank 375 is fixed on the top of the screw 373. By shaking the crank 375, the screw 373 can be rotated, thereby driving the slider 352 to move up and down along the slide rod 374 to realize the lifting function.

[0050] The horizontal advance and retreat mechanism 360, the horizontal traverse mechanism 210 and the third lifting mechanism 230 are all screw and nut mechanisms. Figure 4 As shown, the difference from the manual linear module structure is that the slide rod 374 is set as a horizontal slide rail 376, the slide 372 is installed on the slide rail 376 through a slide groove, and the crank 375 is replaced by a motor 377, which is connected to the screw 373 through a coupling.

[0051] It should be noted that the structures of the two rotating platforms are exactly the same. Figure 2 As shown, they all include a first rotating connection member 331 and a second rotating connection member 332. The first rotating connection member 331 and the second rotating connection member 332 are connected by a rotating pair including but not limited to bearings, shaft holes, pins, bearings, etc., and the two rotating connections are respectively connected to two components that can rotate relative to each other; taking the first rotating platform 330 as an example, the first rotating connection member 331 of the first rotating platform 330 is fixedly connected to the slide 372 of the first lifting mechanism 310, and the second rotating connection member 332 of the first rotating platform 330 is fixedly connected to the module bracket 371 of the horizontal advance and retreat mechanism 360; it should be noted that the first rotating connection member 331 and the second rotating connection member 332 are not limited to a specific shape, and can be solid components or simplified as virtual components. The specific selection can be made according to actual needs.

[0052] In some embodiments, as Figure 1 and Figure 6 As shown, the pitch mechanism 220 in the precise positioning device 200 includes a pitch motor 221, a first pitch connection member 222, a second pitch connection member 223 and a pitch drive shaft 224 connecting the two pitch connections. The pitch drive shaft 224 is connected to the pitch motor 221 through a worm gear transmission mechanism.

[0053] The specific form and connection method of the first pitch connection member 222 and the second pitch connection member 223 are not limited. As an example, Figure 6 As shown, the first pitch connection member 222 is fixed on the slide 372 of the horizontal transverse movement mechanism 210, the second pitch connection member 223 is fixed on the back of the module bracket 371 of the third lifting mechanism 230, the drive shaft is fixedly connected to the second pitch connection member 223, and the drive shaft is installed on the first pitch connection member 222 through a bearing, and the axis of the drive shaft is parallel to the moving direction of the horizontal transverse movement mechanism 210; when the drive shaft is driven to rotate by the pitch motor 221, the pitch movement can be achieved.

[0054] As a preferred embodiment, the pitch motor 221 is connected to the drive shaft through a worm gear mechanism, so that the pitch mechanism 220 has a self-locking function. Specifically, the worm wheel 225 is coaxially fixed with the pitch drive shaft 224, the worm 226 is engaged with the worm wheel 225, and the worm 226 is coaxially fixed with the output shaft of the pitch motor 221.

[0055] In some embodiments, as Figures 7 to 9 As shown, the root canal file device 100 includes a root canal file 110, a telescopic shaft 120, a telescopic driving member 130 and a driving device 140;

[0056] The telescopic shaft 120 is mounted on the slide 372 of the third lifting mechanism 230 through the root canal support device 150;

[0057] The driving device 140 is connected to the root canal file 110 via the telescopic shaft 120, and drives the root canal file 110 to rotate via the telescopic shaft 120 to perform root canal treatment;

[0058] The telescopic driving member 130 is used to drive the telescopic shaft 120 to extend and retract to adjust the forward and backward positions of the root canal file 110 .

[0059] In some embodiments, the telescopic shaft 120 includes a spline shaft 121 and a spline sleeve 122 sleeved on the spline shaft 121. The spline shaft 121 and the spline sleeve 122 are matched through balls, so that the two can not only transmit rotational power but also undergo axial relative movement to realize the telescopic function. It should be emphasized that this structure is only an example of the telescopic shaft 120, and other telescopic shaft 120 structures can also be used in the present invention.

[0060] In some embodiments, as Figure 9 and Figure 10As shown, the driving device 140 includes a root canal file motor 141, a worm gear 142 and a worm 143. Specifically, the root canal support device 150 includes a spline shaft guide sleeve 151, two vertical plates 152 and a horizontal plate 153. The two vertical plates 152 are fixedly connected by a horizontal plate to form a mounting bracket for the driving device 140 and the telescopic driving member 130. The mounting bracket is fixed on the spline shaft guide sleeve 151, and the spline shaft guide sleeve 151 is fixed on the slide 372 of the third lifting mechanism 230; the spline shaft guide sleeve 151 An axial hole 155 is provided in the middle part for the movement of the spline shaft 121; the spline sleeve 122 is installed on the two vertical plates 152 through a bearing 154, the worm gear 142 is coaxially fixed on the spline sleeve 122 between the two vertical plates 152, the worm 143 is meshed and connected with the worm gear 142, and the worm 143 is coaxially fixed on the output shaft of the root canal file motor 141. The root canal file motor 141 is fixed on the horizontal plate. The root canal file motor 141 drives the spline sleeve 122 to rotate through the worm gear mechanism, thereby driving the telescopic shaft 120 to rotate.

[0061] In some embodiments, as Figure 10 As shown, in order to facilitate the root canal treatment operation of the root canal file 110, the axis of the root canal file 110 is perpendicular to the telescopic shaft 120, and the root canal file 110 is connected to the telescopic shaft 120 through a gear reversing mechanism 160.

[0062] like Figures 7 to 18 As shown, the gear reversing mechanism 160 includes an end housing 161, a bevel gear, a transmission shaft 164 and a root canal file holder 167; the root canal file holder 167 is installed in the end housing 161 through a rotating pair (shaft-hole fit or bearing), and the end housing 161 is connected to the telescopic driving member 130, and the telescopic driving member 130 drives the root canal file holder 167 to follow the telescopic shaft 120 to perform telescopic movement; the outside of the root canal file holder 167 transmits power to the end of the telescopic shaft 120 through the bevel gear.

[0063] In some embodiments, as Figures 11 to 13 As shown, the end housing 161 includes a first cylindrical housing 1611 coaxially arranged with the root canal file 110 and a second cylindrical housing 1613 coaxially arranged with the telescopic shaft 120, and the interior of the second cylindrical housing 1613 is connected to the interior of the first cylindrical housing 1611; the root canal file clamp 167 is coaxially mounted in the first cylindrical housing 1611 via a bearing, and a first bevel gear 162 is provided on the outside of the root canal file clamp 167; the gear reversing mechanism 160 also includes a transmission shaft 164 and a transmission sleeve 165; the transmission shaft 164 is mounted in the transmission sleeve 165 via a bearing 166, and the transmission sleeve 165 is mounted in the second cylindrical housing 1613 via a sleeve fixing member 168. One end of the transmission shaft 164 is fixedly connected to the telescopic shaft 120, and the other end is provided with a second bevel gear 163 that meshes with the first bevel gear 162.

[0064] In some embodiments, as Figure 11 As shown, the shaft sleeve fixing member 168 includes a first locking sleeve 1681 and a second locking sleeve 1682. The first locking sleeve 1681 is sleeved on the outer end of the second cylindrical shell 1613 through a snap-fit ​​structure (such as an annular groove or an annular protrusion 1614). The first locking sleeve 1681 is provided with an internal thread, and the second locking sleeve 1682 is tightened in the first locking sleeve 1681 through an external thread, and a limiting structure 1613 (such as a boss or end limit provided on the outside of the transmission sleeve 165) is provided between the second locking sleeve 1682 and the transmission shaft sleeve 165 to prevent the transmission shaft sleeve 165 from slipping.

[0065] In some embodiments, as Figures 7 to 9 As shown, the telescopic drive member 130 is a rope-driven mechanism, including a rope-driven base 131, a rope-driven guide sleeve 132, a traction rope 133 and at least two rope reels 134. The rope-driven guide sleeve 132 is fixed on the rope-driven base 131 to provide protection and isolation for the telescopic shaft 120 to prevent damage and injury.

[0066] The rope drive base 131 is fixed to the root canal support device 150, specifically to the vertical plate 152 at the left end of the root canal support device 150; the terminal housing 161 is installed in the rope drive guide sleeve 132, and the lower end of the rope drive guide sleeve 132 is provided with an avoidance groove 135 for adjusting the root canal file 110; at least one rope reel 134 is connected to the opposite side of the terminal housing 161 through a traction rope 133, and at least another rope reel 134 is connected to the opposite side of the terminal housing 161 through the traction rope 133. The synchronous and unidirectional movement of the at least two rope reels 134 drives the terminal housing 161 and the root canal file 110 therein to move axially along the telescopic shaft 120; as a specific embodiment, Figure 7 As shown, the present invention is provided with four rope winders 134, each rope winder 134 includes a drum 1341 and a servo motor 1342 for driving the drum 1341 to move forward and backward, wherein the upper two rope winders 134 are connected to the proximal end of the first cylindrical shell 1611 through the traction rope 133, and the lower two rope winders 134 are connected to the root end of the first cylindrical shell 1611 after the traction rope 133 passes around the guide hole 136 at the front end of the rope drive guide sleeve 132. The first cylindrical shell 1611 is driven to move axially along the transmission shaft 164 by the synchronous and axial retraction and release of the traction rope 133 by the upper and lower groups of rope winders 134, so as to achieve fine adjustment of the advance and retreat of the root canal file 110.

[0067] In some embodiments, as Figure 11 and Figure 13As shown, the exterior of the first cylindrical shell 1611 is configured to have a shape that matches the internal dimensions of the rope-driven guide sleeve 132 or a guide block 1612 is provided, so that a sliding guide is formed between the first cylindrical shell 1611 and the rope-driven guide sleeve 132, supporting the terminal shell 161 and the root canal file 110 in the vertical direction to prevent the weight of the terminal shell 161 and the root canal file 110 from generating excessive bending moment on the transmission shaft 164.

[0068] like Figure 12 As shown, the root canal file clamp 167 includes a cylindrical clamping base 1671 and a base sleeve 1674. The clamping base 1671 is rotatably coaxially mounted in the base sleeve 1674 via a bearing 1672. The base sleeve 1674 is fixed in the first cylindrical housing 1611. The first bevel gear 162 is coaxially fixed to the outside of the clamping base 1671. A side of the base sleeve 1674 is provided with an escape hole for the first bevel gear 162 to escape. The root canal file 110 is coaxially mounted in the clamping base 1671 via a clamping mechanism 1673.

[0069] In some embodiments, the endodontic file 110 is mounted within the clamping base 1671 (not shown) via a keyway fit.

[0070] In other embodiments, Figures 12 to 18 As shown, the clamping mechanism 1673 includes a clamping member 16731, a fixed cover 16732, a movable cover 16733 and a spring 16734. The clamping member 16731 ​​includes a cylindrical ring 167311 and two axially extending elastic sheets 167312 provided on the top of the cylindrical ring 167311. The two elastic sheets 167312 are provided with protrusions 167314 on opposite sides to form a snap-fit ​​structure, and the tops of the two elastic sheets 167312 are inclined outwardly to both sides to form extrusion portions 167313. The lower part of the clamping base 1671 is provided with a portion for mounting the clamping member 16731 A circular hole 167111 is formed in the upper inner portion of the clamping base 1671, and a non-circular hole 167112 (for example, a circular cross-section is formed by cutting off a portion of a plane) and an avoidance groove 16713 for the elastic sheet 167312 to extend and move to both sides are provided. The shape (cross-sectional shape) of the tail portion 1101 of the root canal file 110 is set to be the same as the non-circular hole 167112 in the upper inner portion of the clamping base 1671, so that after the tail portion 1101 of the root canal file 110 is assembled in the clamping base 1671, the two cannot rotate relative to each other. It should be noted that this structure can also be a keyway structure.

[0071] like Figure 18As shown, a groove 1102 is provided on the side of the tail portion 1101 of the root canal file 110, which cooperates with the protrusion 167314 on the elastic sheet 167312. The root canal file 110 is also provided with a limiting boss 1103. When the root canal file 110 is assembled in the hole of the clamping base 1671, the limiting boss 1103 presses against the cylindrical ring 167311 of the clamping member 16731, thereby limiting the clamping member 16731 ​​in the clamping base 1671.

[0072] like Figure 12 As shown, the fixed cover 16732 is mounted on the top of the first cylindrical shell 1611 through threaded engagement, an axial through hole is provided in the middle of the fixed cover 16732, and the movable cover 16733 is mounted in the fixed cover 16732 through a boss structure, so that the movable cover 16733 can move up and down along the axial direction within a certain range, and is limited by the boss structure to prevent slipping; a spring 16734 is provided between the movable cover 16733 and the top of the first cylindrical shell 1611, and the spring 16734 keeps the movable cover 16733 in an upward movement limit state, and a release column 167345 is provided in the middle of the movable cover 16733 to contact the extrusion portion 167313 at the top of the elastic sheet 167312; when clamping the root canal file 110, the tail 1101 of the root canal file 110 is inserted from the bottom of the clamping base 1671 to clamp the root canal file 110. The tail portion 1101 of the file 110 reaches the non-circular hole 167112 on the upper inner portion of the clamping base 1671 to complete the installation and clamping. During the upward movement of the root canal file 110, the top portion hits the protrusion 167314 on the elastic sheet 167312, squeezing the two elastic sheets 167312 to the sides. When the groove 1102 of the tail portion 1101 of the root canal file 110 bottoms out at the protrusion 167314, the protrusion 167314 on the elastic sheet 167312 enters the groove 1102, achieving axial positioning of the root canal file 110. When replacement is required, the movable cover 16733 is manually pressed. The movable cover 16733 presses the elastic sheet 167312 to the sides via the release pin 167345, causing the protrusion 167314 on the elastic sheet 167312 to disengage from the groove 1102, and the root canal file 110 can be easily removed.

[0073] In some embodiments, a posterior tooth opener 400 is further provided at the front end of the rope-driven guide sleeve 132 .

[0074] The above embodiments are intended to illustrate the present invention only and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and should be encompassed by the scope of the claims of the present invention.

Claims

1. A tooth root canal treatment robot, characterized in that: include Root canal file device: used for root canal treatment of teeth; Precise positioning device: used to precisely adjust the position and posture of the root canal file device to achieve the complex movements required by the root canal file; as well as Rough positioning device: used to adjust the precise positioning device to the vicinity of the affected tooth and preliminarily adjust the posture of the root canal file device; The rough positioning device includes three linear motion mechanisms, two rotating platforms, and a linear pair. The three linear motion mechanisms are a first lifting mechanism, a second lifting mechanism, and a horizontal advance and retreat mechanism. The horizontal advance and retreat mechanism is provided with two mounting points spaced apart in the advance and retreat direction. The first mounting point is connected to the lifting portion of the first lifting mechanism via a first rotating platform, and the second mounting point is connected to the lifting portion of the second lifting mechanism via a second rotating platform and a linear pair connected in series. The height and pitch angle of the horizontal advance and retreat mechanism can be adjusted through the lifting and lowering motion of the two lifting mechanisms. The sliding portion of the horizontal advance and retreat mechanism is the output. The precise positioning device comprises The horizontal traverse mechanism is installed on the sliding part of the horizontal advance and retreat mechanism and is used for horizontal movement perpendicular to the horizontal advance and retreat direction; The pitch mechanism is installed on the horizontal traverse mechanism and is used to adjust the pitch angle; as well as The third lifting mechanism is installed on the pitch mechanism for lifting and lowering the height; the root canal file device is installed on the lifting part of the third lifting mechanism; The pitch mechanism includes a pitch motor, a first pitch connecting member, a second pitch connecting member, and a pitch drive shaft connecting the two pitch connecting members, wherein the pitch drive shaft is connected to the pitch motor via a worm gear transmission mechanism; The root canal file device comprises a root canal file, a telescopic shaft, a telescopic driving member and a driving device; The telescopic shaft is mounted on the lifting part of the third lifting mechanism through the root canal supporting device; The driving device is connected to the root canal file via a telescopic shaft, and drives the root canal file to rotate via the telescopic shaft to perform root canal treatment; The telescopic driving member is used to drive the telescopic shaft to extend and retract to adjust the forward and backward positions of the root canal file.

2. The dental root canal treatment robot according to claim 1, characterized in that: In the rough positioning device, the two lifting mechanisms are manual linear modules with a self-locking function, and the horizontal advance and retreat mechanism is an electrically controlled linear module.

3. The dental root canal treatment robot according to claim 1, characterized in that: The axis of the root canal file is arranged perpendicular to the telescopic shaft, and the root canal file is connected to the telescopic shaft through a gear reversing mechanism.

4. The dental root canal treatment robot according to claim 3, characterized in that: The gear reversing mechanism includes an end housing, a bevel gear, a transmission shaft and a root canal file clamp; the root canal file clamp is installed in the end housing through a rotating pair, and the end housing is connected to the telescopic driving member, which drives the root canal file clamp to follow the telescopic shaft to perform telescopic movement; the outside of the root canal file clamp transmits power to the end of the telescopic shaft through the bevel gear.

5. The tooth root canal treatment robot according to claim 4, characterized in that: The end housing includes a first cylindrical housing coaxial with the root canal file and a second cylindrical housing coaxially arranged with the telescopic shaft. The root canal file clamp is coaxially installed in the first cylindrical housing through a bearing, and a first bevel gear is provided on the outside of the root canal file clamp. A transmission sleeve is provided in the second cylindrical shell, and a freely rotatable transmission shaft is provided in the transmission sleeve. One end of the transmission shaft is fixedly connected to the telescopic shaft, and the other end is provided with a second bevel gear meshing with the first bevel gear.

6. The tooth root canal treatment robot according to claim 5, characterized in that: The transmission sleeve is locked in the second cylindrical shell by a sleeve fixing piece. The sleeve fixing piece includes a first locking sleeve and a second locking sleeve. The first locking sleeve is sleeved on the outer end of the second cylindrical shell through a snap-fit ​​structure. The first locking sleeve is provided with an internal thread. The second locking sleeve is tightened in the first locking sleeve through an external thread. A limiting structure is provided between the second locking sleeve and the transmission sleeve to prevent the transmission sleeve from slipping.

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