Device and method for automatically and quantitatively injecting and filling paste

Abstract

The invention relates to the technical field of root canal therapy, in particular to an automatic quantitative paste injection and filling device and method.The automatic quantitative paste injection and filling device comprises a lead screw linear motor module, a pressure feedback module, a power source for supplying power to the lead screw linear motor module and the pressure feedback module and a control module for receiving and processing the pressure value of the pressure feedback module, the controller is used for correspondingly sending a control command to the screw rod linear motor module; when the paste is injected and filled, the controller controls the lead screw linear motor module to push the paste in the needle tube clamping device into the root canal under the monitoring of the pressure of the pressure feedback module. A circuit system is adopted for achieving automatic pushing and injecting of root canal filling paste, according to the fluid characteristics of the paste, constant pushing force is achieved through a pressure feedback module and a corresponding pressure control algorithm for pushing and injecting of the paste, quantitative pushing and injecting of the paste are achieved, the paste cannot overflow after pushing and injecting are stopped, and the purposes of saving the paste medicine, reducing the cost and the like can be achieved. The treatment effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of root canal treatment, in particular to an automatic quantitative push-in filling paste device and method. Background Art

[0002] Endodontic disease and periapical disease are common diseases in dental clinics, and root canal treatment is their preferred treatment option. Clinically, root canal treatment includes three basic steps: root canal preparation, root canal disinfection, and root canal filling. As one of the key steps, root canal filling is mainly aimed at filling the root canal system that has been de-infected with biocompatible materials, achieving a tight closure of the three-dimensional space of the root canal system, completely sealing the passage between the root canal and the periapical tissue, preventing microbial and liquid leakage, and preventing reinfection. Good root canal filling plays a vital role in the long-term efficacy of patients.

[0003] There are two main types of root canal filling materials, one is solid materials such as gutta-percha, and the other is filling paste. In recent years, some bioceramic filling pastes have appeared in the dental market as new filling materials. This type of paste does not require preparation and can be used at any time. It has the advantages of good fluidity, curing and expansion, short curing time, good biocompatibility, antibacterial and antibacterial properties, and biological activity that promotes osteogenesis, so it is trusted by many experts and doctors.

[0004] When using bioceramic filling pastes clinically, doctors usually inject them manually. This results in the injection depth and dosage of the paste varying depending on experience and technique, making it impossible to achieve quantitative injection. This can lead to too much or too little paste material in the root canal, affecting the treatment effect, or even causing damage to the apical foramen due to excessive paste squeezing out.

[0005] The paste injection device in the prior art is affected by the viscosity of the paste, and the actual dosage is difficult to match the expected dosage, which not only causes waste but also affects the treatment. Summary of the invention

[0006] The object of the present invention is to provide an automatic quantitative push-in filling paste device and method to solve the problem that quantitative push-in cannot be achieved and waste is easily caused in the above-mentioned background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic quantitative push-in filling paste device, comprising a screw linear motor module, a pressure feedback module and a power supply for the screw linear motor module and the pressure feedback module, and a controller for receiving and processing the pressure value of the pressure feedback module and issuing control commands to the screw linear motor module accordingly, wherein;

[0008] The screw linear motor module includes a screw linear motor and a syringe block, and the syringe block is fixedly connected to the sliding seat of the screw linear motor; the pressure feedback module is connected to the surface of the syringe block, and the screw linear motor is provided with a syringe clamping device;

[0009] When injecting and filling the paste, the controller controls the injection process of the paste in the syringe clamping device by the screw linear motor module according to the thrust value monitored by the pressure feedback module, so as to reduce the waste of the paste.

[0010] Preferably, the controller controls the injection process of the paste in the syringe clamping device by the screw linear motor module according to the thrust value of the syringe block monitored by the pressure feedback module, so as to reduce the waste of the paste, including:

[0011] Set the upper limit of the injection pressure as FMAX and the lower limit of the injection pressure as FMIN;

[0012] The controller is used to monitor the thrust value F sent back by the pressure feedback module in real time during the injection process. If the actual F > FMAX, the operation of the screw linear motor module is stopped until F < FMIN, and then the screw linear motor module is controlled to start, and so on in a cycle.

[0013] Preferably, the pressure feedback module includes: a micro pressure sensor, which is fixedly installed on the surface of the syringe block, and the micro pressure sensor is electrically connected to the controller. The micro pressure sensor is used to detect the thrust of the syringe block injection and feedback it to the controller in real time. At the same time, the micro pressure sensor is electrically connected to the power supply.

[0014] Preferably, the syringe clamping device includes a T-shaped clamping device, a U-shaped clamping device and a syringe paste, and the T-shaped clamping device is fixedly connected to the surface of the screw linear motor.

[0015] Preferably, a horizontally movable U-shaped clamping device is arranged on the surface of the T-shaped clamping device, and a syringe paste is placed at the end of the T-shaped clamping device.

[0016] Preferably, the syringe barrel and the snap ring of the syringe paste are respectively clamped in the vertical and horizontal grooves at the end of the T-shaped clamping device, and the piston handle of the syringe paste is clamped in the groove of the U-shaped clamping device. The syringe paste is fixed through the cooperation of the U-shaped clamping device and the T-shaped clamping device.

[0017] Preferably, the servo motor of the screw linear motor is electrically connected with a plug, and the plug is respectively electrically connected to the power supply and the controller.

[0018] The present invention also provides a method for automatically quantitatively injecting and filling the paste, and the specific steps are as follows:

[0019] Step 1: Set the injection speed v, injection time t, upper limit of injection pressure FMAX, and lower limit of injection pressure FMIN through the controller.

[0020] Step 2: After starting the injection, the controller monitors the pressure value sent back by the pressure feedback module in real time. If the real-time pressure F > FMAX, stop the operation of the lead screw linear motor module until F < FMIN.

[0021] Step 3: Control the lead screw linear motor module to start through the controller, and cycle in this way to achieve injection with a thrust approximately constant at 1 / 2(FMAX + FMIN), and complete the quantitative automatic injection of the paste.

[0022] The present invention also provides an automated endodontic treatment robot, including the aforementioned automatic quantitative injection and filling paste device.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: When implementing the automatic quantitative injection and filling paste device and method, the syringe paste is installed on the paste clamping device. Set the injection speed v, injection time t, upper limit of injection pressure FMAX, and lower limit of injection pressure FMIN through the controller. After starting the injection, the main control monitors the pressure value sent back by the micro pressure sensor in real time. If the real-time pressure F > FMAX, stop the operation of the lead screw linear motor until F < FMIN, and then start the lead screw linear motor again. Cycle in this way to achieve injection with a thrust approximately constant at 1 / 2(FMAX + FMIN); The present invention uses a circuit system to achieve automatic injection of root canal filling paste. In view of the fluid characteristics of the paste, a constant thrust is achieved for injecting the paste through the pressure feedback module and the corresponding pressure control algorithm, realizing quantitative injection of the paste, and the paste will not overflow after stopping the injection, which can save paste drugs and improve the treatment effect. Description of the Drawings

[0024] Figure 1 It is a three-dimensional external structure schematic diagram of the present invention;

[0025] Figure 2 It is an oblique view structure schematic diagram of the present invention;

[0026] Figure 3 It is a separated state structure schematic diagram of the present invention;

[0027] Figure 4 It is an exploded structure schematic diagram of the present invention;

[0028] Figure 5 It is a flow chart of the present invention.

[0029] In the figure: 1. Screw linear motor module; 11. Screw linear motor; 12. Injection block; 2. Pressure feedback module; 21. Micro pressure sensor; 3. Needle clamping device; 31. T-shaped clamping device; 32. U-shaped clamping device; 33. Needle paste; 4. Plug connector. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. In addition, the terms "first", "second", "third", "upper, lower, left, right", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. At the same time, in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] The present invention provides a structure for Figure 1 as well as Figure 3 As shown, it includes a screw linear motor module 1, a pressure feedback module 2 and a power supply for the screw linear motor module 1 and the pressure feedback module 2, as well as a controller for receiving and processing the pressure value of the pressure feedback module 2 and issuing control commands to the screw linear motor module 1 accordingly. The screw linear motor module 1 includes a screw linear motor 11 and an injection block 12. The screw linear motor 11 is composed of a module shell, a servo motor, a screw, a feed nut and a sliding seat. When connected, the screw is rotatably connected to the surface of the module shell, the servo motor is fixed to one end of the module shell, the output end of the servo motor is fixed to one end of the screw, the surface of the screw is threaded with a feed nut, and the surface of the feed nut is fixed to the sliding seat; when working specifically, the servo motor drives the screw connected to the surface of the module shell to rotate, and since the screw is threadedly connected to the feed nut, the rotation of the screw causes the sliding seat fixed on the surface of the feed nut to reciprocate.

[0032] When the filling paste is pushed, the controller controls the screw linear motor module 1 to push the paste in the needle tube clamping device 3 into the root canal under the monitoring of the pressure of the pressure feedback module 2 .

[0033] Furthermore, if Figure 2 as well as Figure 4As shown in the figure, the servo motor of the lead screw linear motor 11 is electrically connected to a plug connector 4, and the plug connector 4 is electrically connected to a power supply and a controller respectively. The injection block 12 is fixedly connected to the sliding seat of the lead screw linear motor 11 by bolts. The pressure feedback module 2 is connected to the surface of the injection block 12. The pressure feedback module 2 includes a micro pressure sensor 21. The micro pressure sensor 21 is fixedly installed on the surface of the injection block 12 by bolts, and the micro pressure sensor 21 is electrically connected to the controller. The micro pressure sensor 21 is used to detect the pushing force of the injection block 12 and feedback it to the controller in real time. At the same time, the micro pressure sensor 21 is electrically connected to the power supply.

[0034] During implementation, the injection speed v, injection time t, upper limit of injection pressure FMAX, and lower limit of injection pressure FMIN are set through the controller. After starting the injection, the main control monitors the pressure value sent back by the micro pressure sensor 21 in real time. If the real-time pressure F > FMAX, the lead screw linear motor 11 stops working until F < FMIN, and then the lead screw linear motor 11 is started again. Such a cycle is carried out to achieve injection with a pushing force approximately constant at 1 / 2(FMAX + FMIN).

[0035] Further, as Figure 3 and Figure 4 shown in the figure, a syringe clamping device 3 is arranged on the surface of the lead screw linear motor 11. The syringe clamping device 3 includes a T-shaped clamping device 31, a U-shaped clamping device 32, and a syringe paste 33. The T-shaped clamping device 31 is fixedly connected to the surface of the module housing of the lead screw linear motor 11 by bolts. A horizontally movable U-shaped clamping device 32 is arranged on the surface of the T-shaped clamping device 31. A syringe paste 33 is placed at the end of the T-shaped clamping device 31. The syringe barrel and the retaining ring of the syringe paste 33 are respectively clamped in the vertical and horizontal grooves at the end of the T-shaped clamping device 31, and the piston handle of the syringe paste 33 is clamped in the groove of the U-shaped clamping device 32. The syringe paste 33 is fixed through the cooperation of the U-shaped clamping device 32 and the T-shaped clamping device 31.

[0036] Paste is a substance that behaves like a solid before a sufficiently large load or stress is applied and flows like a fluid after the application. Due to the high viscosity of the paste, it does not flow rapidly with the start or stop of the motor in the initial stage of applying force and for a period of time after stopping the injection. It is a typical non-Newtonian fluid. Therefore, traditional injection devices and injection methods are not applicable, and real-time control of the pushing force is required to perform injection with a relatively constant and small pushing force.

[0037] The present invention also provides a method for automatically quantitatively injecting and filling paste, as Figure 5 shown in the figure, and the specific steps are as follows:

[0038] Step 1: Install the syringe paste 33 on the syringe clamping device 3, and set the injection speed v, injection time t, upper limit of injection pressure FMAX, and lower limit of injection pressure FMIN through the controller.

[0039] Step 2: After starting the injection, the controller monitors the pressure value sent back by the micro pressure sensor 21 in real time. If the real-time pressure F > FMAX, stop the operation of the lead screw linear motor module 1 until F < FMIN.

[0040] Step 3: Control the lead screw linear motor module 1 to start through the controller, and cycle in this way to achieve injection with a thrust approximately constant at 1 / 2(FMAX + FMIN), and complete the quantitative automatic injection work of the paste.

[0041] The present invention also provides an embodiment: an automated endodontic treatment robot, including the automatic quantitative injection and filling paste device in the foregoing embodiment.

[0042] Working principle: Install the syringe paste 33 on the paste clamping device 3, set the injection speed v, injection time t, upper limit of injection pressure FMAX, and lower limit of injection pressure FMIN through the controller. After starting the injection, the main control monitors the pressure value sent back by the micro pressure sensor 21 in real time. If the real-time pressure F > FMAX, stop the operation of the lead screw linear motor 11 until F < FMIN, and then start the lead screw linear motor 11 again. Cycle in this way to achieve injection with a thrust approximately constant at 1 / 2(FMAX + FMIN).

[0043] The beneficial effect brought by the present invention is to perform automatic injection in the way closest to the standardized manual injection, inject a constant amount of medicine through the injection speed and injection time, and avoid the situation that the paste continues to overflow after the motor stops injecting in the ordinary injection method. It truly realizes quantitative injection, avoids waste of paste, and improves the treatment effect.

[0044] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. An automatic quantitative push-in filling paste device, characterized by: It includes a screw linear motor module (1), a pressure feedback module (2), and a controller, where; The screw linear motor module (1) includes a screw linear motor (11) and a syringe plunger block (12), and the syringe plunger block (12) is fixedly connected to the sliding seat of the screw linear motor (11); the pressure feedback module (2) is connected to the surface of the syringe plunger block (12), and the screw linear motor (11) is provided with a syringe holder device (3); When injecting and filling the paste, the controller controls the injection process of the paste in the syringe holder device (3) into the root canal by the screw linear motor module (1) according to the thrust value of the syringe plunger block (12) monitored by the pressure feedback module (2), so as to reduce paste waste.

2. The automatic quantitative push-in paste filling device according to claim 1, characterized in that: The controller controls the injection process of the paste in the syringe holding device (3) into the root canal by the screw linear motor module (1) according to the thrust value of the syringe plunger block (12) monitored by the pressure feedback module (2), so as to reduce paste waste, including: Set the upper limit of the injection pressure as FMAX and the lower limit of the injection pressure as FMIN; The controller is used to monitor the thrust value F sent back by the pressure feedback module (2) in real time during the injection process. If the actual F > FMAX, stop the operation of the screw linear motor module (1) until F < FMIN, and then control the screw linear motor module (1) to start, and so on in a cycle.

3. The automatic quantitative push-in paste filling device according to claim 1, characterized in that: The pressure feedback module (2) includes: a micro pressure sensor (21), and the micro pressure sensor (21) is fixedly installed on the surface of the syringe plunger block (12), and the micro pressure sensor (21) is electrically connected to the controller. The micro pressure sensor (21) is used to detect the thrust of the syringe plunger block (12) and feedback it to the controller in real time.

4. The automatic quantitative push-in paste filling device according to claim 1, characterized in that: The syringe holder device (3) includes a T-shaped holder device (31), a U-shaped holder device (32), and a syringe paste (33), and the T-shaped holder device (31) is fixedly connected to the surface of the screw linear motor (11).

5. The automatic quantitative push-in paste filling device according to claim 3, characterized in that: The surface of the T-shaped holder device (31) is provided with a horizontally movable U-shaped holder device (32), and the end of the T-shaped holder device (31) is placed with a syringe paste (33).

6. The automatic quantitative push-in paste filling device according to claim 3, characterized in that: The syringe barrel and the retaining ring of the syringe paste (33) are respectively clamped in the vertical and horizontal grooves at the end of the T-shaped holder device (31), and the piston handle of the syringe paste (33) is clamped in the groove of the U-shaped holder device (32). The syringe paste (33) is fixed through the cooperation of the U-shaped holder device (32) and the T-shaped holder device (31).

7. The automatic quantitative push-in paste filling device according to claim 1, characterized in that: The servo motor of the screw linear motor (11) is electrically connected to a plug connector (4), and the plug connector (4) is respectively electrically connected to the power supply and the controller.

8. A method for automatically injecting and filling a paste in a quantitative manner, according to the automatic device for injecting and filling a paste in a quantitative manner according to any one of claims 1 to 7, characterized in that: The specific steps are as follows: Step 1, set the injection speed v, injection time t, upper limit of injection pressure FMAX, and lower limit of injection pressure FMIN through the controller; Step 2, after starting the injection, the controller monitors the pressure value sent back by the pressure feedback module (2) in real time. If the actual pressure F > FMAX, stop the operation of the screw linear motor module (1) until F < FMIN; Step 3: The controller controls the screw linear motor module (1) to start, and the cycle is repeated to complete the quantitative automatic injection of the paste.

9. An automated endodontic treatment robot, comprising an automatic quantitative push-in filling paste device according to any one of claims 1 to 7.

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