Dental laser therapeutic instrument-based decayed tooth removal system and control method

Abstract

The embodiment of the invention discloses a dental laser therapeutic instrument-based decayed tooth removal system and a control method, the system comprises a laser, an acquisition unit and a driving unit, the acquisition unit is used for acquiring three-dimensional data of a decayed tooth area and dividing the decayed tooth area into m to-be-removed small areas according to a preset volume; and the driving unit adopts a pulse laser removal mode and / or a continuous laser removal mode to sequentially remove the to-be-removed small areas of each layer from top to bottom and from outside to inside. The laser is used for replacing a turbine dental drill to remove decayed teeth, micron-order layer-by-layer ablation is achieved, and the method is most effective, safe, simple and easy to control; the removal efficiency and precision are improved, the operation time is shortened, and the operation steps are simplified; meanwhile, different lasers are adopted for removing different positions, so that healthy tooth parts are protected, and a patient can be treated more comfortably.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a caries removal system and a control method based on a dental laser therapeutic apparatus. Background Art

[0002] At present, oral laser therapy devices have been widely used in the treatment of oral diseases, for example, for the treatment of oral ulcers, gingivitis, periodontitis, apical periodontitis and other diseases, and are also used to remove caries and necrotic tissue and dirt in the root canal. Oral laser treatment will become the standard of oral medical institutions in the future. Existing oral laser therapy devices generally use low-power lasers, and their laser wavelength range is generally around 660nm.

[0003] The existing oral laser treatment device cannot remove the carious part of the tooth itself. Therefore, a solution for removing the carious part of the tooth itself is urgently needed.

[0004] The invention patent with application number 202210893464.4 and invention name "Caries Removal Method and Caries Removal System Based on Dental Surgery Robot" discloses a technical solution on how to obtain a three-dimensional map of the caries area of ​​a tooth, but the patent uses a turbine dental drill to remove caries based on the three-dimensional map of the caries area. The turbine dental drill is a physical removal method with slow speed, low efficiency, low removal accuracy, and difficulty in controlling the accuracy within a suitable range. Summary of the invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a caries removal system and a control method based on a dental laser therapeutic device to improve the efficiency and accuracy of caries removal.

[0006] In order to solve the above technical problems, an embodiment of the present invention proposes a caries removal system based on a dental laser therapeutic device, wherein the system includes a laser, an acquisition unit, and a drive unit, wherein: An acquisition unit: acquires three-dimensional data of a caries area, and divides the caries area into m small areas to be removed according to a preset volume, wherein the small areas to be removed have a total of n layers from top to bottom; Driving unit: controlling the laser to adopt a pulse laser removal mode and / or a continuous laser removal mode, and removing the small areas to be removed in each layer from top to bottom and from outside to inside, wherein the small areas to be removed in the periphery of the nth layer and the first to n-1th layers adopt a pulse laser removal mode, and the laser is controlled to remove them in sequence at a first preset speed; the remaining small areas to be removed in the first to n-1th layers adopt a continuous laser removal mode, and the laser is controlled to remove them in sequence at a second preset speed.

[0007] Furthermore, the driving unit calculates the first preset speed according to the following formula: ; ; Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of caries, η is the heat output efficiency of the laser, ρ is the density of caries, c is the specific heat capacity of caries, v1 is the first preset speed, P1 is the average power density of the pulsed laser, is the peak output power of the laser in the pulse laser removal mode, Δt is the pulse width, f is the pulse frequency, and S is the spot area of ​​the laser.

[0008] Furthermore, the driving unit calculates the second preset speed according to the following formula: ; ; Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of the caries, η is the heat output efficiency of the laser, ρ is the density of the caries, c is the specific heat capacity of the caries, v2 is the second preset speed, is the power density of continuous laser, P 输 is the output power of the laser in the continuous laser removal mode, and S is the laser spot area of ​​the laser.

[0009] Furthermore, the laser is a laser with a wavelength of 1064 nm.

[0010] Furthermore, the preset volume range is ±10% of the laser spot area×the depth of the small area to be removed.

[0011] Furthermore, the laser spot area×the depth of the small area to be removed×m is greater than or equal to the volume of the caries area.

[0012] Furthermore, an irrigator for rinsing the oral cavity and teeth when removing caries is also included.

[0013] Accordingly, an embodiment of the present invention further proposes a dental caries removal control method based on a dental laser therapeutic apparatus, wherein the laser therapeutic apparatus includes a laser, and the method includes: Acquisition step: acquiring three-dimensional data of the caries area, dividing the caries area into m small areas to be removed according to a preset volume, and the small areas to be removed have a total of n layers from top to bottom; Driving steps: controlling the laser to adopt a pulse laser removal mode and / or a continuous laser removal mode to remove the small areas to be removed in each layer from top to bottom and from outside to inside, wherein the small areas to be removed on the nth layer and the periphery of the first to n-1th layers adopt a pulse laser removal mode, and the laser is controlled to remove them in sequence at a first preset speed; the remaining small areas to be removed on the first to n-1th layers adopt a continuous laser removal mode, and the laser is controlled to remove them in sequence at a second preset speed.

[0014] Furthermore, in the driving step, the first preset speed is calculated according to the following formula: ; ; Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of caries, η is the heat output efficiency of the laser, ρ is the density of caries, c is the specific heat capacity of caries, v1 is the first preset speed, P1 is the average power density of the pulsed laser, is the peak output power of the laser in the pulse laser removal mode, Δt is the pulse width, f is the pulse frequency, and S is the spot area of ​​the laser.

[0015] Furthermore, in the driving step, the second preset speed is calculated according to the following formula: ; ; Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of the caries, η is the heat output efficiency of the laser, ρ is the density of the caries, c is the specific heat capacity of the caries, v2 is the second preset speed, is the power density of continuous laser, P 输 is the output power of the laser in the continuous laser removal mode, and S is the laser spot area of ​​the laser.

[0016] The beneficial effects of the present invention are as follows: the present invention uses laser instead of a turbine dental drill to remove caries, and performs layer-by-layer ablation at the micron level, which is the most effective and safe, simple and easy to control; it improves the removal efficiency and accuracy, shortens the operation time, and simplifies the operation steps; at the same time, different lasers are used for removal at different locations, thereby protecting the healthy tooth parts and making the patient's treatment more comfortable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a caries removal system based on a dental laser therapeutic apparatus according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present invention is further described in detail below in conjunction with the drawings and specific embodiments.

[0019] In the embodiments of the present invention, if there are directional indications (such as up, down, left, right, front, back, etc.), they are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0021] Please refer to Figure 1 The dental caries removal system based on the dental laser therapeutic apparatus of the embodiment of the present invention comprises a laser (preferably a fiber laser), an acquisition unit, and a drive unit. The acquisition unit and the drive unit of the present invention are embedded software units directly integrated into the dental laser therapeutic apparatus.

[0022] Acquisition unit: acquires the three-dimensional data of the caries area of ​​the tooth (through the interactive interface or image acquisition unit of the dental laser treatment device or from the CT image of the tooth), and divides the caries area into m small areas to be removed according to the preset volume. The small areas to be removed have n layers, k1+k2+k3+…+k n =m, k1, k2, k3…k n is the number of small areas to be removed in the first layer, the second layer, the third layer, ... the nth layer from top to bottom. m and n are positive integers greater than or equal to 1.

[0023] The three-dimensional data of the caries area of ​​the present invention can be directly input by the user, or it can be obtained using existing solutions, such as the technical solution disclosed in the invention patent with application number 202210893464.4. The acquisition of this part of the data is an existing conventional technology.

[0024] As an implementation method, the preset volume range is the laser spot area × the depth of the small area to be removed ±10%. The depth of the small area to be removed is the depth etched by the laser scanning the caries area at a certain speed, which is usually set to 10 microns. The laser spot area × the depth of the small area to be removed × m is greater than or equal to the volume of the caries area. That is, the laser spot area is greater than or equal to the area of ​​the small area to be removed. The area of ​​the small area to be removed can be adjusted within the above range according to the volume of the caries area, so that the caries area can be divided into m small areas to be removed.

[0025] Driving unit: controlling the laser to adopt a pulse laser removal mode and / or a continuous laser removal mode, and removing the small areas to be removed in each layer from top to bottom and from outside to inside, wherein the small areas to be removed in the periphery of the nth layer and the first to n-1th layers adopt a pulse laser removal mode, and the laser is controlled to remove them in sequence at a first preset speed; the remaining small areas to be removed in the first to n-1th layers adopt a continuous laser removal mode, and the laser is controlled to remove them in sequence at a second preset speed.

[0026] The present invention adopts a pulsed laser removal mode to remove caries in the area adjacent to healthy teeth (i.e., the edge of the caries area), which can make the cooling faster, thereby not causing damage to the healthy tooth area, protecting the healthy teeth, and minimizing the stimulation to the patient while ensuring the removal efficiency.

[0027] The micron-level layer-by-layer ablation of the present invention is effective, safe, simple and easy to control; it improves removal efficiency and accuracy, shortens operation time, and simplifies surgical steps.

[0028] As an implementation mode, the driving unit calculates the first preset speed according to the following formula: ; ; Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of caries, η is the heat output efficiency of the laser, ρ is the density of caries, c is the specific heat capacity of caries, v1 is the first preset speed, P1 is the average power density of the pulsed laser, is the peak output power of the laser in the pulse laser removal mode, Δt is the pulse width, f is the pulse frequency, and S is the spot area of ​​the laser. The values ​​of λ, ρ, and c of the present invention can be obtained experimentally.

[0029] The first preset speed of the present invention can effectively prevent overheating and damage to the oral cavity or healthy tooth area, thereby ensuring safety and removal efficiency.

[0030] As an implementation mode, the driving unit calculates the second preset speed according to the following formula: ; ; Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of the caries, η is the heat output efficiency of the laser, ρ is the density of the caries, c is the specific heat capacity of the caries, v2 is the second preset speed, is the power density of continuous laser, P 输is the output power of the laser in the continuous laser removal mode, and S is the laser spot area of ​​the laser. The second preset speed of the present invention can effectively prevent overheating and damage to the oral cavity or healthy tooth area, ensuring safety while ensuring removal efficiency. The continuous laser removal mode is to set the duty cycle of the laser to 100%. This is the duty cycle of the laser.

[0031] As an embodiment, the dental caries removal system based on the dental laser treatment device of the embodiment of the present invention also includes an irrigator for rinsing the oral cavity and teeth when removing dental caries. The irrigator is a common existing device. When removing dental caries, it continuously discharges and absorbs water to achieve cooling while rinsing away debris, dirt, residues, etc.

[0032] As an implementation method, the laser is a laser with a wavelength of 1064 nm. The laser with a wavelength of 1064 nanometers is highly targeted and has the best coefficient effect on the hydroxyapatite in the caries area. The laser has the best thermal output efficiency and the hydroxyapatite decomposes most rapidly (hydroxyapatite decomposes to produce substances such as oxygen and phosphate). Moreover, since it is monochromatic light, the thermal effect is small, and the cooling of the equipped irrigator can effectively protect the healthy area of ​​the teeth and the skin to ensure safety.

[0033] The dental laser therapeutic apparatus of the embodiment of the present invention includes a laser, and the dental caries removal control method based on the dental laser therapeutic apparatus includes: Acquisition step: Acquire the three-dimensional data of the caries area, divide the caries area into m small areas to be removed according to the preset volume, and the small areas to be removed have n layers, k1+k2+k3+…+k n =m, k1, k2, k3…k n is the number of small areas to be removed in the first layer, the second layer, the third layer, ... the nth layer from top to bottom; Driving steps: adopting pulse laser removal mode and / or continuous laser removal mode to remove small areas to be removed in each layer from top to bottom and from outside to inside, wherein the pulse laser removal mode is adopted for the small areas to be removed on the periphery of the nth layer and the first to n-1th layers, and the laser is controlled to remove them in sequence at a first preset speed; the continuous laser removal mode is adopted for the remaining small areas to be removed from the first to n-1th layers, and the laser is controlled to remove them in sequence at a second preset speed.

[0034] The control method of the present invention can be directly applied to the software of the dental laser therapeutic instrument.

[0035] As an implementation manner, in the driving step, the first preset speed is calculated according to the following formula: ; ; Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of caries, η is the heat output efficiency of the laser, ρ is the density of caries, c is the specific heat capacity of caries, v1 is the first preset speed, P1 is the average power density of the pulsed laser, is the peak output power of the laser in the pulse laser removal mode, Δt is the pulse width, f is the pulse frequency, and S is the spot area of ​​the laser.

[0036] As an implementation manner, in the driving step, the second preset speed is calculated according to the following formula: ; ; Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of the caries, η is the heat output efficiency of the laser, ρ is the density of the caries, c is the specific heat capacity of the caries, v2 is the second preset speed, is the power density of continuous laser, P 输 is the output power of the laser in the continuous laser removal mode, and S is the laser spot area of ​​the laser.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dental caries removal system based on a dental laser therapeutic apparatus, characterized in that: The system comprises a laser, an acquisition unit, and a driving unit, wherein: An acquisition unit: acquires three-dimensional data of a caries area, and divides the caries area into m small areas to be removed according to a preset volume, wherein the small areas to be removed have a total of n layers from top to bottom; Driving unit: controlling the laser to adopt a pulse laser removal mode and / or a continuous laser removal mode, and removing the small areas to be removed in each layer from top to bottom and from outside to inside, wherein the small areas to be removed in the periphery of the nth layer and the first to n-1th layers adopt a pulse laser removal mode, and the laser is controlled to remove them in sequence at a first preset speed; the remaining small areas to be removed in the first to n-1th layers adopt a continuous laser removal mode, and the laser is controlled to remove them in sequence at a second preset speed.

2. The dental caries removal system based on a dental laser treatment device as claimed in claim 1, characterized in that: The drive unit calculates the first preset speed according to the following formula: ； ； Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of caries, η is the heat output efficiency of the laser, ρ is the density of caries, c is the specific heat capacity of caries, v1 is the first preset speed, P1 is the average power density of the pulsed laser, is the peak output power of the laser in the pulse laser removal mode, Δt is the pulse width, f is the pulse frequency, and S is the spot area of ​​the laser.

3. The dental caries removal system based on dental laser therapy apparatus as claimed in claim 1, characterized in that: The drive unit calculates the second preset speed according to the following formula: ； ； Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of the caries, η is the heat output efficiency of the laser, ρ is the density of the caries, c is the specific heat capacity of the caries, v2 is the second preset speed, is the power density of continuous laser, P 输 is the output power of the laser in the continuous laser removal mode, and S is the laser spot area of ​​the laser.

4. The dental caries removal system based on a dental laser treatment device as claimed in claim 1, characterized in that: The laser has a wavelength of 1064 nm.

5. The dental caries removal system based on dental laser therapy apparatus as claimed in claim 1, characterized in that: The preset volume range is ±10% of the laser spot area × the depth of the small area to be removed.

6. The dental caries removal system based on dental laser therapy apparatus as claimed in claim 5, characterized in that: The laser spot area×the depth of the small area to be removed×m is greater than or equal to the volume of the caries area.

7. The dental caries removal system based on a dental laser therapeutic apparatus as claimed in claim 1, characterized in that: Also included are irrigators for rinsing the mouth and teeth when removing caries.

8. A dental caries removal control method based on a dental laser therapeutic apparatus, the laser therapeutic apparatus comprising a laser, characterized in that: The method comprises: Acquisition step: acquiring three-dimensional data of the caries area, dividing the caries area into m small areas to be removed according to a preset volume, and the small areas to be removed have a total of n layers from top to bottom; Driving steps: controlling the laser to adopt a pulse laser removal mode and / or a continuous laser removal mode to remove the small areas to be removed in each layer from top to bottom and from outside to inside, wherein the small areas to be removed on the nth layer and the periphery of the first to n-1th layers adopt a pulse laser removal mode, and the laser is controlled to remove them in sequence at a first preset speed; the remaining small areas to be removed on the first to n-1th layers adopt a continuous laser removal mode, and the laser is controlled to remove them in sequence at a second preset speed.

9. The method for controlling caries removal based on a dental laser therapeutic apparatus as claimed in claim 8, characterized in that: In the driving step, the first preset speed is calculated according to the following formula: ； ； Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of caries, η is the heat output efficiency of the laser, ρ is the density of caries, c is the specific heat capacity of caries, v1 is the first preset speed, P1 is the average power density of the pulsed laser, is the peak output power of the laser in the pulse laser removal mode, Δt is the pulse width, f is the pulse frequency, and S is the spot area of ​​the laser.

10. The method for controlling caries removal based on a dental laser therapeutic apparatus according to claim 8, characterized in that: In the driving step, the second preset speed is calculated according to the following formula: ； ； Wherein, d is the depth of the small area to be removed, λ is the thermal conductivity of the caries, η is the heat output efficiency of the laser, ρ is the density of the caries, c is the specific heat capacity of the caries, v2 is the second preset speed, is the power density of continuous laser, P 输 is the output power of the laser in the continuous laser removal mode, and S is the laser spot area of ​​the laser.

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