Automatic dental pulp treatment robot

Abstract

The invention relates to the technical field of root canal treatment, in particular to an automatic dental pulp treatment robot which comprises a main machine and an auxiliary positioning crown mechanism used in cooperation with the main machine. The host comprises a power supply module, a control module, a root canal flushing module, a root canal drying module, an observation module and a root canal filling module; the auxiliary positioning crown mechanism comprises an input interface, an output interface, an observation module fixing hole, a rubber plug and a tooth fitting curved surface. According to the device, root canal treatment can be automatically completed, manpower resources are liberated, erbium laser in a sealed environment is used for activating washing liquid to conduct root canal cleaning and chemical disinfection, infected tissue and microorganisms left in the root canal can be thoroughly removed, root canal filling is conducted in a negative pressure pumping mode through a vacuum pump and a fluid paste filling mode, and the working efficiency is greatly improved. Three-dimensional filling of the fluid material can be achieved according to various anatomical forms of root canals, and the treatment effect can be comprehensively improved.

Description

Technical Field

[0001] The invention relates to the technical field of root canal treatment, and in particular to an automatic endodontic treatment robot. Background Art

[0002] Endodontic disease and periapical periodontitis are common diseases in dental clinics, and root canal treatment is their preferred treatment option. In current clinical treatment, the main steps of root canal treatment include: 1. Pulp digging, drilling the affected tooth to expose the pulp cavity. 2. Use hand-held or machine-used root canal expansion needles to expand the root canal to clean it and remove the infected tissue and microorganisms in the pulp cavity and root canal. 3. Chemical disinfection. Due to the complex anatomical morphology of the root canal system, mechanical preparation alone cannot achieve the purpose of complete cleaning. The use of chemical agents to disinfect the root canal can kill residual bacteria. Commonly used chemical disinfectants in clinical practice include sodium hypochlorite, chlorhexidine, calcium hydroxide, etc. 4. Root canal filling. Use filling materials to tightly seal the root canal to prevent bacterial reinvasion and infection. Commonly used filling materials include gutta-percha tips, light-cured resins, glass ionomer cements, bioceramic materials, etc.

[0003] During the entire root canal treatment process, the steps are relatively cumbersome and highly dependent on the doctor's manual operation, especially during the physical preparation and root canal filling stages. Due to the complex structure inside the root canal system, such as lateral root canals, pits, bends and other special situations, medical accidents or complications are likely to occur. Root canal treatment requires a high level of technical skills from the doctor.

[0004] The root canal surgical equipment in the prior art has the problem of incomplete root canal cleaning. Some devices also use hot gutta-percha for root canal filling, but due to the influence of its fluidity, the filling effect is poor. Summary of the invention

[0005] The purpose of the present invention is to provide an automated endodontic treatment robot to solve the problems mentioned in the above background technology that the existing root canal treatment steps are relatively cumbersome, the internal root canal system is complex, the root canal cleaning is incomplete, and the filling effect is poor.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: an automated endodontic treatment robot, comprising a host and an auxiliary crown positioning mechanism used in conjunction with the host, wherein;

[0007] The host comprises: a power module, a control module, a root canal washing module, a root canal drying module, an observation module and a root canal filling module;

[0008] The auxiliary positioning crown mechanism includes: an input interface, an output interface, an observation module fixing hole, a rubber plug and a tooth fitting curved surface;

[0009] The auxiliary positioning crown mechanism is sealed and connected to the affected tooth after pulp opening. After the root canal flushing module, root canal drying module, observation module and root canal filling module are respectively connected to the auxiliary positioning crown mechanism, under the control of the control module, the root canal flushing module realizes the function of root canal flushing, the root canal drying module is used for drying the pulp cavity and root canal, the observation module is used for observing the pulp cavity and root canal during root canal treatment surgery, and the root canal filling module is used for negative pressure filling of the root canal, thereby realizing the full process of automated pulp treatment.

[0010] Preferably, a power module for supplying power to the entire robot is installed inside the host, and the power module is electrically connected to the control module, the root canal flushing module, the root canal drying module, the observation module and the root canal filling module.

[0011] Preferably, the control module includes an industrial computer, a main control board and a touch screen installed inside the host; the industrial computer is electrically connected to the touch screen, the industrial computer is connected to the main control board through a serial port, and the industrial computer is electrically connected to the root canal flushing module, the root canal drying module, the observation module and the root canal filling module respectively.

[0012] Preferably, the root canal flushing module includes a liquid circuit input module connected to the input interface, a liquid circuit output module connected to the output interface, and an erbium laser module. The laser working tip of the erbium laser module is placed in the dental pulp cavity through a rubber plug. Under the control of the control module, the liquid circuit input module and the liquid circuit output module realize the input and discharge of the flushing liquid in the auxiliary positioning crown mechanism. At the same time, the industrial computer controls the operation of the erbium laser, and the erbium laser activates the flushing liquid to generate cavitation, and uses the cavitation power or transient vortex structure to form a fluid field for root canal flushing.

[0013] Preferably, the root canal drying module includes an air circuit input module connected to the input interface and an air circuit output module connected to the output interface. Under the control of the control module, the air circuit input module and the air circuit output module alternately blow and vacuum the auxiliary positioning crown mechanism and the pulp cavity to discharge the residual flushing liquid in the pulp cavity and the root canal, and dry the closed pulp cavity and root canal.

[0014] Preferably, the observation module includes a display, a camera module and a light source module installed inside the main unit, the front ends of the camera module and the light source module are connected to the fixing holes of the observation module for collecting real-time images inside the dental pulp cavity during surgery; the other ends of the camera module and the light source module are electrically connected to the control module, are controlled by the control module, and transmit real-time video to the control module; the display is electrically connected to the control module, and the control module transmits the processed video signal to the display for display.

[0015] Preferably, the root canal filling module includes an air circuit input module connected to the input interface, an air circuit output module connected to the output interface, and a paste quantitative injection module. Under the control of the control module, the air circuit output module performs negative pressure suction on the auxiliary positioning crown mechanism and the pulp cavity. The needle tube of the paste quantitative injection module is inserted into the pulp cavity through a rubber plug to inject paste into the root canal opening. After the injection is completed, the air circuit input module is opened under the control of the control module. Under the action of atmospheric pressure, the paste at each root canal opening in the pulp cavity will be pressed into the root canal to complete the filling of the root canal.

[0016] Preferably, the air input module includes an input end solenoid valve and an air input pipeline; the input end solenoid valve is used to control the opening and closing of the air input pipeline; the air input pipeline is also connected to the input interface for inputting air into the auxiliary positioning crown mechanism and the dental pulp cavity.

[0017] Preferably, the air output module includes a vacuum pump, an air pump protection module, an air pressure monitoring module, a solenoid valve and an air output pipeline; the air output pipeline is connected to the output interface and is used to export the air in the auxiliary positioning crown mechanism and the dental pulp cavity; the air output pipeline is installed with an air pressure monitoring module, a solenoid valve, an air pump protection module and a vacuum pump in sequence from the front end to the end.

[0018] Preferably, the paste quantitative injection module includes a screw linear motor module and a pressure feedback module installed on the screw linear motor module. The screw linear motor module constantly pushes the paste under the action of the pressure feedback module, and under the guidance of the observation module, the paste is quantitatively injected into the root canal orifice.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: the automated endodontic treatment robot can automatically complete root canal treatment, free up human resources, and use erbium laser activated rinsing fluid in a sealed environment to clean and chemically disinfect the root canal, which can more thoroughly remove the infected tissue and microorganisms remaining in the root canal. The vacuum pump is used to draw negative pressure and the fluid paste is used to fill the root canal, which can achieve three-dimensional filling of fluid materials for various anatomical forms of the root canal, and can comprehensively improve the treatment effect. The present invention uses automated equipment to complete tedious manual root canal treatment, saving labor costs. The present invention uses chemical disinfection and fluid filling methods. The method replaces the physical drilling and filling methods, is minimally invasive and reasonable, and improves the treatment effect; the present invention seals the affected tooth pulp cavity and isolates it from the oral environment, eliminates bacterial contamination and splashing of liquid medicine aerosol, and improves the safety of treatment; the present invention uses an observation module, so that both doctors and patients can observe the internal conditions of the teeth in real time during the entire treatment process, and cooperates with the automatic education of the equipment to improve the controllability of the treatment and reduce the information gap for patients; the present invention adopts vacuum negative pressure suction and bioceramic paste perfusion to achieve fluid three-dimensional filling, which can match various anatomical morphological variations of root canals, as well as difficult cases such as lateral penetration, bottom penetration, and tooth cracks, reducing the technical threshold of specialists. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional appearance structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the main appearance structure of the present invention;

[0022] Figure 3 It is a schematic diagram of the enlarged structure of the control module of the present invention;

[0023] Figure 4 It is an enlarged structural schematic diagram of the root canal washing module of the present invention;

[0024] Figure 5 It is an enlarged structural schematic diagram of the root canal drying module of the present invention;

[0025] Figure 6 It is a schematic diagram of the enlarged structure of the observation module of the present invention;

[0026] Figure 7 It is an enlarged structural schematic diagram of the auxiliary positioning crown mechanism of the present invention;

[0027] Figure 8 It is a schematic diagram of the cross-sectional structure of the auxiliary positioning crown mechanism of the present invention;

[0028] Fig. 9 It is a schematic diagram of the top view of the auxiliary positioning crown mechanism of the present invention.

[0029] In the figure: 1. host; 2. power module; 3. control module; 31. industrial computer; 32. main control board; 33. touch screen; 4. root canal flushing module; 41. liquid input module; 42. liquid output module; 43. erbium laser module; 5. root canal drying module; 51. gas input module; 511. input end solenoid valve; 512. gas input pipeline; 52. gas output module; 521. vacuum pump; 522. air pump protection module; 523. air pressure monitoring module; 524. solenoid valve; 525. gas output pipeline; 6. observation module; 61. display; 62. camera module and light source module; 7. root canal filling module; 71. paste quantitative injection module; 711. screw linear motor module; 8. auxiliary positioning crown mechanism; 81. input interface; 82. output interface; 83. observation module fixing hole; 84. rubber plug; 85. tooth fitting surface. 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 structure of an automated endodontic treatment robot provided by the present invention is as follows Figure 1 As shown, it includes a main body 1 and an auxiliary positioning crown mechanism 8 used in conjunction with it, wherein;

[0032] The host 1 includes: a power module 2, a control module 3, a root canal washing module 4, a root canal drying module 5, an observation module 6 and a root canal filling module 7; Figure 7 , Figure 8 as well as Fig. 9 As shown, the auxiliary positioning crown mechanism 8 includes: an input interface 81, an output interface 82, three observation module fixing holes 83, a rubber plug 84 and a tooth fitting curved surface 85 that fits with the teeth.

[0033] The auxiliary positioning crown mechanism 8 is sealed and connected to the affected tooth after pulp opening. After the root canal flushing module 4, the root canal drying module 5, the observation module 6 and the root canal filling module 7 are respectively connected to the auxiliary positioning crown mechanism 8, under the control of the control module 3, the root canal flushing module 4 realizes the function of root canal flushing, the root canal drying module 5 is used for drying the pulp cavity and the root canal, the observation module 6 is used for observing the pulp cavity and the root canal during the root canal treatment operation, and the root canal filling module 7 is used for negative pressure filling of the root canal, thereby realizing the full process of automated pulp treatment.

[0034] Furthermore, if Figure 2 as well as Figure 3 As shown, a power module 2 for supplying power to the entire robot is installed inside the host 1, and the power module 2 is electrically connected to the control module 3, the root canal flushing module 4, the root canal drying module 5, the observation module 6 and the root canal filling module 7; the control module 3 includes an industrial computer 31, a main control board 32 and a touch screen 33 installed inside the host 1; the industrial computer 31 is electrically connected to the touch screen 33, and the industrial computer 31 is connected to the main control board 32 via a serial port.

[0035] The industrial computer 31 is electrically connected to the root canal washing module 4 , the root canal drying module 5 , the observation module 6 and the root canal filling module 7 , respectively. The industrial computer 31 mainly controls each module to realize corresponding electrical functions.

[0036] Furthermore, if Figure 2 as well as Figure 4 As shown, the root canal flushing module 4 includes a liquid circuit input module 41 connected to the input interface 81, a liquid circuit output module 42 connected to the output interface 82, and an erbium laser module 43. The laser working tip of the erbium laser module 43 is placed in the pulp cavity through a rubber plug 84. The liquid circuit input module 41 and the liquid circuit output module 42, under the control of the control module 3, realize the input and discharge of the flushing liquid in the auxiliary positioning crown mechanism 8. At the same time, the industrial computer 31 controls the operation of the erbium laser. The erbium laser activates the flushing liquid to generate cavitation, and uses the cavitation power or transient vortex structure to form a fluid field for root canal flushing.

[0037] Furthermore, if Figure 2 as well as Figure 5As shown, the root canal drying module 5 includes an air circuit input module 51 connected to the input interface 81 and an air circuit output module 52 connected to the output interface 82. Under the control of the control module 3, the air circuit input module 51 and the air circuit output module 52 alternately blow and vacuum the auxiliary positioning crown mechanism 8 and the dental pulp cavity to discharge the residual flushing liquid in the dental pulp cavity and the root canal, and dry the closed dental pulp cavity and the dental root canal; the air circuit input module 51 includes an input end solenoid valve 511 and an air circuit input pipeline 512; the input end solenoid valve 511 is used to control the opening and closing of the air circuit input pipeline 512 ; The air circuit input pipeline 512 is also connected to the input interface 81, and is used to input air into the auxiliary positioning crown mechanism 8 and the dental pulp cavity; the air circuit output module 52 includes a vacuum pump 521, an air pump protection module 522, an air pressure monitoring module 523, a solenoid valve 524 and an air circuit output pipeline 525; the air circuit output pipeline 525 is connected to the output interface 82, and is used to export the air in the auxiliary positioning crown mechanism 8 and the dental pulp cavity; the air circuit output pipeline 525 is installed with an air pressure monitoring module 523, a solenoid valve 524, an air pump protection module 522 and a vacuum pump 521 in sequence from the front end to the end.

[0038] Specifically, the air pressure monitoring module 523 is installed in the middle of the air output pipeline 525, and is used to monitor the air pressure value in the dental pulp cavity; the solenoid valve 524 is installed between the air pressure monitoring module 523 and the air pump protection module 522, and is used to open and close the air output pipeline 525; the air pump protection module 522 is installed between the solenoid valve 524 and the vacuum pump 521, and is used to adsorb water vapor to extend the service life of the vacuum pump 521; the vacuum pump 521 is installed at the end of the air output pipeline 525, and is used to perform negative pressure suction on the auxiliary positioning crown mechanism 8 and the dental pulp cavity.

[0039] Furthermore, if Figure 1 as well as Figure 6 As shown, the observation module 6 includes a display 61 and a camera module and a light source module 62 installed inside the host 1. The front ends of the camera module and the light source module 62 are connected to the observation module fixing hole 83 for collecting real-time images in the pulp cavity during surgery; the other ends of the camera module and the light source module 62 are electrically connected to the control module 3, are controlled by the control module 3, and transmit real-time video to the control module 3; the display 61 is electrically connected to the control module 3, and the control module 3 transmits the processed video signal to the display 61 for display.

[0040] Furthermore, if Figure 2 as well as Figure 6As shown, the root canal filling module 7 includes an air circuit input module 51 connected to the input interface 81, an air circuit output module 52 connected to the output interface 82, and a paste quantitative injection module 71. The air circuit output module 52 performs negative pressure suction on the auxiliary positioning crown mechanism 8 and the pulp cavity under the control of the control module 3. The needle tube of the paste quantitative injection module 71 is inserted into the pulp cavity through the rubber plug 84 to inject paste into the root canal opening. After the injection is completed; the air circuit input module 51 is opened under the control of the control module 3. Under the action of atmospheric pressure, the paste at each root canal opening in the pulp cavity will be pressed into the root canal to complete the filling of the root canal.

[0041] Furthermore, if Figure 2 as well as Figure 6 As shown, the paste quantitative injection module 71 includes a screw linear motor module 711 and a pressure feedback module installed on the screw linear motor module 711. It mainly targets the fluid characteristics of the paste, and constantly pushes the paste through the screw linear motor module 711 under the action of the pressure feedback module, and quantitatively injects the paste into the root canal opening under the guidance of the observation module 6.

[0042] Specifically, during constant push injection, the paste is pushed with a constant push force through the pressure feedback module and the corresponding pressure control algorithm, and under the guidance of the observation module 6, the paste can be quantitatively pushed into the root canal orifice.

[0043] The specific operation steps of the present invention when implemented are:

[0044] The root canal treatment process begins by first opening the pulp of the affected tooth, and using a marginal sealant to seal the auxiliary positioning crown mechanism 8 with the opened pulp of the affected tooth.

[0045] Next, the camera assembly and the light source assembly are connected to capture and display the video of the field of view inside the dental pulp cavity in real time.

[0046] Subsequently, the working tip of the erbium laser is placed into the plug 84 hole of the auxiliary positioning crown device, and the controller controls the flushing liquid to circulate through the pulp cavity. At the same time, the controller controls the operation of the erbium laser, and the erbium laser provides energy to activate the flushing liquid for pulp cavity disinfection and root canal flushing.

[0047] Afterwards, the controller controls the air input module 51 to blow dry the pulp cavity with positive pressure. After a period of time, the air input module 51 is closed and the negative pressure pump of the air output module 52 is turned on for negative pressure suction. This cycle is repeated several times to dry the root canal and prepare for root canal filling.

[0048] Finally, the needle tube of the paste quantitative injection module 71 is placed into the plug 84 of the auxiliary positioning crown device, and the controller controls the air output module 52 to perform negative pressure suction. After the suction reaches the preset pressure value, the controller controls the paste quantitative injection module 71 to perform paste injection under the guidance of the observation module 6. After the paste injection fully covers the root canal opening, the input end solenoid valve 511 of the air input module 51 is opened, and the air input module 51 is connected to the air. Under the action of atmospheric pressure, the paste at each root canal opening in the pulp cavity will be pressed into the root canal to complete the filling of the root canal.

[0049] Working principle: When in use, the auxiliary positioning crown mechanism 8 is used to complete the isolation and sealing of the affected tooth. The auxiliary positioning crown mechanism 8 is designed according to the clinical crown morphology of big data. For each affected tooth, a positioning crown device with a higher matching degree can be found, and the edge sealant can be used to seal it with the affected tooth after pulp opening.

[0050] A position-specific observation module fixing hole 83 is provided on the auxiliary positioning crown mechanism 8 to cooperate with the observation system to observe the situation in the medullary cavity in real time; a rubber plug 84 is provided at the top center of the auxiliary positioning crown mechanism 8 to allow different devices: the working tip of the laser, the needle of the paste quantitative injection device to be inserted into the medullary cavity through the rubber plug 84 during the root canal flushing and root canal filling stages, to assist the root canal flushing and root canal filling functions.

[0051] The erbium laser provides energy for the circulating flushing solution, and uses the fluid field principles such as cavitation dynamics and transient vortex structure in various solutions to complete root canal preparation; in the near-vacuum environment in the auxiliary positioning crown mechanism 8, the liquid is accelerated to vaporize to complete the drying of the root canal; after the filling material is injected, the atmospheric pressure is used to complete the three-dimensional filling of the fluid, and the entire root canal treatment process is automatically completed under the control of the control module 3.

[0052] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An automated endodontic treatment robot, characterized in that: It comprises a main body (1) and an auxiliary positioning crown mechanism (8) used in conjunction with the main body, wherein; The host (1) comprises: a power module (2), a control module (3), a root canal washing module (4), a root canal drying module (5), an observation module (6) and a root canal filling module (7); The auxiliary positioning crown mechanism (8) comprises: an input interface (81), an output interface (82), an observation module fixing hole (83), a rubber plug (84) and a tooth fitting curved surface (85); The auxiliary positioning crown mechanism (8) is sealed and connected to the affected tooth after pulp opening. After the root canal flushing module (4), the root canal drying module (5), the observation module (6) and the root canal filling module (7) are respectively connected to the auxiliary positioning crown mechanism (8), under the control of the control module (3), the root canal flushing module (4) realizes the function of root canal flushing, the root canal drying module (5) is used for drying the dental pulp cavity and the dental root canal, the observation module (6) is used for observing the dental pulp cavity and the root canal during the root canal treatment operation, and the root canal filling module (7) is used for negative pressure filling of the dental root canal, thereby realizing the full process of automated dental pulp treatment.

2. The automated endodontic treatment robot according to claim 1, characterized in that: A power module (2) for supplying power to the entire robot is installed inside the host (1); the power module (2) is electrically connected to a control module (3), a root canal flushing module (4), a root canal drying module (5), an observation module (6), and a root canal filling module (7).

3. The automated endodontic treatment robot according to claim 1, characterized in that: The control module (3) comprises an industrial computer (31), a main control board (32) and a touch screen (33) installed inside the host (1); the industrial computer (31) is electrically connected to the touch screen (33), the industrial computer (31) is connected to the main control board (32) via a serial port, and the industrial computer (31) is electrically connected to the root canal flushing module (4), the root canal drying module (5), the observation module (6) and the root canal filling module (7).

4. The automated endodontic treatment robot according to claim 1, characterized in that: The root canal flushing module (4) comprises a liquid circuit input module (41) connected to an input interface (81), a liquid circuit output module (42) connected to an output interface (82), and an erbium laser module (43); the laser working tip of the erbium laser module (43) is placed in the dental pulp cavity through a rubber plug (84); the liquid circuit input module (41) and the liquid circuit output module (42) are controlled by a control module (3) to input and discharge flushing liquid in an auxiliary positioning crown mechanism (8); and the industrial control computer (31) controls the operation of the erbium laser, and the erbium laser activates the flushing liquid to generate cavitation, and utilizes cavitation power or transient vortex structure to form a fluid field for root canal flushing.

5. The automated endodontic treatment robot according to claim 1, characterized in that: The root canal drying module (5) comprises an air circuit input module (51) connected to the input interface (81) and an air circuit output module (52) connected to the output interface (82). Under the control of the control module (3), the air circuit input module (51) and the air circuit output module (52) alternately blow air and vacuum the auxiliary positioning crown mechanism (8) and the dental pulp cavity, so as to discharge the residual flushing liquid in the dental pulp cavity and the root canal, and dry the closed dental pulp cavity and the dental root canal.

6. The automated endodontic treatment robot according to claim 1, characterized in that: The observation module (6) comprises a display (61) and a camera module and a light source module (62) installed inside the host (1); the front ends of the camera module and the light source module (62) are connected to the observation module fixing hole (83) and are used to collect real-time images in the dental pulp cavity during surgery; the other ends of the camera module and the light source module (62) are electrically connected to the control module (3), are controlled by the control module (3), and transmit real-time video to the control module (3); the display (61) is electrically connected to the control module (3), and the control module (3) transmits the processed video signal to the display (61) for display.

7. The automated endodontic treatment robot according to claim 1, characterized in that: The root canal filling module (7) comprises an air circuit input module (51) connected to the input interface (81), an air circuit output module (52) connected to the output interface (82), and a paste quantitative injection module (71). Under the control of the control module (3), the air circuit output module (52) performs negative pressure suction on the auxiliary positioning crown mechanism (8) and the dental pulp cavity. The needle tube of the paste quantitative injection module (71) is inserted into the dental pulp cavity through the rubber plug (84) to inject paste into the root canal opening. After the injection is completed, the air circuit input module (51) is opened under the control of the control module (3). Under the action of atmospheric pressure, the paste at each root canal opening in the dental pulp cavity will be pressed into the root canal to complete the filling of the root canal.

8. An automated endodontic treatment robot according to claim 5 or 7, characterized in that: The air circuit input module (51) comprises an input end solenoid valve (511) and an air circuit input pipeline (512); the input end solenoid valve (511) is used to control the opening and closing of the air circuit input pipeline (512); the air circuit input pipeline (512) is also connected to the input interface (81) and is used to input air into the auxiliary positioning crown mechanism (8) and the dental pulp cavity.

9. The automated endodontic treatment robot according to claim 5 or 7, characterized in that: The air output module (52) comprises a vacuum pump (521), an air pump protection module (522), an air pressure monitoring module (523), a solenoid valve (524) and an air output pipeline (525); the air output pipeline (525) is connected to the output interface (82) and is used to output the air in the auxiliary positioning crown mechanism (8) and the dental pulp cavity; the air output pipeline (525) is sequentially installed with the air pressure monitoring module (523), the solenoid valve (524), the air pump protection module (522) and the vacuum pump (521) from the front end to the rear end.

10. The automated endodontic treatment robot according to claim 7, characterized in that: The paste quantitative injection module (71) comprises a screw linear motor module (711) and a pressure feedback module installed on the screw linear motor module (711). The screw linear motor module (711) performs constant injection of the paste under the action of the pressure feedback module, and the paste is quantitatively injected into the root canal opening under the guidance of the observation module (6).

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