Dental treatment chair and illumination tracking method thereof

Abstract

The invention relates to the technical field of dental treatment chairs, in particular to a dental treatment chair and an illumination tracking method thereof. The dental treatment chair is provided with a plurality of driving arms which are sequentially connected, a motor is arranged between every two adjacent driving arms, the driving arm at the tail end is connected with a lamp panel, the lamp panel is provided with a plurality of variable-focus illuminating lamps, a camera is fixed to the lamp panel, the dental treatment chair is wirelessly connected with a mouth mirror, and the mouth mirror is provided with a gyroscope. The method comprises the following steps that a camera obtains a picture of a patient and obtains the oral cavity position of the patient; the motor drives the driving arms to move, so that the illumination direction of the lamp panel is aligned with the oral cavity of a patient; setting the position of the mouth mirror as an initial position; detection data of the gyroscope are obtained in real time, the real-time direction of the mouth mirror is obtained, light of the lamp panel is focused to the front of the mouth mirror, and light tracking is conducted on the mouth mirror. The illumination tracking accuracy is high, the dentist can perform fine operation, and the dentist can manually adjust the illumination position conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of dental treatment chairs, and in particular to a dental treatment chair and an illumination tracking method thereof. Background Art

[0002] A dental treatment chair, also known as a dental operating chair or dental chair, is the main equipment used for treatment and surgery in a dental clinic. The dental treatment chair has an adjustable seat and backrest, enabling the patient to maintain a comfortable position during treatment. At the same time, the backrest has a headrest for fixing the patient's head and neck, which helps to keep the patient stable during treatment. The dental treatment chair is equipped with a surgical lamp to provide sufficient light for the dental chair to better observe the patient's oral cavity and teeth.

[0003] In the prior art, a column is installed in front of the dental treatment chair, and the surgical lamp is installed on the column through multiple rotating arms. Handles are installed on both the left and right sides of the surgical lamp. By pulling the handles, the position and angle of the surgical lamp can be adjusted, so that the surgical lamp can be aligned with the patient's oral cavity, and even the center of the surgical lamp illumination corresponds to the tooth being operated on the dental chair. Before each treatment, the dental chair needs to pull the handles to adjust the position of the surgical lamp. Moreover, based on the aseptic requirements, a sterile film needs to be wrapped around the handles of the surgical lamp before each dental surgery, which is cumbersome to operate. Currently, there is also a technology for automatically adjusting the surgical lamp. For example, an oral lamp for facial tracking disclosed in CN113288017A has a binocular camera set at the midline of the lamp head. The binocular camera cooperates with a microcomputer to realize facial feature point recognition, and can illuminate different areas in the patient's oral cavity. This automatic illumination adjustment method only illuminates the oral cavity with the lamp head according to the image obtained by the camera, and cannot adjust the illumination position according to the will of the dentist, which cannot meet the refined operation requirements of the dentist. Summary of the Invention

[0004] The purpose of the present invention is to propose a dental treatment chair and an illumination tracking method thereof, which jointly use a camera on the lamp panel and a gyroscope on the oral mirror to achieve lighting tracking. It can specifically illuminate the teeth in the oral cavity according to the actions of the dentist, with high illumination tracking accuracy, meeting the refined operation requirements of the dentist and facilitating the dentist to manually adjust the illumination position.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] An illumination tracking method for a dental treatment chair, the dental treatment chair is provided with multiple driving arms connected in sequence, a motor is arranged between adjacent two driving arms, the end driving arm is connected with a lamp panel, the lamp panel is provided with a plurality of variable-focus illumination lamps, the lamp panel is fixed with a camera, the dental treatment chair is wirelessly connected with an oral mirror, and the oral mirror is provided with a gyroscope;

[0007] The method includes the following steps:

[0008] (1) The camera obtains a photo of the patient and obtains the position of the patient's oral cavity.

[0009] (2) According to the position of the patient's oral cavity, the motor drives a plurality of driving arms to move, so that the illumination direction of the lamp panel is aligned with the patient's oral cavity.

[0010] (3) The camera obtains the position of the tooth aligned by the oral mirror and obtains the detection data of the gyroscope, and sets the position of the oral mirror at this time as the initial position.

[0011] (4) The detection data of the gyroscope is obtained in real time to obtain the real-time orientation of the oral mirror. According to the real-time orientation of the oral mirror, the motor drives a plurality of driving arms to move so that the illumination direction of the lamp panel corresponds to the position of the oral mirror, and the light of the lamp panel is focused in front of the oral mirror to perform light tracking on the oral mirror.

[0012] Further, in the step (1), a position mapping relationship between the lamp panel and the headrest of the dental treatment chair is established. Before the camera obtains a photo of the patient, the motor drives a plurality of driving arms to move so that the illumination direction of the lamp panel is aligned with the headrest of the dental treatment chair.

[0013] According to the patient's photo, the position of the patient's oral cavity is obtained through the position mapping relationship between the lamp panel and the headrest of the dental treatment chair.

[0014] Further, in the step (3), the oral mirror is provided with an infrared sensor. When the infrared sensor senses the patient's oral cavity, the camera obtains the position of the tooth aligned by the oral mirror.

[0015] Further, the orientation of the oral mirror in the oral cavity is divided into upper front position, lower front position, upper rear position and lower rear position; the distance values between the light focusing points and the oral mirror when the oral mirror is in each orientation in the oral cavity in the primary tooth and permanent tooth modes are preset.

[0016] In the step (4), by obtaining the patient's photo in real time, the orientation of the oral mirror in the patient's oral cavity is detected, and the distance between the light focusing point and the oral mirror is adjusted.

[0017] Further, the lighting tracking method of the dental treatment chair further includes step (5): the camera obtains the patient's photo in real time and monitors the positional relationship between the oral mirror and the patient's oral cavity; when the oral mirror moves out of the patient's oral cavity range, the lamp panel stops light tracking on the oral mirror, and when the oral mirror returns to the patient's oral cavity range and the infrared ray senses the patient's oral cavity, the lamp panel continues to perform light tracking on the oral mirror.

[0018] Further, the handle of the oral mirror is provided with a power switch, which is used to control the lamp panel to move from the initial position to the working position and to control the lamp panel to return to the initial position; the power switch is also used to control the start and stop of the camera.

[0019] A dental treatment chair includes a controller, an oral mirror, and a plurality of driving arms connected in sequence. A motor is provided between adjacent driving arms. The end driving arm is connected to a lamp panel. The lamp panel is provided with a plurality of zoomable illuminating lamps. A camera is fixed on the lamp panel. The oral mirror, the motor, and the illuminating lamps are respectively connected to the controller in a wireless or wired manner. The oral mirror is provided with a gyroscope;

[0020] The camera is used to acquire a patient's photo and send it to the controller, and the gyroscope is used to acquire the attitude data of the oral mirror and send it to the controller;

[0021] The controller is used to determine the patient's oral position based on the patient's photo and control the motor to align the illumination direction of the lamp panel with the patient's oral cavity, and is used to set the initial position of the oral mirror according to the patient's photo and the detection data of the gyroscope; the controller is also used to control the motor to drive several driving arms to move according to the detection data of the gyroscope so that the illumination direction of the lamp panel corresponds to the position of the oral mirror, and to focus the light of the lamp panel in front of the oral mirror to perform light tracking on the oral mirror.

[0022] Further, the dental treatment chair further includes a seat, a backrest, and a headrest. The headrest is positioned at the top of the backrest. The bottom end of the backrest is swingably connected to the seat. The seat is liftably mounted on a frame. An angle acquisition unit is used to acquire the azimuth data of the backrest;

[0023] The controller stores the position mapping relationship between the lamp panel and the dental headrest based on the azimuth data of the backrest. The controller is used to acquire the patient's oral position according to the patient's photo and the position mapping relationship between the lamp panel and the headrest.

[0024] Further, the oral mirror is provided with an infrared sensor. The controller is used to receive the signal of the infrared sensor and control the camera to acquire the tooth position aligned by the oral mirror;

[0025] The handle of the oral mirror is provided with a power switch. The controller is used to receive the signal of the oral mirror and control the start and stop of the motor and the camera.

[0026] Further, the multiple driving arms are divided into a horizontal swing arm, a vertical swing arm, and a vertical rotating arm. The first end of the horizontal swing arm is rotatably installed at the top of the dental chair. The other end of the horizontal swing arm is rotatably connected to one end of the vertical swing arm. The top end of the vertical rotating arm is rotatably connected to the other end of the vertical swing arm. The bottom end of the vertical swing arm is fixed with the lamp panel.

[0027] The technical solution provided by the present invention may include the following beneficial effects:

[0028] In this technical solution, first, a camera is used to obtain a patient's photo, and the motor adjusts the position of the lamp panel by a large margin through the driving arm. Then, according to the detection data of the gyroscope, the light is made to track the position of the oral mirror, so that the dentist can adjust the position of the oral mirror to finely adjust the lighting position. The lighting can be targeted at the teeth in the oral cavity according to the dentist's movements, with high lighting tracking accuracy, meeting the requirements for the dentist's refined operations and facilitating the dentist to manually adjust the lighting position. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic flowchart of the lighting tracking method of a dental chair according to an embodiment of the present invention;

[0030] Figure 2 is a schematic structural diagram of a dental chair;

[0031] Figure 3 is a schematic diagram of the positional relationship between an oral mirror and teeth;

[0032] Among them, the horizontal swing arm 1, the vertical swing arm 2, the vertical rotating arm 3, the lamp panel 4, the camera 5, the oral mirror 6, the seat 7, the backrest 8, and the headrest 9. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0034] The following will be combined with Figures 1 to 3 , to describe a dental chair and its lighting tracking method according to an embodiment of the present invention.

[0035] The lighting tracking method of this technical solution is used for a dental chair. The dental chair is provided with multiple driving arms connected in sequence. A motor is provided between adjacent driving arms. The end driving arm is connected with a lamp panel 4. The lamp panel 4 is provided with multiple zoomable illuminating lamps. The lamp panel 4 is fixed with a camera 5. The dental chair is wirelessly connected with an oral mirror 6. The oral mirror 6 is provided with a gyroscope;

[0036] The method includes the following steps:

[0037] (1) The camera 5 acquires a patient photo and obtains the position of the patient's oral cavity;

[0038] (2) According to the position of the patient's oral cavity, the motor drives a plurality of driving arms to move, so that the illumination direction of the lamp panel 4 is aligned with the patient's oral cavity;

[0039] (3) The camera 5 acquires the position of the tooth aligned by the oral mirror 6 and obtains the detection data of the gyroscope, and sets the position of the oral mirror 6 at this time as the initial position;

[0040] (4) The detection data of the gyroscope is acquired in real time to obtain the real-time orientation of the oral mirror 6. According to the real-time orientation of the oral mirror 6, the motor drives a plurality of driving arms to move so that the illumination direction of the lamp panel 4 corresponds to the position of the oral mirror 6, and the light of the lamp panel 4 is focused in front of the oral mirror 6 to perform light tracing on the oral mirror 6.

[0041] In this technical solution, first, the camera 5 acquires a patient photo, and the motor adjusts the position of the lamp panel 4 by a large margin through the driving arm. Then, according to the detection data of the gyroscope, the light is traced to the position of the oral mirror 6, so that the dentist can adjust the position of the oral mirror 6 to finely adjust the illumination position. The illumination can be targeted at the teeth in the oral cavity according to the dentist's actions, with high illumination tracking accuracy, meeting the needs of the dentist for fine operations and facilitating the dentist to manually adjust the illumination position. In addition, based on the real-time acquisition of the detection data of the gyroscope, real-time light tracing of the oral mirror 6 is realized, which is more convenient for the dentist to observe the patient's teeth.

[0042] It should be noted that in step (3), the camera 5 acquires the position of the tooth aligned by the oral mirror 6. This tooth position includes information about the upper and lower teeth, that is, not only the specific tooth position is obtained, but also it is determined whether the tooth belongs to the upper teeth or the lower teeth. Based on the information of the specific tooth, the light can be accurately focused on the tooth; based on the upper and lower tooth information, the initial position of the oral mirror 6 can be more accurately located according to the detection data of the gyroscope, which is beneficial to subsequent accurate light tracing.

[0043] In an embodiment of the present invention, in step (1), a position mapping relationship between the lamp panel 4 and the headrest 9 of the dental treatment chair is established. Before the camera 5 acquires the patient photo, the motor drives a plurality of driving arms to move so that the illumination direction of the lamp panel 4 is aligned with the headrest 9 of the dental treatment chair;

[0044] According to the patient photo, the position of the patient's oral cavity is obtained through the position mapping relationship between the lamp panel 4 and the headrest 9 of the dental treatment chair.

[0045] In this solution, taking the position of the headrest 9 of the dental chair as the reference position, after obtaining the patient's photo, the position of the patient's oral cavity in the three-dimensional space can be obtained, so that the lighting direction of the lamp panel 4 can accurately align with the patient's oral cavity, and it is beneficial for the subsequent light focusing position of the lamp panel 4 to be more accurate. At the same time, during the treatment, the patient's head is located at the headrest 9, and the position mapping relationship between the lamp panel 4 and the headrest 9 of the dental chair is established. The camera 5 can obtain the oral cavity position by taking a small number of photos, reducing the amount of data processing. Specifically, the backrest angle of the dental chair is adjustable. The position of the headrest 9 can be obtained through the backrest angle, and then the position mapping relationship between the lamp panel 4 and the headrest 9 can be established.

[0046] Specifically, in the step (3), the oral mirror 6 is provided with an infrared sensor. When the infrared sensor senses the patient's oral cavity, the position of the teeth aligned by the oral mirror 6 is obtained through the camera 5. The infrared sensor signal serves as the start-stop signal for the fine tracking of the light. When the dentist uses the oral mirror 6, the fine tracking of the light is carried out, while when the dentist performs operations such as teeth cleaning and fixture installation, there is no need for fine tracking. The camera 5 only needs to align the light with the oral cavity, greatly reducing the amount of data processing, and the dentist does not need to perform extra operations to turn on and off the fine tracking of the light.

[0047] In an embodiment of the present invention, the orientation of the oral mirror 6 in the oral cavity is divided into the upper front position, the lower front position, the upper rear position, and the lower rear position; the distance values between the light focusing point and the oral mirror 6 when the oral mirror 6 is located at each orientation in the oral cavity are preset in the primary tooth and permanent tooth modes;

[0048] In the step (4), by obtaining the patient's photo in real time, the orientation of the oral mirror 6 in the patient's oral cavity is detected, and the distance between the light focusing point A and the oral mirror 6 is adjusted.

[0049] By classifying the teeth to be treated and partitioning the oral cavity, the accuracy of focusing is ensured, and it is guaranteed that during the operation, the light is always focused on the tooth to be observed. It can be understood that there are significant differences in the sizes of primary teeth and permanent teeth. When observing teeth, the distances between the centers of primary teeth and permanent teeth and the oral mirror 6 are very different. By setting the focusing distances in the primary tooth and permanent tooth modes, it is ensured that the focusing point is located on the tooth to be observed. It can be understood that the preset distance value is a range value. In some embodiments, the focusing distance values for different tooth types can also be set under the range value to further improve the accuracy of the light tracking.

[0050] To further improve the reliability of light tracing of the oral mirror 6, the lighting tracing method of the dental chair further includes step (5): when the oral mirror 6 moves out of the patient's oral cavity range, the lamp panel 4 stops light tracing of the oral mirror 6; when the oral mirror 6 returns to the patient's oral cavity range and the infrared sensor senses the patient's oral cavity, the lamp panel 4 continues to perform light tracing on the oral mirror 6. The camera 5 and the infrared sensor cooperate to judge the starting and stopping times of light tracing of the oral mirror 6, ensuring the reliability of fine light tracing and preventing false triggering

[0051] In an embodiment of the present invention, the handle of the oral mirror 6 is provided with a power switch, which is used to control the lamp panel 4 to move from the initial position to the working position and to control the lamp panel 4 to return to the initial position; the power switch is also used to control the start and stop of the camera 5. Thus, the oral mirror 6 has a remote control function, and the start and stop of light tracing are controlled through the power switch.

[0052] Correspondingly, the present invention also provides a dental chair, including a controller, an oral mirror 6, and a plurality of driving arms connected in sequence. A motor is arranged between adjacent two driving arms, and the end driving arm is connected with a lamp panel 4. The lamp panel 4 is provided with a plurality of zoomable illuminating lamps, and a camera 5 is fixed on the lamp panel 4. The oral mirror 6, the motor, and the illuminating lamps are respectively connected to the controller in a wireless or wired manner, and the oral mirror 6 is provided with a gyroscope;

[0053] The camera 5 is used to obtain a patient photo and send it to the controller, and the gyroscope is used to obtain the attitude data of the oral mirror 6 and send it to the controller;

[0054] The controller is used to determine the patient's oral cavity position according to the patient photo and control the motor to align the illumination direction of the lamp panel 4 with the patient's oral cavity, and is used to set the initial position of the oral mirror 6 according to the patient photo and the detection data of the gyroscope; the controller is also used to control the motor to drive a plurality of driving arms to move according to the detection data of the gyroscope so that the illumination direction of the lamp panel 4 corresponds to the position of the oral mirror 6, and to focus the light of the lamp panel 4 in front of the oral mirror 6 to perform light tracing on the oral mirror 6.

[0055] The controller of the dental chair is used to control the light tracing process, and the above lighting tracing method of the dental chair can be completed by using an existing control device. Preferably, the camera 5 is located at the center of the lamp panel 4, the gyroscope is a three-axis gyroscope, and the camera 5 and the gyroscope can cooperate to accurately position the oral mirror 6.

[0056] Further, the dental chair further includes a seat 7, a backrest 8, and a headrest 9. The headrest 9 is positioned at the top end of the backrest 8. The bottom end of the backrest 8 is swingably connected to the seat 7. The seat 7 is installed on the frame in a liftable manner. An angle acquisition unit is used to acquire the orientation data of the backrest 8;

[0057] The controller stores therein the position mapping relationship between the lamp panel 4 and the dental headrest 9 based on the orientation data of the backrest 8. The controller is used to acquire the oral position of the patient according to the patient photo and the position mapping relationship between the lamp panel 4 and the headrest 9.

[0058] Specifically, the angle acquisition unit includes a backrest 8 motor, a seat 7 lift motor, and a motor driver. The backrest 8 motor is used to drive the backrest 8 to swing. The seat 7 lift motor is used to drive the seat 7 to lift. The number of rotation turns of the backrest 8 motor and the seat 7 lift motor can be acquired through the motor driver. Based on the mapping relationship between the number of motor rotation turns and the angle of the backrest 8, and the mapping relationship between the number of motor rotation turns and the height of the seat 7, the current orientation of the backrest 8 can be obtained, and then the position of the headrest 9 can be obtained.

[0059] Further, the oral mirror 6 is provided with an infrared sensor. The controller is used to receive the signal of the infrared sensor and control the camera 5 to acquire the tooth position aligned by the oral mirror 6. The handle of the oral mirror 6 is provided with a power switch. The controller is used to receive the signal of the oral mirror 6 and control the start and stop of the motor and the camera 5. Specifically, the infrared sensor is located at the rear side of the lens of the oral mirror 6. When the oral mirror 6 is in the patient's oral cavity, the infrared sensor can acquire the infrared signal.

[0060] In addition, the camera 5 acquires the patient photo in real time, monitors the position relationship between the oral mirror 6 and the patient's oral cavity, and realizes the light tracking of the patient's oral cavity; moreover, it also tracks the position of the oral mirror 6. When the oral mirror 6 moves out of the patient's oral cavity range, the lamp panel 4 stops the light tracking of the oral mirror 6. When the oral mirror 6 returns to the patient's oral cavity range and the infrared ray senses the patient's oral cavity, the lamp panel 4 continues to perform the light tracking on the oral mirror 6.

[0061] Preferably, the multiple driving arms are divided into a horizontal swing arm 1, a vertical swing arm 2, and a vertical rotating arm 3. The first end of the horizontal swing arm 1 is rotatably mounted on the top of the dental chair. The other end of the horizontal swing arm 1 is rotatably connected to one end of the vertical swing arm 2. The top end of the vertical rotating arm 3 is rotatably connected to the other end of the vertical swing arm 2. The bottom end of the vertical swing arm is fixed with the lamp panel 4. Through the horizontal swing arm 1, the vertical swing arm 2, and the vertical rotating arm 3, the movement of the lamp panel 4 in three-dimensional space can be realized, so as to realize the light tracking of the patient's oral cavity and the fine light tracking of the oral mirror 6. Specifically, the horizontal swing arm 1 swings in the horizontal plane, the vertical swing arm 2 can swing in the vertical plane, and the vertical rotating arm 3 can rotate in the vertical direction.

[0062] Other components and operations of a dental chair and its lighting tracking method according to an embodiment of the present invention are known to those of ordinary skill in the art and will not be described in detail here.

[0063] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features, used to distinguish and describe features, without order or importance.

[0064] In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0065] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "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, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0066] In the description of this specification, the descriptions referring to terms such as "embodiment", "example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0067] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for tracking lighting of a dental treatment chair, characterized in that: The dental treatment chair is provided with a plurality of driving arms connected in sequence, a motor is provided between two adjacent driving arms, the driving arms at the end are connected with a lamp panel, the lamp panel is provided with a plurality of variable-focus lighting lamps, a camera is fixed on the lamp panel, the dental treatment chair is wirelessly connected with a dental mirror, and the dental mirror is provided with a gyroscope; The method comprises the following steps: (1) The camera obtains a patient photo and obtains the patient's oral cavity position; (2) According to the position of the patient's mouth, the motor drives the plurality of driving arms to move so that the light direction of the lamp panel is aligned with the patient's mouth; (3) obtaining the tooth position at which the oral mirror is aimed through a camera, obtaining detection data from a gyroscope, and setting the position of the oral mirror at this time as an initial position; (4) Acquire the detection data of the gyroscope in real time to obtain the real-time position of the oral mirror. According to the real-time position of the oral mirror, the motor drives several driving arms to move so that the illumination direction of the lamp panel corresponds to the position of the oral mirror, and the light of the lamp panel is focused to the front of the oral mirror to track the light of the oral mirror.

2. The dental chair lighting tracking method according to claim 1, characterized in that: In the step (1), a position mapping relationship between the lamp panel and the headrest of the dental treatment chair is established, and before the camera acquires the patient's photo, the motor drives the plurality of drive arms to move so that the illumination direction of the lamp panel is aligned with the headrest of the dental treatment chair; According to the patient's photo, the patient's oral position is obtained through the position mapping relationship between the lamp panel and the headrest of the dental treatment chair.

3. The dental chair lighting tracking method according to claim 1, characterized in that: In the step (3), the oral mirror is provided with an infrared sensor. When the infrared sensor senses the patient's oral cavity, the position of the teeth to which the oral mirror is aimed is acquired through the camera.

4. The dental chair lighting tracking method according to claim 1, characterized in that: The position of the oral mirror in the oral cavity is divided into upper anterior position, lower anterior position, upper posterior position and lower posterior position; the distance between the light focus point and the oral mirror when the oral mirror is located in each position in the oral cavity in the deciduous tooth and permanent tooth modes is pre-set; In the step (4), the position of the oral mirror in the patient's mouth is detected by acquiring a photo of the patient in real time, and the distance between the light focus point and the oral mirror is adjusted.

5. The dental chair lighting tracking method according to claim 3, characterized in that: The method also includes step (5): the camera obtains a photo of the patient in real time and monitors the positional relationship between the oral mirror and the patient's mouth; when the oral mirror moves out of the patient's mouth, the light panel stops tracing the light of the oral mirror; when the oral mirror returns to the patient's mouth and the infrared ray senses the patient's mouth, the light panel continues tracing the light of the oral mirror.

6. The dental chair lighting tracking method according to claim 2, characterized in that: The handle of the oral mirror is provided with a switch key, and the switch key is used to control the lamp panel to move from the initial position to the working position, and control the lamp panel to return to the initial position; the switch key is also used to control the start and stop of the camera.

7. A dental treatment chair, characterized in that: It comprises a controller, a dental mirror and a plurality of sequentially connected driving arms, a motor is arranged between two adjacent driving arms, the driving arm at the end is connected to a lamp panel, the lamp panel is provided with a plurality of variable-focus lighting lamps, a camera is fixed to the lamp panel, the dental mirror, the motor and the lighting lamp are respectively connected to the controller in a wireless or wired manner, and the dental mirror is provided with a gyroscope; The camera is used to obtain patient photos and send them to the controller, and the gyroscope is used to obtain posture data of the oral mirror and send them to the controller; The controller is used to control the motor so that the lighting direction of the lamp panel is aligned with the patient's mouth according to the patient's oral position in the patient's photo, and is used to set the initial position of the oral mirror according to the patient's photo and the detection data of the gyroscope; the controller is also used to control the motor to drive a number of driving arms to move so that the lighting direction of the lamp panel corresponds to the position of the oral mirror according to the detection data of the gyroscope, and to focus the light of the lamp panel to the front of the oral mirror, so as to perform light tracing on the oral mirror.

8. The dental chair according to claim 7, characterized in that: It also includes a seat, a backrest and a headrest, wherein the headrest is positioned at the top of the backrest, the bottom of the backrest is swingably connected to the seat, the seat is escalably mounted on the frame, and the angle acquisition unit is used to acquire the orientation data of the backrest; The controller stores a position mapping relationship between the lamp panel and the headrest based on the backrest orientation data, and the controller is used to obtain the patient's oral position according to the patient's photo and the position mapping relationship between the lamp panel and the headrest.

9. The dental chair according to claim 7, characterized in that: The oral mirror is provided with an infrared sensor, and the controller is used to receive a signal from the infrared sensor and control the camera to obtain the tooth position at which the oral mirror is aimed; The handle of the oral mirror is provided with a switch, and the controller is used to receive signals from the oral mirror to control the start and stop of the motor and the camera.

10. The dental chair according to claim 1, wherein: The multiple driving arms are divided into a horizontal swing arm, a vertical swing arm and a vertical rotating arm. The first end of the horizontal swing arm is rotatably installed on the top of the dental treatment chair, the other end of the horizontal swing arm is rotatably connected to one end of the vertical swing arm, the top end of the vertical rotating arm is rotatably connected to the other end of the vertical swing arm, and the lamp panel is fixed to the bottom end of the vertical swing arm.

Images