Dental robot and control method

Abstract

The invention relates to a dental robot and a control method. The dental robot comprises a touch sensor, a dental tool, a control assembly and a mechanical arm, a dental tool includes a housing; the dental tool is fixed on the mechanical arm; the touch sensor is arranged on the shell; the touch sensor is electrically connected with the mechanical arm through the control assembly. The touch sensor is used for generating a touch signal based on a human hand touching the shell, and the control assembly is used for controlling the mechanical arm to form a free dragging state based on the touch signal; and / or the touch sensor is used for generating a non-touch signal based on the condition that the human hand leaves the shell, and the control assembly is used for controlling the mechanical arm to form a locked immobile state based on the non-touch signal. Thus, the operation intention of a doctor can be automatically recognized according to the situation that the human hand touches the shell or leaves the shell, the mechanical arm is directly controlled according to the operation intention, the doctor and an assistant do not need to conduct corresponding interaction, and then the continuity of surgical operation of the doctor is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of dental robots, and in particular, to a dental robot and a control method. Background Art

[0002] A dental robot is an intelligent device that combines robot technology and dental medicine, aiming to assist dentists in completing high-precision and high-complexity dental diagnosis and treatment tasks. It can significantly improve the treatment effect and patient experience through precise motion control, real-time data acquisition and analysis.

[0003] Currently, existing dental robots generally consist of a trolley, a robotic arm, an end effector system, and a computer terminal. The end effector system at least includes a dental tool fixed to the robotic arm and a driving element for driving the dental tool to work. During the operation, the doctor needs to use the dental tool to perform treatment operations on the patient, and at the same time, a dedicated assistant is required to select steps on the computer terminal to drag the robotic arm. Therefore, there will inevitably be interaction between the doctor and the assistant, resulting in poor continuity of the doctor's surgical operations and affecting the patient's experience. Summary of the Invention

[0004] To solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a dental robot and a control method.

[0005] The present disclosure provides a dental robot, including: a touch sensor, a dental tool, a control component, and a robotic arm; the dental tool includes a housing;

[0006] The dental tool is fixed to the robotic arm; the touch sensor is disposed on the housing; the touch sensor is electrically connected to the robotic arm through the control component;

[0007] The touch sensor is used to generate a touch signal based on a human hand touching the housing, and the control component is used to control the robotic arm to form a free dragging state based on the touch signal; and / or, the touch sensor is used to generate a non-touch signal based on a human hand leaving the housing, and the control component is used to control the robotic arm to form a locked stationary state based on the non-touch signal.

[0008] Optionally, the control component includes a first control element and a second control element;

[0009] The first control element is connected to the touch sensor; the second control element is respectively connected to the first control element and the robotic arm;

[0010] The first control element is configured to generate an unlocking instruction based on the touch signal, and the second control element is configured to control the robotic arm to form a free-dragging state based on the unlocking instruction; and / or, the first control element is configured to generate a locking instruction based on the non-touch signal, and the second control element is configured to control the robotic arm to form a locked and immobile state based on the locking instruction.

[0011] Optionally, the first control element includes a timing module;

[0012] The timing module is configured to detect the duration of the human hand touching the housing, and the first control element is configured to generate the unlocking instruction based on the duration being greater than or equal to a duration threshold.

[0013] Optionally, it further includes a host computer;

[0014] The host computer is connected to the control component; the host computer is at least configured to issue a status prompt message for the robotic arm.

[0015] Optionally, it further includes a dental tool driving element;

[0016] When the human hand touches the housing, the dental tool driving element is in an enabled state; when the human hand leaves the housing, the dental tool driving element is in a non-enabled state.

[0017] Optionally, the material of the housing includes at least one of metal and non-conductive medium.

[0018] The present disclosure also provides a control method for a dental robot, including:

[0019] Generating a touch signal when the human hand touches the housing;

[0020] Controlling the robotic arm to form a free-dragging state based on the touch signal;

[0021] And / or, generating a non-touch signal when the human hand leaves the housing, and controlling the robotic arm to form a locked and immobile state based on the non-touch signal.

[0022] Optionally, the controlling the robotic arm to form a free-dragging state based on the touch signal includes:

[0023] Generating an unlocking instruction based on the touch signal;

[0024] Controlling the robotic arm to form a free-dragging state based on the unlocking instruction.

[0025] Optionally, the generating an unlocking instruction based on the touch signal includes:

[0026] Detecting the duration of the human hand touching the housing;

[0027] Generate the unlocking instruction based on the continuous duration being greater than or equal to the duration threshold.

[0028] Optionally, the controlling the robotic arm to form a locked and immobile state based on the non-touch signal includes:

[0029] Generate a locking instruction based on the non-touch signal;

[0030] Control the robotic arm to form a locked and immobile state based on the locking instruction.

[0031] The technical solution provided by the embodiments of the present disclosure has the following advantages compared with the prior art:

[0032] In the dental robot and control method provided by the present disclosure, the dental robot includes: a touch sensor, a dental tool, a control component, and a robotic arm; the dental tool includes a housing; the dental tool is fixed to the robotic arm; the touch sensor is disposed on the housing; the touch sensor is electrically connected to the robotic arm through the control component; the touch sensor is configured to generate a touch signal based on a human hand touching the housing, and the control component is configured to control the robotic arm to form a freely dragable state based on the touch signal; and / or, the touch sensor is configured to generate a non-touch signal based on the human hand leaving the housing, and the control component is configured to control the robotic arm to form a locked and immobile state based on the non-touch signal. In this way, it is possible to automatically recognize the operation intention of the doctor according to the situation of the human hand touching or leaving the housing, and directly control the robotic arm accordingly, without the need for interaction between the doctor and the assistant, thereby improving the continuity of the doctor's surgical operation. Description of the Drawings

[0033] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0034] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 Schematic structural diagram of a dental robot provided by an embodiment of the present disclosure;

[0036] Figure 2 Schematic structural diagram of another dental robot provided by an embodiment of the present disclosure;

[0037] Figure 3 Schematic diagram of a scenario where a human hand touches the housing provided by an embodiment of the present disclosure;

[0038] Figure 4 A structural schematic diagram of the circuit principle of a touch sensor provided by an embodiment of the present disclosure;

[0039] Figure 5 A flowchart of a control method for a dental robot provided by an embodiment of the present disclosure.

[0040] Wherein, 01, non-conductive medium; 02, metal layer; 03, copper-clad board; 04, human hand; 110, touch sensor; 120, dental tool; 130, control component; 140, robotic arm; 121, housing; 131, first control element; 132, second control element; 1311, timing module; 150, host computer; 160, dental tool driving element. Detailed implementation manners

[0041] In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0042] In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0043] The following will exemplarily describe the dental robot and the control method provided by the embodiments of the present disclosure with reference to the accompanying drawings.

[0044] Figure 1 A structural schematic diagram of a dental robot provided by an embodiment of the present disclosure. Referring to Figure 1 , the dental robot includes: a touch sensor 110, a dental tool 120, a control component 130, and a robotic arm 140; the dental tool 120 includes a housing 121; the dental tool 120 is fixed to the robotic arm 140; the touch sensor 110 is disposed on the housing 121; the touch sensor 110 is electrically connected to the robotic arm 140 through the control component 130; the touch sensor 110 is configured to generate a touch signal based on a human hand touching the housing, and the control component 130 is configured to control the robotic arm 140 to form a free-dragging state based on the touch signal; and / or, the touch sensor 110 is configured to generate a non-touch signal based on a human hand leaving the housing 121, and the control component 130 is configured to control the robotic arm 140 to form a locked stationary state based on the non-touch signal.

[0045] Among them, the dental tool 120 is a tool for contacting and operating on a patient's teeth. In actual applications, the dental tool 120 is fixed to the robotic arm 140. When the doctor holds the dental tool 120 and moves it in the patient's oral cavity, it will drive the movement of the robotic arm 140, so that the position and angle of the dental tool 120 match the movement trajectory of the robotic arm. During this process, the robotic arm 140 can provide stable support to avoid operation deviation caused by the doctor's hand shaking or fatigue. Exemplarily, the dental tool 120 can be a dental handpiece for performing operations such as tooth pulp opening, tooth root canal dredging, and tooth root canal preparation.

[0046] Among them, the dental tool 120 includes a head (not shown) and a housing 121 connected thereto. The housing 121 of the dental tool 120 is for human hands to touch and hold, and the head of the dental tool 120 is for contacting teeth or oral tissues.

[0047] Among them, the touch sensor 110 is an element for sensing whether a human hand touches the housing 121. By arranging the touch sensor 110 on the housing 121, the dental tool has the advantages of being reliable and durable, beautiful and fashionable, using less materials, and being convenient for production, installation, and maintenance. Exemplarily, the touch sensor 110 can be a capacitive touch sensor, a resistive touch sensor, an optical touch sensor, an ultrasonic touch sensor, or other types of touch sensors. The specific type of the touch sensor can be selected according to the control requirements of the robotic arm in the embodiments of the present disclosure, and is not limited herein.

[0048] Among them, the free-drag state is used to represent the state in which the robotic arm 140 moves accordingly when the doctor holds the dental tool 120 and applies force to move it. Specifically, when the doctor needs to perform a surgical operation, they will touch the housing 121 to further hold it. Based on this, when the touch sensor 110 senses that a human hand touches the housing 121, it generates a touch signal and transmits it to the control component 130. The control component 130 controls the robotic arm 140 to form a free-drag state based on the touch signal. In this way, when the doctor has the intention of performing a surgical operation, it realizes that while the doctor holds the dental tool 120 and moves it in the patient's oral cavity, it drives the movement of the robotic arm 140, that is, the robotic arm 140 is freely dragged by the doctor, improving the flexibility of the doctor in operating the robotic arm, and thus helping to improve the efficiency of the surgical operation.

[0049] Among them, the locked and stationary state is used to represent the state in which the robotic arm maintains a specific posture and remains stationary. Specifically, when the doctor does not need to perform surgical operations, such as after the surgical operation is completed, the doctor will release the housing 121 of the dental tool 120. Based on this, when the touch sensor 110 senses that the human hand leaves the housing 121, it generates a non-touch signal and transmits it to the control component 130. The control component 130 controls the robotic arm 140 to form a locked and stationary state based on the non-touch signal. In this way, when the doctor no longer has the intention to perform a surgical operation, the robotic arm immediately stops moving and maintains the current posture, avoiding adverse effects such as accidentally injuring the patient, damaging the robotic arm, and inconvenient surgical operations caused by the sudden drop of the robotic arm.

[0050] The dental robot provided by the embodiment of the present disclosure includes: a touch sensor 110, a dental tool 120, a control component 130, and a robotic arm 140; the dental tool 120 includes a housing 121; the dental tool 120 is fixed to the robotic arm 140; the touch sensor 110 is arranged on the housing 121; the touch sensor 110 is electrically connected to the robotic arm 140 through the control component 130; the touch sensor 110 is used to generate a touch signal based on the human hand touching the housing, and the control component 130 is used to control the robotic arm 140 to form a free-dragging state based on the touch signal; and / or, the touch sensor 110 is used to generate a non-touch signal based on the human hand leaving the housing 121, and the control component 130 is used to control the robotic arm 140 to form a locked and stationary state based on the non-touch signal. In this way, it is possible to automatically identify the doctor's operation intention according to the situation of the human hand touching or leaving the housing 121, and directly control the robotic arm 140 accordingly, without the need for the doctor and the assistant to perform corresponding interactions, thereby improving the coherence of the doctor's surgical operation.

[0051] In some embodiments, Figure 2 is a schematic structural diagram of another dental robot provided by the embodiment of the present disclosure. On the basis of Figure 1 , referring to Figure 2 , the control component 130 includes a first control element 131 and a second control element 132; the first control element 131 is connected to the touch sensor 110; the second control element 132 is respectively connected to the first control element 131 and the robotic arm 140; the first control element 131 is used to generate an unlocking instruction based on the touch signal, and the second control element 132 is used to control the robotic arm 140 to form a free-dragging state based on the unlocking instruction; and / or, the first control element 131 is used to generate a locking instruction based on the non-touch signal, and the second control element 132 is used to control the robotic arm 140 to form a locked and stationary state based on the locking instruction.

[0052] Among them, the unlocking instruction is an instruction for unlocking the robotic arm 140, so that the robotic arm 140 can switch from the locked stationary state to the free-dragging state. Specifically, after the first control element 131 receives the touch signal, it generates an unlocking instruction based on the touch signal and transmits it to the second control element 132. Then, the second control element 132 controls the robotic arm to form a free-dragging state based on this unlocking instruction, so that the doctor can freely drag the robotic arm 140 by holding the dental tool 120 for surgical operations to meet the doctor's will to perform surgical operations.

[0053] Among them, the locking instruction is an instruction for locking the robotic arm 140, so that the robotic arm 140 can switch from the free-dragging state to the locked stationary state. Specifically, after the first control element 131 receives the non-touch signal, it generates a locking instruction based on the non-touch signal and transmits it to the second control element 132. Then, the second control element 132 controls the robotic arm 140 to form a locked stationary state based on this locking instruction to meet the doctor's will not to perform surgical operations.

[0054] Exemplarily, the first control element 131 can be an embedded controller, a programmable logic controller, a field programmable gate array or other control elements, and the second control element 132 can be a microcontroller (Micro Controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or other control elements, as long as the first control element 131 and the second control element 132 can implement the above corresponding functions, and it is not limited here.

[0055] In some embodiments, on the basis of Figure 1 continuing to refer to Figure 2 , the first control element 131 includes a timing module 1311; the timing module 1311 is used to detect the duration of the human hand touching the housing 121, and the first control element 131 is used to generate an unlocking instruction based on the duration being greater than or equal to the duration threshold.

[0056] Specifically, when the duration of the human hand touching the housing 121 is greater than or equal to the duration threshold, it indicates that the human hand touches the housing 121 for a long time, and there is a current need to perform a surgical operation. Then, the first control element 131 generates an unlocking instruction so that the robotic arm can form a free-dragging state subsequently. On the contrary, when the duration of the human hand touching the housing 121 is less than the duration threshold, it indicates that the human hand touches the housing 121 for a short time, and there is no current need to perform a surgical operation. Then, the first control element 131 will not generate an unlocking instruction, avoiding the interference caused by the human hand accidentally touching the housing 121, and thus improving the effectiveness and accuracy of the unlocking instruction generation.

[0057] Exemplarily, in practical applications, the first control element 131 first collects the touch signal, and then the timing module 1311 detects the duration of the collected touch signal, and the first control element 131 determines the length of the duration of the touch signal (i.e., the human hand touches the housing 121).

[0058] Exemplarily, the duration threshold can be 0.3 seconds, 0.5 seconds or other values, which can be set according to the generation requirements of the unlocking instruction in the embodiments of the present disclosure, and are not limited herein.

[0059] In some embodiments, on the basis of Figure 1 continuing to refer to Figure 2 the dental robot further includes a host computer 150; the host computer 150 is connected to the control component 130; the host computer 150 is at least used to issue a status prompt message for the robotic arm 140.

[0060] Among them, the status prompt message is information for indicating the status of the robotic arm, that is, information for indicating that the robotic arm forms a free dragging state or a locked stationary state. Specifically, in view of the fact that the host computer 150 can communicate with the first control element 131 and the second control element 132, both the first control element 131 and the second control element 132 can feedback relevant instructions to the host computer 150, such as an unlocking instruction or a locking instruction, so that the host computer 150 can determine the corresponding robotic arm state based on the above instructions and issue a status prompt message.

[0061] Exemplarily, the host computer 150 may include a display component such as a display, and display the robotic arm state in a more obvious way such as in the form of pictures or text through the display interface of the display. Taking the text form as an example, the display can display "The robotic arm is in a free dragging state", "The robotic arm is in a locked stationary state" or other texts, as long as it can intuitively inform the outside world of the robotic arm state; alternatively, the host computer 150 may further include a speaker, and the robotic arm state is reported by voice through the speaker. The form of prompting the status prompt message is not limited herein.

[0062] In this way, by using the host computer 150 to issue a status prompt message for the robotic arm 140, a clear status feedback is provided to the doctor, helping the doctor to master the state of the robotic arm 140 at any time, enhancing the doctor's operation confidence, and thus contributing to improving the efficiency of the surgical operation.

[0063] In some embodiments, on the basis of Figure 1 continuing to refer to Figure 2 the host computer 150 is also used to perform automatic process switching based on the unlocking instruction or the locking instruction.

[0064] Among them, the automatic process switching includes the surgical view switching. Exemplarily, in practical applications, the display interface of the host computer 150 will display the view of the patient's oral cavity. For example, before the surgery starts, the display interface shows the view of all the teeth in the patient's oral cavity; when the surgery starts, when a person touches the housing of the dental tool 120, the host computer 150 receives the unlocking instruction fed back by the pre-stage control element (such as the first control element), indicating that the doctor has the intention to perform the surgical operation. Further, the display interface of the host computer automatically switches from the view of all the teeth to the local view of the target tooth (referring to the tooth to be treated); when the surgery ends, when the hand leaves the housing of the dental tool 120, the host computer 150 receives the locking instruction fed back by the pre-stage control element, indicating that the doctor has no intention to perform the surgical operation. Further, the display interface of the host computer automatically switches from the local view of the target tooth to the view of all the teeth.

[0065] It should be noted that the host computer 150 can load the three-dimensional model of the patient's oral cavity, and the doctor can pre-select the target tooth to be operated before the surgery, so as to realize the confirmation of the target tooth by the host computer 150. In addition, in other embodiments, the host computer can also perform automatic process switching according to the touch signal or non-touch signal generated by the touch sensor 110, and its related operation logic is similar to the operation logic of performing automatic process switching according to the unlocking instruction or locking instruction in the above text, which will not be elaborated here.

[0066] In this way, the host computer 150 performs automatic process switching based on the unlocking instruction or locking instruction, without the need for manual clicking for process switching, which improves the convenience of process switching and thus helps to optimize the surgical efficiency.

[0067] In some embodiments, on the basis of Figure 1 continuing to refer to Figure 2 , the dental robot further includes a dental tool driving element 160; when a person touches the housing 121, the dental tool driving element 160 is in an enabled state; when the hand leaves the housing 121, the dental tool driving element 160 is in a non-enabled state.

[0068] Among them, the dental tool driving element 160 is connected to the dental tool 120 and is specifically an element for driving the dental tool 120 to work. Exemplarily, the dental tool driving element 160 can be a pneumatic turbine, an electric motor, an ultrasonic transducer, a linear motor or other elements with driving functions, which is not limited here.

[0069] Among them, the dental tool driving element 160 is adapted to a driving element control device (not shown in the figure). In the conventional technology, the driving element control device is used to control the start and stop of the dental tool driving element 160. Specifically, when the driving element control device is turned on externally, the dental tool driving element 160 starts to work. On the contrary, when the driving element control device is turned off externally, the dental tool driving element 160 stops working.

[0070] Based on this, the enabled state in the embodiments of the present disclosure is a state used to characterize that the enabling of the dental tool driving element 160 is effective, that is, when the driving element control device is turned on externally, the dental tool driving element 160 starts to work; the non-enabled state is a state used to characterize that the enabling of the dental tool driving element 160 is ineffective, that is, when the driving element control device is turned on externally, the dental tool driving element 160 does not start to work.

[0071] Exemplarily, taking the dental tool driving element 160 as an electric motor (abbreviated as motor) as an example, in practical applications, the motor is usually controlled by a driving element control device (foot switch or trigger trigger). When a person's hand touches the housing 121, the first control element 131 can control the motor to be in an enabled state based on the touch signal. On this basis, triggering the foot switch, that is, turning on the foot switch, can make the motor work, and then the dental tool 120 works to assist the doctor in performing surgical operations; correspondingly, when the person's hand leaves the housing 121, the first control element 131 can control the motor to be in a non-enabled state based on the non-touch signal. On this basis, triggering the foot switch, the motor does not work, and then the dental tool 120 does not work.

[0072] In this way, when the doctor has the intention of performing a surgical operation, the enabling of the dental tool driving element 160 is made effective, and when the doctor has no intention of performing a surgical operation, the enabling of the dental tool driving element 160 is made ineffective, which can avoid the safety risks brought by the accidental triggering of the driving element control device such as the foot switch by personnel and achieve the purpose of safety protection.

[0073] In some embodiments, Figure 3 is a schematic diagram of a scenario where a person's hand touches the housing provided by the embodiments of the present disclosure. Figure 4 is a schematic structural diagram of the circuit principle of a touch sensor provided by the embodiments of the present disclosure. On the basis of Figure 1 and Figure 2 , with reference to Figure 3 and Figure 4 , the material of the housing includes at least one of metal and non-conductive medium.

[0074] Exemplarily, taking Figure 3Taking the shown structure as an example, the material of the housing includes metal and non-conductive medium. Specifically, in the direction from top to bottom, the figure shows that the housing includes a non-conductive medium layer 01, a metal layer 02, and a copper-clad board 03. The copper-clad board 03 can be regarded as a circuit board that supports the operation of the dental tool 120. Exemplarily, the material of the non-conductive medium layer 01 can be plastic, rubber, fiber material, or other non-conductive media, and the material of the metal layer 02 can be aluminum, copper, or other metals. There is no limitation here.

[0075] It can be understood that according to different types and working mechanisms of the touch sensor, the touch sensor can be arranged at the corresponding position of the housing. For example, if the touch sensor is a capacitive touch sensor, the touch sensor can be arranged on the surface of the metal layer 02 to realize the capacitive sensing function with the help of the metal, which will be described in detail later.

[0076] In some embodiments, referring to Figure 3 and Figure 4 , the touch sensor is a capacitive touch sensor.

[0077] Specifically, as Figure 4 shown in the circuit structure of the capacitive touch sensor, the capacitive touch sensor includes a touch sensing chip U1, a metal layer 02, a signal port P1, a first capacitor C1, a second capacitor C2, and four jumpers (represented by JP1, JP2, JP3, and JP4 respectively); among them, the metal layer 02 of the housing is reused as the metal layer 02 of the capacitive touch sensor.

[0078] Exemplarily, the model of the touch sensing chip U1 can be TTD233N-HA6, which includes a Q pin, a VS pin, an I pin, a TOB pin, a VDD pin, and an AHLB pin. The metal layer 02 is connected to the I pin, and the TOB pin, the VDD pin, and the AHLB pin are connected to the four jumpers correspondingly. The Q pin is used to connect to the first control element through the signal port P1 to transmit the signal sensed by the touch sensing chip U1 (such as a touch signal or a non-touch signal) to the first control element.

[0079] Specifically, as Figure 3 shown, both the human hand 04 and the metal layer 02 are conductors, and the two form a capacitor. The human hand 04 is equivalent to one plate of the capacitor, and the metal layer 02 is equivalent to the other plate of the capacitor. The non-conductive medium layer 01 acts as the medium between the two plates of the capacitor to separate the two plates to ensure the sensing performance. When the human hand 04 touches the non-conductive medium layer 01 of the housing, the distance between the two plates decreases, and charges accumulate in the part of the metal layer 02 close to the human hand 04, resulting in an increase in the capacitance value. When the human hand leaves the non-conductive medium layer 01 of the housing, the distance between the two plates increases, and the charges disperse on the metal layer 02, resulting in a decrease in the capacitance value.

[0080] As Figure 4 , the values of the TOB pin and the AHLB pin in the touch sensing chip U1 are both set to 0. On this basis, when a human hand touches the housing, the touch sensing chip U1 senses an increase in capacitance, and the Q pin outputs a touch signal in the form of a low level and transmits it to the first control element; when the human hand leaves the housing, the touch sensing chip U1 senses a decrease in capacitance, and the Q pin outputs a non-touch signal in the form of a high level and transmits it to the first control element, thus realizing the recognition of whether a human hand touches or not.

[0081] It can be understood that the values of the TOB pin and the AHLB pin are the conventional configurations of the capacitive touch sensor. For example, by setting JP2 and JP4 to be closed and JP1 and JP3 to be open, TOB = 0 and AHLB = 0 are realized, while by setting JP2 and JP4 to be open and JP1 and JP3 to be closed, TOB = 1 and AHLB = 1 are realized. In other embodiments, the above pins may also be other values, and other level output rules regarding the Q pin are correspondingly adapted, which can be set according to actual sensing requirements and are not limited herein.

[0082] In addition, in combination with the working principle of the capacitive touch sensor, it can be known that the housing may not include the non-conductive medium layer 01, as long as there is a spaced non-conductive medium material between the two. For example, a human hand can wear a glove made of non-conductive medium material, which can be set according to actual needs and is not limited herein.

[0083] Thus, by using the touch sensor to sense whether a human hand touches or not, the operation intention of the doctor can be automatically recognized, so as to adaptively control the state of the robotic arm subsequently, canceling the single way of using physical buttons or virtual buttons to trigger the operation of the robotic arm. For example, compared with virtual buttons, there is no need for the doctor to interact with the assistant, and compared with physical buttons, there is no need for the doctor to specifically press a button in a certain place, breaking through the limitation of the traditional button having mechanical contacts. In this regard, the embodiments of the present disclosure reduce the surgical interruption caused by interaction or buttons, making the surgical operation process smoother and more coherent, and further improving the surgical efficiency.

[0084] On the basis of the above embodiments, based on the same inventive concept, the embodiments of the present disclosure also provide a control method for a dental robot.

[0085] In some embodiments, Figure 5 is a schematic flowchart of a control method for a dental robot provided by an embodiment of the present disclosure. Referring to Figure 5 , the method includes:

[0086] S110. Generate a touch signal when a human hand touches the housing, and control the robotic arm to form a free-dragging state based on the touch signal; and / or, generate a non-touch signal when the human hand leaves the housing, and control the robotic arm to form a locked stationary state based on the non-touch signal.

[0087] Exemplarily, the human hand touching the housing includes but is not limited to: knocking, pressing, holding, sliding the housing, etc., as long as the human hand contacts the housing.

[0088] Among them, the free-dragging state is used to represent the state in which the robotic arm moves accordingly when the doctor holds the dental tool and applies force to move it; the locked stationary state is used to represent the state in which the robotic arm maintains a specific posture and remains stationary.

[0089] Specifically, when the doctor has the intention of performing a surgical operation, while the doctor's hand holds the dental tool and moves it in the patient's oral cavity, the robotic arm is driven to move, that is, the robotic arm is freely dragged by the doctor, which improves the flexibility of the doctor to manipulate the robotic arm, and thus helps to improve the efficiency of the surgical operation; when the doctor no longer has the intention of performing a surgical operation, the doctor releases the housing of the dental tool, and the robotic arm immediately stops moving and maintains the current posture, avoiding adverse effects such as accidental injury to the patient, damage to the robotic arm, and inconvenience in surgical operation caused by the sudden drop of the robotic arm.

[0090] It should be noted that in the existing dental robots, the doctor needs to use the dental tool to perform treatment operations on the patient, and at the same time needs to be equipped with a dedicated assistant to select steps on the computer to drag the robotic arm, which is not suitable for dental clinics with less space and fewer personnel. The embodiments of the present disclosure can automatically identify the doctor's operation intention according to the situation of the human hand touching or leaving the housing, and directly control the robotic arm accordingly, reducing the interaction between the doctor and the assistant, simplifying the surgical process, that is, the surgical coherence is better, and further improving the surgical efficiency; at the same time, the embodiments of the present disclosure do not require additional assistants, saving human resource costs and having higher applicability.

[0091] In some embodiments, on the basis of Figure 5 , controlling the robotic arm to form a free-dragging state based on the touch signal in S110 includes the following steps:

[0092] Step 1. Generate an unlocking instruction based on the touch signal.

[0093] Among them, the unlocking instruction is an instruction for unlocking the robotic arm, so that the robotic arm can switch from the locked stationary state to the free-dragging state.

[0094] Step 2. Control the robotic arm to form a free-dragging state based on the unlocking instruction.

[0095] In this way, by controlling the robotic arm based on the unlocking instruction to form a free-dragging state, the doctor can freely drag the robotic arm for surgical operations by holding the dental tool, so as to meet the doctor's will to perform surgical operations.

[0096] In some embodiments, on the basis of Figure 5 , generating the unlocking instruction based on the touch signal in the previous steps includes:

[0097] Step 1: Detect the duration of the human hand touching the housing.

[0098] Exemplarily, in practical applications, the touch signal can be collected first, and then the duration of the collected touch signal is detected to judge the length of the duration of the touch signal (that is, the human hand touching the housing).

[0099] Step 2: Generate an unlocking instruction based on the duration being greater than or equal to the duration threshold.

[0100] Specifically, when the duration of the human hand touching the housing is greater than or equal to the duration threshold, it indicates that the human hand has touched the housing for a long time and there is a current need to perform a surgical operation, so an unlocking instruction is generated for the subsequent robotic arm to form a free-dragging state. On the contrary, when the duration of the human hand touching the housing is less than the duration threshold, it indicates that the human hand has touched the housing for a short time and there is no current need to perform a surgical operation, so no unlocking instruction will be generated, avoiding the interference caused by the human hand accidentally touching the housing, and thus improving the effectiveness and accuracy of the generation of the unlocking instruction.

[0101] In some embodiments, on the basis of Figure 5 , controlling the robotic arm to form a locked and immobile state based on the non-touch signal in S110 includes:

[0102] Step 1: Generate a locking instruction based on the non-touch signal.

[0103] Among them, the locking instruction is an instruction for locking the robotic arm, so that the robotic arm can switch from the free-dragging state to the locked and immobile state.

[0104] Step 2: Control the robotic arm to form a locked and immobile state based on the locking instruction.

[0105] In this way, by controlling the robotic arm to form a locked and immobile state based on the locking instruction, the doctor's will not to perform surgical operations is met.

[0106] It should be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0107] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dental robot, characterized in that, Comprising: A touch sensor, a dental tool, a control component, and a robotic arm; the dental tool includes a housing; The dental tool is fixed to the robotic arm; The touch sensor is disposed on the housing; the touch sensor is electrically connected to the robotic arm through the control component; The touch sensor is configured to generate a touch signal based on a human hand touching the housing, and the control component is configured to control the robotic arm to form a free-dragging state based on the touch signal; And / or, the touch sensor is configured to generate a non-touch signal based on a human hand leaving the housing, and the control component is configured to control the robotic arm to form a locked stationary state based on the non-touch signal.

2. The dental robot according to claim 1, wherein The control component includes a first control element and a second control element; The first control element is connected to the touch sensor; the second control element is respectively connected to the first control element and the robotic arm; The first control element is configured to generate an unlocking instruction based on the touch signal, and the second control element is configured to control the robotic arm to form a free-dragging state based on the unlocking instruction; And / or, the first control element is configured to generate a locking instruction based on the non-touch signal, and the second control element is configured to control the robotic arm to form a locked stationary state based on the locking instruction.

3. The dental robot according to claim 2, characterized in that, The first control element includes a timing module; The timing module is configured to detect the duration of a human hand touching the housing, and the first control element is configured to generate the unlocking instruction based on the duration being greater than or equal to a duration threshold.

4. The dental robot according to claim 1, characterized in that, Further comprising a host computer; The host computer is connected to the control component; the host computer is at least configured to issue a status prompt message for the robotic arm.

5. The dental robot according to claim 1, wherein, Further comprising a dental tool driving element; When a human hand touches the housing, the dental tool driving element is in an enabled state; when a human hand leaves the housing, the dental tool driving element is in a non-enabled state.

6. The dental robot according to claim 1, characterized in that, The material of the housing includes at least one of metal and a non-conductive medium.

7. A control method for a dental robot, characterized in that, Comprising: Generating a touch signal when a human hand touches the housing, and controlling the robotic arm to form a free-dragging state based on the touch signal; And / or, generating a non-touch signal when a human hand leaves the housing, and controlling the robotic arm to form a locked stationary state based on the non-touch signal.

8. The control method of the dental robot according to claim 7, characterized in that, The controlling the robotic arm to form a free-dragging state based on the touch signal includes: Generating an unlocking instruction based on the touch signal; Controlling the robotic arm to form a free-dragging state based on the unlocking instruction.

9. The control method of the dental robot according to claim 8, characterized in that, The generating an unlocking instruction based on the touch signal includes: Detecting the duration of a human hand touching the housing; Generating the unlocking instruction based on the duration being greater than or equal to a duration threshold.

10. The control method of the dental robot according to claim 7, characterized in that, The controlling the robotic arm to form a locked stationary state based on the non-touch signal includes: Generating a locking instruction based on the non-touch signal; Controlling the robotic arm to form a locked stationary state based on the locking instruction.

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