Method and device for controlling root canal file based on dynamic torque and control equipment

Abstract

The invention relates to the technical field of root canal treatment, in particular to a method, device and control equipment for controlling a root canal file based on dynamic torque, in the process that the root canal file is inserted into a root canal part and makes contact with dentin, real-time torque data generated by resistance in the process that the root canal file makes contact with the dentin are collected, and the real-time torque data are obtained; the method comprises the following steps: acquiring a real-time torque of a root canal part, performing target torque analysis matched with the real-time torque, so that the analyzed target torque meets the cutting requirement of the current dentin of the root canal part, and then controlling a root canal file to cut the dentin based on the analyzed target torque, so that the diameter change of the root canal file adapts to a root canal anatomical structure. The control accuracy of the torque of the root canal file is improved, so that the cutting accuracy, efficiency and safety of dentin are improved, the efficiency, accuracy and safety of root canal treatment are improved, and the user experience is improved. Meanwhile, the damage conditions such as bending and breakage of the root canal file can be reduced, and the service life of the root canal file is prolonged.

Description

Technical Field

[0001] This invention relates to the field of root canal treatment technology, and in particular to a method, apparatus and control device for a root canal file based on dynamic torque control. Background Technology

[0002] Dentin resection is the core step in root canal treatment. Its main purpose is to remove the contents of the root canal and reshape its original anatomical structure to facilitate subsequent filling. Therefore, accurate and safe dentin resection is crucial for root canal treatment.

[0003] Currently, dentin cutting is often performed in the following way: After locating and initially cleaning the root canal area to be treated, the operator selects the appropriate cutting instrument (such as a dental drill or root canal file) according to the condition of the root canal area, and pushes the cutting instrument into the root canal area by manually or mechanically controlling the pressure so that the cutting instrument cuts the dentin.

[0004] However, practical experience has shown that existing dental drills used for dentin cutting have a constant torque during rotation, and root canal files are mostly conical, generating only a single torque. This fails to meet the cutting needs of dentin in different locations within the root canal, resulting in low cutting accuracy, efficiency, and safety. Therefore, it is crucial to develop a new dentin cutting method to meet the cutting needs of dentin in different locations within the root canal and to improve cutting accuracy, efficiency, and safety. Summary of the Invention

[0005] This invention provides a method, apparatus, and control device for root canal files based on dynamic torque control, which can meet the cutting needs of dentin at different locations in the root canal, so that the diameter of the root canal file can adapt to the root canal anatomy, thereby improving the accuracy of the torque control of the root canal file and thus improving the accuracy, efficiency, and safety of dentin cutting.

[0006] To address the aforementioned technical problems, a first aspect of the present invention discloses a method for a root canal file based on dynamic torque control, the method comprising: When the insertion of the root canal file into the root canal site is detected, the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal site is collected. Based on the first real-time torque data corresponding to the root canal file, determine the target torque that matches the first real-time torque data; Based on the target torque corresponding to the root canal file, the root canal file is controlled to perform a cutting operation on the dentin of the root canal.

[0007] As an optional implementation, in the first aspect of the present invention, determining a target torque that matches the first real-time torque data based on the first real-time torque data of the root canal file includes: Based on the first real-time torque data of the root canal file, determine whether the current torque of the root canal file meets the predetermined target torque setting conditions; When it is determined that the current torque of the root canal file meets the target torque setting conditions, based on the predetermined torque data acquisition conditions, the second real-time torque data generated by the resistance encountered when the root canal file contacts the root canal continues to be acquired. The target torque corresponding to the root canal file is determined based on the second real-time torque data of the root canal file; The step of determining whether the current torque of the root canal file meets the predetermined target torque setting conditions based on the first real-time torque data of the root canal file includes: When the first real-time torque data of the root canal file includes the real-time torque of the root canal file, it is determined whether the current torque of the root canal file is greater than or equal to the first preset torque. When the determination result is yes, it is determined that the current torque of the root canal file meets the predetermined target torque setting condition. When the first real-time torque data of the root canal file includes the first torque data acquisition duration corresponding to the root canal file, it is monitored whether the first torque data acquisition duration corresponding to the root canal file is greater than or equal to the preset acquisition duration. When the result is determined to be yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions.

[0008] As an optional implementation, in the first aspect of the invention, the step of continuing to collect second real-time torque data based on the resistance encountered when the root canal file contacts the root canal site, according to predetermined torque data acquisition conditions, includes: When the torque data acquisition conditions include a second torque data acquisition duration, the torque dataset generated by the resistance encountered by the root canal file when it contacts the root canal for the second torque data acquisition duration is collected as the second real-time torque data. The start time of the second torque data acquisition duration is determined based on the moment when it is determined that the current torque condition of the root canal file meets the target torque setting conditions. When the torque data acquisition condition includes the torque data acquisition quantity, continue to acquire the torque data set generated by the resistance encountered when the root canal file contacts the root canal site. When the real-time quantity of the torque data set of the root canal file is greater than or equal to the torque data acquisition quantity, stop acquiring torque data and determine the torque data set of the torque data acquisition quantity as the second real-time torque data.

[0009] As an optional implementation, in the first aspect of the present invention, determining the target torque corresponding to the root canal file based on the second real-time torque data of the root canal file includes: Based on all the torques contained in the second real-time torque data of the root canal file, analyze the reference torque that matches the second real-time torque data; The target torque corresponding to the root canal file is determined based on the reference torque corresponding to the root canal file. The reference torque corresponding to the root canal file includes the average torque of all torques included in the second real-time torque data of the root canal file, or the torque that is in the mode among all torques included in the second real-time torque data of the root canal file, or the torque that is in the median among all torques included in the second real-time torque data of the root canal file.

[0010] As an optional implementation, in the first aspect of the present invention, the method further includes: Determine the compensating torque of the root canal file; The step of determining the target torque corresponding to the root canal file based on the reference torque of the root canal file includes: The sum of the reference torque corresponding to the root canal file and the compensation torque of the root canal file is calculated as the target torque corresponding to the root canal file. The determination of the compensation torque of the root canal file includes: Collect scene data corresponding to the root canal file, which includes the file position where the root canal file is currently in contact with the dentin and / or the dentin cutting data of the root canal. Based on the scene data corresponding to the root canal file, a torque matching the scene data corresponding to the root canal file is determined, which is used as the compensation torque for the root canal file.

[0011] As an optional implementation, in the first aspect of the present invention, the method further includes: During the process of cutting the dentin in the root canal, the real-time cutting status of the root canal file is monitored to obtain the status monitoring results corresponding to the root canal file. Based on the status monitoring results corresponding to the root canal file, determine whether the current status of the root canal file meets the predetermined target torque reset condition; When it is determined that the current state of the root canal file meets the target torque reset condition, the operation of collecting the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal site when the root canal file is detected to be inserted into the root canal site is re-executed.

[0012] As an optional implementation, in the first aspect of the present invention, determining whether the current state of the root canal file meets the predetermined target torque reset condition based on the state monitoring result corresponding to the root canal file includes: When the status monitoring result corresponding to the root canal file includes the real-time torque monitoring result during the process of the root canal file cutting the dentin of the root canal, the current torque of the root canal file is determined to be less than or equal to the second preset torque based on the real-time torque monitoring result corresponding to the root canal file. When the result is determined to be yes, the current state of the root canal file is determined to meet the predetermined target torque reset condition. When the status monitoring result corresponding to the root canal file includes the distance monitoring result between the root canal file and the dentin of the root canal during the process of the root canal file cutting the dentin of the root canal, based on the distance monitoring result corresponding to the root canal file, it is determined whether the current distance between the root canal file and the dentin of the root canal is greater than or equal to a preset distance threshold. When the determination result is yes, it is determined that the current state of the root canal file meets the predetermined target torque reset condition.

[0013] A second aspect of this invention discloses a device for a root canal file based on dynamic torque control, the device comprising: The acquisition module is used to acquire the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal when the insertion of the root canal file into the root canal site is detected. The determination module is used to determine a target torque that matches the first real-time torque data based on the first real-time torque data corresponding to the root canal file; The control module is used to control the root canal file to perform a cutting operation on the dentin of the root canal region based on the target torque corresponding to the root canal file.

[0014] As an optional implementation, in a second aspect of the present invention, the determining module determines the specific method of the target torque matching the first real-time torque data based on the first real-time torque data of the root canal file, including: Based on the first real-time torque data of the root canal file, determine whether the current torque of the root canal file meets the predetermined target torque setting conditions; When it is determined that the current torque of the root canal file meets the target torque setting conditions, based on the predetermined torque data acquisition conditions, the second real-time torque data generated by the resistance encountered when the root canal file contacts the root canal continues to be acquired. The target torque corresponding to the root canal file is determined based on the second real-time torque data of the root canal file; The specific method by which the determining module determines whether the current torque of the root canal file meets the predetermined target torque setting conditions based on the first real-time torque data of the root canal file includes: When the first real-time torque data of the root canal file includes the real-time torque of the root canal file, it is determined whether the current torque of the root canal file is greater than or equal to the first preset torque. When the determination result is yes, it is determined that the current torque of the root canal file meets the predetermined target torque setting condition. When the first real-time torque data of the root canal file includes the first torque data acquisition duration corresponding to the root canal file, it is monitored whether the first torque data acquisition duration corresponding to the root canal file is greater than or equal to the preset acquisition duration. When the result is determined to be yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions.

[0015] As an optional implementation, in a second aspect of the invention, the specific method by which the determining module continues to collect second real-time torque data generated by the resistance encountered when the root canal file contacts the root canal region, based on pre-determined torque data acquisition conditions, includes: When the torque data acquisition conditions include a second torque data acquisition duration, the torque dataset generated by the resistance encountered by the root canal file when it contacts the root canal for the second torque data acquisition duration is collected as the second real-time torque data. The start time of the second torque data acquisition duration is determined based on the moment when it is determined that the current torque condition of the root canal file meets the target torque setting conditions. When the torque data acquisition condition includes the torque data acquisition quantity, continue to acquire the torque data set generated by the resistance encountered when the root canal file contacts the root canal site. When the real-time quantity of the torque data set of the root canal file is greater than or equal to the torque data acquisition quantity, stop acquiring torque data and determine the torque data set of the torque data acquisition quantity as the second real-time torque data.

[0016] As an optional implementation, in a second aspect of the invention, the determining module determines the specific method by which it determines the target torque corresponding to the root canal file based on the second real-time torque data of the root canal file, including: Based on all the torques contained in the second real-time torque data of the root canal file, analyze the reference torque that matches the second real-time torque data; The target torque corresponding to the root canal file is determined based on the reference torque corresponding to the root canal file. The reference torque corresponding to the root canal file includes the average torque of all torques included in the second real-time torque data of the root canal file, or the torque that is in the mode among all torques included in the second real-time torque data of the root canal file, or the torque that is in the median among all torques included in the second real-time torque data of the root canal file.

[0017] As an optional implementation, in a second aspect of the invention, the determining module is further configured to determine the compensating torque of the root canal file; The specific method by which the determining module determines the target torque corresponding to the root canal file based on the reference torque corresponding to the root canal file includes: The sum of the reference torque corresponding to the root canal file and the compensation torque of the root canal file is calculated as the target torque corresponding to the root canal file. The specific method by which the determining module determines the compensating torque of the root canal file includes: Collect scene data corresponding to the root canal file, which includes the file position where the root canal file is currently in contact with the dentin and / or the dentin cutting data of the root canal. Based on the scene data corresponding to the root canal file, a torque matching the scene data corresponding to the root canal file is determined, which is used as the compensation torque for the root canal file.

[0018] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The monitoring module is used to monitor the real-time cutting status of the root canal file during the process of cutting the dentin in the root canal, and obtain the status monitoring results corresponding to the root canal file. The judgment module is used to determine whether the current state of the root canal file meets the predetermined target torque reset condition based on the state monitoring results corresponding to the root canal file. The acquisition module is also used to re-execute the operation of acquiring the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal when the current state of the root canal file is determined to meet the target torque reset condition.

[0019] As an optional implementation, in a second aspect of the present invention, the specific method by which the determining module determines whether the current state of the root canal file meets the predetermined target torque reset condition based on the state monitoring result corresponding to the root canal file includes: When the status monitoring result corresponding to the root canal file includes the real-time torque monitoring result during the process of the root canal file cutting the dentin of the root canal, the current torque of the root canal file is determined to be less than or equal to the second preset torque based on the real-time torque monitoring result corresponding to the root canal file. When the result is determined to be yes, the current state of the root canal file is determined to meet the predetermined target torque reset condition. When the status monitoring result corresponding to the root canal file includes the distance monitoring result between the root canal file and the dentin of the root canal during the process of the root canal file cutting the dentin of the root canal, based on the distance monitoring result corresponding to the root canal file, it is determined whether the current distance between the root canal file and the dentin of the root canal is greater than or equal to a preset distance threshold. When the determination result is yes, it is determined that the current state of the root canal file meets the predetermined target torque reset condition.

[0020] A third aspect of the present invention discloses another device based on a dynamic torque-controlled root canal file, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute some or all of the steps in any of the methods for root canal files based on dynamic torque control disclosed in the first aspect of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in any of the methods for root canal files based on dynamic torque control disclosed in the first aspect of the present invention.

[0022] The fifth aspect of the present invention discloses a control device for performing some or all of the steps in any of the methods for dynamic torque-controlled root canal files disclosed in the first aspect of the present invention.

[0023] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment of the invention, when a root canal file is detected to be inserted into the root canal, first real-time torque data is collected based on the resistance encountered by the file during contact with the dentin in the root canal. A target torque matching this first real-time torque data is determined. Based on the target torque, the file is controlled to perform a cutting operation on the dentin in the root canal. Therefore, this embodiment of the invention, during the insertion of the root canal file into the root canal and its contact with the dentin, collects real-time torque data on the resistance encountered by the file during contact with the dentin, and performs a target torque analysis to match this real-time torque. This ensures that the analyzed target torque meets the current dentin cutting requirements in the root canal. Furthermore, the root canal file is controlled to cut the dentin based on the analyzed target torque. This allows the diameter of the root canal file to adapt to the root canal anatomy, improving the accuracy of torque control and thus improving the accuracy, efficiency, and safety of dentin cutting. This, in turn, improves the efficiency, accuracy, and safety of root canal treatment, thereby enhancing the user experience. Simultaneously, it reduces the likelihood of damage to the root canal file, such as bending or breakage, extending its service life. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic flowchart of a method for a root canal file based on dynamic torque control disclosed in an embodiment of the present invention; Figure 2 This is a flowchart illustrating another method for using a root canal file based on dynamic torque control, as disclosed in an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of a root canal file based on dynamic torque control disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of another device based on dynamic torque control root canal file disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of another device based on dynamic torque control root canal file disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a control device disclosed in an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0028] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] This invention discloses a method, apparatus, and control device for dynamic torque control of root canal files. During the insertion of the root canal file into the root canal and its contact with dentin, real-time torque data generated by the resistance encountered by the file during contact with dentin is collected. This real-time torque is then analyzed to match a target torque, ensuring that the analyzed target torque meets the current dentin cutting requirements of the root canal. Based on this target torque, the root canal file is controlled to cut the dentin, allowing the diameter of the file to adapt to the root canal anatomy. This improves the accuracy of torque control, thereby enhancing the accuracy, efficiency, and safety of dentin cutting, ultimately improving the efficiency, accuracy, and safety of root canal treatment and enhancing the user experience. Simultaneously, it reduces the likelihood of file damage, such as bending or breakage, extending the file's lifespan. Detailed descriptions follow.

[0030] Example 1 Please see Figure 1 , Figure 1This is a flowchart illustrating a method for using a dynamic torque-controlled root canal file according to an embodiment of the present invention. This method can be applied to any scenario requiring root canal treatment, such as primary tooth root canal preparation, posterior tooth root canal cleaning, and peri-implantitis cleaning. The scenario includes a control device, which is used to execute the method of the present invention. Figure 1 As shown, the method may include the following steps: 101. When the insertion of the root canal file into the root canal site is detected, the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal site is collected.

[0031] In this embodiment of the invention, optionally, the root canal file can be inserted into the root canal using a device clamping it, or the operator can insert the root canal file into the root canal by hand. Further optionally, the root canal file can be inserted into the root canal with a preset pressure. The preset pressure can be uniform, meaning the pressure is the same regardless of when the file is inserted into the root canal; the preset pressure can also be determined dynamically based on data corresponding to the root canal location and / or user data of the target user corresponding to the root canal location. The data corresponding to the root canal location includes, but is not limited to, one or more of the following: the location / size / depth of the root canal / dentin, the curvature / direction of the root canal, and the hardness of the dentin. The user data of the target user includes, but is not limited to, one or more of the following: the user's age, gender, and health data. By dynamically determining the pressure of the root canal file inserted into the root canal based on data corresponding to the root canal location, the accuracy of this pressure determination is improved, which in turn helps to further improve the accuracy of determining the torque required by the root canal file, thereby further improving the accuracy and efficiency of dentin cutting.

[0032] 102. Based on the first real-time torque data corresponding to the root canal file, determine the target torque that matches the first real-time torque data.

[0033] In this embodiment of the invention, optionally, the target torque includes the torque magnitude, and further includes the torque direction.

[0034] 103. Based on the target torque corresponding to the root canal file, control the root canal file to perform cutting operations on the dentin in the root canal.

[0035] In this embodiment of the invention, specifically, the motor controlling the root canal file cuts the dentin after its actual torque reaches the target torque. The cutting can include one of reciprocating cutting, reverse cutting, and forward cutting. Reciprocating cutting can be understood as alternating forward (clockwise) and reverse (counterclockwise) cutting. The angle and / or speed during the cutting process are adjustable. It should be noted that, optionally, if the required cutting time is greater than or equal to a preset time (e.g., 3 seconds) after the actual torque reaches the target torque, then the cutting method in this stage can include multiple methods, namely reciprocating cutting, reverse cutting, and forward cutting, depending on the actual situation.

[0036] It is evident that implementation Figure 1 The described method involves collecting real-time torque data generated by the resistance encountered by the root canal file during its insertion into the root canal and contact with the dentin. This real-time torque is then analyzed to determine a target torque that meets the current dentin cutting requirements of the root canal. Based on this target torque, the root canal file is controlled to cut the dentin, allowing its diameter to adapt to the root canal anatomy. This improves the accuracy of torque control, thereby enhancing the accuracy, efficiency, and safety of dentin cutting, ultimately improving the efficiency, accuracy, and safety of root canal treatment and enhancing the user experience. Furthermore, it reduces the likelihood of file damage, such as bending or breakage, extending the file's lifespan.

[0037] In this embodiment of the invention, optionally, determining a target torque that matches the first real-time torque data based on the first real-time torque data of the root canal file includes: Based on the first real-time torque data of the root canal file, determine whether the current torque of the root canal file meets the predetermined target torque setting conditions; When it is determined that the current torque of the root canal file meets the target torque setting conditions, based on the pre-determined torque data acquisition conditions, the second real-time torque data generated by the resistance encountered by the root canal file in contact with the root canal continues to be acquired. The target torque for the root canal file is determined based on the second real-time torque data of the root canal file.

[0038] In this embodiment of the invention, optionally, determining whether the current torque of the root canal file meets the predetermined target torque setting conditions based on the first real-time torque data of the root canal file includes: When the first real-time torque data of the root canal file includes the real-time torque of the root canal file, it is determined whether the current torque of the root canal file is greater than or equal to the first preset torque. When the determination result is yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions. When the first real-time torque data of the root canal file includes the first torque data acquisition time corresponding to the root canal file, it is monitored whether the first torque data acquisition time corresponding to the root canal file is greater than or equal to the preset acquisition time. When the result is determined to be yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions.

[0039] In this embodiment of the invention, optionally, the first preset torque and the preset acquisition duration can both be uniformly set, such as 0.7N and 0.5s, or they can be dynamically determined based on the data corresponding to the root canal location. For a description of the data corresponding to the root canal location, please refer to the aforementioned related content; it will not be repeated here.

[0040] In this embodiment of the invention, optionally, the target torque setting condition is determined to be met only when both the first preset torque and the preset acquisition duration are simultaneously satisfied.

[0041] In this embodiment of the invention, optionally, when it is determined that the target torque setting conditions are not met, the first real-time torque data acquisition of the root canal file and the determination of the target torque setting conditions continue.

[0042] As can be seen, the embodiments of the present invention can also analyze the real-time torque data generated by the contact with dentin and the target torque setting conditions. When the analysis shows that the corresponding conditions are met, such as the torque being greater than the corresponding torque and the corresponding acquisition time being met, the torque data acquisition for determining the torque required for the current dentin cutting will continue to be carried out to determine the target torque. This improves the accuracy and reliability of the data acquisition operation, thereby helping to further improve the accuracy of determining the torque required for the current dentin cutting, and thus helping to further improve the accuracy and safety of dentin cutting.

[0043] In a further optional embodiment of the present invention, based on predetermined torque data acquisition conditions, a second real-time torque data is acquired, generated by the resistance encountered when the root canal file contacts the root canal site, including: When the torque data acquisition conditions include the second torque data acquisition duration, continue to acquire the torque data set generated by the resistance encountered when the root canal file contacts the root canal for the second torque data acquisition duration, as the second real-time torque data; When the torque data acquisition condition includes the number of torque data acquisitions, continue to acquire the torque dataset generated by the resistance encountered when the root canal file contacts the root canal. When the real-time number of torque datasets of the root canal file is greater than or equal to the number of torque data acquisitions, stop acquiring torque data and determine the torque dataset of the number of torque data acquisitions as the second real-time torque data.

[0044] In this embodiment of the invention, optionally, the second torque data acquisition duration and the number of torque data acquisitions can be uniformly set, such as 1.5s or 100 data points, or they can be dynamically determined based on the data corresponding to the root canal location. For a description of the data corresponding to the root canal location, please refer to the aforementioned related content; it will not be repeated here.

[0045] In this embodiment of the invention, optionally, the starting time of the second torque data acquisition duration is determined based on the moment when it is determined that the current torque of the root canal file meets the target torque setting condition. For example, the moment when the target torque setting condition is met can be directly used as the starting time of the second torque data acquisition duration, or a certain moment after the moment when the target torque setting condition is met, such as 0.1s, can be used as the starting time of the second torque data acquisition duration.

[0046] As can be seen, the embodiments of the present invention can also enrich the torque data acquisition method by using the torque data acquisition duration or the torque data acquisition quantity, i.e., time or quantity, as two angles for determining the torque required for the current dentin cutting. This is beneficial to improving the acquisition efficiency and flexibility of the torque data, thereby further improving the efficiency and flexibility of determining the torque required for the current dentin cutting.

[0047] In a further optional embodiment of the present invention, determining the target torque corresponding to the root canal file based on the second real-time torque data of the root canal file includes: Based on all the torques contained in the second real-time torque data of the root canal file, analyze the reference torque that matches the second real-time torque data; Determine the target torque of the root canal file based on the reference torque of the root canal file. In this embodiment of the invention, optionally, the reference torque corresponding to the root canal file includes the mean torque of all torques included in the second real-time torque data of the root canal file, or the torque located in the mode of all torques included in the second real-time torque data of the root canal file, or the torque located in the median of all torques included in the second real-time torque data of the root canal file. Alternatively, it may be the mean of the aforementioned two or three torques. It should be noted that, in the case of the mode, when there are multiple modes, it can be the mode, mean, or median among the multiple modes until the corresponding reference torque is determined.

[0048] As can be seen, the embodiments of the present invention can also determine the torque required for the current dentin cutting by performing benchmark torque analysis on the collected real-time torque data, thereby achieving accurate determination of the torque and thus helping to further improve the accuracy and safety of dentin cutting.

[0049] In an optional embodiment, before determining the target torque of the root canal file based on the reference torque corresponding to the root canal file, the method may further include the following steps: Determine the compensating torque of the root canal file; Among these steps, determining the target torque of the root canal file based on its reference torque includes: Calculate the sum of the base torque and the compensation torque of the root canal file, and use it as the target torque of the root canal file. The determination of the compensating torque for the root canal file includes: Collect scene data corresponding to the root canal file. The scene data corresponding to the root canal file includes the file position where the root canal file is currently in contact with the dentin and / or the dentin cutting data of the root canal. Based on the scenario data corresponding to the root canal file, determine the torque that matches the scenario data corresponding to the root canal file, and use it as the compensation torque for the root canal file.

[0050] In this optional embodiment, the file positions of different root canal files correspond to different diameters. Further optionally, their corresponding texture directions are also different. This results in different torques.

[0051] In this optional embodiment, the dentin cutting data at the root canal site may include, but is not limited to, the compensation torque corresponding to the previous insertion of the root canal file for dentin cutting and the file position corresponding to the previous insertion. Further optionally, it may also include the remaining dentin thickness. The more information included in the scenario data, the more beneficial it is to improving the accuracy of determining the compensation torque.

[0052] It should be noted that, optionally, the compensation torque can also be set uniformly, such as 0.5N, especially for the first insertion into the root canal.

[0053] As can be seen, this optional embodiment, by combining the compensating torque of the root canal file with the torque analyzed based on the aforementioned real-time torque data, comprehensively analyzes the torque required for current dentin cutting, further improving the accuracy of the required torque analysis, thereby contributing to further improving the accuracy and safety of current dentin cutting. Furthermore, by considering the current file position in contact with the dentin and the dentin cutting data at the root canal site, the compensating torque is analyzed to ensure that the obtained compensating torque is adapted to the current condition of the dentin, improving the accuracy of the compensating torque analysis, thereby contributing to further improving the precision of the analysis of the torque required for current dentin cutting.

[0054] In this optional embodiment, optionally, based on the scene data corresponding to the root canal file, a torque matching the scene data corresponding to the root canal file is determined as the compensation torque for the root canal file, including: Obtain the cutting effect corresponding to the previous dentin cutting at the root canal insertion site, and compare and analyze the cutting effect with the preset cutting effect to obtain the cutting comparison result; Based on the cutting comparison results and the compensation torque corresponding to the previous insertion, the basic compensation torque required for this dentin cutting is estimated. The position of the file that was previously inserted is compared with the position of the file that is currently in contact with the dentin to obtain the position comparison result. The position comparison result includes one or more of the following: diameter comparison result, texture direction comparison result, and shape comparison result. Based on the position comparison results, the basic compensation torque is adjusted to obtain the corrected basic compensation torque, which is used as the compensation torque of the root canal file.

[0055] In this optional embodiment, the cutting effect and the preset cutting effect include, but are not limited to, one or more of the following: uniformity of dentin cutting, morphology after cutting, cutting depth per unit time, and cutting duration.

[0056] As can be seen, this optional embodiment, for scenarios where dentin is subsequently inserted into the root canal for recutting, first estimates the basic compensation torque for the current cut based on the previous dentin cutting effect, the preset cutting effect, and the compensation torque corresponding to the previous dentin cutting. Then, it adjusts the basic compensation torque by combining the previous file position and the current file position, so that the obtained compensation torque is more adapted to the current situation of the dentin and the root canal file, improving the accuracy of the compensation torque analysis. This, in turn, helps to further improve the accuracy and reliability of the analysis of the torque required for the current dentin cutting, and thus helps to further improve the efficiency, accuracy, and safety of dentin cutting.

[0057] In another alternative embodiment, the method may further include the following steps: Obtain the remaining cutting thickness of dentin, the target cutting thickness, the type of root canal file, and the initial data corresponding to the root canal location; where the target cutting thickness of dentin is the thickness that needs to be cut. Based on the target cutting thickness of dentin, the type of root canal file, and the initial data corresponding to the root canal location, the number of target cuttings required to complete the cutting of dentin is estimated. Obtain the historical number of dentin cuts that have been completed, and calculate the difference between the target number of cuts and the historical number of cuts; Based on the difference in the number of cuts, the remaining cutting thickness of the dentin, and the current position of the root canal file in contact with the dentin, the modified basic compensation torque is adjusted again to obtain the revised basic compensation torque, which is used as the compensation torque of the root canal file.

[0058] In this optional embodiment, different types of root canal files have different cutting capabilities.

[0059] It should be noted that for a description of the initial data corresponding to the root canal, please refer to the aforementioned description of the data corresponding to the root canal, which will not be repeated here.

[0060] As can be seen, this optional embodiment, based on the aforementioned compensation torque analysis, further refines the basic compensation torque by incorporating multiple dimensions of data, such as the remaining cutting thickness of dentin, the required cutting thickness, the type of root canal file, and the initial data corresponding to the root canal location. This further improves the accuracy and reliability of the compensation torque analysis, thereby enhancing the precision and reliability of the current dentin cutting torque analysis. Consequently, it further improves the efficiency, precision, and safety of dentin cutting, reduces the likelihood of root canal file damage, and increases the potential for extending the lifespan of root canal files.

[0061] Example 2 Please see Figure 2 , Figure 2 This is a flowchart illustrating another method for using a dynamically torque-controlled root canal file, as disclosed in an embodiment of the present invention. This method can be applied to any scenario requiring root canal treatment, such as primary tooth root canal preparation, posterior tooth root canal cleaning, and peri-implantitis cleaning. The scenario includes a control device, which is used to execute the method of the present invention. Figure 2 As shown, the method may include the following steps: 201. When the insertion of the root canal file into the root canal site is detected, the first real-time torque data generated by the resistance encountered by the root canal file during the contact process with the dentin of the root canal site is collected.

[0062] 202. Based on the first real-time torque data corresponding to the root canal file, determine the target torque that matches the first real-time torque data.

[0063] 203. Based on the target torque corresponding to the root canal file, control the root canal file to perform cutting operations on the dentin in the root canal.

[0064] For further descriptions of steps 201-203 in this invention, please refer to the detailed description of steps 101-103 in Embodiment 1, which will not be repeated here.

[0065] 204. During the process of cutting dentin in the root canal, the real-time cutting status of the root canal file is monitored to obtain the status monitoring results of the root canal file.

[0066] 205. Based on the status monitoring results of the root canal file, determine whether the current status of the root canal file meets the predetermined target torque reset condition; if it is determined that the current status of the root canal file meets the target torque reset condition, repeat step 201; optionally, if it is determined that the current status of the root canal file does not meet the target torque reset condition, execute step 204.

[0067] In this embodiment of the invention, optionally, since dentin cutting is a dynamic process, when it is determined that the target torque needs to be reset, the aforementioned target torque determination process needs to be re-executed, that is, this process is a cyclic process until it is confirmed that the dentin cutting is completed.

[0068] It should be noted that, optionally, the above-mentioned re-execution step 201 can be understood in two ways: Firstly, for each re-execution of the target torque determination process, when it is determined that the corresponding target torque reset condition is met, the target torque setting condition can be determined by first judging the target torque setting condition based on the first real-time torque data of the collected root canal file. If the target torque setting condition is met, the operation of continuing to collect the second real-time torque data of the root canal file is executed to re-determine the target torque. Secondly, the operation of directly continuing to collect the second real-time torque data of the root canal file is executed to re-determine the target torque.

[0069] It is evident that implementation Figure 2 The described method involves collecting real-time torque data generated by the resistance encountered by the root canal file during its insertion into the root canal and contact with the dentin. This real-time torque is then analyzed to determine a target torque that meets the current dentin cutting requirements of the root canal. Based on this target torque, the root canal file is controlled to cut the dentin, allowing its diameter to adapt to the root canal anatomy. This improves the accuracy of torque control, thereby enhancing the accuracy, efficiency, and safety of dentin cutting, ultimately improving the efficiency, accuracy, and safety of root canal treatment and enhancing the user experience. Furthermore, it reduces the likelihood of file damage, such as bending or breakage, extending the file's lifespan. Furthermore, during dentin cutting, the real-time cutting status of the root canal file is monitored. When the monitoring results indicate that the target torque needs to be reset, the target torque determination process is re-executed to ensure that the determined target torque matches the current state of the dentin. This real-time dynamic determination of the torque required for cutting the current dentin improves the stability and reliability of accurately determining the torque required for current dentin cutting, thereby enhancing the accuracy and safety of dentin cutting and further improving the accuracy and safety of root canal treatment. It also further reduces the possibility of damage to the root canal file.

[0070] In this embodiment of the invention, optionally, determining whether the current state of the root canal file meets the predetermined target torque reset condition based on the state monitoring result of the root canal file includes: When the status monitoring results of the root canal file include the real-time torque monitoring results during the process of the root canal file cutting dentin in the root canal, the current torque of the root canal file is determined to be less than or equal to the second preset torque based on the real-time torque monitoring results of the root canal file. When the result is determined to be yes, the current state of the root canal file is determined to meet the preset target torque reset condition. When the status monitoring results corresponding to the root canal file include the distance monitoring results between the root canal file and the dentin in the root canal during the process of the root canal file cutting the dentin in the root canal, the current distance between the root canal file and the dentin in the root canal is determined to be greater than or equal to the preset distance threshold based on the distance monitoring results corresponding to the root canal file. When the result is determined to be yes, the current state of the root canal file is determined to meet the preset target torque reset condition.

[0071] In this embodiment of the invention, the root canal file experiences resistance from the dentin during the cutting process, and this resistance changes accordingly, such as decreasing until it approaches zero or disappears. Alternatively, when the root canal file is detected being withdrawn from the dentin in the root canal, the resistance it experiences also decreases, meaning the current torque of the root canal file may be less than or equal to a second preset torque. In this case, the root canal file resumes rotation in the target direction, such as clockwise. Optionally, the second preset torque may be less than or equal to the aforementioned first preset torque.

[0072] In this embodiment of the invention, since the resistance of the root canal file to dentin varies with the distance between the root canal file and the dentin, the removal of the root canal file from the dentin at the root canal site can be detected. If the current distance is greater than or equal to a preset distance threshold, such as 0.3 mm, it indicates that the target torque reset condition is met. This situation is particularly applicable to the first interpretation of the aforementioned re-execution of step 201.

[0073] In this embodiment of the invention, optionally, when it is determined that the current state of the root canal file does not meet the predetermined target torque reset condition, the current state of the root canal file is determined to be greater than the second preset torque or less than the preset distance threshold.

[0074] As can be seen, the embodiments of the present invention can also determine whether the reset condition for the current dentin cutting torque is met by measuring the change in resistance of the root canal file to dentin during dentin cutting, or the change in the distance between the root canal file and dentin. This enriches the determination method of the reset condition, improves the efficiency and flexibility of the determination of the reset condition, and thus helps to further improve the accuracy and reliability of the reset of the torque required for the current dentin cutting.

[0075] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of a device based on a dynamically torque-controlled root canal file disclosed in an embodiment of the present invention. This device can be applied in any scenario requiring root canal treatment, such as primary tooth root canal preparation, posterior tooth root canal cleaning, and peri-implantitis cleaning. Figure 3 As shown, the device may include: The acquisition module 301 is used to acquire the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal when the root canal file is detected to be inserted into the root canal site.

[0076] In this embodiment of the invention, optionally, the root canal file can be inserted into the root canal using a device clamping it, or the operator can insert the root canal file into the root canal by hand. Further optionally, the root canal file can be inserted into the root canal with a preset pressure. The preset pressure can be uniform, meaning the pressure is the same regardless of when the file is inserted into the root canal; the preset pressure can also be determined dynamically based on data corresponding to the root canal location and / or user data of the target user corresponding to the root canal location. The data corresponding to the root canal location includes, but is not limited to, one or more of the following: the location / size / depth of the root canal / dentin, the curvature / direction of the root canal, and the hardness of the dentin. The user data of the target user includes, but is not limited to, one or more of the following: the user's age, gender, and health data. By dynamically determining the pressure of the root canal file inserted into the root canal based on data corresponding to the root canal location, the accuracy of this pressure determination is improved, which in turn helps to further improve the accuracy of determining the torque required by the root canal file, thereby further improving the accuracy and efficiency of dentin cutting.

[0077] The determination module 302 is used to determine a target torque that matches the first real-time torque data based on the first real-time torque data corresponding to the root canal file.

[0078] In this embodiment of the invention, optionally, the target torque includes the torque magnitude, and further includes the torque direction.

[0079] The control module 303 is used to control the root canal file to perform a cutting operation on the dentin of the root canal based on the target torque corresponding to the root canal file.

[0080] In this embodiment of the invention, specifically, a motor controlling the root canal file is used to cut dentin. The cutting can include one of reciprocating cutting, reverse cutting, and forward cutting. Reciprocating cutting can be understood as alternating forward (clockwise) and reverse (counterclockwise) cutting. The angle and / or speed during the cutting process are adjustable. It should be noted that, optionally, when the actual torque reaches the target torque, if the required cutting time is greater than or equal to a preset time, such as 3 seconds, then the cutting method in this stage can include multiple methods, namely reciprocating cutting, reverse cutting, and forward cutting, depending on the actual situation.

[0081] It is evident that implementation Figure 3 The described device, during the insertion of a root canal file into the root canal and its contact with dentin, collects real-time torque data generated by the resistance encountered by the file during contact with the dentin. This real-time torque is then analyzed to match a target torque, ensuring that the analyzed target torque meets the current dentin cutting requirements of the root canal. Based on this target torque, the device controls the root canal file to cut the dentin, allowing the file diameter to adapt to the root canal anatomy. This improves the accuracy of torque control, thereby enhancing the accuracy, efficiency, and safety of dentin cutting, ultimately improving the efficiency, accuracy, and safety of root canal treatment and improving the user experience. Simultaneously, it reduces the likelihood of file damage, such as bending or breakage, extending the file's lifespan.

[0082] In this embodiment of the invention, optionally, the determining module 302 determines the specific method of the target torque matching the first real-time torque data based on the first real-time torque data of the root canal file, including: Based on the first real-time torque data of the root canal file, determine whether the current torque of the root canal file meets the predetermined target torque setting conditions; When it is determined that the current torque of the root canal file meets the target torque setting conditions, based on the pre-determined torque data acquisition conditions, the second real-time torque data generated by the resistance encountered by the root canal file in contact with the root canal continues to be acquired. The target torque for the root canal file is determined based on the second real-time torque data of the root canal file.

[0083] In this embodiment of the invention, optionally, the determining module 302 determines whether the current torque of the root canal file meets the predetermined target torque setting conditions based on the first real-time torque data of the root canal file, including: When the first real-time torque data of the root canal file includes the real-time torque of the root canal file, it is determined whether the current torque of the root canal file is greater than or equal to the first preset torque. When the determination result is yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions. When the first real-time torque data of the root canal file includes the first torque data acquisition time corresponding to the root canal file, it is monitored whether the first torque data acquisition time corresponding to the root canal file is greater than or equal to the preset acquisition time. When the result is determined to be yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions.

[0084] In this embodiment of the invention, optionally, the first preset torque and the preset acquisition duration can both be uniformly set, such as 0.7N and 0.5s, or they can be dynamically determined based on the data corresponding to the root canal location. For a description of the data corresponding to the root canal location, please refer to the aforementioned related content; it will not be repeated here.

[0085] In this embodiment of the invention, optionally, the target torque setting condition is determined to be met only when both the first preset torque and the preset acquisition duration are simultaneously satisfied.

[0086] In this embodiment of the invention, optionally, when it is determined that the target torque setting conditions are not met, the first real-time torque data acquisition of the root canal file and the determination of the target torque setting conditions continue.

[0087] As can be seen, the embodiments of the present invention can also analyze the real-time torque data generated by the contact with dentin and the target torque setting conditions. When the analysis shows that the corresponding conditions are met, such as the torque being greater than the corresponding torque and the corresponding acquisition time being met, the torque data acquisition for determining the torque required for the current dentin cutting will continue to be carried out to determine the target torque. This improves the accuracy and reliability of the data acquisition operation, thereby helping to further improve the accuracy of determining the torque required for the current dentin cutting, and thus helping to further improve the accuracy and safety of dentin cutting.

[0088] In this embodiment of the invention, optionally, the determining module 302 determines whether the current torque of the root canal file meets the predetermined target torque setting conditions based on the first real-time torque data of the root canal file, including: When the first real-time torque data of the root canal file includes the real-time torque of the root canal file, it is determined whether the current torque of the root canal file is greater than or equal to the first preset torque. When the determination result is yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions. When the first real-time torque data of the root canal file includes the first torque data acquisition time corresponding to the root canal file, it is monitored whether the first torque data acquisition time corresponding to the root canal file is greater than or equal to the preset acquisition time. When the result is determined to be yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions.

[0089] In this embodiment of the invention, optionally, the first preset torque and the preset acquisition duration can both be uniformly set, such as 0.7N and 0.5s, or they can be dynamically determined based on the data corresponding to the root canal location. For a description of the data corresponding to the root canal location, please refer to the aforementioned related content; it will not be repeated here.

[0090] In this embodiment of the invention, optionally, the target torque setting condition is determined to be met only when both the first preset torque and the preset acquisition duration are simultaneously satisfied.

[0091] In this embodiment of the invention, optionally, when it is determined that the target torque setting conditions are not met, the first real-time torque data acquisition of the root canal file and the determination of the target torque setting conditions continue.

[0092] As can be seen, the embodiments of the present invention can also analyze the real-time torque data generated by the contact with dentin and the target torque setting conditions. When the analysis shows that the corresponding conditions are met, such as the torque being greater than the corresponding torque and the corresponding acquisition time being met, the torque data acquisition for determining the torque required for the current dentin cutting will continue to be carried out to determine the target torque. This improves the accuracy and reliability of the data acquisition operation, thereby helping to further improve the accuracy of determining the torque required for the current dentin cutting, and thus helping to further improve the accuracy and safety of dentin cutting.

[0093] In this embodiment of the invention, optionally, the specific method by which the determining module 302 continues to collect the second real-time torque data generated by the resistance encountered when the root canal file contacts the root canal based on pre-determined torque data acquisition conditions includes: When the torque data acquisition conditions include the second torque data acquisition duration, the torque dataset generated by the resistance encountered when the root canal file contacts the root canal for the second torque data acquisition duration is collected as the second real-time torque data. The start time of the second torque data acquisition duration is determined based on the moment when it is determined that the current torque condition of the root canal file meets the target torque setting conditions. When the torque data acquisition condition includes the number of torque data acquisitions, continue to acquire the torque dataset generated by the resistance encountered when the root canal file contacts the root canal. When the real-time number of torque datasets of the root canal file is greater than or equal to the number of torque data acquisitions, stop acquiring torque data and determine the torque dataset of the number of torque data acquisitions as the second real-time torque data.

[0094] In this embodiment of the invention, optionally, the second torque data acquisition duration and the number of torque data acquisitions can be uniformly set, such as 1.5s or 100 data points, or they can be dynamically determined based on the data corresponding to the root canal location. For a description of the data corresponding to the root canal location, please refer to the aforementioned related content; it will not be repeated here.

[0095] In this embodiment of the invention, optionally, the starting time of the second torque data acquisition duration is determined based on the moment when it is determined that the current torque of the root canal file meets the target torque setting condition. For example, the moment when the target torque setting condition is met can be directly used as the starting time of the second torque data acquisition duration, or a certain moment after the moment when the target torque setting condition is met, such as 0.1s, can be used as the starting time of the second torque data acquisition duration.

[0096] As can be seen, the embodiments of the present invention can also enrich the torque data acquisition method by using the torque data acquisition duration or the torque data acquisition quantity, i.e., time or quantity, as two angles for determining the torque required for the current dentin cutting. This is beneficial to improving the acquisition efficiency and flexibility of the torque data, thereby further improving the efficiency and flexibility of determining the torque required for the current dentin cutting.

[0097] In this embodiment of the invention, optionally, the determining module 302 determines the specific method of the target torque corresponding to the root canal file based on the second real-time torque data of the root canal file, including: Based on all the torques contained in the second real-time torque data of the root canal file, analyze the reference torque that matches the second real-time torque data; Determine the target torque of the root canal file based on the reference torque of the root canal file. In this embodiment of the invention, optionally, the reference torque corresponding to the root canal file includes the mean torque of all torques included in the second real-time torque data of the root canal file, or the torque located in the mode of all torques included in the second real-time torque data of the root canal file, or the torque located in the median of all torques included in the second real-time torque data of the root canal file. Alternatively, it may be the mean of the aforementioned two or three torques. It should be noted that, in the case of the mode, when there are multiple modes, it can be the mode, mean, or median among the multiple modes until the corresponding reference torque is determined.

[0098] As can be seen, the embodiments of the present invention can also determine the torque required for the current dentin cutting by performing benchmark torque analysis on the collected real-time torque data, thereby achieving accurate determination of the torque and thus helping to further improve the accuracy and safety of dentin cutting.

[0099] In an optional embodiment, such as Figure 3 As shown, the determining module 302 is also used to determine the compensation torque of the root canal file; The specific method by which the determining module 302 determines the target torque corresponding to the root canal file based on the reference torque includes: Calculate the sum of the base torque and the compensation torque of the root canal file, and use it as the target torque of the root canal file. The specific method by which module 302 determines the compensation torque of the root canal file includes: Collect scene data corresponding to the root canal file. The scene data corresponding to the root canal file includes the file position where the root canal file is currently in contact with the dentin and / or the dentin cutting data of the root canal. Based on the scenario data corresponding to the root canal file, determine the torque that matches the scenario data corresponding to the root canal file, and use it as the compensation torque for the root canal file.

[0100] In this optional embodiment, the file positions of different root canal files correspond to different diameters. Further optionally, their corresponding texture directions are also different. This results in different torques.

[0101] In this optional embodiment, the dentin cutting data at the root canal site may include, but is not limited to, the compensation torque corresponding to the previous insertion of the root canal file for dentin cutting and the file position corresponding to the previous insertion. Further optionally, it may also include the remaining dentin thickness. The more information included in the scenario data, the more beneficial it is to improving the accuracy of determining the compensation torque.

[0102] It should be noted that, optionally, the compensation torque can also be set uniformly, such as 0.5N, especially for the first insertion into the root canal.

[0103] As can be seen, this optional embodiment, by combining the compensating torque of the root canal file with the torque analyzed based on the aforementioned real-time torque data, comprehensively analyzes the torque required for current dentin cutting, further improving the accuracy of the required torque analysis, thereby contributing to further improving the accuracy and safety of current dentin cutting. Furthermore, by considering the current file position in contact with the dentin and the dentin cutting data at the root canal site, the compensating torque is analyzed to ensure that the obtained compensating torque is adapted to the current condition of the dentin, improving the accuracy of the compensating torque analysis, thereby contributing to further improving the precision of the analysis of the torque required for current dentin cutting.

[0104] In this optional embodiment, optionally, the determining module 302 determines the torque matching the scene data corresponding to the root canal file based on the scene data corresponding to the root canal file, as a specific method for compensating the torque of the root canal file, including: Obtain the cutting effect corresponding to the previous dentin cutting at the root canal insertion site, and compare and analyze the cutting effect with the preset cutting effect to obtain the cutting comparison result; Based on the cutting comparison results and the compensation torque corresponding to the previous insertion, the basic compensation torque required for this dentin cutting is estimated. The position of the file that was previously inserted is compared with the position of the file that is currently in contact with the dentin to obtain the position comparison result. The position comparison result includes one or more of the following: diameter comparison result, texture direction comparison result, and shape comparison result. Based on the position comparison results, the basic compensation torque is adjusted to obtain the corrected basic compensation torque, which is used as the compensation torque of the root canal file.

[0105] In this optional embodiment, the cutting effect and the preset cutting effect include, but are not limited to, one or more of the following: uniformity of dentin cutting, morphology after cutting, cutting depth per unit time, and cutting duration.

[0106] As can be seen, this optional embodiment, for scenarios where dentin is subsequently inserted into the root canal for recutting, first estimates the basic compensation torque for the current cut based on the previous dentin cutting effect, the preset cutting effect, and the compensation torque corresponding to the previous dentin cutting. Then, it adjusts the basic compensation torque by combining the previous file position and the current file position, so that the obtained compensation torque is more adapted to the current situation of the dentin and the root canal file, improving the accuracy of the compensation torque analysis. This, in turn, helps to further improve the accuracy and reliability of the analysis of the torque required for the current dentin cutting, and thus helps to further improve the efficiency, accuracy, and safety of dentin cutting.

[0107] In another alternative embodiment, such as Figure 3 As shown, the acquisition module 301 is also used to acquire the remaining cutting thickness of dentin, the target cutting thickness, the type of root canal file, and the initial data corresponding to the root canal location; wherein, the target cutting thickness of dentin is the thickness that needs to be cut. The determination module 302 is also used to estimate the target number of cuts required to complete the cutting of dentin based on the target cutting thickness of dentin, the type of root canal file and the initial data corresponding to the root canal location. The acquisition module 301 is also used to acquire the historical number of dentin cuttings that have been completed, and to calculate the difference between the target number of cuttings and the historical number of cuttings. The determining module 302 is also used to further adjust the modified basic compensation torque based on the difference in the number of cuts, the remaining cutting thickness of the dentin, and the file position of the root canal file currently contacting the dentin, to obtain the further adjusted basic compensation torque, which is used as the compensation torque of the root canal file.

[0108] In this optional embodiment, different types of root canal files have different cutting capabilities.

[0109] It should be noted that for a description of the initial data corresponding to the root canal, please refer to the aforementioned description of the data corresponding to the root canal, which will not be repeated here.

[0110] As can be seen, this optional embodiment, based on the aforementioned compensation torque analysis, further refines the basic compensation torque by incorporating multiple dimensions of data, such as the remaining cutting thickness of dentin, the required cutting thickness, the type of root canal file, and the initial data corresponding to the root canal location. This further improves the accuracy and reliability of the compensation torque analysis, thereby enhancing the precision and reliability of the current dentin cutting torque analysis. Consequently, it further improves the efficiency, precision, and safety of dentin cutting, reduces the likelihood of root canal file damage, and increases the potential for extending the lifespan of root canal files.

[0111] In yet another alternative embodiment, Figure 4 This is a schematic diagram of another device based on a dynamic torque-controlled root canal file disclosed in an embodiment of the present invention, as shown below. Figure 4 As shown, the device may further include: The monitoring module 304 is used to monitor the real-time cutting status of the root canal file during the process of cutting dentin in the root canal, and obtain the status monitoring results of the root canal file. The judgment module 305 is used to determine whether the current state of the root canal file meets the predetermined target torque reset condition based on the state monitoring results of the root canal file. The acquisition module 301 is also used to re-execute the operation of acquiring the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal when the current state of the root canal file is determined to meet the target torque reset condition.

[0112] In this embodiment of the invention, optionally, since dentin cutting is a dynamic process, when it is determined that the target torque needs to be reset, the aforementioned target torque determination process needs to be re-executed, that is, this process is a cyclic process until it is confirmed that the dentin cutting is completed.

[0113] It should be noted that, optionally, the above-mentioned re-execution step 201 can be understood in two ways: Firstly, for each re-execution of the target torque determination process, when it is determined that the corresponding target torque reset condition is met, the target torque setting condition can be determined by first judging the target torque setting condition based on the first real-time torque data of the collected root canal file. If the target torque setting condition is met, the operation of continuing to collect the second real-time torque data of the root canal file is executed to re-determine the target torque. Secondly, the operation of directly continuing to collect the second real-time torque data of the root canal file is executed to re-determine the target torque.

[0114] As can be seen, this optional embodiment monitors the real-time cutting status of the root canal file during dentin cutting. When the analysis of the status monitoring results indicates that the target torque needs to be reset, the target torque determination process is re-executed to ensure that the determined target torque matches the current state of the dentin. That is, the torque required for cutting the current dentin is determined in real time and dynamically, which improves the stability and reliability of accurately determining the torque required for cutting the current dentin. This is beneficial to the accuracy and safety of dentin cutting, and thus further improves the accuracy and safety of root canal treatment. At the same time, it further reduces the possibility of damage to the root canal file.

[0115] In this optional embodiment, the determination module 305 determines, based on the state monitoring results corresponding to the root canal file, whether the current state of the root canal file meets the predetermined target torque reset condition in the following specific ways: When the status monitoring results of the root canal file include the real-time torque monitoring results during the process of the root canal file cutting dentin in the root canal, the current torque of the root canal file is determined to be less than or equal to the second preset torque based on the real-time torque monitoring results of the root canal file. When the result is determined to be yes, the current state of the root canal file is determined to meet the preset target torque reset condition. When the status monitoring results corresponding to the root canal file include the distance monitoring results between the root canal file and the dentin in the root canal during the process of the root canal file cutting the dentin in the root canal, the current distance between the root canal file and the dentin in the root canal is determined to be greater than or equal to the preset distance threshold based on the distance monitoring results corresponding to the root canal file. When the result is determined to be yes, the current state of the root canal file is determined to meet the preset target torque reset condition.

[0116] In this embodiment of the invention, the root canal file experiences resistance from the dentin during the cutting process, and this resistance changes accordingly, such as decreasing until it approaches zero or disappears. Alternatively, when the root canal file is detected being removed from the dentin in the root canal, the resistance experienced by the file also decreases, meaning that the current torque of the file may be less than or equal to a second preset torque. Optionally, the second preset torque may be less than or equal to the aforementioned first preset torque.

[0117] In this embodiment of the invention, since the resistance of the root canal file to dentin varies with the distance between the root canal file and the dentin, the removal of the root canal file from the dentin at the root canal site can be detected. If the current distance is greater than or equal to a preset distance threshold, such as 0.3 mm, it indicates that the target torque reset condition is met. This situation is particularly applicable to the first interpretation of the aforementioned re-execution of step 201.

[0118] In this embodiment of the invention, optionally, when it is determined that the current state of the root canal file does not meet the predetermined target torque reset condition, the current state of the root canal file is determined to be greater than the second preset torque or less than the preset distance threshold.

[0119] As can be seen, this optional embodiment can also determine whether the reset condition for the current dentin cutting torque is met by measuring the change in resistance of the root canal file to dentin during dentin cutting, or the change in the distance between the root canal file and dentin. This enriches the methods for determining the reset condition, improves the efficiency and flexibility of the reset condition determination, and thus helps to further improve the accuracy and reliability of resetting the torque required for the current dentin cutting.

[0120] Example 4 Please see Figure 5 , Figure 5 This is a schematic diagram of another device based on a dynamically torque-controlled root canal file disclosed in an embodiment of the present invention. This device can be applied in any scenario requiring root canal treatment, such as primary tooth root canal preparation, posterior tooth root canal cleaning, and peri-implantitis cleaning. Figure 5 As shown, the device may include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; Furthermore, it may also include an input interface 403 and an output interface 404 coupled to the processor 402; The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the method of the root canal file based on dynamic torque control described in Embodiment 1 or Embodiment 2.

[0121] Example 5 This invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the steps in the method of a root canal file based on dynamic torque control described in Embodiment 1 or Embodiment 2.

[0122] Example 6 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the method based on dynamic torque control root canal file described in Embodiment 1 or Embodiment 2.

[0123] Example 7 Please see Figure 6 , Figure 6This is a schematic diagram of a control device disclosed in an embodiment of the present invention. The control device can be applied to any scenario requiring root canal treatment, such as primary tooth root canal preparation, posterior tooth root canal cleaning, and peri-implantitis cleaning. The control device can also... Figure 3 or Figure 4 The described device is a root canal file based on dynamic torque control and is used to perform the steps in the method based on dynamic torque control root canal file described in Embodiment 1 or Embodiment 2.

[0124] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0125] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0126] Finally, it should be noted that the method, apparatus, and control device for a root canal file based on dynamic torque control disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for using a root canal file based on dynamic torque control, characterized in that, The method includes: When the insertion of the root canal file into the root canal site is detected, the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal site is collected. Based on the first real-time torque data corresponding to the root canal file, determine the target torque that matches the first real-time torque data; Based on the target torque corresponding to the root canal file, the root canal file is controlled to perform a cutting operation on the dentin of the root canal.

2. The method for root canal files based on dynamic torque control according to claim 1, characterized in that, The step of determining a target torque that matches the first real-time torque data based on the root canal file includes: Based on the first real-time torque data of the root canal file, determine whether the current torque of the root canal file meets the predetermined target torque setting conditions; When it is determined that the current torque of the root canal file meets the target torque setting conditions, based on the predetermined torque data acquisition conditions, the second real-time torque data generated by the resistance encountered when the root canal file contacts the root canal continues to be acquired. The target torque corresponding to the root canal file is determined based on the second real-time torque data of the root canal file; The step of determining whether the current torque of the root canal file meets the predetermined target torque setting conditions based on the first real-time torque data of the root canal file includes: When the first real-time torque data of the root canal file includes the real-time torque of the root canal file, it is determined whether the current torque of the root canal file is greater than or equal to the first preset torque. When the determination result is yes, it is determined that the current torque of the root canal file meets the predetermined target torque setting condition. When the first real-time torque data of the root canal file includes the first torque data acquisition duration corresponding to the root canal file, it is monitored whether the first torque data acquisition duration corresponding to the root canal file is greater than or equal to the preset acquisition duration. When the result is determined to be yes, it is determined that the current torque of the root canal file meets the preset target torque setting conditions.

3. The method for root canal files based on dynamic torque control according to claim 2, characterized in that, Based on predetermined torque data acquisition conditions, the system continues to acquire second real-time torque data generated by the resistance encountered when the root canal file contacts the root canal site, including: When the torque data acquisition conditions include a second torque data acquisition duration, the torque dataset generated by the resistance encountered by the root canal file when it contacts the root canal for the second torque data acquisition duration is collected as the second real-time torque data. The start time of the second torque data acquisition duration is determined based on the moment when it is determined that the current torque condition of the root canal file meets the target torque setting conditions. When the torque data acquisition condition includes the torque data acquisition quantity, continue to acquire the torque data set generated by the resistance encountered when the root canal file contacts the root canal site. When the real-time quantity of the torque data set of the root canal file is greater than or equal to the torque data acquisition quantity, stop acquiring torque data and determine the torque data set of the torque data acquisition quantity as the second real-time torque data.

4. The method for using a root canal file based on dynamic torque control according to claim 2 or 3, characterized in that, The step of determining the target torque corresponding to the root canal file based on the second real-time torque data of the root canal file includes: Based on all the torques contained in the second real-time torque data of the root canal file, analyze the reference torque that matches the second real-time torque data; The target torque corresponding to the root canal file is determined based on the reference torque corresponding to the root canal file. The reference torque corresponding to the root canal file includes the average torque of all torques included in the second real-time torque data of the root canal file, or the torque that is in the mode among all torques included in the second real-time torque data of the root canal file, or the torque that is in the median among all torques included in the second real-time torque data of the root canal file.

5. The method for using a root canal file based on dynamic torque control according to claim 4, characterized in that, The method further includes: Determine the compensating torque of the root canal file; The step of determining the target torque corresponding to the root canal file based on the reference torque of the root canal file includes: The sum of the reference torque corresponding to the root canal file and the compensation torque of the root canal file is calculated as the target torque corresponding to the root canal file. The determination of the compensation torque of the root canal file includes: Collect scene data corresponding to the root canal file, which includes the file position where the root canal file is currently in contact with the dentin and / or the dentin cutting data of the root canal. Based on the scene data corresponding to the root canal file, a torque matching the scene data corresponding to the root canal file is determined, which is used as the compensation torque for the root canal file.

6. The method for using a root canal file based on dynamic torque control according to any one of claims 1-3 and 5, characterized in that, The method further includes: During the process of cutting the dentin in the root canal, the real-time cutting status of the root canal file is monitored to obtain the status monitoring results corresponding to the root canal file. Based on the status monitoring results corresponding to the root canal file, determine whether the current status of the root canal file meets the predetermined target torque reset condition; When it is determined that the current state of the root canal file meets the target torque reset condition, the operation of collecting the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal site when the root canal file is detected to be inserted into the root canal site is re-executed.

7. The method for root canal files based on dynamic torque control according to claim 6, characterized in that, The step of determining whether the current state of the root canal file meets the predetermined target torque reset condition based on the state monitoring results of the root canal file includes: When the status monitoring result corresponding to the root canal file includes the real-time torque monitoring result during the process of the root canal file cutting the dentin of the root canal, the current torque of the root canal file is determined to be less than or equal to the second preset torque based on the real-time torque monitoring result corresponding to the root canal file. When the result is determined to be yes, the current state of the root canal file is determined to meet the predetermined target torque reset condition. When the status monitoring result corresponding to the root canal file includes the distance monitoring result between the root canal file and the dentin of the root canal during the process of the root canal file cutting the dentin of the root canal, based on the distance monitoring result corresponding to the root canal file, it is determined whether the current distance between the root canal file and the dentin of the root canal is greater than or equal to a preset distance threshold. When the determination result is yes, it is determined that the current state of the root canal file meets the predetermined target torque reset condition.

8. A device for a root canal file based on dynamic torque control, characterized in that, The device includes: The acquisition module is used to acquire the first real-time torque data generated by the resistance encountered by the root canal file during the contact between the root canal file and the dentin of the root canal when the insertion of the root canal file into the root canal site is detected. The determination module is used to determine a target torque that matches the first real-time torque data based on the first real-time torque data corresponding to the root canal file; The control module is used to control the root canal file to perform a cutting operation on the dentin of the root canal region based on the target torque corresponding to the root canal file.

9. A device based on a dynamic torque-controlled root canal file, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method of the root canal file based on dynamic torque control as described in any one of claims 1-7.

10. A control device, characterized in that, The control device is used to perform the method of a root canal file based on dynamic torque control as described in any one of claims 1-7.

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