Redundant root canal surgery robot

Abstract

The invention discloses a redundant root canal surgery robot, and relates to the technical field of medical robots, the redundant root canal surgery robot comprises a fixed arc-shaped track, a position adjusting assembly and a root canal treatment piece, and the fixed arc-shaped track is provided with an arc-shaped rack along an arc-shaped path of the fixed arc-shaped track; the position adjusting assembly comprises an arc-shaped sliding rail rotating module, the arc-shaped sliding rail rotating module comprises a driving piece, a driving gear piece and a connecting piece, the connecting piece is arranged on the fixed arc-shaped rail in a sliding mode, the driving gear piece is rotationally arranged on the connecting piece and meshed with the arc-shaped rack, and the driving piece is arranged on the connecting piece and connected to the driving gear piece. The root canal treatment part is arranged on the driving part and can do circular motion when the driving gear part rotates. Compared with a driving structure of a traditional medical robot which can only drive a tooth root treatment structure to do simple transverse, horizontal and vertical movement, the root canal treatment part does circular motion to be more fit with the shape of the oral cavity of the human body, the root canal treatment part can quickly reach a pathological part, and the working efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, specifically to a redundant root canal surgery robot. Background Technology

[0002] Root canal treatment is the preferred method for treating pulpitis and periapical periodontitis. The principle of root canal treatment is to remove most of the infected material from the root canal using mechanical and chemical methods, and then fill the root canal and seal the crown to prevent periapical lesions or promote the healing of existing periapical lesions. Currently, root canal treatments in hospitals are still performed by dentists using handheld instruments. During the procedure, dentists need to bend over and lower their heads for extended periods, leading to significant fatigue. Therefore, medical robots have been invented to replace dentists in performing root canal treatments. Existing medical robots mainly consist of a connected drive structure and a root canal treatment structure. The root canal treatment structure is used to contact and treat the patient's tooth root, while the drive structure is mainly used to move the root canal treatment structure to expand the treatment area.

[0003] However, existing medical robots still have shortcomings. For example, their drive structure can only drive the root treatment structure to make simple horizontal and vertical movements, which means that the root treatment structure cannot reach some special pathological sites or it takes a long time to reach the pathological site, resulting in low work efficiency. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a redundant root canal surgery robot to solve the technical problem that existing medical robots can only drive the root treatment structure to perform some simple horizontal and vertical movements, and the root treatment structure cannot reach or takes a long time to reach the pathological site, resulting in low work efficiency.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: This invention provides a redundant root canal surgery robot, comprising: A fixed arc-shaped track is provided with an arc-shaped rack along its arc path; A position adjustment assembly includes an arc-shaped slide rail rotation module. The arc-shaped slide rail rotation module includes a driving component, a driving gear component, and a connecting component. The connecting component is slidably disposed on the fixed arc-shaped track. The driving gear component is rotatably disposed on the connecting component and meshes with the arc-shaped rack. The driving component is disposed on the connecting component and connected to the driving gear component. A root canal treatment component is disposed on the drive component, and the root canal treatment component is capable of making an arc motion when the drive gear rotates.

[0006] In some embodiments, the driving component includes a drive motor and a worm gear. The drive motor is disposed on the connector and connected to the worm gear to drive the worm gear to rotate. The worm gear has an external thread and engages with the drive gear component through the external thread. The rotation axis of the worm gear is perpendicular to the rotation axis of the drive gear component.

[0007] In some embodiments, the fixed arc-shaped track is provided with an arc-shaped boss along its arc-shaped path, the connector includes a slide base, a guide wheel and a Z-shaped connecting plate, the guide wheel is rotatably mounted on the slide base, the guide wheel rolls and engages with the arc-shaped boss, the Z-shaped connecting plate is connected to the slide base, and the drive motor is mounted on the Z-shaped connecting plate.

[0008] In some embodiments, the position adjustment assembly further includes a Y-axis moving module, which includes a Y-axis moving base plate, a Y-axis moving motor, a Y-axis lead screw, a Y-axis slider, a YZ moving connector, and a Y-axis guide rod. The Y-axis moving base plate is connected to the Z-shaped connecting plate, the Y-axis moving motor is connected to the Y-axis lead screw, the Y-axis lead screw is threaded through the Y-axis slider, the Y-axis guide rod is fixedly mounted on the Y-axis moving base plate, the Y-axis slider is slidably connected to the Y-axis guide rod, the YZ moving connector is mounted on the Y-axis slider, and the root canal treatment component is mounted on the YZ moving connector.

[0009] In some embodiments, the position adjustment assembly further includes a Z-axis movement module, which includes a Z-axis movement motor, a Z-axis movement base plate, a Z-axis lead screw, a Z-axis slider, a ZX movement connector, and a Z-axis guide rod. The Z-axis movement base plate is connected to the ZZ movement connector, the output end of the Z-axis movement motor is connected to the Z-axis lead screw, the Z-axis lead screw is threaded through the Z-axis slider, the Z-axis guide rod is fixedly mounted on the Z-axis movement base plate, the Z-axis slider is slidably connected to the Z-axis guide rod, the ZX movement connector is connected to the Z-axis slider, and the root canal treatment component is mounted on the ZX movement connector.

[0010] In some embodiments, the position adjustment assembly further includes an X-axis movement module, which includes an X-axis movement motor, an X-axis movement base plate, an X-axis lead screw, an X-axis slider, a Y1X movement connector, and an X-axis guide rod. The X-axis movement base plate is connected to the X1X movement connector, the output end of the X-axis movement motor is connected to the X-axis lead screw, the X-axis lead screw is threaded through the X-axis slider, the X-axis guide rod is fixedly mounted on the X-axis movement base plate, the X-axis slider is slidably connected to the X-axis guide rod, the Y1X movement connector is connected to the X-axis slider, and the root canal treatment component is mounted on the Y1X movement connector.

[0011] In some embodiments, the position adjustment assembly further includes a Y1-axis moving module, the Y1-axis rotating module including a Y1-axis rotating motor, a Y1-axis rotating coupling, a Y1-axis rotating worm, a Y1-axis rotating worm wheel, a Y1-axis rotating connecting plate, and a Y1-axis rotating connector; the output end of the Y1-axis rotating motor is connected to the Y1-axis rotating coupling, the Y1-axis rotating coupling is connected to the Y1-axis rotating worm, the Y1-axis rotating worm meshes with the Y1-axis rotating worm wheel, the Y1-axis rotating connecting plate is mounted on the Y1-axis rotating connector, the Y1-axis rotating connecting plate is connected to the Y1-axis rotating worm wheel, and the root canal treatment component is disposed on the Y1-axis rotating connector.

[0012] In some embodiments, the position adjustment assembly further includes a Y2-axis moving module disposed on the Y1-axis rotating connector. The Y2-axis rotating module includes a Y2-axis rotating motor, a Y2-axis rotating coupling, a Y2-axis rotating worm, a Y2-axis rotating worm wheel, and a Y2-axis rotating connecting plate. The output end of the Y2-axis rotating motor is connected to the Y2-axis rotating coupling, the Y2-axis rotating coupling is connected to the Y2-axis rotating worm, the Y2-axis rotating worm meshes with the Y2-axis rotating worm wheel, the Y2-axis rotating connecting plate is connected to the Y2-axis rotating worm wheel, and the root canal treatment component is disposed on the Y2-axis rotating connecting plate.

[0013] In some embodiments, the position adjustment assembly further includes a Z-axis moving module, and the Z-axis rotating module includes a Z-axis rotating base plate, a Z-axis rotating motor, a Z-axis rotating worm, a Z-axis rotating worm wheel, and a Z-axis rotating connecting plate; the Z-axis rotating base plate is connected to the Z-axis rotating connecting plate, the Z-axis rotating motor is mounted on the Z-axis rotating base plate, the output end of the Z-axis rotating motor is connected to the Z-axis rotating worm, the Z-axis rotating connecting plate is connected to the Z-axis rotating worm wheel, and the root canal treatment component is disposed on the Z-axis rotating connecting plate.

[0014] In some embodiments, the root canal treatment device includes a support, a camera, and an actuator, wherein the camera is mounted on the support, the actuator is mounted on the support, and the support is disposed on the Z-axis rotating connecting plate.

[0015] Compared to existing technologies, the redundant root canal surgery robot provided by this invention has a drive component that can drive a drive gear component to rotate during operation. Because the fixed arc-shaped track remains stationary, the drive gear component, when rotating, engages with a rack and pinion mechanism. The rack and pinion mechanism exert a reaction force on the drive gear component, causing it to move in an arc along the fixed arc-shaped track. The root canal treatment component is located within the drive component, allowing it to perform an arc-shaped motion when the drive gear component rotates. Compared to traditional medical robots whose drive structures can only drive the root canal treatment structure to perform simple horizontal and vertical movements, the arc-shaped motion of the root canal treatment component in this application better conforms to the shape of the human oral cavity, enabling the root canal treatment component to quickly reach the pathological site and resulting in high work efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the redundant root canal surgery robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the arc-shaped slide rail rotation module provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the Y-axis moving module provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the Z-axis moving module provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the X-axis moving module provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the Y1 axis rotation module provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the Y2-axis rotation module provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the Z-axis rotation module provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the X-axis rotation module provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the X-axis rotating base plate provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the root canal treatment component provided in an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] To address the technical problem that existing medical robots can only perform simple horizontal and vertical movements of the root canal treatment structure, resulting in low work efficiency because the structure cannot reach the pathological site or takes a long time to do so, this invention provides a redundant root canal surgery robot. This robot enables the root canal treatment component to make arc movements that better conform to the shape of the human oral cavity, allowing it to quickly reach the pathological site and achieving high work efficiency.

[0019] It should be noted that the redundant root canal surgical robot described in this invention is used for, but not limited to, root canal treatment. For ease of explanation, this invention will only use the application of the redundant root canal surgical robot in root canal treatment as an example. The principle of the redundant root canal surgical robot in other types of equipment is essentially the same as that in root canal treatment, and will not be described in detail here.

[0020] Please see Figure 1 , Figure 1 This is a schematic diagram of a redundant root canal surgery robot according to an embodiment of the present invention. The redundant root canal surgery robot includes a fixed arc-shaped track 12, a position adjustment component, and a root canal treatment component 9. The fixed arc-shaped track 12 is used to fix itself in a certain position and has an arc-shaped rack 11 arranged along its arc-shaped path. The position adjustment component includes an arc-shaped slide rail rotation module 1, which includes a drive component 114, a drive gear component 112, and a connector 115. The connector 115 is slidably disposed on the fixed arc-shaped track 12. The drive gear component 112 is rotatably disposed on the connector 115 and meshes with the arc-shaped rack 11. The drive component 114 is disposed on the connector 115 and connected to the drive gear component 112. The root canal treatment component 9 is disposed on the drive component 114 and can perform arc-shaped motion when the drive gear component 112 rotates. Compared to the traditional medical robot's drive structure, which can only drive the root canal treatment structure to make simple horizontal and vertical movements, the root canal treatment component 9 of this application makes arc movements that better fit the shape of the human oral cavity. The root canal treatment component 9 can quickly reach the pathological site and has high work efficiency.

[0021] The connecting component 115 includes a connected slide table 13 and a Z-shaped connecting plate 14. The driving component 114 includes a drive motor 15, a motor bracket 16, a coupling 17, a worm shaft bearing seat 18, a worm 19, and a transmission worm shaft 110. The aforementioned driving gear components include a connected worm wheel 111, a transmission gear 112, and a transmission worm wheel shaft 113. The fixed arc-shaped track 12 is installed on the arc-shaped rack 11. The slide table 13 rotates around the Z-axis by cooperating with the fixed arc-shaped track 12. The Z-shaped connecting plate 14 is installed on the slide table 13 and serves as the base connection for the Y-axis moving module 2. The drive motor 15 is installed on the motor bracket 16. The output end of the drive motor 15 is connected to the coupling 17. The coupling 17 is connected to one end of the transmission worm shaft 110 through the worm shaft bearing seat 18. The other end of the transmission worm shaft 110 is rotatably connected to the worm 19. The worm 19 meshes with the worm wheel 111. The worm wheel 19 is rotatably connected to one end of the transmission worm wheel shaft 110. The transmission gear 112 is connected to the other end of the transmission worm wheel shaft 113 through the slide table 13 and the Z-shaped connecting plate 14 and meshes with the arc-shaped rack 11.

[0022] The fixed arc-shaped track 12 is provided with an arc-shaped boss 121 along its arc-shaped path. The connector 115 also includes a guide wheel 122. The guide wheel 122 is rotatably mounted on the slide table 13. The guide wheel 122 rolls and engages with the arc-shaped boss 121. Specifically, the middle side wall of the guide wheel 122 is provided with a guide groove, which rolls and engages with the arc-shaped boss 121. The Z-shaped connecting plate 14 is connected to the slide table 13. The drive motor 15 is mounted on the Z-shaped connecting plate 14. It can be understood that the drive motor 15 is directly mounted on the Z-shaped connecting plate 14 or the drive motor 15 is indirectly connected to the Z-shaped connecting plate 14 through other components. In this embodiment, there are multiple guide wheels 122, which are respectively arranged on both sides of the fixed arc-shaped track 12. The guide wheels 122 on both sides clamp the fixed arc-shaped track 12. When the drive motor 15 drives the transmission gear 112 to rotate, since the fixed arc-shaped track 12 is stationary, it can apply a reaction force to the transmission gear 112, thereby driving the entire drive component 114 to move in an arc along the arc-shaped path of the fixed arc-shaped track 12. During the movement, through the rolling engagement between the guide wheels 122 and the arc-shaped boss 121, the guide wheels 122 can guide and stabilize the drive component 114.

[0023] In this embodiment, the principle by which the arc-shaped slide rail rotating module 1 drives the module located on it to rotate around the Z-axis is as follows: When the drive motor 15 is working, it drives the worm gear 19 to rotate through the coupling 17. The rotation of the worm gear 19 will drive the worm wheel 111 meshing with it to rotate, so the transmission gear 112 will rotate along with the transmission worm wheel shaft 113. Then, under the relative rotation of the transmission gear 112 and the arc-shaped rack 11, the slide table 13 will rotate around the Z-axis, realizing the large-position adjustment of the root canal treatment component 9 in the Z-axis rotation direction. Different power output directions of the drive motor 15 will cause the root canal treatment component 9 to rotate clockwise and counterclockwise around the Z-axis.

[0024] The position adjustment assembly also includes the following modules: Y-axis movement module 2, Z-axis movement module 3, X-axis movement module 4, Y1-axis rotation module 5, Y2-axis rotation module 6, Z-axis rotation module 7, X-axis rotation module 8, a vision module, and an endodontic treatment component 9; wherein, the arc-shaped slide rail rotation module 1 is connected to and fixed to the arc-shaped track 12, and the arc-shaped slide rail rotation module 1 can rotate around the Z-axis to drive the various modules (including the endodontic treatment component 9) mounted on it to achieve rotational movement around the Z-axis; the Y-axis movement module 2 is mounted on the sliding component of the arc-shaped slide rail rotation module 1, and the Z-axis movement module 3 is connected to the YZ movement connector. The X-axis moving module 4 is mounted on the Y-axis moving module 2, and the X-axis moving module 4 is mounted on the Z-axis moving module 3 via the ZX moving connector. The remaining rotating module is mounted on the X-axis moving module 4 via the Y1X connector. The Y1-axis rotating module 5 is mounted on the X-axis moving module 4. The Y2-axis rotating module 6 is mounted on the output end of the Y1-axis rotating module 5 via the Y-axis rotating connector. The Z-axis rotating module 7 is mounted on the output end of the Y2-axis rotating module 6. The X-axis rotating module 8 is mounted on the output end of the Z-axis rotating module 7. The root canal treatment component 9 is mounted in the X-axis rotating module. The X-axis rotating module 8 is used to drive the root canal treatment component 9 to rotate around the X-axis.

[0025] In this embodiment, the arc-shaped slide rail rotation module 1 serves as the basic support module of the robot. It is externally connected to the fixed arc-shaped track 12 and its function is to drive all modules on it to move in an arc along the arc of the fixed arc-shaped track 12 to adjust the position of the root canal treatment component 9, facilitating the operation of the root canal treatment component 9. The Y-axis movement module 2, Z-axis movement module 3, and X-axis movement module 4 are sequentially installed on the moving parts of the upper-level module and can respectively adjust the left-right, up-down, and front-back positions of the root canal treatment component 9. The Y1-axis rotation module 5 is installed on the moving parts of the X-axis movement module 4, the Y2-axis rotation module 6 is installed on the output end of the Y1-axis rotation module 5 through the Y-axis rotation connector, the Z-axis rotation module 7 is installed on the output end of the Y2-axis rotation module 6, the X-axis rotation module 8 is installed on the output end of the Z-axis rotation module 7, and the actuator handpiece 9 is installed on the output end of the X-axis rotation module. Therefore, the root canal treatment component 9 can complete various posture adjustments in space through the coordinated movement of each module to achieve the preset operation position point. The root canal treatment component 9 is equipped with a camera, and the preset operation position can be determined by the patient's tooth image captured by the camera.

[0026] In some embodiments, such as Figure 3As shown, the Y-axis moving module 2 includes a Y-axis moving base plate 21, a Y-axis moving motor 22, a Y-axis coupling 23, a Y-axis motor bracket 24, a Y-axis lead screw fixing seat 25, a Y-axis lead screw 26, a Y-axis lead screw nut 27, a Y-axis slider 28, a YZ moving connector 29, a Y-axis lead screw support seat 210, and a Y-axis guide rod 211. The Y-axis moving motor 22 is mounted on the Y-axis motor bracket 24, and its output end is connected to the Y-axis coupling 23. The Y-axis coupling 23 is connected to one end of the Y-axis lead screw 26 via the Y-axis lead screw fixing seat 25. The other end of the Y-axis lead screw 26 is rotatably mounted on the Y-axis lead screw support 210. One end of the Y-axis guide rod 211 is mounted on the Y-axis lead screw fixing seat 25 via the Y-axis slider 28, and the other end of the Y-axis guide rod 211 is mounted on the Y-axis lead screw support 210 via the Y-axis slider 28. The Y-axis lead screw 26 is connected to the Y-axis slider 28 via the Y-axis lead screw nut 27. The Y-axis motor bracket 24, the Y-axis lead screw fixing seat 25, and the Y-axis lead screw support 210 are mounted on the Y-axis moving base plate 21. The Z-axis moving module 3 is connected and mounted on the Y-axis slider 28 via the YZ moving connector 29.

[0027] In this embodiment, the Y-axis moving base plate 21 is installed on the Z-shaped connecting plate 14 in the arc-shaped slide rail rotating module 1. The Y-axis moving module 2 can rotate around the Z-axis together with the arc-shaped slide rail rotating module 1 under this connection. The Z-axis moving module 3 is installed on the Y-axis slider 28 through the YZ moving connector 29. The Y-axis lead screw nut 27 moves left and right in the Y-axis direction under the drive of the Y-axis moving motor 22. When the Y-axis lead screw nut 27 and the Y-axis slider 28 move left and right, they will drive the Z-axis moving module 3 installed on them to move left and right in the Y-axis direction at the same time. Thus, the left and right positions of the Z-axis moving module 3 and the root canal treatment component 9 can be adjusted through the Y-axis moving module 2.

[0028] In some embodiments, such as Figure 4As shown, the Z-axis movement module 3 includes a Z-axis movement motor 31, a Z-axis motor bracket 32, a Z-axis movement base plate 33, a Z-axis coupling 34, a Z-axis lead screw fixing seat 35, a Z-axis lead screw 36, a Z-axis lead screw nut 37, a Z-axis slider 38, a ZX movement connector 39, a Z-axis guide rod 310, and a Z-axis lead screw support seat 311. The Z-axis movement motor 31 is mounted on the Z-axis motor bracket 32, and its output end is connected to the Z-axis coupling 34. The Z-axis coupling 34 is connected to one end of the Z-axis lead screw 36 via the Z-axis lead screw fixing seat 35. The other end of the Z-axis lead screw 36 is rotatably mounted on the Z-axis lead screw support 311. One end of the Z-axis guide rod 310 is mounted on the Z-axis lead screw fixed seat 35 via the Z-axis slider 38, and the other end of the Z-axis guide rod 310 is mounted on the Z-axis lead screw support 311 via the Z-axis slider 38. The Z-axis lead screw 36 is connected to the Z-axis slider 38 via the Z-axis lead screw nut 37. The Z-axis motor bracket 32, the Z-axis lead screw fixed seat 35, and the Z-axis lead screw support 311 are mounted on the Z-axis moving base plate 33. The X-axis moving module 4 is connected and mounted on the Z-axis slider 38 via the ZX moving connector 39.

[0029] In this embodiment, the Z-axis moving module 3 is used to adjust the position of the root canal treatment component 9 in the Z-axis direction. The Z-axis moving module 3 is driven by the Z-axis moving motor 31 to make the Z-axis slider 38 and the Z-axis lead screw nut 37 move up and down in the Z-axis direction, thereby driving the root canal treatment component 9 provided on the Z-axis slider 38 to adjust its position in the Z-axis direction.

[0030] In some embodiments, such as Figure 5 As shown, the X-axis moving module 4 includes an X-axis moving motor 41, an X-axis motor bracket 42, an X-axis coupling 43, an X-axis lead screw fixing seat 44, an X-axis moving base plate 45, an X-axis lead screw 46, an X-axis slider 47, an X-axis lead screw nut 48, an X-axis guide rod 49, an X-axis lead screw support seat 410, and a Y1X connector 411. The X-axis moving motor 41 is mounted on the X-axis motor bracket 42, and its output end is connected to the X-axis coupling 43. The X-axis coupling 43 is connected to one end of the X-axis lead screw 46 via the X-axis lead screw fixing seat 44. The other end of the X-axis lead screw 46 is rotatably mounted on the X-axis lead screw support 410. One end of the X-axis guide rod 49 is mounted on the X-axis lead screw fixed seat 44 via the X-axis slider 47, and the other end of the X-axis guide rod 49 is mounted on the X-axis lead screw support 410 via the X-axis slider 47. The X-axis lead screw 46 is connected to the X-axis slider 47 via the X-axis lead screw nut 48. The X-axis motor bracket 42, the X-axis lead screw fixed seat 44, and the X-axis lead screw support 410 are mounted on the X-axis moving base plate 45. The Y1 axis rotation module 5 is connected and mounted on the X-axis slider 47 via the Y1X connector 411.

[0031] In this embodiment, the X-axis movement module 4 is used to adjust the position of the robot in the X-axis direction, thereby realizing the position adjustment of the actuator handpiece 91 in the X-axis direction. Driven by the X-axis movement motor 41, the X-axis movement module 4 causes the X-axis slider 47 and the X-axis lead screw nut 48 to move back and forth in the X-axis direction, thereby driving the upper module connected to the X-axis slider 47 and the root canal treatment component 9 to adjust their position in the X-axis direction.

[0032] In some embodiments, such as Figure 6 As shown, the Y1-axis rotation module 5 includes a Y1-axis rotation motor 51, a Y1-axis rotation motor bracket 52, a Y1-axis rotation coupling 53, a Y1-axis rotation worm shaft fixing seat 54, a Y1-axis rotation worm 55, a Y1-axis rotation worm shaft support seat 56, a Y1-axis rotation worm shaft 57, a Y1-axis rotation worm wheel shaft support seat 58, a Y1-axis rotation worm wheel 59, a Y1-axis rotation worm wheel shaft 510, a Y1-axis rotation connecting plate 511, and a Y1-axis rotation connecting piece 512. The Y1-axis rotation motor 51 is mounted on the Y1-axis rotation motor bracket 52. The output end of the Y1-axis rotation motor 51 is connected to the Y1-axis rotation coupling 53. The Y1-axis rotation coupling 53 is connected to the Y1-axis rotation worm shaft via the Y1-axis rotation worm shaft fixing seat 54. One end of Y1 axis rotating worm shaft 57, and the other end of Y1 axis rotating worm shaft 57 are rotatably placed on Y1 axis rotating worm shaft support seat 56 after Y1 axis rotating worm 55 is installed. Y1 axis rotating connecting plate 511 is connected to one end of Y1 axis rotating worm wheel shaft 510 through Y1 axis rotating motor bracket 52. The other end of Y1 axis rotating worm wheel shaft 510 is rotatably placed on Y1 axis rotating worm wheel shaft support seat 58 after Y1 axis rotating worm wheel 59 is installed. Y1 axis rotating worm wheel shaft support seat 58, Y1 axis rotating worm shaft support seat 56 and Y1 axis rotating worm shaft fixing seat 54 are all installed on Y1 axis rotating motor bracket 52. Y1 axis rotating connecting plate 511 is installed on Y axis rotating connector 512 and connected to Y2 axis rotating module 6 through Y axis rotating connector 512.

[0033] In this embodiment, the Y1 axis rotating module 5 drives the Y1 axis rotating worm 55 to rotate via the Y1 axis rotating motor 51, thereby driving the Y1 axis rotating worm wheel 59 meshing with it to rotate, thus completing the rotational movement of the next module and the root canal treatment component 9 around the Y axis via the Y1 axis rotating connecting plate 511, and realizing the position adjustment of the root canal treatment component 9.

[0034] In some embodiments, such as Figure 7As shown, the Y2-axis rotary module 6 includes a Y2-axis rotary motor 61, a Y2-axis rotary motor bracket 62, a Y2-axis rotary coupling 63, a Y2-axis rotary worm shaft fixing seat 64, a Y2-axis rotary worm 65, a Y2-axis rotary worm shaft support seat 66, a Y2-axis rotary worm shaft 67, a Y2-axis rotary worm wheel shaft support seat 68, a Y2-axis rotary worm wheel 69, a Y2-axis rotary worm wheel shaft 611, and a Y2-axis rotary connecting plate 610. The Y2-axis rotary module 6 and the Y1-axis rotary module 5 have the same structure except for the Y-axis rotary connector 512. The Y2-axis rotary module 6 and the Y1-axis rotary module 5 are connected by the Y-axis rotary connector 512. The Z-axis rotary module 7 is mounted on the Y2-axis rotary connecting plate 610.

[0035] In this embodiment, the Y2 axis rotating module 6 drives the Y2 axis rotating connecting disk 610 on the Y2 axis rotating worm gear shaft 611 to rotate via the Y2 axis rotating motor 61, thereby driving the Z axis rotating module 7 and the root canal treatment component 9 to complete the rotational movement around the Y axis, thereby realizing the position adjustment of the root canal treatment component 9.

[0036] In some embodiments, such as Figure 8 As shown, the Z-axis rotation module 7 includes a Z-axis rotation base plate 71, a Z-axis rotation motor 72, a Z-axis rotation coupling 73, a Z-axis rotation worm shaft fixing seat 74, a Z-axis rotation worm 75, a Z-axis rotation worm shaft support seat 76, a Z-axis rotation worm shaft 77, a Z-axis rotation worm wheel 78, a Z-axis rotation worm wheel shaft 79, and a Z-axis rotation connecting plate 710; wherein, the Z-axis rotation motor 72 is mounted on the Z-axis rotation base plate 71, and the output end of the Z-axis rotation motor 72 is connected to the Z-axis rotation coupling 73, and the Z-axis rotation coupling 73 is connected to the Z-axis rotation worm shaft fixing seat 74. One end of the Z-axis rotating worm shaft 77 is connected, and the other end of the Z-axis rotating worm shaft 77 is rotatably placed on the Z-axis rotating worm shaft support 76 after the Z-axis rotating worm 75 is installed. The Z-axis rotating connecting plate 710 is connected to one end of the Z-axis rotating worm wheel shaft 79 through the Z-axis rotating base plate 71. The other end of the Z-axis rotating worm wheel shaft 79 is rotatably placed on the Z-axis rotating worm wheel 78. The Z-axis rotating worm shaft support 76 and the Z-axis rotating worm shaft fixing seat 74 are both installed on the Z-axis rotating base plate 71. The X-axis rotating module 8 is connected to the Z-axis rotating module 7 through the Z-axis rotating connecting plate 710.

[0037] In this embodiment, the Z-axis rotating module 7 drives the Z-axis rotating connecting disk 710 on the Z-axis rotating worm gear shaft 79 to rotate via the Z-axis rotating motor 72, thereby driving the X-axis rotating module 8 and the root canal treatment component 9 to complete the rotational movement around the Z-axis, and realizing the position adjustment of the root canal treatment component 9.

[0038] In some embodiments, such as Figure 9As shown, the X-axis rotation module 8 includes an X-axis rotation base plate 81, an X-axis rotation motor bracket 83, an X-axis rotation motor 82, an X-axis rotation coupling 84, an X-axis rotation worm shaft fixing seat 85, an X-axis rotation worm 86, an X-axis rotation worm shaft support seat 87, an X-axis rotation worm shaft 88, an X-axis rotation worm wheel 89, an X-axis rotation connecting disc clamping ring 810, an X-axis rotation worm wheel clamping ring 811, an X-axis rotation clamping ring 812, and a force sensor 813. The X-axis rotation motor 82 is mounted on the X-axis rotation motor bracket 83, and its output end is connected to the X-axis rotation coupling 84. Device 84 is connected to one end of X-axis rotating worm shaft 88 via X-axis rotating worm shaft fixing seat 85. The other end of X-axis rotating worm shaft 88 is rotatably placed on X-axis rotating worm shaft support seat 87 after X-axis rotating worm 86 is installed. X-axis rotating connecting disc clamping ring 810 is installed on Z-axis rotating connecting disc 710 to connect the two modules. X-axis rotating worm wheel 89 is connected to X-axis rotating worm wheel clamping ring 811 and is rotatably placed on one end of root canal treatment component 9. X-axis rotating clamping ring 812 is rotatably placed on the other end of root canal treatment component 9 via X-axis rotating base plate 81. Force sensor 813 is installed in the embedded groove of X-axis rotating base plate 81. Figure 10 (As shown), the X-axis rotating worm gear clamping ring 811 and the X-axis rotating clamping ring 812 are mounted on the root canal treatment component 9 so that the root canal treatment component 9 can rotate about the X-axis.

[0039] In this embodiment, the X-axis rotation module 8 drives the root canal treatment component 9 to rotate around the X-axis through the transmission of the X-axis rotation motor 82. The rotation angle range can be set according to the surgical operation requirements (0-180°), which can realize the fine adjustment of the posture of the root canal treatment component 9 in the X-axis direction, ensuring that the working end of the root canal treatment component 9 can be accurately inserted into the root canal.

[0040] In some embodiments, such as Figure 11 As shown, the root canal treatment component 9 includes a bracket 91, a camera 92, and an actuator 93. The camera 92 is mounted on the bracket 91, the bracket 91 is mounted on the actuator 93, and the bracket 91 is located on the X-axis rotating connecting disc clamping ring 810.

[0041] In this embodiment, the root canal treatment component 9 is mounted on the output end of the X-axis rotation module 8 and moves synchronously with the rotation of the X-axis rotation module 8 in the X-axis direction. The actuator 93 is the execution component for root canal surgery. The working end at the front end can be equipped with instruments required for root canal treatment (root canal files, root canal drills, etc.) to complete the root canal surgery. A camera 92 is mounted on the bracket 91 and fixedly connected to the actuator 93. The camera 92 can move and rotate together, thereby ensuring the acquisition of tooth images and achieving precise control of the surgery.

[0042] Overall, during root canal surgery, each module moves in coordination according to a preset program or the doctor's operating instructions. The motor 15 of the arc-shaped slide rail rotation module 1 starts, driving the Z-shaped connecting plate 14 and the subsequent modules mounted on it to rotate along the arc-shaped slide rail, adjusting the actuator handpiece 91 to the approximate surgical angle range. Then, the motors of the Y-axis moving module 2, Z-axis moving module 3, and X-axis moving module 4 start respectively, driving the moving parts of each moving module to move through the lead screw drive, realizing the precise positioning of the actuator handpiece 91 in the X, Y, and Z three-dimensional rectangular coordinate system, so that the working end of the actuator handpiece 91 is initially close to the root canal entrance position in the patient's oral cavity. Afterwards, the motors of the Y1-axis rotating module 5, Y2-axis rotating module 6, Z-axis rotating module 7, and X-axis rotating module 8 start, realizing rotation in three directions, fine-tuning the posture of the actuator handpiece 91, so that the working end is precisely aligned with the tooth. During this process, the vision module collects tooth images and transmits them to the control system in real time. The doctor can make real-time corrections to the movement of each module based on the image information to ensure accurate and safe completion of the surgical operation.

[0043] In summary, the redundant root canal surgery robot provided by this invention can accurately locate the patient's teeth through the coordinated movement of its various modules. The dentist can then autonomously perform root canal treatment based on real-time image information. This embodiment employs a multi-module redundancy design. The robot's eight degrees of freedom spatial architecture, from bottom to top, consists of an arc-shaped sliding rail rotation module 1, a Y-axis movement module 2, a Z-axis movement module 3, an X-axis movement module 4, a Y1-axis rotation module 5, a Y2-axis rotation module 6, a Z-axis rotation module 7, an X-axis rotation module 8, a vision module, and an actuator handpiece 9. The multiple modules are connected in series, and the redundancy design allows for compensation by adjusting motion parameters in other modules when a single module experiences a minor malfunction or motion error. Furthermore, the redundant modules can be used for coarse and fine adjustments to the posture, making it easier to ensure the continuity and safety of the surgical procedure. This not only replaces the dentist in performing root canal treatments, freeing up the dentist's hands, but also significantly reduces the dentist's workload, as the dentist only needs to control the robot remotely via a control panel.

[0044] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A redundant root canal surgery robot, characterized in that, include: A fixed arc-shaped track is provided with an arc-shaped rack along its arc path; A position adjustment assembly includes an arc-shaped slide rail rotation module. The arc-shaped slide rail rotation module includes a driving component, a driving gear component, and a connecting component. The connecting component is slidably disposed on the fixed arc-shaped track. The driving gear component is rotatably disposed on the connecting component and meshes with the arc-shaped rack. The driving component is disposed on the connecting component and connected to the driving gear component. and A root canal treatment component is disposed on the drive component, and the root canal treatment component is capable of making an arc motion when the drive gear rotates.

2. The redundant root canal surgery robot according to claim 1, characterized in that, The driving component includes a drive motor and a worm gear. The drive motor is located on the connector and connected to the worm gear to drive the worm gear to rotate. The worm gear has an external thread and meshes with the drive gear through the external thread. The rotation axis of the worm gear is perpendicular to the rotation axis of the drive gear.

3. The redundant root canal surgical robot according to claim 2, characterized in that, The fixed arc-shaped track is provided with an arc-shaped boss along its arc-shaped path. The connecting member includes a slide base, a guide wheel and a Z-shaped connecting plate. The guide wheel is rotatably mounted on the slide base and rolls to engage the arc-shaped boss. The Z-shaped connecting plate is connected to the slide base, and the drive motor is mounted on the Z-shaped connecting plate.

4. The redundant root canal surgery robot according to claim 3, characterized in that, The position adjustment assembly further includes a Y-axis moving module, which includes a Y-axis moving base plate, a Y-axis moving motor, a Y-axis lead screw, a Y-axis slider, a YZ moving connector, and a Y-axis guide rod. The Y-axis moving base plate is connected to the Z-shaped connecting plate, the Y-axis moving motor is connected to the Y-axis lead screw, the Y-axis lead screw is threaded through the Y-axis slider, the Y-axis guide rod is fixedly mounted on the Y-axis moving base plate, the Y-axis slider is slidably connected to the Y-axis guide rod, the YZ moving connector is mounted on the Y-axis slider, and the root canal treatment component is mounted on the YZ moving connector.

5. The redundant root canal surgery robot according to claim 4, characterized in that, The position adjustment assembly further includes a Z-axis movement module, which includes a Z-axis movement motor, a Z-axis movement base plate, a Z-axis lead screw, a Z-axis slider, a ZX movement connector, and a Z-axis guide rod. The Z-axis movement base plate is connected to the ZZ movement connector, the output end of the Z-axis movement motor is connected to the Z-axis lead screw, the Z-axis lead screw is threaded through the Z-axis slider, the Z-axis guide rod is fixedly mounted on the Z-axis movement base plate, the Z-axis slider is slidably connected to the Z-axis guide rod, the ZX movement connector is connected to the Z-axis slider, and the root canal treatment component is mounted on the ZX movement connector.

6. The redundant root canal surgery robot according to claim 5, characterized in that, The position adjustment assembly further includes an X-axis movement module, which includes an X-axis movement motor, an X-axis movement base plate, an X-axis lead screw, an X-axis slider, a Y1X movement connector, and an X-axis guide rod. The X-axis movement base plate is connected to the X1X movement connector, the output end of the X-axis movement motor is connected to the X-axis lead screw, the X-axis lead screw is threaded through the X-axis slider, the X-axis guide rod is fixedly mounted on the X-axis movement base plate, the X-axis slider is slidably connected to the X-axis guide rod, the Y1X movement connector is connected to the X-axis slider, and the root canal treatment component is located on the Y1X movement connector.

7. The redundant root canal surgery robot according to claim 6, characterized in that, The position adjustment assembly further includes a Y1-axis moving module, which includes a Y1-axis rotating motor, a Y1-axis rotating coupling, a Y1-axis rotating worm, a Y1-axis rotating worm wheel, a Y1-axis rotating connecting plate, and a Y1-axis rotating connector. The output end of the Y1-axis rotating motor is connected to the Y1-axis rotating coupling, the Y1-axis rotating coupling is connected to the Y1-axis rotating worm, the Y1-axis rotating worm meshes with the Y1-axis rotating worm wheel, the Y1-axis rotating connecting plate is mounted on the Y1-axis rotating connector, the Y1-axis rotating connecting plate is connected to the Y1-axis rotating worm wheel, and the root canal treatment component is located on the Y1-axis rotating connector.

8. The redundant root canal surgery robot according to claim 7, characterized in that, The position adjustment assembly further includes a Y2 axis moving module disposed on the Y1 axis rotating connector. The Y2 axis rotating module includes a Y2 axis rotating motor, a Y2 axis rotating coupling, a Y2 axis rotating worm, a Y2 axis rotating worm wheel, and a Y2 axis rotating connecting plate. The output end of the Y2 axis rotating motor is connected to the Y2 axis rotating coupling, the Y2 axis rotating coupling is connected to the Y2 axis rotating worm, the Y2 axis rotating worm meshes with the Y2 axis rotating worm wheel, the Y2 axis rotating connecting plate is connected to the Y2 axis rotating worm wheel, and the root canal treatment component is disposed on the Y2 axis rotating connecting plate.

9. The redundant root canal surgery robot according to claim 8, characterized in that, The position adjustment assembly also includes a Z-axis moving module, and the Z-axis rotating module includes a Z-axis rotating base plate, a Z-axis rotating motor, a Z-axis rotating worm, a Z-axis rotating worm wheel, and a Z-axis rotating connecting plate; the Z-axis rotating base plate is connected to the Y2-axis rotating connecting plate, the Z-axis rotating motor is mounted on the Z-axis rotating base plate, the output end of the Z-axis rotating motor is connected to the Z-axis rotating worm, the Z-axis rotating connecting plate is connected to the Z-axis rotating worm wheel, and the root canal treatment component is located on the Z-axis rotating connecting plate.

10. The redundant root canal surgery robot according to claim 9, characterized in that, The root canal treatment device includes a support, a camera, and an actuator. The camera is mounted on the support, the actuator is mounted on the support, and the support is located on the Z-axis rotating connecting plate.

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