Oral microscope and control method thereof

Abstract

The invention relates to the technical field of microscopes, in particular to an oral microscope and a control method thereof.The initial angle and the initial brightness of the microscope are determined according to a target observation position and the oral opening degree, the microscope is adjusted according to the initial angle and the initial brightness, and oral display data are determined according to an oral observation area image; the microscope is adjusted according to the deviation condition of the oral cavity display data, the oral cavity opening degree is obtained every preset duration, the opening degree fluctuation value is calculated, and the microscope brightness is adjusted. According to the invention, the initial angle and the initial brightness of the microscope are determined more reliably, and the stability and the definition of a visual field are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of microscopy, and more particularly to an oral microscope and its control method. Background Technology

[0002] With its precise magnification imaging capabilities, the microscope can help surgeons overcome the limitations of naked-eye observation and has wide applications in the field of dentistry.

[0003] For example, Chinese Patent Publication No. CN120370531A discloses a control method for a microscope and an electron microscope system. The microscope includes a base, a lens support, and a lens. At least two stage mounting holes are fixedly provided on the base, and the distances between these holes and the lens support are different, allowing for the installation of stages of different specifications to ensure the stage is perpendicular to the optical axis of the lens. In this embodiment, at least two stage mounting holes are fixedly provided on the microscope base, and the distances between the different mounting holes and the lens support are different. This facilitates the quick installation of stages of different specifications. Furthermore, since the positions of the stage mounting holes are fixed, the stage can be directly installed by aligning the matching mounting holes according to its specifications, ensuring the lens optical axis is perpendicular to the stage, eliminating the need for multiple calibrations, thereby improving the efficiency of microscope use and saving overall time.

[0004] However, in the field of dental microscopy, the existing technology still has the following problems. There are problems such as inconsistent brightness and blurred field of view, which affect the use of the microscope, as well as the accuracy and safety of operation. Summary of the Invention

[0005] Therefore, the present invention provides an oral microscope and its control method to overcome the problems of inconsistent observation brightness and blurred field of view in the prior art, which affect the use of the microscope and the accuracy and safety of operation.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a method for controlling an oral microscope, comprising: Step S1: Determine the initial angle and initial brightness of the microscope based on the target observation position and the mouth opening. Step S2: Adjust the microscope according to the initial angle and initial brightness, and determine the oral cavity display data based on the image of the oral cavity observation area; The oral cavity display data includes the pixel coordinates of key feature points at the target observation location, the illuminance at the center of the observation area, and the illuminance at the edge of the observation area. Step S3: Adjust the microscope according to the deviation of the oral cavity display data, obtain the angle of each group of rotating arm components in the microscope, determine the angle adjustment scheme according to the priority of rotating arm adjustment and the angle of each group of rotating arm components, and adjust the brightness of the microscope. Each set of rotating arm assemblies consists of two rotating arms connected by a steering shaft, and the included angle is the included angle between the two rotating arms connected by the same steering shaft; Step S4: Acquire the oral cavity opening degree at preset intervals, calculate the opening degree fluctuation value, and adjust the microscope brightness.

[0007] Furthermore, in step S1, the process of determining the initial angle and initial brightness of the microscope based on the target observation position and the mouth opening includes, Obtain the target observation position, which includes the position of the maxillary anterior teeth, the position of the maxillary left posterior teeth, the position of the maxillary right posterior teeth, the position of the mandibular anterior teeth, the position of the mandibular left posterior teeth, and the position of the mandibular right posterior teeth; Acquire oral cavity images and obtain oral cavity opening degree through image analysis. The oral cavity opening degree is the vertical distance between the incisal edges of the upper and lower central incisors. It has a pre-stored database of preset microscope angles and preset microscope brightness corresponding to each target observation position and each oral cavity opening degree; Based on the acquired target observation position and oral cavity opening degree, the corresponding preset microscope angle and preset microscope brightness are matched in the associated database as the initial angle and initial brightness.

[0008] Furthermore, in step S3, the microscope is adjusted according to the deviation of the oral cavity display data, wherein the oral cavity display data is compared with preset standard oral cavity data to obtain the deviation of the oral cavity display data; If the deviation of the oral cavity display data is greater than the preset deviation, the microscope will be adjusted.

[0009] Furthermore, in step S3, the priority of the rotating arm adjustment decreases as the distance from the rotating arm to the mirror increases.

[0010] Furthermore, in step S3, the process of determining the angle adjustment scheme based on the adjustment priority of the swing arm and the angle of each group of swing arm components includes: The angle of each group of swing arm components is obtained sequentially according to the swing arm adjustment priority; Compare the angle of each swing arm assembly with the preset angle until there is a swing arm assembly whose angle is less than the preset angle. Obtain the adjustment priority of the arm with the highest adjustment priority in the arm assembly; Adjust the swing arm to meet the adjustment conditions; The adjustment condition is that the adjustment priority of the swing arm is greater than or equal to the adjustment priority of the swing arm assembly with the higher adjustment priority.

[0011] Furthermore, in step S4, several oral cavity opening degree values ​​are obtained, and the opening degree fluctuation value is calculated according to the standard deviation formula.

[0012] Furthermore, in step S4, if the aperture fluctuation value is greater than the preset fluctuation value, the microscope brightness is adjusted.

[0013] Furthermore, in step S4, the microscope brightness is adjusted according to the aperture fluctuation value, wherein the aperture fluctuation value is positively correlated with the amount of microscope brightness adjustment.

[0014] Further, in step S2, the process of acquiring the oral cavity display data includes, Select tooth feature points corresponding to the target observation location, including the crown apex and the center point of the root canal orifice, and extract the pixel coordinates of each tooth feature point in the oral cavity observation area image through image analysis; The average brightness value of the central region of the oral cavity observation area image is extracted as the central illuminance of the observation area; Several sampling points outside the central region of the oral cavity observation area image are extracted, and the average brightness of each sampling point is calculated as the edge illumination of the observation area.

[0015] Secondly, the present invention also provides an oral microscope, including a connector, an operating handle, a lens, and a grip handle.

[0016] Compared with existing technologies, this invention determines the initial angle and initial brightness of the microscope based on the target observation position and the mouth opening degree, adjusts the microscope according to the initial angle and initial brightness, determines the mouth display data based on the mouth observation area image, adjusts the microscope according to the deviation of the mouth display data, acquires the mouth opening degree at preset intervals, calculates the opening degree fluctuation value, and adjusts the microscope brightness. This invention more reliably determines the initial angle and initial brightness of the microscope and ensures the stability and clarity of the field of view.

[0017] In particular, this invention determines the initial angle and initial brightness of the microscope based on the target observation position and the degree of oral cavity opening. The target observation position is a fundamental requirement for determining the initial angle and initial brightness of the microscope. Different target observation positions have different observation angles and optical path requirements, and their basic adaptation requirements for microscope angle and brightness are also different. The degree of oral cavity opening will affect the lighting conditions and field of view of the observation area to a certain extent. If the oral cavity opening is small, it will lead to a narrow space in the oral cavity and the optical path will be easily blocked by the soft tissue of the oral cavity, which may result in low brightness in the surgical area of ​​the oral cavity and a limited field of view, thus failing to meet the observation requirements. Therefore, by combining the basic adaptation requirements of the target observation position and the actual influence of the oral cavity opening, compared with determining the initial parameters based on only one of them, it can more comprehensively and accurately adapt to the current scene, thereby more reliably determining the initial angle and initial brightness of the microscope.

[0018] In particular, this invention determines the angle adjustment scheme based on the priority of the rotating arm adjustment and the angle of each group of rotating arm components. When adjusting the microscope angle, the rotating arm closer to the lens has a better adjustment effect. This is because such rotating arms are closest to the microscope body, and their adjustment actions have a more direct and precise impact on the microscope body's observation posture. This allows for rapid and precise correction of the surgical field of view without causing significant disturbance to the overall support structure of the rotating arm. The adjustment efficiency is higher, and the interference with operation is less, better adapting to the stringent requirements of the oral cavity for field of view accuracy. However, if the angle of the rotating arm component is already large, further adjustment may increase the angle further. When the angle is too large, the rigidity of the rotating arm support decreases, which can easily lead to… Uneven force distribution during surgery can cause intraoperative shaking, affecting the stability of the microscope. Reduced adjustment precision leads to decreased sensitivity of joint fine-tuning and increased angular drift. It can also cause the rotating arm to intrude into the optical path or interfere with oral soft tissue, affecting the clarity of image acquisition in the surgical area. Furthermore, it exacerbates wear on the steering shaft joints and shortens the lifespan of the adjustment mechanism. Therefore, prioritizing rotating arm adjustment and then assessing the angle of each rotating arm component before making adjustments can effectively prevent further increases in the angle, ensuring the rotating arm remains in an optimal state of stable force distribution and high-precision adjustment. This improves the microscope's performance, guarantees the stability and clarity of the field of view, and provides reliable support for precise oral procedures.

[0019] In particular, this invention determines whether to adjust the microscope brightness by calculating the mouth opening fluctuation value. During oral procedures, oral muscles are prone to fatigue and tension changes over time, inevitably leading to dynamic fluctuations in the mouth opening. When the mouth opening fluctuation is large, it directly affects the lighting conditions of the oral observation area. Specifically, the fluctuating mouth opening leads to frequent changes in the size of the oral cavity, which in turn causes dynamic changes in the degree to which the microscope's illumination path is blocked by oral soft tissue. This may result in fluctuating brightness in the surgical area, localized low brightness, or uneven illumination. By collecting the mouth opening value and calculating the fluctuation value, the impact of the mouth opening fluctuation on the brightness of the observation area can be determined, and the microscope brightness can be adjusted accordingly. This effectively compensates for the illumination deviation caused by the mouth opening fluctuation, ensuring that the brightness of the observation area is always within the reasonable range required for clear observation, thereby significantly improving the stability and clarity of the field of view. Attached Figure Description

[0020] Figure 1 This is a step diagram of the oral microscope control method according to an embodiment of the invention; Figure 2 This is a schematic diagram of the structure of an oral microscope according to an embodiment of the present invention; In the picture: 1. Connector; 2. Operating handle; 3. Lens; 4. Grip handle. Detailed Implementation

[0021] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0022] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0023] Please see Figure 1 As shown, this embodiment provides a method for controlling an oral microscope, which includes: Step S1: Determine the initial angle and initial brightness of the microscope based on the target observation position and the mouth opening. Step S2: Adjust the microscope according to the initial angle and initial brightness, and determine the oral cavity display data based on the image of the oral cavity observation area; The oral cavity display data includes the pixel coordinates of key feature points at the target observation location, the illuminance at the center of the observation area, and the illuminance at the edge of the observation area. Step S3: Adjust the microscope according to the deviation of the oral cavity display data, obtain the angle of each group of rotating arm components in the microscope, determine the angle adjustment scheme according to the priority of rotating arm adjustment and the angle of each group of rotating arm components, and adjust the brightness of the microscope. Each set of rotating arm assemblies consists of two rotating arms connected by a steering shaft, and the included angle is the included angle between the two rotating arms connected by the same steering shaft; Step S4: Acquire the oral cavity opening degree at preset intervals, calculate the opening degree fluctuation value, and adjust the microscope brightness.

[0024] Specifically, in step S1, the process of determining the initial angle and initial brightness of the microscope based on the target observation position and the mouth opening includes: Obtain the target observation position, which includes the position of the maxillary anterior teeth, the position of the maxillary left posterior teeth, the position of the maxillary right posterior teeth, the position of the mandibular anterior teeth, the position of the mandibular left posterior teeth, and the position of the mandibular right posterior teeth; Acquire oral cavity images and obtain oral cavity opening degree through image analysis. The oral cavity opening degree is the vertical distance between the incisal edges of the upper and lower central incisors. It has a pre-stored database of preset microscope angles and preset microscope brightness corresponding to each target observation position and each oral cavity opening degree; Based on the acquired target observation position and oral cavity opening degree, the corresponding preset microscope angle and preset microscope brightness are matched in the associated database as the initial angle and initial brightness.

[0025] It is understandable that the maxillary anterior teeth position includes the central incisors and lateral incisors, a total of 4 teeth, and the mandibular anterior teeth position includes the central incisors and lateral incisors, a total of 4 teeth. The remaining left teeth of the maxilla belong to the left posterior teeth position of the maxilla, the remaining right teeth of the maxilla belong to the right posterior teeth position of the maxilla, the remaining left teeth of the mandible belong to the left posterior teeth position of the mandible, and the remaining right teeth of the mandible belong to the right posterior teeth position of the mandible.

[0026] In this embodiment, the oral microscope is first placed at a standard working distance from the oral surgical area. The standard working distance is the conventional working distance of a medical oral microscope, which is 15-20 cm. After the position of the oral microscope is fixed, an image of the oral opening is acquired through the high-definition camera of the oral microscope. Subsequently, based on the image of the oral opening, the incisal edge contours of the upper and lower central incisors are extracted using image grayscale and edge detection algorithms. The vertical distance between the incisal edges of the upper and lower central incisors is calculated, which is the oral opening degree.

[0027] In this embodiment, the oral cavity opening is 36mm, and the target observation position is the right posterior tooth of the maxilla. The corresponding preset microscope angles matched in the associated database are a pitch angle of 15° and a deflection angle of 12°, and the preset microscope brightness is 850 lux.

[0028] In this embodiment, a high-definition image of the observation area of ​​the right posterior maxillary tooth is acquired by a high-definition camera of a microscope, transmitted to an image processing unit for analysis, and simultaneously transmitted to a display screen for real-time display.

[0029] Determine the oral cavity display data: The oral cavity display data includes the pixel coordinates of key feature points at the target observation location, the illuminance at the center of the observation area, and the illuminance at the edge of the observation area. The specific acquisition process is as follows: Extracting the pixel coordinates of key feature points at the target observation location: Obtaining the tooth feature points corresponding to the target observed tooth (the first molar on the right side of the maxilla in this embodiment), including the crown vertex and the center point of the root canal orifice. Through image edge extraction and feature matching algorithms, the pixel coordinates of the above two feature points in the oral cavity observation area image are extracted. After detection, the pixel coordinates of the crown vertex are (325, 248), and the pixel coordinates of the center point of the root canal orifice are (332, 276).

[0030] Calculate the central illuminance of the observation area: Extract the brightness values ​​of all pixels in the central region of the oral cavity observation area image (a square area with a side length of 50 pixels centered on the center point of the root canal orifice) through image analysis, calculate its average value as the central illuminance of the observation area. The calculated central illuminance of the observation area is 832 lux.

[0031] Calculate the edge illumination of the observation area: Extract 8 uniformly distributed sampling points outside the center area of ​​the oral cavity observation area image, calculate the average brightness of the 8 sampling points as the edge illumination of the observation area. The calculated edge illumination of the observation area is 768 lux.

[0032] Specifically, in step S3, the microscope is adjusted according to the deviation of the oral cavity display data, wherein the oral cavity display data is compared with preset standard oral cavity data to obtain the deviation of the oral cavity display data; If the deviation of the oral cavity display data is greater than the preset deviation, the microscope will be adjusted.

[0033] In this embodiment, the preset coordinates of the center of the oral cavity observation area image are (960, 540) (adapted to an image resolution of 1920×1080), the preset coordinate deviation threshold is 20 pixels (i.e., the straight-line distance between the pixel coordinates of the key feature point and the coordinates of the image center is ≤20 pixels to meet the standard); the preset illuminance deviation of the center of the observation area is 30 lux; and the preset illuminance deviation of the edge of the observation area is 40 lux.

[0034] Coordinate deviation: The deviation distance between the pixel coordinates of key feature points at the target observation location and the image center is calculated using the Euclidean distance formula. In this embodiment, the deviation distance of the crown apex (325, 248) is approximately 712 pixels, and the deviation distance of the root canal orifice center point (332, 276) is approximately 689 pixels, both greater than the preset coordinate deviation threshold of 20 pixels. The center illumination deviation is |832-850|=18 lux, less than the preset center illumination deviation of 30 lux for the observation area. The edge illumination deviation is |768-780|=12 lux, less than the preset edge illumination deviation of 40 lux for the observation area. Since the deviation of the oral cavity display data is greater than the preset deviation, the microscope is adjusted.

[0035] Specifically, in step S3, the priority of the rotating arm adjustment decreases as the distance from the rotating arm to the lens increases.

[0036] For a better understanding of boom adjustment technology, please refer to [link / reference]. Figure 2 As shown, the dental microscope of this embodiment will be described in the following structural and operational description: The dental microscope includes a connector 1, an operating handle 2, a lens 3, and a grip handle 4. The connector 1 of the working dental microscope is connected to four sets of rotating arm assemblies (not shown in the figure) on a support. The four sets of rotating arm assemblies, in order from end to proximal, are assembly A (closest to the connector), assembly B, assembly C, and assembly D (closest to the base). Assembly A consists of rotating arms A and B; assembly B consists of rotating arms B and C; assembly C consists of rotating arms C and D; and assembly D consists of rotating arms D and F. Therefore, the priority of arm adjustment is: rotating arm A > rotating arm B > rotating arm C > rotating arm D > rotating arm E. Each arm can rotate in different directions relative to adjacent arms. The arm design and working principle are existing technology and will not be described in detail. In this embodiment, the lighting configuration uses a high-reliability medical-grade LED light source built into the lens, with continuously adjustable brightness; minimum illuminance on the object surface (f=250mm): >50.000k; illumination spot diameter: >100mm; illumination color temperature: 5000K-5700K, stepless dimming; color filter lamp: three or more filter modes: orange, to prevent premature curing of resin materials; green, to enable clear visualization of tiny blood vessels and nerves in a surgical blood environment; white, for illumination.

[0037] Specifically, in step S3, the process of determining the angle adjustment scheme based on the adjustment priority of the swing arm and the angle of each group of swing arm components includes: The angle of each group of swing arm components is obtained sequentially according to the swing arm adjustment priority; Compare the angle of each swing arm assembly with the preset angle until there is a swing arm assembly whose angle is less than the preset angle. Obtain the adjustment priority of the arm with the highest adjustment priority in the arm assembly; Adjust the swing arm to meet the adjustment conditions; The adjustment condition is that the adjustment priority of the swing arm is greater than or equal to the adjustment priority of the swing arm assembly with the higher adjustment priority.

[0038] In this embodiment, the real-time angles of the four swing arm assemblies are obtained by angle sensors. The angles of assemblies A, B, C, and D are 38°, 49°, 58°, and 42°, respectively.

[0039] The preset angle is 80° to avoid the angle between two rotating arms connected to the same steering axis exceeding 90°. This is understandable because when the angle exceeds 90°, the rigidity of the rotating arm support decreases, and uneven force distribution can easily occur, leading to slight shaking during surgery and affecting the stability of the endoscope. Adjustment precision also decreases; when the angle exceeds 90°, the fine-tuning sensitivity of the rotating arm joint decreases, making it difficult to accurately correct the endoscope angle, and angle drift is prone to occur during adjustment. Furthermore, it can easily obstruct the light path; when the angle is too large, the rotating arm segment can easily intrude into the microscope's observation light path or interfere with oral soft tissue, affecting the clarity of image acquisition in the surgical area. Finally, it shortens the lifespan of the rotating arm; prolonged exposure to angles greater than 90° increases wear on the steering axis joint, reducing the overall stability and lifespan of the adjustment mechanism.

[0040] In this embodiment, the angle of each group of swing arm components is compared with a preset angle. The following checks are performed sequentially: If the angle of component A (38°) is less than the preset angle, indicating that the angle of a swing arm component is less than the preset angle, the comparison of subsequent components stops. In this case, the swing arm with the higher adjustment priority in component A is swing arm A, and only swing arm A is adjusted. Alternatively, if the angle of component A is greater than or equal to the preset angle, the angle of component B is compared with the preset angle. If the angle of component B is less than the preset angle, the swing arm with the higher adjustment priority in component B is swing arm B, and both swing arms A and B are adjusted.

[0041] Specifically, in step S4, several oral cavity opening degree values ​​are obtained, and the opening degree fluctuation value is calculated according to the standard deviation formula.

[0042] In this embodiment, the preset duration is set to 1 minute, and the mouth opening fluctuation value is calculated by continuously acquiring 6 oral opening width values.

[0043] Specifically, in step S4, if the aperture fluctuation value is greater than the preset fluctuation value, the microscope brightness is adjusted.

[0044] In this embodiment, the preset fluctuation value is 1.5mm. The normal range of the opening size for adults is 37-45mm. During the operation, the opening size is affected by muscle tension, breathing, etc., which will produce slight physiological fluctuations (the normal clinical fluctuation range is 0.5-1.2mm). The preset value of 1.5mm can cover these slight physiological fluctuations, avoid unnecessary brightness adjustments triggered by small fluctuations, and reduce the interference of frequent movements of the adjustment mechanism on the operation.

[0045] If the fluctuation value exceeds 1.5mm, it indicates that the aperture fluctuation has exceeded the physiological range, which will cause changes in the area of ​​light path obstruction in the observation area and significant fluctuations in brightness, thus triggering brightness adjustment.

[0046] Specifically, in step S4, the microscope brightness is adjusted according to the aperture fluctuation value, wherein the aperture fluctuation value is positively correlated with the amount of microscope brightness adjustment.

[0047] In this embodiment, the microscope brightness adjustment amount is equal to the aperture fluctuation value × 50 lux / mm, ensuring that the brightness of the observation area always meets the requirements for clear observation when the aperture fluctuates.

[0048] In this embodiment, the specific method of curing is not limited. It can be thermosetting, which is existing technology and will not be described further.

[0049] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for controlling an oral microscope, characterized in that, include: Step S1: Determine the initial angle and initial brightness of the microscope based on the target observation position and the mouth opening. Step S2: Adjust the microscope according to the initial angle and initial brightness, and determine the oral cavity display data based on the image of the oral cavity observation area; The oral cavity display data includes the pixel coordinates of key feature points at the target observation location, the illuminance at the center of the observation area, and the illuminance at the edge of the observation area. Step S3: Adjust the microscope according to the deviation of the oral cavity display data, obtain the angle of each group of rotating arm components in the microscope, determine the angle adjustment scheme according to the priority of rotating arm adjustment and the angle of each group of rotating arm components, and adjust the brightness of the microscope. Each set of rotating arm assemblies consists of two rotating arms connected by a steering shaft, and the included angle is the included angle between the two rotating arms connected by the same steering shaft; Step S4: Acquire the oral cavity opening degree at preset intervals, calculate the opening degree fluctuation value, and adjust the microscope brightness.

2. The method for controlling an oral microscope according to claim 1, characterized in that, In step S1, the process of determining the initial angle and initial brightness of the microscope based on the target observation position and the mouth opening includes: Obtain the target observation position, which includes the position of the maxillary anterior teeth, the position of the maxillary left posterior teeth, the position of the maxillary right posterior teeth, the position of the mandibular anterior teeth, the position of the mandibular left posterior teeth, and the position of the mandibular right posterior teeth; Acquire oral cavity images and obtain oral cavity opening degree through image analysis. The oral cavity opening degree is the vertical distance between the incisal edges of the upper and lower central incisors. It has a pre-stored database of preset microscope angles and preset microscope brightness corresponding to each target observation position and each oral cavity opening degree; Based on the acquired target observation position and oral cavity opening degree, the corresponding preset microscope angle and preset microscope brightness are matched in the associated database as the initial angle and initial brightness.

3. The method for controlling an oral microscope according to claim 1, characterized in that, In step S3, the microscope is adjusted according to the deviation of the oral cavity display data. Specifically, the oral cavity display data is compared with preset standard oral cavity data to obtain the deviation of the oral cavity display data. If the deviation of the oral cavity display data is greater than the preset deviation, the microscope will be adjusted.

4. The method for controlling an oral microscope according to claim 1, characterized in that, In step S3, the priority of the rotating arm adjustment decreases as the distance from the rotating arm to the lens increases.

5. The method for controlling an oral microscope according to claim 1, characterized in that, In step S3, the process of determining the angle adjustment scheme based on the adjustment priority of the swing arm and the angle of each swing arm assembly includes the following steps: The angle of each group of swing arm components is obtained sequentially according to the swing arm adjustment priority; Compare the angle of each swing arm assembly with the preset angle until there is a swing arm assembly whose angle is less than the preset angle. Obtain the adjustment priority of the arm with the highest adjustment priority in the arm assembly; Adjust the swing arm to meet the adjustment conditions; The adjustment condition is that the adjustment priority of the swing arm is greater than or equal to the adjustment priority of the swing arm assembly with the higher adjustment priority.

6. The method for controlling an oral microscope according to claim 1, characterized in that, In step S4, several oral cavity opening degree values ​​are obtained, and the opening degree fluctuation value is calculated according to the standard deviation formula.

7. The method for controlling an oral microscope according to claim 6, characterized in that, In step S4, if the aperture fluctuation value is greater than the preset fluctuation value, the microscope brightness is adjusted.

8. The method for controlling an oral microscope according to claim 7, characterized in that, In step S4, the microscope brightness is adjusted according to the aperture fluctuation value, wherein the aperture fluctuation value is positively correlated with the amount of microscope brightness adjustment.

9. The method for controlling an oral microscope according to claim 1, characterized in that, In step S2, the process of acquiring the oral cavity display data includes, Select tooth feature points corresponding to the target observation location, including the crown apex and the center point of the root canal orifice, and extract the pixel coordinates of each tooth feature point in the oral cavity observation area image through image analysis; The average brightness value of the central region of the oral cavity observation area image is extracted as the central illuminance of the observation area; Several sampling points outside the central region of the oral cavity observation area image are extracted, and the average brightness of each sampling point is calculated as the edge illumination of the observation area.

10. An oral microscope applied to the oral microscope control method according to any one of claims 1-9, characterized in that, It includes a connector, operating handle, lens, and grip handle.

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