Intelligent tooth extraction elevator with ranging and lighting functions

Abstract

This invention relates to the field of dental extraction instruments, specifically to an intelligent dental extraction elevator with ranging and lighting functions. The intelligent dental extraction elevator includes a thrust load monitoring module, a depth risk identification module, a light spot deviation determination module, a feedback intensity control module, and an elevator blade path guidance module. In this invention, the operational state is determined by dynamically identifying the insertion force fluctuation trend. Spatial orientation features are extracted by combining continuous change sequences in the ranging direction. The location of light obstruction is indicated by comparing the differences and trends in illumination in multiple directions. The consistency of the relationship between the thrust angle and the feedback direction is analyzed, establishing an orientation linkage logic for light deviation. Vibration frequency, lighting direction, and thrust trajectory in the feedback path are extracted and compared collaboratively to match the current operating channel and path change state. An angle correction guidance command is output, enhancing the stability of path adjustment, the continuity of direction perception, and the ability to identify obstructed areas, thereby improving the coordination of the operation process and the level of orientation recognition.

Description

Technical Field

[0001] This invention relates to the field of tooth extraction instruments, and in particular to an intelligent tooth extraction elevator with distance measurement and lighting functions. Background Technology

[0002] The field of tooth extraction instruments falls under the category of oral surgical instruments, primarily encompassing handheld tools used for tooth mobilization and removal during the extraction of diseased or impacted teeth. Key aspects include the shape of the extraction blade, the structure of the extraction rod, the gripping method of the extraction handle, and its compatibility with periodontal tissues. The technique typically involves wedging the instrument into the periodontal space and applying rotation or leverage to achieve tooth mobilization. Accurate control of the blade's insertion angle, depth, and direction is crucial to avoid damage to adjacent teeth or the inferior alveolar nerve canal. Illumination is also essential to ensure surgical field visibility. Therefore, the characteristics of this technical field include structural dimension design, manual operation coordination, and the construction of surgical visualization aids. Traditional tooth extraction elevators refer to those using medical... Made of stainless steel, with a wedge-shaped or chisel-shaped blade, this surgical instrument loosens teeth by leveraging the handle through the operator's grip. Technical aspects include judging the distance between the blade and adjacent teeth or nerve canals, and controlling the insertion depth and direction to reduce surgical complications. Traditionally, doctors rely on visual observation of periodontal anatomy and tactile feedback to estimate distance relationships. During the procedure, a head-mounted surgical field lamp provides illumination. However, due to the limited illumination angle, this lamp often provides insufficient illumination in areas such as the mandibular third molar and frequently creates shadows. Traditional extraction elevators do not have sensors for sensing tissue distance or light-emitting components for intraoperative illumination, nor do they have instrument response devices that generate status prompts through specific numerical settings.

[0003] Existing technologies lack real-time recording and trend recognition of the insertion force changes during operation, making it impossible to make data-driven judgments on the operation rhythm and status. During advancement, it is difficult to distinguish the force patterns of different advancement segments, resulting in insufficient feedback on the operation behavior. In terms of surgical field illumination, the irradiation path is singular and easily obstructed, and there is a lack of dynamic analysis methods for illuminance distribution. In environments with multi-directional tissue interference, it is difficult to identify the direction of obstruction. The motor excitation does not establish a feedback intensity response relationship that matches the operation status, nor is there an angle comparison mechanism for the advancement path, which cannot provide accurate path correction assistance, thus affecting the continuity of positioning operations and the stability of directional control. Summary of the Invention

[0004] To address the technical problems existing in the prior art, embodiments of the present invention provide an intelligent tooth extraction elevator with distance measurement and lighting functions.

[0005] On the one hand, a smart tooth extraction elevator with ranging and lighting functions is provided, which includes: The propulsion load monitoring module acquires the pressure changes fed back by the finger gripping part during the propulsion process of the cutting edge, reads the range of the insertion force change within the operation time, filters the numerical trend when the propulsion direction remains unchanged, and obtains the propulsion dynamic monitoring mark. The deep-range risk identification module, based on the propulsion dynamic monitoring marker, calls the ultrasonic ranging data of the left and right sides within the corresponding time period, arranges the directional data in chronological order, extracts the data sequence with consistent change direction, and obtains the ranging directional data result. Based on the ranging direction data results, the spot offset determination module reads the LED illuminance sampling data set in the circumferential lighting direction of the blade, compares the brightness difference amplitude in the symmetrical direction, and obtains the light obstruction direction prompt information. Based on the light obstruction direction prompt information, the feedback intensity control module extracts the current motor vibration control parameters and the blade advance angle, determines whether the angle is within the preset response angle range, and obtains the joint feedback forced guidance state; Based on the combined feedback forced guidance state, the blade-mounting path guidance module extracts the LED direction, vibration frequency and blade-mounting direction in the feedback path, compares the position information, matches the continuous channel of the propulsion direction, and obtains the blade-mounting angle correction guidance command.

[0006] As a further aspect of the present invention, the propulsion dynamic monitoring marker includes pressure change trend judgment results, insertion force sequence change amplitude, and continuous fluctuation state indication; the ranging direction data results include left and right side ranging change direction sequence, direction continuity identification information, and compared ranging trend characteristics; the light obstruction direction prompt information includes symmetrical area illuminance difference direction, continuous illuminance change direction, and illuminance and propulsion direction consistency judgment; the joint feedback forced guidance state includes angle position comparison results, motor excitation control response state, and vibration amplitude improvement information; and the cutting edge angle correction guidance command includes LED indication direction, motor vibration frequency parameters, and propulsion direction adjustment command.

[0007] As a further aspect of the present invention, the insertion force refers to the continuous pressure input quantity that is applied by the operator and collected by the force sensor during the thrusting process, reflecting the thrust force state; The difference in brightness in the symmetrical direction refers to the degree of difference in illuminance values ​​between symmetrically arranged lighting directions due to changes in occlusion and reflection.

[0008] As a further aspect of the present invention, the preset response angle range refers to the preset angle range of the angle between the propulsion direction and the illumination direction used to determine whether feedback control is activated; The continuous propulsion channel refers to the motion path segment in which the direction changes during propulsion remain continuous and consistent, and match the direction of feedback guidance.

[0009] As a further aspect of the present invention, the propulsion load monitoring module includes: The data stream receiving submodule acquires continuous pressure change data fed back by force sensors arranged on the finger gripping part, distinguishes the pressure value sequence of different channels according to the sensor number, aligns the sampling timestamps with the sequence, and obtains a unified sampling pressure sequence matrix; The numerical interval extraction submodule, based on the unified sampling pressure sequence matrix, calls the operation interval time period marked in the channel, extracts the pressure value endpoints within adjacent time periods, extracts the change data of the channel time period, and obtains the set of channel interval changes. The trend determination submodule, based on the set of changes in the channel interval, calls the consecutive time period numbers under the condition of maintaining a consistent advance direction, compares the change data sequence corresponding to the number, analyzes whether the sign of the pressure change and the change trend are consistent in adjacent time periods, and obtains the advance dynamic monitoring mark.

[0010] As a further aspect of the present invention, the deep-range risk identification module includes: The tag index access submodule locates the corresponding time interval during the propulsion process based on the propulsion dynamic monitoring tag, obtains the left and right distance measurement values ​​collected by the ultrasonic ranging device within the time interval, and connects the left and right directions according to the time tag to obtain the left and right channel distance measurement time sequence. The ranging sequence extraction submodule calls the left and right channel ranging time series, compares the adjacent ranging values ​​in the channel point by point, judges the changing trend of the ranging value and the previous ranging value, and writes the changing trend in the time period into the corresponding channel sequence according to the time sequence to obtain the left and right ranging change direction sequence. The direction sequence comparison submodule analyzes the correlation between the increase and decrease trends of left and right direction values ​​within the same time period based on the left and right distance measurement change direction sequence, selects continuous time segments with consistent change directions, extracts the distance measurement value information within the corresponding time segments, and obtains the distance measurement direction data results.

[0011] As a further aspect of the present invention, the spot offset determination module includes: The ranging result access submodule, based on the ranging direction data result, locates the time interval corresponding to the advancement process, collects the illuminance sampling data of the LED six-directional lighting sub-region within the time interval, distinguishes the illuminance values ​​of the lighting direction according to the left and right symmetrical regions, and obtains the illuminance time sequence of the symmetrical region. The illuminance direction extraction submodule calls the illuminance time series of the symmetrical region, compares the illuminance values ​​of the symmetrical direction, determines the direction of the illuminance difference at the same sampling time, analyzes the continuity of the change in the direction within two adjacent sampling periods, and obtains the illuminance change direction sequence. The direction consistency determination submodule obtains the current propulsion direction parameters of the cutting edge based on the illuminance change direction sequence, analyzes the pointing relationship of the direction parameters within the same time period, determines the pointing relationship status between the illuminance change direction and the propulsion direction, and obtains light obstruction direction prompt information.

[0012] As a further aspect of the present invention, the feedback intensity control module includes: The direction angle extraction submodule obtains the vibration drive parameters in the current motor excitation control parameters based on the light obstruction direction prompt information, extracts the spatial angle data corresponding to the blade propulsion direction and the light direction, and obtains the light propulsion angle based on the angle value between the coordinate axis direction projection analysis directions. The angle position comparison submodule calls the illumination propulsion angle, compares the numerical positional relationship between the current angle and the preset response angle range, determines whether the current angle is within the preset angle range, and analyzes the corresponding state within the preset range to obtain the response angle state identifier. The vibration amplitude adjustment submodule reads the current motor vibration control parameters based on the response angle status identifier, increases the amplitude of the current motor vibration output signal, and obtains a joint feedback forced guidance state.

[0013] As a further aspect of the present invention, during the process of the light propulsion angle direction approaching the blade propulsion direction: the current motor vibration control parameters are read, the effect of the drive current is changed, and the output amplitude of the vibration signal is subsequently enhanced. As the direction of the light propulsion angle approaches the direction of the light: the output process of the vibration signal is extended by prolonging the duration of the driving current; During the process of increasing the amplitude of the current vibration output signal of the motor: the duty cycle of the drive current is changed, the signal vibration intensity increases, and a joint feedback forced guidance state is formed.

[0014] As a further aspect of the present invention, the blade path guiding module includes: Based on the joint feedback forced guidance state, the feedback channel extraction submodule extracts the output instruction content of the current time period in the feedback path, collects the parameter values ​​of LED indication direction, motor vibration frequency and cutting edge propulsion direction, and obtains channel direction change data according to the data corresponding to the time point. The direction channel discrimination submodule calls the channel direction change data, selects the data item corresponding to the time point in the continuous segment of the propulsion direction, performs direction matching with the parameter value of the feedback direction, extracts the data segment information with the same direction, and obtains the propulsion feedback channel matching data. Based on the propulsion feedback channel matching data, the guidance command output submodule calls the steering prompt output interface controller, merges the propulsion direction association information with the current control path status and writes it into the interface control field, pushes the instruction content in the interface output area, and obtains the cutting edge angle correction guidance instruction.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, the operational status is determined by dynamically identifying the fluctuation trend of the insertion force. Spatial orientation features are extracted by combining the continuous change sequence in the ranging direction. The location of the light obstruction is indicated by comparing the differences and trends of illumination in multiple directions. The consistency of the relationship between the propulsion angle and the feedback direction is analyzed, and the orientation linkage logic of the light offset is established. The vibration frequency, illumination direction and propulsion trajectory in the feedback path are extracted and compared collaboratively to match the current operation channel and path change status. An angle correction guidance command is output to enhance the stability of path adjustment, the continuity of direction perception and the ability to identify obstructed areas, and improve the response coordination and orientation recognition level of the operation process. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a system flowchart of the present invention; Figure 2 This is a system block diagram of the present invention; Figure 3 This is a flowchart of the propulsion load monitoring module in this invention; Figure 4 This is a flowchart of the deep risk identification module in this invention; Figure 5 This is a flowchart of the spot offset determination module in this invention; Figure 6 This is a flowchart of the feedback intensity control module in this invention; Figure 7 This is a flowchart of the blade path guidance module in this invention. Detailed Implementation

[0018] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0019] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0020] This invention provides an intelligent tooth extraction elevator with distance measurement and illumination functions, such as... Figure 1-2 The diagram shown illustrates a smart tooth extraction elevator with ranging and lighting functions. This smart tooth extraction elevator includes: The propulsion load monitoring module acquires the continuous pressure changes fed back by the force sensor of the finger grip during the propulsion of the cutting edge, reads the range of numerical changes in each operation interval in the insertion force sequence, compares multiple time periods under the condition of maintaining the same propulsion direction, determines whether the insertion force in each segment fluctuates upward continuously, and obtains the propulsion dynamic monitoring mark. The depth risk identification module is based on the propulsion dynamic monitoring mark. It calls the left and right side distance measurement data of the ultrasonic ranging device during the corresponding time period during the propulsion process, arranges the distance measurement data of the two directions in chronological order, extracts the direction of change of adjacent distance measurement points in each group, compares the sequence of change of the two directions, extracts the data of continuous distribution of the direction, and obtains the distance measurement direction data result. The spot offset determination module reads the illuminance sampling data of the six-directional LED lighting sub-area based on the ranging direction data results, compares the illuminance values ​​of each pair of directions in the symmetrical area, extracts the direction of the difference in illuminance values, analyzes the continuous change of illuminance records in the previous two sampling cycles, extracts the current propulsion direction parameters of the cutting edge, analyzes the consistency of direction based on the illuminance change direction, and obtains the light obstruction direction prompt information. Based on the light obstruction direction prompt information, the feedback intensity control module reads the current motor excitation control parameters, extracts the angle data between the blade propulsion direction and the light direction, compares the angle with the preset response angle range, analyzes whether the angle is within the response range, increases the amplitude of the current motor vibration output state, and obtains the joint feedback forced guidance state. The blade-mounted path guidance module, based on the joint feedback forced guidance state, extracts the output instruction content in the current feedback path, calls the LED direction indicator, motor vibration frequency and blade-mounted propulsion direction information, analyzes the changes in the current time period, checks whether the continuous segment of the propulsion direction is in the same channel as the feedback direction, calls the steering prompt output interface controller to push the propulsion direction guidance command on the operation interface, and obtains the blade angle correction guidance instruction.

[0021] The dynamic monitoring indicators include pressure change trend judgment results, insertion force sequence change amplitude, and continuous fluctuation status indication; the ranging direction data results include left and right ranging change direction sequence, direction continuity identification information, and compared ranging trend characteristics; the light obstruction direction prompt information includes symmetrical area illuminance difference direction, continuous illuminance change direction, and illuminance and propulsion direction consistency judgment; the joint feedback forced guidance status includes angle position comparison results, motor excitation control response status, and vibration amplitude increase information; and the cutting edge angle correction guidance instructions include LED indication direction, motor vibration frequency parameters, and propulsion direction adjustment commands.

[0022] Specifically, such as Figure 2 , 3 As shown, the propulsion load monitoring module includes: The data stream receiving submodule acquires continuous pressure change data fed back by force sensors arranged on the finger gripping part, distinguishes the pressure value sequence of different channels according to the sensor number, aligns the sampling timestamps with the sequence, and obtains a unified sampling pressure sequence matrix; First, the electrical signals from a flexible thin-film force sensor array deployed at the finger gripping area of ​​the surgical instrument are retrieved in real time via a high-frequency communication interface. These sensors continuously monitor the operator's gripping force during the advancement process at a frequency of 1000 Hz and perform signal conversion, inputting the time-varying analog voltage signal generated by the sensors to an analog-to-digital converter, quantizing it into 12-bit pressure amplitude data, thus forming an initial pressure feedback data stream. Subsequently, the process executes sensor hardware encoding verification logic, identifying the specific sensing unit from the thumb side, index finger side, or web side of the data based on the hardware identification tag carried by each sampling point, thereby dividing the chaotic data stream into a differentiated channel pressure value sequence with physical location attributes. In the sequence alignment stage, the process acquires the master timing frequency, using the first valid data point of the first channel as the reference time zero point, and uses linear interpolation compensation to shift the time axis of other channel data points with microsecond-level transmission delays, ensuring that the pressure state of all channels at the same sampling time can be vertically aligned, ultimately obtaining a unified sampling pressure sequence matrix.

[0023] The numerical interval extraction submodule is based on a unified sampling pressure sequence matrix. It calls the operation interval time period marked in the channel, extracts the pressure value endpoints in adjacent time periods, extracts the change data of the channel time period, and obtains the set of channel interval changes. First, by retrieving the timestamp column of the matrix, the start and end boundaries of each time interval are precisely located, and the pressure values ​​at the corresponding boundary points are extracted from the pressure value column. In the specific calculation, if the pressure value of the first channel is 2.5 Newtons at the start point of 100 milliseconds and 3.8 Newtons at the end point of 900 milliseconds, the process performs interval subtraction, subtracting the start point pressure value from the end point pressure value, resulting in an absolute increase in pressure change of 1.3 Newtons within that time interval. Subsequently, the same operation is performed on the next adjacent time interval. For example, if the pressure value changes from 3.8 Newtons to 5.2 Newtons within the 900-1700 millisecond interval, the increase is 1.4 Newtons. This process performs such iterative calculations on all adjacent time intervals of all channels, normalizing the change amplitude, start pressure point, end pressure point, and time span for each channel within each time segment, resulting in a set of channel interval changes.

[0024] The trend determination submodule is based on the set of channel interval changes. It calls the number of consecutive time periods under the condition that the direction of advancement is consistent, compares the change data sequence corresponding to the number, and analyzes whether the sign of the pressure change and the trend of change are consistent in adjacent time periods to obtain the advancement dynamic monitoring mark. First, pressure change data for each time period in the numbered sequence is retrieved one by one. The pressure increment of the current period is compared to ensure it remains positive. A trend continuity judgment coefficient is introduced, calculated by dividing the number of windows with pressure increases by the total number of observation windows. For example, if the pressure endpoints of six observation windows show an upward trend, the judgment coefficient is 1.0. This coefficient is then compared with a preset stable propulsion threshold of 0.85. Since 1.0 is greater than 0.85, the pressure change direction of the sequence in adjacent time periods is determined to be continuously upward. This multi-time-window sliding window comparison effectively filters out short pressure pulses caused by finger muscle tremors, confirming that the operator is performing effective controlled propulsion and obtaining a propulsion dynamic monitoring marker.

[0025] Specifically, such as Figure 2 , 4 As shown, the deep risk identification module includes: The tag index access submodule is based on the dynamic monitoring tag of the propulsion process. It locates the corresponding time interval during the propulsion process, obtains the left and right distance measurement values ​​collected by the ultrasonic ranging device within the time interval, and connects the left and right directions according to the time tag to obtain the distance measurement time sequence of the left and right channels. First, the raw distance values ​​for the left and right sides collected within the specific time period are retrieved from the memory buffer of the ultrasonic ranging module. Due to the symmetrical spatial arrangement of the left and right ultrasonic probes and the independent time sampling sequences of the data streams, this process performs a time-stamp alignment operation. Following the order of the time scale, the distance values ​​returned by the left probe at each sampling point are concatenated end-to-end. The same logic is applied to the right probe, ensuring complete consistency between the two data streams on the time axis. For example, the left sequence might show 12.5 mm at 5500 ms and 12.6 mm at 5510 ms. This linear resampling arrangement eliminates the spatial judgment bias caused by asynchronous sampling, resulting in the left and right channel distance measurement time sequences.

[0026] The ranging sequence extraction submodule calls the ranging time series of the left and right channels, compares the adjacent ranging values ​​in the channel point by point, judges the trend of the change of the ranging value and the previous ranging value, and writes the trend of change within the time period into the corresponding channel sequence according to the time sequence to obtain the left and right ranging change direction sequence. First, the distance measurement value at the current moment is extracted and subtracted from the value at the previous moment. If the difference is positive, the direction at that moment is determined to be increasing; if the difference is negative, the direction is determined to be decreasing. Taking the left channel as an example, if the values ​​of three consecutive points are 12.0 mm, 12.2 mm, and 12.1 mm, the direction identified by this process is increasing and decreasing, respectively. This process converts the logical judgment result into a digital direction identifier, which is then written into the corresponding channel state array in chronological order. By iteratively judging hundreds of sampling points within the selected time period, this process can transform continuous distance fluctuation characteristics into discrete direction state chains, ultimately obtaining a sequence of left and right distance measurement change directions.

[0027] The direction sequence comparison submodule analyzes the correlation between the increase and decrease trends of left and right direction values ​​within the same time period based on the left and right distance measurement change direction sequence, selects continuous time segments with consistent change directions, and extracts the distance measurement value information within the corresponding time segments to obtain the distance measurement direction data results. First, continuous time segments with completely consistent left-right direction changes are identified and extracted. For example, during the period from 200 ms to 450 ms, both the left and right distance measurement directions increase. This consistency usually indicates that the cutting edge is entering a widened lumen region or has undergone an overall positional shift, rather than a simple lateral oscillation. After locking these consistent segments, the process performs a data resampling operation, extracting the absolute distance measurement values ​​within each segment from the original distance measurement sequence. For example, extracting the specific numerical pairs of changes from 12.5 mm to 13.8 mm on the left and from 11.0 mm to 12.3 mm on the right. This process, through logical filtering of the change direction, eliminates interference data caused by the inverse relationship of the cutting edge oscillation, retaining only the distance changes reflecting the actual path environment characteristics, thus obtaining the distance direction data results.

[0028] Specifically, such as Figure 2 , 5 As shown, the spot offset determination module includes: The ranging result access submodule, based on the ranging direction data, locates the time interval corresponding to the advancement process, collects illuminance sampling data of the LED six-directional lighting sub-region within the time interval, distinguishes the illuminance values ​​of the lighting direction according to the left and right symmetrical regions, and obtains the illuminance time series of the symmetrical region. First, raw illuminance sampling data of the six-directional LED lighting sub-region is collected. Then, the corresponding continuous time period numbers, maintained in a consistent propulsion direction, are called. The change data sequences corresponding to these numbers are compared and analyzed to determine whether the sign and trend of pressure changes within adjacent time periods meet preset consistency criteria. If the criteria are met, a propulsion dynamic monitoring mark is generated. Based on this, illuminance sampling data corresponding to multi-directional lighting units distributed at different orientations and angles around the cutting edge are collected. According to the spatial symmetry relative to the propulsion direction, the lighting directions in the left and right mirror positions are paired into symmetrical lighting groups. The illuminance values ​​of each pair of symmetrical directions are analyzed for differences. During the symmetrical grouping process, the forward and backward lighting directions along the propulsion axis are processed independently and not included in the left-right symmetry calculation to avoid interference from the forward and backward directions on the left-right illuminance difference judgment. Finally, the illuminance time series of the symmetrical region is obtained.

[0029] The illuminance direction extraction submodule calls the illuminance time series of the symmetrical region, compares the illuminance values ​​of the symmetrical direction, determines the direction of the illuminance difference at the same sampling time, analyzes the continuity of the change in direction in two adjacent sampling periods, and obtains the illuminance change direction sequence. First, the absolute value of the difference between the illuminance values ​​on the left and right sides at the same sampling time is calculated, and the directionality of the difference is determined, i.e., which side shows a significant decrease or increase in illuminance. If the illuminance on the left side is consistently higher than that on the right side, and the difference exceeds a preset significance threshold, the process determines that the light direction at the current moment is biased to the left. Subsequently, the process performs a cross-cycle continuity analysis, comparing whether the direction remains constant in two adjacent sampling cycles. For example, if the direction of the illuminance difference does not flip in the previous 10-millisecond cycle and the current 10-millisecond cycle, then the direction is recorded as a stable direction. By superimposing the direction logic of several sampling points within a continuous time period, this process transforms the real-time light and shadow contrast relationship into a sequence of direction vectors, ultimately obtaining a sequence of illuminance change directions.

[0030] The direction consistency determination submodule obtains the current propulsion direction parameters of the cutting edge based on the illuminance change direction sequence, analyzes the pointing relationship of the direction parameters within the same time period, determines the pointing relationship status between the illuminance change direction and the propulsion direction, and obtains the light obstruction direction prompt information. First, the direction of the propulsion direction parameter on the horizontal projection plane is compared with the direction of the illumination change sequence to determine their overlap. The judgment logic analyzes the directional relationship of the direction parameters within the same time period. If the propulsion direction vector deflects to the right, and the illumination sequence shows a significant drop in illumination on the right (representing obstruction), then the directional relationship is considered consistent, but there is a risk of conflict. To quantify this relationship, the process calculates the cosine similarity between the propulsion vector and the obstructed vector, i.e., the dot product of the two vectors divided by their magnitude product. If the similarity value is greater than 0.85, then they are considered to be highly overlapping. Through this cross-validation of kinematic and optical data, it is confirmed that the current propulsion trajectory is in the direction of illumination obstruction, thus obtaining illumination obstruction direction indication information.

[0031] Specifically, such as Figure 2 , 6 As shown, the feedback intensity control module includes: The direction and angle extraction submodule obtains the vibration drive parameters in the current motor excitation control parameters based on the light obstruction direction prompt information, extracts the spatial angle data corresponding to the blade propulsion direction and the light direction, and obtains the light propulsion angle by analyzing the angle between the directions based on the coordinate axis direction projection analysis. First, the actual propulsion direction vector and the light obstruction direction vector of the cutting edge are extracted, and these two vectors are mapped to the local coordinate system of the cutting edge. In the specific calculation, this process calculates the component values ​​of the propulsion direction vector on the transverse axis and the component values ​​of the light obstruction direction on the same axis based on coordinate axis projection analysis. Then, this process uses inverse trigonometric functions to calculate the angle between these two three-dimensional spatial vectors, that is, taking the inverse cosine of the ratio of the dot product of the two vectors to the product of their magnitudes. For example, when the spatial projection components of the propulsion vector and the obstruction vector differ significantly, the calculated angle is 75 degrees. Through precise projection of spatial geometric relationships and angle derivation, the originally abstract directional conflict is transformed into a quantifiable degree parameter, ultimately yielding the light propulsion angle.

[0032] The angle position comparison submodule calls the illumination propulsion angle, compares the numerical positional relationship between the current angle and the preset response angle range, determines whether the current angle is within the preset angle range, analyzes the corresponding state within the preset range, and obtains the response angle state identifier. First, the current angle value is compared with the preset response angle range using a multi-level numerical positional relationship comparison. The specific judgment logic presets three response intervals: 0 to 15 degrees is the emergency correction zone, 15 to 45 degrees is the early warning intervention zone, and 45 to 90 degrees is the observation and prompting zone. This process analyzes which specific numerical interval the current angle falls within; for example, if the current angle is 75 degrees, it is determined to be in the observation and prompting zone. Subsequently, this process further analyzes the corresponding state within this preset range, calculating the ratio of the angle to the lower limit of the interval to determine the urgency of the intervention. Through this interval-based comparison method, the guidance strategy can be switched in real time according to the dynamic changes in the angle, transforming complex angle data into logical identifiers with control command meaning, ultimately obtaining the response angle status identifier.

[0033] The vibration amplitude adjustment submodule reads the current motor vibration control parameters based on the response angle status indicator, increases the amplitude of the current motor vibration output signal, and obtains the joint feedback forced guidance state. First, the baseline values ​​of the current motor vibration control parameters are read, such as the current drive current duty cycle of 20%. This process executes amplitude gain calculation logic, calling the corresponding boost ratio function based on the risk level represented by the indicator, to step-wise or linearly boost the amplitude of the motor's current vibration output signal. In actual execution, if the response angle status indicator indicates moderate risk (i.e., in the early warning intervention zone), this process executes calculation logic to set the new duty cycle as the baseline duty cycle multiplied by (1 plus the gain coefficient), increasing the drive duty cycle from 20% to 45%, thereby increasing the high-frequency vibration felt by the operator's hand by 125%. This process directly changes the physical output intensity of the actuator by modifying the duty cycle register of the pulse width modulator, thus forming a forced guidance signal. This feedback method aims to utilize the human instinctive obstacle avoidance reaction, prompting the operator to change the current propulsion angle through enhanced vibration, ultimately achieving a combined feedback forced guidance state.

[0034] Specifically, such as Figure 2 , 7 As shown, the blade path guidance module includes: The feedback channel extraction submodule extracts the output instruction content of the current time period in the feedback path based on the joint feedback forced guidance state, collects the parameter values ​​of LED indication direction, motor vibration frequency and cutting edge propulsion direction, and obtains the channel direction change data according to the data corresponding to the time point. First, all low-level output commands for the current time period are extracted from the controller's output buffer. Simultaneously, LED indicator direction parameters, the motor's current vibration frequency, and the cutting edge's thrust direction are measured in real-time at a synchronized clock frequency. To ensure data comparability, the process standardizes parameters of different dimensions, mapping all values ​​to a unified time axis point. For example, at 8000 milliseconds, the LED indicator is recorded as 15 degrees to the left, the motor vibration frequency as 150 Hz, and the cutting edge's thrust angle as 5 degrees to the right. This process laterally correlates these multi-dimensional kinematic and feedback parameters, ensuring that the command and physical response at each time point are mapped one-to-one. Through this parallel extraction of multi-channel data, a complete command execution tracking chain is constructed, ultimately yielding channel direction change data.

[0035] The direction channel discrimination submodule calls the channel direction change data, selects the data item corresponding to the time point in the continuous segment of the propulsion direction, matches it with the parameter value of the feedback direction, extracts the data segment information that points in the same direction, and obtains the propulsion feedback channel matching data. First, the propulsion direction parameters corresponding to each time point within the segment are extracted and then vector-matched with the synchronously recorded feedback direction parameter values. For example, this process analyzes whether the trend of propulsion direction change is converging towards the target direction indicated by the feedback guidance, that is, whether the absolute value of the deviation between the propulsion direction and the feedback direction changes less than zero over time. If the LED indicator corrects to the left, and the propulsion direction angle of the cutting edge gradually shifts to the left within five consecutive sampling points, the process determines that the data segment is a data segment with consistent direction. By calculating the average directional deviation between the feedback vector and the actual action vector, if the average deviation is less than the set tolerance value of 15 degrees, the information of that segment is extracted and marked as a successful match. This process, through this closed-loop action matching, filters out those guidance processes that are effectively received and executed by the operator, ultimately obtaining the propulsion feedback channel matching data.

[0036] The guidance command output submodule, based on the propulsion feedback channel matching data, calls the steering prompt output interface controller, merges the propulsion direction association information with the current control path status and writes it into the interface control field, pushes the instruction content in the interface output area, and obtains the tipping angle correction guidance instruction. First, real-time correlation information of the propulsion direction is extracted, including the current deviation angle, the level of obstruction, and the expected correction target path. These dynamic parameters are then merged with the current control path status, and the merged information is written to the instruction buffer of the display terminal. In practical applications, this process pushes graphic and text instructions in real time to the interface output area. For example, an instruction with a directional arrow pops up in the center of the screen, indicating how many degrees the current tipping angle needs to be fine-tuned according to the guidance. Through this multimodal interactive output, the complex background judgment logic is transformed into intuitive operation suggestions, ensuring that the operator can obtain accurate correction action guidance and tipping angle correction instructions in a timely manner.

[0037] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A smart tooth extraction elevator with distance measuring and lighting functions, characterized in that, The intelligent tooth extraction elevator includes: The propulsion load monitoring module acquires the pressure changes fed back by the finger gripping part during the propulsion process of the cutting edge, reads the range of the insertion force change within the operation time, filters the numerical trend when the propulsion direction remains unchanged, and obtains the propulsion dynamic monitoring mark. The deep-range risk identification module, based on the propulsion dynamic monitoring marker, calls the ultrasonic ranging data of the left and right sides within the corresponding time period, arranges the directional data in chronological order, extracts the data sequence with consistent change direction, and obtains the ranging directional data result. Based on the ranging direction data results, the spot offset determination module reads the LED illuminance sampling data set in the circumferential lighting direction of the blade, compares the brightness difference amplitude in the symmetrical direction, and obtains the light obstruction direction prompt information. Based on the light obstruction direction prompt information, the feedback intensity control module extracts the current motor vibration control parameters and the blade advance angle, determines whether the angle is within the preset response angle range, and obtains the joint feedback forced guidance state; Based on the combined feedback forced guidance state, the blade-mounting path guidance module extracts the LED direction, vibration frequency and blade-mounting direction in the feedback path, compares the position information, matches the continuous channel of the propulsion direction, and obtains the blade-mounting angle correction guidance command.

2. The intelligent tooth extraction elevator with distance measurement and lighting functions according to claim 1, characterized in that, The propulsion dynamic monitoring markers include pressure change trend judgment results, insertion force sequence change amplitude, and continuous fluctuation status indication. The ranging direction data results include left and right ranging change direction sequences, direction continuity identification information, and compared ranging trend characteristics. The light obstruction direction prompt information includes symmetrical area illuminance difference direction, continuous illuminance change direction, and illuminance and propulsion direction consistency judgment. The joint feedback forced guidance state includes angle position comparison results, motor excitation control response state, and vibration amplitude increase information. The cutting edge angle correction guidance command includes LED indication direction, motor vibration frequency parameters, and propulsion direction adjustment command.

3. The intelligent tooth extraction elevator with distance measuring and lighting functions according to claim 1, characterized in that, The insertion force refers to the continuous pressure input quantity applied by the operator and collected by the force sensor during the thrusting process, which reflects the thrusting force state. The difference in brightness in the symmetrical direction refers to the degree of difference in illuminance values ​​between symmetrically arranged lighting directions due to changes in occlusion and reflection.

4. The intelligent tooth extraction elevator with distance measuring and lighting functions according to claim 1, characterized in that, The preset response angle range refers to the preset angle range of the angle between the propulsion direction and the illumination direction used to determine whether to activate feedback control; The continuous propulsion channel refers to the motion path segment in which the direction changes during propulsion remain continuous and consistent, and match the direction of feedback guidance.

5. The intelligent tooth extraction elevator with distance measurement and lighting functions according to claim 1, characterized in that, The propulsion load monitoring module includes: The data stream receiving submodule acquires continuous pressure change data fed back by force sensors arranged on the finger gripping part, distinguishes the pressure value sequence of different channels according to the sensor number, aligns the sampling timestamps with the sequence, and obtains a unified sampling pressure sequence matrix; The numerical interval extraction submodule, based on the unified sampling pressure sequence matrix, calls the operation interval time period marked in the channel, extracts the pressure value endpoints within adjacent time periods, extracts the change data of the channel time period, and obtains the set of channel interval changes. The trend determination submodule, based on the set of changes in the channel interval, calls the consecutive time period numbers under the condition of maintaining a consistent advance direction, compares the change data sequence corresponding to the number, analyzes whether the sign of the pressure change and the change trend are consistent in adjacent time periods, and obtains the advance dynamic monitoring mark.

6. The intelligent tooth extraction elevator with distance measuring and lighting functions according to claim 1, characterized in that, The deep-range risk identification module includes: The tag index access submodule locates the corresponding time interval during the propulsion process based on the propulsion dynamic monitoring tag, obtains the left and right distance measurement values ​​collected by the ultrasonic ranging device within the time interval, and connects the left and right directions according to the time tag to obtain the left and right channel distance measurement time sequence. The ranging sequence extraction submodule calls the left and right channel ranging time series, compares the adjacent ranging values ​​in the channel point by point, judges the changing trend of the ranging value and the previous ranging value, and writes the changing trend in the time period into the corresponding channel sequence according to the time sequence to obtain the left and right ranging change direction sequence. The direction sequence comparison submodule analyzes the correlation between the increase and decrease trends of left and right direction values ​​within the same time period based on the left and right distance measurement change direction sequence, selects continuous time segments with consistent change directions, extracts the distance measurement value information within the corresponding time segments, and obtains the distance measurement direction data results.

7. The intelligent tooth extraction elevator with distance measuring and lighting functions according to claim 1, characterized in that, The spot offset determination module includes: The ranging result access submodule, based on the ranging direction data result, locates the time interval corresponding to the advancement process, collects the illuminance sampling data of the LED six-directional lighting sub-region within the time interval, distinguishes the illuminance values ​​of the lighting direction according to the left and right symmetrical regions, and obtains the illuminance time sequence of the symmetrical region. The illuminance direction extraction submodule calls the illuminance time series of the symmetrical region, compares the illuminance values ​​of the symmetrical direction, determines the direction of the illuminance difference at the same sampling time, analyzes the continuity of the change in the direction within two adjacent sampling periods, and obtains the illuminance change direction sequence. The direction consistency determination submodule obtains the current propulsion direction parameters of the cutting edge based on the illuminance change direction sequence, analyzes the pointing relationship of the direction parameters within the same time period, determines the pointing relationship status between the illuminance change direction and the propulsion direction, and obtains light obstruction direction prompt information.

8. The intelligent tooth extraction elevator with ranging and lighting functions according to claim 1, characterized in that, The feedback intensity control module includes: The direction angle extraction submodule obtains the vibration drive parameters in the current motor excitation control parameters based on the light obstruction direction prompt information, extracts the spatial angle data corresponding to the blade propulsion direction and the light direction, and obtains the light propulsion angle based on the angle value between the coordinate axis direction projection analysis directions. The angle position comparison submodule calls the illumination propulsion angle, compares the numerical positional relationship between the current angle and the preset response angle range, determines whether the current angle is within the preset angle range, and analyzes the corresponding state within the preset range to obtain the response angle state identifier. The vibration amplitude adjustment submodule reads the current motor vibration control parameters based on the response angle status identifier, increases the amplitude of the current motor vibration output signal, and obtains a joint feedback forced guidance state.

9. The intelligent tooth extraction elevator with distance measuring and lighting functions according to claim 8, characterized in that, As the direction of the illumination propulsion angle approaches the direction of the cutting edge propulsion: the current motor vibration control parameters are read, the effect of the drive current is changed, and the output amplitude of the vibration signal is enhanced accordingly; As the direction of the light propulsion angle approaches the direction of the light: the output process of the vibration signal is extended by prolonging the duration of the driving current; During the process of increasing the amplitude of the current vibration output signal of the motor: the duty cycle of the drive current is changed, the signal vibration intensity increases, and a joint feedback forced guidance state is formed.

10. The intelligent tooth extraction elevator with distance measuring and lighting functions according to claim 1, characterized in that, The blade path guidance module includes: Based on the joint feedback forced guidance state, the feedback channel extraction submodule extracts the output instruction content of the current time period in the feedback path, collects the parameter values ​​of LED indication direction, motor vibration frequency and cutting edge propulsion direction, and obtains channel direction change data according to the data corresponding to the time point. The direction channel discrimination submodule calls the channel direction change data, selects the data item corresponding to the time point in the continuous segment of the propulsion direction, performs direction matching with the parameter value of the feedback direction, extracts the data segment information with the same direction, and obtains the propulsion feedback channel matching data. Based on the propulsion feedback channel matching data, the guidance command output submodule calls the steering prompt output interface controller, merges the propulsion direction association information with the current control path status and writes it into the interface control field, pushes the instruction content in the interface output area, and obtains the cutting edge angle correction guidance instruction.

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