Nanorobot system for treating intracoronal disease and method of operating the same

Abstract

The application discloses a kind of nanorobot system and its operating method for treating endodontic disease, the nanorobot system includes: nanorobot, nanorobot includes nanorobot body, the size and shape of nanorobot body are configured to be able to make it smoothly enter and navigate in dental pulp or root canal;It is provided with focus elimination module and / or tissue regeneration module in it;Intelligent navigation module is used to plan the moving route of nanorobot, and guide nanorobot to move to lesion site;Drive control module is used to move nanorobot, and execute release or cleaning operation at lesion site.The above scheme introduces nanorobot into the treatment of endodontic disease, using the high precision, controllability and minimally invasive characteristics of nanorobot, can significantly improve the treatment effect of endodontic disease, help to improve the accuracy and safety of endodontic disease treatment, reduce the damage to surrounding tissue, improve the treatment experience of patient.

Description

Technical Field

[0001] This invention relates to the field of intersection of medical technology and nanotechnology, and can be applied to the treatment of dental diseases, specifically to a nanorobot system for treating dental diseases and its operation method. Background Technology

[0002] Dental diseases are common oral health conditions, usually caused by bacterial infection. Traditional treatments mainly include root canal treatment and tooth extraction. While these methods can remove the infection, they may lead to permanent loss of tooth function, and the treatment process is complex and the patient experience is poor.

[0003] Currently, while root canal treatment is effective in treating diseases such as pulpitis, its limited penetration depth and precision make it difficult to completely remove bacteria deep within the dentinal tubules. Furthermore, traditional treatments often involve significant pain and trauma. With the development of nanotechnology, nanorobots and nanomaterials have shown great potential in the medical field, offering the possibility of more precise and minimally invasive oral treatments. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a nanorobot system and its operation method for treating dental diseases that overcomes or at least partially solves the above problems.

[0005] According to one aspect of the present invention, a nanorobot system for treating intradental diseases is provided, the nanorobot system comprising:

[0006] The nanorobot includes a nanorobot body whose size and shape are configured to allow it to smoothly enter and navigate into the dental pulp or root canal; the nanorobot body is provided with a lesion elimination module and / or a tissue regeneration module.

[0007] An intelligent navigation module is used to plan the movement route of the nanorobot and guide the nanorobot to the lesion site;

[0008] A drive control module is used to move the nanorobot and perform release or cleanup operations at the lesion site.

[0009] The lesion site is located in at least one of the following: dental pulp, root canal, dentinal tubule, or root apex.

[0010] In some embodiments, the nanorobot body comprises any of the following shapes: spherical, conical, polyhedral, sperm-shaped, or arthropod-shaped; and / or,

[0011] The nanorobot body includes a biocompatible polymer layer and a magnetic material layer, and the nanorobot body is provided with a receiving space, which at least partially accommodates the lesion elimination module or the tissue regeneration module.

[0012] In some embodiments, the lesion elimination module includes at least one of the following: an antibacterial agent, a nanoknife, a micro laser, or an electrotherapy device.

[0013] In some embodiments, the tissue regeneration module includes a bioactive substance for promoting the regeneration of dental pulp tissue, wherein the release of the bioactive substance is controlled by thermal triggering, optical triggering, or magnetic triggering.

[0014] In some embodiments, the nanorobot system further includes a lesion localization module, which includes a micro-detector disposed on the nanorobot body for real-time monitoring or detection of lesions within the tooth, thereby identifying and locating the lesion site.

[0015] In some embodiments, the intelligent navigation module includes an imaging system and an AI algorithm model. The imaging system is mounted on the nanorobot body to observe the condition inside the tooth in real time and monitor the movement of the nanorobot.

[0016] The AI ​​algorithm model is used to plan movement paths.

[0017] In some implementations, the AI ​​algorithm model can also dynamically adjust the treatment strategy based on images from the imaging system, data generated during the movement or action of the nanorobot, and / or the lesion condition.

[0018] In some embodiments, the drive control module includes an electromagnetic field generating device, an ultrasonic device, or an optical instrument disposed outside the tooth body; or,

[0019] The drive control module includes a micro battery mounted on the nanorobot body, and a chemical or biomolecular motor capable of releasing drive energy through decomposition.

[0020] According to another aspect of the present invention, a method for operating a nanorobot system is provided, the method comprising:

[0021] To deliver nanorobots into the root canal or pulp of a tooth;

[0022] The nanorobots are guided and moved to the lesion site by magnetic, acoustic, or optical control.

[0023] The nanorobots are controlled to release therapeutic substances at the lesion site, and / or the lesions are surgically eliminated.

[0024] In some embodiments, delivering nanorobots into the root canal or pulp of a tooth includes any of the following: directly injecting nanorobots through the root canal; injecting them directly into the pulp through oral soft tissue using minimally invasive surgery; utilizing the high permeability of nanorobots to directly penetrate dentinal tubules and enter the pulp; using electroosmosis to introduce charged nanorobots into the pulp under the influence of an electric field; precisely delivering and positioning the nanorobots into the pulp using magnetic, acoustic, or optical control; and / or,

[0025] The method further includes: degrading the nanorobot within the tooth.

[0026] According to another aspect of the invention, an electronic device is provided, comprising: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform a nanorobot system for treating intradental diseases according to any one of the preceding claims.

[0027] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores one or more programs, which, when executed by a processor, implement a nanorobot system for treating intradental diseases according to any one of the preceding claims.

[0028] As can be seen from the above, the present invention aims to design an oral medical nanorobot system for treating dental diseases, which provides an efficient, safe, and minimally invasive treatment solution by precisely removing the source of infection and promoting the regeneration and recovery of dental pulp and other tissues within the tooth.

[0029] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0030] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0031] Figure 1 A schematic diagram of a nanorobot system for treating intradental diseases according to some embodiments of the present invention is shown.

[0032] Figure 2A schematic diagram of the structure of a nanorobot according to some embodiments of the present invention is shown;

[0033] Figure 3 A schematic diagram of the structure of a nanorobot according to other embodiments of the present invention is shown;

[0034] Figure 4 A flowchart illustrating the operation method of a nanorobot system according to some embodiments of the present invention is shown;

[0035] Figure 5 A schematic diagram of the structure of an electronic device according to some embodiments of the present invention is shown. Detailed Implementation

[0036] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0037] It should be noted that the specific implementation methods of the above-mentioned device embodiments can be referred to the specific implementation methods of the corresponding methods described above, and will not be repeated here.

[0038] See Figure 1 As shown, this embodiment of the invention provides a nanorobot system for treating intradental diseases, the nanorobot system comprising:

[0039] The nanorobot includes a nanorobot body whose size and shape are configured to allow it to smoothly enter and navigate into the dental pulp or root canal. The size of the nanorobot should be less than 100 nanometers so that it can pass smoothly through the dental pulp canal, and the shape design needs to take into account the hydrodynamic characteristics. The nanorobot body is equipped with a lesion elimination module and a tissue regeneration module.

[0040] An intelligent navigation module is used to plan the movement route of the nanorobot and guide the nanorobot to the lesion site;

[0041] A drive control module is used to move the nanorobot and perform release or cleanup operations at the lesion site.

[0042] The lesion site is located in at least one of the following: dental pulp, root canal, dentinal tubule, or root apex.

[0043] The present invention aims to design an oral medical nanorobot system for treating diseases within the dental cavity, thereby achieving an efficient, safe, and minimally invasive treatment solution by precisely removing the source of infection and promoting the regeneration and recovery of tissues such as dental pulp within the dental cavity.

[0044] In some embodiments, the nanorobot body comprises any of the following shapes: spherical, conical, polyhedral, sperm-like, or arthropod-like, for example, it can participate in... Figure 2 and Figure 3 The structure shown.

[0045] Optionally, the nanorobot body includes a biocompatible polymer layer and a magnetic material layer, and the nanorobot body is provided with a receiving space, which at least partially accommodates the lesion elimination module or the tissue regeneration module.

[0046] In some implementations, nanorobots may use materials with good biocompatibility, such as metal nanoparticles (e.g., gold, silver) or biocompatible polymers (e.g., PLGA), provided that the materials do not induce immune responses or toxicity in the oral environment. Additionally, it is necessary to ensure that the materials do not induce immune responses or toxicity in the oral environment and that they can navigate in the complex environment within the tooth.

[0047] In some embodiments, the lesion elimination module includes at least one of the following: an antibacterial agent, a nanoknife, a micro laser, or an electrotherapy device.

[0048] In some embodiments, the tissue regeneration module includes a bioactive substance for promoting the regeneration of dental pulp tissue, wherein the release of the bioactive substance is controlled by thermal triggering, optical triggering, or magnetic triggering.

[0049] It should be noted that the aforementioned lesion elimination module and tissue regeneration module can be located inside the nanorobot body or on the surface of the nanorobot body, and can be controlled and triggered by light, magnetism, heat or pH value.

[0050] In some embodiments, the nanorobot system further includes a lesion localization module, which comprises a micro-detector disposed on the nanorobot body for real-time monitoring or detection of lesions within the tooth, thereby identifying and locating the lesion site. For example, it can integrate pH sensors, temperature sensors, and biosensors to detect the health status of tissues such as dental pulp, identifying conditions such as inflammation and infection, and can transmit data to an external monitoring electronic device in real time.

[0051] In some embodiments, the intelligent navigation module includes an imaging system and an AI algorithm model. The imaging system is mounted on the nanorobot body for real-time observation of the internal dental cavity and monitoring of the nanorobot's movements. Remote monitoring of the nanorobot's real-time position and status can also be achieved via wireless communication technologies (such as Bluetooth or NFC).

[0052] In addition, the AI ​​algorithm model is used to plan movement paths and formulate and optimize treatment plans. The AI ​​algorithm model can be installed on an external electronic device, including conventional computing modules and neural network models.

[0053] In some optional embodiments, the AI ​​algorithm model can also dynamically adjust the treatment strategy based on images from the imaging system, data generated during the movement or action of the nanorobot, and / or the lesion condition.

[0054] By leveraging artificial intelligence and big data technologies, data from the operation of nanorobots is collected and analyzed to optimize treatment plans. Real-time remote monitoring of the nanorobots' location and status is achieved through wireless communication technology. The process also includes data collection and analysis, gathering data from the nanorobots' operation and using AI algorithms and big data analytics to optimize treatment plans.

[0055] Additionally, a user interface could be developed on electronic devices, allowing doctors to view and adjust the position and operation of the nanorobots in real time.

[0056] In some embodiments, the drive control module includes an electromagnetic field generating device, an ultrasonic device, or an optical instrument disposed outside the tooth body to support the long-term stable operation of the nanorobot.

[0057] For example, an external magnetic field can be used to control the movement path of nanorobots, and magnetic materials (such as ferrite) can be designed to be embedded in nanorobots to respond to the external magnetic field; ultrasonic waves can be used to guide nanorobots, and precise positioning can be achieved by adjusting the frequency and intensity of the ultrasonic waves; a miniature acoustic receiver can be integrated on the nanorobot to guide it using ultrasonic waves, and precise positioning can be achieved by adjusting the frequency and intensity of the ultrasonic waves.

[0058] The drive control module includes a micro-battery mounted on the nanorobot body, a chemical substance or biomolecular motor capable of releasing driving energy through decomposition, such as an ATP-driven protein motor. In some embodiments, the nanorobot can be powered by oxygen generated from the decomposition of hydrogen peroxide, or by other biochemical reactions (such as glucose oxidation).

[0059] The following provides some specific implementation examples of nanorobots that can achieve the above functions, in order to illustrate the above embodiments.

[0060] Example 1

[0061] See Figure 2 As shown, this embodiment 1 provides a nanorobot, including a nanorobot body. The nanorobot body is spherical or ellipsoidal in shape. The material of the nanorobot body is a durable, hard, and waterproof functional material that resonates under the action of a sound wave of a specific frequency, thereby allowing the internal substances to be completely released. The outer surface of the robot body is coated with a magnetic material layer, preferably metallic nickel. The outer surface of the magnetic material layer is coated with a bio-affinity layer, which can be a polymer. The nanorobot body has multiple partition walls that divide the internal cavity of the robot body into three chambers: upper, middle, and lower. Each chamber has multiple accommodating spaces, in which lesion elimination modules and tissue regeneration modules can be installed. An imaging system and a microdetector are installed on the outside of the nanorobot.

[0062] Each containment space has a corresponding hole on the wall corresponding to the nanorobot body. After the drug or tool is loaded, the hole is sealed by an infrared response layer. The infrared response layer is made of an infrared response material. Under the irradiation of an infrared pulse of a specific wavelength, the infrared response layer undergoes a phase transition. The hole corresponding to each containment space is sealed with an infrared response material of a different infrared response wavelength, so that the holes corresponding to the three chambers form an infrared response layer.

[0063] The robot body is made of a mixture of photosensitive resin and hydrogel, which is high-strength, heat-resistant, and waterproof. For example, it can be printed using a two-photon micro / nano 3D printer, and its flexibility can be controlled by changing the mixing ratio. Optionally, multiple different types of infrared response layers can be set as needed, and they will undergo phase transitions under different infrared pulse irradiation.

[0064] Example 2

[0065] Please see Figure 3 As shown, this embodiment 2 provides a nanorobot including an outer shell, a magnetic field driving component disposed within the outer shell, a lesion elimination module, a microdetector, a tissue regeneration module, and an ultrasonic driving component disposed at the tail of the outer shell.

[0066] The outer shell is a polyacetic acid-hydroxyglycolic acid-polyethylene glycol polymer fused with lipids. It possesses certain mechanical properties while maintaining lipid permeability, ensuring ion entry and exit from the matrix. It can be constructed into specific capsid shapes through cross-linked microtubules. The head of the outer shell has a cone-shaped structure, which facilitates the movement of nanorobots within tissues.

[0067] The magnetic field driving component is used to drive the nanorobot to migrate. The ultrasonic driving component is used to drive the nanorobot to move under the influence of ultrasonic waves in an external field. By controlling the switching, speed, and trajectory of the ultrasonic driving component, precise "on-demand motion" can be achieved, helping the nanorobot to move.

[0068] See Figure 4 As shown, this embodiment of the invention also provides a method for operating a nanorobot system, the method comprising:

[0069] Step S410: The nanorobot is delivered into the root canal or pulp of the tooth;

[0070] Step S420: Navigate and move the nanorobot to the lesion site using magnetic, acoustic, or optical control.

[0071] Step S430: Control the nanorobot to release a therapeutic substance at the lesion site, and / or, surgically eliminate the lesion.

[0072] In some embodiments, step S410, transferring the nanorobot into the root canal or pulp of a tooth, includes any of the following: directly injecting the nanorobot through the root canal of the tooth; injecting it directly into the pulp through the oral soft tissue using minimally invasive surgery; utilizing the high permeability of the nanorobot to directly penetrate the dentinal tubules and enter the pulp; using electroosmosis to introduce charged nanorobots into the pulp under the action of an electric field; or using magnetic control, acoustic control, or optical control to precisely transfer and position the nanorobot into the pulp.

[0073] Specifically, local injection methods include: direct injection of nanorobots through the root canal system of the tooth. During root canal treatment, a micro-injector is used to inject the nanorobots into the pulp cavity; minimally invasive surgical techniques can also be used to inject them directly into the pulp vessels through the gums or other oral soft tissues. Tooth penetration mechanisms: Highly permeable nanomaterials are used to allow them to penetrate the dentinal tubules and enter the pulp; certain nanomaterials (such as functionalized nanoparticles) can penetrate the dentinal tubules to reach the pulp tissue; or electroosmosis is used to introduce charged nanorobots into the pulp tissue under the influence of an electric field. Targeted delivery: Magnetically or acoustically guided navigation technologies are used to precisely position the nanorobots to the pulp vessels. External magnetic fields or ultrasound can guide the nanorobots to specific locations; or smart nanomaterials can be designed to release therapeutic substances upon contact with specific biomarkers in the pulp.

[0074] Furthermore, the method further includes degrading the nanorobot within the tooth cavity. Specific implementation methods include using biodegradable materials, such as polylactic-co-glycolic acid copolymer (PLGA), a commonly used biodegradable polymer. PLGA decomposes into lactic acid and glycolic acid in vivo through hydrolysis, and is ultimately metabolized and excreted by the body. Alternatively, polyethylene glycol (PEG) can be used; PEG is coated onto the surface of the nanoparticles to enhance biocompatibility, and the nanoparticles can be designed to degrade under specific conditions.

[0075] Biodegradable materials include: polylactic-co-glycolic acid copolymer (PLGA), a commonly used biodegradable polymer. PLGA breaks down into lactic acid and glycolic acid in the body through hydrolysis, and is eventually metabolized and excreted. Polyethylene glycol (PEG) can be used to coat nanoparticles to enhance biocompatibility and can be designed to degrade under specific conditions.

[0076] Additionally, enzymatic degradation can be utilized: nanomaterials can be designed to degrade under the action of specific enzymes (such as proteases and lipases). These enzymes are naturally present in dental pulp or can be introduced through external injection. Smart degradation systems: nanomaterials contain substrate sequences for specific enzymes, triggering the degradation process upon contact with the enzyme.

[0077] pH-responsive degradation: pH-responsive polymers are designed to degrade rapidly in low pH environments (such as infected or inflamed areas). This material decomposes more quickly in areas of pulp infection, releasing the drug and ultimately breaking down into harmless small molecules.

[0078] Phototriggered degradation: This method utilizes photosensitive materials, embedding photosensitizers within nanomaterials, and triggering a degradation reaction through external light source irradiation (such as a laser). This approach allows for rapid removal of nanomaterials after treatment.

[0079] In summary, the following beneficial effects can be obtained according to the embodiments of the present invention:

[0080] This invention provides an oral medical nanorobot system for treating dental diseases. An intelligent navigation module plans the nanorobot's movement route and guides it to the lesion site. A drive control module drives the nanorobot to the lesion site, enabling remote release of therapeutic substances or precise surgical procedures. The nanorobot also includes a lesion removal module and / or a tissue regeneration module for carrying or containing appropriate substances or surgical tools. In summary, this invention provides an efficient, safe, and minimally invasive treatment solution by precisely removing the source of infection and promoting pulp tissue regeneration and recovery.

[0081] Furthermore, the embodiments of the present invention employ nanorobot technology to achieve high-precision, minimally invasive removal of lesions within the tooth, such as the pulp; integrate intelligent navigation functions to improve the safety and accuracy of treatment; combine antibacterial, restorative, and regenerative functions to significantly enhance treatment efficacy; and enhance personalized treatment capabilities through AI-based adaptive treatment.

[0082] It should be noted that:

[0083] The algorithms and displays provided herein are not inherently related to any particular computer, virtual device, or other equipment. Various general-purpose devices can also be used in conjunction with the teachings herein. The required structure for constructing such devices is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0084] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0085] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the invention. However, this disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim.

[0086] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0087] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention and form different embodiments.

[0088] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the laser minimally invasive ablation bone tissue parameter determination device according to embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0089] This invention provides a non-volatile computer storage medium storing at least one executable instruction that can perform the operation method of the nanorobot system for treating dental diseases in any of the above method embodiments.

[0090] Figure 5 The diagram shows a structural schematic of an embodiment of the electronic device of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the electronic device.

[0091] like Figure 5 As shown, the electronic device may include: a processor 502, a communications interface 504, a memory 506, and a communications bus 508.

[0092] The processor 502, communication interface 504, and memory 506 communicate with each other via communication bus 508. Communication interface 504 is used to communicate with other network elements such as clients or other servers. Processor 502 executes program 510, specifically performing the relevant steps in the above-described embodiment of the operation method for the nanorobot system for treating dental diseases in electronic devices.

[0093] Specifically, program 510 may include program code that includes computer operation instructions.

[0094] Processor 502 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The airborne image processing board includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0095] Memory 506 is used to store program 510. Memory 506 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0096] Specifically, program 510 can be used to cause processor 502 to perform the operations corresponding to the above-described embodiments of the operation method of the nanorobot system for treating dental diseases.

[0097] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A nanorobot system for treating intradental diseases, the nanorobot system comprising: The nanorobot includes a nanorobot body whose size and shape are configured to allow it to smoothly enter and navigate into the dental pulp or root canal; the nanorobot body is provided with a lesion elimination module and / or a tissue regeneration module. An intelligent navigation module is used to plan the movement route of the nanorobot and guide the nanorobot to the lesion site; A drive control module is used to move the nanorobot and perform release or cleanup operations at the lesion site. The lesion site is located in at least one of the following: dental pulp, root canal, dentinal tubule, or root apex.

2. The nanorobot system according to claim 1, characterized in that, The nanorobot body comprises any of the following shapes: spherical, conical, polyhedral, sperm-shaped, or arthropod-shaped; and / or, The nanorobot body includes a biocompatible polymer layer and a magnetic material layer, and the nanorobot body is provided with a receiving space, which at least partially accommodates the lesion elimination module or the tissue regeneration module.

3. The nanorobot system according to claim 1, characterized in that, The lesion elimination module includes at least one of the following: antibacterial agent, nanoknife, micro laser or electrotherapy device.

4. The nanorobot system according to claim 1, characterized in that, The tissue regeneration module includes bioactive substances that promote the regeneration of dental pulp tissue. The release of the bioactive substances is controlled by thermal triggering, optical triggering, or magnetic triggering.

5. The nanorobot system according to claim 1, characterized in that, The nanorobot system also includes a lesion localization module, which includes a micro detector mounted on the nanorobot body for real-time monitoring or detection of lesions within the tooth, thereby identifying and locating the lesion site.

6. The nanorobot system according to claim 1, characterized in that, The intelligent navigation module includes an imaging system and an AI algorithm model. The imaging system is mounted on the nanorobot body and is used to observe the condition inside the tooth in real time and monitor the movement of the nanorobot. The AI ​​algorithm model is used to plan movement paths.

7. The nanorobot system according to claim 6, characterized in that, The AI ​​algorithm model can also dynamically adjust the treatment strategy based on the images from the imaging system, the data generated during the movement or action of the nanorobot, and / or the lesion condition.

8. The nanorobot system according to claim 1, characterized in that, The drive control module includes an electromagnetic field generating device, an ultrasonic device, or an optical instrument disposed outside the tooth; or, The drive control module includes a micro battery mounted on the nanorobot body, and a chemical or biomolecular motor capable of releasing drive energy through decomposition.

9. A method for operating a nanorobot system, characterized in that, The operation method includes: To deliver nanorobots into the root canal or pulp of a tooth; The nanorobots are guided and moved to the lesion site by magnetic, acoustic, or optical control. The nanorobots are controlled to release therapeutic substances at the lesion site, and / or the lesions are surgically eliminated.

10. The operating method according to claim 9, characterized in that, The delivery of nanorobots to the root canal or pulp of a tooth includes any of the following: direct injection of nanorobots through the root canal; direct injection into the root canal or pulp through the oral soft tissue using minimally invasive surgery; direct penetration of nanorobots through dentinal tubules into the pulp using the high permeability of nanorobots; or introduction of charged nanorobots into the root canal or pulp under the influence of an electric field using electroosmosis. The nanorobots are precisely transported and positioned into the root canal or dental pulp using magnetic, acoustic, or optical control. And / or, The method further includes: degrading the nanorobot within the tooth.

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