Device for cleaning surfaces

Abstract

The invention relates to a cleaning device, in particular for cleaning surfaces in the oral cavity, comprising at least one cleaning device for molars and at least one cleaning device for incisors, which can be guided over at least one dental arch, wherein actuating devices for the movement of the cleaning devices are provided in the form of actuating rods, which extend from the cleaning device to the cleaning device and are extendable and retractable and adjustable in lateral angle, wherein at least the at least one cleaning device for the molars has at least one extendable and retractable clamping device pointing towards at least one tooth crown, for fixing the cleaning device between two opposing dental arches and for adjusting a distance between the dental arches.

Description

[0001] The invention relates to a device for cleaning surfaces and in particular for autonomous cleaning of surfaces.

[0002] The surfaces in question can be surfaces within the oral cavity. In particular, the surfaces can be teeth and adjacent gums.

[0003] In particular, it is a procedure with automated movement and precision cleaning for teeth and gums using a hands-free dental cleaning device with three cleaning heads.

[0004] Cleaning surfaces in the oral cavity is a well-known process. In the simplest case, this is done with a regular manual toothbrush, which the user guides over the teeth and also performs the brushing motion.

[0005] A further development is the electric toothbrush, where the user guides the toothbrush over the teeth, but the cleaning movement is performed by the device.

[0006] US Patent 6,152,733 A discloses an automated cleaning device with robotic cleaning heads, in which an individually adjustable bite block can be positioned between both the molars and the incisors. A common disadvantage of both designs is that the conventional user does not guide the devices evenly over the teeth, resulting in areas that are over- and under-cleaned, in addition to numerous other application errors such as tilting, applying too much or too little pressure, which damage the gums and teeth.

[0007] A further development involves cleaning mouthpieces with moving bristles, shaped like impression trays. However, such devices have never appeared on the market.

[0008] US Patent 2012 / 0141954 A1 discloses a hands-free dental device comprising both upper and lower tray elements. Each tray element is equipped with tooth-contacting bristles for cleaning teeth and with flexible bite sections for guiding and supporting the device in the mouth.

[0009] From DE 10 2024 107 671 A1, a device for automated cleaning or analysis in the oral cavity is known, in which a bite block is used for defined positioning on the incisors. This bite block fixes the functional units in the oral cavity and enables targeted guidance along a predetermined path.

[0010] The object of the invention is therefore to create a device with which automated precision cleaning can be carried out.

[0011] The problem is solved with a device having the features of claim 1 and a use according to claim 14.

[0012] Advantageous further training courses are characterized by dependent sub-claims.

[0013] In this context, the term "cleaning device" refers to the entire device used for cleaning surfaces.

[0014] Precision cleaning means that each tooth or interdental space can be cleaned individually.

[0015] Automatic movement means that the cleaning device has at least one cleaning element, in particular a cleaning head, which includes the means for cleaning the teeth and moves automatically. The automatic movement is a controlled movement against the surfaces to be cleaned. The movement may include feedback control systems to control the position, speed, and pressure of the cleaning head against the teeth.

[0016] Hands-free use means that the user does not need to touch or hold the cleaning device with their hand during the cleaning process. The cleaning device is simply held with the mouth.

[0017] The inventors have identified a number of challenges and requirements. 1) The precise positioning of the cleaning head over the cleaning device in relation to the teeth.

[0018] The problem lies either in knowing the relative positioning of the cleaning device or cleaning head in relation to the jaw, or in having a fixation of the cleaning device or cleaning head to the jaw.

[0019] 2) Defined pressure of the cleaning head on the teeth due to the weight of the cleaning device when used hands-free. The weight of the cleaning device is a force that must be counteracted by the mouth. Nevertheless, it must be possible to exert a defined force on at least one cleaning head.

[0020] 3) The cleaning device must be lightweight, as it is held hands-free using only the mouth. Therefore, all components must not only be designed to be weight-optimized, but the device must also be balanced so that it is comfortable to hold in the mouth.

[0021] 4) Cleaning of the upper and lower jaw with at least one cleaning head.

[0022] 5) The cleaning heads and the cleaning device must be hygienic and durable.

[0023] The aforementioned requirements and challenges were resolved as follows.

[0024] The first requirement is solved by a measuring method that captures the relative position and orientation of the device, especially outside the oral cavity, to the jaw, which—at least with regard to the upper jaw—is a fixed part of the user's head.

[0025] The position of the cleaning device relative to the user's head can be measured, for example, by two known methods. In these methods, the corresponding measuring probes are positioned on the device outside the oral cavity and at an angle to the user's face to ensure a sufficient measuring distance between the device and the face.

[0026] The measurement methods used are an ultrasonic measuring system or a laser-based lidar measuring system. These can be used alone or in combination.

[0027] The second problem is solved by being able to apply pressure to or fix pressure on the cleaning devices, especially in the form of cleaning heads responsible for cleaning the molars.

[0028] For this purpose, the corresponding cleaning heads are designed, for example, with means that can vary the thickness of the cleaning heads between the teeth of the upper and lower jaw.

[0029] The cleaning heads are transformed into bite blocks by these means, which may act like clamping plates between the teeth of the upper and lower jaw, creating a gap between the jaws between which the other cleaning heads can move.

[0030] A control loop is used to press the unclamped cleaning heads against the teeth in order to maintain a defined pressure of the cleaning heads on the teeth.

[0031] The up and down movement of the cleaning heads can be achieved by suitable actuators, e.g. motors and gearboxes, pneumatic or hydraulic actuators, or various artificial muscles.

[0032] The pressing force can be measured by force or pressure sensors, either in the connection between the mouthpiece and the cleaning head, in the cleaning head itself, or in the suspension of the cleaning head in the mouthpiece of the device.

[0033] An analog or digital control loop can be used to regulate the pressure on the teeth. A passive spring system, for example using nitinol at the suspension of the cleaning heads in the mouthpiece, could also be used.

[0034] When these devices are activated, various operating modes must also be processed sequentially to clean all teeth.

[0035] There are two basic operating modes: molar operation and incisor operation.

[0036] In molar operation, a molar cleaning head can move freely, while the front cleaning head serves as a suspension and preferably remains stationary.

[0037] During incisor operation, either one or both molar cleaning heads are clamped, and the incisor cleaning head moves. The points where the three cleaning heads touch the teeth form a triangle, defining a plane for the horizontal movements of the movable cleaning heads.

[0038] This movement is controlled by servo motors, stepper motors, or similar devices. Three variations are shown below, illustrating how the two jaw and incisor operations can be performed using different mechanical drive systems.

[0039] The third problem is solved by using a cleaning device capable of cleaning the upper and lower jaws sequentially or simultaneously, since three cleaning heads, instead of, for example, six, require less mechanical components, motors, and electronics. This involves using cleaning heads that contain specific cleaning agents for the upper and lower teeth. These can be in mechanically separate units and moved together or independently.

[0040] The fourth problem is solved by a cleaning device that is able to clean the lower jaw and the upper jaw one after the other.

[0041] The fifth problem can be solved by an interchangeable incisor cleaning head, a hermetically sealed drive for the incisor cleaning head and interchangeable molar cleaning heads, or interchangeable cleaning agents on the molar cleaning heads.

[0042] The invention thus relates in particular to a cleaning device, especially for cleaning surfaces in the oral cavity, comprising at least one cleaning device for molars and at least one cleaning device for incisors, wherein actuating devices for the movement of the cleaning devices are provided in the form of actuating rods, which extend from the cleaning device to the cleaning device and are extendable and retractable and adjustable in lateral angle, wherein at least the cleaning device for the molars has at least one extendable and retractable clamping device pointing towards at least one tooth crown, for fixing the cleaning device between two opposing dental arches and for adjusting a distance between the dental arches.

[0043] Further training stipulates that two cleaning devices for the molars must be available.

[0044] Further training stipulates that an actuating device for moving the cleaning device for the incisors must be present.

[0045] Further training stipulates that the cleaning device for the incisors must have at least one extendable and retractable clamping device pointing towards at least one tooth crown, for fixing the cleaning device between two opposing jaw arches and for adjusting the distance between the jaw arches.

[0046] Further training stipulates that the clamping device is a mechanically extendable and / or pneumatically or hydraulically inflatable clamping device, which is designed to be reversibly extendable towards a tooth crown.

[0047] Further training stipulates that the clamping device can be reversibly extended and retracted using a mechanical spindle drive.

[0048] Further training stipulates that the clamping device includes a pneumatically or hydraulically extendable cushion.

[0049] Further training stipulates that the clamping device is positioned towards the upper jaw arch and in the opposite direction to the lower jaw arch.

[0050] Further training stipulates that the clamping device has a plate facing the teeth.

[0051] Further training stipulates that the cleaning equipment must have oscillating bristle bundles for contacting and cleaning the surfaces.

[0052] Further training stipulates that the clamping device has buffers pointing towards the tooth crowns, which, in the event of movement of the cleaning device over the teeth and in the non-extended state of the clamping device, establish a minimum distance and / or assume a guiding function.

[0053] Further training stipulates that the cleaning devices in the form of cleaning heads have a length along the dental arches that corresponds to a partial length of a dental arch and, in particular, a length that corresponds to one and a half to two and a half teeth.

[0054] Further training provides that in the area of ​​a cleaning head for the incisors, a biting device is provided for at least one incisor each of the upper and lower jaws, wherein the biting device is firmly connected to the cleaning device in such a way that the device can be held by the teeth and the cleaning devices can be moved independently of this.

[0055] Another aspect of the invention relates to the use of a cleaning device as described above, wherein, for the successive cleaning of the jaws in an oral cavity, one or two first cleaning devices are arranged stationary on a jaw arch, and the respective clamping device is extended, and the remaining one or two second cleaning devices are moved between the jaw arches in order to clean them mechanically with oscillating bristle bundles, and at the end of the cleaning process, the second cleaning devices are moved into a clamping position, the respective clamping devices are extended, and the clamping devices of the first cleaning devices are retracted, and the first cleaning devices are guided over the teeth and perform a cleaning.

[0056] A further training procedure stipulates that three cleaning devices are available, whereby either two cleaning devices are always jammed while one is cleaning, or one cleaning device is always jammed and two cleaning devices are cleaning.

[0057] Further training stipulates that both cleaning mechanisms of the molars should be engaged to clean the incisors.

[0058] Further training stipulates that the cleaning devices for the molars clamp simultaneously at different positions of the jaw arches, or that both always clamp in the area of ​​the rearmost molars.

[0059] The invention is explained by way of example with the aid of a drawing. The drawing shows: Fig. 1: Highly schematic representation of the device according to the invention in a frontal view of the head of a user with ultrasonic sensors; Fig. 2: the device according to Fig. 1 with lidar sensors; Fig. 3: a first embodiment of the cleaning process; Fig. 4: a second embodiment of the cleaning process; Fig. 5: a third embodiment of the cleaning process; Fig. 6: an overview of the device; Fig. 7: a possible embodiment of a cleaning head; Fig. 8: a mechanical embodiment of clamping plates; Fig. 9: a hydraulic or pneumatic embodiment of clamping plates; Fig. 10: Another embodiment of the clamping plates in different views; Fig. 11: an arrangement for driving a cutting tooth cleaning head; Fig. 12: An overview of the device in a side view.

[0060] A cleaning device 1 according to the invention has a base body 2. The base body 2 is a curved element designed to be worn around the lower part of a person's face without touching it externally. The base body 2 forms a housing which, in particular, accommodates the control, drive, and communication devices of the cleaning device 1.

[0061] Accordingly, the basic body 2 has an inner wall 3 facing a face, an outer wall 4 spaced apart from this and facing outwards, and an upper wall 5 and a lower wall 6, wherein the walls 3, 4, 5, 6 define an interior space of the basic body 2.

[0062] In Fig. 1 Ultrasonic distance sensors 7 are arranged distributed along the upper wall 5, which emit sound in the direction of the face. Such sensors 7 can also be arranged in the area of ​​a lower wall 6.

[0063] In Fig. Figure 2 shows that a lidar sensor 8 is arranged in the region of the longitudinal center of the upper wall 5, which is therefore also located at the center of the face, and which directs laser beams towards the face. Such a sensor can also be arranged in the lower wall 6.

[0064] Both sensor types use ultrasound or laser to determine the relative position of the base body 2 to a head and thus also to a set of teeth. Changes in position are also to be detected in real time.

[0065] The cleaning procedure and the corresponding processes are described in the Fig. 3, Fig. 4 and Fig. 5 shown.

[0066] In principle, the inventive method uses one cleaning device 9 in the form of a cleaning head 10 for the molars and one cleaning head 11 for the incisors for each jawbone. The length of the cleaning heads 10 for the molars, on the one hand, and the distance to the cleaning head 11 for the incisors, on the other, are very important in order to be able to support the weight of the base body 2 with the mouth.

[0067] The basic procedure is such that not all cleaning heads 10, 11 perform cleaning simultaneously, but at least one molar cleaning head 10 is stationary in the posterior region of the jaw and is fixed between the teeth of the upper jaw and the teeth of the lower jaw by means of clamping devices 12, which will be discussed later, and also determines the distance of the upper jaw to the lower jaw and adjusts it so that the other cleaning head 10, 11 can perform cleaning without hindrance.

[0068] In Fig. Figure 3 shows a highly schematic representation of a dental arch 15. On the dental arch, a right molar cleaning head 10, a left molar cleaning head 10, and an incisor cleaning head 11 form a triangle, which is shown as a dotted line. Furthermore, the longitudinal extensions of the actuating devices in the form of actuating rods 13 of the molar cleaning heads 10 form a common intersection point 14. The three support points P1, P2, and P3 form a support plane for the cleaning device 1.

[0069] in the right representation of Fig. Figure 3 shows how the molar cleaning head 10 is clamped between the upper and lower jaw, while the other molar cleaning head 10 has been extended laterally out of the jaw area to create space for cleaning by the incisor cleaning head 11.

[0070] In the Fig. 4 and Fig. Figure 5 shows different positions of the individual cleaning heads 10, 11 depending on the movement and operating state of the other cleaning heads 10, 11. In particular, to create the necessary space for the cleaning heads and the actuating rods 13.

[0071] Fig. Figure 6 shows a highly schematic overview.

[0072] Fig. Figure 7 shows a possible form of a cleaning head 10, in which the actuating rod 13 opens into the cleaning head. The actuating rod 13 can comprise several concentric shafts 19 which are rotatably mounted within the actuating rod 13 and open into a base body 20. These serve in particular to drive the bristle holders 21 and bristle bundles 22 in order to move and, in particular, to oscillate them.

[0073] On the base body 20, which is designed, for example, in an approximately flat cuboid shape, the clamping devices 12 are arranged on the upper and lower sides facing the tooth crowns during operation.

[0074] The clamping devices 12 can be operated via a spindle drive 16 ( Fig. 8) or hydraulic cushions 17 ( Fig. 9) be extendable.

[0075] In Fig. Figure 10 shows some views where the clamping devices 12 have buffer elements 19 on their surfaces facing the tooth crowns. These buffer elements protrude slightly and, during movement over the teeth, ensure that the teeth do not come into contact with the surfaces of the clamping device 12, thus reducing resistance. Additionally, these elements can perform a guiding function.

[0076] Fig. Figure 11 shows the construction of a possible drive for bristle holders 21 for bristle bundles 22 of a cleaning device 9 for the incisors.

[0077] Fig. Figure 12 shows the device 1 schematically in a side view, wherein a clamping device 12 of a cleaning head 10 for the molars is in clamping position and cleaning of the incisors takes place. Reference symbol list 1 cleaning device 2 basic shapes 3 Inner wall 4 Outer wall 5 upper wall 6 lower wall 7 ultrasonic distance sensors 8 Lidar sensors 9 Cleaning equipment 10 cleaning heads for molars 11 Cleaning head for the incisors 12 clamping device 13 actuating rods 14 Intersection point 15 jaw arches 16 Spindle drive device 17 cushions, hydraulic or pneumatic 18 plate 19 waves 20 basic shapes of 10 21 bristle holders 22 bundles of bristles 23 buffers

Claims

Cleaning device, in particular for cleaning surfaces in the oral cavity, comprising at least one cleaning head (10) for molars and at least one cleaning head (11) for incisors, which can be guided over at least one dental arch (15), wherein actuating devices (13) for the movement of the cleaning head (10) are provided in the form of actuating rods (13) which extend from the cleaning device (1) to the cleaning head (11) and are extendable and retractable and adjustable in lateral angle, wherein at least one cleaning head (10) for the molars has at least one extendable and retractable clamping device (12) pointing towards at least one tooth crown, for fixing the cleaning head (10) between two opposing dental arches (15) and for adjusting a distance between the dental arches (15). Cleaning device according to claim 1, characterized in that two cleaning heads (10) are provided for the molars. Cleaning device according to claim 1 or 2, characterized in that an actuating device (13) for the movement of the cleaning head (11) for the incisors is provided. Cleaning device according to one of the preceding claims, characterized in that the cleaning head (11) for the incisors has at least one extendable and retractable clamping device (12) pointing towards at least one tooth crown, for fixing the cleaning head (11) between two opposing jaw arches (15) and for adjusting a distance between the jaw arches (15). Cleaning device according to one of the preceding claims, characterized in that the clamping device (12) is a mechanically extendable and / or pneumatically or hydraulically inflatable clamping device (12) which is designed to be reversibly extendable towards a tooth crown. Cleaning device according to one of the preceding claims, characterized in that the clamping device (12) can be reversibly extended and retracted with a mechanical spindle drive device (16). Cleaning device according to one of the preceding claims, characterized in that the clamping device (12) comprises a pneumatically or hydraulically extendable cushion (17). Cleaning device according to one of the preceding claims, characterized in that the clamping device (12) is arranged towards the upper jaw arch (and opposite to the lower jaw arch). Cleaning device according to one of the preceding claims, characterized in that the clamping device (12) has a plate (18) towards the teeth. Cleaning device according to one of the preceding claims, characterized in that the cleaning devices (9) have oscillating bristle bundles for contacting and cleaning the surfaces. Cleaning device according to one of the preceding claims, characterized in that the clamping device (12) has buffers (23) pointing towards the tooth crowns, which, in the case of movement of the cleaning device (9) over the teeth and in the non-extended state of the clamping device (12), establish a minimum distance and / or assume a guiding function. Cleaning device according to one of the preceding claims, characterized in that the cleaning devices (9) in the form of the cleaning heads (10, 11) have a length along the jaw arches (15) which is a partial length of a jaw arch (15) and in particular has a length which corresponds to one and a half to two and a half teeth. Cleaning device according to one of the preceding claims, characterized in that in the area of ​​a cleaning head (11) for the incisors a biting device for at least one incisor of the upper jaw and the lower jaw is provided, wherein the biting device is firmly connected to that of the cleaning device (1) in such a way that the device can be held by the teeth and the cleaning devices (9) are movable independently thereof. Use of a cleaning device according to one of the preceding claims, characterized in that, for the successive cleaning of the jaws in an oral cavity, one or two first cleaning heads (10, 11) are arranged stationary on a jaw arch and the respective clamping device (12) is extended and the remaining one or two second cleaning heads (10, 11) are moved between the jaw arches (15) in order to mechanically clean them with oscillating bristle bundles and at the end of the cleaning process, the second cleaning devices (9) are moved into a clamping position and the respective clamping devices (12) are extended and the clamping devices (12) of the first cleaning heads (10, 11) are retracted and the first cleaning heads (10, 11) are guided over the teeth and perform a cleaning. Use according to claim 14, characterized in that three cleaning heads (10, 11) are provided, wherein either two cleaning devices (9) are always clamped while one cleans or one cleaning device (9) is always clamped and two cleaning devices (9) clean. Use according to claim 14 or 15, characterized in that both cleaning heads (10) of the molars clamp to clean the incisors. Use according to one of claims 14 to 16, characterized in that the cleaning heads (10) for the molars clamp simultaneously at different positions of the jaw arches (15) or both always clamp in the area of ​​the rearmost molars.

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