A Dental clinic system using suction robot

Abstract

The present invention provides a dental treatment system with a novel structure utilizing a suction robot. More specifically, it utilizes a suction robot that recognizes intraoral markers or handpieces used in dental treatment, independently recognizes its range of activity and location based on information regarding dental treatment items or areas, and performs treatment assistance tasks. Furthermore, dental treatment can be performed solely with the assistance of a manager who inputs information about the suction robot and checks its management status, thereby reducing the workload of existing dental hygienists or dental assistants. Additionally, through the analysis of information on intraoral markers recognized via a sensing module, the analysis of handpiece movement information recognized via a sensing module, and the analysis of chair position information of the doctor and patient for dental treatment via a sensing module, it is possible to perform precise control of the suction process, optimal position setting / control of the suction robot, and imaging of the patient's treatment area. In particular, based on marker movement information, doctor and patient chair position movement information, handpiece movement information, and suction unit position information input via a sensing module, it is possible to perform not only precise control of the suction unit during the dental treatment process but also predict potential risks and [regarding] them This invention relates to a dental treatment system utilizing a suction robot that enables safe and precise dental treatment by allowing abnormal situation response control to be performed.

Description

Technology Field

[0001] The present invention provides a dental treatment system with a novel structure utilizing a suction robot. More specifically, it utilizes a suction robot that recognizes intraoral markers or handpieces used in dental treatment, independently recognizes its range of activity and location based on information regarding dental treatment items or areas, and performs treatment assistance tasks. Furthermore, dental treatment can be performed solely with the assistance of a manager who inputs information about the suction robot and checks its management status, thereby reducing the workload of existing dental hygienists or dental assistants. Additionally, through the analysis of information on intraoral markers recognized via a sensing module, the analysis of handpiece movement information recognized via a sensing module, and the analysis of chair position information of the doctor and patient for dental treatment via a sensing module, it is possible to perform precise control of the suction process, optimal position setting / control of the suction robot, and imaging of the patient's treatment area. In particular, based on marker movement information, doctor and patient chair position movement information, handpiece movement information, and suction unit position information input via a sensing module, it is possible to perform not only precise control of the suction unit during the dental treatment process but also predict potential risks and [regarding] them This invention relates to a dental treatment system utilizing a suction robot that enables safe and precise dental treatment by allowing abnormal situation response control to be performed. Background Technology

[0002] During dental treatment, foreign substances such as water, saliva, and blood continuously accumulate in the patient's oral cavity. If these substances remain in the mouth, the working field of the treatment area is obstructed, and the risk of viral or bacterial infections increases. Therefore, it is essential to remove the foreign substances generated during the dental procedure using suction during treatment.

[0003] In order to perform tasks such as suctioning or taking photographs for oral diagnosis during the dental treatment process, even if suction equipment or suction aids are utilized, skilled personnel with separate qualifications, such as dental hygienists or dental nurses' assistants, must be involved in the dental treatment process.

[0004] Currently, a significant proportion of qualified personnel, such as dental hygienists, registered in the dental industry are maintaining their qualifications without actually working. Consequently, the industry is facing a labor shortage in recruiting such personnel, and the resulting increase in labor costs for these related staff is inevitably leading to higher dental treatment costs.

[0005] Therefore, when a smart suction system (dental treatment system) is introduced through sensing technology, automation technology, etc., during dental treatment processes such as suctioning to assist or replace tasks such as performing suctioning work or taking photographs for oral diagnosis, the workload of existing dental hygienists or dental assistants can be significantly reduced, which can ultimately lead to the resolution of the labor shortage in the dental industry and the reduction of dental treatment costs, so the need for such a system is increasing.

[0006] <Patent Literature>

[0007] Korean Patent Publication No. 10-2023-0172698 (Published Dec. 26, 2023) "Dental suction assist device and dental unit chair equipped with the same"

[0008] The prior art disclosed in the aforementioned prior <Patent Document> provides a dental suction aid that enables a dentist to perform dental treatment independently with a suction tip fixed in an appropriate position within the patient's oral cavity without the assistance of auxiliary personnel. However, since the prior art is merely a concept of fixing a suction tip in a specific position within the patient's oral cavity, it has limitations in actively and appropriately responding to various situations during the dental treatment process. Consequently, it is said that there are limitations in that it inevitably has limitations in reducing the workload of existing dental hygienists or dental nurses' assistants. The problem to be solved

[0009] The present invention has been devised to solve the above-mentioned problems,

[0010] The objective of the present invention is to provide a dental treatment system utilizing a suction robot that recognizes intraoral markers or handpieces used in dental treatment, independently recognizes the range of activity and location based on information regarding dental treatment items or areas, and performs treatment assistance tasks; furthermore, the system enables dental treatment to be performed solely with the assistance of a manager who inputs information about the suction robot and checks its management status, thereby reducing the workload of existing dental hygienists or dental assistants.

[0011] Another objective of the present invention is to provide a dental treatment system utilizing a suction robot that enables dental treatment to be performed with minimal assistance from management personnel by utilizing a suction robot capable of performing precise control of the suction process, optimal positioning / control of the suction robot, and imaging of the patient's treatment area through the analysis of information on intraoral markers of the patient recognized through a sensing module, the analysis of handpiece movement information recognized through a sensing module, and the analysis of chair position information of the doctor and patient for dental treatment through a sensing module.

[0012] Another objective of the present invention is to provide a dental treatment system utilizing a suction robot that enables safe and precise dental treatment by allowing for precise control of the suction unit during the dental treatment process based on movement information of a marker input through a sensing module, movement information of the chair positions of the doctor and patient, movement information of the handpiece, and position information of the suction unit, as well as the prediction of potential risks and the execution of control to respond to abnormal situations. means of solving the problem

[0013] The present invention is implemented by an embodiment having the following configuration to achieve the aforementioned objective.

[0014] According to one embodiment of the present invention, a dental treatment system utilizing a suction robot according to the present invention comprises: a marker mounted in the oral cavity of a patient; a suction robot that senses the marker to recognize the range of activity and location according to the patient's treatment area and performs dental treatment assistance tasks; and a management terminal in which an administrator performs information input, setting, and management regarding the suction robot; wherein the marker is mounted on a tooth in the oral cavity of a patient and is characterized by including a first direction module that designates the frontal direction (lip-side) of the tooth and a second direction module that designates the occlusal surface direction (masticatory-side) of the tooth.

[0015] According to another embodiment of the present invention, the marker in the present invention comprises a first marker mounted on the maxillary teeth in the patient's oral cavity and a second marker mounted on the mandibular teeth, and the suction robot comprises a first suction unit that suctions liquid accumulated in the oral cavity while applying pressure to the patient's tongue, a second suction unit that precisely suctions liquid generated in a specific area during a dental treatment process by targeting it, a marker mounted in the patient's oral cavity, a sensing module that identifies information on the movement of a handpiece used during a dental treatment process and the movement of the chair positions of the doctor and the patient, and an image module that monitors the situation in the patient's oral cavity in real time and provides the information, and the management terminal comprises a work information input module that provides information on treatment items or areas to the suction robot before performing the work, and a management status check module that checks the management status of the suction robot.

[0016] According to another embodiment of the present invention, the suction robot in the present invention comprises: an activity area recognition module that recognizes the activity range and activity restriction range of the patient's treatment area by analyzing information regarding a treatment item or area input through the work information input module and information regarding a marker recognized through the sensing module; a position setting module that recognizes the chair positions of the doctor and patient for dental treatment through the sensing module and sets and controls the optimal position of the suction robot based on information regarding a treatment item or area input through the work information input module; an image capturing module that performs an image capturing operation of the patient's treatment area by analyzing information regarding a treatment item or area input through the work information input module and information regarding a marker recognized through the sensing module; a suction control module that identifies the suction area and precisely controls the suction based on information regarding a treatment item or area input through the work information input module and handpiece movement information recognized through the sensing module; and movement information of a marker and handpiece movement information input through the sensing module during the process of performing a dental treatment assistance task. It is characterized by additionally including an abnormal situation response module that predicts dangerous situations based on the chair position movement information of the doctor and patient and controls the movement of the suction robot, including the suction unit.

[0017] According to another embodiment of the present invention, the activity area recognition module of the present invention comprises: a location recognition module that recognizes the location of the treatment area in the current treatment process within the patient's oral cavity by analyzing information regarding the treatment item or area input through the work information input module and information regarding the marker recognized through the sensing module; an activity range recognition module that recognizes the activity range of a handpiece or suction unit related to the treatment area in the current treatment process within the patient's oral cavity by analyzing information regarding the treatment item or area input through the work information input module and information regarding the marker recognized through the sensing module; and an activity limit range recognition module that recognizes an activity limit range within the patient's oral cavity where the handpiece or suction unit related to the treatment area in the current treatment process must not deviate by analyzing information regarding the treatment item or area input through the work information input module and information regarding the marker recognized through the sensing module.

[0018] According to another embodiment of the present invention, the suction control module of the present invention comprises: a first control module that detects when a patient's oral cavity opens and controls the first suction unit to apply pressure to the patient's tongue and suction liquid accumulated in the oral cavity at a specific location within the oral cavity; a second control module that identifies a specific treatment area based on handpiece movement information recognized through a sensing module and controls the second suction unit to target and suction liquid generated at the specific area; a grouping analysis module that groups accumulated treatment history data based on treatment item or area information, patient information, and used handpiece information, and analyzes and provides related information; and a third control module that analyzes information within a group in the grouping analysis module where the rate of interference between the first suction unit and the second suction unit is high, analyzes the position of the first suction unit relative to the handpiece movement information, and controls the position of the first suction unit to change before the handpiece moves to a specific location, thereby minimizing interference between the first suction unit and the second suction unit. A fourth control module that minimizes interference between the first suction unit and the second suction unit by analyzing information within a group in the grouping analysis module where the rate of interference between the first suction unit and the second suction unit is high, analyzing the position of the second suction unit according to handpiece movement information, and controlling the position of the second suction unit to change when the handpiece moves to a specific position; and a fifth control module that improves the suction efficiency of the first suction unit by analyzing information within a group of failure types in the suction process of the first suction unit in the grouping analysis module, analyzing the position of the second suction unit according to the position of the first suction unit, and controlling the position of the second suction unit to change at the expected failure site / time of the first suction unit during the treatment process.It is characterized by including a sixth control module that improves the suction efficiency of the second suction unit by analyzing information within a failure type group during the suction process of the second suction unit in the grouping analysis module, analyzing the position of the first suction unit according to the position of the second suction unit, and controlling the change of the position of the first suction unit at the expected failure site / time of the second suction unit during the treatment process.

[0019] According to another embodiment of the present invention, the abnormal situation response module in the present invention comprises: a first risk prediction module that predicts the possibility of risk due to the movement of a patient's oral cavity during a dental treatment process based on movement information of a marker input through the sensing module and location information of a suction unit; a second risk prediction module that predicts the possibility of risk due to the movement of a chair based on movement information of the doctor and patient's chair and location information of a suction robot input through the sensing module; a third risk prediction module that predicts the possibility of risk due to the movement of a handpiece during a dental treatment process based on movement information of a handpiece used during the dental treatment process and location information of a suction unit input through the sensing module; a fourth risk prediction module that predicts the possibility of risk due to the movement of a suction unit by analyzing information within a group in which the rate of interference between the first suction unit and the second suction unit is high in the grouping analysis module, and comparing the location information of the suction unit input through the sensing module with the information of the treatment item or area in progress based on information where interference occurs between the two in a specific treatment item or area; and the It is characterized by including a fifth risk prediction module that predicts the final risk probability by analyzing information within a group in which a dangerous situation occurred during treatment targeting a specific patient and a specific handpiece for a specific treatment item or site in a grouping analysis module, and reflecting additional weights for the target treatment item or site, the target patient group, and the treatment situation in which the target handpiece is used, respectively, into the risk probability in the first to fourth risk prediction modules, and an abnormal situation response control module that controls the movement of a suction robot including a suction unit by reflecting the risk probability information presented in the fifth risk prediction module. Effects of the invention

[0020] The present invention can achieve the following effects through the combination and usage relationship of the embodiments described above and the configuration described below.

[0021] The present invention utilizes a suction robot that recognizes intraoral markers or handpieces used in dental treatment, independently recognizes the range of activity and location based on information regarding dental treatment items or areas, and performs treatment assistance tasks; furthermore, it enables dental treatment to be performed solely with the assistance of a manager who inputs information about the suction robot and checks its management status, thereby having the effect of reducing the workload of existing dental hygienists or dental nursing assistants.

[0022] The present invention has the effect of enabling dental treatment to be performed with minimal assistance from management personnel by utilizing a suction robot capable of performing precise control of the suction process, optimal positioning / control of the suction robot, and imaging of the patient's treatment area through the analysis of information on intraoral markers of the patient recognized through a sensing module, the analysis of handpiece movement information recognized through a sensing module, and the analysis of chair position information of the doctor and patient for dental treatment through a sensing module.

[0023] The present invention has the effect of enabling safe and precise dental treatment by allowing for precise control of the suction unit during the dental treatment process based on movement information of a marker input through a sensing module, movement information of the chair positions of the doctor and patient, movement information of the handpiece, and position information of the suction unit, as well as predicting potential risks and performing control to respond to abnormal situations. Brief explanation of the drawing

[0024] FIG. 1 is a configuration diagram of a system according to an embodiment of the present invention. Figure 2 is a detailed configuration diagram of the marker. Figure 3 is a detailed configuration diagram of the suction robot. Figure 4 is a detailed configuration diagram of the activity area recognition module. Figure 5 is a detailed configuration diagram of the suction control module. Figure 6 is a detailed configuration diagram of the abnormal situation response module. Figure 7 is a detailed configuration diagram of the management terminal. Specific details for implementing the invention

[0025] Preferred embodiments of a dental treatment system utilizing a suction robot according to the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that identical components in the drawings are represented by the same reference numerals wherever possible. Unless otherwise specifically defined, all terms in this specification have the same general meaning as understood by a person skilled in the art to which the present invention pertains. In the event of a conflict with the meaning of a term used in this specification, the definition used in this specification shall prevail. Throughout the specification, when a part is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as "...part," "...module," etc., described in the specification refer to a unit that processes at least one function or operation, which may be implemented in hardware, software, or a combination of hardware and software.

[0027] Referring to FIG. 1 and the like, a dental treatment system utilizing a suction robot according to one embodiment of the present invention is characterized by being formed with a structure comprising: a marker (10) mounted in the oral cavity of a patient; a suction robot (30) that senses the marker (10) to recognize the range of activity and location according to the patient's treatment area and performs dental treatment assistance tasks; and a management terminal (50) that allows an administrator to input information, set, and manage the suction robot (30). As previously explained, in existing dental treatment systems, even if suction equipment or suction aids are utilized for tasks such as performing suction work or taking photographs for oral diagnosis during the dental treatment process, skilled personnel with separate qualifications, such as dental hygienists or dental assistants, must be deployed in the dental treatment process. Consequently, there is a shortage of personnel to recruit dental hygienists or dental assistants, and various problems have arisen due to the rising labor costs of these personnel. Therefore, the present invention provides a system in which a smart suction system (dental treatment system) is introduced through sensing technology and automation technology during the dental treatment process, such as suction, to assist in or replace tasks such as performing suction work or taking photographs for oral diagnosis, thereby significantly reducing the workload of existing dental hygienists or dental assistants and ultimately leading to the resolution of the labor shortage in the dental industry and the reduction of dental treatment costs. This will be explained in detail below.

[0028] The above marker (10) is configured to be installed in the patient's oral cavity to serve as a reference for a specific location, and based on this, to accurately sense and verify the three-dimensional spatial area within the patient's oral cavity. In particular, the above marker (10) used in the present invention has a feature that allows for the recognition of not only the location where the marker itself is installed, but also the front and back, left and right, and up and down based on the marker. Therefore, during the dental treatment process, the suction robot (30) described later can clearly recognize the location and range of the corresponding treatment area based on the marker (10) simply by recognizing the presence of the above marker (10).

[0029] To this end, the marker (10) may preferably be formed in a shape having a surface facing the front (lip-side) direction of the patient's tooth and a surface facing the occlusal (masticatory) direction of the tooth while mounted in the patient's oral cavity, wherein the surface facing the front (lip-side) direction of the tooth may include a first direction module (110) for specifying the front (lip-side) direction of the tooth, and the surface facing the occlusal (masticatory) direction of the tooth may include a second direction module (120) for specifying the occlusal (masticatory) direction of the tooth. Through this structure, the sensing module (330) of the suction robot (30) described later recognizes the first direction module (110) of the marker (10) mounted on the patient's oral cavity teeth to recognize the front direction (lip side), recognizes the second direction module (120) to recognize the occlusal surface direction (mastication side), and links the directional relationship between the first direction module (110) and the second direction module (120) to accurately recognize the left / right direction of the corresponding tooth, respectively. If necessary, the first direction module (110) and the second direction module (120) may also transmit separate signal information.

[0030] Meanwhile, the above marker (10) may include a first marker (10-1) mounted on the upper teeth and a second marker (10-2) mounted on the lower teeth within the patient's oral cavity, i.e., multiple markers (10) may be utilized. By mounting and utilizing multiple markers (10) on the upper and lower teeth respectively within the oral cavity in this manner, information such as the patient's oral movement can be accurately recognized and provided based on information regarding the distance between the first marker (10-1) and the second marker (10-2).

[0031] The suction robot (30) is configured to sense the marker (10), recognize the range of activity and location according to the patient's treatment area, and perform dental treatment assistance tasks. That is, it is characterized by being able to recognize the marker (10) inside the patient's oral cavity or the handpiece used for dental treatment, and independently recognize the range of activity and location based on information regarding the input dental treatment item or area, and perform treatment assistance tasks, or to perform precise control of the suction process, optimal position setting / control, and image capturing of the patient's treatment area through the analysis of information regarding the marker (10) inside the patient's oral cavity recognized through the sensing module (330), the analysis of handpiece movement information recognized through the sensing module (330), and the analysis of chair position information of the doctor and patient for dental treatment through the sensing module (330). To this end, the suction robot (30) more specifically comprises a first suction unit (310) that suctions liquid accumulated inside the oral cavity while applying pressure to the patient's tongue, and a device that precisely suctions liquid generated in a specific area during the dental treatment process by targeting it. A second suction unit (320), a marker (10) installed in the patient's oral cavity, a sensing module (330) that identifies information such as the movement of a handpiece used in the dental treatment process and the movement of the chair positions of the doctor and the patient, an image module (340) that monitors the situation in the patient's oral cavity in real time and provides the information, an activity area recognition module (350) that recognizes the activity range and activity restriction range of the patient's treatment area by analyzing information about the treatment item or area entered through the work information input module (510) of the management terminal (50) and information about the marker (10) recognized through the sensing module (330), and a position setting module (360) that recognizes the chair positions of the doctor and the patient for dental treatment through the sensing module (330) and sets and controls the optimal position of the suction robot (30) based on information about the treatment item or area entered through the work information input module (510) of the management terminal (50).It may include an image capturing module (370) that performs image capturing work on the patient's treatment area by analyzing information about the treatment item or area entered through the work information input module (510) of the management terminal (50) and information about the marker (10) recognized through the sensing module (330); a suction control module (380) that identifies the suction area and precisely controls the suction based on information about the treatment item or area entered through the work information input module (510) of the management terminal (50) and handpiece movement information recognized through the sensing module (330); and an abnormal situation response module (390) that controls the movement of the suction robot (30) including the suction unit by predicting a dangerous situation based on movement information of the marker (10), handpiece movement information, and chair position movement information of the doctor and patient entered through the sensing module (330) during the process of performing dental treatment assistance work.

[0032] The first suction unit (310) is configured to suction liquid accumulated in the oral cavity while applying pressure to the patient's tongue. The suction robot (30) used in the present invention is characterized by being able to perform customized suction work for each purpose through a plurality of suction units. In particular, the first suction unit (310) is configured to basically perform the function of draining liquid, such as saliva, that accumulates in the mouth of a patient who keeps their oral cavity open during dental treatment by suctioning.

[0033] The second suction unit (320) is configured to precisely suction liquid generated in a specific area during the dental treatment process. While the first suction unit (310) described above is configured to discharge liquid accumulated in the patient's most basic open mouth through suction, the second suction unit (320) is configured to perform precise suction by targeting liquid generated in the area where actual dental treatment is being performed. It can perform the function of precisely discharging liquid generated during the treatment process through suction in the vicinity of the area where treatment is performed using a handpiece, that is, the area where the handpiece is working. It is not excluded that additional separate suction units may be included in addition to the second suction unit (320) if necessary.

[0034] The above-described sensing module (330) is configured to identify information such as the movement of a marker (10) installed in the patient's oral cavity, the movement of a handpiece used during dental treatment, and the movement of the chair position of the doctor and the patient. In other words, it performs the function of identifying the movement of the patient's oral cavity during dental treatment as well as the position and movement of the handpiece or chair used on-site, and providing related information. Various sensing methods may be utilized in the above-described sensing module (330), such as a method of receiving and identifying a signal transmitted from the marker (10), or a method of identifying the marker (10) or handpiece in an image to specify its position or movement.

[0035] The above-mentioned image module (340) is configured to monitor the condition inside the patient's oral cavity in real time and provide the relevant information, that is, it may include a function to monitor and capture images of the process of dental treatment being performed inside the patient's oral cavity, and to analyze and provide the relevant image information when necessary.

[0036] The above activity area recognition module (350) is configured to recognize the activity range and activity restriction range of the patient's treatment area by analyzing information regarding the treatment item or area entered through the work information input module (510) of the management terminal (50) and information regarding the marker (10) recognized through the sensing module (330). To this end, the above activity area recognition module (350) more specifically comprises a location recognition module (351) that recognizes the location of the treatment area during the current treatment process within the patient's oral cavity by analyzing information regarding the treatment item or area entered through the work information input module (510) of the management terminal (50) and information regarding the marker (10) recognized through the sensing module (330), and a location recognition module that recognizes the location of the treatment area during the current treatment process within the patient's oral cavity by analyzing information regarding the treatment item or area entered through the work information input module (510) of the management terminal (50) and information regarding the marker (10) recognized through the sensing module (330). It may include an activity range recognition module (352) that recognizes the activity range of a handpiece or suction unit related to the treatment area, and an activity limit range recognition module (353) that recognizes an activity limit range in which the handpiece or suction unit related to the treatment area during this treatment process must not move out of the patient's oral cavity by analyzing information about the treatment item or area entered through the work information input module of the management terminal (50) and information about the marker (10) recognized through the sensing module (330).

[0037] The above-mentioned location recognition module (351) is configured to recognize the location of the treatment area during the current treatment process within the patient's oral cavity by analyzing information regarding the treatment item or area entered through the work information input module (510) of the management terminal (50) and information regarding the marker (10) recognized through the sensing module (330). Basically, it analyzes which treatment is performed on which tooth based on the information regarding the treatment item or area for a specific patient entered through the work information input module (510) of the management terminal (50), and then, based on the information regarding the marker (10) recognized through the sensing module (330), it becomes possible to specify a specific location centered on the specific tooth where the actual dental treatment is performed. That is, by comparing the entered information on the tooth to be treated with the area recognized by the marker (10), it becomes possible to accurately specify the location within the oral cavity where the actual dental treatment is performed.

[0038] The above-described activity range recognition module (352) is configured to recognize the activity range of a handpiece or suction unit related to the treatment area during the current treatment process within the patient's oral cavity by analyzing information regarding a treatment item or area entered through the work information input module (510) of the management terminal (50) and information regarding a marker (10) recognized through the sensing module (330). In contrast to the above-described location recognition module (351), which accurately specifies the location within the oral cavity where the actual dental treatment is performed, the above-described activity range recognition module (352) specifies the activity range so that it is possible to determine to what extent the activity range of the related handpiece or suction unit is within the normal range for the actual treatment area during the process of performing the dental treatment process. To this end, the activity range recognition module (352) basically analyzes which tooth is treated and the general operating range information of the handpiece or suction unit performed during the treatment process based on information regarding the treatment item or area for a specific patient input through the work information input module (510) of the management terminal (50), and then determines how far the activity range of the related handpiece or suction unit is within the normal range based on the information regarding the marker (10) recognized through the sensing module (330) and the specific tooth where the actual treatment is performed.

[0039] The above activity restriction range recognition module (353) is configured to recognize an activity restriction range within the patient's oral cavity where the handpiece or suction unit related to the treatment area must not deviate from the treatment area during the current treatment process by analyzing information regarding the treatment item or area entered through the work information input module of the management terminal (50) and information regarding the marker (10) recognized through the sensing module (330). In contrast to the above-described location recognition module (351), which accurately specifies the location within the oral cavity where the actual dental treatment is performed, the above activity restriction range recognition module (353) specifies the activity restriction range so that it can distinguish whether an abnormal situation occurs if the activity range of the related handpiece or suction unit deviates to a certain extent from the treatment area during the process of performing the dental treatment. To this end, the activity restriction range recognition module (353) basically analyzes which treatment is performed on which tooth and the general operating range of the handpiece or suction unit performed during the treatment process and the information that must not be exceeded based on information regarding the treatment item or area for a specific patient entered through the work information input module (510) of the management terminal (50), and then, based on information regarding the marker (10) recognized through the sensing module (330), it is possible to determine the range to which the activity restriction range of the related handpiece or suction unit should be specified, centering on the specific tooth where the actual treatment is performed.

[0040] The above position setting module (360) is configured to recognize the positions of the doctor and patient's chairs for dental treatment through the sensing module (330) and to set and control the optimal position of the suction robot (30) based on information regarding treatment items or areas entered through the work information input module (510) of the management terminal (50). Basically, based on information regarding treatment items or areas for a specific patient entered through the work information input module (510) of the management terminal (50), it determines what treatment will be performed and analyzes the general position of the patient's chair and the position and movement information of the doctor's chair during the treatment process. Then, based on this, it sets the optimal position of the suction robot (30) between the positions and movements of the patient and doctor's chairs and also controls the position of the suction robot (30) in conjunction with the movement of the patient and doctor's chairs.

[0041] The above image capturing module (370) is configured to perform image capturing work on the patient's treatment area by analyzing information regarding treatment items or areas entered through the work information input module (510) of the management terminal (50) and information regarding markers (10) recognized through the sensing module (330). Basically, based on the information regarding treatment items or areas for a specific patient entered through the work information input module (510) of the management terminal (50), it analyzes which treatment is performed on which tooth. Then, based on the information regarding markers (10) recognized through the sensing module (330), it determines the specific location centered on the specific tooth where actual dental treatment is performed and the activity range of the relevant handpiece or suction unit for the treatment area during the process of performing the dental treatment. After that, it controls the image module (340) so that image capturing work can be performed by controlling which area should be intensively captured during the treatment process.

[0042] The suction control module (380) is configured to identify the suction area and precisely control suction using suction units based on information regarding the treatment item or area entered through the work information input module (510) of the management terminal (50) and handpiece movement information recognized through the sensing module (330). To this end, the suction control module (380) more specifically comprises: a first control module (381) that detects when the patient's oral cavity opens and operates the first suction unit (310) to control suction of liquid accumulated in the oral cavity at a specific location within the oral cavity while applying pressure to the patient's tongue; a second control module (382) that identifies a specific treatment area based on handpiece movement information recognized through the sensing module (330) and operates the second suction unit (320) to control suction targeting the liquid generated at that specific area; and accumulated treatment based on information regarding the treatment item or area, patient information, and used handpiece information. A grouping analysis module (383) that groups historical data and analyzes and provides related information; a third control module (384) that analyzes information within a group in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high in the grouping analysis module (383), analyzes the position of the first suction unit (310) relative to the handpiece movement information, and controls the position of the first suction unit (310) to change before the handpiece moves to a specific position, thereby minimizing the occurrence of interference between the first suction unit (310) and the second suction unit (320); and a third control module (384) that analyzes information within a group in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high in the grouping analysis module (383), analyzes the position of the second suction unit (320) according to the handpiece movement information, and changes the position of the second suction unit (320) when the handpiece moves to a specific position. A fourth control module (385) that controls to minimize interference between the first suction unit (310) and the second suction unit (320), andA fifth control module (386) that improves the suction efficiency of the first suction unit (310) by analyzing information within a failure type group in the suction process of the first suction unit (310) in the grouping analysis module (383), analyzing the position of the second suction unit (320) according to the position of the first suction unit (310), and controlling the position of the second suction unit (320) at the expected failure site / time of the first suction unit (310) during the treatment process, and the grouping analysis module (383) that analyzes information within a failure type group in the suction process of the second suction unit (320), analyzes the position of the first suction unit (310) according to the position of the second suction unit (320), and controls the position of the first suction unit (310) at the expected failure site / time of the second suction unit (320) during the treatment process. It may include a sixth control module (387) that improves efficiency.

[0043] The first control module (381) is configured to detect when the patient's oral cavity is opened and to operate the first suction unit (310) to apply pressure to the patient's tongue and to suction out the liquid accumulated in the oral cavity at a specific location within the oral cavity. As previously described, the first suction unit (310) is configured to perform the function of basically discharging liquid, such as saliva, that accumulates in the mouth of a patient who is opening their oral cavity during dental treatment through suction. The first control module (381) can specify the most suitable location for the patient during the dental treatment process based on information provided by the position recognition module (351), etc., and to operate the first suction unit (310) at that location to apply pressure to the patient's tongue and to suction out the liquid accumulated in the oral cavity at a specific location within the oral cavity.

[0044] The second control module (382) is configured to identify a specific treatment area based on handpiece movement information recognized through the sensing module (330) and to operate the second suction unit (320) to target and suction the liquid generated in that specific area. As previously explained, the second suction unit (320) is configured to perform precise suction by targeting the liquid generated in the area where actual dental treatment is being performed. The second control module (382) integrates information on the activity range during the dental treatment process for the patient and handpiece movement information recognized through the sensing module (330) based on information provided by the activity range recognition module (352), etc., and operates the second suction unit (320) to target the liquid generated in that specific area so that the liquid generated during the treatment process in that area can be precisely discharged through suction by more precisely targeting the area where treatment is performed with the actual handpiece, i.e., the area where the handpiece is working. It becomes possible to control suction.

[0045] The above grouping analysis module (383) is configured to group accumulated treatment history data based on treatment item or area information, patient information, and used handpiece information, and to analyze and provide related information. That is, it performs the function of grouping data into groups with high relevance (similarity) and providing analysis information for each group when analyzing big data based on accumulated history data, etc., while receiving dental treatment through the present invention (system). Depending on the need, this function may be performed within the edge unit, i.e., the suction robot (30), or it may be implemented in a form where the analysis information is transmitted and received after analyzing the relevant information (transmitted and received) on a separate server unit based on the cloud, etc. In the grouped analysis information provided through the grouping analysis module (383), each group is grouped into similar groups based on 'treatment item - treatment area - patient classification (age, gender, medical history, etc. - handpiece used', or into groups with a high (or low) rate of interference occurring between the first suction unit (310) and the second suction unit (320) during the dental treatment process, or into groups of failure (or success) types during the suction process of the first suction unit (310) (or the second suction unit (320)), or into groups of types of normal or abnormal progression during the treatment process. Through the analysis information for each group, the causes of each type and future improvements can be made based on the analysis information.

[0046] The third control module (384) is configured to minimize interference between the first suction unit (310) and the second suction unit (320) by analyzing information within a group in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high in the grouping analysis module (383), analyzing the position of the first suction unit (310) relative to the handpiece movement information, and controlling the change of the position of the first suction unit (310) before the handpiece moves to a specific position. That is, among the various group types analyzed in the grouping analysis module (383), the third control module (384) particularly, based on analysis information regarding groups in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high during the treatment process, and in the corresponding interference type, particularly based on analysis information regarding the position of the first suction unit (310) relative to the handpiece movement information, when the handpiece moves in a certain direction Accordingly, by determining whether the second suction unit (320) and the first suction unit (310) move in conjunction with each other, the position of the first suction unit (310) is controlled to change before the handpiece moves to a specific position, thereby minimizing the occurrence of interference between the first suction unit (310) and the second suction unit (320). That is, the third control module (384) minimizes the occurrence of interference between the first suction unit (310) and the second suction unit (320) by controlling the position of the first suction unit (310) in advance as the handpiece moves to a specific position, based on prior analysis information regarding the movement of the handpiece during the treatment process.

[0047] The above-mentioned fourth control module (385) is configured to minimize interference between the first suction unit (310) and the second suction unit (320) by analyzing information within a group in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high in the grouping analysis module (383), analyzing the position of the second suction unit (320) according to handpiece movement information, and controlling the change of the position of the second suction unit (320) when the handpiece moves to a specific position. That is, among the various group types analyzed in the grouping analysis module (383), the above-mentioned fourth control module (385) particularly, based on analysis information regarding groups in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high during the treatment process, and in the corresponding interference type, particularly based on analysis information regarding the position of the second suction unit (320) according to the movement relative to the handpiece movement information, the handpiece By determining whether interference occurs between the first suction unit (310) and the second suction unit (320) due to the second suction unit (320) moving in conjunction with the direction of movement, the position of the second suction unit (320) is controlled to change (to a position where interference can be minimized) when the handpiece moves to a specific position, thereby minimizing interference between the first suction unit (310) and the second suction unit (320). That is, the fourth control module (385) minimizes interference between the first suction unit (310) and the second suction unit (320) by controlling the position of the second suction unit (320) in advance as the handpiece moves to a specific position, based on prior analysis information regarding the movement of the handpiece during the treatment process.

[0048] The above-mentioned fifth control module (386) is configured to improve the suction efficiency of the first suction unit (310) by analyzing information within the failure type group in the suction process of the first suction unit (310) in the grouping analysis module (383), analyzing the position of the second suction unit (320) according to the position of the first suction unit (310), and controlling the change of the position of the second suction unit (320) at the expected failure site / time of the first suction unit (310) during the treatment process. That is, among the various group types analyzed in the grouping analysis module (383), the fifth control module (386) particularly, based on analysis information regarding the failure type groups in the suction process of the first suction unit (310) during the treatment process, particularly regarding the organic relationship between the first suction unit (310) and the second suction unit (320) due to the position of the second suction unit (320) in the corresponding failure type By determining whether the suction failure of the first suction unit (310) occurred because the connection (the organic suction function between the two) was not achieved, the suction efficiency of the first suction unit (310) can be improved by controlling the position of the second suction unit (320) at the expected failure site / time of the first suction unit (310) during actual treatment accordingly. That is, the fifth control module (386) analyzes the problem regarding the position of the second suction unit (320) in the failure type of the existing first suction unit (310) during the treatment process, and improves the suction efficiency of the first suction unit (310) by controlling the position of the second suction unit (320) at the expected failure site / time of the first suction unit (310) during the actual treatment process based on the analysis information.

[0049] The above-mentioned sixth control module (387) is configured to improve the suction efficiency of the second suction unit (320) by analyzing information within the failure type group in the suction process of the second suction unit (320) in the grouping analysis module (383), analyzing the position of the first suction unit (310) according to the position of the second suction unit (320), and controlling the change of the position of the first suction unit (310) at the expected failure site / time of the second suction unit (320) during the treatment process. That is, among the various group types analyzed in the grouping analysis module (383), the sixth control module (387) particularly, based on analysis information regarding the failure type groups in the suction process of the second suction unit (320) during the treatment process, particularly regarding the organic relationship between the first suction unit (310) and the second suction unit (320) due to the position of the first suction unit (310) in the corresponding failure type By determining whether the suction failure of the second suction unit (320) occurred because the connection (the exercise of organic suction function between the two) was not achieved, the suction efficiency of the second suction unit (320) can be improved by controlling the position of the first suction unit (310) at the expected failure site / time of the second suction unit (320) during actual treatment accordingly. That is, the sixth control module (387) analyzes the problem regarding the position of the first suction unit (310) in the failure type of the existing second suction unit (320) during the treatment process, and improves the suction efficiency of the second suction unit (320) by controlling the position of the first suction unit (310) at the expected failure site / time of the second suction unit (320) during the actual treatment process based on the analysis information.

[0050] The above abnormal situation response module (390) is configured to predict a dangerous situation (e.g., injury to the oral cavity during treatment, collision between the chair and the suction robot (30), collision between the handpiece and the suction unit, etc.) based on movement information of the marker (10), handpiece movement information, and chair position movement information of the doctor and patient input through the sensing module (330) during the process of performing dental treatment assistance tasks, and to control the movement of the suction robot (30) including the suction unit. To this end, the above abnormal situation response module (390) more specifically comprises a first risk prediction module (391) that predicts the possibility of danger due to the movement of the patient's oral cavity during dental treatment based on movement information of the marker (10) and position information of the suction unit input through the sensing module (330), and a first risk prediction module (391) that predicts the possibility of danger due to the movement of the chair based on movement information of the doctor and patient's chair and position information of the suction robot (30) input through the sensing module (330). A second risk prediction module (392), a third risk prediction module (393) that predicts the possibility of risk due to the movement of the handpiece during dental treatment based on the movement information of the handpiece used in the dental treatment process and the position information of the suction unit input through the sensing module (330), a fourth risk prediction module (394) that predicts the possibility of risk due to the movement of the suction unit by analyzing information within a group in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high in the grouping analysis module (383) and comparing the position information of the suction unit input through the sensing module (330) and the information of the treatment item or area being performed based on the information where interference between the two occurs in a specific treatment item or area, and an information within a group in which a dangerous situation occurred during treatment targeting a specific patient and a specific handpiece for a specific treatment item or area in the grouping analysis module (383)It may include a fifth risk prediction module (395) that predicts the final risk probability by reflecting additional weights in the risk probability in the first risk prediction module (391) to the fourth risk prediction module (394) for each of the treatment situations in which the target patient group and the target handpiece are used, and an abnormal situation response control module (396) that controls the movement of the suction robot (30) including the suction unit by reflecting the risk probability information presented in the fifth risk prediction module (395).

[0051] The first risk prediction module (391) is configured to predict the possibility of risk due to the movement of the patient's oral cavity during dental treatment based on the movement information of the marker (10) and the location information of the suction unit input through the sensing module (330). That is, through the movement information of the marker (10) input through the sensing module (330), it is possible to determine how the patient's oral cavity moves during treatment, and through the location information of the suction units (first suction unit (310) and second suction unit (320)) and the handpiece input through the sensing module (330), it is possible to determine the location and movement of the tools during treatment. The first risk prediction module (391) can analyze and predict the possibility of risk due to changes in the patient's oral cavity movement (e.g., collision between the tool and teeth or lips) based on the current location of the tools, and based on the information, take linked measures such as stopping the operation of the tool or generating an alarm.

[0052] The second risk prediction module (392) is configured to predict the possibility of risk due to the movement of the chair based on the chair position movement information of the doctor and patient and the position information of the suction robot (30) input through the sensing module (330). That is, through the chair position movement information of the doctor and patient input through the sensing module (330), it is possible to identify the process of position change of how the doctor or patient's chair moves during a specific treatment type and the process of its progress, and also through the position information of the suction robot (30) input through the sensing module (330), it is possible to identify the process of position change of how the suction robot (30) moves during a specific treatment type and the process of its progress. Accordingly, the second risk prediction module (392) predicts the possibility of risk due to changes in the chair movement of the doctor and patient (e.g., collision between the chair and the suction robot (30)) during the current treatment process based on the chair position / movement information of the doctor and patient and the suction robot (30) in such a specific treatment type. By analyzing and predicting the information, linked measures such as changing the position of the suction robot (30) or generating an alarm can be taken based on the information.

[0053] The third risk prediction module (393) is configured to predict the potential risk associated with the movement of the handpiece during dental treatment based on the movement information of the handpiece used in the dental treatment process and the position information of the suction unit input through the sensing module (330). Through the movement information of the handpiece used in the dental treatment process input through the sensing module (330), it is possible to identify how the handpiece moves during a specific treatment type and the process of changing its position / movement. Additionally, through the position / movement information of the suction unit used in the dental treatment process input through the sensing module (330), it is possible to identify how the suction units (first suction unit (310) and second suction unit (320)) move during a specific treatment type and the process of changing their position / movement. Accordingly, the third risk prediction module (393) predicts the risk associated with the change in the movement of the handpiece during the current treatment process based on the position / movement information of the handpiece and the position / movement information of the suction unit in such a specific treatment type. By analyzing and predicting possibilities (for example, collisions between the handpiece and the suction unit), it is possible to take linked measures based on the information, such as changing the position of the suction unit or generating an alarm.

[0054] The above-mentioned fourth risk prediction module (394) is configured to predict the possibility of risk due to the movement of the suction unit by analyzing information within a group in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high in the grouping analysis module (383), and comparing the location information of the suction unit input through the sensing module (330) with the information of the ongoing treatment item or area in which interference occurs between the two in a specific treatment item or area. That is, among the various group types analyzed in the grouping analysis module (383), the above-mentioned fourth risk prediction module (394) particularly, based on analysis information regarding groups in which the rate of interference between the first suction unit (310) and the second suction unit (320) is high during the treatment process, and in the corresponding type of interference, particularly since the first suction unit (310) and the second suction unit (320) (the second suction unit (320) is mainly linked to the movement of the handpiece) By identifying at what location / movement interference occurs between the two (including) and which treatment item or area such movement process occurs in conjunction with, the possibility of interference, i.e., potential risk, occurring between the first suction unit (310) and the second suction unit (320) during the actual dental treatment process can be predicted and minimized accordingly. That is, the fourth risk prediction module (394) can predict potential risks that may occur due to movement between suction units during the actual treatment process in the corresponding treatment item or area based on prior analysis information regarding the movement of suction units in a specific treatment item or area during the treatment process, and can take linked measures such as changing the position of the first suction unit (310) to the second suction unit (320) in advance or generating an alarm.

[0055] The above-mentioned fifth risk prediction module (395) is configured to predict the final risk probability by analyzing information within a group in which a dangerous situation occurred during treatment targeting a specific patient and a specific handpiece for a specific treatment item or site in the above-mentioned grouping analysis module (383), and reflecting additional weights for the target treatment item or site, the target patient group, and the treatment situation in which the target handpiece is used, respectively, into the risk probability in the above-mentioned first risk prediction module (391) to the above-mentioned fourth risk prediction module (394). That is, among the various group types analyzed in the above-mentioned grouping analysis module (383), the above-mentioned fifth risk prediction module (395) particularly analyzes, based on analysis information regarding groups in which a dangerous situation occurred during the treatment process, which factors caused the dangerous situation, that is, which factor was the main cause among factors such as the position or movement of the tool in the treatment situation in which the target treatment item or site, the target patient group, and the target handpiece are used, so that weights for the relevant factors can be reflected in the dangerous situation, thereby enabling a more accurate prediction of the risk probability. For example, in the risk probability due to changes in the patient's oral movement in the first risk prediction module (391), more weight can be given to factors based on the patient's age and gender; in the risk probability due to changes in the chair position of the doctor and patient in the second risk prediction module (392), more weight can be given to factors based on the type of treatment; and in the risk probability due to changes in the handpiece movement in the third risk prediction module (393), more weight can be given to factors based on the type of treatment, location, and the type and number of handpieces used. By giving more weight to the major factors that may cause the risk situation in each risk situation, the risk probability for each situation can be predicted and provided more accurately, allowing the risk situation to be responded to in advance (through the abnormal situation response control module (396) described later).

[0056] The above abnormal situation response control module (396) is configured to control the movement of the suction robot (30), including the suction unit, by reflecting the risk possibility information presented in the above fifth risk prediction module (395). That is, based on the risk possibility information presented in the above fifth risk prediction module (395) described above, the above abnormal situation response control module (396) controls the movement of the suction robot (30), including the related suction unit, so that the risk possibility can be prevented and blocked in advance so as to respond to the relevant risk situation in advance.

[0057] The above management terminal (50) is configured such that an administrator performs information input, settings, and management regarding the suction robot (30). As previously described, the system of the present invention utilizes the suction robot (30) to enable the suction robot (30) to recognize the movement of the patient's oral marker (10) and the handpiece used for dental treatment, and to independently recognize the range of activity and location based on the input information regarding the dental treatment item or area, thereby enabling the performance of treatment assistance tasks such as suction or imaging. The system is characterized by enabling dental treatment (assistance tasks) to be performed solely with the assistance of an administrator (here, an administrator refers to a person who has mastered the education and management manuals regarding the suction robot and has completed a certain course) who performs information input and management status checks regarding the suction robot (30), thereby significantly reducing the workload of dental hygienists or dental nursing assistants. The above management terminal (50) is characterized by enabling the suction robot (30) to perform tasks smoothly solely with information input and management status checks by an administrator, rather than a dental hygienist or dental nursing assistant. It is possible to enable this. To this end, the management terminal (50) may more specifically include a work information input module (510) that provides information on treatment items or areas before performing work to the suction robot (30), and a management status check module (520) that checks the management status of the suction robot (30).

[0058] The above-mentioned work information input module (510) is configured to provide information regarding treatment items or areas to the suction robot (30) before performing work, and performs the function of enabling an administrator to input information regarding treatment items or areas to be performed by the suction robot (30) upon receiving instructions from a dentist, thereby providing the relevant information to the suction robot (30) in advance.

[0059] The above management status check module (520) is configured to check the management status of the suction robot (30), and is configured to allow checking and managing the current management status of the suction robot (30), such as whether there are abnormalities like malfunctions or hygiene, through a manual, etc.

[0061] Although the applicant has described various embodiments of the present invention above, such embodiments are merely examples of implementing the technical concept of the present invention, and any modification or alteration that implements the technical concept of the present invention should be interpreted as falling within the scope of the present invention. Explanation of the symbols

[0062] 10: Marker 110: 1st Direction Module 120: 2nd Direction Module 10-1: 1st Marker 10-2: 2nd Marker 30: Suction Robot 310: 1st Suction Unit 320: 2nd Suction Unit 330: Sensing module 340: Image module 350: Activity Area Recognition Module 351: Location Recognition Module 352: Activity Range Recognition Module 353: Activity Limitation Recognition Module 360: Positioning module 370: Video recording module 380: Suction control module 381: First control module 382: Second control module 383: Grouping Analysis Module 384: Third Control Module 385: Fourth Control Module 386: 5th Control Module 387: 6th Control Module 390: Anomaly Response Module 391: Risk Prediction Module 1 392: 2nd Risk Prediction Module 393: 3rd Risk Prediction Module 394: 4th Risk Prediction Module 395: 5th Risk Prediction Module 396: Abnormal Situation Response Control Module 50: Management terminal 510: Job information input module 520: Management status check module

Claims

Claim 1 delete Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 A marker installed in the patient's oral cavity; a suction robot that senses the marker to recognize the range of activity and location according to the patient's treatment area and performs dental treatment assistance tasks; A management terminal for an administrator to perform information input, settings, and management regarding the suction robot; wherein the marker is mounted on a tooth in the patient's oral cavity and includes a first direction module for specifying the front direction (lip-side) of the tooth and a second direction module for specifying the occlusal surface direction (masticatory-side) of the tooth; wherein the marker includes a first marker mounted on the maxillary tooth and a second marker mounted on the mandibular tooth in the patient's oral cavity; and the suction robot includes a first suction unit that suctions accumulated liquid in the oral cavity while applying pressure to the patient's tongue and a second suction unit that precisely suctions liquid generated in a specific area during the dental treatment process by targeting it; a sensing module that identifies information regarding the marker mounted in the patient's oral cavity, the movement of the handpiece used during the dental treatment process, and the movement of the chair positions of the doctor and patient; an image module that monitors the situation in the patient's oral cavity in real time and provides the relevant information; and an element that analyzes information regarding the treatment item or area input through the work information input module below and information regarding the marker recognized through the sensing module to [determine] the patient's An activity area recognition module that recognizes the activity range and activity restriction range of a treatment area; a position setting module that recognizes the chair positions of a doctor and a patient for dental treatment through the sensing module and sets and controls the optimal position of a suction robot based on information regarding a treatment item or area entered through the work information input module below; an image capturing module that performs image capturing of the patient's treatment area by analyzing information regarding a treatment item or area entered through the work information input module below and information regarding a marker recognized through the sensing module below; and a suction control module that identifies the suction area and precisely controls suction based on information regarding a treatment item or area entered through the work information input module below and handpiece movement information recognized through the sensing module.It includes an abnormal situation response module that predicts dangerous situations based on marker movement information, handpiece movement information, and chair position movement information of the doctor and patient input through a sensing module during the process of performing dental treatment assistance tasks, and controls the movement of a suction robot including a suction unit; the management terminal includes a work information input module that provides information on the treatment item or area to the suction robot before performing the task, and a management status verification module that checks the management status of the suction robot; and the activity area recognition module includes a position recognition module that recognizes the location of the treatment area during the current treatment process within the patient's oral cavity by analyzing information on the treatment item or area input through the work information input module and information on the marker recognized through the sensing module, an activity range recognition module that recognizes the activity range of the handpiece or suction unit related to the treatment area during the current treatment process within the patient's oral cavity by analyzing information on the treatment item or area input through the work information input module and information on the marker recognized through the sensing module, and regarding the treatment item or area input through the work information input module It includes an activity restriction range recognition module that recognizes an activity restriction range within the patient's oral cavity where the handpiece or suction unit related to the treatment site during the current treatment process must not move out of the range by analyzing information and information regarding markers recognized through the sensing module, and the suction control module includes a first control module that detects when the patient's oral cavity opens and controls the first suction unit to apply pressure to the patient's tongue and suction out accumulated liquid in the oral cavity at a specific location within the oral cavity; a second control module that identifies a specific treatment site based on handpiece movement information recognized through the sensing module and controls the second suction unit to target and suction out liquid generated at that specific site; and a grouping analysis module that groups accumulated treatment history data based on treatment item or site information, patient information, and used handpiece information to analyze and provide related information.A third control module that minimizes interference between the first and second suction units by analyzing information within a group with a high rate of interference between the first and second suction units in the grouping analysis module, analyzing the position of the first suction unit relative to handpiece movement information, and controlling the change in the position of the first suction unit before the handpiece moves to a specific position; a fourth control module that minimizes interference between the first and second suction units by analyzing information within a group with a high rate of interference between the first and second suction units in the grouping analysis module, analyzing the position of the second suction unit according to handpiece movement information, and controlling the change in the position of the second suction unit when the handpiece moves to a specific position; and a fourth control module that minimizes interference between the first and second suction units by analyzing information within a group of failure types during the suction process of the first suction unit in the grouping analysis module, analyzing the position of the second suction unit according to the position of the first suction unit, and at the expected failure site / time of the first suction unit during the treatment process A dental treatment system utilizing a suction robot, characterized by including a fifth control module that improves the suction efficiency of a first suction unit by controlling the position of a second suction unit to change its position, and a sixth control module that improves the suction efficiency of a second suction unit by analyzing information within a failure type group during the suction process of the second suction unit in the grouping analysis module, analyzing the position of the first suction unit according to the position of the second suction unit, and controlling the position of the first suction unit to change its position at the expected failure site / time of the second suction unit during the treatment process. Claim 6 In claim 5, the abnormal situation response module comprises: a first risk prediction module that predicts the potential risk due to the movement of the patient's oral cavity during the dental treatment process based on the movement information of a marker input through the sensing module and the position information of a suction unit; a second risk prediction module that predicts the potential risk due to the movement of the chair based on the movement information of the doctor and patient's chair positions input through the sensing module and the position information of the suction robot; a third risk prediction module that predicts the potential risk due to the movement of the handpiece during the dental treatment process based on the movement information of the handpiece used during the dental treatment process and the position information of the suction unit input through the sensing module; a fourth risk prediction module that predicts the potential risk due to the movement of the suction unit by analyzing information within a group where the rate of interference between the first suction unit and the second suction unit is high in the grouping analysis module, and comparing the position information of the suction unit input through the sensing module with the information on the ongoing treatment item or area based on the information where interference occurs between the two in a specific treatment item or area; and a specific in the grouping analysis module A dental treatment system utilizing a suction robot, characterized by comprising: a fifth risk prediction module that predicts a final risk probability by analyzing information within a group in which a risk situation occurred during treatment targeting a specific patient and a specific handpiece for a treatment item or area, and reflecting additional weights for the target treatment item or area, the target patient group, and the treatment situation in which the target handpiece is used, respectively, to the risk probability in the first to fourth risk prediction modules; and an abnormal situation response control module that controls the movement of a suction robot including a suction unit by reflecting the risk probability information presented in the fifth risk prediction module.

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