Dental treatment device and control method

Abstract

Provided are a dental treatment device, a control method, a computer device, a computer-readable storage medium, a computer program product, and a computer program. The dental treatment device comprises a treatment means, a track and a mechanical arm; at least part of the track is adapted to be inserted into the oral cavity; the track is provided with at least one track cavity, and the track cavity is provided with an opening allowing the treatment means to be exposed to rinse the teeth; the mechanical arm comprises an arm body and a driving assembly; the arm body is fitted in the track cavity, and at least part of the arm body can swing; a channel is provided in the arm body, and the channel is used for the treatment means to pass through; the driving assembly is connected to the arm body; the driving assembly is used for driving the arm body to rotate and / or translate so as to adjust the position in the circumferential direction and / or the position in depth of the treatment means; and the driving assembly is in traction connection to the arm body, so as to adjust the position of the treatment means by driving the arm body to swing.

Description

Dental treatment device and control method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 2023109265990 filed in China on July 26, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the technical field of oral care, and in particular to a tooth treatment device and a control method, a computer device, a computer-readable storage medium, a computer program product, and a computer program. Background Art

[0004] Oral health is an important indicator of a person's physical and mental health. Common oral problems include tooth pigmentation and dental caries. These problems significantly impact the oral health of residents. If left unchecked, they can lead to serious problems such as toothache and tooth loss.

[0005] The care and treatment methods used for some common dental symptoms include teeth cleaning, cavity inspection, pit and fissure sealing, scaling, filling, etc. These treatment processes include aiming, spraying, cutting, etc., which require very precise operations during operation and require medical staff to spend a lot of time and energy. Therefore, current dentists often need to use auxiliary equipment to perform treatment operations.

[0006] However, some dental treatment devices in the related art are bulky and inconvenient to use. Furthermore, these devices require specialized training to operate proficiently. If not handled carefully, they can easily irritate and damage the gums or cheeks, increasing discomfort during the treatment process and, in severe cases, even leading to medical accidents. Furthermore, the use of these dental devices in the related art requires manual control of position and force, which can cause significant discomfort and is not child-friendly. Furthermore, the treatment results are not precise and the labor intensity is high.

[0007] Summary of the Invention

[0008] The embodiments of the present disclosure aim to solve one of the technical problems in the related art at least to a certain extent.

[0009] To this end, the disclosed embodiment proposes a tooth treatment device, which is simple to operate, realizes the space-limited operation of the treatment device, improves the situation where improper operation causes irritation and damage to the gums or cheeks, makes the care process targeted and goal-oriented, ensures the accuracy of the operation, reduces discomfort, and enhances child-friendliness.

[0010] The disclosed embodiment also provides a control method based on the above-mentioned tooth treatment device.

[0011] The tooth treatment device of the present disclosure includes:

[0012] disposal devices;

[0013] A track, at least a portion of which is inserted into the oral cavity, the track being provided with at least one track cavity, and the track cavity being provided with an opening for the treatment device to be exposed to act on the teeth;

[0014] a robotic arm comprising an arm body, a drive assembly, and a vision module, the arm body being adapted to fit within the track cavity and perform spatially confined motion along the track cavity, at least a portion of the arm body being bendable, and a channel being defined within the arm body for passage of the treatment device;

[0015] The driving assembly is connected to the arm body, and is used to drive the arm body to rotate and / or translate to achieve adjustment of the circumferential orientation and / or depth of the treatment device. The driving assembly is connected to the arm body for traction to achieve position adjustment of the treatment device by driving the arm body to bend. The visual module is arranged on the arm body and is used to achieve visualization of the dental treatment process.

[0016] The dental treatment device of the disclosed embodiment is simple to operate, realizes the space-limited operation of the treatment device, improves the situation where improper operation causes irritation and damage to the gums or cheeks, makes the care process targeted and goal-oriented, ensures the accuracy of control, reduces discomfort, and enhances child-friendliness.

[0017] In some embodiments, the track includes a main wall and a retaining wall, the retaining wall extends along the edge of the main wall and encloses the track cavity on one side of the main wall, the main wall is provided with a guide groove, and the guide groove is connected to the track cavity for part of the arm body to be embedded in to constrain and guide the movement of the arm body.

[0018] In some embodiments, the main body wall and the retaining wall are made of hard material, and a slide is provided on the retaining wall. The slide is consistent with the extension direction of the guide groove and is connected to the track cavity. The slide can be used for part of the arm body to be embedded to constrain and guide the movement of the arm body. The outer peripheral side of the track near the entrance of the track cavity is covered with a buffer layer, and the buffer layer is a soft material.

[0019] In some embodiments, the robotic arm includes a bending arm segment and a supporting arm segment, the bending arm segment is bendable, the supporting arm segment is axially movably assembled on the robotic arm, the supporting arm segment includes a plurality of scattered extensions, the bending arm segment is connected to the supporting arm segment and is located in the middle of the plurality of extensions, the driving assembly is connected to the bending arm segment through at least one deformable connecting member, and the connecting member is overlapped with part of the extensions one by one.

[0020] In some embodiments, the robotic arm includes a carrier, the arm body and the drive assembly are both assembled on the carrier, the track is fixedly connected to the carrier, and the track is used to move the carrier to a corresponding position in the oral cavity through human manipulation, and the treatment device is aligned with the position of the tooth that needs to be treated by moving the arm body in the track cavity.

[0021] In some embodiments, the vision module includes a camera, a wire, and a vision processing module, wherein the camera is mounted on the front end of the arm, the vision processing module is disposed on the inner side of the carrier, the wire passes through the arm and electrically connects the camera and the vision processing module, and the vision processing module is used for image processing, three-dimensional surface modeling, target recognition, or target positioning;

[0022] The visual processing module includes a local computing module and a transmission module. The local computing module is used to perform primary processing on the video image collected by the camera. The transmission module connects the main computing module with an external computer to realize data transmission.

[0023] In some embodiments, the treatment device includes a sandblasting and cleaning module including a catheter and a nozzle, the catheter is installed in the channel of the arm body and is used to transport high-pressure fluid and particulate matter, the nozzle is connected to the catheter and installed at the outlet position of the channel, and the nozzle is used to spray high-pressure fluid mixed with the particulate matter.

[0024] In some embodiments, the arm body is a tubular structure, and the end of the arm body for extending into the oral cavity is a seal, the nozzle is arranged adjacent to the seal, the robotic arm includes a bent arm section, the bent arm section is arranged adjacent to the nozzle, and the bent arm section includes a serpentine tube and a seal, the channel is arranged in the serpentine tube, and the tube wall of the serpentine tube is evenly distributed with a plurality of cutting holes formed by cutting, the seal is arranged on the inner side and / or outer side of the serpentine tube, and the seal is used to seal the cutting holes on the serpentine tube to ensure the sealing of the serpentine tube.

[0025] In some embodiments, the outlet of the nozzle includes one or more circular holes and / or narrow slits, the circular holes are used to spray out high-pressure fluid columns, and the narrow slits are used to spray out high-pressure fluid surfaces.

[0026] In some embodiments, the treatment device includes an inspection module, the inspection module includes a probe, the probe is assembled in the channel and extends from the channel, and the probe is used to inspect pits and fissures and caries.

[0027] In some embodiments, the treatment device includes a resin coating module and a light irradiation module, the resin coating module includes a connected resin container and a delivery tube, the delivery tube is assembled in the channel and extends from the channel outlet, and the delivery tube is used to deliver the resin squeezed out of the resin container to the teeth, the light irradiation module is installed at the channel outlet and is used to accelerate the curing of the resin.

[0028] In some embodiments, the treatment device includes a scraper module, the scraper module includes a scraper, the scraper passes through the channel and extends from the channel outlet, and the scraper is used to scale the teeth.

[0029] The control method of the tooth treatment device according to the embodiment of the present disclosure includes the following steps:

[0030] The visual module of the robotic arm collects intraoral video images of the area covered by the track of the treatment device;

[0031] Analyzing the intraoral video image to determine the target area coordinates of the target area to be processed relative to the target area of ​​the track;

[0032] Controlling the robotic arm to perform one or more of translation, rotation, and bending based on the target area coordinates, driving the treatment device to point to the center of the target area coordinates;

[0033] The robotic arm is controlled to drive the treatment device to perform a planar motion with a predetermined amplitude, so as to drive the treatment device to treat the target area.

[0034] In some embodiments, after driving the treatment device to treat the target area, the method further comprises:

[0035] Determining a treatment effect on the target area;

[0036] If the processing effect of the target area meets the preset conditions, a prompt message indicating that the processing area is completed and transferred is output;

[0037] If the processing effect of the target area does not meet the preset conditions, the treatment device continues to be driven to process the target area until the processing effect of the target area meets the preset conditions or the processing threshold for processing the target area is reached, and the processing threshold is the processing time and / or processing intensity.

[0038] In some embodiments, analyzing the intraoral video image to determine the target area coordinates of the target area to be processed relative to the target area coordinates of the track includes:

[0039] The intraoral video images collected by the visual processing module are transmitted to the interactive module in real time for real-time display by means of human-computer interactive input;

[0040] Receive target area coordinates and / or treatment device parameters input by the user through operations on the interaction module.

[0041] The embodiment of the present disclosure also proposes a computer device, including a processor and a memory; wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the control method of the dental treatment device as described in the above embodiment.

[0042] The embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the dental treatment device as described in the above embodiments.

[0043] The present disclosure also provides a computer program product, including a computer program, which implements the control method of the dental treatment device according to the above embodiment when executed by a processor.

[0044] The embodiment of the present disclosure further provides a computer program, which includes computer program code. When the computer program code is run on a computer, the computer executes the control method of the dental treatment device as described in the above embodiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a schematic diagram of a dental treatment device according to an embodiment of the present disclosure in use.

[0046] FIG2 is a perspective schematic diagram of a track according to an embodiment of the present disclosure.

[0047] FIG3 is a top perspective schematic diagram of the track according to an embodiment of the present disclosure.

[0048] FIG4 is a bottom perspective schematic diagram of the track according to an embodiment of the present disclosure.

[0049] FIG5 is a schematic diagram of the track in use according to an embodiment of the present disclosure.

[0050] FIG6 is a schematic cross-sectional view taken along line AA in FIG5 .

[0051] FIG7 is a schematic diagram of the internal structure of the robotic arm according to an embodiment of the present disclosure.

[0052] FIG8 is a first perspective schematic diagram of the robotic arm according to an embodiment of the present disclosure.

[0053] FIG9 is a second perspective schematic diagram of the robotic arm according to an embodiment of the present disclosure.

[0054] FIG10 is a left perspective schematic diagram of the internal structure of the robotic arm according to an embodiment of the present disclosure.

[0055] FIG11 is a right perspective schematic diagram of the internal structure of the robotic arm according to an embodiment of the present disclosure.

[0056] FIG12 is a partial enlarged schematic diagram of point A in FIG11 .

[0057] FIG. 13 is a perspective schematic diagram of a tooth treatment device according to another embodiment of the present disclosure.

[0058] FIG14 is a schematic diagram of the internal structure of the robotic arm of the dental treatment device in FIG13 .

[0059] FIG. 15 is a schematic diagram illustrating the cooperation between the track and the arm of the dental treatment device in FIG. 13 .

[0060] FIG16 is a schematic top view of the snake bone tube.

[0061] FIG17 is a side view of the snake tube.

[0062] Reference numerals: Track 100; Engaging portion 11; Housing 111; Outer wall 1111; Inner wall 1112; First partition 112; Second partition 113; First groove 114; First side wall 1141; Second side wall 1142; First bottom wall 1143; First hole 1144; Outer cavity 115; Middle cavity 116; Inner cavity 117; Second groove 118; Third side wall 1181; Fourth side wall 1182; Second bottom wall 1183; Second hole 1184; Guide portion 12; Tube 121; Guide hole 1211; First connecting plate 122; Second connecting plate 123; Limiting portion 13; First ellipse 14; Second ellipse 15; Third ellipse 16; Track cavity 17; Guide groove 18; Main body wall 19; Stop wall 110; Robot arm 200; Carrier 21; Tube 211; Arm body 22; bending arm section 221; transmission arm section 222; support arm section 223; driven gear 2231; extension 2232; first extension 22321; second extension 22322; channel 224; channel outlet 2241; rotating joint female head 225; protrusion 2251; rotating joint male head 226; protrusion 2261; curved reserved slot 227; threading hole bracket 228; drive assembly 23; first drive 231; first driver 2311; driving gear 2312; second drive 232; lead screw 2321; slider 2322; second driver 2323; third drive 233; third driver 2331; rotating member 2332; connecting member 2333; pipette 24; wiring terminal 25; control module 26; vision module 27; tooth 300; Sandblasting and cleaning module 400; pump body 41; conduit 42. DETAILED DESCRIPTION

[0063] The embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present disclosure, but should not be understood as limiting the present disclosure.

[0064] As shown in FIG1 , the tooth treatment device of the embodiment of the present disclosure includes a track 100, a robotic arm 200, and a treatment device (not shown). The track 100 and the robotic arm 200 can be provided separately, that is, the track 100 and the robotic arm 200 are independent components. In some other embodiments, the track 100 and the robotic arm 200 can also be provided as a whole or fixedly connected. The treatment device can be fully integrated into the robotic arm 200, or the treatment device can be partially integrated with the robotic arm 200. The treatment device can complete dental care such as cleaning, fluoride coating, and treatment of the teeth 300.

[0065] At least a portion of the track 100 is intended for insertion into the oral cavity. The track 100 is provided with at least one track cavity 17, which has an opening through which the treatment device 400 is exposed for application to the teeth 300. For example, the track 100 can be made of food-grade silicone, and its shape can generally match the arrangement of the teeth 300. During use, the track 100 can be placed in the oral cavity and secured by the teeth 300 engaging the track.

[0066] The track 100 may be provided with one or more track cavities 17, which extend along the extension direction of the track 100. When multiple track cavities 17 are provided, the multiple track cavities 17 may be arranged in parallel and spaced apart arrangements. It should be noted that when multiple track cavities 17 are provided, the treatment device 400 can be inserted into different track cavities 17 to provide care for different side surfaces and end surfaces of the tooth 300.

[0067] An opening may be provided on the wall of the orbital cavity 17. When in use, the treatment device may be inserted into the orbital cavity 17 and may move back and forth along the orbital cavity 17. After moving to the corresponding tooth 300, the treatment device may be extended from the opening or aligned with the corresponding side of the tooth 300. Thus, the tooth 300 may be cared for by means of the treatment device.

[0068] In some embodiments, the track 100 is provided with a scale near the opening of the track cavity 17. When the treatment device moves within the track cavity 17, the scale allows for intuitive judgment of the distance moved, which can be used as a reference for analyzing the size of stains on the tooth 300 and for building a three-dimensional model of the tooth 300. If a scale is not provided, the inherent dimensions of the opening of the track cavity 17 can be used as a reference for analyzing the size of the stain or building the three-dimensional model.

[0069] The robotic arm 200 includes an arm body 22, and a channel 224 is provided in the arm body 22. The channel 224 is used for allowing the treatment device 400 to pass through and guide the treatment device 400 to the tooth 300. For example, as shown in Figure 7, the arm body 22 can be generally a tubular structure, and the internal space of the arm body 22 forms the channel 224. The channel 224 extends along the extension direction of the arm body 22, and the inlet of the channel 224 can be located at the rear end of the arm body 22, and the outlet of the channel 224 (referred to as the channel outlet 2241) can be located at the front end of the arm body 22. When in use, the treatment device can pass through the channel 224 and can be exposed from the channel outlet 2241. With the help of the treatment device 400, cleaning, scaling and other care operations on the tooth 300 can be achieved. The arm body 22 includes a curved arm section 221 adjacent to the outlet of the channel 224, and the curved arm section 221 is swingable. For example, as shown in Figure 7, the bending arm section 221 can be roughly located in the middle of the arm body 22, wherein the bending arm section 221 can be a spring structure or a snake tube structure, thereby, the arm body 22 can bend and swing at the bending arm section 221, and the position of the channel outlet 2241 can be quantitatively adjusted by quantitatively controlling the bending angle of the bending arm section 221, thereby achieving adjustment of the action orientation and direction of the disposal device.

[0070] In some embodiments, the bending arm section 221 and the channel 224 share a metal tube. That is, the channel 224 is composed of a metal tube, and the spring structure or the snake tube structure of the bending arm section 221 is obtained by laser cutting on the metal tube. For treatment devices such as water flossers, it is necessary to seal the cut of the metal tube to prevent leakage of high-pressure fluid. A sealant can be provided on the inside or outside of the metal tube, such as a sealing tube made of elastic material (silicone, rubber, etc.). If the sealing tube is provided on the outside, that is, the sealing tube is sleeved on the outside of the metal tube (the area of ​​the bending arm section 221), a sealing tube with an initial inner diameter smaller than the outer diameter of the metal tube can be selected, and the elasticity of the sealing tube can be used to seal the bending arm section 221. In addition, a spring or a snap-fit ​​structure can be used to reinforce both ends of the sealing tube to further prevent leakage of high-pressure fluid.

[0071] It should be noted that when in use, as shown in Figure 1, the arm body 22 of the robotic arm 200 can be fitted in the orbital cavity 17 and can move back and forth in the orbital cavity 17, as well as bend and swing within the spatial range of the orbital cavity 17. Thus, the arm body 22 can perform spatially confined movements in the oral cavity, and through the movement and orientation adjustment of the arm body 22, it is possible to process teeth 300 in different positions and different surface positions of the same tooth 300.

[0072] The drive assembly 23 is connected to the arm body 22, and the drive assembly 23 is used to drive the arm body 22 to rotate and / or translate to adjust the circumferential position and / or depth of the disposal device 400, and the drive assembly 23 is traction-connected to the arm body 22 to adjust the position of the disposal device 400 by driving the curved arm segment 221 to swing.

[0073] For example, the drive assembly 23 may include an electric push rod, which may be connected to the arm body 22. When in use, the arm body 22 may extend into the track cavity 17 of the track 100, and the action of the electric push rod may drive the arm body 22 to move back and forth in the front and back directions, thereby adjusting the depth of the arm body 22 in the oral cavity, thereby meeting the cleaning and care needs of the teeth 300 at different positions.

[0074] In some other embodiments, the drive assembly 23 may also include a rotary drive, which can be connected to the arm body 22. The rotary drive can drive the arm body 22 to rotate around its axis. The rotation of the arm body 22 can achieve circumferential adjustment of the orientation of the channel outlet 2241, thereby achieving circumferential orientation adjustment of the disposal device 400, facilitating cleaning and other care of different positions of the same tooth 300.

[0075] The driving component 23 can be connected to the front end of the bending arm segment 221 or the arm body 22 through a connecting piece 2333 such as a rope or a steel wire. During use, the driving component 23 can drive the bending arm segment 221 to swing through the connecting piece 2333, thereby achieving fine-tuning of the orientation and position of the disposal device 400, thereby improving the precision and accuracy of the control.

[0076] The robotic arm 200 includes a vision module 27 , at least part of which is disposed at the front end of the arm body 22 . The vision module 27 is used to collect image information to achieve visualization of the tooth 300 care process.

[0077] The vision module 27 includes a camera, wires, and a vision processing module. For example, as shown in Figures 11 and 12, the camera can be mounted on the front end of the arm 22 and located in front of the channel outlet 2241. During use, the camera can be used to capture video images of the interior of the oral cavity. The captured video image information can be transmitted to the vision processing module via wires. The vision processing module can then perform functions such as image processing, three-dimensional surface modeling, target recognition, and target positioning.

[0078] Secondly, the visual module 27 can also be used to obtain the target position based on target positioning, thereby guiding the overall movement of the robot arm 200, pointing the channel outlet 2241 to the target position, and further cleaning the target position through the treatment device 400. The visual processing module can be composed of a single-chip microcomputer system or a small microcomputer such as Raspberry Pi.

[0079] In some embodiments, the visual processing module may also include a local computing module and a transmission module. After the local computing module performs primary processing of the video image, it is connected to an external computer through the transmission module. The external computer may include a network server, mobile phone, tablet computer, or other computer system. This not only facilitates users or medical staff to intuitively obtain relevant data, but also allows for more complex calculations and analysis, as well as larger amounts of data storage, with the help of an external advanced computer.

[0080] Primary video image processing can include noise reduction, transcoding, and object recognition. Transcoding involves converting the camera's MIPI protocol interface data into USB protocol interface data. The transmission module can use USB wired transmission or WiFi wireless transmission.

[0081] In some embodiments, the visual module 27 may also include a display module, which is connected to the visual processing module and can be implemented using an external computer. During user use, the visual processing module transmits the intraoral video image information captured by the camera to the display module in real time, which then displays the information in real time. The display module can also incorporate animated game effects for augmented reality displays to attract the attention of children and enhance their cooperation during dental care.

[0082] In some embodiments, the visual module 27 may also include an interactive module, which is connected to the visual processing module and includes a display screen for video / images, and components for user input of relative positions on the video / images, such as a touchpad, touch screen, mouse, etc.

[0083] During use, the surface area of ​​the tooth 300 can be divided into several areas based on the size of the track 100. The user then places the track 100 of the dental treatment device onto the areas one by one. The control method for the dental treatment device includes the following steps: video image acquisition, target positioning, robotic arm control, and treatment device control.

[0084] First, the visual module 27 is used to continuously capture video images in real time via the camera. Then, using a target positioning algorithm, the visual processing module locates the video images and identifies the target region coordinates (for rectangular regions, this includes the coordinates of a vertex and two side lengths) of one or more tooth 300 regions to be processed relative to the track 100. A maximum region threshold (e.g., 2 mm x 2 mm) is set. If the target region coordinates exceed the threshold, the target region is divided into multiple regions that do not exceed the threshold. To avoid target loss due to user activity, a target tracking algorithm is used to update the target region coordinates when displacement of the track 100 relative to the tooth 300 is detected.

[0085] Then, for each target area coordinate located, the driving component 23 is used to control the manipulator 200, and the channel outlet 2241 on the manipulator 200 is driven to point to the center of the target area coordinate through one or more movements of translation, rotation, and bending of the arm body 22. Then, the treatment device 400 is started to process the target coordinate position, and the channel outlet 2241 can be synchronously driven to make a small-amplitude planar movement, so that the treatment device 400 can process the area equivalent to the maximum area threshold. The small-amplitude planar movement of the channel outlet 2241 refers to controlling the arm body 22 to translate (depth adjustment) within a specified range through the driving component 23, and controlling the bending arm segment 221 to bend and swing within a specified range. The visual module 27 is used to identify non-tooth 300 areas such as gums. When the target area coordinates are close to non-tooth 300 areas such as gums, the processing force or speed is adjusted to reduce human discomfort and avoid damage.

[0086] After a certain period of time (e.g., 0.5 seconds), the target area is re-evaluated. If the treatment effect does not reach the specified threshold, the treatment intensity and duration are increased and the treatment is continued until the treatment effect reaches the specified threshold, or the treatment intensity and duration both exceed the specified maximum threshold. If the treatment effect still does not reach the specified threshold, the user is prompted by vibration or sound to use other methods for further treatment. When all target area coordinates are processed, the user is prompted by vibration or sound to complete the treatment of this area, and the user is prompted to move the track 100 to another tooth 300 to be treated.

[0087] The target localization algorithm can utilize a machine learning-based visual object detection method. First, a certain number of tooth 300 images are collected and manually labeled for target areas such as stains, gums, interdental spaces, and pits and fissures. Supervised machine learning is then used to develop a target detection model. To perform target localization, the image is input into the target detection model, and the model output includes the target type and target area coordinates found in the image.

[0088] The target positioning algorithm can also utilize image comparison methods. First, a model of the user's teeth is created. The tooth 300 model includes the three-dimensional surface coordinates and color of the tooth 300 and its surroundings (including gums, interdental spaces, etc.). The tooth 300 model is created as follows: During initial use, multi-view images of the tooth 300 are captured using a traversal method. A three-dimensional surface modeling method based on these multi-view images is then used to create the tooth model.

[0089] Secondly, when locating the target, an image registration algorithm is used to match the image to the tooth model, and anomaly detection methods are used to identify areas of difference as target areas. For the target area and its coordinates, an interactive method can be used to allow the user to confirm whether cleaning or other treatment is required, or a machine learning method can be used to determine whether cleaning or other treatment is required. For example, the interactive method displays the target area and its coordinates on a display, and the user confirms whether cleaning or other treatment is required by touch.

[0090] In the control method of the above-mentioned dental treatment device, the target positioning step can also adopt the method of user interactive input. In this method, the visual processing module transmits the intraoral video image information collected by the camera to the interactive module in real time, and the interactive module displays it in real time through the display screen. The user input can be through the mouse or touch screen on the interactive module to click on the target area coordinates on the video / image, such as a food residue area in the teeth. When the target is small, the user can also zoom in and out of the video image through input. The user can also set the parameters of the treatment device according to the target characteristics, such as the cleaning force. Set a maximum area threshold (for example, 2mm*2mm). If the target area coordinates are greater than the threshold, the target area is divided into multiple areas that do not exceed the threshold. In order to avoid the problem of target loss caused by user activity, a target tracking algorithm is used. When it is detected that the track 100 is displaced relative to the tooth 300, the target area coordinates are updated.

[0091] The dental treatment device of the disclosed embodiment is simple to operate. By means of the plug-in cooperation between the track 100 and the arm 22, the space-limited operation of the treatment device 400 is achieved, which improves the situation where improper operation causes irritation or damage to the gums or cheeks, makes the cleaning and other care processes targeted and goal-oriented, ensures the accuracy of the operation, reduces discomfort, and enhances child-friendliness.

[0092] In addition, the drive component 23 is connected to the arm body 22 by traction, and the drive component 23 can drive the arm body 22 to swing and adjust, so as to achieve fine-tuning and correction of the position of the disposal device 400. This driving method is highly flexible and meets the needs of various adjustments. Compared with the direct driving method such as motors used in related technologies, the overall structure is simple and occupies less space, so that the operating end of the arm body 22 (the front end in Figure 7) is smaller, which facilitates the precise control of cleaning and other care, and further reduces the user's discomfort during use.

[0093] In some embodiments, as shown in Figure 15, the track 100 includes a main wall 19 and a retaining wall 110, and a track cavity 17 is formed between the main wall 19 and the retaining wall 110. The main wall 19 is provided with a long guide groove 18 for accommodating some components of the arm body 22 (such as a camera) and guiding the movement direction of the arm body 22. A semi-cylindrical tubular portion can be provided at the rear end of the retaining wall 110 to limit the arm body 22 to only move forward or backward along the extension direction of the guide groove 18. An opening is provided on the side of the tubular portion so that the arm body 22 can be installed into the tubular portion from the side. The opening of the track cavity 17 is located opposite the main wall 19, and the opening is a plane, so that the track 100 can be conveniently placed on the outer side, inner side and tooth end face of the tooth 300.

[0094] The main wall 19 and the retaining wall 110 of the track 100 are made of hard materials, such as stainless steel, hard plastic, etc., to ensure the spatial dimensions of the track cavity 17 and the movement stability of the arm body 22 in the track cavity 17. In the direction of the opening facing outward, a soft buffer layer, such as silicone, can be added to the retaining wall 110. When the track 100 is placed in the oral cavity, the buffer layer contacts the teeth 300 or gums, and its function includes two aspects. On the one hand, the added soft material deforms to increase the contact area between the track 100 and the surface of the teeth 300, thereby improving the stability of the track 100. On the other hand, it can reduce the discomfort caused by squeezing or friction on the gums.

[0095] The buffer layer can be connected to the retaining wall 110 by bonding. In some embodiments, the buffer layer can be an independent thin-walled structural part with a shape similar to the structure composed of the main wall 19 and the retaining wall 110. When in use, it is wrapped around the outside of the main wall 19 and the retaining wall 110, thickened at the opening of the track cavity 17, and can be fixed to the retaining wall 110 by buckles, thereby achieving the above-mentioned effects of improving stability and comfort.

[0096] In some embodiments, the track 100 includes an occlusal portion 11, which is provided with an inner cavity 117, an intermediate cavity 116, and an outer cavity 115. The inner cavity 117, the intermediate cavity 116, and the outer cavity 115 form a track cavity 17. The inner cavity 117 is used for the treatment device 400 to act on the inner side of the tooth 300, the intermediate cavity 116 is used for the treatment device 400 to act on the tooth end surface of the tooth 300, and the outer cavity 115 is used for the treatment device 400 to act on the outer side of the tooth 300.

[0097] For example, as shown in Figures 2 to 4, three track cavities 17 can be provided in the bite portion 11, and the three track cavities 17 are respectively an inner cavity 117, a middle cavity 116 and an outer cavity 115, wherein the outer cavity 115 and the inner cavity 117 can be arranged relative to each other in the inner and outer directions (left and right directions or front and back directions), and the middle cavity 116 can be located between the outer cavity 115 and the inner cavity 117.

[0098] The overall shape of the occlusal portion 11 can match the arrangement of the teeth 300 in the human mouth. For example, the occlusal portion 11 can be generally L-shaped, so that the occlusal portion 11 can be occluded and fixed between the upper and lower teeth 300 of the human face, and can match half of the teeth 300 on the human face. When the other half of the teeth 300 needs to be cleaned or cared for, the occlusal portion 11 can be turned upside down and occluded between the upper and lower teeth 300 on the other half of the face. It is understood that in other embodiments, the occlusal portion 11 can also be U-shaped, etc., so that it can occlude and match all teeth 300 in the mouth.

[0099] The setting of the bite portion 11 allows the track 100 to be fixed in the human oral cavity by bite, thereby simplifying the operating load of medical staff. The positioning of the bite portion 11 also further ensures the accuracy and stability of the operation.

[0100] Secondly, the inner cavity 117, the middle cavity 116, and the outer cavity 115 can correspond to different surfaces of the teeth 300. For example, when the treatment device 400 is installed in the inner cavity 117, it can clean the inner side of the upper teeth 300 or the inner side of the lower teeth 300. When the treatment device 400 is installed in the outer cavity 115, it can clean the outer side of the upper teeth 300 or the outer side of the lower teeth 300. When the treatment device 400 is installed in the middle cavity 116, it can clean the bottom end surface of the upper teeth 300 or the top end surface of the lower teeth 300. This allows the treatment device 400 to enter the corresponding track cavity 17 during cleaning and other care, making cleaning and other care operations more targeted and further improving positioning accuracy.

[0101] In some embodiments, the occlusal portion 11 includes a first groove 114 and a second groove 118, and the inner cavity 117, the outer cavity 115, the first groove 114, and the second groove 118 are all arranged on the circumferential side of the middle cavity 116. The inner cavity 117 and the outer cavity 115 are arranged opposite to each other, and the first groove 114 and the second groove 118 are arranged opposite to each other and are used for the teeth 300 to occlude and embed. The inner cavity 117, the middle cavity 116, and the outer cavity 115 are all connected with the first groove 114 and the second groove 118 so that the disposal device 400 moving in the inner cavity 117, the middle cavity 116, and the outer cavity 115 can be extended into the first groove 114 or the second groove 118.

[0102] In some specific embodiments, as shown in Figures 5 and 6, the first groove 114 and the second groove 118 can be arranged relative to each other in the up and down directions, the middle cavity 116 can be between the first groove 114 and the second groove 118, and the inner cavity 117, the first groove 114, the outer cavity 115, and the second groove 118 can be connected in sequence in the circumferential direction of the middle cavity 116, so that a closed-loop enclosure structure can be formed on the circumferential side of the middle cavity 116.

[0103] The top side of the inner cavity 117 can be connected to the first groove 114 through a through hole, and the bottom side of the inner cavity 117 can also be connected to the second groove 118 through a through hole. Similarly, the top sides of the middle cavity 116 and the outer cavity 115 can be connected to the first groove 114 through a through hole, and the bottom sides of the middle cavity 116 and the outer cavity 115 can also be connected to the second groove 118 through a through hole.

[0104] During use, as shown in FIG6 , the track 100 can be occluded and fixed between the upper teeth 300 and the lower teeth 300 of the human body, wherein the upper teeth 300 can fit in the first groove 114 and the lower teeth 300 can fit in the second groove 118. After being occluded and fixed, the treatment device 400 can be inserted into the inner cavity 117, the middle cavity 116, and the outer cavity 115. Taking the middle cavity 116 as an example, the treatment device 400 can be inserted into the middle cavity 116 and can reciprocate along the extension direction of the middle cavity 116. The treatment device 400 can be inserted into the first groove 114 and the second groove 118 through the through hole, thereby achieving cleaning and other care for the tooth end surfaces of the upper teeth 300 and the lower teeth 300.

[0105] In some embodiments, when the occlusal portion 11 is L-shaped, in order to enhance adaptability to the teeth 300 on different halves of the face, the first groove 114 and the second groove 118 may be arranged in mirror symmetry in the upper and lower directions.

[0106] In some embodiments, the first groove 114 has a first bottom wall 1143, a first side wall 1141 and a second side wall 1142, the first bottom wall 1143 is connected between the first side wall 1141 and the second side wall 1142, the first side wall 1141 and the second side wall 1142 are arranged opposite to each other and have opposite inclination directions, and the distance between the first side wall 1141 and the second side wall 1142 gradually decreases along the groove depth direction of the first groove 114.

[0107] For example, as shown in FIG3 , the oppositely disposed groove walls of the first groove 114 respectively form a first side wall 1141 and a second side wall 1142. The first side wall 1141 may be the outer groove wall of the first groove 114, the second side wall 1142 may be the inner groove wall of the first groove 114, and the first bottom wall 1143 may be the bottom wall of the first groove 114. The first side wall 1141 may be arranged obliquely from the outer upper side to the inner lower side, and the second side wall 1142 may be arranged obliquely from the inner upper side to the outer lower side. Thus, the cross-section of the first groove 114 may be substantially trapezoidal, i.e., the groove width of the first groove 114 gradually decreases from the top to the bottom.

[0108] On the one hand, such a design makes the width of the slot of the first slot 114 larger, thereby facilitating the insertion of the tooth 300 into the first slot 114. The inclined arrangement of the first side wall 1141 and the second side wall 1142 can also play a certain guiding effect, thereby facilitating the centering of the tooth 300 to the middle position of the first slot 114, thereby ensuring the accuracy of the occlusal assembly and improving the adaptability to the types of teeth 300 of different human bodies.

[0109] On the other hand, the first sidewall 1141 and the second sidewall 1142 have projection components in both the horizontal and vertical directions. The horizontal projection component facilitates vertical connection and docking between the first groove 114 and the inner cavity 117, and also facilitates vertical connection and docking between the first groove 114 and the outer cavity 115. The vertical projection component can be opposite to the inner or outer surface of the tooth 300, thereby facilitating cleaning and other care of the inner and outer surfaces of the tooth 300.

[0110] In addition, the inclined first side wall 1141 and the second side wall 1142 can also play a role in guiding the transmission of the bite force, that is, the bite force can be transmitted to the first partition 112 and the second partition 113 respectively via the first side wall 1141 and the second side wall 1142, thereby reducing the squeezing effect on the inner cavity 117 and the outer cavity 115, reducing the deformation of the inner cavity 117 and the outer cavity 115, and facilitating the movement of the disposal device 400 in the outer cavity 115 and the inner cavity 117.

[0111] In some embodiments, the first bottom wall 1143 , the first side wall 1141 , and the second side wall 1142 are each provided with a plurality of first holes 1144 spaced apart along the extension direction of the bite portion 11 . The first holes 1144 form an opening and are used for the disposal device 400 to extend into the first groove 114 .

[0112] For example, as shown in FIG2 , the first bottom wall 1143, the first side wall 1141, and the second side wall 1142 can all be formed by a plurality of first connecting rods spaced apart along the extending direction of the occlusal portion 11, and a first hole 1144 can be formed between any two adjacent first connecting rods. During use, the treatment device 400 in the inner cavity 117, the middle cavity 116, and the outer cavity 115 can be extended into the first groove 114 through the corresponding first holes 1144, thereby achieving cleaning and other care for the teeth 300 in the first groove 114.

[0113] On the one hand, the arrangement of the first connecting rod allows the first hole 1144 to extend in the inward and outward directions, so that during use, the treatment device 400 can clean and perform other care for the teeth 300 by swinging inward and outward, thereby improving the convenience and flexibility of operation; on the other hand, the first connecting rod also has a good elastic deformation effect, and the aperture of the first hole 1144 can be expanded through the deformation of the first connecting rod, thereby further facilitating the treatment device 400 to pass through the first hole 1144 and perform other care for the teeth 300.

[0114] It is understandable that in some other embodiments, the first bottom wall 1143 , the first side wall 1141 , and the second side wall 1142 may also have only one first hole 1144 , and the first hole 1144 may be a long hole and may be extended along the extension direction of the bite portion 11 .

[0115] In some embodiments, the second groove 118 has a second bottom wall 1183, a third side wall 1181 and a fourth side wall 1182, the second bottom wall 1183 is connected between the third side wall 1181 and the fourth side wall 1182, the third side wall 1181 and the fourth side wall 1182 are arranged opposite to each other and have opposite inclination directions, and the distance between the third side wall 1181 and the fourth side wall 1182 gradually decreases along the groove depth direction of the second groove 118.

[0116] For example, as shown in FIG4 , the oppositely disposed groove walls of the second groove 118 respectively form a third sidewall 1181 and a fourth sidewall 1182. The third sidewall 1181 may be the outer groove wall of the second groove 118, the fourth sidewall 1182 may be the inner groove wall of the second groove 118, and the second bottom wall 1183 may be the bottom wall of the second groove 118. The third sidewall 1181 may be arranged obliquely from the outer bottom to the inner top, and the fourth sidewall 1182 may be arranged obliquely from the inner bottom to the outer top. As a result, the cross-section of the second groove 118 may be substantially trapezoidal, i.e., the groove width of the second groove 118 gradually decreases from bottom to top.

[0117] On the one hand, such a design makes the width of the slot of the second slot 118 larger, thereby facilitating the engagement and insertion of the lower row of teeth 300 into the second slot 118. The inclined arrangement of the third side wall 1181 and the fourth side wall 1182 can also play a certain guiding effect, thereby facilitating the centering of the teeth 300 to the middle position of the second slot 118, thereby ensuring the accuracy of the occlusal assembly and improving the adaptability to the types of teeth 300 of different human bodies.

[0118] On the other hand, the third sidewall 1181 and the fourth sidewall 1182 have projection components in both the horizontal and vertical directions. The horizontal projection component facilitates vertical connection and docking between the second groove 118 and the inner cavity 117, and also facilitates vertical connection and docking between the second groove 118 and the outer cavity 115. The vertical projection component can be opposite to the inner or outer surface of the tooth 300, thereby facilitating cleaning and other care of the inner and outer surfaces of the tooth 300.

[0119] In addition, the inclined third side wall 1181 and the fourth side wall 1182 can also play a role in guiding the transmission of the bite force, that is, the bite force can be transmitted to the first partition 112 and the second partition 113 via the third side wall 1181 and the fourth side wall 1182 respectively, thereby reducing the squeezing effect on the inner cavity 117 and the outer cavity 115, reducing the deformation of the inner cavity 117 and the outer cavity 115, and facilitating the movement of the disposal device 400 in the outer cavity 115 and the inner cavity 117.

[0120] In some embodiments, the second bottom wall 1183 , the third side wall 1181 , and the fourth side wall 1182 are each provided with a plurality of second holes 1184 spaced apart along the extension direction of the bite portion 11 . The second holes 1184 form an opening and are used for the disposal device 400 to extend into the second groove 118 .

[0121] For example, as shown in Figure 4, the second bottom wall 1183, the third side wall 1181, and the fourth side wall 1182 can all be formed by a plurality of second connecting rods spaced apart along the extending direction of the occlusal portion 11, and a second hole 1184 can be formed between any two adjacent second connecting rods. During use, the treatment device 400 in the inner cavity 117, the middle cavity 116, and the outer cavity 115 can be extended into the second groove 118 through the corresponding second hole 1184, thereby achieving cleaning and other care for the teeth 300 in the second groove 118.

[0122] On the one hand, the arrangement of the second connecting rod allows the second hole 1184 to extend in the inward and outward directions, so that during use, the treatment device 400 can clean and perform other care for the teeth 300 by swinging inward and outward, thereby improving the convenience and flexibility of operation; on the other hand, the second connecting rod also has a good elastic deformation effect, and the aperture of the second hole 1184 can be expanded through the deformation of the second connecting rod, thereby further facilitating the treatment device 400 to pass through the second hole 1184 and perform other care for the teeth 300.

[0123] It is understandable that in some other embodiments, the second bottom wall 1183 , the third side wall 1181 , and the fourth side wall 1182 may also have only one second hole 1184 , and the second hole 1184 may be a long hole and may be extended along the extension direction of the bite portion 11 .

[0124] In some embodiments, the bite portion 11 includes an inner wall 1112, an outer wall 1111, a first partition 112 and a second partition 113 arranged relatively to each other, the inner cavity 117, the middle cavity 116, the outer cavity 115, the first groove 114 and the second groove 118 are all located between the inner wall 1112 and the outer wall 1111, the first partition 112 and the second partition 113 are both arranged in the shell 111 and divide the internal space of the shell 111 into the inner cavity 117, the middle cavity 116 and the outer cavity 115, and the middle cavity 116 is located between the first partition 112 and the second partition 113, the outer cavity 115 is located between the first partition 112 and the outer wall 1111, and the inner cavity 117 is located between the second partition 113 and the inner wall 1112.

[0125] For example, as shown in FIG2 , the engaging portion 11 includes a housing 111 , and the housing 111 , a first partition 112 , and a second partition 113 can be integrally formed. The housing 111 can be generally tubular, with the upper side of the housing 111 being recessed downward to form a first groove 114 , and the lower side of the housing 111 being recessed upward to form a second groove 118 . As shown in FIG3 , the first partition 112 and the second partition 113 can be disposed within the housing 111 and can be arranged in parallel and spaced apart in the inner-outer direction, with the first partition 112 being located outside the second partition 113 .

[0126] The outer cavity 115 can be located outside the first partition 112, the middle cavity 116 can be located between the first partition 112 and the second partition 113, and the inner cavity 117 can be located inside the second partition 113. Thus, on the one hand, the first partition 112 and the second partition 113 can serve to separate the space within the housing 111, thereby simplifying the overall structure and achieving the separation of the outer cavity 115, the middle cavity 116, and the inner cavity 117.

[0127] On the other hand, the first partition 112 and the second partition 113 can play a supporting role during use, so that the bite portion 11 can withstand the bite force of the human body without collapsing, meeting the assembly and movement needs of the disposal device 400, and also playing a role in protecting the disposal device 400.

[0128] As shown in Figures 3 and 4, the inner wall 1112 and the outer wall 1111 can both be roughly plate-shaped structures and can be the side walls of the shell 111. The inner wall 1112 and the outer wall 1111 can both extend along the extension direction of the occlusal portion 11. The inner wall 1112 is located on the inner side of the outer wall 1111. When in use, the inner wall 1112 is used to face the inside of the oral cavity, and the outer wall 1111 is used to face the outside of the oral cavity.

[0129] The setting of the inner wall 1112 and the outer wall 1111 can have a protective effect, wherein the inner wall 1112 can stop the treatment device 400 in the inner cavity 117, thereby preventing the treatment device 400 from extending from the inner cavity 117 and easily injuring the tongue, and the outer wall 1111 can stop the treatment device 400 in the outer cavity 115, thereby preventing the treatment device 400 from extending from the outer cavity 115 and easily injuring the cheek, thereby improving the safety of use.

[0130] In addition, the structural strength of the inner wall 1112 and the outer wall 1111 is relatively high, so that they can play a supporting role together with the first partition 112 and the second partition 113, reducing the deformation of the bite part 11 during bite, and ensuring the smooth movement of the disposal device 400 in the inner cavity 117, the middle cavity 116, and the outer cavity 115.

[0131] In some embodiments, as shown in FIG6 , the cross-sections of the inner wall 1112, the outer wall 1111, the first partition 112, and the second partition 113 are all arc-shaped, specifically circular arc-shaped, wherein the outer wall 1111, the first partition 112, and the second partition 113 all protrude toward the outside of the track 100 (the left side in FIG6 ), and the inner wall 1112 protrudes toward the inside of the track 100 (the right side in FIG6 ).

[0132] During occlusion, the outer wall 1111, the first partition 112, and the second partition 113 all bulge and deform outward of the treatment device 400, while the inner wall 1112 bulges and deforms inward of the treatment device 400. As a result, the overall deformation of the treatment device 400 during occlusion tends to be outward, which is an ergonomic design that reduces compression on the oral cavity, thereby improving occlusal comfort and further reducing discomfort.

[0133] Secondly, the arc-shaped design not only facilitates smooth connection, thereby eliminating concentrated stress, but also enhances structural strength and elastic performance, thus fully meeting the needs of use.

[0134] In addition, the arc-shaped design can also form a guide groove-like structure on the concave surfaces of the inner wall 1112, the outer wall 1111, the first partition 112, and the second partition 113, thereby improving the guidance of the movement of the disposal device 400 and enhancing the restraint effect.

[0135] In some embodiments, as shown in Figure 6, the cross-sectional profile (cross-sectional profile in the vertical direction) of the outer wall 1111 is located on the first ellipse 14, the cross-sectional profile (cross-sectional profile in the vertical direction) of the first partition 112 is located on the second ellipse 15, the cross-sectional profile (cross-sectional profile in the vertical direction) of the second partition 113 and the cross-sectional profile (cross-sectional profile in the vertical direction) of the inner wall 1112 are located on the third ellipse 16, and the centers of the first ellipse 14, the second ellipse 15, and the third ellipse 16 are all located in the same plane. For example, the centers of the first ellipse 14, the second ellipse 15, and the third ellipse 16 can be located in the same horizontal plane.

[0136] As a result, the overall structure of the bite part 11 is symmetrical up and down. When the bite is fixed, it can be ensured that the outer wall 1111, the first partition part 112, the second partition part 113, and the inner wall 1112 on the upper and lower sides have approximately the same deformation amount, thereby ensuring consistency between the upper and lower sides.

[0137] In some embodiments, the extension direction of the major axis of the second ellipse 15 is consistent with the spacing direction of the first partition 112 and the second partition 113, and the extension direction of the major axis of the first ellipse 14 and the extension direction of the major axis of the third ellipse 16 are both orthogonal to the extension direction of the major axis of the second ellipse 15.

[0138] For example, as shown in Figure 6, the major axis of the second ellipse 15 can extend generally in the left-right direction, while the major axes of the first ellipse 14 and the third ellipse 16 can both extend in the up-down direction. This design arrangement facilitates the definition of the first groove 114 and the second groove 118, while also aligning the minor axes of the first ellipse 14 and the second ellipse 15 horizontally. This reduces the overall lateral dimensions of the oral guide, facilitating oral fit and further enhancing occlusal comfort.

[0139] Furthermore, since the minor axis of the second ellipse 15 extends in the vertical direction, this design provides the second ellipse 15 with greater structural strength in the vertical direction, thereby fully meeting the requirements of the occlusal action of the teeth 300. Furthermore, the distance between the upper and lower teeth 300 during occlusion can be reduced, further improving occlusal comfort.

[0140] In some embodiments, as shown in FIG6 , the major axis of the first ellipse 14 can be 26 mm, and the minor axis can be 10 mm. The spacing between the first partition 112 and the second partition 113 in the left-right direction can be 15 mm. The major axis of the third ellipse 16 can be 20 mm, and the minor axis can be 13 mm.

[0141] In some embodiments, the track 100 includes a guide portion 12, which is connected to the bite portion 11, and at least part of the guide portion 12 is used to extend to the outside of the human oral cavity, and the guide portion 12 is provided with a guide hole 1211, which is used to guide the disposal device 400 into the inner cavity 117, the middle cavity 116 or the outer cavity 115.

[0142] For example, as shown in FIG2 , the guide portion 12 can be integrally formed with the engaging portion 11. The guide portion 12 can be generally tubular in structure, with the interior space of the guide portion 12 forming a guide hole 1211. As shown in FIG3 , the guide hole 1211 can be directly aligned with the entrance of the inner cavity 117, the entrance of the middle cavity 116, and the entrance of the outer cavity 115, and the width dimension L1 of the guide hole 1211 in the inner-outer direction can match the overall width dimension L2 of the inner cavity 117, the middle cavity 116, and the outer cavity 115 in the inner-outer direction. For example, the width dimension L1 can be generally consistent with the width dimension L2.

[0143] During use, as shown in FIG5 , the occlusal portion 11 can be occluded and fixed in the oral cavity, the guide portion 12 can be extended from the mouth and can be located outside the human body, and the disposal device 400 can be inserted from the guide hole 1211. Then the disposal device 400 can be inserted into the outer cavity 115, the middle cavity 116, and the inner cavity 117 respectively, thereby facilitating the assembly of the disposal device 400. At the same time, it also plays a protective role, that is, it avoids the situation where the disposal device 400 easily touches the mouth during use and is easily damaged.

[0144] In some embodiments, the guide portion 12 includes a tube body 121, a first connecting plate 122 and a second connecting plate 123. The first connecting plate 122 and the second connecting plate 123 are arranged relative to each other in a spacing direction perpendicular to the first groove 114 and the second groove 118, and the first connecting plate 122 and the second connecting plate 123 are both smoothly connected between the tube body 121 and the bite portion 11, and the guide hole 1211 is provided in the tube body 121.

[0145] For example, as shown in Figures 2 and 4, the first connecting plate 122 and the second connecting plate 123 can both be arc-shaped long plates, the tube body 121 can be roughly square tube-shaped, one end of the first connecting plate 122 can be connected to the outer side (left side) of the tube body 121, and the other end of the first connecting plate 122 can be smoothly connected to the outer side wall 1111 of the shell 111, one end of the second connecting plate 123 can be connected to the inner side (right side) of the tube body 121, and the other end of the second connecting plate 123 can be smoothly connected to the inner side wall 1112 of the shell 111.

[0146] On the one hand, the provision of the first connecting plate 122 and the second connecting plate 123 can enhance the overall length of the guide portion 12, thereby increasing the extension of the guide portion 12 to the outside of the oral cavity. On the other hand, the first connecting plate 122 and the second connecting plate 123 have good elastic deformation capabilities, so that the direction and orientation of the tube body 121 can be adaptively adjusted during use, further improving the comfort of use.

[0147] In some embodiments, the track 100 includes a limiting portion 13, which blocks the exit ends of the inner cavity 117, the middle cavity 116, and the outer cavity 115 to prevent the disposal device 400 from extending out of the bite portion 11 from the inner cavity 117, the middle cavity 116, and the outer cavity 115.

[0148] For example, as shown in Figures 2 and 4, the limiting portion 13 can be integrally formed at the tail end of the bite portion 11. The limiting portion 13 can be a plate-like structure. The limiting portion 13 can block the outlet ends of the inner cavity 117, the middle cavity 116, and the outer cavity 115, thereby avoiding the disposal device 400 from extending from the outlet ends of the corresponding cavities, thereby limiting the disposal device 400, and avoiding the disposal device 400 extending to the outside of the bite portion 11 from easily injuring the human body, further improving safety protection.

[0149] In some embodiments, the robotic arm 200 includes a carrier 21, an arm body 22 and a drive assembly 23 are both assembled on the carrier 21, a track 100 is fixedly connected to the carrier 21, and the track 100 is used to move the carrier 21 to a corresponding position in the oral cavity through human manipulation, and the disposal device 400 is used to achieve cleaning and other care of the teeth 300 through the movement of the arm body 22 in the track cavity 17.

[0150] For example, the carrier 21 may be made of plastic and may be formed by injection molding. As shown in Figures 7 to 9, the carrier 21 may be a shell-like structure, for example, a rectangular parallelepiped shell, a cylindrical shell, etc. The arm 22 and the drive assembly 23 may be mounted within the carrier 21. During use, the arm 22 may be extended from the carrier 21 under the action of the drive assembly 23. In other embodiments, the carrier 21 may also be a bracket structure, in which case both the arm 22 and the drive assembly 23 are mounted on the carrier 21.

[0151] As shown in Figures 13 and 14 , the track 100 can be fixed to the front end of the carrier 21 by methods such as integral molding, fastener fixation, welding, bonding, snap-fit ​​fixation, etc. In this case, only one track cavity 17 can be provided within the track 100, which is connected to the outlet on the carrier 21 for the arm 22 to extend.

[0152] During use, a medical professional or user can hold the carrier 21 and insert the track 100 into the oral cavity. After the track 100 moves to the corresponding tooth 300, the arm 22 can move under the action of the drive assembly 23 and can move along the track cavity 17. The treatment device 400 assembled in the channel 224 of the arm 22 can complete the cleaning and other care of the tooth 300 under the action of the arm 22. This usage method is similar to the use of a toothbrush, that is, during use, the robot arm 200 needs to be held manually, and the treatment device 400 completes the cleaning and other care of the tooth 300 by moving within the track cavity 17.

[0153] This design can greatly simplify the structure of the automated dental treatment equipment, facilitate miniaturization and improve the convenience of operation, making it easier for users to operate it themselves at home.

[0154] In some embodiments, the arm body 22 also includes a support arm segment 223, which is connected between the bending arm segment 221 and the drive assembly 23, that is, the bending arm segment 221 can be connected to the front end of the support arm segment 223, and the drive assembly 23 can be connected to the rear end of the support arm segment 223.

[0155] As shown in Figures 14 and 15, the support arm segment 223 functions as support and transmission. First, the drive assembly 23 can drive the support arm segment 223 to translate, further driving the bending arm segment 221 to translate in the same direction and speed. Second, the support arm segment 223 includes a plurality of extensions 2232 arranged in a scattered manner, the bending arm segment 221 is located in the middle of the plurality of extensions 2232, and the plurality of extensions 2232 include a first extension 22321. The drive assembly 23 is connected to the bending arm segment 221 via at least one connector 2333, and the connector 2333 is overlapped with the first extension 22321 in a one-to-one correspondence.

[0156] For example, as shown in Figures 14 and 15, the support arm section 223 is generally a tubular structure and can be obtained by processing a metal round tube. On the side close to the bending arm section 221, the tubular structure is provided with three extensions 2232. The extensions 2232 can be integrally formed with the support arm section 223 and can be generally in the shape of a Z-shaped plate. The three extensions 2232 can be arranged at intervals along the circumference of the tubular structure. As shown in Figure 15, two extensions 2232 arranged opposite to each other in the up and down directions among the three extensions 2232 are constructed as first extensions 22321. The drive assembly 23 can be provided with two connecting members 2333, and the two connecting members 2333 can be respectively overlapped on the corresponding first extensions 22321 in a one-to-one correspondence.

[0157] In some embodiments, the support arm segment 223 is machined from a metal tube with an outer diameter of 5 mm and a wall thickness of 0.2 mm. First, one end of the metal tube is laser cut to produce three arc-shaped strips approximately 4 mm wide. A mold is then used to machine a Z-shaped support plate to support the connector 2333 of the drive assembly 23.

[0158] The end of each connecting member 2333 is hinged or hooked to the front end of the arm body 22. In some embodiments, the connecting member 2333 is a steel wire rope. The steel wire rope is overlapped on the first extension portion 22321 and passes through the support arm segment 223. A sheath tube is provided in the section where the steel wire rope contacts the support arm segment 223, such as a PTFE (Teflon) tube with a self-lubricating effect, to reduce the friction between the steel wire rope and the support arm segment 223 and reduce wear. In some embodiments, after the arm body 22 and the track 100 are installed together, there is contact and pressure between the sheath tube outside the first extension portion 22321 and the side wall of the track 100. When the driving assembly 23 drives the support arm segment 223 to translate, extrusion occurs between the sheath tube and the side wall of the track 100. Therefore, a slide with a semicircular cross-section can be provided on the retaining wall 110 of the track 100 to avoid deformation of the sheath tube caused by extrusion, thereby avoiding an increase in the pulling resistance of the connecting member 2333 caused by extrusion. The semicircular diameter of the cross section of the slideway is equivalent to the outer diameter of the casing pipe.

[0159] When in use, the two first extensions 22321 can act as supporting arms, and the bending angle of the bending arm segment 221 can be adjusted by pulling and cooperating the two connecting pieces 2333, thereby adjusting the position and orientation of the front end of the bending arm segment 221 (and the channel outlet 2241), thereby meeting the use requirements of the drive of the disposal device 400. Compared with setting the connecting piece 2333 on the inner side of the bending arm segment 221, the torque generated by pulling the supporting arm (extension 2232) is greater, so the flexibility of the bending operation of the bending arm segment 221 can be improved. In the scheme of adjusting the bending angle of the bending arm segment 221 by pulling the supporting arm, the bending arm segment 221 can be made of hose materials such as silicone, rubber, and plastic.

[0160] In some embodiments, a waterproof component is provided on the end side of the sheath tube to prevent liquid from entering the carrier 21 and the drive assembly 23 from the sheath tube. The waterproof component can be a silicone sealing ring. In other embodiments, the waterproof component can be provided at the plug-in position of the retractable sheath tube, and one end of the retractable sheath tube is fixed to the arm body 22 in a sealed manner, and the other end is fixed to the wire rope in a sealed manner. When the connector 2333 is pulled, the wire rope and the sheath tube are relatively displaced, and the sheath tube is correspondingly expanded and contracted, thereby preventing dust, liquid, etc. from entering the carrier 21 and the drive assembly 23 through the sheath tube without affecting the pulling of the connector 2333.

[0161] In some embodiments, as shown in Figure 15, the vision module 27 of the robotic arm 200 includes a camera, and the multiple extensions 2232 include a second extension 22322. There may be only one second extension 22322, and the second extension 22322 may also be a Z-shaped plate, and the second extension 22322 may be located between the two first extensions 22321. The camera may be fixed at the end of the second extension 22322, and a guide groove 18 is provided in the rail cavity 17. The guide groove 18 extends along the extension direction (front and back direction) of the rail cavity 17, and the second extension 22322 is guided to slide in the guide groove 18.

[0162] The support arm section 223 can be made from a metal tube. The second extension 22322 is molded to form a Z-shaped plate-like support arm suitable for camera installation. The end of the second extension 22322 can also be molded to form a groove that matches the shape of the camera. The camera is installed in the groove, which forms the stainless steel outer wall of the camera. The stainless steel outer wall, combined with glue infusion, can effectively protect the camera, such as waterproofing and anti-collision. The wire connecting the camera is arranged on the side of the second extension 22322 near the curved arm section 221, passes through the inside of the support arm section 223, reaches the carrier 21, and is connected to the visual processing module.

[0163] In some embodiments, the camera measures approximately 3.5*3.5*3.8, with a field of view of approximately 90 degrees. Supported by the track 100, the camera is approximately 10 mm from the surface of the tooth 300, with an imaging width of approximately 20 mm. Considering that the height and width of a single tooth 300 in the human body are generally less than 20 mm, the camera can be mounted on the support arm segment 223 and can capture the tooth 300 corresponding to the track cavity 17 simply by following the forward and backward movement of the support arm segment 223, without having to follow the flexion and swinging of the flexion arm segment 221.

[0164] In this way, on the one hand, the camera can be independent of the bending arm section 221, so that the bending arm section 221 can adopt a smaller specification size, which can further improve the flexibility of operation and reduce discomfort. On the other hand, the vertical limitation of the guide groove 18 can improve the stability of the camera during use, thereby improving the shooting quality and facilitating the observation and collection of video image information.

[0165] It should be noted that the range of advancement or retreat of the support arm segment 223 is determined by the length of the guide groove 18. In some embodiments, the track 100 includes a variety of different sizes and can be replaced to treat different parts of the tooth 300. For example, a track 100 with a longer (about 30 mm) guide groove 18 is used on the outer side of the tooth 300 and the tooth end surface, so that the forward and backward displacement of the support arm segment 223 is about 30 mm, so that the track 100 can cover the surface of 3-4 teeth 300 at a time; near the inner side of the incisors, the space is smaller, and a track 100 with a shorter (about 10 mm) guide groove 18 is required to allow the track 100 to enter the space inside the incisors.

[0166] On the side of the track 100 near the carrier 21, a semi-cylindrical tubular portion is provided to restrict the support arm segment 223 to forward or backward movement along the guide groove 18. The side opening of the tubular portion is sized to the diameter of the support arm segment 223, allowing the support arm segment 223 to be installed into the tubular portion from the side. To reduce friction between the support arm segment 223 and the track 100, a linear bearing can be provided between the support arm segment 223 and the track 100. The linear bearing can be a plastic bearing, which is simple in structure and easy to clean.

[0167] In some embodiments, as shown in Figure 7, the arm body 22 can also include a transmission arm segment 222, which is connected between the bending arm segment 221 and the supporting arm segment 223, that is, the bending arm segment 221 can be connected to the front end of the transmission arm segment 222, and the supporting arm segment 223 can be connected to the rear end of the transmission arm segment 222.

[0168] The transmission arm segment 222 is elastically oscillating and retractable. For example, the transmission arm segment 222 can be spring-loaded, thus satisfying the requirements for telescopic adjustment and oscillation. The transmission arm segment 222 is designed to adapt to the curved track cavity 17. When the drive assembly 23 drives the arm 22 into the track cavity 17, the driving force causes the transmission arm segment 222 to bend, matching the curvature of the track cavity 17. Consequently, under the drive of the drive assembly 23, the arm 22 can move forward, backward, and rotate within the curved track cavity 17.

[0169] The support arm section 223 is connected to the drive assembly 23. For example, the support arm section 223 can be made of a hard material, such as a metal tube or hard plastic. This facilitates connection with the drive assembly 23 and ensures transmission stability.

[0170] In some embodiments, the elasticity of the transmission arm segment 222 is greater than the elasticity of the bending arm segment 221. For example, the bending arm segment 221 and the transmission arm segment 222 can both be springs, wherein the elastic deformation performance of the bending arm segment 221 is less than the elastic deformation performance of the transmission arm segment 222.

[0171] Thus, the high elasticity of the transmission arm segment 222 fully satisfies adjustment flexibility, allowing the arm body 22 to be adaptively adjusted as needed. Since the transmission arm segment 222 has relatively low elasticity, it not only meets the requirements for swing adjustment, but also controls deformation, thereby ensuring precise adjustment. Furthermore, the curved arm segment 221 also provides a good support effect. Specifically, during operation, the tooth 300 will generate a counterforce on the treatment device 400. The relatively small deformation of the curved arm segment 221 can reduce the impact of this counterforce, thereby ensuring precise and stable control.

[0172] In some embodiments, as shown in Figures 10 and 11 , the transmission arm segment 222 is longer in the front-to-back direction than the flexure arm segment 221. This further enhances the elastic deformation capability of the arm 22 at the transmission arm segment 222, fully satisfying the deformation requirements within the confined space of the track cavity 17. The shorter flexure arm segment 221 also further reduces the impact of the reverse force.

[0173] In some embodiments, the drive assembly 23 includes a first drive 231, which is connected to the arm body 22 and is used to drive the arm body 22 to rotate circumferentially. The first drive 231 includes a first driver 2311 and a driving gear 2312. A driven gear 2231 is provided on the outer peripheral side of the arm body 22. The driving gear 2312 is connected to the first driver 2311 and engages with the driven gear 2231.

[0174] For example, as shown in Figure 10, the first driver 2311 can be a motor, the driving gear 2312 can be fixed on the driving shaft of the first driver 2311, and the driven gear 2231 can be integrally formed and arranged on the outer peripheral side of the support arm segment 223. The driving gear 2312 and the driven gear 2231 can be engaged with each other. When in use, the first driver 2311 can drive the driving gear 2312 to rotate, thereby realizing the rotation adjustment of the arm body 22.

[0175] In some embodiments, the first drive 231 may also include an intermediate gear, which can be meshed and transmitted between the driving gear 2312 and the driven gear 2231. The setting of the intermediate gear facilitates the design of the transmission ratio and torque between the gears on the one hand, and on the other hand, it can enhance the self-locking ability between the gears, thereby facilitating the maintenance of the arm body 22 in the position after rotation adjustment.

[0176] In some embodiments, the drive assembly 23 includes a second drive 232, which is connected to the arm body 22 and is used to drive the first drive 231 and the arm body 22 to translate relative to the carrier 21. The second drive 232 includes a second driver 2323, a screw 2321 and a slider 2322. The slider 2322 is threadedly assembled on the outer peripheral side of the screw 2321 and connected to the first drive 231. The second driver 2323 is connected to the screw 2321 to drive the first drive 231 to translate through the rotation of the screw 2321.

[0177] For example, as shown in Figures 10 and 11, the second driver 2323 can be a motor, and the lead screw 2321 can generally extend in the front-to-back direction, wherein the front end of the lead screw 2321 can be connected to the drive shaft of the second driver 2323, and the rear end of the lead screw 2321 can be rotatably assembled with the carrier 21. The slider 2322 can be threadedly assembled on the lead screw 2321.

[0178] A connecting plate may be provided between the first drive 231 and the second drive 232. Two connecting plates may be provided, and the two connecting plates may be arranged relative to each other in the front-to-back direction. The driving gear 2312 and the driven gear 2231 may be assembled between the two connecting plates. The first driver 2311 may be fixed on one of the connecting plates, and the slider 2322 may be clamped and fixed between the two connecting plates.

[0179] Thus, when the second driver 2323 rotates, the slider 2322 can move along the lead screw 2321, thereby driving the first driver 231 to move forward and backward, thereby adjusting the depth of the arm 22. The drive mode of the lead screw 2321 has good stability and high precision, ensuring the accuracy of the translation adjustment of the arm 22.

[0180] In some embodiments, the drive assembly 23 includes a third drive 233, which includes a third driver 2331, a rotating member 2332 and a connecting member 2333. The connecting member 2333 passes through the channel 224 and is connected to the bending arm segment 221, and the connecting member 2333 can be flexibly deformed and wrapped around the rotating member 2332. The connecting member 2333 is used to achieve traction and swing adjustment of the bending arm segment 221 through the rotation of the rotating member 2332. The third driver 2331 is connected to the rotating member 2332 and is used to drive the rotating member 2332 to rotate.

[0181] For example, as shown in Figures 10 and 11, the third driver 2331 can be a motor, and the rotating member 2332 can be a reel or a winding drum, etc. The rotating member 2332 can be connected to the drive shaft of the third driver 2331, and the connecting member 2333 can be a rope, a wire rope, etc. The connecting member 2333 can be wound around the outer periphery of the rotating member 2332, and the connecting member 2333 can pass through the channel 224 of the arm body 22 and can be connected and fixed to the curved arm section 221. The connection and fixing method can be welding, hooking, etc.

[0182] During use, the third driver 2331 can drive the rotating member 2332 to rotate. For example, when the rotating member 2332 rotates forward, the connecting member 2333 can be wrapped around the rotating member 2332, and the connecting member 2333 can then pull the bending arm segment 221. When the rotating member 2332 rotates backward, the connecting member 2333 wrapped around the rotating member 2332 is released, and the bending arm segment 221 can then be elastically restored.

[0183] In some embodiments, multiple third drivers 233 may be provided, and each connecting member 2333 of the third drivers 233 may be wound around a corresponding rotating member 2332 and connected to the bending arm segment 221. During use, the bending arm segment 221 may be driven to swing by winding or releasing different connecting members 2333. In this case, the bending arm segment 221 may not have elastic properties, but only have the ability to swing.

[0184] In some embodiments, the first driver 2311, the second driver 2323, and the third driver 2331 all use a power module such as a stepper motor that can quantitatively control the rotation angle, such as a 15-stepper motor module with a small size and large torque.

[0185] In some embodiments, the bending arm segment 221 uses a two-way bending snake tube structure that can bend in two opposite directions. As shown in Figure 15, the two directions are located in the track cavity 17, facing the two first extensions 22321 of the support arm segment 223, and are connected to the third drive 233 via a steel wire rope (i.e., connecting member 2333).

[0186] The two directions are defined as the positive X direction and the negative X direction, respectively. The rotating member 2332 of the third drive 233 at the front end of the bending arm segment 221 is connected to the corresponding steel wire ropes in the positive X direction and the negative X direction. When the rotating member 2332 rotates in the positive direction, it pulls the steel wire rope corresponding to the positive X direction while simultaneously releasing the steel wire rope corresponding to the negative X direction, causing the bending arm segment 221 of the serpentine structure to bend in the positive X direction. When the rotating member 2332 rotates in the negative direction, it pulls the steel wire rope corresponding to the negative X direction while simultaneously releasing the steel wire rope corresponding to the positive X direction, causing the bending arm segment 221 to bend in the negative X direction.

[0187] The extension direction of the guide groove 18 is set to Z, and the arm body 22 is quantitatively moved in the Z direction under the drive of the second drive 232. Driven by the second drive 232 and the third drive 233, the channel outlet 2241 (the front end of the arm body 22) can be quantitatively controlled to reach any position in the XZ plane within the travel range. The travel range is limited by the track cavity 17. The XZ plane is parallel to the opening plane of the track cavity 17. Since the two-way bending serpentine tube structure cannot bend in the vertical direction of the XZ plane (i.e., the Y direction), the displacement of the channel outlet 2241 in the Y direction can be limited, thereby reducing the control complexity of the drive component 23.

[0188] In other embodiments, the bending arm segment 221 utilizes a four-way bending serpentine tube structure. A schematic diagram of the laser cutting process for the serpentine tube structure is shown in Figure 17. Four steel cables are installed within the serpentine tube. By pulling one of the cables separately, the serpentine tube can bend in four directions. These four directions correspond to the positive X direction, negative X direction, positive Y direction, and negative Y direction of the plane coordinates. The third drive 233 comprises two components: a first rotating member 2332 connected to the steel cables corresponding to the positive X direction and negative X direction, and a second rotating member 2332 connected to the steel cables corresponding to the positive Y direction and negative Y direction. When the rotating member 2332 rotates in the positive direction, it pulls the steel cable corresponding to the positive X direction while releasing the steel cable corresponding to the negative X direction, causing the bending arm segment 221 of the serpentine tube structure to bend in the positive X direction. When the rotating member 2332 rotates in the negative direction, it pulls the steel cable corresponding to the negative X direction while releasing the steel cable corresponding to the positive X direction, causing the bending arm segment 221 to bend in the negative X direction. Similarly, when the rotating member 2332 rotates, it drives the bending arm section 221 to bend toward the positive or negative Y direction.

[0189] By quantitatively controlling the rotation angle of the rotating member 2332, the pulling displacement of the wire rope can be quantitatively controlled within a certain range, thereby quantitatively controlling the bending angle of the bending arm segment 221 and the displacement amplitude of the front end of the arm body 22 (including the channel outlet 2241) in the X direction. Similarly, by quantitatively controlling the rotation angle of the rotating member 2332, the bending angle of the bending arm segment 221 and the displacement amplitude of the front end of the arm body 22 (including the channel outlet 2241) in the Y direction can be quantitatively controlled. Furthermore, by adjusting the rotation direction of the combined rotating member 2332, the bending arm segment 221 can be bent in any direction and at a specified angle.

[0190] Relative to the XY plane coordinate system, the second drive 232 drives the arm 22 to translate in the Z direction perpendicular to the XY plane. Combining the second drive 232 and the third drive 233 can quantitatively control the channel outlet 2241 (the front end of the arm 22) to reach any position in the XYZ three-dimensional space within the travel range. The travel range is defined by the track cavity 17. In some embodiments, the first drive 231 can control the channel outlet 2241 at the front end of the arm 22 and the vision module 27 to different angles.

[0191] In some embodiments, as shown in FIG16 , the snake-bone structure includes multiple sections, one of two adjacent sections having a female pivot joint 225 and the other having a male pivot joint 226. A pre-bend slot 227 is provided between the female pivot joint 225 and the male pivot joint 226. As shown in FIG17 , the female pivot joint 225 may include three protrusions 2251, and the male pivot joint 226 may include two projections 2261. The male pivot joint 226 is embedded between the three projections of the female pivot joint 225, and a pre-bend slot 227 is provided on both sides of the female pivot joint 225. When the snake-bone structure bends, the male pivot joint 226 rotates around the female pivot joint 225, causing the pre-bend slot 227 in the bending direction to shrink and the pre-bend slot 227 in the opposite direction to expand.

[0192] As shown in Figures 16 and 17, a wire hole bracket 228 can also be provided on each section of the serpentine tube structure. The wire hole bracket 228 can be formed by mold grooving, and the wire hole bracket 228 can form a spindle-shaped hole with the surrounding part. The direction of the hole is parallel to the direction of the channel 224 of the steel pipe, and is used to install the traction wire that bends the traction serpentine tube.

[0193] In some embodiments, the robotic arm 200 includes a pipette 24 , the inlet of which is adjacent to the bent arm section 221 , and the pipette 24 is used to suck liquid from the human oral cavity.

[0194] For example, as shown in Figures 8 to 11, the pipette 24 can be assembled in the carrier 21, and the pipette 24 can be a flexible tube, specifically a silicone tube, a rubber tube, etc., so as to reduce discomfort during use. The free end of the pipette 24 can extend to the outside of the carrier 21, and a counterweight is provided on the free end. For example, an iron ring is connected to the end side of the free end by a buckle or adhesive, so that the free end is bent downward. When there is liquid nearby, the free end is immersed in the liquid under the action of the counterweight.

[0195] When the robotic arm 200 is in operation, the pipette 24 can absorb waste liquids such as saliva and cleaning liquid, thereby controlling the amount of liquid in the oral cavity, avoiding the situation where a large amount of liquid easily affects the operation, and further improving the discomfort of operation.

[0196] In some embodiments, the carrier 21 is provided with a tube portion 211 , which protrudes from the surface of the carrier 21 and is connected to the outlet of the channel 224 . The arm 22 fits in the tube portion 211 , and the tube portion 211 is used for plugging and assembling with the track 100 .

[0197] For example, as shown in Figures 7 and 9, the tube 211 can be integrally formed with the carrier 21. The tube 211 can be in the shape of a circular tube, and the arm 22 can extend from the tube 211. The tube 211 can enhance the structural strength of the arm 22 and the outlet on the carrier 21, providing certain protection against wear and water, and can also be inserted into the inlet of the track 100 during use, thereby enhancing the connection and limiting effect with the track 100 and improving operational stability.

[0198] In some embodiments, the robotic arm 200 includes a control module 26 . The control module 26 is disposed on the carrier 21 and electrically connected to the driving component 23 . The control module 26 is used to control the movement of the driving component 23 .

[0199] For example, as shown in Figures 10 and 11, the control module 26 includes a circuit system including a processor, a motor drive, and a status indicator light. The processor can be shared with the vision module 27 or can be provided separately. The drivers of the first drive 231, the second drive 232, and the third drive 233 can all be electrically connected to the control module 26. By means of the data image collected by the vision module 27, the control module 26 can plan the motion trajectory of the robot arm 200 and can comprehensively control the motion parameters such as the start and end time and rotation speed of the corresponding driver, thereby realizing the automation of the cleaning and other nursing processes and ensuring the efficiency and accuracy of cleaning and other nursing care.

[0200] In some embodiments, as shown in FIG. 8 to FIG. 11 , the robotic arm 200 may further include a wiring terminal 25 , and the control module 26 may be electrically connected to the outside world through the wiring terminal 25 , thereby facilitating the provision of power support and data transmission.

[0201] In some embodiments, the disposal device 400 can be a sandblasting and cleaning module 400, specifically a water flosser, etc. The sandblasting and cleaning module 400 can include a pump body 41, a conduit 42, a container and a nozzle, wherein the container is used to store the cleaning liquid, and the container can be a water tank. The container can be located on the outside of the robotic arm 200, as shown in Figure 14, the conduit 42 passes through the channel 224 and is connected to the nozzle, and the nozzle is fitted at the opening of the track cavity 17, and the pump body 41 is provided in the conduit 42 and is used to transport the cleaning liquid in the container to the nozzle.

[0202] The pump body 41 is a driving device capable of generating a high-pressure fluid, such as a diaphragm pump or a plunger pump. The fluid can be a liquid such as clean water or mouthwash water, or a gas. One end of the conduit 42 is connected to the pump body 41 and reaches the channel outlet 2241 via the channel 224, and the other end is connected to the nozzle located at the channel outlet 2241. The conduit 42 can be used to transmit the high-pressure fluid to the nozzle and realize high-pressure injection, that is, the high-pressure fluid injected by the pump body 41 reaches the channel outlet 2241 via the channel 224 and the conduit 42. It should be noted that the arm body 22 and the conduit 42 can be integrally formed, that is, the arm body 22 itself can be composed of a high-pressure resistant conduit 42, so that the arm body 22 and the disposal device 400 share the same components.

[0203] The conduit 42 may include a first tube and a second tube, one end of the first tube may be connected to the container, the other end of the first tube may be connected to the pump body 41, one end of the second tube may be connected to the pump body 41, the nozzle may be fitted into the side hole at the front end of the arm body 22, the second tube passes through the channel 224 of the arm body 22 and the other end of the second tube may be connected to the nozzle.

[0204] When in use, the visual module 27 can first collect image information of the teeth 300 and the oral cavity, and the distribution of food residues, pigments, soft plaque and other dirt can be obtained by image analysis. Then the control module 26 can drive the drive component 23 to operate, so as to adjust the position and spray direction of the nozzle, so that the nozzle can be directly facing the dirt on the teeth 300, and the dirt can be cleaned and removed with the help of the sprayed cleaning liquid.

[0205] It should be noted that during the cleaning process, the pressure, frequency and other parameters of the cleaning liquid can be adjusted by the pump body 41. For example, when it is directed towards dirt, the pressure and frequency can be increased, and when it is directed towards other parts (gums, oral mucosa, etc.), the water pressure and frequency can be reduced. This can make the cleaning process more targeted, and is also conducive to further reducing discomfort and reducing damage to oral tissues.

[0206] In some embodiments, the conduit 42 of the sandblasting and cleaning module 400 can also transport some tiny particles and other particulate matter. The particulate matter can be mixed in the high-pressure fluid, and these particulate matter can be transported through the conduit 42 and sprayed out through the nozzle. The stubborn stains on the teeth 300 can be cleaned by the particulate matter.

[0207] The nozzle is assembled at the channel outlet 2241, and the high-pressure fluid is ejected into a high-pressure water column through the nozzle, thereby achieving the removal of stains on the teeth 300. The pressure of the high-pressure fluid generated by the pump body 41 is adjustable, and thus the cleaning power of the disposal device 400 can be controlled. For example, if the fluid is clean water, the water pressure range is adjustable between 0.2-0.8MPa. The nozzle can be installed separately, or it can be a small hole at the end of the channel 224. For example, the arm body 22 is composed of a metal circular tube, and the nozzle is one or more small circular holes (circular hole diameter of about 0.3mm) precisely machined by laser, as shown in Figure 15. The nozzle can also include a narrow slit (slit width of about 0.1mm) precisely machined by laser, so that the high-pressure water flow sprayed onto the surface of the tooth 300 is linear. The design of the circular hole and the narrow slit can achieve the injection of a set shape of the high-pressure fluid.

[0208] In some embodiments, the disposal device can be an inspection module, which includes a probe. The probe can reach the front end of the robotic arm 200 through the channel 54 of the arm body 5, and then, driven by the robotic arm 200, it can be inserted into the pits and fissures, cavities and other cavities of the teeth with a preset force. Finally, the depth, size and other parameters of the tooth cavity can be evaluated in combination with image analysis, thereby completing the inspection of pits and fissures, tooth cavities, etc.

[0209] In some embodiments, the treatment device may also include an air blowing module, a resin coating module and an illumination module. The resin coating module includes a connected resin container and a delivery tube. The delivery tube is assembled in the channel and extends from the channel outlet. The delivery tube is used to deliver the resin squeezed out from the resin container to the teeth. The illumination module is installed at the channel outlet and is used to accelerate the curing of the resin.

[0210] When pit and fissure sealing is required, the sandblasting and cleaning module 400 can be used to first flush the pits and fissures, and then the treatment devices such as the air blowing module, resin coating module, and illumination module can be used to complete the pit and fissure sealing. In some specific embodiments, the air blowing module, resin coating module, and illumination module can be integrated into one body. During assembly, the air pipe of the air blowing module and the tube of the resin coating module can simultaneously extend through the channel 54 of the arm body 5 to the corresponding teeth, and the illumination module can also pass through the channel 54 and be directed toward the teeth.

[0211] After the teeth are cleaned, the hot dry air from the air blowing module can be used to dry the pit and fissure surface. After drying, the resin material can be applied to the pit and fissure using the tube of the resin coating module, and finally the applied resin material can be cured using the light module.

[0212] In some other embodiments, the tooth filling operation can also be completed with the help of a treatment device, that is, after the tooth cavity is cleaned, the cavity can be first dried with the help of a blowing module, and then the cavity can be filled with the help of a resin coating module. After the blowing module blows the filling resin material flat, the light module can be used to irradiate and complete the curing of the resin material.

[0213] In some embodiments, the processing device may also be a scraper module. When scaling teeth, the scraper may reach the corresponding teeth through the channel 54 of the arm body 5, and then accurately scrape the subgingival calculus under the drive of the robotic arm 200. Considering that the robotic arm 200 has a certain degree of flexibility and low force, a scraper with an ultrasonic transducer may be used to ensure the scraping effect.

[0214] In order to implement the above embodiments, the embodiments of the present disclosure also propose a computer device, including a processor and a memory; wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the control method of the dental treatment device as the above embodiment.

[0215] In order to implement the above embodiments, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the control method of the dental treatment device as described in the above embodiments is implemented.

[0216] In order to implement the above embodiments, the present disclosure further provides a computer program product, including a computer program. When the computer program is executed by a processor, the control method of the dental treatment device according to the above embodiments is implemented.

[0217] In order to implement the above embodiment, the present disclosure further provides a computer program, which includes computer program code. When the computer program code runs on a computer, the computer executes the control method of the dental treatment device as described in the above embodiment.

[0218] It should be noted that the aforementioned explanations of the method and apparatus embodiments also apply to the computer devices, computer-readable storage media, computer program products, and computer programs of the aforementioned embodiments, and will not be repeated here.

[0219] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present disclosure.

[0220] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0221] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication between them; direct connections or indirect connections through an intermediate medium; and internal communication between two elements or interaction between two elements, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0222] In the present disclosure, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0223] In the present disclosure, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0224] Although the above embodiments have been shown and described, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. Changes, modifications, substitutions and variations of the above embodiments by those skilled in the art are all within the scope of protection of the present disclosure.

[0225] All embodiments of the present disclosure may be implemented individually or in combination with other embodiments, and are all considered to be within the scope of protection claimed by the present disclosure.

Claims

1. A tooth treatment device, characterized in that: include: Disposal devices; A track, at least a portion of which is inserted into the oral cavity, the track being provided with at least one track cavity, and the track cavity being provided with an opening for the treatment device to be exposed to act on the teeth; A robotic arm, the robotic arm comprising an arm body, a drive assembly and a vision module, the arm body being used to fit in the track cavity and perform spatially restricted movement along the track cavity, and at least a portion of the arm body being bendable, a channel being provided in the arm body, and the channel being used for the treatment device to pass through; The driving assembly is connected to the arm body, and is used to drive the arm body to rotate and / or translate to achieve adjustment of the circumferential position and / or depth of the treatment device. The driving assembly is traction-connected to the arm body to achieve position adjustment of the treatment device by driving the arm body to bend. The visual module is arranged on the arm body and is used to achieve visualization of the tooth treatment process.

2. The tooth treatment device according to claim 1, characterized in that: The track includes a main body wall and a retaining wall, wherein the retaining wall extends along the edge of the main body wall and encloses the track cavity on one side of the main body wall. The main body wall is provided with a guide groove, which is connected to the track cavity for part of the arm body to be embedded in to constrain and guide the movement of the arm body.

3. The tooth treatment device according to claim 2, characterized in that: The main body wall and the baffle wall are made of hard materials. A slide is provided on the baffle wall. The slide is consistent with the extension direction of the guide groove and is connected to the track cavity. The slide can be used for part of the arm body to be embedded to constrain and guide the movement of the arm body. The outer peripheral side of the track near the entrance of the track cavity is coated with a buffer layer, which is a soft material.

4. The tooth treatment device according to any one of claims 1 to 3, characterized in that: The robotic arm includes a bending arm segment and a supporting arm segment, the bending arm segment is bendable, the supporting arm segment is axially movably assembled on the robotic arm, the supporting arm segment includes a plurality of scatteredly arranged extensions, the bending arm segment is connected to the supporting arm segment and is located in the middle of the plurality of extensions, the driving assembly is connected to the bending arm segment via at least one deformable connecting member, and the connecting member is overlapped with part of the extensions in a one-to-one correspondence.

5. The tooth treatment device according to any one of claims 1 to 4, characterized in that: The robotic arm includes a carrier, the arm body and the driving assembly are both assembled on the carrier, the track is fixedly connected to the carrier, and the track is used to move the carrier to a corresponding position in the oral cavity through human manipulation, and the treatment device is aligned with the position of the tooth that needs to be treated by moving the arm body in the track cavity.

6. The tooth treatment device according to claim 5, characterized in that The visual module includes a camera, a wire, and a visual processing module. The camera is installed at the front end of the arm, and the visual processing module is arranged inside the carrier. The wire passes through the arm and electrically connects the camera and the visual processing module. The visual processing module is used for image processing, three-dimensional surface modeling, target recognition or target positioning. The visual processing module includes a local computing module and a transmission module. The local computing module is used to perform primary processing on the video image collected by the camera. The transmission module connects the main computing module with an external computer to realize data transmission.

7. The tooth treatment device according to any one of claims 1 to 6, characterized in that: The treatment device includes a sandblasting and cleaning module including a catheter and a nozzle, wherein the catheter is installed in the channel of the arm body and is used to transport high-pressure fluid and particulate matter, the nozzle is connected to the catheter and installed at the outlet position of the channel, and the nozzle is used to spray high-pressure fluid mixed with the particulate matter.

8. The tooth treatment device according to claim 7, characterized in that The arm body is a tubular structure, and the end of the arm body for extending into the oral cavity is a seal, the nozzle is arranged adjacent to the seal, the mechanical arm includes a bent arm section, the bent arm section is arranged adjacent to the nozzle, and the bent arm section includes a serpentine tube and a seal, the channel is arranged in the serpentine tube, and a plurality of cutting holes formed by cutting are evenly distributed on the tube wall of the serpentine tube, the seal is arranged on the inner side and / or outer side of the serpentine tube, and the seal is used to seal the cutting holes on the serpentine tube to ensure the sealing of the serpentine tube.

9. The tooth treatment device according to claim 7, characterized in that: The outlet of the nozzle includes one or more circular holes and / or narrow slits, wherein the circular holes are used to spray out high-pressure fluid columns, and the narrow slits are used to spray out high-pressure fluid surfaces.

10. The tooth treatment device according to any one of claims 1 to 6, characterized in that: The treatment device comprises an inspection module, wherein the inspection module comprises a probe, wherein the probe is assembled in the channel and extends out from the channel, and the probe is used for inspecting pits and fissures and caries.

11. The tooth treatment device according to any one of claims 1 to 6, characterized in that: The treatment device includes a resin coating module and a lighting module. The resin coating module includes a connected resin container and a delivery tube. The delivery tube is assembled in the channel and extends from the channel outlet. The delivery tube is used to deliver the value squeezed from the resin container to the teeth. The lighting module is installed at the channel outlet and is used to accelerate the curing of the resin.

12. The tooth treatment device according to any one of claims 1 to 6, characterized in that The treatment device comprises a scraper module, wherein the scraper module comprises a scraper, the scraper passes through the channel and extends from the channel outlet, and the scraper is used for scaling the teeth.

13. A method for controlling a tooth treatment device, characterized in that: The following steps are involved: The visual module of the robot arm collects intraoral video images of the area covered by the track of the treatment device; Analyze the intraoral video image to determine the target area coordinates of the target area to be processed relative to the target area of ​​the track; Based on the target area coordinates, the robot arm is controlled to perform one or more movements of translation, rotation, and bending, so as to drive the treatment device to point to the center of the target area coordinates; The mechanical arm is controlled to drive the treatment device to perform a planar motion with a predetermined amplitude, so as to drive the treatment device to treat the target area.

14. The method according to claim 13, characterized in that After driving the treatment device to treat the target area, the method further includes: Determining the treatment effect on the target area; If the processing effect of the target area meets the preset conditions, a prompt message indicating that the processing area is completed and transferred is output; If the processing effect of the target area does not meet the preset conditions, the treatment device continues to be driven to process the target area until the processing effect of the target area meets the preset conditions or the processing threshold for processing the target area is reached, and the processing threshold is the processing time and / or processing intensity.

15. The method according to claim 13 or 14, characterized in that The step of analyzing the intraoral video image to determine the target area coordinates to be processed relative to the target area coordinates of the track includes: By adopting a human-computer interactive input method, the intraoral video images collected by the visual processing module are transmitted to the interactive module in real time for real-time display; Receive the target area coordinates and / or treatment device parameters input by the user through operations on the interaction module.

16. A computer device, characterized in that: including a processor and a memory; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the control method of the tooth treatment device according to any one of claims 13 to 15.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the tooth treatment device according to any one of claims 13 to 15 is implemented.

18. A computer program product comprising a computer program, which, when executed by a processor, implements the control method of a dental treatment device according to any one of claims 13 to 15.

19. A computer program, characterized in that The computer program includes a computer program code, and when the computer program code is run on a computer, the computer is caused to execute the control method of the dental treatment device according to any one of claims 13 to 15 .

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