Apparatus for automatically performing detection operations and cleaning operations and method for controlling same

Abstract

The invention relates to an apparatus for automatically performing detection operations and cleaning operations, comprising a device for detecting states of at least one surface and a device for treating the surface, wherein the device for detecting is designed to scan at least the surface, including with respect to the three-dimensional course thereof, by means of sensors and to transmit the obtained data to the device for treating the surface, wherein both devices provide a reference point for the surface and the device for detecting provides the data in a manner standardised to the reference point and the device for treating uses the data in a manner standardised to the reference point in order to travel over the surface. The invention also relates to a method for controlling same.

Description

[0001] epitome GmbH

[0002] Device for automated execution of detection and cleaning operations and method for controlling the same

[0003] The invention relates to a device for automatically carrying out detection and cleaning operations and methods for controlling them.

[0004] Cleaning surfaces in the mouth is well known. Manual toothbrushes, interdental cleaners, and dental floss are commonly used for this purpose.

[0005] In particular, there are a large number of electric toothbrushes on the market, which mostly have a brush head that is moved electrically, while the toothbrush is moved over the teeth by hand.

[0006] Conventional oral / tooth cleaning is therefore carried out either completely mechanically or semi-automatically. In the most advanced form, the brushing movement is motorized, and the contact pressure is communicated to the user via an LED. However, the movement and angle of the cleaning head is controlled by the user in both versions. This presents several problems. For example, right-handed people are less able to clean the right side of their teeth, and some areas of the teeth are generally difficult to reach. In addition, the cleaning time per tooth is not always the same, which can lead to some teeth not being brushed completely. All of these problems can lead to the formation of tartar or, in the worst case, tooth decay.

[0007] The object of the invention is to provide a device for carrying out detection and cleaning operations, which enables automated oral cavity cleaning on the basis of collected individual data.

[0008] The problem is solved by the features of claim 1, advantageous developments are characterized in subclaims.

[0009] It is a further object to provide a method for controlling the device which enables reliable cleaning.

[0010] The problem is solved by a method having the features of claim 34. Advantageous further developments are characterized in the dependent subclaims.

[0011] To perform error-free automatic cleaning of a denture, a device is required that measures and detects the denture shape and biomarkers, calculates a perfect personalized curve for the care routine, and can follow a care operation without errors and user harm.

[0012] In particular, the device can have a first detection device and a second cleaning device.

[0013] The two devices can be designed separately as two devices or combined as a single device. In the former case, the measurement, detection, and maintenance operations can be performed in a single stage.

[0014] If the two devices are structurally separated and thus operated as two devices, the operations are carried out in a two-stage process. This ensures that the measurement and detection routines are separated from the care routine, thus increasing precision.

[0015] If the two components of the device are structurally separate as two devices, they are preferably based on the same basic operating principle.

[0016] Each of the devices has at least one functional device that can be inserted into the oral cavity. The functional device is, in particular, either a functional device for performing measuring and detection operations or a functional device for performing care operations.

[0017] In particular, the functional devices are movable and rotatable heads, such as a detection head or a cleaning head. These heads can be inserted into the oral cavity and positioned there using actuators. They are thus moved over the teeth without user intervention. The heads can also perform their own movements.

[0018] The device or each of the devices also has a holding device that enables the device (in the case of a structural unit) or the devices to be held by the teeth. The holding device also serves as a reference point for determining and establishing location data and for generating a reference system between the location data of the devices of the device and the location data of regions of interest in the oral cavity.

[0019] In the preferred embodiment, this reference point is a bite block, onto which the user bites preferably with a few teeth. In particular, these are preferably the incisors. However, multiple bite blocks used to provide a reference point are conceivable. However, possible errors in the data at the positions of the bite blocks must be taken into account.

[0020] The detection device has two or four movable functional devices and in particular functional heads, which encompass the dentition from at least two but preferably three sides.

[0021] There are four functional devices, one for each quadrant of the mouth.

[0022] In addition, two additional, fixed, second functional devices can be provided, which are permanently mounted around the reference point. These ensure the necessary overlap between the measurement and detection data of the movable functional devices on the anterior incisors of the upper and lower jaw.

[0023] These non-movable second functional devices can, for example, be arranged on the outside of the jaw because there is a larger bite radius here and therefore errors in the data can more easily occur here.

[0024] Fixed functional devices on the inside of the jaw are conceivable, but have the disadvantage that sensors for detecting and measuring biomarkers must be placed inside the mouth, which is more uncomfortable for the user. This design, with movable functional devices and fixed second functional devices, has the advantage that a consistent data profile can be generated for each half of the dentition, thus enabling a complete 3D recording of any biomarker on a dentition.

[0025] The cleaning device also has two or four movable functional devices that engage the teeth from at least two sides, and in a preferred embodiment, from three sides. A further dual-function device can also be provided, which, with a shared drive unit, can simultaneously care for the upper and lower jaw.

[0026] This is particularly motor-mounted and movable by 20-40mm and is arranged around the reference point in the area of ​​the incisors.

[0027] A very wide dual-function device is conceivable, but this has disadvantages as it is more uncomfortable for the user.

[0028] A double-function device has the advantage over the two single-function devices that are still possible, that both the drive unit and the movable unit in the longitudinal direction of the bit do not have to be duplicated.

[0029] Two individual functional devices can enable more customized care for rare dentitions.

[0030] Additionally, the dual-function device could be equipped with additional drive units to move it up and down, and toward or away from the tooth. This offers advantages in adapting to unusual dentition shapes and allows for more complex care routines on the front teeth. However, it makes the cleaning device larger in precisely those areas where space is already very limited, since the reference point and the other functional devices are also located in this area.

[0031] Two movable functional devices for the molars and one movable double-functional device on the front teeth ensure that the care routines in the area of ​​the canines are covered.

[0032] As already explained, to ensure repeatability of operations, each device or apparatus is provided with at least one reference point for determining and establishing location data and for generating a reference system between the position data of the device's devices and the position data of regions of interest in the oral cavity. All movements of the movable functional devices are also referenced to these reference points.

[0033] This reference point is primarily formed by a bite support at various points on the dentition. However, it can also be supported individually or additionally by chin rests, attachments on the ears, nose, or head, or in the mouth, for example, by a palate support.

[0034] The reference point can additionally be equipped with sensors.

[0035] The sensors can be pressure sensors to measure bite pressure, 2D mesh sensors to more accurately measure rotation or displacement of the bite during two stages, position sensors to detect movements of the head with the device or equipment, but also time-of-flight sensors, inside or outside the mouth, to record displacements to the face and thus better relate any movements of the functional devices to the reference point.

[0036] All these measures make it possible to ensure a decoupling between the physical reference point and differences in insertion into the mouth of a user during two stages and also during prolonged use over weeks and months.

[0037] This can increase the accuracy of measurements and detections and also care routines, thus achieving better results in the diagnosis of diseases or carrying out more pleasant and less abrasive care routines that more accurately target biomarkers such as biofilm or tartar while protecting the gums.

[0038] Additionally, the fixed functional devices in the interdental spaces of the front teeth can be used to determine the reference point even more precisely. This allows for the partial replacement of the 2D mesh sensors.

[0039] In one embodiment, the non-movable functional devices are combined with a pressure sensor and two time-of-flight sensors outside the mouth.

[0040] The pressure sensor ensures that the user has the device(s) at the same height in the mouth and the two non-movable functional devices and the two time-of-flight sensors can measure rotations and tilts of the devices or the appliance in the mouth or displacements around the longitudinal axis of the teeth.

[0041] To accurately measure the movement of the movable functional devices to the reference point and thus ensure referencing of the movement, the device or devices preferably have a similar drive to the functional devices. With a preferred spindle drive, the speed of the functional devices' movement and the accuracy of positioning depend on the spindle pitch and are controlled via encoders, Hall sensors on the spindle, or current and angle sensors.

[0042] If the device has two structurally separate units, namely a detection unit and a cleaning unit, it is advantageous to use different spindle pitches and thus, for example, a more precise measurement or detection is possible than is necessary for the care routine or operation.

[0043] This can increase the speed of the care routine or operation and thus reduce the time for the user.

[0044] Additional drives for up, down, tilting and rotating movements of the functional devices are advantageous so that the functional devices can adapt to any type of dentition or so that switching from the upper jaw to the lower jaw is possible when using only two functional devices.

[0045] For the measurement or detection routine or operation, it can be advantageous if the movement over the teeth is carried out passively, as this allows for more sensitivity to changes in the shape of the teeth.

[0046] This is particularly useful when one wants to improve the accuracy of long-term biomarkers with multiple detection and measurement processes over several days, weeks or months, or when one wants to measure changes in the shape of the teeth, the height of the teeth or gums, or the displacement and rotation of teeth.

[0047] Preferably, four functional devices, in this case detection heads, are guided over the teeth via a spindle drive. The lateral and upward / downward movement is passively controlled by a spring system. The spring systems can be mounted passively in both directions, up and down, or left and right.

[0048] With passive height adjustment, this can be omitted if necessary, and the functional devices on the upper jaw can only tilt downwards, while the functional devices on the lower jaw can only tilt upwards. This has the advantage of saving space and making the device more comfortable for the user. In order to move over more complex tooth geometries such as rectangular bite shapes or displaced teeth more precisely and comfortably with a functional device, the passive pivoting movement in the plane of the bite can be additionally overlaid by one or more mechanisms that deflect the functional devices by a minimal angle. This lateral adjustment means that passive pivoting movements can still minimally assume this angle. This has the advantage that the functional device cannot get caught in the case of gaps or severely displaced teeth, because it cannot move out of the gaps through passive movement alone.

[0049] The care procedure should be performed as precisely as possible. The inventors recognized that a rigid drive for the functional devices is preferable for this purpose.

[0050] In principle, all movements of at least one functional device in three-dimensional space are conceivable.

[0051] These would be translational movements along the longitudinal axis of the bit, pivoting and tilting movements as well as rotations in the longitudinal axis of the bit, or rotations and tilting movements along the vertical axis of the bit.

[0052] Translational movements must be carried out as rigidly as possible to enable precise tracking of the curve specified by the measurement and detection routine.

[0053] Tilting movements to adjust the height of the functional device(s) should also be as rigid as possible so that precise pressure can be applied to the occlusal surface of the teeth.

[0054] Pivoting movements are generally rigid, but can be overlaid with a slight passivity. This has the advantage that, especially when only one stage is used for detection and care, or when the detection routine is still somewhat imprecise, the care is not performed too harshly. Instead, the passivity allows the care to center itself around the longitudinal axis of the dentition.

[0055] Rotational movements along the longitudinal axis of the teeth should also be carried out as rigidly as possible, on the one hand to enable precise rotation from the upper jaw to the lower jaw, which is necessary especially when only two movable functional devices are used, and on the other hand to rotate the functional device into the interdental areas, which allows better cleaning or, especially on the rearmost molars, where there is a lack of space anyway, to allow a little more reach with a smaller functional device.

[0056] This is beneficial to increase comfort for the user.

[0057] Rotational movements around the vertical axis of the denture should be implemented as rigidly as possible to ensure that the functional device is always parallel to the dentures and thus achieve an optimal care routine. In addition, a rigid rotation of the functional device is necessary to rotate it into the correct position when switching from the upper jaw to the lower jaw. This has the advantage that the functional device can be made as large as necessary without causing discomfort for the user during the changeover.

[0058] Tilting movements along the vertical axis of the dentition are preferably avoided, as this increases complexity without improving care / cleaning. However, this can have the advantage of allowing the spindle to be shortened, thus making the appliance smaller, as the functional appliance is tilted toward the last molars.

[0059] The design of the functional facilities will be discussed in more detail below.

[0060] A measuring and detection head as a functional device can be designed differently depending on its use.

[0061] Preferably, all necessary sensors are either integrated directly in the measuring and detection head or in the mechanics of the actuator devices or drive units.

[0062] Specifically, there are three cameras located directly in the functional devices, one for each side of the tooth. The fixed functional devices are equipped with two cameras on the outside of the denture.

[0063] In addition to the cameras in the functional devices, sensors are attached to the actuator units, allowing the creation of a precise 3D profile of the dentition and the projection of camera data and any additional integrated biomarker sensors onto this 3D profile. In a preferred embodiment, all biomarkers are detected and measured solely by the cameras and special optics such as high- and low-pass filters and polarizers.

[0064] This projection of the biomarkers, especially biofilm, caries, discoloration of teeth and gums, as well as tooth wear, tooth displacement, and gum recession, allows the calculation of a personalized curve, hereinafter referred to as the golden curve, for the care routine, which is then followed by a cleaning device with a functional device for care, in particular a cleaning head.

[0065] To measure and calculate this golden curve, encoders and current sensors are attached to the drive units for the translational movements. This makes it possible to save the exact position of the extended state with the encoders. The current sensors also help to detect whether the device has hit an obstacle. This allows for greater comfort for the user because excessive pressure is not exerted on the teeth, and also ensures that the lateral adjustment is triggered based on the measurement data from these current sensors. Encoders are attached for the lateral adjustment to ensure precise adjustment of the minimum angle. In addition, angle sensors for the tilt and swivel angle are attached to the actuator device or drive unit. This allows the current angle of the extended functional device to be measured.

[0066] A cleaning head or care head, i.e. the functional device for care, can be designed in different ways. This depends primarily on the application.

[0067] In particular, a cleaning head can be equipped with filaments, lips, threads, wires, or other mechanical structures designed to act on a surface. In particular, they are designed to gently abrasively remove coatings such as biofilm from a surface.

[0068] Preferably, a cleaning head is designed with only thin filament bundles, which have the advantage of allowing precise piercing and wiping movements. Additional sensors can be arranged on the actuator devices and / or on the drive unit.

[0069] The following section describes the operation of the detection system. The measurement and detection routine is divided into phases.

[0070] The first phase is used to calibrate a rough golden curve. This occurs specifically the first time the device is placed in the mouth, but can also occur over multiple runs.

[0071] Preferably, the first measurement is used for a rough calibration of the golden curve, which is then refined with each subsequent application of the measurement and detection routine.

[0072] In this case, older measurement data can be given greater weight, as the functional device is preferably moved more slowly over the teeth in the initial scans, thus providing more accurate measurement data. In particular, a memory is used that stores the most recent measurement data in addition to the calculated golden curve. This allows large changes in the position, rotation, distance, recession, or wear of teeth or gums to be compared to the golden curve. This has the advantage of filtering out potential measurement errors that arise in a single scan and exhibit a significant deviation from the golden curve, and reacting to them only after the large change has been confirmed.

[0073] It is useful to reference all sensor data to the reference point for calibration.

[0074] The exact calibration procedure is as follows, with some or all of the steps performed in the order given or in a different order:

[0075] Bite on the reference point (bite device) to establish a reference.

[0076] The non-movable functional devices take an image that detects the middle interdental space and thus forms the first reference to the jaw.

[0077] The time-of-flight sensors record the distance to the face to refine the reference.

[0078] Subsequently, all movable functional devices take an image to begin data recording. Then, the functional devices of the upper jaw are extended. This does not affect the results, and the recording can also be started with the lower jaw.

[0079] The functional devices are guided by the motor unit from the starting position of the functional devices towards the teeth.

[0080] Images are captured by the functional devices at a constant frame rate. This isn't mandatory, but it has the advantage that known distances are always traveled at constant time intervals and at a known speed. This, in addition to the encoder and motor currents, results in a refinement of the golden curve, since, especially after a few scans, you know roughly how large a tooth is and thus the distance between two images.

[0081] The functional devices are guided over the teeth until the motor current becomes too high.

[0082] If the motor current is too high, thus registering a collision with the teeth, the respective functional device is deflected by a certain minimum angle using the lateral adjustment function, reducing the force required to continue moving on the teeth and achieving a comfortable calibration. Preferably, a collision is registered when the motor current exceeds a predetermined threshold value, corresponding to a certain force. This force is typically between 0.5 N and 2 N.

[0083] This is repeated until a. no more lateral adjustment settings can be found where the motor current is low enough. b. the end of the motor unit's operating range is reached. c. the cameras register one end of the denture.

[0084] When the end is reached, a. either the recorded path is returned to the starting position or b. the entire procedure is repeated in reverse to further improve the recorded path.

[0085] This is then repeated for the lower jaw.

[0086] Throughout the routine, the time-of-flight sensors or potential 2D mesh sensors at the reference point provide additional data on displacements and rotations so that the measured data can be corrected compared to the original reference point.

[0087] Preferably, after the detection or measurement routine has been completed, the entire images are concatenated to create a coherent image stream.

[0088] This image stream is examined by a machine learning algorithm. It is trained to segment teeth and gums and divides the image stream into teeth and gums.

[0089] On these teeth, either a. biomarkers such as biofilm, discoloration, or caries are detected using a threshold algorithm; b. or a machine learning algorithm is used that is trained to detect biofilm and other biomarkers such as discoloration or caries, thus allowing for more accurate detection. c. Both methods, or even more, can be combined to improve the results.

[0090] The results of this detection are projected onto the individual teeth

[0091] Using the data from the encoders, the current sensors and the angle sensors, a 3D reconstruction of the dentition is created from this image stream and the mapped tooth and gum data, onto which all biomarkers are projected.

[0092] This allows the calculation of a golden curve that should be followed by a care routine in order to ensure the best possible care. In addition, the best possible point from which to switch from the upper jaw to the lower jaw is calculated.

[0093] Starting with the second measurement or detection, the calculated golden curve is preferably used as the starting point for point number 4 and the following. All data continues to be recorded, but the device automatically detects which data points on the golden curve are considered correct and which still contain potential errors. This allows, for example, a. the frame rate of the images or detection to be reduced to save data; b. higher speeds to be achieved without introducing new errors into the measurement data; c. specific areas of the golden curve to be approached to measure biomarkers at these points more precisely.

[0094] The following explains how the results obtained influence the nursing operation or routine and how this is carried out.

[0095] If the mechanics of the device for the measurement and detection operation are not exactly the same as those of the device for the maintenance operation, or if the reference point allows too large errors when inserting the device into the mouth, a plausibility check of the golden curve data can be performed in both devices before this data is used to calculate a better path.

[0096] Preferably, the device for the measurement and detection operation provides the golden curve to the device for the care operation, which checks whether the data is plausible.

[0097] The test includes a plausibility check to determine whether the golden curve lies outside the mechanically movable maxima of the device for the care routine, i.e. the device for the cleaning operation, in some areas, whether the golden curve lies in areas that were specified as tooth or denture shape in previous measurements, and whether there are areas that cannot be approached in this way with a functional device of the device for the cleaning operation because doing so could cause harm to the user. In addition, curves such as splines are preferably inserted into the data points if there are too few of these data points in the golden curve. This has the advantage that known denture curve geometries can be used to bridge missing data as best as possible. As a further optimization step, denture shapes are corrected for planar and inter-planar denture symmetries.While the former corrections aim to achieve symmetries between the left and right halves of the dentition, interplanar corrections utilize the symmetries between the upper and lower dentition. This can compensate for significant deviations in a region.

[0098] To follow the calibrated and generated golden curve for the maintenance operation, sensors such as encoders, current sensors, angle sensors, or Hall sensors are attached to the drive units for the cleaning / maintenance functional device.

[0099] In particular, the translational movement is generated via a spindle drive, which is equipped with an encoder on the motor and current sensors.

[0100] A separate motor with encoder and current sensors is used for the swivel and tilt movement in the longitudinal axis of the bit.

[0101] In addition, a strain gauge can be placed near each functional device to measure pressure on the occlusal surface of the teeth.

[0102] To rotate the functional device around the longitudinal axis of the denture, the preferred embodiment rotates the entire spindle with the stroke of the translation drive. This has the advantage that the motor can be located far back outside the mouth. Encoders, current sensors, and Hall sensors are used on the motor.

[0103] To rotate the functional device around the vertical axis of the bit, encoders, current sensors and Hall sensors are used on the motor.

[0104] It can be advantageous if the cleaning device also includes a camera positioned very similarly to the fixed functional device of the device for the measurement and detection operation, as well as two time-of-flight sensors to measure displacements and rotations relative to the original reference point. By utilizing all of these sensors, it is possible to perfectly trace the golden curve in 3D space, and this can be accomplished with only two functional devices, since it is possible to switch from the upper jaw to the lower jaw.

[0105] In the preferred embodiment, the device for the cleaning operation receives the golden curve and performs a plausibility check.

[0106] If the golden curve seems plausible, the process is as follows:

[0107] Bite on the reference point to establish a reference

[0108] The camera takes an image that detects the middle interdental gap and thus calculates the first reference in comparison to the device for the measurement and detection operation

[0109] The time-of-flight sensors record the distances to the face.

[0110] The golden curve is changed for the first time based on these new references.

[0111] The functional devices of the upper jaw are then extended along the golden curve. This does not affect the results, however, and you can also start with the lower jaw.

[0112] The golden curve is traced, and the care routine is adjusted depending on the 3D structure of the dentition, the height of the teeth and gums, or the quantity and position of various biomarkers. This can be a. higher intensity. b. longer stay at a certain point on the golden curve. c. moving left or right, or up or down at specific points on the golden curve. d. turning and tilting from or to the tooth or interdental space at specific points on the golden curve. e. a combination of all of these methods. During the trace, time-of-flight sensors and 2D mesh sensors, or the camera at the central interdental space, are used to perform further plausibility checks or to adjust the path so that the golden curve is traced as accurately as possible.

[0113] This is performed until a. the end of the golden curve is reached. b. a plausibility check no longer indicates a possible mechanically approachable point. c. current sensors indicate too much current, causing the system to approach a certain point and thus preventing the golden curve from being followed. d. or until the routine is otherwise stopped by the user.

[0114] When the end is reached, the golden curve is driven backwards again.

[0115] Then the same procedure starts on the lower jaw.

[0116] This completes a cycle.

[0117] The invention is advantageous in that a fully integrated process for data collection and data transfer as well as the use of the acquired data is achieved, whereby data collection and maintenance using the data is carried out with comparable devices.

[0118] The invention therefore relates in particular to a device for the automated execution of detection and cleaning operations with a device for detecting states of at least one surface and a device for maintaining the surface, wherein the device for detecting is designed to scan at least the surface with sensors, also with regard to its three-dimensional profile, and to transfer the acquired data to the device for maintaining the surface, wherein both devices provide a reference point for the surface and the device for detecting provides the data normalized to the reference point and the device for maintaining uses the data normalized to the reference point to travel over the surface.

[0119] A further development provides that the device for detection and the device for care form a structural unit within the device.

[0120] Further training provides for the detection facility and the care facility to be structurally separated.

[0121] Further training requires that the devices are trained to detect surfaces in the oral cavity or to care for surfaces in the oral cavity.

[0122] A further development provides that each of the devices has at least one functional device that can be inserted into the oral cavity, wherein the functional device is either a functional device for carrying out measuring and detection operations or a functional device for carrying out care operations.

[0123] A further development provides that the functional devices are movable and rotatable heads such as a detection head or a cleaning head

[0124] A further development provides that the heads can be introduced into a mouth cavity by means of actuator devices and positioned in the mouth cavity.

[0125] A further development provides that the device or each of the devices also has a holding device which, in the case of a structural unit, forms the device or each of the two devices in order to be held by the teeth.

[0126] A further development provides that the holding device serves as a reference point for the determination and definition of location data and the generation of a reference system between the location data of the devices of the device and the location data of areas of interest in the oral cavity.

[0127] A further development provides that the at least one reference point is at least one bite-off device, onto which the user bites with at least one tooth of the upper jaw and one tooth of the lower jaw. A further development provides that the detection device has two or four movable functional devices that encompass the dentures from at least two sides.

[0128] A further development provides for four functional devices, one for each quadrant of the mouth.

[0129] A further development provides for two additional, non-movable, second functional devices which are fixedly mounted around the reference point.

[0130] A further development provides that the non-movable second functional devices are arranged on the outside of the jaw.

[0131] A further development provides that the cleaning device has two or four movable functional devices which encompass the teeth from at least two sides.

[0132] A further development provides for a dual-function device that can care for the upper and lower jaw simultaneously using a common drive unit.

[0133] A further development provides that the double-function device is mounted so that it can move by 20-40 mm and is arranged around the reference point in the area of ​​the incisors.

[0134] A further development provides for the dual-function device to be equipped with extra drive units to move it up or down and towards or away from the tooth.

[0135] A further development provides that the reference point is supplemented individually or additionally by chin rests, suspensions on the ears, the nose, or the head or in the mouth, for example by a palate rest.

[0136] A further development provides for the reference point to be additionally equipped with sensors.

[0137] A further development provides that the sensors include several or all of the following group: pressure sensors, 2D mesh sensors, position sensors, time-of-flight sensors, laser distance sensors, ultrasonic sensors.

[0138] A further development provides that a detection head contains sensors as a functional device of the detection device, whereby all necessary sensors are either integrated directly in the measuring and detection head and / or arranged in the mechanics of the actuator devices or drive units of the detection head.

[0139] A further development provides that three cameras, one for each side of the tooth, are arranged in the detection head as a functional device of the detection device.

[0140] A further development provides for the non-movable functional devices to be equipped with two cameras on the outside of the dentures.

[0141] A further development provides that, in addition to the cameras in the detection head as a functional device of the detection device, sensors are attached to the actuator units, which make it possible to create an accurate 3D profile of the dentition and to project camera data as well as all additionally integrated sensors for biomarkers onto this 3D profile.

[0142] Further training provides for all biomarkers to be detected and measured using cameras and special optics such as high- and low-pass filters and polarizers.

[0143] A further development provides that a cleaning head is provided with filaments, lips, threads, wires or other mechanical formations which are designed to act on a surface, in particular are designed to gently abrasive remove coatings such as biofilm from a surface.

[0144] A further development provides that a cleaning head is designed only with thin filament bundles,

[0145] A further development provides that additional sensors are arranged on the actuator devices and / or on the drive unit.

[0146] A further development provides for the non-movable functional devices to be combined with a pressure sensor and two time-of-flight sensors outside the mouth.

[0147] A further development provides for the functional devices to have spindle drives.

[0148] A further development provides that two structurally separate units, namely a detection unit and a cleaning unit, have different spindle pitches and thus a more precise measurement or detection is possible than is necessary for the care routine or operation.

[0149] Further development provides for additional drives for up, down, tilting and rotating movements of the functional devices

[0150] A further aspect of the invention relates to a method for controlling a device for automatically carrying out detection and cleaning operations, in particular a device according to one of the preceding claims, characterized in that the status and the coordinates are first recorded with the detection device, wherein first a reference is generated by biting on the reference point, followed by at least the following steps:

[0151] - The non-movable functional devices take an image that detects the middle interdental space and thus forms the first reference to the jaw.

[0152] - The time-of-flight sensors record the distance to the face to refine the reference.

[0153] - Subsequently, all moving functional devices take a picture to start the data recording.

[0154] -Then the functional devices of at least one first jaw are extended.

[0155] -The functional devices are guided by the motor unit from the starting position of the functional devices towards the teeth.

[0156] -Images are taken by the functional devices at a particularly constant frame rate.

[0157] -The cameras register one end of the denture.

[0158] -Either it is returned to the starting position via the recorded path or the whole procedure is done in reverse so that the recorded path is further improved.

[0159] -The process is repeated for the second jaw.

[0160] A further development provides that the functional devices are guided over the teeth until the motor current becomes too high. If the motor current is too high and a collision with the teeth is detected, the respective functional device is deflected by a certain minimum angle using the lateral adjustment so that the force required to continue moving on the teeth is reduced. A further development provides that a collision is detected when a predetermined threshold value of the motor current exceeds a value corresponding to a certain force. In particular, this force is between 0.5 N and 2 N. This is repeated until no further lateral adjustment setting can be found where the motor current is low enough or the end of the motor unit's range is reached.

[0161] A further development provides that during the entire routine, the time-of-flight sensors or potential 2D mesh sensors at the reference point provide additional data on displacements and rotations so that the measured data can be corrected compared to the original reference point.

[0162] A further development provides that after the detection or measurement routine has been completed, the entire images are concatenated to create a coherent image stream.

[0163] A further development provides that the image stream is examined by a machine learning algorithm, which is trained on tooth and gum segmentation and divides the image stream into teeth and gums

[0164] A further development provides for biomarkers such as biofilm, discoloration or caries to be detected on the teeth either using a threshold algorithm; or a machine learning algorithm is applied which is trained to detect biofilm and other biomarkers such as discoloration or caries and thus allows more precise detection of the same, whereby the results of this detection are projected onto the individual teeth and with the help of the data from the encoders, the current sensors and the angle sensors from this image stream and the mapped tooth and gum data a 3D reconstruction of the dentition is generated, onto which all biomarkers are projected, so that the calculation of a golden curve, which should be followed by a care routine in order to ensure the best possible care, is possible.

[0165] A further development provides that the data for the golden curve is transmitted from the detection device to the cleaning device and the cleaning device checks whether the data is plausible, whereby the check is a plausibility check as to whether the golden curve does not lie in some areas outside the mechanically movable maxima of the cleaning device, whether the golden curve does not lie in areas that were specified as tooth or bite shape in previous measurements, and whether there are areas that cannot be approached in such a way with a functional device of the cleaning device because this could cause damage to the user.

[0166] A further development provides for sensors such as encoders, current sensors, angle sensors or Hall sensors to be attached to the drive units for the functional device for cleaning / care in order to follow the calibrated and generated golden curve for the care operation.

[0167] A further development provides that the translational movement is generated via a spindle drive, which is equipped with an encoder on the motor and current sensors.

[0168] A further development provides for the use of a separate motor with encoder and current sensors for the swivel and tilting movement in the longitudinal axis of the bit.

[0169] A further development provides for a strain gauge to be placed close to each functional device so that pressure on the occlusal surface of the teeth can be measured.

[0170] A further development provides that in order to rotate the functional device around the longitudinal axis of the bit, the entire spindle is rotated with the stroke of the translation drive.

[0171] A further development provides for the use of encoders, current sensors and Hall sensors on the motor for the rotation of the functional device around the vertical axis of the bit.

[0172] A further development provides for the use of a camera in the cleaning device at a very similar position to that in the non-movable functional device of the detection device as well as two time-of-flight sensors to measure displacements and rotations compared to the original reference point.

Claims

Claims 1. Device for the automated execution of detection and cleaning operations with a device for detecting states of at least one surface and a device for maintaining the surface, wherein the detection device is designed to scan at least the surface with sensors, also with regard to its three-dimensional profile, and to transfer acquired data to the device for maintaining the surface, wherein both devices provide a reference point for the surface and the detection device provides the data normalized to the reference point and the maintenance device uses the data normalized to the reference point to scan the surface, wherein the at least one reference point is at least one biting device onto which a user bites with at least one tooth of an upper jaw and one tooth of a lower jaw.

2. Device according to claim 1, characterized in that the device for detecting and the device for maintaining form a structural unit within the device.

3. Device according to claim 1, characterized in that the device for detecting and the device for maintaining are structurally separate.

4. Device according to one of the preceding claims, characterized in that the devices are designed to detect surfaces in an oral cavity or to care for surfaces in an oral cavity.

5. Device according to one of the preceding claims, characterized in that each of the devices has at least one functional device which can be inserted into the oral cavity, wherein the functional device is either a functional device for carrying out measuring and detection operations or a functional device for carrying out care operations.

6. Device according to one of the preceding claims, characterized in that the functional devices are movable and rotatable heads such as a detection head or a cleaning head.

7. Device according to one of the preceding claims, characterized in that the heads can be introduced into the oral cavity by means of actuator devices and can be positioned in the oral cavity.

8. Device according to one of the preceding claims, characterized in that the device or each of the devices also has a holding device which, when structurally unitary, forms the device or each of the two devices in order to be held by the teeth.

9. Device according to one of the preceding claims, characterized in that the holding device serves as a reference point for determining and defining location data and generating a reference system between position data of the devices of the device and position data of regions of interest in the oral cavity.

10. Device according to one of the preceding claims, characterized in that the detection device has two or four movable functional devices which encompass a denture from at least two sides.

11. Device according to one of the preceding claims, characterized in that four functional devices are provided, one for each quadrant of the mouth.

12. Device according to one of the preceding claims, characterized in that two non-movable, second functional devices are additionally provided, which are fixedly mounted around the reference point.

13. Device according to one of the preceding claims, characterized in that the non-movable second functional devices are arranged on an outer side of the jaw.

14. Device according to one of the preceding claims, characterized in that the cleaning device has two or four movable functional devices which engage around the teeth from at least two sides.

15. Device according to claim 14, characterized in that a dual-function device is provided which can care for the upper and lower jaw simultaneously with a common drive unit.

16. Device according to claim 15, characterized in that the double-function device is mounted so as to be movable by 20-40 mm by a motor and is arranged around the reference point in the region of the incisors.

17. Device according to claim 15 or 16, characterized in that the dual-function device is equipped with extra drive units in order to move it up or down and towards or away from the tooth.

18. Device according to one of the preceding claims, characterized in that the reference point is supplemented individually or additionally by chin rests, suspensions on the ears, the nose, or the head or in the mouth, for example by a palate support.

19. Device according to one of the preceding claims, characterized in that the reference point is additionally equipped with sensors.

20. Device according to claim 19, characterized in that the sensors comprise several or all of the following group: pressure sensors, 2D mesh sensors, position sensors, time-of-flight sensors, laser distance sensors, ultrasonic sensors.

21. Device according to one of the preceding claims, characterized in that a detection head contains sensors as a functional device of the detection device, wherein all necessary sensors are either directly integrated in the measuring and detection head and / or arranged in a mechanism of the actuator devices or drive units of the detection head.

22. Device according to one of the preceding claims, characterized in that three cameras, one for each side of the tooth, are arranged in the detection head as a functional device of the detection device.

23. Device according to one of the preceding claims, characterized in that the non-movable functional devices are equipped with two cameras on the outside of the denture.

24. Device according to one of the preceding claims, characterized in that in addition to the cameras in the detection head as a functional device of the detection device, sensors are attached to the actuator units, which make it possible to create an accurate 3D profile of the dentition and to project camera data as well as all additionally integrated sensors for biomarkers onto this 3D profile.

25. Device according to one of the preceding claims, characterized in that all biomarkers are detected and measured by the cameras and special optics such as high- and low-pass filters and polarizers.

26. Device according to one of the preceding claims, characterized in that a cleaning head is provided with filaments, lips, threads, wires or other mechanical formations which are designed to act on the surface, in particular are designed to gently abrasive remove coatings such as biofilm from the surface.

27. Device according to one of the preceding claims, characterized in that a cleaning head is formed only with thin filament bundles.

28. Device according to claim 21 or 22, characterized in that additional sensors are arranged on the actuator devices and / or on the drive unit.

29. Device according to one of the preceding claims, characterized in that the non-movable functional devices are combined with a pressure sensor and two time-of-flight sensors outside the mouth.

30. Device according to one of the preceding claims, characterized in that the functional devices have spindle drives.

31. Device according to one of the preceding claims, characterized in that in the case of two structurally separate units, namely a detection unit and a cleaning unit, different spindle pitches are present and thus a more precise measurement or detection is possible than is necessary for a care routine or operation.

32. Device according to one of the preceding claims, characterized in that further drives for up, down, tilting and rotating movements of the functional devices are provided 33. Method for controlling a device according to one of the preceding claims, characterized in that the detection device first records the status and coordinates of the three-dimensional course of the surface to be detected, wherein first a reference is generated by biting on the reference point, followed by at least the following steps: - The non-movable functional devices take an image that detects a central interdental space and thus forms a first reference to the jaw. - The time-of-flight sensors record a distance to the face in order to to refine the reference. - Subsequently, all moving functional devices take a picture to Start data recording. -Then, functional devices of at least a first jaw are extended. -The functional devices are guided by a motor unit from a starting position toward the teeth. -Images are taken by the functional devices at a constant frame rate. -The cameras register one end of the denture. -Either the denture is returned to the starting position along a recorded path, or the entire procedure is repeated in reverse to further improve the recorded path. -The process is repeated for a second jaw.

34. Method according to claim 33, characterized in that the functional devices are guided over the teeth until a motor current becomes too high, wherein if the motor current is too high and thus an impact on the teeth is registered, the respective functional device is deflected by means of a lateral adjustment by a certain minimum angle so that the force required to continue traveling on the teeth is reduced.

35. Method according to claim 34, characterized in that the impact is registered by exceeding a predetermined threshold value of the motor current above a value corresponding to a certain force, wherein in particular this force is between 0.5N and 2N, wherein this is repeated until no further setting of the lateral adjustment can be found at which the motor current is small enough or the end of the range of the motor unit is reached.

36. Method according to one of claims 33 to 35, characterized in that during the entire routine, the time-of-flight sensors or potential 2D mesh sensors at the reference point provide further data on displacements and rotations so that the measured data can be corrected in comparison to the original reference point.

37. Method according to one of claims 33 to 36, characterized in that after the termination of a detection or measurement routine, the entire images are concatenated to generate a coherent image stream.

38. Method according to claim 37, characterized in that the image stream is examined by a machine learning algorithm which is trained on tooth and gum segmentation and divides the image stream into teeth and gums 39. Method according to one of claims 33 to 38, characterized in that biomarkers such as biofilm, discoloration or caries are detected on the teeth either via a threshold algorithm or a machine learning algorithm is applied which is trained to detect biofilm and other biomarkers such as discoloration or caries and thus allows a more precise detection of the same, wherein the results of this detection are projected onto the individual teeth and with the aid of data from the encoders, current sensors and angle sensors from this image stream and mapped tooth and gum data a 3D reconstruction of the dentition is generated onto which all biomarkers are projected, so that the calculation of a golden curve which is to be followed by the care routine in order to ensure the best possible care is possible.

40. Method according to one of claims 33 to 39, characterized in that a golden curve is transmitted from the detection device to the cleaning device and the cleaning device checks whether the data are plausible, wherein the check comprises a plausibility check as to whether the golden curve does not lie in some areas outside the mechanically movable maxima of the cleaning device, whether the golden curve does not lie in areas which were indicated in previous measurements as tooth or bite shape, and whether there are areas which cannot be approached in such a way with a functional device of the cleaning device because this could cause damage to the user.

41. Method according to one of claims 33 to 40, characterized in that in order to follow the calibrated and generated golden curve for the maintenance operation, sensors such as encoders, current sensors, angle sensors or Hall sensors are attached to the drive units for the functional device for cleaning / maintenance.

42. Method according to one of claims 33 to 41, characterized in that the translational movement is generated via a spindle drive which is provided with an encoder on the motor and current sensors.

43. Method according to one of claims 33 to 42, characterized in that a separate motor with encoder and current sensors is used for the pivoting and tilting movements in the longitudinal axis of the bit.

44. A method according to any one of claims 33 to 43, characterized in that a strain gauge is arranged close to each functional device so that a pressure on the occlusal surface of the teeth is measured.

45. Method according to one of claims 33 to 44, characterized in that for rotating the functional device about the longitudinal axis of the denture, the entire spindle is rotated with the stroke of the translation drive.

46. ​​Method according to one of claims 34 to 45, characterized in that encoders, current sensors and Hall sensors are used on the motor for rotation of the functional device about the vertical axis of the bit.

7. Method according to one of claims 33 to 46, characterized in that in the cleaning device a camera is used at a very similar position to that in the non-movable functional device of the detection device and two time-of-flight sensors are used to measure displacements and rotations compared to the original reference point.