CN104958118B - A kind of intelligent robot opening marrow tooth preparation for tooth - Google Patents
A kind of intelligent robot opening marrow tooth preparation for tooth Download PDFInfo
- Publication number
- CN104958118B CN104958118B CN201510425790.2A CN201510425790A CN104958118B CN 104958118 B CN104958118 B CN 104958118B CN 201510425790 A CN201510425790 A CN 201510425790A CN 104958118 B CN104958118 B CN 104958118B
- Authority
- CN
- China
- Prior art keywords
- drill bit
- moving lever
- axis moving
- angle
- tooth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The invention discloses a kind of intelligent robot opening marrow tooth preparation for tooth, including draw-in groove, X-axis motion support plate, angle of drill bit fine setting mouth, Y-axis moving lever, angle of drill bit regulating rod, Z axis moving lever, control drive mechanism, flushing suck-back mechanism, drill bit；Control drive mechanism to be fixedly mounted on described Z axis moving lever, it is connected with X-axis motion support plate drive mechanism, Y-axis moving lever drive mechanism, Z axis moving lever drive mechanism, angle of drill bit regulating rod drive mechanism, flushing suck-back mechanism, drill bit respectively, for receiving the control information of outer computer, the X-axis motion support plate described in control, Y-axis moving lever, Z axis moving lever, angle of drill bit regulating rod, flushing suck-back mechanism, bit operation.The present invention can accurately drive drill bit that the tooth body of target tooth is carried out preliminary forming based on the analysis to digitized anatomical dental structured data and pulp cavity opened.
Description
Technical field
The invention belongs to dentistry field, relate to a kind of intelligent robot, it is specifically related to a kind of intelligent robot opening marrow tooth preparation for tooth, it can accurately drive different operating head that the tooth body of target tooth is carried out preliminary forming based on the analysis to digitized anatomical dental structured data and pulp cavity opened.
Background technology
Tooth preparation is that dental defect is suffered from tooth and carried out the steps necessary of repairing and treating by the department of stomatology clinically, and it is the steps necessary of root canal the most clinically that pulp cavity is opened.But at present, clinically, tooth preparation completes mainly by doctor's manual operation, greatest differences is there is in its quality completed with the experience of operator and the difference of proficiency level, having a strong impact on follow-up therapeutic effect, the opening there is also of pulp cavity causes because of lacking experience of operator abrading too much or not enough tissue of tooth.Thus a kind of accurate and standardized method of urgent need carries out tooth preparation and pulp cavity is opened, thus reach the standardized therapeutic effect not affected by operator.
Summary of the invention
In order to solve above-mentioned technical problem, the invention provides a kind of intelligent robot opening marrow tooth preparation for tooth.
The technical solution adopted in the present invention is: a kind of intelligent robot opening marrow tooth preparation for tooth, it is characterised in that: include draw-in groove, X-axis motion support plate, angle of drill bit fine setting mouth, Y-axis moving lever, angle of drill bit regulating rod, Z axis moving lever, control drive mechanism, flushing suck-back mechanism, drill bit；Described X-axis motion support plate is two pieces, is fixed together by described Y-axis moving lever Parallel Symmetric；Described draw-in groove is used for being stuck in tooth；Described X-axis motion support plate is slidably mounted in two pieces of draw-in grooves, can slide in two pieces of draw-in grooves along X-direction under the driving of X-axis motion support plate drive mechanism；Described Z axis moving lever can move up and down under the driving of Z axis moving lever drive mechanism；Described Z axis moving lever is slidably mounted on described Y-axis moving lever, can slide on Y-axis moving lever along Y direction under the driving of Y-axis moving lever drive mechanism；Described angle of drill bit fine setting mouth is the level trough being opened on described X-axis motion support plate, described angle of drill bit regulating rod two ends are arranged in described angle of drill bit fine setting mouth, and level can slide in described angle of drill bit fine setting mouth, described Z axis moving lever is fixedly mounted on described angle of drill bit regulating rod；Described angle of drill bit regulating rod is under the driving of angle of drill bit regulating rod drive mechanism, and in described angle of drill bit fine setting mouth, level is slided, and the Z axis moving lever described in drive rotates, thus realizes the fine setting of angle of drill bit；Suck-back mechanism one end is connected with described Z axis moving lever, the other end is connected with described drill bit in described flushing；Described control drive mechanism is fixedly mounted on described Z axis moving lever, it is connected with described X-axis motion support plate drive mechanism, Y-axis moving lever drive mechanism, Z axis moving lever drive mechanism, angle of drill bit regulating rod drive mechanism, flushing suck-back mechanism, drill bit respectively, for receiving the control information of outer computer, the X-axis motion support plate described in control, Y-axis moving lever, Z axis moving lever, angle of drill bit regulating rod, flushing suck-back mechanism, bit operation.
As preferably, described draw-in groove is additionally provided with draw-in groove pad.
As preferably, described drill bit is corundum material.
As preferably, the motion mode of described drill bit is for rotating or moving back and forth.
As preferably, described flushing suck-back mechanism includes rinse-system and recovery system, rinse-system is single or several sprays distilled water or the pipeline of sodium hypochlorite liquid and hole, and recovery system is negative pressure of vacuum attraction system, for sucking back the liquid that rinse-system is discharged.
As preferably, described drill bit actuating device uses pneumatic, electronic or other power mode.
The present invention can accurately drive drill bit that the tooth body of target tooth is carried out preliminary forming based on the analysis to digitized anatomical dental structured data and pulp cavity opened.
Accompanying drawing explanation
The structure chart of Fig. 1: the embodiment of the present invention.
Detailed description of the invention
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail, should be appreciated that enforcement example described herein is merely to illustrate and explains the present invention, be not intended to limit the present invention.
Ask for an interview Fig. 1, a kind of intelligent robot opening marrow tooth preparation for tooth that the present invention provides, it is characterised in that: include draw-in groove pad 1, draw-in groove 2, X-axis motion support plate 3, angle of drill bit fine setting mouth 4, Y-axis moving lever 5, angle of drill bit regulating rod 6, Z axis moving lever 7, control drive mechanism 8, flushing suck-back mechanism 9, drill bit 10；Draw-in groove 2 is used for being stuck in tooth, and draw-in groove 2 is additionally provided with draw-in groove pad 1；Rinsing suck-back mechanism 9 and include rinse-system and recovery system, rinse-system is single or several sprays distilled water or the pipeline of sodium hypochlorite liquid and hole, and recovery system is negative pressure of vacuum attraction system, for sucking back the liquid that rinse-system is discharged；X-axis motion support plate 3 is two pieces, is fixed together by Y-axis moving lever 5 Parallel Symmetric；X-axis motion support plate 3 is slidably mounted in two pieces of draw-in grooves 2, can slide in two pieces of draw-in grooves 2 along X-direction under the driving of X-axis motion support plate drive mechanism；Z axis moving lever 7 can move up and down under the driving of Z axis moving lever drive mechanism；Z axis moving lever 7 is slidably mounted on Y-axis moving lever 5, can slide on Y-axis moving lever 5 along Y direction under the driving of Y-axis moving lever drive mechanism；Angle of drill bit fine setting mouth 4 is the level trough being opened on X-axis motion support plate 3, angle of drill bit regulating rod 6 two ends are arranged in angle of drill bit fine setting mouth 4, and level can slide in angle of drill bit fine setting mouth 4, Z axis moving lever 7 is fixedly mounted on angle of drill bit regulating rod 6；Angle of drill bit regulating rod 6 is under the driving of angle of drill bit regulating rod drive mechanism, and in angle of drill bit fine setting mouth 4, level is slided, and drives Z axis moving lever 7 to rotate, thus realizes the fine setting of angle of drill bit；Suck-back mechanism 9 one end is connected with Z axis moving lever 7, the other end is connected with drill bit 10 in flushing；Control drive mechanism 8 to be fixedly mounted on Z axis moving lever 7, it is connected with X-axis motion support plate drive mechanism, Y-axis moving lever drive mechanism, Z axis moving lever drive mechanism, angle of drill bit regulating rod drive mechanism, flushing suck-back mechanism 9, drill bit 10 respectively, for receiving the control information of outer computer, control X-axis motion support plate 3, Y-axis moving lever 5, Z axis moving lever 7, angle of drill bit regulating rod 6, flushing suck-back mechanism 9, drill bit 10 work.
It should be noted that the drill bit 10 of the present invention be mechanical drill, to make material be corundum or other suitable material, motion mode is for rotating or moving back and forth, and the actuating device of drill bit 10 uses pneumatic, electronic or other power mode.
The workflow of the present invention is:
1. pair tooth carries out Micro-CT scanning or cone-beam CT scan；
2. scan data input computer；
3. the data in pair computer carry out three-dimensional reconstruction, obtain data and the Three-dimension Reconstruction Model of target tooth anatomical structure；
4. on the tooth of three-dimensional reconstruction, marrow and the position of tooth preparation shaping and path are opened in design；
5. position and path data are sent to control drive mechanism 8, and control drive mechanism 8 accurately controls X-axis motion support plate drive mechanism, Y-axis moving lever drive mechanism, Z axis moving lever drive mechanism, angle of drill bit regulating rod drive mechanism and drill bit 10, according to path and the form of design, tooth body is carried out preliminary forming；Drill bit 10 in the course of the work, rinses suck-back mechanism 9 and carries out omnidistance flushing resorption, to take away chip and cooling.
Although this specification more employs draw-in groove pad 1, draw-in groove 2, X-axis motion support plate 3, angle of drill bit fine setting mouth 4, Y-axis moving lever 5, angle of drill bit regulating rod 6, Z axis moving lever 7, controls drive mechanism 8, the flushing term such as suck-back mechanism 9, drill bit 10, but is not precluded from using the probability of other terms.Using these terms to be only used to more easily to describe the essence of the present invention, it is all contrary with spirit of the present invention for being construed as any additional restriction.
It should be appreciated that the part that this specification does not elaborates belongs to prior art.
Should be understood that; the above-mentioned description for preferred embodiment is the most detailed; therefore the restriction to scope of patent protection of the present invention can not be considered; those of ordinary skill in the art is under the enlightenment of the present invention; under the ambit protected without departing from the claims in the present invention; can also make replacement or deformation, within each falling within protection scope of the present invention, the scope that is claimed of the present invention should be as the criterion with claims.
Claims (6)
1. the intelligent robot opening marrow tooth preparation for tooth, it is characterised in that: include draw-in groove (2), X-axis motion support plate (3), angle of drill bit fine setting mouth (4), Y-axis moving lever (5), angle of drill bit regulating rod (6), Z axis moving lever (7), control drive mechanism (8), flushing suck-back mechanism (9), drill bit (10)；
Described X-axis motion support plate (3) is two pieces, is fixed together by described Y-axis moving lever (5) Parallel Symmetric；
Described draw-in groove (2) is used for being stuck in tooth；
Described X-axis motion support plate (3) is slidably mounted in two pieces of draw-in grooves (2), can slide in two pieces of draw-in grooves (2) along X-direction under the driving of X-axis motion support plate drive mechanism；
Described Z axis moving lever (7) can move up and down under the driving of Z axis moving lever drive mechanism；
Described Z axis moving lever (7) is slidably mounted on described Y-axis moving lever (5), above can slide along Y direction at Y-axis moving lever (5) under the driving of Y-axis moving lever drive mechanism；
Described angle of drill bit fine setting mouth (4) is the level trough being opened in described X-axis motion support plate (3), described angle of drill bit regulating rod (6) two ends are arranged in described angle of drill bit fine setting mouth (4), and level can slide in described angle of drill bit fine setting mouth (4), described Z axis moving lever (7) is fixedly mounted on described angle of drill bit regulating rod (6)；Described angle of drill bit regulating rod (6) is under the driving of angle of drill bit regulating rod drive mechanism, and in described angle of drill bit fine setting mouth (4), level is slided, and the Z axis moving lever (7) described in drive rotates, thus realizes the fine setting of angle of drill bit；
Described flushing suck-back mechanism (9) one end is connected with described Z axis moving lever (7), the other end is connected with described drill bit (10)；
Described control drive mechanism (8) is fixedly mounted on described Z axis moving lever (7), it is connected with described X-axis motion support plate drive mechanism, Y-axis moving lever drive mechanism, Z axis moving lever drive mechanism, angle of drill bit regulating rod drive mechanism, flushing suck-back mechanism (9), drill bit (10) respectively, for receiving the control information of outer computer, X-axis motion support plate (3) described in control, Y-axis moving lever (5), Z axis moving lever (7), angle of drill bit regulating rod (6), flushing suck-back mechanism (9), drill bit (10) work.
The intelligent robot opening marrow tooth preparation for tooth the most according to claim 1, it is characterised in that: it is additionally provided with draw-in groove pad (1) on described draw-in groove (2).
The intelligent robot opening marrow tooth preparation for tooth the most according to claim 1, it is characterised in that: described drill bit (10) is corundum material.
The intelligent robot opening marrow tooth preparation for tooth the most according to claim 1, it is characterised in that: the motion mode of described drill bit (10) is for rotating or moving back and forth.
The intelligent robot opening marrow tooth preparation for tooth the most according to claim 1, it is characterized in that: described flushing suck-back mechanism (9) includes rinse-system and recovery system, rinse-system is single or several sprays distilled water or the pipeline of sodium hypochlorite liquid and hole, recovery system is negative pressure of vacuum attraction system, for sucking back the liquid that rinse-system is discharged.
The intelligent robot opening marrow tooth preparation for tooth the most according to claim 1, it is characterised in that: described drill bit (10) actuating device uses pneumatically or electrically flowing mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510425790.2A CN104958118B (en) | 2015-07-20 | 2015-07-20 | A kind of intelligent robot opening marrow tooth preparation for tooth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510425790.2A CN104958118B (en) | 2015-07-20 | 2015-07-20 | A kind of intelligent robot opening marrow tooth preparation for tooth |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104958118A CN104958118A (en) | 2015-10-07 |
| CN104958118B true CN104958118B (en) | 2016-08-17 |
Family
ID=54212339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510425790.2A Expired - Fee Related CN104958118B (en) | 2015-07-20 | 2015-07-20 | A kind of intelligent robot opening marrow tooth preparation for tooth |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104958118B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106510865B (en) * | 2016-11-11 | 2019-08-09 | 北京大学口腔医学院 | The method that tooth opens the guide device of marrow hole shape preparation and makes the device |
| CN107175348B (en) * | 2017-06-13 | 2018-07-27 | 南通华新建工集团有限公司 | A kind of building card punch |
| CN108836521A (en) * | 2018-05-03 | 2018-11-20 | 张艳玲 | A kind of tooth opens the guide device of marrow hole shape preparation |
| CN109820608B (en) * | 2019-03-25 | 2024-01-12 | 北京大学口腔医学院 | Root canal treatment robot |
| CN110338920B (en) * | 2019-07-05 | 2022-05-27 | 山东秦飞智能科技发展有限公司 | Positioning drill bit for oral implantation |
| CN110478059A (en) * | 2019-09-18 | 2019-11-22 | 南京市口腔医院 | Tooth is minimally invasive to open marrow device and intelligent root canal preparation system |
| CN115252172A (en) * | 2022-08-03 | 2022-11-01 | 北京大学口腔医学院 | Tooth preparation robot system |
| CN117281635B (en) * | 2023-11-24 | 2024-01-30 | 四川大学 | Automatic grinding and drilling device for dental caries |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0086167A2 (en) * | 1982-02-05 | 1983-08-17 | Luc Barrut | Method of and device for forming or treating teeth or dental prostheses |
| JPH08238259A (en) * | 1995-03-02 | 1996-09-17 | Kazunari Konishi | Method for treating dental pump by electric heater in root canal therapy and electric incinerator for dental pulp used directly for its practice in use |
| JP2008272889A (en) * | 2007-04-27 | 2008-11-13 | O M Ltd | Machine tool |
| CN204092247U (en) * | 2014-09-11 | 2015-01-14 | 哈尔滨理工大学 | A kind of machinery for artificial tooth grinding |
| CN204260860U (en) * | 2014-11-21 | 2015-04-15 | 苏州大学 | Full porcelain artificial tooth grinding system |
| CN104751516A (en) * | 2015-04-09 | 2015-07-01 | 范兵 | Tooth pulp opening method and device for root canal therapy |
-
2015
- 2015-07-20 CN CN201510425790.2A patent/CN104958118B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0086167A2 (en) * | 1982-02-05 | 1983-08-17 | Luc Barrut | Method of and device for forming or treating teeth or dental prostheses |
| JPH08238259A (en) * | 1995-03-02 | 1996-09-17 | Kazunari Konishi | Method for treating dental pump by electric heater in root canal therapy and electric incinerator for dental pulp used directly for its practice in use |
| JP2008272889A (en) * | 2007-04-27 | 2008-11-13 | O M Ltd | Machine tool |
| CN204092247U (en) * | 2014-09-11 | 2015-01-14 | 哈尔滨理工大学 | A kind of machinery for artificial tooth grinding |
| CN204260860U (en) * | 2014-11-21 | 2015-04-15 | 苏州大学 | Full porcelain artificial tooth grinding system |
| CN104751516A (en) * | 2015-04-09 | 2015-07-01 | 范兵 | Tooth pulp opening method and device for root canal therapy |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104958118A (en) | 2015-10-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104958118B (en) | A kind of intelligent robot opening marrow tooth preparation for tooth | |
| CN100556370C (en) | Be used for material is excised or the method and apparatus system of processed | |
| CN109199586B (en) | Laser osteotomy robot system and path planning method thereof | |
| Nickenig et al. | Reliability of implant placement after virtual planning of implant positions using cone beam CT data and surgical (guide) templates | |
| EP2704664B1 (en) | Methods and systems for creating a custom dental prosthetic using cad/cam dentistry | |
| CN107951538B (en) | Manufacturing method of 3D printing fibula reconstruction jaw bone surgical tool combining bone resection and titanium plate positioning | |
| WO2018040612A1 (en) | Biological 3d printing technology-based cutting and repairing integrated surgical robot and method for using same | |
| EP0348061B1 (en) | Stereolithographic Process for Preparing Prosthetic Devices | |
| CN104323865B (en) | Correction micro screw implantation guide plate and preparation method thereof | |
| EP2228029A2 (en) | System and method for manufacturing a dental implant surgical guide | |
| KR20210052541A (en) | Dental implant system and navigation method | |
| CN106725849B (en) | A kind of fast conversion method of operation on mandible titanium plate-osteotomy guide plate spatial position | |
| US20130252202A1 (en) | Method for planning a dental prosthesis implant arrangement and a reference arrangement | |
| Kontio et al. | Designing and additive manufacturing a prototype for a novel instrument for mandible fracture reduction | |
| CN105030350A (en) | Tooth implantation quick moulding system and tooth implantation quick moulding method based on 3D printing | |
| KR20150102900A (en) | Auxiliary device for dental treatment, dental treatment system and dental treatment method | |
| KR101841441B1 (en) | System for automatically deleting tooth and method using the same | |
| CN209122496U (en) | Orthodontic anchorage nail implantation guide plate | |
| KR20170113300A (en) | Artificial tooth preparation system using articulator for tooth model scan | |
| CN104382663A (en) | All-ceramic denture grinding system and method for fabricating denture | |
| WO2020191879A1 (en) | Root canal treating robot and treatment method | |
| CN104127265A (en) | String bag type lower jawbone implant applying three-dimensional printing technology | |
| Ahmed et al. | Accuracy of implant placement using two different types of CAD/CAM surgical guides (an invitro study) | |
| Nayak et al. | Progress and issues related to designing and 3D printing of endodontic guide | |
| CN109996626A (en) | For removing the method that basic material carries out increasing material manufacturing by means of selectivity |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20180720 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |