JP6715518B2 - Oral processing device and oral treatment system - Google Patents

Description

The present invention relates to an intraoral processing apparatus capable of processing teeth and bones in the oral cavity, and an intraoral treatment system including the intraoral processing apparatus.

At present, a dental handpiece including a processing head for cutting teeth is used for treatment of the oral cavity, for example, treatment of caries. The dental handpiece is operated by a surgeon's hand so that the processing head is displaced along the portion of the patient's mouth to be removed, for example, the portion where caries has occurred.

However, in the treatment method using the dental handpiece, the skill of cutting tends to vary depending on the skill of the operator. Therefore, there is proposed a device capable of automatically displacing the processing head along a predesignated path in the oral cavity in order to perform an appropriate treatment regardless of the skill of the operator (Patent Document 1). 1).

International Publication No. 2011/030906

When the machining head is automatically displaced, the path of the displacement is defined on a coordinate system fixed to a displacement mechanism that displaces the machining head. Therefore, it is required that the displacement mechanism does not move relative to the patient's jaw after performing the alignment work for matching the reference point on the coordinate system with the actual processing start point in the oral cavity.

In this regard, in the device of Patent Document 1, the displacement mechanism is installed outside the oral cavity of the patient, and the displacement mechanism and the jaw of the patient are connected by a rigid body. Therefore, when the patient moves his/her jaw during treatment, the displacement mechanism may not be able to follow the movement of the rigid body. In that case, the rigid body is disengaged from the jaw, and the displacement mechanism and the jaw are relatively displaced. When the two are displaced relative to each other, it is necessary to perform the positioning work each time, and the treatment becomes complicated.

Further, in the device of Patent Document 1, the displacement mechanism is integrated with a power source such as a motor that drives the displacement mechanism to form one unit. Since this unit includes a displacement mechanism and a power source, it is hard to say that it is compact, and when it is fixed to the chin, some patients may feel a sense of pressure.

An object of the present invention is to provide an intraoral processing device in which a displacement mechanism for displacing the processing head is less likely to be displaced with respect to the jaw even when the jaw moves during treatment, and a member which is fixed to the jaw is more compact than the conventional one. An object of the present invention is to provide an intraoral treatment system including this.

In order to achieve the above object, the intraoral processing device according to the present invention,
A power source installed outside the oral cavity,
A displacement mechanism fixed to the jaw while holding a processing head capable of processing teeth and bones,
A motion transmission member that connects the displacement mechanism and the power source,
The power source moves the motion transmitting member,
The displacement mechanism converts the motion of the motion transmission member into a motion involving displacement of the processing head in the oral cavity,
The motion transmitting member transmits the motion from the power source to the displacement mechanism while allowing relative displacement between the displacement mechanism and the power source.

The motion transmitting member is composed of at least one flexible shaft having one end connected to the power source and the other end connected to the displacement mechanism,
The power source rotates the flexible shaft,
The displacement mechanism may convert rotational movement of the flexible shaft into movement accompanied by displacement of the processing head within the oral cavity.

The motion transmitting member has three flexible shafts, first to third,
The power source rotates each of the first to third flexible shafts,
The displacement mechanism converts the rotational movements of the first to third flexible shafts into the movements of the machining heads in directions intersecting with each other, thereby displacing the machining head three-dimensionally. Good.

The displacement mechanism is
A first motion conversion unit that converts the rotational motion of the first flexible shaft into a linear motion in a height direction parallel to the central axis of the cylinder in the cylindrical coordinate system;
A second motion conversion unit that converts the rotational motion of the second flexible shaft into a rotational motion of the cylinder in the cylinder coordinate system in the circumferential direction around the central axis.
A third motion conversion unit for converting rotational motion of the third flexible shaft into linear motion in the radial direction from the central axis of the cylinder in the cylinder coordinate system;
May have.

The first motion conversion unit,
A height direction guide member extending in the height direction, comprising a height direction guide member for guiding a linear motion of the processing head while receiving a load of the processing head,
The second motion conversion unit,
A circumferential guide member extending in the height direction, comprising a circumferential guide member that guides the turning motion of the machining head in the circumferential direction,
The height direction guide member may be arranged coaxially with the circumferential direction guide member while being fitted in the circumferential direction guide member.

The motion transmitting member further includes a fourth flexible shaft having one end connected to the power source and the other end connected to the displacement mechanism,
The power source rotates the fourth flexible shaft,
The displacement mechanism further includes a fourth motion conversion unit that converts the rotational motion of the fourth flexible shaft into a tilting motion of the processing head in a plane parallel to the height direction and the radial direction. You may have.

Based on the removal region shape data, the power source is acquired from the outside to obtain removal region shape data representing the shape of the region to be removed in the oral cavity, and the region to be removed is removed by the processing head. A control device for controlling
May be further provided.

The oral treatment system according to the present invention,
The above-mentioned intraoral processing device,
The shape of the restoration that repairs the portion of the oral cavity removed by the processing head is designed and designed using the removal area shape data and the oral shape data representing the shape of the oral cavity before processing. A restoration design and manufacturing apparatus for producing the restoration having the above-mentioned shape,
Equipped with.

According to the present invention, the displacement mechanism and the power source are configured as separate members. Of these, only the displacement mechanism is fixed to the jaw. The member to be made compact can be achieved. Further, even when the jaw moves during treatment, the displacement mechanism and the power source allow relative displacement in the motion transmitting member, so that the displacement mechanism is unlikely to shift with respect to the jaw.

The conceptual diagram which shows the whole structure of the intraoral processing apparatus which concerns on Embodiment 1. 3 is a perspective view showing appearances of a processing head and a displacement mechanism according to the first embodiment. FIG. 3 is a conceptual diagram showing a configuration of a displacement mechanism according to the first embodiment. FIG. FIG. 3 is an exploded perspective view showing a main part of the displacement mechanism according to the first embodiment. 6 is a conceptual diagram showing a configuration of a displacement mechanism according to a second embodiment. FIG. 6 is a conceptual diagram showing a configuration of a reciprocating motion generation unit of the displacement mechanism according to the second embodiment. FIG. 6 is a conceptual diagram showing an outer appearance of an arm according to the second embodiment. FIG. 6 is an exploded perspective view of an arm according to the second embodiment. The conceptual diagram of the intraoral treatment system which concerns on Embodiment 3. (A) is a conceptual diagram of a motion transmitting member according to Modification 1, (B) is a conceptual diagram of a motion transmitting member according to Modification 2, and (C) is a conceptual diagram of a motion transmitting member according to Modification 3. (A)-(D) is a top view which shows the application example of the motion transmission member which concerns on the modification 3. FIG. FIG. 11 is a plan view showing another application example of the motion transmitting member according to Modification 3. FIG. 11 is a plan view showing still another application example of the motion transmitting member according to Modification 3. (A) And (B) is a fragmentary sectional perspective view of the motion transmission member which concerns on the modification 3. (A) is a conceptual diagram of the motion transmitting member according to Modification 4, and (B) is a conceptual diagram of the motion transmitting member according to Modification 5.

Hereinafter, an intraoral processing apparatus according to an embodiment of the present invention will be described with reference to the drawings, taking a case where a processing target is a human tooth as an example. In the drawings, the same or corresponding parts are designated by the same reference numerals.

[Embodiment 1]
As shown in FIG. 1, an intraoral processing apparatus 800 according to this embodiment includes a processing head 100 capable of processing teeth and bones, and a displacement mechanism 200 fixed to a patient's jaw while holding the processing head 100. A power source 300 installed outside the patient's oral cavity, a flexible motion transmitting member 400 connecting the displacement mechanism 200 and the power source 300, and a power source 300 disposed outside the patient's oral cavity. And a control device 500 for controlling.

The processing head 100 includes a tool CT and a drive source (not shown) that rotates the tool CT. At least the outer surface of the tip of the tool CT is formed of a material harder than the tooth, and is rotationally driven to cut the tooth at the tip portion. In this specification, cutting is a concept including not only cutting with a cutting edge but also grinding with abrasive grains. For example, for the tool CT, use a diamond point having diamond particles attached to the tip, a carbide bar having a tungsten carbide cutting edge at the tip, or a steel bar having a carbon steel cutting edge at the tip. You can

Further, although not shown, the processing head 100 includes a tool CT and a drive source, a mechanism for attaching and detaching the tool CT, and a water-cooling mechanism using water and compressed air, like the conventional dental handpiece. The processing head 100 may include an illumination device that illuminates the surgical field.

The machining head 100 is held by the displacement mechanism 200 in a posture in which the tip of the tool CT is oriented toward the tooth to be treated (hereinafter referred to as the target tooth) TH. Although FIG. 1 illustrates the case where the target tooth TH is one, the target tooth TH may be plural. When there are a plurality of target teeth TH, the processing head 100 is positioned such that the tip of the tool CT is directed to the tooth to be processed first.

The displacement mechanism 200 displaces the machining head 100 so that the tip of the tool CT is scanned along a predesignated path, and is fixed to the jaw via the seat plate IT. The seat plate IT is fitted to the tooth group other than the target tooth TH and the gums. The gap between the seat plate IT and the tooth group other than the target tooth TH is filled with the stabilizer IM.

The seat plate IT is fixed to either the upper jaw or the lower jaw depending on the position of the target tooth TH. FIG. 1 exemplifies a case where the target tooth TH is the lower right first molar, and shows a state in which the seat plate IT is fixed to the model of the lower jaw to facilitate understanding, but the target tooth TH is In the case of upper jaw teeth, the seat plate IT may be fixed to the upper jaw.

In the present embodiment, the seat plate IT is formed by hollowing out a portion of the impression tray used for taking the mold of the dentition that faces the target tooth TH, and the stabilizer IM is the dentition of the dentition. Impression material is used to reproduce the shape. It should be noted that, during processing, the operator may put his or her hand on the seat plate IT or the displacement mechanism 200 as necessary for the purpose of reinforcing the effect of preventing the seat plate IT from being displaced due to the stabilizer IM. Good.

The seat plate IT has a flat portion ITa. The displacement mechanism 200 is detachably fixed to the flat portion ITa. Specifically, for example, a screw can be used to fix the displacement mechanism 200 to the flat portion ITa. In the present embodiment, the flat portion ITa is formed by the handle portion of the impression tray forming the seat plate IT. The position and angle of the flat portion ITa with respect to the seat plate IT can be arbitrarily set according to the position of the target tooth TH in the dentition and the position of the processed portion of the target tooth TH. FIG. 1 illustrates the flat portion ITa extending toward the outside of the oral cavity.

Since the displacement mechanism 200 can be attached to and detached from the seat plate IT, first, only the seat plate IT is fixed to the jaw with the stabilizer IM, and then the displacement mechanism 200 can be attached to the seat plate IT. Further, when it is not necessary, the displacement mechanism 200 can be removed from the jaw, so that it is not necessary for the patient to keep the mouth wide open.

How the displacement mechanism 200 can displace the processing head 100 will be described with reference to FIG. The displacement mechanism 200 includes a machining head in each of a radial direction (hereinafter, r direction), a circumferential direction (hereinafter, θ direction), and a height direction (hereinafter, z direction) in a cylindrical coordinate system. Displace 100.

The z direction is a direction parallel to the rotation axis AX1 of the tool CT. The θ direction is a direction in which the rotation axis AX1 is rotated about a rotation axis AX2 that is separated from the rotation axis AX1 and extends parallel to the rotation axis AX1. The r direction is a direction in which the rotation axis AX1 and the turning axis AX2 face each other.

The rotation axis AX1 is fixed to the processing head 100. The turning axis AX2 is fixed to the displacement mechanism 200. The rotation axis AX1 can be displaced in the θ direction and the r direction with respect to the turning axis AX2. The reference point O of the cylindrical coordinate system is fixed to the displacement mechanism 200. The displacement mechanism 200 is fixed to the seat plate IT in a state where the reference point O is aligned so as to match the actual processing start point in the oral cavity.

The displacement mechanism 200 is connected to a motion transmission member 400 that transmits a motion for displacing the machining head 100 to the displacement mechanism 200. The motion transmitting member 400 is composed of three flexible shafts, specifically, an r-direction flexible shaft 400r, a θ-direction flexible shaft 400θ, and a z-direction flexible shaft 400z.

Returning to FIG. 1, the description will be continued. The power source 300 includes an r-direction motor 300r that rotates the r-direction flexible shaft 400r, a θ-direction motor 300θ that rotates the θ-direction flexible shaft 400θ, and a z-direction motor 300z that rotates the z-direction flexible shaft 400z. It is configured to include.

Since the motion transmitting member 400 is composed of a flexible shaft, the displacement mechanism 200 and the power source 300 can be relatively displaced. That is, the motion transmitting member 400 transmits the rotational motion from the power source 300 to the displacement mechanism 200 while allowing relative displacement between the displacement mechanism 200 and the power source 300.

The control device 500 controls each of the r-direction motor 300r, the θ-direction motor 300θ, and the z-direction motor 300z so that the tip of the tool CT is displaced along a predesignated path in the oral cavity.

Next, the function and configuration of the displacement mechanism 200 will be described in detail with reference to FIGS. 3 and 4.

As shown in FIG. 3, the displacement mechanism 200 converts the rotational movement of the r-direction flexible shaft 400r into the linear movement of the processing head 100 in the r-direction, and the rotational movement of the z-direction flexible shaft 400z. Is converted into a linear motion of the machining head 100 in the z direction, and a θ direction motion conversion unit 200θ for converting the rotational motion of the θ direction flexible shaft 400θ into the θ motion of the machining head 100. Have.

The configuration of the displacement mechanism 200 will be specifically described with reference to FIG. Note that FIG. 4 shows an internal configuration of the cover 230 as the outer shell shown in FIG.

The displacement mechanism 200 is configured by disposing each member described below on a base plate 201 that is parallel to a plane parallel to the r direction and the θ direction (hereinafter, referred to as rθ plane). The base plate 201 is fixed to the seat plate IT (see FIG. 1). The base plate 201 is provided with a plurality of screw holes 202 for attaching the base plate 201 to the seat plate IT.

On the surface of the base plate 201, a cylindrical guide column 203 rising in the z direction is fixed. The guide column 203 extends on the turning axis AX2 also shown in FIG. Further, on the surface of the base plate 201, there is provided a circumferential wall 204 having a circular ring shape centering on the position of the guide column 203 in a plan view (hereinafter, simply referred to as a plan view) parallel to the z direction.

On the base plate 201, the swivel plate 205, which is penetrated by the guide columns 203, is placed. The swivel plate 205 has a circular shape with the swivel axis AX2 as a center in a plan view, and the central portion thereof is penetrated by the guide column 203. The swivel plate 205 is fitted inside the peripheral wall 204 so that the outer peripheral surface 205a faces the inner surface of the peripheral wall 204. The thickness of the swivel plate 205 is substantially equal to the height of the peripheral wall 204.

Gear teeth are formed on the outer peripheral surface 205a of the swivel plate 205, and the swivel plate 205 functions as a worm wheel. The swivel plate 205 is rotatable about the swivel axis AX2 with respect to the base plate 201, the guide columns 203, and the peripheral wall 204.

The peripheral wall 204 is formed with a notch 204a that exposes a part of the outer peripheral surface 205a of the swivel plate 205. A worm gear 206 that meshes with the exposed teeth of the outer peripheral surface 205a is arranged in the notch 204a. The worm gear 206 is connected to the θ-direction flexible shaft 400θ and is fixed on the base plate 201 via bearings 207a and 207b so as to rotate together with the θ-direction flexible shaft 400θ. The bearings 207a and 207b support both ends of the worm gear 206 in the length direction.

On the swivel plate 205, the rotating body 208, which is fitted to the guide column 203, is placed. The rotating body 208 is concentric with the guide column 203, and is rotatable about the swing axis AX2 with respect to the guide column 203 and the swivel plate 205. The rotating body 208 has a disc portion 209 that is in contact with the swivel plate 205, and a male screw portion 210 that stands up from the disc portion 209 in the z direction.

Gear teeth are formed on the outer peripheral surface 209a of the disc portion 209, and the disc portion 209 functions as a worm wheel. A worm gear 212 that meshes with the teeth of the outer peripheral surface 209a is arranged on the swivel plate 205. The worm gear 212 is connected to the z-direction flexible shaft 400z, and is fixed to the swivel plate 205 via bearings 211a and 211b so as to rotate together with the z-direction flexible shaft 400z. The bearings 211a and 211b support both ends of the worm gear 212 in the length direction.

The male screw portion 210 of the rotating body 208 is screwed with the arm housing body 216 that houses the arm 213. Hereinafter, the arm 213 and the arm container 216 will be described.

The arm 213 has a shape in which one direction is the longitudinal direction in a plan view. Hereinafter, the description will be continued by defining the xy orthogonal coordinates fixed to the arm 213, where the longitudinal direction of the arm 213 is the x direction and the direction orthogonal to the x direction in plan view is the y direction.

The arm 213 holds the processing head 100 at one end in the x direction (hereinafter referred to as the tip). A screw hole 214 that penetrates the arm 213 in the x direction is formed at the other end of the arm 213 in the x direction (hereinafter, referred to as a rear end). In plan view, an opening 215 extending in the x direction is formed between the front end and the rear end of the arm 213.

The arm 213 is housed in a hollow sheath-shaped arm housing 216. The arm 213 is inserted into the arm container 216 from its rear end. Like the arm 213, the arm container 216 also has a shape in which the x direction is the longitudinal direction in plan view. The arm 213 can advance and retreat in the x direction with respect to the arm container 216.

However, the arm container 216 restricts the displacement of the arm 213 with respect to the arm container 216 in the y direction and the z direction. That is, the outer dimension in the y direction of the portion of the arm 213 accommodated in the arm accommodation body 216 is substantially equal to the inner dimension of the portion of the arm accommodation body 216 in which the arm 213 is accommodated in the y direction. Further, the outer dimension of the portion of the arm 213 accommodated in the arm housing 216 in the z direction is substantially equal to the inner dimension of the portion of the arm housing 216 housing the arm 213 in the z direction.

A top plate 217 and a bottom plate 218 of the arm container 216 facing in the z direction regulate the displacement of the arm 213 in the z direction with respect to the arm container 216. The top plate 217 is formed with a screw hole 219 penetrating it in the z direction, and the bottom plate 218 is also formed with a screw hole 220 penetrating it in the z direction. The screw holes 219 and 220 are arranged at positions overlapping with each other in a plan view.

Although the screw holes 219 and 220 are separated from each other in the z direction, the two screw holes 219 and 220 have the same screw groove phase so as to be screwed together with a common male screw, specifically, the male screw portion 210. It is aligned.

Further, a through hole 222 is formed in the end plate 221 of the arm container 216 that can come into contact with the rear end of the arm 213 to penetrate the end plate 221 in the x direction. When the rear end of the arm 213 comes into contact with the end plate 221, the screw hole 214 and the through hole and 222 are communicated with each other.

A male screw 223 extending in the x-direction is connected to the r-direction flexible shaft 400r so as to extend it in the x-direction. Further, at the boundary between the r-direction flexible shaft 400r and the male screw 223, a fixing portion 224 that restricts the displacement of the male screw 223 with respect to the arm housing 216 in the x direction is provided. The male screw 223 and the fixing portion 224 rotate together with the r-direction flexible shaft 400r.

The fixed portion 224 includes an intermediate portion 227 interposed between the r-direction flexible shaft 400r and the male screw 223, and retaining rings 225 and 226 attached to the intermediate portion 227 so as to face each other in the x-direction. .. No thread groove is formed in the intermediate portion 227. The distance between the retaining rings 225 and 226 is substantially equal to the thickness of the end plate 221. The male screw 223 is screwed into the screw hole 214 of the arm 213 while the intermediate portion 227 is fitted in the through hole 222 and the retaining rings 225 and 226 sandwich the end plate 221 from both sides in the x direction.

The male screw portion 210 of the rotating body 208 described above is screwed into the screw holes 219 and 220 of the arm housing 216 through the opening 215 of the arm 213 housed in the arm housing 216.

On the other hand, on the swivel plate 205, regulation columns 228 and 229 are fixed as a regulation means for regulating the displacement of the arm housing 216 in the θ direction with respect to the swivel plate 205. The restricting columns 228 and 229 stand up from the swivel plate 205 in the z direction.

The distance between the restriction columns 228 and 229 in the y direction is substantially equal to the width of the arm container 216 in the y direction. The rotating body 208 screwed to the arm containing body 216 is placed on the swivel plate 205 in a state where the arm containing body 216 is sandwiched by the regulation columns 228 and 229 in the y direction.

The operation of the displacement mechanism 200 described above is as follows.

When the worm gear 206 rotates along with the rotation of the θ-direction flexible shaft 400θ, the swivel plate 205 as a worm wheel meshing with the worm gear 206 rotates around the swivel axis AX2. Since the rotation of the arm housing 216 and the arm 213 with respect to the swivel plate 205 about the swivel axis AX2 is restricted by the restricting columns 228 and 229, the arm container 216 and the arm 213 rotate together with the swivel plate 205 about the swivel axis AX2. As a result, the processing head 100 turns in the θ direction.

As described above, the worm gear 206, the swivel plate 205 as a worm wheel, and the guide column 203 that guides the rotation of the swivel plate 205 around the swivel axis AX2 allow the above-described θ direction motion conversion unit 200θ (see FIG. 3). It is configured.

When the worm gear 212 rotates along with the rotation of the z-direction flexible shaft 400z, the rotating body 208 that meshes with the worm gear 212 in the disc portion 209 as a worm wheel rotates about the swivel plate 205 about the swivel axis AX2. The rotation of the arm housing 216 and the arm 213 with respect to the swivel plate 205 about the swivel axis AX2 is restricted by the restricting columns 228 and 229. Therefore, the male screw portion 210 of the rotating body 208 rotates about the turning axis AX2 with respect to the screw holes 219 and 220 while receiving the load of the arm housing 216, the arm 213, and the processing head 100. As a result, the arm container 216 is displaced in the z direction with respect to the rotating body 208. At this time, the restricting columns 228 and 229 also play a role of guiding the arm container 216 in the z direction. As a result, the processing head 100 is displaced in the z direction.

As described above, the worm gear 212, the rotating body 208 having the disc portion 209 and the male screw portion 210 as the worm wheel, and the screw holes 219 and 220 screwed into the male screw portion 210 are used for the z-direction motion converting portion 200z. (See FIG. 3) is configured.

When the r-direction flexible shaft 400r rotates, the male screw 223 accordingly rotates with respect to the screw hole 214. The male screw 223 is restricted from being displaced in the x direction with respect to the arm containing body 216 by the fixing portion 224. Therefore, the rotation of the male screw 223 causes the arm 213 to be displaced in the x direction with respect to the arm containing body 216. Therefore, the processing head 100 is also displaced in the x direction. Note that, as described above, the arm container 216 and the arm 213 rotate around the swivel axis AX2 together with the swivel plate 205, so that the x direction always matches the r direction.

In this way, the male screw 223, the screw hole 214, and the fixing portion 224 that fixes the position of the male screw 223 in the r direction constitute the above-described r-direction motion converting portion 200r (see FIG. 3). The operations of the θ-direction motion conversion unit 200θ, the z-direction motion conversion unit 200z, and the r-direction motion conversion unit 200r described above are independent of each other.

In the treatment, first, the displacement mechanism 200 is positioned on the patient's jaw so that the origin O as the reference point of the cylindrical coordinate system shown in FIG. 2 coincides with the processing start point in the actual oral cavity of the patient. As described above, the seat plate IT and the stabilizer IM shown in FIG. 1 are used to fix the displacement mechanism 200 to the jaw. In the displacement mechanism 200, the origin finding work for matching the position of the tip of the tool CT and the position of the origin O is performed outside the oral cavity in advance.

Next, the control device 500 shown in FIG. 1 controls the rotation of the flexible shafts 400r, 400θ, and 400z through the power source 300 so that the tip of the tool CT is displaced along a previously designated path. For example, when the motors 300r, 300θ, and 300z are configured by stepping motors, the control device 500 controls the flexible shafts 400r, 400θ, and 400z according to the number of voltage pulses output to each of the motors 300r, 300θ, and 300z. And the rotation angle of each of 400z can be controlled.

The path of displacement of the tip of the tool CT is previously given to the control device 500 as NC (numerical control) data representing a group of coordinate values from the origin O in the cylindrical coordinate system.

The control device 500 can also control the speed of displacement of the tool CT. For example, when the motors 300r, 300θ, and 300z are stepping motors, the control device 500 controls the rotation speed according to the repetition frequency of the voltage pulse output to each of the motors 300r, 300θ, and 300z. be able to.

The displacement speed of the tool CT can be specified in the NC data. Further, the control device 500 may automatically control the displacement speed of the tool CT according to the cutting load during the cutting by the tool CT, without depending on the NC data. The operator may manually control the displacement speed of the tool CT.

According to the first embodiment described above, the following effects can be obtained.

(1) The displacement mechanism 200 and the power source 300 are separately configured as separate members, and only the displacement mechanism 200 is fixed to the jaw. For this reason, the member fixed to the jaw can be made compact as compared with the conventional case in which the both are integrated.

(2) The guide column 203 that realizes the addition of three degrees of freedom to the processing head 100 by the θ-direction motion conversion unit 200θ, the z-direction motion conversion unit 200z, and the r-direction motion conversion unit 200r, and guides the displacement in the θ direction. And the rotating body 208 which guides the displacement in the z direction are arranged coaxially with the rotating body 208 fitted in the guide column 203. Therefore, the displacement mechanism 200 itself can be made compact as compared with the conventional one in which three degrees of freedom are provided by combining three linear motion stages that linearly guide the processing heads.

(3) Since the displacement mechanism 200 and the power source 300 are connected by the flexible motion transmitting member 400, even if the patient's head moves during treatment, the motion is allowed by the bending of the motion transmitting member 400. To be done. Therefore, it is difficult for the displacement mechanism 200 and the jaw to be relatively displaced. Therefore, it is not necessary to repeatedly perform complicated positioning work, and the processing accuracy can be improved.

(4) Transmission of motion from the worm gear 206 to the swivel plate 205 as a worm wheel is unidirectional. That is, transmission of motion from the swivel plate 205 to the worm gear 206 is blocked. For this reason, even if the patient's jaw or tooth collides with the arm container 216, the arm 213, or the processing head 100, and the force for rotating the swivel plate 205 about the swivel axis AX2 is applied, the machining is performed. The positional deviation of the head 100 is unlikely to occur. This also contributes to the improvement of processing accuracy.

In addition, the transmission of the movement in the z direction from the male screw portion 210 of the rotating body 208 to the arm containing body 216 is also unidirectional. Therefore, even if a force that moves the arm housing 216, the arm 213, and the processing head 100 in the z direction is applied, the position of the processing head 100 is unlikely to shift. This also contributes to the improvement of processing accuracy.

Further, the transmission of the motion from the worm gear 212 to the disc portion 209 as the worm wheel is also one-way. Therefore, a force for moving these in the z direction is applied to the arm container 216, the arm 213, and the machining head 100, and as a result, the rotary body 208 tends to rotate about the turning axis AX2. Even if a force is applied, the position of the processing head 100 is unlikely to shift. This also contributes to the improvement of processing accuracy.

Further, the transmission of the movement in the r direction from the male screw 223 to the arm 213 is also unidirectional. Therefore, even if a force that moves the arm 213 and the processing head 100 to move them in the r direction is applied, the position of the processing head 100 is unlikely to shift. This also contributes to the improvement of processing accuracy.

(5) Each of the flexible shafts 400r, 400θ, and 400z extends from the displacement mechanism 200 toward the outside of the oral cavity, and there is no member extending from the displacement mechanism 200 toward the inner surface of the oral cavity. If there is a member that extends from the displacement mechanism 200 toward the inner surface of the oral cavity, the patient needs to open his/her mouth correspondingly, but the flexible shafts 400r, 400θ, and 400z extend outward from the oral cavity. Therefore, such a problem is unlikely to occur. Further, the movement transmitting member 400 can be easily handled.

(6) By making the displacement mechanism 200 attachable to and detachable from the motion transmitting member 400, the displacement mechanism 200 can be removed and sterilized after processing in the oral cavity. For this reason, the displacement mechanism 200 is preferably made of a material having a sterilization resistance such as stainless steel, titanium, and ceramics. However, part or all of the displacement mechanism 200 may be formed of a disposable material. For example, the cover 230 (see FIG. 2) may be formed of a disposable material and may be disposable.

Further, by making the motion transmitting member 400 attachable/detachable not only to the displacement mechanism 200 but also to the power source 300, the motion transmitting member 400 can be removed and sterilized after processing in the oral cavity. You can

[Embodiment 2]
Although the processing head 100 is provided with three degrees of freedom in the first embodiment, the number of degrees of freedom provided to the processing head 100 is not particularly limited. For example, the processing head 100 may be provided with four degrees of freedom. Hereinafter, a specific example thereof will be described.

As shown in FIG. 5, in the present embodiment, the displacement mechanism 200' further includes an α-direction motion conversion unit 200α. The motion transmitting member 400' further includes an α-direction flexible shaft 400α. Although not shown, in the present embodiment, the power source 300 of FIG. 1 further includes an α-direction motor that rotates the α-direction flexible shaft 400α, and the control device 500 has a function of controlling the α-direction motor. Have.

The α-direction motion conversion unit 200α processes the reciprocating motion generating unit 600a that converts the rotational motion of the α-direction flexible shaft 400α into the reciprocating motion in the rz plane, and the reciprocating motion generated by the reciprocating motion generating unit 600a. The head 100 includes a tilt motion generation unit 600b that converts the head 100 into tilt motion in the rz plane.

The reciprocating motion generating unit 600a also has a function of absorbing the advancing/retreating of the arm 213 in the r direction by the r direction motion converting unit 200r, and generates the reciprocating motion independently of the advancing/retreating of the arm 213 in the r direction. be able to.

The configuration of the reciprocating motion generating unit 600a will be described with reference to FIG. The reciprocating motion generation unit 600a includes a fixed unit 601, an input shaft 602, a hollow cylinder 603, an output shaft 604, a slider 605, a link 606, and a bearing 607.

The fixed portion 601 is connected to the α-direction flexible shaft 400α and is fixed to the arm housing 216 in a form of rotating together with the α-direction flexible shaft 400α. The hollow cylinder 603 extends in the r direction and is held by the arm 213 so as to be displaced together with the arm 213 in the r direction in a state where rotation around an axis parallel to the r direction is allowed. In the hollow cylinder 603, a hollow portion having a quadrangular cross section perpendicular to the r direction is formed.

The input shaft 602 extends in the r direction, and a cross section perpendicular to the r direction has a shape that can be fitted into the hollow portion of the hollow cylinder 603, that is, a quadrangle. One end of the input shaft 602 is connected to the fixed portion 601, and the other end side is inserted into one end side of the hollow cylinder 603 through a through hole 608 formed in the arm 213.

The output shaft 604 also extends in the r direction. The output shaft 604 has, on one end side thereof, a prismatic columnar portion 604a having a quadrangular shape whose cross section perpendicular to the r direction can fit into the hollow portion of the hollow cylinder 603. The prismatic portion 604 a is inserted into the other end side of the hollow cylinder 603 through the through hole 609 formed in the arm 213.

6 illustrates the case where the hollow portion of the hollow cylinder 603, the input shaft 602, and the prismatic portion 604a each have a quadrangular sectional shape perpendicular to the r direction, but these sectional shapes are particularly quadrangular. Not limited to The section of the hollow portion of the hollow cylinder 603 where the input shaft 602 fits and the cross-sectional shape of the input shaft 602 may be any shape other than a circular shape so that the rotational motion can be transmitted from the input shaft 602 to the hollow cylinder 603. Similarly, in the hollow portion of the hollow cylinder 603, the cross-sectional shape of the portion into which the prismatic portion 604a is fitted and the prismatic portion 604a is a shape other than a circular shape such that rotational movement can be transmitted from the hollow cylinder 603 to the output shaft 604. I wish I had it. The input shaft 602 and the prismatic portion 604a may have different cross-sectional shapes.

The output shaft 604 has a supported portion 604b rotatably supported by a bearing 607 on the other end side. The bearing 607 is fixed to the arm 213. Retaining rings 604d and 604e are attached to both ends of the supported portion 604b inserted through the bearing 607 in order to regulate the displacement of the output shaft 604 in the r direction with respect to the bearing 607. The retaining rings 604d and 604e sandwich the bearing 607 from both sides in the r direction.

Further, the output shaft 604 has a male screw portion 604c between the prismatic portion 604a and the supported portion 604b. One end of the slider 605 in the z direction is screwed into the male screw portion 604c. That is, one end of the slider 605 in the z direction is a female screw threaded with the male screw portion 604c while being penetrated by the male screw portion 604c in the r direction.

The link 606 extends in the r direction, one end of which is rotatably connected to the other end of the slider 605 in the z direction in the rz plane, and the other end of which is connected to a bracket 100 a fixed to the machining head 100. It is rotatably connected in the rz plane.

The operation of the reciprocating motion generator 600a described above is as follows.

When the arm 213 is displaced in the r direction with respect to the arm containing body 216 by the r direction motion conversion unit 200r (see FIG. 5), the displacement of the arm 213 with respect to the arm containing body 216 is a hollow cylinder with respect to the input shaft 602. It is absorbed by the sliding of 603.

When the α-direction flexible shaft 400α rotates, its rotational motion is transmitted to the output shaft 604 via the input shaft 602 and the hollow cylinder 603. That is, the male screw portion 604c rotates. The position of the male screw portion 604c in the r direction is fixed by the bearing 607, the supported portion 604b, and the retaining rings 604d and 604e. Therefore, the slider 605 moves back and forth in the r direction with respect to the male screw portion 604c. Along with this, the link 606 connected to the slider 605 also reciprocates.

Then, the reciprocating motion of the link 606 is converted into the tilt motion of the processing head 100 by the tilt motion generating unit 600b shown in FIG. In the present embodiment, the tilting motion of the machining head 100 is realized as a rotary motion of the machining head 100 in the rz plane centered on the tip of the tool CT, as indicated by an imaginary line in FIG.

In addition, in FIG. 6, α represents the rotation angle of the rotation axis AX1 of the tool CT around the tip of the tool CT. The α direction refers to the direction in which the rotation axis AX1 rotates about the tip of the tool CT. In FIG. 6, a state in which the processing head 100 is tilted outward by the angle α by the displacement of the slider 605 in the r direction is illustrated by an imaginary line.

Next, with reference to FIG. 7 and FIG. 8, a configuration of the tilting motion generation unit 600b that realizes the tilting motion of the processing head 100 described above will be described.

As shown in FIG. 7, the arm 213 has a pair of side plates 610 and 620 facing each other in the y direction with the machining head 100 interposed therebetween. The tilt motion generating section 600b is configured by a four-node link mechanism 630 arranged between the side plates 610 and 620.

As shown in FIG. 8, the four-bar linkage mechanism 630 includes first to fourth links 631 to 634. In the following description, "coupling" means rotatably coupling in the rz plane.

One end of each of the first link 631 and the second link 632 is connected to the side plate 620, and the other end is connected to a surface of the processing head 100 that faces the side plate 620. When the rotation axis AX1 (see FIG. 2) of the tool CT faces the z direction (hereinafter referred to as the neutral state), the first link 631 and the second link 632 each have one end when viewed from the y direction. They are arranged in an inverted C shape so as to approach the processing head 100 toward the other end.

One end of each of the third link 633 and the fourth link 634 is connected to the side plate 610, and the other end is connected to a surface of the processing head 100 that faces the side plate 610. In the neutral state, the third link 633 is arranged at a position overlapping with the first link 631 and the fourth link 634 is arranged at a position overlapping with the second link 632 as viewed in the y direction.

The processing head 100 is supported by the first to fourth links 631 to 634. The positions of the other ends of the first to fourth links 631 to 634 are the ends of the machining head 100 on the tool CT side in the z direction.

The position in the z direction of the bracket 100a to which the reciprocating motion of the link 606 is transmitted is the position in the z direction at one end of the first to fourth links 631 to 634 and the positions of the first to fourth links 631 to 634 in the neutral state. It is between the position of the other end in the z direction. However, the mounting position of the bracket 100a is not particularly limited as long as the processing head 100 can be tilted.

As shown in FIG. 6, when the reciprocating motion is transmitted to the bracket 100a, the machining head 100 may change the length of the first to fourth links 631 to 634, the connecting position, and the position of the bracket 100a. It is adjusted so as to incline in the rz plane with the tip of the center as the center. It will be understood by those skilled in the art that such a four-bar linkage 630 can be realized when the value of α is small.

According to the second embodiment, since the tool CT can be displaced also in the α direction, it is possible to process a more complicated shape. Also, the transmission of the movement in the r direction from the male screw portion 604c to the slider 605 is unidirectional. Therefore, even if a force that moves the machining head 100 in the r direction is applied to the machining head 100, the positional deviation of the machining head 100 is unlikely to occur. This contributes to improvement in processing accuracy.

Although not shown in FIG. 8, in the second embodiment, the arm housing 216 shown in FIG. 4 is provided at a position facing the through hole 608 shown in FIG. 8 in the r direction (x direction). It is assumed that a through hole for attaching the fixing portion 601 shown in is formed.

[Third Embodiment]
The intraoral processing apparatus 800 according to Embodiments 1 and 2 described above can be used alone, but it is used in combination with a restoration design and manufacturing apparatus that manufactures a restoration that repairs a portion removed by the processing head 100. You can also A specific example will be described below.

As shown in FIG. 9, the intraoral treatment system 900 according to the present embodiment includes a shape measuring device 710, a removal area designating device 720, and a restoration design/manufacturing device 730 in addition to the intraoral processing device 800 described above. ..

The shape measuring device 710 measures the shape of the inside of the oral cavity by an optical impression method or the like, and also generates intraoral shape data representing the shape. The intraoral shape data generated by the shape measuring device 710 is output to the removal area designating device 720 and the restoration design/manufacturing device 730.

The removal area designation device 720 is a display for displaying the shape represented by the intraoral shape data generated by the shape measurement device 710, and a pointing device for a doctor or other user to specify the area to be removed on the screen of the display. And a processor for generating removal area shape data representing the shape of the area designated by the pointing device.

The removal region shape data generated by the removal region designating device 720 is output to both the control device 500 of the intraoral processing device 800 and the restoration design and manufacturing device 730.

In the present embodiment, the control device 500 of the intraoral processing device 800 uses the removal region shape data acquired from the removal region designating device 720 to represent the path of displacement of the tool CT for removing the region to be removed. It has a function of generating NC data. The control device 500 controls the power source 300 (see FIG. 1) using the NC data.

The restoration design and manufacturing apparatus 730 manufactures a restoration that repairs the portion removed by the processing head 100 of the intraoral processing apparatus 800, using the intraoral shape data, the removal area shape data, and the like.

Specifically, in the restoration design and manufacturing apparatus 730, first, by using the intraoral shape data representing the shape of the oral cavity before the removal processing, the defective region missing due to caries or the like is specified, and after the treatment, The shape of the oral cavity, that is, the shape of the oral cavity in a state in which the above-mentioned defective region is restored is specified. Next, the shape of the restoration that fits the defective area and the area to be removed is determined from the defective area and the area to be removed represented by the removal area shape data.

Then, the restoration design and manufacturing apparatus 730 creates NC data for removing a portion corresponding to the shape of the restoration designed as described above. Next, the restoration design/manufacturing apparatus 730 uses the created NC data to perform processing for removing a portion corresponding to the shape of the restoration on the mold. The restoration is obtained by casting the material of the restoration into the processed mold.

The restoration design and manufacturing apparatus 730 can also create NC data that can leave a portion corresponding to the shape of the restoration designed as described above. In this case, the restoration design and manufacturing apparatus 730 uses the created NC data to cut a block made of ceramics or hybrid resin to form the restoration.

The restoration design and manufacturing apparatus 730 can also create NC data for forming a portion corresponding to the shape of the restoration designed as described above by additional processing. Examples of the additional processing include a layered manufacturing method in which a resin or the like is layered.

A processing device in a dental CAD/CAM system is known as a device that can perform the above-described mold and block removal processing and additional processing such as resin. Therefore, those skilled in the art will understand how to implement the restoration design and manufacturing apparatus 730.

According to the third embodiment described above, since the same removal region shape data is used for the removal processing in the oral cavity and the manufacturing of the restoration, an unnecessary gap is obtained between the obtained restoration and the removed portion of the oral cavity. Is less likely to occur. That is, it is possible to obtain a highly accurate restoration that exactly fits the removed portion in the oral cavity.

In the past, when manufacturing a restoration, it was essential to work to obtain an impression of the inside of the oral cavity after the removal processing. On the other hand, according to the present embodiment, since the restoration can be designed and manufactured by utilizing the intraoral shape data, the removal area shape data, and the like, the work of obtaining an impression of the inside of the oral cavity after the removal processing is performed. No longer required. When the acquisition of the impression after the removal processing is omitted and the restoration is manufactured using the above-mentioned shape data, the restoration is manufactured by the restoration design/manufacturing apparatus 730 and removed in the oral cavity by the intraoral processing apparatus 800. Since it can be performed concurrently with the processing, the efficiency of treatment can be improved.

Of course, after the removal processing of the inside of the oral cavity by the intraoral processing apparatus 800 is completed, the restoration design and manufacturing apparatus 730 may manufacture the restoration. For example, similar to the general procedure for manufacturing a restoration, after the removal processing, the impression of the inside of the oral cavity is taken again by the shape measuring apparatus 710, and the restoration design and manufacturing apparatus 730 designs and manufactures the restoration. Good.

[Modification of Motion Transmission Member 400]
In the above embodiment, the motion transmitting member 400 is composed of the flexible shafts 400r, 400θ, 400z, and 400α, but the structure of the motion transmitting member 400 is not limited to this. Hereinafter, modified examples of the motion transmitting member 400 will be described.

As shown in FIG. 10A, the motion transmitting member 410 according to the first modification includes a covering member 412 that covers the flexible shaft 411. The flexible shaft 411 is, for example, the flexible shaft 400r, 400θ, 400z, or 400α. The covering member 412 has the flexibility of being able to flex flexibly together with the flexible shaft 411, and allows the flexible shaft 411 to rotate with respect to itself.

At least one of the inner surface of the covering member 412 contacting the flexible shaft 411 and the outer surface of the flexible shaft 411 contacting the covering member 412 is preferably made of a structure or material that reduces friction therebetween.

Since the covering member 412 is provided, it is possible to prevent the flexible shaft 411 from directly contacting the corners of the mouth, the lips and other parts of the patient, and it is possible to prevent the friction between them. Therefore, the patient can be treated more comfortably. Further, an angular difference due to the friction is less likely to occur between the rotation angle of the end portion of the flexible shaft 411 on the power source 300 side and the rotation angle of the end portion on the displacement mechanism 200 side. Further improvement can be achieved.

The covering member 412 is fixed to the displacement mechanism 200 at one end and to the power source 300 at the other end so as not to rotate around the flexible shaft 411. Accordingly, the torsional rigidity of the covering member 412 around the flexible shaft 411 can suppress the relative rotation of the displacement mechanism 200 and the power source 300 around the flexible shaft 411. Since the relative rotation between the displacement mechanism 200 and the power source 300 can bring about the rotation of the flexible shaft 411 independently of the rotational drive of the flexible shaft 411 by the power source 300, the displacement mechanism 200 and the power source 300 can rotate. By suppressing the relative rotation, the processing accuracy can be improved. In order to enhance this effect, it is preferable to use the covering member 412 having high torsional rigidity.

Even if the flexible shaft 411 rotates due to the relative rotation between the displacement mechanism 200 and the power source 300, the displacement mechanism 200 reduces the rotation of the flexible shaft 411 to displace the machining head 100. Since the speed reducing mechanism is provided, adverse effects on processing accuracy can be reduced. For example, the swivel plate 205 and the worm gear 206 shown in FIG. 4 constitute a reduction mechanism in which the rotational angle of the swivel plate 205 is smaller than the rotational angle of the θ-direction flexible shaft 400θ, that is, the rotational angle of the worm gear 206. ..

Although the motion transmitting member 410 configured by using the flexible shaft 411 has been described above, the member configuring the motion transmitting member 410 is not limited to the flexible shaft. Specific examples will be described below.

As shown in FIG. 10B, the motion transmission member 420 according to the second modification includes a shaft 421 that is a rigid body and a universal joint 422 that connects the shafts 421 to each other. The shaft 421 and the universal joint 422 can be used as alternatives to the flexible shafts 400r, 400θ, 400z, or 400α. Like the flexible shafts 400r, 400θ, 400z, or 400α, the universal joint 422 also allows relative displacement between the displacement mechanism 200 and the power source 300, and transmits its own rotational movement from the power source 300 to the displacement mechanism 200.

FIG. 10C shows a motion transmitting member 430 according to Modification 3. The motion transmitting member 430 includes an endless belt 431 that is stretched around a pair of rotating wheels 200p and 300p. One rotating wheel 200p constitutes the displacement mechanism 200, and the other rotating wheel 300p constitutes the power source 300. The rotating wheels 200p and 300p are, for example, toothed or toothless pulleys or sprockets.

When the rotating wheels 200p and 300p are composed of toothed pulleys or sprockets, for example, the endless belt 431 is composed of toothed belts or chains. When the rotating wheels 200p and 300p are, for example, toothless pulleys, the endless belt 431 is a thread, a wire, a toothless belt, or the like. In the latter case, a part of the endless belt 431 may be fixed to the rotating wheels 200p and 300p in order to suppress slip between the endless belt 431 and the rotating wheels 200p and 300p. The endless belt 431 may be wound around the rotating wheels 200p and 300p a plurality of times.

Further, the endless belt 431 is provided with covering members 432 and 433 for covering the endless belt 431. The covering members 432 and 433 have the flexibility of flexing flexibly and allow the endless belt 431 to slide on itself.

When the rotating wheel 300p is rotated in the power source 300, the endless belt 431 is sent with the rotation of the rotating wheel 300p, and the rotating wheel 200p rotates with the feeding movement of the endless belt 431. Even during the feeding movement of the endless belt 431, the endless belt 431 and the covering members 432 and 433 allow relative displacement between the rotating wheels 200p and 300p.

Specifically, since the covering members 432 and 433 can play a role of guiding the endless belt 431, for example, a configuration is such that a part of the covering members 432 and 433 is held between the displacement mechanism 200 and the power source 300. Then, relative displacement of the rotating wheels 200p and 300p such that the covering members 432 and 433 bend with the held portion as a fulcrum can be allowed. In this case, the covering members 432 and 433 can be curved in any direction. For example, the covering members 432 and 433 can be curved in the plane of FIG. 10 or can be curved in a direction intersecting the plane of FIG. Even if the covering members 432 and 433 are not provided, the endless belt 431 can allow relative displacement between the rotary wheels 200p and 300p within a virtual plane perpendicular to the rotary axis of the rotary wheel 200p or 300p.

As described above, the motion transmitting member 430 can transmit the feed motion of the endless belt 431 from the power source 300 to the displacement mechanism 200 while allowing the relative displacement between the displacement mechanism 200 and the power source 300. In addition, by attaching the covering members 432 and 433 to the endless belt 431, the endless belt 431 and the patient's mouth corners, lips, and other parts are attached to the endless belt 431 as in the case of the motion transmitting member 410 shown in FIG. It is possible to prevent the frictional force from acting during.

FIG. 11A shows a specific application example of the motion transmitting member 430. As shown, the rotating wheel 200p can be used as an alternative to the swivel plate 205 shown in FIG. In this case, the worm gear 206 shown in FIG. 4 can be omitted.

As shown in FIGS. 11B to 11D, by using one or a plurality of auxiliary rotary wheels 434, the endless belt in a virtual plane perpendicular to the rotation axis of the rotary wheel 200p, that is, in the rθ plane. It is also possible to adjust the interval between the facing portions of 431 to be smaller than the diameter of the rotary wheel 200p. Further, by using the auxiliary rotating wheel 434, as shown in FIG. 11B, the endless belt 431 is configured to pass through the center of the base plate 201 in the width direction in plan view, or as shown in FIG. As shown in D), the endless belt 431 may pass through the widthwise end of the base plate 201. This facilitates the handling of the endless belt 431 and makes it difficult for the endless belt 431 to come into contact with the patient's mouth corners, lips, and other parts depending on the position of the target tooth TH.

FIG. 12 shows another application example of the motion transmitting member 430. In this application example, it is assumed that a gear is formed on the outer peripheral surface of the rotating wheel 200p. The displacement mechanism 200 includes a swivel plate 205' having a gear that meshes with the outer peripheral surface of the rotary wheel 200p, instead of the swivel plate 205 as the worm wheel shown in FIG. The rotary wheel 200p rotates with the feeding motion of the endless belt 431, and the swivel plate 205' rotates in the opposite direction with the rotation of the rotary wheel 200p.

FIG. 13 shows still another application example of the motion transmitting member 430. As illustrated, the rotary wheel 200p may be arranged so that the rotary axis of the rotary wheel 200p is parallel to the rθ plane. In this application example, the rotating wheel 200p is connected to the worm gear 206 by the shaft 200s. The worm gear 206 rotates with the rotation of the rotary wheel 200p, and the swivel plate 205 as a worm wheel rotates with the rotation of the worm gear 206.

FIG. 14 is a partial cross-sectional perspective view of the motion transmitting member 430. As shown in FIG. 14A, the motion transmitting member 430 may include a connecting portion 435 that connects the pair of covering members 432 and 433. Alternatively, as shown in FIG. 14B, the pair of covering members 432 and 433 may be directly connected. By integrating the covering members 432 and 433 as shown in FIG. 14(A) or (B), both can be maintained in a parallel state.

FIG. 15A shows a motion transmitting member 440 according to Modification 4. The motion transmitting member 440 has one end connected to the pulling spring 441 fixed to the base plate 201 of the displacement mechanism 200, one end connected to the other end of the pulling spring 441, the other end connected to the power source 300, and one end. An intermediate portion between the other ends is provided with a flexible wire 442 hung on the rotary wheel 200p.

Power source 300 causes the other end of wire 442 to reciprocate in the lengthwise direction. When the power source 300 pulls the wire rod 442, the pulling spring 441 extends. The feeding of the wire 442 in the direction opposite to the pulling direction is assisted by the restoring force of the pulling spring 441. The rotating wheel 200p rotates as the wire rod 442 reciprocates. The rotating wheel 200p can be used, for example, as a substitute for the swivel plate 205 as in the example shown in FIG. 11, or can be used as a device for rotating the swivel plate 205′ as in the example shown in FIG. However, as in the example shown in FIG. 13, the worm gear 206 can be used as a device that rotates.

The wire 442 can allow relative displacement between the rotary wheel 200p and the power source 300 within a virtual plane perpendicular to the rotation axis of the rotary wheel 200p. That is, the wire rod 442 transmits its own reciprocating motion from the power source 300 to the displacement mechanism 200 while allowing relative displacement between the displacement mechanism 200 and the power source 300.

In addition, by attaching the covering member 443 to the wire rod 442 to cover the wire rod 442 and allow the wire rod 442 to reciprocate relative to the wire rod 442, friction between the wire rod 442 and the patient's mouth corners, lips, and other parts is obtained. It is possible to prevent the force from acting.

FIG. 15B shows a motion transmitting member 450 according to Modification 5. The motion transmitting member 450 has a compression spring 451 having one end fixed to the base plate 201 of the displacement mechanism 200, a rack gear 452 having one end connected to the other end of the compression spring 451, and one end connected to the other end of the rack gear 452. And a flexible rod 453 having the other end connected to the power source 300. In this example, the displacement mechanism 200 includes a pinion gear 200g that meshes with the rack gear 452.

The power source 300 reciprocates the other end of the rod 453 in the length direction. When the power source 300 pushes the rod 453, the compression spring 451 contracts. The pulling back of the rod 453 in the direction opposite to the pushing direction is assisted by the restoring force of the compression spring 451.

The rack gear 452 reciprocates as the rod 453 reciprocates, and the pinion gear 200g rotates as the rack gear 452 reciprocates. The pinion gear 200g can be used, for example, as a substitute for the swivel plate 205 similarly to the rotating wheel 200p shown in FIG. 11, or can be used as a device for rotating the swivel plate 205′ as in the example shown in FIG. However, like the rotary wheel 200p shown in FIG. 13, the worm gear 206 can be used for rotating.

The rod 453 has flexibility to the extent that it does not buckle, and can allow relative displacement between the pinion gear 200g and the power source 300 within a virtual plane perpendicular to the rotation axis of the pinion gear 200g. That is, the rod 453 transmits its own reciprocating motion from the power source 300 to the displacement mechanism 200 while allowing relative displacement between the displacement mechanism 200 and the power source 300.

Further, since the rod 453 is attached with the covering member 454 that covers the rod 453 and allows the rod 453 to reciprocate with respect to the rod 453, friction between the rod 453 and the corners of the mouth of the patient, the lips, and other parts is obtained. It is possible to prevent the force from acting.

Although the embodiments of the present invention have been described above, the present invention is not limited to these. For example, the following modifications are possible.

10 to 15 illustrate modified examples of the motion transmitting member 400, the motion transmitting member 400 is not limited thereto. The motion transmitting member 400 may be any member as long as it can allow relative displacement between the displacement mechanism 200 and the power source 300, and is configured using, for example, a flexible coupling, an Oldham joint, or the like, in addition to the members illustrated in FIGS. 10 to 13. You can also Further, the motion transmitting member 400 can be configured by combining the above-exemplified ones.

In the first embodiment, the processing head 100 has three degrees of freedom, but the processing head 100 may have one or two degrees of freedom. Further, the displacement of the machining head 100 in the direction corresponding to a part of the degrees of freedom given to the machining head 100 does not depend on the motion transmitted from the power source 300 via the motion transmission member 400. It may be realized by an actuator attachable to the mechanism 200.

In the first embodiment described above, the screw is used to fix the displacement mechanism 200 to the seat plate IT, but instead of the screw, a magnet, a guide pin, a guide pin, or the like can be used as a means for attaching and detaching the displacement mechanism 200 without using a tool. , A quick release mechanism capable of attaching/detaching the displacement mechanism 200 to/from the seat plate IT only by operating a lever or a combination thereof may be used. Further, the seat board IT is not essential. That is, for example, if a fixed source such as an implant is already implanted in the oral cavity, the displacement mechanism 200 can be fixed to the fixed source. Further, the displacement mechanism 200 can be fixed to the surgical guide used in the surgery of the oral implant.

Although the processing head 100 is integrally formed with the arm 213 in the first embodiment, the processing head 100 may be detachable from the arm 213. Further, in the above-described first embodiment, the processing head 100 has been described as including a water injection cooling mechanism using water and compressed air, and a lighting device that illuminates the surgical field. However, the water injection cooling mechanism and the lighting device are members other than the processing head 100. , May be attached to the arm 213, for example. Further, the processing head 100 does not necessarily need to incorporate a drive source such as a micromotor for rotating the tool CT. The power for rotating the tool CT may also be transmitted to the processing head 100 from outside the oral cavity through the flexible shaft. Alternatively, compressed air may be supplied to the processing head 100 from outside the oral cavity by a flexible hose, and the processing head 100 may rotate the tool CT by an air turbine.

In the third embodiment, the intraoral processing device 800 is configured differently from the shape measuring device 710, the removal area designating device 720, and the restoration design/manufacturing device 730. 710, a removal area designating device 720, and a restoration design/manufacturing device 730 may be provided.

In the first to third embodiments, the case where the processing target is a human tooth has been described, but the processing target is not limited to the tooth, and may be bone such as alveolar bone in the oral cavity. The object to be processed may be an animal's tooth or bone.

Various embodiments and modifications of the present invention are possible without departing from the broad spirit and scope of the present invention. The above embodiments are for explaining the present invention, and do not limit the scope of the present invention. The scope of the invention is indicated by the claims rather than the embodiments. Various modifications made within the scope of the claims and the meaning of the invention equivalent thereto are considered within the scope of the present invention.

100... processing head,
100a... bracket,
200, 200'... Displacement mechanism,
200z... z-direction motion conversion unit (first motion conversion unit),
200θ... θ direction motion conversion unit (second motion conversion unit),
200r...r direction motion conversion unit (third motion conversion unit),
200α... α-direction motion conversion unit (fourth motion conversion unit),
200g...pinion gear,
200p...
200s... shaft,
201... base plate,
202... screw holes,
203... Guiding pillar (circumferential guiding member),
204... Surrounding wall,
204a... cutout,
205, 205'... swivel plate,
205a... outer peripheral surface,
206... Worm gear,
207a, 207b... Bearings,
208... Rotating body (height direction guide member),
209... Disc part,
209a... Outer peripheral surface,
210... Male screw part,
211a, 211b... Bearings,
212... Worm gear,
213...arm,
214... screw holes,
215...opening,
216... Arm container,
217...top plate,
218... bottom plate,
219, 220... screw holes,
221, an end plate,
222... through-hole,
223... Male screw,
224... Fixed part,
225, 226... Retaining ring,
227... middle part,
228, 229... Regulating pillar,
230... cover,
300... power source,
300r...r direction motor,
300θ... θ direction motor,
300z... Motor for z direction,
300p...rotating wheel,
400, 400', 410, 420, 430, 440, 450... Motion transmission member,
400r... Flexible shaft for r direction (first flexible shaft),
400θ... θ direction flexible shaft (second flexible shaft),
400z... Flexible shaft for z direction (third flexible shaft),
400α... α direction flexible shaft (fourth flexible shaft),
411... Flexible shaft,
412, 432, 433, 443, 454... Covering member,
421... shaft,
422... Universal joint,
431... an endless belt,
434... Auxiliary rotating wheel,
435... a connecting portion,
441... a tension spring,
442... wire rod,
451... compression spring,
452... rack gear,
453... rod,
500... Control device,
600a... Reciprocating motion generator,
600b... Inclination motion generation unit,
601... fixed part,
602... Input shaft,
603... a hollow cylinder,
604... Output shaft,
604a... prismatic portion,
604b... Supported part,
604c... Male screw part,
604d, 604e... Retaining ring,
605... a slider,
606... Link,
607... Bearings
608, 609... through holes,
610, 620... Side plates,
630... 4-bar linkage,
631-634... 1st-4th links,
710... Shape measuring device,
720... Removal area designation device,
730... Restoration design and manufacturing device,
800... Oral processing device,
900... Oral treatment system,
CT... tools,
IT...seat,
ITa...flat part,
IM...stabilizer,
TH... target tooth,
AX1...Rotation axis,
AX2...Swivel axis.

Claims (8)

A power source installed outside the oral cavity,
A displacement mechanism fixed to the jaw while holding a processing head capable of processing teeth and bones,
A motion transmission member that connects the displacement mechanism and the power source,
The power source moves the motion transmitting member,
The displacement mechanism converts the motion of the motion transmission member into a motion involving displacement of the processing head in the oral cavity,
The intraoral processing apparatus, wherein the movement transmitting member transmits the movement from the power source to the displacement mechanism while allowing relative displacement between the displacement mechanism and the power source. The motion transmitting member is composed of at least one flexible shaft having one end connected to the power source and the other end connected to the displacement mechanism,
The power source rotates the flexible shaft,
The intraoral processing apparatus according to claim 1, wherein the displacement mechanism converts the rotational motion of the flexible shaft into a motion accompanied by displacement of the processing head in the oral cavity. The motion transmitting member has three flexible shafts, first to third,
The power source rotates each of the first to third flexible shafts,
3. The displacement mechanism three-dimensionally displaces the machining head by converting rotational movements of the first to third flexible shafts into movements of the machining head in directions intersecting with each other. The intraoral processing device according to 1. The displacement mechanism is
A first motion conversion unit that converts the rotational motion of the first flexible shaft into a linear motion in a height direction parallel to the central axis of the cylinder in the cylindrical coordinate system;
A second motion conversion unit that converts the rotational motion of the second flexible shaft into a rotational motion in the circumferential direction around the central axis of the cylinder in the cylinder coordinate system;
A third motion conversion unit for converting rotational motion of the third flexible shaft into linear motion in the radial direction from the central axis of the cylinder in the cylinder coordinate system;
The intraoral processing device according to claim 3, comprising: The first motion conversion unit,
A height direction guide member extending in the height direction, comprising a height direction guide member for guiding a linear motion of the processing head while receiving a load of the processing head,
The second motion conversion unit,
A circumferential guide member extending in the height direction, comprising a circumferential guide member that guides the turning motion of the machining head in the circumferential direction,
The intraoral processing apparatus according to claim 4, wherein the height direction guide member is disposed coaxially with the circumferential direction guide member while being fitted in the circumferential direction guide member. The motion transmitting member further includes a fourth flexible shaft having one end connected to the power source and the other end connected to the displacement mechanism,
The power source rotates the fourth flexible shaft,
The displacement mechanism further includes a fourth motion conversion unit that converts the rotational motion of the fourth flexible shaft into a tilting motion of the processing head within a plane parallel to the height direction and the radial direction. The intraoral processing device according to claim 4 or 5. Based on the removal region shape data, the power source is acquired from the outside to obtain removal region shape data representing the shape of the region to be removed in the oral cavity, and the region to be removed is removed by the processing head. A control device for controlling
The intraoral processing apparatus according to claim 1, further comprising: An intraoral processing device according to claim 7;
The shape of the restoration that repairs the portion of the oral cavity removed by the processing head is designed and designed using the removal area shape data and the oral shape data representing the shape of the oral cavity before processing. A restoration design and manufacturing apparatus for producing the restoration having the above-mentioned shape,
An oral treatment system comprising: