阅读说明：本技术 一种基于多轴电动机械臂的牙科x射线机系统 (Dental X-ray machine system based on multi-axis electric mechanical arm ) 是由 韩愚 于 2020-04-09 设计创作，主要内容包括：本发明涉及一种基于多轴电动机械臂的牙科X射线机系统,属于医疗器械技术领域。包括患者座位、运行轨道、X射线主机、显示器、传感器、机械手臂、球管头、摄像机和传感器拍摄支架；X射线主机上连接有对应于患者座位的机械手臂,机械手臂末段设有球管头,球管头上方连接有摄像机；机械手臂末端设有传感器拍摄支架,传感器拍摄支架设有球管头对位器和传感器,传感器和摄像机与显示器连接。本发明将牙科X射线机系统的支架改为机械臂,摆脱了手动对位的问题；简化了操作流程。可以让牙医更便捷,准确的拍摄牙齿部位的影像,方便牙医了解牙齿情况,提供更多的治疗方案。(The invention relates to a dental X-ray machine system based on a multi-axis electric mechanical arm, and belongs to the technical field of medical instruments. The X-ray examination equipment comprises a patient seat, a running rail, an X-ray host, a display, a sensor, a mechanical arm, a ball tube head, a camera and a sensor shooting support; the X-ray host is connected with a mechanical arm corresponding to a patient seat, the tail end of the mechanical arm is provided with a ball tube head, and a camera is connected above the ball tube head; the terminal sensor that is equipped with of robotic arm shoots the support, and the sensor shoots the support and is equipped with bulb head aligner and sensor, and sensor and camera are connected with the display. The bracket of the dental X-ray machine system is changed into the mechanical arm, so that the problem of manual alignment is solved; the operation flow is simplified. Can make the dentist more convenient, the accurate image of shooing the tooth position makes things convenient for the dentist to know the tooth condition, provides more treatment scheme.)

1. The utility model provides a dentistry X-ray production apparatus system based on multiaxis electric mechanical arm which characterized in that: the X-ray examination equipment comprises a patient seat, a running rail, an X-ray host, a display, a sensor, an electric mechanical arm, a ball tube head, a camera and a sensor shooting support; an X-ray host machine is arranged on the running track, an electric mechanical arm corresponding to a patient seat is connected to the X-ray host machine, a ball tube head is arranged at the tail end of the electric mechanical arm far away from the X-ray host machine, and a camera is fixedly arranged above the ball tube head; the electric mechanical arm is provided with a sensor shooting support far away from the tail end of the X-ray host, the sensor shooting support is provided with a ball tube head aligner and a sensor, and the sensor is connected with a computer display arranged on the X-ray host; the camera is connected with a computer arranged on the X-ray host.

2. A multi-axis motorized robotic arm based dental X-ray machine system as claimed in claim 1, wherein: the electric mechanical arm is set to at least 4 axes.

3. A multi-axis motorized robotic arm based dental X-ray machine system as claimed in claim 2, wherein: the patient seat comprises a seat, a seat height adjusting hand brake and a head positioning groove; the chair is provided with a chair height adjusting hand brake, and a head positioning groove for fixing the head position of a patient is arranged above the chair.

4. A multi-axis motorized robotic arm based dental X-ray machine system as claimed in claim 3, wherein: the operation track is arranged on the ground or on the ceiling.

5. A multi-axis motorized robotic arm based dental X-ray machine system as claimed in claim 4, wherein: the X-ray main machine is provided with an electric driving motor for driving the main machine to move on the running track.

6. A multi-axis motorized robotic arm-based dental X-ray machine system as claimed in claim 5, wherein: the camera is set as a 3D scanning camera.

7. A multi-axis motorized robotic arm based dental X-ray machine system as claimed in claim 6, wherein: the sensor shooting support comprises a tooth occlusion position, a sensor, a bulb tube head aligner and a support center alignment mark; one end of the sensor shooting support, which is close to the electric mechanical arm, is provided with a hollow annular bulb tube head aligner, and the bulb tube head aligner is provided with a bulb tube head aligning hole for X-ray to enter; the other end of the sensor shooting support, which is far away from the electric mechanical arm, is provided with a sensor which corresponds to the pipe head alignment hole and is used for receiving X rays; the hollow annular periphery of the bulb head aligner is provided with a support center aligning mark for image focusing positioning; and a tooth occlusion position is arranged between the bulb head aligner and the sensor.

8. A use method of a dental X-ray machine system based on a multi-axis electric mechanical arm is characterized by comprising the following steps:

step 1: the patient sits, the height of the patient is adjusted through the chair height adjusting hand brake, the head of the patient is fixed by the head positioning groove, and the host machine transmits the electric mechanical arm to reach the height of the oral cavity of the patient;

step 2: the dentist selects children, women and men on the X-ray host according to the condition of the patient and the sex and age of the patient; inputting the tooth position to be shot;

and step 3: the electric mechanical arm is driven by an electric driving motor according to the information transmitted by the computer, moves on a track on the ground or a ceiling and is positioned to the left, the right or the middle of the patient according to the tooth position to be shot;

and 4, step 4: confirming the specific tooth position of the tooth according to the requirement, automatically positioning the angle by the electric mechanical arm, and lifting the electric mechanical arm to the positions of the tooth at each angle such as upper left, lower right, upper right, lower left and the like according to the height information of the initial point;

and 5: finding and capturing the exact position of the tooth; a patient occlusion sensor shoots the occlusion position of teeth on the bracket; the method comprises the following steps of finding a position alignment mark arranged on a sensor shooting support through machine vision of a 3D scanning camera and confirming a space position, transmitting the position of the mark on the support relative to X, Y and Z axes of a ball tube head to a computer through the 3D scanning camera, and automatically adjusting the relative position of an electric mechanical arm according to a preset normal available X \ Y \ Z axis; finally, the alignment is carried out to the position 2-4cm away from the support; the bulb head emits X-rays with specified dosage according to the shot tooth position, the dentist gives out a shooting instruction in computer software, and the image is transmitted to a computer display.

Technical Field

The invention relates to a dental X-ray machine system based on a multi-axis electric mechanical arm, and belongs to the technical field of medical instruments.

Background

The dental X-ray system used in the market at present has a very complex operation flow, when a dentist uses X-rays to shoot the tooth condition of a patient, the mechanical arm needs to be manually adjusted to carry out alignment according to the tooth to be shot, automatic alignment cannot be realized, the mechanical arms have good and uneven performance, different alignment effects, some are easy to align, and some are difficult to align; then inputting the dosage of the X-ray required by the part to be shot according to the dental position of the patient, and manually adjusting the position to be shot of the dental X-ray machine again when shooting the teeth at other positions, and inputting the dosage of the X-ray required by the part to be shot; the whole process is very complicated; because the alignment is carried out by manually adjusting the mechanical arm, particularly, the dentist in Asia-Pacific region is used to a common angular bisector photographing method, the photographing position deviation is easy to cause, and the imaging failure rate is high; in addition, the currently used dental X-ray system has a single function, and cannot acquire tomographic radiotherapy system (TOMO) photographs of teeth.

Disclosure of Invention

The invention aims to solve the technical problems that the dental X-ray system used in the market at present is very complex in operation process, a mechanical arm needs to be manually adjusted for alignment, imaging results with inconsistent effects can be generated according to proficiency of different operators, and no dental X-ray machine capable of automatically aligning exists at present.

In order to solve the above problems, the present invention provides a dental X-ray machine system based on a multi-axis electric mechanical arm, which includes a patient seat, a track, a dental X-ray machine (hereinafter referred to as X-ray host), a display, an oral digital X-ray imaging system (hereinafter referred to as sensor), an electric mechanical arm, a ball tube head, a camera, and a sensor shooting support; an X-ray host machine is arranged on the running track, an electric mechanical arm corresponding to a patient seat is connected to the X-ray host machine, a ball tube head is arranged at the tail end of the electric mechanical arm far away from the X-ray host machine, and a camera is fixed above the ball tube head; the electric mechanical arm is provided with a sensor shooting support far away from the tail end of the X-ray host, the sensor shooting support is provided with a ball tube head aligner and a sensor, and the sensor is connected with a computer display arranged on the X-ray host; the camera is connected with a computer arranged on the X-ray host.

Preferably, the electric robot arm is set to at least 4 axes.

Preferably, the patient seat comprises a chair, a chair height adjustment hand brake and a head positioning recess; the chair is provided with a chair height adjusting hand brake, and a head positioning groove for fixing the head position of a patient is arranged above the chair.

Preferably, the running track is provided on the ground or on the ceiling.

Preferably, the X-ray main machine is provided with an electric driving motor for driving the main machine to move on the operation track.

Preferably, the camera is set as a 3D scanning camera.

Preferably, the sensor shooting support comprises a tooth occlusion position, a sensor, a bulb tube head aligner and a support center aligning mark; one end of the sensor shooting support, which is close to the electric mechanical arm, is provided with a hollow annular bulb tube head aligner, and the bulb tube head aligner is provided with a bulb tube head aligning hole for X-ray to enter; the other end of the sensor shooting support, which is far away from the electric mechanical arm, is provided with a sensor which corresponds to the pipe head alignment hole and is used for receiving X rays; the hollow annular periphery of the bulb head aligner is provided with a support center aligning mark for image focusing positioning; and a tooth occlusion position is arranged between the bulb head aligner and the sensor.

The invention also discloses a use method of the dental X-ray machine system based on the multi-axis electric mechanical arm, which comprises the following steps:

step 1: the patient sits, the height of the patient is adjusted through the chair height adjusting hand brake, the head of the patient is fixed by the head positioning groove, and the host machine transmits the electric mechanical arm to reach the height of the oral cavity of the patient;

step 2: the dentist selects children, women and men on the X-ray host according to the condition of the patient and the sex and age of the patient; inputting the tooth position to be shot;

and step 3: the electric mechanical arm is driven by an electric driving motor according to the information transmitted by the computer, moves on a track on the ground or a ceiling and is positioned to the left, the right or the middle of the patient according to the tooth position to be shot;

and 4, step 4: confirming the specific tooth position of the tooth according to the requirement, automatically positioning the angle by the electric mechanical arm, and lifting the electric mechanical arm to the positions of the tooth at each angle such as upper left, lower right, upper right, lower left and the like according to the height information of the initial point;

and 5: finding and capturing the exact position of the tooth; a patient occlusion sensor shoots the occlusion position of teeth on the bracket; the alignment mark arranged on the shooting support is found through the machine vision of the 3D scanning camera and shot by the sensor, the space position is confirmed, the mark on the support is transmitted to a computer relative to the X-axis, the Y-axis and the Z-axis of the ball tube head through the 3D scanning camera, and the relative position of the electric mechanical arm is automatically adjusted according to the preset normal available X \ Y \ Z-axis position. Finally, the alignment is carried out to the position 2-4cm away from the support; the bulb head emits X-rays with specified dosage according to the shot tooth position, the dentist gives out a shooting instruction in computer software, and the image is transmitted to a computer display.

The invention mainly aims at solving the problems of incomplete shooting or failure of shooting, complex operation flow and the like caused by inaccurate alignment when a dentist shoots the internal conditions of the oral cavity of a patient in a dental X-ray machine system on the market at present. The X-ray machine system with arm and dentistry combines together through reasonable design, utilizes electric mechanical arm's flexibility, and the position of shooing can be better controlled, avoids appearing the inaccurate problem of alignment of in-process of shooing. The complicated machine operation process of doctors and nurses is reduced; the electric mechanical arm can complete automatic alignment only by inputting patient information on a computer by a dentist. Meanwhile, automatic contraposition photographing is beneficial to reducing the dependence on doctors and nurses with professional radiological operation experience and reducing the harm of X-rays to the health of human bodies.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, through reasonable design, a bracket of a traditional dental X-ray machine system is changed into an electric mechanical arm with at least more than 4 shafts, so that the problem of manually adjusting the mechanical arm to carry out alignment is solved.

2. The invention simplifies the operation process. The dentist inputs the sex of the patient and the position of the tooth to be photographed through prompting on computer software, and the electric mechanical arm can move to the appointed position according to the position transmitted from the software. The tooth positions to be photographed are aligned. Then the system can emit the ray with the appointed measurement according to the information, so that the picture taking effect can be optimal. The dentist can photograph the details of the teeth in the mouth by only pressing the button. The added function of TOMO photographing can enable a dentist to further understand the tooth condition of a patient and provide more treatment schemes.

3. The invention can realize the automatic focusing and photographing of the part of the teeth of the oral cavity of the patient to be photographed, and simplifies the operation process of the dentist.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a display console according to the present invention;

FIG. 3 is a schematic view of a sensor camera stand according to the present invention;

FIG. 4 is a schematic view of a sensor imaging bracket according to the present invention with the dental bite position in the mouth;

FIG. 5 is a schematic view of a bulb-to-socket aligner of a sensor shooting support according to the present invention;

reference numerals: 1. the device comprises a seat 2, a seat height adjusting hand brake 3, a head positioning groove 4, an X-ray host computer 5, a running track 6, a mechanical arm 7, a ball tube head 8.3D scanning camera 9, a sensor shooting support 10, a sensor 11, a tooth occlusion position 12, a support center alignment mark 13, a ball tube head alignment hole 14, a display 15, an electric driving motor 16 and a ball tube head aligner;

Detailed Description

In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings:

as shown in fig. 1-5, the invention provides a dental X-ray machine system based on a multi-axis electric mechanical arm, which comprises a patient seat, a running rail 5, an X-ray host machine 4, a display 14, a sensor 10, an electric mechanical arm 6, a bulb tube head 7, a 3D scanning camera 8 and a sensor shooting support 9; an X-ray host machine 4 is arranged on the running track 5, an electric mechanical arm 6 corresponding to a patient seat is connected to the X-ray host machine 4, a ball tube head 7 is arranged at the tail end of the electric mechanical arm 6 far away from the X-ray host machine 4, and a 3D scanning camera 8 is fixedly connected above the ball tube head 7; the electric mechanical arm 6 is provided with a sensor shooting support 9 far away from the tail end of the X-ray host machine 4, the sensor shooting support 9 is provided with a ball tube head aligner 16 and a sensor 10, and the sensor 10 is connected with a display 14 arranged on the X-ray host machine 4; the camera 8 is connected to a display 14 provided in the X-ray main unit 4. The patient seat comprises a seat 1, a seat height adjusting hand brake 2 and a head positioning groove 3; a chair height adjusting hand brake 2 is arranged on the chair 1, and a head positioning groove 3 for fixing the head position of a patient is arranged above the chair 1. The running track 5 is provided on the ground or on the ceiling. The X-ray main body 4 is provided with an electric drive motor 15 that drives the main body 4 to move on the running rails 5. The sensor shooting support 9 comprises a tooth occlusion position 11, a sensor 10, a bulb tube head aligner 16 and a support center alignment mark 12; a hollow annular bulb head aligner 16 is arranged at one end, close to the mechanical arm, of the sensor shooting support 9, and the bulb head aligner 16 is provided with a bulb head aligning hole 13 for X-ray to enter; the other end of the sensor shooting support 9, which is far away from the mechanical arm, is provided with a sensor 10 which corresponds to the bulb head alignment hole 13 and is used for receiving X-rays; a support center alignment mark 12 for image focusing and positioning is arranged on the hollow annular periphery of the bulb head aligner 16; a dental bite site 11 is provided between the bulb tip aligner 16 and the sensor 10.

The invention changes the support of the dental X-ray machine system into a mechanical arm on the existing equipment, simplifies the operation process, controls the moving position and the angle of the electric mechanical arm by using computer software, can further accurately photograph the angle by adding a 3D scanning camera on the electric mechanical arm, fixes a sensor on the sensor photographing support, and starts a power switch of the mechanical arm. The electro-mechanical arm will first move the electro-mechanical arm to the left, right or middle of the patient based on the left, right or middle position of the patient's teeth. Then the distance sensing device of the 3D scanning camera moves to a proper position according to an image interface displayed by a computer, the 3D scanning camera moves to a position with the distance of 2-4cm of the fixed sensor shooting support until an image on the display screen is an ideal image position, and then scanning shooting is carried out.

The principle of TOMO imaging is: firstly, aligning teeth to be shot, appointing a sector moving center, horizontally moving, scanning and shooting the teeth, and shooting to form a sectional image. When shooting the TOMO image, a doctor needs to input the tooth positions to be shot on the software, move the angle (within the range of 30-90 degrees) and the number of the shot images (within the range of 5-20), the mechanical arm receives the data transmitted by the software, captures the positions to be shot by moving the mechanical arm, and takes a set distance as a radius to carry out sector movement shooting.

The preset alignment angles of different tooth positions are as follows, so that the alignment time and accuracy of the system can be accelerated.

A use method of a dental X-ray machine system based on a multi-axis electric mechanical arm comprises the following steps:

step 1: the patient sits, the height of the patient is adjusted through the chair height adjusting hand brake, the head of the patient is fixed by the head positioning groove, and the host machine transmits the electric mechanical arm to reach the height of the oral cavity of the patient;

step 2: the dentist selects children, women and men on the X-ray host according to the condition of the patient and the sex and age of the patient; inputting the tooth position to be shot;

and step 3: the electric mechanical arm is driven by an electric driving motor according to the information transmitted by the computer, moves on a track on the ground or a ceiling and is positioned to the left, the right or the middle of the patient according to the tooth position to be shot;

and 4, step 4: confirming the specific tooth position of the tooth according to the requirement, automatically positioning the angle by the electric mechanical arm, and lifting the electric mechanical arm to the positions of the tooth at each angle such as upper left, lower right, upper right, lower left and the like according to the height information of the initial point;

and 5: finding and capturing the exact position of the tooth; a patient occlusion sensor shoots the occlusion position of teeth on the bracket; the method comprises the following steps of finding a position alignment mark arranged on a sensor shooting support through machine vision of a 3D scanning camera and confirming a space position, transmitting the position of the mark on the support relative to X, Y and Z axes of a ball tube head to a computer through the 3D scanning camera, and automatically adjusting the relative position of an electric mechanical arm according to a preset normal available X \ Y \ Z axis; finally, the alignment is carried out to the position 2-4cm away from the support; the bulb head emits X-rays with specified dosage according to the shot tooth position, the dentist gives out a shooting instruction in computer software, and the image is transmitted to a computer display.

While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.