AU2021348604A9

AU2021348604A9 - Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases

Info

Publication number: AU2021348604A9
Application number: AU2021348604A
Authority: AU
Inventors: Sicong TAN; Hao Yu; Mengfei YU
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-27
Filing date: 2021-09-25
Publication date: 2025-03-13
Also published as: WO2022063253A1; CN215959954U; AU2021348604A1

Abstract

A remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, aiming to provide a medical artificial intelligence robot-based health medical device by using an artificial intelligence robot technology, and relating to the technical field of robots and the fields of intelligent image collection, intelligent examination, and treatment. Due to the problems of high infectivity of epidemics, etc., low manual collection efficiency, inaccurate treatment, and human errors, using a machine instead of a person for remote and autonomous collection, and treatment has become an important subject in the medical field of stomatology. A robotic arm, a general examination and treatment apparatus, a root canal treatment apparatus (207), an ultrasonic tooth cleaning apparatus (210), an X-ray photographing collector, and an oral scanner (208) are utilized to implement remote and autonomous collection of intraoral tooth, tongue, and oral wall images, ultrasonic tooth cleaning, oral examination, dental caries treatment, root canal treatment, and dental implantation. The present invention is used for remote and autonomous examination and treatment of stomatological diseases, and is applied to departments of stomatology of hospitals at all levels and overseas medical institutions.

Description

Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases

BACKGROUND

[0001]The present invention belongs to technical field of artificial intelligence robot and medical devices, and relates to the fields of artificial intelligence robot technology, intelligent image collection, intelligent examination and treatment.

SUMMARY OF THE INVENTION TECHNICAL PROBLEM

[0002]In the examination process of stomatology department, due to various human factors, oral image collection is difficult, the accuracy is low, especially in the epidemic situation spreading period, near-distance collection is performed, the treatment infection is high, and various infectious diseases are easy to propagate through the oral cavity. In order to solve the problems of anti-infection, isolated collection and treatment in epidemic period and virus spreading state, machine is used to replace human, remote and autonomous collection, examination and treatment to become an important project in the medical field. The doctor remote control in the stomatology department to utilize the robot device to communicate with doctor and to perform intelligent recognition, and to improve artificial intelligence algorithm to solve the problems of low efficiency, manual collection, inaccurate treatment and imaging of endoscope oral cavity scanning device, and human error problems. The robot arm, root canal treatment device, tooth washing device, X-ray camera collector, and oral scanner are used to collect and treat teeth, tongues, oral wall images, ultrasonic tooth washing, root canal treatment and tooth implantation in the oral cavity.

[0003]By communicating with remote control of robot, remote control is performed, and oral cavity common diseases such as teeth, tongues, oral wall images, root canal treatment, tooth washing, tooth implantation in the oral cavity are autonomously collected. In particular, isolation infective are more intelligent, infectious diseases are effectively prevented, high-precision collection is realized, and human diagnosis errors and treatment errors are reduced.

TECHNICAL SOLUTION

[0004]The remote and autonomous control oral specialist disease data collection, intelligent recognition, treatment robot device, remote control and autonomous control oral specialist disease data collection, intelligent recognition, and treatment robot device includes:

[0005]Robot main system control device which is connected to X-ray vision device, oral cavity scanning device, tweezers, pliers, electric drill device, general examination device, root canal treatment device, ultrasonic tooth washing device,tooth implantation device, water pipe and saliva suction device which is used for perform main control of the robot;

[0006]Speech device which is connected to robot main system control device and which is used for interaction and for speech guidance between main control system and users;

[0007]Visual device and visual collection module, wherein, visual device and visual collection module are connected to robot main system and robot arm, which are used for collecting face image and mouth image, and according to mouth image, face image and locating opening position.

[0008]X-ray vision apparatus, and vision module are connected to robot main system control apparatus, and robotic arm is connected to collect tooth image, dental pulp image, and other images in the oral cavity.

[0009]Oral scanning device and oral scanning module are connected to robot main system control device and robot arm and which are used for scanning teeth, oral walls, tongue images, collecting tooth detail images and 3D imaging in the oral cavity, assisting in recognizing tooth diseases and recognizing oral diseases;

[0010]Radar device and autonomous locating navigation module, wherein, radar device is connected to robot main system control device and is connected to movement base and is used for autonomous locating, navigation and movement.

[0011]General examination and treatment device is connected to robot main system control device and robot arm, and comprises forceps, hook, electric drill device, and ultraviolet disinfection lamp for dental examination, oral examination, dental caries treatment, root canal treatment, and tooth implantation.

[0012]Root canal treatment device and module,wherein, which is connected to robot main system control device and robot arm which comprises forceps, hook, electric drill device, dental pulp body cleaning device endodontic body cleaning device and fine needle tube device, and ultraviolet disinfection lamp is used for remote and autonomous root canal treatment; distal and autonomous root canal therapy.

[0013]The dental implant device is tooth implantation device is connected to robot main system control device and robot arm which comprises tweezers, gingival surgical knife, electric drill device, dental abutment planting device, tooth base table planting device, ultraviolet disinfection lamp and ultrasonic tooth washing device, distal end and autonomous dental implant.

[0014]Ultrasonic tooth washing module is connected to robot main system control device and robot arm, and which comprises forceps, electric drill device, remote and autonomous tooth washing device, water pipe, saliva suction device and suction module, wherein, water pipe and saliva suction device is connected to robot main system control device and robotic arm which is used for water pipe and saliva suction, suction, assisted ultrasonic tooth washing, root canal treatment, tooth implantation.

[0015]The robot main system is connected to visual device and visual collection module, and the visual device and the visual module are used for mouth image collection and face image collection, according to mouth image and locating the position of the face port, assisting in the oral image collection, the main system and the communication, and sending the image information collected by visual device to the main system client to communicate with robot arm to perform the collection motion.

[0016]Speech device and speech module are connected to robot main system control device, and the speech device comprises: sound collection device, pickup device,microphone device,speech input device, Loudspeaker device and speech output device, Wherein, the speech module is used for interaction between robot and users including speech recognition, speech transfer to text , speech guidance, speech instructions and speech medical questions and answers.

[0018]X-ray visual device, visual collection module, X-ray visual device, visual collection module,X-ray visual device, robot arm and visual device are connected to robot main system control device, visual device, visual collection module and visual device are connected to robot main system control device, visual device, visual collection module and visual device are connected to robot arm node to receive the location information, and robot arm is connected to X-ray visual device, moves to peripheral location of oral cavity and is used for collecting tooth image, tooth root image and other images in the oral cavity.

[0019]The robot main system is connected to oral scanner, visual device, and robotic arm, oral scanner and visual device are connected to robot arm, robot main system control device, visual device is used for detecting and locating mouth position, position information collected by visual device which is sent to main system by message and service communication mode, main system communicates with visual device, machine arm is connected to oral scanner, moves into oral cavity, scans teeth, collects images of oral cavity walls, tongue images and tooth detail images, utilizes 3D imaging in the oral cavity, prepares 3D printing tooth model, assists in recognizing tooth diseases, and treats oral diseases.

[0020]Robot main system and robot arm A are connected to general inspection device, water pipe and saliva suction device. Parameters are adjusted by administrator and robot arm learning planning motion and self-adaptive mediation setting parameters of planning motion which are trained by improved neural network method.

[0021]Robot master system and radar device are connected to movement base, the information is collected by radar device which is sent to master system client by message and service communication mode to perform self-built scene map, and master system is connected to movement devices: publishing created map information, communicating with movement base node, receiving map information, and realizing autonomous locating, navigation, movement.

[0022]The robot main system is connected to root canal treatment device, water pipe and saliva suction device, and robot main system is connected to vision device and visual collection module to autonomously locate the positions of teeth in the oral cavity and the positions where bad caries are located, locate the position of the positioning port, move to the position of target tooth, the position where bad caries are located, the distal end, and the autonomous caries treatment root canal treatment device: forceps, hooks, electric drill device, dental pulp body cleaning device, fine needle tube device, oral scanner, endoscope, and ultraviolet disinfection lamp treatment device. For remote and autonomous treatment of bad caries, the position of bad caries is located according to motions of root canal, dental dental pulp is drilled, bad caries and dental pulp are cleaned, root canal, abutment and dental crown are cleaned, root canal treatment task is completed, and the treatment of distal end and autonomous root canal is realized.

[0023]The robot main system and robot arm B are connected to dental implant treatment device, water pipe and saliva suction device, planning motion of robot arm tooth implantation, setting parameters by administrator, training robot arm learning planning motion by improved neural network method, and adaptive adjusting and setting motion planning parameters for motion planning, Robot main system is connected to visual device and visual collection module, autonomously recognizing the positions of various teeth in the oral cavity and locating the positions of opening, moving to the position of target tooth, the position of gingiva, the distal end, and autonomous dental implant treatment device: forceps, gingival scalpel, electric drill device, oral scanner, endoscope, dental abutment planting device, and ultraviolet disinfection lamp for distal and autonomous dental implantation. dental implant motion planning method using the robot arm.positioning, moving to the position where gingiva is planted, cutting the gingiva by gingiva scalpel, drilling the gum base hole, inserting abutment and dental crown, completing the dental implant treatment task, and performing distal dental implantation and autonomous dental implantation.

[0024]The robot main system is connected to robot arm C, ultrasonic tooth washing device, and saliva suction device. Robot arm ultrasonic tooth washing motion is planned. Robot main system is connected to visual device and visual collection module to autonomously recognize the positions of teeth in the oral cavity and each tooth inside,teeth stone on the teeth, and the tartar. Ultrasonic tooth washing motion planning method of robot arm is used to move to each tooth position in the oral cavity, the teeth on the teeth, the position of the tartar, remote control by doctor and autonomous motion, and ultrasonic tooth washing device autonomously and remotely controls the ultrasonic device to complete the tooth washing tasks according to the motion planning.

[0025]Ultrasonic tooth washing device and module, ultrasonic tooth washing device and saliva suction device are connected to robot main system control device and robot arm C, robot arm ultrasonic tooth washing motion is planned, robot main system control device is connected to visual device, robot main system and visual collection module communicate, oral cavity and internal tooth positions, teeth on the teeth and the tartar are autonomously recognized, and ultrasonic tooth washing motion planning method of robot arm is utilized. The position of each tooth in the oral cavity, the positions of teeth on the teeth, the position of the tartar, doctor remote control and autonomous control motion are moved, and ultrasonic tooth washing device autonomously and remotely controls ultrasonic device to complete the tooth washing tasks according to motion planned.

Beneficial Effect

[0026]The present invention can solve the problems of isolated collection, autonomous collection, oral cavity examination, autonomous locating,movement and navigation of remote control robot by means of a medical robotic device. Unmanned, isolated collection of oral images, tooth washing, oral examination, root canal therapy, dental caries treatment, dental implantation, and common treatment of oral diseases are performed. The problems of large working pressure, complicated operation and the like of doctors and nurses are solved. Meanwhile, data and images are collected by the machine in real time, so that the working efficiency is greatly improved. The present invention, high-efficiency, high-precision collection, remote autonomous image collection, autonomous oral examination, root canal treatment, dental caries treatment, tooth washing, and dental implantation can be realized.

BRIEF DESCRIPTION OF THE DRAWINGS

[0027]FIG. 1 is a schematic diagram of medical robotic device module in the specification of the present application; FIG. 1 is marked:

[0028] 101-robot main system; 102-speech module; 103-radar mapping locating navigation module; 104-oral scanning collector; 105-vision module; 106-X optical imaging device; 107-water pipe and saliva suction module; 108-general examination, caries treatment device; 109-ultrasonic tooth washing module; 110-tooth implantation module; 111-root canal therapy module; 001-remote control module;

[0029]FIG. 2 is a schematic structural diagram of medical robotic device in the specification of the present application; FIG. 2 is marked:

[0030] 200-Master system; robotic arm A; 201-tooth blocking piece, and ultraviolet disinfection lamp; 202-image X-ray imaging device; 203-camera, robotic arm B; 204-hook; 205-tweezers; 206-electric drill; 207-root canal treatment device; 208-intraoral scanner; 209-oral scalpel; 210-ultrasonic tooth washing device; lifting platform C; 211-water pipe and saliva suction device; 212-support rod; 213-movement base; 214-sound collection device, speech input device, speech output device; 215-radar; 216-dental pulp body cleaning device;

Embodiments of the Invention

[0031]The object of present invention is to design a distal control robot that replaces human work, so as to implement remote control machine to collect oral images, perform oral examination, and treat diseases such as oral decayed teeth, root canal therapy, tooth washing, and dental implantation. Meanwhile, autonomous and remote collection, oral examination and autonomous treatment are effectively solved. The use of artificial intelligence robot technology, automation field, distal end and autonomous control machine movement, oral examination, collection of oral images, dental caries, tooth washing, dental implantation, root canal treatment motions.

[0032]Autonomous and remote collection oral cavity image and remote speech command are realized, and doctor-patient performs speech interaction through examination and collection device, remote control robot and autonomous collection automation field are realized, and the distal end, autonomous control machine movement, motions, oral image collection , check oral cavity, and implement oral treatment. Problems of manual diagnosis and treatment errors are solved, remote and autonomous collection, autonomous examination and autonomous treatment by robot are performed, and the accuracy of intelligent collection, autonomous examination and treatment is improved. The problems of abnormal collection, examination are solved. In order to better understand the above technical solutions, the present disclosure will be further described in detail below with reference to the embodiments and drawings, but the embodiments of the present disclosure are not limited thereto.

[0033]Example 1

[0034]As shown in FIG. 1, as shown in FIG. 2, machine device includes 101-robot master system; 102-speech module; 103-radar mapping positioning navigation module; 104-oral scanning collector; 105-camera vision module; 106-X optical imaging device module; 107-water pipe and saliva suction module; 108-general examination, caries treatment device; 109-ultrasonic tooth washing module; 110-tooth implantation module; 111-root canal treatment module; 001-remote control module;

[0035]The remote and autonomous control oral disease data collection, diagnosis and treatment robot device comprises:

[0036]Robot main system 101, X-ray camera collection module 106, oral scanning module 104, forceps, electric drill device general examination module 108, root canal treatment device 111, ultrasonic tooth washing device 109, tooth implantation device 110, water pipe and saliva suction module 107 are connected to realize main control of robot.

[0037]Speech module 102 is connected to robot main system 101 for interaction and speech guidance between main control system and users.

[0038]Camera collection module 105, wherein, camera vision module 105 is connected to the robot main system 101 and robotic arm A robotic arm B, which are configured to collect facial image and mouth image, and according to mouth image, facial image, locating mouth position.

[0039]X-ray camera vision collection module 106, the X-ray camera vision module 106, robot main system 201, robotic arm A, and robotic arm B are connected to collect tooth images, dental pulp images, and other images in the oral cavity.

[0040]Oral scanning module 104 is connected to robot main system 101, robotic arm A, and robotic arm B, are configured to scan and collect images of teeth, oral walls, tongue images, collect tooth detail images, perform 3D imaging in the oral cavity, assist in recognizing tooth diseases, assist in diagnose and treat oral diseases.

[0041]Radar autonomous locating navigation module 103 is connected to robot main system 101, and it is connected to movement base 213 for autonomous locating and navigation.

[0042]General examination module 108 is connected to robot main system 101, robotic arm A, and robotic arm B, and comprises forceps 204, hook 205, electric drill device 206, and ultraviolet disinfection lamp 201 is used for dental examination, oral examination, root canal treatment, dental implantation.

[0043]Root canal therapy module 111 is connected to robot main system 101, robotic arm A, and robotic arm B, and comprises hook 204, forceps 205, electric drill device 206, dental pulp body cleaning device fine needle tube device 216, and ultraviolet disinfection lamp 201 for distal and autonomous root canal therapy.

[0044]Dental implant module 110 is connected to robot main system 101, robotic arm A, and robotic arm B, and includes hook 204 forceps 205, gingival scalpel 209, electric drill device 206, dental abutment planting device, ultraviolet disinfection lamp 201,distal end and autonomous dental implant.

[0045]Ultrasonic tooth washing device 210, the ultrasonic tooth washing device 109 is connected to robot main system 101, robot arm A, and robot arm B, and comprises hook 204, forceps 205, and electric drill device 206 for distal and autonomous tooth washing.

[0046]The water pipe and saliva suction module 211 is connected to robot main system 101, robotic arm A, and robotic arm B, which are used for water pipes and saliva 211 to assist in ultrasonic tooth washing, root canal treatment, dental implantation.

[0047]Doctor, administrator or other management users use remote control module 001 to communicate with main control system 200, remote control device sends control command, and main control system 200 communicates with robot arm A and robot arm B.

The camera vision module 203 uses camera 203 to collect mouth images, collect facial images, return the mouth position information according to the mouth image, and locate the mouth.Remote control module 001 controls robotic arm A and robotic arm B to move to the oral position, and collects oral images to assist oral examination and oral treatment.

[0048]Speech module 102 and speech device 102 include microphone device and speaker 214 of sound collection device, and sound pickup device 214 may obtain speech information, input user speech by microphone device 214, and perform human-machine interaction, speech guidance, text transfer to speech, speech synthesis, speech wake-up.

[0049]Radar module 103 and main control system 200 communicate with movement base 213, and information collected by radar 215 is sent to main system by message and service communication mode, so as to implement self-construction scene map. The created map information is published to the movement base node, and the movement base accepts the map information to realize autonomous navigation.

[0050]Robot arm B communicates with camera 203, mouth image information collected by camera 203, locate and return port image position information, robot arm B moves robot arm A to the outside of the mouth according to the speech guidance of speech device 102, machine arm B scans tooth information at the position in the port, collects the tooth image, the robot arm carries the scanner 208 in the intraoral scanner 208 to move, rotate the angle, and collect tooth images, tongue images, oral wall images and 3D imaging at different angles.

[0051]X-ray camera vision collection module 106, the 202 image X-ray camera device, and the robot main system 201 are connected to robot main system 201 and robotic arm A for collecting tooth images, dental pulp images, and other images in the oral cavity. Robot arm A moves to the outside of oral cavity by X-ray collector 202, and uses robotic arm A to place the tooth blocking piece 201, and robotic arm A moves to collect the X-ray image.

[0052]Robot arm B communicates with camera 203, image information of mouth are collected by camera 203, the positioning and return port image position information, and Robot arm B is connected to oral cavity through general inspection device hook 204, forceps 205, electric drill 206, water pipe and saliva suction device 211. water pipe and the saliva suction device 211 are used to suck saliva, the distal end and the autonomous operation plan to plan a general examination task, thereby performing the functions of remote examination and autonomous examination.

[0053]Robot arm B communicates with camera 203, the mouth image information are collected by the camera 203, the positioning and return port image position information, and the robot arm B to the oral cavity according to the speech guidance of the speech device 102, the ultraviolet disinfection lamp 201, water pipe, saliva suction device 211, and root canal treatment device 207. The bad caries of decayed teeth are removed, and water pipe and the saliva suction device 211 are used to suck saliva, the distal end and the autonomous operation plan to plan general examination tasks, thereby performing the functions of remote examination and autonomous examination.

[0054]Robot arm B communicates with camera 203, mouth image information is collected by camera 203, locate and return port image position information, robot arm B to oral cavity and robot arm motion planning method according to speech guidance of the speech device 102, the robot arm B to the oral cavity, and the robot arm motion planning method. The endodontic device 216, root canal therapy device 207 and oral scanner 208, endoscope 208, the rotation angle, insertion root canal, abutment, and dental crown are used to complete root canal treatment tasks, and saliva is sucked by water pipe and saliva suction device 211. Ultraviolet disinfection lamp 201 is used to irradiate oral position for disinfection and sterilization, so as to perform distal and autonomous root canal therapy.

[0055]Robot arm B communicates with camera 203, mouth image information are collected by camera 203, locate and return port image position information, robot arm B moves to oral cavity according to speech guidance of speech device 102, robot arm B moves to oral cavity according to speech guidance of speech device 102, robot arm B moves to oral cavity according to speech guidance of speech device 102, robot arm B moves to oral cavity according to dental implant motion planed, robot arm locate port position, oral scanner, the endoscope 208, insertion base station and dental crown to complete dental abutment planting, water pipe and saliva suction device 211 are used to suck saliva, and ultraviolet disinfection lamp 201 is used for irradiation disinfection and sterilization to complete dental implant treatment tasks.

[0056]Robot arm B communicates with camera 203, mouth image information are collected by camera 203, locate and return port image position information, and robot arm B The robot main control system 101 is connected to robot arm C, ultrasonic tooth washing device 210 and saliva suction device.

Claims

Claims

[Claim 1] Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, the robot device is characterized in that the remote control and autonomous control oral specialist disease data collection, intelligent recognition, and treatment robot device includes: Robot main system control device which is connected to X-ray vision device, oral cavity scanning device, tweezers, pliers, electric drill device, general examination device, root canal treatment device, ultrasonic tooth washing device,tooth implantation device, water pipe and saliva suction device and which is used for perform main control of the robot; Speech device which is connected to robot main system control device and which is used for interaction and for speech guidance between main control system and users; Visual device is connected to robot main system control device Robotic arm is connected to collect facial image and image of mouth, and according to the mouth image, the facial image, locate the position. X-ray vision apparatus, and the vision module are connected to robot main system control apparatus, and robotic arm is connected to collect tooth image, dental pulp image, and other images in the oral cavity. Oral scanning device and oral scanning module are connected to robot main system control device and robot arm and which is used for scanning teeth, oral walls, tongue images, collecting tooth detail images and 3D imaging in the oral cavity, assisting in recognizing tooth diseases and recognizing oral diseases; Radar device is connected to robot main system control device and connected to movable base and used for autonomous locating navigation and movement. General examination and treatment device is connected to robot main system control device and robot arm, and comprises forceps, hook, electric drill device, and ultraviolet disinfection lamp for dental examination, oral examination, dental caries treatment, root canal treatment, and tooth implantation. Root canal treatment device is connected to robot main system control device and robot arm which comprises forceps, hook, electric drill device, dental pulp body cleaning device and fine needle tube device, and ultraviolet disinfection lamp is used for remote and autonomous root canal treatment; Tooth implantation device is connected to robot main system control device and robot arm and which comprises tweezers, gingival surgical knife, electric drill device, tooth base table planting device, ultraviolet disinfection lamp and ultrasonic tooth washing device. Ultrasonic tooth washing module is connected to robot main system control device and robot arm, and which comprises forceps, forceps, electric drill device, remote and autonomous tooth washing device, water pipe, saliva suction device and suction module, wherein, water pipe and saliva suction device is connected to robot main system control device and robotic arm and which is used for water pipe and saliva suction, suction, assisted ultrasonic tooth washing, root canal treatment, tooth implantation.
[Claim 2] According to claim 1, Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, characterized in that speech device and speech module are connected to robot main system control device, and the speech device comprises: sound collection device, pickup device, microphone device, speech input device, Loudspeaker device and speech output device, Wherein, the speech module is used for interaction between robot and users including speech recognition, speech transfer to text , speech guidance, speech instructions and speech medical questions and answers.
[Claim 3] According to claim 1, Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, vision device is connected to robot main system control device, and vision device and vision module are configured to collect mouth image and face image, to assist oral image collection, vision collection module communicates with robot main system, and image information collected by vision device which is sent to main system client to communicate with robot arm through communication mode to perform collection motions.
[Claim 4] According to claim 1,Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, X-ray visual device, visual collection module, X-ray visual device, visual collection module,X-ray visual device, robot arm and visual device are connected to robot main system control device, visual device, visual collection module and visual device are connected to robot main system control device, visual device, visual collection module and visual device are connected to robot arm node to receive the location information, and robot arm is connected to X-ray visual device, moves to peripheral location of oral cavity and is used for collecting tooth image, tooth root image and other images in the oral cavity.
[Claim 5] According to claim 1, Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, oral scanner and visual device are connected to robot arm, robot main system control device, visual device is used for detecting and locating mouth position, position information collected by visual device which is sent to main system through message and service communication mode, main system communicates with visual device, machine arm is connected to oral scanner, moves into oral cavity, scans teeth, collects images of oral cavity walls, tongue images and tooth detail images, utilizes 3D imaging in the oral cavity, prepares 3D printing tooth model, assists in recognizing tooth diseases, and treats oral diseases.
[Claim 6] According to claim 1, Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, general examination device, water pipe and saliva suction device are connected to robot main system control device and robot arm A, robot arm locating opening position, movement to target tooth position, locating bad caries position, plan motion of bad caries treatment, forceps, electric drill and cleaning device are utilized to drill the dental crown according to motion of the bad caries treatment planned. Treatment motions include Motions of cleaning and removing bad teeth, cleaning and damaging tooth body, making 3D tooth model, filling teeth, using ultraviolet disinfection lamp to treat instrument disinfection and sterilization, and performing general examination and planning these motions by remote control and autonomously control and treating decayed teeth.
[Claim 7] According to claim 1, Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, the remote control and autonomous control oral special disease data collection, intelligent recognition and treatment robot device is characterized in that radar device and autonomous locating navigation module are connected to robot main system control device and movement base, information collected by radar device is sent to main system client through message and service communication mode to realize scene self-built map, and main system is connected to movement base: publishing the created map information, communicating with movement base node, receiving map information, and realizing autonomous locating, navigation and movement.
[Claim 8] According to claim 1, Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, root canal treatment device and robot main system control device are connected to robot main system control device and robot arm B, robot arm learning planning motion and adaptive mediation setting motion planning parameters are used for motion planning and planning motion of robot arm root canal treatment , robot main system control device is connected to visual device, robot main system communicates with visual collection module, position of each tooth in the oral cavity and the interior of the interior and the position of bad caries are autonomously recognized, and the position of the opening is positioned moving to a target tooth position, where the bad caries are located, a distal end, and autonomous dental caries treatment root canal treatment device: hook, electric drill device, dental pulp body cleaning device, fine needle tube device, oral scanner, endoscope and ultraviolet disinfection lamp treatment device are used for remote and autonomous treatment of bad caries; According to planned motions of root canal, the position of bad caries is positioned, dental crown dental pulp is drilled, bad caries and dental pulp are cleaned,root canal, base table and dental crown are cleaned, root canal treatment task is completed, remote and autonomous root canal treatment is performed.
[Claim 9] According to claim 1, Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, dental implant treatment device and robot main system control device are connected to robot arm B, water pipe and saliva suction device, robot arm tooth implantation motion is planned, the robot main system control device is connected to visual device, robot main system and visual collection module communicate,position of each tooth in the oral cavity and the interior of the interior of the robot is autonomously recognized, the position of the opening is positioned, and the robot is moved to the position of the target tooth and the position of the gingiva. A distal end and autonomous dental implant treatment device includes tweezers, gingival surgical knife, electric drill device, oral scanner, endoscope, dental abutment planting device, ultraviolet disinfection lamp for distal and autonomous dental implantation, dental implant motion planning method by robot arm, positioned and moved to position where the implant gingiva is located, gingiva scalpel cutting the gingiva, drilling gum base hole, inserting abutment and dental crown, completing dental implant treatment task, and achieving distal dental implantation and autonomous dental implantation.
[Claim 10] According to claim 1, Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, ultrasonic tooth washing device and module, ultrasonic tooth washing device and saliva suction device are connected to robot main system control device and robot arm C, robot arm ultrasonic tooth washing motion is planned, robot main system control device is connected to visual device, robot main system and visual collection module communicate, the oral cavity and internal tooth positions, teeth stones on the teeth and the tartar are autonomously recognized, and ultrasonic tooth washing motion planning method of robot arm is utilized. The position of each tooth in the oral cavity, the positions of teeth stone on the teeth, the position of the tartar, doctor remote control and autonomous control motion are moved, and ultrasonic tooth washing device autonomously and remotely controls the ultrasonic device to complete the tooth washing task according to planning motion.
[Claim 11] According to claim 1,Remotely and autonomously controlled robot apparatus for data collection, intelligent recognition, and treatment of stomatological diseases, wherein, the remote control and autonomous control oral special disease data collection, intelligent recognition, and treatment robot device is characterized in that, remote client and communication module, robot main system control device, remote client, and communication module are connected, and the remote client is in communication with machine main control device, remote control robot, tooth washing, image collection, tooth implantation and root canal treatment through communication module, and the communication module comprises: wireless communication module, Bluetooth communication module, wired Internet communication module, radio frequency communication module, and radio communication module.

wo 2022/063253 PCT/CN2021/120503

203 201 202

@

204 205

205 212 207 208 209 ##7) 216

210

214 215

213

200 ml

200-Mastersystem; 200-Master system;robotic roboticarm armA; A; 201-tooth 201-tooth blocking blocking piece, piece, and ultraviolet and ultraviolet disinfection disinfection lamp; lamp;

202-image X-ray 202-image X-ray imaging imagingdevice; device;203-camera, 203-camera,robotic roboticarmarm B; 204-hook; B; 204-hook; 205-tweezers; 205-tweezers; 206-electric drill; 207-root canal treatment device; 208-intraoral scanner; 209-oral scalpel; 206-electric drill; 207-root canal treatment device; 208-intraoral scanner; 209-oral scalpel;

210-ultrasonic 210-ultrasonic tooth tooth washing washing device;device; lifting lifting platform platform C; 211-water C; 211-water pipesuction pipe and saliva and saliva suction device; device;

212-supportrod; 212-support rod;213-movement 213-movement base;base; 214-soundcollection 214-sound collectiondevice, device,speech speechinput inputdevice, device,speech speechoutput output device; device; 215-radar; 215-radar;

216-dentalpulp 216-dental pulpbody bodycleaning cleaningdevice; device;

Figure Figure 2