US 12,220,293 B2
Root canal treatment robot and treatment method
Fusong Yuan, Beijing (CN); and Peijun Lyu, Beijing (CN)
Assigned to PEKING UNIVERSITY SCHOOL OF STOMATOLOGY, Beijing (CN)
Filed by PEKING UNIVERSITY SCHOOL OF STOMATOLOGY, Beijing (CN)
Filed on Sep. 25, 2021, as Appl. No. 17/485,380.
Application 17/485,380 is a continuation of application No. PCT/CN2019/086576, filed on May 13, 2019.
Claims priority of application No. 201910227691.1 (CN), filed on Mar. 25, 2019.
Prior Publication US 2022/0008165 A1, Jan. 13, 2022
Int. Cl. A61C 5/40 (2017.01); A61B 1/07 (2006.01); A61B 1/247 (2006.01); A61B 34/30 (2016.01); A61C 1/00 (2006.01); A61C 5/50 (2017.01); A61C 5/80 (2017.01)
CPC A61C 5/40 (2017.02) [A61B 1/07 (2013.01); A61B 1/247 (2013.01); A61B 34/30 (2016.02); A61C 1/0061 (2013.01); A61C 5/50 (2017.02); A61C 5/80 (2017.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02)] 17 Claims
OG exemplary drawing
 
1. A robot for root canal treatment, comprising:
a main body;
an x-axis movement unit;
a y-axis movement unit;
a pan tilt;
a z-axis movement unit; and
an a-axis movement unit;
wherein the x-axis movement unit, the y-axis movement unit, the pan tilt, the z-axis movement unit and the a-axis movement unit are arranged inside the main body;
the pan tilt is in sliding fit with the x-axis movement unit and the y-axis movement unit, and is configured to be driven by the x-axis movement unit and the y-axis movement unit to move in an x-y plane;
the z-axis movement unit is arranged on the pan tilt, and is configured to drive an optical fiber for the root canal treatment to move along a z-axis; and the optical fiber penetrates through the pan tilt; and
the a-axis movement unit is arranged on the pan tilt, and is configured to drive the optical fiber to rotate around the z-axis;
the a-axis movement unit comprises an a-axis driving motor, a driving transmission friction wheel, an idler wheel and a driven transmission friction wheel; and
the driving transmission friction wheel is fixedly connected to a motor shaft of the a-axis driving motor; the idler wheel is in rotating fit with a first shaft provided at a bottom of the pan tilt; the driven transmission friction wheel is in rotating fit with a second shaft provided at the bottom of the pan tilt, so that a friction wheel transmission is formed by the driving transmission friction wheel, the idler wheel and the driven transmission friction wheel.