Medical support device

Patent metadata

Field	Value
Publication number	US-2017196654-A1
Application number	US-201615393293-A
Country	US
Kind code	A1
Filing date	Dec 29, 2016
Priority date	Jan 8, 2016
Publication date	Jul 13, 2017
Grant date	—

Abstract

A medical support device includes an arm having a drill attached at a tip part of the arm, a first position obtainer obtaining a representative position of the drill attached to the arm, a second position obtainer obtaining a bury start position, and a controller. The controller controls the arm and applies a burying reaction force to the drill in a burying direction, i.e., a direction from the bury start position to an inside of a implant area, when the representative position of the drill obtained by the first position obtainer is at the inside of the implant area relative to the bury start position.

First claim

What is claimed is:

1 . A medical support device comprising:
an arm having a drill that is attached at a tip part of the arm; a first position obtainer obtaining a representative position of the drill attached to the arm; a second position obtainer obtaining a bury start position of a jawbone, the bury start position defining an oral inside edge of an implant area that is a part of the jawbone for accepting an implant body buried in the jawbone; and a controller controlling the arm to apply a burying reaction force to the drill, the burying reaction force applied in an opposite direction relative to a burying direction of the implant body into the implant area of the jawbone, when the representative position of the drill obtained by the first position obtainer is at an inside of the implant area relative to the bury start position obtained by the second position obtainer.

2 . The medical support device of claim 1 further comprising:
a force detector disposed at the tip part of the arm and detecting a force applied to the drill, wherein
the controller controls the arm to apply the burying reaction force to the drill, when the force detector detects a force in a direction from the bury start position to the inside of the implant area.

3 . The medical support device of claim 2 , wherein
the controller applies a greater burying reaction force to the drill, as the force detected by the force detector that forces the object from the bury start position to the inside of the implant area increases.

4 . The medical support device of claim 1 , wherein
the second position obtainer repeatedly obtains the bury start position, and the controller has a safety controller performing a safety control to improve safety of a dental implant treatment, when an amount of change of the bury start position after repeatedly obtaining the bury start position is greater than a preset standard amount.

5 . The medical support device of claim 4 , wherein
the safety controller stops, as the safety control, a drive of the arm in a direction from the bury start position to the inside of the implant area.

6 . The medical support device of claim 4 , wherein
the safety controller increases, as the safety control, the burying reaction force.

7 . The medical support device of claim 1 , wherein
the controller identifies a magnitude of the burying reaction force, based on a result of multiplication multiplying an amount of displacement regarding a displacement of the representative position of the drill from the bury start position to the inside of the implant area, by a predetermined spring modulus.

8 . The medical support device of claim 1 , wherein
the controller identifies a magnitude of the burying reaction force based on a sum of two multiplication results, the sum of the two multiplication results including the sum of a first multiplication result calculated by multiplying (i) a displacement amount regarding a displacement of the representative position of the drill from the bury start position to the inside of the implant area by (ii) a predetermined spring coefficient, and a second multiplication result calculated by multiplying a time differential of the displacement amount by a predetermined damping coefficient.

9 . The medical support device of claim 1 , wherein
the controller identifies a magnitude of the burying reaction force based on a sum of three multiplication results, the sum of the three multiplication results including a first multiplication result calculated by multiplying (i) a displacement amount regarding a displacement of the representative position of the drill from the bury start position to the inside of the implant area by (ii) a predetermined spring coefficient, a second multiplication result calculated by multiplying a time differential of the displacement amount by a predetermined damping coefficient, and a third multiplication result calculated by multiplying a twice differential of the displacement amount by a weight of the drill.

Assignees

• Denso Corp

Inventors

• Toyoda Kazutaka
• Ueyama Tsuyoshi
• Mukumoto Go

Classifications

• A61G15/16

  Storage, holding or carrying means for dental handpieces or the like · CPC title

• A61B34/77

  Manipulators with motion or force scaling · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61B17/1673

  for the jaw · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title