JPH105248A - Display device for hand piece operation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable to understand how a dentation model is cut and which direction it is cut from by using a cutting piece attached to a hand piece. SOLUTION: The three-dimensional movement of a hand piece 1 is detected using a hand piece sensor 4, the three-dimensional position of a cutting piece 3 is calculated from the detection results, and the three-dimensional movement image of the cutting piece 3 based on the calculation results and the shape of the cutting piece 3, and the image of a dentation model 2 are synthesized to display an image on a monitor display 7. A result is that how the dentation model 2 is cut using the cutting piece 3 which has not been understood can be observed, and it is very useful to teach how to use the hand piece 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for visually displaying a cutting state of a tooth by a cutting element, and is particularly suitable for use in operation guidance and treatment of a handpiece.

[0002]

2. Description of the Related Art When cutting a patient's teeth (an example of an object to be cut) with a cutting tool provided on a handpiece, it is necessary to cut the cutting tool from the tooth in an appropriate direction, and to cut the tooth properly. Need to be quantity. For this reason, for example, in the operation guidance of the handpiece, appropriate guidance is required for a person who intends to learn the operation.

A technique disclosed in Japanese Patent Application Laid-Open No. 5-344980 is known for such operation guidance of a handpiece. In this technique, three-dimensional movement of a handpiece is detected using a plurality of acceleration sensors, and the detected three-dimensional movement of the handpiece is displayed on a monitor device or the like.

[0004]

However, in the technique disclosed in the above-mentioned publication, only the movement of the handpiece is displayed, and therefore, what kind of tooth is actually formed by the cutting tool attached to the handpiece. There was a problem that it was not possible to know how to cut from the direction, and it was not possible to provide high-precision guidance.

On the other hand, at the treatment site, the shape of the object to be cut, such as a tooth, differs for each patient, and at the time of treatment, the shape of the object to be cut is 3 times.
In some cases, the three-dimensional shape cannot be grasped, and it has been desired to develop a device capable of monitoring the shape of the object to be cut by the patient and the three-dimensional position of the cutting element in an overlapping manner.

[0006]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an operation display device for a handpiece which allows the user to grasp in what direction and how the workpiece is actually cut by a cutting tool attached to the handpiece. It is in.

[0007]

In order to achieve the above object, the present invention employs the following means. [Claim 1] A handpiece operation display device includes a handpiece position detecting means for detecting a three-dimensional position including a tilt of a handpiece on which a cutting element is mounted, and the hand detected by the position detecting means. Cutting tool position calculation means for calculating a position including the inclination of the cutting tool based on the three-dimensional position of the piece, and cutting object shape storage means for storing a three-dimensional shape of the cutting object cut by the cutting tool A monitor device for displaying an image, and the monitor device combining the image of the cutting tool calculated by the cutting tool position calculator and the image of the work stored in the work shape storage means. Video output means for outputting to the

When the handpiece is operated, the handpiece position detecting means detects a three-dimensional position including the inclination of the handpiece, and based on the detected data, the position of the cutting piece. The calculating means calculates a position including the inclination of the cutting element. The image output means combines the image of the cutting element at the position of the cutting element and the image of the object stored in the object shape storage means and outputs the image to the monitor device. As a result, the image of the cutting tool accompanying the operation of the handpiece and the image of the object to be cut are simultaneously displayed on the monitor device. By observing the monitor device, the movement of the cutting element with respect to the object to be cut is monitored. Observable.

According to a second aspect of the present invention, the operation display device for a handpiece according to the first aspect further comprises cutting path calculating means for calculating a three-dimensional path of the cutting element detected by the cutting element position calculating means, The video output means combines the movement trajectory image of the cutting tool calculated by the cutting trajectory calculation means with the shape image of the workpiece stored in the workpiece shape storage means and outputs the combined image to the monitor device. It is characterized by the following.

When the handpiece is operated, the cutting trajectory calculating means calculates the moving trajectory of the surface of the cutting element. Then, since the movement locus of the surface of the cutting element is displayed on the monitor device as an image, it is possible to observe how the cutting element has moved with respect to the workpiece by observing the monitor device.

According to a third aspect of the present invention, in the operation display device for a handpiece according to the first or second aspect, the cutting tool shape storage means for storing a shape of the cutting tool and the cutting tool position calculating means detect the cutting piece shape. Cutting path calculating means for calculating a moving path of the surface of the cutting element from the three-dimensional trajectory of the cutting element and the shape information of the cutting element stored in the cutting element shape storage means; The moving path image of the cutting tool surface calculated by the cutting path calculating means, and the shape image of the workpiece stored in the workpiece shape storage means is synthesized and output to the monitor device. Features.

[Operation and Effect of Claim 3] When the handpiece is operated, the cutting path calculating means calculates the moving path of the surface of the cutting element. And, since the movement trajectory of the surface of the cutting element is displayed on the monitor device together with the shape of the object to be cut, by observing the monitor device, how the cutting element moves with respect to the object to be cut and how much You can observe whether it is shaved.

According to a fourth aspect of the present invention, there is provided the operation display device for a handpiece according to the third aspect, wherein, based on the movement locus of the cutting element surface calculated by the cutting path calculating means, the outermost one of the surface locus of the cutting element. A cutting shape calculating means for obtaining a cutting shape which is a locus shape; and a formation defect shape which is an intersection of the cutting shape calculated by the cutting shape calculated by the cutting shape calculated by the cutting shape calculating means. And the shape of the workpiece stored in the workpiece shape storage means is updated by removing the formed defective shape obtained by the defective shape calculation means.

According to a fourth aspect of the present invention, when the handpiece is operated, the cutting shape calculating means determines the outermost trajectory of the surface trajectory of the cutting tool based on the calculation result of the cutting trajectory calculating means. Find a certain cutting shape. The defect shape calculation means obtains a formed defect shape which is an intersection between the workpiece shape stored in the workpiece shape storage means and the cut shape obtained by the cut shape calculation means. The shape of the workpiece stored in the workpiece shape storage means is updated by removing the formed defective shape obtained by the defective shape calculating means. The image of the shape of the object and the movement locus of the surface of the cutting element are simultaneously displayed on the monitor device. Therefore, by observing the monitor device, it is possible to observe how the workpiece is actually cut by the cutting element.

According to a fifth aspect of the present invention, in the operation display device for a handpiece according to the fourth aspect, the image output means outputs the shape image of the formed defect shape obtained by the defect shape calculation means.
The monitor device is provided so as to be able to output.

[Function and Effect of Claim 5] By displaying an image of the formed defect shape obtained by the defect shape calculating means on a monitor device, only the shape cut by the cutting element can be easily understood.

According to a sixth aspect of the present invention, in the operation display device for a handpiece according to any one of the first to fifth aspects, a plurality of the handpieces are used, and a surface of the cutting element in each of the handpieces is used. The three-dimensional position is calculated separately by the handpiece position detecting means and the cutting tool position calculating means, and the video output means generates a composite image of the image of each of the cutting tools and the shape image of the workpiece, It is characterized by being provided so as to be separately displayed on the screen of one of the monitor devices.

According to a sixth aspect of the present invention, the movement of the plurality of cutting elements due to the movement of the plurality of handpieces is separately displayed on the screen of one monitor device, thereby operating the plurality of handpieces at once. Guidance can be provided efficiently.

[7] A handpiece operation display device includes: a handpiece position detecting means for detecting a three-dimensional position including a tilt of the handpiece on which the cutting element is mounted;
Cutting tool position calculating means for calculating a position including the inclination of the cutting tool based on the three-dimensional position of the handpiece detected by the position detecting means; and three-dimensional cutting of the workpiece to be cut by the cutting tool. Workpiece shape measuring means for measuring the shape, a monitor device for displaying an image, a work piece to be measured by the work piece shape measuring means and the image of the work piece calculated by the work piece position calculating means Video output means for synthesizing the video with the video and outputting the synthesized video to the monitor device.

When the handpiece is operated, the handpiece position detecting means detects the three-dimensional position including the inclination of the handpiece, and based on the detected data, the position of the cutting piece is detected. The calculating means calculates a position including the inclination of the cutting element. The image output means combines the image of the cutting element at the position of the cutting element and the image of the workpiece measured by the workpiece shape measuring means and outputs the image to the monitor device. As a result, the image of the cutting tool accompanying the operation of the handpiece and the image of the object to be cut are simultaneously displayed on the monitor device. By observing the monitor device, the movement of the cutting element with respect to the object to be cut is monitored. Observable.

[8] The handpiece operation display device according to [7], further comprising cutting tool shape storage means for storing the shape of the cutting tool, and the video output means comprising the cutting tool shape storage means. And combining the image of the shape of the cutting element stored in the image with the image of the object to be cut.

[Function and Effect of Claim 8] By combining the image of the cutting element with the image of the cutting object, the position of the cutting element with respect to the cutting object can be grasped, and highly accurate treatment can be easily performed. Can be.

According to a ninth aspect of the present invention, in the operation display device for a handpiece according to any one of the first to eighth aspects, the image output means is a part of an image displayed on a screen of the monitor device. Is provided so as to be able to be enlargedly displayed.

[Functions and Effects of Claim 9] By enlarging a part of the screen, details can be easily understood. In particular, in the case where the present invention is applied to claim 5, only the operation of a specific handpiece among the plurality of handpieces can be displayed, and personal guidance becomes easy. Further, in the case where the present invention is applied to the seventh and eighth aspects, the position of the cutting tool with respect to the workpiece can be viewed in an enlarged manner, so that highly accurate treatment can be easily performed.

[0025]

Next, embodiments of the present invention will be described with reference to first to fourth embodiments and modifications. [Structure of First Embodiment] The first embodiment will be described with reference to FIGS. 1 to 5, and FIG. 1 is a schematic diagram of an operation display device of a handpiece.

In the present embodiment, the operation display device of the handpiece 1 will be described using an example in which the operation of the handpiece 1 is instructed. In the operation guidance of the handpiece 1, a learner of the operation of the handpiece 1 cuts a tooth model 2 (see FIG. 2, corresponding to an object to be cut) in the oral cavity of the mannequin, which is regarded as a patient. The operation and display device of the piece 1 displays an image of the movement of the cutting element 3 with respect to the tooth model 2.

The operation display device of the handpiece 1 includes a handpiece sensor 4 (corresponding to a handpiece position detecting means) for detecting a three-dimensional inclination angle and a three-dimensional position of the handpiece 1, and a handpiece sensor. 4 includes an electric circuit 5 to which an output of the electric circuit 4 is input, a controller 6 for controlling the electric circuit 5, and a monitor device 7 for displaying an output image of the electric circuit 5.

The electric circuit 5 includes a CPU (not shown), RA
M, ROM, etc. The function of the electric circuit 5 is as follows: a cutting tool shape storage means 11 for storing the outer shape of the cutting tool 3 attached to the handpiece 1; a three-dimensional inclination angle of the handpiece 1 detected by the handpiece sensor 4; Based on the three-dimensional position, 3
Cutting tool position calculation means 12 for calculating the inclination angle and three-dimensional position in the three-dimensional direction, work piece shape storage means 13 for storing the external shape of the tooth model 2, and the controller 6 instructs the position display mode of the cutting tool 3. When the cutting is performed, the monitor unit 7 combines the shape image corresponding to the position of the cutting tool 3 calculated by the cutting tool position calculation unit 12 and the shape image of the tooth model 2 stored in the workpiece shape storage unit 13. And video output means 14 for outputting to As a result, for example, FIG.
In the state where the cutting tool 3 of the handpiece 1 is cutting the tooth model 2 as shown in FIG.

The electric circuit 5 calculates the surface of the cutter 3 from the three-dimensional trajectory of the cutter 3 detected by the cutter position calculator 12 and the shape information of the cutter 3 stored in the cutter shape memory 11. Cutting locus calculating means 1 for calculating a moving locus
When the controller 6 instructs the trajectory display mode of the cutting tool 3, the video output means 14 outputs the moving trajectory image of the surface of the cutting tool 3 obtained by using the It is provided so as to combine with the shape image of the tooth model 2 stored in the cut object shape storage means 13 and output it to the monitor device 7.

Further, the electric circuit 5 calculates the cutting path of the cutting element 3 from the movement path of the surface of the cutting element 3 calculated by the cutting path calculating means 15.
Cutting shape calculating means 16 for obtaining the cutting shape that is the outermost trajectory shape of the surface trajectory of the tooth, and the shape of the tooth model 2 stored in the workpiece shape storing means 13 and the cutting shape obtained by the cutting shape calculating means 16 And the shape of the tooth model 2 stored in the workpiece shape storage means 13 is the same as the shape of the tooth model 2 determined by the loss shape calculation means 17. Updated. Note that, when the cutting shape display mode is instructed by the controller 6, the image output means 14 is provided to output the shape image of the formed defect shape obtained by the defect shape calculating means 17 to the monitor device 7. .

The electric circuit 5 includes means 18 for positioning the cutting element 3 and the tooth model 2. The positioning means 18 of the present embodiment fits the cutting element 3 into a start hole 19 (see FIG. 2) provided in or around the tooth model 2,
The positioning is completed by instructing that the cutting tool 3 and the tooth model 2 have a specific positional relationship by the controller 6. In this embodiment, the positioning at one location is shown as an example. However, the initial positioning accuracy between the cutting element 3 and the tooth model 2 may be increased by the positioning operation at two or more points. Further, the electric circuit 5 is provided with an image enlarging means 21 for enlarging an image and outputting it to the monitor device 7, so that detailed guidance can be easily provided.

Here, an example of the handpiece sensor 4 will be described. In the present embodiment, as shown in FIG.
In order to measure the three-dimensional movement of
Measurement light sources 4a, 4b, 4c and two cameras 4d, 4
e is used. A triangular plate 4f is attached to the handpiece 1 to attach three first to third measurement light sources 4a, 4b, and 4c.
At each end, three first to third measurement light sources 4a, 4b, and 4c that emit light of very small size and high intensity
(Light emission by the end of the optical fiber) is provided. The two cameras 4d and 4e are installed at positions where the range in which the first to third measurement light sources 4a, 4b and 4c provided on the handpiece 1 move can be captured.

The movements of the first to third measurement light sources 4a, 4b, and 4c respectively captured by the two cameras 4d and 4e indicate the three-dimensional tilt angle and the three-dimensional position of the handpiece 1. The movements of the first to third measurement light sources 4a, 4b, 4c captured by the cameras 4d, 4e, respectively, are analyzed by the electric circuit 5, and the inclination angle and the three-dimensional position of the cutting element 3 in the three-dimensional direction are calculated. .

In this embodiment, an example in which the three-dimensional movement of the handpiece 1 is optically detected has been described.
As shown in FIG. 3, three vibrating gyros 3 for detecting inclination angles (θx, θy, θz) in the three-dimensional direction are provided on the handpiece 1.
1a, 31b, and 31c, and three accelerometers 3 that detect a moving distance (x, y, z) in a three-dimensional direction.
2a, 32b, and 32c are provided to detect three-dimensional movement of the handpiece 1, and three vibration gyros 31a, 31
b, 31c and three accelerometers 32a, 32b, 32c
From the output, the electric circuit 5 may calculate the inclination angle and the three-dimensional position of the cutting element 3 in the three-dimensional direction.

In the case where the handpiece 1 is provided to the cutting device main body via multiple joints, an encoder for detecting the rotation angle of the joint is provided at each joint portion, and the output of each encoder is used as a reference for the handpiece 1. Detects dimensional movement,
The electric circuit 5 may be provided to calculate the three-dimensional inclination angle and the three-dimensional position of the cutting element 3 from the output of each encoder.

[Effects of the First Embodiment] In this embodiment, the state in which the cutting element 3 cuts the tooth model 2 with the operation of the handpiece 1 can be observed by the monitor device 7, so that the handpiece 1 can be observed with high precision. Operation guidance can be provided.

[Second Embodiment] A second embodiment will be described with reference to FIGS. 6 and 7. FIG. 6 is a schematic diagram of an operation display device of the handpiece 1, and FIG. FIG. The operation display device of the handpiece 1 according to the present embodiment is capable of simultaneously instructing learners of the operation of a plurality of handpieces 1 and uses a plurality of handpieces 1,
A handpiece sensor 4 is provided on each handpiece 1, and a composite image of an image of each cutting element 3 obtained by each handpiece sensor 4 and a shape image of the tooth model 2 is displayed on a screen of one monitor device 7. Are displayed separately. By operating the controller 6 and using the image enlarging means 21, it is also possible to display only a composite image of the image of the cutting tool 3 due to the movement of the specific handpiece 1 and the shape image of the tooth model 2. Things.

Third Embodiment A third embodiment will be described with reference to FIGS. 8 to 11, and FIG. 8 is a schematic diagram of an operation display device of the handpiece 1. In the above two embodiments,
The example in which the operation display device of the handpiece 1 is used to guide the operation of the handpiece 1 has been described. In the third embodiment, an example in which the operation display device of the handpiece 1 is used for treatment will be described.

The operation display device of the handpiece 1 of this embodiment includes a tooth cutting treatment (for example, formation of a cavity for a crown restoration such as an inlay, removal of a pulp, division of an implanted wisdom tooth, etc.) and an implant. It is a device suitable for use in jaw bone cutting treatment (for example, drilling a guide hole, forming a groove to match an implant, etc.) when using a toothbrush. 41 three-dimensional shape measuring device (not shown, MRI
Device, a CT device, or the like), and the measured three-dimensional shape of the workpiece 41 is stored in the workpiece shape storage unit 13.

The operation display device of the handpiece 1 is as follows.
A workpiece measuring device 42 for reading a position in a three-dimensional direction including an inclination angle of the workpiece 41 is provided. Further, the electric circuit 5
The image output means 14 of the correction based on the three-dimensional position of the workpiece 41 measured by the workpiece measuring device 42 corrects the three-dimensional position of the workpiece 41 with respect to the three-dimensional position of the cutting element 3. Means (not shown) are provided. Specifically, the correcting means is for fixedly displaying the work 41 displayed on the monitor device 7 even when the work 41 is actually moved, and the image output means 14 is subjected to position correction. An image of the workpiece 41 (a shape image of the workpiece 41 stored in the workpiece shape storage unit 13 updated by removing the defective shape obtained by the defect shape calculation unit 17) and a cutting tool position calculation unit 12 The image of the cutting tool 3 obtained in the step is synthesized and displayed. In this embodiment, an example in which the image of the object 41 is fixedly displayed is described. However, in order to enhance the operation feeling of the operator, the image of the cutting element 3 is fixedly displayed and the image of the object 41 is displayed. The cutting tool 3 and the workpiece 41 may be provided so as to move.

As a result, it is displayed on the monitor device 7 as if the fixed object 41 is being cut by the cutting element 3. Therefore, the workpiece 41 can be accurately cut even at a part that cannot be visually recognized by a treatment operator, and the treatment accuracy can be improved. In addition, by enlarging and displaying the main part of the cutting by the image enlarging means 21, it is possible to perform treatment with higher accuracy.

As an example of the workpiece measuring apparatus 42, a measuring means by moving a plurality of light spots and a light spot using two cameras as shown in the first embodiment, a plurality of vibrating gyroscopes, A reading unit using a plurality of accelerometers and an articulated reading unit using a plurality of encoders can be used. In addition to these three means, an element 43 for measurement may be attached to the object to be measured (see FIGS. 9 to 11), and the position of the element 43 may be read by the object to be cut measuring device 42. Further, a plurality of these measuring means may be used in combination to increase the measurement accuracy.

An example of the measuring element 43 is an MRI
Resonant liquid-filled chip with a substance that can be easily measured in the device (for example, an aqueous solution containing a substance that causes resonance in water, electric field, electromagnetic field, etc.), a small magnetic chip, a small LC resonator, and a small electrode Workpiece measuring device 42 that reads the movement of the resonance liquid filling tip using a small antenna or the like
A MRI device is used as the workpiece measuring device 42 for reading the movement of the magnetic material chip. An ESR device is used as the workpiece measuring device 42 for reading the movement of the LC resonator.
An antenna (for example, a phased array antenna, a parabolic antenna, a single-element antenna, a multi-element antenna, etc.) or a navigation device using an LC resonator is used, and the workpiece measurement device 42 that reads the movement of a small electrode is A device that measures distance with a capacitance sensor is used, and a device that measures distance with a multi-wavelength (two or more wavelength) impedance sensor is used as the workpiece measurement device 42 that reads the movement of a small antenna. Further, a plurality of these measuring means may be used in combination to increase the measurement accuracy. Further, the position of the measurement element 43 (LC resonator, antenna, electrode, etc.) may be obtained by using a frequency analysis technique such as fast Fourier translation or wavelet. In position measurement using an electromagnetic wave, Doppler shift, phase difference, time difference, amplitude, frequency modulation, beat, and the like may be used.

As shown in FIGS. 9 to 11, a plurality of measuring elements 43 may be used, but the inclination and the inclination of the workpiece 41 are determined by the change in the position and the shape of one measuring element 43. May be provided so as to read the position in the three-dimensional direction, including. That is, for example, when a resonance liquid filled tip is used as the measurement element 43, the internal shape (the volume shape in which water or the like is put) of one tip is provided in a triangular shape, and the triangle measured by the workpiece measurement device 42 is used. From the transition of the workpiece 4
1 may be provided so as to read the position in the three-dimensional direction.

The positioning of the cutting element 3 and the workpiece 41 is as follows.
A clamp having a positioning portion is attached to the workpiece 41 directly or jointly, and the positional relationship between the measuring element 43 and the positioning portion is measured by a workpiece measuring device 42 or the like, and the positioning portion of the clamp and the cutting portion are cut. The positioning is performed by positioning means 18 together with the child 3.

Fourth Embodiment A fourth embodiment will be described with reference to FIGS. 12 and 13. FIG. 12 is a schematic diagram of an operation display device of the handpiece 1, and FIG. FIG. The operation display device of the handpiece 1 of this embodiment is also a device suitable for use in cutting treatment of teeth or jaw bone cutting treatment when using an implant. The operation display device is provided in the object shape storage means 13 shown in the first embodiment. Instead, the object 4 to be cut by the patient, such as the tooth or jaw bone to be cut by the cutting tool 3.
1 is provided with a three-dimensional shape measuring device 51 (corresponding to a workpiece shape measuring means) for measuring a three-dimensional shape.

The operation display device of the handpiece 1 includes a three-dimensional position including the inclination angle of the cutting tool 3 calculated and measured by the cutting tool position calculating means 12 and a three-dimensional shape measuring device 5.
1 combines the three-dimensional shape of the workpiece 41 to be measured and outputs it to the monitor device 7. That is, as shown in FIG. 13, the cutting element 3 is combined with the three-dimensional shape of the workpiece 41 and displayed on the monitor device 7. For this reason,
Even in a part where the healer cannot visually recognize,
Can be cut, and the treatment accuracy can be improved. In addition, by enlarging and displaying the main part of the cutting by the image enlarging means 21, it is possible to perform treatment with higher accuracy.

As an example of the three-dimensional shape measuring device 51, an MRI device, a CT device or the like can be used, but it is preferable to use an MRI device so that a patient or an operator is not exposed. When performing a treatment using an MRI apparatus, the measurement accuracy of the three-dimensional shape of the workpiece 41 may be increased by using a contrast agent. In addition, the monitor device 7 may be arranged near the patient, or the monitor device 7 may be provided in the form of glasses and provided so as to be virtually displayed to the operator.

[Modification] Handpiece 1 of the above embodiment
In the operation display device, measurement results such as the movement locus of the surface of the cutting element 3 calculated by the cutting locus calculating means 15, the cutting shape calculated by the cutting shape calculating means 16, or the formed defect shape calculated by the defect shape calculating means 17 are shown. And a display function for redisplaying the measurement results stored in the measurement data storage means on the monitor device 7 and a combined display function for combining and displaying a plurality of measurement results. May be.

As a means for storing the external shape of the tooth model 2 by the object shape storage means 13, the shape of the tooth model 2 is measured using a three-dimensional shape measuring device, and the measurement result is stored. As a probe, the shape of the tooth model 2 may be measured by tracing the tooth model 2 with the cutting element 3 and the measurement result may be stored.

In the above-described embodiment, an example in which one start hole 19 is provided as a means for positioning the cutting element 3 has been described. However, two or more start holes may be provided, or a recess, a marking, or the like may be used instead of a hole. Other positioning portions may be provided. In the above embodiment, the cutting tool 3 is provided so as to be displayed on the monitor. However, the movement of the handpiece 1 may be provided so as to be displayed on the monitor. In this case, it is preferable that the start position of the handpiece 1 is determined.

In the above embodiment, the movement of the handpiece 1 is detected optically or by an encoder provided in the handpiece 1. However, the handpiece 1 is provided with a radio wave generator (for example, an electromagnetic radiation device). The movement of the handpiece 1 is detected by attaching and detecting the position of the generation source with a receiving device arranged around, or a resonator (for example, an LC resonator) is attached to the handpiece 1, and the position of the resonator is set to the surrounding area. The movement of the handpiece 1 may be detected by catching the signal with the signal transmitting / receiving device arranged in the.

The movement of the handpiece 1 or the movement of the cutting element 3 may be detected by using the ESR.
When the movement of the handpiece 1 or the movement of the device under test 41 is optically detected using the light spot, heterodyne detection or a phase conjugate element may be used to remove optical distortion. .

When heterodyne detection is performed on light spots for measurement, the light spots are arranged in a plurality of lines, curves, and planes,
It may be provided that each light spot is detected by one or more heterodyne detection devices. In this case, as a means other than detecting the movement of the handpiece 1 or the movement of the DUT 41 from the shape or position based on the positional relationship between the light spots, the light spots are provided so as to emit at different frequencies, and are specified. It may be provided so as to detect the position of the specific light spot by the light spot of the wavelength, and to detect the movement of the handpiece 1 or the movement of the DUT 41 from the positions of the plurality of specific light spots. It is provided to detect the position of the specific light spot by applying different amplitude modulation or frequency modulation to the light spot, and to detect the movement of the handpiece 1 or the movement of the DUT 41 from the positions of the plurality of specific light spots. May be provided.

The end of the optical fiber is used as an example for obtaining a light spot for measurement. The fluorescent substance is covered with a cover such as a container or a cover, and a part of the cover is provided with an emission portion for emitting light to the outside.
Light emitted from the emission unit may be used as a light spot. That is, for example, as shown in FIG. 14, at a plurality of locations of the cover 61, a measurement element 43 having an emission portion 62 that emits light of the internal fluorescent substance is provided, and this measurement element 43 is attached to the handpiece 1. Alternatively, one or a plurality of light sources are attached to the DUT 41, and the light emitted from each of the emission units 62 is used as a light spot. You may provide so that a motion may be detected. The cover 61 shown in this example may be provided with a light-impermeable material. However, the cover 61 may be provided with a material that transmits only light of a specific wavelength such as ultraviolet light, and may be irradiated with light of a specific wavelength from outside the cover 61. Alternatively, the light may be provided so that the specific wavelength light excites the fluorescent substance in the cover 61 and causes the fluorescent substance to emit light. Further, other light emitting substances such as a phosphorescent substance may be used instead of the fluorescent substance.

The monitor 7 may be provided so as to display whether or not the cutter 3 is operating. The display method may be such that at least a part of the monitor display color is changed, such as by changing the monitor display color of the cutting tool 3, or characters or symbols are displayed on the monitor. By displaying the operation of the cutting tool 3 on the monitor device 7, it is possible to provide guidance on the exact operation time of the cutting tool 3.

When the apparatus of the present invention is used for cutting treatment of teeth, jaw bones, and the like, as shown in the third and fourth embodiments, a three-dimensional shape measuring apparatus (MRI apparatus, CT apparatus, etc.) is used to cover teeth and the like. The three-dimensional shape of the cut object 41 is measured, and the cut object 41 is measured.
Is displayed on the monitor device 7 and the navigation of the treatment is performed. At this time, the workpiece 4 measured by the three-dimensional shape measuring device based on the diagnostic information on the occlusal position, caries, etc.
1, the cutting range is determined in advance, cutting treatment is performed, and when cutting is performed beyond the determined cutting range, the effect is visually and visually indicated.
Alternatively, the electric circuit 5 (for example,
(A computer program).

More specifically, in the case of treating the object 41 shown in FIG. 15A, for example, when there is caries at the α position, first, the object 41 is measured by the three-dimensional shape measuring device. I do. Then, for the measured workpiece 41, the cutting range α1 is determined by the controller 6 or the like as shown in FIG. The cutting range α1 is displayed on the monitor device 7 in a predetermined color (for example, light blue). Further, the area α2 not to be cut is displayed on the monitor device 7 in another predetermined color (for example, green). Furthermore, it is set so that another predetermined color (for example, red) is displayed when the non-cut range α2 is cut. Then, as shown in the third and fourth embodiments, the operator can easily perform the cutting treatment using the monitor device 7, so that the operator can easily grasp the cutting range α1 and perform the accurate treatment. it can. By using this treatment device, advanced treatment can be easily performed. FIG. 15B shows an example in which the pulp is also displayed in a predetermined color (for example, yellow). In addition, the cutting distance to the pulp is displayed in lightness or saturation of the color when removing the pulp or removing foreign matter such as the cutting tooth from the root canal, so that the perspective of the target cutting part can be seen. It may be displayed so as to be given to the surgeon.

In the above embodiment, the missing shape calculating means 17
Is the workpiece 41 stored in the workpiece shape storage means 13
Although the simple example of finding the formation defect shape which is the intersection of the shape of the cutting shape and the cutting shape obtained by the cutting shape calculation means 16 has been described, the storage of the work piece shape storage means 13 when used as a cutting treatment device is described. The shape of the object 41 to be cut is assumed to be the expected shape after the treatment, for example, as shown in FIG. Then, as shown in FIG. 16 (b), when cutting treatment is performed, the formation defect shape calculated by the defect shape calculation means 17 becomes unnecessary data (burr, necessary data) as shown in FIG. 16 (c). The data of the movement of the cutting element 3 outside the cutting 41 is removed, and the shape of the crown restoration is directly obtained. The crown restoration may be created by operating the three-dimensional cutting machine based on the shape of the crown restoration (formation loss shape calculated by the loss shape calculation means 17).

After the shape of the crown restoration is calculated, the actually cut shape and the calculated shape of the crown restoration may be matched and confirmed on the screen. Specifically, the three-dimensional shape of the tooth after cutting is measured with a three-dimensional shape measuring device (MRI device, CT device, etc.), and the measured image is matched with the calculated shape of the restored crown restoration. Is also good. As a matching example, the matching may be performed manually on the monitor device 7 or a screen displaying the virtual space, or the matching may be performed automatically or semi-automatically by a well-known matching means (for example, pattern matching).

FIG. 17 (a) shows a real image in which the workpiece 41 is actually cut by the cutting tool 3, and FIG.
FIG. 7B shows a formed defect shape (virtual image) calculated by the electric circuit 5 (for example, a computer).

Here, an example will be described in which the shape of the workpiece 41 stored in the workpiece shape storage means 13 is an expected shape after treatment. A three-dimensional shape measuring device (MRI device, CT device, etc.)
Then, the three-dimensional shape of the object 41 is corrected to the expected shape after the treatment by using a correction program programmed in the computer of the controller 6 or the electric circuit 5. The corrected three-dimensional shape is stored in the workpiece shape storage means 13. Alternatively, a number of predicted shapes are input to the computer of the electric circuit 5, the closest shape is selected from the data, and stored in the work shape storage unit 13. The selection means may be provided so that the workpiece 41 is traced by the cutting tool 3 to read the schematic shape of the workpiece 41 and automatically select the closest shape data.

In the above, an example in which the cutting shape is measured based on the shape of the cutting tip 3 and the movement data of the cutting tip 3 has been described. Is input, and a cutting pattern closest to the cutting shape according to the movement locus of the cutting element 3 is selected from the cutting patterns, and the cutting shape according to the movement locus of the cutting element 3 and the selected cutting pattern are determined. In comparison, it may be provided to predict data that cannot be determined only by the movement locus of the cutting tool 3.

More specifically, as shown in FIG. 18, a cutting pattern closest to the cutting shape is selected from the pattern storage means β1 for storing a large number of typical cutting patterns. This selection may be manually set by the controller 6 as shown by a solid line, or the cutting shape read by tracing the cutting shape applied to the workpiece 41 with the cutting tool 3 as shown by a broken line,
The closest cutting pattern may be automatically selected. In addition, pattern matching may be performed using an expression that is approximated by a linear expression or a macro-Lin series, a Taylor series, or a Fourier series, or may be performed using a 3D spline / beju function. Further, a correction may be made by embedding or shaving the pattern image, or the pattern image may be morphed or zoomed. Then, the unnecessary data predicting means β2 compares the selected cutting pattern with the formed defective shape calculated by the defective shape calculating means 17 to calculate unnecessary data.
As a result, unnecessary data is removed from the formed defective shape calculated by the defective shape calculating means 17, and an accurate cut shape can be obtained.

The unnecessary data prediction means β 2
The following predictions are possible: For inlays I, II, II
For all I, IV, and V classes, it is possible to predict the margin (edge) based on the turn-back portion of the locus data. In the class II, marginal ridges and contact points due to the shape of neighboring teeth can be predicted. Further, in each class, the shape after restoration can be predicted (particularly, class IV). In the case of a crown, in the case of full coverage, the shape after repair can be predicted. In the case of partial covering, the shape of the margin can be predicted by folding back, and the shape after restoration can be predicted.

In a veneer, a repaired shape including a cut end and a prosperity, which is a shape after repair, can be predicted, for example, by giving a predetermined thickness depending on an adjacent shape or a shape after cutting. In the core shape, an undercut shape depending on the drawing direction can be predicted. Further, the shape such as the margin of the core shape can be predicted by referring to the turn of the upper part of the crown. In implant hole formation and groove formation, the edge of the lower structure can be predicted by inputting the shape of the ridge. With the root canal filling, the upper shape of the root canal can be predicted by measuring the intramedullary cavity shape in the crown. In the case of a bone filling material that fills a site that has been lost by a surgical operation (such as tooth extraction), the shape of the periphery and its surroundings can be predicted based on the shape of the bone after repair. Note that a learning function may be added to increase the prediction accuracy.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of an operation display device of a handpiece (first embodiment).

FIG. 2 is an explanatory view showing a cutting state of a tooth model (first example).
Example).

FIG. 3 is an explanatory diagram of an image displayed on a monitor device (first embodiment).

FIG. 4 is an explanatory view of a handpiece sensor (first embodiment).

FIG. 5 is an explanatory view of a handpiece sensor (first embodiment).

FIG. 6 is a schematic diagram of a handpiece operation display device (second embodiment).

FIG. 7 is an explanatory diagram of an image displayed on a monitor device (second embodiment).

FIG. 8 is a schematic view of an operation display device of a handpiece (third embodiment).

FIG. 9 is an explanatory view showing a state in which a measuring element is mounted on a tooth, which is an example of a cutting element (third embodiment).

FIG. 10 is an explanatory diagram of an image displayed on a monitor device (third embodiment).

FIG. 11 is an explanatory diagram of an image displayed on a monitor device (third embodiment).

FIG. 12 is a schematic view of an operation display device of a handpiece (fourth embodiment).

FIG. 13 is an explanatory diagram of an image displayed on a monitor device (fourth embodiment).

FIG. 14 is a perspective view of a measurement element (modification).

FIG. 15 is a view showing a tooth to be treated (cutting object) and a cutting object displayed on a monitor device (modification).

FIG. 16 is an operation explanatory view (modification).

FIG. 17 is an operation explanatory view (modification).

FIG. 18 is a block diagram of a main part of an electric circuit (modification).

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Handpiece 2 Tooth model (cutting object) 3 Cutting piece 4 Handpiece sensor (handpiece position detecting means) 7 Monitoring device 11 Cutting piece shape storing means 12 Cutting piece position calculating means 13 Cutting piece shape storing means 14 Video output Means 15 Cutting locus calculating means 16 Cutting shape calculating means 17 Defect shape calculating means 41 Workpiece 51 Three-dimensional shape measuring device (Workpiece shape measuring means)

Claims (9)

[Claims] 1. A handpiece position detecting means for detecting a three-dimensional position including a tilt of a handpiece on which a cutting element is mounted, and based on the three-dimensional position of the handpiece detected by the position detecting means. Cutting element position calculating means for calculating a position including the inclination of the cutting element; cutting object shape storage means for storing a three-dimensional shape of the cutting object cut by the cutting element; a monitor device for displaying an image; Image output means for combining the image of the cutting tool calculated by the cutting tool position calculation means with the image of the work piece stored in the work piece shape storage means and outputting the combined image to the monitor device. Operation display device for handpiece. 2. The operation display device for a handpiece according to claim 1, further comprising: cutting path calculating means for calculating a three-dimensional trajectory of said cutting element detected by said cutting element position calculating means; The moving trajectory image of the cutting tool calculated by the cutting trajectory calculating means and the shape image of the workpiece stored in the workpiece shape storage means are combined and output to the monitor device. Operation display device for handpiece. 3. The operation and display device for a handpiece according to claim 1 or 2, wherein a cutting tool shape storage means for storing a shape of the cutting tool, and a cutting tool position detected by the cutting tool position calculating means. A cutting path calculating unit configured to calculate a moving path of the surface of the cutting element from a three-dimensional path and the shape information of the cutting element stored in the cutting element shape storage unit; A handpiece characterized in that a moving trajectory image of the cutting element surface calculated by a calculating means and a shape image of the workpiece stored in the workpiece shape storage means are synthesized and output to the monitor device. Operation display device. 4. The operation and display device for a handpiece according to claim 3, wherein the cutting trajectory calculated from the cutting trajectory calculation means is the outermost trajectory shape of the surface trajectory of the cutting tool. Cutting shape calculation means for obtaining a shape, and a defect shape calculation means for obtaining a formed defect shape that is an intersection of the cutting object shape stored in the cutting object shape storage means and the cutting shape obtained by the cutting shape calculation means, The operation display device for a handpiece, characterized in that the shape of the workpiece stored in the workpiece shape storage means is updated by removing the formed defective shape obtained by the defective shape calculating means. 5. The operation display device for a handpiece according to claim 4, wherein said image output means is provided so as to be able to output a shape image of a formed defect shape obtained by said defect shape calculation means to said monitor device. An operation display device for a handpiece. 6. The operation display device for a handpiece according to claim 1, wherein a plurality of said handpieces are used, and a three-dimensional position of said cutting element surface in each of said handpieces is determined. The handpiece position detecting means and the cutting piece position calculating means calculate separately, and the image output means forms a composite image of the image of each of the cutting pieces and the shape image of the workpiece with one monitor device. An operation display device for a handpiece, wherein the operation display device is provided so as to be separately displayed on a screen of the handpiece. 7. A handpiece position detecting means for detecting a three-dimensional position including a tilt of a handpiece on which a cutting element is mounted, and based on the three-dimensional position of the handpiece detected by the position detecting means. Cutting element position calculating means for calculating a position including the inclination of the cutting element, cutting object shape measuring means for measuring a three-dimensional shape of the cutting object cut by the cutting element, and a monitor device for displaying an image Image output means for combining the image of the cutting tool calculated by the cutting tool position calculation means with the image of the work piece measured by the work piece shape measurement means and outputting the combined image to the monitor device. Operation display device for handpiece. 8. The operation display device for a handpiece according to claim 7, further comprising a cutting tool shape storage means for storing a shape of the cutting tool, and wherein the video output means includes a cutting tool stored in the cutting tool shape storage means. An operation display device for a handpiece, wherein an image of a shape of a child is synthesized with an image of the object to be cut. 9. The operation display device for a handpiece according to claim 1, wherein said video output means is capable of enlarging and displaying a part of a video image displayed on a screen of said monitor device. An operation display device for a handpiece, which is provided.