JP4543287B2 - Cleaning device - Google Patents

Description

  The present invention is particularly suitable for use in the field of dentistry. It cleans an object, detects its action in a three-dimensional space, including changes over time, gives an appropriate torque to the tip, and provides necessary medical information from the tip. An apparatus and a method characterized by obtaining.

  There are handpieces for cutting and polishing teeth, air pressure called a turbine, or equipment that mechanically transmits power from the outside.

In the conventional handpiece, the tip cutting element movement due to its gripping part mechanism or power transmission mechanism, etc. has defects in contact pressure and torque control in cutting, polishing and cleaning, and very fine cutting, polishing and cleaning movement Etc. are difficult,
In addition, since mechanical power is introduced from the outside, the machine is large and complicated, and if it is cut, the purpose is limited to the purpose of cutting, and its application is limited. There was no information gathering function for diagnosis.
Accordingly, the present invention has been made in view of the above circumstances, and an object thereof is to provide an apparatus and a method capable of performing treatment, repair, diagnosis, and prevention with high accuracy and fineness with no excess or deficiency.

The cleaning device of the present invention employs the following technical means.
1 [Means of Claim 1]
And a cleaning element for cleaning the teeth,
An electric linear actuator that reciprocally drives the cleaner in a linear direction;
A drive circuit for controlling energization of the linear actuator;
And a position detecting means for detecting the position of the cleaning element.
2 [Means of claim 2]
In the cleaning apparatus in Claim 1,
The position detecting means includes position shape detecting means for detecting the position of the cleaning element accompanied by the shape of the cleaning element.
3 (Means of claim 3)
The cleaning device according to any one of claims 1 and 2,
The position detection means or the position and position and shape of the cleaning element obtained by the position shape detection means is provided with combining means for combining the shape information of the object to be cleaned.

4. Means of the Old Claim The cutting polishing cleaning treatment apparatus according to claim 1 is provided with at least one first magnetic field generating means at the tip of a gripping part to be gripped by a finger, and at least one first magnetic field generating means is further provided inside the magnetic field generating means. It is adopted that two second magnetic field generating means are provided, and an effector or a leading terminal for cutting, polishing, cleaning, diagnosis, treatment, etc. is provided on the end of the second magnetic field generating means or on the extension or inside or inside thereof.

[Means of claim 2]
The cutting / polishing / cleaning / treatment apparatus according to claim 2 is the cutting / polishing / cleaning / treating apparatus according to claim 1, wherein either one of a supply means for supplying various chemical solutions or a suction means for a substance stored in a tissue such as a pathogenic substance, It is characterized by having both.

[Means of claim 3]
The cutting / polishing / cleaning treatment apparatus according to claim 3 is the cutting / polishing / cleaning / treating apparatus according to claim 1 or 2, wherein the first and / or second magnetic field generating means installed at the tip thereof is either or both of them. A cooling means for passing the cooling medium is provided, and both or one of the two means is adopted for the tip portion injection means for injecting the passed cooling medium from the tip or the circulating means for circulating the cooling water.

[Means of claim 4]
The cutting / polishing / cleaning treatment apparatus or the method thereof according to claim 4 is the cutting / polishing / cleaning / treating apparatus according to any one of claims 1 to 3, wherein AC power is supplied to either or both of the first and second magnetic field generating means. Then, the position or shape of the tip magnetic field generating means is measured by the alternating electromagnetic field generated thereby, or treatment or health promotion is adopted.

[Means of claim 5]
The cutting / polishing cleaning treatment apparatus or the method thereof according to claim 5 is the cutting / polishing / cleaning treatment apparatus according to any one of claims 1 to 4, wherein a predetermined amount of power is supplied to the first or second magnetic field generating means for a predetermined time. Accordingly, a displacement detecting means for measuring the displacement or pressure of the movable or stationary internal magnetic field generating means and / or a measuring method for measuring the displacement or pressure by either or both of the pressure detecting means is adopted.

1 [Means of Claim 1]
And a cleaning element for cleaning the teeth,
An electric linear actuator that reciprocally drives the cleaner in a linear direction;
A drive circuit for controlling energization of the linear actuator;
It is characterized by comprising a position detecting means for detecting the position of the cleaning element,
You can see the position of the cleaning element .

2 [Means of claim 2]
In the cleaning apparatus in Claim 1,
Since the position detection means comprises a position shape detection means for detecting the position of the cleaning element with the shape of the cleaning element,
The position with the shape of the cleaning element can be seen .

3 (Means of claim 3)
The cleaning device according to any one of claims 1 and 2,
Since it comprises a combining means for combining the position or position and shape of the cleaning element obtained by the position detecting means or the position shape detecting means with the shape information of the object to be cleaned,
The position (which may be accompanied by the shape) of the object to be cleaned such as a tooth and a toothbrush and the cleaning element is known .





Action and Effect of Old Claim [Action and Effect of Claim 1]
The cutting and polishing cleaning treatment apparatus according to claim 1 is the cutting and polishing cleaning treatment apparatus according to claim 1, wherein at least one first magnetic field generating means is provided at a tip of a gripping part to be gripped by a finger, and inside the magnetic field generating means. Further, provided with at least one second magnetic field generating means, cutting, polishing on the end of the second magnetic field generating means or on the extension or inside or inside,
By adopting the effector or tip terminal for cleaning, diagnosis, treatment, etc., the movement of the conventional pure mechanical awkward tip terminal is fine in this method,
Fine cleaning with a very supple and smooth touch is possible. Moreover, as a treatment, the effect of either or both of vibration and dynamic magnetic field application to the tissue can be imparted by vibration or dynamic magnetic field generated from the above structure.

[Operation and effect of claim 2]
The cutting / polishing / cleaning / treatment apparatus according to claim 2 is the cutting / polishing / cleaning / treating apparatus according to claim 1, wherein either one of a supply means for supplying various chemical solutions or a suction means for a substance stored in a tissue such as a pathogenic substance, It is characterized by having both, so it can penetrate the site where the penetration of the drug such as the interdental part is difficult, and the drug can be supplied while removing the barrier due to bacterial flora such as plaque, so the drug effect is higher Become.

[Operation and effect of claim 3]
The cutting / polishing / cleaning treatment apparatus according to claim 3 is the cutting / polishing / cleaning / treating apparatus according to claim 1 or 2, wherein the first and / or second magnetic field generating means installed at the tip thereof is either or both of them. Since the cooling means for passing the cooling medium is provided, and the tip end injection means for injecting the passing cooling medium from the tip or the circulating means for circulating the cooling water, either or both of them is adopted, so the leading terminal has a large force. In some cases, water can be poured into the object to be cut, polished, and cleaned, and can also serve as a heater for the temperature of the poured water.

[Operation and effect of claim 4]
The first or second magnetic field generating means according to claim 4 generates an AC electromagnetic field by supplying AC power to both or either of them, and thereby measures the position and shape of the magnetic field generating means. In addition, the generated electromagnetic field can provide treatment such as blood circulation promotion and health promotion effect.

[Operation and effect of claim 5]
The first or second magnetic field generation means according to claim 5 measures the displacement or pressure of the movable or stationary second magnetic field generation means by supplying a predetermined amount of power to either or both for a predetermined time. Either or both of the displacement detection means and the pressure detection means can be measured.

Next, the cutting and polishing cleaning treatment apparatus of the present invention will be described based on the embodiment shown in FIGS. 1 to 10 or a modification.
[Configuration of Example]

The first example presents use as a cleaning tool. FIG. 1 shows a view of a work site around a grip portion of the cleaning device in the first embodiment. This includes a gripping part 1 gripped by a finger, a coil 2 serving as a first magnetic field generating means, a permanent magnet 3 serving as a second magnetic field generating means, and a main shaft 4 provided inside the permanent magnet. And a tip terminal 5 temporarily attached to the end of the main shaft.

Here, the coil of the first magnetic field generating means is provided at the tip of the gripping part gripped with fingers, and a permanent magnet that is linearly movable by providing a slidable main shaft 4 is provided on both sides of the tip of the gripping part. It is supported by a stopper 8 that also serves as a support for the main shaft and can move up and down. The vertical movement is a stopper 8a provided at the limit part.
, B, the movement is controlled. In this embodiment, a method of using a permanent magnet for the stopper is disclosed, but an elastic body such as a spring, rubber or hard plastic, or a rigid body-like substance such as ceramics may be used. Here, the inner side of the stopper of the stopper 8a, that is, the second magnetic field generating means (permanent magnet) 3 side is the S pole, and the inner surface of the stopper 8b is the N pole. Are positioned so that the S pole b side is the N pole and repel each other. At this time, the stopper magnet 8a,
The magnetic circuit determined by 8b and the permanent magnet 3 has its own mechanical resonance frequency. This is the magnetic circuit resonance frequency. On the other hand, in the case of an elastic body or a rigid body, the mechanical resonance frequency is made of the mechanical impedance. Which one is used is determined by the cleaning effect and feel. Further, it may be driven by avoiding various resonances.

When AC power is supplied to the coil 2 from the power supply means of FIG. 2, the permanent magnet 3 moves up and down as will be described later, and the movement of the permanent magnet 3 is transmitted through the main shaft 4 to move up and down. Here, the tip 5 is a triangular pyramid-like elastic chip. In addition, a capacitor for matching to the same resonance frequency as the magnetic circuit resonance frequency is provided outside or inside the coil so as to resonate in parallel. This is the electric circuit resonance frequency. This capacitor increases or decreases the capacity in synchronization with the movement cycle of the tip. Depending on use, it may be fixed or unnecessary.

Here, the magnetic field generating means 2, that is, the case where there is one coil 2 will be described in the first embodiment. When the start pulse is applied to the coil 2 by the power supply means in FIG. 2, the magnet 3 moves upward in the figure, that is, moves in the direction in which the tip terminal retracts. At this time, an electric magnet may be installed on the stopper 8 on one side, and this may be used as a part of the first magnetic field generating means to operate more reliably, or the first magnetic field generating means may be provided on both sides as shown in FIG. May be installed. At the same time when the pulse is released, the sinusoidal AC power corresponding to the above-described magnetic circuit resonance frequency and corresponding to the damping energy of this damping vibration is shown in FIG.
It is supplied by the power supply means. Similarly, a start pulse is issued even at a high load such as when an overload is applied to stop, and then a sine wave-like or pulse power is supplied to maintain a steady state. Here, the motion state may be detected by a back electromotive force circuit to perform phase adjustment or amplitude adjustment. The back electromotive force detection circuit may be a time division method or a continuous method. Further, a dynamic magnetic field generating means may be provided to either one or both of the stoppers 8 to perform phase adjustment or amplitude adjustment. Also,
A combination thereof may be used. Further, in the neutral state, the magnetic center of the first magnetic field generating means and the magnetic center of the second magnetic field generating means may be spatially and temporally shifted by a stopper 8 as a magnet or matched. You can leave it. There are various examples of driving methods such as etc., but these are selected and used in a timely manner.

In this way, the tip terminal 5 in a steady motion state is pressed against the tooth and mechanical motion loss, that is, pressure is generated, thereby causing power loss or periodic disturbance such as ripple. These changes are detected by the back electromotive force detection means of FIG. 2, and power adjustment for correcting the changes is fed back by the power adjustment means, and predetermined power for steady motion is obtained by the power adjustment means (FIG. 2). The power supply means shown in FIG. 2 is superimposed on the supply adjustment signal. As a result, the power to the coil 2 is adjusted, and cleaning can be performed with a certain period, pressure, torque, and the like. Further, when a back electromotive force of a level generated when the front terminal becomes a pressure not suitable for cleaning is generated, the power adjusting means immediately sends a stop signal to the power supply means in FIG. 2, and the destination terminal stops. If a predetermined sensory curve for obtaining a sense required by the operator is inserted into the power loss and power supply feedback loop in addition to the stop and steady motion, the cleaning pressure can be optimized. Also, the cycle can be optimized by inserting the operator's cleaning cycle curve. These circuits may be manufactured on the basis of a PID circuit, or any circuit that achieves the above-described object.

That is, the pressure is detected using the counter electromotive force from the counter electromotive force detecting means in FIG. 2 as an index with respect to the power supplied to the first magnetic field generating means, or by the difference between the applied electric energy and the counter electromotive force. Since the pressure fluctuation is clarified, it is further coupled with the use of the magnetic field drive power source, so that a finer cleaning effect can be obtained.

In other words, the mechanism that can move the tip in a straight line using a coil for the first magnetic field generating means and a permanent magnet for the second magnetic field generating means is a very supple and flexible movement instead of the conventional pure mechanical awkward movement. A fine cleaning movement with a touch is made, and the pressure or torque is controlled by the time and the torque feedback circuit by the power adjusting means of FIG. 2 by the above-described counter electromotive force feedback, so that the operator feels very good.

On the other hand, the cooling water cooled by a Peltier device or the like from the outside cools the teeth or the tip portion 5 via a three-way syringe or the like. Thereby, it is more effective when the coil 2 or the magnet 3 is cooled (FIG. 9). On the other hand, a path that is the same as or different from the cooling means may be provided to supply various drugs to the tip terminal (FIG. 10). In this case, the spindle 4
The medicine is supplied from the hole provided in either or both of the side surface of the main shaft and the end surface of the main shaft. The number, position, shape, etc. of the holes and drug supply pressure are set as appropriate. Moreover, you may supply a chemical | medical agent to a tip terminal from a water injection hole.

[Effects of Examples]
The cleaning apparatus and method 1 of the present embodiment can perform precise cutting, polishing, cleaning such as the position, movement speed, acceleration, period, amplitude, displacement, pressure, and torque of the tip terminal, so there is no uncleaned part in a short time. All the problems caused by "feel" such as excessive cleaning, that is, prevention of cutting of the healthy part are solved. In addition, when there is a medicine supply means, the medicine can penetrate into a place where the medicine is difficult to reach such as an interdental portion.

[Second Embodiment]

4 and 5 disclose a method in which the coil 2 is a coil from an assembly of a plurality of local coils 12. First, by using multiple coils as shown in FIGS. 4 and 5, the supply lines are increased and the cooling effect from the supply lines is increased. As a result, the supplied power increases and the torque increases. And since the inductance of the coil to drive with respect to one electric power supply means of FIG. 3 reduces, the excessive response of the drive seen from the electric power supply means becomes favorable. Further, since the back electromotive force from each local coil can be monitored by the position detecting means shown in FIG. 3, the position of the magnet 3 can be detected with high accuracy. Therefore, the pressure control is much better than that of a single coil. FIG.
Individual coils 12 are arranged as shown in FIG.

FIG. 3 is a block diagram of a measurement control portion for measuring and controlling the coil 12. Here, the power supply means, the back electromotive force detection means, and the power adjustment means have the same functions as those in FIG. 2 and may be the same control or different controls. When there are a plurality of (two or more) first magnetic field generating means, driving can be performed more easily. As an example, if the magnetic field direction of one of the first magnetic field generating means is the same as the magnetic field direction of the second magnetic field generating means, the first magnetic field generating means operates toward the convergence point of the first magnetic field generating means. To the convergence point of the first magnetic field generating means. Further, one of the first magnetic field generating means may be driven to the second magnetic field generating means reverse magnetic field, or the power may be stopped.
Further, the two first magnetic field generating means may be reversely connected to each other or reversely connected and driven by the same power supply means. In this case, it can be easily driven by a simple sine wave or pulse wave.

In the first embodiment, the power adjusting means is fixed or semi-fixed manually, but in addition to its function, it is also controlled by a signal output from the position adjusting means (FIG. 3).
The position adjusting means detects the back electromotive force from each local coil 12 by the back electromotive force detecting means, and detects the position of the magnet 3 as the second magnetic field generating means from the relative value from each coil. By these mechanisms, various performances such as torque, pressure, tip terminal movement cycle, positioning, or feeling of use by them are significantly increased from those of a single coil. That is, by making the coil 2 a plurality of local coils, higher motion characteristics, advanced positioning position detection, and advanced pressure control are performed, thereby providing a finer contact feeling to the object such as the teeth of the tip 5. Bring.

At this time, when the tip terminal is changed to a thin needle-shaped tip terminal, the position adjustment means (FIG. 3) sets a threshold value to the back electromotive force value detected by the back electromotive force detection means (FIG. 3). If the position adjustment means (Fig. 3) is set so that it stops when the pressure reaches a certain level, the mechanism is restricted from exceeding a certain level of pressure. Therefore, it is possible to perform pocket measurement with high accuracy in each tooth.

At this time, the tip terminal is used as a tip terminal for tooth punching, pulsed power is supplied to the tip terminal, impact force is added like a hammering, and both back electromotive force and supply power are measured. Using the pressure detection mechanism based on it, tooth mobility can be measured. Conversely, if the displacement amount or displacement force from the tip terminal is detected by the position detection means (FIG. 3) at this time, the position adjustment means (FIG. 3) feeds back and presses against the tooth or the like so that the tip terminal is not displaced. The degree of swaying due to static overload of the teeth is revealed. In addition, using a three-dimensional measuring instrument such as MRI and combining it with a three-dimensional position, it is possible to strike with a constant vector at a constant place even with changes over time with the progress of medical treatment. Can be evaluated with high accuracy.

At the same time, if a tip terminal like root canal cutting such as a reamer or a file is attached to the tip, optimal cutting motion control can be performed through feedback such as pressure or torque, and root canal treatment can be performed accurately. In this case, an accurate root canal treatment can be performed by storing the measuring element of the tip terminal and an object to be cut, such as a tooth, using a three-dimensional measuring instrument such as MRI and combining it with the actual movement of the tip terminal.

Similarly, if the tip terminal is changed to a drill and the power source for rotary cutting is transmitted from the back of this device or from the gripping part and transmitted to the tip terminal mounting part when cutting the implant hole, the optimum entry pressure is applied to the workpiece such as bone. Moreover, it is possible to make a hole with no three-dimensional error.

Similarly, when a syringe needle is attached to the tip terminal and a chemical solution supply means is provided on the opposite side of the attachment means or on the grip portion, injection can be performed with a very small insertion pressure. At this time, if the insertion site is diagnosed and determined in advance by MRI or the like, it is possible to accurately control position control such as insertion of pain points and transmission anesthesia near the mandibular hole, It is possible to perform optimal treatment by controlling the insertion pressure control or the chemical injection rate to this apparatus while measuring the pressure increase of the lesion by MRI and the diffusion of contents when the chemical solution is injected into the lesion.

[Effects of Examples]
The cleaning device and method 1 of this embodiment perform measurement control of the position, motion speed, acceleration, period, amplitude, pressure, torque, etc. of the cutting tool, so that accurate cutting, polishing, and cleaning can be performed, so that it is not possible in a short time. There is no cleaning part, "feel" such as prevention of excessive cleaning, that is, cutting of healthy parts
In addition to further improving the effects of the first embodiment, such as solving all the problems caused by the above, and measuring periodontal pockets, diagnosing sway, etc., injection, radical treatment, treatment of implants, restoration of jaw bones, teeth, etc. Can meet a wide range of requirements.

[Third embodiment]
FIG. 6 is a block diagram showing position detection and display including shape information of the third embodiment.
[Configuration of Example]
3rd Example shows the usage example of the cleaning site | part monitoring as a cleaning apparatus. The working parts such as the gripping part and the tip part of the cleaning device to be used are not changed, and the basic configuration is the same as that of the first embodiment. However, a triangular coil having a cross-sectional shape of FIG. And a block diagram (FIG. 6) position, shape detection synthesis method, and means are adopted.

That is, the position shape of the magnetic field generating means is detected based on the shape stored in advance and the signal by the alternating magnetic field detecting means installed outside using either or both of the first magnetic field and the second magnetic field as an index. As a result, the cleaning position can be further confirmed, so that there is no uncleaned portion that was impossible in the past.

Here, the magnetic field pattern generated by the triangular prism coil of FIG. 7 is received by one or more L arrays (FIG. 8) frequency-adjusted by the frequency adjustment C of FIG.
The image obtained by this detection in FIG. 6), that is, the magnetic field intensity image in FIG. 6 is specific in the spatial position of the coil 2 in the limited gripping portion 1, so that the pre-terminal storage means (FIG. 6) in advance. The three-dimensional position including the shape information of the front terminal 5 can be calculated and detected by the position shape detecting means of FIG. Then, using the shape information of the object to be cleaned stored in the object-to-be-cleaned storage means of FIG. 6, it is synthesized by the synthesizing means (FIG. 6) and displayed to clean the part that cannot be viewed. In this case, the position of the living body to be cleaned and the shape of the cleaning object storage means are aligned using a fixing device that matches the positions of the living body and the tip terminal or means for detecting the position and movement of the living body.

At this time, it may be displayed by superimposing the tooth data measured in advance by MRI or the like, and the shape position information of the living body and / or the shape position information of the main terminal may be displayed at any time by MRI or the like. If it is stored and used in the storage means as needed, the accuracy is further increased.

[Effects of Examples]
The cleaning device of the present embodiment can easily confirm the position of the tip terminal which is impossible by visual observation, and can confirm the cleaning site and the like based on it.

[Modification]
In the above embodiment, a cleaning element is used for the tip terminal, but a cutting element, a polishing element or the like may be used.

In the first embodiment described above, a cylindrical coil is used as the magnetic field generating means. However, the magnetic field generating means such as a polygonal cross-sectional coil such as a triangle as in the third embodiment may be used. Magnetic field generating means such as various shapes of coils may be used without regard to the circle. In addition, a part of a triangle may be an irregular coil such as a part of a cylinder and a part of a quadratic prism. In particular, since anisotropy characteristic to the magnetic field, electric field, and electromagnetic field generated in these cases occurs, it has an excellent feature that the three-dimensional position and shape can be determined by one or more magnetic field generating means at the tip. Further, the same applies to the second magnetic field generating means, and either one or both may be used for three-dimensional position and shape detection. Further, the position and shape in time may be monitored, stored, and displayed.
In this case, there is no particular shape and position detection means on the gripping side, and the third and the second or both of the first and second magnetic field generating means, which are means for generating the movement of the tip terminal, are accompanied by time fluctuations. The original position shape can be detected.

In the second embodiment, all of the multiple coils are used for driving, but some of these coils may be used for detection. The number of coils can be either one,
Any number is acceptable. Moreover, you may install a 1st magnetic field generation means like FIG. Of course, any combination of the magnetic circuits of FIGS. 1, 4, 9 and 10 may be used.

In the above embodiment, a permanent magnet is used as the second magnetic field generating means. However, a magnetic field generating means such as a coil may be used for the second magnetic field generating means. Alternatively, any means may be provided as long as it generates both. The magnetic field generating means may be airtightly packaged and autoclavable. In particular, the second magnetic field generating means may be unitized in units 2, 3, 4, and 8 in FIG. At this time, if the third embodiment is used together, the movement of the plug-in unit can be measured if it is temporarily attached to a living body such as a jaw. In that case, the movement of the living body of the third embodiment may be detected by this.

In the above embodiment, the cooling means is provided around the first magnetic field generating means, but the inside of the coil or the like used as the first magnetic field generating means, that is, the core wire of the coil is formed in a pipe shape and cooling water is passed through the internal cavity. A structure having both a magnetic field generating means and a cooling means such as passing between the wires may be used. In this case, the cooling water may be changed to various liquids having good electrical conductivity.

In the above embodiment, a coil is used as the first magnetic field generating means to energize the coil.
Two wires are used, but one of them may be used by energizing the gripping part. In this case, it is safe if the grip side is the ground side. Moreover, you may cool the holding | grip part side. A further cooling effect is expected compared to the case where the gripping part side is grounded and energized with both or one of the first and second magnetic field generating means.

In the above embodiment, a single magnet is used for the stopper 8, but the surgeon uses the magnetic circuit resonance frequency adjusting coil 12 shown in FIG. 9 around the magnet to adjust the resonance frequency, magnetomechanical impedance, or damping coefficient. A feeling may be raised. Further, if the resonance frequency, damping coefficient, etc. are adjusted in synchronization with the movement of the magnet 3, a large force can be obtained with a small amount of electric power.

In the above embodiment, a linear motion type such as a vertical motion is disclosed, but the first magnetic field generating means may be installed so as to perform a rotational motion. In that case, cutting, polishing, and cleaning may be performed with the linear motion and the rotational motion being independent in time or space, or may be performed simultaneously.

In the above embodiment, the period of reciprocating motion, the amount of displacement or the amount of pressure is detected by the supplied power or the counter electromotive force. However, a displacement gauge or a pressure gauge may be attached to the tip of the gripping part and measured. It may be obtained from a three-dimensional measuring instrument such as In the above embodiment, the counter electromotive force is detected and used as an index of the reciprocating period, displacement amount or pressure amount, but ripple may be measured.

The driving mode of the first or second magnetic field generating means is not limited to the pulse-sine wave waveform, and various waveforms such as a rectangular wave, a pulse drive, and a multi-frequency mixed waveform may be used. In particular, if PID control, PLL control, PWM, or the like is used, the output waveform from the power supply means cannot be specified. Further, any driving method may be used as long as the driving method requested by the operator is used, such as a driving method other than the driving pulse method. Alternatively, a conductive magnet may be used for either one or both of the stoppers 8, and this may be used as the first magnetic field generating means. Further, the first magnetic field generating means of FIG. 1 may be used together, or the first magnetic field generating means may be used alone. Furthermore, it may be used in combination with a permanent magnet or in combination with an elastic body.

A restoration may be calculated from the obtained three-dimensional position and shape information, and restorations such as crowns, inlays, dentures, and implants may be cut out from ceramics, engineering plastics, and the like.

In the above embodiment, the temporary attachment method is used for the tip terminal attaching means, but any device may be used as long as the tip terminal such as a chuck can be attached, and it may be fixed in some cases. A massage jig such as a sphere may be attached to the tip terminal. Furthermore, the vibration or dynamic magnetic field generated from the present apparatus can provide the effects of either or both of vibration and dynamic magnetic field application to the tissue. This can be expected to increase the blood flow in the tissue. In this case, the tip terminal may not be used. At this time, an effector may be better. Of course, the main shaft 4 may be built in the head portion and sealed. In this case, the effector is integrated with the main shaft 4 and becomes an effector such as vibration generation or inertia. Furthermore, a medicine supply means may be installed in these devices.

In the above-described embodiments and the like, only one side of the tip terminal is held and operated, but both sides may be held and operated. As an example of holding the both sides of the tip, a double-side holding mechanism is adopted in which a movable part is installed on both sides or one side of the tip, and one or both sides are used as a means for obtaining power from the magnetic field generating means. You can also fix the both sides of the tip,
The fixed part may be moved by the magnetic field generating means. In this case, the tip terminal is
Located in the center or inside. This structure, like a bowstring, is good for cleaning instruments that clean the interdental area.

It is better to use a material having a resonance frequency that approximates the period of vertical movement of the magnet 3 for the stopper 8 in the above embodiment.

In the above embodiment, the tip of the elastic body is used for the tip terminal, but this may be any shape or material such as a needle-like shape, a saw-like shape or a flea-like shape, or a metal, wood, plastic, ceramics or the like. In addition to cleaning, it may be used for cutting, polishing, treatment, position, shape measurement, and the like.

Any electrical root measuring device may be attached to the front terminal and interlocked.

In the above embodiment, the tip terminal shape and the motion characteristics are shown. However, if the shape of the grip portion is stored in a computer or the like and linked, it can be used for monitoring the shape and motion of the grip portion.

FIG. 9 discloses a method of cooling from the inside. Here, the cooling water cooled by a Peltier element or the like is supplied from the outside through the water supply 7, circulates outside the coil 2, and finally led to the outside through the water injection hole 9 to be injected into the teeth that are the objects to be cleaned.
In the above embodiment, the cooling water is only injected from the tip and the workpiece such as teeth is cooled. However, a circulation injection switching means may be provided to perform injection and / or circulation, or both.

In the above embodiment, an electronic cooling element such as a Peltier element is used for cooling, but other cooling means such as chlorofluorocarbon or ice may be used.

In the above embodiment, although used for dentistry, it is not caught in this field.

In the above embodiment, the frequency adjustment C of the L array is set so that the resonance frequency determined by it is the same, but an L array having a different frequency may be used for each block. In this case, if various shapes of the coils of the magnetic field generating means as the measurement object or their installation positions are provided, measurement at multiple points and multiple positions can be performed simultaneously. In the above embodiment, only the frequency adjustment C of the L array is used, but the signal integration C in the dotted line square in FIG. 6 may be used together with a detector such as a detector diode. In this case, sensitivity and image quality can be adjusted. In the above embodiment, an L array is used, but an antenna may be used.

In the above-described embodiment, the cleaning tip terminal is used. However, the cutting tip or the polishing tip may be used, or the tip terminal may be an interdental brush or a toothbrush type. The shape, material, etc. of the tip terminal are not particularly limited by the operator. Furthermore, the grip portion has been disclosed as a contra type in the above embodiment, but may be any shape such as a straight type. Although the power source is external, a built-in power source or a battery may be used. Furthermore, the medicine supply may be installed at the opposite end of the tip terminal on the main shaft and supplied with medicine or cooling water by a flexible pipe or the like. That is, in this case, the main shaft is hollow. Any supply form may be used as long as the effects are the same. In addition, if the drug supply means or the cooling means is set to a negative pressure by the suction means, pathogenic substances and the like stored locally can be sucked.

The above embodiments may be implemented independently or may be linked. Further, other position detection means such as light and arm may be used in combination.

The cleaning device of the present embodiment can easily confirm the position of the tip terminal which is impossible by visual observation, and can confirm the cleaning site and the like based on it.

Illustration of grip, tip, and tip Block diagram of drive and control means Block diagram of drive and control means Multiple coil block diagram Multiple coil wiring diagram Block diagram of position detection and display including shape information Diagram of triangular prism coil Illustration of L array Figure around the grip with water injection mechanism An example of a medicine supply mechanism or an example of driving means (first and third magnetic field generating means). An example of a straight type cutting polishing cleaning treatment device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Grasping part 2 1st magnetic field generation means 3 2nd magnetic field generation means 4 Main shaft 5 Tip terminal 6 Tip part 7 Power supply line 8 Stopper 9 Water injection hole 10 Water supply 11 Magnetic circuit resonance frequency adjustment coil 12 Multiple coil local coil

Claims (3)

And a cleaning element for cleaning the teeth,
An electric linear actuator that reciprocally drives the cleaner in a linear direction;
A drive circuit for controlling energization of the linear actuator;
And a position detecting means for detecting the position of the cleaning element. In the cleaning apparatus in Claim 1,
The said position detection means is equipped with the position shape detection means which detects the position of the cleaning element accompanying the shape of the cleaning element, The cleaning apparatus characterized by the above-mentioned. In the cleaning apparatus in any one of Claim 1 or Claim 2,
The position detecting means or the position shape detecting means includes a combining means for combining the position or position and shape of the cleaning element obtained by the position detecting means or the position shape detecting means with the shape information of the object to be cleaned. A cleaning device characterized by.

Images