Medical support device
A medical support device includes an arm having a drill attached at a tip part of the arm, a first position obtainer obtaining a representative position of the drill attached to the arm, a second position obtainer obtaining a bury start position, and a controller. The controller controls the arm and applies a burying reaction force to the drill in a burying direction, i.e., a direction from the bury start position to an inside of a implant area, when the representative position of the drill obtained by the first position obtainer is at the inside of the implant area relative to the bury start position.
1. A medical support device comprising:
an arm having a drill that is attached at a tip part of the arm;
a first position obtainer configured to obtain a representative position of the drill attached to the arm;
a second position obtainer configured to obtain a bury start position of a jawbone, the bury start position defining an oral inside edge of an implant area that is a part of the jawbone for accepting an implant body buried in the jawbone; and
a controller configured to control the arm to apply a burying reaction force to the drill, the burying reaction force applied in an opposite direction relative to a burying direction of the implant body into the implant area of the jawbone, when the representative position of the drill obtained by the first position obtainer is at an inside of the implant area relative to the bury start position obtained by the second position obtainer, wherein
the controller calculates a magnitude of the burying reaction force by multiplying a displacement amount of the representative position of the drill from the bury start position to the inside of the implant area by a predetermined spring modulus.
2. The medical support device of claim 1 further comprising:
a force detector disposed at the tip part of the arm and configured to detect a force applied to the drill, wherein
the controller controls the arm to apply the burying reaction force to the drill, when the force detector detects a force in a direction from the bury start position to the inside of the implant area.
3. The medical support device of claim 2 , wherein
the controller applies a greater burying reaction force to the drill, as the force detected by the force detector that forces an object from the bury start position to the inside of the implant area increases.
4. The medical support device of claim 1 , wherein
the second position obtainer repeatedly obtains the bury start position, and
the controller has a safety controller configured to perform a safety control to improve safety of a dental implant treatment, when an amount of change of the bury start position after repeatedly obtaining the bury start position is greater than a preset standard amount.
5. The medical support device of claim 4 , wherein
the safety controller stops, as the safety control, a drive of the arm in a direction from the bury start position to the inside of the implant area.
6. The medical support device of claim 4 , wherein
the safety controller increases, as the safety control, the burying reaction force.
7. A medical support device comprising:
an arm having a drill that is attached at a tip part of the arm;
a first position obtainer configured to obtain a representative position of the drill attached to the arm;
a second position obtainer configured to obtain a bury start position of a jawbone, the bury start position defining an oral inside edge of an implant area that is a part of the jawbone for accepting an implant body buried in the jawbone; and
a controller configured to control the arm to apply a burying reaction force to the drill, the burying reaction force applied in an opposite direction relative to a burying direction of the implant body into the implant area of the jawbone, when the representative position of the drill obtained by the first position obtainer is at an inside of the implant area relative to the bury start position obtained by the second position obtainer, wherein
the controller calculates a magnitude of the burying reaction force as a sum of a first multiplication result and a second multiplication result, wherein
the first multiplication result is a product of a displacement amount of the representative position of the drill from the bury start position to the inside of the implant area and a predetermined spring coefficient, and wherein
the second multiplication result is a product of a derivative of the displacement amount with respect to time and a predetermined damping coefficient.
8. The medical support device of claim 7 further comprising:
a force detector disposed at the tip part of the arm and configured to detect a force applied to the drill, wherein
the controller controls the arm to apply the burying reaction force to the drill, when the force detector detects a force in a direction from the bury start position to the inside of the implant area.
9. The medical support device of claim 8 , wherein
the controller applies a greater burying reaction force to the drill, as the force detected by the force detector that forces an object from the bury start position to the inside of the implant area increases.
10. The medical support device of claim 7 , wherein
the second position obtainer repeatedly obtains the bury start position, and
the controller has a safety controller configured to perform a safety control to improve safety of a dental implant treatment, when an amount of change of the bury start position after repeatedly obtaining the bury start position is greater than a preset standard amount.
11. The medical support device of claim 10 , wherein
the safety controller stops, as the safety control, a drive of the arm in a direction from the bury start position to the inside of the implant area.
12. The medical support device of claim 10 , wherein
the safety controller increases, as the safety control, the burying reaction force.
13. A medical support device comprising:
an arm having a drill that is attached at a tip part of the arm;
a first position obtainer configured to obtain a representative position of the drill attached to the arm;
a second position obtainer configured to obtain a bury start position of a jawbone, the bury start position defining an oral inside edge of an implant area that is a part of the jawbone for accepting an implant body buried in the jawbone; and
a controller configured to control the arm to apply a burying reaction force to the drill, the burying reaction force applied in an opposite direction relative to a burying direction of the implant body into the implant area of the jawbone, when the representative position of the drill obtained by the first position obtainer is at an inside of the implant area relative to the bury start position obtained by the second position obtainer, wherein
the controller calculates a magnitude of the burying reaction force as a sum of a first multiplication result, a second multiplication result, and a third multiplication result, wherein
the first multiplication result is a product of a displacement amount of the representative position of the drill from the bury start position to the inside of the implant area and a predetermined spring coefficient, and wherein
the second multiplication result is a product of a first derivative of the displacement amount with respect to time and a predetermined damping coefficient, and wherein
the third multiplication result is a product of a second derivative of the displacement amount with respect to time and a mass of the drill.
14. The medical support device of claim 13 further comprising:
a force detector disposed at the tip part of the arm and configured to detect a force applied to the drill, wherein
the controller controls the arm to apply the burying reaction force to the drill, when the force detector detects a force in a direction from the bury start position to the inside of the implant area.
15. The medical support device of claim 14 , wherein
the controller applies a greater burying reaction force to the drill, as the force detected by the force detector that forces an object from the bury start position to the inside of the implant area increases.
16. The medical support device of claim 13 , wherein
the second position obtainer repeatedly obtains the bury start position, and
the controller has a safety controller configured to perform a safety control to improve safety of a dental implant treatment, when an amount of change of the bury start position after repeatedly obtaining the bury start position is greater than a preset standard amount.
17. The medical support device of claim 16 , wherein
the safety controller stops, as the safety control, a drive of the arm in a direction from the bury start position to the inside of the implant area.
18. The medical support device of claim 16 , wherein
the safety controller increases, as the safety control, the burying reaction force.