JP2019076461A - Dental observation apparatus and dental medical care apparatus - Google Patents

Abstract

To provide a dental observation apparatus and dental medical care apparatus that are capable of automatically changing a part to be observed in an oral cavity by operation of an operator.SOLUTION: A dental observation apparatus 1 comprises: a frame 10 supported by a supporting arm 3; an endoscope 20 having the base end side held by the frame 10 and the tip side made to be capable of being inserted into an oral cavity; an endoscope moving unit 60 capable of moving the endoscope 20 so that a view field of the endoscope 20 changes; an endoscope operation unit 32 for receiving operation on a change in the view field of the endoscope 20; and an endoscope control unit 82 for controlling the endoscope moving unit 60's movement of the endoscope 20 on the basis of the operation received by the endoscope operation unit 32.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a dental observation apparatus and a dental care apparatus.

  As a technique related to a conventional dental observation device, for example, in Patent Document 1, a flexible arm extended from a dental illumination device, a CCD camera attached to the tip of the flexible arm, and a dental illumination device provided on the top A dental treatment unit comprising a display is described. In this dental treatment unit, a CCD camera is introduced into the oral cavity, and an image taken by the CCD camera is displayed on a display, so that the inside of the patient's oral cavity can be observed.

Japanese Patent Application Laid-Open No. 7-275202

  In the above technique described in Patent Document 1, when it is desired to change the observation site in the oral cavity, it is necessary for the operator to hold the flexible arm and bend and align it each time.

  Then, this invention makes it a subject to provide the dental observation apparatus and dental care apparatus which can perform change of the observation site | part in an intraoral part automatically by operation of a practitioner.

  In the dental observation apparatus according to the present invention, a housing supported by a support arm, a proximal end side held by the housing, a distal end side insertable into the oral cavity, and a medium channel for passing a medium to the distal end side The medium emission unit, based on the operation received by the medium operation unit, the medium emission unit for emitting the medium from the tip end side of the endoscope, the medium operation unit for receiving the operation related to the emission of the medium, A medium control unit that controls emission of a medium, an endoscope movable unit that moves the endoscope so that the field of view of the endoscope changes, and an endoscope operation unit that receives an operation related to a change in the field of view of the endoscope And an endoscope control unit configured to control movement of the endoscope by the endoscope movable unit based on an operation received by the endoscope operation unit.

  In this dental observation apparatus, by operating the endoscope operation unit, the endoscope is moved so that the visual field of the endoscope becomes a desired visual field, and the observation site in the oral cavity is automatically changed. can do. Therefore, it becomes possible to automatically perform the change of the observation site in the oral cavity by the operation of the operator.

  The dental observation apparatus according to the present invention may include a foot controller including at least one of the endoscope operation unit. In this configuration, the operator can perform the operation of changing the observation site without using it manually.

  In the dental observation device according to the present invention, the endoscope may be a flexible mirror. Thus, a flexible mirror can be employed as the endoscope.

  In the dental observation apparatus according to the present invention, the endoscope movable unit has an endoscope moving mechanism for moving the distal end side of the endoscope, and the endoscope operation unit operates as an operation related to the change of the visual field. A move operation related to the movement of the endoscope may be received. In this configuration, by moving the distal end side of the endoscope by the endoscope moving mechanism, it is possible to change the field of view of the endoscope and change the observation site in the oral cavity.

  In the dental observation apparatus according to the present invention, the endoscope movable unit may have a bending mechanism for bending the distal end side of the endoscope as an endoscope moving mechanism. In this configuration, the distal end side of the endoscope can be automatically bent by the bending mechanism.

  In the dental observation apparatus according to the present invention, the endoscope movable unit may have a bending mechanism for bending the endoscope as an endoscope moving mechanism. In this configuration, the bending mechanism can automatically bend the endoscope.

  In the dental observation apparatus according to the present invention, when the endoscope operation unit receives an exit operation for retracting the endoscope from the oral cavity, and the endoscope control unit receives the exit operation at the endoscope operation unit, After moving the endoscope so as to extend linearly, the endoscope may be moved in a direction away from the oral cavity to the initial position. In this configuration, by performing an exit operation at the endoscope operation unit, the endoscope is made linear so as not to touch the patient's teeth and cheeks, and then the endoscope is automatically exited from the oral cavity. be able to.

  In the dental observation apparatus according to the present invention, the endoscope movable unit is configured to position the endoscope relative to the housing along the first direction and the second direction perpendicular to the longitudinal direction of the endoscope and orthogonal to each other. You may have the orthogonal movement mechanism which moves as an endoscope movement mechanism. In this configuration, the endoscope can be automatically moved along the first direction and the second direction by the orthogonal movement mechanism.

  In the dental observation apparatus according to the present invention, the endoscope movable unit is a rotational movement mechanism that rotates the endoscope relative to the housing along the rotational direction in which the longitudinal direction of the endoscope is the axial direction. May be provided as an endoscope moving mechanism. In this configuration, the rotational movement mechanism can automatically rotate the endoscope along the rotation direction.

In the dental observation apparatus according to the present invention, the endoscope movable unit is a translation mechanism that moves the endoscope relative to the housing along the longitudinal direction of the endoscope. You may have as.
In this configuration, the linear motion mechanism can automatically move the endoscope along the longitudinal direction of the endoscope.

  In the dental observation device according to the present invention, the endoscope may be a rigid endoscope. Thus, a rigid endoscope can be adopted as an endoscope.

  In the dental observation apparatus according to the present invention, the endoscope movable unit may have a view direction variable mechanism provided inside the tip of the endoscope to change the direction of the view of the endoscope. In this configuration, it is possible to change the field of view of the endoscope and change the observation site in the oral cavity by changing the direction of the field of view of the endoscope by the view direction changing mechanism.

  In the dental observation apparatus according to the present invention, the endoscope has a plurality of observation windows provided with lenses having different fields of view, and the endoscope movable unit is an endoscope among the plurality of observation windows. The observation window switching mechanism which switches any one which the light image which injects into the image pick-up element passes may be provided. In this configuration, by switching the observation window through which the light image incident on the imaging element passes by the observation window switching mechanism, the field of view of the endoscope can be changed, and the observation site in the oral cavity can be changed.

  In the dental observation apparatus according to the present invention, the endoscope movable unit is a rotational movement mechanism that rotates the endoscope relative to the housing along the rotational direction in which the longitudinal direction of the endoscope is the axial direction. May be included. In this configuration, the rotational movement mechanism can automatically rotate the endoscope along the rotation direction.

  In the dental observation apparatus according to the present invention, the endoscope movable unit may have a linear movement mechanism that moves the endoscope relative to the housing along the longitudinal direction of the endoscope. . In this configuration, the linear motion mechanism can automatically move the endoscope along the longitudinal direction of the endoscope.

  In the dental observation apparatus according to the present invention, the endoscope operation unit receives a storage operation for storing at least the proximal end side of the endoscope in a housing, and the endoscope control unit stores the operation by the endoscope operation unit. When an operation is received, the endoscope may be moved by the linear movement mechanism, and at least the proximal end side of the endoscope may be stored in the housing. In this configuration, when not in use, at least the proximal end side of the endoscope can be accommodated in the housing to be compact.

  In the dental observation apparatus according to the present invention, the housing may be provided with a display unit for displaying an image captured by an endoscope. In this configuration, it is possible to display the observation result in the oral cavity by the endoscope on the housing.

  The dental observation apparatus according to the present invention includes an image control unit that controls an image displayed on the display unit, the endoscope includes an endoscope imaging unit capable of stereoscopic observation, and the image control unit is an endoscope. Based on the imaging data obtained by the mirror imaging unit, a stereoscopic image may be displayed on the display unit as an image. According to this configuration, the affected part can be viewed stereoscopically in the display unit.

  The dental observation apparatus according to the present invention includes a first storage unit for storing the first movable plan of the endoscope by the endoscope movable unit for each of a plurality of teeth according to the region of the tooth, and The endoscope operation unit receives a tooth selection operation for selecting any of a plurality of teeth, and the endoscope control unit receives the tooth selection operation when the endoscope operation unit receives a tooth selection operation. The first movable plan corresponding to the part of the tooth involved in the operation may be read from the first storage unit, and the movement of the endoscope by the endoscope movable unit may be controlled based on the read first movable plan. In this configuration, by performing the tooth selection operation in the endoscope operation unit, it is possible to automatically move the endoscope according to the site of the selected tooth.

  A dental observation apparatus according to the present invention includes a second storage unit that stores, for each of a plurality of observation target areas, a second movable plan of an endoscope by an endoscope movable unit according to the observation target area. The endoscope operation unit receives a target area selection operation for selecting any of a plurality of observation target areas, and the endoscope control unit receives the target area selection operation at the endoscope operation unit. The second movable plan corresponding to the observation target area related to the target area selection operation is read from the second storage unit, and the movement of the endoscope by the endoscope movable unit is controlled based on the read second movable plan. Good. In this configuration, by performing the target area selecting operation in the endoscope operation unit, the endoscope can be automatically moved according to the selected observation target area.

  In the dental observation apparatus according to the present invention, the housing may be provided with at least one of a camera directed to the oral cavity and a proximity sensor. In this configuration, it is possible to grasp at least one of the degree of opening of the oral cavity and the degree of approach between the patient and the housing.

  The dental observation apparatus according to the present invention may include an endoscope operation unit and may include an operation switch provided in a housing. In this configuration, the operator can perform the operation of changing the observation site on the housing.

  In the dental observation apparatus according to the present invention, the endoscope has a medium channel for passing the medium to the tip side inside, and the medium radiation part for emitting the medium from the tip side of the endoscope, and the radiation of the medium A medium operation unit that receives an operation and a medium control unit that controls emission of the medium by the medium radiation unit based on the operation received by the medium operation unit may be provided. In this configuration, the medium can be automatically emitted from the distal end side of the endoscope by performing the operation in the medium operation unit. The radiation of the medium in the oral cavity can be automatically performed by the operation of the operator.

  The dental observation apparatus according to the present invention may include at least one of a foot controller including a medium operation unit and an operation switch including the medium operation unit. In this configuration, the operation regarding the emission of the medium can be performed by the foot controller and / or the operation switch.

  In the dental observation apparatus according to the present invention, the medium radiation unit emits at least one of the plurality of media, and the medium operation unit receives a medium selection operation for selecting at least one of the plurality of media. When the medium control unit receives a medium selection operation at the medium operation unit, the medium control unit may emit at least one medium related to the received medium selection operation. In this configuration, it is possible to select and emit a desired at least one of a plurality of media.

  In the dental observation apparatus according to the present invention, the medium radiation unit emits at least one of water, air and illumination light, and the medium operation unit selects at least one of water, air and illumination light When the medium selection operation is received, and the medium control unit receives the medium selection operation at the medium operation unit, the medium control unit may emit at least one of water, air, and illumination light related to the received medium selection operation. In this configuration, it is possible to select and emit desired at least one of water, air and illumination light.

  In the dental observation apparatus according to the present invention, at least a part of the medium emitted by the medium radiation unit may be supplied via an internal space disposed inside the support arm. In this configuration, the inside of the support arm can be utilized to supply the medium.

  In the dental observation apparatus according to the present invention, the light source for photopolymerization for generating the first blue light for photopolymerization curing is mounted on the housing, and the medium radiation unit is configured to receive the first blue light of the endoscope. It may be emitted from the tip side. According to this configuration, the first blue light can be emitted from the distal end side of the endoscope to carry out photopolymerization and curing.

  In the dental observation apparatus according to the present invention, the housing is mounted with a light source for detection of a second variation light source that enables detection of a second variation light in the oral cavity, and the medium radiation unit is a second blue light The light may be emitted from the distal end side of the endoscope. According to this configuration, it is possible to emit the second blue light from the distal end side of the endoscope, and to detect a different portion such as a carious portion.

  In the dental observation apparatus according to the present invention, the case is mounted with the laser light source for generating the laser light, or the laser light is externally supplied through the laser light guide disposed along the support arm. Guided, the medium emission unit may emit laser light from the distal end side of the endoscope. According to this configuration, laser light can be emitted from the distal end side of the endoscope to treat the affected area.

  The dental observation apparatus according to the present invention includes an image enlargement factor changing unit that changes the enlargement factor of an image captured by the endoscope, and the image enlargement factor changing unit is provided for imaging provided inside the endoscope. The magnification ratio may be changed by moving the lens and / or executing at least one of image processing on imaging data obtained by the endoscope. In this configuration, the enlargement factor of the image captured by the endoscope can be changed as desired.

  In the dental observation device according to the present invention, the endoscope may have an adapter for observation in the intracanal region at its distal end. In this configuration, it is possible to perform observation in the root canal by attaching the adapter for observation in the root canal to the distal end portion of the endoscope.

  In the dental observation apparatus according to the present invention, the endoscope has a treatment instrument channel for passing the dental treatment instrument to the distal end side, and a treatment instrument driving unit for driving the dental treatment instrument, and the dental treatment The instrument control unit may further include a treatment tool operation unit that receives an operation of the tool, and a treatment tool control unit that controls driving of the treatment tool drive unit based on the operation received by the treatment tool operation unit. In this configuration, the dental treatment tool can be automatically operated by performing the operation in the treatment tool operation unit.

  The dental observation apparatus according to the present invention may include at least one of a foot controller including a treatment instrument operating unit and an operation switch including the treatment instrument operating unit. In this configuration, the operation of the dental treatment tool can be performed by at least one of the foot controller and the operation switch.

  In the dental observation apparatus according to the present invention, the endoscope control unit may control the movement of the endoscope by the endoscope movable unit according to the inclination of the headrest of the medical examination table with respect to the reference posture. In this configuration, it is possible to automatically change the observation site in the oral cavity in consideration of the inclination of the headrest.

  A dental care apparatus according to the present invention comprises: a dental examination apparatus having the dental observation apparatus, a seat, a backrest connected to the seat, and a medical examination table having a headrest tiltably connected to the backrest; And a third storage unit for storing a control amount set including the movable amount of the endoscope by the movable portion of the endoscope and the tilting amount of the headrest according to the dental care area. The endoscope control unit and the headrest control unit read the control amount set corresponding to the inputted dental care area from the third storage unit, and move the endoscope by the endoscope movable unit based on the read control amount set And control the tilt of the headrest respectively.

  Also in this dental care apparatus, since the dental observation apparatus is provided, the effect that the change of the observation site in the oral cavity can be automatically performed by the operation of the operator is exhibited. Further, by inputting the dental care area, it is possible to interlock the observation device by the endoscope and the tilt of the headrest according to the dental care area, and to expand the observation range.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the dental observation apparatus and dental care apparatus which can perform change of the observation site | part in an intraoral cavity automatically by operation of the operator.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the whole structure of the dental treatment apparatus containing the dental observation apparatus which concerns on 1st Embodiment. BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the whole structure of the dental care apparatus containing the dental observation apparatus which concerns on 1st Embodiment. It is a schematic sectional drawing which shows the internal structure of the housing | casing which concerns on 1st Embodiment. It is a perspective view which shows the front-end | tip part of the endoscope which concerns on 1st Embodiment. (A) is sectional drawing along the AB line of FIG. (B) is sectional drawing along the AC line of FIG. FIG. 5 is a cross-sectional view along the line A-D of FIG. 4; It is a perspective view showing a foot controller concerning a 1st embodiment. It is the schematic which shows the bending mechanism which concerns on 1st Embodiment. It is a block diagram which shows the whole structure of the dental care apparatus containing the dental observation apparatus based on 2nd Embodiment. It is a schematic sectional drawing which shows the internal structure of the housing | casing which concerns on 2nd Embodiment. It is sectional drawing which shows the visual field direction variable mechanism which concerns on 2nd Embodiment. It is sectional drawing which shows the observation window switching mechanism which concerns on 2nd Embodiment. It is a front view which shows the whole structure of the dental care apparatus containing the dental observation apparatus which concerns on 3rd Embodiment. It is a top view which shows the whole structure of the dental care apparatus containing the dental observation apparatus based on 3rd Embodiment. (A) is a figure explaining operation of an endoscope flexible region concerning a 3rd embodiment. (B) is another figure which shows operation | movement of the endoscope movable part which concerns on 3rd Embodiment. (C) is still another figure showing operation of the endoscope flexible region concerning a 3rd embodiment. It is sectional drawing which shows the expansion-contraction mechanism which concerns on 3rd Embodiment. It is a perspective view showing a monitor concerning a modification. It is a schematic sectional drawing which shows the orthogonal movement mechanism which concerns on a modification. FIG. 19 is a cross-sectional view of FIG. 18 taken along the line XIX-XIX. It is a side view which shows the adapter for observation in the root canal which concerns on a modification. It is a block diagram showing a medium radiation part concerning a modification. (A) is a schematic view showing a medical examination table according to a modification. (B) is the schematic which shows the state which the backrest fell in the medical examination table of FIG.22 (b). It is the arrow line view seen from the direction of arrow E of FIG.22 (b).

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected to an equivalent or considerable element, and the overlapping description is abbreviate | omitted.

First Embodiment
As shown in FIG. 1, the dental observation device 1 is a device for observing the inside of the oral cavity of a patient P. The dental observation apparatus 1 is included in a dental care apparatus 4 for treating the intraoral area of a patient P. The dental care apparatus 4 and the dental observation apparatus 1 are used for an operator D such as a dentist in the field of dentistry. The patient P may be a living human being, may be a human model, or may be a head model. "Dental" is a department related to dentistry and is a medical department that deals with diseases related to teeth or tissues related to teeth (such as periodontal tissues). "Dental" includes, for example, general dentistry, orthodontic dentistry, oral surgery, dental radiology or pediatric dentistry.

  The dental observation apparatus 1 includes a housing 10, an endoscope 20, an operation switch 30, and a foot controller 40. Further, as shown in FIG. 1 and FIG. 2, the dental observation apparatus 1 includes the medium radiation unit 50, the endoscope movable unit 60, the treatment tool drive unit 70, and the observation device control unit 80 inside the housing 10. And Each component will be described below. The terms “upper” and “lower” correspond to the upper and lower sides in the vertical direction in the observation state of the dental observation apparatus 1, respectively.

  The housing 10 is supported by the support arm 3. The support arm 3 is a balance arm which can change the support position and continues to support stably in the support position if the hand is released. The support arm 3 supports the housing 10 movably in the horizontal plane by the pivot 3a. Further, the support arm 3 supports the housing 10 so as to be rotatable about an axis along the vertical direction and an axis along the horizontal direction. The support arm 3 may include a vertical support 4 a that supports a shadowless lamp or tray in the dental care apparatus 4. The vertical support 4a is fixed to a device table 6 for gargling the patient P. The housing 10 supported by such a support arm 3 is freely movable in the vertical direction and in the horizontal plane, and at the time of observation, is fixedly supported in situ. In addition, it does not specifically limit as the support arm 3, A well-known various arm can be used. The support arm 3 may be configured to be movable by providing a caster at the lower part. For a specific configuration of the support arm 3, see, for example, utility model registration 2586294.

  The housing 10 has a rectangular box shape. The upper surface 10 a of the housing 10 is fixed to the tip of the support arm 3. An operator monitor 11 is provided on the top surface 10 a of the housing 10. The operator monitor 11 functions as a display unit that displays an image captured by the endoscope 20. The operator's monitor 11 is fixed to the housing 10 so as to change the orientation of its display surface. As the operator's monitor 11, various known monitors can be used.

  The lower surface 10 b of the housing 10 is a surface facing the patient P. On the lower surface 10b of the housing 10, a mouth observation camera 12 directed to the oral cavity of the patient P is provided. The mouth observation camera 12 is a camera for imaging the mouth of the patient P. An operation switch 30 is attached to the side surface 10 c on the front side (the operator D's side of observation) of the housing 10. Handles 13 for gripping the housing 10 are respectively provided on a pair of side surfaces 10 d orthogonal to the side surface 10 c in the housing 10.

  As shown in FIG. 3, the endoscope 20 is a long cylindrical observation device which can be inserted into the oral cavity at the tip end side. The proximal end side of the endoscope 20 is held by the housing 10. The distal end side of the endoscope 20 extends downward and protrudes from the housing 10. A flexible mirror is used as the endoscope 20. The flexible mirror is an endoscope at least a portion of which is constituted by a flexible tube (a tube portion having flexibility). The endoscope 20 according to the present embodiment is a flexible mirror in which a portion close to the housing 10 is formed of a straight hard tube, and the other portion is formed of a flexible tube.

  As shown in FIGS. 4 to 6, the endoscope 20 has an imaging channel 21, a first medium channel 22, a second medium channel 23, and a treatment tool channel 24 inside. The imaging channel 21, the first medium channel 22, the second medium channel 23, and the treatment tool channel 24 are paths extending from the proximal end to the distal end in the endoscope 20.

  The imaging channel 21 is a channel used for imaging of the endoscope 20. An endoscope imaging unit 25 is provided in the imaging channel 21. The endoscope imaging unit 25 includes an objective lens 25a and an imaging element 25b. The objective lens 25 a is provided at the tip of the imaging channel 21. The imaging element 25b is provided on the proximal end side of the objective lens 25a in the imaging channel 21, and receives the light image that has passed through the objective lens 25a. A CCD or the like is used as the imaging device 25b. The imaging element 25 b transmits an imaging result (imaging data) to the observation device control unit 80 by wired communication or wireless communication. The electric wire 26 is connected to the imaging element 25 b and power is supplied via the electric wire 26. The electric wire 26 is inserted into the imaging channel 21 and is electrically connected to an electric wire 53 described later.

  The first medium channel 22 is a channel for passing water and air to the tip side. In the first medium channel 22, the water pipeline 22a is inserted, and the periphery of the water pipeline 22a is an air pipeline 22b. In the first medium channel 22 here, the water channel 22a is opened in the air channel 22b at the tip portion, and these are mixed by simultaneously supplying water and air, and they are emitted as a spray from the tip port ( Can be injected.

  The second medium channel 23 is a channel that passes illumination light to the tip side. In the second medium channel 23, a light guide 23a for guiding illumination light is inserted, and a light emitting unit 23b provided at the tip is optically connected to the light guide 23a. The treatment instrument channel 24 is a channel for passing the dental treatment instrument 24 a to the distal end side. The dental treatment tool 24a is not particularly limited, but a root canal cutting tool called a reamer or a file is used here. Moreover, in the treatment tool channel 24, the wire 24b as a rotation transmission member is inserted, and the dental treatment tool 24a is fixed to the tip of the wire 24b.

  The endoscope 20 includes an image enlargement ratio changing unit 27 that changes the enlargement ratio of an image to be captured. The image magnification ratio changing unit 27 includes a magnifying lens 27 a, which is an imaging lens provided inside the endoscope 20 (here, in the imaging channel 21), and a magnifying lens 27 a on the tip side of the endoscope 20. And a motor 27b for moving to the proximal side. The magnifying lens 27 a is disposed between the objective lens 25 a and the imaging device 25 b in the imaging channel 21. The motor 27b has a reduction gear (not shown). The image enlargement ratio changing unit 27 changes the enlargement ratio of the image captured by the endoscope 20 by driving the motor 27b to move the magnifying lens 27a.

  As shown in FIGS. 2 and 3, the operation switch 30 is an operation unit that receives various operations of the dental observation apparatus 1. The operation switch 30 mainly accepts an operation by the finger of the operator D. As the operation switch 30, for example, a touch panel or a push button type switch unit is used. The operation switch 30 transmits the operation result (operation signal) to the observation device control unit 80 by wired communication or wireless communication. The operation switch 30 includes a medium operation unit 31, an endoscope operation unit 32, an imaging operation unit 33, a treatment instrument operation unit 34, and a calibration operation unit 35.

  The medium operation unit 31 receives an operation related to radiation of the medium. Media operation unit 31 receives a medium selection operation for selecting at least one of a plurality of media. For example, the medium operation unit 31 receives medium selection operation for selecting ON / OFF of radiation of water, air, spray (a mixture of water and air) and illumination light. The medium selection operation may include an operation of setting a radiation time, a radiation pattern, and the like. The medium selection operation may include an operation of setting the pressure when the medium is water, air and spray. The medium selection operation may include an operation of setting the output when the medium is illumination light.

  The endoscope operation unit 32 receives an operation related to a change in the field of view of the endoscope 20. The endoscope operation unit 32 receives, as an operation related to a change in the field of view of the endoscope 20, a movement operation related to the movement of the endoscope 20. Specifically, the endoscope operation unit 32 performs a moving operation for operating a curve on the tip end side of the endoscope 20, a moving operation for operating a movement along the longitudinal direction of the endoscope 20, and the endoscope A moving operation for operating a rotational movement along a rotational direction (hereinafter also referred to as “θ direction”) in which the longitudinal direction of 20 is the axial direction is accepted. The endoscope operation unit 32 receives a withdrawal operation for withdrawing the endoscope 20 from the oral cavity. The endoscope operation unit 32 receives a storage operation for storing the proximal end side of the endoscope 20 in the housing 10.

  The endoscope operation unit 32 receives a tooth selection operation for selecting any one of a plurality of tooth parts. The tooth selection operation may be an input of a tooth number, or may be a block (area) number of roughly defined upper, lower, left and right front teeth or a tooth such as a molar. The tooth numbers may correspond to teeth one by one, or may correspond to surface areas included in teeth one by one. That is, not only a plurality of teeth can be selected individually as selectable tooth sites, but, for example, when the tooth is a back tooth, five surface sites separated at that tooth, ie, buccal side, tongue side , Centrifugal surface, mesial surface, occlusal surface can be selected.

  The endoscope operation unit 32 receives a target area selection operation for selecting any one of a plurality of observation target areas. The observation target region is a target region to be observed. The observation target area is not particularly limited, and may be an area outside the oral cavity as well as in the oral cavity. The observation target area may be roughly defined upper, lower, left and right front and rear areas, or may be an anterior tooth area or a molar area. The selectable tooth sites and the observation target area may be further divided, for example, by extension, weight, age, sex and the like.

  The imaging operation unit 33 receives an imaging operation regarding imaging of the endoscope 20. For example, the imaging operation unit 33 receives an imaging operation for performing ON / OFF of imaging and recording, and an imaging operation for changing the enlargement ratio of an image. In addition, it is also possible to receive an operation of rotating the image to an angle at which imaging can be easily viewed. The treatment tool operation unit 34 receives an operation regarding ON / OFF of driving of the dental treatment tool 24 a. For example, the treatment tool operation unit 34 receives an operation of performing ON / OFF of driving of the dental treatment tool 24 a. The calibration operation unit 35 receives an operation to execute calibration.

  The operation switch 30 has a plurality of operation buttons, and by appropriately operating the plurality of operation buttons, each operation of the operation units 31 to 35 described above can be realized. For example, in the operation switch 30, the movement along the longitudinal direction of the endoscope 20 may be operated by two buttons divided in the vertical direction by the arrow. Further, for example, in the operation switch 30, the bending on the distal end side of the endoscope 20 may be operated by four buttons whose front, rear, left, and right are indicated by arrows. The configuration, arrangement, and operation method of the operation switch 30 are not particularly limited, and can be appropriately set according to the specification and the like.

  The foot controller 40 is an operation unit that receives various operations of the dental observation apparatus 1. The foot controller 40 is disposed at the foot of the operator D and mainly accepts operations by the leg (stepping) of the operator D. The foot controller 40 transmits the operation result (operation signal) to the observation device control unit 80 by wired communication or wireless communication. Similar to the operation switch 30, the foot controller 40 includes a medium operation unit 31, an endoscope operation unit 32, an imaging operation unit 33, a treatment tool operation unit 34, and a calibration operation unit 35.

  In the example shown in FIG. 7, the foot controller 40 includes a front pedal 41, a first left pedal 42, a second left pedal 43, a first right pedal 44, and a second right pedal 45. The foot controller 40 has a function changeover switch 46 capable of switching the function of each of the pedals 41 to 45. The foot controller 40 can realize each operation of the operation units 31 to 35 described above by appropriately operating each of the pedals 41 to 45 while appropriately switching the function with the function switching switch 46. The configuration, arrangement, and operation method of the foot controller 40 are not particularly limited, and can be appropriately set according to the specification and the like.

  As shown in FIGS. 1, 2 and 7, the foot controller 40 includes a headrest operating unit 47, a seat operating unit 48 and a backrest operating unit 49. The headrest operating unit 47 receives an operation related to tilting of the headrest 7 a of the medical care table 7. The seat operating unit 48 receives an operation for raising and lowering the seat of the clinic table 7. The backrest operation unit 49 receives an operation related to the tilting of the backrest 7 b of the clinic table 7. The foot controller 40 appropriately operates each of the pedals 41 to 45 while appropriately switching the function by using the function switching switch 46, whereby each operation of the operation units 47 to 49 described above and the medical care handpiece of the dental care apparatus 4 Driving operation is also possible. In addition, it is also possible to perform each operation of the operation parts 47-49 mentioned above, and drive operation of the handpiece for medical care of the dental care apparatus 4 from the operation part (not shown) of the dental care apparatus 4 with fingers.

  As shown in FIGS. 2 and 3, the medium radiation unit 50 causes the medium to be emitted from the distal end side of the endoscope 20. Water and air in the medium radiated by the medium radiation unit 50 are supplied through the water line 51 and the air line 52 which are fluid lines disposed in the internal space 5 (see FIG. 1) of the support arm 3. Ru. The internal space 5 communicates the inside of the housing 10 with the inside of the device stand 6 of the dental care apparatus 4. The water pipeline 51 is a pipeline for introducing high pressure water into the housing 10. The air conduit 52 is a conduit for introducing high pressure air into the housing 10. Further, in the internal space 5, an electric wire 53 for supplying electric power into the housing 10 is disposed. The medium radiation unit 50 includes a water injection solenoid valve 54, an air solenoid valve 55, and an illumination light source 56.

  When the water injection solenoid valve 54 is opened, high pressure water is injected from the water line 51 to the water line 22 a of the first medium channel 22, and water is emitted from the tip end of the first medium channel 22. The air solenoid valve 55 causes high pressure air to flow from the air channel 52 to the air channel 22b of the first medium channel 22 by opening the valve, and radiates air from the tip end of the first medium channel 22. . Further, in the first medium channel 22, since the water line 22a is opened in the air line 22b, the high-pressure water and the high-pressure water can be opened by opening both the water injection solenoid valve 54 and the air solenoid valve 55. The high pressure air is mixed and the spray is emitted from the tip end of the first medium channel 22.

  The illumination light source 56 emits illumination light, and guides the light to the light guide 23a of the second medium channel 23 through the light guide 57, thereby providing illumination from the light emitting portion 23b at the tip of the second medium channel 23. Emits light.

  The endoscope movable unit 60 moves the endoscope such that the field of view of the endoscope changes. The endoscope movable unit 60 includes a linear movement mechanism 61, a rotational movement mechanism 62, and a bending mechanism 63 as an endoscope movement mechanism for moving the distal end side of the endoscope 20.

  The linear movement mechanism 61 is a mechanism that moves the endoscope 20 relative to the housing 10 along the longitudinal direction of the endoscope 20 (hereinafter, also referred to as “linear movement”). The linear movement mechanism 61 includes a motor 61a provided inside the housing 10, a reduction mechanism 61b connected to the motor 61a, and a plurality of rollers 61c connected to the reduction mechanism 61b. The plurality of rollers 61 c are disposed around the endoscope 20 and hold the endoscope 20 so as to be linearly movable. In the linear movement mechanism 61, when the motor 61a is driven, the roller 61c is rotated via the speed reduction mechanism 61b, and the endoscope 20 is linearly moved. The linear movement of the endoscope 20 here is a movement to move up and down with respect to the housing 10.

  The rotational movement mechanism 62 is a mechanism that rotates the endoscope 20 relative to the housing 10 along the θ direction. The rotational movement mechanism 62 includes a motor 62a provided inside the housing 10, a reduction mechanism 62b connected to the motor 62a, and a roller 62c connected to the reduction mechanism 62b. In the rotational movement mechanism 62, when the motor 62a is driven, the roller 62c is rotated via the speed reduction mechanism 62b, whereby the endoscope 20 is rotated along the θ direction around the vertical axis.

  The bending mechanism 63 is a mechanism that allows the distal end side of the endoscope 20 to be bent (bent) freely. As shown in FIG. 8, the bending mechanism 63 pulls and drives the plurality of bending pieces 63a, the first wire pair 63b and the second wire pair 63c connected to the bending pieces 63a, and the first wire pair 63b. And a second motor 63e for pulling and driving the second wire pair 63c.

  The plurality of bending pieces 63 a are juxtaposed along the longitudinal direction of the endoscope 20 at the tip end of the endoscope 20. The plurality of bending pieces 63a are rotatably connected by rivets 63f. The plurality of bending pieces 63 a bend the distal end side of the endoscope 20 in a first direction perpendicular to the longitudinal direction of the endoscope 20 and is perpendicular to the longitudinal direction and the first direction of the endoscope 20. The distal end side of the endoscope 20 is curved in the second direction. The distal ends of the first wire pair 63 b and the second wire pair 63 c are fixed to the distal end portion of the bending piece 63 a located at the distal end or the endoscope 20. The proximal end of the first wire pair 63b is passed over a first pulley 63g to which a first motor 63d is connected. The proximal end of the second wire pair 63c is passed to a second pulley 63h to which a second motor 63e is connected.

  In the bending mechanism 63, the first pulley 63g is rotated by driving the first motor 63d, and the first wire pair 63b is pulled. Thus, the distal end side of the endoscope 20 is curved in the first direction according to the amount of pulling. In the bending mechanism 63, the second pulley 63h is rotated by driving the second motor 63e, and the second wire pair 63c is pulled. Thereby, the distal end side of the endoscope 20 is curved in the second direction according to the pulling amount. In addition, as a structure of the bending mechanism 63, it is not limited to the above-mentioned specific structure, A various well-known structure is employable. For example, the bending mechanism 63 may be configured to connect a large number of rigid bodies, and these rigid bodies can be bent together with a wire.

  As shown in FIG. 2, FIG. 3 and FIG. 6, the treatment instrument drive unit 70 drives the dental treatment instrument 24a. The treatment tool drive unit 70 has an actuator for moving the dental treatment tool 24 a into and out of the distal end of the treatment tool channel 24, and a motor for rotationally driving the dental treatment tool 24 a. The actuator and the motor are connected to the dental treatment instrument 24a via a wire 24b.

  As shown in FIGS. 2 and 3, the observation device control unit 80 is configured of, for example, one or more computer devices. The observation device control unit 80 is configured to include a central processing unit (CPU) that is a processor, a random access memory (RAM) that is a recording medium, a read only memory (ROM), and the like. The observation device control unit 80 executes various controls by reading a program or the like on hardware such as a CPU and a RAM. The observation device control unit 80 has a medium control unit 81, an endoscope control unit 82, a treatment tool control unit 83, an imaging control unit 84, an image control unit 85, and a storage unit 86 as a functional configuration.

  Medium control unit 81 controls the emission of the medium by medium emission unit 50 based on the operation received by medium operation unit 31. Specifically, when the medium control unit 31 receives a medium selection operation, the medium control unit 81 causes the medium radiation unit 50 to emit at least one medium related to the received medium selection operation. More specifically, when the medium control unit 81 receives a medium selection operation for selecting water, air, or spray at the medium operation unit 31, the electromagnetic valve 54 for water injection and the electromagnetic valve for air according to the medium selection operation. Control 55 to emit water, air or a spray from the tip of the first medium channel 22. When the medium control unit 31 receives a medium selection operation for selecting illumination light by the medium operation unit 31, the illumination light is emitted from the illumination light source 56, and the illumination light is emitted from the light emission unit 23b of the second medium channel 23. Let

  The endoscope control unit 82 controls the movement of the endoscope 20 by the endoscope movable unit 60 based on the operation received by the endoscope operation unit 32. The endoscope control unit 82 detects the position of at least one of the linear movement mechanism 61, the rotational movement mechanism 62, and the bending mechanism 63 based on the movement operation received by the endoscope operation unit 32 with an encoder or the like. Feedback control. When the endoscope control unit 82 receives a moving operation for operating the bending of the distal end side of the endoscope 20 in the endoscope operation unit 32, the endoscope control unit 82 performs the bending operation of the endoscope 20 according to the moving operation. Curve the tip side. When the endoscope control unit 82 receives a movement operation for operating the linear movement of the endoscope 20 in the endoscope operation unit 32, the endoscope control unit 82 directly connects the endoscope 20 by the linear movement mechanism 61 according to the movement operation. Move it. When the endoscope control unit 82 receives a movement operation for operating the rotational movement of the endoscope 20 along the θ direction in the endoscope operation unit 32, the endoscope control unit 82 performs the internal movement by the rotation movement mechanism 2 according to the movement operation. The endoscope 20 is rotated in the θ direction.

  When the endoscope control unit 82 receives the retraction operation at the endoscope operation unit 32, the endoscope control unit 82 causes the bending mechanism 63 to move the endoscope 20 so as to extend linearly, and then the endoscope 20 is initial position Move in the direction away from the oral cavity. The initial position is not particularly limited, but is a position at which the tip of the endoscope 20 is separated from the oral cavity by a predetermined distance or more.

  When the endoscope control unit 82 receives the storage operation by the endoscope operation unit 32, the endoscope control unit 82 moves the endoscope 20 by the linear motion mechanism 61 and sets at least the proximal end side of the endoscope 20 in the housing 10 Let it be stored. The range of the endoscope 20 to be stored is not particularly limited, and may be, for example, a range from the proximal end side to the central portion of the endoscope 20 or a range other than the distal end portion of the endoscope 20. It is also good.

  The endoscope control unit 82 controls the movement of the endoscope 20 by the endoscope movable unit 60 in accordance with the inclination of the medical table 7 with respect to the reference posture of the headrest 7a. The endoscope control unit 82 controls the movement of the endoscope 20 by the endoscope movable unit 60 according to the inclination of the backrest 7 b of the medical examination table 7 with respect to the reference posture. The endoscope control unit 82 controls the movement of the endoscope 20 by the endoscope movable unit 60 according to the elevation position of the seat of the medical examination table 7. As an example, the endoscope control unit 82 corrects the movable amount of the endoscope 20 by the endoscope movable unit 60 to increase or decrease according to the inclination of the headrest 7a and the backrest 7b with respect to the reference posture.

  The inclination of the headrest 7a and the backrest 7b is the inclination of the pitch angle with the width direction of the backrest 7b as the axial direction, the inclination of the roll angle with the vertical direction of the backrest 7b as the axial direction, and the front and back direction of the backrest 7b And / or an inclination of the yawing angle in the axial direction. The reference posture is not particularly limited, but is, for example, a posture at the time of normal treatment.

  The tilt of the headrest 7a can be recognized based on the control signal of the headrest control unit 8a that controls the tilt of the headrest 7a. The elevation position of the seat can be recognized based on the control signal of the seat control unit 8b that controls the elevation of the seat. The inclination of the backrest 7b can be recognized based on the control signal of the backrest control unit 8c that controls the inclination of the backrest 7b. The headrest control unit 8 a, the seat control unit 8 b and the backrest control unit 8 c are provided in the medical treatment apparatus control unit 8 of the dental medical treatment apparatus 4.

  Similar to the observation device control unit 80, the medical treatment device control unit 8 is configured of, for example, one or more computer devices. The medical treatment apparatus control unit 8 is configured to include a CPU, a RAM, a ROM, and the like, and executes various controls by reading a program and the like on hardware such as the CPU and the RAM. The headrest control unit 8a controls the drive of the headrest drive unit 9a that tilts the headrest 7a. The seat control unit 8b controls the drive of the seat driving unit 9b that raises and lowers the seat. The backrest control unit 8c controls the drive of the backrest drive unit 9c that tilts the backrest 7b.

  The endoscope control unit 82 controls the movement of the endoscope 20 by the endoscope movable unit 60 according to the observation result of the mouth observation camera 12. As an example, the endoscope control unit 82 corrects the amount of movement of the endoscope 20 by the endoscope movable unit 60 in accordance with the position of the mouth taken by the mouth observation camera 12 so as to increase or decrease. If the endoscope control unit 82 can determine that the patient P is closing the oral cavity from the observation result of the oral observation camera 12, the endoscope 20 is not moved (insertion into the oral cavity, bending, etc.) Control.

  When the endoscope control unit 32 receives a tooth selection operation at the endoscope operation unit 32, the endoscope control unit 82 reads from the storage unit 86 a first movable plan (described later) corresponding to the site of the tooth related to the received tooth selection operation. The movement of the endoscope 20 by the endoscope movable unit 60 is controlled based on the read movable plan. When the endoscope control unit 32 receives the target area selection operation from the endoscope operation unit 32, the endoscope control unit 82 receives, from the storage unit 86, a second movable plan (described later) corresponding to the observation target area related to the received target area selection operation. The movement of the endoscope 20 by the endoscope movable unit 60 is controlled based on the read movable plan.

  The treatment tool control unit 83 controls the drive of the treatment tool drive unit 70 based on the operation received by the treatment tool operation unit 34. When the treatment tool control unit 83 receives an operation to turn on the drive of the dental treatment tool 24 a in the treatment tool operation unit 34, the treatment tool control unit 83 controls the actuator of the treatment tool drive unit 70 to The dental treatment tool 24a appears and the motor of the treatment tool drive unit 70 is controlled to rotate the dental treatment tool 24a. The treatment tool control unit 83 stops the rotation of the dental treatment tool 24a by controlling the motor of the treatment tool drive unit 70 when the treatment tool operation unit 34 receives an operation to turn off the drive of the dental treatment tool 24a. At the same time, the actuator of the treatment instrument drive unit 70 is controlled to immerse the dental treatment instrument 24 a into the treatment instrument channel 24.

  The imaging control unit 84 controls the operation of the endoscope imaging unit 25 based on the imaging operation received by the imaging operation unit 33. The imaging control unit 84 starts / stops imaging by the endoscope imaging unit 25 when the imaging operation unit 33 receives an imaging operation for performing ON / OFF of imaging recording. The imaging control unit 84 drives the motor 27 b of the image enlargement ratio changing unit 27 to move the enlargement lens 27 a when the imaging operation unit 33 receives an imaging operation for changing the enlargement ratio of the image, and the endoscope 20 Change the magnification of the image to be captured.

  The image control unit 85 causes an operator monitor 11 to display an image according to the imaging result (imaging data) of the endoscope imaging unit 25. The image control unit 85 may execute various known image processing on the imaging result of the endoscope imaging unit 25. The storage unit 86 stores the first movable plan of the endoscope 20 by the endoscope movable unit 60 for each of the plurality of teeth according to the position of the tooth. The storage unit 86 stores the second movable plan of the endoscope 20 by the endoscope movable unit 60 for each of a plurality of observation target areas according to the observation target area. The storage unit 86 constitutes a first storage unit and a second storage unit.

  The first movable plan and the second movable plan are operation transitions of the endoscope movable unit 60 scheduled when the endoscope 20 is moved. The first movable plan and the second movable plan are control plans that become pointers when the endoscope 20 is automatically moved. The first movable plan is a plan related to a case where the endoscope operation unit 32 receives a tooth selection operation, and for example, a position (distance), an orientation, or a posture that facilitates observation of the site of the tooth. , Is a plan for moving the endoscope 20. The second movable plan is a plan related to the case where the endoscope operation unit 32 receives a target area selection operation, and for example, a position (distance), an orientation, or a posture in which the observation target area can be easily observed In the plan, the endoscope 20 is moved.

  The first movable plan and the second movable plan may include at least one of a movable order, a movable amount, and a movable time of at least one of the linear movement mechanism 61, the rotational movement mechanism 62, and the bending mechanism 63. The first movable plan and the second movable plan are not particularly limited, and may include various parameters and the like.

  The calibration control unit 87 executes calibration when the calibration operation unit 35 receives an operation for performing calibration. In the calibration, an initial position or an initial state when moving the endoscope 20 by the endoscope movable unit 60 can be calibrated. For example, in the calibration, the initial position when moving the endoscope 20 by the linear movement mechanism 61 of the endoscope movable unit 60 can be calibrated. Also, for example, in the calibration, the initial θ direction position when moving the endoscope 20 by the rotational movement mechanism 62 of the endoscope movable unit 60 can be calibrated. Also, for example, in the calibration, the initial bending state when moving the endoscope 20 by the bending mechanism 63 of the endoscope movable unit 60 can be calibrated.

  As described above, in the dental observation apparatus 1, the operator D operates the operation switch 30 or the endoscope operation unit 32 of the foot controller 40 to make the endoscope 20 have a desired field of view. The mirror 20 can be moved to automatically change the observation site in the oral cavity. Further, the operator D can automatically emit the medium from the distal end opening of the endoscope 20 by operating the operation switch 30 or the medium operation unit 31 of the foot controller 40. Therefore, according to the dental observation apparatus 1, it is possible to automatically execute the change of the observation site in the oral cavity and the radiation of the medium by the operation of the operator D.

  The dental observation apparatus 1 includes a foot controller 40 including a medium control unit 31 and an endoscope control unit 32. Thus, the operator D can manipulate the change of the observation site and the radiation of the medium without using the hand. Since the operator D puts his hand in the mouth of the patient P for medical treatment, being able to operate without using it by hand is particularly effective in the sense of preventing cross infection.

  In the dental observation apparatus 1, an operation switch 30 including a medium operation unit 31 and an endoscope operation unit 32 is provided in a housing 10. Thereby, the operator D can manipulate the change of the observation site and the radiation of the medium by fingers on the housing 10.

  The dental observation device 1 includes both the operation switch 30 and the foot controller 40. Thereby, the operator D can select and use any one of the operation switch 30 and the foot controller 40 in accordance with usability.

  In the dental observation apparatus 1, the endoscope 20 is a flexible mirror. As described above, in the dental observation apparatus 1, a flexible mirror can be adopted as the endoscope 20.

  In the dental observation apparatus 1, the endoscope movable unit 60 has an endoscope moving mechanism (the linear moving mechanism 61, the rotational moving mechanism 62, and the bending mechanism 63) for moving the distal end side of the endoscope. The operator D operates the endoscope operation unit 32 of the operation switch 30 or the foot controller 40 to execute the moving operation for moving the endoscope 20, thereby changing the endoscope moving mechanism in accordance with the moving operation. The distal end side of the endoscope 20 can be moved automatically. As a result, the field of view of the endoscope 20 can be changed, and the observation site in the oral cavity can be changed.

  In the dental observation apparatus 1, the endoscope movable unit 60 has a bending mechanism 63. The operator D operates the operation switch 30 or the endoscope operation unit 32 of the foot controller 40 to execute the moving operation of the bending mechanism 63, thereby operating the bending mechanism 63 according to the moving operation, and the endoscope D The tip side of the mirror 20 can be automatically curved.

  In the dental observation apparatus 1, the endoscope movable unit 60 has a rotational movement mechanism 62. The operator D operates the operation switch 30 or the endoscope operation unit 32 of the foot controller 40 to execute the movement operation of the rotation movement mechanism 62, thereby operating the rotation movement mechanism 62 according to the movement operation. The endoscope 20 can be automatically rotated in the θ direction. As a result, it becomes possible for the operator D to rotate the image captured by the endoscope 20 in the θ direction so as to easily determine the tooth (tooth type).

  In the dental observation apparatus 1, the endoscope movable unit 60 has a linear movement mechanism 61. The operator D operates the operation switch 30 or the endoscope operation unit 32 of the foot controller 40 to execute the movement operation of the linear movement mechanism 61, thereby operating the linear movement mechanism 61 according to the movement operation. The endoscope 20 can be linearly moved automatically.

  In the dental observation apparatus 1, the operator D operates the operation switch 30 or the endoscope operation unit 32 of the foot controller 40 to execute an exit operation for exiting the endoscope 20 from the oral cavity, thereby the endoscope After moving 20 so as to extend linearly, the endoscope 20 can be moved in the direction away from the oral cavity to the initial position. Therefore, after the endoscope 20 is made straight so as not to touch the teeth and cheeks of the patient P only by performing the withdrawal operation without requiring complicated operations, the endoscope 20 is automatically operated from the oral cavity. Can be forced out.

  In the dental observation apparatus 1, the operator D operates the operation switch 30 or the endoscope operation unit 32 of the foot controller 40 to execute the storage operation for storing the endoscope 20 in the housing 10, thereby making it possible. At least the proximal end side of the endoscope 20 can be accommodated in the housing 10 by moving the endoscope 20 by the moving mechanism 61. Thereby, when the dental observation apparatus 1 is not used, at least the proximal end side of the endoscope 20 can be accommodated in the housing 10 to be compact.

  In the dental observation apparatus 1, the medium radiation unit 50 emits at least one of a plurality of media. The operator D operates the medium operation unit 31 of the operation switch 30 or the foot controller 40, and executes the medium selection operation of selecting at least one of the plurality of media, thereby the medium radiation unit according to the medium selection operation. By operating 50, the medium related to the medium selection operation can be automatically emitted from the tip opening of the endoscope 20. It is possible to select and emit a desired at least one of a plurality of media.

  In the dental observation apparatus 1, the medium radiation unit 50 emits at least one of water, air, and illumination light. The operator D operates the operation switch 30 or the medium operation unit 31 of the foot controller 40 to execute the medium selection operation of selecting at least one of water, air, and illumination light according to the medium selection operation. The medium radiation unit 50 can be operated to cause the medium related to the medium selection operation to be automatically emitted from the tip opening of the endoscope 20. It is possible to select and emit the desired at least one of water, air and illumination light.

  In the dental observation apparatus 1, air and water radiated by the medium radiation unit 50 are supplied via the internal space 5 disposed inside the support arm 3. As a result, air and water can be supplied using the inside of the support arm 3.

  In the dental observation apparatus 1, the operator monitor 11 is provided on the housing 10. As a result, the observation result in the oral cavity by the endoscope 20 can be displayed on the housing 10.

  In the dental observation apparatus 1, the storage unit 86 stores the first movable plan of the endoscope 20 by the endoscope movable unit 60 for each of the plurality of teeth according to the position of the tooth. The operator D operates the endoscope operation unit 32 of the operation switch 30 or the foot controller 40, and executes a tooth selecting operation to select any of a plurality of tooth parts, thereby performing the tooth selecting operation. A first movable plan corresponding to the site of the tooth concerned is read from the storage unit 86. And based on the read-in 1st movable plan, movability of the endoscope 20 by the endoscope movable part 60 is controlled, and the endoscope 20 is moved automatically according to the site | part of the said tooth. That is, the endoscope 20 can be automatically moved so that the position, orientation, or posture is effective for observing the part of the tooth. When observing the site of the tooth, it is not necessary to adjust the tip position of the endoscope 20 one by one, and it becomes possible to reduce the necessity of performing the operation according to the site of the tooth for each site of the tooth.

  By the way, as the tooth selection operation, the distal end side of the endoscope 20 is automatically moved to the block of teeth by selecting the block (area) of the upper and lower front teeth or the teeth such as the molars which are roughly defined. After that, only the fine adjustment may be manually operated by the endoscope operation unit 32.

  In the dental observation device 1, the storage unit 86 stores the second movable plan of the endoscope 20 by the endoscope movable unit 60 according to the observation target area for each of a plurality of observation target areas. The operator D operates the operation switch 30 or the endoscope operation unit 32 of the foot controller 40, and executes a target area selection operation to select any of a plurality of observation target areas, thereby selecting the target area. The second movable plan corresponding to the observation target area related to the operation is read from the storage unit 86. Then, the movement of the endoscope 20 by the endoscope movable unit 60 is controlled based on the read second movable plan, and the endoscope 20 is automatically moved according to the observation target area. That is, the endoscope 20 can be automatically moved so as to have a position, an orientation, or a posture that is effective in observing the observation target area.

  In the dental observation apparatus 1, the case 10 is provided with a mouth observation camera 12 directed to the oral cavity. Thereby, it is possible to grasp the opening degree of the oral cavity of the patient P by using the observation result of the mouth observation camera 12.

  The dental observation device 1 includes an image enlargement ratio changing unit 27 that changes the enlargement ratio of the image captured by the endoscope 20. The operator D operates the image pickup operation unit 33 of the operation switch 30 or the foot controller 40 to perform an image pickup operation to change the magnification of the image, thereby driving the motor 27 b of the image magnification change unit 27 to magnify the lens. 27 a can be moved to change the magnification of the image captured by the endoscope 20. This makes it possible to change the magnification of the image captured by the endoscope 20 as desired.

  In the dental observation apparatus 1, the endoscope 20 internally has a treatment instrument channel 24 through which the dental treatment instrument 24 a passes to the distal end side. The dental observation device 1 is based on the treatment tool drive unit 70 for driving the dental treatment tool 24a, the treatment tool operation unit 34 for receiving the operation of the dental treatment tool 24a, and the operation received by the treatment tool operation unit 34. And a treatment tool control unit 83 for controlling the drive of the treatment tool drive unit 70. Thereby, the operator D can operate the dental treatment tool 24 a automatically by performing the operation with the treatment tool operation unit 34. For example, the operator D operates the endoscope operation unit 32 of the operation switch 30 or the foot controller 40 to turn on / off the drive of the dental treatment tool 24a, thereby the distal end opening of the treatment tool channel 24. As a result, the dental treatment tool 24a can be made to appear / immerse, and the rotational drive of the dental treatment tool 24a can be started / stopped.

  The dental observation apparatus 1 includes a treatment instrument operation unit 34 in the foot controller 40 and the operation switch 30. Thereby, the operator D can perform the operation of the dental treatment tool 24 a by either the foot controller 40 or the operation switch 30.

  In the dental observation apparatus 1, the endoscope control unit 82 controls the movement of the endoscope 20 by the endoscope movable unit 60 in accordance with the inclination of the headrest 7 a of the medical examination table 7 with respect to the reference posture. Thereby, it is possible to automatically change the observation site in the oral cavity in consideration of the inclination of the headrest 7a. Similarly, the endoscope control unit 82 controls the movement of the endoscope 20 by the endoscope movable unit 60 according to the inclination of the backrest 7 b of the medical examination table 7 with respect to the reference posture. Thereby, it is possible to automatically change the observation site in the oral cavity in consideration of the inclination of the backrest 7b.

  The dental observation device 1 may be configured as follows.

  In the dental observation apparatus 1, the dental treatment tool 24 a is automatically driven to rotate by the motor of the treatment tool drive unit 70, but the wire D is pulled out of the housing 10 and the operator D rotates the pulled out wire 24 b The dental treatment tool 24a may be rotationally driven manually.

  The dental observation device 1 may include, as a dental treatment tool 24a, a filler introduction tool for introducing a light-curable filler into a root canal or a tooth defect. In this case, the treatment tool driving unit 70 includes a filling material container disposed in the housing 10, 210, a tube connected to the filling material container and inserted into the treatment tool channel 24, and a pump for feeding the filling material. And have. The treatment instrument drive unit 70 drives the pump to discharge the filling material of the filling material container from the tip of the endoscope 20, 120, 220 through the tube.

  The dental observation apparatus 1 may be equipped with a micromotor cutting tool used as a dental treatment tool 24a at the time of grinding of teeth or removal of unnecessary fillings, or at the time of root canal treatment. In this case, the treatment tool drive unit 70 includes the micromotor held in the housing 10, 210, the wire connected to the micromotor, and the cutting tool connected to the tip of the wire. The treatment tool driving unit 70 rotates the micromotor at a low speed to rotate the wire and rotate the cutting tool.

  In the dental observation apparatus 1, the dental treatment tool 24a may have a chuck portion, and the dental treatment tool 24a may be replaceable at this chuck portion. In this case, since the dental treatment tool 24a can be replaced, various treatments can be performed. Also, after use of the dental treatment instrument 24a, it becomes possible to replace or remove the dental treatment instrument 24a for sterilization.

  Although the imaging device 25b is provided at the tip of the endoscope 20 (the imaging channel 21) in the dental observation apparatus 1, the arrangement configuration of the imaging device 25b is not particularly limited. For example, the proximal end of the endoscope 20 The imaging device 25b may be provided on the Further, the dental observation device 1 may be provided with only one of the operation switch 30 and the foot controller 40 according to the convenience.

  The dental observation apparatus 1 may include a speaker provided in the housing 10. In this case, the speaker is controlled by the observation device control unit 80 to output various notices. For example, the observation device control unit 80 determines the opening degree of the oral cavity of the patient P from the observation result of the oral observation camera 12, and if the opening degree becomes equal to or less than a predetermined value, the patient P opens a large mouth by voice etc. May be notified.

Second Embodiment
Next, a second embodiment will be described. In the description of the second embodiment, only the points different from the first embodiment will be described, and the overlapping description will be omitted.

  As shown in FIGS. 9 and 10, the dental observation apparatus 100 according to the second embodiment includes an endoscope 120 as a rigid endoscope in place of the endoscope 20 (see FIG. 3) as a flexible endoscope. . The rigid endoscope is an endoscope in which at least a distal end portion inserted into the oral cavity is formed of a straight tube. The endoscope 120 of the present embodiment is a rigid endoscope constituted of a rigid body that is entirely linear from the proximal end to the distal end.

  The endoscope movable unit 60 according to the second embodiment includes a view direction variable mechanism 163 instead of the bending mechanism 63 (see FIG. 8). The view direction changing mechanism 163 is a mechanism that makes the direction of the view of the endoscope 120 variable. The view direction variable mechanism 163 is provided inside the tip of the endoscope 120. As shown in FIG. 11, the view direction changing mechanism 163 has a rotating prism 163a, a prism axis 163b and a motor 163c.

  In the view direction variable mechanism 163, the rotation angle of the endoscope 120 is changed without changing the spatial arrangement of the endoscope 120 by rotating the rotating prism 163a about the prism axis 163b by driving the motor 163c. It can be changed. The rotating prism 163 a is provided at the tip of the imaging channel 21. The rotating prism 163a emits the light image incident from the front end surface from the rear end surface and guides the light image to the objective lens 25a. A dove prism is used as the rotating prism 163a. The observation window 120a of the endoscope 120 is formed in a spherical arc shape.

  The endoscope operation unit 32 according to the second embodiment receives an operation to operate the view direction variable mechanism 163 as an operation related to the change of the view of the endoscope 20. When the endoscope control unit 82 receives an operation to operate the view direction variable mechanism 163 in the endoscope operation unit 32, the endoscope control unit 82 drives the motor 163c according to the operation to move the rotating prism 163a to the prism shaft 163b. It is pivoted to the center, and the viewing angle of the endoscope 120 is changed.

  As described above, also in the dental observation apparatus 100, an effect similar to that of the first embodiment, that is, an effect that the change of the observation site in the oral cavity and the radiation of the medium can be automatically performed by the operation of the operator D Play.

  In the dental observation apparatus 100, the endoscope is a rigid endoscope. As described above, in the dental observation apparatus 100, a rigid endoscope can be adopted as an endoscope.

  In the dental observation apparatus 100, the endoscope movable unit 60 has a view direction variable mechanism 163. The operator D operates the view direction variable mechanism 163 by operating the operation switch 30 or the endoscope operation unit 32 of the foot controller 40 to operate the view direction variable mechanism 163 according to the operation, and the endoscope 120 You can change the direction of your vision. As a result, the field of view of the endoscope 120 can be changed, and the observation site in the oral cavity can be changed.

  The dental observation apparatus 100 may be configured as follows.

  In the dental observation apparatus 100, in the view direction variable mechanism 163, the rotating prism 163a is automatically rotated by the motor 163c, but the mechanism for rotating the rotating prism 163a is not particularly limited. For example, a wire connected to the view direction variable mechanism 163 is extended into the endoscope 120, and the operator moves the wire to the distal end side or the proximal end side of the endoscope 120 to move the rotating prism 163a. It may be turned manually. The viewing direction variable mechanism 163 may be provided with a reflective optical element such as a mirror instead of the rotating prism 163a.

  In the dental observation apparatus 100, the endoscope 120 may have a plurality of observation windows provided with lenses having fields of view different from one another. Specifically, as shown in FIG. 12, the endoscope 120 has a viewing window 28a provided with a lens 29a having a first field of view R1 and a lens having a second field of view R2 wider than the first field of view R1. And 29b may be provided. In this case, the dental observation apparatus 100 includes an observation window switching mechanism 164 for switching any one of the observation windows 28a and 28b through which the light image incident on the imaging device 25b of the endoscope 120 passes.

  The observation window switching mechanism 164 has a mirror 164a movable between the observation windows 28a and 28b, a motor 164b for moving the mirror 164a, and a lid 164c capable of opening and closing the observation window 28b. As shown, when using the observation window 28a, the motor 164b is driven to move the mirror 164a to a position where the light image from the observation window 28a can be reflected. At the same time, an actuator (not shown) is driven to close the lid 164c. Thereby, in the endoscope 120, observation with the first visual field R1 becomes possible. On the other hand, although not shown, when using the observation window 28b, the motor 164b is driven to move the mirror 164a to a position where the light image from the observation window 28b can be reflected. At the same time, an actuator (not shown) is driven to open the lid 164c. Thereby, in the endoscope 120, observation with the second visual field R2 becomes possible. According to such an observation window switching mechanism 164, the visual field of the endoscope 120 is changed by switching the observation windows 28a and 28b through which the light image incident on the imaging device 25b passes, and the observation site in the oral cavity is changed. It is possible to change.

Third Embodiment
Next, a third embodiment will be described. In the description of the third embodiment, only the differences from the first embodiment will be described, and overlapping descriptions will be omitted.

  As shown in FIG. 13 and FIG. 14, the dental observation apparatus 200 of this embodiment is horizontal instead of the housing 10 (see FIG. 1) that holds one endoscope 20 extending along the vertical direction. A housing 210 is provided which holds a plurality of endoscopes 220 extending along the direction.

  The housing 210 is supported so as to be freely movable in the vertical direction and in the horizontal plane. Specifically, an arm 202 movable in the horizontal direction is connected to a rotating unit 201 provided on the upper surface of the device table 6. The arm 202 is connected via the joint section 203 to an arm 204 which can be moved and adjusted in the vertical direction. The housing 210 is connected to the tip of the arm 204 via the connection portion 205. The arm 202 can be horizontally rotated by the rotating unit 201. The arm 204 is movable so as to be adjustable horizontally or vertically about the joint 203. The top surface of the housing 210 is kept horizontal.

  As shown in FIG. 14 and FIG. 15, a plurality of endoscopes 220 are arranged in parallel in the horizontal direction in the housing 210. The proximal ends of the plurality of endoscopes 220 are fixed and supported in the housing 210. In the front side of the housing 210 (the oral side of the patient P), an opening 206 through which a plurality of endoscopes 220 are inserted is formed. The opening 206 may be closed by a door so that the inside of the housing 210 can not be seen from the outside.

  The endoscope movable unit 60 according to the third embodiment includes, as an endoscope moving mechanism, an expansion and contraction mechanism 230 that extends and retracts the endoscope 220. The telescopic mechanism 230 includes cylindrical arms 245 to 247. The cylindrical arms 245 to 247 are horizontally telescopically movable and fitted sequentially so as not to rotate relative to each other. The cylindrical arms 245 to 247 constitute a part of the endoscope 220. The endoscope movable unit 60 will be specifically described below.

  As shown in FIG. 16, a guide groove 403 is formed in the horizontal direction on the first stage cylindrical arm 245. A guide groove 404 is formed in the horizontal direction on the second stage cylindrical arm 246. The outer wall of the second stage cylindrical arm 246 is provided with a guide piece 405 slidably engaged with a guide groove 403 formed in the cylindrical arm 245. A guide piece 406 slidably engaged with a guide groove 404 formed in the cylindrical arm 246 is provided on the outer wall of the third stage cylindrical arm 247. Thus, the cylindrical arms 245 to 247 are prevented from rotating by the guide pieces 405 and 406 engaged with the guide grooves 403 and 404 respectively, and can be moved (expanded) only in the horizontal direction.

  At the center of the inside of the extension mechanism 230, an extension screw shaft 407 including two screw shafts 408 and 418 is provided. The telescopic screw shaft 407 is fitted on the outer periphery of the screw shaft 408 so that the screw shaft 418 can move horizontally and does not rotate mutually. The two screw shafts 408 and 418 are, for example, ball screws. A key 409 is provided in the horizontal direction at the tip of the screw shaft 408. The inner periphery of the screw shaft 418 is formed with a key groove 410 with which the key 409 is engaged. The screw shafts 408 and 418 are prevented from rotating by the key 409 engaged with the key groove 410, and move (expand and contract) only in the horizontal direction.

  The base of the cylindrical arm 246 is provided with a nut 414 screwed to the screw shaft 408 and a shaft support portion 415 rotatably supporting the base of the screw shaft 418 fitted to the screw shaft 408. A bearing 416 rotatably supporting the screw shaft 418 is provided on the inner periphery of the shaft support portion 415. At the base of the cylindrical arm 247, a nut 417 screwed to the screw shaft 418 is provided. The nuts 414 and 417 screwed to the screw shafts 408 and 418 are, for example, ball nuts.

  The nut 414 supported by the second stage cylindrical arm 246 via the shaft support portion 415 converts the rotational force of the screw shaft 408 as the first stage rotary shaft member into linear motion to obtain a second stage cylindrical shape. The arm 246 is advanced (moved to the distal end) or retracted (moved to the proximal end). Similarly, the nut 417 supported by the third stage cylindrical arm 247 converts the rotational force of the screw shaft 418 as the second stage rotary shaft member into linear motion and advances the third stage cylindrical arm 247 Or set back. The telescopic mechanism 230 has a drive portion 428 provided at its rear end for rotating the screw shaft 408. The drive unit 428 includes a motor 419, pulleys 420 and 421, and a timing belt 422.

  According to such an extension mechanism 230, when the screw shaft 408 at the base end of the extension screw shaft 407 is rotated in one direction by the drive of the drive portion 428, the second stage is caused by the rotation of the nut 414 screwed on the screw shaft 408. The cylindrical arm 246 advances. When the cylindrical arm 246 advances, the screw shaft 418 whose base is supported by the shaft support portion 415 provided on the cylindrical arm 246 also advances integrally with the cylindrical arm 246. At the same time, in the screw shaft 418, the rotation of the screw shaft 408 is transmitted by the key 409 of the screw shaft 408 engaged with the key groove 410 formed on the inner periphery. Therefore, the screw shaft 418 rotates integrally with the screw shaft 408 while advancing integrally with the cylindrical arm 246. When the screw shaft 418 is rotated, the third cylindrical arm 247 is advanced by the rotation of the nut 417 screwed to the screw shaft 418. On the other hand, when the screw shaft 408 is rotated in the opposite direction to the above, the cylindrical arm 246 and the cylindrical arm 247 are simultaneously retracted.

  As described above, when the screw shaft 408 at the proximal end of the telescopic screw shaft 407 is rotated in one direction, the second stage cylindrical arm 246 and the third stage cylindrical arm 247 are synchronously advanced by the same distance. . As a result, the extension and contraction mechanism 230 is extended, and the endoscope 220 protrudes from the housing 210. On the other hand, when the screw shaft 408 is rotated in the opposite direction, the second stage cylindrical arm 246 and the third stage cylindrical arm 247 are synchronously retracted by the same distance. As a result, the extension mechanism 230 is reduced, and the endoscope 220 is compactly stored in the housing 210. The cylindrical arms 245 to 247 may have a rectangular cylindrical shape formed coaxially. The extension mechanism 230 may be configured of two or four or more cylindrical arms.

  The endoscope operation unit 32 according to the third embodiment receives, as a moving operation for moving the distal end side of the endoscope 220, a moving operation for expanding or contracting the expansion and contraction mechanism 230. When the endoscope operation unit 32 receives the movement operation, the endoscope control unit 82 expands or contracts the extension mechanism 230 according to the movement operation to move the distal end side of the endoscope 220.

  As shown in FIG. 15, the endoscope movable unit 60 of the present embodiment has a bending mechanism 250 for bending the endoscope 220 as an endoscope moving mechanism. The bending mechanism 250 here includes a mechanism for rotating the endoscope 220 in the θ direction, and a mechanism for expanding and contracting the endoscope 220. The bending mechanism 250 will be specifically described below.

  The bending mechanism 250 includes a cylindrical arm 244, a cylindrical arm 243, an arm 242 and an arm 241. The cylindrical arm 244, the cylindrical arm 243, the arm 242 and the arm 241 constitute a part of the endoscope 220. The cylindrical arm 244 is connected to the cylindrical arm 247 via the drive unit 235. The drive unit 235 is, for example, a motor, and has a rotation shaft 235 a along the axial direction of the cylindrical arm 244. As shown in FIG. 15 (b), when the drive unit 235 rotates, the cylindrical arm 244 rotates in the θ direction with respect to the cylindrical arm 247.

  The cylindrical arm 243 is connected to the cylindrical arm 244 via a drive unit 234. The drive unit 234 is, for example, a motor, and has a rotary shaft 234a along the horizontal direction. As shown in FIG. 15C, when the drive unit 234 rotates, the cylindrical arm 243 rotates upward or downward with respect to the cylindrical arm 244. The arm 242 is connected to the cylindrical arm 243 via an expansion and contraction portion 233. As shown in FIG. 15 (b), the arm 242 is accommodated in the cylindrical arm 243 or protrudes from the cylindrical arm 243 with reference to the extension / contraction portion 233.

  The arm 241 is connected to the arm 242 via the drive unit 232. The driving unit 232 is, for example, a motor, and has a rotating shaft 232a along the horizontal direction. As shown in FIG. 15C, when the drive unit 232 rotates, the arm 241 rotates upward or downward with respect to the arm 242. That is, in the bending mechanism 250, the drive unit 232 cooperates with the drive unit 234 to bend the endoscope 220 in the longitudinal direction. In addition, as a structure of the bending mechanism 250, it is not limited to the above-mentioned specific structure, A various well-known structure is employable. For example, the bending mechanism 250 may have a configuration in which two or more rigid tubes are bendably connected.

  The endoscope operation unit 32 according to the third embodiment receives, as a moving operation for moving the distal end side of the endoscope 220, a moving operation for bending the endoscope 220 by the bending mechanism 250. When the endoscope operation unit 32 receives the movement operation, the endoscope control unit 82 drives the bending mechanism 250 according to the movement operation, bends the endoscope 220, and Move the tip side. Here, the endoscope operation unit 32 may receive a moving operation for rotating or expanding or contracting the endoscope 220 in the θ direction by the bending mechanism 250, and when the moving operation is received, the endoscope control unit 82 The bending mechanism 250 is driven, and the endoscope 220 is rotated or contracted in the θ direction.

  The dental observation device 200 includes a monitor 211 provided on the device table 6 instead of the operator's monitor 11 (see FIG. 1). The monitor 211 functions as a display unit that displays an image captured by the endoscope 220. The monitor 211 can be used not only for displaying the observation result to the operator D but also for explaining the patient P.

  In the dental observation apparatus 200, the medium radiation unit 50 has a light source for transmitted light that generates transmitted light (including X-rays) for transmitting and observing teeth, and at least one of the plurality of endoscopes 220 Transmitted light may be emitted from the tip side of the lamp. In this case, the imaging element 25b of the endoscope 220 different from the endoscope 220 that emits the transmitted light may be an imaging element for transmitted light that receives the transmitted light that has passed through the teeth.

  In the dental observation apparatus 200 illustrated, the operation switch 30 is provided on the apparatus base 6. To the vertical support 4 a fixed to the device table 6, an arm 207 a holding the microphone 207, an arm 208 a holding the overhead camera 208, and an arm 209 a holding the shadowless lamp 209 are connected. An unshown spittoon is provided on the upper surface of the device table 6. The screw shaft 408 is a hollow shaft, and the medium channel (media passage) is inserted through the hollow portion of the hollow shaft, whereby the medium can be emitted from the tip of the endoscope 220 as in the other embodiments. It is assumed.

  As described above, also in the dental observation apparatus 200, an effect similar to that of the first embodiment, that is, an effect that the change of the observation site in the oral cavity and the radiation of the medium can be automatically performed by the operation of the operator D Play.

  In the dental observation apparatus 200, the endoscope movable unit 60 has a bending mechanism 250. The operator D operates the endoscope operation unit 32 of the operation switch 30 or the foot controller 40, and performs a moving operation of bending the endoscope 220 by the bending mechanism 250, whereby the bending mechanism 250 is operated according to the moving operation. And cause the endoscope 220 to bend automatically.

  In the dental observation apparatus 200 and the dental care apparatus 4 provided with the same, by making the plurality of endoscopes 220 cooperate, various kinds of observation and medical treatment are possible. For example, one endoscope 220 and another endoscope 220 are disposed to face each other via a tooth, and the transmitted light is emitted to the tooth from the distal end side of one endoscope 220, and the other endoscopy is performed. The transmitted light transmitted through the teeth may be received by the imaging device 25 b of the mirror 220. Thereby, transmission images (including X-ray images) of teeth can be acquired. When X-rays are used as transmitted light, an imaging element such as a CCD for detecting visible light converted from X-rays may be arranged on the light receiving side to obtain a transmitted image, or transmitted X-rays. A transmission image may be acquired by disposing an element that directly detects. Alternatively, an X-ray tube may be inserted into the oral cavity of the patient P as the light projection side, and a transmission image may be acquired by a body cavity tube system in which X-rays are emitted toward the light receiving unit pressed against the face.

  Incidentally, in the third embodiment, similarly to the first embodiment or the second embodiment, the operation switch 30 (the medium operation unit 31, the endoscope operation unit 32, the imaging operation unit 33, the treatment tool operation unit, etc.) 34, and the calibration operation unit 35) and the operator's monitor 11 (display unit) may be provided. In the third embodiment, the observation device control unit 80 may be incorporated in the housing 210.

[Modification]
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment.

  In the said 1st Embodiment, although the monitor 11 for operators as a display part was comprised integrally with the housing | casing 10, it is not limited to this. As shown in FIG. 17, the monitor 301 for displaying an image captured by the endoscope 20 may not be configured integrally with the housing 10 and may be disposed at a location away from the housing 10. The illustrated monitor 301 is an existing medical monitor provided in the dental care apparatus 4 and is attached to the vertical support 4 a of the support arm 3.

  In the above embodiment, the endoscope movable unit 60 moves the endoscope relative to the housing along the first direction and the second direction perpendicular to the longitudinal direction of the endoscope and orthogonal to each other. The orthogonal movement mechanism 310 may be provided as an endoscope movement mechanism. Hereinafter, the orthogonal movement mechanism 310 mounted on the dental observation apparatus 1 will be specifically described with reference to FIGS. 18 and 19.

  In the orthogonal movement mechanism 310, a pair of Y-axis rails 312 is provided on a mounting seat 311 provided in the housing 10. The pair of Y-axis rails 312 extend horizontally and parallel to each other. A Y-axis slider 313 moving along the Y-axis rail 312 is attached to the Y-axis rail 312. The Y-axis slider 313 is provided with a first platform 314. In the lower part of the housing 10 and the central part of the first platform 314, openings 315 and 316 for inserting the endoscope 20 are respectively formed.

  A pair of X-axis rails 317 are provided on the first platform 314. The pair of X-axis rails 317 extend horizontally and parallel to each other. The X-axis rail 317 is orthogonal to the Y-axis rail 312. An X-axis slider 318 moving along the X-axis rail 317 is attached to the X-axis rail 317. The X-axis slider 318 is provided with a second platform 319. The proximal end side of the endoscope 20 is fixed to the central portion of the second platform 319.

  A ball nut 320 is fixed to the first platform 314. A ball screw 322 coupled with the rotation axis of the Y-axis step motor 321 fixed in the housing 10 is screwed into the ball nut 320. Thus, the first platform 314 slides on the Y-axis rail 312 by the rotation of the Y-axis stepper motor 321. Similarly, a ball nut 323 is fixed to the second platform 319. A ball screw 325 coupled with the rotation axis of the X-axis step motor 324 fixed to the first platform 314 is screwed into the ball nut 323. Thus, the second platform 319 slides on the X-axis rail 317 by the rotation of the X-axis stepper motor 324.

  Under the orthogonal movement mechanism 310, the endoscope operation unit 32 receives an operation for driving the orthogonal movement mechanism 310 as a movement operation. When the endoscope operation unit 32 receives a movement operation for driving the orthogonal movement mechanism 310 in the endoscope operation unit 32, the endoscope control unit 82 drives the Y-axis step motor 321 and the X-axis step motor 324 according to the movement operation. . Thus, the endoscope 20 can be moved relative to the housing 10 along the X-axis direction (first direction) and the Y-axis direction (second direction). Therefore, the operator D operates the operation switch 30 or the endoscope operation unit 32 of the foot controller 40 and executes the movement operation of the orthogonal movement mechanism 310 to operate the orthogonal movement mechanism 310 according to the movement operation. The endoscope 20 can be automatically moved along the X-axis direction and the Y-axis direction.

  In the above embodiment, an adapter for intracanal observation as shown in FIG. 20 may be attachable to the distal end of the endoscope 20, 120, 220. The intracapsular observation adapter 340 is used to perform endophthalmoscopy. The intracapsular observation adapter 340 has an adapter tip 341 inserted into the canal of the tooth. The adapter tip portion 341 is formed of a flexible material such as a nylon tube or the like. The intracapsular observation adapter 340 is detachably attached to the tip of the endoscope 20, 120, 220. A mounting mechanism (not shown) for mounting the adapter for observation in the endotracheal tube is not particularly limited, and various known mounting mechanisms can be adopted. According to this configuration, it is possible to perform observation in the root canal by attaching the adapter for observation in the canal root to the distal end portion of the endoscope 20, 120, 220.

  In the above embodiment, water, air, spray, and illumination light are emitted by the medium radiation unit 50, but the medium to be emitted by the medium radiation unit 50 is not particularly limited, and various other various examples are possible as exemplified below. The medium may be emitted.

  That is, as shown in FIG. 21, the medium radiation unit 50 has a light source for photopolymerization 154 for generating a first blue light for photopolymerization curing, and the endoscope 20 or 120 emits the first blue light. , 220 may be emitted from the tip side. The light source for photopolymerization 154 is mounted on the housings 10 and 210. For example, the light source for photopolymerization 154 generates blue light having a wavelength of 420 μm to 480 μm as the first blue light. The medium operation unit 31 receives a medium selection operation for selecting ON / OFF of the emission of the first blue light. The medium selection operation may include an operation of setting an output of the first blue light, an emission time, an emission pattern, and the like. When the medium control unit 31 receives the medium selection operation, the medium control unit 81 controls the light source for photopolymerization 154 to emit the first blue light. According to this configuration, it is possible to emit the first blue light from the distal end side of the endoscope 20, 120, 220 according to the operation of the operator D to carry out the photopolymerization curing.

  The medium radiation unit 50 includes a light source 155 for detecting a second variation that generates a second blue light that enables detection of a second variation in the oral cavity. The second blue light is used as a tip of the endoscope 20, 120, 220. It may be emitted from the side. The variation detection light source 155 is mounted on the housings 10 and 210. For example, the light source 155 for detecting the different part generates blue light having a wavelength of 400 nm to 470 nm and 655 nm as the second blue light. The medium operation unit 31 receives a medium selection operation for selecting ON / OFF of the emission of the second blue light. The medium selection operation may include an operation of setting the output of the second blue light, the radiation time, the radiation pattern, and the like. When the medium control unit 31 receives the medium selection operation, the medium control unit 81 controls the different-area-detecting light source 155 to emit the second blue light. The variation portion is a portion that emits fluorescence upon irradiation with the second blue light, and is, for example, calculus, dental plaque, carious portion, resin filling, or the like. According to this configuration, it is possible to emit the second blue light from the distal end side of the endoscope 20, 120, 220 according to the operation of the operator D, and to perform the detection of the different portion. When the second blue light is emitted, the imaging element 25b is not limited to the imaging element for visible light, and may be a fluorescent imaging element that receives fluorescence emitted from the different variation part.

  The medium radiation unit 50 may have a laser light source 156 for generating a laser light for treatment, and the laser light may be emitted from the distal end side of the endoscope 20, 120, 220. The laser light source 156 is mounted on the housings 10 and 210. For example, a semiconductor laser is mainly used as the laser light source 156, but a small laser light source is not limited to the semiconductor laser, and another laser light source may be used. The medium operation unit 31 receives a medium selection operation for selecting ON / OFF of radiation of laser light. The medium selection operation may include an operation of setting an output of laser light, a radiation time, a radiation pattern and the like. When the medium control unit 31 receives the medium selection operation, the medium control unit 81 controls the laser light source 156 to emit a laser light. According to this configuration, it is possible to emit a laser beam from the distal end side of the endoscope 20, 120, 220 according to the operation of the operator D, and to treat the affected area.

Alternatively, laser light generated by an external laser light source is guided into the housing 10, 210 through the laser light guide disposed along the support arm 3, and the laser light is transmitted to the endoscope 20. , 120, 220 may be emitted. As the external laser light source, for example, an Nd-YAG laser, a CO ₂ laser, an Er-YAG laser, or the like disposed in the vicinity of the clinic table 7 is used.

  In the above embodiment, a two-dimensional image may be displayed on the display unit (monitors 11 and 211), or a three-dimensional image (three-dimensional image) may be displayed. When displaying a stereoscopic image, the endoscope 20 has an endoscope imaging unit 25 capable of stereoscopic observation, and the image control unit 85 generates a stereoscopic image based on imaging data obtained by the endoscope imaging unit 25. Is displayed on the display unit. Thereby, the affected area can be viewed stereoscopically in the display unit. It becomes easy to confirm the root canal bifurcation by observation in the root canal.

  The endoscope imaging unit 25 capable of stereoscopic observation is not particularly limited, and various known techniques for stereoscopic observation can be adopted. For example, in the endoscope imaging unit 25 capable of stereoscopic observation, techniques of an RGB-D camera and a light field camera may be used. For example, the endoscope imaging unit 25 capable of stereoscopic observation may include an imaging device for the left eye and an imaging device for the right eye. As a method of acquiring a stereoscopic image, focusing method, confocal method, triangulation method, white light interferometry method, stereo method, photogrammetry method, SLAM method (Simultaneous Localization and Mapping), or optical coherence tomography (Optical Coherence method) Tomography: OCT) may be used.

  In the above embodiment, the image enlargement ratio changing unit 27 changes the enlargement ratio of the image by driving the motor 27b to move the magnifying lens 27a. However, instead of or in addition to this, the enlargement ratio is obtained by the endoscope 20. The enlargement factor of the image may be changed by executing image processing (digital enlargement image processing) on the captured image data.

  In the above embodiment, the mouth observation camera 12 is provided in the housing 10, 210. However, instead of or in addition to this, a proximity sensor may be provided. In this case, the proximity of the patient P and the housing 10, 210 can be grasped using the detection result of the proximity sensor. As a result, when the patient P approaches the predetermined distance or less, the endoscope 20 is stopped from approaching the patient P further, or is moved in a direction away from the patient P. It is possible to avoid that 20, 120, 220 hit the teeth and cheeks.

  In the above embodiment, the motors 27b, 61a, 62a, 63d and 63e are used as drive sources for performing various operations, but instead of or in addition to this, various drive sources such as hydraulic pistons or pneumatic pistons May be used. In the above embodiment, the display unit may have a binocular eyepiece and a lens barrel, and may be viewed by the operator D with both eyes.

  In the above embodiment, the operation switch 30 includes the medium operation unit 31, the endoscope operation unit 32, the imaging operation unit 33, the treatment instrument operation unit 34, and the calibration operation unit 35, but at least any of them. You just need to include it. Similarly, the foot controller 40 may include at least one of the medium operation unit 31, the endoscope operation unit 32, the imaging operation unit 33, the treatment instrument operation unit 34, and the calibration operation unit 35.

  In the dental care apparatus 4 of the above embodiment, the tilt (tilt) of the headrest 7a and the movement (observation device) of the endoscope 20, 120, 220 may be controlled in conjunction with each other. Hereinafter, this will be specifically described with reference to FIGS. 22 and 23.

  As shown in FIGS. 22 (a) and 22 (b), the clinic table 7 includes a seat 7c which can be moved up and down, a backrest 7b which is tiltably connected at an end of the seat 7c, and a backrest. And a headrest 7a tiltably connected at the end of 7b. The raising and lowering of the seat 7c, the tilting of the backrest 7b, and the tilting of the headrest 7a can be driven by a hydraulic or electric motor.

  The headrest 7a and the backrest 7b are configured so as to be rotatable around a direction orthogonal to the longitudinal axis of the medical examination table 7, and tilt so as to fall back and forth. Further, as shown in FIG. 23, the headrest 7a tilts so as to swing left and right around a longitudinal axis 7x provided at the lower part thereof. For example, the headrest 7a has a right facing position (a headrest 7aR as a patient PR shown) and a left facing position (a patient shown in the figure) with the front position (the headrest 7aC as the patient PC shown) facing the patient P as a center It tilts to the left and right between the headrest 7aL) and the PL.

  The storage unit 86 stores a control amount set including the movable amount of the endoscope 20, 120, 220 by the endoscope movable unit 60 and the tilting amount of the headrest 7a according to the dental care area. The storage unit 86 constitutes a third storage unit. The dental treatment area is the area of the tooth to be treated. The dental treatment area includes the tooth site and the observation target area selectable by the endoscope operation unit 32 described above. The medical device control unit 8 may include such a third storage unit.

  The endoscope control unit 82 and the headrest control unit 8a read from the storage unit 86 a control amount set corresponding to the input dental care area. The endoscope control unit 82 and the headrest control unit 8a move the endoscopes 20, 120 and 220 by the endoscope movable unit 60 and tilt the headrest 7a by the headrest drive unit 9a based on the read control amount set. Control each one. For example, the input of the dental care area can be performed in at least one of the operation switch 30, the foot controller 40, and the operation unit (not shown) of the dental care apparatus 4.

  Thereby, by inputting the dental care area, the movement of the endoscope 20, 120, 220 and the tilting of the headrest 7a are interlocked according to the dental care area, and the observation range by the endoscope 20, 120, 220 Can be expanded. In addition, the burden associated with the posture change of the patient P and the operator D can be reduced. Not only the tilting of the headrest 7a but also the tilting of the backrest 7b and / or the raising and lowering of the seat 7c may be interlocked with the movement of the endoscope 20, 120, 220. The interlocking includes not only driving the endoscopes 20, 120, 220 and the headrest 7a simultaneously but also driving them continuously.

  Further, when interlocking the movement of the endoscope 20, 120, 220 with the tilting of the headrest 7a according to the dental care area, the interlocking with the tilting of the headrest 7a in the front-rear direction as described above. In addition, since interlocking with tilting in the left and right direction of the headrest 7a is included, it can be adapted to observation of a wide dental care area, and medical care can be smoothly performed for the patient P and the operator D. In addition, corresponding to the change of the position thru | or form of such an endoscope 20, 120, 220 or the dental treatment apparatus 4, the endoscope 20, 120, 220 or dental medical treatment is carried out prior to the change of the said position thru | or form. If the voice guide is automatically output from the device 4, the patient P can be handled with confidence. Alternatively, a tooth number may be input instead of the tooth medical examination area, and the movement of the endoscope 20, 120, 220 may be interlocked with the tilting of the headrest 7a according to the tooth number.

  1, 100, 200 ... dental observation device, 3 ... support arm, 4 ... dental medical treatment device, 5 ... internal space, 7 ... medical treatment table, 7a ... headrest, 7b ... backrest, 7c ... seat seat 8a ... headrest control Sections 10, 210: Casing, 11: Operator's monitor (display section) 12, 12: Mouth-viewing camera (camera), 20, 120, 220: Endoscope, 22: First medium channel (medium channel , 23: second medium channel (medium channel) 24, 24: treatment tool channel, 24a: dental treatment tool, 25: endoscope imaging unit, 27: image magnification ratio changing unit, 27a: magnifying lens (magnifying lens) Lenses 28a and 28b Observation windows 29a and 29b Lenses 30 Operation switches 31 Medium operation unit 32 Endoscope operation unit 34 Treatment instrument operation unit 40 Foot controller 50 Medium radiation part, 51: water line (fluid line), 52: air line (fluid line), 60: endoscope movable part, 61: linear motion mechanism (endoscope moving mechanism), 62: rotational movement Mechanism (endoscope moving mechanism) 63: bending mechanism (endoscope moving mechanism) 70: treatment tool drive unit 81: medium control unit 82: endoscope control unit 83: treatment tool control unit 85 ... image control unit 86 storage unit (first storage unit, second storage unit, third storage unit) 154 light source for photopolymerization 155 light source for detecting different portion 156 laser light source 163 field of view Variable direction mechanism 164 observation window switching mechanism 211 monitor (display unit) 250 bending mechanism (endoscope moving mechanism) 301 monitor (display unit) 310 orthogonal movement mechanism (endoscope moving mechanism ), 340 ... Adapter for observation in the root canal.

Claims (36)

A housing supported by the support arm;
An endoscope whose proximal end is held by the housing and whose distal end can be inserted into the oral cavity;
An endoscope movable unit configured to move the endoscope so as to change the field of view of the endoscope;
An endoscope operation unit that receives an operation related to a change in the field of view of the endoscope;
An endoscope control unit configured to control the movement of the endoscope by the endoscope movable unit based on an operation received by the endoscope operation unit.   The dental observation apparatus according to claim 1, comprising a foot controller including the endoscope operation unit.   The dental observation apparatus according to claim 1, wherein the endoscope is a soft mirror. The endoscope movable unit has an endoscope moving mechanism for moving the distal end side of the endoscope,
The dental observation apparatus according to claim 3, wherein the endoscope operation unit receives a moving operation regarding movement of the endoscope as an operation regarding a change in the visual field.   The dental observation apparatus according to claim 4, wherein the endoscope movable unit has a bending mechanism that bends a distal end side of the endoscope as the endoscope moving mechanism.   The dental observation apparatus according to claim 4, wherein the endoscope movable unit includes a bending mechanism that bends the endoscope as the endoscope moving mechanism. The endoscope operation unit receives an exit operation for exiting the endoscope from the oral cavity,
When the endoscope operation unit receives the withdrawal operation, the endoscope control unit moves the endoscope so as to extend linearly, and then leaves the endoscope from the oral cavity to the initial position The dental observation device according to claim 5 or 6, wherein the dental observation device is moved in a direction.   The endoscope movable unit is an orthogonal movement that moves the endoscope relative to the housing along a first direction and a second direction perpendicular to the longitudinal direction of the endoscope and orthogonal to each other. The dental observation apparatus according to any one of claims 4 to 7, comprising a mechanism as the endoscope moving mechanism.   The endoscope movable portion is a rotational movement mechanism that rotates the endoscope relative to the housing along a rotational direction in which the longitudinal direction of the endoscope is an axial direction, the endoscope being the endoscope The dental observation device according to any one of claims 4 to 8, which has a movement mechanism.   The endoscope movable unit includes, as the endoscope moving mechanism, a linear movement mechanism that moves the endoscope relative to the housing along the longitudinal direction of the endoscope. The dental observation apparatus as described in any one of 4-9.   The dental observation apparatus according to claim 1, wherein the endoscope is a rigid endoscope.   The dental observation apparatus according to claim 11, wherein the endoscope movable unit has a view direction variable mechanism provided inside the tip of the endoscope to change the direction of the view of the endoscope. The endoscope has a plurality of observation windows provided with lenses having different fields of view,
The dental endoscope according to claim 11, wherein the endoscope movable unit has an observation window switching mechanism that switches any one of a plurality of observation windows through which an optical image incident on an imaging device of the endoscope passes. Observation device.   The endoscope movable unit includes a rotational movement mechanism that rotates the endoscope relative to the housing along a rotational direction in which the longitudinal direction of the endoscope is an axial direction. The dental observation apparatus as described in any one of -13.   The said endoscope movable part has a linear_motion | direct_drive mechanism which moves the said endoscope relatively with respect to the said housing | casing along the longitudinal direction of the said endoscope. Dental observation device as described in. The endoscope operation unit receives a storage operation for storing at least the proximal end side of the endoscope in the housing.
When the endoscope control unit receives the storage operation by the endoscope operation unit, the endoscope control unit moves the endoscope by the linear motion mechanism, and sets at least the proximal end side of the endoscope into the housing. The dental observation device according to claim 10 or 15, wherein the dental observation device is housed.   The dental observation apparatus according to any one of claims 1 to 16, wherein the housing is provided with a display unit configured to display an image captured by the endoscope. An image control unit configured to control an image displayed on the display unit;
The endoscope has an endoscope imaging unit capable of stereoscopic observation,
The dental observation apparatus according to claim 17, wherein the image control unit causes the display unit to display a stereoscopic image as the image based on imaging data obtained by the endoscope imaging unit. The first storage unit is configured to store a first movable plan of the endoscope by the endoscope movable unit according to a part of the tooth for each part of a plurality of teeth.
The endoscope operation unit receives a tooth selecting operation for selecting any one of a plurality of tooth parts,
The endoscope control unit
When the endoscope operation unit receives the tooth selection operation, the first movable plan corresponding to the site of the tooth related to the received tooth selection operation is read from the first storage unit,
The dental observation apparatus according to any one of claims 1 to 18, wherein movement of the endoscope by the endoscope movable unit is controlled based on the read first movable plan. A second storage unit configured to store, for each of a plurality of observation target areas, a second movable plan of the endoscope by the endoscope movable unit according to the observation target area;
The endoscope operation unit receives a target area selection operation for selecting any of a plurality of observation target areas,
The endoscope control unit
When the target area selection operation is received by the endoscope operation unit, the second movable plan corresponding to the observation target area related to the received target area selection operation is read from the second storage unit,
The dental observation apparatus according to any one of claims 1 to 19, wherein movement of the endoscope by the endoscope movable unit is controlled based on the read second movable plan.   The dental observation apparatus according to any one of claims 1 to 20, wherein the housing is provided with at least one of a camera and a proximity sensor directed to the oral cavity.   The dental observation apparatus according to any one of claims 1 to 21, comprising the endoscope operation unit, and including an operation switch provided in the housing. The endoscope internally has a medium channel for passing the medium to the tip side,
A medium emission unit for emitting the medium from the distal end side of the endoscope;
A medium operation unit that receives an operation related to radiation of the medium;
The dental observation apparatus according to claim 1 or 2, further comprising: a medium control unit configured to control emission of the medium by the medium radiation unit based on an operation received by the medium operation unit.   The dental observation apparatus according to claim 23, further comprising at least one of a foot controller including the medium operation unit and an operation switch including the medium operation unit. The medium radiation unit emits at least one of a plurality of the media,
The medium operation unit receives a medium selection operation for selecting at least one of a plurality of the mediums,
The dental observation apparatus according to claim 23 or 24, wherein the medium control unit causes the medium operation unit to emit at least one medium related to the received medium selection operation when the medium operation unit receives the medium selection operation. The medium radiation unit emits at least one of water, air and illumination light;
The medium operation unit receives a medium selection operation for selecting at least one of water, air, and illumination light.
The dentist according to claim 25, wherein the medium control unit radiates at least one of water, air, and illumination light according to the received medium selection operation when the medium operation unit receives the medium selection operation. Observation device.   The dental device according to any one of claims 23 to 26, wherein at least a part of the medium which radiates at the medium radiation part is supplied via a fluid line arranged in the inner space of the support arm. Observation device. The housing is mounted with a light source for photopolymerization that generates a first blue light for photopolymerization curing.
The dental observation apparatus according to any one of claims 23 to 27, wherein the medium radiation unit radiates the first blue light from the distal end side of the endoscope. The housing is mounted with a light source for detecting a second variation that generates second blue light that enables detection of a second variation in the oral cavity,
The dental observation apparatus according to any one of claims 23 to 28, wherein the medium radiation unit causes the second blue light to be emitted from the distal end side of the endoscope. A laser light source for generating a laser beam is mounted on the housing, or the laser light is guided from the outside through a laser light guide disposed along the support arm,
The dental observation apparatus according to any one of claims 23 to 29, wherein the medium radiation unit causes the laser beam to be emitted from the distal end side of the endoscope. An image enlargement ratio changing unit configured to change an enlargement ratio of an image captured by the endoscope;
The image magnification change unit performs at least one of movement of an imaging lens provided inside the endoscope and / or execution of image processing on imaging data obtained by the endoscope. The dental observation device according to any one of claims 1 to 30, wherein the magnification is changed.   The dental observation device according to any one of claims 1 to 31, wherein the endoscope can be attached with an adapter for observation in the intracanal region at its distal end. The endoscope internally has a treatment instrument channel for passing the dental treatment instrument to the distal end side,
A treatment tool drive unit for driving the dental treatment tool;
A treatment tool operation unit that receives an operation of the dental treatment tool;
The dental observation apparatus according to any one of claims 1 to 32, further comprising: a treatment tool control unit that controls driving of the treatment tool drive unit based on the operation received by the treatment tool operation unit. .   34. The dental observation apparatus according to claim 33, comprising at least one of a foot controller including the treatment tool operating unit and an operation switch including the treatment tool operating unit.   The endoscope control unit according to any one of claims 1 to 34, wherein movement of the endoscope by the endoscope movable unit is controlled according to an inclination of a headrest of a medical examination table with respect to a reference posture. Dental observation device. The dental observation device according to any one of claims 1 to 35,
A seat, a backrest connected to the seat, and a couch having a headrest tiltably connected to the backrest;
A headrest control unit that controls tilting of the headrest;
And a third storage unit configured to store a control amount set including a movable amount of the endoscope by the movable portion of the endoscope and a tilt amount of the headrest according to a dental care area.
The endoscope control unit and the headrest control unit read the control amount set corresponding to the input dental care area from the third storage unit, and move the endoscope based on the read control amount set. A dental care apparatus for controlling the movement of the endoscope by the unit and the tilting of the headrest, respectively.

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