ROBOTIC SYSTEM FOR TEETH REMOVAL Russian patent published in 2017 - IPC A61C3/00 B25J11/00 

FIELD: medicine.

SUBSTANCE: invention relates to medical equipment, namely to surgical dentistry, it is intended for removal of teeth and their roots. Robotic system contains base, to which eight pairs of telescopic hydraulic cylinders are rigidly secured at each side, to end rods of which cases of driving mechanisms are fixed, to which rotation gears are fixed. Rotation axes are rigidly fixed to rotation gears, on which rotation brackets are movably fixed, on which stators of rotation electric motors are rigidly fixed at two opposite sides facing opposite each other, and to their rotors rotation drive gears are rigidly fixed. To rotation brackets stators of motion electric motors are rigidly fixed at two opposite sides facing opposite each other, and to their rotors motion drive gears are rigidly fixed. To rotation brackets motion wheels axes are rigidly fixed, on which motion wheels are movably fixed. On based four hydraulic rods of hydraulic cylinders with ball retainers are movably installed. Axis of rotation is rigidly fixed to housing, on which gear of rotation is movably fixed, which is rigidly fixed to head end. To housing stators of electric motors of head end rotation are rigidly fixed at two opposite sides facing opposite each other, on rotors of which driving gears of head end rotation are rigidly fixed. To head end cylinder of telescopic hydraulic cylinder is rigidly fixed, on end rod three working mechanism are movably fixed, which consist of driving and driven parts. Drive parts are movably fixed on end rod by means of two driving mechanisms of working parts arranged on opposite sides opposite each other and two pairs on each opposite side arranged opposite each other relative to longitudinal axis of end rod of ball bearings. Cartridges of ball bearings are rigidly fixed to rods of hydraulic cylinders, and their cylinders are rigidly fixed to housing of driving part. To bases of driving mechanisms of working parts four cylinders of hydraulic cylinders are movably fixed, and their rods are movably fixed to housing of driving part. To base of driving mechanism rotation axis and rotation gear of driving mechanism of working parts are rigidly fixed, on axis rotation bracket of drive mechanism of working parts is movably fixed. To it two stators of rotation electric motors are rigidly fixed arranged on opposite sides opposite each other, on rotors of which rotation driving gears of driving mechanisms of working parts are rigidly fixed. To bracket of driving mechanism of working parts two pairs of stators of electric motors of motion of driving mechanisms of working parts are rigidly fixed arranged at angle of 100° to each other. On their rotors driving gears of motion of driving mechanisms of working parts are rigidly fixed. Axis of motion is rigidly fixed to it, on which driving wheel of driving mechanism of working parts is movably fixed. Between base of driving mechanism of working parts and bracket ball bearing is located. Driven part consists of frame, to which four hydraulic cylinders are fixed, and their rods are movably fixed to base of driving part. To lower surfaces of driving and driven parts two rods of working hydraulic cylinders are fixed movably in frontal plane, and their cylinders are fixed movably in frontal plane to jaw base, to lower sides of which two lateral wings are rigidly fixed, on inner sides of which there are slots in form of dovetail, in which middle wing is movably fixed, and to it in upper part hydraulic cylinder rod is rigidly fixed, wherein, its cylinder is rigidly fixed to jaw base.

EFFECT: invention allows preventing complications caused by improper removal of teeth and their roots, reducing length of treatment and rehabilitation of patients and excluding necessity of repeated surgeries.

1 cl, 10 dwg