Method for cutting or abrading with a tool, and related drivers and systems

A method for cutting with a tool comprises rotating the tool in a first direction. Then, at a predetermined moment, quit rotating the tool and allow the tool to coast in the first direction. While the tool coasts, a parameter is determined that represents drag experienced by the tool as the tool coasts. If the determined parameter does not exceed a predetermined limit then the tool is rotated in the first direction. If the determined parameter exceeds the predetermined limit, then the tool is rotated in another direction opposite the first direction. The predetermined moment when the tool begins to coast may be any desired moment, such as when the tool rotates through a specific distance or for a specific period of time.

BACKGROUND

Dental and medical practitioners routinely perform dental/medical procedures that typically involve using a tool such as a file, bur, cutter, reamer, or polisher powered by a motor system to cut a patient's tooth, bone, or soft tissue. For example, when a patient has a decaying and/or infected tooth, a dentist or other medical technician will often use a file or reamer to remove the dental pulp from the patient's tooth and preserve the health of the patient's tooth and/or jaw. And, when a patient has a chipped tooth or a cavity, a dentist or other medical technician will often use a bur to remove some of the tooth's enamel to prevent further, additional damage to the tooth. To remove the dental pulp from a tooth the dentist or other medical technician inserts a file or reamer into the tooth's root canal. To remove enamel from a tooth the dentist or other medical technician places a burr or other type of tool on the region of the tooth's enamel to be removed. The motor of the motor system then rotates the tool to cut and/or abrade tissue and/or enamel from the patient's tooth.

There are two general types of rotary motion that the tool performs during such procedures—single-direction rotation and reciprocating rotation. During single-direction rotation, the tool rotates primarily in one direction, clockwise or counterclockwise. To avoid unwanted damage to the patient and the tool, the torque experienced by the tool as it rotates is monitored. If the torque exceeds a desired limit, then the tool is rotated in the opposite direction for a brief moment to unbind it. Then the tool's rotation is again reversed so that it resumes rotation in the direction in which it cuts and/or abrades. During reciprocating rotation, the tool rotates in two, opposite directions, sequentially. The trigger for reversing rotational direction is often a predetermined angular displacement or the end of a predetermined period of time.

Using single-direction rotation often provides good cutting efficiency because the tool rotates for longer periods of time in the direction that the tool is designed to cut and/or abrade. Using the reciprocating rotation often provides a dentist or other medical technician a good feel for the procedure because the motor does not continuously power or load the tool in a substantially-single direction.

Thus there is a need for a system that provides the two general types of rotary motion and can provide either type of rotary motion in response to the conditions experienced during the a procedure.

SUMMARY

In an aspect of the invention, a method for cutting with a tool comprises rotating the tool in a first direction. Then, at a predetermined moment, quit rotating the tool and allow the tool to coast in the first direction. While the tool coasts, a parameter is determined that represents drag experienced by the tool as the tool coasts. If the determined parameter does not exceed a predetermined limit then the tool is rotated in the first direction. If the determined parameter exceeds the predetermined limit, then the tool is rotated in another direction opposite the first direction. The predetermined moment when the tool begins to coast may be any desired moment, such as when the tool rotates through a specific distance or for a specific period of time.

By allowing the tool to coast, stress accumulated in the tool by the load imposed on the tool to rotate it may be relieved, and a dentist and/or medical technician can obtain a good feel for the procedure. That is, the dentist and/or medical technician can obtain a better sense of what the tool experiences as the tool rotates. And, by evaluating a parameter that represents the drag that the tool experiences as the tool coasts, one can accurately determine whether or not the tool should rotate reciprocally to help relieve stress in the tool and prevent unwanted damage to the patient and/or tool. If so, then the tool is rotated reciprocally until the conditions of the procedure suggest that the tool should be rotated in a single direction.

DETAILED DESCRIPTION

FIG. 1is a perspective view of an endodontic system10, according to an embodiment of the invention. The endodontic system10includes a body12housing control circuitry (not shown), a hand-piece14releasably coupled to the body12via a cable16, and a tool18releasably coupled to the hand-piece14. In this and other embodiments of the endodontic system10, the hand-piece14includes a motor (not shown) that is coupled to the control circuitry inside the body12via the cable16, and coupled to the tool18via a mechanical transmission (also not shown). In operation, the motor receives power (here electrical) from the control circuitry via the cable16and, in response, rotates the tool18.

Based on the output that the tool18is designed to provide and/or the output that the motor is designed to provide, and based on actual feedback during operation, the control circuitry directs to output of the motor and/or the tool18. To allow one to use a different hand-piece and tool18combination to perform a similar or a different procedure, the endodontic system10also includes a user interface20coupled to the control circuitry. With the user interface, one can select a specific operational protocol for the control circuitry to follow during a procedure, or one can modify, as desired, one or more operational parameters of a specific protocol for the endodontic system10to perform. One of the operational protocols available to the control circuitry of the system10includes a protocol (discussed in greater detail in conjunction withFIG. 2) that drives the tool18to rotate in a single direction unless the tool18experiences excessive torque upon which the tool18is rotated in the opposite direction for a short period to unbind the tool18. Another of the operational protocols available to the control circuitry of the system10includes a protocol (discussed in greater detail in conjunction withFIGS. 3, 4 and 5) that drives the tool18to rotate for a period, then allows the tool18to coast for another period, and then depending on what happens during the coast period drives the tool18in the original direction or in an opposite direct.

By driving the tool18in a single direction unless the tool18experiences excessive torque allows one to efficiently cut or abrade tissue without damaging the tool or the patient should the tool experience a torque that could break the tool. By allowing the tool to coast, stress accumulated in the tool by the load imposed on the tool to rotate it may be relieved, and a dentist and/or medical technician can obtain a good feel for what the tool18experiences during the procedure. And, by evaluating what the tool18experiences as the tool18coasts, one can accurately determine whether or not the tool18should rotate reciprocally to relieve stress in the tool and to help prevent unwanted damage to the patient and/or tool. If so, then the tool is rotated reciprocally until the conditions of the procedure suggest that the tool should be rotated in a single direction.

Still referring toFIG. 1, in this and other embodiments of the system10, one manually instructs the control circuitry to follow either of the two protocols. To decide which protocol to use, one considers the procedure to be performed, the specific tool to be used, and information related to the specific patient. If the procedure is routine and involves removing a minor amount of dental pulp for a patient's tooth, then one may prefer to use a file that is designed to cut when rotated in a single direction. In these circumstances, one may choose to have the control circuitry of the endodontic system10follow the protocol that drives the tool18to rotate in a single direction unless the tool18experiences excessive torque upon which the tool18is rotated in the opposite direction for a short period to unbind the tool18. If the procedure is not routine and involves removing dental pulp close to the tooth's apical foramen, then one may prefer to have a better feel of the action during the procedure. In these circumstances one may choose to have the control circuitry of the endodontic system10follow the protocol that drives the tool18to rotate for a period, then allows the tool18to coast for another period, and then depending on what happens during the coast period drives the tool18in the original direction or in an opposite direct.

Other embodiments are possible. For example the endodontic system10may automatically determine which of these operational protocols the control circuitry will follow. The system10may make this decision based on any desired operational parameter input by the user, such as a specific type of tool or a specific type of procedure.

FIG. 2is a schematic view of a method for cutting and/or abrading that the endodontic system ofFIG. 1may implement, according to an embodiment of the invention. The method includes the protocol that drives the tool18to rotate in a single direction unless the tool18experiences excessive torque, upon which the tool18is rotated in the opposite direction for a short period to unbind the tool18. This protocol is identified as single-direction rotation because when the tool does not experience excessive torque, the control circuitry continuously drives the tool18in a single direction.

After one selects this protocol as discussed above, the first event40of the protocol is the motor rotates the tool18(FIG. 1) in the direction that the tool18is designed to cut in. To do this the control circuitry sends power and a control signal to the motor in the hand-piece14(FIG. 1) via the cable16(FIG. 1). In response, the motor rotates the tool18via the transmission disposed in the hand-piece14. The amount of power and the direction of rotation may be any desired amount and direction that allows the motor to rotate the tool18as desired. For example, the tool18selected for the procedure may best perform rotating clockwise at 300 to 500 rpms while experiencing 100 to 500 gram-centimeters (gcm) of torque. To provide these operational parameters to the tool18, the control circuitry matches the specific motor and transmission combination with the amount of electrical power needed by the motor. In this embodiment of the system10(FIG. 1), the control circuitry automatically detects the specific motor and transmission combination and determines how much electrical power the motor requires to provide a specific set of operational parameters. In other embodiments, one may input the desired motor and transmission combination and/or the desired operational parameters for the tool18via the user interface20(FIG. 1).

Then, in the next event42, the control circuitry determines the torque currently experienced by the rotating tool18. The current torque may be determined in any desired manner. For example, the control circuit may measure, at any desired moment, the amount of electrical power consumed by the motor and the tool's rotational speed. The tool's rotational speed decreases as the torque that it experiences increases. Thus, for a known amount of power consumption, the rotational speed of the tool18may be used to determine the amount of torque experienced by the tool18.

Then, in the next event44, the control circuitry compares the current torque with a predetermined torque value. If the current torque experienced by the tool18does not exceed the predetermined value, then the control circuitry continues providing the electrical power and control signal to the motor that, in response, continues to rotate the tool18as desired. If, however, the current torque experienced by the tool18exceeds the predetermined value, then in the next event46the control circuitry sends a control signal that causes the tool18to rotate in the opposite direction to attempt to unbind the tool18. The control circuit may reverse the rotational direction of the tool18in any desired manner. For example, in this and other embodiments, the control circuit may send the motor a control signal that causes the motor to immediately stop and rotate in reverse. In other embodiments, the control circuit may send the transmission a control signal that causes the transmission to mechanically reverse the direction that the tool18rotates.

FIG. 3is a schematic view of another method for cutting and/or abrading that the endodontic system ofFIG. 1may implement, according to an embodiment of the invention. The method includes the protocol that drives the tool18to rotate for a period, then allows the tool18to coast for another period, and then depending on what happens during the coast period drives the tool18to rotate in the original direction or in an opposite direct. By allowing the tool18to coast, one can obtain a good feel for what the tool18experiences during the procedure. And, by evaluating what the tool18experiences as the tool18coasts, one can more accurately determine whether or not the tool18should rotate reciprocally to help prevent unwanted damage to the patient and/or tool. If so, then the tool is rotated reciprocally until the conditions of the procedure suggest that the tool should be rotated in a single direction. This protocol is identified as adaptive rotation because the control circuitry modifies the rotation of the tool18based on what the tool experiences while coasting.

Referring toFIG. 3, after one selects this protocol as discussed above, the first event50of the protocol is to set the desired values (discussed in greater detail in the following paragraphs) for the protocol's operational parameters. These values may be set manually by the dentist and/or medical technician, or automatically by the control circuitry.

The next event52of the protocol is the motor rotates the tool18(FIG. 1) in a first direction. With the adaptive-rotation protocol, one may use a tool18that is designed to cut and/or abrade when it rotates in both the clockwise and the counterclockwise directions. Thus, the first direction that the tool18may rotate may be clockwise or counterclockwise, as desired. Once the first direction is established, the control circuitry sends power and a control signal to the motor in the hand-piece14(FIG. 1) via the cable16(FIG. 1). In response, the motor rotates the tool18via the transmission disposed in the hand-piece14. Similar to the single-direction protocol discussed in conjunction withFIG. 2, the amount of power may be any desired amount that allows the motor to rotate the tool18as desired.

Still referring toFIG. 3, in the next event54, the control circuitry monitors the rotation of the tool18in the first direction during the drive period to determine whether or not the tool experiences an excessive torque, and if the tool18doesn't, then to determine when the drive period ends. The control circuitry may monitor this in any desired manner. For example, similar to event42discussed in conjunction withFIG. 2, the control circuitry may measure, at any desired moment in the drive period, the amount of electrical power consumed by the motor and the tool's rotational speed, and from these determine a torque currently experienced by the tool18. To determine when the drive period ends, in this and other embodiments, the control circuitry may monitor the angular displacement of the tool18. In other embodiments, the control circuitry may monitor a period of time that the tool18rotates in the first direction. In still other embodiments, the control circuitry may monitor the rotational speed of the tool18. This may be desirable when one wants to accelerate the tool18while the tool cuts and or abrades tissue. By monitoring the rotational speed of the tool in such a situation, one can help prevent the tool18from over revving. In yet other embodiments, the control circuitry may monitor two or more of the following: the angular displacement of the tool18, the period of time that the tool18rotates, and the rotational speed of the tool18.

In event56and similar to event44also discussed in conjunction withFIG. 2, the control circuitry compares the current torque with a predetermined torque value. If the current torque experienced by the tool18exceeds the predetermined value, then, in event58and similar to event46discussed in conjunction withFIG. 2, the control circuitry sends a control signal that causes the tool18to briefly rotate in the opposite direction to attempt to unbind the tool18. After briefly rotating in the opposite direction, the control circuitry proceeds back to event52and begins the drive period again. If, however, the current torque experienced by the tool18does not exceed the predetermined value, then the control circuitry continues to instruct the motor to rotate the tool18in the first direction, and proceeds to event60.

In event60, the control circuitry determines whether or not the tool's rotation has reached a predetermined moment that establishes the beginning of the tool's coast period. The predetermined moment may be any desired moment. For example, if the control circuitry monitors angular displacement, then the predetermined moment may be 640 degrees. If the control circuitry monitors a period of time, then the predetermined moment may be 120 microseconds. And, if the control circuitry monitors the rotational speed of the tool18, then the predetermined moment may be 900 rpms. If the rotation of the tool18has not reached the predetermined moment, then the control circuitry continues to instruct the motor to drive the tool18in the first direction. If the rotation of the tool18reaches the predetermined moment, then the control circuitry proceeds to the next event62.

In event62, the control circuitry sends a control signal that causes the motor to quit rotating the tool18, and allow the tool18to coast in the first direction. Because the motor does not drive the tool18while the tool coasts, the tool18is allowed to relieve stress accumulated under the load imposed on it by the motor. This, in turn, allows the tool18to transmit to the dentist's and/or medical technician's hand vibrations that provide a more accurate feel for what the tool experiences during a procedure.

The duration of the coast period may be any desired duration. For example, in this and other embodiments the coast period may be defined by a specific angular displacement of the tool18during the coast period, such as 90 degrees. In other embodiments, the coast period may be defined by the passage of specific period of time such as 40 microseconds. In still other embodiments, the coast period may be defined by a specific difference in the tool's rotational speed, such as a total change of 500 rpms, or a specific final rpm of 100 or even 0.0.

As the tool18coasts during the coast period, the control circuitry determines a parameter that represents the drag experienced by the tool18as the tool18coasts. The parameter may be any desired parameter that allows the control circuitry to determine the drag at either a specific moment during the coast period, or an amount of drag experienced over the whole or a portion of the coast period. For example, in this and other embodiments, the parameter is the tool's rotational speed. In event64the control circuitry monitors the coast period, and in event66the control circuitry determines whether or not the coast period ends. In event68, when the tool18reaches the end of the coast period, the control circuitry determines the rotational speed of the tool and determines the amount of torque experienced through the whole coast period by subtracting the rotational speed of the tool18at the end of the coast period from the rotational speed of the tool18at the beginning of the coast period.

Still referring toFIG. 3, in event70, the control circuitry then determines in which direction the tool18should rotate next. If the amount of torque experienced by the tool18through the coast period does not exceed a predetermined value, then, the control circuitry proceeds back to event52and sends power and a control signal to the motor to rotate the tool18in the first direction. The control circuitry then proceeds through events54-70, again. If, however, the amount of torque experienced by the tool18through the coast period exceeds a predetermined value, then the control circuitry proceeds to events72-76, in which the control circuitry sends power and a control signal to the motor to rotate the tool18in a direction opposite the first direction.

Events72-76are similar to events52-60, except that the control circuitry sends power and a control signal to the motor that causes the motor to rotate the tool18in a direction opposite the first direction. In addition, the duration of the reverse-drive period is often different than, but may be the same as, the duration of the drive period discussed in events52-60. In this and other embodiments, the duration of the reverse-drive period is less than the duration of the drive period. Specifically, the drive period is determined by the tool's angular displace of 20 degrees. In addition, the tool's angular displacement is measured as an absolute value. That is, if the tool18rotates in the first direction for 5 degrees during a first portion of the reverse-drive period, and then rotates 15 degrees in the opposite direction, the reverse-drive period would end when the tool reached 15 degrees in the opposite direction.

Other embodiments are possible. For example, during the reverse-drive period the control circuitry may not test for and react to excessive torque experienced by the tool18, as discussed in events56and58.

After the reverse-drive period, the tool18experiences a reverse-coast period. During the reverse-coast period, the control circuitry determines a second parameter that represents drag experienced by the tool18during the reverse-coast period, and in response, determines how to proceed. In this and other embodiments, the options for proceeding include repeating the current protocol, and rotating the tool18in the direction that the tool experiences less torque, which may be different that the first direction, and may be according to a different protocol, such as the protocol discussed in conjunction withFIG. 2. The options for proceeding also include stopping the rotation of the tool18, and modifying one or more of the operational parameters in the current protocol and rotating the tool18according to the modified protocol.

The reverse-coast period, events78-82, is similar to the coast period discussed in conjunction with events62-66, except that the tool's rotation is often, but not necessarily, opposite the rotation of the tool18during the coast period, events62-66, and is often shorter in duration than the coast period,62-66. Likewise, determining the second parameter that represents drag experienced by the tool18during the reverse-coast period, events84and86, is similar to determining the first parameter that represents drag experienced by the tool18during the coast period, events68and70, except that the values of the torque are often, but not necessarily, less than the torque values used and experienced during the coast period, events68and70.

FIGS. 4 and 5are graphic illustrations of the adaptive-rotation protocol discussed in conjunction withFIG. 3, each according to an embodiment of the invention. The graph shown inFIG. 4illustrates the protocol that drives the tool18to rotate in the first direction for a period, then allows the tool18to coast for another period, and then drives the tool18to again rotate in the first direction. This cycle can occur when the amount of torque experienced by the tool18through the coast period does not exceed the predetermined value. The graph shown inFIG. 5illustrates the protocol that drives the tool18to rotate in the first direction for a period, then allows the tool18to coast for another period, then drives the tool18to rotate in a direction opposite the first direction, and then drives the tool18to again rotate in the first direction. This cycle can occur when the amount of torque experienced by the tool18through the coast period exceeds the predetermined value. Also illustrated inFIG. 5is the change in protocol from one cycle of reverse-direction rotation to a subsequent cycle of drive-coast-drive periods each in the first direction.

Referring toFIG. 4, in this and other embodiments, the drive period100represents the drive period discussed in conjunction with events52-60inFIG. 3. The coast period102represents the coast period discussed in conjunction with events62-70inFIG. 3. The next drive period104is the beginning of the next cycle and represents the drive period discussed in conjunction with events52-60inFIG. 3. The next coast period106represents the coast period discussed in conjunction with events62-70inFIG. 3. And, the next drive period108is the beginning of the third cycle and represents the drive period discussed in conjunction with events52-60inFIG. 3.

Referring toFIG. 5, in this and other embodiments, the drive period120represents the drive period discussed in conjunction with events52-60inFIG. 3. The coast period122represents the coast period discussed in conjunction with events62-70inFIG. 3. The reverse-drive period124represents the reverse-drive period discussed in conjunction with events72-76inFIG. 3. The reverse-coast period126represents the reverse-coast period discussed in conjunction with events78-86inFIG. 3. The next drive period128is the beginning of the next cycle, which is different than the previous cycle, and represents the drive period discussed in conjunction with events52-60inFIG. 3. The next coast period130represents the coast period discussed in conjunction with events62-70inFIG. 3. And, the next drive period132is the beginning of next cycle and represents the drive period discussed in conjunction with events52-60inFIG. 3.

FIG. 6is a schematic view of another method for cutting and/or abrading that the endodontic system ofFIG. 1may implement, according to an embodiment of the invention. This method includes a protocol that drives the tool18to rotate in a first direction for a period, and then at the end of the period determines whether to drive the tool18in the same direction for another period or drive the tool18in an opposite direction. If the tool18experiences a torque during the drive period that exceeds a minimum threshold value, then the tool18is rotated for a period in a direction opposite the first direction. If the tool18does not experience a torque during the drive period that exceeds a minimum threshold value, then the tool18is rotated in the first direction for another period of time. By reversing the rotation of the tool18after the tool18experiences a torque that exceeds a minimum value, the tool18is allowed to relieve stress accumulated under the load imposed on it by the motor during the drive period.

This protocol is similar to the protocol discussed in conjunction withFIG. 3, except that this protocol does not include a coast period after the first-direction drive period, or after a reverse-drive period. More specifically, events150-158are similar to events52-60, respectively, and as such the discussion of the events52-60applies to events150-158. A difference between this protocol and the protocol discussed in conjunction withFIG. 3is that in event160the control circuitry compares the torque experienced by the tool18during the period that the motor drives the tool18in the first direction with a predetermined minimum threshold torque.

Referring toFIG. 6, the minimum threshold torque may be any desired minimum and may be manually input by a user for use by the control circuitry, or automatically input. In this and other embodiments, the minimum threshold torque is 50 gcm and the maximum predetermined torque limit used by the control circuitry to protect against breaking the tool18is 300 gcm. Thus, if the tool18does not experience a torque that exceeds 300 gcm, then the control circuitry will rotate the tool until the drive period ends. At the end of the drive period, the control circuitry then determines whether or not the tool18experienced a torque that exceeds the minimum threshold. If the tool18did not, then the control circuitry proceeds back to event150and instructs the motor to drive the tool18in the first direction for another period. If the tool18, however, does experience a torque that exceeds the minimum threshold, for example 60 gcm, then the control circuitry proceeds to event162in which the control circuitry instructs the motor to rotate the tool18in reverse. Event162is similar to event72and76discussed in conjunction withFIG. 3, and as such, the discussion of the events72and76applies to event162.

The control circuitry may determine the torque experienced by the tool18in any desired manner. For example, in this and other embodiments, the control circuitry may monitor the angular displacement of the tool18over a period. In other embodiments, the control circuitry may monitor a period of time that the tool18takes to rotate a specific angular distance. In still other embodiments, the control circuitry may monitor the rotational speed of the tool18. In yet other embodiments, the control circuitry may monitor two or more of the following: the angular displacement of the tool18, the period of time that the tool18rotates, and the rotational speed of the tool18.

Other embodiments of the protocol are possible. For example, similar to the protocol discussed in conjunction withFIG. 3, the control circuitry may determine torque experienced by the tool18during the reverse-drive period, and in response, determine how to proceed. Options for proceeding may include repeating the current protocol, and rotating the tool18in the direction that the tool experiences less torque, which may be different that the first direction, and may be according to a different protocol, such as the protocol discussed in conjunction withFIG. 2and/orFIG. 3. The options for proceeding may also include stopping the rotation of the tool18, and modifying one or more of the operational parameters in the current protocol and rotating the tool18according to the modified protocol. For example, the duration of the reverse-drive period may increase proportionally with the torque measured in the drive period and/or in the reverse-drive period.