• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    toothbrush monitoring system the present invention relates to a method and system for tracking a position of a toothbrush head during brushing. the toothbrush monitoring system (600) comprises: a toothbrush (21) comprising a handle and a head (22), the toothbrush comprising a position sensor (601) and a force sensor (602 ); and a data processing unit (604, 605) configured to receive a force signal from the force sensor (605) and a position signal from the position sensor (601), the data processing unit being data (604, 605) is configured to calculate a position of the toothbrush head (22) from a combination of the position signal and the strength signal; wherein the position sensor (601) is arranged on, or mounted on the toothbrush (21) at a location offset from the head (22) of the toothbrush (21); and where the position of the head (22) of the toothbrush (21) is determined by enlarging a position of the head (22) indicated by the position sign with a calculation of a deflection of the head (22) in relation to the determined handle from the strength signal.
    公开号:BR112012014418B1
    申请号:R112012014418
    申请日:2010-11-25
    公开日:2020-01-21
    发明作者:Guy Savill Derek；bates Susan
    申请人:Unilever Nv；
    IPC主号:
    专利说明:

    "DENTAL BRUSH MONITORING SYSTEM"
    Field of the Invention [001] The present invention relates to a method and system for tracking a position of a toothbrush head during brushing.
    Background of the Invention [002] It is known that many dental problems experienced by people who regularly use a toothbrush are associated with misuse of the toothbrush. For example, even if brushing is done several times a day, incorrect brushing habits can prevent the brush from coming into contact with certain areas of the tooth. Little brushing coverage can also be caused, or at least exacerbated, by the toothbrush configuration.
    [003] Current methods for determining the location of plaque in the mouth in general are difficult to use. There are two basic methods, one of which uses an evaluator to visually inspect and then manually records the quantity and position of the plaque on the tooth. Another method involves using a camera to record images of a user's tooth, which can then be analyzed. For both methods, the plate needs to be dyed to somehow increase its visibility. Both methods have significant disadvantages. For visual inspection, assessors can vary significantly in their assessments, and generally two people are required (one to assess, one to record). For camera registration, lighting conditions need to be strictly controlled, particularly for a comparison between the appearance of the tooth before and after treatments. Registering anything other than the oral surface is difficult. Systems have been developed that attempt to address such problems by monitoring the position of a toothbrush
    Petition 870190089912, of 9/11/2019, p. 11/56
    2/13 during brushing. An example of such a system is described in patent document WO02 / 083257, in which the position of a toothbrush is monitored with respect to the position of an individual's tooth, the toothbrush comprising a first position sensor, the output from which it is fed to a processing apparatus which also receives an output from a second position sensor fixedly fixed in relation to the tooth. The processing device compares the two sensor outputs to monitor the position of the toothbrush relative to the tooth during brushing. Other systems have also been developed to monitor the movement of a toothbrush in use in conjunction with a measurement of force applied by the individual's toothbrush head. An example of such a system is described in patent document WO01 / 47392, in which a toothbrush includes a motion sensor to determine a brushing movement and a tension meter or other type of force sensor to determine an applied force during brushing. This system is not, however, configured to determine the relative position between the toothbrush head and the user's tooth. Force measurements are used to indicate the pressure applied during brushing. Patent document US6,731,213 also describes a toothbrush monitoring system in which force information is obtained from a toothbrush that can also incorporate a position sensor device capable of detecting the toothbrush's position within the user’s mouth.
    [004] When determining the position of the toothbrush head with respect to the tooth in a system as described in patent document WO02 / 083257, tracking inaccuracies may occur. During brushing the toothbrush handle can be flexed, which changes the relative position of the position sensor (typically
    Petition 870190089912, of 9/11/2019, p. 12/56
    3/13 mounted on the toothbrush handle) in relation to the toothbrush head. There are also other position errors inherent in tracking systems based on position sensing and motion sensing. These tracking difficulties make adjustment of position data from the toothbrush to a user's tooth model problematic, as it is not possible to know in a sufficient degree of precision where the toothbrush head is in relation to the tooth at any time during brushing.
    Description of the Invention [005] It is, therefore, an object of the invention to address one or more of the problems mentioned above.
    [006] In accordance with a first embodiment of the invention, a method is provided for monitoring tooth brushing comprising:
    [007] Reception of a position signal from a position sensor arranged on a toothbrush comprising a handle and a head;
    [008] Reception of a force signal from a sensor arranged on the toothbrush; and calculating a position of the toothbrush head using the position signal in combination with the strength signal. The invention addresses the tracking problem inherent in existing systems that result from the bending of the toothbrush head in relation to the toothbrush body in which the position sensor is predicted, using the force signal in addition to the position signal to calculate the position of the toothbrush head. The position of the toothbrush head can be determined by enlarging a head position indicated by the position sign with a calculation of a head deflection in relation to the head determined from the force sign. The strength signal can be derived from a sensor that is arranged
    Petition 870190089912, of 9/11/2019, p. 13/56
    4/13 in, or mounted on the toothbrush at a location offset from the toothbrush head. The enlargement of this displacement allows the flexed position of the head to be determined with respect to an uninflected state, and, therefore, to determine a more precise position of the head.
    [009] The deflection is preferably determined as a function of the strength signal and the mechanical properties of the toothbrush, which had been previously determined. The mechanical properties of the toothbrush preferably comprise a measure of flexural stiffness in one or more directions. In certain embodiments, flexural stiffness in two directions orthogonal to a longitudinal axis of the toothbrush can be used together with force signals from two force sensors on the toothbrush to determine flexion in the lateral and normal directions relative to the tooth of an individual. The invention can be used in combination with a model of an individual's tooth to evaluate a tooth brushing action on an individual tooth basis. Customized upper and lower dentition models can, for example, be provided according to the description of the patent document WO2008 / 116743, in which the position and orientation of a toothbrush with respect to the tooth while toothbrushing is determined using a sensor with six degrees of freedom connected to the toothbrush handle. A similar sensor is also described in patent document WO02 / 083257. Alternatively, the invention itself can be used to model a tooth of an individual during brushing. The lateral and normal forces applied to the tooth by the subject during brushing can be measured using a force or pressure sensor connected to the toothbrush, for example, on the toothbrush head
    Petition 870190089912, of 9/11/2019, p. 14/56
    5/13 or on a part of the toothbrush connecting the head to the handle. Position and force data can be transmitted to a data analysis unit via wired or wireless means from the toothbrush, and the data analysis unit is configured to perform the necessary calculations to determine the uncorrected position data from the position sensor and to apply an offset to uncorrected positional data using the force signal to derive a position from the toothbrush head.
    [0010] An advantage of the invention is that analysis of positional and force data provides more accurate information regarding the position of the toothbrush head at any point in time. Another advantage is that the force signal can also be used to provide a measure of force that is experienced by the brush head at that time, which is useful for analyzing brushing behavior, for example, to determine where excessive pressure is being applied or very little pressure.
    [0011] The accuracy of positional data can be continuously optimized, either in real time or in post-capture analysis by correcting flexion in the toothbrush handle using knowledge of the physical characteristics of the toothbrush handle material when subjected to forces typically applied during tooth brushing. This information can be gathered by previous measurement of the brush cable behavior under conditions of controlled force, or it can be calculated using computer modeling such as Finite Element Analysis (FEA). Tooth contact can also be detected using force measurements. This can be used in conjunction with positional data to accurately predict where the tooth surface is, thus improving the accuracy of the tooth.
    Petition 870190089912, of 9/11/2019, p. 15/56
    6/13 system.
    Brief Description of the Drawings [0012] The invention is described in more detail below on the basis of example, with reference to the accompanying drawings where:
    - Figure 1 is a series of measurements that indicate the degree of flexion of a toothbrush head as a function of force applied to the brush head;
    - Figure 2 a is a drawing of a toothbrush in an uninflected state;
    - Figure 2b is a drawing of the toothbrush of figure 2 a in a flexed state;
    - Figures 3a and 3b are computer generated images showing a calculated position of a toothbrush head in relation to a set of teeth using positional data only;
    - Figure 4 is a computer generated image showing the effect of a calculated position of a toothbrush head with respect to a set of teeth when a signal of strength is taken into account;
    - Figure 5 is a height view of a set of teeth that indicates the effect of considering a sign of strength when determining the position of a toothbrush head; and
    - Figure 6 is a schematic diagram of a system comprising a toothbrush and a data processing unit.
    Description of Realizations of the Invention [0013] Figure 1 illustrates a series of measurements made on a typical polypropylene toothbrush, in which a force was applied to the toothbrush head and the head flexion measured while the brush handle was tooth remained fixed. It was found that the toothbrush head flexes up to approximately 25 mm from its
    Petition 870190089912, of 9/11/2019, p. 16/56
    7/13 flexed when a load of approximately 7N is applied. A degree of hysteresis is also evident from the measurements, due to the viscoelastic nature of the material used to make the toothbrush. A typical degree of force applied during brushing should be approximately 3.5N, which refers to a flexion of at least 11 mm (illustrated in figure 1 with dotted lines).
    [0014] Figures 2a and 2b illustrate results derived from a computer model of a toothbrush. Without applying force, the toothbrush 21 is in the non-flexed state shown in figure 2a. With a force F applied to the toothbrush head 22, the non-flexed shape of the toothbrush 21 (indicated by the dotted line 23 in figure 2b) changes to a flexed state 24. A δ deflection of the toothbrush head is obtained tooth 22. The result shown in figure 2b results from a modeled force of approximately 10N applied to the toothbrush head 22, resulting in a δ deflection greater than 25 mm, as would be expected from the mechanical test results shown in the figure 1.
    [0015] In general, therefore, the mechanical properties of the toothbrush comprise at least one measure of stiffness, and optionally a measure of hysteresis, in one or more directions, for example, in two directions orthogonal to a longitudinal axis of the toothbrush. Mechanical properties can be determined by physical testing, finite element analysis (FEA), or both.
    [0016] The use of a force sensor on or over the toothbrush allows the deflection of the head in relation to the handle to be determined. The force sensor can be configured to measure normal force on the toothbrush head, for example, a sensor of the type described in patent document WO01 / 47392, in which a force sensor is arranged on the connector portion of the toothbrush. between the cable and the head. The sensor
    Petition 870190089912, of 9/11/2019, p. 17/56
    8/13 force can also be configured to measure a transverse force in relation to the normal force.
    [0017] As an illustration of the effect of the uncorrected positional data being used, figures 3a and 3b show different views of a computerized model supplied with a set of teeth 31 together with a model of a toothbrush 21 in the relative position to tooth 31 according to uncorrected positional data. Due to the bending of the toothbrush in use, the toothbrush head 22 is shown in a clearly incorrect position, with the head 22 interfering with tooth 31. Figure 4 illustrates a supplied model of tooth set 31 when a correction is applied to positional data from toothbrush 21, using force information from the toothbrush head to apply a deflection to the head position shown in figures 3a and 3b. As you can clearly see the toothbrush head 22 no longer interferes with tooth 31. A more accurate assessment of brushing action in relation to the tooth can therefore be derived.
    [0018] Figure 5 shows another view of the set of teeth 31, which in this case shows a height view of the lower set of teeth with two arrows 51, 52 indicating the uncorrected and corrected position of the toothbrush.
    [0019] Figure 6 illustrates a schematic view of a system 600, according to an embodiment of the invention, which is based on the commercially available Oral Insights system as, for example, described by JP. Claessen et al., In Designing interventions to improve tooth brushing, IDJ (2008) 58, 307-320. Other information regarding this system is also described by G. Savill et al., In Toothbrush Tracking System: novel tool for recording motion and position, abstract 0101, PEF IADR, Baltimore, 2008, by
    S. Bates et al., In Efficacy of Oralinsights OHI System in General Dental
    Petition 870190089912, of 9/11/2019, p. 18/56
    9/13
    Practice, abstract 0428, PEF IADR, London, 2008 and by AM Lloyd et al., In Efficacy of Oralinsights OHI System for Targeted Plaque Removal ', abstract 0429, PEF IADR, London, 2008. A toothbrush 21 comprises a sensor position 601 a force sensor 602, the position sensor being
    601 is located on the toothbrush handle 21, while the force sensor
    602 is arranged between the handle and the toothbrush head.
    [0020] The information from the position sensor 601 is transmitted through a connection 603 to a position calculation unit 604, and the information from the force sensor 602 is transmitted through connection 604 to a force calculation unit 605. The unit position calculation unit 604 and the force calculation unit 605 preferably forms part of a common unit, and a common connection can be provided from the toothbrush 21 to the common unit for the purpose of transmitting both position and signs of strength. The 604 connection can be provided through wired or wireless means (for example, via Bluetooth ™ connection). The position calculation unit 604 also receives signals from a position sensor unit located over the user's head 608, the position sensor unit comprising a headset that incorporates a 607 magnetic field transmitter and a six degree sensor of freedom 606. The sensor with six degrees of freedom 606 is preferably attached to a chin strap. The positional signal from the position sensor unit 606 is transmitted via a transmitter 609 to the position calculation unit 604 via a connection 610, which can also be wired or wireless.
    [0021] The position calculating unit 604 sends data representing the positions of the toothbrush handle position sensor unit 601 and sensor 606 connected to user 608 to a computer 613 through connection 611. The unit calculating unit force 605 sends data representing force applied to the toothbrush head to the computer 613
    Petition 870190089912, of 9/11/2019, p. 19/56
    10/13 via connection 612. From there, computer 613 is able to calculate the corrected position of the toothbrush head and can also be configured to display, preferably in real time, a computer generated model of the user's tooth on a 620 monitor screen. The viewfinder can be used to provide an immediate feedback to the user on the effectiveness, or otherwise, of tooth brushing.
    [0022] Computer 613 can alternatively derive information only when a data set is received.
    [0023] The positional and strength information can optionally be transmitted wirelessly from the toothbrush 21 to the strength and position calculating units 604, 605, for example, via a Bluetooth or WiFi connection. The positional information or of power can optionally be temporarily stored in a memory on the toothbrush and transmitted to the calculating units 604, 605 once the brushing is completed, for example, when the toothbrush is inserted into a recharging base. An optical probe can also be incorporated into the toothbrush head, for example, to allow a record to be made of the plaque location. Optical probe images can be recorded from the oral cavity together with the corrected position data. The combination of data allows the position of the plate in relation to the tooth to be precisely determined. The system can also be used for the detection of cavities.
    [0024] As the system can be used to determine an accurate toothbrush head position, the system can also be used to collect data for reconstructing an image of a user's jaw. Corrected positional data from toothbrush 21 can be used in conjunction with image data from an optical probe on the head of a toothbrush to build an image map of the user's tooth. Other sensors such as fluoride, pH, sulfur, zinc or sensors
    Petition 870190089912, of 9/11/2019, p. 20/56
    11/13 bleaching can be incorporated into the toothbrush. The system can also be used to map the condition of the teeth, for example, in determining wear, erosion, demineralization, white spot etc. Figure 7 illustrates a flow chart of an event cycle 70 for system 600 illustrated in figure 6. As a first step 71, a positional signal is obtained from positional sensor 601 on toothbrush 21 and positional sensor 606 on phone user's ear. In a second step 72, which can be simultaneous with or immediately prior to the first step, a force signal is obtained from the force sensor 602 on toothbrush 21. In a third step 73, since the position signals and force values were obtained, the position signal coming from toothbrush 21 is corrected using the force signal from the force sensor 602. In a fourth step 74, the display 620 is updated with the corrected position signal , and in a fifth stage 75, which may alternatively be simultaneous with or immediately prior to the fourth stage 74, the corrected positional data are recorded for further analysis. Event cycle 70 is then repeated, returning to the first step 71. In one example, the position and force sensors are probed at regular intervals and calculations are performed during each interval of the toothbrush position and orientation. with respect to the tooth. An appropriate model of toothbrush can be applied to determine the position of the head with respect to the position sensor and how the head flexes with respect to the handle in a range of applied forces. A database of such models can be provided for this purpose, the individual models being the result of physical tests and / or modeling of particular brushes. The model database can be created by applying known forces in relation to the brush head under strict physical conditions, and by capturing images of the toothbrush before and after the force is applied. The images can then be converted to
    Petition 870190089912, of 9/11/2019, p. 21/56
    12/13 3D models that are installed and used in the system.
    [0025] The toothbrush model for the brush being used is applied each time the position and orientation of the head is calculated. The system can also be configured for collision (or interference) analysis between the brush head bristles and the user's tooth and, if applicable, which tooth faces have been affected. Collision detection can be achieved by determining an intersection between the bounding box of the dental model and a bounding box that represents the area of the bristle area of the brush head. For the collision between the bristles of the brush head and a tooth, the system elaborates which face was reached, for example, considering the angle of a vector along the central bristle of the brush head, ie the angle of the head with respect to each tooth surface, to determine which surface or surfaces are being brushed at that time.
    [0026] Once this is done, calculations can be performed quickly enough, position / orientation data is captured essentially in real time, allowing the corrected position of the toothbrush in relation to the tooth to be viewed in real time by the user during brushing. Information can also be captured and corrected after the brushing event. Various types of sensing technologies can be used to measure position, for example, devices based on magnetic sensing, optical sensing, ultrasound, radio waves, GPS or inertial sensing. A preferred route of force measurement is the use of one or more strain gauges in a Wheatstone bridge arrangement, although other types of sensors can be used, such as those based on optical fibers, force sensor resistors, piezoelectric or by measuring current drawn from an electric motor that drives an electric toothbrush. An example of a force sensor used in tooth brushing is described by P.A.Heasman in Toothbrushing forces in children with fixed orthodontic
    Petition 870190089912, of 9/11/2019, p. 22/56
    13/13 appliances, British journal of Orthodontics vol. 25, 1998, pp. 187-190.
    [0027] Other realizations are also within the scope of the invention as defined by the attached claims.
    权利要求:
    Claims (5)
    [1]
    1. DENTAL BRUSHING MONITORING SYSTEM (600) characterized by comprising:
    a toothbrush (21) comprising a handle and a head (22), the toothbrush comprising a position sensor (601) and a force sensor (602); and a data processing unit (604, 605) configured to receive a force signal from the force sensor (605) and a position signal from the position sensor (601), the data processing unit being data (604, 605) is configured to calculate a position of the toothbrush head (22) from a combination of the position signal and the strength signal;
    wherein the position sensor (601) is arranged on, or mounted on the toothbrush (21) in a location offset from the head (22) of the toothbrush (21); and where the position of the head (22) of the toothbrush (21) is determined by enlarging a position of the head (22) indicated by the position sign with a calculation of a deflection of the head (22) in relation to the determined handle from the strength signal.
    [2]
    2. DENTAL BRUSHING MONITORING SYSTEM (600), according to claim 1, characterized by the data processing unit (604,605) being remote from the toothbrush (21).
    [3]
    3. DENTAL BRUSHING MONITORING SYSTEM (600), according to claim 1, characterized in that the data processing unit (604,605) is configured to receive the power and position signals wirelessly from the toothbrush (21 ).
    [4]
    4. BRUSH MONITORING SYSTEM
    Petition 870190089912, of 9/11/2019, p. 24/56
    2/2
    DENTAL (600) according to any one of claims 1 to 3, characterized in that the toothbrush head comprises an optical probe.
    [5]
    5. BRUSH MONITORING SYSTEM
    DENTAL (600) according to any one of claims 1 to 4, characterized in that the toothbrush head comprises a chemical sensor.
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    法律状态:
    2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-07-23| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2019-12-24| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-01-21| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 25/11/2010, OBSERVADAS AS CONDICOES LEGAIS. |
    2021-07-27| B25A| Requested transfer of rights approved|Owner name: UNILEVER IP HOLDINGS B.V. (NL) |
    优先权:
    申请号 | 申请日 | 专利标题
    EP09179736|2009-12-17|
    PCT/EP2010/068226|WO2011073010A1|2009-12-17|2010-11-25|Toothbrush tracking system|
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