CN1059297C - Motor controller for dental handpiece - Google Patents
Motor controller for dental handpiece Download PDFInfo
- Publication number
- CN1059297C CN1059297C CN96116740A CN96116740A CN1059297C CN 1059297 C CN1059297 C CN 1059297C CN 96116740 A CN96116740 A CN 96116740A CN 96116740 A CN96116740 A CN 96116740A CN 1059297 C CN1059297 C CN 1059297C
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- reference position
- motor
- torque
- dental handpiece
- motor controller
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/031—Automatic limiting or abutting means, e.g. for safety torque limiting
Abstract
The present invention relates to a motor controller for a dental handpiece, which comprises a torque detection device used for detecting load torque added to cutting tools, and a control device, wherein when the detected load torque of the control device reaches to the preset reference torque, the cutting tools stop driving the motor; the rotary speed of the motor is reduced, and the motor can reversely rotate or temporarily and reversely rotate. The utilization of the controller can prevent considerably thin cutting tools, such as files, etc., for the formation of root grooves from breaking. In addition, the operability of the handpiece can be improved, and the operation for the formation of the root groove is easily carried out.
Description
The present invention relates to be used for the controller of dental handpiece cutting tool CD-ROM drive motor, by the cutting tool of drive installation on the head top, the cutting tooth also forms the root groove.
Drive cutting tool cutting tooth or analog because the motor of dental treatment is mainly used in, in the driving method that has adopted, even when motor runs into heavy load, motor rotary speed does not also reduce but maintains predetermined speed.As the general example of this method, FEEDBACK CONTROL is known, and wherein motor rotary speed and the predetermined speed that is detected by the detector that is installed in the head compares, and the voltage of controlling and driving motor, so that eliminate the poor of these two speed, thereby keeps invariablenes turning speed.By changing the output of predetermined speed governor motor.
But, along with cutting tool attenuates because no matter add on the cutting tool load how rotating speed keep constant, so cutting tool ruptures easily.So quite thin cutting tool is very easy to fracture as the file that forms the root groove, Ni-Ti file regulation maximum (top) speed is 300rpm particularly, therefore produces the problem of dental operation difficulty.
Therefore, primary and foremost purpose of the present invention is the cutting tool fracture that prevents dental handpiece, secondly is the operability of improving head, the 3rd be make as the dental operation that forms the root groove easy.
For achieving the above object, the motor controller that is used for dental handpiece according to the present invention, comprise and be used to detect the checkout gear that adds to the load torque on the cutting tool, and control device, when this control device reaches the predetermined reference torque in the detection load torque, stop the cutting tool CD-ROM drive motor or reduce its rotating speed.Utilize this structure, stop cutting when load torque reaches torque reference substantially.Therefore, even cutting tool is quite thin and when being easy to rupture, when particularly using the file that forms the root groove, can prevent broken tool by suitable setting torque reference.
When load torque reaches torque reference, replace above-mentionedly stopping the cutting tool CD-ROM drive motor or reducing rotating speed, but reverse motor.This structure not only stops cutting, and prevents that cutting tool from forming operating period continuation incision root groove at the root groove, thereby can effectively operate.
Except above-mentioned structure, be provided with the position that root slot length measurement mechanism detects cutting tool, it is simultaneously as the electrode of measuring cutting tool.Utilize this structure, when load torque reaches torque reference, or cutting tool can stop the cutting tool CD-ROM drive motor when reaching preset reference position, reduces motor rotary speed, or reverse motor.This structure prevents cutting tool fracture and incision root groove, prevents cutting tool expansion simultaneously or penetrates the root top, thereby obviously improve the operability and the practicality of root groove therapeutic system.
And each load torque reaches torque reference or each cutting tool arrives the reference position, and the cutting tool CD-ROM drive motor of can temporarily reversing is also just being changeed motor again subsequently, thereby by reversing repeatedly and just changeing, recovers cutting.This structure can valid function.The load torque that detects less than torque reference after moment or institute detection cutting tool position be shallower than the reference position after moment carry out forward motor Spin Control, obtain just commentaries on classics to be recovered after the counter-rotating in the above-mentioned situation.And, can use to move to the control that the operation of just changeing has hysteretic properties.Under the latter event, do not rotate and reverse and repeat repeatedly, thereby stable operation improves operability, and can not had a negative impact the useful life of device.
The basic structure of this controller has below been described.By the explanation of following embodiment, will understand more detailed structure.
Fig. 1 is the motor controller circuit figure according to one embodiment of the invention;
Fig. 2 A shows that this embodiment is provided with the head end view of controller;
Fig. 2 B is the display device plane graph that shows head;
Fig. 3 is the process flow diagram of display controller duty ratio control;
Fig. 4 display controller motor output performance;
Fig. 5 is another figure of display controller motor output performance;
Fig. 6 A stops according to the load torque motor in the display controller or control procedure flow chart that rotating speed reduces;
Fig. 6 B is the control procedure flow chart that reverses according to the load torque motor in the display controller;
Fig. 7 stops according to the tool location motor in the display controller, the control procedure flow chart that rotating speed reduces and reverses; And
Fig. 8 is the controller second-cut file apart from the figure that concerns between the position on root top and the torque reference.
Below describe embodiment, wherein the controller that claim 3 provided according to the present invention has torque master and position detecting device comprises a root groove measuring circuit.In following explanation, when above-mentioned load torque reaches torque reference, carry out the control that motor stops or rotating speed reduces and be called " according to torque stop control automatically ", and when load torque reaches torque reference, carry out the control that temporary transient motor reverses and " be called auto-reverse control ".And, when cutting tool arrives the reference position, to carry out motor and stop, rotating speed reduces or the control of counter-rotating is called " according to tool location stop control automatically ", and this control comprises the motor counter-rotating.
Referring to Fig. 1, numeral 1 expression CPU, numeral 2 expression cutting tool CD-ROM drive motor, numeral 3 expression transistor switches, numeral 4 expression drive circuits, numeral 5 expression direction of rotation selector switches, numeral 6 expression load torques detect resistance, numeral 7 expression root groove measuring circuits, numeral 8 expression display devices, the variable resistor of torque reference is set in numeral 11 expressions, the variable resistor of duty ratio is set in numeral 12 expressions, the variable resistor of reference position is set in numeral 13 expressions, numeral 14 expression batteries, numeral 15 expression main switches.These are connected to CPU1 as shown in the figure.Numeral 17 represents to be connected to by suitable gear mechanism or analog the cutting tool of motor 2, and numeral 18 expressions are used for the earth polar that the root slot length is measured.
Fig. 2 A is provided with cordless head 21 outside drawings that constitute circuit devcie shown in Figure 1.Among this embodiment, the file that is used to form the root groove is installed in a top of 22 of head 21, as cutting tool 17 (below be called file 17).Because file 17 is also as root slot length measurement terminal, file 17 is electrically connected the measurement terminal of root slot length measuring circuit 7 by the conducting element in the head 21.Earth polar 18 is connected to the ground end of root slot length measuring circuit 7 by lead 18a.Referring to Fig. 2 B, display device 8 is provided with 3 display parts: duty ratio display part 8a, and torque reference display part 8b and display part, reference position 8c, each part comprises a plurality of LED of delegation.Display part 8a, 8b and 8c are respectively equipped with knob 11a, 12a and the 13a of corresponding variable resistance 11,12 and 13.
In the structure of above-mentioned head 21, select to have the file of predetermined dimension and install to the end 22, and the tissue in the disease population is linked in earth polar 18 in case of necessity.Begin operation by opening main switch 15.
Under the control signal that the end 4a of CPU1 sends drove, transistor switch 3 is opened and turn-offed to transistor driver circuit 4 with CD-ROM drive motor 2.Motor 2 rotates forward or backwards according to the state of direction of rotation selector switch 5.In this embodiment, the control signal of CPU1 has the impulse waveform that repeats to produce with the constant cycle.Width, promptly duty of ratio is regulated so that set duty ratio by variable resistor 12.Motor 2 is driven by the output of duty ratio corresponding.Flow process shows the control procedure of CPU1 among Fig. 3, is example with the cycle of 1ms and 60% duty ratio wherein.
As mentioned above, the FEEDBACK CONTROL of not using the maintenance invariablenes turning speed among the present invention.So along with the load torque that adds to file 17 increases, rotating speed reduces with the output characteristic of motor 2.And duty ratio is high more, and the output torque is big more.Correspondingly, when load torque increased, rotating speed reduced than becoming big, and duty ratio reduces, and still, also remained unchanged even add to the pulse voltage maximum of motor 2 during change in duty cycle.Show predetermined duty ratio by duty ratio display part 8a.
Therefore, the output characteristic of this control reduces because rotating speed increases with load as shown in Figure 4, and the file breakage problem that rotating speed keeps producing in the constant existing control can occur hardly.Among Fig. 4, line a represents the characteristic (rotating speed) that duty ratio rising and output torque obtain when increasing, and line c represents the rotating ratio reduction and exports the characteristic that obtains when torque reduces, and line b represents the characteristic between this two specific character.When even duty ratio reduces, the rotating speed when unloaded reduces hardly, so, effective complete operation during little load.
In this mode, by control the output of motor 2 according to the duty ratio of pulse voltage, owing to the loss of generating heat in control circuit reduces, and circuit can be compacter, and is in light weight and effective.For this reason, think that this driving method is particularly suitable for not having rope device.
Fig. 5 show under the situation shown in Figure 4 carry out according to torque stop to control automatically the time motor characteristics.Specifically, line d represents torque reference.When CPU1 detects load torque and reaches torque reference d, do not send from the control signal of holding 4a, transistor switch 3 turn-offs, and motor 2 stops.From the value of fixed range, can select desired torque reference d to be used to set torque reference by using variable resistor 11, and detection load torque when voltage adds to CPU1 from holding 6a, this voltage is because the electric current of motor 2 detects the generation of resistance 6 places in load torque.Predetermined reference torque d shows at torque reference display part 8b.
Therefore, pass through suitably to set torque reference d, reliably prevent to file 17 owing to overload is ruptured according to the type or the similar model of used file.When rotating speed reduced, the cutting performance of file obviously reduced, and does not cut basically.So, when reaching torque reference d, alternative load torque stops motor 2 fully, can reduce rotating speed by reducing duty ratio.
Fig. 6 A shows above-mentionedly to stop the control procedure flow chart certainly according to torque.Be predetermined and stop motor when load torque reaches torque reference or reduce motor rotary speed and place program.Perhaps, carry out one of two kinds of situations by additional selector switch by operator selectable with selecting.
This control is corresponding to claim 2 of the present invention and effectively prevent the file fracture.But, even by stopping motor 2 or when reducing the rotating speed cutting and stop substantially, file 17 can keep cutting the root groove.Can address this problem by following auto-reverse control.
Auto-reverse control is corresponding to claim 3 of the present invention and work temporary transient reverse motor 2 when reaching torque reference with convenient load torque.By this control, incision root groove and the file 17 that is difficult to rotate move after can be a little, so that recover to be easy to rotation status.So not only prevent the file fracture, and prevent to cut the root groove.Set counter-rotating that side finish motor 2 by moving the direction of rotation selector switch 5 that comprises little relay or analog to counter-rotating according to selection signal from CPU1 end 5a.Returing cycle was selected in the scope at 0.1 to 2 second.But generally speaking, about 0.5 second time is enough.And, can set speed reversal on demand.
Use this control, motor counter-rotating back is by stopping motor 2 shut-down operation temporarily.But, also can reach torque reference d and just changeing when recovering the automatic repetition motor operation of temporary transient counter-rotating and operating continuously after the motor counter-rotating by comprising each load torque.Utilize the method, but valid function.When above-mentioned returing cycle arrived, automatically starting recovered just to change.But, do not set this returing cycle, can adopt a kind of control method, wherein determine to recover just to change after load torque is lower than torque reference.
In this case, because load torque usually was lower than between the positive refunding during the counter-rotating, the momentary load torque of counter-rotating back is lower than torque reference.Counter-rotating repeats with just changeing so frequently, causes unstable the operation, and device is had a negative impact useful life.So the control that hope has hysteresis characteristic begins just to change when being not more than second torque reference with convenient load torque, second torque reference is set at and is lower than torque reference slightly.The torque reference and second torque poor, promptly lagging width can be established to the fixed value that is suitable for clinical purpose, or can change on demand.
Fig. 6 B is the flow chart that shows the control operating process when just changeing that repeats to reverse.This figure only shows basic process.But, moving to when just changeing and when just being transferred to counter-rotating when reversing in the practical operation, motor 2 stops in short-term.
As shown in Figure 1, head 21 be provided with root slot length measuring circuit 7 in case except according to torque stop automatically stopping automatically controlling according to tool location control and the above-mentioned auto-reverse control.According to the stopping automatically in the control of tool location, root slot length measuring circuit 7 detects always files 17 apical position this.When measuring circuit 7 detected the top and reaches the reference position, the signal that shows this detection was delivered to the end 7a of CPU1 from testing circuit 7, and the control signal that is sent by end 4a stops motor 2.The reference position can be made as will be worth in the fixed range by use variable resistor 13, and show the reference position of so determining at display part, reference position 8c.
Because the control that stops automatically according to the position also is tending towards stopping basic cutting, when arriving the reference position, the top replaces stopping motor 2 by reducing duty ratio, can reduce rotating speed.Perhaps, as the situation of above-mentioned auto-reverse control, the motor of reverse rotation temporarily 2.Stop motor, reduce rotating speed or reverse motor, should in program, select and set up.Perhaps, by the selector switch of setting up, can select a kind of method by the operator.
Fig. 7 shows according to tool location to stop the basic controlling process flow diagram to control automatically.In this process, in case motor 2 stops or the file position is detected in the back of reversing.When file 17 is extracted and top when being located at more shallow position by the operator the just commentaries on classics that recovers motor 2 automatically slightly out.Stop or reversing and just changeing between also be provided with hysteresis characteristic.In other words, set second reference position is shallower than the reference position slightly, and is just changeing motor when the position of cutting tool is shallower than second reference position.Utilize this process, but owing to file continued operation when inserting repeatedly and extracting out, thereby effectively work.Lagging width can be made as suitable fixed value, or can change on demand.
By above-mentioned explanation as seen, carry out shown in Fig. 6 A and the 6B process and the process about stopping automatically according to tool location controlling shown in Figure 7 among this embodiment simultaneously about auto-reverse control.In other words, interrupt alternately carrying out side by side these steps by carrying out.Stop or during the condition of reverse motor 2, preferentially carry out and finish when setting up corresponding to the operation of setting up condition.Because the mixing of implementation prevents file fracture and incision root groove by auto-reverse control, and prevents to penetrate the root top by stop control automatically according to tool location.So,, can obviously improve the operability of root groove therapeutic system, thereby can make device have higher practicality as when the root groove forms, the present invention being used for motor control.
Along with push up near root on file 17 tops, file 17 is easy to fracture when being clamped.Thereby the torque reference of wishing auto-reverse control is less when pushing up near root on the top.Like this, when as in the above-mentioned example, using root slot length measurement function, position, continuous detecting file top.Pass through the control torque reference capable of automatic changing of CPU1 like this.Fig. 8 shows this control example.Torque reference remains on minimum fixed value near the root top, and becomes big with the file position away from the root top.By being used to set the variable resistor 11 adjusting function curve level of torque reference, make it in the fixed range shown in the dotted line.
Except being used for being suitable for the rotating speed usually of usual cutting, load torque or tool location reach reference value, or speed is lower than the moment before the rotating speed, also can be with the motor rotary speed of rotating speed when recovering cutting in above-mentioned control example.In program, should select and set up one of these speed in advance.Perhaps, can select one of these speed as required by the operator by selector switch.
When operating period carrying out auto-reverse control with file, generation power during the motor counter-rotating is pushed file to the root slotted eye, and head generation power, the rising head.As a result, by rotating and reverse repeatedly, head moves up and down.But so operator's personal experiences cutting situation.As a result, device provides better sensation and is easy to and uses.
In the above description, suppose cutting tool, promptly file 17 and rotate continuously by motor 2 in a direction.But, because as the effect of cutting tool of file, replace rotation continuously, available a kind of driving method that spirals of rotating and reverse of in fixed range, repeating, or with the driving method of a kind of cutting tool in its axial vibration.When sampling these driving methods, it is insignificant using motor counter-rotating control.But owing to can be carried out without delay by the automatic hold function that motor stops or the rotating speed reduction causes, the present invention can be used for these methods.
Can to each according to torque stop control automatically, according to the auto-reverse control of tool location with stop automatically controlling an on/off switch is provided, each function can selectively be opened and turn-off on demand.
Though the display device 8 that comprises LED also can use the display device with other light-emitting component shown in Fig. 2 B, or the announcement apparatus of use sounding such as buzzer or synthesized voice.This equipment can use the method for the sound of giving notice when load torque reaches torque reference or instrument arrival reference position.And, can also use many other methods.For example, send pulse sound always, and according to continuous torque and the position notified of the cycle of pulse sound.When reaching torque reference or reference position, to notify this state short specific cycle.This more convenient by notifying of sound or voice, because need not seeing announcement apparatus in an instant, the operator just can determine load torque or tool location.
Among Fig. 1, variable resistor 11,12 and 13 conveniently is used to set torque reference, duty ratio and reference position.But this is just as an example.Replace using variable-resistance method for continuously adjusting, also available other method.For example, available a plurality of switch is progressively selected.
Claims (24)
1. motor controller that is used for dental handpiece, this motor are used for driving cutting tool when carrying out dental treatment, it is characterized in that: comprise
Be used to detect the torque master that adds to the load torque on the described cutting tool, or be used to detect the position detector both at least one of described cutting tool position,
When controller, described controller reach predetermined reference torque or cutting tool arrival preset reference position in the detection load torque, stop the cutting tool CD-ROM drive motor or reduce motor rotary speed, perhaps the counter-rotating or the described motor that temporarily reverses.
2. motor controller that is used for dental handpiece as claimed in claim 1, wherein said cutting tool are also as root slot length measurement electrode.
3. motor controller that is used for dental handpiece as claimed in claim 2, wherein, after each load torque that detects reaches predetermined reference torque or each cutting tool arrival preset reference position, the operation that described controller repeats to comprise temporary transient counter-rotating cutting tool CD-ROM drive motor and just changeing motor.
4. motor controller that is used for dental handpiece as claimed in claim 3, when wherein, reaching the load torque that is detected after the torque reference and be lower than torque reference or arrive that described controller was rotated in the forward motor again when the position of cutting tool was shallower than the reference position behind the reference position.
5. motor controller that is used for dental handpiece as claimed in claim 3, wherein, behind the reverse motor, when load torque is lower than second torque reference that is slightly less than torque reference, or the cutting tool position when being shallower than second reference position that slightly is shallower than the reference position described controller be rotated in the forward motor.
6. one kind as claim 1,2,3,4 or 5 the motor controller that is used for dental handpiece, and it comprises announcement apparatus, by sound or the load that verbal announcement detected or the position of cutting tool.
7. one kind as claim 1, and 2,3,4 or 5 the motor controller that is used for dental handpiece, wherein said controller be according to the output performance CD-ROM drive motor, and described performance medium speed increases and reduces with adding to load torque on the cutting tool.
8. motor controller that is used for dental handpiece as claimed in claim 6, wherein said controller be according to the output performance CD-ROM drive motor, and described performance medium speed increases and reduces with adding to load torque on the cutting tool.
9. motor controller that is used for dental handpiece as claimed in claim 7, wherein said controller is by using the pulse output voltage CD-ROM drive motor, and described pulse output voltage has a fixed maximum values and changes duty ratio.
10. motor controller that is used for dental handpiece as claimed in claim 8, wherein said controller is by using the pulse output voltage CD-ROM drive motor, and described pulse output voltage has a fixed maximum values and changes duty ratio.
11. one kind as claim 1,2,3,4 or 5 the motor controller that is used for dental handpiece, and it comprises and is used to set the torque reference set device of required torque reference and/or is used to show the display of having set torque reference.
12. a motor controller that is used for dental handpiece as claimed in claim 6, it comprises and is used to set the torque reference set device of required torque reference and/or is used to show the display of having set torque reference.
13. a motor controller that is used for dental handpiece as claimed in claim 7, it comprises and is used to set the torque reference set device of required torque reference and/or is used to show the display of having set torque reference.
14. a motor controller that is used for dental handpiece as claimed in claim 9, it comprises and is used for setting the output performance set device of required speed drop low rate and/or being used to show the display of having set output performance according to the increase of load torque.
15. the motor controller that is used for dental handpiece as claim 10, it comprises and is used for setting the output performance set device of required speed drop low rate and/or being used to show the display of having set output performance according to the increase of load torque.
16. one kind as claim 1,2,3,4 or 5 the motor controller that is used for dental handpiece, and it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
17. a motor controller that is used for dental handpiece as claimed in claim 6, it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
18. the motor controller that is used for dental handpiece as claim 17, it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
19. a motor controller that is used for dental handpiece as claimed in claim 8, it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
20. a motor controller that is used for dental handpiece as claimed in claim 9, it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
21. the motor controller that is used for dental handpiece as claim 10, it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
22. the motor controller that is used for dental handpiece as claim 11, it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
23. the motor controller that is used for dental handpiece as claim 12, it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
24. the motor controller that is used for dental handpiece as claim 13, it comprises and is used to set the reference position set device of required reference position and/or is used to show the display of having set the reference position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN96116740A CN1059297C (en) | 1996-12-27 | 1996-12-27 | Motor controller for dental handpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN96116740A CN1059297C (en) | 1996-12-27 | 1996-12-27 | Motor controller for dental handpiece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1186378A CN1186378A (en) | 1998-07-01 |
| CN1059297C true CN1059297C (en) | 2000-12-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN96116740A Expired - Fee Related CN1059297C (en) | 1996-12-27 | 1996-12-27 | Motor controller for dental handpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1059297C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4836332B2 (en) * | 2001-01-16 | 2011-12-14 | 三菱電機株式会社 | Motor control circuit for document shredder |
| JP4916037B2 (en) * | 2010-07-02 | 2012-04-11 | 株式会社ナカニシ | Motor control method and control device for dental handpiece |
| WO2016174572A1 (en) * | 2015-04-29 | 2016-11-03 | Maillefer Instruments Holding Sàrl | System and method for training dentists in endodontal treatment techniques |
| CN108904076A (en) * | 2018-05-25 | 2018-11-30 | 刘华 | A kind of saturation type dental drilling apparatus |
| CN111603257A (en) * | 2020-05-26 | 2020-09-01 | 上海交通大学 | Oral cavity implantation safety auxiliary system and method based on sound signal |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4243388A (en) * | 1978-04-20 | 1981-01-06 | Kabushiki-Kaisha Dentronics | Dental hand engine |
| US5038084A (en) * | 1990-08-15 | 1991-08-06 | Wing Thomas W | Drill motor control |
-
1996
- 1996-12-27 CN CN96116740A patent/CN1059297C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4243388A (en) * | 1978-04-20 | 1981-01-06 | Kabushiki-Kaisha Dentronics | Dental hand engine |
| US5038084A (en) * | 1990-08-15 | 1991-08-06 | Wing Thomas W | Drill motor control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1186378A (en) | 1998-07-01 |
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