Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-10905504-B2
Publication Date
2021-02-02
Expiration Date
Abstract
A robotic system includes a base, a grounding arm, a working arm, and one or more sensors. The grounding arm extends from the base and is configured to be coupled to a fixed structure within the mouth of the patient for establishing an origin for the robotic system. The working arm extends from the base and is configured to be coupled with one or more tools for use during an installation of a dental implant in the mouth. The one or more sensors are for monitoring positions of the grounding arm and/or the working arm and to generate positional data that is used to create a post-operative virtual three-dimensional model of at least a portion of the mouth of the patient.
Core Innovation
The invention provides a robotic system for use during a dental surgical procedure including installation of a dental implant in a mouth of a patient. The system includes a base, a grounding arm configured to be coupled to a fixed structure within the mouth of the patient for establishing an origin for the robotic system relative to the mouth, and a working arm moveable to form an opening in bone and to install the dental implant in the formed opening.
One or more sensors monitor positions of the grounding arm and the working arm relative to the origin and generate positional data. The positional data is used to create a post-operative virtual three-dimensional implant level model of at least a portion of the mouth of the patient, including a virtual dental implant that corresponds to a location and orientation of the dental implant in the mouth. The post-operative virtual model is created without scanning.
The invention further determines an invisible boundary wall to be established around a pre-determined location for the dental implant to be installed. During the procedure, the one or more sensors monitor the position of the grounding arm and the working arm to generate positional data related to the location of the dental-implant-driving tool relative to the established origin, and the system automatically enforces the invisible boundary wall by providing an indication to a user that the working arm is to be moved outside the boundary, including enforcement modalities such as preventing out-of-bound motion and providing tactile feedback.
Claims Coverage
The independent claims share a common structure of a base, a grounding arm coupled to a fixed structure for an origin reference, and a working arm coupled with one or more tools, together with one or more sensors that generate positional data to create a post-virtual model without scanning. Across the independent claims, three main inventive feature clusters are recited.
Scanning-free post-operative virtual implant modeling from arm/tool positional data
The one or more sensors generate positional data used to create a post-operative virtual three-dimensional implant level model of at least a portion of the mouth of the patient, including a virtual dental implant that corresponds to a location and orientation of the dental implant in the mouth of the patient, and the post-operative virtual model is created without scanning.
Origin establishing grounding arm coupled to fixed structure within the mouth
A grounding arm is configured to be coupled to a fixed structure within the mouth of the patient for establishing an origin for the robotic system relative to the mouth of the patient, with at least six degrees of freedom relative to the base, and one or more sensors monitor positions of the grounding arm and the working arm relative to the origin.
Invisible boundary wall determination and enforcement during semi-manual tool movement
An invisible boundary wall is determined around a pre-determined location for the dental implant to be installed in the mouth of the patient, and during semi-manual movement of the working arm the system automatically enforces the boundary by providing an indication to a user that the working arm is to be moved outside the boundary.
Across the independent claims, the robotic system uses a grounding arm coupled to a fixed intraoral structure to establish an origin reference, and sensors generate positional data for the working-arm tools. The generated positional data is used to create a post-operative/post-virtual model that includes a virtual dental implant corresponding to location and orientation, explicitly created without scanning. One independent claim additionally determines an invisible boundary wall around a predetermined implant location and automatically enforces it during semi-manual tool movement through user indication.
Stated Advantages
Creates a post-operative virtual three-dimensional implant level model of at least a portion of the mouth without scanning.
Creates the post-virtual/post-operative model including a virtual dental implant corresponding to a location and orientation of the installed dental implant.
Automatically enforces a determined invisible boundary wall during semi-manual movement by providing an indication to a user that the working arm is to be moved outside the boundary.
Documented Applications
Installation of a dental implant by forming an opening in bone and installing the dental implant in the formed opening.
During the dental surgical procedure for installation of a dental implant, semi-manually moving a working arm coupled to one or more tools while enforcing an invisible boundary wall around a pre-determined implant location.
Interested in licensing this patent?