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Publication Number
US-10959814-B2
Publication Date
2021-03-30
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 is directed to a method of creating a post-operative virtual model of at least a portion of a patient’s mouth, where the mouth includes a dental implant installed using a robotic system during a dental surgical procedure. A rigid grounding member is attached to a fixed position within the mouth, a pre-operative virtual model of the mouth is obtained with the rigid grounding member therein, and a grounding arm of the robotic system is coupled to the rigid grounding member to establish an origin for the mouth.
During the dental surgical procedure, at least a portion of a working arm coupled to a dental-implant-driving tool is moved to install the dental implant, and a position of the grounding arm and the working arm is monitored to generate positional data related to the location of the dental-implant-driving tool relative to the established origin. Using the obtained pre-operative virtual model and the generated positional data, the method creates a post-operative virtual model without scanning, and the post-operative virtual model includes a virtual dental implant corresponding to a location and orientation of the dental implant in the mouth of the patient.
In further implementations, an invisible boundary wall is determined to be established around a pre-determined location for the dental implant to be installed. While moving the working arm semi-manually as part of the dental surgical procedure, the method automatically enforces the determined invisible boundary wall by providing an indication to a user that the working arm is to be moved outside the determined invisible boundary wall.
Claims Coverage
The partial content provides three independent claims: clm-00001, clm-00013, and clm-00014. Across these independent claims, there are three core inventive feature themes: grounding an origin within a pre-operative virtual model using a rigid grounding member coupled to a robotic grounding arm, generating a post-operative virtual model without scanning by monitoring robot arm positions, and determining an invisible boundary wall during semi-manual movement.
Grounding an origin for post-operative modeling using a rigid grounding member and coupling a robotic grounding arm
Attach a rigid grounding member to a fixed position within the mouth; obtain a pre-operative virtual model with the rigid grounding member therein; couple a grounding arm of the robotic system to the rigid grounding member in the mouth to thereby establish an origin for the mouth of the patient.
Monitoring robotic arm positions to generate tool position relative to the established origin
Move, as part of the dental surgical procedure, at least a portion of a working arm coupled to a dental-implant-driving tool to install the dental implant; monitor during the dental surgical procedure a 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.
Creating a post-operative virtual model without scanning including a virtual dental implant matching location and orientation
Create, without scanning, a post-operative virtual model of at least a portion of the mouth based on the obtained pre-operative virtual model and the generated positional data, the post-operative virtual model including a virtual dental implant that corresponds to a location and orientation of the dental implant in the mouth of the patient.
Invisible boundary wall determination and user indication during semi-manual working-arm movement
Determine an invisible boundary wall to be established around a pre-determined location for the dental implant to be installed; move semi-manually as part of the dental surgical procedure at least a portion of the working arm coupled to the dental-implant-driving tool; during the moving, automatically enforce the determined invisible boundary wall by providing an indication to a user that the working arm is to be moved outside the determined invisible boundary wall.
The independent claims cover a scanning-free post-operative virtual modeling method grounded in a rigid grounding member and a robotic grounding arm establishing an origin, where monitored robotic arm positions generate positional data used to create a post-operative virtual model that includes a virtual dental implant matching the installed dental implant’s location and orientation. An additional independent claim feature adds determining an invisible boundary wall and providing a user indication to enforce that boundary during semi-manual movement.
Stated Advantages
Post-operative virtual model is created without scanning.
A virtual dental implant in the post-operative virtual model corresponds to the location and orientation of the dental implant in the mouth of the patient.
The invisible boundary wall is automatically enforced by providing an indication to a user that the working arm is to be moved outside the determined invisible boundary wall.
Documented Applications
Robotic dental surgical procedures that install a dental implant, where a post-operative virtual model of at least a portion of a patient’s mouth including the virtual dental implant is created without scanning.
Semi-manual robotic operation during dental implant installation, where an invisible boundary wall for a pre-determined implant location is determined and enforced via a user indication during the moving of the working arm.
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