Intraoral x-ray system
Inventors
Inglese, Jean-Marc • Roudergues, David • Capri, Arnaud • LOUSTAUNEAU, Vincent • Krishnamoorthy, Subramanyan
Assignees
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Publication Number
US-12274574-B2
Publication Date
2025-04-15
Expiration Date
Abstract
The present invention provides an intraoral X-ray system comprising: an X-ray source located in an environment;a robotic arm comprising an actuatable scissor arm, the robotic arm having a first end configured to be attached to a mounting and a second end attached to the X-ray source, at least one of the first and the second ends comprising a rotatable actuatable joint;a position sensor to determine variation of position and/or orientation of the environment with respect to the X-ray source and variation of position and/or orientation of a mobile X-ray sensor with respect to the X-ray source; anda driving unit actuating the robotic arm as a function of the determined variation of position and/or orientation to control the position and/or orientation of the X-ray source with respect to a predetermined position and/or orientation of the X-ray source.
Core Innovation
The invention provides an intraoral X-ray system in which an X-ray source located in an environment is coupled to a robotic arm. The robotic arm includes an actuatable scissor arm and at least one rotatable actuatable joint at a first end configured to be attached to a mounting and a second end attached to the X-ray source. A position sensor determines variation of position and/or orientation of the environment with respect to the X-ray source and variation of position and/or orientation of a mobile X-ray sensor with respect to the X-ray source.
A driving unit actuates the robotic arm as a function of the determined variation to control the position and/or orientation of the X-ray source with respect to a predetermined position and/or orientation. The control is arranged so that the X-ray source pose is compensated based on the sensed variations between the environment, the X-ray source, and the mobile X-ray sensor. The system supports controlling the X-ray source pose across an approach stage, an acquisition stage, and a storage stage.
In the method aspect, the invention includes obtaining a variation of position and/or orientation of the environment with respect to the X-ray source and a variation of position and/or orientation of the X-ray sensor with respect to the X-ray source. In real-time, a movement of the X-ray source is determined to compensate for the obtained variations, and the robotic arm is actuated to move the X-ray source as a function of the determined movement.
Claims Coverage
The document provides two independent claims. The independent claims cover an intraoral X-ray system that uses sensor-determined variations and a driving unit to control an X-ray source pose to a predetermined position/orientation, and a method that obtains sensor variations, determines real-time compensating movement, and actuates a robotic arm accordingly.
Sensor-driven pose control with a robotic scissor arm
An intraoral X-ray system comprising an X-ray source located in an environment, a robotic arm comprising an actuatable scissor arm with at least one rotatable actuatable joint between a first end configured to be attached to a mounting and a second end attached to the X-ray source, a position sensor to determine variation of position and/or orientation of the environment with respect to the X-ray source and variation of position and/or orientation of a mobile X-ray sensor with respect to the X-ray source, and a driving unit actuating the robotic arm as a function of the determined variation to control the position and/or orientation of the X-ray source with respect to a predetermined position and/or orientation of the X-ray source.
Real-time compensating movement based on obtained position/orientation variations
A method for controlling an X-ray system comprising obtaining a variation of a position and/or an orientation of the environment where an X-ray source is located with respect to an X-ray source and a variation of a position and/or an orientation of the X-ray sensor with respect to the X-ray source; determining in real-time a movement of the X-ray source to compensate for the obtained variations of position and/or orientation; and actuating the robotic arm to move the X-ray source as a function of the determined movement.
Overall, the claim coverage centers on using a position sensor to determine relative variation between the environment, the X-ray source, and a mobile X-ray sensor, then actuating a robotic scissor-arm mechanism with rotatable actuatable joints to control the X-ray source to a predetermined pose or to execute real-time compensating movement via robotic-arm actuation.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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