Oral care system and method for promoting oral hygiene

Abstract

An oral care system includes an oral care device including a head having a reference face and a plurality of sensors configured to generate sensor data including motion data and orientation data respectively corresponding to motion measurements and orientation measurements of the reference face during a free-form oral care procedure, and image data generated from external images of an oral cavity during the free-form oral care procedure; and at least one programmable processor communicably coupled to the plurality of sensors, the at least one programmable processor configured to generate transformed sensor data from the sensor data, the transformed sensor data including the orientation data transformed into an angular orientation system representation, the motion data, and enhanced image data representing each external image of an oral cavity combined with a representation of corresponding transformed orientation data.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 042,074, filed June 22, 2020; U.S. Provisional Patent Application No. 63 / 042,083, filed June 22, 2020; U.S. Provisional Patent Application No. 63 / 042,093, filed June 22, 2020; U.S. Provisional Patent Application No. 63 / 042,099, filed June 22, 2020; and U.S. Provisional Patent Application No. 63 / 085,426, filed September 30, 2020, each of which is incorporated herein by reference in its entirety. Background Technology

[0003] With the sole aim of improving users' oral care routines, toothbrushes have transformed into high-tech devices by incorporating motion sensors and internal cameras, and integrating with external cameras, smartphones, and apps. Motion sensors help track the brushing process, cameras capture images or videos of the mouth during the process, and smartphones can provide feedback to users to improve the procedure. Recently, technologies have been incorporated into toothbrushes to identify areas of plaque buildup on the user's teeth and early signs of gum recession, all with the goal of helping users better focus on their oral care routine or enabling them to share information with their dental professionals.

[0004] While these advancements are incredibly useful, they have also proven to have limitations. One particular limitation is that tracking the position and free movement of a toothbrush within the mouth is a highly complex problem. Solutions typically involve guiding the user throughout the pre-set procedure, thereby reducing the complexity of tracking the toothbrush's position and movement within the mouth. Although artificial intelligence and deep machine learning have been applied to this complex problem, there is still considerable room for improvement in current position and motion tracking capabilities.

[0005] Another limitation concerns image and video capture. For cameras embedded in toothbrushes, captured images and videos are largely obstructed by toothpaste foam, saliva, aperture fogging, and objective defocus. When the target of the images and videos is teeth and gums, these obstructions simply introduce noise into the acquired image and video data. Furthermore, since the recommended brushing cycle is two minutes long, the resulting image or video datasets tend to be large datasets of approximately 5GB, and noisy data is difficult for inexperienced users to review independently, especially for dental professionals whose time may be extremely valuable. Traditional image or video analysis of noisy image and video data also presents very complex problems, thus requiring new technologies to help simplify this process. Moreover, solutions to this problem will naturally contribute to leading other advancements in the field of oral care. Summary of the Invention

[0006] Exemplary embodiments of this disclosure relate to oral care systems and methods for promoting oral hygiene by using deep machine learning neural networks. Such machine learning techniques offer the advantage of being able to learn to recognize patterns through the analysis of training data. These machine learning techniques can be advantageously employed by oral care systems and methods for promoting oral hygiene by analyzing one or more of the following: the position of an oral care device in the mouth, an image of the user's external mouth, and data relating to the user's oral health and / or brushing effectiveness. Such analysis can be advantageously used to more accurately determine the position and orientation of a reference surface of the oral care device within the oral cavity, control an electric oral care device to increase the effectiveness of brushing procedures, provide feedback to the user regarding oral care, and provide feedback to the user regarding the wear condition of tooth cleaning elements included as part of the oral care device.

[0007] In a first aspect, the present invention can be an oral care system comprising: a head having a reference surface; a plurality of sensors configured to generate sensor data, the sensor data including motion data and orientation data corresponding respectively to motion measurements and orientation measurements of the reference surface during a free-form oral care procedure; and at least one programmable processor communicatively coupled to the plurality of sensors, the at least one programmable processor being configured to: generate transformed sensor data from the sensor data, the transformed sensor data including the orientation data and the motion data transformed into an angular orientation system; and use the transformed sensor data during the free-form oral care procedure to determine the position and orientation of the reference surface relative to the oral cavity.

[0008] In a second aspect, the present invention can be a method for promoting oral hygiene, the method comprising: generating sensor data from an oral care device during a free-flowing oral care procedure, the oral care device comprising a head having a reference surface and a plurality of sensors configured to generate the sensor data, wherein the sensor data comprises motion data and orientation data corresponding respectively to motion measurements and orientation measurements of the reference surface during the free-flowing oral care procedure; generating transformed sensor data from the sensor data using at least one programmable processor, the transformed sensor data comprising the orientation data and the motion data transformed into an angular orientation system; and determining the position and orientation of the head relative to the oral cavity using the transformed sensor data during the free-flowing oral care procedure using the at least one programmable processor.

[0009] In a third aspect, the present invention can be an oral care system comprising: an oral care device including a head, at least one tooth cleaning element extending from the head, a vibratory motor coupled to the head to induce vibrations in the head, and a plurality of sensors configured to generate sensor data during a free-flowing brushing procedure; and at least one programmable processor communicatively coupled to the plurality of sensors to receive the sensor data, the at least one programmable processor being configured to control the stroke frequency of the vibratory motor in response to the received sensor data during the free-flowing brushing procedure.

[0010] In a fourth aspect, the present invention can be a method for promoting oral hygiene, the method comprising: generating sensor data from a plurality of sensors in an oral care device during a free-flowing brushing procedure, the oral care device including a head, at least one tooth cleaning element extending from the head, a vibration motor coupled to the head to induce vibrations in the head, and the plurality of sensors; and controlling the stroke frequency of the vibration motor in response to the sensor data during the free-flowing brushing procedure using at least one programmable processor.

[0011] In a fifth aspect, the present invention can be an oral care system comprising: an oral care device including a head, at least one tooth cleaning element extending from the head, and a plurality of sensors configured to generate sensor data during a free-flowing brushing procedure; and at least one programmable processor communicatively coupled to the plurality of sensors, the at least one programmable processor being configured to: evaluate one or more oral care characteristics using the sensor data in conjunction with brushing procedure data derived from analysis of sensor data generated during training of a brushing procedure; and assign oral care scores to the one or more oral care characteristics.

[0012] In a sixth aspect, the present invention can be a method for promoting oral hygiene, the method comprising: generating sensor data from a plurality of sensors in an oral care device during a free-style brushing procedure, the oral care device including a head, at least one tooth cleaning element extending from the head, and the plurality of sensors; using at least one programmable processor to evaluate one or more oral care characteristics using the sensor data in conjunction with brushing procedure data derived from analysis of sensor data generated during training of a brushing procedure; and using the at least one programmable processor to assign oral care scores to the one or more oral care characteristics.

[0013] In a seventh aspect, the present invention can be an oral care system comprising: an oral care device including a body, a head detachably coupled to the body, a plurality of tooth cleaning elements extending from the head, and an image sensor coupled to the body and positioned to generate image data from images of the plurality of tooth cleaning elements; and at least one programmable processor communicatively coupled to the image sensor, the at least one programmable processor being configured to: evaluate the image data in conjunction with wear data of the cleaning elements to determine the amount of wear of the plurality of tooth cleaning elements, the wear data of the cleaning elements being generated from the analysis of training image data generated during a data training procedure; and assign wear scores to the plurality of tooth cleaning elements based on the evaluated image data.

[0014] In an eighth aspect, the present invention can be a method for promoting oral hygiene, the method comprising: generating image data using an image sensor based on images of a plurality of dental cleaning elements extending from the head of an oral care device, the image sensor being coupled to the body of the oral care device; evaluating the image data using at least one programmable processor in conjunction with cleaning element wear data to determine the amount of wear on the plurality of dental cleaning elements, the cleaning element wear data being generated from the analysis of training image data generated during a data training procedure; and assigning wear scores to the plurality of dental cleaning elements based on the evaluated image data using the at least one programmable processor.

[0015] In a ninth aspect, the present invention can be an oral care system comprising: an oral care device including a head having a reference surface and a plurality of sensors configured to generate sensor data, the sensor data including motion data and orientation data corresponding to motion measurements and orientation measurements of the reference surface during a free-form oral care procedure, respectively, and image data generated from external images of the oral cavity during the free-form oral care procedure; and at least one programmable processor communicatively coupled to the plurality of sensors, the at least one programmable processor being configured to: generate transformed sensor data from the sensor data, the transformed sensor data including the orientation data transformed into an angular orientation system, the motion data, and enhanced image data, the enhanced image data representing each external image of the oral cavity combined with the representation of the corresponding transformed orientation data.

[0016] In a tenth aspect, the present invention can be a method for promoting oral hygiene, the method comprising: generating sensor data from an oral care device during free-form oral care, the oral care device comprising a head having a reference surface and a plurality of sensors configured to generate sensor data, wherein the sensor data includes motion data, orientation data, and image data, the motion data and the orientation data corresponding respectively to motion measurements and orientation measurements of the reference surface during the free-form oral care procedure, and the image data being generated from external images of the oral cavity during the free-form oral care procedure; and generating transformed sensor data from the sensor data using at least one programmable processor, the transformed sensor data comprising the orientation data transformed into an angular orientation system, the motion data, and enhanced image data, the enhanced image data representing each external image of the oral cavity combined with the representation of the corresponding transformed orientation data.

[0017] Other applicable areas of the invention will become apparent from the detailed description provided below. It should be understood that while the detailed description and specific examples indicate preferred embodiments of the invention, they are intended for illustrative purposes only and not for limiting the scope of the invention. Attached Figure Description

[0018] A better understanding of the foregoing invention and the following detailed description of exemplary embodiments can be achieved by reading in conjunction with the accompanying drawings. However, it should be understood that the invention is not limited to the precise arrangements and tools shown in the following drawings:

[0019] Figure 1 This is a schematic diagram of an oral care system according to an embodiment of the present invention;

[0020] Figure 2 Is with Figure 1 A perspective view of a first embodiment of an oral care device used in conjunction with an oral care system.

[0021] Figure 3 It was cut along section line 3-3. Figure 2 A cross-sectional view of an oral care device.

[0022] Figure 4 yes Figure 2 A schematic diagram of the operating components of an oral care device.

[0023] Figure 5 Is with Figure 1 A perspective view of a second embodiment of an oral care device used in conjunction with an oral care system.

[0024] Figure 6 It was cut along section line 6-6. Figure 5A cross-sectional view of an oral care device.

[0025] Figure 7 yes Figure 5 A schematic diagram of the operating components of an oral care device.

[0026] Figure 8 Is with Figure 1 A perspective view of a third embodiment of an oral care device used in conjunction with an oral care system.

[0027] Figure 9 It was cut along section line 9-9. Figure 8 A cross-sectional view of an oral care device.

[0028] Figure 10 yes Figure 8 A schematic diagram of the operating components of an oral care device.

[0029] Figure 11A It shows the soft and hard tissues inside the user's mouth.

[0030] Figure 11B Showing the user's upper and lower teeth in their mouth.

[0031] Figure 12 It is shown Figure 1 A schematic diagram of the data flow within the oral care system.

[0032] Figure 13 It is shown Figure 1 A diagram of the orientation data of the oral care device of the oral care system, wherein the orientation data is transformed into quaternions.

[0033] Figure 14A -E indicates that it comes from Figure 13 The graph of isolated pairs of azimuth data.

[0034] Figure 15 It is shown Figure 1 A diagram of the orientation data of the oral care device of the oral care system, wherein the orientation data is converted into Euler angle units.

[0035] Figure 16 It is shown Figure 1 A graph showing magnetometer data from the oral care device of an oral care system.

[0036] Figure 17A Demonstrates active control Figure 5 The first process flow of the oral care device's stroke frequency.

[0037] Figure 17B Demonstrates active control Figure 5 The second process flow of the oral care device at the stroke frequency.

[0038] Figure 18 It is shown Figure 5 A graph showing the uninhibited stroke frequency of an oral care device.

[0039] Figure 19 It is shown Figure 5 A graph showing the partial inhibition frequency of the oral care device.

[0040] Figure 20 It is shown Figure 5 The graph shows that the oral care device significantly inhibits the stroke frequency.

[0041] Figure 21 It shows from Figure 5 A graph showing the frequency amplitude of the brush stroke versus the brushing stroke pressure, measured by sensors located at or near the head of the oral care device.

[0042] Figure 22 This shows the coupling to Figure 5 The graph shows the frequency amplitude of the brush stroke versus the brushing stroke pressure measured by the sensors on the main body of the oral care device.

[0043] Figure 23 Showing the evaluation Figure 1 The process flow of optical sensor data from the oral care system.

[0044] Figure 24A Show Figure 2 A cross-sectional view of the head of an oral care device.

[0045] Figure 24B Show Figure 5 A cross-sectional view of the head of an oral care device.

[0046] Figure 25 Showing the alternating actuation Figure 1 The process of using LEDs with different spectral emission bands in oral care systems.

[0047] Figure 26 It shows the measurement Figure 1 A graph of the linear diffusion function of fluorescence intensity in an oral care system.

[0048] Figure 27 This is a graph showing the fluorescence peaks of various types of organic substances that can be found in the oral cavity.

[0049] Figure 28 It is a graph showing the reflectance spectra of various types of substances that can be found in the oral cavity.

[0050] Figure 29 This is a graph showing the change in tooth whiteness measured over time.

[0051] Figure 30 This shows the steps to determine when replacement is needed. Figure 5 The process of using the toothbrush head of an oral care device.

[0052] Figure 31A Showing from Figure 5 The image sensor in the main body of the oral care device observes the new teeth cleaning element.

[0053] Figure 31B Showing from Figure 5 The image sensor in the main body of the oral care device observes the tooth cleaning elements that need to be replaced.

[0054] Figure 32 Showing the use of Figure 1 The process flow of the oral care system that generates enhanced image data.

[0055] Figure 33A -D indicates that it can be used Figure 32 The process flow generates an overlay layer of enhanced image data. Detailed Implementation

[0056] The following description of preferred embodiments is merely exemplary in nature and is in no way intended to limit the invention, its application, or its uses.

[0057] The description of illustrative embodiments of the invention is intended to be read in conjunction with the accompanying drawings, which will be considered an integral part of the entire written description. Any references to direction or orientation in the description of embodiments of the invention disclosed herein are intended only for convenience of description and are not intended to limit the scope of the invention in any way. Relative terms such as “down,” “up,” “horizontal,” “vertical,” “above,” “below,” “upward,” “downward,” “left,” “right,” “top,” and “bottom,” and their derivatives (e.g., “horizontally,” “downward,” “upward,” etc.) should be understood to refer to orientations as shown in the drawings described later or in the discussion. These relative terms are for convenience of description only and do not require the device to be constructed or operated in a particular orientation unless explicitly stated otherwise. Unless otherwise explicitly stated, terms such as “attach,” “connect,” “couple,” “interconnect,” etc., refer to a relationship in which structures are directly or indirectly fixed or attached to each other by an intermediate structure, and an attachment or relationship in which both are movable or fixed. Furthermore, the features and benefits of the invention are illustrated with reference to preferred embodiments. Therefore, the invention should not be limited to such preferred embodiments that illustrate some possible non-limiting combinations of features that may exist alone or in other combinations of features; the scope of the invention is defined by the appended claims.

[0058] The features of this invention can be implemented in software, hardware, firmware, or combinations thereof. The programmable processes described herein are not limited to any specific embodiment and can be implemented in operating systems, applications, foreground or background processes, drivers, or any combination thereof. Computer programmable processes can execute on a single processor or on or between multiple processors.

[0059] The processor described herein can be any central processing unit (CPU), special-purpose processing unit (e.g., graphics processing unit), microprocessor, microcontroller, computing or programmable device, or circuitry configured to execute computer program instructions (e.g., code). Various processors can be embodied in any suitable type of computer and / or server hardware (e.g., desktop, laptop, notebook, tablet, cellular phone, etc.) and can include all common auxiliary components required to form a functional data processing device, including, but not limited to, buses, software, and data storage devices such as volatile and non-volatile memory, input / output devices, graphical user interface (GUI), speakers, microphones, removable data storage devices, and wired and / or wireless communication interface devices, including Wi-Fi, Bluetooth, LAN, etc.

[0060] Computer-executable instructions or programs (e.g., software or code) and the data described herein are programmable into and tangibly embodied in a non-transitory computer-readable medium, which can be accessed and retrieved by a corresponding processor as described herein, and the processor can be configured and directed to perform desired functions and processes by executing instructions encoded in the medium. A means embodying a programmable processor configured to perform such non-transitory computer-executable instructions or programs is hereinafter referred to as a “programmable device” or simply a “device,” and multiple programmable devices communicating with each other are referred to as a “programmable system.” It should be noted that the non-transitory “computer-readable medium” as described herein may include, but is not limited to, any suitable volatile or non-volatile memory that can be written to and / or read by a processor operatively connected to the medium, including random access memory (RAM) and its various types, read-only memory (ROM) and its various types, flash memory, and magnetic or optical data storage devices (e.g., internal / external hard disks, floppy disks, magnetic tape CD-ROMs, DVD-ROMs, optical discs, ZIP drives). TM Drives, Blu-ray discs, and other devices.

[0061] In some embodiments, the invention may be embodied in computer-implemented processes and apparatus (e.g., processor-based data processing and communication systems or computer systems for performing those processes). The invention may also be embodied in software or computer program code in a non-transitory computer-readable storage medium, which, when downloaded to and executed by a data processing and communication system or computer system, configures the processor to generate specific logic circuitry configured to perform the processes.

[0062] Within the scope of this disclosure, such ranges are used as a concise expression to describe each value within the range. Any value within the range may be chosen as an endpoint of the range. Furthermore, all references cited herein are incorporated by full reference. In the event of any conflict between the definitions in this disclosure and the definitions in the cited references, this disclosure shall prevail.

[0063] Please refer to the attached diagram for details. Figure 1 An oral care system 101 according to an embodiment of the present invention is illustrated. The oral care system 101 includes an oral care device 103 and a programmable device 105. The programmable device 105 can communicate with a server 107 for storing large amounts of data or providing server-side processing functionality. However, the presence of the server 107 and the communication between the programmable device 105 and the server 107 are not limitations on the invention, unless expressly set forth in the claims. Each of the oral care device 103, the programmable device 105, and the server 107 includes a programmable processor, and each of the respective programmable processors can perform one or more processes described herein. Furthermore, when a process is described as being performed by the programmable processor of the programmable device 105, the process can also be performed by the programmable processor of the server 107, or a portion of the process can be performed by both the programmable processor of the programmable device 105 and the programmable processor of the server 107. Similarly, when a process is described as being performed by the programmable processor of the oral care device 103, the process can also be performed wholly or partially by the programmable processor of the programmable device 105 and / or by the programmable processor of the server 107. In other words, the allocation of which part of the process is executed by which programmable processor is determined entirely by the specific implementation of the oral care system 101, and is not a limitation of the invention unless expressly stated in the claims.

[0064] The oral care device 103 generally comprises a handle 111, a neck 113, and a head 115. The neck 113 extends between the handle 111 and the head 115 and connects the head 115 to the handle 111. The handle 111 provides the user with a mechanism for easily gripping and manipulating the toothbrush 103 during a brushing procedure. The handle 111 can be formed of many different shapes, sizes, and materials and can be formed by various manufacturing methods well known to those skilled in the art. The handle 111 has a generally elongated shape along its longitudinal axis and transitions into the neck 113 at one end. While the neck 113 typically has a smaller cross-sectional area than the handle 111, the invention is not limited thereto. In a broader sense, the neck 113 forms a transition area between the handle 111 and the head 115. While the head 115 is generally wider relative to the neck 113, in some embodiments, the head 115 may simply be a continuous extension of the neck 113 and / or the handle 111, or a narrower portion thereof. In alternative embodiments, one or more of the handle 111, head 115, and / or neck 113 may have different shapes, sizes, orientations, etc. Unless otherwise specified in the claims, the invention is not limited to the size and / or shape of any part of the oral care device 103. Additional features may also be incorporated into or provided on the toothbrush.

[0065] In an exemplary embodiment, the head 115, including at least a portion of the neck 113 of the oral care device 103, is detachable from the handle 111, such that the head 115 can be replaced with another head 115. Unless specifically stated in the claims, whether the handle 111, neck 113, and head 115 are integral or multi-piece constructions (including connection techniques) is not a limitation of the invention.

[0066] Programmable device 105 includes a housing 131 and a display 133. Housing 131 encloses various other components of programmable device 105, including a programmable processor. Other components of programmable device 105 may include a power source, such as a battery, memory, a communication subsystem (for enabling wireless and / or wired communication with other programmable devices), an imaging subsystem (e.g., a camera), etc. Memory may be any suitable type of memory or storage device that enables the programmable processor to perform the functions described herein. For example, memory may be volatile and / or non-volatile random access memory. Unless expressly stated in the claims, the components of programmable device 105 are not intended to limit the invention.

[0067] Display 133 can be any type of light-emitting display, such as an LED panel as shown in the exemplary embodiment. In some other embodiments, display 133 can be an LCD panel, an OLED panel, or any other type of display that can be electronically controlled by a programmable processor of programmable device 105. In some embodiments, display 133 can be a touch-sensitive display that accepts input from a user directly on a display surface. Therefore, such a touch-sensitive display 133 can be used as a user interface for programmable device 105. Unless expressly set forth in the claims, the type and configuration of display 133 are not limitations on the invention. Similarly, unless expressly set forth in the claims, the type and configuration of user interfaces are not limitations on the invention.

[0068] Figure 2 –3 illustrates a first exemplary embodiment of an oral care device 103 as an examination device 151 for the oral cavity. The head 115 of the examination device 151 includes a reference surface 153, and as described in more detail below, the oral care system 101 determines the position and orientation of the reference surface 153 within the user's oral cavity. In some embodiments, a tooth cleaning element may extend from the reference surface 153. The reference surface 153 may be planar, curved, or have any other type of surface configuration. Unless expressly set forth in the claims, the configuration of the reference surface 153 and whether any tools, appliances, or other features of the oral care device 103 extend from the reference surface 153 are not limitations of the invention.

[0069] The inspection device 151 includes a circuit board 157 enclosed within a handle 111. The circuit board 157 and all other electronic components of the inspection device 151 are powered by a rechargeable battery 159, also enclosed within the handle 111. The rechargeable battery 159 can be recharged by placing an end of the inspection device 151 into the socket of the charging base unit 161 for inductive charging. Such inductive charging is well known in the art, and its circuitry and function are not described in detail herein. In some embodiments, the inspection device 151 may comprise a disposable battery instead of the rechargeable battery 159. Unless expressly stated in the claims, the type of power source used to supply power to the electronic components of the inspection device 151 is not a limitation of the invention.

[0070] A power button 163 is operatively coupled to a circuit board 157, allowing a user to control power to the circuit board 157 and other electronic components of the examination device 151. These other electronic components include at least one programmable processor 165 and multiple sensors, each operatively coupled to the circuit board 157. The circuit board 157 acts as an electronic connector, enabling all electronic components to be controlled by the programmable processor 165 and thus usable during operation of the oral care system 101. Each sensor included in the examination device 151 is configured to generate sensor data, which is transmitted to the programmable processor 165. The programmable processor 165 can be programmed to process the received sensor data in various ways, some of which are described in more detail below.

[0071] The sensors included in the inspection device 151 include an inertial measurement unit (IMU) 167, an image sensor 169, and an optical sensor 171. In an exemplary embodiment, the IMU 167 is a microelectromechanical system (MEMS), a commercially available component, and includes an accelerometer, a gyroscope, and a magnetometer. The functionality provided by the IMU 167 and other electronic components is described in more detail below. Also in an exemplary embodiment, the IMU 167 is shown as being included within and coupled to the handle 111 of the inspection device 151. However, in some embodiments, the IMU 167 may be included within and coupled to the neck 113 or head 115 without loss of functionality, even if the way sensor data from the IMU 167 is processed may need to be changed to maintain the same functionality. Unless otherwise expressly stated in the claims, the manner in which the IMU 167 is coupled to the inspection device 151 and the coupling location of the IMU are not limitations on the invention.

[0072] The IMU 167 generates sensor data in the form of 3-axis linear acceleration data, 3-axis orientation data, and 3-axis magnetometer data. Some embodiments of the IMU 167 may generate additional types of sensor data. The linear acceleration data, orientation data, and magnetometer data from the IMU 167 are further processed by the oral care system 101 as part of the sensor data in a manner described in more detail below to help provide enhanced oral care to the user of the oral care system 101.

[0073] Using linear acceleration data, orientation data, and magnetometer data, the IMU 167 can be used to establish a device coordinate system for the examination device 151. In this device coordinate system, the x-axis is defined as the longitudinal axis of the examination device 151, the z-axis is defined by downward gravity, and the y-axis is defined as an axis orthogonal to both the x-axis and z-axis. In some embodiments, the x-axis may be defined as the longitudinal axis of the examination device 151, the z-axis may be defined as perpendicular to a reference plane 153, which coincides with downward gravity in a certain orientation of the examination device 151, and the y-axis may be defined as an axis orthogonal to both the x-axis and z-axis. As described in more detail below, by generating transformed sensor data, where the orientation data is represented in an angular orientation system, the oral care system 101 helps determine the position and orientation of the head 115 of the examination device 151 within the user's mouth. In some embodiments, the transformed sensor data also includes all non-transformed types of data generated as part of the sensor data by any of the plurality of sensors included as part of the examination device 151. In some embodiments, the orientation data is transformed into quaternion units. In other embodiments, the orientation data is transformed into Euler angles.

[0074] Image sensor 169 is configured as a camera, with its objective lens facing the reference surface 153 of head 115. Image sensor 169 is operatively coupled to circuit board 157 such that image sensor 169 can be controlled by programmable processor 165. Image sensor 169 is mechanically coupled to the interior of handle 111, and handle 111 includes an opening 181 through which image sensor 169 can capture images of one side of head 115 having reference surface 153 when examination device 151 is not in use. When examination device 151 is used during oral care procedures, image sensor 169 is able to capture images of the user's mouth. Such images may also include portions of the user's face around the mouth. In an exemplary embodiment, image sensor 169 may have a fixed focal length located at a point between the midpoint of head 115 and the opening 181 in handle 111. In such embodiments, image sensor 169 does not require any time to adjust focus to accommodate different depths of the image.

[0075] The technical specifications of the image sensor 169 can be selected to suit the specific needs or use of the oral care system 101. In some embodiments, the image sensor 169 may be configured to capture images at a frame rate of 1 to 90 frames per second. Additionally, in some embodiments, the resolution of the image sensor 169 may be between approximately 30x30 pixels and 5000x5000 pixels. In some other embodiments, the pixel array may contain a total of approximately 900 pixels to approximately 25 million pixels, and such a pixel array may be a square array or a non-square array. In some embodiments, the image sensor 169 may be any of a color camera, a monochrome camera, a tone-sensing camera, and a near-infrared camera. In some other embodiments, the image sensor 169 may include one or more filters to provide filtering for desired wavelengths. In some embodiments, the image sensor 169 may be a CCD camera, a CMOS camera, or any other type of electronic image capture device. In some embodiments, the image sensor 169 may include a light source for providing illumination during image capture. The image sensor 169 can therefore include a wide range of configuration and functional options. Even so, unless expressly stated in the claims, the configuration and function of the image sensor 169 are not limited.

[0076] Image sensor 169 generates sensor data in the form of image data. This image data is further processed by oral care system 101 as part of the sensor data in a manner described in more detail below, to help provide enhanced oral care to the user of oral care system 101.

[0077] An optical sensor 171 is located within the head 115 of the inspection device 151 and operatively connected to a circuit board 157, such that the optical sensor 171 can be controlled by a programmable processor 165 and provides data to the programmable processor 165. In this exemplary embodiment, the optical sensor 171 is located within and operates in conjunction with an optical module 173. In some embodiments, the optical sensor 171 may be located elsewhere within the handle 111, neck 113, or head 115 of the inspection device 151, such that the optical sensor remains operatively coupled to the circuit board 157.

[0078] The optical module 173 acts as both a light emitter and a light collector, and is positioned such that light emitted from the optical module 173 is guided through an optical aperture 175, which is formed as a translucent optical window in the reference surface 115 of the head 115. Similarly, optical feedback can enter the head 115 through the optical aperture 175 for collection by an optical sensor 171 within the optical module 173. During operation of the examination device 151, the light entering the optical module 173 is optical feedback, which is light reflected and / or fluoresced by organic matter in response to being irradiated by light emitted from the optical module 173. As will be apparent, such organic matter can be oral soft tissue, oral hard tissue, plaque, biofilm, and many other types of organic matter commonly found in a user's oral cavity.

[0079] Optical module 173 includes Figure 21 A light source, shown as a plurality of LEDs, is used to emit light in one or more wavelengths selected to generate the desired optical feedback during oral care procedures through interaction with organic matter in the user's mouth. An optical module 173 is operatively coupled to a circuit board 157 such that the emission of light from the optical module 173 can be controlled by a programmable processor 165. In some embodiments, light from one or more LEDs may be guided to the optical module 173 via light guides.

[0080] In an exemplary embodiment, the emitted light band includes at least one of light in the visible spectrum and light in the violet range of the visible spectrum. In some embodiments, the light in the visible spectrum spans substantially the entire broadband visible spectrum, extending from a wavelength of about 390 nm to a wavelength of about 2300 nm. In some embodiments, this broadband visible spectrum may extend from a wavelength of about 450 nm to a wavelength of about 1000 nm. In some embodiments, the light in the violet range of the visible spectrum may be a narrowband spectrum centered at a wavelength of 405 nm.

[0081] The technical specifications of the optical sensor 171 can be selected to suit the specific needs or use of the oral care system 101. In some embodiments, the optical sensor 171 may be configured to output optical sensor data at a rate of approximately 10 Hz. In some other embodiments, higher or lower data rates may be used to output optical sensor data.

[0082] In this exemplary embodiment, the optical sensor 171 may be a CCD, CMOS, or other type of electronic image capture device with sufficient pixel resolution to capture images of the user's oral cavity using optical feedback received during the oral care procedure. Thus, the optical sensor data can be used to generate still images or videos of the oral tissues within the oral cavity. Additionally, a light scattering element with a known scattering pattern, shown as a diffuser 177, is positioned between the optical sensor 171 and the optical aperture 175. Using the scattered incident light, a programmable processor 165 (or another processor associated with the oral care system 101) is able to generate a 3D topographic image from optical feedback reflected from organic matter within the oral cavity, most of which is reflected from both soft and hard oral tissues. In embodiments that create a 3D topographic image, any sensor data collected individually or in combination from any sensor can be overlaid onto the topographic image to provide visual information about many different aspects of the user's oral cavity. In some embodiments, a patterned mask may be used as a light scattering element, and such a patterned mask will still enable the generation of a 3D topographic image. In some other embodiments, the diffuse array of microlenses can be used as a light scattering element, and such microlens arrays can still generate 3D terrain images.

[0083] In some embodiments, the optical sensor 171 may be a 64-channel 8x8 pixel array, and such an optical sensor 171 may operate as a spectrometer in one or both of the visible and near-infrared bands.

[0084] Optical sensor 171 generates sensor data in the form of optical sensor data. This optical sensor data is further processed by oral care system 101 as part of sensor data in a manner described in more detail below, to help provide enhanced oral care for users of oral care system 101.

[0085] In some embodiments, the optical sensor 171 may be excluded from the examination device 151. However, it should be noted that the exclusion of the optical sensor 171 necessarily limits the functionality of the oral care system 101. In some embodiments, the examination device 151 may also include additional sensors, each of which may be included to add additional functionality to the oral care system 101. Unless expressly set forth in the claims, including, or conversely excluding, a particular type or class of sensors is not a limitation of the invention.

[0086] Figure 4 This shows that when the inspection device 151 is used as Figure 1The data stream and control signals are part of the oral care system 101. The data stream includes raw sensor data from multiple sensors, transformed sensor data, and feedback provided to the user and other components of the oral care system 101. As previously indicated, a programmable processor 165 is operatively coupled to each of the IMU 167, image sensor 169, optical sensor 171, and optical module 173, and each of these aforementioned components is included as part of an inspection device 151. The programmable processor 165 is communicatively coupled to a programmable processor 199, which is part of the programmable device 105, as shown, via a wired or wireless connection. In some embodiments, the programmable processor 199 is also communicatively coupled to a programmable processor (not shown) of a server 107.

[0087] IMU 167 includes a 3-axis accelerometer 191, a 3-axis magnetometer 193, a 3-axis gyroscope 195, and an internal calibration unit 197. Such IMUs are readily available commercially, and some embodiments may also include a wireless communication module for enabling direct wireless communication with the programmable processor 199 of the programmable device 105. Accelerometer 191 generates 3-axis linear acceleration data based on x, y, and z coordinates, and this linear acceleration data is directed to both calibration unit 197 and programmable processor 165. Magnetometer 193 generates 3-axis magnetic orientation data, and this magnetic orientation data is directed to calibration unit 197. Gyroscope 195 generates 3-axis orientation data based on x, y, and z coordinates, and this orientation data is directed to both calibration unit 197 and programmable processor 165. Calibration unit 197 uses sensor data from magnetometer 193 to orient sensor data from accelerometer 191 and gyroscope 195, aligning the sensor data from both sources with the device coordinate system.

[0088] Image sensor 169 generates image data, which is then directed to programmable processor 165. In an exemplary embodiment, the image data represents an external image of the oral cavity generated during an oral care procedure.

[0089] Optical sensor 171 generates optical sensor data, which is then directed to programmable processor 165. In an exemplary embodiment, the optical sensor data represents optical feedback generated when light from optical module 173 is incident on organic matter within a user's oral cavity. When light from optical module 173 is incident on organic matter, the optical feedback can be either reflected light or fluorescence. In some embodiments, optical sensor 171 may benefit from conventional color calibration. In such embodiments, reflection of light from optical module 173 from a calibration surface having a known color or color scheme can be used to calibrate optical sensor 171 to an established standard. In an exemplary embodiment, the optical sensor data may also include image data generated from the optical feedback when optical sensor 171 has sufficient resolution and focus to obtain such image data useful when viewed by a user. Also in an exemplary embodiment, optical sensor 171 includes a diffuser 177 with a known scattering pattern, such that the optical sensor data may also include 3D terrain image data also generated from the optical feedback.

[0090] Programmable processor 165 receives sensor data from each sensor and performs a data fusion and transformation process 201 on the sensor data. This data fusion and transformation process generates transformed sensor data. As part of this transformation process, orientation data is represented in an angular orientation system. The purpose of representing orientation data in an angular orientation system is to facilitate basic mathematical calculations to determine the position and orientation of the examination device 151 within the oral cavity, and to facilitate the identification of relationships and differences in orientation and orientation measured when the head is positioned within different parts of the oral cavity during oral care procedures. In an exemplary embodiment, the orientation data is transformed into a quaternion unit. As those skilled in the art will recognize, a quaternion unit contains a W value ranging from -1 to 1, where this full range represents two full rotations of an object in the same direction. One reason why quaternion units are particularly useful for determining the position and orientation of the toothbrush head in a user's oral cavity is that quaternion units readily describe the rotation of an object in 3D space. When a user is brushing, the toothbrush rotates around the tooth surface from the inside to the outside or from the outside to the inside, and quaternion units are precisely capable of tracking this rotation around the teeth. Furthermore, this rotation can be used to determine the position and orientation of the toothbrush head within the mouth during a free-flowing oral care procedure.

[0091] For the purposes of this specification, a freestyle procedure is a procedure in which the user determines the sections of the oral cavity in which to begin the oral care procedure and / or determines the order in which to position the oral care device within the oral cavity. Therefore, a freestyle procedure is a procedure that does not follow a pattern defined by any source other than the user. For the purposes of this specification, a freestyle brushing procedure is a freestyle procedure in which brushing is performed as part of oral care. In contrast, an oral care procedure is a non-freestyle procedure if the user follows instructions that tell the user where to begin and / or end the oral care procedure within the oral cavity or indicate the order in which to move the oral care device within the oral cavity. For example, the training oral care procedure discussed herein is a non-freestyle procedure. For the purposes of this specification, a non-freestyle brushing procedure is a non-freestyle procedure in which brushing is performed as part of an oral care procedure. For example, the training brushing procedure discussed herein is a non-freestyle brushing procedure. Both the training oral care procedure and the training brushing procedure may be referred to herein as a "training procedure".

[0092] In other embodiments, the orientation data is transformed into Euler angles. In an exemplary embodiment, the transformed sensor data also includes all non-transformed portions of the sensor data, such that all collected sensor data are combined or fused together into a group, thereby facilitating further analysis of all collected sensor data as a whole. Additionally, the main portions of the sensor data may have other individual uses during the data analysis process. In some embodiments, the programmable processor 199 may perform some or all of the data fusion and transformation processes.

[0093] Programmable processor 165 transmits the fused and transformed sensor data to programmable processor 199 for analysis. As shown, programmable processor 199 is included as part of programmable device 105. However, in some embodiments, programmable processor 199 may be included as part of server 107. In other embodiments, the processes described herein as being performed by programmable processor 199 may be distributed across multiple programmable processors, regardless of whether each such programmable processor is part of oral care device 103, programmable device 105, or server 107. Analysis of the transformed sensor data may include one or more of the following: enamel whiteness assessment 203; determination of the position and orientation of reference surface 153 of head 115 within the oral cavity during oral care procedures 205; assessment of the user's oral care characteristics 209; and identification and differentiation of organic matter within the oral cavity 211. Other types of analysis may also be performed by programmable processor 199. In some embodiments where the tooth cleaning element extends from reference surface 153, the analysis may also include assessment of brushing pressure 207.

[0094] In identifying and differentiating organic matter 211 within the oral cavity, in some embodiments, the process may focus on identifying and differentiating oral hard tissue, oral soft tissue, and plaque. In some other embodiments, the process of identifying organic matter 211 within the oral cavity may also include identifying and differentiating protoporphyrin, blood, hydrated or dehydrated oral soft tissue, and possible caries in the enamel. In still other embodiments, the process of identifying organic matter 211 within the oral cavity may include identifying and differentiating other types of hard or soft tissue oral health problems.

[0095] The oral care characteristic assessment 209 may include one or more of oral health characteristics, brushing effectiveness characteristics, and tooth whiteness characteristics. Any one or more of these characteristics may be assessed based on a single segment within the oral cavity or on the entire oral cavity. In some embodiments, oral health characteristics may include at least one of soft tissue health characteristics and hard tissue health characteristics. In some embodiments, the soft tissue health characteristics may include at least one of soft tissue staining characteristics, bleeding characteristics, blood oxidation characteristics, and tissue hydration characteristics. In some embodiments, hard tissue health characteristics may include at least one of caries characteristics and bacterial presence characteristics. In some embodiments, brushing effectiveness characteristics may include at least one of bacterial presence characteristics and caries characteristics, and in embodiments including a tooth cleaning element, brushing pressure characteristics and stroke frequency characteristics may be included.

[0096] After analyzing the transformed sensor data, programmable processor 199 can transmit control feedback 213 to programmable processor 165. In some embodiments, control feedback 213 may include control data that programmable processor 165 uses to control the operation of one or more sensors among a plurality of sensors. For example, control feedback 213 may be a signal that activates or deactivates one or more sensors. As another example, control feedback 213 may be a signal that increases or decreases the rate at which one or more sensors generate sensor data.

[0097] Similarly, during or after analyzing the transformed sensor data, the programmable processor 199 may transmit user feedback 217 to the user. This user feedback 217 may include one or more of the following: an oral care score 219 reflecting one or more assessed oral care characteristics; audio, visual, and / or tactile signals 221 provided to the user in real time during the oral care procedure; images and / or video acquired during the oral care procedure 223; and suggestions or indicative representations 225 regarding the sensor data and / or data analysis performed using the sensor data. In some embodiments, the programmable device 105 may be used to emit the audio, visual, and / or tactile signals 221 as feedback to the user. In embodiments where the oral care device 103 is an electric toothbrush, the vibrating motor may be controlled such that the vibration frequency and / or amplitude of the vibrating motor is used to provide tactile signals to the user during the oral care procedure. In some embodiments, the oral care device 103 may include a speaker and / or LED mounted to the handle 111, enabling the oral care device 103 to emit audio and / or visual signals 221. In some embodiments, the audio, visual, and / or tactile signals can provide the user with real-time information regarding the orientation of the head of the oral care device within the mouth and an assessment of oral health characteristics at that orientation. In some embodiments, audio signals can be generated by interfacing the oral care system 101 with a voice assistance platform. In such embodiments, feedback 217 is transmitted by a programmable processor 199 to the voice assistance platform, and the voice assistance platform provides audio feedback to the user in the form of spoken language.

[0098] Figure 5-6 A second exemplary embodiment of an oral care device 103, shown as an electric toothbrush 251, is illustrated. The electric toothbrush 251 includes a handle 253, a neck 255, a head 257, and a plurality of dental cleaning elements 259. The dental cleaning elements 259 extend from a reference surface 261 of the head 257.

[0099] In this exemplary embodiment, at least one dental cleaning element is shown as a plurality of bristles extending from a reference surface 261 of a head 257 for cleaning tooth surfaces. As used herein, the term “dental cleaning element” is generally used to refer to any structure that can be used to clean or abrade teeth through contact with an associated surface. In some embodiments, the electric toothbrush 251 may include a single dental cleaning element, and in other embodiments, the electric toothbrush 251 may include two or more dental cleaning elements. Common examples of at least one dental cleaning element include, but are not limited to, bristle tufts, filament bristles, fiber bristles, nylon bristles, spiral bristles, rubber bristles, elastomeric protrusions, flexible polymer protrusions, combinations thereof, and / or structures including such materials or combinations. Suitable elastomeric materials include any biocompatible elastomeric material suitable for oral hygiene devices. To provide optimal comfort and cleaning benefits, at least one dental cleaning element may be an elastomeric material having hardness characteristics in the Shore hardness range of A8 to A25. Other materials within or outside the indicated hardness range may also be used.

[0100] The tooth cleaning element 259 can be attached to the reference surface 261 and thus to the head 257 in any manner known in the art. For example, studs / anchors, in-mold tufting (IMT), or anchorless tufting (AFT) can be used to mount the bristles to the reference surface 261. In AFT, a plate or membrane is fixed to the toothbrush head, for example, by ultrasonic welding. The bristles extend through the plate or membrane. The free ends of the bristles on one side of the plate or membrane perform the cleaning function. The ends of the bristles on the other side of the plate or membrane are melted together by heating to anchor them in place. Alternatively, the bristles can be mounted to a tuft or segment by extending through a suitable opening in the reference surface 261, such that the base of the bristles is mounted within or below the reference surface 261.

[0101] Circuit board 271 is enclosed within handle 253. Circuit board 271 and all other electronic components of electric toothbrush 251 are powered by rechargeable battery 273, also enclosed within handle 253. Rechargeable battery 273 can be powered by placing the end of electric toothbrush 251, for example... Figure 2 The electric toothbrush 251 is recharged by inserting a charging base unit 161 into its charging base unit socket. In some embodiments, the electric toothbrush 251 may include a disposable battery instead of a rechargeable battery 273. Unless expressly stated in the claims, the type of power source used to provide power to the electronic components of the electric toothbrush 251 is not a limitation of the invention.

[0102] The electric toothbrush 251 includes a vibrating motor 267 having a shaft 269 mechanically engaged with a neck 255 such that when the vibrating motor 267 is activated, vibration is induced in the head 257 of the electric toothbrush 251. In some embodiments, the shaft 269 of the vibrating motor 267 may be directly mechanically engaged with the head 257 instead of the neck 255. The vibrating motor 269 may be arranged to induce vibration in the head in any number of ways known in the art, and therefore, unless expressly set forth in the claims, the specific manner in which the vibrating motor 267 induces vibration in the head 257 of the electric toothbrush 251 is not a limitation of the invention.

[0103] A power button 275 is operatively coupled to a circuit board 271, allowing a user to control power to the circuit board 271 and other electronic components of the electric toothbrush 251. These other electronic components include at least one programmable processor 277 and multiple sensors, each operatively coupled to the circuit board 271. The circuit board 271 acts as an electronic connector, enabling all electronic components to be controlled by the programmable processor 277 and thus usable during operation of the oral care system 101. Each sensor included in the electric toothbrush 251 is configured to generate sensor data, which is transmitted to the programmable processor 277. The programmable processor 277 can be programmed to process the received sensor data in various ways, some of which are described in more detail below.

[0104] The sensors included in the electric toothbrush 251 include an inertial measurement unit (IMU) 279, an image sensor 281, and an optical sensor 283. In this exemplary embodiment, the IMU 279 is a microelectromechanical system (MEMS), a commercially available component, and includes an accelerometer, a gyroscope, and a magnetometer. The functionality provided by the IMU 279 and other electronic components is described in more detail below. Also in this exemplary embodiment, the IMU 279 is shown as being included within and coupled to the body 253 of the electric toothbrush 251. However, in some embodiments, the IMU 279 may be included within and coupled to the neck 255 or head 257 without loss of functionality, even if the processes experienced by the sensor data from the IMU 279 may need to be altered to maintain functionality. Unless otherwise expressly stated in the claims, the manner in which the IMU 279 is coupled to the electric toothbrush 251 and the coupling location of the IMU are not limitations on the invention.

[0105] The IMU 279 generates sensor data in the form of 3-axis linear acceleration data, 3-axis orientation data, and 3-axis magnetometer data. Some embodiments of the IMU 279 may generate additional types of sensor data. The linear acceleration data, orientation data, and magnetometer data from the IMU 279 are further processed by the oral care system 101 as part of the sensor data in a manner described in more detail below to help provide enhanced oral care to the user of the oral care system 101.

[0106] Using linear acceleration data, orientation data, and magnetometer data, the IMU 279 can be used to establish a device coordinate system for the electric toothbrush 251. Figure 2 Similar to the oral care device 151 shown, the device coordinate system of the electric toothbrush 251 has its x-axis defined as the longitudinal axis of the electric toothbrush 251, its z-axis defined by downward gravity, and its y-axis defined as an axis orthogonal to the x-axis and z-axis. As described in more detail below, by generating transformed sensor data, wherein the orientation data is represented in an angular orientation system, the oral care system 101 helps determine the position and orientation of the head 257 of the electric toothbrush 251 within the user's mouth. In some embodiments, the transformed sensor data also includes all non-transformed types of data forming a portion of the sensor data generated by any of the plurality of sensors included as part of the electric toothbrush 251. In some embodiments, the orientation data is transformed to be represented in quaternion units. In other embodiments, the orientation data is transformed to be represented in Euler angles.

[0107] Image sensor 281 is configured as a camera, with its stationary or auto-adjustable objective lens facing the dental cleaning element 259 extending from a reference surface 261 of head 257. In embodiments with an auto-adjustable objective lens, image sensor 281 autofocuses on the object in its field of view when capturing an image. Image sensor 281 is operatively connected to circuit board 271 such that image sensor 281 can be controlled by programmable processor 277. Image sensor 281 is mechanically coupled to the interior of handle 253, and handle 253 includes an opening 293 through which image sensor 281 can capture images of dental cleaning element 259 when electric toothbrush 251 is not in use. When electric toothbrush 251 is used during a brushing procedure, image sensor 281 is able to capture images of the user's mouth. Such images may also include portions of the user's face around the mouth. In this exemplary embodiment, image sensor 281 may have a fixed focal length located at a point between dental cleaning element 259 and opening 293 in handle 253. In such embodiments, image sensor 281 does not need to spend any time adjusting focus to adapt to different depths of the image. In some other embodiments, image sensor 281 may be configured to switch between two different focal lengths: a first focal length at a distance of the dental cleaning element 259 from the opening 293 in the handle 253, and a second focal length at approximately half the distance of the dental cleaning element 259 from the opening 293 in the handle 253. In such embodiments, image sensor 281 may default to the second focal length for most of its operation and then switch to the first focal length after certain triggered events, as described in further detail below. By implementing the switching between these two focal lengths, image sensor 281 is better able to support the two main functions it is intended to provide in such embodiments: generating an image of the user's mouth during the brushing procedure, and generating an image of the dental cleaning element when triggered to generate an image of the dental cleaning element—but not during the brushing procedure.

[0108] The technical specifications of image sensor 281 can be selected to suit the specific needs or use of oral care system 101, and such technical specifications can be the same as those discussed above with respect to image sensor 169 of oral care device 151. Image sensor 281 can therefore include a wide range of configuration and functional options, and its configuration and function are not limited unless expressly stated in the claims.

[0109] Image sensor 281 generates sensor data in the form of image data. This image data is further processed by oral care system 101 as part of the sensor data in a manner described in more detail below, to help provide enhanced oral care to the user of oral care system 101.

[0110] An optical sensor 283 is located within the handle 253 of the electric toothbrush 251 and is operatively coupled to a circuit board 271, allowing the optical sensor 283 to be controlled by a programmable processor 277. In this exemplary embodiment, the optical sensor 283 is also directly and mechanically coupled to the circuit board 271. In some embodiments, the optical sensor 271 may be located elsewhere within the handle 253, neck 255, or head 257 of the electric toothbrush 251, and although the optical sensor remains operatively coupled to the circuit board 271, the optical sensor 283 does not need to be directly and mechanically coupled to the circuit board 271. The optical sensor 283 operates in conjunction with a light module 285 disposed in the head 257.

[0111] The light module 285 acts as both a light emitter and a light collector, and is positioned such that light emitted from the light module 285 is guided through an optical aperture 287 formed in the reference surface 261. Similarly, optical feedback can enter the head 257 through the optical aperture 287 and is collected by the light module 285. The dental cleaning element 259 has a gap 291 formed around the optical aperture 287 to 1) provide a clear path for light emitted from the light module 285 during the brushing procedure to exit from the head 257 and be incident on organic matter in the user's oral cavity, and 2) receive optical feedback, which is light reflected and / or fluoresced by the organic matter in response to being illuminated by light emitted from the light module 285.

[0112] The optical feedback collected by the optical module 285 is guided to the optical sensor 271 via a light guide 289, which optically couples the optical module 285 to the optical sensor 271. In some embodiments, the light guide 289 may be a broadband optical fiber. The optical module 285 includes a light source, which may be similar to... Figure 21 The plurality of LEDs shown in B are used to emit light in one or more wavelength bands, which are selected to be suitable for generating desired optical feedback during a brushing procedure through interaction with organic matter in the user's mouth. In an exemplary embodiment, the wavelength bands of the emitted light include at least one of light in the visible spectrum and light in the violet range of the visible spectrum. In some embodiments, the light in the visible spectrum spans substantially the entire broadband visible spectrum, extending from a wavelength of about 390 nm to a wavelength of about 2300 nm. In some embodiments, this broadband visible spectrum may extend from a wavelength of about 450 nm to a wavelength of about 1000 nm. In some embodiments, the light in the violet range of the visible spectrum may be a narrowband spectrum centered at a wavelength of 405 nm.

[0113] Optical module 285 is operatively coupled to circuit board 271 such that the emission of light from optical module 285 can be controlled by programmable processor 277. In some embodiments, light from one or more LEDs may be guided to optical module 285 via a second light guide. In other embodiments, light sensor 283 may be located within optical module 285.

[0114] The technical specifications of the optical sensor 283 can be selected to suit the specific needs or use of the oral care system 101. In some embodiments, the optical sensor 283 may be configured to output optical sensor data at a rate of approximately 10 Hz. In some other embodiments, higher or lower data rates may be used to output optical sensor data. In this exemplary embodiment, the optical sensor 283 may be a CCD, CMOS, or other type of electronic image capture device with sufficient pixel resolution to capture images or videos of the user's oral cavity using optical feedback received during the brushing procedure. In such embodiments, the optical sensor 283 may be configured to capture images at a frame rate of 1 to 90 frames per second. Additionally, in such embodiments, the resolution of the optical sensor 283 may be between approximately 30x30 pixels and 5000x5000 pixels. In some other embodiments, the pixel array may contain a total of approximately 900 pixels to approximately 25 million pixels, and such a pixel array may be a square array or a non-square array. In some embodiments, the optical sensor 283 may be any of a color camera, a monochrome camera, a tone-sensing camera, and a near-infrared camera. In some other embodiments, the optical sensor 283 may include one or more filters to provide filtering for the desired wavelength. In some embodiments, the optical sensor 283 may be a CCD camera, a CMOS camera, or any other type of electronic image capture device. In some embodiments, the optical sensor 283 may be positioned in the head 257, and a diffuser, patterned mask, or microlens array that produces a known scattering pattern may be placed in front of the optical sensor 283, such that the programmable processor 277 (or any other processor associated with the oral care system 101) can generate a 3D topographic image from optical feedback passing through the diffuser, patterned mask, or microlens array.

[0115] In some embodiments, the optical sensor 283 may be a 64-channel 8x8 pixel array integrated spectrometer operating in one or both of the visible and near-infrared bands. In such embodiments, the optical sensor 283 is unlikely to be used to capture image data or to generate 3D terrain images from optical feedback.

[0116] Optical sensor 283 generates sensor data in the form of optical sensor data containing image data. Image data from optical sensor 283 can be processed in the same way as image data from image sensor 281. This optical sensor data is further processed by oral care system 101 as part of the sensor data.

[0117] In some embodiments, the optical sensor 283 may be excluded from the electric toothbrush 251. However, it should be noted that the exclusion of the optical sensor 283 necessarily limits the functionality of the oral care system 101. In some embodiments, the electric toothbrush 251 may also include additional sensors, each of which may be included to add additional functionality to the oral care system 101. Unless expressly set forth in the claims, including, or conversely excluding, a particular type or class of sensors is not a limitation of the invention.

[0118] Figure 7 This shows the use of electric toothbrush 251 as... Figure 1 The data stream and control signals are part of the oral care system 101. The data stream includes raw sensor data from multiple sensors, transformed sensor data, and feedback provided to the user and other components of the oral care system 101. As previously indicated, the programmable processor 359 is operatively coupled to each of the IMU 279, image sensor 281, optical sensor 273, and optical module 285 of the electric toothbrush 251, and each of these aforementioned components is included as part of the electric toothbrush 251. The programmable processor 277 is communicatively coupled to the programmable processor 293 via a wired or wireless connection, which in this exemplary embodiment is part of the programmable device 105. In some embodiments, the programmable processor 293 is also communicatively coupled to a programmable processor (not shown) of the server 107.

[0119] IMU 279 includes a 3-axis accelerometer 295, a 3-axis magnetometer 297, a 3-axis gyroscope 299, and an internal calibration unit 301. In some embodiments, IMU 279 may also include a wireless communication module for enabling direct wireless communication with the programmable processor 293 of programmable device 105. Accelerometer 295 generates 3-axis linear acceleration data based on x, y, z coordinates, and this linear acceleration data is directed to both calibration unit 387 and programmable processor 277. Magnetometer 297 generates 3-axis magnetic orientation data, and this magnetic orientation data is directed to calibration unit 301. Gyroscope 299 generates 3-axis orientation data based on x, y, z coordinates, and this orientation data is directed to both calibration unit 301 and programmable processor 277. Calibration unit 301 uses sensor data from magnetometer 297 to orient sensor data from accelerometer 295 and gyroscope 299, aligning the sensor data from both sources with the device coordinate system.

[0120] Image sensor 281 generates image data, which is then directed to programmable processor 277. In this exemplary embodiment, the image data can be of one of two types. The first type is image data representing an external image of the oral cavity generated during the brushing procedure. The second type is image data representing an image of the dental cleaning element 259 generated at a time other than the brushing procedure. In some embodiments, image sensor 281 can be used to generate image data other than the two types described above.

[0121] Optical sensor 283 generates optical sensor data, which is then directed to programmable processor 277. In this exemplary embodiment, the optical sensor data represents optical feedback generated when light from optical module 285 is incident on organic matter within the user's oral cavity. When light from optical module 285 is incident on the organic matter, the optical feedback can be either reflected light or fluorescence. In some embodiments, optical sensor 283 may be positioned together with head 257 and receive the optical feedback via a light-scattering element having a known scattering pattern, such as a diffuser, patterned mask, or microlens array. In such embodiments, the optical sensor data may include 3D terrain image data also generated from the optical feedback.

[0122] In some embodiments, the optical sensor 283 may benefit from conventional color calibration. For example... Figure 5 As shown, an exemplary embodiment includes a cover 263 to cover the dental cleaning element 259 when the electric toothbrush 251 is not in use. The cover 263 includes an inner surface 265 facing an optical aperture 287 when the cover 263 is placed over the dental cleaning element 259, said inner surface 265 including known colors or color schemes that can be used to calibrate the optical sensor 283 to an established standard.

[0123] Programmable processor 277 receives sensor data from each sensor and performs a data fusion and transformation process 303 on the sensor data. This data fusion and transformation process generates transformed sensor data. As part of this transformation process, orientation data is represented in an angular orientation system. In an exemplary embodiment, the orientation data is transformed to be represented in quaternion units. In other embodiments, the orientation data is transformed to be represented in Euler angles. In an exemplary embodiment, the transformed sensor data also includes all non-transformed portions of the sensor data, such that all collected sensor data are combined or fused together into a group, thereby facilitating further analysis of all collected sensor data as a whole. Additionally, the main portions of the sensor data may have other individual uses during the data analysis process. In some embodiments, programmable processor 277 may perform some or all of the data fusion and transformation processes.

[0124] Programmable processor 277 transmits the fused and transformed sensor data to programmable processor 293 for analysis. As shown, programmable processor 293 is included as part of programmable device 105. However, in some embodiments, programmable processor 293 may be included as part of server 107. In other embodiments, the processes described herein as being performed by programmable processor 293 may be distributed across multiple programmable processors, regardless of whether each such programmable processor is part of oral care device 103, programmable device 105, or server 107. Analysis of the transformed sensor data may include one or more of the following: enamel whiteness assessment 305; determination of the position and orientation of reference surface 261 of head 257 within the oral cavity during a brushing procedure 307; assessment of brushing pressure 309; assessment of the user's oral care characteristics 311; and performance of identification and differentiation of organic matter within the oral cavity 313. Other types of analysis may also be performed by programmable processor 379. In an embodiment where the optical sensor 283 is positioned in the head 257 of the electric toothbrush 251, the analysis may further include generating a 3D topographic image of the oral cavity.

[0125] In some embodiments, the process of identifying and distinguishing organic matter 313 in the oral cavity may focus on identifying and distinguishing oral hard tissue, oral soft tissue, and plaque. In some other embodiments, the process of identifying organic matter 313 in the oral cavity may also include identifying and distinguishing protoporphyrin, blood, hydrated or dehydrated oral soft tissue, and possible caries in the enamel. In still other embodiments, the process of identifying organic matter 313 in the oral cavity may include identifying and distinguishing other types of organic matter.

[0126] Oral care characteristic assessment 311 may include one or more of oral health characteristics, brushing effectiveness characteristics, and tooth whiteness characteristics. Any one or more of these characteristics may be assessed based on a single segment within the oral cavity or on the entire oral cavity. In some embodiments, oral health characteristics may include at least one of soft tissue health characteristics and hard tissue health characteristics. In some embodiments, the soft tissue health characteristics may include at least one of soft tissue staining characteristics, bleeding characteristics, blood oxidation characteristics, and tissue hydration characteristics. In some embodiments, hard tissue health characteristics may include at least one of caries characteristics and bacterial presence characteristics. In some embodiments, brushing effectiveness characteristics may include at least one of brushing pressure characteristics, stroke frequency characteristics, bacterial presence characteristics, and caries characteristics.

[0127] After analyzing the transformed sensor data, programmable processor 293 can transmit control feedback 315 to programmable processor 277. In some embodiments, control feedback 315 may include control data used by programmable processor 277 for the purpose of controlling the operation of one or more of a plurality of sensors. For example, control feedback 315 may be a signal that activates or deactivates one or more sensors. As another example, control feedback 315 may be a signal that increases or decreases the rate at which one or more sensors generate sensor data. In this exemplary embodiment, control feedback 315 may also include data used by programmable processor 277 for the purpose of active motor control 317 to control vibrating motor 267. In some embodiments, active motor controller 317 includes increasing or decreasing the stroke frequency of vibrating motor 267 during the brushing process.

[0128] Similarly, during or after analyzing the transformed sensor data, the programmable processor 277 may transmit user feedback 319 to the user. This user feedback 319 may include one or more of the following: an oral care score 321 reflecting one or more assessed oral care characteristics; audio, visual, and / or tactile signals 323 provided to the user in real time during the brushing procedure; images and / or video acquired during the brushing procedure 325; and suggestions or indicative representations 327 regarding the sensor data and / or data analysis performed using the sensor data. In some embodiments, the programmable device 105 may be used to emit the audio, visual, and / or tactile signals 323 as feedback to the user. In some embodiments, a vibrating motor may be controlled such that the vibration frequency and / or amplitude of the vibrating motor are used to provide tactile signals to the user during the oral care procedure. In some embodiments, the electric toothbrush 251 may include a speaker and / or LED mounted to the handle 253, enabling the electric toothbrush 251 to emit audio and / or visual signals 323. In some embodiments, audio, visual, and / or tactile signals can provide the user with real-time information regarding the orientation of the head of the electric toothbrush 251 within the oral cavity and an assessment of oral health characteristics at that orientation. In some embodiments, audio signals can be generated by interfacing the oral care system 101 with a voice assistance platform. In such embodiments, feedback 319 is transmitted by a programmable processor 277 to the voice assistance platform, and the voice assistance platform provides audio feedback to the user in the form of spoken language.

[0129] Figures 8 to 9 A third exemplary embodiment of an oral care device 103, shown as a manual toothbrush 341, is illustrated. The manual toothbrush 341 includes a handle 343, a neck 345, a head 347, and a plurality of dental cleaning elements 349. The dental cleaning elements 349 extend from a reference surface 351 of the head 347, and the dental cleaning elements may be attached to the reference surface 351 in any of the manner discussed above. A circuit board 353 is enclosed within the handle 343. The circuit board 353 and all other electronic components of the manual toothbrush 341 are powered by a rechargeable battery 355, also enclosed within the handle 343. The rechargeable battery 355 can be powered by placing the end of the manual toothbrush 341, for example... Figure 2 The manual toothbrush 341 is recharged by inserting a charging base unit into the charging base unit socket shown in the diagram. In some embodiments, the manual toothbrush 341 may contain a disposable battery instead of a rechargeable battery 355. Unless expressly stated in the claims, the type of power source used to provide power to the electronic components of the manual toothbrush 341 is not a limitation of the invention.

[0130] A power button 357 is operatively coupled to a circuit board 353, allowing a user to control power to the circuit board 353 and other electronic components of the manual toothbrush 341. These other electronic components include at least one programmable processor 319 and multiple sensors, each operatively coupled to the circuit board 353. The circuit board 353 acts as an electronic connector, enabling all electronic components to be controlled by the programmable processor 359 and thus usable during operation of the oral care system 101. Each sensor included in the manual toothbrush 341 is configured to generate sensor data, which is transmitted to the programmable processor 359. The programmable processor 359 can be programmed to process the received sensor data in various ways, some of which are described in more detail below.

[0131] The sensors included in the manual toothbrush 341 include an inertial measurement unit (IMU) 361, an image sensor 363, an optical sensor 365, and a pressure sensor 367. In this exemplary embodiment, the IMU 361 is a microelectromechanical system (MEMS), a commercially available component, and includes an accelerometer, a gyroscope, and a magnetometer. The functionality provided by the IMU 361 and other electronic components is described in more detail below. Also in this exemplary embodiment, the IMU 361 is shown as being included within and coupled to the body 343 of the manual toothbrush 341. However, in some embodiments, the IMU 361 may be included within and coupled to the neck 345 or head 347 without loss of functionality, even if the processes experienced by the sensor data from the IMU 361 may need to be altered to maintain functionality. Unless otherwise expressly stated in the claims, the manner in which the IMU 361 is coupled to the manual toothbrush 341 and the coupling location of the IMU are not limitations on the invention.

[0132] The IMU 361 generates sensor data in the form of 3-axis linear acceleration data, 3-axis orientation data, and 3-axis magnetometer data. Some embodiments of the IMU 361 may generate additional types of sensor data. The linear acceleration data, orientation data, and magnetometer data from the IMU 361 are further processed by the oral care system 101 as part of the sensor data in a manner described in more detail below to help provide enhanced oral care to the user of the oral care system 101.

[0133] Using linear acceleration data, orientation data, and magnetometer data, the IMU 361 can be used to establish the device coordinate system for the manual toothbrush 341. Figure 2Similar to the oral care device 151 shown, the x-axis of the device coordinate system of the manual toothbrush 341 is defined as the longitudinal axis of the manual toothbrush 341, the z-axis is defined by downward gravity, and the y-axis is defined as an axis orthogonal to the x-axis and z-axis. As described in more detail below, by generating transformed sensor data, wherein the orientation data is represented in an angular orientation system, the oral care system 101 helps determine the position and orientation of the head 347 of the manual toothbrush 341 within the user's mouth. In some embodiments, the transformed sensor data also includes all non-transformed types of data forming a portion of the sensor data generated by any of the plurality of sensors included as a part of the manual toothbrush 341. In some embodiments, the orientation data is transformed to be represented in quaternion units. In other embodiments, the orientation data is transformed to be represented in Euler angles.

[0134] Image sensor 363 is configured as a camera, with its objective lens facing the dental cleaning element 349 extending from a reference surface 351 of the head 347. Image sensor 363 is operatively connected to circuit board 353 such that it can be controlled by programmable processor 359. Image sensor 363 is mechanically coupled to the interior of handle 343, and handle 343 includes an opening 369 through which image sensor 363 can capture images of dental cleaning element 349 when manual toothbrush 341 is not in use. When manual toothbrush 341 is used during a brushing procedure, image sensor 363 is able to capture images of the user's mouth. Such images may also include portions of the user's face around the mouth. In an exemplary embodiment, image sensor 363 may have a fixed focal length located at a point between dental cleaning element 349 and the opening 369 in handle 343. In such embodiments, image sensor 363 does not require any time to adjust focus to accommodate images of different depths. In some other embodiments, the image sensor 363 may be configured to switch between two different focal lengths: a first focal length at a distance from the opening 369 in the handle 343 to the dental cleaning element 349, and a second focal length at approximately half the distance from the opening 369 in the handle 343 to the dental cleaning element 349. In such embodiments, the image sensor 363 may default to the second focal length for most of operation and then switch to the first focal length after certain triggered events, as described in further detail below.

[0135] The technical specifications of image sensor 363 can be selected to suit the specific needs or use of oral care system 101, and such technical specifications can be the same as those discussed above with respect to image sensor 169 of oral care device 151. Image sensor 363 can therefore include a wide range of configuration and functional options, and its configuration and function are not limited unless expressly stated in the claims.

[0136] Image sensor 363 generates sensor data in the form of image data. This image data is further processed by oral care system 101 as part of sensor data in a manner described in more detail below to help provide enhanced oral care for users of oral care system 101.

[0137] An optical sensor 365 is located within the handle 343 of the manual toothbrush 341 and is operatively coupled to a circuit board 353, allowing the optical sensor 365 to be controlled by a programmable processor 359. In this exemplary embodiment, the optical sensor 365 is also directly and mechanically coupled to the circuit board 353. In some embodiments, the optical sensor 365 may be located elsewhere within the handle 343, neck 345, or head 347 of the manual toothbrush 341, and although the optical sensor remains operatively coupled to the circuit board 359, it does not need to be directly and mechanically coupled to the circuit board 359. The optical sensor 365 operates in conjunction with a light module 371 disposed in the head 347.

[0138] The light module 371 acts as both a light emitter and a light collector, and is positioned such that light emitted from the light module 371 is guided through an optical aperture 373 formed in the reference surface 351. Similarly, optical feedback can enter the head 347 through the optical aperture 373 and be collected by the light module 371. The dental cleaning element 349 is formed with a gap 377 surrounding the optical aperture 373 to 1) provide a clear path for light emitted from the light module 371 during the brushing procedure to exit from the head 347 and be incident on organic matter in the user's oral cavity, and 2) receive optical feedback, which is light reflected and / or fluoresced by the organic matter in response to being illuminated by light emitted from the light module 371.

[0139] The optical feedback collected by the optical module 371 is guided to the optical sensor 365 via a light guide 375, which optically couples the optical module 371 to the optical sensor 365. In some embodiments, the light guide 375 may be a broadband optical fiber. The optical module 371 includes a light source, which may be similar to... Figure 21The plurality of LEDs shown in B are used to emit light in one or more wavelength bands, which are selected to be suitable for generating desired optical feedback during a brushing procedure through interaction with organic matter in the user's mouth. In an exemplary embodiment, the wavelength bands of the emitted light include at least one of light in the visible spectrum and light in the violet range of the visible spectrum. In some embodiments, the light in the visible spectrum spans substantially the entire broadband visible spectrum, extending from a wavelength of about 390 nm to a wavelength of about 2300 nm. In some embodiments, this broadband visible spectrum may extend from a wavelength of about 450 nm to a wavelength of about 1000 nm. In some embodiments, the light in the violet range of the visible spectrum may be a narrowband spectrum centered at a wavelength of 405 nm.

[0140] Optical module 371 is operatively coupled to circuit board 353 such that the emission of light from optical module 371 can be controlled by programmable processor 359. In some embodiments, light from one or more LEDs may be guided to optical module 371 via a second light guide. In other embodiments, light sensor 365 may be located within optical module 371.

[0141] The technical specifications of the optical sensor 365 can be selected to suit the specific needs or use of the oral care system 101. In some embodiments, the optical sensor 365 may be configured to output optical sensor data at a rate of approximately 10 Hz. In some other embodiments, higher or lower data rates may be used to output optical sensor data. In this exemplary embodiment, the optical sensor 365 may be a CCD, CMOS, or other type of electronic image capture device with sufficient pixel resolution to capture images or videos of the user's oral cavity using optical feedback received during the brushing procedure. In such embodiments, the optical sensor 365 may be configured to capture images at a frame rate of 1 to 90 frames per second. Additionally, in such embodiments, the resolution of the optical sensor 365 may be between approximately 30x30 pixels and 5000x5000 pixels. In some other embodiments, the pixel array may contain a total of approximately 900 pixels to approximately 25 million pixels, and such a pixel array may be a square array or a non-square array. In some embodiments, the optical sensor 365 may be any of a color camera, a monochrome camera, a tone-sensing camera, and a near-infrared camera. In some other embodiments, the optical sensor 365 may include one or more filters to provide filtering for the desired wavelength. In some embodiments, the optical sensor 365 may be a CCD camera, a CMOS camera, or any other type of electronic image capture device. In some embodiments, the optical sensor 365 may be positioned in the head 347, and a diffuser, patterned mask, or microlens array that produces a known scattering pattern may be placed in front of the optical sensor 365, enabling the programmable processor 359 (or any other processor associated with the oral care system 101) to generate a 3D topographic image from optical feedback passing through the diffuser, patterned mask, or microlens array.

[0142] In some embodiments, the optical sensor 365 may be a 64-channel 8x8 pixel array integrated spectrometer operating in one or both of the visible and near-infrared bands. In such embodiments, the optical sensor 365 is unlikely to be used to capture image data or to generate 3D terrain images from optical feedback.

[0143] Optical sensor 365 generates sensor data in the form of optical sensor data containing image data. The image data from optical sensor 365 can be processed in the same way as the image data from image sensor 363. This optical sensor data is further processed by oral care system 101 as part of the sensor data.

[0144] In some embodiments, the optical sensor 365 may be excluded from the manual toothbrush 341. However, it should be noted that the exclusion of the optical sensor 365 necessarily limits the functionality of the oral care system 101. In some embodiments, the manual toothbrush 365 may also include additional sensors, each of which may be included to add additional functionality to the oral care system 101. Unless expressly set forth in the claims, including, or conversely excluding, a particular type or class of sensors is not a limitation of the invention.

[0145] Pressure sensor 367 is operatively coupled to circuit board 353 and disposed in neck 345. In this exemplary embodiment, pressure sensor 367 is in the form of a flex sensor, which provides sensor data to programmable processor 359 based on whether and to what extent the neck 345 bends during the brushing process. In some other embodiments, pressure sensor 367 may be disposed in head 347 and is in the form of a strain sensor. In such exemplary embodiments, pressure sensor 367 provides sensor data to programmable processor 359 based on the presence and magnitude of strain on head 347 during the brushing process.

[0146] Pressure sensor 367 generates sensor data in the form of pressure sensor data. This image pressure sensor data is further processed by oral care system 101 as part of the sensor data in a manner described in more detail below to help provide enhanced oral care for users of oral care system 101.

[0147] Figure 10 This shows the effect of using a manual toothbrush 341 as Figure 1 The data stream and control signals are part of the oral care system 101. The data stream includes raw sensor data from multiple sensors, transformed sensor data, and feedback provided to the user and other components of the oral care system 101. As previously indicated, the programmable processor 359 is operatively coupled to each of the IMU 361, image sensor 363, optical sensor 365, light module 371, and pressure sensor 367 of the manual toothbrush 341, and each of these aforementioned components is included as part of the manual toothbrush 341. The programmable processor 359 is communicatively coupled to a programmable processor 379, which in this exemplary embodiment is part of the programmable device 105, via a wired or wireless connection. In some embodiments, the programmable processor 379 is also communicatively coupled to a programmable processor (not shown) of a server 107.

[0148] IMU 361 includes a 3-axis accelerometer 381, a 3-axis magnetometer 383, a 3-axis gyroscope 385, and an internal calibration unit 387. In some embodiments, IMU 361 may also include a wireless communication module for enabling direct wireless communication with the programmable processor 379 of programmable device 105. Accelerometer 381 generates 3-axis linear acceleration data based on x, y, z coordinates, and this linear acceleration data is directed to both calibration unit 387 and programmable processor 359. Magnetometer 383 generates 3-axis magnetic orientation data, and this magnetic orientation data is directed to calibration unit 387. Gyroscope 385 generates 3-axis orientation data based on x, y, z coordinates, and this orientation data is directed to both calibration unit 387 and programmable processor 359. Calibration unit 387 uses sensor data from magnetometer 383 to orient sensor data from accelerometer 381 and gyroscope 385, aligning the sensor data from both sources with the device coordinate system.

[0149] Image sensor 363 generates image data, which is then directed to programmable processor 359. In an exemplary embodiment, the image data can be of one of two types. The first type is image data representing an external image of the oral cavity generated during the brushing procedure. The second type is image data representing an image of the dental cleaning element 349 generated at a time other than the brushing procedure. In some embodiments, image sensor 363 can be used to generate image data other than the two types described above.

[0150] Optical sensor 365 generates optical sensor data, which is then directed to programmable processor 359. In this exemplary embodiment, the optical sensor data represents optical feedback generated when light from optical module 371 is incident on organic matter within the user's oral cavity. When light from optical module 371 is incident on the organic matter, the optical feedback can be either reflected light or fluorescence. In some embodiments, optical sensor 365 may be positioned together with head 347 and receive the optical feedback via a light-scattering element having a known scattering pattern, such as a diffuser, patterned mask, or microlens array. In such embodiments, the optical sensor data may include 3D terrain image data also generated from the optical feedback.

[0151] In some embodiments, the optical sensor 365 may benefit from conventional color calibration. In such embodiments, the reflection of light from the light module 371 from a calibration surface having a known color or color scheme can be used to calibrate the optical sensor 365 to an established standard. In some embodiments, the calibration surface may be incorporated as part of a cover for the dental cleaning element 349.

[0152] Programmable processor 359 receives sensor data from each sensor and performs a data fusion and transformation process 391 on the sensor data. This data fusion and transformation process generates transformed sensor data. As part of this transformation process, orientation data is represented in an angular orientation system. In an exemplary embodiment, the orientation data is transformed to be represented in quaternion units. In other embodiments, the orientation data is transformed to be represented in Euler angles. In an exemplary embodiment, the transformed sensor data also includes all non-transformed portions of the sensor data, such that all collected sensor data are combined or fused together into a group, thereby facilitating further analysis of all collected sensor data as a whole. Additionally, the main portions of the sensor data may have other individual uses during the data analysis process. In some embodiments, programmable processor 379 may perform some or all of the data fusion and transformation processes.

[0153] Programmable processor 359 transmits the fused and transformed sensor data to programmable processor 379 for analysis. As shown, programmable processor 379 is included as part of programmable device 105. However, in some embodiments, programmable processor 379 may be included as part of server 107. In other embodiments, the processes described herein as being performed by programmable processor 379 may be distributed across multiple programmable processors, regardless of whether each such programmable processor is part of oral care device 103, programmable device 105, or server 107. Analysis of the transformed sensor data may include one or more of the following: enamel whiteness assessment 393; determination of the position and orientation of reference surface 351 of head 347 within the oral cavity during a brushing procedure 397; assessment of brushing pressure 399; assessment of the user's oral care characteristics 401; and performance of identification and differentiation of organic matter within the oral cavity 403. In embodiments where optical sensor 365 is positioned within head 347 of electric toothbrush 341, the analysis may further include generating a 3D topographic image of the oral cavity 405. Other types of analysis can also be performed by the programmable processor 379.

[0154] In some embodiments, the process of identifying and distinguishing organic matter 403 in the oral cavity may focus on identifying and distinguishing oral hard tissue, oral soft tissue, and plaque. In some other embodiments, the process of identifying organic matter 403 in the oral cavity may also include identifying and distinguishing protoporphyrin, blood, hydrated or dehydrated oral soft tissue, and possible caries in the enamel. In still other embodiments, the process of identifying organic matter 403 in the oral cavity may include identifying and distinguishing other types of organic matter.

[0155] Oral care characteristic assessment 401 may include one or more of oral health characteristics, brushing effectiveness characteristics, and tooth whiteness characteristics. Any one or more of these characteristics may be assessed based on a single segment of the oral cavity or on the entire oral cavity. In some embodiments, oral health characteristics may include at least one of soft tissue health characteristics and hard tissue health characteristics. In some embodiments, the soft tissue health characteristics may include at least one of soft tissue staining characteristics, bleeding characteristics, blood oxidation characteristics, and tissue hydration characteristics. In some embodiments, hard tissue health characteristics may include at least one of caries characteristics and bacterial presence characteristics. In some embodiments, brushing effectiveness characteristics may include at least one of brushing pressure characteristics, stroke frequency characteristics, bacterial presence characteristics, and caries characteristics.

[0156] After analyzing the transformed sensor data, programmable processor 379 can transmit control feedback 407 to programmable processor 359. In some embodiments, control feedback 407 may contain control data used by programmable processor 359 for the purpose of controlling the operation of one or more of a plurality of sensors. For example, control feedback 407 may be a signal that activates or deactivates one or more sensors. As another example, control feedback 407 may be a signal that increases or decreases the rate at which one or more sensors generate sensor data.

[0157] Similarly, after analyzing the transformed sensor data, the programmable processor 379 can transmit user feedback 409 to the user. This user feedback 409 may include one or more of the following: an oral care score 411 reflecting one or more assessed oral care characteristics; audio and / or visual signals 413 transmitted to the user during the brushing procedure; images and / or video acquired during the brushing procedure 415; and suggestions or indicative representations 417 of the sensor data and / or data analysis performed using the sensor data. In some embodiments, the programmable device 105 may be used to emit the audio and / or visual signals 413 as feedback to the user. In some embodiments, the manual toothbrush 341 may include a speaker and / or LED mounted to the handle 303, enabling the manual toothbrush 341 to emit real-time audio and / or visual signals 413. In some embodiments, the audio and / or visual signals may provide the user with real-time information about the orientation of the head of the oral care device 103 within the oral cavity and an assessment of oral health characteristics at that orientation. In some embodiments, the audio signals may be generated by interfacing the oral care system 101 with a voice-assisted platform. In such embodiments, feedback 409 is transmitted by programmable processor 379 to a voice assistance platform, and the voice assistance platform provides audio feedback to the user in the form of spoken language.

[0158] Figure 11AThe user's oral cavity 421 is shown, but there are no facial tissues or features around it. The oral cavity 421 includes oral hard tissue 423 in the form of teeth and oral soft tissue 425 in the form of gums. As described above, the oral care system 101 will be used to distinguish between these when the reference surface of the oral care device is positioned above the oral soft tissue 425. As will be described in more detail below, in the electric toothbrush embodiment, the oral care system 101 is capable of changing the stroke frequency of the vibrating motor to take into account the type of oral tissues 423, 425 being brushed. For example, when the teeth cleaning element is positioned above the oral hard tissue and additional brushing is required, the oral care system 101 is capable of changing the stroke frequency of the vibrating motor in the electric toothbrush embodiment. In addition, in the electric toothbrush embodiment, when the user applies too much or too little pressure during the brushing procedure, the oral care system 101 is capable of changing the stroke frequency of the vibrating motor to increase the effectiveness of the brushing procedure.

[0159] Figure 11B A layout view of the upper and lower teeth 427 of a typical user is shown. For the oral care system to operate effectively, the teeth are divided into 16 segments as described below and labeled with segment numbers: Lower Right Lateral (BRO) S1; Lower Right Top (BRT) S2; Lower Right Medial (BRI) S3; Lower Anterior (BF) S4; Lower Posterior (BB) S5; Lower Left Medial (BLI) S6; Lower Left Top (BLT) S7; Lower Left Lateral (BLO) S8; Upper Left Lateral (TLO) S9; Upper Left Bottom (TLB) S10; Upper Left Medial (TLI) S11; Upper Anterior (TF) S12; Upper Posterior (TB) S13; Upper Right Medial (TRI) S14; Upper Right Bottom (TRB) S15; and Upper Right Lateral (TRO) S16. Segment numbers will be referenced in the description below. As can be seen, each of the four corners of the oral cavity has three segments, and the front of the oral cavity has four segments. For each corner, each segment is defined by the top, inner, and outer surfaces of the molars and premolars, respectively. For the anterior portion, each segment is defined by the anterior and posterior surfaces of the upper and lower incisors.

[0160] Figure 12 This illustrates how sensor data is processed by the oral care system 101. Although combined... Figure 2 The oral care device 151 describes this process, but it is obvious that the same process also applies to Figure 5 and 8 Toothbrushes 251, 341, and any other embodiments within the scope of the claims. This same process can be used to determine the position and orientation of a reference surface within the oral cavity, to actively control the vibrating motor in the electric toothbrush embodiments during freehand oral care procedures, to assess oral care characteristics and provide feedback thereto, and to determine when the tooth cleaning element is ready for recommended replacement based on actual wear.

[0161] As used herein, when this process is combined with the use of an oral care device embodied in a toothbrush, the oral care procedure may be referred to as a brushing procedure. Similarly, a free-style oral care procedure may be referred to as a free-style brushing procedure, and a training oral care procedure may be referred to as a training brushing procedure.

[0162] This process begins with the generation of sensor data from multiple sensors, including an IMU 433, an optical sensor 435, and an image sensor 437. The process may use all sensor data or any subset thereof. As discussed, within the IMU 433, a gyroscope 439 generates 3-axis orientation data based on x, y, and z coordinates, a magnetometer 41 generates 3-axis magnetic orientation data, and an accelerometer 443 generates 3-axis linear acceleration data based on x, y, and z coordinates. To illustrate the complete suite of sensors described above, a pressure sensor 445 is shown; however, as previously discussed, the accelerometer 443 can be used to measure the pressure exerted by the dental cleaning element on oral tissues within the mouth. The optical sensor 435 generates optical sensor data displaying a spectrum of optical feedback, and the image sensor 437 generates image data representing images of the user's external mouth during the oral care procedure and images of the dental cleaning element 121 at times outside the oral care procedure.

[0163] Orientation data 447 and linear acceleration data 449 are both informed by magnetic orientation data 451 to generate 3D orientation data 453 and 3D linear acceleration data 455 from each data point using the magnetic orientation as a reference orientation. The 3D orientation data 453 and 3D linear acceleration data 455 are received by the data fusion and transformation process step 431. Similarly, sensor data generated by each of the optical sensor 435 and the image sensor 437 are also received by the data fusion and transformation process step 431. In the data fusion and transformation process step 431, the sensor data from all sensors are arranged such that the sensor data from each sensor is associated with the contemporaneous sensor data from each of the other sensors. Additionally, the 3D orientation data is transformed such that it is represented in an angular orientation system. In an exemplary embodiment, the angular orientation system is a quaternion unit. In some embodiments, the angular orientation system may be Euler angles. In the quaternion unit, angular orientation and rotation are represented by variables W, x, y, z, where W is in the range of -1 to 1 and indicates rotation, and two full rotations span the entire range of the W variable.

[0164] Figures 32 to 33A –D illustrates an embodiment of a process that can be executed by a programmable processing device 165 to generate enhanced image data from directional data and image data generated by an image sensor 437. In some embodiments, this process of generating enhanced image data is performed during the data fusion and transformation step 431 (see [link to documentation]). Figure 12 ). Figure 32A flowchart 801 is shown illustrating a process for generating enhanced image data. The first step 803 of this process is to generate sensor data from various sensors, as described in detail above. For the purposes of the process in flowchart 801, the sensor data includes both orientation data and image data. As described above, the orientation data is generated by IMU 433, and the sensor data is generated by image sensor 437. The second step 805 of this process is to generate transformed sensor data from the sensor data. For the purposes of the process in flowchart 801, the transformed sensor data includes transformed orientation data and enhanced image data, and similar to the process described above, these data transformations can occur in the data fusion and transformation step 431. Also as described above, the transformed orientation data can be in quaternion units or Euler angles. For ease of description, the generation of enhanced image data is described below with reference to the transformed orientation data in quaternion units.

[0165] In this embodiment, as described above, transformed sensor data is generated, and the x, y, and z variables are also in the range of -1 to 1, such that the vector defined by these variables has a unit length as part of the quaternion data. Figure 13 As indicated in the accompanying description, the plotting of x relative to W helps determine the orientation and orientation of the oral care device within the oral cavity. Furthermore, as described herein, images from an image sensor help resolve any ambiguities in orientation and orientation that may arise from the analysis of x and W. Therefore, the enhanced image data represents a combination of an external image of the oral cavity generated by the image sensor and representations of the W and x variables of the quaternion data, such that each external image is combined with a representation of the corresponding transformed orientation data, and in particular with a representation of the corresponding W and x variables of the quaternion data. Thus, the enhanced image contains all the information required by the programmable processor(s) to determine the position and orientation of the head of the oral care device within the oral cavity. In some embodiments, the combination of the external image and the representation of the corresponding transformed orientation data allows the external image and the representation of the corresponding transformed orientation data to be displayed side-by-side. In some other embodiments, the combination of the external image and the representation of the corresponding transformed orientation data allows the representation of the corresponding transformed orientation data to be added as an overlay on the external image. In such embodiments, the overlay of the transformed orientation data representation can be positioned on the external image such that the overlay appears in a corner of the external image and does not interfere with subsequent analysis of the external image portion of each enhanced image.

[0166] In some embodiments where such enhanced image data is generated using a first programmable processor, the first programmable processor may send only the motion data and enhanced image data to a second programmable processor for further processing and analysis during all oral care procedures, as described herein. In such embodiments, transformed orientation data may be omitted from such transmissions because the enhanced image data contains sufficient information to determine the orientation and position of the oral care device within the oral cavity. In some other embodiments, the first programmable processor may send all transformed sensor data to the second programmable processor during training of the oral care procedure, and then send only the motion data and enhanced image data to the second programmable processor during subsequent freestyle oral care procedures.

[0167] Figure 33A –D illustrates several embodiments of quaternion data representations that can be combined with external images to generate enhanced image data. Figure 33A An embodiment of a representation 811 (which is quaternion data in these embodiments) of transformed oriented data comprising two partial arcs, upper arc 813 and lower arc 815, is shown. Upper arc 813 encodes the variable W, while lower arc 815 encodes the variable x. Upper arc 813 encodes the variable W within an arc length, where arc length 0 represents W = -1, arc length 90° represents W = 0, and arc length 180° represents W = 1. The arc length between any two of these three points can be used to estimate the value of W during subsequent analysis of the enhanced image data using one or more of these predetermined points. Similarly, lower arc 815 encodes the variable x within an arc length, where arc length 0 represents x = -1, arc length 90° represents x = 0, and arc length 180° represents x = 1. Again, the arc length between any two of these three points can be used to estimate the value of x during subsequent analysis of the enhanced image data using one or more of these predetermined points. The orientation of arcs 813 and 815 is used herein for ease of description only. When the transformed orientation data representation 811 is used to generate enhanced image data, the transformed orientation data representation 811 can be combined with an external image to give it a consistent orientation. This consistent orientation does not need to be combined with, for example, an external image. Figure 33A The transformed orientation data shown in the representation of 811 has no correlation with the orientation.

[0168] Figure 33BA second embodiment of a representation 821 (also quaternion data) of transformed oriented data comprising two vertical lines 823 and two horizontal lines 825 forming a mesh pattern is shown. In this embodiment, the two vertical lines 823 encode the variable W by the distance between them, and the two horizontal lines 825 encode the variable x by the distance between them. Two spots 827, having the same diameter, are included, one equidistant from the two vertical lines 823 and the other equidistant from the two horizontal lines 825. The spot 827 between the two vertical lines 823 can be in one of two predetermined fixed orientations, one above the horizontal line 825 and the other below it. Similarly, the spot 827 between the two horizontal lines can be in one of two predetermined fixed orientations, one above the vertical line 823 and the other below it.

[0169] This arrangement is capable of fully encoding both the W and x variables. W = 0 when the distance between the two vertical lines 823 is equal to the diameter of the spot 827. W = 1 when the two vertical lines 823 are spaced apart, with one vertical line tangent to the spot 827 between the two horizontal lines 825. W = 0 when the two vertical lines 823 are midway between these two extremes. The distance between the two vertical lines 823 between any two of these three points can be used to estimate the value of W during subsequent analysis of the enhanced image data using one or more of these predetermined positions / values. W is negative when the spot 827 is in a predetermined fixed orientation below the two horizontal lines 825 (as shown), and positive when the spot 827 is in a predetermined fixed orientation above the two horizontal lines 825. The x variable is encoded in a similar manner. x = 0 when the distance between the two horizontal lines 825 is equal to the diameter of the spot 827 between the two horizontal lines 825. When two horizontal lines 825 are spaced a certain distance apart, and one of the horizontal lines is tangent to spot 827 between two vertical lines 823, then x = 1. When the two horizontal lines 825 are midway between these two extremes, then x = 0. The distance between the two horizontal lines 825 between any two of these three points can be used to estimate the value of x during subsequent analysis of the enhanced image data using one or more of these predetermined positions / values. When spot 827 is in a predetermined fixed orientation below the two vertical lines 823 (as shown), x is positive, and when spot 827 is in a predetermined fixed orientation above the two vertical lines 823, x is negative.

[0170] Figure 33CA third embodiment of the transformed oriented data representation 829 (also quaternion data) in QR code form is shown. Since QR codes are a known structure that can be used to store data in a graphical format, they are convenient to use. Because the construction of QR codes is well-known in the field involving such encoded graphics, the process of encoding the variables W and x into the transformed oriented data representation 829 is not discussed herein.

[0171] Figure 33D A fourth embodiment of the representation of the transformed orientation data 931 (also quaternion data) is shown, wherein the variables W and x are encoded as lines of a modified crosshair pattern. In this embodiment, the representation 931 of the transformed orientation data is defined by two vertical boundary lines 833 and two horizontal boundary lines 835. The modified crosshair pattern comprises a first series of parallel lines 837 with a first line width and a second series of parallel lines 839 with a second line width. The line widths of each series of parallel lines 837, 839 are visually distinguishable from each other when combined with or superimposed on an external image. The first series of parallel lines 837 represents the variable W, and the second series of parallel lines 839 represents the variable x.

[0172] The angles of the first series of parallel lines 837 relative to the vertical boundary line 833 represent the value of W, such that W = 1 when the first series of parallel lines 837 are parallel to the vertical boundary line 833, and W = 0 when the first series of parallel lines 837 are perpendicular to the vertical boundary line 833. The angles of the first series of parallel lines 837 relative to one or more of these predefined angles can be used to estimate the value of W during subsequent analysis of the enhanced image data when the first series of parallel lines 837 are between any two of these three predefined angles. Furthermore, W is negative when the left vertical boundary line 833 is a solid line, and positive when the right vertical boundary line 833 is a solid line. The vertical boundary line 833 is either not a solid line or is entirely non-solid lines in any single representation.

[0173] Similarly, the angle of the second series of parallel lines 839 relative to the horizontal boundary line 835 represents the value of x, such that x = 1 when the second series of parallel lines 839 is parallel to the horizontal boundary line 835, and x = 0 when the second series of parallel lines 839 is perpendicular to the horizontal boundary line 835. When the second series of parallel lines 839 lies between any two of these three predefined angles, the angle of the second series of parallel lines 839 relative to one or more of these predefined angles can be used to estimate the value of x during subsequent analysis of the enhanced image data. Furthermore, x is positive when the upper horizontal boundary line 835 is a solid line, and negative when the lower horizontal boundary line 835 is a solid line. The horizontal boundary line 835 is either not a solid line or is entirely non-solid in any single representation.

[0174] It is worth noting that, Figure 33A -D illustrates only an exemplary embodiment of the representation of the transformed oriented data. Any graphical representation of the W and x quaternion data can be used to generate enhanced image data. Therefore, unless expressly stated otherwise in the claims, the representation of the transformed oriented data is not limited.

[0175] After the orientation sensor data has been transformed (and in some embodiments, enhanced image data has been generated) and all sensor data has been fused, the transformed sensor data, which may include all generated sensor data in addition to the transformed orientation data, is fed to machine learning algorithm 461. This machine learning algorithm 461 is a deep learning algorithm capable of finding common features in the dataset. Of course, as with all machine learning, the algorithm must first be trained with training data. Therefore, the process has a training phase and a daily use phase. The algorithm branch used for daily use needs to be fully trained before it will work correctly during the user's regular freestyle oral care procedures.

[0176] During the training phase, the algorithm is trained to find common features among the data in each classification dataset. A large amount of sample data is collected during the training of the oral care procedure, including sensor data from all sensors and transformed orientation data. The trained oral care procedure is a guided procedure in which the user is instructed to begin brushing in one segment of the mouth for a predetermined time period (e.g., brushing for 5 to 10 seconds in each segment of the mouth) and then continue brushing the next indicated segment of the mouth.

[0177] As part of this deep learning process, it is expected that sensor data containing over 500 images of each segment of the oral cavity from image sensor 169 will be generated and analyzed during the training of the oral care procedure. Since the images from each segment of the oral cavity are grouped as part of the sensor data, which also includes transformed orientation data, the machine learning algorithm is able to more effectively identify commonalities and correlations within the sensor data. As deep learning proceeds during the training process, the deep learning algorithm performs feature identification and extraction467 to identify those features that indicate shared commonalities within the data. This type of deep machine learning is well-known in other technical fields such as robotics, and therefore will not be discussed in any significant detail herein.

[0178] By continuing guided training of the oral care procedure, the user is able to generate hundreds, or even thousands, of images and sensor data from each segment of the mouth while brushing each segment. Using these numerous images, deep learning algorithms are able to identify subtle differences between images acquired from different segments of the mouth. However, these images alone do not provide sufficient background to determine the position and orientation of the head 115 of the examination device 151 within the user's mouth. However, quaternion units are able to provide this background after analysis of the images using deep learning algorithms.

[0179] Figure 13 Figure 501 represents the quaternion units W and X obtained during an oral care procedure. This figure shows that the transformed sensor data from many segments of the oral cavity are sufficiently separated from other segment data, so that when the sensor data is generated, the data can be easily identified and classified according to the segment in which the head is located during the oral care procedure. Furthermore, if the transformed sensor data from these segments of the oral cavity is easily identified on Figure 501, these segments will also stand out when the transformed sensor data is analyzed using deep machine learning algorithms. The segments that stand out in the transformed sensor data and are sufficiently separated from other segments include: S Q 2. S Q 5. S Q 7. S Q 10. S Q 13 and S Q 15.

[0180] Another thing that can be clearly seen from Figure 501 is that the transformed sensor data from some segments are not sufficiently separated from the sensor data from other segments, and all these closely grouped sensor data segments are paired. For example... Figure 14A –E shows that these transformed sensor data pairs overlap or are too close to each other to easily distinguish which group belongs to which segment of the oral cavity. These pairs include: S Q 3 and S Q 14, such as Figure 14A As shown in Figure 503; S Q 8 and S Q 9, such as Figure 14B As shown in Figure 505; S Q 4 and S Q 12, such as Figure 14C As shown in Figure 507; S Q 1 and S Q 11, such as Figure 14D As shown in Figure 509; and S Q 6 and S Q 16, such as Figure 14E As shown in Figure 511.

[0181] Even if these groups are too close to be easily distinguished based solely on the transformed sensor data, they can be differentiated once a deep machine learning algorithm processes them in conjunction with image data obtained from image sensor 169. Furthermore, once the position and orientation of the reference plane 153 of head 115 within the oral cavity can be reliably determined, data from other sensors can be used more advantageously.

[0182] In comparison, Figure 15 Figure 513 shows a comparison of x and z when IMU sensor data 433 is transformed into Euler angles. This figure 513 demonstrates that transforming the orientation data to Euler angles also produces distinctions between several different segments of the oral cavity. Therefore, when combined with image data from image sensor 169 and processed using deep machine learning analysis, transforming the orientation data to Euler angles enables the identification and differentiation of different segments of the oral cavity. Through comparison, Figure 16 Figure 515 shows a comparison of x and z data from the magnetometer. While some IMU sensor data clusters are separated from others, some are too close to be distinguished without additional sensor data to enable such differentiation. However, even with the addition of image data from image sensor 169, segments with overlapping data in Figure 515 are not easily distinguishable. This is because segments with overlapping data, such as S1 and S16, are so close to each other within the oral cavity that the image data is insufficient to provide adequate differentiation.

[0183] Back Figure 12In the case of oral care program data provided for analysis during training, a classification algorithm 469 can be created. The user can then utilize the oral care system 101 and machine learning to accurately track the position and orientation of the reference surface 153 of the head 115 during the free-form oral care program 471. In the feature identification and extraction step 473, oral care features that the user wishes to track are identified, and relevant data are extracted from the transformed sensor data. Once the oral care features are identified, the data necessary to track the selected features can be extracted from the transformed sensor data. The classification algorithm 475, based on the analysis of oral care program data from the training oral care program, is then applied to the extracted data to determine whether the extracted data is suitable for the established classification. The suitability of the extracted data for classification is then incorporated into the analysis 479 of the classification data. One analysis is to determine the position and orientation of the reference surface 153 of the head 115 in the oral cavity. The oral care system 101 can further provide the user with numerous oral care assessments, examples of which are detailed below. Advantageously, assessments of oral care can be provided segmentally, based on combinations of segments, or even based on an assessment of the entire oral cavity. It should be noted that the advantage of knowing the position and orientation of the reference plane 153 of the head 115 within the oral cavity with great certainty, when combined with other aspects of sensor data, particularly optical sensor data, promises numerous oral health benefits, even beyond those discussed herein. However, unless expressly limited in the claims, the invention is not limited to any specific assessment of oral care or oral health.

[0184] Figure 17A This demonstrates the use of active control. Figure 5 The vibrating motor 267 of the electric toothbrush 251 is illustrated in the diagram of a process 557 that is beneficial to improving the user's oral health. Process 557, when used alone, is based solely on optical sensor data. However, process 557 will rarely be used alone during a typical brushing routine. In practice, this process 557 and its results will be balanced with the user's other processes, oral health history, and existing needs.

[0185] Process 557 uses optical feedback 553, reflected from certain organic matter within the oral cavity, and optical feedback 555, fluorescing from certain organic matter within the oral cavity, both of which are part of optical sensor data, to determine how to control the stroke frequency of the vibratory motor. For example, the presence of dark spots on teeth can be an indication of the presence of caries in the enamel, and such dark spots will be displayed in the optical feedback reflected and received by an image sensor. Similarly, for example, the presence of red fluorescence in the fluorescent optical feedback can be an indication of the presence of plaque on the teeth. In each case, it is desirable to increase the stroke frequency of the vibratory motor 267.

[0186] The deep machine learning process described above is used to assess the presence of dark spots in the reflected optical feedback and the presence of red fluorescence in the fluorescent optical feedback. By using the machine learning process to assess the state of oral tissues or other organic matter in the oral cavity through reflected light and fluorescence, the oral care system 101 can respond to the state of the oral cavity in real time during the brushing procedure. For example, if necessary, the oral care system 101 can increase or decrease the stroke frequency of the vibrating motor every half second or even less by using the machine learning process. If the stroke frequency of the vibrating motor is approximately 200 Hz, adjusting the stroke frequency upward by 5 Hz every half second can significantly change the additional number of strokes applied to potential problem areas on the user's teeth. Similarly, the stroke frequency can be adjusted downward to help prevent over-brushing. Unless expressly set forth in the claims, the amount of adjustment to the stroke frequency made by any process disclosed herein is not limited.

[0187] Using reflected optical feedback 553, process 557 determines whether a dark spot 557 above a predetermined threshold is detected in the reflected optical feedback. This threshold may be based on a pre-existing standard or on training data provided by the user. If no dark spot above the predetermined threshold is detected, the stroke frequency is maintained at the current frequency 559. If a dark spot above the predetermined threshold is detected, the stroke frequency of the vibration motor is increased by a small increment 561. After the increase 561, the stroke frequency is checked against a frequency threshold 563. If the stroke frequency is not higher than the frequency threshold, process 557 returns to determining whether a dark spot 557 above the predetermined threshold is detected in the reflected optical feedback. Process 557 may continue to increase the stroke frequency as appropriate according to the standard set within the algorithm. If the stroke frequency is at or above the frequency threshold, process 557 resets the stroke frequency to the base or fundamental frequency, and then process 557 returns to determining whether a dark spot 557 above the predetermined threshold is detected in the reflected optical feedback.

[0188] Using fluorescent optical feedback 571, process 557 determines whether red fluorescence 571 above a predetermined threshold is detected in the fluorescent optical feedback. This threshold may be based on a pre-existing standard, or it may be based on training data provided by the user. If no red fluorescence above the predetermined threshold is detected, the stroke frequency is maintained at the current frequency 573. If red fluorescence above the predetermined threshold is detected, the stroke frequency of the vibrating motor is increased by a small increment 561. After the increase 577, the stroke frequency is checked against a frequency threshold 579. If the stroke frequency is not above the frequency threshold, the process returns to determining whether red fluorescence 571 above the predetermined threshold is detected in the fluorescent optical feedback. If the stroke frequency is at or above the frequency threshold, process 557 resets the stroke frequency to the base or fundamental frequency, and then process 557 returns to determining whether red fluorescence 571 above the predetermined threshold is detected in the fluorescent optical feedback.

[0189] In some embodiments, when stains are detected on the teeth, a process similar to process 571 can be used to increase the stroke frequency of the vibratory motor. Adjustment of the vibratory motor's stroke frequency can also be used to improve brushing effectiveness for a variety of other reasons. In some embodiments, other types of detectable features in the oral cavity can be used to increase or decrease the stroke frequency of the vibratory motor. Unless expressly set forth in the claims, the type of detectable feature is not a limitation of the invention.

[0190] Figure 17B This is a diagram illustrating another process 591, which is used for active control. Figure 5 The electric toothbrush 251 has a vibrating motor 267 designed to improve the user's oral health. Process 591, when used alone, is based on sensor data from accelerometer 295 and optical sensor 283. In practice, this process 591 and its results will be balanced with the user's other processes, oral health history, and current needs. In some embodiments, if a separate pressure sensor is included in the electric toothbrush 251, this process 591 may also be based on pressure sensor data.

[0191] Using sensor data from IMU 279, particularly linear acceleration data from accelerometer 295, the pressure exerted by the tooth cleaning element 259 on the tissues in the user's mouth is determined. Figure 18 –22 illustrates how pressure can be determined from linear acceleration data. Figure 18 Figure 621 shows the measured stroke frequency of the vibrating motor 267 in the electric toothbrush 251. The stroke frequency measurement was performed using an IMU 279, and in particular an accelerometer 295 within the IMU 279. The oscillation shown in Figure 621 represents the unsuppressed vibration of the vibrating motor 267 as measured by the accelerometer 295 during the brushing procedure. Figure 19Figure 623 shows another measurement of the stroke frequency of the vibrating motor 267 in the electric toothbrush 251. The oscillation shown in Figure 623 represents the partially suppressed vibration of the vibrating motor 267 as measured by the accelerometer 295 during the brushing procedure. The partial suppression is caused by pressing the tooth cleaning element 259 against the user's teeth or gums. Figure 20 Figure 625 shows another measurement of the stroke frequency of the vibrating motor 267 in the electric toothbrush 251. The oscillation shown in Figure 625 represents a significant suppression of vibration of the vibrating motor 267 as measured by the accelerometer 295 during the brushing procedure. This significant suppression is caused by the significant pressure of the dental cleaning element 259 against the user's teeth or gums. Such forceful pressure of the dental cleaning element against the user's teeth or gums may cause damage to oral tissues.

[0192] Figure 21 Figure 627 illustrates the relationship between stroke frequency amplitude and stroke pressure amplitude when the stroke frequency is measured by an IMU 279 located in the head 257 of the electric toothbrush 251. The curves in Figure 627 are typical vibration suppression curves, where the amplitude of the stroke frequency is inversely proportional to the amplitude of the stroke pressure (non-linear). Figure 22 A second figure, 629, also illustrates the relationship between stroke frequency amplitude and stroke pressure amplitude. The difference is that the stroke frequency amplitude is measured by an IMU 279 located in the handle 253 of the electric toothbrush 251. The curve in Figure 629, contrary to what might be expected from suppressed measurements, shows a direct proportionality (again, not linear) between the stroke frequency amplitude and stroke pressure amplitude. This difference will be taken into account in the machine learning process.

[0193] return Figure 17B Process 591 is based on both IMU sensor data 593 and optical sensor data 597. The IMU sensor data, particularly linear acceleration data, is used to determine the stroke pressure 595 applied by the user during the brushing procedure, and the optical sensor data is used to determine the tissue type targeted by the tooth-cleaning element 259. Using the machine learning process described above, process 591 determines whether the applied stroke pressure 601 is too high, too low, or acceptable for the tissue type. If the applied stroke pressure is too high 603, process 591 reduces the stroke frequency. If the applied stroke pressure is too low 605, process 591 increases the stroke frequency. If the applied stroke frequency is acceptable, process 591 maintains the stroke frequency at that level.

[0194] In some embodiments, process 591 may also take into account the location of the identified tissue type within the user's oral cavity and again use a machine learning process to determine whether to increase, decrease, or maintain the stroke frequency.

[0195] Figure 23 A process 651 for evaluating the oral care characteristics of a user of the oral care system 101 is illustrated. It should be understood that this process 651 may be used with any of the embodiments disclosed herein and any other embodiments of the invention, and the implementation of process 651 may be limited by the specific configuration of the oral care device 103 used therewith.

[0196] Scores can be assigned to oral care characteristics, and each such assigned score can reflect one or more oral care characteristics and / or one or more segments of the oral cavity. Process 651 is based on IMU sensor data 653 received by optical sensor 169, image sensor data 655, reflected optical feedback 657, and fluorescence optical feedback 659 received by optical sensor 169. Figure 24A The optical module 173 within the head 115 of the inspection device 151 is shown, along with components of the optical module 173 used to generate both reflective optical feedback 657 and fluorescent optical feedback 659. Similarly, Figure 24B The light module 285 inside the head 257 of the electric toothbrush 251 is shown, and the components of the light module 285 for generating both reflective optical feedback 657 and fluorescent optical feedback 659 are shown. Figure 25 The process for operating components of optical module 173 is illustrated. In this exemplary embodiment, optical module 173 includes two broadband LEDs 701 and one narrowband LED 703. In this exemplary embodiment, the broadband LEDs 701 emit light in the range of 450 nm to 900 nm, while the narrowband LED 703 emits light in a narrowband spectrum centered at 405 nm. The light emitted from both the broadband LEDs 701 and the narrowband LED 703 is directed toward and through an optical aperture 175. When the head 115 is inside the oral cavity, the emitted light passes through the optical aperture 175 and toward an organic material. There, most of the light from the broadband LEDs 701 is partially reflected and partially absorbed by the organic material, while some of the light from the narrowband LED 703 is absorbed by the organic material, with some of the absorbed light energy being re-emitted as fluorescence. At least some of the reflected light and some of the fluorescence return through the optical aperture 175, becoming reflected optical feedback 657 and fluorescence optical feedback 659, respectively. Some of both reflected optical feedback 657 and fluorescent optical feedback 659 are incident on an optical sensor 171 located in the head 115 of the inspection device 151. The optical sensor 171 generates optical sensor data from both reflected optical feedback 657 and fluorescent optical feedback 659, and this optical sensor data includes both raw reflected light data 663 and raw fluorescent data 671, but not simultaneously. In an embodiment of an electric toothbrush 251, for example, where the optical sensor 283 is located in the body 253, reflected optical feedback 657 and fluorescent optical feedback 659 are incident on the end of a light guide 289, which delivers the collected light to the optical sensor 283.

[0197] Figure 25 A process 711 is shown for operating both the broadband LED 701 and the narrowband LED 703 such that reflective optical feedback 657 and fluorescent optical feedback 659 can be generated almost simultaneously during a brushing procedure. As part of this process 711, a first control signal 713 is generated to control the on / off state of the broadband LED 701, and a second control signal 715 is generated to control the on / off state of the narrowband LED 703. The first control signal 713 and the second control signal 715 may be generated by a programmable processor 165 of the inspection device 151, and the control signals 713, 715 are configured such that when the broadband LED 701 is in the on state, the narrowband LED 703 is in the off state, and when the broadband LED 701 is in the off state, the narrowband LED 703 is in the on state. By controlling the broadband LED 701 and the narrowband LED 703 in this way, the optical sensor 171 alternately receives the reflected optical feedback 657 and the fluorescent optical feedback 659, rather than receiving both optical feedbacks 657 and 659 simultaneously.

[0198] return Figure 23 During process 651, the color of the raw reflected light data 663 is corrected using reflected light calibration data 661, and the color of the raw fluorescence data 671 is corrected using fluorescence calibration data 669. The color-corrected raw reflected light data is processed by calculating the reflectance and absorptivity 665 of organic matter in the oral cavity, and the color-corrected raw fluorescence data is processed by calculating the fluorescence intensity 672. IMU sensor data 653, image sensor data 655, raw reflected light data 663, reflectance and absorptivity calculation 665, raw fluorescence data 671, and fluorescence intensity calculation 672 are all used to evaluate oral care characteristics 667. As with other processes described herein, the evaluation of oral care characteristics 667, performed as part of this process 651, is performed using the aforementioned deep machine learning process.

[0199] As part of the assessment of oral care characteristic 667, IMU sensor data 653 and image sensor data 655 are primarily used to determine from which segments of the oral cavity the remaining data are generated. Based on this, reflected optical feedback 657 and fluorescent optical feedback 659 can be used to assess the oral care characteristics of each segment of the oral cavity and the entire oral cavity. Furthermore, process 651 can assign oral care scores to each oral care characteristic assessed for any brushing procedure. In some embodiments, the assigned oral care scores can be stored in memory, allowing for comparisons between a first brushing procedure and a second brushing procedure. Additionally, changes in the assigned oral care scores over time can be tracked by the user or even provided to the user's dental care professional.

[0200] In this exemplary embodiment, the assessable oral care characteristics include oral health characteristics, brushing effectiveness characteristics, and tooth whiteness characteristics. Process 651 may assign scores to each of the oral health characteristics 673, brushing effectiveness characteristics 677, and tooth whiteness characteristics 675. These scores may be orientation scores based on the real-time position of the oral care device head within the user's mouth, individual segment scores for different sections of the mouth, total scores for the entire mouth, or combined scores for multiple segments within the mouth. It should be apparent that the type of assessable oral care characteristic depends on the device. For example, an examination device 151 that does not include a teeth cleaning element cannot be used to assess characteristics requiring the presence of a teeth cleaning element, such as brushing pressure.

[0201] Oral health characteristics may include at least one of soft tissue health characteristics and hard tissue health characteristics. Soft tissue health characteristics may include one or more of soft tissue staining characteristics, bleeding characteristics, blood oxidation characteristics, and tissue hydration characteristics. Hard tissue health characteristics may include one or more of caries characteristics and bacterial presence characteristics. Brushing effectiveness characteristics may include one or more of brushing pressure characteristics, stroke frequency characteristics, bacterial presence characteristics, and caries characteristics. Tooth whiteness characteristics may include assessments of tooth whiteness over time during the brushing procedure and / or assessments of changes in tooth whiteness.

[0202] Figure 26 Figure 731 graphically illustrates the process of distinguishing between soft and hard tissue using a line spread function. Both hard and soft tissues within the oral cavity are irradiated with a narrow-band spectrum centered at a wavelength of 405 nm to induce fluorescence in both. The fluorescence optical feedback includes green and red channels, and Figure 731 shows the intensity of each channel by pixel count. Using the line spread function, in this example, the intensity difference between hard and soft tissue is intensity 100. The ability to distinguish between soft and hard tissue is useful because it helps to more accurately identify the location of the head 115 of the oral care device 103 within any segment of the oral cavity.

[0203] Figure 27 Figure 735 shows the fluorescence bands generated by various organic compounds. Of particular relevance in this figure are the fluorescence peaks of porphyrins around 635 nm and 700 nm. It is also known that oral hard tissues (i.e., tooth enamel) fluoresce at approximately 520 nm. The peaks of porphyrins and oral hard tissues are easily distinguishable, which allows process 651 to differentiate these different organic compounds and assign oral health scores based on the presence of porphyrins in the user's oral cavity.

[0204] Figure 28Figure 739 shows reflectance profiles for four different types of organic compounds: water, oxyhemoglobin (O2 Hb), deoxyhemoglobin (HHb), and melanin. The reflectance profile of water can be used to measure tissue hydration, while the reflectance profiles of oxyhemoglobin and / or deoxyhemoglobin can be used to measure tissue oxygenation. In some embodiments, their reflectance and / or fluorescence spectra can be used to identify and evaluate other organic substances.

[0205] Figure 29 Figure 743 illustrates the evaluation of tooth whiteness over time. To measure tooth color during an oral care procedure, a light module 173 is controlled to illuminate the teeth in the oral cavity with light in the broadband visible spectrum, and the reflected light is received by an optical sensor 171, which in turn generates optical sensor data. Values ​​in the CIE*Lab color space standard are then extracted from the optical sensor data, i.e., values ​​of the L* (luminance, or value), a* (red-green quantity), b* (yellow-blue quantity) color coordinates or values ​​of L (luminance), c (chroma), h (hue). Figure 743 illustrates the measurement of tooth color using reflected broadband visible light over a period of more than two weeks. In some embodiments, when assigning scores to tooth whiteness characteristics using, for example, the data seen in Figure 743, the values ​​at the peak of a scale normalized to 0-100 can be used to set the tooth whiteness score. In some other embodiments, lines crossing a curve with values ​​less than the peak can be used to assign tooth whiteness scores.

[0206] In assigning scores to various oral care characteristics, in an exemplary embodiment, process 651 initially assigns internal scores using a range of 0-100, and then, when presenting the scores to the user, normalizes the scores to a scale of 0-4 for presentation to the user of oral care system 101. In some embodiments, when the score is a combination of more than one oral care characteristic (e.g., brushing effectiveness can be a combination of stroke pressure and bacterial presence characteristics), each characteristic may initially be assigned a separate score before combination to produce an average score. In some embodiments, when the score will be a combination of more than one oral care characteristic, one or more scores to be included in the combined score may be weighted to have a stronger or weaker influence on the resulting combined score.

[0207] Figure 30 The diagram illustrates a process 751 for informing a user when it is recommended to replace the head of an oral care device. As with other processes discussed herein, this analysis in process 751 is performed using deep machine learning as described above. When training the deep machine learning algorithm, the algorithm generates cleaning element wear data during the data training procedure. This cleaning element wear data can then be used as part of the process to assess whether the current dental cleaning element should be replaced.

[0208] This process 751 can be combined with Figure 5 and 8 Used together with the oral care devices depicted herein, each of which includes a teeth cleaning element and an image sensor positioned to generate an image of the teeth cleaning element. Figure 5 In the context of electric toothbrush 251, Figure 31A –B shows two images of the head 257 of the oral care device. Figure 31A In this embodiment, all dental cleaning elements 771 are straight and extend linearly away from the head 257. These dental cleaning elements 771 do not exhibit wear indices. In contrast, in... Figure 31B In this device, numerous dental cleaning elements 773 extend from the head 257 in a curled or bent manner. The curling or bending of the dental cleaning elements 773 is a wear pattern that indicates the dental cleaning element 773 may need replacement. By employing machine learning and using an image sensor facing the dental cleaning element, the process can assess the wear pattern of the dental cleaning element to determine whether replacement of the dental cleaning element is recommended. Furthermore, the programmable processor or programmable device 105 of the oral care device 103 can provide the user with audio or visual alerts indicating that such recommendations should be made. Of course, such recommendations may be highly dependent on a predetermined wear life, such as a wear life that the manufacturer may set. And, although... Figure 31B Bending in the dental cleaning element is shown as a basis for needing replacement, but in some embodiments, any physical properties of the dental cleaning element that can be captured as an image and analyzed by machine learning can serve as the basis for making a recommendation to replace the head of the oral care device.

[0209] Returning to process 751, the detection of trigger event 753 initiates an analysis of the quality of the dental cleaning element. The trigger event can be anything suitable that causes the programmable processor of the oral care device to begin executing process 751. Thus, the trigger event could be a user pressing a button on the oral care device, whether this is turning on the device when the user is ready to begin the brushing procedure or turning it off after the user has finished brushing. In the latter case, the oral care device will only be fully turned off after process 751 has been executed. In other embodiments, the trigger event could be a user coupling the oral care device to a power source to recharge a rechargeable battery included as part of the oral care device. After detecting event trigger 753, the image sensor of the oral care device captures an image 755 of the dental cleaning element. The captured image is analyzed, and a wear score 757 is assigned to the dental cleaning element. Process 751 continues to determine whether the wear score is below a predetermined threshold 759. If the threshold is not exceeded, process 751 waits in an idle state until the next trigger event 753 is detected. However, if the wear score is below the threshold, the processor generates a wear signal. Wear signals are received by a wear indicator configured to provide feedback to the user, suggesting a replacement of the dental cleaning element. In some embodiments, the display screen or speaker of the programmable device 105 may serve as the wear indicator. In some other embodiments, the oral care device may include an LED or speaker that acts as a wear indicator.

[0210] Although the invention has been described with reference to specific examples (including the currently preferred mode for carrying out the invention), those skilled in the art will understand that numerous variations and substitutions of the systems and techniques described above exist. It should be understood that other embodiments can be utilized and structural and functional modifications can be made without departing from the scope of the invention. Therefore, the spirit and scope of the invention should be broadly interpreted as set forth in the appended claims.

Claims

1. An oral care system comprising: Oral care device, comprising: A head with a reference surface; and Multiple sensors are configured to generate sensor data, which includes: Motion data and orientation data corresponding to the motion measurement values ​​and orientation measurement values ​​of the reference surface during the oral care procedure, respectively; and Image data generated from external images of the oral cavity during the oral care procedure; and At least one programmable processor communicatively coupled to the plurality of sensors, the at least one programmable processor being configured to: Transformed sensor data is generated from the sensor data, the transformed sensor data including the orientation data, the motion data, and enhanced image data, which are transformed into quaternion units and representable in quaternion units. The enhanced image data includes each external image of the oral cavity combined with a visual representation of the corresponding quaternion units of the transformed orientation data; and The enhanced image data is used to determine the position and orientation of the reference surface relative to the oral cavity.

2. The oral care system of claim 1, wherein the representation of the transformed orientation data comprises one or more geometric figures.

3. The oral care system according to any one of claims 1 to 2, wherein the representation of the transformed orientation data includes a grid pattern.

4. The oral care system according to any one of claims 1 to 3, wherein the representation of the transformed orientation data includes an coded graphical representation.

5. The oral care system according to any one of claims 1 to 4, wherein the representation of the transformed orientation data includes a crosshair pattern.

6. The oral care system according to any one of claims 1 to 5, wherein each external image is overlaid with the corresponding transformed orientation data.

7. The oral care system according to any one of claims 1 to 6, wherein the oral care procedure includes either a training oral care procedure or a free-style brushing procedure.

8. The oral care system according to any one of claims 1 to 7, the oral care device further comprising a body, the head extending from the body, wherein the plurality of sensors include an image sensor coupled to the body and positioned to generate the image data from the external image of the oral cavity during the oral care procedure.

9. The oral care system of claim 8, wherein the at least one programmable processor includes a first programmable processor and a second programmable processor, the first programmable processor being disposed within the body, and the second programmable processor being wirelessly connected to the first programmable processor.

10. The oral care system according to claim 9, wherein: The first programmable processor is configured to generate the transformed sensor data and send the transformed sensor data to the second programmable processor; and The second programmable processor is configured to use the transformed sensor data to determine the position and orientation of the reference surface relative to the oral cavity.

11. The oral care system according to any one of claims 1 to 10, wherein oral care procedure data is used in conjunction with the transformed sensor data to determine the position and orientation of the reference surface relative to the oral cavity, the oral care procedure data being generated from the analysis of transformed sensor data generated during training of the oral care procedure.

12. The oral care system according to any one of claims 1 to 11, wherein: The oral care device also includes at least one tooth cleaning element extending from the reference surface.

13. A method for promoting oral hygiene, the method comprising: Sensor data is generated from an oral care device during a free-flowing oral care procedure. The oral care device includes a head with a reference surface and multiple sensors configured to generate the sensor data, wherein the sensor data includes motion data, orientation data, and image data. The motion data and the orientation data correspond to motion measurements and orientation measurements of the reference surface during the free-flowing oral care procedure, respectively, and the image data is generated from external images of the oral cavity during the free-flowing oral care procedure. as well as Transformed sensor data is generated from the sensor data using at least one programmable processor. The transformed sensor data includes the orientation data, the motion data, and enhanced image data, which are transformed into quaternion units. The enhanced image data includes each external image of the oral cavity combined with a visual representation of the quaternion units corresponding to the transformed orientation data. The enhanced image data is used to determine the position and orientation of the reference surface relative to the oral cavity.

14. The method of claim 13, wherein the representation of the transformed orientation data comprises one or more geometric figures.

15. The method according to any one of claims 13 to 14, wherein the representation of the transformed orientation data comprises a grid pattern.

16. The method according to any one of claims 13 to 15, wherein the representation of the transformed oriented data includes an encoded graphical representation.

17. The method according to any one of claims 13 to 16, wherein the representation of the transformed orientation data includes a crosshair pattern.

18. The method according to any one of claims 13 to 17, wherein the freestyle oral care procedure includes either a training oral care procedure or a freestyle brushing procedure.

19. The method according to any one of claims 13 to 18, wherein each external image is overlaid with the corresponding transformed orientation data.

20. The method of any one of claims 13 to 19, wherein the oral care device includes a body, the head extends from the body, and the plurality of sensors include an image sensor coupled to the body and positioned to generate the image data from the external image of the oral cavity during the free-form oral care procedure, wherein generating the sensor data includes generating the sensor data from the image sensor.

21. The method according to any one of claims 13 to 20, wherein the at least one programmable processor includes a first programmable processor and a second programmable processor, the first programmable processor being wirelessly connected to the second programmable processor, wherein the first programmable processor is used to generate transformed sensor data.

22. The method of claim 21, wherein generating the transformed sensor data from the sensor data comprises generating the transformed sensor data using the first programmable processor.

23. The method of claim 21, further comprising using the second programmable processor to determine the position and orientation of the reference surface relative to the oral cavity using the transformed sensor data.

24. The method according to any one of claims 13 to 23, wherein the transformed sensor data is used in conjunction with oral care procedure data to determine the position and orientation of the reference surface relative to the oral cavity, the oral care procedure data being generated from the analysis of transformed sensor data generated during training of the oral care procedure.

25. The method according to any one of claims 13 to 24, wherein: The oral care device also includes at least one tooth cleaning element extending from the reference surface.

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