Robotic system with mobile platform and related methods

Abstract

The robotic system includes a tracking arm having a distal end for communicating with a reference location on or adjacent to a part or object on that part, and a robotic arm having a treatment tool and an end effector that engage with its distal end. The proximal ends of the robotic arm and the tracking arm are arranged in a known relationship to one another. A controller communicates with the tracking arm and the robotic arm and the treatment tool, and via the robotic arm and the tracking arm, determines the actual spatial relationship between the treatment tool and the reference location, including the location of the distal end of the end effector relative to the reference location in three-dimensional space. The platform includes an intermediate member extending between spaced support members such that the intermediate member spans a part or object, and the robotic arm and the tracking arm are attached to and extend from the intermediate member.

Description

Technical Field

[0001] This application relates to a robotic system, and more particularly, to a robotic system engaged with and supported by a mobile platform and related methods.

Background Art

[0002] When performing a specific procedure such as a dental procedure, the patient is often seated in a reclined position or placed in a supine position on a support surface (e.g., a dentist's chair). Therefore, dental healthcare providers, who are generally located on one side of the dentist's chair, have to distort their bodies to approach the patient's oral cavity, or operate a small hand mirror inside or around the patient's oral cavity, so as to be able to see the procedure being performed, or to be able to see the location / object where the procedure is being performed.

[0003] When the procedure is performed using a guiding robotic system, a tracking arm also needs to be installed to track the patient's position and / or movement during the procedure. The tracking arm generally includes components physically connected to the patient's oral cavity and / or physically connected to the patient's oral cavity to communicate with the tracking arm. In any case, the tracking arm is often required to be placed in close proximity to the patient's oral cavity, and thus may compete with dental healthcare providers for access to the patient's oral cavity.

[0004] In many cases, robotic systems are mounted to one side of the dentist's chair, requiring a longer tracking arm to ensure the necessary reach to or into the patient's oral cavity. In such cases, a longer tracking arm often requires a more complex and cumbersome tracking process to provide the precision suitable for performing robotic procedures. Furthermore, the tracking arm generally needs to be mounted in close proximity to and / or near the robotic arm with the instruments used to perform the procedure engaged, and a stable base is often required to support the robotic system, which can result in a relatively large footprint for the robotic system. Consequently, dental professionals are often unable to approach the patient from the side of the dental chair where the robotic system is positioned.

[0005] As a result, such robot-assisted dental procedures are often cumbersome, inconvenient, and ergonomic for dental professionals. Furthermore, current system implementation requirements can lead to robotic systems being more complex or over-engineered (and therefore more expensive). Consequently, such robotic systems may occupy a relatively large footprint, resulting in the aforementioned deployment / implementation constraints, as well as potentially more extensive storage requirements for the robotic systems when not in use.

[0006] Therefore, there is a need for robotic systems, and in some cases dental robotic systems, that enable dental professionals to perform robot-assisted dental / maxillofacial procedures in an easy-to-use, agile, and ergonomic way while accessing patients from both sides of the dentist's chair. Such robotic systems should be effective, preferably without restricting the mobility of instruments or the accessibility of instruments to the patient's teeth / maxillofacial structure, while allowing the robotic system to be positioned closer to the patient's teeth / maxillofacial structure to reduce the complexity and / or structural requirements of the robotic system. Therefore, it is also desirable that such robotic systems provide the necessary stability while minimizing their footprint. [Overview of the project] [Means for solving the problem]

[0007] The above and other needs are met by aspects of the present disclosure, and in a particular embodiment, a robotic system is provided comprising a tracking arm having a distal end adapted to communicate with a reference location in or adjacent to a part or object receiving a part, the reference location being positioned in three-dimensional space in relation to the proximal end of the tracking arm. The robotic arm has a treatment tool engaged with the distal end of the robotic arm, the treatment tool has an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with a part or object. The robotic arm has a proximal end positioned in a known relationship to the proximal end of the tracking arm. A controller, including a processor and memory, is configured to operably communicate with the tracking arm, the robotic arm, and the treatment tool. The controller is configured to determine an actual spatial relationship between the treatment tool and the reference location in three-dimensional space via the robotic arm and the tracking arm, the actual spatial relationship including the location of the distal end of the end effector of the treatment tool relative to the reference location. The platform has spaced-apart support members and a medial member extending between them, the medial member cooperating with the support members so that the medial member spans a part or object, and the platform is configured such that robot arms and tracking arms are attached to and extend from the platform.

[0008] Another aspect of the present disclosure provides a method for forming a robotic system, the method comprising configuring a robotic arm such that the proximal end of the robotic arm is positioned in a known relationship with the proximal end of a tracking arm, the tracking arm having a distal end adapted to communicate with or adjacent to a reference location in a part or object receiving the part, the reference location being positioned in three-dimensional space in relation to the proximal end of the tracking arm. A treatment tool engages with the distal end of the robotic arm, the treatment tool having an end effector that engages with the treatment tool, the end effector having a distal end adapted to interact with the part or object. A controller, including a processor and memory, is configured to operably communicate with the tracking arm, the robotic arm, and the treatment tool, the controller is configured to determine an actual spatial relationship between the treatment tool and the reference location in three-dimensional space via the robotic arm and the tracking arm, the actual spatial relationship including the location of the distal end of the end effector of the treatment tool relative to the reference location. A robotic arm and a tracking arm are mounted on a platform, which has spaced-apart support members and an intermediate member extending between them, the intermediate member cooperating with the support members so that the intermediate member straddles a part or object, and the robotic arm and tracking arm extend from the platform.

[0009] Therefore, this disclosure includes, but is not limited to, the following exemplary embodiments.

[0010] Exemplary Embodiment 1: A robot system comprising: a tracking arm having a distal end adapted to communicate with a reference location in or adjacent to a part or object being received by the part, the reference location being positioned in three-dimensional space in relation to the proximal end of the tracking arm; a robot arm having a treatment tool engaged with the distal end of the robot arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with a part or object, and the robot arm having a proximal end positioned in a known relationship to the proximal end of the tracking arm; and a controller including a processor and memory. A robotic system comprising: a controller configured to communicate operably with a tracking arm, a robotic arm, and a treatment tool, the controller configured to determine the actual spatial relationship between the treatment tool and a reference location in three-dimensional space via the robotic arm and the tracking arm, the actual spatial relationship including the location of the distal end of the end effector of the treatment tool related to the reference location; a platform having spaced-apart support members and an intermediate member extending between them, the intermediate member cooperating with the support members so that the intermediate member straddles a part or object, and the platform being configured such that the robotic arm and the tracking arm are mounted on the platform and extend from the platform.

[0011] Exemplary Embodiment 2: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein the proximal ends of a robotic arm and a tracking arm are attached to a platform in a known relationship between them.

[0012] Exemplary Embodiment 3: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein the support member includes a proximal end that engages with an intermediate member and a distal end opposite to the proximal end, the distal end being configured to interact with the support surface to stabilize the intermediate member relative to the support surface.

[0013] Exemplary Embodiment 4: A system according to any of the preceding exemplary embodiments, or a combination thereof, comprising a caster engaged with the distal end of a support member, configured such that the platform is movable relative to a support surface.

[0014] Exemplary Embodiment 5: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein one or more casters are configured to be selectively fixed to prevent the platform from moving relative to a support surface.

[0015] Exemplary Embodiment 6: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein one of the intermediate members or support members is configured to receive and support a controller.

[0016] Exemplary Embodiment 7: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein the intermediate member includes or defines a receptacle configured to receive one or more elements adapted to interact with a part or object.

[0017] Exemplary Embodiment 8: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein one of the intermediate members or support members comprises or defines a plurality of receptacles, each configured to receive an element adapted to interact with a part or object.

[0018] Exemplary Embodiment 9: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein each receptacle includes a lighting element associated with the receptacle and configured to selectively illuminate the receptacle.

[0019] Exemplary Embodiment 10: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein a controller communicates with illuminating elements and is configured to activate an illuminating element associated with one of the receptacles to indicate that the element received within that receptacle is to be used next in a procedure performed on a site or object.

[0020] Exemplary Embodiment 11: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein the intermediate member is configured to have an adjustable length so that the span of the intermediate member is adjustable with respect to a part or object.

[0021] Exemplary Embodiment 12: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein the support member is configured to have an adjustable length such that the height of the intermediate member is adjustable with respect to a part or object.

[0022] Exemplary Embodiment 13: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein the proximal ends of a robot arm and a tracking arm are attached to one proximal end of a support member in a known relationship between them.

[0023] Exemplary Embodiment 14: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein the intermediate member is configured to be collapsible in order to reduce the lateral footprint of the platform.

[0024] Exemplary Embodiment 15: A system according to any of the preceding exemplary embodiments, or a combination thereof, wherein an intermediate member comprises a first portion pivotably engaged with a second portion, and the platform is configured to be foldable around a pivotable engagement between the first and second portions of the intermediate member in order to reduce the lateral footprint of the platform.

[0025] Exemplary Embodiment 16: A method for forming a robot system, comprising: configuring a robot arm such that the proximal end of the robot arm is positioned in a known relationship with the proximal end of a tracking arm, wherein the tracking arm has a distal end adapted to communicate with a reference location in or adjacent to a part or object receiving the part, the reference location being positioned in three-dimensional space in relation to the proximal end of the tracking arm; engaging a treatment tool with the distal end of the robot arm, wherein the treatment tool has an end effector that engages with the treatment tool, the end effector having a distal end adapted to interact with a part or object; and configuring a controller, wherein the controller A method comprising: a processor and memory, which operably communicates with a tracking arm, a robotic arm, and a treatment tool, and the controller is configured to determine an actual spatial relationship between the treatment tool and a reference location in three-dimensional space via the robotic arm and the tracking arm, wherein the actual spatial relationship includes the location of the distal end of the end effector of the treatment tool related to the reference location; and mounting the robotic arm and the tracking arm to a platform, the platform having spaced-apart support members and an intermediate member extending between them, the intermediate member cooperating with the support members so that the intermediate member straddles a part or object, and the robotic arm and the tracking arm extend from the platform.

[0026] Exemplary Embodiment 17: The method according to any preceding exemplary embodiment, or a combination thereof, wherein attaching a robotic arm and a tracking arm includes attaching proximal ends of the robotic arm and the tracking arm to a platform in a known relationship therebetween.

[0027] Exemplary Embodiment 18: The method according to any preceding exemplary embodiment, or a combination thereof, wherein the support member includes a proximal end engaging an intermediate member and a distal end opposite the proximal end, and the method includes configuring the distal end of the support surface to interact with the support surface to stabilize the intermediate member with respect to the support surface.

[0028] Exemplary Embodiment 19: The method according to any preceding exemplary embodiment, or a combination thereof, including engaging a caster to a distal end of the support member, the caster being configured such that the platform is movable with respect to the support surface.

[0029] Exemplary Embodiment 20: The method according to any preceding exemplary embodiment, or a combination thereof, including configuring one or more of the casters to be selectively fixed to prevent movement of the platform with respect to the support surface.

[0030] Exemplary Embodiment 21: The method according to any preceding exemplary embodiment, or a combination thereof, including configuring one of the intermediate member or the support member to receive and support a controller.

[0031] Exemplary Embodiment 22: The method according to any preceding exemplary embodiment, or a combination thereof, including including or defining a receptacle configured to receive one or more elements adapted to interact with a site or object in the intermediate member.

[0032] Exemplary Embodiment 23: A method according to any of the preceding exemplary embodiments, or a combination thereof, comprising configuring one of the intermediate members or support members to include or define a plurality of receptacles, each configured to receive an element adapted to interact with a part or object.

[0033] Exemplary Embodiment 24: A method according to any of the preceding exemplary embodiments, or a combination thereof, comprising configuring each receptacle to include a lighting element associated with the receptacle and configured to selectively illuminate the receptacle.

[0034] Exemplary Embodiment 25: A method according to any of the preceding exemplary embodiments or a combination thereof, comprising configuring a controller to communicate with an illumination element and to activate an illumination element associated with one of the receptacles to indicate that the element received within that receptacle is to be used next in a procedure performed on a site or object.

[0035] Exemplary Embodiment 26: A method according to any of the preceding exemplary embodiments, or a combination thereof, comprising configuring the intermediate member to have an adjustable length such that the span of the intermediate member is adjustable with respect to a part or object.

[0036] Exemplary Embodiment 27: A method according to any of the preceding exemplary embodiments, or a combination thereof, comprising configuring the support member to have an adjustable length such that the height of the intermediate member is adjustable with respect to a part or object.

[0037] Exemplary Embodiment 28: A method according to any of the preceding exemplary embodiments, or a combination thereof, wherein mounting a robot arm and a tracking arm involves attaching the proximal ends of the robot arm and the tracking arm to one proximal end of a support member in a known relationship between them.

[0038] Exemplary Embodiment 29: A method according to any of the preceding exemplary embodiments, or a combination thereof, comprising configuring the intermediate member to be foldable in order to reduce the lateral footprint of the platform.

[0039] Exemplary Embodiment 30: A method by any of the preceding exemplary embodiments or a combination thereof, wherein the intermediate member comprises a first portion pivotably engaged with a second portion, and the method comprises configuring the platform to be foldable around a pivotably engaged portion between the first and second portions of the intermediate member in order to reduce the lateral footprint of the platform.

[0040] The above and other features, aspects, and advantages of this disclosure will become apparent upon reading the following detailed description together with the accompanying drawings, which are briefly described below. This disclosure includes any combination of two, three, four, or more features or elements described herein, whether such features or elements are expressly combined or otherwise described in the description of a particular embodiment herein. This disclosure is intended to be read as a whole so that any separable feature or element of this disclosure should be considered as intended, i.e., combined, in any aspect and embodiment, unless otherwise expressly required by the context of this disclosure.

[0041] It should be understood that the summary in this specification is provided only to outline some exemplary embodiments in order to provide a basic understanding of the disclosure. Therefore, it should be understood that the embodiments described above are merely examples and should not be construed as narrowing the scope and intent of the disclosure in any way. It should be understood that the scope of the disclosure encompasses many potential embodiments, some of which are described further below in addition to those outlined herein. Furthermore, other embodiments and advantages of such embodiments disclosed herein will become apparent from the following detailed description, for example, in conjunction with the accompanying drawings illustrating the principles of the embodiments described.

[0042] Having thus provided an overview of this disclosure, please refer below to the attached drawings, which are not necessarily drawn to scale. [Brief explanation of the drawing]

[0043] [Figure 1] This figure schematically illustrates alternative embodiments of the robot system according to several aspects of the present disclosure. [Figure 2] This figure schematically illustrates alternative embodiments of the robot system according to several aspects of the present disclosure. [Figure 3] Figures 1 and 2 schematically illustrate exemplary interactions between a robotic system and a body part / object. [Figure 4A] This is a schematic diagram of a robot system configured on a platform according to one aspect of the present disclosure, as shown in Figures 1 and 2. [Figure 4B] This is a schematic diagram of a robot system configured on a platform according to one aspect of the present disclosure, as shown in Figures 1 and 2. [Figure 4C] This is a schematic diagram of a robot system configured on a platform according to one aspect of the present disclosure, as shown in Figures 1 and 2. [Figure 4D] This is a schematic diagram of a robot system configured on a platform according to one aspect of the present disclosure, as shown in Figures 1 and 2. [Figure 5A] This is a schematic diagram of a robotic system configured on a platform, as shown in Figures 1 and 2, according to another aspect of the present disclosure. [Figure 5B] This is a schematic diagram of a robotic system configured on a platform, as shown in Figures 1 and 2, according to another aspect of the present disclosure. [Figure 6A] A schematic diagram of a robotic system configured on a platform, as shown in Figures 1 and 2, according to yet another aspect of this disclosure. [Figure 6B] A schematic diagram of a robotic system configured on a platform, as shown in Figures 1 and 2, according to yet another aspect of this disclosure. [Figure 7A] A schematic diagram of a robotic system configured on a platform, as shown in Figures 1 and 2, according to a further aspect of this disclosure. [Figure 7B] A schematic diagram of a robotic system configured on a platform, as shown in Figures 1 and 2, according to a further aspect of this disclosure. [Figure 8A] A schematic diagram of a robotic system configured on a platform, as shown in Figures 1 and 2, according to another aspect of this disclosure. [Figure 8B] A schematic diagram of a robotic system configured on a platform, as shown in Figures 1 and 2, according to another aspect of this disclosure. [Figure 9] This figure schematically illustrates a robotic system configured on a platform, as shown in Figures 1 and 2, according to another aspect of the present disclosure. [Figure 10] This figure schematically illustrates a method for forming a robotic system according to yet another aspect of the present disclosure. [Modes for carrying out the invention]

[0044] Herein, the Disclosure is more fully described below with reference to the accompanying drawings, which illustrate some but not all aspects of the Disclosure. In practice, the Disclosure may be embodied in many different forms and should not be understood as being limited to the forms described herein, but rather those forms are provided so as to satisfy the applicable legal requirements of the Disclosure. Throughout, similar numbers refer to similar elements.

[0045] Figure 1 schematically shows a robotic system 100 according to one aspect of the present disclosure. Such a system includes a treatment tool 200 having an end effector 300 adapted to interact with a site 25 or an object 50 received at site 25. Site 25 may be a maxillofacial structure or a dental structure, and the object 50 may be a tooth, dental implant / crown, etc.

[0046] While aspects of this disclosure include examples relating robotic systems to maxillofacial / dental anatomical structures or maxillofacial structures, those skilled in the art will understand that references to maxillofacial / dental anatomical structures or maxillofacial / dental structures in some aspects are merely to provide examples of objects that have interacted with, or are interacted with by, the disclosed treatment tools / end effectors and / or robotic systems. Otherwise, references to “objects” in this specification expressly refer to non-human objects. In some examples, such non-human objects are maxillofacial / dental anatomical structure models, or maxillofacial / dental structure models, or other non-human representations or reproductions of such anatomical structures or structures. The systems and methods disclosed herein are implemented, for example, to provide dental professionals with convenient and effective training tools or training equipment to develop their skills with respect to the treatments and tools described herein. Furthermore, the methods disclosed herein and described in the claims relate particularly to the control and operation of the systems described herein and described in the claims, and such methods are not particularly related to surgical methods on humans, but rather relate to the operation of robotic systems and / or treatment tools and end effectors related to the training procedures shown above.

[0047] Furthermore, while the embodiments of this disclosure illustrate exemplary procedures involving maxillofacial / dental anatomical structures, those skilled in the art will understand that the concepts of robotic systems and methods disclosed herein may be applicable to other non-dental surgical processes, such as orthopedic surgery, ENT surgery, and neurosurgery. Accordingly, the embodiments of the disclosure presented herein are merely examples of the applicability of the disclosed concepts and are not intended to be limiting. In other words, the embodiments of robotic systems disclosed herein may be applied in different ways to various parts of the patient to facilitate other types of surgery in addition to dental surgery.

[0048] In some embodiments, as shown, for example, in Figures 1 and 2, the treatment tool 200 is a drilling device and the end effector 300 is a drill bit or polishing bit. In other embodiments, the treatment tool 200 is an ultrasonic cleaner and the end effector 300 is a cleaning tip. In yet another embodiment, the treatment tool 200 is a pneumatic polishing tool and the end effector 300 is a polishing tip. The treatment tool 200 engages with the distal end 725 of an articulating robotic arm 750 of a robotic system 100, and the end effector 300 of the treatment tool 200 is adapted to interact with the part 25 and / or the object 50 being treated at that part.

[0049] A dedicated computer, or possibly including one, and comprising at least a processor and memory, is configured to communicate with an articulated robotic arm 750, a treatment tool 200, and a fiducial marker 900 (see, for example, Figure 3). The fiducial marker 900 is adapted to engage with a reference location 10 on or adjacent to the part 25 or object 50. The controller 800 is configured, for example, to determine the placement of the end effector 300 in relation to the fiducial marker 900 during the movement of the end effector 300 in order to interact with the part 25 or object 50. The controller 800 is further configured to orient the articulated robotic arm 750 to physically control or adjust the possible movement of the treatment tool 200 in relation to the placement of the end effector 300 in relation to the fiducial marker 900 engaged with the reference location 10, in order to track and adapt to the movement of the part 25 or object 50 during robotic treatment. For example, in some embodiments, the controller 800 is operated to carry out a plan, procedure, or action, which includes orienting the procedure tool 200 / end effector 300 to traverse a route that moves closer to (i.e., to) the site 25 or object 50 (i.e., to a staging position) and further away from the staging position / site 25 or object 50, and along a subsequent route along which the procedure tool 200 / end effector 300 is operated to interact with the site 25 or object 50, and the end effector 300 performs the plan / procedure / action (in some examples, along an established trajectory).

[0050] In aspects of this disclosure, the detailed movement of a planned / procedure / action includes the trajectory of the treatment tool 200 / end effector 300 along a route that engages with it toward a staging position and toward part 25 or object 50, while the articulated robotic arm 750 (to which the treatment tool 200 is attached at its distal end 725) includes structures and adjustment functions that allow the treatment tool 200 to be manually moved along a possible path or route in accordance with the planned / procedure / action. However, by using the articulated robotic arm 750, manual movement of the treatment tool 200 outside of the possible path or route is restricted, hindered, or otherwise prevented.

[0051] In some embodiments (see, for example, Figure 1), the distal end 1025 of the tracking arm 1050 is physically engaged with the fiducial marker 900. The tracking arm 1050 is a separate and distinct element from the articulated robot arm 750. Furthermore, the tracking arm 1050 communicates with the controller 800, and is therefore configured to cooperate with the controller 800 to determine the spatial relationship between the fiducial marker 900 / reference location 10 and the end effector 300 (i.e., via the articulated robot arm 750 and the tracking arm 1050). In other embodiments (see, for example, Figure 2), the robot system 100 includes a detector 1000 engaged with the distal end 1025 of the tracking arm 1050, and the tracking arm 1050 is a separate and distinct element from the articulated robot arm 750. The tracking arm 1050 and the detector 1000 are configured to communicate with the controller 800. The detector 1000 is further configured to cooperate with the tracking arm 1050 to position the detector 1000 in a spaced relationship with the fiducial marker 900 engaged with the reference location 10, to detect the fiducial marker 900, and to cooperate with the controller 800 to determine the spatial relationship between the fiducial marker 900 / reference location 10 and the end effector 300 coupling (via the articulated robot arm 750 and the tracking arm 1050). In certain exemplary embodiments, the detector 1000 is an electrostatic detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof.

[0052] In some embodiments, the articulated robot arm 750 has a proximal end 720 opposite a distal end 725. One or more sensors 730 are operably engaged with the articulated robot arm 750 and are configured to sense positional data associated with the articulated robot arm 750. For example, one or more sensors 730 engage with joints that engage with one of the multiple arm members of the articulated robot arm 750 and / or between arm members or between arm members and other components of the articulated robot arm 750 (e.g., between the proximal end 720 of the articulated robot arm 750 and the base member 715). In this way, the positional data sensed by one or more sensors 730 includes, for example, the spatial relationships (e.g., orientation, position, etc.) of the articulated robot arm 750 and / or its components in three-dimensional space. In some examples, this spatial relationship is determined with respect to the base member 715 to which the proximal end 720 of the articulated robot arm 750 is attached. Therefore, in some embodiments, one or more sensors 730 are engaged with the articulated robot arm 750 such that position data sensed by one or more sensors 730 indicates at least the spatial position of at least the distal end 725 of the articulated robot arm 750 relative to the base member 715 / proximal end 720 of the articulated robot arm 750 in three-dimensional space. The position of the treatment tool 200 / end effector 300 in three-dimensional space is related to, known from, determined from, or otherwise associated with the position of the distal end 725 of the articulated robot arm 750, which is determined from the position data of one or more sensors 730 and the engagement of the treatment tool 200 with the distal end 725 of the articulated robot arm 750. Therefore, the location of the distal end of the end effector 300 relative to the proximal end 720 of the robot arm 750 is determined from the position data from one or more position sensors 730.

[0053] In some embodiments, the tracking arm 1050 has a proximal end 1020 opposite the distal end 1025. One or more sensors 1030 are operably engaged with the tracking arm 1050 and are configured to sense position data associated with the tracking arm 1050. For example, one or more sensors 1030 engage with a joint that engages with one of the arm members of the tracking arm 1050 and / or between arm members or between an arm member and other components of the tracking arm 1050 (e.g., between the proximal end 1020 of the tracking arm 1050 and the base member 715). In this way, the position data sensed by one or more sensors 1030 includes, for example, the spatial relationships of the tracking arm 1050 and / or its components in three-dimensional space (e.g., orientation, position, etc.). In some examples, this spatial relationship is determined with respect to the base member 715 to which the proximal end 1020 of the tracking arm 1050 is attached. Therefore, in some embodiments, one or more sensors 1030 are engaged with the tracking arm 1050 such that position data sensed by one or more sensors 1030 indicates at least the spatial position of at least the distal end 1025 of the tracking arm 750 relative to the base member 715 / proximal end 1020 of the tracking arm 1050 in three-dimensional space. The position of the reference location 10 in three-dimensional space is related to, known from, determined from, or otherwise associated with, the position of the distal end 1025 of the tracking arm 1050 determined from the position data of one or more sensors 1030, and the physical engagement between the fiducial marker 900 / reference location 10 and the distal end 1025 of the tracking arm 1050, or the detection of the fiducial marker 900 / reference location 10 by the detector 1000 engaged with the distal end 1025 of the tracking arm 1050. In other words, the position of the distal end 1025 of the tracking arm 1050 relative to the proximal end 1020 of the tracking arm 1050 is determined from position data from one or more position sensors 1030.

[0054] Accordingly, according to some embodiments, the robot system 100 comprises a tracking arm 1050 having a distal end 1025 configured to communicate with or adapted to communicate with a reference location 10 in or adjacent to a part 25 or an object 50 received at part 25. This reference location 10 is located in three-dimensional space in relation to the proximal end 1020 of the tracking arm 1050. The robot arm 750 has a treatment tool 200 engaged with the distal end 725 of the robot arm 750, the treatment tool 200 having an end effector 300 engaged with the treatment tool 200, the distal end of the end effector 300 being adapted to interact with part 25 or object 50. The proximal end 720 of the robot arm 750 is located in a known relationship to the proximal end 1020 of the tracking arm 1050.

[0055] The controller 800 is configured to communicate operably with the tracking arm 1050, the robot arm 750, and the treatment tool 200, and is configured to determine the actual spatial relationship between the treatment tool 200 and the reference location 10 in three-dimensional space via the robot arm 750 and the tracking arm 1050, which includes the location of the distal end of the end effector 300 of the treatment tool 200 relative to the reference location 10. The controller 800 is further configured to orient the treatment tool 200 to a staging position adjacent to the part 25 or object 50 by adjusting the movement of the robot arm 750 based on the actual spatial relationship according to an operational plan, which includes routes to and from the part 25 or object 50 by the end effector 300 during treatment performed by the end effector 300 on the part 25 or object 50.

[0056] One aspect of the present disclosure provides a robotic system 100 including a tracking arm 750 having a distal end 1025 adapted to communicate with a reference location 10 (for example, as shown in Figures 1-3, 4A-4D, 5A and 5B, 6A and 6B, 7A and 7B, and 8A and 8B) at or adjacent to a part 25 or an object 50 received on part 25, the reference location 10 being located in three-dimensional space in relation to the proximal end 1020 of the tracking arm 750. The robotic arm 750 has a treatment tool 200 engaged with the distal end 725 of the robotic arm 750, the treatment tool 200 having an end effector 300 engaged with the treatment tool 200, the distal end of the end effector 300 adapted to interact with part 25 or object 50. The proximal end 720 of the robot arm 750 is positioned in a known relationship with the proximal end 1020 of the tracking arm 1050. A controller 800, including a processor and memory, is configured to communicate operably with the tracking arm 1050, the robot arm 750, and the treatment tool 200. The controller 800 is configured to determine the actual spatial relationship between the treatment tool 200 and a reference location 10 in three-dimensional space via the robot arm 750 and the tracking arm 1050, which includes the location of the distal end of the end effector 300 of the treatment tool 200 in relation to the reference location 10.

[0057] In certain embodiments, the robotic system 100 includes a platform 1100 having spaced-apart support members 1120 and an intermediate member 1140 extending between them, the intermediate member 1140 cooperating with the support members 1120 so that the intermediate member 1140 can straddle a part 25 or object 50 (e.g., a patient seated in a dentist's chair or the dentist's chair itself). The platform 1100 is further configured such that robotic arms 750 and tracking arms 1050 are attached to and extend from the platform 1100 (e.g., via a base member 715). More specifically, in some embodiments, the proximal ends 720, 1020 of the robotic arms 750 and tracking arms 1050 are attached to the platform 1100 in a known relationship with respect to them.

[0058] Since the robot arm 750 and the tracking arm 1050 are interposed between the end effector 300 and the reference point 10 and are integral components of the tracking configuration of the robot system 100, in certain embodiments the platform 1100 needs to provide stable support to the robot arm 750 and the tracking arm 1050. Therefore, in some embodiments, the support member 1120 includes a proximal end 1125 that engages with an intermediate member 1140 and a distal end 1130 opposite the proximal end 1125, the distal end 1130 configured to interact with a support surface 1135 (e.g., the floor) to stabilize the intermediate member 1140 with respect to the support surface 1135. For example, each distal end 1130 may extend laterally so that its wider base provides stability with respect to the support surface 1135. In another example, two or more independent adjustable legs may engage with the distal end, and the adjustable legs may be provided to accommodate any irregularities in the support surface 1135.

[0059] In some embodiments, the distal end 1130 of the support member 1120 each includes one or more casters 1160 engaged with the distal end 1130, the casters 1160 configured such that the platform 1100 is movable relative to the support surface 1135 (for example, the platform 1100 is movable by the casters 1160 so that the platform 1100 can move across the support surface 1135. In some cases, one or more of the casters 1160 are configured to be selectively fixed to prevent the platform 1100 from moving relative to the support surface 1135 (for example, at least one of the casters 1160 includes a brake 1170 to fix that caster 1160 and prevent rolling movement of the platform 1100 across the support surface 1135).

[0060] In relation to the cooperation of the intermediate member 1140 and the support member 1120 so that the intermediate member 1140 can straddle the part 25 or object 50, one of the intermediate member 1140 or the support member 1120 is configured to receive and support the controller 800. That is, one of the intermediate member 1140 or the support member 1120 may include or define a shelf, receptacle, or other equipment for receiving the controller 800 (e.g., a computer device), and in some cases may include a cover 850, lid, etc., for concealing the controller 800 once received (see, for example, Figure 4D). In other embodiments, the intermediate member 1140 and / or the support member 1120 may include or define one or more receptacles 1200 (see, for example, Figure 5A) configured to receive one or more elements 1250 adapted to interact with the part 25 or object 50. The elements 1250 received by the receptacle 1200 may be performed in combination with a treatment tool 200 (e.g., different end effectors 300) or may be implemented separately / independently with the robotic system 100 (e.g., irrigation / suction tools, draping, etc.).

[0061] In some embodiments, as shown, for example in Figure 9, one of the intermediate members 1140 and / or support members 1120 includes or defines a plurality of receptacles 1200, each configured to receive an element 1250 adapted to interact with the part 25 or object 50, and in some cases, each receptacle 1200 includes an illumination element 1300 associated with it and configured to selectively illuminate the receptacle 1200. For example, the receptacle 1200 may be formed or defined from a transparent or translucent material such as a suitable polymer material, and the illumination element 1300 may be an LED or other suitable light-emitting device (i.e., a backlight) configured to illuminate the receptacle 1200 through the transparent / translucent material. In a further embodiment, the controller 800 communicates with an illumination element 1300 and is configured to activate the illumination element 1300 associated with one of the receptacles 1200 to indicate that the element 1250 received by that receptacle is to be used next in a procedure performed on site 25 or target 50. That is, one of the receptacles 1200A may have a fiducial marker 900 (e.g., a splint) inside, while another of the receptacles 1200B may have a procedure tool 200 (e.g., a drill) and / or an end effector 300 (e.g., a drill bit) inside. In such a case, the controller 800 can first activate the illumination element 1300A associated with the receptacle 1200A having the fiducial marker 900 inside to illuminate that receptacle 1200A and indicate to the user that the “next step” is to remove the splint and apply it to site 25 / target 50 (e.g., the patient’s oral cavity). Once that task is complete, the controller 800 may deactivate the illumination element 1300A for the splint receptacle 1200A, and then activate the illumination element 1300B associated with the receptacle 1200B, which has the treatment tool 200 / end effector 300 inside, to illuminate the receptacle 1200B and indicate to the user that the "next step" is to remove the drill / drill bit and apply it to the distal end 725 of the robot arm 750.

[0062] In other embodiments, the intermediate member 1140 is configured / positioned to have an adjustable length so that the span of the intermediate member 1140 is adjustable relative to the part 25 or object 50 (see, for example, Figures 6A and 6B and Figures 7A and 7B). For example, because the intermediate member 1140 is extendable / shortenable, one support member 1120 may be movable toward / away from the other support member 1120. Thus, the platform 1100 can accommodate parts 25 or objects 50 of different widths, and in some cases, the support members 1120 are configured to be as close as possible to the part 25 or object 50 on both sides, providing an efficient footprint that offers the necessary stability while maximizing user access to the part 25 / object 50. An additional advantage provided by the length-adjustable intermediate member 1140 is that when the robot system 100 is not in use, the intermediate member 100 can be shortened to reduce the footprint of the platform 1100, thereby reducing the space requirements for storing the robot system 100. In yet another embodiment, the support member 1120 may be configured / positioned to have an adjustable length such that the height of the intermediate member 1140 is adjustable relative to the part 25 or object 50. That is, the length-adjustable support member 1120 allows the height of the intermediate member 1140 to be adjusted relative to the part 25 / object 50, for example, to adjust the robot system 100 to the required reach of the tracking arm 1050 and / or robot arm 750, or to reduce the height requirements for storing the robot system 100 when not in use.

[0063] In other embodiments, the intermediate member 1140 is configured / arranged to be foldable to reduce the lateral footprint of the platform 1100. For example, as an alternative to, or in addition to, the intermediate member 1140 being length-adjustable, the intermediate member 1140 may be configured to be foldable to reduce the footprint of the platform 1100 for storage. More specifically, in one embodiment, for example, as shown in Figures 8A and 8B, the intermediate member 1140 comprises a first portion 1140A pivotably engaged with a second portion 1140B, and the platform 1100 is configured to be foldable around a pivotable engagement portion 1145 between the first and second portions 1140A, 1140B of the intermediate member 1140 to reduce the lateral footprint of the platform 1100 for storage of the robot system 100 when not in use.

[0064] Furthermore, in some cases, as shown for example in Figures 6A and 7A, the length-adjustable and / or foldable / pivotable / collapsible intermediate member 1140 provides a reduction in the lateral footprint of the platform 1100, while the platform 1100 (e.g., support member 1120) is configured / positioned to provide the necessary stability to support other components of the robot system 100 supported by the platform 1100. That is, the platform 1100 is configured / positioned to provide the necessary stability to support the robot arm 750 / tracking arm 1050 when the platform 1100 is in an extended and / or retracted / folded / collapsible state. With the platform 1100 in a retracted / folded / collapsible position and positioned to provide the necessary stability, the robot system 100 can be applied to perform procedures without the platform 1100 being configured to span the field 25 / object 50, in some cases. More specifically, in such cases, the folded / retracted / folded robotic system 100 may be positioned adjacent to the part 25 / subject 50 (e.g., on one or the other side of the dentist's chair) and operated to perform a procedure, and the reduced lateral footprint of the folded / retracted / folded platform 1100 may still provide sufficient space for the user to perform the procedure from either side of the part 25 / subject 50 (e.g., the reduced lateral footprint may allow the dental procedure to be performed or assisted from either side of the dentist's chair).

[0065] In one embodiment, the proximal ends 720, 1020 of the robot arm 750 and the tracking arm 1050 are attached to the platform 1100 in a relationship known to one another. For example, the proximal ends 720, 1120 of the robot arm 750 and the tracking arm 1050 may be attached to an intermediate member 1140 at a common pivot point (e.g., base member 715) so that the robot arm 750 and the tracking arm 1050 are based on a common origin for tracking purposes. Thus, the intermediate member 1140 can be length-adjustable (e.g., see Figures 7A and 7B) and / or pivotable / foldable (e.g., see Figures 8A and 8B) around the common pivot point. In other instances, the proximal ends 720, 1120 of the robot arm 750 and the tracking arm 1050 may be attached to one proximal end 1125 of a support member 1120. In any case, the robotic arm 750 and the tracking arm 1050 can be mounted on the platform 1100 in any various configurations necessary or desired to meet the requirements of the robotic system 100 for a particular application. Furthermore, a display 1450 associated with or communicating with the controller 800 can also be mounted on the platform 1100, as needed or desired. In some cases, the display 1450 can be mounted on a linkable arm 1475, which can be mounted on the platform 1100. In other cases, the display 1450 can take the form of, for example, a tablet computer or other type of portable display that communicates wirelessly with the controller 800. In such cases, the platform 1100 can include an ergonomic mount 1500 for detachably receiving the portable display 1450 (see, for example, Figures 5A and 5B).

[0066] For example, as shown in Figure 10, another aspect of the present disclosure provides a method for forming a robotic system 100. Such a method involves configuring the robotic arm 750 such that its proximal end 720 is positioned in a known relationship with the proximal end 1020 of a tracking arm 1050, wherein the distal end 1025 of the tracking arm 1050 is adapted to communicate with a reference location 10 in or adjacent to a part 25 or an object 50 received by the part 25, the reference location 10 being positioned in three-dimensional space in relation to the proximal end 1020 of the tracking arm 1050 (block 10-100). A treatment tool 200 having an end effector 300 that engages with the treatment tool 200 is positioned at the distal end 725 of the robotic arm 750, the distal end of the end effector 300 being adapted to interact with the part 25 or object 50 (block 10-110). A controller 800, including a processor and memory, is configured to communicate operably with a tracking arm 1050, a robotic arm 750, and a treatment tool 200. The controller 800 is configured to determine the actual spatial relationship between the treatment tool 200 and a reference location 10 in three-dimensional space via the robotic arm 750 and the tracking arm 1050, which includes the location of the distal end of the end effector 300 of the treatment tool 200 relative to the reference location 10 (blocks 10-120). The robotic arm 750 and the tracking arm 1050 are mounted on a platform 100, the platform 1100 having spaced-apart support members 1120 and an intermediate member 1140 extending between them, the intermediate member 1140 cooperating with the support members 1120 so that the intermediate member 1140 straddles part 25 or object 50, so that the robotic arm 750 and the tracking arm 1050 extend from the platform 1100 (blocks 10-130).

[0067] Accordingly, aspects of this disclosure provide robotic systems, in some cases dental robotic systems, that enable dental healthcare professionals to perform robot-assisted dental / maxillofacial procedures in an easy-to-use, agile, and ergonomic manner. By mounting the robotic arms / tracking arms to intermediate members of the platform, the robotic arms and tracking arms are centrally positioned with respect to the site / object (e.g., positioned above the center of the dentist's chair), and thus the site / object (e.g., the patient) can be accessed from both sides of the dentist's chair. Thereafter, such robotic systems are effective in performing robot-assisted procedures without restricting the mobility of instruments or the accessibility of instruments to the patient's teeth / maxillofacial structures, while allowing the robotic system to be positioned closer to the site / object (e.g., the patient's teeth / maxillofacial structures) to reduce the complexity and / or structural requirements of the robotic system. Various aspects of platform configuration / arrangement provide the necessary stability for the robotic components, while the length-adjustable and / or pivotable / foldable structure of the platform minimizes the footprint of the robotic system when it is not in use.

[0068] Many modifications and other embodiments of the invention described herein are conceivable to those skilled in the art, relating to these disclosed embodiments, and are of interest to the teachings presented in the above description and accompanying drawings. Therefore, it should be understood that embodiments of the invention are not limited to the specific embodiments and their modifications disclosed, and other embodiments are intended to be included in the claims. Furthermore, while the above description and accompanying drawings illustrate exemplary embodiments in the context of certain exemplary combinations of elements and / or functions, it should be understood that different combinations of elements and / or functions may be provided by alternative embodiments without departing from the scope of this disclosure. In this regard, for example, different combinations of elements and / or functions from those expressly described above are also contemplated within the scope of this disclosure. Certain terms are used herein, but they are used in a broad and descriptive sense only and are not intended to be limiting.

[0069] In this specification, terms such as "first," "second," etc., may be used to describe various steps or calculations, but it will be understood that these steps or calculations should not be limited by these terms. These terms are used simply to distinguish one operation or calculation from another. For example, without departing from the scope of this disclosure, a first calculation may be referred to as a second calculation, and similarly, a second step may be referred to as a first step. Where used herein, the words "and / or" and the symbol " / " include any combination and all combinations of one or more items of the relevant enumeration.

[0070] Where used herein, unless the context explicitly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well. Furthermore, where used herein, the words “comprise,” “include,” and / or “comprising,” and “including” indicate the presence of the described feature, integer, step, action, element, and / or component, but do not exclude the presence or addition of one or more other features, integers, steps, actions, elements, components, and / or groups thereof. Thus, the terms used herein are for the sole purpose of describing a particular embodiment and are not intended to be limiting.

Claims

1. It is a robotic system, A tracking arm having a distal end adapted to communicate with a reference location in or adjacent to a part or object receiving a part, wherein the reference location is positioned in three-dimensional space in relation to the proximal end of the tracking arm, A robotic arm having a treatment tool engaged with the distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with a site or object, and the robotic arm having a proximal end positioned in a known relationship with the proximal end of a tracking arm, A controller including a processor and memory, the controller is configured to operably communicate with a tracking arm, a robotic arm, and a treatment tool, the controller is configured to determine the actual spatial relationship between the treatment tool and a reference location in three-dimensional space via the robotic arm and the tracking arm, the actual spatial relationship including the location of the distal end of the treatment tool's end effector related to the reference location, the controller and A platform having spaced-apart support members and intermediate members extending between them, wherein the intermediate members cooperate with the support members so as to straddle a part or object, and the platform is configured such that a robot arm and a tracking arm are attached to the platform and extend from the platform and A system equipped with these features.

2. The system according to claim 1, wherein the proximal ends of the robotic arm and the tracking arm are attached to the platform in a known relationship between them.

3. The system according to claim 1, wherein the support member includes a proximal end that engages with an intermediate member and a distal end opposite to the proximal end, the distal end being configured to interact with the support surface to stabilize the intermediate member relative to the support surface.

4. The system according to claim 3, further comprising a caster that engages with the distal end of a support member and is configured to allow the platform to move relative to a support surface.

5. The system according to claim 4, wherein one or more casters are configured to be selectively fixed to prevent the platform from moving relative to the support surface.

6. The system according to claim 1, wherein one of the intermediate members or support members is configured to receive and support the controller.

7. The system according to claim 1, wherein the intermediate member includes or defines a receptacle configured to receive one or more elements adapted to interact with a site or object.

8. The system according to claim 1, wherein one of the intermediate members or support members includes or defines a plurality of receptacles, each configured to receive an element adapted to interact with a part or object.

9. The system according to claim 8, wherein each receptacle includes a lighting element associated with that receptacle and configured to selectively illuminate that receptacle.

10. The system according to claim 9, wherein the controller communicates with the lighting elements and is configured to activate the lighting elements associated with one of the receptacles to indicate that the elements received within that receptacle are to be used next in a procedure performed on a site or object.

11. The system according to claim 1, wherein the intermediate member is configured to have an adjustable length so that the span of the intermediate member can be adjusted with respect to a part or object.

12. The system according to claim 1, wherein the support member is configured to have an adjustable length such that the height of the intermediate member can be adjusted with respect to a part or object.

13. The system according to claim 1, wherein the proximal ends of a robot arm and a tracking arm are attached to one proximal end of a support member in a known relationship between them.

14. The system according to claim 1, wherein the intermediate member is configured to be foldable in order to reduce the lateral footprint of the platform.

15. The system according to claim 1, wherein the intermediate member comprises a first portion that is pivotably engaged with a second portion, and the platform is configured to be foldable around the pivotally engaged portion between the first and second portions of the intermediate member in order to reduce the lateral footprint of the platform.

16. A method for forming a robot system, The robot arm is configured such that its proximal end is positioned in a known relationship with the proximal end of the tracking arm, wherein the tracking arm has a distal end adapted to communicate with a reference location in or adjacent to a part or object supported by the part, and the reference location is positioned in three-dimensional space in relation to the proximal end of the tracking arm. The procedure tool is engaged with the distal end of a robotic arm, wherein the procedure tool has an end effector that engages with the procedure tool, and the end effector has a distal end adapted to interact with a site or object. The controller comprises a processor and memory, and is operably communicates with the tracking arm, robotic arm, and treatment tool. The controller is configured to determine the actual spatial relationship between the treatment tool and a reference location in three-dimensional space via the robotic arm and tracking arm, and the actual spatial relationship includes the location of the distal end of the treatment tool's end effector relative to the reference location. The robot arm and tracking arm are mounted on a platform, the platform having spaced-apart support members and an intermediate member extending between them, the intermediate member cooperating with the support members so that the intermediate member straddles a part or object, and the robot arm and tracking arm extend from the platform. Methods that include...

17. The method according to claim 16, wherein mounting the robot arm and tracking arm includes mounting the proximal ends of the robot arm and tracking arm to a platform in a known relationship between them.

18. The method according to claim 16, wherein the support member includes a proximal end that engages with an intermediate member and a distal end opposite to the proximal end, and the method comprises configuring the distal end of the support surface to interact with the support surface in order to stabilize the intermediate member with respect to the support surface.

19. The method according to claim 18, comprising engaging a caster with the distal end of a support member, wherein the caster is configured such that the platform is movable relative to the support surface.

20. The method according to claim 19, comprising configuring one or more casters to be selectively fixed to prevent the platform from moving relative to a support surface.

21. The method according to claim 16, comprising configuring one of the intermediate members or support members to receive and support the controller.

22. The method according to claim 16, comprising configuring the intermediate member to include or define a receptacle configured to receive one or more elements adapted to interact with a part or object.

23. The method according to claim 16, comprising configuring one of the intermediate members or support members to include or define a plurality of receptacles, each configured to receive an element adapted to interact with a part or object.

24. The method according to claim 23, comprising configuring each receptacle to include an illumination element associated with the receptacle and configured to selectively illuminate the receptacle.

25. The method according to claim 24, comprising configuring the controller to communicate with an illumination element and to activate an illumination element associated with one of the receptacles to indicate that the element received within that receptacle is to be used next in a procedure performed on a site or object.

26. The method according to claim 16, comprising configuring the intermediate member to have an adjustable length such that the span of the intermediate member is adjustable with respect to a part or object.

27. The method according to claim 16, comprising configuring the support member to have an adjustable length such that the height of the intermediate member can be adjusted with respect to a part or object.

28. The method according to claim 16, wherein mounting the robot arm and tracking arm includes mounting the proximal ends of the robot arm and tracking arm to one proximal end of a support member in a known relationship between them.

29. The method according to claim 16, further comprising configuring the intermediate member to be foldable in order to reduce the lateral footprint of the platform.

30. The method according to claim 16, wherein the intermediate member comprises a first portion pivotably engaged with a second portion, and the method comprises configuring the platform to be foldable around a pivotably engaged portion between the first and second portions of the intermediate member in order to reduce the lateral footprint of the platform.

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