Robotic dental system and method for preparing for robotic dental procedures

Abstract

The dental robot includes a platform and a suspension system. The suspension system supports the platform and automatically compensates for the weight of the platform, as well as the robotic arm, end effector, and tooth clamp attached to it. The suspension system maintains a constant height of the platform above the base when there is no external force on the tooth clamp. The suspension system allows the platform's position and orientation to change relative to the base in response to external forces greater than approximately 0.1 N on the tooth clamp, such as the result of movement of the object (changes in position and / or orientation). As a result, the platform's position and orientation remain fixed relative to the object's teeth in response to tooth movement.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of U.S. Provisional Patent Application No. 63 / 500,268, filed May 4, 2023, entitled “Automated Robotic Dental Treatment System,” the entire content of which is incorporated herein by reference for all purposes.

[0002] This disclosure relates to dental robotics.

Background Art

[0003] Access to dental care in the United States warrants immediate attention. Over 90% of American adults suffer from cavities, approximately 35% of Americans do not see a dentist annually, and 28% have untreated cavities. This widespread avoidance of dental care is due to high costs and long wait times. This avoidance contributes to over $45 billion in lost productivity and over 34 million hours of school time lost among young adults, and has a profound impact on an individual's overall health, including an increased risk of diabetes, cardiovascular disease, and Alzheimer's disease.

[0004] The current state of dentistry has numerous challenges, including a heavy reliance on high - cost manual labor and a limited supply of dental practitioners.

[0005] To address these problems, we propose the development of a very precise and accurate robotic - based tooth - forming system.

[0006] The following references may be relevant to this disclosure: Mozes et al., U.S. Patent Application Publication No. 2016 / 0367343; Suttin, U.S. Patent Application Publication No. 2016 / 0354169; and Zuaiter et al., International Publication No. 2017 / 100828.

Summary of the Invention

[0007] This disclosure relates to dental robotics, and more specifically to a dental robot capable of automatically compensating for the weight of a robotic arm throughout the course of a dental surgical procedure, and automatically maintaining a constant position and orientation of the proximal end of the robotic arm relative to the teeth of a human subject.

[0008] In a first embodiment, the present disclosure provides a robotic dental system having a treatment system, a base, and a suspension system.

[0009] The treatment system comprises a robotic arm, the distal end of which is configured to be coupled to an end effector, and a platform to which the proximal end of the robotic arm is coupled, the platform having a coupling for securely coupling to a dental clamp configured to securely clamp to one or more teeth of a target, the platform and coupling configured such that when the dental clamp is securely clamped to one or more teeth and the dental clamp is securely coupled to the coupling, the position and orientation of the platform remain fixed with respect to one or more teeth.

[0010] The suspension system mechanically connects the platform to the base, supports the weight of the treatment system, and is configured to allow the platform's position and orientation to change relative to the base in response to the force applied to the dental clamp by one or more teeth when the dental clamp is firmly clamped to one or more teeth and the dental clamp is firmly connected to the joint and the robotic dental system is operating in treatment mode, thereby allowing changes in the position, orientation, and both of the teeth to be accommodated by allowing corresponding changes in the position, orientation, or both of the platform.

[0011] In some examples, the robotic dental system is configured to cause a robotic arm to perform a dental procedure on at least one target tooth of one or more teeth that are tightly clamped by a dental clamp. The robotic dental system disclosed herein can achieve particularly high precision when performing a dental procedure on one or more teeth that are clamped by a dental clamp.

[0012] In a further embodiment, the present invention provides a method for preparing for robotic dental treatment, the method comprising preparing a robotic dental system having a treatment system, a base, and a suspension system.

[0013] The treatment system comprises a robotic arm, the distal end of which is configured to be coupled to an end effector, the robotic arm having one or more motors, and a platform to which the proximal end of the robotic arm is coupled, the platform having a coupling portion which is tightly coupled to a dental clamp configured to tightly clamp to one or more teeth of a target, the platform and coupling portion being configured such that when the dental clamp is tightly clamped to one or more teeth and the dental clamp is tightly coupled to the coupling portion, the position and orientation of the platform remain fixed with respect to one or more teeth.

[0014] The suspension system mechanically connects the platform to the base, supports the weight of the treatment system, and is configured to allow the platform's position and orientation to change relative to the base in response to the force applied to the dental clamp by one or more teeth when the dental clamp is firmly clamped to one or more teeth and the dental clamp is firmly connected to the joint and the robotic dental system is operating in treatment mode, thereby allowing changes in the position, orientation, and both of the one or more teeth to be accommodated by allowing corresponding changes in the position, orientation, or both of the platform.

[0015] The method further comprises firmly clamping a dental clamp to one or more teeth of the target, and then using one or more motors of the robotic arm to introduce the distal end of the robotic arm into the mouth of the target.

[0016] Optionally, the method further includes using a suspension system to reposition the treatment system platform to a position close to the target.

[0017] Optionally, in any embodiment, the suspension system is passive.

[0018] Optionally, in any embodiment, the suspension system is an active suspension system and has at least one motor.

[0019] In any embodiment, which optionally includes repositioning the platform, the suspension system is an active suspension system and includes at least one motor, and the platform repositioning includes operating at least one motor of the suspension system to move the platform to a position close to the target based on input from at least one force sensor.

[0020] Optionally, in any embodiment having an active suspension system, when the robotic dental system is operating in treatment mode, the at least one motor is operated to change the position, orientation, or both of the platform relative to the base in response to a force applied to the dental clamp, based on input from at least one force sensor, thereby enabling corresponding changes in the position, orientation, or both of one or more teeth.

[0021] Optionally, in any embodiment having an active suspension system, when the robotic dental system is operating in compliant mode, the at least one motor varies the position, orientation, or both of the platform relative to the base in response to a force applied to the treatment system by an operator of the robotic dental system based on an input from at least one force sensor, thereby operating to enable the operator to reposition the treatment system to a desired configuration.

[0022] Optionally, any embodiment further includes a clamp rigidly coupled to the joint.

[0023] Optionally, in any embodiment including a clamp, the dental clamp is configured to clamp rigidly onto a plurality of teeth of a subject, and the robotic arm is operable to address at least two of the plurality of teeth.

[0024] Optionally, in any embodiment, the robotic arm is configured to be insertable into the subject's mouth separately from the dental clamp.

[0025] Optionally, in any embodiment, the robotic dental system is configured to cause the robotic arm to perform a dental treatment on at least one target tooth of one or more teeth onto which the dental clamp is rigidly clamped.

[0026] Optionally, in any embodiment, the robotic arm has at least six degrees of freedom.

[0027] Optionally, in any embodiment, the robotic arm has more than six degrees of freedom.

[0028] Optionally, in any embodiment, the robotic arm has a plurality of robotic joints.

[0029] Optionally, in any embodiment, the robotic arm has at least four robotic joints.

Brief Description of the Drawings

[0030] This disclosure will be better understood by reference to the following detailed description of certain embodiments in conjunction with the drawings, which include the following. [Figure 1] It is a schematic side view of an example of a robotic dental system according to a first aspect of this disclosure. [Figure 2] Figures 2 and 3 show the robotic dental system of Figure 1 with the object in two different positions and orientations. [Figure 3] Figures 2 and 3 show the robotic dental system of Figure 1 with the object in two different positions and orientations. [Figure 4] It is a schematic side view of the robotic dental system of Figure 1 when implemented using an active suspension system. [Figure 5] Figures 5 and 6 are schematic side views of a comparative example of a robotic treatment system with the object in different positions and orientations. [Figure 6] Figures 5 and 6 are schematic side views of a comparative example of a robotic treatment system with the object in different positions and orientations. [Figure 7] It is a perspective view of a small robotic dental treatment system according to a comparative example. [Figure 8] It is a perspective view of a further example of a robotic dental system according to a first aspect of this disclosure. [Figure 9] It is a top view of the robotic dental system of Figure 8. [Figure 10] It is a perspective view of the treatment system of the robotic dental system shown in Figures 8 and 9. [Figure 11] It is a perspective view of the suspension system of the robotic dental system shown in Figures 8 and 9. [Figure 12] It is a side view of the robotic arm of the robotic dental system shown in Figures 8 and 9. [Figure 13A]Figures 8 and 9 are front views of the robotic dental system platform. [Figure 13B] Figures 8 and 9 are perspective views of the robotic dental system platform. [Figure 14] This flowchart shows a method for preparing for robotic dental procedures according to a further aspect of this disclosure. [Modes for carrying out the invention]

[0031] The automated robotic dental treatment systems described herein may be capable of achieving an accuracy of at least approximately 50 microns (μm) when automating abutment tooth preparation for crowns and other dental procedures. This accuracy is an order of magnitude more precise than current dental robotic systems and surpasses the performance of existing surgical robots such as Yomi (NeoCis, Miami, Florida, USA) and THETA (Hangzhou China Robot, Hangzhou, China), which have an accuracy of only about 750-1100 μm.

[0032] To achieve high precision, there have been two conventional approaches: one involves dynamically registering the robot, and the other involves making the robot small and lightweight to perfectly fit the target tooth.

[0033] A robot is an automated machine that can perform a specific task with minimal human intervention (i.e., autonomously) while maintaining speed and precision. A serial manipulator is a type of robot that includes a series of links connected by motor-actuated joints that extend from a base to an end effector. Motor-actuated joints may include, but are not limited to, linear joints, rotary joints, and spherical joints, and such joints may be equipped with sensors for one or more of position, orientation, or force, such as linear transducers, tactile sensors, torque sensors, accelerometers, gyroscopes, and magnetic or visual indicators for external sensors.

[0034] Herein, we refer to Figures 1-3, schematic side views of an example of a robotic dental system 100 according to a first aspect of this disclosure. Figures 1-3 show objects 10 (e.g., patients) in different positions and orientations during treatment with the robotic dental system 100.

[0035] As can be seen in Figure 1, the robotic dental system 100 includes a robotic arm 115 and a platform 111 to which the proximal end 116 of the robotic arm 115 is attached (this may be referred to in some examples as the root, shoulder, or base of the robotic arm 115). The distal end 117 of the robotic arm 115 is coupled to an end effector 140 used to perform dental procedures on the subject 10. Thus, the robotic arm 115 may be referred to as the “treatment arm” in some examples, and the end effector 140 may be, for example, a dental drill. The distal end 117 of the robotic arm 115 may have a receptacle suitable for coupling to the end effector 140. The receptacle may have, for example, a mechanical interface to ensure that the end effector is coupled to the distal end 117 facing right. Examples of end effectors suitable for use with the robotic therapeutic systems of this disclosure are described in U.S. Patent Application No. 17 / 054,442 filed June 22, 2021, No. 17 / 054,445 filed November 10, 2020, and No. 18 / 066,892 filed December 15, 2022.

[0036] As shown in Figure 1, the platform 111 and the robotic arm 115 are part of the treatment system 110 of the robotic dental system 100. As will be described in more detail below, the treatment system 110 can accommodate movement by the subject 10 during treatment (with the help of the suspension system 120 of the robotic dental system 100), thereby promoting the comfort of the subject 10 during treatment while maintaining the precision of the robotic arm 115.

[0037] As shown in Figure 1, the platform 111 has a coupling 112 that is rigidly (and detachably / releasely) coupled to the dental clamp 150. “Resistantly coupled” means that such a coupling maintains the coupling 112 in a fixed position and orientation relative to the dental clamp 150, even if the object 10 and thus the dental clamp 150 change position or orientation. As a result of the rigid coupling, the platform 111 also remains in a fixed position and orientation relative to the dental clamp 150. In the example shown in Figures 1-3, the coupling 112 is shown as an arm extending from the platform 111, but this is by no means mandatory, and the coupling 112 can have any structure suitable for enabling a rigid coupling to the dental clamp 150 of a particular design. For example, the coupling 112 and the dental clamp 150 can have any suitable coupling mechanism that allows one to rigidly couple with the other, such as pins, threads, clips, magnets, nuts, bolts, fasteners, latches, or any combination thereof.

[0038] The platform 111 functions to maintain various accessories attached to it in fixed positions and orientations relative to one another. Therefore, the platform 111 can, for example, be a substantially rigid structure. In the example of the robotic dental system 100 shown in Figure 1, the accessories attached to the platform 111 include a dental clamp 150 (via the coupling portion 112 of the platform 111) and a robotic arm 115. However, it is understood that in other examples, the platform 111 can be configured to rigidly accommodate further accessories, such as additional robotic arms or mechanical arms that can be coupled to intraoral scanning devices (such as those described in WO2022 / 212507A1). Furthermore, in the example of the robotic dental system 100 shown in Figure 1, the platform 111 is configured to have a generally planar body, but this is by no means mandatory, and in other examples, the platform 111 can have any preferred shape that allows for the maintenance of accessories coupled to it in fixed positions and orientations.

[0039] Although not shown in detail in Figure 1, the dental clamp 150 is then firmly (and removably) coupled to one or more teeth of the subject 10. Examples of clamps suitable for use with the robotic dental system 100 are described in U.S. Patent Application No. 17 / 054,442 filed June 22, 2021, No. 17 / 054,445 filed November 10, 2020, and No. 18 / 066,892 filed December 15, 2022. When clamped to one or more teeth of the subject 10, the dental clamp 150 clamps by directly contacting those teeth themselves. As a result, the position and orientation of the platform 111 remain fixed with respect to the one or more teeth clamped by the dental clamp 150 (even if the subject 10 and thus the dental clamp 150 change position or orientation). Such a configuration can help the robotic arm 115 to accurately address the teeth of the target 10, especially when the robotic dental system 100 is configured to perform procedures on one or more teeth clamped by the dental clamp 150 (for example, by suitable programming of one or more processors 181 of the control system 180).

[0040] As can be seen in Figure 1, the robotic dental system 100 further includes a base 130 and a suspension system 120 which mechanically connects the platform 111 to the base 130. The base 130 of the robotic dental system 100 generally remains stationary during treatment and is therefore generally fixed in position and orientation relative to the environment in which the robotic dental system 100 operates (e.g., a room or space within the dental clinic where treatment is being performed). In the example shown in Figure 1, the base 130 is fixed to the floor 20 (or ground). However, this is by no means mandatory, and in other examples, the base 130 may simply rest on the floor 20 (or ground), for example, on wheels (e.g., having casters) provided on the base 130. In further other examples, such as those shown in Figures 8-9, the base 130 may be fixed to a movable module that supports the treatment system 110 and the suspension system 120 and optionally provides other components of the robotic dental system 100.

[0041] As further shown in Figure 1, the robotic dental system 100 may further have a control system 180 having at least one processor 181. The control system 180 controls the operation of various subsystems within the robotic dental system 100 (for example, as a result of suitable programming of at least one processor 181). In particular, as shown by the dashed line in Figure 1, the control system 180 may communicate data with the robotic arm 115 to control the movement of the robotic arm 115. As shown in Figure 1, the control system 180 further has a computer-readable storage medium 182 which stores instructions that are executed by at least one processor 181 to cause the robotic dental system 100 to operate as described herein.

[0042] In some examples, the control system 180 may be integrated into (and thus form part of) the robotic dental system 100. However, in other examples, the robotic dental system 100 may be configured to be provided to the end user without the integrated control system 180. In such cases, the end user may use, for example, their own general-purpose computer (e.g., a laptop) as the control system 180 for the robotic dental system 100 after, for example, downloading and installing appropriate software on the general-purpose computer.

[0043] Returning to Figure 1, it should be noted that the control system 180 also communicates data with one or more user input devices 185a-185n, which enable an operator of the robotic dental system 100 to give commands to the control system 180 that the robotic dental system 100, for example, a robotic arm 115 (or other subsystems of the robotic dental system 100), will follow. As can be understood, various types of user input devices 185a-185n can be used, such as a keyboard, joystick, pointing device (e.g., computer mouse or trackball), or touchscreen display.

[0044] Referring now to Figures 2 and 3, these are schematic side views of the robotic dental system 100 of Figure 1, showing objects 10 (e.g., a patient) in different positions and orientations, thereby allowing for a more thorough understanding of the function of the suspension system 120.

[0045] Figure 2 shows subject 10 in a first position and orientation in a room or other environment where a dental procedure is being performed by the robotic dental system 100. Thus, both Figures 2 and 3 show the robotic dental system 100 while operating in “treatment mode”. During such treatment mode, the robotic dental system 100 can operate substantially autonomously, for example (e.g., receiving at most limited and / or high-level input from an operator). In particular, the robotic arm 115 can operate substantially autonomously to perform a dental procedure on one or more target teeth in the mouth of subject 10 (which can be one or more teeth clamped by the dental clamp 150, as described above). Such treatment mode can be distinguished, for example, from setup mode (e.g., the robotic dental system 100 has been moved to a predetermined position). As shown in both Figures 2 and 3, the dental clamp 150 is clamped on one or more teeth of subject 10, and thus the position and orientation of the platform 111 remains fixed relative to the one or more teeth clamped by the dental clamp 150.

[0046] Figure 3 shows object 10 in a second different position and orientation in the environment after a short period of time. As can be seen from comparing Figure 2 and Figure 3, this change in the position and orientation of object 10 is accommodated by a corresponding change in the position and orientation of platform 111. As is also clear from comparing Figure 2 and Figure 3, platform 111 can change its position and orientation as a result of the action of suspension system 120, specifically by the articular movement of joint 121 within suspension system 120.

[0047] Figures 2 and 3 further show a reference frame 101 for the platform 111 and a reference frame 102 for the object 10. As is clear from Figures 2 and 3, the spatial relationship between these reference frames 101 and 102 is maintained when the object 10 moves. Since the robot arm 115 is rigidly coupled to the platform 111, whose reference frame 101 is in a fixed spatial relationship with the reference frame 102 for the object 10, the robot arm 115 can maintain its registration of the object 10 to the teeth even when the object 10 moves during treatment.

[0048] In the specific example shown in Figures 1-3, the suspension system 120 has a series of link mechanisms connected by a joint 121. However, to understand this, this particular structure is by no means essential, and in other examples, the suspension system may have any preferred structure that allows the position and orientation of the platform 111 to change relative to the base 130 in response to a force applied to the dental clamp 150 by one or more clamped teeth, thereby accommodating changes in the position and orientation of the one or more clamped teeth by allowing corresponding changes in the position and orientation of the platform 111. For example, preferred structures include spring-type link mechanisms, gimbals, link mechanisms connected by friction joints, and similar structures. Furthermore, the suspension system 120 is not limited to a linear structure. Therefore, in other examples, the suspension system may include link mechanisms with more complex structures, such as a four-bar link mechanism structure.

[0049] It should be understood that the suspension system 104 supports the weight of the treatment system 110, including the platform 111 and the robotic arm 115, so that they feel almost weightless to the subject 10. As a result, the platform 111 can "float" relative to the floor 20 (or ground). Therefore (or otherwise), a relatively large and / or complex robotic arm 115 can be used in the robotic dental system 100. For example, the robotic arm 115 can have a reach sufficient to treat several different teeth in the mouth of the subject 10 without the need to reconfigure the system. In addition, or instead, the robotic arm 115 may be configured to allow movement of the distal end 117 in 6 degrees of freedom (DOF) by having, for example, rotation (e.g., roll, pitch, yaw) and 3D translation of the end effector 140 relative to the proximal end 116 of the robotic arm 115. Furthermore, in some examples, the robotic arm 115 may have more than 6 degrees of freedom, which can be used to provide improved access to the mouth and / or teeth to be treated (for example, by allowing the robotic arm 115 to adopt a configuration that is wider in the horizontal plane than in the vertical plane so that it fits better between the upper and lower dental arches), and / or to assist the operator in using the robotic dental system 100 (for example, by allowing the robotic arm 115 to adopt a configuration that improves operator visibility of one or more teeth being treated by the robotic dental system 100).

[0050] It should also be understood that the weight of the suspension system 120 and the treatment system 110 (including the robotic arm 115 and platform 111) may be selected such that, in some examples, the center of gravity of the complete assembly of these components is above the base 130, even when, for example, the distal end 117 of the robotic arm 115 and / or the dental clamp 150 are fully extended from the platform 111.

[0051] Furthermore, it should be understood that the suspension system 120 may also (or instead) have redundant degrees of freedom (e.g., more than 6 degrees of freedom) to allow, for example, its elbow to be moved to a configuration convenient for the operator or object.

[0052] Furthermore, it should be noted that the suspension system 120 may be configured as either a passive or active system. In a passive system, the receiving action of the suspension system 120 is not caused by an electric component, but rather the suspension system 120 allows an external force applied to the treatment system 110 to mechanically change the position and orientation of the platform 111. For example, when force is applied to the dental clamp 150 to move the object 10, that force is mechanically transmitted through the coupling 112 to the platform 111 and then to the suspension system 120, allowing the platform 111 to move because the suspension system 120 moves, thereby allowing the object 10 to move. In addition, if the suspension system 120 is configured as a passive system, the operator can manually reposition the treatment system 110 during setup, for example, by pushing and / or pulling the treatment system 110 to move it to a desired position and orientation relative to the object 10.

[0053] In contrast, if the suspension system 120 is an active system, the acceptance action of the suspension system 120 is caused by one or more motors that form part of the suspension system 120. Such motors may include, for example, linear motors that translate the link mechanism relative to each other, and / or rotary motors that rotate the link mechanism relative to each other. In some examples, the suspension system 120 may essentially be a robotic arm or manipulator whose action is based on the output of force sensors.

[0054] An example of a robotic dental system 100 with an active suspension system 120 is shown in Figure 4. As is clear, the robotic dental system 100 in Figure 4 is a modified version of the robotic dental system 100 in Figures 1-3. As is clear, the robotic dental system 100 in Figure 4 differs from that in Figures 1-3 in that it has several force sensors 123a-123c. As shown by dashed lines in Figure 4, the outputs from each of these force sensors 123a-123c are transmitted to a controller 125 for the suspension system 120 (e.g., having a processor and / or logic circuit). The controller 125 operates motors 122 that form part of the suspension system 120 to change the position and / or orientation of the platform 111 relative to the base 130 in response to the forces sensed by the force sensors 123a-123c. In some examples, the controller 125 can operate the motor 122 to produce a movement of the suspension system 120 that is expected to reduce (or minimize) the force sensed by the force sensors 123a-123c. In such examples, the suspension system 120 can move flexibly in response to the force sensed by the force sensors 123a-123c.

[0055] In the specific example shown in Figure 4, the motor 122 is a rotary motor integrated into the joint 121 of the suspension system 120, but this is not mandatory. The motor 122 can be any preferred type capable of changing the position and / or orientation of the platform 111 relative to the base 130 in response to forces sensed by force sensors 123a-123c, and / or can have any preferred configuration that enables this.

[0056] It should also be noted that the force sensor 123a is integrated into the coupling 112. Therefore, the force sensor 123a can sense the force applied to the dental clamp 150 by the object 10 during treatment. Thus, the output of the force sensor 123a can be used to control the suspension system 120 to accept movement by the object 10 when the robotic dental system 100 is operating in treatment mode.

[0057] It should also be noted that the force sensors 123b and 123c are integrated into the platform 111 and the robotic arm 115, respectively. The output from one or both of these sensors can indicate, for example, that an operator is applying force to the treatment system 110. Thus, or otherwise, the outputs of these sensors can be used when the robotic dental system 100 is operating in compliant mode (which can be, for example, setup mode). More specifically, the outputs from one or both of the force sensors 123b and 123c can be used to operate the motor 122 of the suspension system 120 to change the position and / or orientation of the platform 111 so that an operator can reposition the treatment system 110 to a desired position. Although three force sensors 123a-123c and their corresponding motors are illustrated and described, other embodiments may include a different number of force sensors and / or corresponding motors.

[0058] The advantages of the robotic dental systems in Figures 1-4 can be better understood by comparing them with comparative examples of robotic dental systems shown in Figures 5 and 6. As illustrated, the comparative example system 400 includes a platform 411 supported on a floor 20 by a rigid support 420, and a robotic treatment arm 415 rigidly coupled to the platform 411 to perform procedures on the subject 10. In particular, the system 400 in Figures 5 and 6 further includes a measuring arm 425 coupled to the subject 10, e.g., the teeth and / or jaw of the subject. The measuring arm 425 articulates freely as the subject 10 moves (with the help of articulated joints 426), and sensors (not shown) within the measuring arm determine the current position of the measuring arm. A controller translates information from the sensors in the measuring arm into compensatory movements of the treatment arm 415 to address the movement of the subject 10.

[0059] Figures 5 and 6 show the reference frame 401 of platform 411 and the reference frames 402 of object 10 at different positions and orientations of object 10. Note that the reference frame 402 of object 10 differs between Figure 5 and Figure 6 due to the movement of object 10. However, the reference frame 401 of platform 411 is the same in both Figure 5 and Figure 6. That is, the reference frame 401 of platform 411 does not change in response to the movement of object 10. Instead, the relationship of the reference frame 401 of platform 411 to the reference frame 403 of floor / ground 20 remains constant.

[0060] The system 400 in Figures 5 and 6 can generally be characterized as tracking the movement of an object 10 and actively compensating for such movement of the object by controlling the movement of a robotic therapeutic arm 415 based on the measured movement of the object 10. Such active compensation can introduce two errors into the object tracking system. First, measurement errors occur in the measuring arm 425. Second, a feedback delay occurs when processing the data to articulate the therapeutic arm 415, resulting in delays and additional errors when the object moves.

[0061] For example, robotic systems according to this disclosure, such as the robotic treatment system 100 described above with reference to Figures 1-4, can avoid problems inherent in any system that incorporates active feedback and correction by using a passive object tracking system that does not require any active elements to react to and compensate for the movement of the object, thereby avoiding measurement errors and feedback delays. In the robotic treatment system 100 described above with reference to Figures 1-4 and other embodiments of this disclosure, the object is firmly attached to the system while maintaining its spatial relationship to the base of the treatment arm, and a movable suspension system can bear the weight of the treatment system, including the platform 111 and all of the components attached thereto, such as the robotic arm 115, end effector 140, coupling 112, and dental clamp 150.

[0062] The robotic dental treatment system 100 in Figures 1-4 and other embodiments of the present disclosure also differ from robotic dental systems that are small enough to rest on a target tooth 702, such as the system 701 shown in Figure 7. Such systems (to the extent that they can actually be implemented) do not require a suspension system, such as the suspension system 120 shown in Figures 1-3. In fact, including a suspension system in such a robotic dental system would contradict the fundamental design principle of the robotic dental system, which is to make the robotic dental system so lightweight that it does not require support from or engagement with the ground. The example of the robotic dental system 100 in Figures 1-4 and other embodiments of the present disclosure take a significantly different approach from robotic dental systems that rest on a target tooth. The example of the robotic dental system 100 in Figures 1-4 includes a suspension system 120 that makes the treatment system 110 virtually weightless to the target 10, so that the treatment system 110 can include a robotic arm 115 with a base that is rigidly coupled to a platform 111 located outside the mouth of the target. Such a configuration may provide the robotic arm 115 with the ability to treat multiple teeth without the need for repositioning and / or a larger range of motion. In addition (or instead), such a configuration may include a larger (and therefore more powerful) motor, providing greater flexibility than the type of end effector 140 that can be utilized by the robotic arm 115.

[0063] We now turn our attention to Figures 8–13B, which provide further detailed examples of a robotic dental system 100 according to a first aspect of this disclosure. Similar to the robotic dental system 100 shown in Figures 1–3, the robotic dental system 100 of Figures 8–13 has a treatment system 110 including a robotic arm 115, the distal end 117 of the robotic arm 115 being coupled to an end effector 140 and the proximal end 116 being coupled to a platform 111 of the treatment system 110. The robotic arm 115 of the robotic dental system 100 of Figures 8–13 is shown in more detail in Figure 12, which is a side view of the separated robotic arm 115, and the platform 111 of the robotic dental system 100 of Figures 8–13 is shown in more detail in Figures 13A and 13B, which are front and perspective views, respectively, of the separated platform 111 (with dental clamps 150a and 150b attached). Figures 13A and 13B show, in particular, a mechanical interface 119 that allows the proximal end 116 of the robot arm 115 to be rigidly coupled to the platform 111.

[0064] Furthermore, similar to the robotic dental system 100 in Figures 1-3, the treatment system 110 of the robotic dental system 100 in Figures 8-13 is supported by a suspension system 120 that connects the platform 111 of the treatment system 110 to the base 130. The suspension system 120 of the robotic dental system 100 in Figures 8-13 is shown in more detail in Figure 11, a perspective view of the suspension system 120 in isolation. The suspension system 120 of the robotic dental system 100 in Figures 8-13 includes several joints 121 that articulate to allow the treatment system 110 to accept movement by the subject 10, and thus allow movement of the platform 111, thereby accepting movement by the subject 10. However, in contrast to the robotic dental system 100 in Figures 1-3, the platform 111 of the robotic dental system 100 in Figures 8-13 includes two couplings 112a, 112b that can be tightly (and releasably) coupled to the respective dental clamps 150a, 150b, as is most clearly seen in Figures 13A and 13B. In the illustrated example, the two dental clamps 150a, 150b address opposite sides (left and right) of the patient, but in other examples, multiple (i.e., two or more) dental clamps may address the operation of the robotic dental system 100 by the operator.

[0065] Furthermore, in contrast to the robotic dental system 100 in Figures 1-3, the base 130 of the robotic dental system 100 in Figures 8-13 is not fixed to the ground, but is coupled to a mobile cart 160 with several wheels 161, allowing an operator to move the robotic dental system 100 to a desired position.

[0066] In the specific example shown in Figures 8-13, a user interface module 185 for the robotic dental system 100 (best seen in Figure 8) is mounted on a mobile cart 160. The user interface module 185 can present various types of information to the operator of the robotic dental system 100, such as information about the status of the robotic dental system 100, information about procedures performed on the subject 10, and / or information about the biostructure of the teeth of the subject 10. As shown in Figures 8-13, the user interface module 185 may have, for example, a computer monitor.

[0067] In some examples, the mobile cart 160 may include various elements such as a rechargeable power supply that electrically communicates with an electrical panel providing charging ports for portable electronic devices, converters, transformers, and surge protectors for multiple AC and DC receptacles that supply power to equipment mounted on the mobile cart 160 (e.g., a user interface module 185 and / or one or more computers that store application-specific software for the user interface module 185).

[0068] Next, we refer to Figure 14, a flowchart illustrating a method 1000 for preparation for robotic dental treatment according to a further aspect of this disclosure.

[0069] As shown in Figure 14, Method 1000 includes step 1010 of preparing a robotic dental system (e.g., one of the examples of robotic dental systems 100 described herein), the robotic dental system being a treatment system, a robotic arm, the distal end of which is configured to be coupled to an end effector, the robotic arm having one or more motors, and a platform to which the proximal end of the robotic arm is coupled, the platform having a coupling portion which is tightly coupled to a dental clamp configured to tightly clamp one or more teeth of a target, the platform and coupling portion such that when the dental clamp is tightly clamped to one or more teeth and the dental clamp is tightly coupled to the coupling portion, the position and orientation of the platform are 1 A treatment system having a platform configured to remain fixed to one or more teeth; a base; and a suspension system mechanically connecting the platform to the base and supporting the weight of the treatment system, wherein the suspension system is configured to allow the position and orientation of the platform to change relative to the base in response to a force applied to the dental clamp by one or more teeth when the dental clamp is firmly clamped to one or more teeth and the dental clamp is firmly connected to the joint and the robotic dental system is operating in treatment mode, thereby accepting changes in the position, orientation, and both of the teeth by allowing corresponding changes in the position, orientation, or both of the platform.

[0070] As also shown in Figure 14, method 1000 further includes step 1030 of firmly clamping a dental clamp to one or more teeth of the subject. As described above with respect to the examples in Figures 1-13, a dental clamp can clamp one or more teeth by directly contacting and engaging with one or more teeth of the subject. It is assumed that clamping is non-invasive in the sense that the skin (e.g., of the gums) is not damaged during clamping and thus presents the subject or patient with the lowest level of risk. It should also be understood that, for convenience, step 1030 may typically be performed after the robotic dental system has been prepared in step 1010, but this is not, of course, mandatory.

[0071] As further shown in Figure 14, method 1000 further includes step 1040 of introducing the distal end of the robot arm into the mouth of a target using one or more motors of the robot arm. As shown in Figure 14, step 1040 follows steps 1010 and 1030. In some examples, introducing the distal end of the robot arm into the mouth of a target is performed under the control of an operator of the robotic dental system. For example, the operator may provide a series of control inputs to progressively introduce the distal end of the robot arm into the mouth of a target, for example, via a user interface module 185. In such an example, after each control input, the robot arm moves its distal end a small distance in the direction indicated by the operator's control input. However, in other examples, introducing the distal end of the robot arm into the mouth of a target may be performed partially or fully autonomously, for example, using sensors on the robot arm to avoid collision with the mouth and teeth of the target (e.g., proximity sensors, digital cameras, optical scanners, etc.) and / or using beacons, markers, or references on a dental clamp for guidance.

[0072] Figure 14 further illustrates an optional step 1020 in which the suspension system is used to reposition the treatment system platform to a position closer to the target. In this step, the operator can grasp a part of the treatment system, such as the platform or a robotic arm, and thereby move the platform to a desired position closer to the target. This position can provide, for example, improved access to the target's mouth and / or one or more teeth to be treated and / or assist the operator in using the robotic dental system. In an example where the suspension system is an active suspension system (and thus has at least one motor), step 1020 may involve operating at least one motor of the suspension system to move the platform to a position closer to the target based on input from at least one force sensor.

[0073] It should be understood that the robotic dental systems described herein can perform a variety of dental procedures. Due to their high level of precision, it is assumed that the robotic dental systems described herein are particularly (though not exclusively) suited to dental procedures performed on the teeth themselves rather than, for example, procedures performed on the jawbone, where lower precision is typically required. In a particular example, the robotic dental system may be configured (for example, by suitable programming of (one or more) processors 181 and / or by storing suitable instructions on a computer-readable storage medium 182 and / or by providing a suitable end effector 140, such as a dental drill) to perform abutment tooth preparation prior to the placement of dental prostheses such as crowns or bridges. In another particular example, the dental system may be configured (for example, by suitable programming of (one or more) processors 181 and / or by storing suitable instructions on a computer-readable storage medium 182 and / or by providing a suitable end effector 140, such as a dental drill) to perform the removal of caries lesions from teeth.

[0074] Furthermore, although the above example of a robotic dental system includes only one robotic arm, it is conceivable that in further examples, two (or possibly more) robotic arms may be provided as part of the treatment system 110 and rigidly coupled to the platform 111. In such examples, each robotic arm may have a different end effector 140. In addition, or instead, the robotic dental system 100 may be configured (for example, by suitable programming of at least one processor 181 of the control system 180) so that the robotic arms (or groups thereof) act simultaneously or sequentially on a target tooth.

[0075] Furthermore, while the dental clamp 150 is described in the above example as directly contacting and engaging with one or more teeth of subject 10, it is conceivable that in other examples, the dental clamp 150 may further clamp to other parts of the mouth of subject 10 and / or to the jaw of subject 10. Also, in a different and / or broader embodiment of this disclosure than those illustrated above, the dental clamp may clamp to the jaw of subject 10 instead of the teeth of subject 10. In a broader embodiment, it is conceivable that a robotic surgical system could be provided that operates on and clamps to body parts other than teeth, but utilizes substantially similar platforms and suspension systems as described above.

[0076] definition When used herein, the following terms have the following meanings unless the context indicates otherwise.

[0077] "Pressure" refers to the force applied perpendicularly to the surface of an object per unit area where the force is distributed. Non-zero pressures, which are lower than ambient pressure or lower than the pressure at a reference point, such as an intake port, are called "partial vacuums," but are nevertheless considered pressure. Partial vacuums are typically measured in units of pressure as a subtraction from ambient pressure or pressure at a reference point on Earth. "Gauge pressure" is pressure relative to ambient pressure, which is usually atmospheric pressure, and negative gauge pressure indicates a partial vacuum.

[0078] "Continuously" means continuous or repetitive, though not necessarily permanent. The term "continuously" encompasses both periodic and occasional. Continuously generating a signal means generating a signal that changes continuously over time, or generating a series (more than one) discrete signal over time. Continuously generating a value, such as an error value, means generating a continuously changing value, such as an analog value represented by a continuously changing voltage, or generating a series (more than one) discrete value over time, such as a series of digital or analog values.

[0079] While this disclosure is described through the exemplary embodiments described above, modifications and variations can be made to the exemplary embodiments without departing from the concepts disclosed herein. For example, certain parameter values, such as materials and dimensions, may be described in relation to the disclosed embodiments, but within the scope of the invention, the values ​​of all parameters can vary widely to suit different applications. Unless otherwise indicated in the context or understood by those skilled in the art, terms such as “about” mean within ±20%.

[0080] When used herein, including in claims, the term “and / or” in relation to a list of items does not necessarily mean all items in the list, but rather one or more items in the list, i.e., at least one item in the list. When used herein, including in claims, the term “or” in relation to a list of items does not necessarily mean all items in the list, but rather one or more items in the list, i.e., at least one item in the list. “Or” does not mean “exclusive or.”

[0081] An element described herein, including in the claims, as configured to perform one action "or" another, is satisfied by an element configured to perform only one of those two actions. That is, the element does not need to be configured to operate in one mode performing one of those actions and in another mode performing the other action. However, although it does not need to, the element may be configured to perform more than one of those actions.

[0082] While embodiments may be described with reference to flowcharts and / or block diagrams, the functions, operations, decisions, etc., of all or part of each block or combination of blocks may be combined, separated into separate operations, or executed in other orders. References to “modules,” “operations,” “steps,” and similar terms are for convenience only and are not intended to limit their implementation. All or part of each block, module, operation, step, or combination thereof may be implemented as computer program instructions (e.g., software), hardware (e.g., combinational logic, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), processors, or other hardware), firmware, or a combination thereof.

[0083] A controller, or part thereof, may be implemented by one or more suitable processors that execute or are controlled by instructions stored in memory. Each processor may, as appropriate, be a general-purpose processor such as a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a dedicated processor, or a combination thereof.

[0084] The memory may be random access memory (RAM), read-only memory (ROM), non-volatile memory (NVM), non-volatile random access memory (NVRAM), flash memory, or any other memory, or a combination thereof, suitable for storing control software or other instructions and data. Instructions defining the functions of the present invention can be delivered to the processor in numerous forms, including, but are not limited to, information permanently stored in tangible non-temporary, non-writable storage media (e.g., read-only memory devices in a computer such as ROM, or devices readable by computer I / O attachments such as CD-ROM or DVD discs), information modifiablely stored in tangible non-temporary, writable storage media (e.g., floppy disks, removable flash memory, and hard drives), or information transmitted to a computer via communication media, including wired or wireless computer networks. Embodiments may also be described in relation to various exemplary data structures and database schemas, but the system can be embodied using a variety of data structures, schemas, etc.

[0085] The disclosed embodiments, or any part thereof, may be combined in ways not listed herein and / or expressly claimed. Furthermore, the disclosed embodiments may be suitably carried out without elements not specifically disclosed herein. Therefore, the present invention should not be considered limited to the disclosed embodiments.

[0086] When used herein, numerical terms such as “first,” “second,” and “third” are used to distinguish each robot arm link, joint, etc. from one another, and are not intended to indicate a specific order or total number of links or joints in a particular embodiment. Therefore, for example, a given embodiment may include only a second link and a third joint.

[0087] While preferred embodiments of the present disclosure have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided merely as examples. Those skilled in the art will now be able to conceive of numerous variations, modifications, and substitutions without departing from the present invention. It should be understood that various substitutions for the embodiments of the present disclosure described herein may be used in carrying out the present disclosure. Intended, the following claims define the scope of the present invention, thereby covering methods and structures within the scope of those claims, as well as those equivalent thereto.

Claims

1. It is a robotic dental system, It is a treatment system, A robot arm, wherein the distal end of the robot arm is configured to be connected to an end effector, and A platform to which the proximal end of the robot arm is coupled, the platform having a coupling portion for securely coupling to a dental clamp configured to securely clamp to one or more teeth of a target, the platform and the coupling portion being configured such that when the dental clamp is securely clamped to the one or more teeth and the dental clamp is securely coupled to the coupling portion, the position and orientation of the platform remain fixed with respect to the one or more teeth, A treatment system having, Bass and, A suspension system that mechanically connects the platform to the base and supports the weight of the treatment system, wherein the dental clamp is firmly clamped to one or more teeth and the dental clamp is firmly connected to the connection part and the robotic dental system is operating in treatment mode, and the suspension system is configured to allow the position and orientation of the platform to change relative to the base in response to the force applied to the dental clamp by the one or more teeth, thereby accepting changes in the position, orientation, and both of the one or more teeth by allowing corresponding changes in the position, orientation, or both of the platform, A robotic dental system.

2. The robotic dental system according to claim 1, wherein the suspension system is an active suspension system and has at least one motor.

3. The robotic dental system according to claim 2, wherein when the robotic dental system is operating in treatment mode, the at least one motor is operated to change the position, orientation, or both of the platform relative to the base in response to the force applied to the dental clamp based on input from at least one force sensor, thereby enabling corresponding changes in the position, orientation, or both of the one or more teeth.

4. The robotic dental system according to claim 2 or 3, wherein when the robotic dental system is operating in compliant mode, the at least one motor is operated to change the position, orientation, or both of the platform relative to the base in response to a force applied to the treatment system by an operator of the robotic dental system, based on input from at least one force sensor, thereby enabling the operator to reposition the treatment system to a desired configuration.

5. The robotic dental system according to claim 1, wherein the suspension system is a passive suspension system, and the suspension system allows an external force applied to the treatment system to mechanically change the position and orientation of the platform.

6. The robotic dental system according to any one of claims 1 to 5, further comprising the clamp firmly coupled to the joint.

7. The robotic dental system according to claim 6, wherein the dental clamp is configured to firmly clamp onto the plurality of teeth of the target, and the robotic arm is operable to address at least two of the plurality of teeth.

8. The robotic dental system according to any one of claims 1 to 7, wherein the robotic arm is configured to be insertable into the mouth of the target separately from the dental clamp.

9. The robotic dental system according to any one of claims 1 to 8, wherein the robotic arm is configured to perform a dental procedure on at least one target tooth of the one or more teeth to which the dental clamp is tightly clamped.

10. The robotic dental system according to any one of claims 1 to 9, wherein the robotic arm has at least six degrees of freedom.

11. The robotic dental system according to any one of claims 1 to 10, wherein the robotic arm has more than 6 degrees of freedom.

12. The robotic dental system according to any one of claims 1 to 11, wherein the robotic arm has a plurality of robotic joints.

13. The robotic dental system according to any one of claims 1 to 12, wherein the robotic arm has at least four robotic joints.

14. A method for preparing for robotic dental procedures, We will prepare a robotic dental system. The robotic dental system has the following characteristics: It is a treatment system, A robot arm, wherein the distal end of the robot arm is configured to be coupled to an end effector, and the robot arm has one or more motors, and A platform to which the proximal end of the robot arm is coupled, the platform having a coupling portion that is tightly coupled to a dental clamp configured to tightly clamp one or more teeth of a target, the platform and the coupling portion being configured such that when the dental clamp is tightly clamped to the one or more teeth and the dental clamp is tightly coupled to the coupling portion, the position and orientation of the platform remain fixed with respect to the one or more teeth, A treatment system having, Bass and, A suspension system that mechanically connects the platform to the base and supports the weight of the treatment system, wherein the dental clamp is firmly clamped to one or more teeth and the dental clamp is firmly connected to the coupling when the robotic dental system is operating in treatment mode, the suspension system is configured to allow the position and orientation of the platform to change relative to the base in response to the force applied to the dental clamp by the one or more teeth, thereby accepting changes in the position, orientation, and both of the one or more teeth by allowing corresponding changes in the position, orientation, or both of the platform, It has, This method further, The dental clamp is firmly clamped to one or more teeth of the target, and thereafter, Using one or more motors of the robot arm, the distal end of the robot arm is introduced into the mouth of the target, Having, method.

15. The method according to claim 14, further comprising using the suspension system to reposition the platform of the treatment system to a position close to the target.

16. The suspension system is an active suspension system and has at least one motor, Repositioning the platform involves operating at least one motor of the suspension system to move the platform to the position closer to the object, based on input from at least one force sensor. The method according to claim 15.

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