Systems and methods for prosthetic placement, surgical guide placement, and mandibular orthopedic reconstruction - Patents.com

Abstract

The robotic system and method includes a fiducial marker for engaging the maxillofacial anatomy and an end effector at the distal end of an articulating arm member. The end effector receives a dental element comprising a prosthesis, a surgical guide, or a mandibular orthodontic element in a predetermined spatial relationship. A controller communicates directly with the fiducial marker, the articulating arm member, and the end effector to determine a placement of the end effector relative to the fiducial marker during end effector movement according to a virtual treatment plan to position the dental element in an aligned relationship relative to the maxillofacial anatomy, and directs the articulating arm member to physically control allowable movement of the end effector directly and according to the virtual treatment plan relative to the placement of the end effector relative to the fiducial marker to position the dental element for fixation to the maxillofacial anatomy.

Description

[Technical field]

[0001] This application relates to dental robotic systems and, more particularly, to systems and methods implementing dental robots for prosthetic placement, surgical guide placement, and mandibular orthopedic reconstruction. [Background technology]

[0002] Some dental robotic systems implement haptic guidance of a drill to drill the patient's osteotomy to receive a dental implant. Such dental robotic systems can also implement haptic guidance to place an implant anchor using the same drill with a different attachment (e.g., instead of a drill bit). However, the next step in restoring the patient's dentition is to place the prosthesis(es) that engage with the implant anchor(s). Although dental robotic systems can accurately assist in drilling the hole(s) in the osteotomy and then placing the implant anchor(s), there is still a risk of making a mistake in placing the prosthesis(es) to engage with the implant anchor(s).

[0003] More specifically, prostheses generally include a hole(s) for accommodating and receiving the implant anchor(s) implanted in the patient to facilitate fixation of the prosthesis to the implant anchor(s) and complete assembly. In some cases, the hole(s) in the prosthesis are often made large enough (e.g., oversized) to allow for misalignment of the position(s) of the implant anchor(s). However, oversized holes in the prosthesis may cause the prosthesis to move or change position around or along the implant anchor(s). In this regard, it is often important to have a relative alignment between the upper and lower rows to recreate a proper occlusion. It is therefore important to ensure that the prosthesis / denture is fixed to the implant anchor(s) accurately as planned. Similar requirements exist, for example, in mandibular orthopedics, where a surgical guide is attached to the patient or where a resected upper jaw or part of the upper jaw must be reattached to the patient's skull. Summary of the Invention [Problem to be solved by the invention]

[0004] Thus, there is a need for systems and methods for performing prosthesis placement, surgical guide placement, and / or mandibular orthopedic reassembly, in which the prosthesis, surgical guide, or maxilla can be more accurately positioned and secured to the patient's supporting structures (e.g., implant anchor(s) or skull structures) as compared to prior art procedures. Such systems and methods should preferably be easily implemented and ergonomically easy for dental professionals to use, and should desirably provide a convenient and effective training tool for dental professionals to develop skills with respect to the described procedures. [Means for solving the problem]

[0005] These and other needs are met by aspects of the present disclosure, which in one particular aspect provides a dental robotic system. Such a system includes a fiducial marker adapted to be engaged with a maxillofacial anatomical structure and an articulating arm member having an end effector engaged at a distal end thereof. The end effector is configured to receive a prosthesis, a surgical guide, or a mandibular correction element in a predetermined spatial relationship with the end effector. A controller has a processor and a memory storing a computer program product executable by the processor to perform steps of communicating with the fiducial marker, the articulating arm member, and the end effector, and to determine a placement of the end effector relative to the fiducial marker during movement of the end effector according to a virtual treatment plan to place the prosthesis, the surgical guide, or a mandibular correction element in an aligned relationship with the maxillofacial anatomical structure. The articulating arm members are also oriented to physically control the permissible movement of the end effector directly relative to the placement of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structures in accordance with the virtual treatment plan to place a prosthesis, surgical guide, or mandibular orthodontic element in an aligned relationship for fixation to the maxillofacial anatomical structures.

[0006] Another aspect of the present disclosure provides a method of performing a dental procedure implementing a dental robotic system. Such method includes engaging a fiducial marker with a maxillofacial anatomical structure and receiving a prosthesis, surgical guide, or mandibular correction element in a predetermined spatial relationship with an end effector engaged with a distal end of an articulating arm member. A computer program product is executed by a processor of a controller to perform the steps of communicating with the fiducial marker, the articulating arm member, and the end effector, and to determine a placement of the end effector relative to the fiducial marker during movement of the end effector according to a virtual treatment plan to place the prosthesis, surgical guide, or mandibular correction element in an aligned relationship with the maxillofacial anatomical structure. The articulating arm member is also directed to physically control permissible movement of the end effector directly relative to the placement of the end effector relative to the fiducial marker engaged with the maxillofacial anatomical structure according to a virtual treatment plan to place the prosthesis, surgical guide, or mandibular correction element in an aligned relationship for fixation to the maxillofacial anatomical structure.

[0007] Accordingly, the present disclosure includes, but is not limited to, the following exemplary embodiments.

[0008] Exemplary embodiment 1. A control device having a memory and a processor that stores a computer program product, the control device comprising: a fiducial marker adapted to be engaged with a maxillofacial anatomical structure; an articulating arm member having an end effector engaged at a distal end thereof, the end effector being positioned such that a prosthetic device, a surgical guide, or a mandibular correction element is received in a predetermined spatial relationship with the end effector; and a controller having a memory and a processor that stores a computer program product, the computer program product comprising: a fiducial marker adapted to be engaged with a maxillofacial anatomical structure; and a control device executable by a processor to perform the steps of: determining a placement of the end effector relative to fiducial markers during movement of the end effector according to a virtual treatment plan to place a prosthesis, surgical guide, or mandibular orthodontic element in an aligned relationship to the maxillofacial anatomical structure; and instructing an articulating arm member to physically control the allowable movement of the end effector directly relative to the placement of the end effector relative to fiducial markers engaged to the maxillofacial anatomical structure according to the virtual treatment plan to place a prosthesis, surgical guide, or mandibular orthodontic element in an aligned relationship to the maxillofacial anatomical structure for fixation to the maxillofacial anatomical structure.

[0009] Exemplary embodiment 2. The system described in exemplary embodiment 1, wherein execution of the computer program product by the processor of the control device causes the control device to perform a step of instructing the end effector to provide tactile feedback if movement of the end effector deviates from the virtual treatment plan when a prosthesis, surgical guide, or mandibular orthodontic element is positioned in an aligned relationship relative to the maxillofacial anatomical structure.

[0010] Exemplary embodiment 3. A system according to any one of exemplary embodiments 1-2, or a combination thereof, comprising a child splint device that physically and securely interacts with the maxillofacial anatomical structures and is operably engaged with the fiducial markers.

[0011] Exemplary embodiment 4. A system according to any one of exemplary embodiments 1-3, or a combination thereof, wherein the control device or end effector is arranged to provide audio or visual feedback if the movement of the end effector deviates from the virtual treatment plan.

[0012] Exemplary embodiment 5. A system according to any one of exemplary embodiments 1-4, or a combination thereof, wherein the prosthetic device, surgical guide, or mandibular orthodontic element is positioned to be directly received by the end effector in a predetermined spatial relationship.

[0013] Exemplary embodiment 6. A system as described in any one of exemplary embodiments 1-5, or a combination thereof, comprising an interface received by the end effector in a predetermined spatial relationship, the interface being positioned to receive a prosthetic device, a surgical guide, or a mandibular orthodontic element in the predetermined spatial relationship.

[0014] Exemplary embodiment 7. A system according to any one of exemplary embodiments 1-6, or a combination thereof, wherein the interface is an occlusal form of appliance arranged to receive the prosthesis in a predetermined spatial relationship.

[0015] Exemplary embodiment 8. A system as described in any one of exemplary embodiments 1 to 7, or a combination thereof, wherein the step of instructing the articulating arm member to physically control the permissible movement of the end effector comprises positioning the prosthesis in an aligned relationship with one or more implant anchors embedded in the maxillofacial anatomical structure to secure the prosthesis, and instructing the articulating arm member to physically control the permissible movement of the end effector directly relative to the positioning of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structure according to the virtual treatment plan.

[0016] Exemplary embodiment 9. The system of any one of exemplary embodiments 1-8, or a combination thereof, wherein the step of instructing the articulating arm member to physically control the allowable movement of the end effector comprises instructing the articulating arm member to physically control the allowable movement of the end effector directly relative to a placement of the end effector relative to a fiducial marker engaged with the maxillofacial anatomical structure in accordance with a virtual treatment plan to place the surgical guide in an aligned relationship with the maxillofacial anatomical structure, the surgical guide defining one or more guide holes or having one or more guide inserts engaged with the guide holes, each of the one or more guide inserts defining a guide hole to allow a fixation hole to be drilled through the guide hole in the maxillofacial anatomical structure or allow a fastener to be received through the guide hole for engagement with the fixation hole to fix the surgical guide to the maxillofacial anatomical structure.

[0017] Exemplary embodiment 10. A system according to any one of exemplary embodiments 1-9, or a combination thereof, wherein the prosthesis defines one or more guide holes or has one or more guide inserts engaged with the guide holes, each of the one or more guide inserts defining a guide hole such that the prosthesis is a surgical guide.

[0018] Exemplary embodiment 11. The system of any one of exemplary embodiments 1-10, or a combination thereof, wherein the mandibular correction element is a portion of the maxillofacial anatomical structure separated from the remainder of the maxillofacial anatomical structure, and the step of directing the articulating arm member to physically control the allowable movement of the end effector comprises directing the articulating arm member to physically control the allowable movement of the end effector directly relative to the placement of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structure according to a virtual treatment plan to position the portion of the maxillofacial anatomical structure in an aligned relationship with the remainder of the maxillofacial anatomical structure to allow fixation holes to be drilled in the portion or remainder of the maxillofacial anatomical structure or to allow fasteners to be engaged with the fixation holes to secure brackets between the portion of the maxillofacial anatomical structure and the remainder of the maxillofacial anatomical structure.

[0019] Exemplary embodiment 12. A system as described in any one of exemplary embodiments 1-11, or a combination thereof, comprising a detector engaged with a distal end of the tracking arm, the tracking arm and the detector in communication with a control device, the detector being positioned in a spaced relationship to the reference marker to detect the reference marker, and cooperating with the control device to determine a spatial relationship to the reference marker.

[0020] Exemplary embodiment 13. The system of any one of exemplary embodiments 1-12, or a combination thereof, wherein the detector is an electrical detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof.

[0021] Exemplary embodiment 14. A system as described in any one of exemplary embodiments 1 to 13, or a combination thereof, comprising a tracking arm having a distal end that is physically engaged with a reference marker, the tracking arm being in communication with a control device and configured to cooperate with the control device to determine a spatial relationship with the reference marker.

[0022] Exemplary embodiment 15. The system of any one of exemplary embodiments 1-14, or a combination thereof, wherein the fiducial marker is arranged to communicate with the control device via an electrical communication system, a mechanical communication system, an electromechanical communication system, an electromagnetic communication system, an optical communication system, an infrared communication system, or a combination thereof.

[0023] Exemplary embodiment 16. The system of any one of exemplary embodiments 1-15, or a combination thereof, wherein the fiducial marker is arranged to communicate with the control device via a wireless communication system or a wired communication system.

[0024] Exemplary embodiment 17. The system of any one of exemplary embodiments 1-16, or a combination thereof, wherein the control device is arranged to facilitate graphic manipulation of images of the maxillofacial anatomical structures to form a virtual treatment plan for the maxillofacial anatomical structures receiving an anatomical structure prosthetic device, surgical guide, or mandibular orthodontic element in an aligned relationship.

[0025] Exemplary embodiment 18. A method of performing a dental procedure implementing a dental robotic system, comprising: engaging a fiducial marker with a maxillofacial anatomical structure; receiving a prosthesis, surgical guide, or mandibular correction element in a predetermined spatial relationship with an end effector engaged with a distal end of an articulating arm member; executing a computer program product with a processor of a control device to communicate with the fiducial marker, the articulating arm member, and the end effector to determine an arrangement of the end effector relative to the fiducial marker during movement of the end effector according to a virtual treatment plan to place the prosthesis, surgical guide, or mandibular correction element in an aligned relationship with the maxillofacial anatomical structure; and instructing the articulating arm member to physically control the allowable movement of the end effector directly relative to the arrangement of the end effector relative to the fiducial marker engaged with the maxillofacial anatomical structure according to the virtual treatment plan to place the prosthesis, surgical guide, or mandibular correction element in an aligned relationship for fixation to the maxillofacial anatomical structure.

[0026] Exemplary embodiment 19. A method according to any one of exemplary embodiments 1 to 18, or a combination thereof, in which execution of the computer program product by the processor of the control device causes the control device to perform a step of instructing the end effector to provide haptic feedback if movement of the end effector deviates from the virtual treatment plan when a prosthetic device, surgical guide, or mandibular orthodontic element is positioned in an aligned relationship relative to the maxillofacial anatomical structure.

[0027] Exemplary embodiment 20. The method according to any one of exemplary embodiments 1-19, or a combination thereof, wherein engaging the fiducial marker with the maxillofacial anatomical structure comprises physically and securely interacting a splint appliance with the maxillofacial anatomical structure, the splint appliance being operably engaged with the fiducial marker.

[0028] Exemplary embodiment 21. A method according to any one of exemplary embodiments 1-20, or a combination thereof, comprising arranging a control device or end effector to provide audio or visual feedback if the movement of the end effector deviates from the virtual treatment plan.

[0029] Exemplary embodiment 22. A method according to any one of exemplary embodiments 1-21, or a combination thereof, comprising directly receiving a prosthesis, surgical guide, or mandibular correction element by an end effector such that the prosthesis, surgical guide, or mandibular correction element is received in a predetermined spatial relationship.

[0030] Exemplary embodiment 23. A method according to any one of exemplary embodiments 1-22, or a combination thereof, comprising receiving an interface by an end effector in a predetermined spatial relationship, the interface being positioned to receive a prosthetic device, a surgical guide, or a mandibular orthodontic element in the predetermined spatial relationship.

[0031] Exemplary embodiment 24. The method according to any one of exemplary embodiments 1 to 23, or a combination thereof, wherein the interface is an appliance in an occlusal configuration, and the method comprises receiving the prosthesis by the appliance in an occlusal configuration in a predetermined spatial relationship.

[0032] Exemplary embodiment 25. The method of any one of exemplary embodiments 1-24, or combinations thereof, wherein instructing the articulating arm member to physically control the permissible movement of the end effector includes instructing the articulating arm member to physically control the permissible movement of the end effector directly relative to placement of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structure in accordance with a virtual treatment plan to position the prosthesis in an aligned relationship with one or more implant anchors embedded in the maxillofacial anatomical structure for fixation of the prosthesis.

[0033] Exemplary embodiment 26. The method of any one of exemplary embodiments 1-25, or combinations thereof, wherein instructing the articulating arm member to physically control the permissible movement of the end effector comprises instructing the articulating arm member to physically control the permissible movement of the end effector directly relative to placement of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structure in accordance with a virtual treatment plan to place the surgical guide in an aligned relationship with the maxillofacial anatomical structure, the surgical guide defining one or more guide holes or having one or more guide inserts engaged with the guide holes, each of the one or more guide inserts defining a guide hole to allow a fixation hole to be drilled through the guide hole in the maxillofacial anatomical structure or to allow a fastener to be received through the guide hole for engagement with the fixation hole to fix the surgical guide to the maxillofacial anatomical structure.

[0034] Exemplary embodiment 27. A method according to any one of exemplary embodiments 1-26, or a combination thereof, comprising forming one or more guide holes in the prosthesis or engaging one or more guide inserts with the prosthesis, each of the one or more guide inserts defining a guide hole such that the prosthesis is a surgical guide.

[0035] Exemplary embodiment 28. The method according to any one of exemplary embodiments 1 to 27, or combinations thereof, wherein the mandibular correction element is a portion of the maxillofacial anatomical structure separated from the remainder of the maxillofacial anatomical structure, and directing the articulating arm member to physically control the allowable movement of the end effector comprises directing the articulating arm member to physically control the allowable movement of the end effector directly relative to a positioning of the end effector relative to a fiducial marker engaged with the maxillofacial anatomical structure according to a virtual treatment plan to position the portion of the maxillofacial anatomical structure in an aligned relationship with the remainder of the maxillofacial anatomical structure so as to allow fixation holes to be drilled in the portion or remainder of the maxillofacial anatomical structure or to allow fasteners to be engaged with the fixation holes to secure brackets between the portion of the maxillofacial anatomical structure and the remainder of the maxillofacial anatomical structure.

[0036] Exemplary embodiment 29. The method of any one of exemplary embodiments 1 to 28, or a combination thereof, wherein communicating with the reference marker comprises communicating with the reference marker via a detector engaged with a distal end of the tracking arm, the tracking arm and the detector in communication with a control device, the detector being positioned in a spaced relationship with the reference marker to detect the reference marker, and cooperating with the control device to determine a spatial relationship with the reference marker.

[0037] Exemplary embodiment 30. The method of any one of exemplary embodiments 1-29, or a combination thereof, wherein communicating with the fiducial marker comprises communicating with the fiducial marker via an electrical detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof, engaged with the distal end of the tracking arm.

[0038] Exemplary embodiment 31. The method of any one of exemplary embodiments 1 to 30, or a combination thereof, wherein communicating with the fiducial marker includes communicating with the fiducial marker via a distal end of a tracking arm, the distal end being physically engaged with the fiducial marker, the tracking arm being in communication with a control device and configured to cooperate with the control device to determine a spatial relationship with the fiducial marker.

[0039] Exemplary embodiment 32. The method of any one of exemplary embodiments 1-31, or a combination thereof, comprising communicating between the fiducial marker and the control device via an electrical communication system, a mechanical communication system, an electromechanical communication system, an electromagnetic communication system, an optical communication system, an infrared communication system, or a combination thereof.

[0040] Exemplary embodiment 33. The method according to any one or combination of exemplary embodiments 1-32, comprising communicating between the fiducial marker and the control device via a wireless communication system or a wired communication system.

[0041] Exemplary embodiment 34. A method according to any one of exemplary embodiments 1-33, or a combination thereof, comprising graphically manipulating, by a control device, an image of the maxillofacial anatomical structure to form a virtual treatment plan for the maxillofacial anatomical structure that receives an anatomical structure prosthetic device, surgical guide, or mandibular orthodontic element in an aligned relationship.

[0042] These and other features, aspects, and advantages of the present disclosure will become apparent from a reading of the following detailed description in conjunction with the accompanying drawings, which are briefly described below. The present disclosure includes any combination of two, three, four, or more features or elements described in the present disclosure, regardless of whether such features or elements are explicitly combined or otherwise recited in the description of a particular embodiment herein. The present disclosure is intended to be read as a whole such that any separable features or elements of the disclosure are viewed as intended, i.e., combinable, in any of its aspects and embodiments, unless the context of the disclosure clearly dictates otherwise.

[0043] It will be understood that the summary of this specification is provided only for the purpose of summarizing some exemplary aspects to provide a basic understanding of the present disclosure. Therefore, it will be understood that the exemplary aspects described above are merely examples and should not be interpreted in any way to narrow the scope or spirit of the present disclosure. It will be understood that the scope of the present disclosure encompasses many potential aspects, some of which are further described below, in addition to those summarized herein. Furthermore, other aspects and advantages of such aspects disclosed herein will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the described aspects.

[0044] Having thus described the disclosure in general terms, reference is now made to the accompanying drawings, which are not necessarily drawn to scale. [Brief description of the drawings]

[0045] [Figure 1] 1 illustrates a schematic diagram of a dental robotic system according to one aspect of the present disclosure. [Diagram 2] 1 illustrates a schematic diagram of a dental robotic system according to one aspect of the present disclosure. [Diagram 3] 1 illustrates a schematic diagram of a dental robotic system according to one aspect of the present disclosure. [Figure 4]1 illustrates a schematic diagram of a dental robotic system according to another aspect of the present disclosure. [Diagram 5] 1 illustrates a schematic diagram of a dental robotic system according to one aspect of the present disclosure being applied to the placement of a prosthesis. [Figure 6A] 13A-13C illustrate schematic diagrams of a dental robotic system according to another aspect of the present disclosure being applied to the placement of a prosthesis. [Figure 6B] 13A-13C illustrate schematic diagrams of a dental robotic system according to another aspect of the present disclosure being applied to the placement of a prosthesis. [Figure 7A] 1 illustrates a schematic diagram of a dental robotic system according to one aspect of the present disclosure being applied to the placement of a surgical guide. [Figure 7B] 1 illustrates a schematic diagram of a dental robotic system according to one aspect of the present disclosure being applied to the placement of a surgical guide. [Figure 8A] 1A-1C illustrate schematic diagrams of a dental robotic system according to one aspect of the present disclosure being applied to positioning of a mandibular orthodontic element. [Figure 8B] 1A-1C illustrate schematic diagrams of a dental robotic system according to one aspect of the present disclosure being applied to positioning of a mandibular orthodontic element. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0046] The present disclosure is described more fully below with reference to the accompanying drawings, in which some, but not all, aspects of the disclosure are shown. Indeed, the present disclosure may be embodied in many different forms and should not be construed as limited to the aspects set forth herein. Rather, these aspects are provided so that this disclosure will satisfy applicable legal requirements. Like numbers refer to like elements throughout.

[0047] 1-4 show various embodiments of a dental robotic system generally designated 100. Such a system 100 includes a fiducial marker 250 adapted to be engaged with a maxillofacial anatomy 300. In one embodiment, the system 100 further includes an articulating arm member 400 having an end effector 500 engaged with a distal end 450 thereof. The end effector 500 is positioned to receive a prosthesis 600, a surgical guide 700, or a mandibular correction element 800 in a predetermined spatial relationship with the end effector 500 (e.g., the spatial relationship between the end effector 500 and any of the prosthesis 600, the surgical guide 700, or the mandibular correction element 800 received by the end effector 500 is known). The controller 450 includes a processor and a memory for storing a computer program product executable by the processor. The controller 450 is positioned to communicate with the fiducial marker 250.

[0048] Although aspects of the present disclosure are described with respect to maxillofacial anatomical structures and its mandibular orthodontic element(s), those skilled in the art will understand that the maxillofacial anatomical structures and mandibular orthodontic element(s) are directed to and refer to, in some aspects, non-human models or other non-human representations or replicas of such anatomical structures. The systems and methods disclosed herein are implemented to provide a convenient and effective training tool or training prescription for dental professionals to develop their skills with respect to the procedures described herein. Furthermore, the methods disclosed and claimed herein are particularly directed to the control and operation of the systems described and claimed herein, and such methods are not particularly directed to methods of surgery on humans.

[0049] In certain aspects, upon execution of the computer program product / software by the processor, the controller 450 is configured / arranged to communicate with the fiducial markers 250, the articulating arm member 400, and the end effector 500 to determine, in particular, the placement (or spatial relationship) of the end effector 500 relative to the fiducial markers 250 during movement of the end effector 500 according to a virtual treatment plan for placing the prosthesis 600, surgical guide 700, or mandibular correction element 800 in an aligned relationship relative to / with the maxillofacial anatomical structure 300. In such aspects, the controller 450 is arranged to facilitate graphical manipulation of an image of the maxillofacial anatomical structure 300 to form a virtual treatment plan for the maxillofacial anatomical structure 300, regardless of whether the maxillofacial anatomical structure 300 is positioned to receive the prosthesis 600, surgical guide 700, or mandibular correction element 800 in an aligned relationship.

[0050] Once the positioning / spatial relationship of the end effector 500 relative to the fiducial marker 250 has been determined, execution of the computer program product / software by the processor causes the control device 450 to instruct the articulating arm member 400 to physically control the permissible movement of the end effector 500 directly relative to the positioning (or spatial relationship) of the end effector 500 relative to the fiducial marker 250 engaged with the maxillofacial anatomical structure 300 in accordance with the virtual treatment plan in order to place the prosthesis 600, surgical guide 700, or mandibular correction element 800 in an aligned relationship for fixing to the maxillofacial anatomical structure 300.

[0051] In some aspects, execution of the computer program product by the processor of the controller 450 causes the controller 450 to instruct the end effector 500 to provide haptic feedback if movement of the end effector 500 deviates from the virtual treatment plan when the prosthesis 600, surgical guide 700, or mandibular correction element 800 is positioned relative to / in an aligned relationship with the maxillofacial anatomical structure 300. Instead of or in addition to the end effector 500 providing haptic feedback, the controller 450 or end effector 500 may also be configured to provide audio feedback (e.g., via a device that emits sounds) or visual feedback (e.g., via a display) if movement of the end effector 500 deviates from the virtual treatment plan.

[0052] The fiducial marker 250, in some aspects, is adapted to engage the maxillofacial anatomy 300 (e.g., as a splint appliance that physically and securely interacts with the maxillofacial anatomy 300). In other aspects, the engagement between the splint appliance and the maxillofacial anatomy 300 forms the fiducial marker 250, or the fiducial marker 250 is operably engaged with the splint appliance in a known spatial relationship. The controller 450 is further arranged to communicate with the fiducial marker 250 in a different manner. For example, in one aspect, the detector 1000 engages with the distal end 1110 of the tracking arm 1100, and the tracking arm 1100 and the detector 1000 communicate with the controller 450, as shown, for example, in FIG. 4 . In such a case, the detector 1000 is arranged in a spaced relationship with the fiducial marker 250 (e.g., physically separated with a space defined between them). Detector 1000 is positioned to detect fiducial marker 250 and, in cooperation with controller 450, determine its spatial relationship to fiducial marker 250 (e.g., the physical coordinates of tracking arm 1100 and detector 1000 relative to fiducial marker 250 are known by controller 900). In various aspects, detector 1000 is an electrical detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or any other suitable detector or combination thereof.

[0053] In other embodiments (see, e.g., FIGS. 1-3), the distal end 1110 of the tracking arm 1100 physically engages the fiducial marker 250. The tracking arm 1100 is then arranged to communicate with the controller 450 and cooperate with the controller 450 to determine a spatial relationship with the fiducial marker 250 (e.g., the physical coordinates of the tracking arm 1100 and the fiducial marker 250 are known by the controller 450). In these and other embodiments, the fiducial marker 250 is arranged to communicate with the controller 450, e.g., via an electrical communication system, a mechanical communication system, an electromechanical communication system, an electromagnetic communication system, an optical communication system, an infrared communication system, or combinations thereof. Thus, the fiducial marker 250 is arranged to communicate with the controller 450 via a wireless communication system or a wired communication system.

[0054] In certain aspects, the prosthesis 600, surgical guide 700, or mandibular correction element 800 is positioned to be directly received by the end effector 500 in a predetermined spatial relationship. That is, because the spatial relationship between the end effector 500 and the articulating arm member 400 is known by the controller 450, the spatial relationship between the end effector 500 and the prosthesis 600, surgical guide 700, or mandibular correction element 800 directly received thereby is also known or easily determined by the controller 450. Thus, the spatial relationship of the articulating arm member 400, the end effector 500, and the prosthesis 600, surgical guide 700, or mandibular correction element 800 is known to the controller 450, and similarly, the spatial relationship between the tracking arm 1100 and the fiducial marker 250 is also known to the controller 450, and a common coordinate system can be determined and established by the controller 450 based on the fiducial marker 250.

[0055] Because the maxillofacial anatomical structure 300 can, and in some cases does, move during a procedure, the resulting movement of the fiducial marker 250 can be determined by the controller 450, and thus the spatial relationship between the end effector 500 and the prosthesis 600, surgical guide 700, or mandibular correction element 800 can be adjusted for the movement of the fiducial marker 250 based on a common coordinate system. Thus, the fiducial marker 250 is attached to the maxillofacial anatomical structure 300 with which the prosthesis 600, surgical guide 700, or mandibular correction element 800 is intended to be engaged, thereby providing a precise and accurate alignment between the maxillofacial anatomical structure 300 and the prosthesis 600, surgical guide 700, or mandibular correction element 800.

[0056] In one aspect, the end effector 500 is positioned to receive the interface 1200 in a predetermined spatial relationship (see, e.g., FIG. 5), and the interface 1200 is positioned to receive the prosthesis 600, surgical guide 700, or mandibular correction element 800 in a predetermined spatial relationship. That is, because the spatial relationship between the end effector 500 and the articulating arm member 400 is known by the controller 450, the spatial relationship between the end effector 500, the interface 1200 received thereby, the prosthesis 600, surgical guide 700, or mandibular correction element 800 received by the interface 1200 is also known or readily determined by the controller 450. In one exemplary aspect, the interface 1200 is a bite fork instrument (see, e.g., FIG. 5) positioned to receive the prosthesis 600 in a predetermined spatial relationship.

[0057] In one aspect of the disclosure, the control device 450 is arranged to direct the articulating arm member 400 to physically control the permissible movement of the end effector 500 according to a virtual treatment plan, both directly for placement of the end effector 500 relative to the fiducial markers 250 engaged to the maxillofacial anatomical structure 300 and for placing the prosthesis 600 in an aligned relationship with one or more implant anchors 650 embedded in the maxillofacial anatomical structure 300 to secure the prosthesis 600 thereto (see, e.g., FIGS. 6A and 6B). The end effector 500 can have a drill attached thereto, the drill being modified to attach to the prosthesis 600 (e.g., dentures) using an instrument such as a bite fork extending between the drill and the prosthesis 600. In this manner, the drill and / or bite fork can be considered the interface 1200. In another example, the prosthesis 600 is attached directly to the end effector 500 without a drill and / or bite fork therebetween.

[0058] The implant anchor 650, whether manually implanted or implanted in a precise and accurate manner using the dental implant system 100 as disclosed herein, is or can be readily determined by the controller 450 relative to the fiducial markers 250 (e.g., via image analysis in preparation for a virtual treatment plan or from the actual implantation process of the implant anchor 650). Thus, the receptacle for receiving the implant anchor 650 defined by the prosthesis 600 can be precisely and accurately formed in both size and pattern to interface with the implant anchor 650, instead of the receptacle being oversized to allow for adjustment in place.

[0059] In another aspect of the disclosure, the controller 450 is arranged to direct the articulating arm member 400 to physically control the permissible movements of the end effector 500 directly relative to the fiducial markers 250 engaged to the maxillofacial anatomical structure 300 and in accordance with a virtual treatment plan to place the surgical guide 700 in an aligned relationship with the maxillofacial anatomical structure 300. The surgical guide 700 (see, e.g., FIGS. 7A and 7B ) has one or more guide inserts 740 defining or engaged with one or more guide holes 720, each of which defines a guide hole 720. Thus, the surgical guide 700 allows fixation holes 350 to be drilled into the maxillofacial anatomical structure 300 through the guide holes 720, or allows fasteners 760 to be received through the guide holes 720 to engage with the fixation holes 350 to secure the surgical guide 700 to the maxillofacial anatomical structure 300.

[0060] In some aspects, as will be appreciated by those skilled in the art, the prosthesis 600 has one or more guide inserts 740 that define or engage one or more guide holes 720, each of which defines a guide hole 720, such that the prosthesis 600 becomes or is otherwise a surgical guide 700. That is, in some cases, the prosthesis 600 can also function as a surgical guide that can be held in the proper position relative to the maxillofacial anatomy 300 by the articulating arm members 400 / end effectors 500. Since the prosthesis 600 is also fixed relative to the fixation holes 350, it is important to accurately position the guide prosthesis 600 relative to the maxillofacial anatomy 300. Such a configuration can replace, for example, reliance on existing bone and / or anchor pins (see, e.g., FIG. 7B) to position the surgical guides of the prior art.

[0061] The mandibular correction element 800 is a portion of the maxillofacial anatomy that is separate from the remainder of the maxillofacial anatomy 300 (see, e.g., FIGS. 8A and 8B ). In yet another embodiment, the control device 450 is arranged to direct the articulating arm member 400 to physically control the permissible movement of the end effector 500 directly relative to the positioning of the end effector 500 relative to the fiducial markers 250 engaged to the maxillofacial anatomy 300 and according to a virtual treatment plan to place the portion of the maxillofacial anatomy (the mandibular correction element 800) in an aligned relationship with the remainder of the maxillofacial anatomy 300. Thus, by having the mandibular correction element 800 aligned in this manner with the remainder of the maxillofacial anatomy 300, fixation holes are drilled in the portion of the maxillofacial anatomy (the mandibular correction element 800) or the remainder of the maxillofacial anatomy 300, and / or fasteners 820 are engaged with the fixation holes to secure brackets 840 between the portion of the maxillofacial anatomy (the mandibular correction element 800) and the remainder of the maxillofacial anatomy 300 such that the mandibular correction element 800 is fixed in planned alignment with the remainder of the maxillofacial anatomy 300 (see, e.g., FIG. 8B).

[0062] In one exemplary type of maxillary reshaping focused on the maxilla, a portion of the maxilla, including the teeth, is separated from the remainder of the skull. It is then reattached in the desired alignment using plates and screws. The reattachment must be precise to recreate the intended anatomical shape and occlusion with the opposing rows. By implementing the articulating arm member 400 / end effector 500 in the disclosed manner to securely hold the anatomical portion that is separated from the skull, the tracking portion of the system 100 allows the maxillofacial anatomical structure position to be monitored (e.g., via the fiducial markers 250) by communication with the portion of the skull that is not separated. Thus, the controller 450 guides the articulating arm member 400 / end effector 500 in positioning the separated portion relative to the skull for reattachment. Plates and screws for fixing the separated portion can be drilled in situ at the appropriate / desired location while the articulating arm member 400 / end effector 500 holds the separated anatomical structure in the correct position relative to the skull.

[0063] With the spatial relationship with respect to the maxillofacial anatomical structure 300 established and known by the system 100, and the virtual treatment plan developed through the controller 450, the alignment procedure of the prosthesis 600, surgical guide 700, or mandibular correction element 800 can then be initiated by the practitioner moving the end effector 500 towards the maxillofacial anatomical structure 300. In such a case, the practitioner's actions are determined by the controller 450, which is configured to control the movement of the end effector 500 via the articulating arm member 400 to simply move the end effector 500 to an appropriate starting position for the alignment procedure relative to the maxillofacial anatomical structure 300 as dictated by the virtual treatment plan. Once the end effector 500 with the engaged prosthesis 600, surgical guide 700, or mandibular correction element 800 is in a position as directed by the controller device 450, the active alignment portion of the actual treatment can begin, and the controller 450 may further direct other parameters of the end effector 500, such as the position and orientation of the prosthesis 600, surgical guide 700, or mandibular correction element 800, for example, also according to the virtual treatment plan.

[0064] In these examples, one difference of the system 100 disclosed herein is that the end effector 500 with the engaged prosthesis 600, surgical guide 700, or mandibular correction element 800 is not guided by the practitioner, but is simply prompted by the practitioner along a treatment path determined via a virtual treatment plan and implemented via the controller 450 and articulating arm member 400. That is, the system 100 may be configured to constrain the practitioner to perform an alignment procedure relative to the maxillofacial anatomy, as determined via a virtual treatment plan and implemented via the controller 450 and articulating arm member 400, whereby the controller 450 controls the permissible movements of the articulating arm member 400 (and thus the end effector 500) according to a virtual treatment plan created from an image(s) of the maxillofacial anatomy. For example, the system 100 may be configured for limited movement of the articulating arm members 400 / end effector 500, as communicated to the practitioner via haptic feedback, such that the articulating arm members 400 / end effector 500 may be easier to move in accordance with the virtual treatment plan and more difficult to move if deviating from the virtual treatment plan.

[0065] However, those skilled in the art will also appreciate that the physics of the articulating arm members 400 / end effector 500 to provide fully controlled movement according to the virtual treatment plan (i.e., due to vibrations, component deflections, and / or excessive force applied by the practitioner) and therefore the system 100 may be further configured to provide other manners of feedback to the practitioner, such as, for example, via deviation warning indications or any other suitable audio and / or visual mechanisms. Thus, the system 100 includes provisions for actually implementing the virtual treatment plan, thus facilitating a more accurate alignment procedure, rather than simply alerting the practitioner when treatment parameters may be inaccurate. However, those skilled in the art will also appreciate that in some cases, the system 100 may be further configured to autonomously accomplish the virtual treatment plan, without the practitioner's manipulation, by automatic manipulation of the articulating arm members 400 / end effector 500 via the controller 450.

[0066] Many modifications and other embodiments of the inventions described herein will come to mind to one skilled in the art to which these disclosed embodiments pertain having the benefit of the teachings presented in the foregoing description and the associated drawings. It is to be understood, therefore, that the embodiments of the invention are not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of the invention. Moreover, while the foregoing description and the associated drawings describe exemplary embodiments in the context of certain exemplary combinations of elements and / or functions, it is to be understood that different combinations of elements and / or functions may be provided by alternative embodiments without departing from the scope of the disclosure. In this regard, for example, combinations of elements and / or functions different from those expressly described above are also contemplated within the scope of the disclosure. Although specific terms have been employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

[0067] In this specification, terms such as first, second, etc. may be used to describe various steps or calculations, but it should be understood that these steps or calculations should not be limited by these terms. These terms are used only to distinguish one operation or calculation from another operation or calculation. For example, a first calculation can be referred to as a second calculation, and similarly, a second step can be referred to as a first step, without departing from the scope of this disclosure. As used herein, the term "and / or" and the " / " symbol include any and all combinations of one or more of the associated listed items.

[0068] As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly dictates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including," as used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Accordingly, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

Claims

1. 1. A dental robotic system, comprising: a fiducial marker adapted to be engaged with the maxillofacial anatomical structure; Mandibular correction elements; an articulating arm member having an end effector engaged at a distal end thereof, the end effector being positioned to selectively receive a mandibular correction element in a predetermined spatial relationship with the end effector; A control device having a processor and a memory storing a computer program product, the computer program product comprising the steps of: communicating with the fiducial markers, the articulating arm members, and the end effector to determine a placement of the end effector relative to the fiducial markers during movement of the end effector according to a virtual treatment plan to place the mandibular orthodontic element in registered relationship with the maxillofacial anatomy; directing the articulating arm members to physically control the permissible movement of the end effector directly relative to the placement of the end effector relative to fiducial markers engaged to the maxillofacial anatomical structure in accordance with the virtual treatment plan to position the mandibular orthodontic element in an aligned relationship for fixation to the maxillofacial anatomical structure; Executable by a processor executing A control device; Equipped with The system further comprises a prosthesis or a surgical guide. the end effector is further disposed to selectively receive a prosthesis, a surgical guide, or a mandibular orthodontic element in a predetermined spatial relationship with the end effector; When the end effector selectively receives a prosthesis or a surgical guide, The controller is further configured to communicate with the fiducial markers, the articulating arm members, and the end effector to determine an orientation of the end effector relative to the fiducial markers during movement of the end effector according to a virtual treatment plan for placing a prosthesis or a surgical guide in registered relationship with respect to the maxillofacial anatomical structure; and and configured to perform the step of directing the articulating arm members to physically control the permissible movement of the end effector directly relative to the placement of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structures in accordance with the virtual treatment plan to place the prosthesis or surgical guide in registered relationship relative to the maxillofacial anatomical structures; Optionally, the end effector is configured to directly and selectively receive a prosthesis, a surgical guide, or a mandibular orthodontic element in a predetermined spatial relationship therewith; or Optionally, the end effector is configured to receive an interface in a predetermined spatial relationship thereto, the interface being positioned to selectively receive a prosthesis, a surgical guide, or an orthognathic element in the predetermined spatial relationship thereto, in a dental robotic system.

2. 2. The system of claim 1, wherein execution of the computer program product by the processor of the controller causes the controller to perform the step of instructing the end effector to provide haptic feedback if movement of the end effector deviates from the virtual treatment plan during execution of the virtual treatment plan.

3. The system of claim 1 , comprising a splint appliance that physically and securely interacts with the maxillofacial anatomical structures and is operatively engaged with the fiducial markers.

4. The system of claim 1 , wherein the controller or end effector is configured to provide audio or visual feedback if movement of the end effector deviates from the virtual treatment plan.

5. The system described in claim 1, wherein the interface is an occlusal device arranged to selectively receive the prosthetic device in a predetermined spatial relationship.

6. 2. The system of claim 1, wherein the control device is configured to direct the articulating arm members to physically control permissible movement of the end effector directly relative to placement of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structure in accordance with a virtual treatment plan to position the prosthesis in aligned relationship with one or more implant anchors embedded in the maxillofacial anatomical structure for fixing the prosthesis.

7. 2. The system of claim 1, wherein the control device is configured to instruct the articulating arm member to physically control the allowable movements of the end effector directly relative to placement of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structure in accordance with the virtual treatment plan to position the surgical guide in an aligned relationship with the maxillofacial anatomical structure, the surgical guide defining one or more guide holes or having one or more guide inserts engaged with the guide holes, each of the one or more guide inserts defining a guide hole to enable a fixation hole to be drilled through the guide hole in the maxillofacial anatomical structure or to enable a fastener to be received through the guide hole for engagement with the fixation hole to fix the surgical guide to the maxillofacial anatomical structure.

8. 10. The system of claim 1, wherein the prosthesis defines one or more guide holes or has one or more guide inserts engaged with the guide holes, each of the one or more guide inserts defining a guide hole such that the prosthesis is a surgical guide.

9. 2. The system of claim 1, wherein the mandibular correction element is a portion of the maxillofacial anatomical structure separated from the remainder of the maxillofacial anatomical structure, and the control device is configured to instruct the articulating arm member to physically control the allowable movement of the end effector directly relative to the positioning of the end effector relative to fiducial markers engaged with the maxillofacial anatomical structure according to the virtual treatment plan to position the portion of the maxillofacial anatomical structure in an aligned relationship with the remainder of the maxillofacial anatomical structure to enable fixation holes to be drilled in the portion or remainder of the maxillofacial anatomical structure or to enable fasteners to be engaged with the fixation holes to secure brackets between the portion and remainder of the maxillofacial anatomical structure.

10. 2. The system of claim 1, further comprising a detector engaged with a distal end of the tracking arm, the tracking arm and the detector in communication with a control device, the detector positioned in a spaced relationship to the reference marker to detect the reference marker, and cooperating with the control device to determine a spatial relationship to the reference marker.

11. The system of claim 10 , wherein the detector is an electrical detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof.

12. 10. The system of claim 1, comprising a tracking arm having a distal end that is physically engaged with the fiducial marker, the tracking arm being in communication with the controller and configured to cooperate with the controller to determine a spatial relationship with the fiducial marker.

13. The system of claim 1 , wherein the fiducial marker is positioned to communicate with the controller via an electrical communication system, a mechanical communication system, an electromechanical communication system, an electromagnetic communication system, an optical communication system, an infrared communication system, or a combination thereof.

14. The system of claim 1 , wherein the fiducial marker is arranged to communicate with the controller via a wireless communication system or a wired communication system.

15. The system of claim 1 , wherein the control device is arranged to facilitate graphic manipulation of images of the maxillofacial anatomical structures to generate a virtual treatment plan.

16. 1. A method of operating a dental robotic system, the dental robotic system comprising: a means for engaging the fiducial markers with the maxillofacial anatomy model; means for selectively receiving a mandibular correction element in a predetermined spatial relationship with an end effector engaged with a distal end of the articulating arm member; means for generating a virtual treatment plan for positioning the mandibular orthodontic element in a registered relationship with respect to the maxillofacial anatomical model for fixing the mandibular orthodontic element to the maxillofacial anatomical model; a control device for executing a computer program product using a processor; Equipped with The method comprises: a controller communicating with the fiducial markers, the articulating arm members, and the end effector to determine a placement of the end effector relative to the fiducial markers during movement of the end effector according to a virtual treatment plan; a controller communicating with the articulating arm members to instruct the articulating arm members to physically control the allowable movements of the end effector directly relative to the placement of the end effector relative to the fiducial markers in accordance with the virtual treatment plan; Equipped with The dental robotic system further comprises means for selectively receiving a prosthesis, a surgical guide, or an orthognathic element in a predetermined spatial relationship with the end effector; When the end effector selectively receives a prosthesis or a surgical guide, the means for generating a virtual treatment plan further comprises means for generating a virtual treatment plan for placing the prosthesis or the surgical guide in registered relationship with respect to the maxillofacial anatomical model; Optionally, the end effector is configured to directly and selectively receive a prosthesis, a surgical guide, or a mandibular orthodontic element in a predetermined spatial relationship therewith; or Optionally, the end effector is configured to receive an interface in a predetermined spatial relationship thereto, and the interface is positioned to selectively receive a prosthesis, a surgical guide, or a mandibular orthodontic element in the predetermined spatial relationship thereto.

17. 17. The method of claim 16, wherein the controller is further configured to instruct the end effector to provide haptic feedback if movements of the end effector deviate from the virtual treatment plan during execution of the virtual treatment plan.

18. 17. The method of claim 16, wherein the means for engaging the fiducial marker comprises means for physically and securely interacting a splint appliance operably engaged with the fiducial marker with the maxillofacial anatomical model.

19. The method of claim 16 , wherein the controller or end effector is configured to provide audio or visual feedback if the movement of the end effector deviates from the virtual treatment plan.

20. 17. The method of claim 16, wherein the interface is an occlusal appliance, the occlusal appliance configured to receive the prosthesis in a predetermined spatial relationship.

21. 17. The method of claim 16, wherein the control device is configured to instruct the articulating arm members to physically control the allowable movement of the end effector directly relative to the placement of the end effector relative to the fiducial markers in accordance with the virtual treatment plan to position the prosthesis in registered relationship with one or more implant anchors embedded in the maxillofacial anatomical model for securing the prosthesis.

22. 17. The method of claim 16, wherein the control device is configured to instruct the articulating arm members to physically control the allowable movements of the end effector directly relative to the placement of the end effector relative to the fiducial markers in accordance with the virtual treatment plan to position the surgical guide in an aligned relationship with the maxillofacial anatomical model, the surgical guide defining one or more guide holes or having one or more guide inserts engaged with the guide holes, each of the one or more guide inserts defining a guide hole to enable a fixation hole to be drilled through the guide hole in the maxillofacial anatomical model or to enable a fastener to be received through the guide hole for engagement with the fixation hole to fix the surgical guide to the maxillofacial anatomical model.

23. 17. The method of claim 16, further comprising forming one or more guide holes in the prosthesis or engaging one or more guide inserts with the prosthesis, each of the one or more guide inserts defining a guide hole such that the prosthesis is a surgical guide.

24. 17. The method of claim 16, wherein the mandibular correction element is a portion of the maxillofacial anatomical model separate from the remainder of the maxillofacial anatomical model, and the control device is configured to direct the articulating arm member to physically control the allowable movement of the end effector directly relative to the positioning of the end effector relative to fiducial markers engaged with the maxillofacial anatomical model in accordance with the virtual treatment plan to position the portion of the maxillofacial anatomical model in an aligned relationship with the remainder of the maxillofacial anatomical model to enable fixation holes to be drilled in the portion or remainder of the maxillofacial anatomical model or to enable fasteners to be engaged with the fixation holes to secure brackets between the portion and remainder of the maxillofacial anatomical model.

25. 17. The method of claim 16, wherein the controller is configured to communicate with the reference marker via a detector engaged with a distal end of the tracking arm, the tracking arm and the detector in communication with the controller, the detector positioned in a spaced relationship to the reference marker to detect the reference marker, and cooperating with the controller to determine a spatial relationship to the reference marker.

26. 17. The method of claim 16, wherein the controller is configured to communicate with the fiducial marker via an electrical detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof, engaged with the distal end of the tracking arm.

27. 17. The method of claim 16, wherein the controller is configured to communicate with the fiducial marker via a distal end of the tracking arm, the distal end being physically engaged with the fiducial marker, the tracking arm being positioned to communicate with the controller and cooperate with the controller to determine a spatial relationship with the fiducial marker.

28. 17. The method of claim 16, wherein the controller is configured to communicate with the fiducial marker via an electrical communication system, a mechanical communication system, an electromechanical communication system, an electromagnetic communication system, an optical communication system, an infrared communication system, or a combination thereof.

29. The method of claim 16 , wherein the controller is configured to communicate with the fiducial marker via a wireless communication system or a wired communication system.

30. 17. The method of claim 16, wherein the control device is configured to graphically manipulate images of the maxillofacial anatomical model to generate a virtual treatment plan.

Images