Robot System

Abstract

The robotic system includes a tracking arm in communication with a reference location for the site. The robotic arm has a treatment tool / end effector engaged with the robotic arm and a proximal end disposed in a known relationship with the proximal end of the tracking arm. A controller, via the robot and tracking arm, determines an actual spatial relationship between the treatment tool and the reference location in three-dimensional space and directs the treatment tool to a staging location adjacent the site according to a motion plan and by adjusting movement of the robotic arm based on the actual spatial relationship. An actuator is spaced from the treatment tool and in communication with the controller. The actuator actuates the controller to orient the robotic arm to autonomously move the treatment tool from the staging location according to the motion plan to interact with the site and perform a treatment.

Description

[Technical Field]

[0001] This application relates to robotic systems, and more particularly to robotic systems having remotely driven autonomous modes, as well as methods of operating and forming such robotic systems. [Background technology]

[0002] While illnesses are commonly shared at work, the risk of exposure may be significantly higher for dental professionals who use power tools such as ultrasonics, air polishers, and drills. Bacteria and viruses can spread rapidly through droplets, aerosols, and particulate debris generated by these types of treatments. For example, aerosols, particulate debris, and droplets generated by ultrasonics, drills, and air polishing can contain saliva, blood, bacteria, and pathogens. When released into the air, aerosol particles can linger in the environment for an hour or more, while particulate debris and droplets can land on surfaces and quickly surround the treatment area. This poses a primary risk to dental professionals, as well as the risk of spreading common cold and influenza viruses, herpes viruses, pathogenic streptococci or staphylococci, severe acute respiratory syndrome (SARS), and tuberculosis (TB), for example.

[0003] Furthermore, when performing dental procedures using such power tools, the patient is often in a reclining position, and the dental professional must either contort their body to reach the patient's mouth or manipulate a small, handheld mirror to be able to view the procedure while it is being performed. This is the case when the procedure is performed using tools that engage a guided robotic system. Accordingly, such dental procedures are often cumbersome, user-unfriendly, and non-ergonomic for the dental professional, and may increase the risk of exposure of the dental professional to dangerous aerosols and particulate matter resulting from the procedure. Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, there is a need for a robotic system, in some examples, a dental robotic system, to facilitate effective control of the spread of infection and contamination, particularly to dental healthcare professionals, by limiting their exposure to aerosols and particulate debris resulting from dental / maxillofacial procedures. There is also a need for a robotic system that allows dental healthcare professionals to perform dental / maxillofacial procedures in a user-friendly, distanced, and ergonomic manner. Such a robotic system preferably is effective without limiting the mobility of dental tools or the accessibility of dental tools to dental / maxillofacial structures, while allowing dental healthcare professionals to perform dental / maxillofacial structures without having to be in close proximity to the actual interaction between the dental tools and the dental / maxillofacial structures. [Means for solving the problem]

[0005] These and other needs are met by aspects of the present disclosure, which in one particular aspect provide a robotic system including a tracking arm having a distal end configured to communicate with a reference location at or adjacent to a site or an object received at the site, the reference location disposed in three-dimensional space relative to a proximal end of the tracking arm. The robotic arm has a treatment tool engaged with the distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with the site or object, and the robotic arm having a proximal end disposed in a known relationship to the proximal end of the tracking arm. A controller includes a processor and memory, and is configured in operative communication with the tracking arm, the robotic arm, and the treatment tool. The controller is configured to determine, via the robotic arm and the tracking arm, an actual spatial relationship between the treatment tool and the reference location in three-dimensional space, the actual spatial relationship including a location of the distal end of the treatment tool's end effector relative to the reference location. The controller is further configured to direct the treatment tool to a staging position adjacent to the site or object by adjusting movement of the robotic arm according to the motion plan and based on the actual spatial relationship. The motion plan includes a route traversed by the end effector to and from the site or object during a procedure performed by the end effector at the site or object. The actuator is disposed in a spaced relationship from the treatment tool and is configured in communication with the controller. The actuator is configured to operate the controller to direct the robotic arm to autonomously move the treatment tool from the staging position according to the motion plan relative to the reference location so that the end effector interacts with the site or object and so that the treatment tool performs a procedure at the site or object using the end effector.

[0006] Another aspect of the present disclosure provides a method of operating a robotic system, the method including configuring a distal end of a tracking arm in communication with a reference location at or adjacent to a site or an object received at the site, the reference location disposed relative to a proximal end of the tracking arm in three-dimensional space. A treatment tool is configured to engage the distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with the site or object, and the robotic arm having a proximal end disposed in a known relationship to the proximal end of the tracking arm. Using a controller including a processor and memory and configured in operative communication with the tracking arm, the robotic arm, and the treatment tool, an actual spatial relationship between the treatment tool and the reference location in three-dimensional space is determined via the robotic arm and the tracking arm, the actual spatial relationship including a location of the distal end of the treatment tool end effector relative to the reference location. The treatment tool is directed to a staging position adjacent to the site or object by coordinating movement of the robotic arm using a controller device according to a motion plan and based on the actual spatial relationship. The motion plan includes a route traversed by the end effector to and from the site or object during a procedure performed by the end effector at the site or on the object. An actuator configured in spaced relationship to the treatment tool and in communication with the controller is actuated to operate the controller to orient the robotic arm to autonomously move the treatment tool from the staging position according to the motion plan relative to a reference location so that the end effector interacts with the site or object and so that the treatment tool performs a procedure using the end effector at the site or on the object.

[0007] Yet another aspect of the present disclosure provides a method of forming a robotic system, including configuring a robotic arm such that its proximal end is disposed in a known relationship with a proximal end of a tracking arm, the tracking arm having a distal end adapted to communicate with a reference location at or adjacent to a site or an object received at the site, the reference location being disposed in three-dimensional space relative to the proximal end of the tracking arm. A treatment tool is engaged with the distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with the site or object. A controller, i.e., a controller including a processor and a memory, is configured in operative communication with the tracking arm, the robotic arm, and the treatment tool. The controller is configured to determine, via the robotic arm and the tracking arm, an actual spatial relationship between the treatment tool and the reference location in three-dimensional space, the actual spatial relationship including a location of the distal end of the treatment tool's end effector relative to the reference location. The treatment tool is directed to a staging position adjacent to the site or object by adjusting movement of the robotic arm according to a motion plan and based on the actual spatial relationship. The motion plan includes a route traversed by the end effector to and from the site or object during a procedure performed by the end effector at the site or on the object. An actuator is configured in spaced relation to the treatment tool and in communication with the controller, the actuator configured to operate the controller to direct the robotic arm to autonomously move the treatment tool from the staging position according to the motion plan relative to a reference location so that the end effector interacts with the site or object and so that the treatment tool performs a procedure at the site or on the object using the end effector.

[0008] Accordingly, the present disclosure includes, but is not limited to, the following exemplary embodiments.

[0009] Exemplary embodiment 1: A robotic system comprising: a tracking arm having a distal end configured to communicate with a reference location at or adjacent to a site or an object received at the site, the reference location being disposed relative to a proximal end of the tracking arm in three-dimensional space; a robotic arm having a treatment tool engaged with the distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with the site or object, the robotic arm having a proximal end disposed in a known relationship with the proximal end of the tracking arm; and a controller including a processor and memory configured in operative communication with the tracking arm, the robotic arm, and the treatment tool, and configured to determine, via the robotic arm and the tracking arm, an actual spatial relationship between the treatment tool and the reference location in three-dimensional space, the actual spatial relationship being related to the reference location. a controller configured to direct the treatment tool to a staging position adjacent to a site or object by adjusting movement of the robot arm according to a motion plan and based on an actual spatial relationship, the motion plan including the location of a distal end of an end effector of the associated treatment tool, the robot arm moving the treatment tool to a staging position adjacent to the site or object, the motion plan including a route traversed by the end effector to and from the site or object during a procedure performed by the end effector at the site or on the object; and an actuator disposed in a spaced relationship with the treatment tool and in communication with the controller, the actuator configured to actuate the controller to direct the robot arm to autonomously move the treatment tool from the staging position according to the motion plan relative to a reference location, such that the end effector interacts with the site or object and such that the treatment tool performs a procedure using the end effector at the site or on the object.

[0010] Exemplary Embodiment 2: A system as any preceding exemplary embodiment, or a combination thereof, wherein the controller is remote from the treatment tool and the controller includes an actuator.

[0011] Exemplary Embodiment 3: A system of any preceding exemplary embodiment, or a combination thereof, wherein the actuator is separate and distinct from the controller.

[0012] Exemplary Embodiment 4: A system as in any preceding exemplary embodiment, or a combination thereof, wherein the actuator is separated from the treatment tool by a barrier between the actuator and the treatment tool.

[0013] Exemplary Embodiment 5: A system that is any preceding exemplary embodiment, or a combination thereof, wherein the controller is configured to direct the robotic arm to autonomously return the treatment tool to a staging position or to a retracted position away from the site or object upon completion of a treatment on the site or object or in response to an actuator actuating the controller to retract the treatment tool to the retracted position.

[0014] Exemplary Embodiment 6: A system that is any preceding exemplary embodiment, or a combination thereof, wherein the controller is configured to change the actual spatial relationship between the treatment tool and the reference location in response to movement of the reference location while the treatment tool is in a staging position.

[0015] Exemplary Embodiment 7: A system that is any preceding exemplary embodiment, or a combination thereof, wherein when the robotic arm is directed by the controller to autonomously move the treatment tool from a staging position according to a motion plan so that the end effector interacts with a site or object, or so that the treatment tool performs a treatment at a site or on an object using the end effector, the controller is configured to modify the actual spatial relationship between the treatment tool and the reference location relative to the movement of the reference location.

[0016] Exemplary Embodiment 8: A system being any preceding exemplary embodiment, or a combination thereof, comprising a drive unit in communication with the controller and operably engaged with the robotic arm, or operably engaged between the robotic arm and the treatment tool, or operably engaged with the treatment tool, wherein the drive unit cooperates with the robotic arm via the controller in response to actuation of the actuator to autonomously move the treatment tool from a staging position according to a motion plan so that the end effector interacts with a site or object and so that the treatment tool performs a treatment at the site or on the object using the end effector.

[0017] Exemplary Embodiment 9: A system of any preceding exemplary embodiment, or a combination thereof, wherein the robotic arm comprises a plurality of interconnected arm segments having one or more position sensors engaged thereto, and the controller is configured to determine, from position data from the one or more position sensors, a location of a distal end of an end effector of the treatment tool relative to a proximal end of the robotic arm.

[0018] Exemplary Embodiment 10: A system that is any preceding exemplary embodiment, or a combination thereof, wherein the tracking arm comprises a plurality of interconnected arm segments having one or more position sensors engaged thereto, and the controller is configured to determine a location of a distal end of the tracking arm relative to a proximal end of the tracking arm from position data from the one or more position sensors.

[0019] Exemplary Embodiment 11: A method of operating a robotic system, comprising: configuring a distal end of a tracking arm in communication with a reference location at or adjacent to a site or an object received at the site, the reference location being disposed in three-dimensional space relative to a proximal end of the tracking arm; configuring a treatment tool in engagement with the distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with the site or object, the robotic arm having a proximal end disposed in a known relationship with the proximal end of the tracking arm; and determining, via the robotic arm and tracking arm, an actual spatial relationship in three-dimensional space between the treatment tool and the reference location, using a controller including a processor and memory and configured in operative communication with the tracking arm, the robotic arm, and the treatment tool, the actual spatial relationship being determined. and directing the treatment tool to a staging position adjacent to the site or object by adjusting movement of a robotic arm using a controller device according to a motion plan and based on the actual spatial relationship, the motion plan including a route traversed by the end effector to and from the site or object during a procedure performed by the end effector at the site or on the object; and actuating an actuator configured in spaced relationship to the treatment tool and in communication with the controller, wherein the controller operates to direct the robotic arm to autonomously move the treatment tool from the staging position according to the motion plan relative to the reference location so that the end effector interacts with the site or object and so that the treatment tool performs a procedure at the site or on the object using the end effector.

[0020] Exemplary Embodiment 12: The method of any preceding exemplary embodiment, or a combination thereof, wherein actuating the actuator includes actuating an actuator included in a controller, the controller being remote from the treatment tool.

[0021] Exemplary Embodiment 13: The method of any preceding exemplary embodiment, or a combination thereof, wherein actuating the actuator includes actuating an actuator that is separate and distinct from the controller.

[0022] Exemplary Embodiment 14: The method of any preceding exemplary embodiment, or combination thereof, wherein actuating the actuator includes actuating an actuator that is separated from the treatment tool by a barrier between the actuator and the treatment tool.

[0023] Exemplary Embodiment 15: A method that is any preceding exemplary embodiment, or a combination thereof, including directing the robotic arm by the controller to autonomously return the treatment tool to a staging position or to a retracted position away from the site or object upon completion of a treatment on the site or object or in response to an actuator actuating the controller to retract the treatment tool to a retracted position.

[0024] Exemplary Embodiment 16: A method that is any preceding exemplary embodiment, or a combination thereof, including changing, by the controller, the actual spatial relationship between the treatment tool and the reference location in response to movement of the reference location while the treatment tool is in a staging position.

[0025] Exemplary Embodiment 17: A method that is any preceding exemplary embodiment, or a combination thereof, including, when the robotic arm is directed by the controller to autonomously move the treatment tool from a staging position according to a motion plan so that the end effector interacts with a site or object, or so that the treatment tool performs a treatment at the site or on an object using the end effector, changing the actual spatial relationship between the treatment tool and the reference location relative to the movement of the reference location.

[0026] Exemplary Embodiment 18: The method of any preceding exemplary embodiment, or a combination thereof, wherein actuating the actuator includes actuating the actuator to actuate a drive unit, the drive unit being in communication with the controller and operatively engaged with the robotic arm, or operatively engaged between the robotic arm and the treatment tool, or operatively engaged with the treatment tool, and the drive unit, in response to actuation of the actuator, cooperates with the robotic arm via the controller to autonomously move the tool from a staging position according to a motion plan so that the end effector interacts with a site or object and so that the treatment tool performs a treatment at the site or on the object using the end effector.

[0027] Exemplary Embodiment 19: The method of any preceding exemplary embodiment, or a combination thereof, wherein the robotic arm comprises a plurality of interconnected arm segments having one or more position sensors engaged thereto, and wherein determining the actual spatial relationship includes determining, using the controller, a location of a distal end of an end effector of the treatment tool relative to a proximal end of the robotic arm from position data from the one or more position sensors.

[0028] Exemplary Embodiment 20: The method of any preceding exemplary embodiment, or a combination thereof, wherein the tracking arm comprises a plurality of interconnected arm segments having one or more position sensors engaged thereto, and determining the actual spatial relationship includes determining, using a controller, a location of a distal end of the tracking arm relative to a proximal end of the tracking arm from position data from the one or more position sensors.

[0029] Exemplary Embodiment 21: A method of forming a robotic system, comprising: configuring a robotic arm such that a proximal end of the robotic arm is disposed in a known relationship with a proximal end of a tracking arm, the tracking arm having a distal end adapted to communicate with a reference location at or adjacent to a site or an object received at the site, the reference location being disposed in three-dimensional space relative to the proximal end of the tracking arm; engaging a treatment tool with the distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with the site or object; and configuring a controller, the controller including a processor and memory, in operative communication with the tracking arm, the robotic arm, and the treatment tool, the controller determining, via the robotic arm and the tracking arm, an actual spatial relationship between the treatment tool and the reference location in three-dimensional space. determining a location of a distal end of an end effector of the treatment tool relative to a reference location, the actual spatial relationship including a location of a distal end of the end effector of the treatment tool relative to the reference location, and directing the treatment tool to a staging position adjacent to the site or object by adjusting movement of the robotic arm according to a motion plan and based on the actual spatial relationship, the motion plan including a route traversed by the end effector to and from the site or object during a procedure performed by the end effector at the site or on the object; and configuring an actuator in spaced relationship to the treatment tool and in communication with a controller, the actuator configured to operate the controller to direct the robotic arm to autonomously move the treatment tool from the staging position according to the motion plan relative to the reference location, such that the end effector interacts with the site or object and such that the treatment tool performs a procedure at the site or on the object using the end effector.

[0030] Exemplary Embodiment 22: The method of any preceding exemplary embodiment, or a combination thereof, wherein configuring the actuator includes configuring the actuator to be included in a controller and configuring the controller to be spaced apart from the treatment tool.

[0031] Exemplary Embodiment 23: The method of any preceding exemplary embodiment, or a combination thereof, wherein configuring the actuator includes configuring the actuator such that the actuator is separate and distinct from the controller.

[0032] Exemplary Embodiment 24: The method of any preceding exemplary embodiment, or combination thereof, wherein configuring the actuator includes configuring the actuator such that the actuator is separated from the treatment tool by a barrier between the actuator and the treatment tool.

[0033] Exemplary Embodiment 25: The method of any preceding exemplary embodiment, or combination thereof, including configuring the controller to direct the robotic arm to autonomously return the treatment tool to a staging position or to a retracted position away from the site or object upon completion of a treatment on the site or object or in response to an actuator actuating the controller to retract the treatment tool to a retracted position.

[0034] Exemplary Embodiment 26: The method of any preceding exemplary embodiment, or a combination thereof, wherein configuring the controller includes configuring the controller to change the actual spatial relationship between the treatment tool and the reference location in response to movement of the reference location while the treatment tool is in the staging position.

[0035] Exemplary Embodiment 27: A method, any preceding exemplary embodiment, or combination thereof, including configuring the controller to modify the actual spatial relationship between the treatment tool and the reference location relative to movement of the reference location when the robotic arm is directed by the controller to autonomously move the treatment tool from a staging position according to a motion plan so that the end effector interacts with a site or object, or so that the treatment tool performs a procedure using the end effector at the site or on the object.

[0036] Exemplary Embodiment 28: The method of any preceding exemplary embodiment, or a combination thereof, wherein configuring the actuator includes configuring the actuator to actuate a drive unit, the drive unit being in communication with the controller and operably engaged with the robotic arm, or operably engaged between the robotic arm and the treatment tool, or operably engaged with the treatment tool, and configured to cooperate with the robotic arm via the controller in response to actuation of the actuator to autonomously move the tool from a staging position according to a motion plan so that the end effector interacts with a site or object and so that the treatment tool performs a treatment at the site or on the object using the end effector.

[0037] Exemplary Embodiment 29: The method of any preceding exemplary embodiment, or a combination thereof, wherein the robotic arm comprises a plurality of interconnected arm segments having one or more position sensors engaged thereto, and wherein configuring the controller includes configuring the controller to determine a location of a distal end of an end effector of the treatment tool relative to a proximal end of the robotic arm from position data from the one or more position sensors.

[0038] Exemplary Embodiment 30: The method of any preceding exemplary embodiment, or a combination thereof, wherein the tracking arm comprises a plurality of interconnected arm segments having one or more position sensors engaged thereto, and configuring the controller includes configuring the controller to determine a location of a distal end of the tracking arm relative to a proximal end of the tracking arm from position data from the one or more position sensors.

[0039] These and other features, aspects, and advantages of the present disclosure will become apparent from the following detailed description read 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 described in the description of a specific embodiment herein. The present disclosure is intended to be read as a whole such that any separable features or elements of the present disclosure, in any of its aspects and embodiments, are to be considered as intended, i.e., combinable, unless the context of the present disclosure clearly requires otherwise.

[0040] It should be understood that the summary herein is provided merely for the purpose of outlining some exemplary aspects to provide a basic understanding of the present disclosure. Accordingly, it should be understood that the exemplary aspects described above are examples only and should not be construed to narrow the scope and spirit of the present disclosure in any way. It should be understood that the scope of the present disclosure encompasses many potential aspects, some of which, in addition to those generally described herein, are further described below. 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.

[0041] Having thus described the disclosure in general terms, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale. [Brief explanation of the drawings]

[0042] [Figure 1] FIG. 10 is a schematic diagram illustrating an alternative aspect of a robotic system implemented according to aspects of the disclosed method. [Figure 2] FIG. 10 is a schematic diagram illustrating an alternative embodiment of a robotic system that is self-propelled according to aspects of the method of the present disclosure. [Figure 3] FIG. 3 is a diagram illustrating an exemplary interaction between a robotic system and a site / object, such as that shown in FIGS. 1 and 2. [Figure 4] 3A and 3B are schematic diagrams illustrating alternative configurations of remote actuators for actuating an autonomous mode of a robotic system such as that shown in FIGS. 1 and 2, according to an embodiment of the present disclosure. [Figure 5] 3A and 3B are schematic diagrams illustrating alternative configurations of remote actuators for actuating an autonomous mode of a robotic system such as that shown in FIGS. 1 and 2, according to an embodiment of the present disclosure. [Figure 6] 3A and 3B are schematic diagrams illustrating alternative configurations of remote actuators for actuating an autonomous mode of a robotic system such as that shown in FIGS. 1 and 2, according to an embodiment of the present disclosure. [Figure 7] FIG. 3 is a diagram illustrating a method of operating a robotic system such as that shown in FIGS. 1 and 2, according to one embodiment of the present disclosure. [Figure 8] FIG. 3 is a schematic diagram illustrating a method of forming a robotic system such as that shown in FIGS. 1 and 2, according to another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0043] The present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all, aspects of the disclosure are shown. Indeed, this 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.

[0044] 1 schematically illustrates a robotic system 100 according to one embodiment of the present disclosure. Such a system includes a treatment tool 200 having an end effector 300 adapted to interact with a site 25 or an object 50 received at the site 25. The site 25 may be a maxillofacial structure or a dental structure, and the object 50 may be a tooth, a dental implant / crown, or the like.

[0045] While embodiments of the present disclosure include examples relating a robotic system to maxillofacial / dental tissues or structures, those skilled in the art will understand that references to maxillofacial / dental tissues or structures in some embodiments are intended merely to provide examples of subjects interacted with / by the disclosed treatment tools / end effectors and / or robotic systems. In other cases, references to "subjects" herein relate to and explicitly refer to non-human subjects. In some examples, such non-human subjects are maxillofacial / dental tissue models, or maxillofacial / dental structure models, or other non-human representations or replicas of such tissues or structures. The systems and methods disclosed herein may be implemented, for example, to provide convenient and effective training tools or facilities for dental professionals to develop their skills with respect to the procedures and tools described herein. Furthermore, while the methods disclosed and claimed herein are particularly directed to the control and operation of the systems described and claimed herein, such methods are not particularly directed to methods of surgery on humans, but instead relate to the operation of robotic systems and / or treatment tools and end effectors in connection with the training procedures set forth above.

[0046] Additionally, while aspects of the present disclosure illustrate exemplary procedures involving maxillofacial / dental tissues, those skilled in the art will appreciate that the concepts of the robotic systems and methods disclosed herein may find applicability to other surgical processes that do not involve dental surgery, such as, for example, orthopedic surgery, ENT surgery, and neurosurgery. Thus, the aspects of the disclosure presented herein are merely examples of the applicability of the disclosed concepts and are not intended to be limiting in any way. That is, aspects of the robotic systems disclosed herein may be otherwise applicable to various regions of a patient to facilitate other types of surgery in addition to dental procedures.

[0047] 1 and 2, the treatment tool 200 is a drilling device and the end effector 300 is a drill bit or abrasive bit. In other embodiments, the treatment tool 200 is an ultrasonic cleaner and the end effector 300 is a cleaning tip. In yet other embodiments, the treatment tool 200 is a pneumatic abrasive polisher and the end effector 300 is a polishing tip. The treatment tool 200 engages with the distal end 725 of the articulating robotic arm 750 of the robotic system 100, and the end effector 300 of the treatment tool 200 is adapted to interact with the site 25 and / or the object 50 received at the site.

[0048] A controller 800, which may comprise or include a dedicated computer and includes at least a processor and memory, is configured in communication with the articulated robotic arm 750, the treatment tool 200, and a fiducial marker 900 (see, e.g., FIG. 3 ). The fiducial marker 900 is adapted to engage a reference location 10 at the site 25 or adjacent to the object 50. The controller 800 is configured to determine the disposition of the end effector 300 relative to the fiducial marker 900, for example, during movement of the end effector 300 to interact with the site 25 or the object 50. The controller 800 is further configured to orient the articulated robotic arm 750 to physically control or adjust the allowable movement of the treatment tool 200, in direct relation to the disposition of the end effector 300 with respect to the fiducial marker 900 engaged with the reference location 10, for example, to account for and accommodate movement of the site 25 or the object 50 during a robotic procedure. For example, in some embodiments, the controller 800 is implemented to develop a plan, procedure, or action, which includes directing the treatment tool 200 / end effector 300 to traverse a route approaching the site 25 or object 50 (i.e., a staging position) and a route away from the staging position / site 25 or object 50, as well as a subsequent route along which the treatment tool 200 / end effector 300 is manipulated to interact with the site 25 or object 50, and the end effector 300 performs the plan / procedure / action (in some examples, on an established trajectory).

[0049] According to aspects of the present disclosure, the developed plan / operation / action details the movement, including the trajectory of the treatment tool 200 / end effector 300 along a route to a staging position and a route toward and engaging the site 25 or object 50, while the articulated robotic arm 750 (to which the treatment tool 200 is attached at its distal end 725) includes structure and adjustment features that allow the treatment tool 200 to be manually moved along an allowable path or route according to the plan / operation / action. However, by using the articulated robotic arm 750, manual movement of the treatment tool 200 outside the allowable path or route is limited, impeded, or otherwise prevented.

[0050] In some embodiments (see, e.g., FIG. 1 ), a distal end 1025 of the tracking arm 1050 physically engages the fiducial marker 900. The tracking arm 1050 is a separate and distinct element from the articulated robotic arm 750. Furthermore, the tracking arm 1050 is in communication with the controller 800, and thus the controller 800 is configured to cooperate with the controller 800 to determine the spatial relationship between the fiducial marker 900 / reference location 10 and the end effector 300 (i.e., via the articulated robotic arm 750 and the tracking arm 1050). In other embodiments (see, e.g., FIG. 2 ), the robotic system 100 includes a detector 1000 engaged with the distal end 1025 of the tracking arm 1050, and the tracking arm 1050 is a separate and distinct element from the articulated robotic arm 750. The tracking arm 1050 and the detector 1000 are configured in communication with the controller 800. The detector 1000 is further configured to cooperate with the tracking arm 1050 to position the detector 1000 in a spaced relationship with the fiducial marker 900 engaged with the reference location 10, detect the fiducial marker 900, and cooperate with the controller 800 to determine (via the articulated robot arm 750 and the tracking arm 1050) the spatial relationship between the fiducial marker 900 / reference location 10 and the end effector 300. In certain exemplary embodiments, the detector 1000 is an electrical detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof.

[0051] In some embodiments, the articulated robotic arm 750 has a proximal end 720 opposite a distal end 725. One or more sensors 730 are operatively engaged with the articulated robotic arm 750 and configured to sense position data associated with the articulated robotic arm 750. For example, the one or more sensors 730 engage one of the arm members of the articulated robotic arm 750 and / or a joint engaged between the arm members or between the arm members and other components of the articulated robotic arm 750 (e.g., between the proximal end 720 of the articulated robotic arm 750 and the base member 715). In this manner, the position data sensed by the one or more sensors 730 includes, for example, the spatial relationship (e.g., orientation, position, etc.) of the articulated robotic arm 750 and / or its components in three-dimensional space. In some examples, this spatial relationship is determined with respect to the base member 715 to which the proximal end 720 of the articulated robotic arm 750 is attached. Thus, in some embodiments, one or more sensors 730 are engaged with the articulated robotic arm 750 such that position data sensed by the one or more sensors 730 is indicative of at least the spatial position of at least the distal end 725 of the articulated robotic arm 750 in three-dimensional space, and in some examples relative to the base member 715 / proximal end 720 of the articulated robotic arm 750. The position of the treatment tool 200 / end effector 300 in three-dimensional space is related to, known or determined from, or otherwise associated with the position data of the one or more sensors 730 and the position of the distal end 725 of the articulated robotic arm 750 determined from engagement of the treatment tool 200 with the distal end 725 of the articulated robotic arm 750. Thus, the location of the distal end of the end effector 300 relative to the proximal end 720 of the robotic arm 750 is determined from the position data from the one or more position sensors 730.

[0052] In some embodiments, the tracking arm 1050 has a proximal end 1020 opposite a distal end 1025. One or more sensors 1030 are operably engaged with the tracking arm 1050 and configured to sense position data associated with the tracking arm 1050. For example, the one or more sensors 1030 engage one of the arm members of the tracking arm 1050 and / or a joint engaged between the arm members or between the arm members and other components of the tracking arm 1050 (e.g., between the proximal end 1020 of the tracking arm 1050 and the base member 715). In this manner, the position data sensed by the one or more sensors 1030 includes, for example, the spatial relationship (e.g., orientation, position, etc.) of the tracking arm 1050 and / or its components in three-dimensional space. In some examples, this spatial relationship is determined with respect to the base member 715 to which the proximal end 1020 of the tracking arm 1050 is attached. Thus, in some embodiments, one or more sensors 1030 are engaged with the tracking arm 1050 such that position data sensed by the one or more sensors 1030 is indicative of at least the spatial position of at least the distal end 1025 of the tracking arm 750 in three-dimensional space, and in some examples relative to the base member 715 / proximal end 1020 of the tracking arm 1050. The position of the reference location 10 in three-dimensional space is related to, known or determined from, or otherwise associated with the position of the distal end 1025 of the tracking arm 1050 determined from the position data of the one or more sensors 1030, and the physical engagement between the fiducial marker 900 / reference location 10 and the distal end 1025 of the tracking arm 1050, or the detection of the fiducial marker 900 / reference location 10 by a detector 1000 engaged with the distal end 1025 of the tracking arm 1050. That is, the location of the distal end 1025 of the tracking arm 1050 relative to the proximal end 1020 of the tracking arm 1050 is determined from position data from one or more position sensors 1030 .

[0053] Thus, according to some embodiments, the robotic system 100 includes a tracking arm 1050 having a distal end 1025 configured in communication with a reference location 10 at or adjacent to the site 25 or the object 50 received at the site 25. The reference location 10 is disposed in three-dimensional space relative to a proximal end 1020 of the tracking arm 1050. The robotic arm 750 has a treatment tool 200 engaged with the distal end 725 of the robotic arm 750, the treatment tool 200 having an end effector 300 engaged therewith, the distal end of the end effector 300 adapted to interact with the site 25 or the object 50. The proximal end 720 of the robotic arm 750 is disposed in a known relationship with the proximal end 1020 of the tracking arm 1050.

[0054] The controller 800 is configured in operative communication with the tracking arm 1050, the robotic arm 750, and the treatment tool 200, and the controller 800 is configured to determine, via the robotic arm 750 and the tracking arm 1050, an actual spatial relationship between the treatment tool 200 and a reference location 10 in three-dimensional space, the actual spatial relationship including the location of the distal end of the end effector 300 of the treatment tool 200 relative to the reference location 10. The controller 800 is further configured to direct the treatment tool 200 to a staging position adjacent to the site 25 or target 50 by adjusting the movement of the robotic arm 750 according to a motion plan and based on the actual spatial relationship, the motion plan including a route traversed by the end effector 300 to and from the site 25 or target 50 during a procedure performed by the end effector 300 at the site 25 or on the target 50.

[0055] In certain aspects of the present disclosure, the actuator 1350 is disposed in a spaced relationship from the treatment tool 200 and is configured to communicate with the controller 800. The actuator 1350 is further configured to operate the controller 800 such that the controller 800 directs the robotic arm 750 to autonomously move the treatment tool 200 from the staging position relative to the reference location 10 according to a motion plan, such that the end effector 300 interacts with the site 25 or object 50, and such that the treatment tool 200 performs a treatment at the site 25 or on the object 50 using the end effector 300. That is, upon operation in autonomous mode by actuation of actuator 1350, the treatment tool 200 is disposed in a staging position relative to the site 25 / target 50, and the controller 800 is instructed to cause the end effector 300 to interact with the site 25 or target 50 to autonomously move the treatment tool 200 according to a motion plan (i.e., moved by the structure of the robot arm 750 in response to the controller 800 without manual operation of the treatment tool 200 or the robot arm 750), and the treatment tool 200 uses the end effector 300 to orient the robot arm 750 to perform a treatment at the site 25 or on the target 50. In some examples, an activation indicator 1300 (see, e.g., Figures 1, 2, and 4-6) is operably engaged with the controller 800 and configured to provide, for example, a visual indication, an audible indication, or other suitable alert when the treatment tool 200 is placed in a staging position, when the actuator 1350 is activated, and / or in other situations where an alert is appropriate, necessary, and / or desired.

[0056] According to such an aspect of the present disclosure, the actuator 1350 is isolated from the vicinity of the interaction between the end effector 300 and the site 25 / object 50, which in turn allows the user / operator to be isolated from that vicinity when the procedure is being performed, thus limiting or eliminating dental care worker exposure to aerosols and particulate debris resulting from the procedure. That is, such a robotic system 100 allows the user / operator to perform the procedure in a user-friendly, stand-off, and ergonomic manner without limiting the mobility of the procedure tool or the accessibility of the procedure tool / end effector to the site 25 / object 50.

[0057] In certain embodiments, the controller 800 is separate from the treatment tool 200 / end effector 300, and the controller 800 includes an actuator 1350 engaged with or integrated therein, as shown in, for example, FIG. 4 . For example, the controller 800 with the actuator 1350 may be disposed separate and / or remote from the robotic arm 750 / tracking arm 1050. In other embodiments, the actuator 1350 is separate and distinct from the controller 800, as shown in, for example, FIG. 5 . That is, the controller 800 can be disposed separate and distinct from the robotic system 100, but is not required; the actuator 1350 itself is separate and distinct from the controller 800, still allowing the autonomous mode to be activated at a distance from the proximity of the interaction between the end effector 300 and the site 25 / object 50. In yet other embodiments, the actuator 1350 is separated from the treatment tool 200 by a barrier 1600 between the actuator 1350 and the barrier 1600, as shown, for example, in FIG.

[0058] In some embodiments, the controller 800 is configured to direct the robotic arm 750 to autonomously return the treatment tool 200 to a staging position or to a retracted position away from the site 25 or the subject 50 upon completion of a treatment on the site 25 or the subject 50. In other embodiments, the autonomous removal may be actuated in response to the actuator 1350 actuating the controller 800 to retract the treatment tool 200 to the retracted position.

[0059] In other embodiments, because the controller 800 remains in communication with both the reference location 10 and the treatment tool 200 / end effector 300 during the procedure, the controller 800 is configured to modify the actual spatial relationship between the treatment tool 200 and the reference location 10 in response to movement of the reference location 10 while the treatment tool 200 is in the staging position. That is, the position of the reference location 10 is monitored during the procedure, the plan and / or procedure performed by the robotic system 100 is updated to account for and adapt to movement of the reference location 10 during the procedure, and the planned route of the treatment tool 200 / end effector 300 is adjusted accordingly. In particular, the controller 800 is configured to change the actual spatial relationship between the treatment tool 200 and the reference location 10 relative to the movement of the reference location 10 when the robot arm 750 is directed by the controller 800 to autonomously move the treatment tool 200 from a staging position according to a motion plan (e.g., in autonomous mode) so that the end effector 300 interacts with the site 25 or the object 50, or so that the treatment tool 200 performs a treatment using the end effector 300 at the site 25 or on the object 50.

[0060] In some embodiments, the drive unit 1400 is configured in communication with the controller 800 and is operatively engaged with the robotic arm 750, operatively engaged between the robotic arm 750 and the treatment tool 200, and / or operatively engaged with the treatment tool 200. In such embodiments, the drive unit 1400 cooperates with the robotic arm 750 via the controller 800 to autonomously move the treatment tool 200 from a staging position according to a motion plan, the end effector 300 interacts with the site 25 or the object 50, and responds to actuation of the actuator 1350 for the treatment tool 200 to perform a procedure at the site 25 or on the object 50 using the end effector 300. That is, the controller 800 cooperates with the drive unit 1400 to drive the robotic arm 750 in an autonomous mode.

[0061] 7, another aspect of the present disclosure provides a method of operating a robotic system 100. Such a method includes configuring a distal end 1025 of a tracking arm 1050 in communication with a reference location 10 at or adjacent to a site 25 or a target 50 received at the site 25, the reference location 10 being disposed in three-dimensional space relative to a proximal end 1020 of the tracking arm 1050 (block 7-100). A treatment tool 200 having an end effector 300 engaging the treatment tool 200 is configured in engagement with a distal end 725 of a robotic arm 750, the distal end of the end effector 300 being adapted to interact with the site 25 or target 50, the proximal end 720 of the robotic arm 750 being disposed in a known relationship with the proximal end 1020 of the tracking arm 1050 (block 7-110). Using the controller 800 (which includes a processor and memory and is configured to be in operative communication with the tracking arm 1050, the robot arm 750, and the treatment tool 200), an actual spatial relationship between the treatment tool 200 and the reference location 10 in three-dimensional space is determined via the robot arm 750 and the tracking arm 1050, the actual spatial relationship including the location of the distal end of the end effector 300 of the treatment tool 200 relative to the reference location 10 (block 7-120).

[0062] The treatment tool 200 is directed to a staging position adjacent to the site 25 or target 50 by adjusting the movement of the robot arm 750 using the controller device 800 according to a motion plan and based on the actual spatial relationship, the motion plan including the route to be traversed by the end effector 300 to and from the site 25 or target 50 during a treatment performed by the end effector 300 at the site 25 or on the target 50 (block 7-130). The actuator 1350 is actuated, and the actuator 1350 is configured in a spaced relationship with the treatment tool 200 and in communication with the controller 800 to direct the robot arm 750 to autonomously move the treatment tool 200 from the staging position relative to the reference location 10 according to the motion plan, and the end effector 300 interacts with the site 25 or object 50, and the treatment tool 200 uses the end effector 300 to perform a treatment at the site 25 or on the object 50 (block 7-140).

[0063] 8 , another aspect of the present disclosure provides a method of forming a robotic system 100, such method including configuring a robotic arm 750 such that a proximal end 720 of the robotic arm 750 is disposed in a known relationship with a proximal end 1020 of a tracking arm 1050, the tracking arm 1050 having a distal end 1025 adapted to communicate with a reference location 10 at or adjacent to a site 25 or a target 50 received at the site 25, the reference location 10 being disposed in three-dimensional space relative to the proximal end 1020 of the tracking arm 1050 (block 8-100). A treatment tool 200 engages the distal end 725 of the robotic arm 750, the treatment tool 200 having an end effector 300 engaged with the treatment tool 200, the end effector 300 having a distal end adapted to interact with the site 25 or the target 50 (block 8-110).

[0064] A controller 800 (including a processor and memory) is configured in operative communication with the tracking arm 1050, the robotic arm 750, and the treatment tool 200 (block 8-120), and the controller 800 is configured to determine, via the robotic arm 750 and the tracking arm 1050, an actual spatial relationship between the treatment tool 200 and a reference location 10 in three-dimensional space, the actual spatial relationship including the location of the distal end of the end effector 300 of the treatment tool 200 relative to the reference location 10. The controller 800 is further configured to direct the treatment tool 200 to a staging position adjacent to the site 25 or target 50 by adjusting the movement of the robotic arm 750 according to a motion plan and based on the actual spatial relationship, the motion plan including a route traversed by the end effector 300 to and from the site 25 or target 50 during a procedure performed by the end effector 300 at the site 25 or on the target 50. The actuator 1350 is configured in a remote relationship to the treatment tool 200 and in communication with the controller 800 such that the actuator 1350 is configured to operate the controller 800 to direct the robot arm 750 to autonomously move the treatment tool 200 from the staging position relative to the reference location 10 according to a motion plan, to cause the end effector 300 to interact with the site 25 or object 50, and to cause the treatment tool 200 to perform a treatment at the site 25 or on the object 50 using the end effector 300 (block 8-130).

[0065] Many modifications and other embodiments of the inventions described herein will come to mind to those skilled in the art having the benefit of the teachings presented in the foregoing description and the associated drawings to which these disclosed embodiments pertain. It is to be understood, therefore, that embodiments of the invention are not limited to the specific embodiments disclosed and modifications thereof, and that other embodiments are intended to be within the scope of the appended claims. Furthermore, while the foregoing description and associated drawings describe exemplary embodiments in the context of certain illustrative 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 present disclosure. In this regard, for example, different combinations of elements and / or functions than those expressly described above are also contemplated within the scope of the present disclosure. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

[0066] Terms such as first, second, etc. may be used herein to describe various steps or calculations, but it will be understood that these steps or calculations should not be limited by these terms. These terms are used merely to distinguish one operation or calculation from another. For example, a first calculation may be referred to as a second calculation, and similarly, a second step may be referred to as a first step, without departing from the scope of the present disclosure. As used herein, the word "and / or" and the " / " symbol include any and all combinations of one or more of the associated listed items.

[0067] As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, it will be further understood that the words "comprise," "include," and / or "comprising," "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 robotic system comprising: a tracking arm having a distal end configured in communication with a reference location at or adjacent to a site or an object received at the site, the reference location being disposed in three-dimensional space relative to a proximal end of the tracking arm; a robotic arm having a treatment tool engaged with a distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with a site or object, the robotic arm having a proximal end disposed in a known relationship with a proximal end of a tracking arm; a controller including a processor and a memory, configured in operative communication with the tracking arm, the robotic arm, and the treatment tool; determining an actual spatial relationship between the treatment tool and the reference location in three-dimensional space via the robotic arm and the tracking arm, the actual spatial relationship including a location of a distal end of an end effector of the treatment tool relative to the reference location; directing the treatment tool to traverse a route by adjusting the movement of a robotic arm that is manually moved along the route as the treatment tool is manually moved along the route according to the motion plan and based on the actual spatial relationship as the treatment tool is manually moved to a staging position adjacent to the site or object, the motion plan including the route traversed by the treatment tool to and from the staging area and subsequent routes traversed by the end effector during a procedure performed by the end effector at the site or on the object; a controller configured to: an actuator disposed in spaced relation to the treatment tool and in communication with the controller, the actuator configured to operate the controller to direct the robotic arm to autonomously move the treatment tool from the staging position relative to the reference location according to the motion plan by changing the actual spatial relationship between the treatment tool and the reference location in response to movement of the reference location, such that the end effector interacts with the site or object and such that the treatment tool performs a treatment at the site or on the object using the end effector; and A robot system comprising:

2. The system of claim 1 , wherein the controller is remote from the treatment tool, and the controller includes an actuator.

3. The system of claim 1 , wherein the actuator is separate and distinct from the controller.

4. The system of claim 1 , wherein the actuator is separated from the treatment tool by a barrier between the actuator and the treatment tool.

5. 10. The system of claim 1, wherein the controller is configured to direct the robotic arm to autonomously return the treatment tool to a staging position or to a retracted position away from the site or object upon completion of a treatment on the site or object or in response to an actuator actuating the controller to retract the treatment tool to the retracted position.

6. 2. The system of claim 1, wherein when the robotic arm is directed by the controller to autonomously move the treatment tool from a staging position according to a motion plan so that the end effector interacts with a site or object, or so that the treatment tool performs a treatment at a site or on an object using the end effector, the controller is configured to change the actual spatial relationship between the treatment tool and the reference location relative to the movement of the reference location.

7. 10. The system of claim 1, further comprising a drive unit in communication with the controller and operably engaged with the robotic arm, or operably engaged between the robotic arm and the treatment tool, or operably engaged with the treatment tool, wherein the drive unit cooperates with the robotic arm via the controller to autonomously move the treatment tool from a staging position according to a motion plan in response to actuation of the actuator so that the end effector interacts with a site or object and so that the treatment tool performs a treatment at the site or on the object using the end effector.

8. 10. The system of claim 1, wherein the robotic arm comprises a plurality of interconnected arm segments having one or more position sensors engaged therewith, and the controller is configured to determine a location of a distal end of an end effector of the treatment tool relative to a proximal end of the robotic arm from position data from the one or more position sensors.

9. 10. The system of claim 1, wherein the tracking arm comprises a plurality of interconnected arm segments having one or more position sensors engaged therewith, and the controller is configured to determine a location of a distal end of the tracking arm relative to a proximal end of the tracking arm from position data from the one or more position sensors.

10. 1. A method for controlling the operation of a robotic system, the robotic system comprising: a distal end of a tracking arm configured in communication with a reference location at or adjacent to the site or an object received at the site, the reference location being disposed in three-dimensional space relative to the proximal end of the tracking arm; a treatment tool configured to engage a distal end of a robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with a site or object, the robotic arm having a proximal end disposed in a known relationship with a proximal end of the tracking arm; a controller including a processor and memory and a motion plan, the motion plan including a staging position for a treatment tool adjacent to a site or object, a route to be traversed by the treatment tool to and from the staging area, and a subsequent route to be traversed by the end effector during a treatment performed by the end effector at the site or on the object, the controller being configured in operative communication with the tracking arm, the robotic arm, and the treatment tool; an actuator configured in spaced relation to the treatment tool and in communication with the controller; It is equipped with The method is: a controller, via the robotic arm and the tracking arm, determining an actual spatial relationship between the treatment tool and a reference location in three-dimensional space, the actual spatial relationship including a location of a distal end of an end effector of the treatment tool relative to the reference location; the controller directing the treatment tool to traverse the route by adjusting, according to the motion plan and based on the actual spatial relationship, the movement of the robotic arm that is manually moved along the route as the treatment tool is manually moved along the route when the treatment tool is manually moved to the staging position; activating the controller to operate the actuator to orient the robotic arm to autonomously move the treatment tool from the staging position according to the motion plan relative to a reference location; The controller changes the actual spatial relationship between the treatment tool and the reference location in response to movement of the reference location. A method comprising:

11. The method of claim 10 , wherein actuating the actuator comprises actuating an actuator included in a controller, the controller being remote from the treatment tool.

12. The method of claim 10 , wherein activating the actuator comprises activating an actuator that is separate and distinct from the controller.

13. The method of claim 10 , wherein actuating the actuator comprises actuating an actuator that is separated from the treatment tool by a barrier between the actuator and the treatment tool.

14. 11. The method of claim 10, further comprising the controller directing the robotic arm to autonomously return the treatment tool to the staging or retracted position upon completion of the motion plan or in response to the actuator actuating the controller to retract the treatment tool to the retracted position.

15. 11. The method of claim 10, wherein when the robotic arm is directed by the controller to autonomously move the treatment tool from the staging position according to the motion plan, the controller modifies the actual spatial relationship between the treatment tool and the reference location relative to the movement of the reference location.

16. 11. The method of claim 10, wherein operating the actuator includes operating the actuator to operate a drive unit, the drive unit being in communication with the controller and operably engaged with the robotic arm, operably engaged between the robotic arm and the treatment tool, or operably engaged with the treatment tool, and the drive unit responding to actuation of the actuator cooperates with the robotic arm via the controller to autonomously move the treatment tool from the staging position according to the motion plan.

17. 11. The method of claim 10, wherein the robotic arm comprises a plurality of interconnected arm segments having one or more position sensors engaged thereto, and determining the actual spatial relationship includes using a controller to determine a location of a distal end of an end effector of the treatment tool relative to a proximal end of the robotic arm from position data from the one or more position sensors.

18. 11. The method of claim 10, wherein the tracking arm comprises a plurality of interconnected arm segments having one or more position sensors engaged therewith, and determining the actual spatial relationship includes determining, using a controller, a location of a distal end of the tracking arm relative to a proximal end of the tracking arm from position data from the one or more position sensors.

19. 1. A method of forming a robotic system, comprising: configuring a robotic arm such that a proximal end of the robotic arm is disposed in a known relationship with a proximal end of a tracking arm, the tracking arm having a distal end adapted to communicate with a reference location at or adjacent to a site or an object received at the site, the reference location being disposed in three-dimensional space relative to the proximal end of the tracking arm; Engaging a treatment tool with a distal end of the robotic arm, the treatment tool having an end effector engaged with the treatment tool, the end effector having a distal end adapted to interact with a site or object; configuring a controller, the controller including a processor and memory and in operative communication with the tracking arm, the robotic arm, and the treatment tool, the controller: determining an actual spatial relationship between the treatment tool and the reference location in three-dimensional space via the robotic arm and the tracking arm, the actual spatial relationship including a location of a distal end of an end effector of the treatment tool relative to the reference location; directing the treatment tool to traverse a route by adjusting the movement of a robotic arm that is manually moved along the route as the treatment tool is manually moved along the route according to the motion plan and based on the actual spatial relationship as the treatment tool is manually moved to a staging position adjacent to the site or object, the motion plan including the route traversed by the treatment tool to and from the staging area and subsequent routes traversed by the end effector during a procedure performed by the end effector at the site or on the object; and configuring an actuator in spaced relation to the treatment tool and in communication with a controller, the actuator configured to actuate the controller to direct the robotic arm to autonomously move the treatment tool from the staging position relative to the reference location according to the motion plan, such that the controller changes the actual spatial relationship between the treatment tool and the reference location relative to movement of the reference location such that the end effector interacts with the site or object and the treatment tool performs a treatment at the site or on the object using the end effector; A method comprising:

20. 20. The method of claim 19, wherein configuring the actuator comprises configuring the actuator to be included in a controller and configuring the controller to be remote from the treatment tool.

21. 20. The method of claim 19, wherein configuring the actuator includes configuring the actuator such that the actuator is separate and distinct from the controller.

22. 20. The method of claim 19, wherein configuring the actuator includes configuring the actuator such that the actuator is separated from the treatment tool by a barrier between the actuator and the treatment tool.

23. 20. The method of claim 19, wherein configuring the controller includes configuring the controller to direct the robotic arm to autonomously return the treatment tool to a staging position or to a retracted position away from the site or object upon completion of a treatment on the site or object or in response to an actuator actuating the controller to retract the treatment tool to a retracted position.

24. 20. The method of claim 19, wherein configuring the controller includes configuring the controller to modify the actual spatial relationship between the treatment tool and the reference location relative to movement of the reference location when the robotic arm is directed by the controller to autonomously move the treatment tool from a staging position according to a motion plan so that the end effector interacts with the site or object, or so that the treatment tool performs a procedure using the end effector at the site or on the object.

25. 20. The method of claim 19, wherein configuring the actuator includes configuring the actuator to operate a drive unit, the drive unit being in communication with the controller and operably engaged with the robotic arm, operably engaged between the robotic arm and the treatment tool, or operably engaged with the treatment tool, and configured to cooperate with the robotic arm via the controller in response to actuation of the actuator to autonomously move the treatment tool from a staging position according to a motion plan so that the end effector interacts with a site or object and so that the treatment tool performs a treatment at the site or on the object using the end effector.

26. 20. The method of claim 19, wherein the robotic arm comprises a plurality of interconnected arm segments having one or more position sensors engaged therewith, and wherein configuring the controller includes configuring the controller to determine a location of a distal end of an end effector of the treatment tool relative to a proximal end of the robotic arm from position data from the one or more position sensors.

27. 20. The method of claim 19, wherein the tracking arm comprises a plurality of interconnected arm segments having one or more position sensors engaged therewith, and wherein configuring the controller includes configuring the controller to determine a location of a distal end of the tracking arm relative to a proximal end of the tracking arm from position data from the one or more position sensors.

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