System and method for prosthetic placement, surgical guide placement, and re-adhesion in orthognathic surgery

Abstract

A robotic system and method comprises a reference marker and an end effector at the distal end of an articular arm member that are coupled to a maxillary facial anatomical structure. The end effector accommodates a dental element that includes a prosthetic device, a surgical guide, or an orthodontic element in a predetermined spatial relationship between them. A controller device communicates directly with the reference marker, the articular arm member, and the end effector to determine the placement of the end effector relative to the reference marker during the movement of the end effector according to a virtual surgical plan for positioning the dental element in a relationship aligned with the maxillary facial anatomical structure, and guides the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector relative to the reference marker according to the virtual surgical plan for positioning the dental element for fixation to the maxillary facial anatomical structure.

Description

Technology Field

[0001] The present invention relates to dental robot systems, and more specifically, to a system and method for operating a dental robot for prosthetic placement, surgical guide placement, and re-adhesion of orthognathic surgery. Background Technology

[0002] Some dental robotic systems provide tactile guidance for a drill to drill a patient's osteotomy to accommodate a dental implant. These dental robotic systems can also provide tactile guidance for positioning an implant anchor using the same drill equipped with other attachments (e.g., instead of a trill bit). However, the next step in restoring the patient's dentition is to bond with the implant anchor(s). Although the dental robotic system can assist in accurately drilling the hole(s) within the osteotomy and subsequently positioning the implant anchor(s), there is still a risk of error in positioning the prosthesis(s) to bond with the implant anchor(s).

[0003] More specifically, the prosthesis generally includes holes that accommodate and accommodate the implant anchor(s) implanted in the patient to enable the fixation of the prosthesis to the implant anchor(s) and to complete the assembly. In some examples, the holes within the prosthesis are often made sufficiently large (e.g., excessively large) to accommodate displacement of the position(s) of the implant anchor(s). However, such excessively large holes within the prosthesis can result in the prosthesis moving or shifting around or along the implant anchor(s). In this regard, it often becomes important to have a relative alignment between the upper and lower dentitions to restore proper equilibrium. As such, it is important to ensure that the prosthesis / denture is fixed to the implant anchor(s) as planned. Similar requirements exist in examples of orthognathic surgery, for instance, where a surgical guide is attached to the patient or where the resected maxilla or a portion of the maxilla must be reattached to the patient's skull. The problem to be solved

[0004] Accordingly, there is a need for a system and method for performing prosthetic placement, surgical guide placement, and / or orthognathic surgical reattachment, wherein the prosthetic, surgical guide, or maxilla can be positioned more accurately compared to the procedures of the prior art and attached to the patient's supporting structure (e.g., the implant anchor(s) or cranial structure). Such a system and method should preferably be performed quickly and be ergonomically friendly to dental practitioners, and preferably provide convenient and effective training devices to said dental practitioners to advance their skills regarding the aforementioned procedures. means of solving the problem

[0005] The aforementioned requirements and other requirements are satisfied by aspects of the present invention that provide a dental robotic system in a specific aspect. Such a system comprises an articulating arm member having a fiducial marker applied to be coupled with a maxillofacial anatomy and an end effector coupled to the distal end thereof. The end effector is arranged to accommodate a prosthetic device, a surgical guide, or an orthognathic element in a predetermined spatial relationship with the end effector. A controller device has a processor and a memory storing a computer program product, wherein the computer program product may be executed by the processor to perform the step of communicating with the fiducial marker, the articulating arm member, and the end effector to determine the placement of the end effector relative to the fiducial marker during the movement of the end effector according to a virtual surgical plan for positioning the prosthetic device, the surgical guide, or the orthognathic element in a relationship aligned with the maxillofacial anatomy. Additionally, the joint arm member may be guided to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the virtual surgical plan in order to position the prosthetic device, the surgical guide, or the orthodontic element, as the end effector is aligned for fixation to the maxillary facial anatomical structure.

[0006] Another aspect of the present invention provides a method for performing dental surgery executed by a dental robotic system. Such a method comprises the steps of: binding a reference marker to a maxillary facial anatomical structure; and receiving a prosthetic device, a surgical guide, or a jaw correction element in a predetermined spatial relationship with an end effector that is bound to the distal end of an articular arm member. A computer program product is executed to perform the step of communicating with the reference marker, the articular arm member, and the end effector to determine the placement of the end effector relative to the reference marker during the movement of the end effector according to a virtual surgical plan for positioning the prosthetic device, the surgical guide, or the jaw correction element in a relationship aligned with the maxillary facial anatomical structure by a processor of a controller device. Additionally, the joint arm member is guided to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the virtual surgical plan in order to position the prosthetic device, the surgical guide, or the orthodontic element, in relation to being aligned for fixation to the maxillary facial anatomical structure.

[0007] The present invention is not limited thereto and includes the following exemplary embodiments.

[0008] Exemplary Example 1: A dental robot system comprises a reference marker applied to be coupled with a maxillary facial anatomical structure; an articular arm member having an end effector coupled to its distal end, wherein the end effector is configured to accommodate a prosthetic device, a surgical guide, or a jaw correction element in a predetermined spatial relationship with the end effector; and a controller device having a processor and a memory storing a computer program product that can be executed by the processor, wherein the controller device communicates with the reference marker, the articular arm member, and the end effector to determine the placement of the end effector relative to the reference marker during movement of the end effector according to a virtual surgical plan for positioning the prosthetic device, the surgical guide, or the jaw correction element in a relationship aligned with the maxillary facial anatomical structure; And, in order to position the prosthetic device, the surgical guide, or the orthodontic element in relation to the positioning of the end effector with respect to the reference marker that is bound to the maxillary facial anatomical structure according to the virtual surgical plan for fixation to the maxillary facial anatomical structure, the step of guiding the articular arm member to physically control the permissible movement of the end effector is performed.

[0009] Exemplary Example 2 : In any of the preceding exemplary embodiments or combinations thereof, execution of the computer program product by the processor of the controller device performs the step of guiding the end effector so as to provide tactile feedback when the movement of the end effector deviates from the virtual surgical plan, as the prosthetic device, the surgical guide, or the orthodontic element is positioned in a relationship of alignment with respect to the maxillary facial anatomical structure.

[0010] Exemplary Example 3: In any of the preceding exemplary embodiments or combinations thereof, the system includes a splint device that physically and stably interacts with the maxillary facial anatomical structure and is operably connected to the reference marker.

[0011] Exemplary Example 4 : In any of the preceding exemplary embodiments or combinations thereof, the controller device or the end effector is arranged to provide auditory or visual feedback when the movement of the end effector deviates from the virtual surgical plan.

[0012] Exemplary Example 5 : In any of the preceding exemplary embodiments or combinations thereof, the prosthetic device, the surgical guide, or the orthodontic element is arranged to be directly received by the end effector in relation to the spatial relationship between them.

[0013] Exemplary Example 6 : In any of the preceding exemplary embodiments or combinations thereof, the system comprises an interface that is accommodated by the end effector in a predetermined spatial relationship between them, said interface being arranged to accommodate the prosthetic device, the surgical guide, or the orthodontic element in a spatial relationship between them.

[0014] Exemplary Example 7 : In any of the preceding exemplary embodiments or combinations thereof, the interface is a bite-shaped mechanism arranged to accommodate the prosthetic device with a predetermined spatial relationship between them.

[0015] Exemplary Example 8: In any prior exemplary embodiment or combination thereof, the step of guiding the articular arm member so that the controller device physically controls the permissible movement of the end effector comprises the step of guiding the articular arm member so that the permissible movement of the end effector is directly related to the placement of the end effector relative to the reference marker that is coupled to the virtual surgical plan in order to position the prosthesis in a relationship aligned with one or more implant anchors implanted within the maxillary facial anatomical structure to which the prosthesis is fixed.

[0016] Exemplary Example 9 : In any prior exemplary embodiment or combination thereof, the step of guiding the articular arm member so as to physically control the permissible movement of the end effector by the controller device comprises the step of guiding the articular arm member so as to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the virtual surgical plan to position the surgical guide in a relationship aligned with the maxillary facial anatomical structure, wherein the surgical guide has one or more guide holes or one or more guide inserts coupled thereto, and the one or more guide inserts each define the guide hole so as to receive fixation holes that are perforated through the guide holes into the maxillary facial anatomical structure to fix the surgical guide to the maxillary facial anatomical structure or fasteners that are coupled to the fixation holes through the guide holes.

[0017] Exemplary Example 10: In any of the preceding exemplary embodiments or combinations thereof, the prosthetic device has one or more guide holes or one or more guide inserts coupled thereto, and each of the one or more guide inserts each defines a guide hole such that the prosthetic device becomes the surgical guide.

[0018] Exemplary Example 11 : In any prior exemplary embodiment or combination thereof system, the orthodontic element is a part of the maxillary facial anatomical structure separated from the remainder of the maxillary facial anatomical structure, and the step of guiding the articular arm member to physically control the permissible movement of the end effector comprises the step of guiding the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the hypothetical surgical plan, so as to position the part of the maxillary facial anatomical structure in a relationship aligned with the remainder of the maxillary facial anatomical structure, so as to perforate fixation holes into the part or remainder of the maxillary facial anatomical structure, or so as to fasten the fixation holes to secure a bracket between the part and remainder of the maxillary facial anatomical structure.

[0019] Exemplary Example 12 : In a system of any of the preceding exemplary embodiments or combinations thereof, a detector coupled to the distal end of a tracking arm is included, said tracking arm and said detector communicate with said controller device, said detector is arranged with a spatially spaced relationship with said reference marker to cooperate with said controller device to detect said reference marker and determine a spatial relationship with said reference marker.

[0020] Exemplary Example 13: In any of the preceding exemplary embodiments or combinations thereof, the detector is an electric detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof.

[0021] Exemplary Example 14 : In any of the preceding exemplary embodiments or combinations thereof, a tracking arm having a distal end physically connected to the reference marker is included, and the tracking arm communicates with the controller device and is arranged to cooperate with the controller device to determine spatial relationship with the reference marker.

[0022] Exemplary Example 15 : In any of the preceding exemplary embodiments or combinations thereof, the reference marker is arranged to communicate with the controller device through 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 Example 16 : In any of the preceding exemplary embodiments or combinations thereof, the reference marker is arranged to communicate with the controller device via a wireless communication system or a wired communication system.

[0024] Exemplary Example 17 : In any of the preceding exemplary embodiments or combinations thereof, the controller device is configured to enable graphic manipulation of an image of the maxillary facial anatomical structure to form a virtual surgical plan for the maxillary facial anatomical structure that accommodates the prosthetic device, the surgical guide, or the orthodontic element in a relationship aligned between them.

[0025] Exemplary Example 18: A method for performing dental surgery using a dental robot system comprises the steps of: binding a reference marker to a maxillary facial anatomical structure; receiving a prosthetic device, a surgical guide, or a jaw correction element in a predetermined spatial relationship with an end effector bound to a distal end of an articular arm member; and executing a computer program product with a processor of a controller device, wherein the controller device communicates with the reference marker, the articular arm member, and the end effector to determine the placement of the end effector relative to the reference marker during movement of the end effector according to a virtual surgical plan for positioning the prosthetic device, the surgical guide, or the jaw correction element in a relationship aligned with the maxillary facial anatomical structure. and perform the step of guiding the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is bound to the maxillary facial anatomical structure according to the virtual surgical plan, in order to position the prosthetic device, the surgical guide, or the orthodontic element in a relationship aligned for fixation to the maxillary facial anatomical structure.

[0026] Exemplary Example 19 : In any of the preceding exemplary embodiments or combinations thereof, the step of executing a computer program product with a processor of the controller device performs the step of guiding the end effector to provide tactile feedback when the movement of the end effector deviates from the virtual surgical plan, while the controller device is positioned in a relationship where the prosthetic device, the surgical guide, or the orthodontic element is aligned with the maxillary facial anatomical structure.

[0027] Exemplary Example 20In any of the preceding exemplary embodiments or combinations thereof, the step of binding the reference marker to the maxillary facial anatomical structure comprises the step of physically and stably interacting the splint device with the maxillary facial anatomical structure, wherein the splint device is operably bound to the reference marker.

[0028] Exemplary Example 21 : In any of the preceding exemplary embodiments or combinations thereof, the method includes the step of arranging the controller device or the end effector to provide auditory or visual feedback when the movement of the end effector deviates from the virtual surgical plan.

[0029] Exemplary Example 22 : In any of the preceding exemplary embodiments or combinations thereof, the method comprises the step of directly receiving the prosthetic device, the surgical guide, or the orthodontic element into the end effector so that the prosthetic device, the surgical guide, or the orthodontic element is received in a predetermined spatial relationship between them.

[0030] Exemplary Example 23 : In any of the preceding exemplary embodiments or combinations thereof, the method comprises the step of accommodating an interface to the end effector with a predetermined spatial relationship between them, wherein the interface is arranged to accommodate the prosthetic device, the surgical guide, or the orthodontic element with a predetermined spatial relationship between them.

[0031] Exemplary Example 24 : In any of the preceding exemplary embodiments or combinations thereof, the interface is a bite-shaped mechanism, and the method comprises the step of accommodating the prosthetic device to the bite-shaped mechanism with a predetermined spatial relationship between them.

[0032] Exemplary Example 25: In any of the preceding exemplary embodiments or combinations thereof, the step of guiding the articular arm member to physically control the permissible movement of the end effector comprises guiding the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the virtual surgical plan, in order to position the prosthesis in a relationship aligned with one or more implant anchors implanted within the maxillary facial anatomical structure to which the prosthesis is fixed.

[0033] Exemplary Example 26 : In any prior exemplary embodiment or combination thereof, the step of guiding the articular arm member to physically control the permissible movement of the end effector comprises the step of guiding the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the virtual surgical plan to position the surgical guide in a relationship aligned with the maxillary facial anatomical structure, wherein the surgical guide has one or more guide holes or one or more guide inserts coupled thereto, and the one or more guide inserts each define the guide hole such that fixation holes are perforated through the guide holes to fix the surgical guide to the maxillary facial anatomical structure or fasteners are received to be coupled to the fixation holes through the guide holes.

[0034] Exemplary Example 27: In any of the preceding exemplary embodiments or combinations thereof, the method comprises the step of forming one or more guide holes within the prosthetic device or connecting one or more guide inserts to the prosthetic device, wherein each of the one or more guide inserts defines a guide hole such that the prosthetic device becomes the surgical guide.

[0035] Exemplary Example 28 In any of the preceding exemplary embodiments or combinations thereof, the orthodontic element is a part of the maxillary facial anatomical structure separated from the remainder of the maxillary facial anatomical structure, and the step of guiding the articular arm member to physically control the permissible movement of the end effector guides the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the hypothetical surgical plan, so as to position the part of the maxillary facial anatomical structure in a relationship aligned with the remainder of the maxillary facial anatomical structure, so as to perforate fixation holes into the part or remainder of the maxillary facial anatomical structure, or so as to fasten fasteners to be coupled to the fixation holes to secure a bracket between the part and remainder of the maxillary facial anatomical structure.

[0036] Exemplary Example 29 : In any of the preceding exemplary embodiments or combinations thereof, the step of communicating with the reference marker includes the step of communicating with the reference marker through a detector coupled to the distal end of a tracking arm, wherein the tracking arm and the detector communicate with the controller device, and the detector is arranged in a spatially spaced relationship with the reference marker to detect the reference marker and is arranged to cooperate with the controller device to determine the spatial relationship with the reference marker.

[0037] Exemplary Example 30 : In any of the preceding exemplary embodiments or combinations thereof, the step of communicating with the reference marker comprises communicating with the reference marker through an electric detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof that is coupled to the distal end of the tracking arm.

[0038] Exemplary Example 31 In any of the preceding exemplary embodiments or combinations thereof, the step of communicating with the reference marker comprises communicating with the reference marker through a distal end of a tracking arm, wherein the distal end is physically connected to the reference marker, and the tracking arm communicates with the controller device and is arranged to cooperate with the controller device to determine spatial relationship with the reference marker.

[0039] Exemplary Example 32 : In any of the preceding exemplary embodiments or combinations thereof, the method includes the step of communicating between the reference marker and the controller device through an electrical communication system, a mechanical communication system, an electromechanical communication system, an electromagnetic communication system, an optical communication system, infrared, or a combination thereof.

[0040] Exemplary Example 33 : In any of the preceding exemplary embodiments or combinations thereof, the method includes the step of communicating between the reference marker and the controller device via wireless communication or wired communication.

[0041] Exemplary Example 34 : In any of the preceding exemplary embodiments or combinations thereof, the method comprises the step of graphically manipulating an image of the maxillary facial anatomical structure with the controller device to form a virtual surgical plan for the maxillary facial anatomical structure that accommodates the prosthetic device, the surgical guide, or the orthodontic element in a relationship aligned between them.

[0042] The above-described features, aspects, and advantages of the present invention and other features, aspects, and advantages will become apparent from an understanding of the detailed description that follows, together with the accompanying drawings which are briefly described below. The present invention comprises any combination of two, three, four, or more features or elements set forth in the text, regardless of whether such features or elements are explicitly combined in the specific embodiments described herein or otherwise mentioned. The present invention is intended to be understood in its whole as any separable features or elements of the present invention, that is, as intended, i.e., combinable, in any of the aspects and embodiments thereof, unless otherwise explicitly stated in the text.

[0043] It will be understood that the summary provided herein is intended solely to simplify some exemplary aspects to provide a basic understanding of the invention. As such, it will be understood that the exemplary aspects described above are merely examples and should not be interpreted in any way as reducing the spirit and scope of the invention. It will be understood that the scope of the invention encompasses many potential aspects, some of which are described below, in addition to those summarized herein. Furthermore, other aspects and the advantages of such aspects disclosed herein will become apparent from the following detailed description, together with the accompanying drawings illustrating the principles of the aspects described by example. Brief explanation of the drawing

[0044] The present invention will be described in general terms with reference to the attached drawings, which are not necessarily depicted in a fixed proportion, and in the attached drawings, FIGS. 1-3 schematically illustrate a dental robot system according to one aspect of the present invention, FIG. 4 schematically illustrates a dental robot system according to another aspect of the present invention, and FIG. 5 schematically illustrates a dental robot system according to one aspect of the present invention applied to the arrangement of a prosthetic device, and FIGS. 6a and 6b schematically illustrate a dental robot system according to another aspect of the present invention applied to the placement of a prosthetic device, FIGS. 7A and 7B schematically illustrate a dental robot system according to one aspect of the present invention applied to the placement of a surgical guide, and FIGS. 8A and 8B schematically illustrate a dental robot system according to one aspect of the present invention applied to the placement of jaw correction elements. Specific details for implementing the invention

[0045] The present invention will be described in more detail below with reference to the accompanying drawings, which illustrate some, but not all, aspects of the invention. In practice, the invention may be embodied in many different forms and should not be interpreted as being limited to the aspects set forth herein. Rather, these aspects are provided to satisfy applicable legal requirements. Identical reference numerals denote identical elements.

[0046] FIGS. 1-4 illustrate various aspects of a dental robot system, generally represented by the number 100. Such a system (100) includes a fiducial marker (250) applied in conjunction with a maxillofacial anatomy (300). In some aspects, the system (100) further includes an articulating arm member (400) having an end effector (500) that is coupled to the distal end (450) of the articulating arm member (400). The end effector (500) is positioned to accommodate a prosthetic device (600), a surgical guide (700), or an orthognathic element (800) in a predetermined spatial relationship with the end effector (500) (for example, any of the end effector (500) and the prosthetic device (600), surgical guide (700), or orthognathic element (800) accommodated by the end effector (500) is known). The controller device (450) has a processor and memory for storing a computer program product that can be executed by the processor. The controller device (450) is arranged to communicate with the reference marker (250).

[0047] Although aspects of the present invention are described in terms of the maxillofacial anatomical structure and the orthodontic element(s) thereof, those skilled in the art will understand that the maxillofacial anatomical structure and the orthodontic element(s) refer, in some aspects, to non-human models or other non-human representations or reproductions of such anatomical structures, and the systems and methods disclosed herein are implemented to provide dental professionals with convenient and effective training devices or facilities to develop their skills regarding the procedures described herein. Furthermore, the methods disclosed herein and described in the claims relate particularly to the control and operation of the systems described herein and described in the claims, but these methods do not particularly relate to methods of surgery on a human being.

[0048] In some aspects, depending on the execution of the computer program product / software by the processor, the controller device (450) is configured / arranged to communicate with the reference marker (250), the articular arm member (400), and the end effector (500) to determine the placement (or spatial relationship) of the end effector (500) with respect to the reference marker (250) during the movement of the end effector (500) according to a virtual procedure plan for positioning the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) in particular with respect to / alignment with the maxillary facial anatomical structure (300). In these aspects, the controller device (450) is configured to enable graphic manipulation of an image of the maxillary facial anatomical structure (300) to form a virtual surgical plan for the maxillary facial anatomical structure (300) regarding whether the maxillary facial anatomical structure (300) is arranged to accommodate the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) in an aligned relationship between them.

[0049] According to the determination of the placement / spatial relationship of the end effector (500) with respect to the reference marker (250), the execution of the computer program product / software by the processor causes the controller device (450) to physically control the permissible movement of the end effector (500) according to the virtual surgical plan to position the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) in a relationship aligned for fixing the maxillary facial anatomical structure (300).

[0050] In some aspects, the execution of a computer program product by the processor of the controller device (450) causes the controller device (450) to perform the step of guiding the end effector (500) to provide tactile feedback when the end effector (500) deviates from the virtual surgical plan, while the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) is positioned in a relationship with respect to / aligned with the maxillary facial anatomical structure (300). Optionally or additionally, the end effector (500), the controller device (450), or the end effector (500) providing tactile feedback may be arranged to provide auditory feedback (e.g., via a sound-generating device) or visual feedback (e.g., via a display) when the end effector (500) deviates from the virtual surgical plan.

[0051] The reference marker (250) is applied in some aspects to be bound to the maxillary facial anatomical structure (300) (e.g., as the splint device physically interacts securely with the maxillary facial anatomical structure (300)). In other aspects, the binding between the splint device and the maxillary facial anatomical structure (300) forms the reference marker (250), or the reference marker (250) is operably bound to the splint device in a known spatial relationship. The controller device (450) is also arranged to communicate with the reference marker (250) in other ways. For example, in one aspect as illustrated in the example of FIG. 4, a detector (1000) is connected to the distal end (1110) of a tracking arm (1100), and the tracking arm (1100) and the detector (1000) communicate with the controller device (450). In these examples, the detector (1000) is arranged with a spatially separated relationship with the reference marker (250) (e.g., physically separated by a defined space between them). The detector (1000) is arranged to detect the reference marker (250) and to cooperate with the controller device (450) to determine the spatial relationship with the reference marker (250) (e.g., the physical coordinates of the tracking arm (1100) and the detector (1000) with respect to the reference marker (250) are known by the controller (900)). The detector (1000) may, in various aspects, be an electric detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or any other suitable detector or a combination thereof.

[0052] In other aspects (e.g., see FIGS. 1-3), the distal end (1110) of the tracking arm (1100) is physically connected to the reference marker (250). Consequently, the tracking arm (1100) communicates with the controller device (450) and is arranged to cooperate with the controller device (450) to determine spatial relationships with the reference marker (250) (e.g., the physical coordinates of the tracking arm (1100) and the reference marker (250) are known by the controller device (450)). In these and other aspects, the reference marker (250) is arranged to communicate with the controller device (450) via, for example, an electro-communication system, a mechanical communication system, an electro-mechanical communication system, an electromagnetic communication system, an optical communication system, an infrared communication system, or a combination thereof. Thus, the reference marker (250) is arranged to communicate with the controller device (450) via a wireless communication system or a wired communication system.

[0053] In certain aspects, the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) are arranged to be directly received by the end effector (500) with a certain spatial relationship between them. In other words, since the spatial relationship between the end effector (500) and the joint arm member (400) is known by the controller device (450), the spatial relationship between the end effector (500) and the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) that are directly received accordingly is also known or quickly determined by the controller device (450). In this way, the spatial relationship between the joint arm member (400), the end effector (500) and the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) is known to the controller device (450), and likewise the spatial relationship between the tracking arm (1100) and the reference marker (250) is also known to the controller device (450), so that a common coordinate system can be determined and implemented by the controller device (450) based on the reference marker (250).

[0054] Since the maxillary facial anatomical structure (300) may move during the surgery in some examples, the resulting movement of the reference marker (250) may be determined by the controller device (450), and accordingly, the spatial relationship between the end effector (500) and the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) may be controlled for the movement of the reference marker (250) as if based on the common coordinate system. Thus, since the reference marker (250) is attached to the maxillary facial anatomical structure (300) to which the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) is intended to be attached, a precise and accurate alignment is provided between the maxillary facial anatomical structure (300) and the prosthetic device (600), the surgical guide (700), or the jaw correction element (800).

[0055] In some aspects, the end effector (500) is arranged to accommodate an interface (1200) (e.g., see FIG. 5) with a certain spatial relationship between them, wherein the interface (1200) is arranged to accommodate the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) with a spatial relationship between them. In other words, since the spatial relationship between the end effector (500) and the joint arm member (400) is known by the controller device (450), the spatial relationship between the end effector (500) and the interface (1200) received accordingly, and the prosthetic device (600), the surgical guide (700), or the jaw correction element (800) accommodated by the interface (1200) is also known or quickly determined by the controller device (450). In one exemplary aspect, the interface (1200) is a bite fork mechanism (e.g., see FIG. 5) arranged to accommodate the prosthetic device (600) with a certain spatial relationship between them.

[0056] In one aspect of the present invention, the controller device (450) is arranged to guide the articular arm member (400) to physically control the permissible movement of the end effector (500) in direct relation to the placement of the end effector (500) with respect to the reference marker (250) that is bound to the maxillary facial anatomical structure (300) according to the virtual surgical plan, so as to position the prosthetic device (600) in alignment with one or more implant anchors (650) implanted within the maxillary facial anatomical structure (300) to fix the prosthetic device (600) thereto (see, e.g., FIG. 6a and FIG. 6b). The end effector (500) may have a drill mounted thereon, wherein the drill is modified to be attached to the prosthetic device (600) (e.g., denture) using a mechanism such as a bite fork extending between the drill and the prosthetic device (600). In this manner, the drill and / or the bite fork may be considered as an interface (1200). In another example, the prosthetic device (600) may be mounted directly to the end effector (500) without the drill and / or the bite fork between them.

[0057] The implant anchors (650) may be manually implanted or implanted in a precise and accurate manner with the dental implantation system (100) disclosed herein, or rapidly determined by the controller device (450) for the reference marker (250) (e.g., in the preparation of the virtual surgical plan or through image analysis from the actual implantation process for the implant anchors (650). Accordingly, receptacles for receiving the implant anchors (650), as defined by the prosthetic device (600), may be formed precisely and accurately in both size and pattern to interface with the implant anchors (650) instead of becoming excessively large so that the receptacles can be aligned in place.

[0058] In another aspect of the present invention, the controller device (450) is arranged to guide the joint arm member (400) to physically control the permissible movement of the end effector (500) in direct relation to the placement of the end effector (500) to the reference marker (250) that is coupled to the maxillary facial anatomical structure (300) according to the virtual surgical plan in order to position the surgical guide (700) in a relationship aligned with the maxillary facial anatomical structure (300). The surgical guide (700) (e.g., see FIG. 7a and FIG. 7b) has one or more guide holes (720) that define or one or more guide inserts (740) coupled thereto, wherein each of the one or more guide inserts (740) defines a guide hole (720). Accordingly, the surgical guide (700) allows the securement holes (350) to be perforated into the maxillary facial anatomical structure (300) through the guide holes (720) to secure the surgical guide (700) to the maxillary facial anatomical structure (300), or allows fasteners (760) to be received through the guide holes (720) for connection with the securement holes (350).

[0059] In some aspects, as will be understood by those skilled in the art, the prosthetic device (600) has one or more guide holes (720) or one or more guide inserts (740) that are coupled thereto, and each of the one or more guide inserts (740) defines the guide hole (720) so that the prosthetic device (600) becomes a surgical guide (700) or otherwise becomes a surgical guide (700). In other words, in some examples, the prosthetic device (600) can function as a surgical guide that can be held in a proper position relative to the maxillofacial anatomical structure (300) by the articular arm member (400) / end effector (500). In addition, since the prosthetic device (600) will be fixed to the fixation hole (350), it is important to accurately position the guided prosthetic device (600) to the maxillary facial anatomical structure (300). Such placement can replace, for example, relying on bones and / or anchor pins (e.g., see FIG. 7b) that exist to position surgical guides of the prior art.

[0060] The above-mentioned jaw correction element (800) is a part of the maxillary facial anatomical structure that is separated from the rest of the maxillary facial anatomical structure (300) (see, for example, FIG. 8a and FIG. 8b). In other aspects, the controller device (450) is arranged to guide the joint arm member (400) to physically control the permissible movement of the end effector (500) in direct relation to the placement of the end effector (500) to the reference marker (250) that is bound to the maxillary facial anatomical structure (300) according to the virtual surgical plan in order to position the part of the maxillary facial anatomical structure (the jaw correction element (800)) in a relationship aligned with the rest of the maxillary facial anatomical structure (300). Providing the orthodontic element (800) aligned with the remainder of the maxillary facial anatomical structure (300) in this manner allows fixing holes to be perforated into the portion of the maxillary facial anatomical structure (orthodontic element (800)) or the maxillary facial anatomical structure (300) and / or fasteners (820) to be connected to the fixing holes in order to secure a bracket (840) between the portion of the maxillary facial anatomical structure (orthodontic element (800)) and the maxillary facial anatomical structure (300) so that the orthodontic element (800) is fixed in a planned alignment with the remainder of the maxillary facial anatomical structure (300) (e.g., see FIG. 8b).

[0061] In one exemplary type of orthognathic surgery focusing on the maxilla, a portion of the maxilla containing the teeth is separated from the rest of the skull. This is subsequently reattached to a desired alignment using plates and screws. This reattachment must be precise to reconstruct the anatomical shape and occlusion of the intended opposing teeth. By implanting the articular arm member (400) / end effector (500) to stably fix the portion of the anatomical structure separated from the skull in the disclosed manner, the tracking portion of the system (100) allows the position of the maxillary facial anatomical structure to communicate with and monitor the portion of the skull that is not separated (e.g., via a reference marker (250)). The controller device (450) accordingly guides the articular arm member (400) / end effector (500) to the correct position of the portion separated relative to the skull for reattachment. The plates and screws for securing the separated portion can be perforated in-situ at an appropriate / desired location while the joint arm member (400) / end effector (500) maintains the separated anatomical structure in the correct position relative to the skull.

[0062] With respect to the spatial relationship with respect to the maxillary facial anatomical structure (300) known and implemented by the system (100) and the virtual surgical plan advanced through the controller device (450), an alignment procedure for the prosthetic device (600), the surgical guide (700), or the orthodontic element (800) may subsequently be initiated by a physician who moves the end effector (500) toward the maxillary facial anatomical structure (300). In these examples, the controller device (450) is configured to control the movement of the end effector (500) through the joint arm member (400) so that the physician's action is determined by the controller device (450) and directed by the virtual surgical plan, thereby moving the end effector (500) to an appropriate starting position for the alignment procedure. When the end effector (500) having the connected prosthetic device (600), the surgical guide (700), or the jaw correction element (800) is in a position indicated by the controller device (450), the active alignment part of the actual procedure is subsequently initiated, wherein the controller device (450) may further indicate other parameters of the end effector (500), such as the position and orientation of the prosthetic device (600), the surgical guide (700), or the jaw correction element (800), for example, according to the virtual surgical plan.

[0063] In these examples, one distinguishing feature of the system (100) disclosed herein is that the end effector (500) having the attached prosthetic device (600), the surgical guide (700), or the jaw correction element (800) is not guided by the physician, but merely facilitated by the physician following a surgical process determined by the virtual surgical plan and carried out by the controller device (450) and the joint arm member (400). In other words, the system (100) may be configured to limit the physician from performing an alignment procedure for the maxillary facial anatomical structure as determined by the virtual surgical plan and carried out by the controller device (450) and the joint arm member (400), and accordingly, the controller device (450) controls the permissible movement of the joint arm member (400) (and the end effector (500) accordingly) generated from the image(s) of the maxillary facial anatomical structure. For example, the system (100) may be configured for limited movement of the joint arm member (400) / end effector (500) as conveyed to the attending physician through tactile feedback, wherein, for example, the joint arm member (400) / end effector (500) may be moved more easily according to the virtual surgical plan and may be moved more difficult when deviating from the virtual surgical plan.

[0064] However, a person skilled in the relevant technical field will also understand the physical structure of the joint arm member (400) / end effector (500) for providing movement that is fully controlled according to the virtual surgical plan (i.e., vibration, bending of components and / or excessive force applied by the physician), and thus the system (100) may be further configured to provide feedback to the physician in other ways, such as through a dislocation warning sign or other suitable auditory and / or visual mechanism. Accordingly, the system (100) includes equipment for actually executing the virtual surgical plan and enables a more accurate alignment procedure rather than merely alerting the physician in the event that any procedural parameters may be inaccurate. Additionally, those skilled in the art will understand that in some cases, the system (100) may be further configured to implement the virtual surgical plan itself without the intervention of the physician through the automatic operation of the joint arm member (400) / end effector (500) via the controller device (450).

[0065] Many variations and other embodiments of the present invention set forth herein will enable those skilled in the art to understand the benefits of the teachings presented in the foregoing descriptions and the accompanying drawings. Accordingly, it will be understood that the embodiments of the present invention are not limited to the specific embodiments disclosed, and that variations and other embodiments are intended to be included within the scope of the present invention. Furthermore, although the foregoing descriptions and the accompanying drawings describe exemplary embodiments in terms of specific exemplary combinations of elements and / or functions, it should be understood that other combinations of elements and / or functions may be provided by optional embodiments without departing from the scope of the present invention. In this regard, for example, combinations of elements and / or functions other than those described in detail above are also considered to be within the scope of the present invention. Although specific terms are applied herein, they are used only in a general and descriptive sense and are not intended for limiting purposes.

[0066] Although terms such as first, second, etc., may be used herein to describe various steps or calculations, it should be understood that these steps or calculations are not to be limited by these terms. These terms are used solely to distinguish one operation or calculation from others. For example, without departing from the scope of the invention, a first calculation may be referred to as a second calculation, and similarly, a second step may be referred to as a first step. As used herein, the expression "and / or" and the symbol " / " include any and all combinations of one or more of the related enumerated items.

[0067] As used herein, singular expressions such as “one,” “one,” and “one” are intended to include plural forms unless explicitly stated otherwise in the text. Additionally, it will be understood that expressions such as “include,” “including,” “comprising,” and / or “comprising,” when used herein, specify the presence of the features, integers, steps, actions, elements, and / or components described herein, but do not exclude the presence or addition of one or more other features, integers, steps, actions, elements, components, and / or groups thereof. Accordingly, expressions used herein are for the purpose of describing specific embodiments and are not intended to be limiting.

Claims

Claim 1 A dental robot system comprises: a fiducial marker applied to be engaged with a maxillofacial anatomy; an orthognathic element, a prosthetic device, and a surgical guide; an articulating arm member having an end effector engaged with a distal end, wherein the end effector is configured to selectively accommodate the orthognathic element, the prosthetic device, or the surgical guide in a predetermined spatial relationship with the end effector; and a controller device having a processor and a memory for storing a computer program product that can be executed by the processor, wherein the controller device communicates with the fiducial marker, the articulating arm member, and the end effector to determine the placement of the end effector with respect to the fiducial marker while the end effector moves according to a virtual surgical plan for positioning the orthognathic element in a relationship aligned with the maxillofacial anatomy.and performs the step of directing the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is bound to the maxillofacial anatomical structure according to the virtual surgical plan in order to position the orthodontic element in a relationship aligned for fixation to the maxillofacial anatomical structure; and when the end effector selectively receives the prosthetic device or the surgical guide, the controller device communicates with the reference marker, the articular arm member, and the end effector to determine the disposition of the end effector with respect to the reference marker during the movement of the end effector according to the virtual surgical plan for positioning the prosthetic device or the surgical guide in a relationship aligned to the maxillofacial anatomy;A dental robot system characterized by further being configured to perform a step of directing the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker bound to the maxillofacial anatomy, according to the virtual surgical plan, in order to place the prosthetic device or the surgical guide in a relationship aligned with the maxillofacial anatomy, and optionally, the end effector is configured to directly and selectively receive the prosthetic device, the surgical guide, or the orthodontic element in a predetermined spatial relationship, or optionally, the end effector is configured to receive an interface in a predetermined spatial relationship, and the interface is positioned to selectively receive the prosthetic device, the surgical guide, or the orthodontic element in a predetermined spatial relationship. Claim 2 delete Claim 3 A dental robot system according to claim 1, wherein the execution of the computer program product by the processor of the controller device performs the step of instructing the controller device to provide tactile feedback when the movement of the end effector deviates from the virtual surgical plan during the execution of the virtual surgical plan. Claim 4 A dental robot system according to claim 1, characterized by including a splint device that physically interacts stably with the maxillary facial anatomical structure and is operably connected to the reference marker. Claim 5 A dental robot system according to claim 1, wherein the controller device or the end effector is arranged to provide auditory or visual feedback when the movement of the end effector deviates from the virtual surgical plan. Claim 6 delete Claim 7 delete Claim 8 A dental robot system according to claim 1, wherein the interface is a bite-shaped mechanism arranged to accommodate the prosthetic device in a predetermined spatial relationship. Claim 9 A dental robot system according to claim 1, wherein the controller device is configured to direct the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the virtual surgical plan, in order to position the prosthetic device in a relationship aligned with one or more implant anchors implanted within the maxillary facial anatomical structure to which the prosthetic device is fixed. Claim 10 A dental robot system according to claim 1, wherein the controller device is configured to direct the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the virtual surgical plan in order to position the surgical guide in a relationship aligned with the maxillary facial anatomical structure, and the surgical guide has one or more guide holes or one or more guide inserts coupled thereto, and the one or more guide inserts each limit the guide holes so that fixing holes are perforated within the maxillary facial anatomical structure through the guide holes to fix the surgical guide to the maxillary facial anatomical structure, or so that fasteners are received to be coupled to the fixing holes through the guide holes. Claim 11 A dental robot system according to claim 1, wherein the prosthetic device has one or more guide holes or one or more guide inserts coupled thereto, and each of the one or more guide inserts each defines a guide hole so that the prosthetic device becomes the surgical guide. Claim 12 A dental robot system according to claim 1, wherein the orthodontic element is a part of the maxillary facial anatomical structure separated from the remainder of the maxillary facial anatomical structure, and the control device is configured to direct the articular arm member to physically control the permissible movement of the end effector in direct relation to the placement of the end effector with respect to the reference marker that is coupled to the maxillary facial anatomical structure according to the virtual surgical plan, so as to position the part of the maxillary facial anatomical structure in a relationship aligned with the remainder of the maxillary facial anatomical structure, so as to perforate fixation holes into the part or remainder of the maxillary facial anatomical structure, or so as to fasten fasteners to be coupled to the fixation holes to secure a bracket between the part and remainder of the maxillary facial anatomical structure. Claim 13 A dental robot system according to claim 1, comprising a detector coupled to the distal end of a tracking arm, wherein the tracking arm and the detector communicate with the controller device, and the detector is arranged in a spatially spaced relationship with the reference marker to cooperate with the controller device to detect the reference marker and determine a spatial relationship with the reference marker. Claim 14 A dental robot system according to claim 13, wherein the detector is an electric detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof. Claim 15 A dental robot system according to claim 1, comprising a tracking arm having a distal end physically connected to the reference marker, wherein the tracking arm communicates with the controller device and is arranged to cooperate with the controller device to determine a spatial relationship with the reference marker. Claim 16 A dental robot system according to claim 1, characterized in that the reference marker is arranged to communicate with the controller device through 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. Claim 17 A dental robot system according to claim 1, characterized in that the reference marker is arranged to communicate with the controller device via a wireless communication system or a wired communication system. Claim 18 A dental robot system according to claim 1, characterized in that the controller device is configured to enable graphic manipulation of an image of the maxillary facial anatomical structure to form the virtual surgical plan. Claim 19 delete Claim 20 delete Claim 21 delete Claim 22 delete Claim 23 delete Claim 24 delete Claim 25 delete Claim 26 delete Claim 27 delete Claim 28 delete Claim 29 delete Claim 30 delete Claim 31 delete Claim 32 delete Claim 33 delete Claim 34 delete

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