Dental training system and method

Abstract

The arrangements described relate to a device for removably attaching a plurality of sensors to a contra angle dental handpiece, the sensors being attached to different locations along the contra angle handpiece. The sensors typically include a gyroscope and / or accelerometer at one location and one or more cameras at another location. The sensors collect data while the contra angle handpiece is used on a test subject. The sensor data is used to provide feedback to the user. The feedback may be provided in a number of ways, including near real-time feedback, feedback using augmented reality methods or other methods of providing feedback.

Description

DENTAL TRAINING SYSTEM AND METHODReference to Related Application(s)

[0001] This application claims Convention priority from Australian Provisional Patent Application No. 2024902255, the contents of which are incorporated herein by reference in their entirety.Technical Field

[0002] The present invention relates generally to a system and method for dental training and, in particular, to a mechanism for removably attaching multiple sensors to a contra angle dental handpiece for providing feedback during use in training. The present invention also relates to a method and apparatus for dental training, and to a computer program product including a computer readable medium having recorded thereon a computer program for providing feedback for dental training based on sensor measurements.Background

[0003] Dental handpieces are commonly used in dentistry to perform activities such as drilling within the oral cavity (the mouth). Most common are contra angle handpieces that have at least one angle in the handpiece, which allows dental practitioners to reach parts of the mouth with the instrument that are difficult to reach, for example back teeth. The angle can improve comfort for both patients and dental practitioners in reaching areas of the mouth.

[0004] Use of a dental bur for actions such as drilling is performed with high-speed and slow- speed contra angle handpieces. In order to perform cutting procedures without undue pain, discomfort or damage to the patient, the handpiece must be correctly placed within the mouth and the dental bur correctly applied to the tooth.

[0005] Training dental students to use dental handpieces correctly faces difficulty. Typical methods used relate to using dental simulation heads with practice plastic teeth and real tools to mimic real human teeth and head proportions so that students can learn what movements and procedures look and feel like. However, the students are unable to receive real-time feedback regarding the movements and procedures other than from an observer such as a supervising trainer after the preparation is made. Given the limited viewing space available within the mouthor oral cavity and limited training time in the simulation clinic, training for correct use of dental handpieces on human subjects is difficult and limited.

[0006] Other resources used in training students include virtual resources such as tutorial videos and assessments. However, the videos and assessments cannot typically provide feedback based on actual use on the simulation head.

[0007] Other training methods include a three-dimensional (3D) virtual reality training simulator, for example SimodontRHaptic 3D simulator. Virtual reality simulators are also prone to difficulty in preparing dental students for patients’ clinic as the simulator typically does not have the same feel as performing operations such as drilling on a human subject. Additionally, simulation options typically incur relatively high costs in terms of setup and ongoing use. High costs of virtual reality simulators limit availability of these simulators in dental education centres.

[0008] As education systems develop, students typically have shortened courses and / or limited time available in which to obtain training and skill. Further, as education becomes more remote, ability to monitor and provide feedback in training becomes increasingly difficult. A need exists for improved solutions for training dental students to use dental handpieces and burs in their development of manual dexterity skills and patient care.Summary

[0009] It is an object of the present invention to substantially overcome, or at least ameliorate, one or more disadvantages of existing arrangements.

[0010] According to a first aspect of the present disclosure, there is provided a device for removably attaching a plurality of sensors to a contra angle handpiece, the device comprising: a first portion configured to removably attach one or more sensors to a first location on the contra angle handpiece, the one or more sensors configured to sense movement of the contra angle handpiece; and a second portion connected to the first portion, the second portion configured to removably attach one or more image capture sensors to a second location on the contra angle handpiece, the second location being different to the first location, wherein the one or more image capture sensors angled to capture images of a dental bur of the contra angle handpiece.

[0011] According to another aspect of the present disclosure, there is provided a system for training use of a contra angle handpiece, the system comprising: the device of the above aspect; a communications network; and a processor device configured to: receive, via thecommunications network, sensor data from the one or more sensors attached to the first location and the one or more image capture more sensors attached to the second location when the contra angle handpiece is in use, and analyse the received sensor data to generate one or more forms of feedback.

[0012] According to another aspect of the present disclosure, there is provided a method of training use of a contra angle handpiece, the method comprising, receiving, at a processor device, sensor data from the one or more sensors attached to the first location of the contra angle handpiece using the device of the above aspect; receiving, at the processor device, sensor data from the one or more image capture sensors attached to the second location of the contra angle handpiece, generating, at the processor device, one or more forms of feedback based on the received data.

[0013] Other aspects are also disclosed.Brief Description of the Drawings

[0014] At least one embodiment of the present invention will now be described with reference to the drawings, in which:

[0015] Fig. 1 shows an example of an existing contra angle dental handpiece;

[0016] Fig. 2A shows a first embodiment of a system for dental training using a contra angle dental handpiece;

[0017] Fig. 2B shows a second embodiment of a system for dental training using a contra angle dental handpiece;

[0018] Fig. 3A shows a device for attaching sensors to a contra angle dental handpiece, as used in the system of Fig. 2;

[0019] Figs. 3B and 3C show examples of the device of Fig. 3A attached to a contra angle dental handpiece;

[0020] Figs. 4A and 4B show examples of a feedback device used in the system of Fig. 2A or Fig. 2B;

[0021] Fig. 5 shows a method of dental training including providing feedback to a user, as implemented by the system of Fig. 2A or Fig. 2B;

[0022] Figs. 6A-6D show methods of analysing sensor data as implemented in the method of Fig. 5;

[0023] Figs. 7A and 7B show example feedback images generated by operation of the method of Fig. 5;

[0024] Figs. 8A and 8B form a schematic block diagram of a general purpose computer system upon which arrangements described can be practiced;

[0025] Figs. 9A, 9B and 9C show an example of a subject sensor used in the system of Fig. 2B;

[0026] Fig. 9D shows another example of a feedback device;

[0027] Fig. 9E shows an artificial jaw with a calibration fixture applied;

[0028] Figs. 10A to 10E show example feedback images generated by operation of the method of Fig. 5 for the system of Fig. 2B;

[0029] Figs. 11 A and 11 B show example methods of generating feedback as used in the method of Fig.5;

[0030] Fig. 12 shows a method of training a model as can be used to train models used in the methods of Figs. 5 and 6;

[0031] Fig. 13A to 13C show another example of a device for attaching sensors to a contra angle dental handpiece as used in the system of Fig. 2;

[0032] Figs. 14A and 14B show another example of a subject sensor used in the system of Fig. 2B; and

[0033] Fig. 15A shows example feedback images generated by operation of the method of Fig.5 using sensors attached in the examples of Figs. 13 and 14; and

[0034] Fig. 15B shows an example graph generated using the methods of Figs. 5 and 6.Detailed Description including Best Mode

[0035] Where reference is made in any one or more of the accompanying drawings to steps and / or features, which have the same reference numerals, those steps and / or features have for the purposes of this description the same function(s) or operation(s), unless the contrary intention appears.

[0036] It is to be noted that the discussions contained in the "Background" section and that above relating to prior art arrangements relate to discussions of documents or devices which form public knowledge through their respective publication and / or use. Such should not be interpreted as a representation by the present inventor(s) or the patent applicant that such documents or devices in any way form part of the common general knowledge in the art.

[0037] The arrangements described provide a system for providing feedback in dental training. In particular, the arrangements described relate to a device for removably attaching a plurality of sensors to a contra angle dental handpiece. The sensors collect data while a user (for example a student or trainee) is using the contra angle dental handpiece on a test subject (typically an artificial head with one or more artificial jaws). The sensor data is used to provide feedback to the user. The feedback may be provided in a number of ways, including near real-time feedback, feedback using augmented reality methods or other methods of providing feedback.

[0038] Additionally or alternatively, according to some implementations, the arrangements described include one or more sensors included in the test subject. Typically, inclusion of one or more sensors in the test subject relates to one or more gyroscopes being provided in the artificial head. An artificial head for training typically includes an artificial jaw, for example comprising a plastic jawbone, base and teeth for each of the upper and lower jaws. Each gyroscope can be removably attached to the base of each jaw. In other implementations, one or more different types of sensors may be used, including accelerometers and magnetometers. In one example implementation, a combination of sensors may be used in one or more devise such as an Adafruit 9 axis absolute orientation IMU ‘BNO055”, which includes gyroscope, accelerometer and magnetometer, or similar devices.

[0039] The sensor data from the test subject using sensors attached to one or more artificial jaws is also used to provide feedback to the user. The feedback may be provided in a number of ways, including near real-time feedback, feedback using augmented reality methods or other methods of providing feedback. Receiving feedback in relation to both movement of a dental handpiece and an artificial jaw can provide a further level of feedback compared to a handpiecealone, for example taking into account movements as the artificial head moves or swivels as a practice procedure is performed, or accounting for different orientations of the teeth of the artificial jaw.

[0040] Fig. 1 shows an example contra angle dental handpiece 100, as known in the art. The instrument 100 comprises a shaft portion 105, a grip portion 115 and a head portion 120. The shaft portion 105 typically houses components required to operate the contra angle device 100. The shaft portion 105 typically includes a cable connection 110 for receiving air-flow and / or electrical power via a cable 111. The shaft portion 105 may also be referred to as a proximal portion as the shaft portion 105 is typically oriented towards or proximate the operator when the instrument 100 is in use.

[0041] The grip portion 115 is connected to the opposite end of the shaft portion 105 to the power cable connection 110. The grip portion 115 has a similar shaft-like shape and typically one angle, such as an angle 116, altering the direction of a central axis of the grip portion 115. The grip portion 115 may also have a circumference that tapers somewhat in the distal direction to assist in gripping.

[0042] The head portion 120 is connected to the grip portion 115 on the opposite end to the shaft portion 105. The head portion 120 includes at least one tool 125, for example a dental bur for performing operations such as drilling on subject’s tooth. The head portion 120 may also be referred to as a distal portion (or distal end) as the head portion 120 is typically oriented away from the operator in use of the handpiece 100.

[0043] When the contra angle instrument (handpiece) 100 is being used, the user typically holds the instrument at the grip portion 115 with their index finger and thumb (and in some cases middle finger). The head portion 120 is inserted into the mouth (oral cavity) of the subject such that the dental bur 125 can be applied to a tooth, for example for drilling. The angle 116 allows the head portion to be inserted into the subject’s mouth and to reach areas such as the back of teeth or molars. However, given the limited space available in the typical mouth, learning to operate the handpiece 100 such that the tool (the dental bur 125) of the instrument 100 is difficult to assess and appropriately use techniques take time-consuming practice and training. In particular, it is difficult for students, trainees or other persons using the handpiece 100 to learn effectively and / or efficiently how to use the handpiece 100 on an artificial head as limited feedback can be provided under current systems. Teachers typically cannot view the work and neither teacher nor user of the handpiece 100 has access to data associated with the work. In particular, feedback in real time whilst the trainee is performing a procedure is difficult.

[0044] Fig. 2A shows an example system 200 for dental training. In the example of Fig. 2, the system 200 comprises a set of sensors 210, a communications network 220, a processor device 230 and a feedback device 240. The sensors 210 are attached to the contra angle dental handpiece 100 in the example of Fig. 2. As described in relation to Fig. 3, the sensors are removably attached to different portions of the handpiece 210 by a specific attachment device. The sensors 210 collect data relating to operation and movement of the handpiece 100 as a user, such as a dental student or trainee, uses the handpiece 100 in a training scenario (such as on a tooth of an artificial head).

[0045] Data collected by the sensors 210 is transmitted via the communications network 220 to the processor device 230. The network 220 may be any suitable wired or wireless network. For example, the network 220 may operates using wireless protocols such as Bluetooth, WiFi (IEEE 802.11) or the like. Alternatively, the network 220 may be a wired network or a combination or wired and wireless networks.

[0046] The processor device 230 may be any processing device suitable for receiving and processing data generated by the sensors 210, for example a laptop, a desktop computer, a server or portable devices such as a tablet or a smartphone. Example structure and operation of the processor device 230 is described in relation to Figs. 8A and 8B.

[0047] Fig. 2B shows another example system 200B for dental training. Similarly to the example of Fig. 2A, the system 200B comprises the set of sensors 210, the communications network 220, the processor device 230 and the feedback device 240, which operate in a similar manner as described in relation to Fig. 2A. Additionally, in contrast to Fig. 2A, the system 200B includes one or more subject sensors 260. The sensors 260 are attached to the subject on which dental training is performed. For example, sensors may be attached to the artificial head or jaw on which the user is performing training using handpiece 100. An example of the one or more sensors 260 are described in further detail in relation to Fig. 9.

[0048] Whether used in the system 200 or the system 200B, the feedback device 240 may be one or more devices or mechanisms used to provide feedback to the user of the instrument 100. In some embodiments, the feedback device 240 may be an augmented reality device, such as a goggle device, also referred to as glasses or safety glasses, worn by the user. In other implementations, the feedback device 240 may be an indicator attached to the subject (the artificial head) or an indicator device that is standalone or part of the processor device 230. In other implementations, the processor device 230 and feedback device 240 can be a single device. The processor device 230 typically communicates with the feedback device 240 via thenetwork 220. The feedback device 240 and use thereof are described further in relation to Figs. 4, 5 and 9.

[0049] In the examples of both Fig. 2A and Fig. 2B, the processor device 230 and the feedback 240 are used to provide feedback to the user of the instrument 100 during training. The feedback may be real-time feedback, delayed feedback or a combination of both. In some implementations, the feedback device may be omitted or may be provided by the processor device 230.

[0050] In the example of Fig. 2A, the sensors 210, the processor device 230 and the feedback device 240 are distinct devices. Similarly, in the example of Fig. 2B, the sensors 210, the sensors 260, the processor device 230 and the feedback device 240 are distinct devices. However, in other implementations, some functions may be divided across the devices 210, 260 (if present), 230 and 240. In other implementations, other devices may be included within the dental training system 200, for example server computers, user devices such as smartphones, and the like.Sensor attachment device

[0051] Fig. 3A shows an example sensor attachment device 300, which attaches or fastens the sensors 210 to the handpiece 100. The attachment device is configured to removably attach or fasten a plurality of sensors to the handpiece 100 such that the sensors 210 are provided at different locations along the contra angle handpiece 100.

[0052] The attachment device includes a first sensor portion 310 (also referred to as a proximal sensor portion), a second sensor portion 350 (also referred to as a distal sensor portion) and a connector 330. Each of the sensor portions 310 and 350 is configured to attach at least one sensor to a particular part of the contra angle handpiece 100 in a manner which does not impede use of the instrument 100. The sensor portions 310 and 350 are each configured to attach to different portions or locations of the handpiece 100 and are preferably used for different types of sensors.

[0053] The sensor portion 310 is configured to fit removably to the shaft portion 105 of the contra angle handpiece 100. The sensor portion 310 is configured to snap-fit around a portion of the shaft 105 in the example of Fig. 3A. In particular, the sensor portion 310 has a sleeve-like or partial hollow cylindrical wall 311 configured to snap-fit to the shaft portion 105. An inner surface of the wall (also referred to as a base) 311 fits around the shaft portion 105 and an outersurface of the wall 311 generally follows curvature of the shaft portion 105 such that a user of the instrument 100 is not impeded by the attachment device 300 being attached to the instrument 100. The sensor portion 310 may have other configurations to allow removable attachment of the portion 310 to the shaft portion 105. For example, a hook and loop fastener, a clasp, adhesive tape, a flexible sleeve or another configuration which allows attachment or fitting of the base 311 to the shaft portion 105 in a manner which does not hinder use of the contra angle handpiece 100 may be used.

[0054] The sensor portion 310 also includes a sensor area 312 to which one or more sensors may be fastened. In the example of Fig. 3A, the sensor area 312 is formed as a flat platform to which one or more sensors can be attached or fixed. The sensor area 312 may take other forms in implementations, such as a recess for receiving one or more sensors, an arrangement of hooks for attaching sensors and the like, such that the one or more sensors can be affixed to the area 312.

[0055] The one or more sensors attached to the sensor area 312 are typically one or more of a gyroscope and an accelerometer. In some implementations, multiple sensors may be in form of a single chip device, for example the BNO055 Adafruit 9 axis IMU sensor, which includes an accelerometer, gyroscope and magnetometer, or another similar chip device. In other implementations, multiple separate sensor devices may be attached to the area 312.

[0056] The second sensor portion 350 includes a fitting portion 355 and an upper portion 360. The fitting portion 355 is configured to attach the sensor portion 350 to a distal end of the grip portion 115 of the contra angle handpiece 100. The fitting portion 355 is configured to attach the attachment 350 to an underside of the contra angle instrument 100 (the is the same side of the instrument 100 as the tool 125). In the example of Fig. 3A, the fitting portion 355 includes a sleeve-like, partially cylindrical base 357 which snap fits to the grip portion 115 in a similar manner to the base 311 attaching to the shaft portion 105. The portion 350 may have other configurations to allow removable attachment of the portion 350 to the grip portion 115, for example a hook and loop fastener, a clasp, adhesive tape, a flexible sleeve or the like.

[0057] The upper portion 360 is configured to fit around at least a portion of an outer distal surface of the head portion 120 of the instrument 100. In the example of Figs. 3A to 3C, the upper portion 360 fits around the full outer distal surface of the head portion 120. In other embodiments, the upper portion 360 may only fit around a single side or portion of the outer distal surface of the head portion 120 to include one or more fitting portions or may be replaced by a single fitting portion 355. Each of the clamp portion 355 and the upper portion 360 includesone or more sensor retainers, such as example sensor retainers 365. The sensor retainers 365 are each configured to retain one or more sensors. In the example of Fig, 3A the sensor retainers 365 have a hollow cylindrical shape with a tapering diameter.

[0058] In a preferred implementation, each of the sensor retainers 365 is configured to hold a camera or image capture device. Each camera is inserted in the hollow cylindrical centre of each retainer such that a lens of the camera is pointing out of an end towards the dental bur 125 when the device 300 is attached to the instrument 100. Typically, each camera is about 1.1mm in diameter, and with protective tubing it is no more than 2mm. An example of a suitable image capture device is OMNIVISION's OVM6948 CameraCubeChip®. Other similar image capture devices may be used. In some instances, light emitting diodes (LEDS) may be included with each camera, the cameras and LEDs contained within a clear tube. If each camera is rectangular 1.1mm x 1.1mm, a rectangular prism sensor retainer that is 1.3x1.3mm may be required for example. Other cameras of larger sizes may also be used, for example up to 3.9mm diameter. In some arrangements, cameras produced for endoscopy applications may be used, as endoscopy cameras are small, long wired and waterproof.

[0059] The one or more sensors attached to each of 310 (at the area 312) and 350 (in the retainers 365) correspond to the sensors 210 of Fig. 2.

[0060] The connector 330 connects the sensor attachment 310 to the sensor attachment 330 so that the device 300 forms a single integrated device. In the example of Fig. 3A, the connector 330 has a flat, rectangular or strip-like shape. The connector 330 allows a distance between the portions 310 and 350 to remain relatively constant and thus to avoid slippage of the attachments 310 and 350 relative to one another when a contra angle instrument 100 is in use with the device 300 attached. In some arrangements, as shown in the example of Fig. 3A, the connector 330 may have a proximate portion 331 and a distal portion 332, the distal portion 332 forming an angle at a joint 333 that reflects the angle 116 between the shaft portion 105 and the grip portion 115. In other arrangements, a hinge may be included at the joint 333 between the portions 331 and 332 such that variable angles may be formed between the portions 331 and 332. In yet other arrangements, the connector may be of a suitably flexible material to adapt to the shape of the handpiece 100. In yet other arrangements, the connector may also include one or more sensors at a different location to the sensors at the head portion 120, for example some of the sensors 313 or in addition to the sensors 313 The number of portions and joints of the connector 330 can vary based on a number of angles in the contra angle instrument.

[0061] In the example of Fig. 3A, the attachment device 300 attaches the sensors 210 to two different locations or positions on the contra angle handpiece 100 by connecting the portions310 and 330 using the connector. In other implementations, a single, continuous portion may be used to attach the sensors 210 to the contra angle handpiece 100. Using different, connected portions may be advantageous if using the attachment device on a number of different types or brands of contra angle instrument.

[0062] The attachment device 300, which may also be considered to form a removable scaffold for attaching sensors to a contra angle instrument, can typically be manufactured from materials such as plastic, metal carbon fibre using techniques such as additive manufacturing, injection moulding, or the like.

[0063] Figs. 3B and 3C shows example views 390b and 390c of an attachment device 300b attached to a contra angle handpiece 100b. The device 300b corresponds to the device 300 and the instrument 100b corresponds to the instrument 100. The handpiece 100b has a shaft portion 105b corresponding to the shaft portion 105, a handpiece portion 115b corresponding to the grip portion 115, a head portion 120b corresponding to the head portion 120 and a dental bur 125b corresponding to the dental bur 125.

[0064] To attach the device 300b to the instrument 100b, a base 311b (corresponding to 311) of a portion 310b (corresponding to 310) is snap-fit to the shaft portion 105b such that a sensor area 312b (corresponding to 312) is attached to an upper surface of the proximal end of the contra angle device 100b. A sensor chip device 313 is attached to the sensor area 312b in the example of Fig. 3B. For example, the sensor chip device 313 may be a 9 axis BNO055 produced by Adafruit or another similar gyroscope or an accelerometer device. A microcontroller such as ESP32c3 manufactured by Espressif may be suitable for controlling operation of and communication by the sensors.

[0065] A sensor portion 350b (corresponding to 350) is attached to a distal portion of the handpiece portion 115b by snap-fitting a fitting portion 355b to the grip portion 115b. The fitting portion 355b corresponds to the fitting portion 355 and is snap-fit to an underside of the grip portion 115b, that is the same side as the dental bur 125b. An upper portion 360b (corresponding to 360) is positioned around a distal end of the head portion 120b such that cameras installed in retainers corresponding to the retainers 365 are pointed toward a distal end of the dental bur 125b. For example, Fig. 3C shows a camera 366 installed in a retainer 365b.

[0066] As can be seen from Fig. 3B, attaching the first sensor attachment 310b to an upper proximate end of the shaft portion 105b to a lower distal end of the grip portion 115b can allow the user to grip the handpiece 115b and use the contra angle device 100 in the usual mannerfor training. Similarly, attaching the sensor portion 350b to an underside of the handpiece 115b allows sensors in the retainers (such as 365b) to be angled to capture images of the dental bur 125b without impeding use. At least part of the sensor attachment 350b will be inserted into an oral cavity, for example on an artificial head, when the contra angle instrument 100b is in use. In some implementations, the device 300 (or 300b) may have a configuration where the first sensor attachment (310 or 310b) may also be fitted to the lower side of the contra angle instrument 100. However, having the portion 310 attached to the upper side of the shaft 105 can be beneficial in terms of stability in attaching sensors to the contra angle instrument 100.

[0067] Each of the sensors attached to the handpiece 100 operates using electrical power and provides data to the processor device 230. For example, sensor device 313 and camera 366 are connected to cables 395 in the examples of Figs. 3B and 3C for receiving electrical power and transmitting data. In other implementations, the sensors applied to one or both of the portions 310 and 350 may be battery powered and / or may transmit data using a wireless protocol such as Bluetooth.

[0068] As the user (for example student or trainee) uses the handpiece 100 with the scaffold 300 attaching the sensors 313 and 366, data collected by the sensors 313 and 366 is transmitted to the processor device 230.

[0069] To remove the attachment device or sensor scaffold 300, from a contra angle dental handpiece instrument, each of the portions 310 and 350 can be removed from the instrument at 105 and 115 respectively. For example, referring to Figs. 3B and 3C, the snap fit portion 311b can be removed be exerting a force pushing or pulling the portion 311b from the shaft 105b such that the portion 311b slides off. Similarly, the portion 355b can be pushed or pulled away from the grip portion 115b to disengage by the snap fit configuration.

[0070] The structure of the device 300 having two separate sensor portions allows a number of benefits, particularly in relation to dental training. In allowing sensors to be positioned at more than one location along the contra angle instrument 100 (for example via the portions 310 and 350), different types of sensor data can be collected simultaneously when the instrument 100 is in use. For example, in a preferred implementation, the portion 310 attaches sensors such as one or more of a gyroscope, an I MU and an accelerometer to allow information regarding the user’s positioning and movement of the instrument 100 to be obtained. In the preferred implementation, the portion 350 includes one or more cameras positioned with lenses toward a distal end of the tool 125, angled to capture images of the tool (bur) 125. The cameras allow image data of positioning of the tool 125 relative to a subject’s tooth in use to be collected at thesame time as the sensors from 310 are collecting data regarding overall tool positioning. Accordingly, different types of data relating to different aspects of use of the instrument 100 can be collected at the same time, to allow more meaningful feedback to be provided to the user.

[0071] The device 300 is further configured to be removably attachable to the handpiece 100, for example by a snap-fit configuration of the portions 311 and 355. Ability to remove and reattach the device 300 provides a number of benefits, in particular in relation to dental training. Being removable allows the device 300 to be used with different contra-angle handpieces, considering differences in different brand designs as well as differences in the design of slow- and high-speed handpieces. For example, a user may obtain a different contra angle handpiece during different training sessions (e.g. Tooth Conservation, Fixed Prosthodontics, Endodontics, Oral Surgery, Periodontics), or may perhaps use different types or brands of contra angle handpiece during different training sessions. The user (or the training facility) may be able to reuse the same attachment device 300 for different contra angle handpieces and / or types of contra angle handpieces across different training sessions. The device 300 being removably attachable means that a specific new type of contra angle handpiece (for example with embedded sensors) is not required for training. The user can obtain experience and training using a range on industry devices, rather than with a training-specific device.

[0072] Use of a removable, reusable device is typically counter-intuitive in actual dental practice compared to training, as high levels of sterilisation are typically required for objects to be inserted into a real mouth rather than the mouth of an artificial head.

[0073] The device 300 operates to removably attaching sensors to the contra angle handpiece. The device 300 comprises at least the first portion 310 configured to removably attach one or more sensors to a first location on the contra angle handpiece 100, the one or more sensors configured to sense movement of the contra angle handpiece. The device 300 also comprises the second portion 350 connected to the first portion 310, the second portion configured to removably attach one or more image capture sensors to a second location on the contra angle handpiece, the second location being different to the first location, wherein the one or more image capture sensors angled to capture images of a dental bur of the contra angle handpiece.

[0074] Fig. 13A shows a side view 1300a of an alternative embodiment of a sensor attachment device. In Fig. 13A, a sensor attachment device 1301 attaches or fastens the sensors 210 to the handpiece 100. Similarly to the sensor attachment device 300, the sensor attachment device 1301 includes a first sensor portion 1310 (also referred to as a proximal sensor portion), a second sensor portion 1350 (also referred to as a distal sensor portion) and a connector 1330.Each of the sensor portions 1310 and 1350 is configured to attach at least one sensor to a particular part or location of the contra angle handpiece 100 in a manner which does not impede use of the instrument 100. The sensor portions 1310 and 1350 are each configured to attach to different portions or locations of the handpiece 100 and are preferably used for different types of sensors.

[0075] The first sensor portion 1310 has a similar structure to the first sensor portion 310 and can accommodate one or more sensors 1313 (for example one or more of gyroscopes, accelerometers, inertial measurement units and the like similar to the sensors 313) similarly to the area 312 of Fig. 3A.

[0076] Fig. 13B shows a bottom view 1300b of the sensor attachment device 1301 attaching sensors to the handpiece 100. Fig. 13C shows a partial, enlarged bottom view 1300c of the sensor attachment device 1301 attaching sensor to the handpiece 100, showing the second sensor portion 1350 only.

[0077] The second sensor portion 1350 is configured to hold one or more sensors to be used similarly to sensors held by the second portion 350. Unlike the second sensor portion 350, the second sensor portion 1350 does not include a section 360 or 360b positioned around the distal portion of the handpiece 100. Rather, protruding portions 1360 are formed, which extend relative to the head portion 120 of the handpiece 100 and are angled towards the dental bur 125. In the example of Figs. 13A and 13B, the portions 1360 extend from behind a neck or lower portion of the handpiece 100 but other configurations or locations relative to the head portion 120 can be used, as would be appreciated by a person skilled in the art. Each of the portions 1360 is configured to retain an image capture device, such as a camera 1366. The example of Figs. 13A to 13C shows two portions 1360, each with a camera 1366. However, different numbers of extending portions may be used extending portions with different lengths and angles relative to the dental bur 125 may be used. Use of the portions 1360 extending from a neck or based of the head portion 120 can limit effect of water droplets in obstructing images of the dental but 125 in some implementations, so the video or image feeds are more likely to remain clear.

[0078] Each portion 1360 may be configured to a retain the camera 1366 using known methods such as a recess, a snap-fit cavity and the like.

[0079] The connector 1330 has a similar structure to the connector 330. In the example Fig. 13C, the connector 1330 includes a plurality of strips of material to perform the function of the single strip of material 330.

[0080] The sensor attachment device 1301 can be manufactured from similar materials as the sensor attachment device 300 and can be removable attached to the handpiece 100 using similar mechanisms described for the device 300. The sensor attachment device 1301 provides the sensors 210 of Fig. 2 in a similar manner to the device 300. The second sensor portion 1350 can be particularly useful if stereoscopic vision or multiple views of movement of the dental bur 125 inside a subject’s mouth can contribute to the user’s learning.Sensor(s) on subject

[0081] In the system of Fig. 2B, one or more sensors 260 applied to a subject are also used in dental training. Figs. 9A to 9C show an example implementation.

[0082] Fig. 9A shows an example 900 of an artificial jaw 901 used in dental training. The artificial jaw 901 may be embedded within an artificial head in practice. An artificial head is excluded from Figs, 9A-9C for ease of viewing. Fig. 9C shows an example view 950 of the artificial jaw 901 from an upper viewpoint. The artificial jaw 901 includes artificial teeth 905, and artificial jawbone 910 and a base 915. The example jaw 900 is a lower jaw. An upper jaw would have similar structure, with the base 915 forming a palate of the upper jaw. For example, the jaw 901 may be flipped to form an upper jaw.

[0083] The artificial jaw 901 is attached to a hinge 920. In the example of Figs. 9A to 9C the hinge 920 is attached to a stand 922 for ease of viewing. An angle of the base 915 relative to the stand 922 may be varied as the jaw 901 is moved relative to the stand 922 by operation of the hinge 920. In practice, the hinge 920 may be attached to an artificial head or the like for use in training, such that the jaw 901 may rotate and move within the artificial head as allowed by the hinge 920. In the example 900 the jaw 901 is in a horizontal position, such that the base 915 is approximately 90 degrees or perpendicular to the stand 922. In an example 930 of Fig. 9B, the jaw 901 is in an angled position, forming an angle 933 between the base 915 and the stand 922.

[0084] The artificial jaw 901 further includes one or more sensors 925 attached to the base 915.The one or more sensors are typically one or more of gyroscopes, accelerometers or magnetometers, or other sensors capable of sensing changes in motion and direction ororientation, for example from orientation or position of Fig. 9A to that of Fig. 9B. The one or more sensors 925 provide the one or more sensors 260 of the system 200B.

[0085] As a user works on the artificial head, the artificial jaw 901 may be in different orientations, or may be moved into different orientations as the user applies the dental bur 125 to one of the artificial teeth 905. The one or more sensors 925 are used to detect the angle and any motion of the jaw 901 and transmit data reflecting sensed angle and motion to the processor device 230.

[0086] In some implementations, the one or more subject sensors 260, implemented as the sensors 925 for example, may be include in one or both of an upper and a lower jaw of an artificial head. In the example of Figs. 9A to 9C, the hinge 920 is formed by an arrangement using a screw. Other hinge mechanisms may be used. In the examples of Figs. 9A to 9C, the sensors 925 are positioned on the base 915. In other implementations, the sensors 925 may be placed in other locations on the artificial jaw, provided the sensors 925 can operate to detect change in angle or orientation of the base and do not impede the user from using the handpiece 100 on the artificial teeth 905.

[0087] Figs. 14A and 14B show an alternative embodiment of the subject sensors 260. Fig. 14A shows a first view 1400a of a user (for example, student or trainee) S using the contra angle handpiece 100 with the sensor attachment device 1301 attached thereto. The contra angle handpiece 100 is being used on an artificial head 1410 including an artificial jaw 1415. Fig. 14 B shows an alternative view of the user S using the handpiece 100 with the device 1301 attached on the artificial head 1410.

[0088] As shown in Figs. 14A and 14B, the artificial head 1410 has a sensor device 1420 attached thereto. In the example of Figs. 14A and 14B, the sensor device 1420 is attached to a top or crown of the artificial head 1410. In other implementations, the sensor device 1420 may be attached to other parts of the artificial head 1410, for example dependent on whether a particular procedure is expected to potentially cause different expected motion of the artificial head 1410. The sensor device 1420 is configured to detect movement by the artificial head 1410 as the contra angle instrument 100 is used on the artificial jaw 1415 and transmit the sensed movement data to the processor device 230.

[0089] The sensor device 1420 may be one or more sensors suitable for tracking motion of the artificial head 1410. For example, the sensor device 1420 may be a IMU sensor (such as Adafruit BNO085), a gyroscope, an accelerometer or the like. The sensor device 1420 may besued as a standalone implementation of the subject sensors 260 or may be used in addition to the sensors 925, such that the sensor devices 925 and 1420 form the subject sensors 260.Feedback Device

[0090] The feedback device 240 is typically used to provide real-time feedback to the user of the handpiece 100 with the device 300 attached. The feedback can relate to sensors attached by the device 300 only in arrangements relating to the example of Fig. 2A. The feedback can relate to sensors attached by the device 300 and one or more sensors attached to the subject, for example to artificial jaw 901 , in arrangements relating to the example of Fig. 2B. The feedback device 240 can include a single device or mechanism or multiple feedback devices or mechanisms.

[0091] One example feedback mechanism may be a visual indication using one or more light emitting diodes (LEDs). The one or more LEDs may be standalone, attached to a device, positioned on or near the subject or may form part of an augmented reality (AR device) for example. In some implementations, the LEDs may be attached to a clip or fastener, such that the user can clip or fasten the LEDs where required, for example, on a desk, on or near the artificial head, or any other place the LEDs are easily viewed while working on the artificial head. Typically, LEDs used for the feedback device are configured to emit different colour light based on signals generated by the sensors 210 (and 260 if used), as controlled by the processor device 230.

[0092] Fig. 9D shows an example 970 in which one or more LEDs 950 are attached to the artificial jaw 901. The LED 950 may be included in the one or more jaws of the artificial head, irrespective of whether the implementation used includes the one or more subject sensors 260. Alternatively, LED indicators can be standalone devices on a desktop or form part of a display of the processor device or another device, such as a smartphone of the user.

[0093] The LEDs 950 are configured to emit different colour light based on signals received via the processor device 230. The LEDS 950 can allow the user to see that the LEDs have turned on, or changed the colour emitted, without obstructing the user’s overall view while using the instrument 100 on the jaw 901 of a subject artificial head. The indicator devices (such as 950) may be attached to the jaw 901 in any position where the light is visible but is unlikely to obstruct the user of the handpiece 100 in practicing on the jaw 901. The LEDS 950 may be attached means such as adhesive, a clip or the like. Circuitry associated with providing powerto, receiving data for, and controlling operation of the LEDs 950 may be integrated into the indicator devices themselves, or in electrical communication via a cable 990.

[0094] Fig. 4A shows an example pair of safety glasses 400. The safety glasses 400 can provide an example implementation of the feedback device 240 implemented as an AR device. Other device such as an Apple Vision Pro™ may be used and an AR version of the feedback device 240. As typical in safety glasses, the safety glasses 400 include a pair of stalks 405 for placement behind a wearer’s ears and lenses 41 Or and 4101 through which the user can see when wearing the safety glasses 400. In the arrangements described the glasses 400 further include indicator devices to alert the wearer to updates based on data received via sensors attached the contra angle handpiece 100 via the device 300. In the example of Fig. 4, the feedback device 240 comprises one or more LEDs attached to an upper, outer corner of each lens, such as LEDs 420 attached to an upper, outer corner of the lens 4101. Indicators can be included at a periphery of each lens for each eye (that is both 41 Or and 4101) or one lens only (one of 4101 and 41 Or). The LEDs 420 are configured to emit different colour light based on signals received via the processor device 230. The indicator devices (LEDs 420) may be positioned in any areas of the lenses 41 Or and 4101 that allows the user to see that the LEDs have turned on, or changed the colour emitted, without obstructing the user’s overall view while using the instrument 100. The feedback devices (such as 420) may be embedded in the lenses 41 Or / 41 Or, embedded in a frame 430 or attached the one or more of the lenses 41 Or, 4101 and frame 430 using other means such as adhesive, a clip or the like. Circuitry associated with providing power to, receiving data for, and controlling operation of the LEDs 420 may be integrated into the indicator devices themselves, or attached to the goggles 400 (for example behind one of the stalks 405, not shown). Suitable LEDs may be Arduino RGB LED diffused common anode controlled by an ESP32c3 microcontroller for example, or other similar LEDs.

[0095] Fig. 4B shows a partial view 450 of a corner of a pair of safety glasses 422 (similar to the glasses 400) where LEDs 470 (corresponding to 420) are attached using a clip.

[0096] Figs. 14A and 14B show one or more LEDs 1470 attached the artificial head 1410. The LEDs 1470 can operate in a similar manner to the LEDs 470 or 420 to emit different colour light based on signals received via the processor device 230 and provide an alternative embodiment of the feedback device 240. In some implementations, one or more the LEDs 420, 470 and 1470 may be used as to form the feedback device 240. In the example of Fig. 14A, the LED 1470 is attached in a position close to a forehead of the artificial head 1410 but may be placed at other location on the head 1410, provided the user S can easily view the colour light being emitted.

[0097] In other implementations, the feedback device may relate to non-visual feedback. For example, a vibrating mechanism can be used, such as an eccentric vibration motor that can generate vibration motion to alert a user. The vibration motor may be in a smartphone of the user, on a desk, or attached to one of the handpiece 100 or the attachment device 300 (for example at 312). In other implementations, the feedback device may emit a warning signal to alert a use, for example transmitted via speakers of the processor device 230 or a smartphone of the user.Computer Description

[0098] As shown in Fig. 2, the system 200 includes the processor device 230.

[0099] Figs. 8A and 8B depict a general-purpose computer system 800, upon which the various arrangements described can be practiced. The system 800 includes a computer module 801. The module 801 may be implemented as the processor device 230. The computer system 80 also includes a communications network 820. The communications network 820 provides an example implementation of the communications network 220.

[0100] As seen in Fig. 8A, the computer system 800 includes: a computer module 801; input devices such as a keyboard 802, a mouse pointer device 803, a scanner 826, a camera 827, and a microphone 880; and output devices including a printer 815, a display device 814 and loudspeakers 817. An external Modulator-Demodulator (Modem) transceiver device 816 may be used by the computer module 801 for communicating to and from the communications network 820 (corresponding to the network 220) via a connection 821. The communications network 820 may be a wide-area network (WAN), such as the Internet, a cellular telecommunications network, or a private WAN. Where the connection 821 is a telephone line, the modem 816 may be a traditional “dial-up” modem. Alternatively, where the connection 821 is a high capacity (e.g., cable) connection, the modem 816 may be a broadband modem. A wireless modem may also be used for wireless connection to the communications network 820. The sensors 210 and 260 (if present) and the feedback device 240 communicate with the module 801 via the network 820.

[0101] The computer module 801 typically includes at least one processor unit 805, and a memory unit 806. For example, the memory unit 806 may have semiconductor random access memory (RAM) and semiconductor read only memory (ROM). The computer module 801 also includes an number of input / output (I / O) interfaces including: an audio-video interface 807 that couples to the video display 814, loudspeakers 817 and microphone 880; an I / O interface 813that couples to the keyboard 802, mouse 803, scanner 826, camera 827 and optionally a joystick or other human interface device (not illustrated); and an interface 808 for the external modem 816 and printer 815. In some implementations, the modem 816 may be incorporated within the computer module 801, for example within the interface 808. The computer module 801 also has a local network interface 811, which permits coupling of the computer system 800 via a connection 823 to a local-area communications network 822, known as a Local Area Network (LAN). As illustrated in Fig. 8A, the local communications network 822 may also couple to the wide network 820 via a connection 824, which would typically include a so- called “firewall” device or device of similar functionality. The local network interface 811 may comprise an Ethernet circuit card, a Bluetooth® wireless arrangement or an IEEE 802.11 wireless arrangement; however, numerous other types of interfaces may be practiced for the interface 811.

[0102] The I / O interfaces 808 and 813 may afford either or both of serial and parallel connectivity, the former typically being implemented according to the Universal Serial Bus (USB) standards and having corresponding USB connectors (not illustrated). Storage devices 809 are provided and typically include a hard disk drive (HDD) 810. Other storage devices such as a floppy disk drive and a magnetic tape drive (not illustrated) may also be used. An optical disk drive 812 is typically provided to act as a non-volatile source of data. Portable memory devices, such optical disks (e.g., CD-ROM, DVD, Blu-ray Disc™), USB-RAM, portable, external hard drives, and floppy disks, for example, may be used as appropriate sources of data to the system 800.

[0103] The components 805 to 813 of the computer module 801 typically communicate via an interconnected bus 804 and in a manner that results in a conventional mode of operation of the computer system 800 known to those in the relevant art. For example, the processor 805 is coupled to the system bus 804 using a connection 818. Likewise, the memory 806 and optical disk drive 812 are coupled to the system bus 804 by connections 819. Examples of computers on which the described arrangements can be practised include IBM-PC’s and compatibles, Sun Sparcstations, Apple Mac™ or like computer systems.

[0104] The methods of training a user of the handpiece, such as a dental student, including generating feedback, may be implemented using the computer system 800 wherein the processes of steps Figs. 5, 6 and 11 , to be described, may be implemented as one or more software application programs 833 executable within the computer system 800. In particular, the steps of the method of Figs. 5 and 6A to 6C are effected by instructions 831 (see Fig. 8B) in the software 833 that are carried out within the computer system 800. The softwareinstructions 831 may be formed as one or more code modules, each for performing one or more particular tasks. The software may also be divided into two separate parts, in which a first part and the corresponding code modules performs the described methods and a second part and the corresponding code modules manage a user interface between the first part and the user.

[0105] The software may be stored in a computer readable medium, including the storage devices described below, for example. The software is loaded into the computer system 800 from the computer readable medium, and then executed by the computer system 800. A computer readable medium having such software or computer program recorded on the computer readable medium is a computer program product. The use of the computer program product in the computer system 800 preferably effects an advantageous apparatus for generating feedback in the dental training system 200.

[0106] The software 833 is typically stored in the HDD 810 or the memory 806. The software is loaded into the computer system 800 from a computer readable medium, and executed by the computer system 800. Thus, for example, the software 833 may be stored on an optically readable disk storage medium (e.g., CD-ROM) 825 that is read by the optical disk drive 812. A computer readable medium having such software or computer program recorded on it is a computer program product. The use of the computer program product in the computer system 800 preferably effects an apparatus for any of receiving, processing, generating feedback and transmitting feedback in the dental training system 200.

[0107] In some instances, the application programs 833 may be supplied to the user encoded on one or more CD-ROMs 825 and read via the corresponding drive 812, or alternatively may be read by the user from the networks 820 or 822. Still further, the software can also be loaded into the computer system 800 from other computer readable media. Computer readable storage media refers to any non-transitory tangible storage medium that provides recorded instructions and / or data to the computer system 800 for execution and / or processing. Examples of such storage media include floppy disks, magnetic tape, CD-ROM, DVD, Blu-ray™ Disc, a hard disk drive, a ROM or integrated circuit, USB memory, a magneto-optical disk, or a computer readable card such as a PCMCIA card and the like, whether or not such devices are internal or external of the computer module 801. Examples of transitory or non-tangible computer readable transmission media that may also participate in the provision of software, application programs, instructions and / or data to the computer module 801 include radio or infra-red transmission channels as well as a network connection to another computer or networked device, and the Internet or Intranets including e-mail transmissions and information recorded on Websites and the like.

[0108] The second part of the application programs 833 and the corresponding code modules mentioned above may be executed to implement one or more graphical user interfaces (GUIs) to be rendered or otherwise represented upon the display 814. Through manipulation of typically the keyboard 802 and the mouse 803, a user of the computer system 800 and the application may manipulate the interface in a functionally adaptable manner to provide controlling commands and / or input to the applications associated with the GUI(s). Other forms of functionally adaptable user interfaces may also be implemented, such as an audio interface utilizing speech prompts output via the loudspeakers 817 and user voice commands input via the microphone 880.

[0109] Fig. 8B is a detailed schematic block diagram of the processor 805 and a “memory” 834. The memory 834 represents a logical aggregation of all the memory modules (including the HDD 809 and semiconductor memory 806) that can be accessed by the computer module 801 in Fig. 8A.

[0110] When the computer module 801 is initially powered up, a power-on self-test (POST) program 850 executes. The POST program 850 is typically stored in a ROM 849 of the semiconductor memory 806 of Fig. 8A. A hardware device such as the ROM 849 storing software is sometimes referred to as firmware. The POST program 850 examines hardware within the computer module 801 to ensure proper functioning and typically checks the processor 805, the memory 834 (809, 806), and a basic input-output systems software (BIOS) module 851, also typically stored in the ROM 849, for correct operation. Once the POST program 850 has run successfully, the BIOS 851 activates the hard disk drive 810 of Fig. 8A. Activation of the hard disk drive 810 causes a bootstrap loader program 852 that is resident on the hard disk drive 810 to execute via the processor 805. This loads an operating system 853 into the RAM memory 806, upon which the operating system 853 commences operation. The operating system 853 is a system level application, executable by the processor 805, to fulfil various high level functions, including processor management, memory management, device management, storage management, software application interface, and generic user interface.

[0111] The operating system 853 manages the memory 834 (809, 806) to ensure that each process or application running on the computer module 801 has sufficient memory in which to execute without colliding with memory allocated to another process. Furthermore, the different types of memory available in the system 800 of Fig. 8A must be used properly so that each process can run effectively. Accordingly, the aggregated memory 834 is not intended to illustrate how particular segments of memory are allocated (unless otherwise stated), but ratherto provide a general view of the memory accessible by the computer system 800 and how such is used.

[0112] As shown in Fig. 8B, the processor 805 includes a number of functional modules including a control unit 839, an arithmetic logic unit (ALU) 840, and a local or internal memory 848, sometimes called a cache memory. The cache memory 848 typically includes a number of storage registers 844 - 846 in a register section. One or more internal busses 841 functionally interconnect these functional modules. The processor 805 typically also has one or more interfaces 842 for communicating with external devices via the system bus 804, using a connection 818. The memory 834 is coupled to the bus 804 using a connection 819.

[0113] The application program 833 includes a sequence of instructions 831 that may include conditional branch and loop instructions. The program 833 may also include data 832 which is used in execution of the program 833. The instructions 831 and the data 832 are stored in memory locations 828, 829, 830 and 835, 836, 837, respectively. Depending upon the relative size of the instructions 831 and the memory locations 828-830, a particular instruction may be stored in a single memory location as depicted by the instruction shown in the memory location 830. Alternately, an instruction may be segmented into a number of parts each of which is stored in a separate memory location, as depicted by the instruction segments shown in the memory locations 828 and 829.

[0114] In general, the processor 805 is given a set of instructions which are executed therein. The processor 805 waits for a subsequent input, to which the processor 805 reacts to by executing another set of instructions. Each input may be provided from one or more of a number of sources, including data generated by one or more of the input devices 802, 803, data received from an external source across one of the networks 820, 802, data retrieved from one of the storage devices 806, 809 or data retrieved from a storage medium 825 inserted into the corresponding reader 812, all depicted in Fig. 8A. The execution of a set of the instructions may in some cases result in output of data. Execution may also involve storing data or variables to the memory 834.

[0115] The described arrangements use input variables 854, which are stored in the memory 834 in corresponding memory locations 855, 856, 857. The described arrangements produce output variables 861 , which are stored in the memory 834 in corresponding memory locations 862, 863, 864. Intermediate variables 858 may be stored in memory locations 859, 860, 866 and 867.

[0116] Referring to the processor 805 of Fig. 8B, the registers 844, 845, 846, the arithmetic logic unit (ALU) 840, and the control unit 839 work together to perform sequences of microoperations needed to perform “fetch, decode, and execute” cycles for every instruction in the instruction set making up the program 833. Each fetch, decode, and execute cycle comprises: a fetch operation, which fetches or reads an instruction 831 from a memory location 828, 829, 830; a decode operation in which the control unit 839 determines which instruction has been fetched; and an execute operation in which the control unit 839 and / or the ALU 840 execute the instruction.

[0117] Thereafter, a further fetch, decode, and execute cycle for the next instruction may be executed. Similarly, a store cycle may be performed by which the control unit 839 stores or writes a value to a memory location 832.

[0118] One or more steps or sub-processes in the processes of Figs. 5. 6, 11 and 12 can be associated with one or more segments of the program 833 and is performed by the register section 844, 845, 847, the ALU 840, and the control unit 839 in the processor 805 working together to perform the fetch, decode, and execute cycles for every instruction in the instruction set for the noted segments of the program 833.

[0119] The methods described may alternatively be implemented in dedicated hardware such as one or more integrated circuits performing some of the functions or sub functions of Figs. 5 and 6. Such dedicated hardware may include graphic processors, digital signal processors, or one or more microprocessors and associated memories.Method of use

[0120] The processor device 230 is configured to receive sensor data from the one or more sensors attached to the first location and the one or more image capture more sensors attached to the second location of the contra angle handpiece when in use, and analyse the received sensor data to generate one or more forms of feedback. The processor device 230 in some implementations is configured to receive sensor data from the one or more sensors 210 attached to different locations of the contra angle handpiece 100 when in use (for examplesensors 313 and 366) and from one or more sensors 260 attached to the subject, for example attached to an artificial jaw.

[0121] Fig. 5 shows an example method 500 of training a user, for example a dental student, to use a contra angle instrument using the system 200. Portions of the method 500 may be implemented by the processor device 230, for example by application 833 stored in the memory 806 and executing on the processor 805.

[0122] The method 500 begins when a user attaches sensors to the contra angle dental handpiece 100 using the attachment device 300 for example. As described in the example of Figs. 3B and 3C, the base 311b is snap-fit to the shaft portion 105b such that the sensor area 312b having the sensor chip 313 fixed thereto is secured or attached to the instrument 100b. The sensor portion 350b is attached to a distal portion of the grip portion 115b by snap-fitting the fitting portion 355b, containing the camera 366, to the grip portion 115b such that the upper portion 365b is positioned around a distal end of the head portion 120b, as shown in Fig. 3C.

[0123] The method 500 continues from step 510 to an establish communications step 520. At the step 520, communications between the sensors 210 attached to the handpiece 100 (for example sensors 313 and 366) with the processor device 230 is established. If the implementation of Fig. 2B is used, communications between the subject sensors 260 (for example 925) is also established at step 520. In order to establish communications, a Bluetooth transceiver of the processor device may be activated to pair with one or more of the sensors 210 (such as 313 and 366) via the network 220. Alternatively, wired communication may be established between one or more of the sensors 210 and the processor device 230. The step 520 also establishes communications with the feedback device 240, for example the LEDs 420 or 422 for safety glasses, or the LEDs 950 attached to a subject. For example, the processor device 230 may perform Bluetooth pairing with controllers of the LEDs 420, 442 or 950 or may establish other wireless communications such as using IEEE8.2.11 over the network 220.

[0124] The method 500 continues from step 520 to a calibration step 525. The calibration step 525 typically involves the user holding the dental handpiece 100 (with the device 300b attached) in a predetermined orientation. For example, the orientation may be placing the dental handpiece 100 to lie horizontally on a desk with the device 300b attached.

[0125] In some implementations using the arrangement of Fig. 2B, a fixture may be attached to the subject. For example, a fixture or jig may be fitted to the artificial jaw 901 of Fig. 9A or the artificial head 1410 of Fig. 14A. In such implementations, the calibration at step 525 is implemented by the handpiece 100 with the device 300b attached being placed in apredetermined orientation relative to the fixture, for example horizontally or vertically along the fixture.

[0126] Fig. 9E shows an example 980 using a calibration fixture (calibration device). In the example of Fig. 9E, a fixture 982 is attached to an artificial lower jaw 984, corresponding to the artificial jaw 901 , for calibration purposes. While one or more sensors such as 925 would typically be included in the jaw 984, sensors are not shown in Fig. 9E for ease of viewing. The fixture 982 may be any device capable of being used to give a known alignment or orientation between a dental handpiece and the artificial daw. In the example of Fig. 9E, a dental handpiece 100e is placed or oriented so that the dental bur (not visible due to use) of the handpiece 100e is inserted into a slot (not visible due to use) in the fixture 982. When in use, the attachments device 300 and sensors 210 would be attached to the handpiece 100e but are not show in Fig. 9E for ease of viewing.

[0127] In the example of Fig. 9E, the fixture 982 is applied to the jaw 984 by fitting into a negative cast or shape of artificial teeth 985. In other implementations other methods may be used to apply the fixture 982 to the artificial jaw, for example placement on a base, placement on a stand, using attachment means such as a band or a clip and the like. The fixture 982 may include mechanisms other than a slot for providing a known orientation. For example, the fixture may simply provide a flat surface on which the handpiece rests, or may include other mechanisms for receiving the bur of a dental handpiece. The fixture 982 is typically removed before the user begins work on the artificial jaw 984.

[0128] Use of calibration at step 525 provides a known alignment of sensors relative to a known reference or, if a fixture is used, relative to one or more sensors in the subject, such as sensors 925 or 1420. The alignment can assist in allowing factors such as pitch, yaw and roll to be more robust. The alignment from calibration can provide the user with more context regarding positioning and movement of the dental handpiece 100. Calibration using a fixture such as the fixture 982 is typically performed for each jaw on which work is to be completed. While Fig. 9E shows a lower jaw 984, similar techniques would be used for an upper jaw. Calibration at step 525 can particularly be useful when one or more subject sensors 260 are use. The average hum jaw has 32 teeth, each with multiple surfaces. Use of calibration to a known orientation can make relative position of the handpiece more accurate, for example whether in relation to a desk surface or the artificial jaw 984. Data detected from the sensors 210 and / or 260 are calibrated on the handpiece and, in some implementations the jaw, so that relative positions used in the software 833 reflect relative orientations or positions in the real world. In someimplementations, calibration using a known alignment may be omitted and the step 525 may simply be a pass through from step 520 to a step 530, as indicated by use of broken lines.

[0129] The method 500 continues from step 525 to a capture sensor data step 530. The step 530 commences as the user begins to use the contra angle device 100b, with the device 300b attached, on an artificial head. The user inserts the head portion 120b of the instrument 100b and uses the dental bur 125b on a tooth of the artificial head. As the contra angle device 100b is used, the sensors attached to different locations of the instrument 100b via the attachment 300b, for example the sensors 313 and 366, capture data. In particular, the sensor(s) of the sensor chip 313 collect data relating to the movement of the shaft portion 105b of the instrument 100b. Image capture sensors in the distal portion 350b, such as the camera 366, capture image data of the dental bur 125b being applied to the tooth.

[0130] In arrangement of Fig. 2B, data from the one or more subject sensors 260 is also received. For example, if the artificial head includes the artificial jaw 901 , orientation information of the base 915 is captured by the one or more sensors 925 at step 530. In another example, if the artificial head includes the sensor 1420, information regarding relative motion of the artificial head 1410 is captured by the sensor 1420 at step 530.

[0131] The method 500 continues from step 530 to a communication step 540. At step 540, the sensor data captured by each of the sensors attached to the instrument 100b via the device 300b is transmitted or communicated to the processor device 230. Additionally, if one or more subject sensors are used, data collected by the one or more subject sensors 260 is also transmitted to the processor device 230 in execution of the step 540. Transmission of the sensor data may be performed on a continuous basis or a discreet basis. Discrete transmission intervals may be predetermined, or based on actions of the user - for example increasing transmission rates as the user approaches an edge of a threshold.

[0132] The method 500 continues from step 540 to an analysis step 550. At step 550, the application 833 executes on the processor 805 to receive and analyse the sensor data received at step 540. The step 550 operates to analyse the sensor data received from the sensors attached to the different locations on the handpiece 100. If the implementation of Fig. 3B is used, data from the one or more sensors 260 (for example from 925 of the artificial jaw 901) is also analysed. The data from each set of sensors is analysed to determine feedback for the user. Operation of the step 550 is described in greater detail in relation to Figs. 6A to 6D.

[0133] The method 500 continues under control of the processor 805 from step 550 to a feedback generating step 560. At the step 560, one or more forms of feedback are provided to the user based on analysis for each set of sensors conducted at step 550. Operation of the step 560 is described in greater detail in relation to Figs. 11A and 11 B.

[0134] The step 560 typically also executes to store the feedback generated, the data received at step 540 and the association between the data and the feedback. Data stored at step 560 can be stored in the memory 806 or in a memory of a device external to the processor device 230, such as a cloud server. The stored data can be used to provide feedback at alter time, that is later than real-time.

[0135] At steps 540 to 560, the processor device 530 operates to receive sensor data from the one or more sensors attached to the first location of the contra angle handpiece 100 using the device 300; receive, sensor data from the one or more image capture sensors attached to the second location of the contra angle handpiece 100, and generate one or more forms of feedback based on the received data. The steps 540 to 560 can further include receiving sensor data from the one or more subject sensors 260 and generating one or more forms of feedback based on the received data. The feedback can include one or more of (i) generating and transmitting real-time feedback to a feedback device and (ii) reproducing a visual display including at least one of an image captured by one of the one or more image capture sensors and a visual indication of at least one of an angle and pitch and roll of the contra angle handpiece 100 based on data received form the one or more sensors of the first portion 310. The feedback can include one or more forms of feedback that are not in real-time.

[0136] The method 500 continues under control of the processor 805 from step 560 to a check step 570. The step 570 executes to check is measurements have stopped, for example if the sensors have been turned off or disconnected. If not (“N” At step 570), the method 500 returns to step 540 and the processor device 230 receives further data from the sensors 210. If measurements have stopped (“Y” at step 570), the method 500 continues to a final storage step 580. The step 580 operates to store all data and feedback associated with a training session for future use by the user. The method 500 ends on execution of the step 580.

[0137] Fig. 6A shows a method 600 of analysing sensor data received at step 540. Fig. 6A provides an example implementation of the step 550 using the system of Fig. 2A. The method 600 can be implemented by execution of one or more modules of the application 833 executing under control of the processor 805.

[0138] The method 600 starts at a first analysis step 605. The step 605 operates to analyse data received from a first set of sensors at a first location on the contra angle handpiece 100. Inthe example described, step 605 operates to analyse data from sensors attached to the contra angle handpiece 100 via the first sensor portion 310, for example data collected by the sensor chip 313. A method of analysing data captured by sensors such as a gyroscope is described with reference to Fig. 6B.

[0139] The method 600 continues under control of the processor 805 from step 605 to a second analysis step 610. The step 610 operates to analyse data received from a second set of sensors at a second location on the contra angle device 100. In the example described, step 610 operates to analyse data from sensors attached to the second location on the contra angle handpiece 100, for example data captured by the camera 366. A method of analysing captured image data is described with reference for Fig. 6C.

[0140] The method 600 continues under control of the processor 805 from step 610 to a linking step 615. The step 615 executes to link data from each of steps 605 and 610 for use in generating feedback. For example, the step 615 can firstly identify corresponding data, such as based on time stamps or metadata in the received sensor data. The sensor data may be recorded and associated events or times bookmarked for example. Once the corresponding data is identified, the data can be linked or associated for use in providing feedback. For example, in Fig. 7B (to be described) data relating to determined pitch and roll of the shaft 105 can be associated with an image 760 so that the pitch and roll information can be provided respectively.

[0141] The order of steps 605 and 610 can be switched, or the steps 605 and 610 can be executed simultaneously, in some implementations.

[0142] Fig. 6B shows a method 620 of analysing data received from one or more sensors capturing data related to movement of the contra angle handpiece (instrument) 100 by the attachment device 300, such as data captured by the sensor chip 313 or 1313. The method 620 can be implemented as the step 605, and may be implemented by execution of one or more modules of the application 833 executing under control of the processor 805.

[0143] The method 620 starts at a data receiving and cleaning step 622. The step 622 received data collected by the sensor chip 313 or 1313 for example. If more than one sensor is attached to the contra angle handpiece by the first portion 310, a set of data from each sensor is identified on being received at step 622. The step 622 also operates to clean the received sensor data, for example filtering to remove outliers or performing noise removal algorithms. In some implementations, the data cleaning may be based on a calibration sequence, or may be omitted. If the calibration step 525 was performed in the method 500, measurement at theknown calibration orientation of the sensors 210 is used to adjust or benchmark movement recorded by the sensors 210 relating to motion of the handpiece 100 relative to a surface such as a desk or relative to an artificial jaw (such as the jaw 984 in which calibration was performed using the fixture 982) or artificial head (such as the head 1410).

[0144] The method 620 continues under control of the processor 805 from step 622 to a parameter determining step 624. At step 624, the application 833 uses each set of data received at step 622 to determine one or more predetermined parameters. For example, the predetermined parameters may relate to one or more of pitch of the shaft portion 105, roll of the shaft portion 105, and acceleration of the shaft portion 405.

[0145] The method 620 continues under control of the processor 805 from step 624 to a comparison step 626. The step 626 compares each of the parameters determined at step 624 to one or more refences. Each reference relates to how the determined parameters aligned with an ideal parameter range (e.g. orthogonal angle of the dental bur 125 entering the tooth, required depth of the tooth preparation or thickness of the removed tooth tissue). The comparison can relate to using a look-up-table for each parameter to determine whether the angle is within preferred or acceptable values, within a borderline acceptable range of values or outside of an acceptable range of values.

[0146] For example, the LEDs 420 can be used to signal to the user how far outside the acceptable window of operation the movement is. For example, green light can indicate movements within an acceptable range, orange light can indicate movements within a predetermined range between acceptable and not acceptable and red light can determine whether movements are outside an acceptable range. If, based on the look-up table, a determination is made for one of whether the angle is within preferred or acceptable values, within a borderline acceptable range of values or outside of an acceptable range of values, this can be communicated to the user (for example relating to green, orange and red LED colours respectively or by display as later described). The limits for each of or acceptable values, within a borderline acceptable range of values or outside of an acceptable range of values is typically determined based on research and theoretical knowledge such as bur angulation in relation to the tooth surface, taper of the prepared surfaces. The particular ranges for each parameter may depend on factors such as the type of dental handpiece used. In other implementations, where the feedback device is used, the step 626 can operate simply to record deviation for an expected angle in a library or look-up table. In other implementations, the parameters may be set manually by the user, for example, a teacher instructing the user.

[0147] In other implementations, as described for example in relation to Figs. 10B to 10D, the comparison at 626 may be in relation steps and associated measurements entered by a user or teacher.

[0148] The method 620 continues under control of the processor 805 from step 626 to a storage step 628. At 628 the comparison result is stored in association with the sensor data received at step 622.

[0149] Fig. 6C shows a method 650 of analysing image data received from each of the one or more cameras attached to the head portion 120 of the contra angle handpiece (instrument) 100 by the attachment device 300, such as the camera 366. The method 650 can be implemented at the step 610, and may be implemented by execution of one or more modules of the application 833 executing under control of the processor 805.

[0150] The method 650 starts at a selecting step 652. The step 652 operates to select a current image frame from the data received from the sensor 366, for example a most recent frame or a frame captured at a pre-determined time interval (or predetermined number of frames) since a last iteration of the method 650.

[0151] The method 650 continues under control of the processor 805 from step 652 to a tooth identification step 654. The step 654 operates to identify presence and position of a tooth in the selected image frame, for example presence of tooth 715 in image 700 of Fig. 7A. The tooth can be identified using image processing object recognition techniques, such as machine learning modules such as a convolutional neural network (CNN) trained with images of teeth. For example, CNNS suitable for image processing such a R-CNN, or partially trained CNNs such as a VGG network may be used.

[0152] The method 650 continues under control of the processor 805 from step 654 to a tool identification step 656. The step 656 operates to identify presence and position of the dental bur in relation to the tooth of the selected image frame, for example presence of a dental bur 725 in the image 700 of Fig. 7A. The dental bur can be identified using image processing object recognition techniques, such as machine learning modules such as a convolutional neural network (CNN) trained with images of different dental burs in relation to bores of different teeth. For example, the images may relate to a but inserted into a tooth or used in preparing structure around the tooth, such as removing structure circumferentially as in preparation for a crown or other procedures.

[0153] The method 650 continues under control of the processor 805 from step 654 to a depth estimation step 658. The step 658 operates to estimate a depth in relation to which the dental bur identified in step 656.

[0154] A number of techniques can be used at step 658. Firstly, image processing techniques may be used, such as machine learning modules such as a convolutional neural network (CNN) trained with images of teeth and associated bore depths as ground truth data. Alternatively,monocular depth estimation techniques, which determine how far away objects are in a 2D photograph or video may be used, based on a training process. For example, CNNS suitable for image processing such a R-CNN, or partially trained CNNs such as a VGG network may be used or Al tools such as Sora from Open Al.

[0155] The method 650 continues under control of the processor 805 from step 658 to an augmentation step 660. The step 660 operates to apply an augmentation, such as the ruler set 730 of Fig. 7A for overlaying on the image selected at step 654. A base position of the augmentation, for example the base ruler 731, is positioned based on the depth estimated at step 658.

[0156] In other implementations, determining the depth of the bore at step 658 and augmentation at step 660 may not be required. Rather, an unaugmented image will be stored for use in generating feedback at step 560. In such implementations, steps 654 and 656 are simply used to determine presence of a tooth and tool in the image before use at step 560 or may be omitted. The method 650 can be implemented for each image capture device, or each of a selected subset of the image capture devices, attached to the handpiece 100 using the head portion 350. If more than one image capture device is used, for example both cameras 1366 of Fig. 13, the steps of the method 650 are performed for image frames captured by each camera.

[0157] Fig. 6D shows of another example method 670 of analysing sensor data received at step 540. Fig. 6D provides an alternative example implementation of the step 550 using the system of Fig. 2B. The method 670 can be implemented by execution of one or more modules of the application 833 executing under control of the processor 805.

[0158] The method 670 starts at an analysing handpiece sensors step 675. The step 675 operates to analyse data received from sensors attached to the contra angle handpiece 100 using the attachment device 300. In the example of Fig. 6D, the step 675 effectively implements the steps 605 and 610 as described above in relation to the methods 600, 620 and 650. The order of steps 605 and 610 can be switched, or the steps 605 and 610 can be executed simultaneously, in some implementations.

[0159] The method 670 continues under control of the processor 805 from step 675 to a further analysis step 677. The step 677 operates to analyse data received from one or more sensors 260 attached to the subject to sense orientation and / or movement of the subject. In the example described, step 677 operates to analyse data from sensors 925 attached to the artificial jaw 901. The step 677 operates in a similar manner to the method 620 in operating to receive and clean sensor data (as at step 622) and determine parameters (as at step 624). The parametersdetermined for the subject sensor(s) 260 may include angle, pitch and roll. Further, teeth include a number of surfaces or planes which are prepared or cut by dental professionals during dental procedures, generally the occlusal surface, buccal surface and lingual surface. Mesial and distal surfaces can be included in tooth preparation directly or by extending preparation of the aforementioned surfaces. In implementations using subject sensors 260, such as the sensor 925, movement of the handpiece 100 directly relative to the artificial jaw 901 may be determined based on data received from the sensors on the handpiece 100 (via device 300b) and the one or more subject sensors. Relative movement of the handpiece 100 to form an angle relative to one or more predetermined axes relative to the jaw (for example occlusal-gingival axes, distal- mesial axes and buccal-lingual axes) may be determined from the relative differences in positioning determined through data from, for example, the sensors 313, 366 and 925 at step 677. In some implementations, the step 626 may be omitted for the subject sensor(s) 260, or in other implementations a comparison to a library value, an expected value or a user-entered reference value. The data and any comparison result are stored at step 628.

[0160] The method 670 continues under control of the processor 805 from step 677 to a linking step 679. The step 615 executes to link data from each of steps 675 (that is 605 and 610) and 677 for use in generating feedback. For example, the step 677 can firstly identify corresponding data, such as based on time stamps or metadata in the received sensor data. The sensor data may be recorded and associated events or times bookmarked for example. Once the corresponding data is identified, the data can be linked or associated for use in providing feedback.

[0161] The steps 654, 656 and, in some implementations 658, require use of a trained model, typically a machine learning algorithm, a neural network or the like. The nature and amount of data in each instance will depend on the task required in question. An example of the data features and types required for training provided below. However, the training data may vary depending on factors such as the complexity of the task, the number of sensors used, and the like.

[0162] Fig. 12 shows a general method 1200 of training a model. The method 1200 may be used to train models for use at the steps 654, 656 and 658 for example. The method 1200 can be implemented by the software 833, as stored on the memory 809 and controlled by execution of the processor 805 for example.

[0163] The method 1200 starts at a training data capture step 1210 to capture data to be used for training. The training data will be measured using sensors such as the sensors 313, 366 and925 for a subject. In one example, data from the sensors 313, 366 and 925 may be sampled at a frequency of approximately 100Hz, or at least sufficiently high to ensure suitable capture of movements and angles. A suitable amount of data may in some examples be 100 different users, with 10 drilling sessions of 10 minutes captured per user, providing 6,000,000 data points per parameter. However, depending on the task involved, the complexity and the like, the frequency, number of users, number of sessions and length of sessions may be increased or decreased.

[0164] The method 1200 continues from the step 1210 to a data preparation step 1220. The step 1220 may operate to pre-process sensor data by using standard techniques such as data normalization, augmentation, and segmentation. At step 1220 each pre-processed captured data set will have a ground truth label applied by a user. For example, for step 654 the ground truth may be identification of the tooth, for step 656, the ground truth may relate to presence and location of the dental tool and for 658 the ground truth data may relate to a depth of the bore. The training data may be stored output as training data 1205. The ground truth labels may be based on expert evaluations and actual measurements.

[0165] The method 1200 continues from the step 1220 to a training step 1230. At step 1230 the training data including ground truth labelling is used to train a model. The model may include methods to combine data from the sensors (such as 313, 366 and 925) using a multi-modal data fusion technique and feature extraction techniques such as convolutional neural networks (CNNs) to extract spatial features from camera data and recurrent neural networks (RNNs), specifically Long Short-Term Memory (LSTM) networks, to capture temporal dependencies from gyroscope and depth data. Different model structures can be used. An example model structure is a following order of layers:CNN-LSTM Hybrid Model: A hybrid model that combines CNN for spatial feature extraction and LSTM for temporal pattern recognition.Input Layers: Separate input layers for camera data (image sequences), gyroscope data, depth data, linear motion data etcConvolutional Layers: 3 convolutional layers with ReLU activation functions for image data.LSTM Layers: 2 LSTM layers with 128 units each for angular and linear motion data.Dense Layers: Fully connected dense layers with 256, 128, and 64 units, leading to an output layer.Output Layer: Outputs personalized feedback on drilling technique, including suggested adjustments. Utilising a LLM such as open Al to communicate the findings in a nuanced human-like manner.

[0166] The structure above provides an example structure only. In different implementations, different numbers and types of layers may be used, depending on factors such as amount and variance of training data available, computational capacity and the like.

[0167] The training step executes using a loss function and classification for tasks. For example, Mean Squared Error (MSE) may be for regression tasks and Cross-Entropy Loss for classification tasks. Other similar techniques may also be used. Up to 100 training epochs may be executed, with early stopping based on validation loss permitted. A batch size of 64 samples may be used, but may be varied based on the structure and task in a particular implementation, or computational capacity of the device 801 on which the method is performed. A portion of the training data may be reserved for validation to assist with model accuracy and generalization. In one implementation, a portion of 20% of the training date may be reserved. However, the portion may vary depending on factors such as the amount of training data available and the like.

[0168] The training step 1230 outputs a trained model 1260. The method 1200 continues from the step 1230 to a testing step 1240. The step 1240 operates to test the model 1260 using the remaining 20% of data to determined, accuracy (how often the model's feedback matches expert evaluations), mean absolute error and F1 score. An implementation of the method 1200 and generation of the model 1260 may be executed for each of steps 654, 656 and 658.

[0169] Fig. 11A shows an example method 1100 of generating feedback as implemented at the step 560 of Fig. 5. Fig. 11 B shows another example method 1180 of generating feedback as implemented at the step 560 of Fig. 5.

[0170] In some implementations, both of the methods 1100 and 1180 may be implemented at the step 560 in any order or simultaneously. The methods 1100 and 1180 can be implemented by the processor device 230, for example by execution of one or more modules of the application 833 executing under control of the processor 805, or on another similar device.Depending on a desired training being provided to a user, one or both of the methods 1100 and 1180 may be executed at the step 560.

[0171] In the example described, the method 1100 is implemented in real-time, such that the user can receive feedback during training as the handpiece 100 with sensors 210 attached thereto is used. The method 1100 may also be implemented at a later time, after the user has finished training using the handpiece 100 with sensors 210 attached.

[0172] The method 1100 starts at receiving step 1110. The step 1110 operates to receive the sensor data from operation of step 540 and analysis results generated by operation of step 550. For example, the step 550 may receive or identify the data from the sensors attached to the handpiece 100 via the attachment device 300 (for example sensors 313 and 366 and associated analysis data generated at the method 620 or sensors 313, 366 and 925 and associated analysis data generated at the method 670). If the method 1100 is not implemented in real-time, for example after training actions have been completed on the artificial head, the step 1110 operates to identify the sensor data from operation of step 540 and analysis results generated by operation of step 550 as stored in a memory, for example the memory 806.

[0173] The method 1100 continues under execution of the processor from step 1110 to a presenting step 1120. At the step 1120, the processing device 230 executes to present the sensor data to the user, by displaying information on the video display 814 for example or a display of another device. The presented information may include sensor information regarding all sensor data or a subset of sensor data.

[0174] The step 1120 may provide different forms of feedback to the user using data received from sensors in the distal portion 350 of the attachment device 300. For example, the sensor data may be image data captured by one of the sensors attached to the handpiece 100. For example, the sensor data may relate to the camera 366 only or the cameras 1366 only. The feedback in form of image data typically comprises showing a frame of the image data augmented with additional information relating to position and depth of the bur 125b.

[0175] For example, Fig. 7A shows the example image 700 displayed by the processor device 230 (for example on the display 814) at step 1120. The image 700 includes a background image 710, being a reproduction of an image frame captured by a camera such as the camera 366. The image 710 includes the tooth 715 and the dental bur 725. The dental bur 725 corresponds to the dental bur 125. The image 700 allows the user to view positioning of the dental bur 125 relative to the tooth 715. Additionally, the image 700 includes a set of ruler markings 730 superimposed on the image 710. The ruler markings 730 provide an example ofaugmentation generated at step 660. A base ruler marking 731 identifies where a base of the bur 125 was determined to be positioned at step 550. The remaining ruler markings of the set 730 indicate a successive height in mm relative to the determined based of the bur 725, for example 1mm to 6mm in mm-size steps.

[0176] In another example, feedback relates to data received from different types of sensor(s) applied to different locations on the handpiece 100. For example, the feedback can relate to both the proximal portion 105 and head portion 120 of the contra angle instrument 100 in the example of Fig. 1. For example, Fig. 7B shows another example window image 750 displayed by the processor device 230 (for example on the display 814) at step 1120. The window 750 includes an image 760 captured by a camera of the attachment device 300. For example, the image 760 may be an image captured by the camera 366. The window 750 also includes a gyroscope information area 780.

[0177] The image 760 captured by the camera 366 includes a tooth 770 and a portion of a dental bur 765 (corresponding to 125 or 125b) being applied to the tooth 765. The user is able to visualise how the dental bur 770 is being applied to the tooth 765. Additionally, the information area 780 can provide information about the positioning of the dental bur 770 based on data received from the sensor(s) attached to the shaft portion 105 (or 105b). For example, the information in the area 780 is derived from the sensor chip 313. The information included in the area provides a one or more visual indicators regarding the angle and use of the contra angle instrument 100. In the example of Fig. 7B, the information area includes a visual indication 782 of pitch (rotation of a side-to side axis in degrees) of the shaft portion 105 and a visual indication 784 of roll (movement along an axis from proximal to distal end in degrees). In some embodiments, the gyroscope information area can include three-dimensional rendering of planes / vectors / mesh files representing the orientation and movement of the handpiece relative to the artificial jaw and teeth being worked on. In some embodiments, variations in the indication 782 and 784 can be presented or reproduced as video footage.

[0178] In receiving feedback via the processor device 230, the user can receive near real-time feedback regarding placement and movement of the contra angle instrument 100 during training, and. If desired, review feedback after practical training sessions. This can assist the user in learning how different movements during use can affect the patient. In receiving feedback in form of augmented images captured from using the sensor 366, the user can visualise how their use actually applies the dental bur 125 to an artificial tooth during use. For example, in the image 700, the user can review relative placement of the bur 725 is placed both visually and through the set of rulings 730.

[0179] In another example, feedback presented at step 1120 relates to data received from sensor(s) applied to device sensor 210 (for example applied to the proximal portion 105 and thehead portion 120 of the contra angle instrument 100 in the example of Fig. 3) and the one or more subject sensors 260. Fig. 10A shows an example image 1000A displayed by the processor device 230 (for example on the display 814) at step 1120 for the system 200B. The image 1000A includes a window 1005 including an image 1010, a set of user buttons 1015, a gyroscope / accelerometer display area 1020 and a list area 1030.

[0180] The set of buttons 1015 can be used by the user to select a camera if one or more image capture devices (such as 1366) are included in the head portion 350. For example, the user can select the camera that captured the image 1010. The user can also, via manipulation of the buttons 1015 start recording the sensor data (image 1010 and area 1020) or live streaming the sensor data. The user can also enter step using a “Create Procedure” button of the buttons 1015, as described further in relation to Fig, 10B.

[0181] The information included in the area 1020 provides a one or more visual indicators regarding the angle and use of the contra angle instrument 100 and the angle and inclination of the artificial jaw 901. In the example of Fig. 10A, the information area 1020 includes a visual indication 1022 of direction of the contra angle handpiece 100, 1024 of angle of the contra angle handpiece 100, and a three-dimensional graph 1026 of orientation of the both the handpiece 100 and the artificial jaw 901. The displays 1022 and 1024 reflect sensor data received from the sensor 313 and the image 1010 reflects data received from the sensor 366. The graph 1026 includes two different graphs 1024a and 1024b, each in different colour, representing relative angle, pitch and roll of the gyroscope (based on data from the sensor 313) and the artificial jaw 901 (based on data from the sensor 925). The gyroscope information area can use different representation of data from the sensors 210 and / or 260 three-dimensional rendering of planes / vectors / mesh files representing the orientation and movement of the handpiece relative to the artificial jaw and teeth being worked on. In some embodiments, variations in the information in the area 1020 can be presented or reproduced as video footage.

[0182] The view 1000A provides valuable feedback to both the user and the user’s teacher. The user can correlate their use and movement of the handpiece 100 relative to the artificial teeth, the alignment with the artificial jaw and the like. The teacher can also view the window 1000A and provide feedback as the user works.

[0183] The list 1030 can include a number of steps, each including direction and angle associated with the handpiece 100.

[0184] The step 1120 can also in some implementations present augmentation or notes associated with the sensor data, to be described with reference to step 1175.

[0185] The method 1100 continues from step 1120 to a check step 1130. The step 1130 operates to check if a user selection has been received. If not (“N”) at step 1130, the method1100 continues from step 1130 to a check step 1172. If a user selection is being received, (“Y”) at step 1130, the method 1100 continues from step 1130 to a presenting step 1140. User input may be received for example, if a user (such as a student, trainee or a teacher) toggles the “Create Procedure” option of the buttons 1015 using the mouse device 803 or a touch screen.

[0186] Fig. 10B shows an example image 1000B displayed by the processor device 230 (for example on the display 814) at step 1140. The image 1000B includes a window 1040 generated in response to the request for selection. The window 1040 has a button 1041 for adding a row and a button 1042 for removing rows. The buttons 1041 and 1042 can be manipulated by a user to add and delete rows associated with a procedure. Each row relates to a step to be implemented by the user of the handpiece 100. For example, in Fig. 10B, four steps have been added each having a desired angle and an associated threshold and a desired direction and an associated threshold for the handpiece 100. The data from each of the step entered to the window 1040 can be used to populate the list 1030.

[0187] The method 1100 continues under execution of the processor 805 from step 1140 to a receiving step 1150. At step 1150, the user presses a “Save Procedure” button 1044 and the steps entered into the window 1040 are stored.

[0188] The method 1100 continues under execution of the processor 805 from step 1150 to a comparison step 1160. On the steps entered into the window being stored, the application 833 operates to compare data from the sensor to the desired angle and direction for a selected step. The current direction and angle data recorded for the handpiece 100 using the sensors attached to the handpiece 100 are compared to the desired direction and angle data and threshold for the selected step at step 1160.

[0189] The method 1100 continues under execution of the processor 805 from step 1160 to a present comparison step 1170. Fig. 10C shows an example image 1000C displayed by the processor device 230 (for example on the display 814) at step 1170. In the example of Fig. 10C, the selected step is step 2, which requires an angle of -70 degrees with a threshold of 5 and an orientation (direction) 270 with a threshold range of 3. In the example of Fig. 10C the display 1022 shows a direction of 30 degrees, which is outside range. A measured direction 1022m is shown in a different colour to a desired direction 1022d. The user can, via 1022, see how the use of the handpiece 100 deviates from the desired use. Similarly, in Fig. 10C the display 1024 shows an angle of 60 degrees, which is outside range. A measured angle 1024m is shown in a different colour to a desired angle 1024d. The user can, via 1024, see how the use of the handpiece 100 deviates from the desired use.

[0190] Fig. 10D shows another example image 1000D displayed by the processor device 230 (for example on the display 814) at step 1170. In the example of Fig. 10D, the selected step isstep 2, which requires an angle of -70 degrees with a threshold of 5 and an orientation (direction) 270 with a threshold range of 3. In the example of Fig. 10D the display 1022 shows a direction of 30 degrees, which is outside range. A measured direction 1022m is shown in a different colour to a desired direction 1022d. the user can, via 1022 see how the use of the handpiece 100 deviates from the desired use. Similarly, in Fig. 10D the display 1024 shows an angle of 60 degrees, which is outside range. A measured angle 1024m is shown in a different colour to a desired angle 1024d. The user can, via 1024, see how the use of the handpiece 100 deviates from the desired use.

[0191] In each of 10C and 10D, the user can also view how the handpiece 100 is used relative to the artificial jaw 901 and the effect of desired action relative to the jaw. In each of 10C and 10D, the user can also view how a bur is placed relative to a tooth in the image portion corresponding to 1010.

[0192] In some instances, the teacher or user may wish to compare different use of the handpiece 100 for the same task, for example by the same of a different user. Fig. 10E shows another example image 1000E displayed by the processor device 230 (for example on the display 814) at step 1170 including feedback from a current user, shown in an area 1050, compared to feedback from a different implementation of the same steps, shown in an area 1052. The data shown in the area 1050 relates to the data shown in Fig. 10C. The data shown in the area 1052 relates to the data shown in Fig. 10D. In the example of Fig. 10E, the user can visually compare the actions from the area 1050 with those in the area 1052 and see the effect of different use of the handpiece 100 on the artificial jaw.

[0193] Fig. 15A shows another example image 1500 displayed by the processor device 230 (for example on the display 814) at step 1170. The image 1500 relates to an example using images collected by two cameras attached to the contra angle handpiece 100, for example the cameras 1366 of Fig. 13B.

[0194] The example 1500 includes two images 1510a and 1510b. Each of the images 1510a and 1510b is collected be a different one of the cameras 1366. The images 1510a and 1510b can be considered to provide stereoscopic vision of the dental but 125 inside the mouth. The stereoscopic vision can provide the user or teacher a more comprehensive field of view of the surgical area and offers redundancy if one camera gets blocked by water or obstacles when drilling at locations.

[0195] The image 1500 also includes a generated image 1520. The generated image 1520 shows a background representing a jaw and an overlay 1530 representing the position of the head portion 120 relative to the jaw 1530. Images such as the image 1530 can be generated using known image generation software processing packages and the images 1510a and1510b. For example, a tool such as Visualisation Toolkit (VTK) supplied by https: / / vtk.org / can be used to receive a three-dimensional representation of the contra-angle handpiece 100 and the virtual jaw, such as an STL file representing the handpiece 1530 as a mesh and an STL file representing the artificial jaw and teeth 1522 as a mesh. The VTK software can be used to control the movements of the handpiece 1530 and jaw 1522 relative to each other according to IMU sensor information received from sensors such as the sensors 131, 1313, 1420 and the like regarding positioning of the corresponding handpiece and artificial jaw in the real world. Other similar three-dimensional image processing packages may also be used, such as Unity™ 3D and the like.

[0196] The generated image 1520 can be considered to provide a digital representation, also referred to as a digital twin, of positioning and application of the dental bur 125 within relative to the artificial jaw 1520.

[0197] Further data generated through use of the stored digital twin may be presented. For example, the image 1500 also includes representation of data derived from the images 1510a and 1510b and, in some cases using corresponding sensor data from sensor(s) based on a different location of the contra angle handpiece 100, such as the sensors 313 or 1313. For example, a display area 1540 includes graphs 1545 and 1550. Similarly to the graphs 1022 and 1024, the graphs 1545 and 1550 provide visual indication of how dental bur 125 is positioned relative to a jaw based on data from the images 1510a and 1510b. In the example 1500 the graph 1545 shows angle of the dental bur 125 from mesial surfaces to distal surface and the graph 1550 shows angle of the dental bur 125 from lingual surfaces to buccal surfaces. Fig. 15A illustrates a situation when the user is operating on the occlusal surface of a tooth. When operating on surfaces other than occlusal, for example buccal, lingual or palatal, the image 1550 shows angle of the dental bur 125 from gingival surfaces to occlusal or incisal surfaces.

[0198] In other implementations, the data displayed can relate to location of the dental bur 125 over time within the mouth from the generated digital representation or twin. For example, Fig. 15B shows an example graph 1580 generated using the data collected from the sensors 3131 or 1313. The graph 1580 shows spatial positioning in terms of angle / height (y-axis) and depth (x-axis) of the bur 125 inside the artificial mouth relating to a preparation of a Class V cavity on the buccal surface of an upper molar. For example, the graph 1580 shows a line 1585 representing position for bucco-lingual surfaces and a line 1590 representing a position in terms of mesio-distal surfaces.

[0199] The digital twin or representation can be used to provide other representations of angular motion (pitch, roll, yaw) of the handpiece 100 relative to the surgical target area.

[0200] The method 1100 continues from step 1170 to the check step 1172. The step 1172 checks if the user has requested to input data. If so (“Y” at step 1172), the method 1100 continues to an augmentation step 1175. The method 1100 may be used in real-time but may information generated may also be stored in video or specific frame format for later reproduction, also referred to as reply use. In uses for later viewing, or during later viewing, at step 1175, a user may add data to augment the image windows generated by operation of the method 1100, such as 1000A, 1000B, 1000C and 1000d. For example, one of the user or teacher may wish to augment the image using paint tools or the like. Similarly, the user or teacher may enter notes to be stored in association with the image.

[0201] The method 1100 continues from step 1175 to receive (or identify) further sensor data at step 1110. If no data input is received at step 1172 (“N” at 1172), the method 1100 continues from step 1172 to receive (or identify) further sensor data at step 1110.

[0202] As described above, the method 1100 can be implemented in real-time or near real-time as the handpiece 100 with sensors attached by the device 300b is used. In real-time use, the steps 1120 and 1170 can be considered to provide a livestream result. The livestream result can be viewed by the user, the user’s teacher or other persons as the user works. The user can adjust their operation in using the handpiece 100 based on the livestream feedback and develop an understanding of the effect of using the handpiece 100.

[0203] In other implementations, the method 1100 can be implemented at alter time, or at multiple later times, referred to as replay use. While real-time use provides a valuable form of feedback, replay use also provides a valuable form of feedback. For example, a teacher or a user can view augmentation added at step 1175, or add augmentation at step 1175. The augmentation cab be used to better describe changes in behaviour in associated with data presented at step 1120. The sensor data can therefore be used as an ongoing training and development tool.

[0204] The method 1100 can be implemented for real-time feedback or for later reply and providing feedback. In contrast, the method 1180 is implemented if the feedback device 204 is being used to provide feedback to the user in real-time or near real-time.

[0205] The method 1180 starts at receiving step 1185. The step 1185 operates similarly to the step 1110 to receive the sensor data from operation of step 540 and analysis results generated by operation of step 550. For example, the analysis results may be generated by execution of one of the methods 600, 620, 650 and 670.

[0206] The method 1180 continues under execution of the processor 805 from step 1185 to a check step 1190. The step 1190 operates to analyse results received at step 1180 anddetermine if a current (for example default or previously set) state of the feedback device is required to change based on the results. The feedback device 240 can include one or more devices. Examples of a current state of the feedback device include:- A current colour emitted by an LED indicator (such as 420, 470 or 950 or desktop indicator).Whether an alarm sound is being transmitted by the processor device 230 or another device such as a smartphone.Whether a vibration motor is switched on and vibrating or not.

[0207] If the step 1190 executes to determine a change is required (“Y” at step 1190), the method 1180 continues to a transmission step 1195. If a change is not required (“N” at step 1190), no changes are made to the current state of the feedback device 240 and the method 1180 returns to step 1185.

[0208] At step 1105, the processor device 230 transmits an update in state to the feedback device 240. Examples of update in state include:Changing a colour emitted by an LED indicator (such as 420, 470 or 950 or desktop indicator).Turning on or off an alarm sound is being transmitted by the processor device 230 or another device such as a smartphone.Turning on or off a vibration motor.

[0209] For example, one form of feedback uses the feedback device 240 to communicate whether the data collected by the sensor chip 313 was determined at step 550 to be within acceptable parameters in near real-time to the user. In a preferred embodiment, the feedback based on data received from the sensors 313 is communicated by controlling the colour of light emitted by the LEDs 420 of safety glasses 400 worn by the user.

[0210] In some implementations, the change of state will last a predetermined amount of time, for example an alarm may sound for a period of 5 seconds and then turn off. In other implementations, the feedback device may remain in the changed state until a next iteration of the method 1180 determines a change at step 1190. For example, an LED may continuetransmitting the same colour until a later iteration determines that a change in sate is required based on analysis of sensor data. On completion of the step 1195, the method 1100 returns to step 1185 to complete a next iteration.

[0211] As described above, the processor device 230 analyses data received from one or more sensors (210 or 210 and 260) to generate one or more forms of feedback. The feedback may be provided via the feedback device 240 and / or reproduction of visual data by the processor device 230 (for example as shown in relation to Figs 7a and 10). One form of feedback (for example via the feedback device 240 or the processor device 230 can be used to improve training. Use of more than one form of feedback can provide further improvements in training. The use of both (for example through operation of the LEDs 420, and presentation of visual data at Figs. 7 or 10) allows the user to be able to view images such as the image 700 and at the same provides a further benefit the user’s learning how movements of the contra angle handpiece 100 affect how the dental bur 125 is applied to the tooth. The example of Fig. 7B combines feedback from both sensors into a single form that can be readily understood and tested by the user.

[0212] Operation of Figs. 5, 6, 11 and 12 is generally described with reference to the contra angle instrument 100 being used with the attachment device of Figs. 3A-3B. The methods of Figs. 5, 6, 11 and 12 also apply to use of the attachment device 1301 of Figs. 13A and 13B.Industrial Applicability

[0213] The arrangements described are applicable to the dental industries and particularly for the dental training industries.

[0214] As described above, the attachment device allows sensor data regarding use of a contra angle dental handpiece to be received from sensors placed at different locations along the handpiece. Accordingly, different aspects of use of the contra angle handpiece relating to both how the device is held and applied to a subject can be collected. The attachment device 300 being removable and reusable also provides benefits particular to dental training, in terms of cost, ability to use different devices and other benefits. The feedback generated can provide the user with real-time feedback as the contra angle handpiece is used to assist in more quickly building an intuitive understanding of how use and placement can affect a subject before use on a human patient. The feedback generated can also assist a teacher in viewing work completed by a user and providing feedback (whether real-time or replay by providing annotation or notes) thereon.

[0215] Further, the arrangements described can use sensors placed in the subject, such as sensors 925 attached to the artificial jaw 900. Use of sensors attached to the subject can add further context regarding use of the handpiece 100 on the jaw and provide further feedback, whether in real-time or using replay data to assist the user in building intuition and assist teaching staff in viewing work completed by a user and providing feedback (whether real-time or by providing annotation or notes) thereon.

[0216] The arrangements described can be considered to generate a digital record of the user’s training actions, using sensor data, of the actions performed in using the dental handpiece as captured from sensors attached to the handpiece itself and, in some instances, the artificial jaw. The digital record can further include subject data, for example as provided in one or more sensors 260 applied the artificial jaw on which the user performs action using the handpiece 100. As described above, the digital record can be used to provide feedback in terms of either of live feedback and live streaming. The digital record can also be used in replay for the user and / or a supervisor to review and comment on actions take, or for comparison purposes. In addition to providing feedback previously unavailable, the arrangements described can also be used for remote learning. The data used in training is retained and can be used to develop further training tools, for example for identifying task where users have particular difficulty, to generate manuals, and the like.

[0217] Use of data from sensors along multiple locations of the contra angle handpiece, and relating to multiple aspects of how the device is used also allows the user to later review their use of the contra angle instrument and review this over time, or to compare techniques with other users who have also collected data using an implementation of the attachment device 300.

[0218] The data collected by the sensors can also provide useful data for training data-based solutions, for example for training artificial intelligence (Al) related tools. The collected data may be used to train tools for training or analysis applications, such as for generating graphical representations, training examples or training analysis solutions. The procedural time-series data collected using the sensors can alternatively be useful to train other Al-controlled systems rather than human users, for example dental surgical assistant robots. For example, sensor data from operations performed by a dental professional or teacher may be used to generate example reference training data and sensor data from operations performed by a user or trainee used to generate example amateur data for analysing skill level and training Al-controlled systems or human users.

[0219] The arrangements described in some embodiments, also allow tracking and evaluation of angulation between the contra angle handpiece 100 and the artificial head or jaw to be tracked via use of sensors attached to both the handpiece and jaw.

[0220] Each aspect or benefit above is provided in relation to use on an artificial head, which can have a more realistic look and feel compared to a simulator.

[0221] The foregoing describes only some embodiments of the present invention, and modifications and / or changes can be made thereto without departing from the scope and spirit of the invention, the embodiments being illustrative and not restrictive.

[0222] (Australia Only) In the context of this specification, the word “comprising” means “including principally but not necessarily solely” or “having” or “including”, and not “consisting only of”. Variations of the word "comprising", such as “comprise” and “comprises” have correspondingly varied meanings.

Claims

CLAIMS:

1. A device for removably attaching a plurality of sensors to a contra angle handpiece, the device comprising: a first portion configured to removably attach one or more sensors to a first location on the contra angle handpiece, the one or more sensors configured to sense movement of the contra angle handpiece; and a second portion connected to the first portion, the second portion configured to removably attach one or more image capture sensors to a second location on the contra angle handpiece, the second location being different to the first location, wherein the one or more image capture sensors angled to capture images of a dental bur of the contra angle handpiece.

2. The device according to claim 1 , wherein the one or more sensors of the first portion are at least one of a gyroscope, an accelerometer and a magnetometer.

3. The device according to claim 1 , wherein the second location is at a distal end of the contra angle handpiece and the first location is at a proximal end of the contra angle handpiece.

4. The device according to claim 1 , wherein the first location is proximal to a user of the contra angle handpiece relative to the second location.

5. The device according to claim 1 , wherein the first portion is configured to removably attach the one or more sensors to the first location on the contra angle handpiece using one of a snap-fit mechanism, a hook and loop fastener, a clasp, adhesive tape and a flexible sleeve.

6. The device according to claim 1 , wherein the second portion is configured to removably attach the one or more image capture sensors to the second location on the contra angle handpiece using one of a snap-fit mechanism, a hook and loop fastener, a clasp, adhesive tape and a flexible sleeve.

7. The device according to claim 1 , wherein the one or more sensors of the first portion are configured to transmit sensed data to a processor device using one of wired and wireless communication.

8. The device according to claim 1 , wherein the one or more image capture sensors configured to transmit captured images to a processor device using one of wired and wireless communication.

9. A system for training use of a contra angle handpiece, the system comprising: the device of claim 1; a communications network; and a processor device configured to: receive, via the communications network, sensor data from the one or more sensors attached to the first location and the one or more image capture more sensors attached to the second location when the contra angle handpiece is in use, and analyse the received sensor data to generate one or more forms of feedback.

10. The system of claim 9, further comprising one or more sensors attached to an artificial jaw, wherein the processor device is configured to receive data from the one or more sensors regarding an orientation of the artificial jaw.

11. The system of claim 9, further comprising a feedback device configured to provide one form of feedback in real-time.

12. The system of claim 11, wherein the feedback device comprises one or more light emitting diodes (LEDs), and the processor device controls a colour emitted by the LEDs based on data detected by the sensors.

13. The system of claim 12, wherein the LEDs are attached to a lens of safety glasses.

14. The system of claim 12, wherein the LEDs are attached to an artificial jaw or an artificial head.

15. The system of claim 9, wherein the feedback includes the processor device controlling an alarm sound based on data detected by the sensors.

16. The system of claim 9, wherein the feedback comprises reproducing an image captured by one of the image capture sensors on a display.

17. The system of claim 9, wherein the image is augmented to include indication of a depth of the dental bur.

18. The system of claim 9, wherein the feedback comprises reproducing an indication of at least one of angle and pitch and roll of the contra angle handpiece.

19. A method of training use of a contra angle handpiece, the method comprising, receiving, at a processor device, sensor data from the one or more sensors attached to the first location of the contra angle handpiece using the device of claim 1 ; receiving, at the processor device, sensor data from the one or more image capture sensors attached to the second location of the contra angle handpiece, generating, at the processor device, one or more forms of feedback based on the received data.

20. The method according to claim 19, wherein generating one or more forms of feedback comprises one or more of: generating and transmitting real-time feedback to a feedback device; and reproducing a visual display including at least one of an image captured by one of the one or more image capture sensors and a visual indication of at least one of an angle and pitch and roll of the contra angle handpiece based on data received form the one or more sensors of the first portion.

Images