Dental care system and method

Abstract

The invention relates to a method and dental care system comprising a patient support platform (10) configured to support a patient during dental care, a dental robot (50) configured to carry out dental care operations to a patient supported to the patient support platform (10). The patient support platform (10) comprises a head support (20) arranged to support head (2) of the patient in a face-down position, the head support (20) comprises an upper face support (25) arranged to receive face of the head (2) of the patient in the face-down position, and a mouth access opening (40, 44) open from the upper face support (25) to below of the head support (20) and the dental robot (50) is arranged to carry out dental care operations via the mouth 15 access opening (40, 44) from below of the head support (20).

Description

[0001] DENTAL CARE SYSTEM AND METHOD

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to dental care system and more particularly to a dental care system according to the preamble of claim 1. The present invention further relates to a method for operating a dental care system and more particularly to a method according to preamble of claim 15.

[0004] BACKGROUND OF THE INVENTION

[0005] Dental care is conventionally carried out by a dentist at a reception. During the dental care the dentist utilizes usually several different hand-held tools for treating teeth of a patient. The hand-held tool comprises for example mirrors, sickle probes, scalers, saliva ejectors and dental drills. During the dental care the dentist carries out the treatment in close connection with the patient and can adapt the treatment operations to movements and condition of the patient. Therefore, the dentist may anticipate patient movements and changes in condition.

[0006] When dental care is carried out or assisted by a robotic system reacting to patient movements and conditions become challenging. Further, robotic systems are efficient in reacting events which have happened, however anticipating events is compromised. Therefore, dental care carried out by robotic systems have deceased effect on patient safety and wellbeing.

[0007] BRIEF DESCRIPTION OF THE INVENTION

[0008] An object of the present invention is to provide a dental care system and method for operating a dental care system such that the prior art disadvantages are solved or at least alleviated.

[0009] The objects of the invention are achieved by a dental care system which is characterized by what is stated in the independent claim 1. The objects of the invention are further achieved by a method for operating a dental care system which is characterized by what is stated in the independent claim 15.

[0010] The preferred embodiments of the invention are disclosed in the dependent claims.

[0011] The invention is based on the idea of providing a dental care system comprising a patient support platform configured to support a patient during dental care, a dental robot configured to carry out dental care operations to a patient supported to the patient support platform. The patient support platformcomprises a head support arranged to support head of the patient in a face-down position. The head support comprises an upper face support arranged to receive face of the head of the patient in the face-down position, and a mouth access opening open from the upper face support to below of the head support. The dental care system comprises a mouth opener for connecting with a mouth of the patient and for keeping the mouth of the patient in an open state, the mouth opener is arranged to be provided in connection with the mouth access opening of the head support and arranged to keep the mouth of the patient open in the face-down position towards the below of the head support. The dental robot is arranged to carry out dental care operations via the mouth access opening from below of the head support or below the mouth access opening.

[0012] Arranging the head support such that the patient head is supported in face-down position, the movement of the patient head during dental care may be minimized as the patient head is supported firmly in direction of gravity. This prevents events compromising patient safety due to movements of the patient head. Further, the face-down position of the user head enables saliva to exit patient mouth with aid of gravity. This, decreases or eliminates need for saliva suction and utilization of suction tools during dental care. Additionally, the face-down position prevents possible loose tooth parts or loos dental tools or parts of dental tools from entering throat of the patient during dental care operations with the dental robot.

[0013] In some embodiments, the head support is arranged to support the head of the patient in the face-down position in which the face of the patient is in horizonal face-down position.

[0014] The horizontal face-down position is efficient for discharging saliva and possible loose parts from the mouth of the patient during dental care.

[0015] In some alternative embodiments, the head support is arranged to support the head of the patient in the face-down position in which the face of the patient is in an inclined face-down position in relation to the horizontal direction.

[0016] The inclined face-down position is usually efficient enough for discharging saliva and possible loose parts from the mouth of the patient during dental care without need to arrange the head support to support head of the patient in horizontal face-down position.

[0017] In some further alternative embodiments, the head support is arranged to support the head of the patient in the face-down position in which the face of the patient is in an inclined face-down position in relation to the horizontal direction, the inclination angle being between 0 to 45 degrees.The inclination angle between 45 to 90 degrees is most effective for utilizing gravity for support head of the patient and also for discharging saliva and possible loose parts from the mouth of the patient during dental care.

[0018] In some embodiments, the upper head support of the head support is arranged in a horizontal support position for supporting the head of the patient in the horizonal face-down position.

[0019] The horizontal support position of the upper head support enables supporting the head of the patient in the horizontal face-down position.

[0020] In some other embodiments, the upper head support of the head support is arranged in an inclined position in relation to the horizontal direction for supporting the head of the patient in the inclined face-down position.

[0021] The inclined support position of the upper head support enables supporting the head of the patient in the inclined face-down position.

[0022] In some further embodiments, the upper head support of the head support is arranged in an inclined position in relation to the horizontal direction, the inclination angle being between 0 to 45 degrees in relation to the horizontal direction, for supporting the head of the patient in the inclined face-down position.

[0023] The inclined support position of the upper head support enables supporting the head of the patient in the inclined face-down position having the inclination angle being between 45 to 90 degrees in relation to the horizontal direction.

[0024] In some embodiments, the dental robot comprises a robotic manipulator arranged to carry out dental care operations via the mouth access opening from below of the head support or the mouth access opening for carrying out dental care operations.

[0025] The robotic manipulator is arranged to be controlled and moved for carrying out the dental care operations.

[0026] In some embodiments, the robotic manipulator comprises a robot arm or is implemented as a robot arm.

[0027] In some embodiments, the robotic manipulator or the robot arm comprises a dental tool end effector for carrying out a dental care procedure.

[0028] The dental tool end effector may be one of the following: a mirror, a sickle probe, a scaler, a dental drill, a dental syringe, tongs, a liquid nozzle, a gas nozzle, a light source or the like.

[0029] The robotic manipulator or robot arm comprises moving arrangement arranged to move and operate the robotic manipulator or the robot arm and / or thedental tool end effector.

[0030] In some embodiments, the robotic manipulator or robot arm comprises one or more motors arranged to move the robotic manipulator or robot arm and / or the dental tool end effector.

[0031] The robot arm may further comprise one or more arm elements connected to each other by joints for moving the arm elements relative to each other.

[0032] In some embodiments, the dental care system comprises a mouth opener for connecting with a mouth of the patient and for keeping the mouth of the patient in an open state.

[0033] The mouth opener formed to be at least partly inserted into the mouth of the patient such that the mouth of the patient is arranged and maintained in the open state. The mouth opener enables maintaining the mouth of the patient in the open state during the dental care operations carried out with the dental robot.

[0034] In some embodiments, the mouth opener comprises a tongue guard arranged to hold tongue in place. The tongue guard is arranged to displace tongue in the mouth for providing space for the dental tool end effector.

[0035] In some embodiments, the mouth opener is connected to the head support in connection with the mouth access opening.

[0036] Connecting the mouth opener to the head support further promotes keeping the head of the patient in place during the dental care operations.

[0037] In some embodiments, the mouth opener is provided in connection with the mouth access opening of the head support.

[0038] In some embodiments, the mouth opener is connected to the head support in connection with the mouth access opening of the head support.

[0039] The mouth opener in connection with the mouth access opening or connected to mouth access opening enables easy and efficient utilization of the mouth opener such that safety of the patient is improved. The patient automatically is guided to use the mouth opener when the head of the patient is supported to the head support in the face-down position.

[0040] In some embodiments, - the mouth opener is detachably connected to the head support in connection with the mouth access opening of the head support.

[0041] The mouth opener may be detached and changed between patients. In some embodiments, a first mouth opener connecting arrangement is provided to connect the mouth opener to the head support.Connecting the mouth opener to the head support with the first mouth opener connecting arrangement facilitates keeping the head of the patient still and enhances patient safety.

[0042] The first mouth opener connecting arrangement is provided as a mechanical or magnetic connecting arrangement.

[0043] The first mouth opener connecting arrangement is preferably arranged to attach the mouth opener detachably to the head support.

[0044] In some other embodiments, the mouth opener comprises a first opener connector and the head support comprises a second opener connector, the first opener connector and the second opener connector are connected to each other for connecting the mouth opener to the head support.

[0045] The mouth opener may be separately attached to the head support. In some further embodiments, the mouth opener comprises a first opener connector and the head support comprises a second opener connector, the first opener connector and the second opener connector are detachably connected to each other for connecting the mouth opener to the head support.

[0046] The first and second opener connector are provided to be detachably connected to each other for removing and changing the mouth opener to the head support.

[0047] In some embodiments, the mouth opener is connected to the dental robot in connection with the robotic manipulator.

[0048] The mutual position of the mouth opener and the dental robot may be fixed and maintained during dental care operations.

[0049] In some other embodiments, the mouth opener is provided in connection with the robotic manipulator.

[0050] The mutual position of the mouth opener and the robotic manipulator may be fixed and maintained during movement and / or operation of the robotic manipulator.

[0051] In some further embodiments, the mouth opener is connected to the robotic manipulator.

[0052] Thus, the robotic manipulator may follow the movement of the mouth opener such that if the patient moves head during the dental care operation, the robotic manipulator may follow the movement of the patient head.

[0053] In some yet further embodiments, the mouth opener is removably connected to robotic manipulator.The mouth opener may be detached and removed from the robotic manipulator and changed to a new mouth opener or cleaned mouth opener.

[0054] In some embodiments, a second mouth opener connecting arrangement is arranged to connect the robotic manipulator to the mouth opener.

[0055] The second mouth opener connecting arrangement is provided as a mechanical or magnetic connecting arrangement.

[0056] In some other embodiments, the mouth opener comprises a third opener connector and the robotic manipulator comprises a fourth opener connector, the third opener connector and the fourth opener connector are connected to each other for connecting the robotic manipulator to the mouth opener.

[0057] The mouth opener may be separately attached to the robotic manipulator.

[0058] Accordingly, the robotic manipulator comprises the mouth opener. In some further embodiments, the mouth opener comprises a third opener connector and the robotic manipulator comprises a fourth opener connector, the third opener connector and the fourth opener connector are detachably connected to each other for connecting the robotic manipulator to the mouth opener.

[0059] The third and fourth opener connector are provided to be detachably connected to each other for removing and changing the mouth opener to the robotic manipulator.

[0060] In some embodiments, the mouth opener comprises an opener channel extending through the mouth opener and arranged to provide access into the mouth of the patient, and the dental robot is arranged to carry out dental care operations via the opener channel from the below of the head support.

[0061] In some other embodiments, the mouth opener comprises a first opener end, a second opener end and an opener channel extending between the first end opener end and the second opener end through the mouth opener, and the dental robot is arranged to carry out dental care operations via the opener channel from the below of the head support.

[0062] In some further embodiments, the mouth opener is formed as sleevelike or comprises a sleeve shape with an opener channel extending through the mouth opener and arranged to provide access into the mouth of the patient, and the dental robot is arranged to carry out dental care operations via the opener channel from the below of the head support.In some yet further embodiments, the mouth opener comprises a first opener end, a second opener end, a sheath wall extending between the first end and the second end, the sheath wall is arranged to define an opener channel extending between the first end and the second end, through the mouth opener, and the dental robot is arranged to carry out dental care operations via the opener channel from the below of the head support.

[0063] The mouth opener provides a safe access and predefined inside the mouth of the patient. Thus, the mouth opener enables protecting the mouth of the patient during dental care. Further, at the same time the opener channel provides path from inside the mouth of the patient to outside and also in downwards direction. Thus the mouth opener is arranged to enable utilizing gravity from removing mater from the mouth of the patient.

[0064] In some embodiments, the dental robot is connected to the patient support platform.

[0065] Connecting the dental robot to the patient support platform enables compensating or following movements of the patient support platform with the dental robot.

[0066] In some further embodiments, the dental robot is connected to the head support of the patient support platform.

[0067] Connecting the dental robot to the head support enables compensating or following movements of the head support with the dental robot.

[0068] In some other embodiments, the robotic manipulator is connected to the patient support platform.

[0069] Connecting the robotic manipulator to the patient support platform enables compensating or following movements of the patient support platform and carrying out the movements of the robotic manipulator relative to the patient support platform.

[0070] In some yet further embodiments, the robotic manipulator is arranged to be connected or is connected to the head support of the patient support platform.

[0071] Connecting the robotic manipulator to the head support enables compensating or following movements of the head support and carrying out the movements of the robotic manipulator relative to the head support.

[0072] In some embodiments, a manipulator connecting arrangement is arranged to connect the robotic manipulator to the head support.The manipulator connecting arrangement is provided as a mechanical or magnetic connecting arrangement.

[0073] In some other embodiments, the head support comprises a first manipulator connector and the robotic manipulator comprises a second manipulator connector, the first manipulator connector and the second manipulator connector are connected to each other for connecting the connecting the robotic manipulator to the head support.

[0074] In some further embodiments, the head support comprises a first manipulator connector and the robotic manipulator comprises a second manipulator connector, the first manipulator connector and the second manipulator connector are detachably connected to each other for connecting the connecting the robotic manipulator to the head support.

[0075] The detachable connection enables disconnecting the robotic manipulator from the head support and to move the robotic manipulator in relation to the head support.

[0076] In some embodiments, the dental tool end effector of the robotic manipulator is arranged to extend inside the mouth opener.

[0077] Thus, the end effector is arranged inside the mouth opener and the mouth opener provides room for the dental tool end effector and also protects the mouth of the patient.

[0078] In some embodiments, the dental robot comprises a control unit operatively connected to the robotic manipulator or to the robotic manipulator and the dental tool end effector, and arranged to control movement of the robotic manipulator or to the robotic manipulator and the dental tool end effector.

[0079] The control unit is arranged generate control instructions for the robotic manipulator and the dental tool end effector, and operate the robotic manipulator and the dental tool end effector based on the generated control instructions. Alternatively, the control unit comprises a communication module configured to receive control instructions from an external device, and operate the robotic manipulator and the dental tool end effector based on the received control instructions.

[0080] The control instructions are generated automatically by a control algorithm or algorithms, or based on user input via control device, or based on combination of an automatic control algorithm or algorithms and user input via control device.

[0081] The present invention is also based on an idea of providing a methodfor operating dental care system. The dental care system comprises a patient support platform configured to support a patient during dental care, a dental robot configured to carry out dental care operations to a patient supported to the patient support platform. The patient support platform comprises a head support arranged to support head of the patient in a face-down position. The head support comprises an upper face support arranged to receive face of the head of the patient in the face-down position, and a mouth access opening open from the upper face support to below of the head support or the mouth access opening. The dental care system comprises a mouth opener for connecting with a mouth of the patient and for keeping the mouth of the patient in an open state, the mouth opener is arranged to be provided in connection with the mouth access opening of the head support and arranged to keep the mouth of the patient open in the face-down position towards the below of the head support. The method comprises carrying out dental care operations with the dental robot via the mouth access opening from a direction below of the head support or the mouth access opening.

[0082] Carrying out the dental care operations with the dental robot from below the head support or the mouth access opening via the mouth access opening enables saliva to exit patient mouth with aid of gravity. This, decreases or eliminates need for saliva suction and utilization of suction tools during dental care. Additionally, carrying out the dental care operations with the dental robot from below the head support or the mouth access opening via the mouth access opening prevents possible loose tooth parts or loos dental tools or parts of dental tools from entering throat of the patient during dental care operations with the dental robot. This is achieved due to the face-down position of the patient head and carrying out the dental care operations with the dental robot from below the head support or the mouth access opening via the mouth access opening or from below the mouth access opening or the mouth access opening.

[0083] In some embodiments, that the mouth opener comprises an opener channel extending through the mouth opener and arranged to provide access into the mouth of the patient, and the method comprises carrying out dental care operations with the dental robot via the opener channel of the mouth opener and from the below of the head support.

[0084] In some embodiments, the dental robot comprises a robotic manipulator, and the method comprises accessing the mouth access opening with the robotic manipulator from the direction below of the head support or the mouth access opening.The robotic manipulator is arranged to access the mouth access opening in direction from below the mouth access opening upwards. This enables the face-down position of the patient head.

[0085] In some other embodiments, the dental robot comprises a robotic manipulator provided with a dental tool end effector for carrying out a dental care procedure, and the method comprises accessing the mouth access opening with the dental tool end effector from the direction below of the head support or the mouth access opening.

[0086] The dental tool end effector is arranged access the mouth access opening, and the patient mouth, in direction from below the mouth access opening upwards. This enables carrying the dental care operations in the face-down position of the patient head or the mouth access opening.

[0087] In some embodiments, the dental care system comprises a mouth opener for connecting with a mouth of the patient and for keeping the mouth of the patient in an open state, the mouth opener being arranged in connection with the mouth access opening. The method comprises accessing the mouth opener with the robotic manipulator from the direction below of the head support or the mouth access opening.

[0088] In some other embodiments, the dental care system comprises a mouth opener for connecting with a mouth of the patient and for keeping the mouth of the patient in an open state, the mouth opener being arranged in connection with the mouth access opening. The method comprises accessing the mouth opener with the dental tool end effector from the direction below of the head support or the mouth access opening.

[0089] Accessing the mouth opener from direction below the head support or the mouth access opening promotes the saliva discharge from the mouth of the patient by aid of gravity.

[0090] In some embodiments, the method comprises connecting the robotic manipulator to the head support.

[0091] In some other embodiments, the method comprises connecting the robotic manipulator to the head support and to the mouth opener.

[0092] Connecting the robotic manipulator to the head support and / or the mouth opener enables compensation or following movements of the patient head such that patient safety is enhanced.

[0093] In some embodiments, the dental care system comprises a control unit, and the method comprises generating control instructions with control unit, andoperating the robotic manipulator or the robotic manipulator and the dental tool end effector based on the operating instructions.

[0094] Thus, the control unit may comprise one or more control algorithms arranged to automatically generate control instructions. Alternatively or additionally, the control unit comprises control devices configured to be operated by a user and the control unit is arranged to generate control instructions based on the control inputs from the control devices. The control instructions may also be based on combination of the automatically generate control instructions and the control instructions based on the control inputs from the control devices.

[0095] In some other embodiments, the dental care system comprises a control unit provided with a communication module. The method comprises receiving control instructions from an external device in the control unit via the communication module, and operating the robotic manipulator or the robotic manipulator and the dental tool end effector based on the operating instructions.

[0096] The control instructions are provided at least partly by one or more external devices. The external devices may comprise one or more servers, computers and / or user operable external control devices. The external device may comprise one or more control algorithms arranged to automatically generate control instructions. Alternatively or additionally, the external device may comprise one or more user external operable control devices configured to be operated by a user and the control unit is arranged to generate control instructions based on the control inputs from the control devices. The received control instructions may also be based on combination of the automatically generate control instructions and the control instructions based on the control inputs from the control devices from one or more external devices.

[0097] In some embodiments, the method according to the invention is caried out with a dental care system disclosed above.

[0098] An advantage of the invention is that the head support arranged to support the patient head in face-down position and the dental robot arranged to carry out dental care operations via the mouth access opening in vertical direction from below the head support or the mouth access opening provides firm support for the patient head and increases patient safety as saliva or other unwanted objects or substances are discharged from the mouth of the patient due to help gravity. Further, saliva suction may be eliminated which makes the dental care system simpler and more efficient.BRIEF DESCRIPTION OF THE DRAWINGS

[0099] The invention is described in detail by means of specific embodiments with reference to the enclosed drawings, in which

[0100] Figures 1 and 2 disclose schematically one embodiment of the dental care system;

[0101] Figure 3 disclose schematically another embodiment of the dental care system;

[0102] Figures 4 to 6 disclose schematically positioning of the head support; Figures 7 and 8 disclose schematically embodiments of the head support;

[0103] Figures 9 and 10 disclose schematically head support with a mouth opener;

[0104] Figure 11 discloses schematically a robotic manipulator with a dental tool end effector;

[0105] Figures 12 to 16 disclose schematically a robotic manipulator in connection with the head support; and

[0106] Figure 17 discloses schematically a dental robot.

[0107] DETAILED DESCRIPTION OF THE INVENTION

[0108] Figures 1 and 2 show schematically a dental care system for carrying dental care operation to a patient. The dental care system comprises a patient support platform 10 arranged to support the patient during dental care and a dental robot 50 arranged to carry out dental care operations to the patient supported to the patient support platform 10.

[0109] Figure 1 is a schematic side view of one embodiment of the dental care system and figure 2 is schematic end view of the of the dental care system of figure 1.

[0110] The patient support platform 10 comprises a head support 20 arranged to support a head 2 of the patient in a face-down position. The face-down position means in this application the face of the head of the patient is arranged face downwards or in vertical direction downwards or in direction of gravity G downwards.

[0111] Further, in the context of this application the face-down direction means the face of the patient is in horizonal face-down position or in an inclined face-down position in relation to the vertical direction or direction of gravity G. The inclination angle of the inclined face-down position is between 45 to 90 degrees inrelation to the vertical direction or the direction of gravity.

[0112] The patient support platform 10 comprises a support structure 30. The support structure 30 is arranged to support at least the head support 20 to a support surface 11.

[0113] In the embodiment of figure 1, the support structure 30 of the patient support platform 10 comprises vertical supports 31, 33 arranged to support the patient support platform 10 and the head support to the support surface 11. The support structure 30 of the patient support platform 10 comprises a horizontal support(s) 32. The horizontal support 32 is connected to the vertical supports 31, 33. The horizontal support 32 is provided with leg support elements 34 arranged to receive and support legs or knees of the patient during dental care operations.

[0114] It should be noted that the support structure 30 of the patient support platform 10 may be implemented in various ways without departing the from principles of the present invention. The present invention is not restricted to any specific form, construction or implementation of the patient support platform 10.

[0115] The head support 20 an upper head support 25 arranged to receive face of the head 2 of the patient in the face-down position. Accordingly, the face or at least part of the face of the patient is supported to or on the upper head support 25.

[0116] The upper head support 25 comprises an upper head support surface on which the face of the patient is supported. The upper head support surface may be formed with a shape conforming or conforming at least partly the shape of a human face.

[0117] The upper head support 25 preferably comprises or is provided with soft material or a padding, such as foam material or memory foam material, for comfortably supporting the face of the patient.

[0118] The head support 20 further comprises a bottom head support surface 24. The bottom head support surface 24 is provided on opposite side of the head support 20 in relation to the upper head support 25.

[0119] The head support 20 further comprises a mouth access opening 40, 44, as shown for example in figures 7 and 8. The mouth access opening 40, 44 is open to the upper head support 25 or to an upper head support surface. The mouth access opening 40, 44 is further open below or underside the head support 20. Accordingly, the mouth access opening is open to bottom head support surface 24.

[0120] The mouth access opening 40, 44 is open from the upper head support surface 25 to underside or below the head support 20.The mouth access opening 40, 44 is open from the upper head support surface 25 to the bottom head support surface 24. Therefore, the mouth access opening 40, 44 is open between the upper head support surface 25 and the bottom head support surface 24.

[0121] The mouth access opening 40, 44 is arranged to provide access to the upper head support surface 25 from below or from direction below the upper head support surface 25.

[0122] The mouth access opening 40, 44 is arranged to provide access to the upper head support surface 25 from below or from direction below the head support 20. The mouth access opening 40, 44 is open from the upper face support 25 to below of the head support 20.

[0123] The dental care system further comprises a dental robot 50, as shown in figure 1. The dental robot 50 is arranged to carry out dental care operations via the mouth access opening 40, 44 from below and / or from direction below the upper head support surface 25 and / or below the mouth access opening 44, 44.

[0124] The above description concerning the head support 20 and the mouth access opening 40, 44 may be utilized or implemented in all or in each of the embodiments of the invention.

[0125] The head support 20 and / or the upper head support surface 25 are arranged to support head 2 of the patient such that the mouth of the patient is aligned with the mouth access opening 40, 44 in the face-down position of the patient head 2. Therefore, the dental robot 50 is arranged to access the mouth of the patient via mouth access opening 40, 44 from below of the head support 20 and / or the upper head support 25 and / or below the mouth access opening 44, 44.

[0126] It should be noted that the dental robot 50 may be implemented in various ways without departing from the present invention. The present invention is not restricted to any specific form, construction or implementation of the dental robot 50.

[0127] In the embodiment of figures 1 and 2, the dental robot 50 is provided int same unit or construction with the patient support platform 10.

[0128] The dental robot 50 comprises a control unit 70 configured to control the operation of the dental robot 50.

[0129] The dental robot 50 comprises a robotic manipulator 51, 52, 53, 54 which comprises or is provided as robot arm.

[0130] The robotic manipulator 51, 52, 53, 54 is connected or operatively connected to the control unit 70. The control unit 70 is configured to controlmovements and operations of the robotic manipulator.

[0131] In the embodiments of figures 1, 2, 3, 4 and 18 the robotic manipulator comprises the robot arm having a first movement joint 51 and a second movement joint 53. The robot arm further comprises a first arm element 52 connected between the firstand second movement joints 51, 53 and a second arm element 54 extending from the second movement joint 53.

[0132] The first arm element 52 is arranged to turn around or in relation to the first movement joint 51.

[0133] The second arm element 54 is arranged to turn around or in relation to the second movement joint 53.

[0134] The second arm element 54 comprises or is provided with a dental end effector arrangement 62, 64. The dental end effector arrangement comprise a dental tool end effector 64 for carrying out the dental care operations inside the mouth of the patient. The dental end effector arrangement further comprises an end effector base 62. The dental tool end effector 64 is connected or provided to the end effector base 64. The end effector base 62 comprises end effector operating components or devices arranged operate the dental tool end effector 64.

[0135] Itshouldbenotedthattherobotarm51, 52, 53, 54 and movement joints 51, 53 as well as the arm elements 52, 54 may be implemented in various different ways without departing from the present invention. The number of movement joints and arm elements may vary depending in the implementation. The robotic manipulator or the robot arm may comprise one or more arm elements, and none or one or more movement joints. Therefore, the simplest form of the robot arm comprises only one arm element.

[0136] As sown in figures 1 and 2, the dental robot 50 is arranged to access the mouth access opening 40, 44 of the head support 20 from below or underside of the head support 20 and / or the upper head support 25 and / or below the mouth access opening 44, 44.

[0137] The dental robot 50 is arranged to carry out dental care operations via the mouth access opening 40, 44 from below of the head support 20 and / or the upper head support 25 and / or below the mouth access opening 44, 44.

[0138] The dental robot 50 is arranged to access the mouth access opening 40, 44 in upwards direction from below of the head support 20 and / or the upper head support 25 and / or below the mouth access opening 44, 44.

[0139] The dental robot 50 is arranged to access the mouth access opening 40, 44 in upwards direction in relation to direction of gravity G.The robotic manipulator 51, 52, 53, 54 and / or the dental tool end effector 64 is arranged to access the mouth access opening 40, 44 in upwards direction from below of the head support 20 and / or the upper head support 25 and / or below the mouth access opening 44, 44.

[0140] The robotic manipulator 51, 52, 53, 54 and / or the dental tool end effector 64 is arranged to access the mouth access opening 40, 44 in upwards direction in relation to direction of gravity G.

[0141] The dental robot 50 and the patient support platform 50 may be provided in one unit such that the dental robot 50 and the patient support platform 50 are provided in same construction. This kind of implementation of the dental care system is shown in figures 1 and 2.

[0142] Alternatively, the dental robot 50 and the patient support platform 10 are provided as separate units. The dental robot 50 is arranged in close connection or in close vicinity of the patient support platform 10. The separate dental robot 50 is arranged to carry out dental care operations via the mouth access opening 40, 44 from below of the head support 20 and access the mouth access opening 40, 44 from below of the head support 20 and / or the upper head support 25 and / or below the mouth access opening 44, 44. An example of this is shown in figure 3.

[0143] The dental robot 50 comprises a robot support base 100 arranged to support the robotic manipulator 51, 52, 53, 54 or the robotic manipulator 51, 52, 53, 54 and the control unit 70 to the support surface 11.

[0144] It should be noted that the separate dental robot 50 and / or the robot support base 100 may be implemented in various ways and the present invention is not restricted to any specific implementation of the separate dental robot 50 and / or the robot support base 100. The support surface 11 maybe a floor, ceiling or wall, for example. Thus, the dental robot 50 and the robot support base 100 may be arranged to be supported on a floor, ceiling or wall, for example.

[0145] The disclosure of the patient support platform 10, the robotic manipulator 51, 52, 53, 54, the control unit 70 and the dental end effector arrangement 62, 64 in relation to figures 1 and 2 applies also to the dental care system of figure 3.

[0146] Figures 4 to 6 show schematically position of the head support 20 according to the present invention.

[0147] It should be noted that the position of the head support 20 defines the position of the head 2 and face of the head 2 of the patient. Further, the head support 20 and the upper head support 25 or the upper head support surface maynot planar surfaces. The head support 20 and the upper head support 25 or the upper head support surface may comprise three-dimensional shape or design configured to conform facial shapes. Therefore, the position or orientation of the head support 20 and the upper head support 25 or the upper head support surface may not define the position or orientation of the head support in all points or location of the head support 20. The head support 20 or the upper head support 25 or the upper head support surface is arranged to support the head 2 of the patient in a position defined by the details, shape or design of the head support 20 and the upper head support 25 or the upper head support surface.

[0148] Therefore, in the position of the head support 20 and the upper head support 25 or the upper head support surface are defined based on position of the head 2 or the face of the head 2 of the patient.

[0149] In some embodiments it may also be defined that direction of the mouth access opening 40, 44 from the upper head support 25 or the upper head support surface is aligned or corresponds the direction towards which the face of the head 2 is facing.

[0150] Figure 4 shows an embodiment in which the head support 20 is arranged to support the head 2 of the patient in the face-down position in which the face of the patient is in horizonal face-down position.

[0151] The upper head support 25 is arranged to support the head 2 of the patient in the face-down position in which the face of the patient is in the horizonal face-down position.

[0152] The head support 20 or the upper head support 25 of the head support 20 is arranged in a horizontal support position for supporting the head 2 of the patient in the horizonal face-down position.

[0153] The mouth access opening 40, 44 is arranged to extend vertical direction P. The vertical direction P of the mouth access opening 40, 4 is arranged to substantially correspond the direction of gravity G.

[0154] Figures 5 and 6 disclose alternative embodiments in which the head support 20 is arranged to support the head 2 of the patient in the face-down position in which the face of the patient is in an inclined face-down position in relation to horizontal direction H.

[0155] Horizontal direction H is perpendicular to the direction of the gravity G. The upper head support 25 is arranged to support the head 2 of the patient in the face-down position in which the face of the patient is in the inclined face-down position in relation to the horizontal H direction. In the inclined face-down position a first inclination angle A between the inclined face-down position of the face of the patient and horizontal direction H is between 0 to 45 degrees.

[0156] The head support 20 or the upper head support 25 of the head support 20 is arranged in an inclined support position for supporting the head 2 of the patient in the inclined face-down position in relation to the horizontal H direction. In the inclined position of the upper head support 25 the first inclination angle A between the inclined position of the upper head support 25 and horizontal direction H is between 0 to 45 degrees.

[0157] The mouth access opening 40, 44 is arranged to extend in an inclined opening direction P in relation to horizontal direction H, as shown in figures 5 and 6. The inclined opening direction P of the mouth access opening 40, 44 is arranged to extend in the inclined opening direction P with a second inclination angle B between the inclined direction P of the mouth access opening 40, 44 and the horizontal direction H. In the inclined position of the mouth access opening 40, 44 the second inclination angle B between the inclined opening direction P of the mouth access opening 40, 44 and horizontal direction H is between 0 to 45 degrees.

[0158] The opening direction P is defined as axial direction of the mouth access opening 40, 44.

[0159] In figure 5, the head support 20 or the upper head support 25 of the head support 20 is arranged support the patient head 2 in an upwards inclined face-down position in relation to horizontal direction H.

[0160] In figure 6, the head support 20 or the upper head support 25 of the head support 20 is arranged support the patient head 2 in a downwards inclined face-down position in relation to horizontal direction H.

[0161] It should be noted, that in the embodiment of figure 4, the first and second inclination angles A, B or 0 or substantially 0.

[0162] Figures 7 and 8 shows schematically one embodiment of the head support 20 from a direction below the head support. The head support 20 comprises the bottom head support surface 24. It should be noted that the head support 20 may also be formed such that there is no actual bottom head support surface 24. Furthermore, the head support may be provided in various ways without departing from the present invention.

[0163] The head support 20 may also comprise eye element 28 arranged to be aligned with eyes of the patient when the head 2 of the patient is support to the head support 20. The element 28 may comprises an eye recess extending from the upper face support 25 or provided to the upper face support 25. In someembodiments the eye element 28 comprises a display module for presenting information to the patient when the head 2 of the patient is supported to the head support 20. It should be noted that the eye element 28 may also be omitted.

[0164] The head support 20 further comprises the mouth access opening 40, 44 open to the upper face support 25 or the upper face support surface 25. Accordingly, the mouth access opening 40, 44 is arranged to extend from the upper face support 25 or the upper face support surface 25.

[0165] In the embodiment of figure 7, the mouth access opening 40 is provided as a hole having circumferential opening edge 41 arranged to define the mouth access opening 40. The mouth access opening 40 is arranged provide access to the upper face support 25 or the upper face support surface 25 from a direction below the upper face support 25 or the upper face support surface 25.

[0166] In the embodiment of figure 8, the mouth access opening 44 is provided as a slit having slit edges 43 arranged to define the mouth access opening 44. The mouth access opening 44 is arranged provide access to the upper face support 25 or the upper face support surface 25 from a direction below the upper face support 25 or the upper face support surface 25.

[0167] Accordingly, the mouth access opening 40, 44 may be provided a hole 40, as a slit 44, as a gap, or any other free space open to the to the upper face support 25 or the upper face support surface 25 and arranged provide access to the upper face support 25 or the upper face support surface 25 from a direction below the upper face support 25 or the upper face support surface 25.

[0168] During dental care with the dental care system, it is important that the mouth of the patient remains open such that the dental robot is able to carry out the dental care operations. Therefore, the dental care system comprises a mouth opener 80. The mouth opener 80 is configured to be placed in connection with the mouth of the patient or at least partly inside the mouth of the patient. The mouth opener 80 is configured to keep the mouth of the patient in an open state such that the dental robot may access the mouth.

[0169] The mouth opener 80 may be any kind of mouth opener arranged to keep the mouth of the patient in the open state.

[0170] As shown in figures 9 and 10, the mouth opener 80 is provided in connection with the head support 20 and in connection with the mouth access opening 40. Therefore, the mouth opener 80 is arranged to be connected with the mouth of the patient when the head 2 of the patient is supported to the head support 20 in the face-down position.In figures 8 and 9, the mouth opener 80 is formed as funnel-like, sleevelike or comprises a funnel shape or a sleeve shape. The mouth opener 80 comprises a first opener end 82 comprising a first opening and a second end 83 comprising a second opening. The mouth opener 80 further comprises a sheath wall 84 extending between the first end 82 and the second end 83. The sheath wall 84 is arranged to define an opener channel 81 extending between the first end 82 and the second end 83. The opener channel 81 is open at the first end 82 and at the second end 83. Accordingly, the opener channel 81 provides access from the second end 83 to the first end 82 and through the mouth opener 80.

[0171] The first end 82 of the mouth opener 80 is arranged to the mouth access opening 40 or in connection with the mouth access opening 40. The first end 82 of the mouth opener 80 is configured to be connected to or placed inside the mouth of the patient when the head 2 of the patient is supported to the head support 20 in the face-down position. Therefore, the mouth opener 80 and the opener channel 81 is arranged to provide access into the mouth of the patient from the second end 83 via the opener channel 81.

[0172] The mouth opener 80 is further connected or attached to the head support 20 in connection with the mouth access opening 40. Alternatively, the mouth opener 80 is detachably connected or attached to the head support 20 in connection with the mouth access opening 40.

[0173] A first mouth opener connecting arrangement is provided to connect the mouth opener 80 to the head support 20. The first mouth opener connecting arrangement comprises a first opener connector 85 provided to the mouth opener 80 and a second opener connector 42 provided to the head support 20.

[0174] The first opener connector 85 and the second opener connector 42 are connected to each other for connecting the mouth opener 80 to the head support 20.

[0175] The second opener connector 42 is provided to the head support 20. The second opener connector 42 is provided to the head support 20 in connection with or is vicinity of the mouth access opening 40, 44, as shown in figures 7 to 10.

[0176] The head support 20 comprises one or more second opener connectors 42.

[0177] The first opener connector 85 is provided to the mouth opener 80 The first opener connector 85 is provided to the mouth opener 80 and outside of the opener channel 81, as shown in figure 10.The first opener connector 85 may be provided to outer surface of the sheath wall 84 or connection with the first end 82 or the second 83 outside of the opener channel 81.

[0178] The mouth opener 80 comprises one or more first opener connectors 85.

[0179] The first opener connector 85 and the second opener connector 42 are connected to each other for connecting the mouth opener 80 to the head support 20. Alternatively, the first opener connector 85 and the second opener connector 42 are detachably connected to each other for connecting the mouth opener 80 to the head support 20.

[0180] The first mouth opener connecting arrangement is provided as a mechanical or magnetic connecting arrangement. Therefore, in mechanical first mouth opener connecting arrangement the first opener connector 85 is a first mechanical opener connector and the second opener connector 42 is a second mechanical opener connector. Further, in magnetic first mouth opener connecting arrangement the first opener connector 85 is a first magnetic opener connector and the second opener connector 42 is a second magnetic opener connector.

[0181] As shown in figure 10, the mouth opener 80 is arranged inside the mouth access opening 40.

[0182] The first end 82 of the mouth opener 80 is arranged inside the mouth access opening 40 and the mouth opener 80 is arranged extend from the mouth access opening 40 below the head support 20, as shown in figure 10.

[0183] Alternatively, the mouth opener 80 is arranged inside the mouth access opening 40 and the first end 82 of the mouth opener 80 is arranged on the level of the upper face support surface 25 or above the upper face support surface 25. The second end 83 is arranged below the head support 20 such that the mouth opener 80 is arranged to extend through the mouth access opening 40. Alternatively, second end 83 is arranged inside mouth access opening 40.

[0184] Figure 11 shows schematically the robotic manipulator of the dental robot 50. The robotic manipulator is arranged to carry out dental care operations via the mouth access opening 40, 44 from below of the head support 20.

[0185] The robotic manipulator comprises the second arm element 54 having the dental end effector arrangement 67 provided at the distal end of the second arm element 54. The dental end effector arrangement 67 comprises the end effector base 62 and a dental end effector connector 65. The dental end effector 64 is arranged to be connected, or detachably connected, to the end effectorarrangement 67 or the end effector connector 65.

[0186] A second mouth opener connecting arrangement 66, 86 is arranged to connect the robotic manipulator or the dental end effector arrangement 67 to the mouth opener 80.

[0187] The second mouth opener connecting arrangement comprises a third opener connector 86 provided to the mouth opener 80.

[0188] The second mouth opener connecting arrangement comprises and the comprises a fourth opener connector 66 provided to the robotic manipulator The third opener connector 86 and the fourth opener connector 66 are connected to each other for connecting the robotic manipulator to the mouth opener 80.

[0189] Third opener connector 86 is provided to the second end 83 of the mouth opener 80 in connection with the second end 83, as shown in figure 10.

[0190] The third opener connector 86 is provided to the mouth opener 80, or the second end 83 thereof, and outside of the opener channel 81, as shown in figure 10.

[0191] The third opener connector 86 may be provided to outer surface of the sheath wall 84 outside of the opener channel 81.

[0192] The mouth opener 80 comprises one or more third opener connectors 86.

[0193] The fourth opener connector 66 is provided to the robotic manipulator or the dental end effector arrangement 67.

[0194] The fourth opener connector 66 is provided to the dental end effector arrangement 67 in connection with or is vicinity of the distal end or the dental end effector arrangement 67.

[0195] The fourth opener connector 66 may be provided to the end effector base 62.

[0196] The robotic manipulator or the dental end effector arrangement 67 comprises one or more fourth opener connectors 66.

[0197] As shown in figure 12, the third opener connector 86 and the fourth opener connector 66 are connected, or detachably connected, to each other for connecting the robotic manipulator or the dental end effector arrangement 67 to the mouth opener 80. Alternatively, the third opener connector 86 and the fourth opener connector 66 are detachably connected to each other for connecting the robotic manipulator or the dental end effector arrangement 67 to the mouth opener 80.The second mouth opener connecting arrangement is provided as a mechanical or magnetic connecting arrangement. Therefore, in mechanical second mouth opener connecting arrangement the third opener connector 86 is a third mechanical opener connector and the fourth opener connector 66 is a fourth mechanical opener connector. Further, in magnetic second mouth opener connecting arrangement the third opener connector 86 is a third magnetic opener connector and the fourth opener connector 66 is a fourth magnetic opener connector.

[0198] It should be noted that the dental care system may comprise the first mouth opener connecting arrangement for connecting the mouth opener 80 to the head support 20 or the second mouth opener connecting arrangement connecting the robotic manipulator to the mouth opener 80. Alternatively, the dental care system comprises the first mouth opener connecting arrangement and the second mouth opener connecting arrangement.

[0199] The dental robot 50 may further be connected to the patient support platform 10 or the head support 20 thereof.

[0200] Accordingly, the robotic manipulator is connected to the patient support platform 10 or to the head support 20 of the patient support platform 10.

[0201] The dental care system comprises a manipulator connecting arrangement arranged to connect the robotic manipulator to the head support 20.

[0202] As shown in figures 13 and 14, the head support 20 comprises a first manipulator connector 91, 92.

[0203] The first manipulator connector 91, 92 may be provided to the bottom head support surface 24 or in connection with the bottom head support surface 24.

[0204] The first manipulator connector 91, 92 is provided to the head support 20 in connection with or is vicinity of the mouth access opening 40, 44, as shown in figures 13 and 14.

[0205] The first manipulator connector 91, 92 is provided to the bottom head support surface 24 and in connection with or is vicinity of the mouth access opening 40, 44, as shown in figures 13 and 14.

[0206] The head support 20 comprises one or more first manipulator connectors 91, 92.

[0207] The robotic manipulator comprises a second manipulator connector 93, 94, 95, 96, as shown in figure 15.

[0208] The second manipulator connector 93, 94, 95, 96 is arranged to extend from the robotic manipulator or from the distal end thereof.The second manipulator connector 93, 94, 95, 96 may alternatively be arranged to extend from the dental end effector arrangement 67.

[0209] The second manipulator connector comprises an extension element 93, 95 arranged to extend from the from the robotic manipulator or from the distal end thereof or from the dental end effector arrangement 67. The second manipulator connector further comprises a connector element 94, 96 provided to the distal end of the extension element 93, 95.

[0210] The robotic manipulator comprises one or more second manipulator connectors 93, 94, 95, 96.

[0211] The first manipulator connector 91, 92 and the second manipulator connector 93, 94, 95, 96 are connected, or detachably connected, to each other for connecting the connecting the robotic manipulator to the head support 20, as shown in figure 16.

[0212] The connector element 94, 96 of the second manipulator connector 93, 94, 95, 96 is connected, or detachably connected, to the first manipulator connector 91, 92 for connecting the connecting the robotic manipulator to the head support 20.

[0213] The manipulator connecting arrangement is provided as a mechanical or magnetic connecting arrangement. Therefore, in mechanical manipulator connecting arrangement the first manipulator connector 91, 92 is a first mechanical manipulator connector and the second manipulator connector 93, 94, 95, 96 is a second mechanical manipulator connector. Further, in magnetic manipulator connecting arrangement the first manipulator connector 91, 92 is a first magnetic manipulator connector 91, 92 and the second manipulator connector 93, 94, 95, 96 is a second magnetic manipulator connector.

[0214] It should be noted that the dental care system may comprise the manipulator connecting arrangement for connecting the robotic manipulator to the head support 20 or the second mouth opener connecting arrangement connecting the robotic manipulator to the mouth opener 80. Alternatively, the dental care system comprises the manipulator connecting arrangement and the second mouth opener connecting arrangement.

[0215] When the robotic manipulator or the dental end effector arrangement thereof is arranged is connected to the head support 20 and / or to the mouth opener 80, the dental tool end effector 64 of the robotic manipulator is arranged to extend inside the mouth opener 80, as shown in figures 12 and 16.Figure 17 shows schematically the control unit 70 operatively connected to the robotic manipulator or to the robotic manipulator and the dental tool end effector, and arranged to control movement of the robotic manipulator or to the robotic manipulator and the dental tool end effector 64.

[0216] The control unit 70 comprises a control subsystem 72 comprising one or more processors 74 and a memory 74 storing instructions 78 for execution by the one or more processors 74.

[0217] The robotic manipulator comprises one or more manipulator motors 56, 58 arranged to operate and move to the robotic manipulator and the arm elements 52, 54 thereof.

[0218] The robotic manipulator comprises one or more end effector motors 68 arranged to operate and move to the dental tool end effector 64.

[0219] The one or more one or more manipulator motors 56, 58 and the one or more end effector motors 68 are operatively connected to the control unit 70.

[0220] The control unit further comprises a communication module 79 configured to provide data transfer connection with an external device.

[0221] The invention has been described above with reference to the examples shown in the figures. However, the invention is in no way restricted to the above examples but may vary within the scope of the claims.

Claims

CLAIMS1. A dental care system comprising a patient support platform (10) configured to support a patient during dental care, a dental robot (50) configured to carry out dental care operations to a patient supported to the patient support platform (10), cha ra cte r i z e d in that:- the patient support platform (10) comprises a head support (20) arranged to support head (2) of the patient in a face-down position, the head support (20) comprisesan upper face support (25) arranged to receive face of the head (2) of the patient in the face-down position, anda mouth access opening (40, 44) open from the upper face support (25) to below of the head support (20);- the dental care system comprises a mouth opener (80) for connecting with a mouth of the patient and for keeping the mouth of the patient in an open state, the mouth opener (80) is arranged to be provided in connection with the mouth access opening (40, 44) of the head support (20) and arranged to keep the mouth of the patient open in the face-down position towards the below of the head support (20); and- the dental robot (50) is arranged to carry out dental care operations via the mouth access opening (40, 44) from the below of the head support (20).

2. A dental care system according to claim 1, cha ra cte ri z e d in that the head support (20) is arranged to support the head (2) of the patient in the face-down position in which:- the face of the patient is in horizonal face-down position; or - the face of the patient is in an inclined face-down position in relation to the horizontal direction; or- the face of the patient is in an inclined face-down position in relation to the horizontal direction, the inclination angle being between 0 to 45 degrees.

3. A dental care system according to claim 1 or 2, ch a ra cte ri z e d in that the upper head support (25) of the head support (20) is arranged in:- a horizontal support position for supporting the head (2) of the patient in the horizonal face-down position; or- an inclined position in relation to the horizontal direction for supporting the head (2) of the patient in the inclined face-down position; or- an inclined position in relation to the horizontal direction, the inclination angle being between 0 to 45 degrees in relation to the horizontal direction, for supporting the head (2) of the patient in the inclined face-down position.

4. A dental care system according to any one of claims 1 to 3, cha ra cte r i z e d in that the dental robot (50) comprises a robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) arranged to carry out dental care operations via the mouth access opening (40, 44) from below of the head support (20) for carrying out dental care operations.

5. A dental care system according to claim 4, cha ra cte ri z e d in that the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) comprises a dental tool end effector (64) for carrying out a dental care procedure.

6. A dental care system according to any one of claims 1 to 5, cha ra cte r i z e d in that:- the mouth opener (80) comprises an opener channel (81) extending through the mouth opener (80) and arranged to provide access into the mouth of the patient, and the dental robot (50) is arranged to carry out dental care operations via the opener channel (81) from the below of the head support (20); or- the mouth opener (80) comprises a first opener end (82), a second opener end (83) and an opener channel (81) extending between the first end opener end (82) and the second opener end (83) through the mouth opener (80), and the dental robot (50) is arranged to carry out dental care operations via the opener channel (81) from the below of the head support (20); or- the mouth opener (80) is formed as sleeve-like or comprises a sleeve shape with an opener channel (81) extending through the mouth opener (80) and arranged to provide access into the mouth of the patient, and the dental robot (50) is arranged to carry out dental care operations via the opener channel (81) from the below of the head support (20); or- the mouth opener (80) comprises a first opener end (82), a second opener end (83), a sheath wall (84) extending between the first end (82) and thesecond end (83), the sheath wall (84) is arranged to define an opener channel (81) extending between the first end (82) and the second end (83), through the mouth opener (80), and the dental robot (50) is arranged to carry out dental care operations via the opener channel (81) from the below of the head support (20).

7. A dental care system according to any one of claims 1 to 6, cha ra cte r i z e d in that:- the mouth opener (80) is connected to the head support (20) in connection with the mouth access opening (40, 44); or- the mouth opener (80) is connected to the head support (20) in connection with the mouth access opening (40, 44) of the head support (20); or - the mouth opener (80) is detachably connected to the head support (20) in connection with the mouth access opening (40, 44) of the head support (20).

8. A dental care system according to any one of claims 1 to 7, cha ra cte r i z e d in that:- a first mouth opener connecting arrangement (42, 85) is provided to connect the mouth opener (80) to the head support (20); or- the mouth opener (80) comprises a first opener connector (85) and the head support (20) comprises a second opener connector (42), the first opener connector (85) and the second opener connector (42) are connected to each other for connecting the mouth opener (80) to the head support (20); or- the mouth opener (80) comprises a first opener connector (85) and the head support (20) comprises a second opener connector (42), the first opener connector (85) and the second opener connector (42) are detachably connected to each other for connecting the mouth opener (80) to the head support (20).

9. A dental care system according to any one of claims 1 to 8, cha ra cte r i z e d in that:- the mouth opener (80) is connected to the dental robot (50) in connection with the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68); or - the mouth opener (80) is provided in connection with the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68); or- the mouth opener (80) is connected to the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68); or- the mouth opener (80) is removably connected to robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68).

10. A dental care system according to any one of claims 1 to 9, cha ra cte r i z e d in that:- a second mouth opener connecting arrangement (66, 86) is arranged to connect the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) to the mouth opener (80); or- the mouth opener (80) comprises a third opener connector (86) and the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) comprises a fourth opener connector (66), the third opener connector (86) and the fourth opener connector (66) are connected to each other for connecting the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) to the mouth opener (80); or- the mouth opener (80) comprises a third opener connector (86) and the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) comprises a fourth opener connector (66), the third opener connector (86) and the fourth opener connector (66) are detachably connected to each other for connecting the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) to the mouth opener (80).

11. A dental care system according to any one of claims 1 to 10, cha ra cte r i z e d in that:- the dental robot (50) is connected to the patient support platform (10); or- the dental robot (50) is connected to the head support (20) of the patient support platform (10); or- the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) is connected to the patient support platform (10); or- the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) is arranged to be connected or is connected to the head support (20) of the patient support platform (10).

12. A dental care system according to claim 11, ch a ra cte ri z e d in that:- a manipulator connecting arrangement (91, 92, 93, 94, 95, 96) is arranged to connect the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) to the head support (20); or- the head support (20) comprises a first manipulator connector (91, 92) and the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) comprises a second manipulator connector (93, 94, 95, 96), the first manipulator connector (91, 92) and the second manipulator connector (93, 94, 95, 96) are connected to each other for connecting the connecting the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) to the head support (20); or- the head support (20) comprises a first manipulator connector (91, 92) and the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) comprises a second manipulator connector (93, 94, 95, 96), the first manipulator connector (91, 92) and the second manipulator connector (93, 94, 95, 96) are detachably connected to each other for connecting the connecting the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) to the head support (20).

13. A dental care system according to any one of claims 1 to 12, cha ra cte r i z e d in that the dental tool end effector (64) of the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) is arranged to extend inside the mouth opener (80).

14. A dental care system according to any one of claims 1 to 13, cha ra cte r i z e d in that the dental robot (50) comprises a control unit (70) operatively connected to the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) or to the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) and the dental tool end effector (64), and arranged to control movement of the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) or to the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) and the dental tool end effector (64).

15. A method for operating dental care system, the dental care system comprises a patient support platform (10) configured to support a patient during dental care, a dental robot (50) configured to carry out dental care operations to a patient supported to the patient support platform (10), cha ra cte ri z e d in that in the dental care system:- the patient support platform (10) comprises a head support (20) arranged to support head (2) of the patient in a face-down position, the head support (20) comprisesan upper face support (25) arranged to receive face of the head (2) of the patient in the face-down position, anda mouth access opening (40, 44) open from the upper face support (25) to below of the head support (20), and- the dental care system comprises a mouth opener (80) for connecting with a mouth of the patient and for keeping the mouth of the patient in an open state, the mouth opener (80) is arranged to be provided in connection with the mouth access opening (40, 44) of the head support (20) and arranged to keep the mouth of the patient open in the face-down position towards the below of the head support (20); andthe method comprises:- carrying out dental care operations with the dental robot (50) via the mouth access opening (40, 44) from a direction below of the head support (20).

16. A method according to claim 15, cha ra cte r i z e d in that the mouth opener (80) comprises an opener channel (81) extending through the mouth opener (80) and arranged to provide access into the mouth of the patient, and the method comprises carrying out dental care operations with the dental robot (50) via the opener channel (81) of the mouth opener (80) and from the below of the head support (20).

17. Amethodaccordingto claim 15 or 16, cha ra cte ri z e d in that: - the dental robot (50) comprises a robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68), and the method comprises accessing the mouth access opening (40, 44) with the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) from the direction below of the head support (20); or- the dental robot (50) comprises a robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) provided with a dental tool end effector (64) for carrying out a dental care procedure, and the method comprises accessing the mouth access opening (40, 44) with the dental tool end effector (64) from the direction below of the head support (20).

18. A method according to claim 17, cha ra cte r i z e d in that: - the mouth opener (80) being arranged in connection with the mouth access opening (40, 44), and the method comprises accessing the mouth opener (80) with the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) from the direction below of the head support (20), or accessing the mouth opener (80) withthe dental tool end effector (64) from the direction below of the head support (20); or- the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) comprises the mouth opener (80), and the method comprises accessing the mouth access opening (40, 44) with the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) from the direction below of the head support (20).

19. A method according to claim 17 or 18, c h a r a c t e r i z e d in that the method comprises:- connecting the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) to the head support (20); or- connecting the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) to the head support (20) and to the mouth opener (80).

20. A method according to any one of claims 15 to 19, cha ra cte r i z e d in that:- the dental care system comprises a control unit (70), and the method comprises:generating control instructions with control unit (70), and operating the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) or the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) and the dental tool end effector (64) based on the operating instructions; or- the dental care system comprises a control unit (70), the control unit (70) is provided with a communication module (79), and the method comprises:receiving control instructions from an external device in the control unit (70) via the communication module (79), andoperating the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) or the robotic manipulator (51, 52, 53, 54, 56, 58, 62, 64, 68) and the dental tool end effector (64) based on the operating instructions.

21. A method according to any one of claims 15 to 20, cha ra cte r i z e d in that the method is caried out with a dental care system according to any one of claims 1 to 14.

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