Tracking Arm Reference Frame for Dental Robot Planning
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Solution Overview
Problem
Current robot-assisted dental procedures require time-consuming and costly imaging to plan and execute, necessitating the use of fiducial markers and imaging systems, which can be inconvenient for patients and increase procedural time.
Innovation Solution
A method involving a tracking arm and robot arm system that forms a reference frame by contacting physical points around the site, allowing for planning and execution of procedures without imaging, using a tracking arm to maintain a known reference frame and adjust in real-time for movement, enabling efficient and ergonomic execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If imaging procedures (X-ray scan or CT scan) are used to form a 3D virtual representation of the site, then the procedure planning accuracy is improved, but the procedural time and expense increase
Solution Approach 1:
The patent extracts the essential function of imaging (obtaining spatial reference data) and replaces it with a simplified mechanical measurement system. The tracking arm directly measures physical points on the patient's anatomy to establish a reference frame, eliminating the need for separate imaging procedures while maintaining the necessary spatial information for accurate procedure planning
Solution Approach 2:
The tracking arm serves as an intermediary device that bridges the gap between the robot system and the patient's anatomy. Instead of using complex imaging systems, the tracking arm physically contacts and measures key anatomical points to create a reference frame, providing the necessary spatial data in a time-efficient manner
2Measurement precision
If imaging procedures are used to form the 3D virtual representation, then the procedure planning accuracy is improved, but the cost increases
Solution Approach 1:
The patent extracts the essential function of imaging (obtaining spatial reference data) and replaces it with a simplified mechanical measurement system. The tracking arm directly measures physical points on the patient's anatomy to establish a reference frame, eliminating the need for expensive imaging procedures while maintaining the necessary spatial information for accurate procedure planning
Solution Approach 2:
The patent employs a straightforward mechanical tracking system that uses simple, cost-effective components. The tracking arm with its contact tips provides the necessary measurement capability through basic mechanical means rather than expensive imaging technology, reducing overall procedural costs
3Reliability
If the splint device with fiducial markers is securely attached to the patient from before imaging through procedure completion, then the reference frame reliability is improved, but the patient convenience deteriorates
Solution Approach 1:
The patent removes the splint device and fiducial markers from the procedure workflow. Instead of attaching a physical reference structure to the patient, the tracking arm directly measures and records the positions of key anatomical points, eliminating the need for intrusive devices while maintaining reference frame reliability
Solution Approach 2:
The patient's own anatomy serves as the reference framework. By measuring and recording the positions of natural anatomical landmarks directly on the patient, the system uses the patient's body structure itself as the reference, eliminating the need for external splint devices
4Ease of operation
If the splint device is removable between imaging and procedure, then the patient convenience is improved, but the re-affixing precision deteriorates
Solution Approach 1:
The patent extracts the reference function from the removable splint device and embeds it directly into the patient's anatomy through measurement of fixed anatomical landmarks. This ensures that the reference frame is inherently tied to the patient's body structure and cannot be misplaced upon re-affixing
Solution Approach 2:
The reference frame is established preliminary by measuring and recording the positions of anatomical landmarks before the procedure begins. This preliminary measurement creates a permanent reference based on the patient's anatomy that remains valid throughout the procedure without requiring physical re-affixing
Data Source
AI summary
A method of forming a procedure plan includes arranging a tracking arm distal end in communication with a reference location (RL) about a site or an object received thereat (S/O), the RL disposed in relation to the tracking arm in a 3D space. Physical points about the S/O are each contacted with an end effector of a procedure tool engaged with a robot arm disposed in known relation to the tracking arm, and locations thereof concurrently determined in the 3D space. A reference frame (RF) is formed in the 3D space, relative to the RL, from the locations of the physical points, and includes a location of the S/O within the RF. A plan is formed for an end effector procedure on the S/O, within the RF and relative to the RL, including a route traversed by the end effector to and from the S/O and during the procedure.