Robotic device for dental surgery

Patent metadata

Field	Value
Publication number	US-2016354169-A1
Application number	US-201615170190-A
Country	US
Kind code	A1
Filing date	Jun 1, 2016
Priority date	Jun 2, 2015
Publication date	Dec 8, 2016
Grant date	—

Abstract

A robotic system includes a base, a grounding arm, a working arm, and one or more sensors. The grounding arm extends from the base and is configured to be coupled to a fixed structure within the mouth of the patient for establishing an origin for the robotic system. The working arm extends from the base and is configured to be coupled with one or more tools for use during an installation of a dental implant in the mouth. The one or more sensors are for monitoring positions of the grounding arm and/or the working arm and to generate positional data that is used to create a post-operative virtual three-dimensional model of at least a portion of the mouth of the patient.

First claim

What is claimed is:

1 . A robotic system for use during a dental surgical procedure including installation of a dental implant in a mouth of a patient, the robotic system comprising:
a base; a grounding arm having a first end and a second end, the first end of the grounding arm being coupled to the base, the second end of the grounding arm being configured to be coupled to a fixed structure within the mouth of the patient for establishing an origin for the robotic system relative to the mouth of the patient, the second end of the grounding arm having at least six degrees of freedom relative to the base; a working arm having a first end and a second end, the first end of the working arm extending from the base, the second end of the working arm being configured to be coupled with one or more tools for use during the dental surgical procedure, a portion of the working arm having at least six degrees of freedom relative to the base and being movable to (i) form an opening in bone within the mouth of the patient and (ii) install the dental implant in the formed opening; and one or more sensors to monitor positions of the grounding arm and the working arm, the one or more sensors generating positional data that is used to create a post-operative virtual three-dimensional implant level model of at least a portion of the mouth of the patient.

2 . The robotic system of claim 1 , wherein the post-operative virtual three-dimensional implant level model is created without use of a scanning abutment coupled to the dental implant installed in the mouth of the patient.

3 . The robotic system of claim 1 , wherein the generated positional data is used to modify a pre-operative virtual model of the mouth of the patient to include at least a portion of a virtual three-dimensional model of a dental implant installed in the mouth of the patient during the dental surgical procedure.

4 . The robotic system of claim 1 , wherein the one or more tools include a drill-bit tool, a dental-implant-driving tool, a rotating mill tool, a saw tool, a probe tool, a scalpel tool, or any combination thereof.

5 . The robotic system of claim 1 , wherein the one or more sensors are electrically coupled to one or more processors of the robotic system and physically mounted to the grounding arm, the working arm, or both.

6 . The robotic system of claim 1 , wherein the movable portion of the working arm is (i) manually-movable by an operator of the robotic system, (ii) automatically movable by one or more motors of the robotic system, or (iii) both.

7 . The robotic system of claim 1 , wherein the fixed structure within the mouth of the patient is one or more teeth, jaw bone, or both.

8 . A robotic system for use during installation of a dental implant in a mouth of a patient, the robotic system comprising:
a base; a grounding arm extending from the base and being configured to be coupled to a fixed structure within the mouth of the patient for establishing an origin for the robotic system relative to the mouth of the patient; a working arm extending from the base and being configured to be coupled with one or more tools for use during the installation of the dental implant, at least a portion of the working arm being movable to install the dental implant in the mouth of the patient; and one or more sensors to monitor positions of the grounding arm and the working arm, the one or more sensors generating positional data that is used to create a virtual model of at least a portion of the mouth of the patient.

9 . The robotic system of claim 8 , wherein the virtual model is created without use of a scanning abutment coupled to the dental implant installed in the mouth of the patient.

10 . The robotic system of claim 8 , wherein the generated positional data is used by one or more processors to modify a virtual model of the mouth of the patient to include at least a portion of a virtual model of the installed dental implant.

11 . The robotic system of claim 8 , wherein in response to the working arm being coupled with a drill-bit tool, the at least a portion of the working arm is further movable to form an opening in bone within the mouth of the patient to receive the dental implant therein.

12 . The robotic system of claim 8 , wherein one or more processors of the robotic system are configured to control movement of the working arm to automatically install the dental implant in the mouth of the patient according to a pre-planned installation procedure, wherein the working arm is coupled to a dental-implant-driving tool during the automatic installation.

13 . The robotic system of claim 12 , wherein at least one of the one or more processors is configured to control movement of the working arm to automatically remove a portion of a jaw bone of the patient, thereby forming a socket for receiving the dental implant, according to the pre-planned installation procedure, wherein the working arm is coupled to a drill-bit tool during the removal.

14 . The robotic system of claim 8 , wherein a tip of the grounding arm has at least six degrees of freedom relative to the base and wherein a tip of the one or more tools coupled to the working arm has at least six degrees of freedom relative to the base.

15 . The robotic system of claim 8 , wherein the at least a portion of the working arm is automatically movable by one or more processors of the robotic system.

16 . The robotic system of claim 8 , wherein the one or more tools include a drill-bit tool, a dental-implant-driving tool, a rotating mill tool, a saw tool, a probe tool, a scalpel tool, or any combination thereof.

17 . A method of creating a post-operative virtual model of at least a portion of a mouth of a patient, the mouth including a dental implant installed using a robotic system during a dental surgical procedure, the method comprising:
attaching a rigid grounding member to a fixed position within the mouth of the patient; obtaining a pre-operative virtual model of the mouth of the patient with the rigid grounding member therein; coupling a grounding arm of the robotic system to the rigid grounding member in the mouth of the patient, thereby establishing an origin for the mouth of the patient; moving, as part of the dental surgical procedure, at least a portion of a working arm of the robotic system coupled to a dental-implant-driving tool to install the dental implant in the mouth of the patient; monitoring, during the dental surgical procedure, a position of the grounding arm and the working arm to generate positional data related to the location of the dental-implant-driving tool relative to the established origin; and creating the post-operative virtual model of the at least a portion of the mouth of the patient based on the obtained pre-operative virtual model and the generated positional data.

18 . The method of claim 17 , wherein the creating the post-operative virtual model occurs without use of a scanning abutment coupled to the installed dental implant.

19 . The robotic system of claim 17 , wherein the creating includes modifying the preoperative virtual model of the mouth of the patient to include at least a portion of a virtual model of the dental implant installed in the mouth of the patient.

20 . The method of claim 17 , further comprising:
prior to the moving, determining an invisible boundary wall to be established around a pre-determined location for the dental implant to be installed in the mouth of the patient; and during the moving, automatically

Assignees

• Biomet 3I Llc

Inventors

• Suttin Zachary B
• Porter Stephen S

Classifications

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title

• A61B2090/3991

  having specific anchoring means to fixate the marker to the tissue, e.g. hooks · CPC title

• A61B2090/363

  Use of fiducial points · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title