US-20260124025-A1 - ROBOTIC DEVICE FOR DENTAL SURGERY

US20260124025A1US 20260124025 A1US20260124025 A1US 20260124025A1US-20260124025-A1

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 tool 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.

Inventors

Zachary B. Suttin
Stephen S. Porter

Assignees

BIOMET 3I, LLC

Dates

Publication Date: 20260507
Application Date: 20251219

Claims (20)

1 . A robotic systems 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 moveable to (i) form an opening in bone within the mouth of the patient and (ii) install die 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 month 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 moveable portion of the working arm is (i) manually-movable by an operator of the robotic system, (ii) automatically moveable by one or more motor 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; 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; 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 boing 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 moveable to form an opening in bone in 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 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 8 , tip of the grounding arm has at least six deg of freedom relative base and wherein a tip of the one or more tools coupled to the working arm has at least 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 moveable 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 month 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 east 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 pre-operative virtual model of the mouth of the patient to include at last a portion of a virtual model of the dental implant installed in the mouth of the patient.
20 . The method of claim 17 , wherein the working arm is coupled to the grounding arm.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Application No. 62/170,038, filed Jun. 2, 2015, and U.S. Provisional Application No. 62/089,580, filed Dec. 9, 2014, each of which is hereby incorporated by reference herein in its entirety. FIELD OF THE INVENTION The present disclosure relates generally to robotic systems and methods of using the stone. More particularly, the present disclosure relates to using a robotic system to (i) automatically perform a variety of dental procedures and/or (ii) monitor a manually performed dental procedure, thereby generating positional data of the robotic system that is usable in creating a modified three-dimensional model for use in developing a final and/or temporary dental prosthesis (e.g., crown, abutment, etc.). BACKGROUND OF THE INVENTION The dental restoration of a partially or wholly edentulous patient with artificial dentition typically begins with an incision being made through the patient's a gingiva to expose the underlying bone. An artificial tooth root, in the form of a dental implant, is placed in the jawbone for osseointegration. The dental implant generally includes a threaded bore configured to receive a retaining screw for holding mating components (e.g., temporary tooth prosthesis, permanent abutment, permanent crown, etc.) thereon. After the dental implant is placed, the gum tissue overlying the dental implant is sutured and heals as the osseointegration process continues. Once the osseointegration process is complete, the gingival tissue is re-opened to expose an end of the dental implant. A healing component or healing abutment is fastened to the exposed end of the dental implant to allow the gingival tissue to heal therearound. It should be noted that the healing abutment can be placed on the dental implant immediately after the implant has been installed and before osseointegration, thereby, for some situations, combining the osseointegration step and gingival healing step into a one-step process. At some point thereafter, designing of permanent components to be attached to the dental implant begins. The permanent components are typically referred to as a prosthetic tooth (e.g., per abutment plus a permanent crown attached thereto in the shape of a tooth). The design and manufacture of these permanent components requires highly skilled individuals working with models of the mouth of the patient to design components that will look good and function properly (e.g., fit between the adjacent teeth, etc.). While the models used to design the permanent components are typically physical models made from impressions of the mouth of the patient, in recent years, the designing of the permanent components to be attached to the manually installed dental implant has involved the use of computers and virtual three-dimensional models of the mouth of the patient. In order to accurately design permanent components that mate with the manually installed dental implant in a planned manner (i.e., with a planned rotational orientation and a planned vertical dimension of occlusion), details about the location and rotational orientation of the manually installed dental implant must be known and incorporated in to the virtual three-dimensional model. In order to obtain this information, prior systems have used scanning abutments that replace the healing abutment for a short period of time and require an intraoral scan of the mouth of the patient to obtain the required data to create the virtual three-dimensional model. The replacing of the healing abutment with the scanning abutment, even for a short period of time, has disadvantage such as, added discomfort to the patient having to have additional procedures performed, disruption to the gingival healing process, etc. However, some prior systems use coded healing abutments that have scannable features (e.g., markers) thereon that when scanned and interpreted, provide the accessary information about the location and orientation of the underlying dental implant to create the virtual three-dimensional model without the need to remove the healing abutment and place a separate scanning abutment in the mouth of the patient. While these systems do not require the removal of the abutment to create the virtual three-dimensional model, they still do require the intraoral scanning step, which requires expensive intraoral scanning equipment. The present disclosure is directed to solving these and other needs. SUMMARY OF THE INVENTION According to some implementations, a robotic system for use during a dental surgical procedure including installation of a dental implant in a mouth of a patient includes a base; a grounding arm having a fins 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 syst