WO2024201408A1

WO2024201408A1 - Robot system with mobile platform and associated method

Info

Publication number: WO2024201408A1
Application number: PCT/IB2024/053096
Authority: WO
Inventors: Vincent SALPIETRO; Dennis Moses; Alon Mozes; Eric Branch; Adam Clayton POZDRO; Christopher Labak; Kevin Krauss
Original assignee: Neocis Inc
Current assignee: Neocis Inc
Priority date: 2023-03-31
Filing date: 2024-03-29
Publication date: 2024-10-03
Anticipated expiration: 2025-09-30
Also published as: IL323607A; TW202448396A; TWI894893B

Abstract

A robot system includes a tracking arm having a distal end for communicating with a reference location at or adjacent to a site or object thereat, and a robot arm having a procedure tool and end effector engaged with a distal end thereof. Proximal ends of the robot and tracking arms are disposed in a known relation to each other. A controller is in communication with the tracking and robot arms and the procedure tool, and determines an actual spatial relation between the procedure tool and the reference location, including a location of the distal end of the end effector relative to the reference location, in a three-dimensional space via the robot and tracking arms. A platform includes a medial member extending between spaced-apart support members for the medial member to span the site or the object, and has the robot and tracking arms mounted thereto and extending therefrom.

Description

ROBOT SYSTEM WITH MOBILE PLATFORM AND ASSOCIATED METHOD

BACKGROUND

Field of the Disclosure

The present application relates to robot systems and, more particularly, to a robot system engaged with and supported by a mobile platform, and associated method.

Description of Related Art

In conducting particular procedures such as, for example, dental procedures, the patient is often seated in a reclined position or placed in a supine position on a support surface (e.g., a dentist’s chair). As such, the dental professional, generally positioned on one side of the dentist’s chair must contort and try to get close to the patient’s mouth, or maneuver a small handheld mirror in or around the patient’s mouth, in order to be able to view the procedure as it is being conducted, or to view the site/object on which the procedure is being conducted.

In instances where the procedure is conducted with a guided robot system, a tracking arm may also need to be implemented to track patient position and/or movement during the procedure, and that tracking arm generally is physically connected to the patient’s mouth and/or includes a component physically connected to the patient’s mouth for communication with the tracking arm. In either instance, the tracking arm often is required to be placed in close proximity to the patient’s mouth, and thus may compete with the dental professional for access to the patient’s mouth.

Often, the robot system will be placed off to one side of the dentist’s chair which, in turn, may require a longer tracking arm to have the necessary reach to or into proximity with the patient’s mouth. In such instances, a longer tracking arm will often require the tracking process to be more complex and involved in order to provide suitable accuracy for conducting the robotic procedure. In addition, the tracking arm is generally required to be mounted in close and/or known proximity to the robot arm having engaged therewith the instrument(s) used to conduct the procedure, and because a stable base is often required for supporting the robot system, the footprint of the robot system can be relatively large. As such, the dental professional may often be precluded from access to the patient from the side of the dental chair where the robot system is placed.

As a result, such robotically-assisted dental procedures can often be cumbersome, non-user- friendly, and non-ergonomic for the dental professional. The robot system may also be more complex or overbuilt (and therefore more costly) because of the implementation requirements of current systems. Such robot systems may thus occupy a relatively large footprint which may result in the aforementioned deployment/implementation limitations, as well as more extensive storage requirements for the robot system when not in use.

Thus, there exists a need for a robot system, in some instances a dental robot system, for allowing the dental professional to conduct a robotically-assisted dental / maxillofacial procedure in a user-friendly, agile, and ergonomic manner, with access to the patient from both sides of the dentist’s chair. Such a robot system should preferably be effective without limiting the mobility of the instrument or the accessibility of the instrument to the patient’s dental / maxillofacial structure, while allowing placement of the robot system in closer proximity to the patient’s dental / maxillofacial structure in order to lessen the complexity and/or construction requirements for the robot system. Accordingly, such a robot system should also desirably provide the required stability, while minimizing the footprint thereof.

SUMMARY OF THE DISCLOSURE

The above and other needs are met by aspects of the present disclosure which, in one particular aspect, provides a robot system, comprising a tracking arm having a distal end adapted to be in communication with a reference location at or adjacent to a site or an object received at the site, wherein the reference location is disposed in a relation to a proximal end of the tracking arm in a three-dimensional space. A robot arm has a procedure tool engaged with a distal end thereof, wherein the procedure tool has an end effector engaged therewith, and the end effector has a distal end adapted to interact with the site or the object. The robot arm has a proximal end disposed in a known relation to the proximal end of the tracking arm. A controller, including a processor and memory, is arranged in operable communication with the tracking arm, the robot arm, and the procedure tool. The controller is arranged to determine an actual spatial relation between the procedure tool and the reference location in the three-dimensional space via the robot arm and the tracking arm, wherein the actual spatial relation includes a location of the distal end of the end effector of the procedure tool in relation to the reference location. A platform has spaced-apart support members and a medial member extending therebetween, wherein the medial member cooperates with the support members for the medial member to span the site or the object, and wherein the platform is arranged to have the robot arm and the tracking arm mounted thereto and extending therefrom.

Another aspect of the present disclosure provides a method of forming a robot system, wherein such a method comprises arranging a robot arm such that a proximal end thereof is disposed in a known relation with a proximal end of a tracking arm, wherein the tracking arm has a distal end adapted to be in communication with a reference location at or adjacent to a site or an object received at the site, and wherein the reference location is disposed in a relation to a proximal end of the tracking arm in a three-dimensional space. A procedure tool is engaged with a distal end of the robot arm, wherein the procedure tool has an end effector engaged therewith, and wherein the end effector has a distal end adapted to interact with the site or the object. A controller, including a processor and memory, is arranged in operable communication with the tracking arm, the robot arm, and the procedure tool, with the controller being arranged to determine an actual spatial relation between the procedure tool and the reference location in the three-dimensional space via the robot arm and the tracking arm. The actual spatial relation includes a location of the distal end of the end effector of the procedure tool in relation to the reference location. The robot arm and the tracking arm are mounted to a platform, wherein the platform has spaced-apart support members and a medial member extending therebetween, and wherein the medial member cooperates with the support members for the medial member to span the site or the object, such that the robot arm and the tracking arm extend therefrom.

The present disclosure thus includes, without limitation, the following example embodiments:

Example Embodiment 1: A robot system, comprising a tracking arm having a distal end adapted to be in communication with a reference location at or adjacent to a site or an object received at the site, the reference location being disposed in a relation to a proximal end of the tracking arm in a three-dimensional space; a robot arm having a procedure tool engaged with a distal end thereof, the procedure tool having an end effector engaged therewith, the end effector having a distal end adapted to interact with the site or the object, the robot arm having a proximal end disposed in a known relation to the proximal end of the tracking arm; a controller including a processor and memory, the controller being arranged in operable communication with the tracking arm, the robot arm, and the procedure tool, the controller being arranged to determine an actual spatial relation between the procedure tool and the reference location in the three-dimensional space via the robot arm and the tracking arm, the actual spatial relation including a location of the distal end of the end effector of the procedure tool in relation to the reference location; and a platform having spaced-apart support members and a medial member extending therebetween, the medial member cooperating with the support members for the medial member to span the site or the object, and the platform being arranged to have the robot arm and the tracking arm mounted thereto and extending therefrom.

Example Embodiment 2: The system of any preceding example embodiment, or combinations thereof, wherein the proximal ends of the robot arm and the tracking arm are mounted to the platform in a known relation therebetween. Example Embodiment 3: The system of any preceding example embodiment, or combinations thereof, wherein the support members include proximal ends engaged with the medial member and distal ends opposed to the proximal ends, the distal ends being arranged to interact with a support surface to stabilize the medial member relative to the support surface.

Example Embodiment 4: The system of any preceding example embodiment, or combinations thereof, comprising casters engaged with the distal ends of the support members and arranged such that the platform is movable relative to the support surface.

Example Embodiment 5: The system of any preceding example embodiment, or combinations thereof, wherein one or more of the casters is arranged to be selectively immobilized so as to prevent movement of the platform relative to the support surface.

Example Embodiment 6: The system of any preceding example embodiment, or combinations thereof, wherein the medial member or one of the support members is arranged to receive and support the controller.

Example Embodiment 7: The system of any preceding example embodiment, or combinations thereof, wherein the medial member includes or defines a receptacle arranged to receive one or more elements adapted to interact with the site or the object.

Example Embodiment 8: The system of any preceding example embodiment, or combinations thereof, wherein the medial member or one of the support members includes or defines a plurality of receptacles each arranged to receive an element adapted to interact with the site or the object.

Example Embodiment 9: The system of any preceding example embodiment, or combinations thereof, wherein each receptacle includes an illumination element associated therewith and arranged to selectively illuminate the receptacle.

Example Embodiment 10: The system of any preceding example embodiment, or combinations thereof, wherein the controller is arranged in communication with the illumination elements and to actuate the illumination element associated with one of the receptacles to indicate that the element received therein is to be next-used in a procedure performed on the site or the object.

Example Embodiment 11: The system of any preceding example embodiment, or combinations thereof, wherein the medial member is arranged to have an adjustable length such that the span of the medial member is adjustable relative to the site or the object.

Example Embodiment 12: The system of any preceding example embodiment, or combinations thereof, wherein the support members are arranged to have an adjustable length such that an elevation of the medial member is adjustable relative to the site or the object. Example Embodiment 13: The system of any preceding example embodiment, or combinations thereof, wherein the proximal ends of the robot arm and the tracking arm are mounted in a known relation therebetween to a proximal end of one of the support members.

Example Embodiment 14: The system of any preceding example embodiment, or combinations thereof, wherein the medial member is arranged to be collapsible to reduce a lateral footprint of the platform.

Example Embodiment 15: The system of any preceding example embodiment, or combinations thereof, wherein the medial member comprises a first portion pivotably-engaged with a second portion, and wherein the platform is arranged to be foldable about the pivotable engagement between the first and second portions of the medial member to reduce a lateral footprint of the platform.

Example Embodiment 16: A method of forming a robot system, comprising arranging a robot arm such that a proximal end thereof is disposed in a known relation with a proximal end of a tracking arm, the tracking arm having a distal end adapted to be in communication with a reference location at or adjacent to a site or an object received at the site, with the reference location being disposed in a relation to a proximal end of the tracking arm in a three-dimensional space; engaging a procedure tool with a distal end of the robot arm, the procedure tool having an end effector engaged therewith, the end effector having a distal end adapted to interact with the site or the object; arranging a controller, the controller including a processor and memory, in operable communication with the tracking arm, the robot arm, and the procedure tool, with the controller being arranged to determine an actual spatial relation between the procedure tool and the reference location in the three-dimensional space via the robot arm and the tracking arm, the actual spatial relation including a location of the distal end of the end effector of the procedure tool in relation to the reference location; and mounting the robot arm and the tracking arm to a platform, the platform having spaced-apart support members and a medial member extending therebetween, with the medial member cooperating with the support members for the medial member to span the site or the object, such that the robot arm and the tracking arm extend therefrom.

Example Embodiment 17: The method of any preceding example embodiment, or combinations thereof, wherein mounting the robot arm and the tracking arm comprises mounting the proximal ends of the robot arm and the tracking arm to the platform in a known relation therebetween.

Example Embodiment 18: The method of any preceding example embodiment, or combinations thereof, wherein the support members include proximal ends engaged with the medial member and distal ends opposed to the proximal ends, and wherein the method comprises arranging the distal ends of the support members to interact with a support surface to stabilize the medial member relative to the support surface.

Example Embodiment 19: The method of any preceding example embodiment, or combinations thereof, comprising engaging casters with the distal ends of the support members, with the casters being arranged such that the platform is movable relative to the support surface.

Example Embodiment 20: The method of any preceding example embodiment, or combinations thereof, comprising arranging one or more of the casters to be capable of being selectively immobilized so as to prevent movement of the platform relative to the support surface.

Example Embodiment 21: The method of any preceding example embodiment, or combinations thereof, comprising arranging the medial member or one of the support members to receive and support the controller.

Example Embodiment 22: The method of any preceding example embodiment, or combinations thereof, comprising arranging the medial member to include or define a receptacle arranged to receive one or more elements adapted to interact with the site or the object.

Example Embodiment 23: The method of any preceding example embodiment, or combinations thereof, comprising arranging the medial member or one of the support members to include or define a plurality of receptacles each arranged to receive an element adapted to interact with the site or the object.

Example Embodiment 24: The method of any preceding example embodiment, or combinations thereof, comprising arranging each receptacle to include an illumination element associated therewith and arranged to selectively illuminate the receptacle.

Example Embodiment 25: The method of any preceding example embodiment, or combinations thereof, comprising arranging the controller in communication with the illumination elements and to actuate the illumination element associated with one of the receptacles to indicate that the element received therein is to be next-used in a procedure performed on the site or the object.

Example Embodiment 26: The method of any preceding example embodiment, or combinations thereof, comprising arranging the medial member to have an adjustable length such that the span of the medial member is adjustable relative to the site or the object.

Example Embodiment 27: The method of any preceding example embodiment, or combinations thereof, comprising arranging the support members to have an adjustable length such that an elevation of the medial member is adjustable relative to the site or the object.

Example Embodiment 28: The method of any preceding example embodiment, or combinations thereof, wherein mounting the robot arm and the tracking arm comprises mounting the proximal ends of the robot arm and the tracking arm in a known relation therebetween to a proximal end of one of the support members.

Example Embodiment 29: The method of any preceding example embodiment, or combinations thereof, comprising arranging the medial member to be collapsible to reduce a lateral footprint of the platform.

Example Embodiment 30: The method of any preceding example embodiment, or combinations thereof, wherein the medial member comprises a first portion pivotably-engaged with a second portion, and wherein the method comprises arranging the platform to be foldable about the pivotable engagement between the first and second portions of the medial member to reduce a lateral footprint of the platform.

These and other features, aspects, and advantages of the present disclosure will be apparent from a reading of the following detailed description together with the accompanying drawings, which are briefly described below. The present disclosure includes any combination of two, three, four, or more features or elements set forth in this disclosure, regardless of whether such features or elements are expressly combined or otherwise recited in a specific embodiment description herein. This disclosure is intended to be read holistically such that any separable features or elements of the disclosure, in any of its aspects and embodiments, should be viewed as intended, namely to be combinable, unless the context of the disclosure clearly dictates otherwise.

It will be appreciated that the summary herein is provided merely for purposes of summarizing some example aspects so as to provide a basic understanding of the disclosure. As such, it will be appreciated that the above described example aspects are merely examples and should not be construed to narrow the scope or spirit of the disclosure in any way. It will be appreciated that the scope of the disclosure encompasses many potential aspects, some of which will be further described below, in addition to those herein summarized. Further, other aspects and advantages of such aspects disclosed herein will become apparent from the following detailed description taken in conjunction with the accompanying drawings which illustrate, by way of example, the principles of the described aspects.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

Having thus described the disclosure in general terms, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale, and wherein:

FIGS. 1 and 2 schematically illustrate alternate aspects of a robot system according to some aspects of the present disclosure; FIG. 3 schematically illustrates an example interaction between a robot system as shown in FIGS. 1 and 2 and a site / object;

FIGS. 4A-4D schematically illustrate different views of a robot system as shown in FIGS. 1 and 2 arranged relative to a platform according to one aspect of the present disclosure;

FIGS. 5A-5B schematically illustrate different views of a robot system as shown in FIGS. 1 and 2 arranged relative to a platform according to another aspect of the present disclosure;

FIGS. 6A-6B schematically illustrate different views of a robot system as shown in FIGS. 1 and 2 arranged relative to a platform according to yet another aspect of the present disclosure;

FIGS. 7A-7B schematically illustrate different views of a robot system as shown in FIGS. 1 and 2 arranged relative to a platform according to a further aspect of the present disclosure;

FIGS. 8A-8B schematically illustrate different views of a robot system as shown in FIGS. 1 and 2 arranged relative to a platform according to still another aspect of the present disclosure;

FIG. 9 schematically illustrates a robot system as shown in FIGS. 1 and 2 arranged relative to a platform according to another aspect of the present disclosure; and

FIG. 10 schematically illustrates a method of forming a robot system, according to yet another aspect of the present disclosure.

DETAILED DESCRIPTION OF THE DISCLOSURE

The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all aspects of the disclosure are shown. Indeed, the disclosure may be embodied in many different forms and should not be construed as limited to the aspects set forth herein; rather, these aspects are provided so that this disclosure will satisfy applicable legal requirements. Like numbers refer to like elements throughout.

FIG. 1 schematically illustrates a robot system 100 according to one aspect of the present disclosure. Such a system includes a procedure tool 200 having an end effector 300 adapted to interact with a site 25, or an object 50 received at the site 25. The site 25 can be a maxillofacial structure or a dental structure, and the object 50 can be a tooth, a dental implant/crown, or the like.

While aspects of the present disclosure include examples relating the robot system to maxillofacial / dental anatomy or maxillofacial structure, a person of ordinary skill in the art will appreciate that reference to the maxillofacial / dental anatomy or maxillofacial / dental structure, in some aspects, is merely to provide the example of an object interacted with / by the disclosed procedure tool / end effector and/or robot system. Otherwise, reference herein to an “object” is directed and expressly refers to non-human objects. In some examples, such non-human objects are maxillofacial / dental anatomy models or maxillofacial / dental structure models or other non- human representations or reproductions of such anatomy or structure. The disclosed systems and methods herein are implemented to provide, for example, a convenient and effective training tool or training provision for the dental professional to develop their skills in regard to the procedures and tools described herein. Moreover, any methods disclosed and claimed herein are particularly directed to the control and operation of the systems described and claimed herein, wherein such methods are not particularly directed to methods of surgery on humans, but instead to operation of the robot system and/or procedure tool and end effector in relation to the training procedures previously indicated.

Moreover, while aspects of the disclosure illustrate example procedures involving maxillofacial / dental anatomy, one skilled in the art will appreciate that the concept of the robot system and methods disclosed herein may find applicability to other surgical processes not involving dental surgery, such as, for example, orthopedic surgery, ENT surgery, and neurosurgery. As such, the aspects of the disclosure presented herein are merely examples of the applicability of the disclosed concepts and are not intended to be limiting in any manner. That is, aspects of the robot system disclosed herein may be otherwise applicable to various parts of the patient to facilitate other types of surgery, besides dental surgery.

In some aspects, as shown for example in FIGS. 1 and 2, the procedure tool 200 is a drilling device and the end effector 300 is a drill bit or an abrading bit. In other aspects, the procedure tool 200 is an ultrasonic cleaner and the end effector 300 is a cleaning tip. In yet other aspects, the procedure tool 200 is a pneumatic polisher and the end effector 300 is a polishing tip. The procedure tool 200 is engaged with the distal end 725 of an articulating robot arm 750 of the robot system 100, and the end effector 300 of the procedure tool 200 is adapted to interact with the site 25 and/or the object 50 received at the site.

A controller 800, which can comprise or include a special purpose computer, and includes at least a processor and a memory, is arranged in communication with the articulating robot arm 750, the procedure tool 200, and a fiducial marker 900 (see, e.g., FIG. 3). The fiducial marker 900 is adapted to engage a reference location 10 at or adjacent to the site 25 or the object 50. The controller 800 is arranged, for example, to determine a disposition of the end effector 300 in relation to the fiducial marker 900 during movement of the end effector 300 to interact with the site 25 or the object 50. The controller 800 is further arranged to direct the articulating robot arm 750 to physically control or regulate allowable movement of the procedure tool 200, directly relative to the disposition of the end effector 300, with respect to the fiducial marker 900 engaged with the reference location 10, so as to, for instance, account and adapt for movement of the site 25 or the object 50 during the robot procedure. For example, in some aspects, the controller 800 is implemented to develop a plan, procedure, or operation which includes the procedure tool 200 / end effector 300 being directed to traverse a route into proximity (i.e., to a staging position) to the site 25 or the object 50, and away from the staging position / the site 25 or the object 50, as well as the subsequent route along which the procedure tool 200 / end effector 300 is manipulated into interaction with the site 25 or the object 50, with the end effector 300 (and in an established trajectory, in some instances) to perform the plan / procedure / operation.

According to aspects of the present disclosure, the developed plan / procedure / operation details movement, including trajectory, of the procedure tool 200 / end effector 300 along a route to the staging positon, and toward and into engagement with the site 25 or the object 50, while the articulating robot arm 750 (having the procedure tool 200 attached to the distal end 725 thereof) includes structure and regulatory functionality to allow the procedure tool 200 to be manually moved along the allowable pathway or route according to the plan / procedure / operation. However, by way of the articulating robot arm 750, manual movement of the procedure tool 200 outside the allowable pathway or route is restricted, impeded, or otherwise prevented.

In some aspects (see, e.g., FIG. 1), the distal end 1025 of a tracking arm 1050 is physically engaged with the fiducial marker 900. The tracking arm 1050 is a separate and discrete element from the articulating robot arm 750. Further, the tracking arm 1050, in communication with the controller 800, is thus arranged to cooperate with the controller 800 for the controller 800 to determine the spatial relationship between the fiducial marker 900 / reference location 10 and the end effector 300 (i.e., via the articulating robot arm 750 and the tracking arm 1050). In other aspects (see, e.g., FIG. 2), the robot system 100 includes a detector 1000 engaged with a distal end 1025 of a tracking arm 1050, wherein the tracking arm 1050 is a separate and discrete element from the articulating robot arm 750. The tracking arm 1050 and the detector 1000 are arranged in communication with the controller 800. The detector 1000 is further arranged to cooperate with the tracking arm 1050 for the tracking arm 1050 to position the detector 1000 in a spaced-apart relationship with the fiducial marker 900 engaged with the reference location 10, to detect the fiducial marker 900 and to cooperate with the controller 800 to determine a spatial relationship between the fiducial marker 900 / reference location 10 and the end effector 300 (via the articulating robot arm 750 and the tracking arm 1050). The detector 1000, in particular example aspects, is an electrical detector, an electromechanical detector, an electromagnetic detector, an optical detector, an infrared detector, or combinations thereof.

In some aspects, the articulating robot arm 750 has a proximal end 720 and opposed to the distal end 725. One or more sensors 730 is operably engaged with the articulating robot arm 750 and arranged to sense position data associated with the articulating robot arm 750. For example, the one or more sensors 730 is engaged with one of a plurality of arm members of the articulating robot arm 750 and/or with a joint engaged between arm members, or between arm members and other components of the articulating robot arm 750 (e.g., between the proximal end 720 of the articulating robot arm 750 and a base member 715). In this manner, the position data sensed by the one or more sensors 730 includes, for example, the spatial relationship (e.g., orientation, position, etc.) of the articulating robot arm 750 and/or the components thereof in a three dimensional space. In some instances, the spatial relationship is determined relative to the base member 715 to which the proximal end 720 of the articulating robot arm 750 is mounted. As such, in some aspects, the one or more sensors 730 is engaged with the articulating robot arm 750 such that the position data sensed by the one or more sensors 730 at least indicates the spatial position of at least the distal end 725 of the articulating robot arm 750 in a three dimensional space, and in some instances relative to the base member 715 / proximal end 720 of the articulating robot arm 750. The position of the procedure tool 200 / end effector 300, in the three-dimensional space, are related to, known or determined from, or otherwise associated with the position of the distal end 725 of the articulating robot arm 750 determined from the position data of the one or more sensors 730, and the engagement of the procedure tool 200 with the distal end 725 of the articulating robot arm 750. As such, the location of the distal end of the end effector 300, relative to the proximal end 720 of the robot arm 750, is determined from position data from the one or more position sensors 730.

In some aspects, the tracking arm 1050 has a proximal end 1020 and opposed to the distal end 1025. One or more sensors 1030 is operably engaged with the tracking arm 1050 and arranged to sense position data associated with the tracking arm 1050. For example, the one or more sensors 1030 is engaged with one of a plurality of arm members of the tracking arm 1050 and/or with a joint engaged between arm members, or between arm members and other components of the tracking arm 1050 (e.g., between the proximal end 1020 of the tracking arm 1050 and the base member 715). In this manner, the position data sensed by the one or more sensors 1030 includes, for example, the spatial relationship (e.g., orientation, position, etc.) of the tracking arm 1050 and/or the components thereof in a three dimensional space. In some instances, the spatial relationship is determined relative to the base member 715 to which the proximal end 1020 of the tracking arm 1050 is mounted. As such, in some aspects, the one or more sensors 1030 is engaged with the tracking arm 1050 such that the position data sensed by the one or more sensors 1030 at least indicates the spatial position of at least the distal end 1025 of the tracking arm 750 in a three dimensional space, and in some instances relative to the base member 715 / proximal end 1020 of the tracking arm 1050. The position of the reference location 10, in the three-dimensional space, is related to, known or determined from, or otherwise associated with the position of the distal end 1025 of the tracking arm 1050 determined from the position data of the one or more sensors 1030, and the physical engagement between the fiducial marker 900 / reference location 10 and the distal end 1025 of the tracking arm 1050, or the detection of the fiducial marker 900 / reference location 10 by the detector 1000 engaged with the distal end 1025 of the tracking arm 1050. That is, the location of the distal end 1025 of the tracking arm 1050, relative to the proximal end 1020 thereof, is determined from position data from the one or more position sensors 1030.

As such, according to some aspects, the robot system 100 comprises the tracking arm 1050 having the distal end 1025 arranged or adapted to be in communication with the reference location 10 at or adjacent to the site 25 or the object 50 received at the site 25. The reference location 10 is disposed in a relation to the proximal end 1020 of the tracking arm 1050 in the three-dimensional space. The robot arm 750 has the procedure tool 200 engaged with the distal end 725 thereof, wherein the procedure tool 200 has the end effector 300 engaged therewith, and wherein the distal end of the end effector 300 is adapted to interact with the site 25 or the object 50. The proximal end 720 of the robot arm 750 is disposed in a known relation to the proximal end 1020 of the tracking arm 1050.

The controller 800 is arranged in operable communication with the tracking arm 1050, the robot arm 750, and the procedure tool 200, wherein the controller 800 is arranged to determine an actual spatial relation between the procedure tool 200 and the reference location 10 in the three- dimensional space via the robot arm 750 and the tracking arm 1050, and wherein the actual spatial relation includes the location of the distal end of the end effector 300 of the procedure tool 200, in relation to the reference location 10. The controller 800 is further arranged to direct the procedure tool 200 to a staging position adjacent to the site 25 or the object 50 by regulating movement of the robot arm 750 according to the operational plan and based on the actual spatial relation, wherein the operational plan includes the route traversed by the end effector 300 to and from the site 25 or the object 50 and during the procedure performed by the end effector 300 at the site 25 or on the object 50.

One aspect of the present disclosure, as shown for example, in FIGS. 1-3, 4A-4D, 5A-5B, 6A-6B, 7A-7B, and 8A-8B, provides a robot system 100 that includes the tracking arm 1050 having the distal end 1025 thereof adapted to be in communication with the reference location 10 at or adjacent to the site 25 or the object 50 received at the site 25 (as shown, e.g., in FIGS. 1-3), with the reference location 10 being disposed in a relation to the proximal end 1020 of the tracking arm 1050 in the three-dimensional space. The robot arm 750 has the procedure tool 200 engaged with the distal end 725 thereof, and the procedure tool 200 has the end effector 300 engaged therewith, wherein the distal end of the end effector 300 is adapted to interact with the site 25 or the object 50. The proximal end 720 of the robot arm 750 is disposed in a known relation to the proximal end 1020 of the tracking arm 1050. The controller 800, including a processor and memory, is arranged in operable communication with the tracking arm 1050, the robot arm 750, and the procedure tool 200, wherein the controller 800 is arranged to determine an actual spatial relation between the procedure tool 200 and the reference location 10 in the three-dimensional space via the robot arm 750 and the tracking arm 1050, and wherein the actual spatial relation includes a location of the distal end of the end effector 300 of the procedure tool 200 in relation to the reference location 10.

In particular aspects, the robot system 100 includes a platform 1100 having spaced-apart support members 1120 and a medial member 1140 extending therebetween, wherein the medial member 1140 cooperates with the support members 1120 so as to allow the medial member 1140 to span the site 25 or the object 50 (e.g., a patient in a dentist’s chair or the dentist’s chair itself). The platform 1100 is further arranged to have the robot arm 750 and the tracking arm 1050 mounted thereto (e.g., via the base member 715) and extending therefrom. More particularly, in some aspects, the proximal ends 720, 1020 of the robot arm 750 and the tracking arm 1050 are mounted to the platform 1100 in a known relation therebetween.

Since the robot arm 750 and the tracking arm 1050 are interposed between the end effector 300 and the reference point 10, and are integral components of the tracking aspect of the robot system 100, particular aspects require the platform 1100 to provide stable support for the robot arm 750 and the tracking arm 1050. As such, in some aspects, the support members 1120 include proximal ends 1125 engaged with the medial member 1140, and distal ends 1130 opposed to the proximal ends 1125, wherein the distal ends 1130 are arranged to interact with a support surface 1135 (e.g., a floor) to stabilize the medial member 1140 relative to the support surface 1135. For example, the distal ends 1130 can each extend laterally such that the wider base thereof provides stability relative to the support surface 1135. In another example, two or more independently adjustable feet can be engaged with the distal ends, wherein the adjustable feet can be established to account for any unevenness in the support surface 1135.

In some aspects, the distal ends 1130 of the support members 1120 each include one or more casters 1160 engaged therewith, with the casters 1160 arranged such that the platform 1100 is movable relative to the support surface 1135 (e.g., the platform 1100 is mobile by way of the casters 1160 allowing the platform 1100 to be rolled across the support surface 1135. In some instances, one or more of the casters 1160 is arranged to be selectively immobilized so as to prevent movement of the platform 1100 relative to the support surface 1135 (e.g., at least one of the casters 1160 includes a brake 1170 for immobilizing that caster 1160 and preventing rolling movement of the platform 1100 across the support surface 1135). In conjunction with the medial member 1140 and support members 1120 cooperating such that the medial member 1140 can span the site 25 or the object 50, the medial member 1140 or one of the support members 1120 is arranged to receive and support the controller 800. That is, the medial member 1140 or one of the support members 1120 can include or define a shelf, receptacle, or other provision for receiving the controller 800 (e.g., a computer device) and, in some instances, can include a cover 850, lid, or the like for concealing the controller 800 once received (see, e.g., FIG. 4D). In other aspects, the medial member 1140 and/or the support members 1120 can include or define one or more receptacles 1200 (see, e.g., FIG. 5A) arranged to receive one or more elements 1250 adapted to interact with the site 25 or the object 50. The elements 1250 received by the receptacles 1200 may be implemented in conjunction with the procedure tool 200 (e.g., different end effectors 300), or can be implemented separately / independently of the robot system 100 (e.g., irrigation/suction tool, draping, etc.).

In some aspects, as shown, for example, in FIG. 9, the medial member 1140 and/or one of the support members 1120 includes or defines a plurality of receptacles 1200 each arranged to receive an element 1250 adapted to interact with the site 25 or the object 50 wherein, in some instances, each receptacle 1200 includes an illumination element 1300 associated therewith and arranged to selectively illuminate the receptacle 1200. For example, the receptacles 1200 can be formed or defined by a clear or translucent material, such as an appropriate polymeric material, and the illumination element(s) 1300 can be LEDs or other appropriate light-emitting device arranged to illuminate the receptacles 1200 through the clear / translucent material (i.e., backlighting). In further aspects, the controller 800 is arranged in communication with the illumination elements 1300 and to actuate the illumination element 1300 associated with one of the receptacles 1200 to indicate that the element 1250 received therein is to be next-used in a procedure performed on the site 25 or the object 50. That is, one of the receptacles 1200A could have the fiducial marker 900 (e.g., a splint) therein, while another of the receptacles 1200B could have the procedure tool 200 (e.g., a drill) and/or the end effector 300 (e.g., a drill bit) therein. In such instances, the controller 800 can first actuate the illumination element 1300A associated with the receptacle 1200A having the fiducial marker 900 therein so as to illuminate that receptacle 1200A and indicate to the user that the “next step” is to remove the splint and apply it to the site 25 / object 50 (e.g., patient’s mouth). Once that task is completed, the controller 800 could deactuate the illumination element 1300A for the splint receptacle 1200A, and subsequently actuate the illumination element I 300B associated with the receptacle 1200B having the procedure tool 200 / end effector 300 therein so as to illuminate that receptacle 1200B and indicate to the user that the “next step” is to remove the drill / drill bit and apply it to the distal end 725 of the robot arm 750. In other aspects, the medial member 1140 is configured / arranged to have an adjustable length (see, e.g., FIGS. 6A-6B and 7A-7B) such that the span of the medial member 1140 is adjustable relative to the site 25 or the object 50. For example, one of the support member 1120 can be movable toward / away from the other support member 1120 due to the medial member 1140 being extendable / retractable. As such, the platform 1100 is capable of receiving a site 25 or object 50 of different widths therebetween, in some instances such that the support members 1120 are arranged as close to the site 25 or object 50 on either side thereof, to provide an efficient footprint providing the required stability while maximizing access to the site 25 / object 50 by the user. An additional benefit provided by the length-adjustable medial member 1140 is that when the robot system 100 is not is use, the medial member 100 can be retracted so as to reduce the footprint of the platform 1100 so as to reduce space requirements for storage of the robot system 100. In still other aspects, the support members 1120 can be configured / arranged to have an adjustable length such that an elevation of the medial member 1140 is adjustable relative to the site 25 or the object 50. That is, the length-adjustable support members 1120 allow the elevation of the medial member 1140 to be adjusted in relation to the site 25 / object 50 so as to, for example, adjust for robot system 100 to the required reach of the tracking arm 1050 and/or robot arm 750, or reduce the height requirement for storage of the robot system 100 when not in use.

According to other aspects, the medial member 1140 is otherwise configured / arranged to be collapsible to be capable of reducing a lateral footprint of the platform 1100. For example, as an alternative or in addition to the medial member 1140 being length-adjustable, the medial member 1140 can be arranged to be foldable for reducing the footprint of the platform 1100 for storage. More particularly, in one aspect as shown for example in FIGS. 8A-8B, the medial member 1140 comprises a first portion 1140A pivotably-engaged with a second portion 1140B, wherein the platform 1100 is arranged to be foldable about the pivotable engagement 1145 between the first and second portions 1140A, 1140B of the medial member 1140 to reduce a lateral footprint of the platform 1100 for storage of the robot system 100 when not in use.

Moreover, in some instances, the length-adjustable and/or foldable / pivotable / collapsible medial member 1140, as shown for example, in FIGS. 6A and 7A, provides a reduced lateral footprint of the platform 1100, while the platform 1100 (e.g., the support members 1120) is configured / arranged to provide the required stability for supporting the other components of the robot system 100 supported by the platform 1100. That is, the platform 1100 is configured / arranged to provide the required stability for supporting the robot arm 750 / tracking arm 1050 when the platform 1100 in an extended condition and/or in a contracted / folded / collapsed condition. With the platform 1100 in a contracted / folded / collapsed position, and arranged to provide the required stability, the robot system 100 can, in some instances, be applied to conduct the procedure without the platform 1100 being arranged to span the site 25 / object 50. More particularly, in such instances, the robot system 100 in the folded / contracted / collapsed condition can be disposed adjacent to the site 25 / object 50 (e.g., on one side or the other of the dentist’s chair) and implemented to conduct the procedure, wherein the reduced lateral footprint of the platform 1100 in the folded / contracted / collapsed condition can still provide sufficient space for the user to conduct the procedure from either side of the site 25 / object 50 (e.g., the reduced lateral footprint allows the dental procedure to be conducted or assisted from either side of the dentist’s chair).

In one aspect, the proximal ends 720, 1020 of the robot arm 750 and the tracking arm 1050 are mounted to the platform 1100 in a known relation relative to each other. For example, the proximal ends 720, 1120 of the robot arm 750 and the tracking arm 1050 can be mounted to the medial member 1140 at a common pivot point (e.g., base member 715) such that the robot arm 750 and tracking arm 1050 are based upon a common origin for tracking purposes. The medial member 1140 can thus be length-adjustable (see, e.g., FIGS. 7A-7B) and/or pivotable / foldable (see, e.g., FIGS. 8A-8B) about the common pivot point. In other instances, the proximal ends 720, 1120 of the robot arm 750 and the tracking arm 1050 can be mounted to the proximal end 1125 of one of the support members 1120. In any instance, the robot arm 750 and tracking arm 1050 can be mounted to the platform 1100 in any variety of arrangements as necessary or desired to meet the requirements of the robot system 100 for the particular application. Moreover, as necessary or desired, a display 1450 associated with or in communication with the controller 800 can also be mounted to the platform 1100. In some instances, the display 1450 can be mounted to an articulating arm 1475 which, in turn, is mounted to the platform 1100. In other instances, the display 1450 can be in the form of, for example, a tablet computer or other type of portable display in wireless communication with the controller 800. In such instances, the platform 1100 can include an ergonomic mount 1500 for removably receiving the portable display 1450 (see, e.g., FIGS. 5A-5B).

As shown, for example, in FIG. 10, another aspect of the present disclosure provides a method of forming the robot system 100. Such a method comprises arranging the robot arm 750 such that the proximal end 720 thereof is disposed in a known relation with the proximal end 1020 of the tracking arm 1050, wherein the distal end 1025 of the tracking arm 1050 is adapted to be in communication with the reference location 10 at or adjacent to the site 25 or the object 50 received at the site 25, and wherein the reference location 10 is disposed in a relation to the proximal end 1020 of the tracking arm 1050 in the three-dimensional space (Block 10-100). The procedure tool 200 having the end effector 300 engaged therewith is engaged with the distal end 725 of the robot arm 750, wherein the distal end of the end effector 300 is adapted to interact with the site 25 or the object 50 (Block 10-110). The controller 800, including a processor and memory, is arranged in operable communication with the tracking arm 1050, the robot arm 750, and the procedure tool 200, wherein the controller 800 is arranged to determine an actual spatial relation between the procedure tool 200 and the reference location 10 in the three-dimensional space via the robot arm 750 and the tracking arm 1050, and wherein the actual spatial relation including a location of the distal end of the end effector 300 of the procedure tool 200 in relation to the reference location 10 (Block 10-120). The robot arm 750 and the tracking arm 1050 are mounted to a platform 100, wherein the platform 1100 has spaced-apart support members 1120 and a medial member 1140 extending therebetween, and wherein the medial member 1140 cooperates with the support members 1120 such that the medial member 1140 spans the site 25 or the object 50, and such that the robot arm 750 and the tracking arm 1050 extend from the platform 1100 (Block 10-130).

Accordingly, aspects of the present disclosure provide a robot system, in some instances a dental robot system, for allowing the dental professional to conduct a robotically-assisted dental / maxillofacial procedure in a user-friendly, agile, and ergonomic manner. With the robot arm / tracking arm mounted to the medial member of the platform, the robot and tracking arms can be centered with respect to the site / object (e.g., placed over the middle of the dentist’s chair), and thus allow access to the site / object (e.g., the patient) from both sides of the dentist’s chair. Such a robot system is thus effective for conducting robot-assisted procedures, without limiting the mobility of the instrument or the accessibility of the instrument to the site / object (e.g., the patient’s dental / maxillofacial structure), while allowing placement of the robot system in closer proximity to the site / object in order to lessen the complexity and/or construction requirements for the robot system. The configuration / arrangement of the platform of the various aspects further provide the required stability for the robot components, while the length-adjustability and/or the pivotable / foldable structure of the platform minimizes the footprint of the robot system when the robot system is not in use.

Many modifications and other embodiments of the inventions set forth herein will come to mind to one skilled in the art to which these disclosed embodiments pertain having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that embodiments of the invention are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the invention. Moreover, although the foregoing descriptions and the associated drawings describe example embodiments in the context of certain example combinations of elements and/or functions, it should be appreciated that different combinations of elements and/or functions may be provided by alternative embodiments without departing from the scope of the disclosure. In this regard, for example, different combinations of elements and/or functions than those explicitly described above are also contemplated within the scope of the disclosure. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

It should be understood that although the terms first, second, etc. may be used herein to describe various steps or calculations, these steps or calculations should not be limited by these terms. These terms are only used to distinguish one operation or calculation from another. For example, a first calculation may be termed a second calculation, and, similarly, a second step may be termed a first step, without departing from the scope of this disclosure. As used herein, the term “and/or” and the “/” symbol includes any and all combinations of one or more of the associated listed items.

As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises”, “comprising”, “includes”, and/or “including”, when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Therefore, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

Claims

THAT WHICH IS CLAIMED:

1. A robot system, comprising: a tracking arm having a distal end adapted to be in communication with a reference location at or adjacent to a site or an object received at the site, the reference location being disposed in a relation to a proximal end of the tracking arm in a three-dimensional space; a robot arm having a procedure tool engaged with a distal end thereof, the procedure tool having an end effector engaged therewith, the end effector having a distal end adapted to interact with the site or the object, the robot arm having a proximal end disposed in a known relation to the proximal end of the tracking arm; a controller including a processor and memory, the controller being arranged in operable communication with the tracking arm, the robot arm, and the procedure tool, the controller being arranged to determine an actual spatial relation between the procedure tool and the reference location in the three-dimensional space via the robot arm and the tracking arm, the actual spatial relation including a location of the distal end of the end effector of the procedure tool in relation to the reference location; and a platform having spaced-apart support members and a medial member extending therebetween, the medial member cooperating with the support members for the medial member to span the site or the object, and the platform being arranged to have the robot arm and the tracking arm mounted thereto and extending therefrom.

2. The system of Claim 1, wherein the proximal ends of the robot arm and the tracking arm are mounted to the platform in a known relation therebetween.

3. The system of Claim 1, wherein the support members include proximal ends engaged with the medial member and distal ends opposed to the proximal ends, the distal ends being arranged to interact with a support surface to stabilize the medial member relative to the support surface.

4. The system of Claim 3, comprising casters engaged with the distal ends of the support members and arranged such that the platform is movable relative to the support surface.

5. The system of Claim 4, wherein one or more of the casters is arranged to be selectively immobilized so as to prevent movement of the platform relative to the support surface.

6. The system of Claim 1, wherein the medial member or one of the support members is arranged to receive and support the controller.

7. The system of Claim 1, wherein the medial member includes or defines a receptacle arranged to receive one or more elements adapted to interact with the site or the object.

8. The system of Claim 1, wherein the medial member or one of the support members includes or defines a plurality of receptacles each arranged to receive an element adapted to interact with the site or the object.

9. The system of Claim 8, wherein each receptacle includes an illumination element associated therewith and arranged to selectively illuminate the receptacle.

10. The system of Claim 9, wherein the controller is arranged in communication with the illumination elements and to actuate the illumination element associated with one of the receptacles to indicate that the element received therein is to be next-used in a procedure performed on the site or the object.

11. The system of Claim 1, wherein the medial member is arranged to have an adjustable length such that the span of the medial member is adjustable relative to the site or the object.

12. The system of Claim 1, wherein the support members are arranged to have an adjustable length such that an elevation of the medial member is adjustable relative to the site or the object.

13. The system of Claim 1, wherein the proximal ends of the robot arm and the tracking arm are mounted in a known relation therebetween to a proximal end of one of the support members.

14. The system of Claim 1, wherein the medial member is arranged to be collapsible to reduce a lateral footprint of the platform.

15. The system of Claim 1, wherein the medial member comprises a first portion pivotably- engaged with a second portion, and wherein the platform is arranged to be foldable about the pivotable engagement between the first and second portions of the medial member to reduce a lateral footprint of the platform.

16. A method of forming a robot system, comprising: arranging a robot arm such that a proximal end thereof is disposed in a known relation with a proximal end of a tracking arm, the tracking arm having a distal end adapted to be in communication with a reference location at or adjacent to a site or an object received at the site, with the reference location being disposed in a relation to a proximal end of the tracking arm in a three-dimensional space; engaging a procedure tool with a distal end of the robot arm, the procedure tool having an end effector engaged therewith, the end effector having a distal end adapted to interact with the site or the object; arranging a controller, the controller including a processor and memory, in operable communication with the tracking arm, the robot arm, and the procedure tool, with the controller being arranged to determine an actual spatial relation between the procedure tool and the reference location in the three-dimensional space via the robot arm and the tracking arm, the actual spatial relation including a location of the distal end of the end effector of the procedure tool in relation to the reference location; and mounting the robot arm and the tracking arm to a platform, the platform having spacedapart support members and a medial member extending therebetween, with the medial member cooperating with the support members for the medial member to span the site or the object, such that the robot arm and the tracking arm extend therefrom.

17. The method of Claim 16, wherein mounting the robot arm and the tracking arm comprises mounting the proximal ends of the robot arm and the tracking arm to the platform in a known relation therebetween.

18. The method of Claim 16, wherein the support members include proximal ends engaged with the medial member and distal ends opposed to the proximal ends, and wherein the method comprises arranging the distal ends of the support members to interact with a support surface to stabilize the medial member relative to the support surface.

19. The method of Claim 18, comprising engaging casters with the distal ends of the support members, with the casters being arranged such that the platform is movable relative to the support surface.

20. The method of Claim 19, comprising arranging one or more of the casters to be capable of being selectively immobilized so as to prevent movement of the platform relative to the support surface.

21. The method of Claim 16, comprising arranging the medial member or one of the support members to receive and support the controller.

22. The method of Claim 16, comprising arranging the medial member to include or define a receptacle arranged to receive one or more elements adapted to interact with the site or the object.

23. The method of Claim 16, comprising arranging the medial member or one of the support members to include or define a plurality of receptacles each arranged to receive an element adapted to interact with the site or the object.

24. The method of Claim 23, comprising arranging each receptacle to include an illumination element associated therewith and arranged to selectively illuminate the receptacle.

25. The method of Claim 24, comprising arranging the controller in communication with the illumination elements and to actuate the illumination element associated with one of the receptacles to indicate that the element received therein is to be next-used in a procedure performed on the site or the object.

26. The method of Claim 16, comprising arranging the medial member to have an adjustable length such that the span of the medial member is adjustable relative to the site or the object.

27. The method of Claim 16, comprising arranging the support members to have an adjustable length such that an elevation of the medial member is adjustable relative to the site or the object.

28. The method of Claim 16, wherein mounting the robot arm and the tracking arm comprises mounting the proximal ends of the robot arm and the tracking arm in a known relation therebetween to a proximal end of one of the support members.

29. The method of Claim 16, comprising arranging the medial member to be collapsible to reduce a lateral footprint of the platform.

30. The method of Claim 16, wherein the medial member comprises a first portion pivotably-engaged with a second portion, and wherein the method comprises arranging the platform to be foldable about the pivotable engagement between the first and second portions of the medial member to reduce a lateral footprint of the platform.