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WO2025210513A1 - Système de détermination de paramètres tels qu'implantés d'une partie d'ancrage d'un implant dentaire - Google Patents

Système de détermination de paramètres tels qu'implantés d'une partie d'ancrage d'un implant dentaire

Info

Publication number
WO2025210513A1
WO2025210513A1 PCT/IB2025/053422 IB2025053422W WO2025210513A1 WO 2025210513 A1 WO2025210513 A1 WO 2025210513A1 IB 2025053422 W IB2025053422 W IB 2025053422W WO 2025210513 A1 WO2025210513 A1 WO 2025210513A1
Authority
WO
WIPO (PCT)
Prior art keywords
procedure
screw portion
dental implant
virtual
fiducial
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/IB2025/053422
Other languages
English (en)
Inventor
Alon Mozes
Dennis Moses
Andres Carrillo
Erik Paul Flor BEUCKELAERS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Neocis Inc
Original Assignee
Neocis Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Neocis Inc filed Critical Neocis Inc
Publication of WO2025210513A1 publication Critical patent/WO2025210513A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

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    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
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    • A61C1/08—Machine parts specially adapted for dentistry
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    • A61C8/0048—Connecting the upper structure to the implant, e.g. bridging bars
    • A61C8/005—Connecting devices for joining an upper structure with an implant member, e.g. spacers
    • A61C8/006—Connecting devices for joining an upper structure with an implant member, e.g. spacers with polygonal positional means, e.g. hexagonal or octagonal
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    • A61B2090/3991—Markers, e.g. radio-opaque or breast lesions markers having specific anchoring means to fixate the marker to the tissue, e.g. hooks

Definitions

  • the present disclosure relates to guided dental procedures and, more particularly, to a system and method for determining as-implanted parameters of the anchor portion of a dental implant for facilitating formation and installation of the prosthetic portion relative to the anchor portion in the dental implant process.
  • a dental implant procedure generally involves an invasive incision into the gum of the patient in order to allow the practitioner to view the underlying jawbone structure.
  • a hole is then formed in the jaw structure, into which an anchor portion of a dental implant is placed (see, e.g., FIG. 1 A).
  • the anchor portion may be shaped, for example, like a screw or other threaded member.
  • the practitioner may be able to graphically visualize the jaw structure, without or before the invasive incision.
  • CT computerized tomography
  • the alignment of the dental implant with respect to the jaw structure and/or relative to other implants or teeth may be an important factor in determining, for example, the life of the dental implant, the aesthetics or appearance thereof, and the general comfort to the patient. If the dental implant is poorly implanted or otherwise not optimally placed, the dental implant can undesirably fail (or at least have a shorter service life), may undesirably cause other teeth or dental implants to be compromised, and/or damage proximal nerves.
  • the dentist may often scan or image the as-implant anchor portion(s) to determine the as-implanted conditions or parameters (e.g., orientation, degree of rotation, skew, etc.) thereof.
  • particular component/ s) e.g., scanning abutment(s) as shown, for example, in FIG. 2A
  • scanning abutment(s) can be engaged with the anchor portion(s), as shown for example in FIG. 2B, wherein such scanning abutments will be apparent to a photogrammetry camera system (see, e.g., FIGS. 3 A and 3B) or an intraoral scanner (see, e.g., FIG.
  • the prosthetic portion e.g., crown
  • the anchor portion/abutment can be appropriately formed/generated to be received by the anchor portion/abutment such that the completed dental implant is properly aligned/oriented upon completion of the procedure.
  • scanning systems can be relatively costly, may be cumbersome to implement, and/or may require significant data processing of the collected data to determine the as-implanted conditions or parameters of the anchor portion(s).
  • a photogrammetry camera system used to capture the as-implanted data for the anchor portion(s) often implements optical flags in the form of a scanning abutment engaged with each implanted anchor portion, wherein such scanning abutments are generally cylindrical or rod-shaped, and extend parallel to or along the same axis as the anchor portion with which it is engaged.
  • an intraoral scanner is used to form the images of the implanted anchor portion(s) for determining the as-implanted conditions of the anchor portion(s), particularly for patient cases where dental implants are being implemented for a full dental arch
  • Such a method comprises engaging a fiducial device with maxillofacial anatomy of a patient, the fiducial device having a fiducial marker engaged therewith and being arranged in communication with a tracking arm, the tracking arm being arranged in communication with a robot arm having a procedure-conducting device engaged with a distal end thereof, and the procedureconducting device being arranged to interchangeably receive a plurality of end effectors; forming a virtual procedure plan for implanting at least a screw portion of a dental implant in the jaw of the patient, the dental implant including an anchor portion comprising the screw portion and an abutment, in registration with and relative to the fiducial marker; forming, with a first end effector engaged with the procedure-conducting device, a bore in the jaw for receiving the screw portion according to the virtual procedure plan; engaging the abutment with the screw portion upon the screw portion being implanted within the bore, the
  • Another aspect of the present disclosure provides a method of implanting a dental implant.
  • Such a method comprises engaging a fiducial device with maxillofacial anatomy of a patient, the fiducial device having a fiducial marker engaged therewith and being arranged in communication with a tracking arm, the tracking arm being arranged in communication with a robot arm having a procedure-conducting device engaged with a distal end thereof, and the procedure-conducting device being arranged to interchangeably receive a plurality of end effectors; forming a virtual procedure plan for implanting at least a screw portion of a dental implant in the jaw of the patient, the dental implant including an anchor portion comprising the screw portion and an abutment, in registration with and relative to the fiducial marker; forming, with a first end effector engaged with the procedure-conducting device, a bore in the jaw for receiving the screw portion according to the virtual procedure plan; engaging a scan gauge with the anchor portion upon the screw portion being implanted within the bore, the scan gauge having an elongate
  • Still another aspect of the present disclosure provides a dental implant system.
  • a dental implant system comprises a tracking arm arranged in communication with a fiducial device adapted to engage maxillofacial anatomy of a patient, the fiducial device having a fiducial marker engaged therewith; a robot arm arranged in communication with the tracking arm, the robot arm having a procedure-conducting device engaged with a distal end thereof, and the procedure-conducting device being arranged to interchangeably receive a plurality of end effectors, including a first end effector configured to form a bore in the jaw, and a second end effector comprising a locating probe; a computer device in communication with the fiducial marker via the fiducial device and the tracking arm, and in communication with the end effector received by the procedure-conducting device via the procedure-conducting device and the robot arm, the computer device being configured to form a virtual dental implant procedure plan; a dental implant including an anchor portion having a screw portion and an abutment, the screw portion being configured to be
  • Example Embodiment 1 A method of implanting a dental implant, comprising engaging a fiducial device with maxillofacial anatomy of a patient, the fiducial device having a fiducial marker engaged therewith and being arranged in communication with a tracking arm, the tracking arm being arranged in communication with a robot arm having a procedure-conducting device engaged with a distal end thereof, and the procedure-conducting device being arranged to interchangeably receive a plurality of end effectors; forming a virtual procedure plan for implanting at least a screw portion of a dental implant in the jaw of the patient, the dental implant including an anchor portion comprising the screw portion and an abutment, in registration with and relative to the fiducial marker; forming, with a first end effector engaged with the procedure-conducting device, a bore in the jaw for receiving the screw portion according to the virtual procedure plan; engaging the abutment with the screw portion upon the screw portion being implanted within the bore, the abutment defining a receptacle
  • Example Embodiment 2 A method of implanting a dental implant, comprising engaging a fiducial device with maxillofacial anatomy of a patient, the fiducial device having a fiducial marker engaged therewith and being arranged in communication with a tracking arm, the tracking arm being arranged in communication with a robot arm having a procedure-conducting device engaged with a distal end thereof, and the procedure-conducting device being arranged to interchangeably receive a plurality of end effectors; forming a virtual procedure plan for implanting at least a screw portion of a dental implant in the jaw of the patient, the dental implant including an anchor portion comprising the screw portion and an abutment, in registration with and relative to the fiducial marker; forming, with a first end effector engaged with the procedure-conducting device, a bore in the jaw for receiving the screw portion according to the virtual procedure plan; engaging a scan gauge with the anchor portion upon the screw portion being implanted within the bore, the scan gauge having an elongate body extending laterally non-
  • Example Embodiment 3 The method of any preceding example embodiment, or combinations thereof, comprising physically regulating movement of the procedure-conducting device via the robot arm, and relative to the fiducial marker, in accordance with the virtual procedure plan and commensurately with physical manipulation of the procedure-conducting device during forming the bore.
  • Example Embodiment 4 The method of any preceding example embodiment, or combinations thereof, comprising providing tactile feedback, via the procedure-conducting device, if the physical manipulation of the procedure-conducting device deviates from the virtual procedure plan.
  • Example Embodiment 5 The method of any preceding example embodiment, or combinations thereof, wherein determining spatial parameters comprises determining spatial parameters of the implanted screw portion including a location of the screw portion relative to the jaw or relative to other stmctures associated with the jaw, an orientation of the screw portion relative to the jaw, an implantation depth relative to the jaw, a rotational index of the screw portion relative to the jaw, or locations of one implanted screw portion relative to another implanted screw portion.
  • Example Embodiment 9 The method of any preceding example embodiment, or combinations thereof, wherein the dental implant include a prosthetic portion configured to engage the abutment, and wherein the virtual procedure plan includes a known spatial relation between the prosthetic portion and the abutment of the dental implant, and a known spatial relation between the abutment and the screw portion, and wherein the method comprises updating spatial parameters of the prosthetic portion and the abutment in the virtual procedure plan to compensate for any difference between the determined spatial parameters of the implanted screw portion and the spatial parameters of the screw portion in the virtual procedure plan.
  • Example Embodiment 13 The method of any preceding example embodiment, or combinations thereof, wherein providing tactile feedback further comprises allowing the robot arm to provide movement of the procedure-conducting device in accordance with the virtual procedure plan, and physically preventing movement of the robot arm to prevent the procedure-conducting device from deviating from the virtual procedure plan.
  • Example Embodiment 18 The method of any preceding example embodiment, or combinations thereof, comprising mounting the tracking arm and the robot arm to a common base such that the tracking arm is in physical communication with the robot arm.
  • Example Embodiment 19 The method of any preceding example embodiment, or combinations thereof, comprising engaging the tracking arm with the fiducial device, such that the tracking arm is in physical communication with the fiducial marker via the fiducial device.
  • Example Embodiment 20 The method of any preceding example embodiment, or combinations thereof, comprising engaging the tracking arm with the fiducial device, such that the tracking arm is in nonphysical communication with the fiducial marker.
  • Example Embodiment 21 The method of any preceding example embodiment, or combinations thereof, wherein engaging the tracking arm with the fiducial device comprises engaging the tracking arm with the fiducial device via a wireless communication arrangement, a WiFi communication arrangement, an electrical communication arrangement, an electromechanical communication arrangement, an optical communication arrangement, a magnetic communication arrangement, an electromagnetic communication arrangement, or an infrared communication arrangement, such that the tracking arm is in non-physical communication with the fiducial marker.
  • engaging the tracking arm with the fiducial device comprises engaging the tracking arm with the fiducial device via a wireless communication arrangement, a WiFi communication arrangement, an electrical communication arrangement, an electromechanical communication arrangement, an optical communication arrangement, a magnetic communication arrangement, an electromagnetic communication arrangement, or an infrared communication arrangement, such that the tracking arm is in non-physical communication with the fiducial marker.
  • Example Embodiment 22 A dental implant system, comprising a tracking arm arranged in communication with a fiducial device adapted to engage maxillofacial anatomy of a patient, the fiducial device having a fiducial marker engaged therewith; a robot arm arranged in communication with the tracking arm, the robot arm having a procedure-conducting device engaged with a distal end thereof, and the procedure-conducting device being arranged to interchangeably receive a plurality of end effectors, including a first end effector configured to form a bore in the jaw, and a second end effector comprising a locating probe; a computer device in communication with the fiducial marker via the fiducial device and the tracking arm, and in communication with the end effector received by the procedure-conducting device via the procedure-conducting device and the robot arm, the computer device being configured to form a virtual dental implant procedure plan; a dental implant including an anchor portion having a screw portion and an abutment, the screw portion being configured to be received by and implanted in the bore
  • Example Embodiment 25 The system of any preceding example embodiment, or combinations thereof, wherein the computer device is configured to determine the spatial parameters of the implanted screw portion including a location of the screw portion relative to the jaw or relative to other stmctures associated with the jaw, an orientation of the screw portion relative to the jaw, an implantation depth relative to the jaw, a rotational index of the screw portion relative to the jaw, or locations of one implanted screw portion relative to another implanted screw portion.
  • Example Embodiment 26 The system of any preceding example embodiment, or combinations thereof, comprising an imaging device in communication with the computer device arranged to form an image of the jaw, the maxillofacial anatomy, and the fiducial marker engaged with the fiducial device to facilitate registration of the virtual procedure plan with the fiducial marker.
  • Example Embodiment 27 The system of any preceding example embodiment, or combinations thereof, wherein the computer device is configured to determine any differences between the spatial parameters of the screw portion in the virtual dental implant procedure plan and the determined spatial parameters of the implanted screw portion such that the implanted screw portion can be adjusted to minimize or eliminate any determined difference.
  • Example Embodiment 28 The system of any preceding example embodiment, or combinations thereof, wherein the computer device is configured to update spatial parameters of the screw portion in the virtual dental implant procedure plan with the determined spatial parameters of the implanted screw portion.
  • Example Embodiment 29 The system of any preceding example embodiment, or combinations thereof, wherein the dental implant includes a prosthetic portion configured to engage the abutment, wherein the virtual dental implant procedure plan includes a known spatial relation between the prosthetic portion and the abutment, and wherein the computer device is configured to update spatial parameters of the prosthetic portion in the virtual dental implant procedure plan to compensate for any difference between the determined spatial parameters of the implanted screw portion and the spatial parameters of the screw portion in the virtual dental implant procedure plan.
  • Example Embodiment 30 The system of any preceding example embodiment, or combinations thereof, comprising a form30ing device configured to form the prosthetic portion of the dental implant according to the updated spatial parameters of the prosthetic portion in the virtual dental implant procedure plan, so as to allow the formed prosthetic portion to be engaged with the abutment.
  • Example Embodiment 31 The system of any preceding example embodiment, or combinations thereof, wherein the fiducial device is configured as a splint device adapted to be engaged with a maxilla or with one or more teeth of the maxilla of the patient.
  • Example Embodiment 32 The system of any preceding example embodiment, or combinations thereof, wherein the fiducial device is configured as a splint device adapted to be engaged with a mandible or with one or more teeth of the mandible of the patient.
  • Example Embodiment 33 The system of any preceding example embodiment, or combinations thereof, wherein the computer device is configured to cause the procedure-conducting device to provide tactile feedback by allowing the robot arm to provide movement of the procedure-conducting device in accordance with the virtual dental implant procedure plan, and physically preventing movement of the robot arm to prevent the procedure-conducting device from deviating from the virtual dental implant procedure plan.
  • Example Embodiment 34 The system of any preceding example embodiment, or combinations thereof, wherein the computer device is configured to cause the procedure-conducting device to provide tactile feedback by allowing the robot arm to provide movement of the procedure-conducting device along a route to the jaw to form the bore, as defined by the virtual dental implant procedure plan, and physically preventing movement of the robot arm to prevent the procedure-conducting device from deviating from the route defined by the virtual dental implant procedure plan.
  • Example Embodiment 35 The system of any preceding example embodiment, or combinations thereof, wherein the computer device is configured to cause the procedure-conducting device to provide tactile feedback by causing the procedure-conducting device to vibrate if movement of the procedureconducting device deviates from the virtual dental implant procedure plan.
  • Example Embodiment 40 The system of any preceding example embodiment, or combinations thereof, wherein the tracking arm is not physically engaged with the fiducial device, and wherein the tracking arm is in non-physical communication with the fiducial marker.
  • Example Embodiment 41 The system of any preceding example embodiment, or combinations thereof, wherein the tracking arm is in non-physical communication with the fiducial marker via a wireless communication arrangement, a WiFi communication arrangement, an electrical communication arrangement, an electromechanical communication arrangement, an optical communication arrangement, a magnetic communication arrangement, an electromagnetic communication arrangement, or an infrared communication arrangement.
  • FIGS. 1A-1C schematically illustrate a dental implant procedure with respect to a jaw structure
  • FIGS. 2 A and 2B schematically illustrate an implementation of an anchor portion of a dental implant
  • FIGS. 3A and 3B schematically illustrate a scanning arrangement implementing scanning abutments in connection with a photogrammetry camera system
  • FIG. 3C schematically illustrates a scanning arrangement implementing scanning abutments in connection with an intraoral scanner
  • FIG. 4 schematically illustrates an example of a dental implant
  • FIGS. 5A-5C schematically illustrate different forms of a dental implant
  • FIG. 6 schematically illustrates a system for implanting a dental implant, according to one aspect of the present disclosure
  • FIGS. 7A and 7B schematically illustrate a system for implanting a dental implant, according to an alternate aspect of the present disclosure
  • FIG. 9A-9C schematically illustrate example anchor portions/screw portions of dental implants having different cross-sectional profiles, and the corresponding bores in the jaw having cross-sectional profiles preferable for receiving the respective anchor portion/screw portion of the dental implant, according to one aspect of the present disclosure
  • FIGS. 10A and 10B schematically illustrate different end effectors interchangeable in a procedureconducting device, according to one aspect of the present disclosure, for forming bores in the jaw having different cross-sectional profiles;
  • FIGS. 11 A and 1 IB schematically illustrate an anchor portion of a dental implant, comprising a screw portion and an abutment, with the abutment being configured to receive a locating probe of a dental implant system, according to one aspect of the present disclosure
  • FIG. 11C schematically illustrates an anchor portion of a dental implant, comprising a screw portion and an abutment, with the abutment being configured to receive a locating probe of a dental implant system, according to another aspect of the present disclosure
  • FIG. 12 schematically illustrates a flow of a method for implanting a dental implant, according to one aspect of the present disclosure
  • FIGS 13A-13D schematically illustrate an anchor portion of a dental implant implanted in a jaw, with the anchor portion being configured to receive a scan gauge of a dental implant system, according to one aspect of the present disclosure, with the jaw of the patient having the scan gauge engaged with the implanted anchor portion being imaged by an intraoral scanner, according to another aspect of the present disclosure;
  • FIG. 14 schematically illustrates a flow of a method for implanting a dental implant, according to another aspect of the present disclosure.
  • Dental implants 10 are typically simple, non-electronic devices, including an anchor portion 20 (in some instances, comprising two or more components such as a screw portion and an abutment received by the screw portion) made of titanium or some other standard biocompatible material, and a prosthetic portion 30 (e.g., a crown) received by the anchor portion 20 (or the abutment component thereof) made of metal (such as stainless steel, gold, or an alloy), porcelain-fused-to-metal, a resin, or a ceramic (see, e.g., FIG. 4).
  • an anchor portion 20 in some instances, comprising two or more components such as a screw portion and an abutment received by the screw portion
  • a prosthetic portion 30 e.g., a crown
  • metal such as stainless steel, gold, or an alloy
  • porcelain-fused-to-metal e.g., a resin
  • a ceramic see, e.g., FIG. 4
  • the anchor portion/screw portion is usually a threaded member that interacts with a bore in the jaw to threadedly engaged and secure the anchor portion/screw portion to the jaw.
  • proper osseointegration and/or securement of the anchor portion/screw portion with the jaw could be affected by the extent to which the cross-sectional profile of the hole/bore in the jaw corresponds with the cross sectional profile or shape of the anchor portion/screw portion of the dental implant. That is, proper osseointegration may be more likely realized where the shape of the hole/bore in the jaw closely matches the cross-sectional profile/shape of the anchor portion/screw portion of the dental implant.
  • a dental prosthetic device 10 can also include, for example, implants, an implants bar, abutments, overdenture prosthetics, and/or other dental devices classified as a dental prosthetic, and/or combinations thereof, generally including (as shown, for example, in FIG. 4) an implantable anchor portion 20 and an aesthetic aspect comprising the prosthetic portion 30.
  • implants for example, implants, an implants bar, abutments, overdenture prosthetics, and/or other dental devices classified as a dental prosthetic, and/or combinations thereof, generally including (as shown, for example, in FIG. 4) an implantable anchor portion 20 and an aesthetic aspect comprising the prosthetic portion 30.
  • Examples of a dental prosthetic in the form of a single tooth dental implant, an implant-supported bridge, and an implant-supported denture are shown in FIGS. 5A, 5B, and 5C, respectively.
  • aspects of the present disclosure are directed to and address a system and associated method for implanting a dental implant (i.e., at least the anchor portion/screw portion thereof) in a jaw structure in such a manner that the spatial parameters of the as-implanted dental implant (i.e., at least the anchor portion/screw portion thereof) can be verified as part of the implantation procedure.
  • FIGS. 6-8 illustrate example systems which may facilitate pre-procedure dental implant planning in conjunction with physically -guided haptic robotic assistance in the bore-forming and the implantation portions of the dental implant procedure, according to aspects of the present disclosure, the example systems being generally indicated by the numeral 100.
  • Such systems 100 may be similar to dental implantation systems as disclosed, for example, in U.S. Patent Nos. US 8,808,000 and US 10,918,459, both assigned to Neocis Inc., also the assignee of the present application, which patents are thus incorporated herein by reference in their entirety.
  • one aspect of the dental implant procedure disclosed herein may generally involve a pre-procedure imaging step, wherein CT, MRI, X-ray, or other appropriate imaging of the patient’s jaw structure (maxilla and/or mandible) is obtained. From the imaging step, the site of the jaw structure for receiving the dental implant, and surrounding/proximate structures, can be imaged and an appropriate or optimal size/configuration of the dental implant for the site can be determined.
  • a dental implant procedure may be prescribed by or associated with the pre-procedure imaging for conducting a guided robotic-assisted procedure, a fiducial device 250 is engaged with maxillofacial anatomy of the patient.
  • the fiducial device 250 can comprise or otherwise be associated with a splint device engaged with an upper jaw or maxilla or with one or more teeth of the upper jaw or maxilla of the patient when the site is associated with the maxilla.
  • the fiducial device 250 can comprise or otherwise be associated with a splint device engaged with a lower jaw or mandible or with one or more teeth of the lower jaw or mandible of the patient.
  • the splint device is preferably configured to engage the patient’s jaw/teeth in a “firm” or secure interaction (i.e., the splint device is engaged with the patient’s teeth or jaw and does not move with respect to the teeth or jaw), as shown for example in FIG. 6.
  • the exact positioning of the splint device with respect to the patient’s teeth/jaw may not be critical or important, as long as the splint device remains securely in place.
  • a suitable and appropriate splint device is disclosed, for example, in U.S. Patent Nos. US 10,016,242 and US 10,639,128; U.S. Patent Application Publication No. US 2022/0233248; and U.S. Patent Application Serial Nos. 17/915,861; 17/915,863; 17/916,438; and 18/040,261, all assigned to Neocis Inc., also the assignee of the present application, and which are all incorporated herein by reference in their entirety.
  • the fiducial device 250 has a fiducial marker engaged therewith.
  • a fiducial marker is configured to have a geometry or other characteristic or feature that uniquely defines the fiducial marker in a three-dimensional space, and is included in the pre-procedure imaging in connection with the appropriate jaw structure and the intended site (i.e., such that the fiducial marker is readily identified in images of the patient’s jaw structure with respect to the dental implantation site).
  • the fiducial marker is attached to, integrated with, or otherwise defined by the fiducial device 250.
  • the fiducial marker may be comprised of, for example, a radiopaque material or other suitable material that can be clearly defined in the image (e.g., CT, MRI, X-ray).
  • the fiducial marker may be configured/arranged to be mounted to the kinematic mount for the pre-procedure imaging process, and such that the position / location of the fiducial marker is known relative to the kinematic mount and/or the splint device.
  • the kinematic mount and/or the splint device may have a marker engaged therewith and/or a structural feature thereof that is positioned/located in a known position/location with respect to the fiducial marker, wherein a comparison therebetween provides a mechanism from which the position / location of the fiducial marker relative to the kinematic mount and/or the splint device is known or determined.
  • the pre-procedure imaging can include imaging the maxillofacial anatomy and the fiducial marker engaged with the fiducial device 250 (and the marker engaged with and/or the structural feature of the kinematic mount and/or the splint device) to facilitate registration of the virtual dental implant plan (e.g., a virtual procedure plan or a virtual dental implant procedure plan) with the fiducial marker.
  • the virtual dental implant plan e.g., a virtual procedure plan or a virtual dental implant procedure plan
  • the dental implant plan can thus be formed in registration with and with respect to the fiducial marker (e.g., locations / positions of elements in the procedure field of interest / at the site and/or instruments interacting with the procedure field of interest / site can be determined in a three-dimensional space relative to the fiducial marker).
  • the implantation site and structures around or adjacent to the site can also be imaged in conjunction with the jaw structure and fiducial marker, and therefore located and characterized (e.g., registered with and with respect to the fiducial marker) with respect to the fiducial marker.
  • the virtual dental implant plan can thus be formed to include a pathway or route to the implantation site of a bore-forming and implantation device 150 (e.g., a procedure-conducting device) for forming / drilling the bore for receiving the anchor portion of the dental implant.
  • the imaging procedure may provide additional data for the virtual dental implant plan with respect to, for example, the orientation(s), direction(s), dimension(s), depth(s) and/or order of the required bore(s) and/or the anchor portion(s) 20 associated with the dental prosthetic device 10. Accordingly, relevant parameters and data associated therewith may be included in the virtual dental implant plan, and determined relative to the fiducial marker.
  • the virtual dental implant plan can then be integrated or otherwise associated with an appropriate robotic assistance system, such as system 100, having an appropriate bore-forming and implantation device 150 (e.g., a procedure-conducting device) operably engaged therewith.
  • the robotic assistance system 100 may include, for instance, a guidance system 200 in communication with and between the fiducial device 250 / fiducial marker and the bore-forming and implantation device 150.
  • the guidance system 200 in some aspects, comprises an articulating arm member or robot arm 350 having the bore-forming and implantation device 150 engaged with a distal end of the robot arm 350, wherein the robot arm 350 determines a range of motion of the bore-forming and implantation device 150.
  • the guidance system 200 can also include a tracking arm 400 in communication between the fiducial device 250 and the bore-forming and implantation device 150 and/or the robot arm 350.
  • the tracking arm 400 can comprise a mechanical linkage connecting the splint device to the distal end of the tracking arm 400 (e.g., by the distal end of the tracking arm 400 physically engaging the kinematic mount of the splint device (fiducial device 250)).
  • the tracking arm 400 e.g., the proximal and distal ends of the tracking arm 400
  • the tracking arm 400 can thus be located (e.g., the position/location thereof known or determined) within the coordinate space defined with respect to the fiducial marker and upon which the virtual dental implant plan is based.
  • the robot arm 350 e.g., the proximal and distal ends of the robot arm 350
  • the bore-forming and implantation device 150 engaged with the distal end of the robot arm 350 can also be located (e.g., the position/location thereof known or determined) within the coordinate space defined with respect to the fiducial marker and upon which the virtual dental implant plan is based.
  • the tracking arm 400 and the robot arm 350 can be configured to be tracked, for example, by appropriate positioning sensors operably engaged with articulating joints connecting the segments of the tracking arm 400 and the robot arm 350, locating the tracking arm 400 with respect to the robot arm 350, and/or mounting the tracking arm 400 and the robot arm 350 to the common base.
  • the tracking arm 400 may be physically attached to the fiducial device 250 (rigidly, securely, and in a known, repeatable manner) via an attachment mechanism configured to interface with the kinematic mount engaged with the fiducial device 250. Attached to the patient in this manner via the fiducial device 250, the tracking arm 400 provides data (whether constantly, selectively, or otherwise as necessary) about the position/location of the patient (and particularly the implantation site) with respect to the fiduciary marker, and the planning and execution of the virtual dental implant plan is communicated to the bore-forming and implantation device 150/robot arm 350, in registration with and also relative to the fiducial marker.
  • the fiducial marker is not necessarily required to be engaged with the fiducial device 250 during execution of the virtual dental implant plan.
  • the execution of the virtual dental implant plan is relative to the coordinate system established and tracked via the fiducial device 250, accurate guidance of the robot arm 350 / boreforming and implantation device 150 is achieved and maintained during execution of the virtual dental implant plan in the event that the patient moves during the procedure.
  • the fiducial marker may be in communication with the tracking arm 400, for example, via a physical connection (e.g., connected by a physical element), a non-physical connection (e.g., not connected by a physical element), a wireless transceiver, a hardwire connection, an optical communication system, or any other suitable mechanism, whether electrical, mechanical, electromechanical, or optical in nature.
  • a physical connection e.g., connected by a physical element
  • a non-physical connection e.g., not connected by a physical element
  • a wireless transceiver e.g., a hardwire connection
  • an optical communication system e.g., a hardwire connection
  • any other suitable mechanism whether electrical, mechanical, electromechanical, or optical in nature.
  • the fiducial device 250 and/or the fiducial marker associated therewith may be in communication with the tracking arm 400 or the bore-forming and implantation device 150/robot arm 350 in many different manners.
  • the tracking arm 400 can be arranged in non-physical communication (e.g., not connected by a physical element) with the fiducial device 250 / fiducial marker. More particularly, the tracking arm 400 can be in communication with the fiducial device 250 / fiducial marker via a wireless communication arrangement, a WiFi communication arrangement, an electrical communication arrangement, an electromechanical communication arrangement, an optical communication arrangement, a magnetic communication arrangement, an electromagnetic communication arrangement, or an infrared communication arrangement.
  • a non-physical communication arrangement may be accomplished, for example, by an emitter-detector arrangement (e.g., a detector engaged with the tracking arm 400 and an emitter engaged with the fiducial device 250 / fiducial marker), a receiver-emitter arrangement, a transceiver arrangement (e.g., a transceiver engaged with the tracking arm 400 emits a signal that is reflected from the fiducial device 250 / fiducial marker and the reflected signal detected by the transceiver engaged with the tracking arm), or any other suitable arrangement whereby the position of the tracking arm 400 can be determined relative to the position of the fiducial device 250 / fiducial marker.
  • an emitter-detector arrangement e.g., a detector engaged with the tracking arm 400 and an emitter engaged with the fiducial device 250 / fiducial marker
  • a receiver-emitter arrangement e.g., a transceiver engaged with the tracking arm 400 emits a signal that is reflected from the fiducial device
  • the guidance system 200 may be further configured to include a controller device 450 (e.g., a computer device as shown in FIGS. 6-7B) for registering the fiducial marker and determining the coordinate system from the imaging of the jaw structure (including the site and surrounding/adjacent structures), the maxillofacial anatomy, and the fiducial marker engaged with the fiducial device (and the marker engaged with and/or the structural feature of the kinematic mount and/or the splint device, as necessary), and for appropriately executing the virtual dental implant plan with respect to the fiducial marker and/or otherwise communicating the fiducial marker to the bore-forming and implantation device 150/robot arm 350, and physically regulating movement of the bore-forming and implantation device 150/robot arm 350 in accordance with the virtual dental implant plan.
  • a controller device 450 e.g., a computer device as shown in FIGS. 6-7B
  • the controller device 450 may be configured to receive the imaging of the patient’s maxillofacial anatomy, including the fiducial marker engaged with the fiducial device (and the marker engaged with and/or the structural feature of the kinematic mount and/or the splint device, if necessary), and to register the anatomical structures of the patient’s maxillofacial anatomy with the fiducial marker and allow the formation of the virtual dental implant plan / procedure.
  • the controller device 450 may be further configured to be capable of executing or facilitating execution of the virtual dental implant plan.
  • the computer device 450 may comprise software, hardware, or a combination thereof.
  • the virtual dental implant plan / procedure may allow the user to create, for example, the virtual dental implant plan based on the captured image(s), whether in two dimensions or three dimensions, and to manipulate the image(s) of the patient’s anatomical structures, including the maxillofacial anatomy, in conjunction with a “virtual procedure” in order to develop the virtual dental implant plan for creating the bore in the jaw structure for the dental implant, in conjunction with a computerized model based on the image(s).
  • the dental implant routine/process and/or virtual dental implant plan may be created, for example, in relation to a coordinate system (relative or absolute) based on the fiducial marker, as will be appreciated by one skilled in the art, for associating the dental implant parameters and requirements with the fiducial marker.
  • the controller device 450 may include a peripheral device (i.e., a trackball or joystick in conjunction with, for example, 3D goggles, all not shown) to assist with or otherwise permit virtual manipulation of the pertinent anatomical/jaw structure(s) and/or the bore-forming and implantation device 150/robot arm 350 with respect to the image(s) in order to, for example, determine an appropriate route for the bore-forming and implantation device 150/robot arm 350 to access implantation site relative to the jaw/maxilla/mandibular structure.
  • the controller device 450 may be further configured to perform such manipulation manually, automatically, or semi-automatically, as necessary or desired.
  • the teeth / jaw of the patient is/are automatically registered with the system 100 once the tracking arm 400 is attached to the fiducial device 250 via the kinematic mount, or otherwise established in communication with the fiducial marker. That is, the fiducial marker is automatically determined from the image(s) of the patient’s teeth / jaw structure, and the alignment and location of the fiducial marker in physical space (or coordinate system relative to the fiducial marker) is known due to the kinematic mount connecting the tracking arm 400 to the fiducial device 250 or otherwise the communication therebetween.
  • the communication between the tracking arm 400 and the robot arm 350 / bore-forming and implantation device 150 thus allows the boreforming and implantation device 150 to be registered with respect to the fiducial marker (or other reference with respect to the patient) via the robot arm 350, the tracking arm 400, and the fiducial device 250 / kinematic mount.
  • the system 100 thus disclosed herein may be configured to form a physical or nonphysical communication between the fiducial marker (i.e., by way of a physical or non-physical engagement with the fiducial device having the fiducial marker associated therewith) and an end effector 500 associated with the bore-forming and implantation device 150 engaged with the robot arm 350.
  • the virtual dental implant process/plan formed via the controller device 450, may be accomplished/executed in relation to and in registration with the fiducial marker (or other reference with respect to the patient) and thus translated or otherwise communicated to the system 100 for physically regulating the movement of the bore-forming and implantation device 150 during the procedure.
  • the bore-forming and implantation device 150 includes and is arranged to interchangeably receive different end effectors 500, including for example a first end effector configured to form the bore and a second end effector configured to implant the dental implant within the bore.
  • the bore-forming and implantation device 150 thus has the end effector 500 engaged therewith or forming a portion thereof, wherein the bore-forming and implantation device 150, in turn, is engaged with the distal end of the robot arm 350.
  • the robot arm 350 may be configured, for example, to provide six degrees of freedom to the bore-forming and implantation device 150, and can also be configured to restrict or otherwise control the movement of the bore-forming and implantation device 150.
  • the robot arm 350 may be configured to include any number of mechanisms, arrangements, or provisions (e.g., controllable articulating joints connecting segments of the robot arm 350 and/or mounting the proximal end of the robot arm 350 such as to the common base), that may restrict or regulate the freedom of motion of the robot arm 350 in a particular direction, while freely or unrestrictedly allowing freedom of motion of the robot arm 350 in other particular directions (i.e., restricted freedom of motion when the motion of the boreforming and implantation device 150 deviates from the virtual dental implant plan, but unrestricted freedom of motion when the motion of the bore-forming and implantation device 150 is moved in accordance with the virtual dental implant plan).
  • the robot 350 may have a miniature parallel structure (or function as having a parallel structure) to which the bore-forming and implantation device 150 is secured to a distal end thereof and allowed to have full freedom of movement when not in bore-forming or implantation mode.
  • the end effector 500 (see, e.g., FIGS. 6, 7B, and 8) must be in a known position (i.e., known to the system 100) relative to the robot arm 350.
  • a calibration element may be engaged with the fiducial device 250 (i.e., rigidly mounted thereto in a known, repeatable manner) or otherwise comprising an element or integral feature of the fiducial device 250.
  • the calibration element can be, for example, a locating probe with known parameters (e.g., dimensions, rotational orientation about the longitudinal axis thereof with respect to the bore-forming and implantation device 150, and location of the probe tip relative to the bore-forming and implantation device 150) when the locating probe is received as the end effector 500 by the bore-forming and implantation device 150.
  • calibration element / locating probe may be interchangeable with other end effectors in the bore-forming and implantation device 150.
  • the end effector 500 in the form of the calibration element / locating probe can then be calibrated with the coordinate system via various tip calibrating methods (i.e., invariant point, etc.) or other calibration methods.
  • the calibration element / locating probe can be replaced with the first end effector configured to form the bore or the second end effector configured to implant the dental implant within the bore, in the bore-forming and implantation device 150, in a known and repeatable manner, so that the calibration parameters (i.e., the position of the distal-most point and axis of formed bore) associated with the respective end effectors 500 are maintained as calibrated.
  • the dental implant procedure can then be initiated by the practitioner physically engaging (i.e., grasping) and moving the bore-forming and implantation device 150 toward the jaw structure (with the fiducial device 250 engaged with the teeth / jaw and the tracking arm in communication with the fiducial marker).
  • the controller device 450 is configured to control or regulate the movement of the bore-forming and implantation device 150 via the robot arm 350 such that the manipulation thereof by the practitioner only allows the end effector 500 to be moved to the appropriate starting position for the dental implant procedure (e.g., adjacent to the patient’s mouth in proximity to the initiation point for the bore), with respect to the fiducial marker associated with the patient’s teeth / jaw, as determined by the controller device 450 and dictated by the virtual dental implant plan.
  • the appropriate starting position for the dental implant procedure e.g., adjacent to the patient’s mouth in proximity to the initiation point for the bore
  • the controller device 450 executing or following the virtual dental implant plan may regulate or control movement of the bore-forming and implantation device 150 by providing unrestricted movement of the bore-forming and implantation device 150 by the practitioner along a route and in an orientation for forming the bore at the implantation site, but may prevent motion of the bore-forming and implantation device 150 in a direction that would otherwise deviate from the route/path to/from the implantation site established in the virtual dental implant plan (i.e., by locking or restricting movement of a joint between segments of the robot arm 350 or otherwise providing resistance to moving the bore-forming and implantation device in a direction or into an orientation that deviates from the route established and planned in the virtual dental implant plan).
  • the robot arm 350 can comprise a plurality of arm segments serially engaged via respective articulating joints, wherein physically regulating movement of the bore-forming and implantation device 150 can be accomplished by regulating one or more degrees of freedom of at least one of the joints of the robot arm 350.
  • such regulation or control of the movement of the bore-forming and implantation device 150 via the robot arm 350 may be physically sensed by the practitioner (e.g., as tactile or haptic feedback through the grasp of the bore-forming and implantation device 150). That is, in some instances, tactile feedback can be provided by allowing movement of the bore-forming and implantation device 150 in accordance with, along the route / path of, and in the orientation according to the virtual dental implant plan, and physically preventing movement of the bore-forming and implantation device 150 deviating from the route / path of or the orientation according to the virtual dental implant plan. More particularly, such tactile feedback can be established relative to movement of the bore-forming and implantation device along a route/path to/from and an orientation in which to interact with the implantation site associated with the jaw structure defined by the virtual dental implant plan.
  • one of the end effectors 500 can be engaged with the procedure-conducting device (e.g., the bore-forming and implantation device 150), wherein the one of the end effectors 500 is configured to form the desired bore in the jaw (e.g., with cross-sectional shape, diameter(s), depth, orientation, etc. corresponding to the cross-sectional shape, diameter(s), length, positioning, etc.
  • the procedure-conducting device e.g., the bore-forming and implantation device 150
  • the one of the end effectors 500 is configured to form the desired bore in the jaw (e.g., with cross-sectional shape, diameter(s), depth, orientation, etc. corresponding to the cross-sectional shape, diameter(s), length, positioning, etc.
  • a cross-sectional profile of the bore corresponds to a cross sectional profile of the anchor portion of the dental implant to be received by the bore, and such that the bore is configured to receive the anchor portion such that the implanted anchor portion is disposed in the location/position and in the orientation within the jaw as included within the virtual dental implant plan.
  • an anchor portion of a dental implant can have a cross-sectional shape corresponding to a parallel wall bore having a semicircular terminus (see, e.g., FIG. 9A), a cross-sectional shape corresponding to a converging wall tapered bore (see, e.g., FIG. 9C), or a cross-sectional shape corresponding to a parallel wall bore having a converging wall tapered terminus (see, e.g., FIG. 9B).
  • an end effector 500 configured, for example, as a spherical bur drill bit can be used to form the parallel wall bore with the semicircular terminus, as shown in FIG. 9A.
  • linear advancement of the spherical bur drill bit (Fig. 10A) will form the parallel wall bore, with the semi-circular terminus being formed upon ceasing the linear advancement.
  • an end effector configured, for example, as a cone-shaped drill bit (FIG. 10B) can be used to form the converging wall tapered bore (FIG. 9C) or the parallel wall bore having the converging wall tapered terminus (FIG. 9B), depending on the extent of the linear advancement of the cone-shaped end effector 500 by the procedure-conducting device 150.
  • the bore forming portion of the dental implant procedure can then be initiated, wherein the controller device 450 may further dictate other parameters of the bore-forming and implantation device 150 such as, for example, the orientation of the first end effector and/or the path / route of the first end effector for forming the bore and/or the direction / distance / depth from the bore origin, also according to the virtual dental implant plan.
  • the bore-forming and implantation device 150 may be guided according to the virtual dental implant plan to form the bore.
  • the bore-forming and implantation device 150 may be guided so as to form the bore in two or more stages that vary, for example, in direction, orientation, etc.
  • the end effectors may be exchanged in the bore-forming and implantation device 150 to the second end effector configured to implant the dental implant within the bore.
  • a dental implant system such as indicated as element 100.
  • a dental implant system 100 includes the tracking arm 400 arranged in communication with the fiducial device 250 adapted to engage maxillofacial anatomy of a patient.
  • the fiducial device 250 in some instances, has a fiducial marker engaged therewith.
  • the fiducial device 250 in some instances, is configured as a splint device adapted to be engaged with a maxilla or with one or more teeth of the maxilla of the patient (e.g., when the implantation site is located on the maxilla).
  • the fiducial device 250 is configured as a splint device adapted to be engaged with a mandible or with one or more teeth of the mandible of the patient (e.g., when the implantation site is located on the mandible).
  • the robot arm 350 is arranged in communication with the tracking arm 400, wherein the robot arm 350 includes the procedure-conducting device 150 engaged with a distal end thereof.
  • the procedure-conducting device 150 is arranged to interchangeably receive a plurality of end effectors 500, including a least the first end effector configured to form a bore in the jaw, and the second end effector comprising a locating probe.
  • the tracking arm 400 is physically engaged with the fiducial device 250, such that the tracking arm 400 is in physical communication with the fiducial marker 250 via the fiducial device (see, e.g., FIGS. 6, 7A, or 7B). In some instances, the tracking arm 400 is not physically engaged with the fiducial device 250, and the tracking arm 400 is in non-physical communication with the fiducial marker 250 (see, e.g., FIG. 8). In some aspects, the tracking arm 400 is in non-physical communication with the fiducial marker, for example, via a wireless communication arrangement, a WiFi communication arrangement, an electrical communication arrangement, an electromechanical communication arrangement, an optical communication arrangement, a magnetic communication arrangement, an electromagnetic communication arrangement, or an infrared communication arrangement.
  • a computer device e.g., the controller device 450
  • the computer device 450 is in communication with the fiducial marker via the fiducial device 250 and the tracking arm 400.
  • the computer device 450 is also in communication with the end effector 500 received by the procedure-conducting device 150, via the procedure-conducting device 150 and the robot arm 350.
  • the computer device / controller device 450 is configured to form the virtual dental implant procedure plan (otherwise referred to herein as the “virtual procedure plan”).
  • an imaging device 475 see, e.g., FIG.
  • the robot arm 350 comprises a plurality of arm segments serially engaged via respective joints, and wherein the computer device 450 is configured to cause the robot arm 350 to physically regulate movement of the procedure-conducting device 150 by regulating one or more degrees of freedom of at least one of the joints of the robot arm 350.
  • the tracking arm 400 and the robot arm 350 are mounted to a common base (see, e.g., element 80 in FIG. 8) such that the tracking arm 400 is in physical communication with the robot arm 350.
  • the computer device 450 is configured to cause the robot arm 350, physically engaged with the procedure-conducting device 150 and the fiducial device 250 via the tracking arm 400, to physically regulate movement of the procedure-conducting device 150, and wherein the robot arm 350 is responsive to the computer device 450 to physically regulate the physical manipulation of the procedureconducting device 150 according to the virtual procedure plan.
  • the computer device 450 is configured to cause the procedure-conducting device 150 to provide tactile feedback by allowing the robot arm 350 to provide movement of the procedure-conducting device 150 (e.g., along a route to the jaw to form the bore) in accordance with the virtual procedure plan, and physically preventing movement of the robot arm 350 to prevent the procedure-conducting device 150 from deviating from the virtual procedure plan (e.g., the route to the jaw to form the bore).
  • the computer device 450 is configured to cause the procedure-conducting device 150 to provide tactile feedback (e.g., through the procedureconducting device 150 itself) by causing the procedure-conducting device 150 to vibrate if movement of the procedure-conducting device 150 deviates from the virtual procedure plan (e.g., the route to the jaw and/or the planned orientation of the procedure-conducting device 150).
  • the computer device 450 is configured to cause the robot arm 350 to physically regulate movement of the procedure-conducting device 150, relative to the fiducial marker, in accordance with the virtual procedure plan and commensurately with the procedure-conducting device 150 being physical manipulated during forming of the bore.
  • the computer device 450 may be configured to cause the procedure-conducting device 150 to provide tactile feedback (e.g., via the procedure-conducting device 150 itself), if the physical manipulation of the procedure-conducting device 150 causes the procedure-conducting device 150 to deviate from the virtual procedure plan (e.g., deviate from the path/route to the site and/or from the orientation of the procedure-conducting device 150 necessary perform the procedure).
  • the dental implant 10 includes the anchor portion 20, or in some aspects, the anchor portion 20 comprises a screw portion 20A and an abutment 20B configured to be received by the screw portion 20A (see, e.g., FIGS. 11A-11C).
  • the anchor portion 20 comprises the screw portion 20A and the abutment 20B as shown in FIGS. 11 A-l 1C
  • at least the screw portion 20A is configured to be received by and implanted in the bore in the jaw according to the virtual dental implant procedure plan.
  • the abutment 20B is configured to engage the screw portion 20A in a known position and orientation (including angular orientation and rotational orientation) with respect to the screw portion 20 A.
  • the abutment 20B can include a protrusion configured to be received by a corresponding bore in the screw portion 20 A, with the protrusion and the bore being complementarity configured to engage each other in a predetermined or otherwise known positional and orientational (including angular orientation and rotational orientation) manner (e.g., using a key / keyway arrangement, a flat portion extending along the protrusion and the bore, etc.).
  • determining the positional and orientational parameters of the abutment 20B will also indicate the positional and orientational parameters of the screw portion 20 A, or the positional and orientational parameters of the screw portion 20A will be readily determinable from the determined positional and orientational parameters of the abutment 20B.
  • the abutment 20B defines a receptacle 25 arranged in known spatial relation with the screw portion 20 A, upon engagement of the abutment 20B with the screw portion 20 A. That is, the receptacle 25 is formed in the abutment 20B in a predetermined or otherwise known positional and orientational (including angular orientation and rotational orientation) manner in the abutment 20B.
  • determining the positional and orientational parameters of the receptacle 25 will also indicate the positional and orientational parameters of abutment 20B, and in turn, the screw portion 20 A, or the positional and orientational parameters of the receptacle 25 and the screw portion 20A will be readily determinable from the determined positional and orientational parameters of the abutment 20B.
  • the receptacle 25 is configured to receive or otherwise be engaged by the locating probe (end effector 500 received by the procedure-conducting device 150), wherein the engagement between the locating probe and the receptacle 25 is in a known spatial relation, orientation (including angular orientation and rotational orientation), etc. with the abutment 20B.
  • the locating probe and the receptacle 25 can be complementarity configured to engage each other in a predetermined or otherwise known positional and orientational (including angular orientation and rotational orientation) manner (e.g., using a key / keyway arrangement, a flat portion extending along the locating probe and the receptacle 25, etc.).
  • These known spatial relations indicate spatial parameters of the implanted screw portion 20A for comparison with at least the screw portion 20A in the virtual dental implant procedure plan.
  • the distal end / tip of the locating probe is tracked by the computer device 450 relative to the fiducial marker (and in some instances calibrated with respect thereto)
  • the distal end / tip of the locating probe is in a known spatial relation, orientation (including angular orientation and rotational orientation), etc. with the fiducial marker.
  • the known or determinable spatial relationships and orientations including angular orientation and rotational orientation
  • the spatial relation and orientation (including angular orientation and rotational orientation), etc. of the screw portion 20A with respect to the fiducial marker is known or readily determinable.
  • the dental implant system 100 includes a scan gauge 700 (see, e.g., FIG. 13A) having an elongate body 710 extending laterally non-parallel to an engagement element 720.
  • the engagement element 720 is configured to engage the anchor portion 20 (e.g., the screw portion 20A and/or the abutment 20B as shown in FIGS. 11 A-l 1C), such that the engagement element 720 and the elongate body 710 of the scan gauge 700 are arranged in known spatial relation with the anchor portion 20.
  • the dental implant system 100 can also include an intraoral scanner 730 in communication with the computer device 450, wherein the intraoral scanner 730 is arranged and configured to form an image (e.g., a 3D surface scan) of the jaw of the patient, wherein the image includes the scan gauge 700 engaged with the anchor portion 20.
  • an intraoral scanner 730 in communication with the computer device 450, wherein the intraoral scanner 730 is arranged and configured to form an image (e.g., a 3D surface scan) of the jaw of the patient, wherein the image includes the scan gauge 700 engaged with the anchor portion 20.
  • Such aspects of the dental implant system 100 may be particularly useful in instances in which the patient is not connected to a dental implantation robot as disclosed herein. That is in order to determine the as-implanted characteristics of the screw portion 20A or the anchor portion 20, the dental implantation robot may not be required to be engaged with the patient in order for the locating probe (end effector 500 received by the procedure-conducting device 150) to be implemented as disclosed herein.
  • the intraoral scanner 730 can be used to image the jaw and the scan gauge 700 installed on an implanted anchor portion 20, wherein this imaging of the jaw and the scan gauge 700 engaged with the anchor portion 20 of the dental implant 10 would allow the location, angle, etc. of the implanted screw portion 20A and/or the abutment 20B to be determined, which can then be related back to the virtual procedure plan.
  • aspects of the present disclosure involving the scan gauge 700 (see, e.g., FIG. 13A) having the elongate body 710 extending laterally non-parallel to the engagement element 720 address the noted example situation in which prior art scanning abutments affixed to corresponding anchor portions are too far apart to be captured in a single image with an intraoral scanner. That is, in such aspects involving the scan gauge 700, the engagement element 720 engages the anchor portion 20 (e.g., the screw portion 20A and/or the abutment 20B as shown in FIGS. 11A-11C) such that the elongate body 710 of the scan gauge 700 extends laterally and non-parallel to the anchor portion 20.
  • the anchor portion 20 e.g., the screw portion 20A and/or the abutment 20B as shown in FIGS. 11A-11C
  • the scan gauge 700 is configured to engage the anchor portion 20, by way of the engagement element 710, such that the elongate body 720 extends laterally to the anchor portion 20 (e.g., the elongate body 720 defines an axis extending perpendicularly to an axis defined by the anchor portion 20). Since the elongate body 720 extends laterally to the anchor portion 20, the elongate body 720 may have a sufficient length or span such that the scan gauge 700 provides sufficient features or landmarks extending into the spacing between adjacent anchor portions 20 to images captured by the intraoral scanner 730 to be “stitched’ together to form a single image of the implanted anchor portions 20 relative to each other.
  • a dentist may be able to use an intraoral scanner 730 in communication with the computer device 450 to scan and image the arch and the anchor portions 20 implanted therein, wherein the computer device 450 may then stitch the scans/images across the together based on the features and/or landmarks of the scan gauge(s) 700.
  • the abutment 20B may also be configured as the scan gauge 700 such that the abutment 20B could have dual functionality as disclosed herein for the abutment 20B as well as the scan gauge 700. That is, in some aspects, the abutment 20B can define a receptacle 25 arranged in known spatial relation with the screw portion 20 A, upon engagement of the abutment 20B with the screw portion 20 A. However, the abutment 20B can also include the engagement element 720 configured to engage the implanted screw portion 20A such that the elongate body 710 extends laterally and non-parallel to the screw portion 20 A.
  • the abutment 20B so configured may be engaged with the screw portion 20A such that the receptacle 25 is arranged for receiving the locating probe when the dental implant robot is engaged with the patient, or such that the engagement element 720 engages the screw portion 20A and the elongate body 710 extends laterally and non-parallel to the screw portion 20A when the dental implant robot is not engaged with the patient.
  • the scan gauge 700 may be a component of the dental implant system 100, in addition to the abutment 20B, wherein the scan gauge 700 can be implemented to engage the abutment 20B (with the abutment 20B engaged with the implanted screw portion 20 A) for scanning using the intraoral scanner 730, and then removed from the abutment 20B upon capture of the necessary images.
  • the actual spatial relation and orientation (including angular orientation and rotational orientation), etc. of the screw portion 20 A can be compared to the spatial parameters of the screw portion 20 A in the virtual procedure plan.
  • any differences between the spatial parameters of the anchor portion 20/screw portion 20A in the virtual procedure plan and the determined (actual) spatial parameters of the implanted anchor portion 20/screw portion 20A allow the implanted anchor portion 20/screw portion 20A to be adjusted to minimize or eliminate any determined difference.
  • the spatial parameters of the anchor portion 20/screw portion 20A in the virtual procedure plan can be updated with the determined (actual) spatial parameters of the implanted anchor portion 20/screw portion 20 A.
  • the computer device 450 is further configured to determine the spatial parameters of the implanted anchor portion 20/screw portion 20A including, for example, a location of the anchor portion 20/screw portion 20A relative to the jaw or relative to other structures associated with the jaw, an orientation of the anchor portion 20/screw portion 20A relative to the jaw, an implantation depth relative to the jaw, a rotational index of the anchor portion 20/screw portion 20 A relative to the jaw, or spatial parameters (including locations) of one implanted anchor portion 20/screw portion 20A relative to one or more other implanted anchor portion(s) 20/screw portion(s) 20A.
  • Such spatial parameters can also be determined with respect to the fiducial marker.
  • the computer device 450 is configured to determine any differences between the spatial parameters of the anchor portion 20/screw portion 20A in the virtual procedure plan and the determined spatial parameters of the implanted anchor portion 20/screw portion 20A such that the implanted anchor portion 20/screw portion 20A can be adjusted to minimize or eliminate any determined difference. In some aspects, the computer device 450 is configured to update spatial parameters of the anchor portion 20/screw portion 20A in the virtual procedure plan with the determined spatial parameters of the implanted anchor portion 20/screw portion 20 A.
  • the dental implant 10 includes a prosthetic portion 30 configured to engage the abutment 20B.
  • the virtual procedure plan includes a known spatial relation between the prosthetic portion 30 and the abutment 20B, and the computer device 450 is configured to update spatial parameters of the prosthetic portion 30 in the virtual procedure plan to compensate for any difference between the determined spatial parameters of the implanted anchor portion 20/screw portion 20A and the spatial parameters of the anchor portion 20/screw portion 20A in the virtual procedure plan.
  • a forming device 480 see, e.g., FIG.
  • the computer device 450 is in communication with the computer device 450, and is configured to form the prosthetic portion 30 of the dental implant 10 according to the update spatial parameters of the prosthetic portion 30 in the virtual procedure plan, so as to allow the formed prosthetic portion 30 to be engaged with the abutment 20B such that the installed prosthetic portion 30 has the desired spatial parameters included in the virtual procedure plan.
  • aspects of the present disclosure generally address a method 600 of implanting a dental implant.
  • Such a method comprises, for example, engaging a fiducial device with maxillofacial anatomy of a patient, wherein the fiducial device has a fiducial marker engaged therewith and is arranged in communication with a tracking arm, with the tracking arm being arranged in communication with a robot arm having a procedure-conducting device engaged with a distal end thereof, and wherein the procedure-conducting device is arranged to interchangeably receive a plurality of end effectors (block 610).
  • a virtual procedure plan is formed for implanting at least a screw portion of a dental implant in the jaw of the patient, in registration with and relative to the fiducial marker, wherein the dental implant includes an anchor portion having the screw portion and an abutment (block 620).
  • a bore is formed in the jaw for receiving the screw portion, with a first end effector engaged with the procedure-conducting device, and according to the virtual procedure plan (block 630).
  • the abutment is engaged with the screw portion upon the screw portion being implanted within the bore, wherein the abutment defines a receptacle, such that the receptacle is arranged in known spatial relation with the implanted screw portion (block 640).
  • a second end effector comprising a locating probe received by the procedure-conducting device, is engaged with the receptacle defined by the abutment such that the locating probe is arranged in a known spatial relation with the abutment (block 650). From the known spatial relations, spatial parameters of the implanted screw portion are determined for comparison with the virtual procedure plan (block 660).
  • FIG. 14 Another aspect of the present disclosure, as shown, for example, in FIG. 14, generally addresses a method 800 of implanting a dental implant.
  • a method 800 comprises, for example, engaging a fiducial device with maxillofacial anatomy of a patient (block 810), the fiducial device having a fiducial marker engaged therewith and being arranged in communication with a tracking arm, the tracking arm being arranged in communication with a robot arm having a procedure-conducting device engaged with a distal end thereof, and the procedure-conducting device being arranged to interchangeably receive a plurality of end effectors.
  • a virtual procedure plan is formed for implanting at least a screw portion of a dental implant in the jaw of the patient, the dental implant including an anchor portion comprising the screw portion and an abutment, in registration with and relative to the fiducial marker (block 820).
  • a bore is formed in the jaw, with a first end effector engaged with the procedure-conducting device, for receiving the screw portion according to the virtual procedure plan (block 830).
  • a scan gauge is engaged with the anchor portion (e.g., the abutment 20B or the screw portion 20 A) upon the screw portion being implanted within the bore, the scan gauge having an elongate body extending laterally non-parallel to an engagement element, the engagement element being configured to engage the anchor portion (e.g., the abutment 20B or the screw portion 20 A), such that the engagement element and the elongate body of the scan gauge are arranged in known spatial relation with the anchor portion (block 840).
  • An image of the jaw of the patient is formed using an intraoral scanner, wherein the image includes the scan gauge engaged with the anchor portion (block 850).
  • spatial parameters of at least the implanted screw portion are determined for comparison with the virtual procedure plan (block 860).
  • Other method aspects of the present disclosure will otherwise be apparent to a person of ordinary skill in the art based upon the disclosure of the system aspects included herein.
  • the locating probe e.g., probing drill tip
  • the procedure-conducting device (handpiece) on the robot can be used to engage/contact an installed abutment.
  • This contact/engagement between the locating probe and abutment would allow the location, angle, etc. of the implanted abutment and screw portion to be determined, which can then be related back to the virtual procedure plan.
  • an intraoral scanner can be used to image the jaw and a scan gauge installed on an implanted anchor portion.
  • This imaging of the jaw and the scan gauge engaged with the anchor portion of the dental implant would allow the location, angle, etc. of the implanted screw portion and/or the abutment to be determined, which can then be related back to the virtual procedure plan.
  • spatial data of the abutment / implanted screw portion could be used by the system to instruct the dentist to correct any implant placement issues (e.g., position, angle, or timing / index / orientation of the implant).
  • the spatial data could be used to adjust / correct the software (virtual procedure plan), such that the updated virtual procedure plan corresponds to the actual implantation results.
  • the virtual procedure plan could then be exported to manufacturing equipment (e.g., a 3D printer or CAD/CAM mill), to prepare the abutment and/or the prosthetic portion to correspond with the actual implantation of the screw portion, to provide the resulting dental implant implanted according to the virtual procedure plan.
  • manufacturing equipment e.g., a 3D printer or CAD/CAM mill

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  • General Health & Medical Sciences (AREA)
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  • Oral & Maxillofacial Surgery (AREA)
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Abstract

Un système d'implant dentaire et des procédés comprennent un dispositif de repère et un marqueur en communication avec un bras de robot ayant un dispositif conducteur de procédure avec des effecteurs terminaux interchangeables. Un plan de procédure virtuelle comprend l'implantation d'une partie vis d'un implant dentaire en alignement avec le marqueur de repère. Un premier effecteur terminal forme un alésage selon le plan de procédure virtuelle et la partie vis est implantée à l'intérieur de celui-ci. Une butée en prise avec la partie vis délimite un réceptacle en relation spatiale connue avec la partie vis. Le réceptacle en relation spatiale connue avec la butée est mis en prise par un effecteur terminal de sonde de localisation. En variante, une jauge de balayage avec un corps s'étendant latéralement jusqu'à un élément de mise en prise en prise avec une partie d'ancrage est imagée, l'élément de mise en prise et le corps étant agencés en relation spatiale connue avec la partie d'ancrage. À partir des relations spatiales connues, des paramètres spatiaux de la partie vis implantée sont déterminés.
PCT/IB2025/053422 2024-04-01 2025-04-01 Système de détermination de paramètres tels qu'implantés d'une partie d'ancrage d'un implant dentaire Pending WO2025210513A1 (fr)

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US202463572741P 2024-04-01 2024-04-01
US63/572,741 2024-04-01
US202563779589P 2025-03-28 2025-03-28
US63/779,589 2025-03-28

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DE102010019583A1 (de) * 2010-05-05 2011-11-10 Holger Zipprich Reibungsminimierende rotatorische Selbstzentrierung einer Verbindung zwischen einem Aufbauteil und einem Pfostenteil welches zur Insertion in den Kieferknochen vorgesehen ist
US8808000B2 (en) 2008-04-02 2014-08-19 Neocis, Inc. Guided dental implantation system and associated device and method
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US20180078332A1 (en) * 2016-09-19 2018-03-22 Neocis, Inc. Tracking and guidance arrangement for a surgical robot system and related method
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US10639128B2 (en) 2014-01-06 2020-05-05 Neocis, Inc. Splint device for forming a fiducial marker for a surgical robot guidance system, and associated method
US20220233248A1 (en) 2019-07-24 2022-07-28 Neocis Inc. Splint device forming a fiducial marker co-operable with a guidance system of a robot
CN116115371A (zh) * 2023-04-17 2023-05-16 杭州键嘉医疗科技股份有限公司 一种无牙颌种植导航手术中的口腔cbct配准方法
US11766169B2 (en) * 2019-11-04 2023-09-26 Implant Solutions Pty Ltd Apparatus for facilitating acquisition of a scan and intraoral scanning procedures

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US8808000B2 (en) 2008-04-02 2014-08-19 Neocis, Inc. Guided dental implantation system and associated device and method
US10918459B2 (en) 2008-04-02 2021-02-16 Neocis, Inc. Guided dental implantation system and associated device and method
DE102010019583A1 (de) * 2010-05-05 2011-11-10 Holger Zipprich Reibungsminimierende rotatorische Selbstzentrierung einer Verbindung zwischen einem Aufbauteil und einem Pfostenteil welches zur Insertion in den Kieferknochen vorgesehen ist
US10639128B2 (en) 2014-01-06 2020-05-05 Neocis, Inc. Splint device for forming a fiducial marker for a surgical robot guidance system, and associated method
US20160367343A1 (en) * 2014-03-04 2016-12-22 Neocis, Inc. Surgical robot system for integrated surgical planning and implant preparation, and associated method
US10016242B2 (en) 2016-06-06 2018-07-10 Neocis Inc. Splint device for forming a fiducial marker for a surgical robot guidance system, and associated method
US20180078332A1 (en) * 2016-09-19 2018-03-22 Neocis, Inc. Tracking and guidance arrangement for a surgical robot system and related method
US20220233248A1 (en) 2019-07-24 2022-07-28 Neocis Inc. Splint device forming a fiducial marker co-operable with a guidance system of a robot
US11766169B2 (en) * 2019-11-04 2023-09-26 Implant Solutions Pty Ltd Apparatus for facilitating acquisition of a scan and intraoral scanning procedures
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