TWI894893B - Robot system with mobile platform and associated method - Google Patents

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

Robotic system with mobile platform and related methods

This application relates to robotic systems, and more particularly, to robotic systems interfaced with and supported by a mobile platform and related methods.

During certain procedures, such as dental procedures, the patient is typically seated in a reclining or supine position on a support surface, such as a dental chair. Consequently, the dental professional, typically positioned to the side of the dental chair, must contort their body and attempt to gain access to the patient's mouth, or manipulate a small hand mirror in or around the patient's mouth, in order to view the procedure being performed or the part/object being performed.

In cases where a guided robotic system is used to perform the procedure, a tracking arm may also be implemented to track the patient's position and/or movements during the procedure, and such tracking arm is typically 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 any case, the tracking arm is typically placed in close proximity to the patient's mouth and may therefore compete with the dental professional for access to the patient's mouth.

Typically, a robotic system is placed to the side of the dentist's chair, which may require a longer tracking arm to achieve the necessary distance or proximity to the patient's mouth. In this case, the longer tracking arm often requires the tracking process to be more complex and involved to provide the appropriate accuracy for the robotic procedure. In addition, the tracking arm often needs to be mounted near and/or in a known vicinity of the robotic arm that interfaces with the instruments used to perform the procedure, and because a stable base is often required to support the robotic system, the robotic system's footprint can be relatively large. As a result, dental professionals may often be prevented from accessing the patient from the side of the dentist's chair where the robotic system is placed.

As a result, such robotic-assisted dental procedures are often cumbersome, user-unfriendly, and unergonomic for dental professionals. Robotic systems may also be more complex or overbuilt (and therefore more expensive) due to the implementation requirements of current systems. Consequently, such robotic systems may occupy a relatively large footprint, which may lead to the aforementioned deployment/implementation limitations, as well as more extensive storage requirements when the robotic system is not in use.

Therefore, there is a need for a robotic system, and in some cases a dental robotic system, that allows dental professionals to perform robotic-assisted dental/maxillofacial procedures in a user-friendly, flexible, and ergonomic manner, while being able to approach the patient from both sides of the dentist's chair. Such a robotic system should preferably be effective without restricting the mobility of the instrument or the accessibility of the instrument to the patient's dental/maxillofacial structure, while allowing the robotic system to be placed closer to the patient's dental/maxillofacial structure to reduce the complexity and/or structural requirements of the robotic system. Therefore, such a robotic system should also ideally provide the required stability while minimizing its footprint.

The above and other needs are met by aspects of the present disclosure, wherein in one particular aspect, a robotic system is provided, comprising a tracking arm having a distal end adapted to communicate with a reference position of an object located at or near a site or received at the site, wherein the reference position is positioned in three-dimensional space in relation to a proximal end of the tracking arm. The robotic arm has a procedure tool coupled to a distal end of the robotic arm, wherein the procedure tool has an end effector coupled thereto and the end effector has a distal end adapted to interact with the site or the object, the robotic arm having a proximal end positioned in a known relationship to the proximal end of the tracking arm. The controller includes a processor and a memory, and is configured to be in operable communication with the tracking arm, the robotic arm, and the procedure tool. The controller is configured to determine, via the robotic arm and the tracking arm, a real spatial relationship between the procedure tool and the reference position in the three-dimensional space, wherein the real spatial relationship includes a position of the distal end of the end effector of the procedure tool relative to the reference position. The platform has spaced apart support members and an intermediate member extending between the support members, wherein the intermediate member cooperates with the support members so that the intermediate member spans the part or the object, and the platform is configured such that the robotic arm and the tracking arm are mounted on the platform and extend from the platform.

Another aspect of the present disclosure provides a method of forming a robotic system, wherein the method includes providing a robotic arm with a proximal end positioned in a known relationship to a proximal end of a tracking arm, wherein the tracking arm has a distal end adapted to communicate with a reference position of an object located at or near a site or received at the site, and wherein the reference position is positioned in a three-dimensional space in relationship to a proximal end of the tracking arm. A procedure tool is coupled to the distal end of the robotic arm, wherein the procedure tool has an end effector coupled thereto, and wherein the end effector has a distal end adapted to interact with the site or the object. A controller including a processor and a memory is configured to be in operable communication with the tracking arm, the robotic arm, and the programming tool. The controller is configured to determine, via the robotic arm and the tracking arm, a real spatial relationship between the programming tool and the reference position in the three-dimensional space, the real spatial relationship including a position of the distal end of the end effector of the programming tool relative to the reference position. The robotic arm and the tracking arm are mounted on a platform, wherein the platform has spaced apart support members and an intermediate member extending between the support members, and wherein the intermediate member cooperates with the support members so that the intermediate member spans the part or the object, thereby allowing the robotic arm and the tracking arm to extend from the platform.

Therefore, the present disclosure includes but is not limited to the following exemplary embodiments:

Example embodiment 1 : A robotic system comprising: a tracking arm having a distal end adapted to communicate with a reference position of an object located at or near a site or received at the site, the reference position being arranged in a three-dimensional space in relation to a proximal end of the tracking arm; a robotic arm having a programming tool coupled to a distal end of the robotic arm, the programming tool having an end effector coupled thereto, the end effector having a distal end adapted to interact with the site or the object, the robotic arm having a proximal end arranged in a known relationship to the proximal end of the tracking arm; a controller comprising a processor and a memory, the A controller is configured to communicate operatively with the tracking arm, the robotic arm, and the programming tool, the controller being configured to determine, through the robotic arm and the tracking arm, an actual spatial relationship between the programming tool and the reference position in the three-dimensional space, the actual spatial relationship including a position of the distal end of the end effector of the programming tool relative to the reference position; and a platform having spaced apart support members and an intermediate member extending between the support members, the intermediate member cooperating with the support members so that the intermediate member spans the part or the object, and the platform being configured so that the robotic arm and the tracking arm are mounted on and extend from the platform.

Example Embodiment 2 : The system of any preceding example embodiment or a combination thereof, wherein the proximal end of the robotic arm and the proximal end of the tracking arm are mounted to the platform with a known relationship therebetween.

Example Embodiment 3 : The system of any preceding example embodiment or combination thereof, wherein the support member includes a proximal end engaged with the intermediate member and a distal end opposite the proximal end, the distal end being configured to interact with a support surface to stabilize the intermediate member relative to the support surface.

Example Embodiment 4 : The system of any preceding example embodiment or a combination thereof, comprising casters engaged with the distal end of the support member and configured to enable the platform to move relative to the support surface.

Example Embodiment 5 : The system of any preceding example embodiment or combination thereof, wherein one or more of the casters are configured to be selectively fixed to prevent movement of the platform relative to the support surface.

Example embodiment 6 : The system of any preceding example embodiment or a combination thereof, wherein one of the intermediate member or the support member is configured to receive and support the controller.

Example Embodiment 7 : The system of any preceding example embodiment or combination thereof, wherein the intermediate component includes or defines a container configured to receive one or more elements adapted for interacting with the part or the object.

Example embodiment 8 : The system of any preceding example embodiment or a combination thereof, wherein one of the intermediate member or the support member includes or defines a plurality of containers, each container being configured to receive an element adapted for interaction with the part or the object.

Example Embodiment 9 : The system of any preceding example embodiment or a combination thereof, wherein each container includes a lighting element associated therewith and configured to selectively illuminate the container.

Example embodiment 10 : The system of any of the preceding example embodiments or combinations thereof, wherein the controller is configured to communicate with the lighting element and actuate the lighting element associated with one of the containers to indicate that the element received therein is the next to be used in a procedure performed on the part or the object.

Example Embodiment 11 : The system of any preceding example embodiment or combination thereof, wherein the intermediate member is configured to have an adjustable length such that a span of the intermediate member is adjustable relative to the part or the object.

Example Embodiment 12 : The system of any preceding example embodiment or a combination thereof, wherein the support member is configured to have an adjustable length such that a height of the middle member relative to the part or the object is adjustable.

Example Embodiment 13 : The system of any preceding example embodiment or combination thereof, wherein the proximal end of the robotic arm and the proximal end of the tracking arm are mounted to a proximal end of one of the support members with a known relationship therebetween.

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

Example embodiment 15 : The system of any preceding example embodiment or combination thereof, wherein the intermediate member includes a first portion pivotally coupled to a second portion, and wherein the platform is configured to fold about the pivotable joint between the first portion and the second portion of the intermediate member to reduce a lateral footprint of the platform.

Example Embodiment 16 : A method of forming a robotic system, comprising providing a robotic arm with a proximal end positioned in a known relationship to a proximal end of a tracking arm, the tracking arm having a distal end adapted to communicate with a reference position of an object located at or adjacent to a site or received at the site, the reference position positioned in a three-dimensional space in relationship to a proximal end of the tracking arm; coupling a procedure tool to a distal end of the robotic arm, the procedure tool having an end effector coupled thereto, the end effector having a distal end adapted to interact with the site or the object; providing a controller comprising a processor and a memory, the controller comprising: A controller is in operable communication with the tracking arm, the robotic arm, and the programming tool, the controller being configured to determine, through the robotic arm and the tracking arm, an actual spatial relationship between the programming tool and the reference position in the three-dimensional space, the actual spatial relationship including a position of the distal end of the end effector of the programming tool relative to the reference position; and mounting the robotic arm and the tracking arm to a platform having spaced-apart support members and an intermediate member extending therebetween, the intermediate member cooperating with the support member so that the intermediate member spans the part or the object so that the robotic arm and the tracking arm extend from the platform.

Example Embodiment 17 : The method of any preceding example embodiment or a combination thereof, wherein mounting the robotic arm and the tracking arm comprises mounting the proximal end of the robotic arm and the proximal end of the tracking arm to the platform with a known relationship therebetween.

Example Embodiment 18 : The method of any preceding example embodiment or a combination thereof, wherein the support member includes a proximal end engaged with the intermediate member and a distal end opposite the proximal end, and wherein the method includes configuring the distal end of the support member to interact with a support surface to stabilize the intermediate member relative to the support surface.

Example Embodiment 19 : The method of any preceding example embodiment or combination thereof, comprising engaging casters with the distal end of the support member, the casters being configured to enable the platform to move relative to the support surface.

Example Embodiment 20 : The method of any preceding example embodiment or combination thereof, comprising configuring one or more of the casters to be selectively fixed to prevent movement of the platform relative to the support surface.

Example Embodiment 21 : The method of any preceding example embodiment or a combination thereof, comprising configuring one of the intermediate member or the support member to receive and support the controller.

Example Embodiment 22 : The method of any preceding example embodiment or combination thereof, comprising configuring the intermediate member to include or define a container configured to receive one or more elements adapted for interaction with the part or the object.

Example Embodiment 23 : The method of any preceding example embodiment or combination thereof, comprising configuring one of the intermediate member or the support member to include or define a plurality of containers, each container being configured to receive an element adapted for interaction with the part or the object.

Example Embodiment 24 : The method of any preceding example embodiment or combination thereof, comprising configuring each container to include a lighting element associated therewith and configured to selectively illuminate the container.

Example Embodiment 25 : The method of any of the foregoing example embodiments or combinations thereof, comprising configuring the controller to communicate with the lighting element and actuate the lighting element associated with one of the containers to indicate that the element received therein is the next to be used in a procedure performed on the part or the object.

Example Embodiment 26 : The method of any preceding example embodiment or combination thereof, comprising configuring the intermediate member to have an adjustable length such that a span of the intermediate member is adjustable relative to the portion or the object.

Example Embodiment 27 : The method of any preceding example embodiment or combination thereof, comprising configuring the support member to have an adjustable length such that a height of the intermediate member relative to the portion or the object is adjustable.

Example Embodiment 28 : The method of any preceding example embodiment or a combination thereof, wherein mounting the robotic arm and the tracking arm comprises mounting the proximal end of the robotic arm and the proximal end of the tracking arm to a proximal end of one of the support members with a known relationship therebetween.

Example Embodiment 29 : The method of any preceding example embodiment or a combination thereof, comprising configuring the intermediate member to be flattenable to reduce a lateral footprint of the platform.

Example embodiment 30 : The method of any preceding example embodiment or a combination thereof, wherein the intermediate member includes a first portion pivotally coupled to a second portion, and wherein the method includes configuring the platform to be foldable about the pivotable joint between the first portion and the second portion of the intermediate member to reduce a lateral footprint of the platform.

These and other features, aspects, and advantages will become apparent from the following detailed description and from a review of the accompanying drawings, which are briefly described below. This disclosure encompasses any combination of two, three, four, or more features or elements mentioned herein, regardless of whether such features or elements are explicitly combined in the description of a particular embodiment herein or otherwise described. This disclosure is intended to be read as a whole, such that any separable features or elements of this disclosure, in any aspect or embodiment thereof, should be considered intended to be combinable unless the context of this disclosure clearly indicates otherwise.

It should be understood that the summary provided herein is intended only to summarize some example aspects in order to provide a basic understanding of the present disclosure. Therefore, it should be understood that the above-described example aspects are merely examples and should not be construed in any way to narrow the scope or spirit of the present disclosure. It should be understood that the scope of the present disclosure encompasses many potential aspects beyond those summarized herein, some of which will be further described below. Furthermore, other aspects disclosed herein and advantages of these aspects 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.

The present disclosure will now be described more fully with reference to the accompanying drawings, which illustrate some, but not all, aspects of the present disclosure. Indeed, the present 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 the present disclosure will satisfy applicable legal requirements. Like numbers refer to like elements throughout.

FIG1 schematically illustrates a robotic system 100 according to one aspect of the present disclosure. The 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 may be a maxillary structure or a tooth structure, and the object 50 may be a tooth, a dental implant/crown, or the like.

While aspects of the present disclosure include examples relating the robotic system to maxillofacial/dental anatomy or maxillofacial structures, one of ordinary skill in the art will understand that in some aspects, reference to maxillofacial/dental anatomy or maxillofacial/dental structures is intended solely to provide an example of an object that interacts with the disclosed procedure tools/end effectors and/or robotic systems. Otherwise, references to "objects" herein directly and unambiguously refer to non-human objects. In some examples, these non-human objects are models of maxillofacial/dental anatomy or maxillofacial/dental structures or other non-human representations or reproductions of these anatomy or structures. The systems and methods disclosed herein are implemented to provide, for example, dental professionals with convenient and effective training tools or training initiatives to develop their skills in the procedures and tools described herein. Furthermore, any methods disclosed and claimed herein are specifically directed to the control and operation of the systems described and claimed herein, wherein such methods are specifically not directed to human surgical methods, but rather to the operation of robotic systems and/or process tools and end effectors associated with the training procedures previously indicated.

Furthermore, while aspects of the present disclosure illustrate example procedures involving maxillofacial/dental anatomy, those skilled in the art will appreciate that the concepts of the robotic systems and methods disclosed herein may be applicable to other non-dental surgical procedures, such as orthopedic surgery, ear, nose and throat (ENT) surgery, and neurosurgery. Therefore, the disclosed aspects presented herein are merely examples of the applicability of the disclosed concepts and are not intended to limit their applicability in any way. That is, aspects of the robotic systems disclosed herein may be applied to various parts of a patient to facilitate other types of surgery besides dental surgery.

In some embodiments, such as those shown in Figures 1 and 2, procedure tool 200 is a drilling device and end effector 300 is a drill bit or a grinding head. In other embodiments, procedure tool 200 is an ultrasonic cleaner and end effector 300 is a cleaning head. In still other embodiments, procedure tool 200 is a pneumatic polisher and end effector 300 is a polishing head. Procedure tool 200 is coupled to distal end 725 of articulated robotic arm 750 of robotic system 100, and end effector 300 of procedure tool 200 is adapted to interact with site 25 and/or object 50 received at the site.

The controller 800, which may include or comprise a special-purpose computer including at least a processor and a memory, is configured to communicate with the articulated robotic arm 750, the programming tool 200, and a fiducial marker 900 (see, for example, FIG. 3 ). The fiducial marker 900 is adapted to engage a reference location 10 located at or adjacent to the part 25 or object 50. The controller 800 is configured to, for example, determine the configuration of the end effector 300 relative to the fiducial marker 900 as the end effector 300 moves to interact with the part 25 or object 50. The controller 800 is further configured to direct the articulated robotic arm 750 to physically control or adjust the allowable movement of the procedure tool 200 directly relative to the configuration of the end effector 300, which is associated with the fiducial marker 900 engaged with the reference location 10, so as to account for and accommodate movement of the part 25 or object 50 in the robotic procedure, for example. For example, in some aspects, the controller 800 is implemented to develop a plan, procedure, or operation that includes a procedure tool 200/end effector 300 that is directed to and from a route approaching (i.e., to a temporary location) a part 25 or object 50 and away from the temporary location/part 25 or object 50, and a subsequent route along which the procedure tool 200/end effector 300 is manipulated to interact with the part 25 or object 50, wherein the end effector 300 executes the plan/procedure/operation (in some cases, within a predetermined trajectory).

According to aspects of the present disclosure, a developed plan/procedure/operation details the movement (including trajectory) of the procedure tool 200/end effector 300 along a route to a temporary location and toward and engage with the part 25 or object 50, while the articulated robotic arm 750 (with the procedure tool 200 attached to its distal end 725) includes structure and adjustment functionality to allow manual movement of the procedure tool 200 along the permitted paths or routes according to the plan/procedure/operation. However, manual movement of the procedure tool 200 outside of the permitted paths or routes is restricted, blocked, or otherwise prevented by the articulated robotic arm 750.

In some aspects (see, for example, FIG. 1 ), the distal end 1025 of the tracking arm 1050 is physically engaged with the fiducial marker 900. The tracking arm 1050 is a separate and independent component from the articulated robotic arm 750. Furthermore, the tracking arm 1050 is in communication with the controller 800 and is configured to cooperate with the controller 800 to enable 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 articulated robotic arm 750 and the tracking arm 1050). In other aspects (see, e.g., FIG. 2 ), the robotic system 100 includes a detector 1000 coupled to a distal end 1025 of a tracking arm 1050, wherein the tracking arm 1050 is a separate and independent component from the articulated robotic arm 750. The tracking arm 1050 and the detector 1000 are configured to communicate with the controller 800. The detector 1000 is further configured to cooperate with the tracking arm 1050 so that the tracking arm 1050 positions the detector 1000 in a spaced relationship with the fiducial marker 900 (which is engaged with the reference location 10) to detect the fiducial marker 900 and cooperate with the controller 800 to determine the spatial relationship between the fiducial marker 900/reference location 10 and the end effector 300 (via the articulated robotic arm 750 and the tracking arm 1050). In certain exemplary embodiments, the detector 1000 is an electrical detector, a motor detector, an electromagnetic detector, an optical detector, an infrared detector, or a combination thereof.

In some aspects, the articulated robotic arm 750 has a proximal end 720 and an opposing distal end 725. One or more sensors 730 are operably coupled to the articulated robotic arm 750 and configured to sense positional data associated with the articulated robotic arm 750. For example, the one or more sensors 730 are coupled to one of the plurality of arm members of the articulated robotic arm 750 and/or to an articulation between arm members or between an arm member and other components of the articulated robotic arm 750 (e.g., between the proximal end 720 of the articulated robotic arm 750 and the base member 715). In this manner, the positional data sensed by the one or more sensors 730 includes, for example, spatial relationships (e.g., orientation, position, etc.) of the articulated robotic arm 750 and/or its components in three-dimensional space. In some cases, the spatial relationship is determined relative to the base member 715 to which the proximal end 720 of the articulated robotic arm 750 is mounted. Thus, in some aspects, one or more sensors 730 are coupled to the articulated robotic arm 750 such that position data sensed by the one or more sensors 730 indicates the spatial position of at least the distal end 725 of the articulated robotic arm 750 in three-dimensional space, and in some cases relative to the base member 715/proximal end 720 of the articulated robotic arm 750. The position of the procedure tool 200/end effector 300 in three-dimensional space is related to, known or determined from, or otherwise associated with the position of the distal end 725 of the articulated robotic arm 750 as determined by positional data from one or more sensors 730, and the articulation of the procedure tool 200 with the distal end 725 of the articulated robotic arm 750. Thus, the position of the distal end of the end effector 300 relative to the proximal end 720 of the robotic arm 750 is determined by the positional data from one or more position sensors 730.

In some aspects, the tracking arm 1050 has a proximal end 1020 and an opposing distal end 1025. One or more sensors 1030 are operably coupled to the tracking arm 1050 and configured to sense positional data associated with the tracking arm 1050. For example, the one or more sensors 1030 are coupled to one of a plurality of arm components of the tracking arm 1050 and/or to a joint between arm components or between an arm component and other components of the tracking arm 1050 (e.g., between the proximal end 1020 of the tracking arm 1050 and the base component 715). In this manner, the positional data sensed by the one or more sensors 1030 includes, for example, spatial relationships (e.g., orientation, position, etc.) of the tracking arm 1050 and/or its components in three-dimensional space. In some cases, the spatial relationship is determined relative to the base member 715 to which the proximal end 1020 of the tracking arm 1050 is mounted. Thus, in some aspects, one or more sensors 1030 are coupled to the tracking arm 1050 such that position data sensed by the one or more sensors 1030 indicates the spatial position of at least the distal end 1025 of the tracking arm 1050 in three-dimensional space, and in some cases relative to the base member 715/proximal end 1020 of the tracking arm 1050. The position of the reference location 10 in three-dimensional space is associated with, known from, or otherwise related to the position of the distal end 1025 of the tracking arm 1050 as determined by position data from one or more detectors 1030, and the physical engagement between the fiducial marker 900/reference location 10 and the distal end 1025 of the tracking arm 1050, or 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 position of the distal end 1025 of the tracking arm 1050 relative to its proximal end 1020 is determined by the position data of the one or more position sensors 1030.

Thus, according to some aspects, the robotic system 100 includes a tracking arm 1050 having a distal end 1025 configured or adapted to communicate with a reference location 10 located at or near a site 25 or an object 50 received at the site 25. The reference location 10 is configured in three-dimensional space in a relationship to a proximal end 1020 of the tracking arm 1050. The robotic arm 750 has a procedure tool 200 engaged with its distal end 725, wherein the procedure tool 200 has an 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 robotic arm 750 is configured or adapted to communicate with the proximal end 1020 of the tracking arm 1050.

The controller 800 is configured to communicate operatively with the tracking arm 1050, the robotic arm 750, and the procedure tool 200, wherein the controller 800 is configured to determine, via the robotic arm 750 and the tracking arm 1050, an actual spatial relationship between the procedure tool 200 and the reference position 10 in three-dimensional space, and wherein the actual spatial relationship includes a position of a distal end of the end effector 300 of the procedure tool 200 relative to the reference position 10. The controller 800 is further configured to guide the procedure tool 200 to a temporary position adjacent to the part 25 or object 50 by adjusting the movement of the robot arm 750 according to the operation plan and based on the actual spatial relationship, wherein the operation plan includes the path of the end effector 300 to and from the part 25 or object 50, and the path of the end effector 300 during execution of the procedure at the part 25 or on the object 50.

One aspect of the present disclosure, such as shown in Figures 1 to 3, Figures 4A to 4D, Figures 5A to 5B, Figures 6A to 6B, Figures 7A to 7B, and Figures 8A to 8B, provides a robotic system 100, which includes a tracking arm 1050, wherein the tracking arm 1050 has a distal end 1025 (as shown in Figures 1 to 3) adapted for communicating with a reference location 10 of an object 50 located at or adjacent to a location 25 or received at the location 25, the reference location 10 being in a relationship with the proximal end 1020 of the tracking arm 1050 in three-dimensional space. The robotic arm 750 has a procedure tool 200 engaged with its distal end 725, and the procedure tool 200 has an end effector 300 engaged therewith, wherein the distal end of the end effector 300 is adapted to interact with the part 25 or object 50. The proximal end 720 of the robotic arm 750 is positioned in a known relationship with the proximal end 1020 of the tracking arm 1050. The controller 800 includes a processor and a memory, and is configured to communicate operatively with the tracking arm 1050, the robotic arm 750, and the procedure tool 200, wherein the controller 800 is configured to determine the actual spatial relationship between the procedure tool 200 and the reference position 10 in three-dimensional space through the robotic arm 750 and the tracking arm 1050, and wherein the actual spatial relationship includes the position of the distal end of the end effector 300 of the procedure tool 200 relative to the reference position 10.

In certain aspects, the robotic system 100 includes a platform 1100 having spaced apart support members 1120 and a center member 1140 extending therebetween, wherein the center member 1140 cooperates with the support members 1120 to enable the center member 1140 to span a site 25 or object 50 (e.g., a patient in a dental chair or the dental chair itself). The platform 1100 is further configured to have a robotic arm 750 and a tracking arm 1050 mounted thereto (e.g., via a base member 715) and extending therefrom. More specifically, in certain aspects, the proximal end 720 of the robotic arm 750 and the proximal end 1020 of the tracking arm 1050 are mounted to the platform 1100 in a known relationship therebetween.

Because the robotic 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 robotic system 100, certain aspects require that the platform 1100 provide stable support for the robotic arm 750 and the tracking arm 1050. Therefore, in certain aspects, the support member 1120 includes a proximal end 1125 that engages with the middle member 1140, and a distal end 1130 opposite the proximal end 1125, wherein the distal end 1130 is configured to interact with a support surface 1135 (e.g., a floor) to stabilize the middle member 1140 relative to the support surface 1135. For example, each distal end 1130 can be extended laterally so that its wider base provides stability relative to the support surface 1135. In another example, two or more independently adjustable feet can be engaged with the distal end, where the adjustable feet can be configured to account for any unevenness of the support surface 1135.

In some aspects, each distal end 1130 of support member 1120 includes one or more casters 1160 engaged therewith, and casters 1160 are configured to enable platform 1100 to be movable relative to support surface 1135 (e.g., platform 1100 is movable via casters 1160, enabling platform 1100 to roll on support surface 1135). In some cases, one or more casters 1160 are configured to be selectively fixed to prevent platform 1100 from moving relative to support surface 1135 (e.g., at least one caster 1160 includes a brake 1170 for fixing caster 1160 and preventing platform 1100 from rolling on support surface 1135).

In conjunction with the intermediate member 1140 and the support member 1120, such that the intermediate member 1140 can span the portion 25 or object 50, one of the intermediate member 1140 or the support member 1120 is configured to receive and support the controller 800. That is, one of the intermediate member 1140 or the support member 1120 can include or define a shelf, container, or other facility for receiving the controller 800 (e.g., a computer device), and in some cases, can include a cover 850, a lid, or the like for shielding the received controller 800 (see, e.g., FIG. 4D ). In other aspects, the intermediate member 1140 and/or the support member 1120 can include or define one or more receptacles 1200 (see, e.g., FIG. 5A ) configured to receive one or more components 1250 adapted to interact with the site 25 or object 50. The components 1250 received in the receptacles 1200 can be implemented with the procedure tool 200 (e.g., a different end effector 300), or can be implemented separately/independently from the robotic system 100 (e.g., an irrigation/aspiration tool, a cover, etc.).

In some aspects, as shown in FIG9 , one of the intermediate member 1140 and/or the support member 1120 includes or defines a plurality of receptacles 1200, each of which is configured to receive an element 1250 adapted to interact with a portion 25 or an object 50, wherein in some cases, each receptacle 1200 includes an associated lighting element 1300, and the lighting element 1300 is configured to selectively illuminate the receptacle 1200. For example, the receptacle 1200 can be made of or defined by a transparent or translucent material, such as a suitable polymer material, and one or more lighting elements 1300 can be LEDs or other suitable light-emitting devices configured to illuminate the receptacle 1200 through the transparent/translucent material (i.e., backlighting). In a further aspect, the controller 800 is configured to communicate with the lighting element 1300 and activate the lighting element 1300 associated with one of the plurality of containers 1200 to indicate that the component 1250 received therein is to be used next in a procedure performed on the part 25 or object 50. That is, one of the plurality of containers 1200A may have a fiducial marker 900 (e.g., a clamping plate) therein, while another container 1200B may have a procedure tool 200 (e.g., a drill) and/or an end effector 300 (e.g., a drill bit) therein. In these cases, the controller 800 may first activate the lighting element 1300A associated with the container 1200A having the fiducial marker 900 therein to illuminate the container 1200A and indicate to the user that the “next step” is to remove the clamp and apply it to the site 25/object 50 (e.g., the patient's mouth). Once the task is completed, the controller 800 may deactivate the lighting element 1300A of the clamp container 1200A and subsequently activate the lighting element 1300B associated with the container 1200B having the procedure tool 200/end effector 300 therein to illuminate the container 1200B and indicate to the user that the “next step” is to remove the drill/drill head and apply it to the distal end 725 of the robotic arm 750.

In other aspects, the intermediate member 1140 is configured/arranged to have an adjustable length (see, e.g., FIG. 6A-6B and FIG. 7A-7B ), such that the span of the intermediate member 1140 can be adjusted relative to the part 25 or object 50. For example, because the intermediate member 1140 is extendable/retractable, one of the support members 1120 can be moved toward or away from the other support member 1120. Thus, the platform 1100 is capable of receiving parts 25 or objects 50 having different widths therebetween, in some cases allowing the support members 1120 to be positioned as close to the part 25 or object 50 as possible on either side thereof to provide an efficient footprint, provide desired stability, and maximize a user's access to the part 25/object 50. Another benefit provided by the adjustable-length middle member 1140 is that when the robotic system 100 is not in use, the middle member 1140 can be retracted to reduce the footprint of the platform 1100, thereby reducing the space required to store the robotic system 100. In other aspects, the support member 1120 can be configured/arranged to have an adjustable length so that the height of the middle member 1140 relative to the part 25 or object 50 is adjustable. In other words, the adjustable-length support member 1120 allows the height of the middle member 1140 relative to the part 25/object 50 to be adjusted, for example, to adjust the robotic system 100 to a desired reach of the tracking arm 1050 and/or the robotic arm 750, or to reduce the height requirement for storing the robotic system 100 when not in use.

According to other aspects, the middle member 1140 is also configured/set to be foldable so as to reduce the lateral footprint of the platform 1100. For example, as an alternative to or in addition to the adjustable length middle member 1140, the middle member 1140 can be configured to be foldable to reduce the footprint of the platform 1100 for storage. More specifically, in one embodiment, as shown in Figures 8A to 8B, the intermediate member 1140 includes a first portion 1140A pivotably coupled to a second portion 1140B, wherein the platform 1100 is configured to be foldable about a pivotable joint 1145 between the first portion 1140A and the second portion 1140B of the intermediate member 1140 to reduce the lateral footprint of the platform 1100 for storage of the robotic system 100 when not in use.

6A and 7A , a middle member 1140 that is adjustable in length and/or foldable/pivotable/collapsible provides a reduced lateral footprint for the platform 1100, while the platform 1100 (e.g., the support member 1120) is configured/arranged to provide the stability required to support other components of the robotic system 100 supported by the platform 1100. In other words, the platform 1100 is configured/arranged to provide the stability required to support the robotic arm 750/tracking arm 1050 when the platform 1100 is in an extended state and/or a collapsed/folded/collapsible state. When the platform 1100 is in the collapsed/folded/flattened position and configured to provide the desired stability, the robotic system 100 may, in some cases, be used to perform procedures without the platform 1100 being configured to straddle the site 25/object 50. More specifically, in these circumstances, the robotic system 100 in the folded/collapsed/flattened position can be placed near the site 25/object 50 (e.g., on one side or the other of a dental chair) and implemented to perform a procedure, wherein the reduced lateral footprint of the platform 1100 in the folded/collapsed/flattened position still provides sufficient space for a user to perform the procedure from either side of the site 25/object 50 (e.g., the reduced lateral footprint allows dental procedures to be performed or assisted from either side of the dental chair).

In one embodiment, the proximal end 720 of the robotic arm 750 and the proximal end 1020 of the tracking arm 1050 are mounted on the platform 1100 in a known relationship relative to each other. For example, the proximal end 720 of the robotic arm 750 and the proximal end 1020 of the tracking arm 1050 can be mounted to the intermediate member 1140 at a common pivot point (e.g., the base member 715), so that the robotic arm 750 and the tracking arm 1050 are based on a common origin for tracking purposes. Thus, the intermediate member 1140 can be adjustable in length (see, e.g., FIG. 7A-7B ) and/or pivotable/foldable (see, e.g., FIG. 8A-8B ) about the common pivot point. In other cases, the proximal end 720 of the robotic arm 750 and the proximal end 1020 of the tracking arm 1050 can be mounted to the proximal end 1125 of one of the support members 1120. In any case, the robotic arm 750 and the tracking arm 1050 can be mounted to the platform 1100 in any variety of arrangements as needed or desired to meet the requirements of the particular application of the robotic system 100. In addition, a display 1450 associated with or in communication with the controller 800 can also be mounted to the platform 1100 as needed or desired. In some cases, the display 1450 can be mounted to an articulated arm 1475, which in turn is mounted to the platform 1100. In other cases, the display 1450 may be in the form of, for example, a tablet or other type of portable display that is in wireless communication with the controller 800. In such cases, the platform 1100 may include an ergonomic stand 1500 for removably receiving the portable display 1450 (see, e.g., FIG. 5A-5B ).

For example, as shown in Figure 10, another aspect of the present disclosure provides a method of forming a robotic system 100. The method includes configuring a robotic arm 750 such that its proximal end 720 is configured to be in a known relationship with a proximal end 1020 of a tracking arm 1050, wherein a distal end 1025 of the tracking arm 1050 is adapted to communicate with a reference location 10 of an object 50 located at or near a location 25 or received at the location 25, and wherein the reference location 10 is configured in three-dimensional space to have a relationship with the proximal end 1020 of the tracking arm 1050 (blocks 10-100). A procedure tool 200 having an end effector 300 engaged therewith is engaged with a distal end 725 of a robotic arm 750, wherein the distal end of the end effector 300 is adapted to interact with a part 25 or object 50 (blocks 10-110). A controller 800, including a processor and a memory, is configured to be in operable communication with a tracking arm 1050, the robotic arm 750, and the procedure tool 200, wherein the controller 800 is configured to determine, via the robotic arm 750 and the tracking arm 1050, an actual spatial relationship between the procedure tool 200 and a reference location 10 in three-dimensional space, including a position of the distal end of the end effector 300 of the procedure tool 200 relative to the reference location 10 (blocks 10-120). The robotic arm 750 and the tracking arm 1050 are mounted to a platform 1100, wherein the platform 1100 has spaced apart support members 1120 and an intermediate member 1140 extending therebetween, and wherein the intermediate member 1140 cooperates with the support members 1120 such that the intermediate member 1140 spans the portion 25 or object 50 and enables the robotic arm 750 and the tracking arm 1050 to extend from the platform 1100 (block 10-130).

Thus, aspects of the present disclosure provide a robotic system, and in some cases a dental robotic system, that enables dental professionals to perform robotic-assisted dental/maxillofacial procedures in a user-friendly, flexible, and ergonomic manner. The robotic arm/tracking arm is mounted to a center member of a platform, and the robot and tracking arm can be centered relative to a part/object (e.g., positioned in the center of a dental chair), thereby allowing access to the part/object (e.g., a patient) from both sides of the dental chair. Such a robotic system is therefore effective in performing robotic-assisted procedures without limiting the mobility of the instrument or the instrument's accessibility to the part/object (e.g., a patient's dental/maxillofacial structures), while allowing the robotic system to be placed closer to the part/object, thereby reducing the complexity and/or construction requirements of the robotic system. Various platform configurations/setups further provide the stability required by the robotic assembly, while the platform's length adjustability and/or pivotable/foldable structure minimizes the footprint when the robotic system is not in use.

Many modifications and other embodiments of the invention described herein will come to mind to those skilled in the art having the benefit of the teachings presented in the foregoing description and the associated drawings. It will be understood, therefore, that the embodiments of the invention are not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of the invention. Furthermore, while the foregoing description and the associated drawings have described the example embodiments in the context of certain example combinations of elements and/or functions, it will be understood that different combinations of elements and/or functions may be provided through alternative embodiments without departing from the scope of the present disclosure. In this regard, for example, combinations of elements and/or functions different from those explicitly described above are also contemplated to be within the scope of the present disclosure. Although specific terms are used herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

It should be understood that although terms such as first and second are used herein to describe various steps or calculations, these steps or calculations should not be limited by these terms. These terms are used solely to distinguish one operation or calculation from another. For example, a first calculation could be referred to as a second calculation, and similarly, a second step could be referred to as a first step without departing from the scope of this disclosure. As used herein, the terms "and/or" and "/" include 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 should be further understood that when used herein, the terms "include," "comprising," "including," and/or "comprising" 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.

10: Reference position 25: Part 50: Object 100: Robot system 200: Programming tool 300: End effector 715: Base assembly 720, 1020, 1125: Proximal end 725, 1025, 1130: Distal end 730, 1030: Sensor

750: Articulated Robotic Arm

800: Controller

850: Lid

900: Benchmark

1000: Detector

1050: Tracking Arm

1100: Platform

1120: Support components

1135: Support surface

1140: Middle component

1140A: Part 1

1140B: Part 2

1145: Joint

1160: Casters

1170: Brake

1200:Container

1250: Components

1300: Lighting components

1450: Display

1475: Articulated Arm

1500: Ergonomic Bracket

10-100, 10-110, 10-120, 10-130: Steps

The present disclosure having been generally described, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale and in which: Figures 1 and 2 schematically illustrate alternative aspects of a robotic system according to some aspects of the present disclosure; Figure 3 schematically illustrates an example interaction between the robotic system shown in Figures 1 and 2 and a part/object; Figures 4A to 4D schematically illustrate different views of the robotic system shown in Figures 1 and 2 relative to a platform according to one aspect of the present disclosure; Figures 5A to 5B schematically illustrate different views of the robotic system shown in Figures 1 and 2 configured relative to a platform according to another aspect of the present disclosure; Figures 6A to 6B schematically illustrate different views of the robotic system shown in Figures 1 and 2 configured relative to a platform according to yet another aspect of the present disclosure; Figures 7A and 7B schematically illustrate different views of the robotic system shown in Figures 1 and 2 configured with respect to a platform according to a further aspect of the present disclosure. Figures 8A and 8B schematically illustrate different views of the robotic system shown in Figures 1 and 2 configured with respect to a platform according to yet another aspect of the present disclosure. Figure 9 schematically illustrates the robotic system shown in Figures 1 and 2 configured with respect to a platform according to yet another aspect of the present disclosure. Figure 10 schematically illustrates a method for forming a robotic system according to yet another aspect of the present disclosure.

10: Reference position 25: Part 50: Object 100: Robotic system 200: Programming tool 300: End effector 715: Base assembly 720, 1020: Proximal end 725, 1025: Distal end 730, 1030: Sensor 750: Articulated robotic arm 800: Controller 900: Fiducial marker 1050: Tracking arm

Claims (30)

A robotic system comprises: a tracking arm having a distal end adapted to communicate with a reference position of an object located at or adjacent to a site or received at the site, the reference position being arranged in a three-dimensional space in relation to a proximal end of the tracking arm; a robotic arm having a programming tool coupled to a distal end of the robotic arm, the programming tool having an end effector coupled thereto, the end effector having a distal end adapted to interact with the site or the object, the robotic arm having a proximal end arranged in a known relationship to the proximal end of the tracking arm; a controller comprising a processor and a memory, the controller being arranged to communicate with the tracking arm, the robotic arm, and the proximal end of the tracking arm; The controller is configured to be in operable communication with the processing tool, the controller being configured to determine, via the robotic arm and the tracking arm, a real spatial relationship between the processing tool and the reference position in the three-dimensional space, the real spatial relationship including a position of the distal end of the end effector of the processing tool relative to the reference position; and a platform having spaced apart support members and an intermediate member extending between the support members, the support members supporting the intermediate member on a support surface on opposite sides of the part or object, such that the intermediate member cooperates with the support members to allow the intermediate member to span the part or object, and the platform being configured such that the robotic arm and the tracking arm are mounted to and extend from the platform. The system of claim 1, wherein the proximal end of the robotic arm and the proximal end of the tracking arm are mounted to the platform with a known relationship therebetween. The system of claim 1, wherein the support member includes a proximal end engaged with the intermediate member and a distal end opposite the proximal end, the distal end being configured to interact with the support surface to stabilize the intermediate member relative to the support surface. The system of claim 3, comprising casters engaged with the distal end of the support member and configured to enable the platform to move relative to the support surface. The system of claim 4, wherein one or more of the casters are configured to be selectively fixed to prevent movement of the platform relative to the support surface. The system of claim 1, wherein one of the intermediate member or the support member is configured to receive and support the controller. The system of claim 1, wherein the intermediate component includes or defines a container configured to receive one or more elements adapted to interact with the part or the object. The system of claim 1, wherein one of the intermediate member or the support member includes or defines a plurality of containers, each container being configured to receive an element adapted to interact with the part or the object. The system of claim 8, wherein each container includes a lighting element associated therewith and configured to selectively illuminate the container. The system of claim 9, wherein the controller is configured to communicate with the lighting element and activate the lighting element associated with one of the containers to indicate that the element received therein is to be used next in a procedure performed on the part or the object. The system of claim 1, wherein the intermediate member is configured to have an adjustable length such that the span of the intermediate member relative to the portion or the object is adjustable. The system of claim 1, wherein the support member is configured to have an adjustable length so that a height of the intermediate member relative to the part or the object is adjustable. The system of claim 1, wherein the proximal end of the robot arm and the proximal end of the tracking arm are mounted to a proximal end of one of the support members with a known relationship therebetween. The system of claim 1, wherein the intermediate member is configured to be flattened to reduce a lateral footprint of the platform. The system of claim 1, wherein the intermediate member includes a first portion pivotally coupled to a second portion, and wherein the platform is configured to fold about the pivotable joint between the first portion and the second portion of the intermediate member to reduce a lateral footprint of the platform. A method of forming a robotic system comprises: providing a robotic arm with a proximal end disposed in a known relationship to a proximal end of a tracking arm, the tracking arm having a distal end adapted to communicate with a reference position of an object located at or adjacent to a site or received at the site, the reference position disposed in a three-dimensional space in a relationship to a proximal end of the tracking arm; coupling a programming tool to a distal end of the robotic arm, the programming tool having an end effector coupled thereto, the end effector having a distal end adapted to interact with the site or the object; providing a controller comprising a processor and a memory, the controller being coupled to the tracking arm, the robotic arm, and the programming tool; The controller is configured to determine, through the robotic arm and the tracking arm, a real spatial relationship between the processing tool and the reference position in the three-dimensional space, the real spatial relationship including a position of the distal end of the end effector of the processing tool relative to the reference position; and mount the robotic arm and the tracking arm to a platform having spaced-apart support members and an intermediate member extending between the support members, the support members supporting the intermediate member on a support surface on opposite sides of the part or object, such that the intermediate member cooperates with the support members to extend across the part or object, thereby extending the robotic arm and the tracking arm from the platform. The method of claim 16, wherein mounting the robotic arm and the tracking arm comprises mounting the proximal end of the robotic arm and the proximal end of the tracking arm to the platform with a known relationship therebetween. The method of claim 16, wherein the support member includes a proximal end engaged with the intermediate member and a distal end opposite the proximal end, and wherein the method includes configuring the distal end of the support member to interact with the support surface to stabilize the intermediate member relative to the support surface. The method of claim 18, comprising engaging casters with the distal end of the support member, the casters being configured to enable the platform to move relative to the support surface. The method of claim 19, comprising configuring one or more of the casters to be selectively fixed to prevent movement of the platform relative to the support surface. The method of claim 16, comprising providing one of the intermediate member or the support member to receive and support the controller. The method of claim 16, comprising configuring the intermediate member to include or define a container configured to receive one or more elements adapted to interact with the part or the object. The method of claim 16, comprising configuring one of the intermediate member or the support member to include or define a plurality of receptacles, each receptacle configured to receive an element adapted to interact with the part or the object. The method of claim 23, comprising configuring each container to include a lighting element associated therewith and configured to selectively illuminate the container. The method of claim 24, comprising configuring the controller to communicate with the lighting element and actuating the lighting element associated with one of the containers to indicate that the element received therein is to be used next in a procedure performed on the part or the object. The method of claim 16, comprising configuring the intermediate member to have an adjustable length so that the span of the intermediate member relative to the portion or the object is adjustable. The method of claim 16, comprising configuring the support member to have an adjustable length so that a height of the intermediate member relative to the portion or the object is adjustable. The method of claim 16, wherein mounting the robotic arm and the tracking arm includes mounting the proximal end of the robotic arm and the proximal end of the tracking arm to a proximal end of one of the support members with a known relationship therebetween. The method of claim 16, comprising configuring the intermediate member to be flattenable to reduce a lateral footprint of the platform. The method of claim 16, wherein the intermediate member includes a first portion pivotally coupled to a second portion, and wherein the method includes configuring the platform to be foldable about the pivotable joint between the first portion and the second portion of the intermediate member to reduce a lateral footprint of the platform.