U.S. patent application number 17/054445 was filed with the patent office on 2021-08-19 for automated dental drill.
The applicant listed for this patent is Cyberdontics (USA), Inc.. Invention is credited to Christopher John CIRIELLO, James JACKSON, Brian Edward KING, Nathan John MULLER.
Application Number | 20210251721 17/054445 |
Document ID | / |
Family ID | 1000005564279 |
Filed Date | 2021-08-19 |
United States Patent
Application |
20210251721 |
Kind Code |
A1 |
CIRIELLO; Christopher John ;
et al. |
August 19, 2021 |
AUTOMATED DENTAL DRILL
Abstract
An automated dental drill includes a dental drill housing that
includes a mouthpiece housing section and a one or more degrees of
freedom drive housing section; an end effector drive support having
a shaft section that is at least partially positioned in the mouth
piece housing section, and an end effector for the cutting of a
native tooth or dental appliance to a desired tolerance. The end
effector is positioned on the end effector drive support. The
automated dental drill also includes a power source that drives the
end effector and is coupled to the end effector and a one or more
degrees of freedom drive assembly to direct the end effector along
one or more degrees of freedom relative to the mouth piece housing
section.
Inventors: |
CIRIELLO; Christopher John;
(San Francisco, CA) ; JACKSON; James; (Victoria,
BC, CA) ; MULLER; Nathan John; (Victoria, BC, CA)
; KING; Brian Edward; (Vancouver, BC, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Cyberdontics (USA), Inc. |
San Francisco |
CA |
US |
|
|
Family ID: |
1000005564279 |
Appl. No.: |
17/054445 |
Filed: |
May 9, 2019 |
PCT Filed: |
May 9, 2019 |
PCT NO: |
PCT/IB2019/000581 |
371 Date: |
November 10, 2020 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62669934 |
May 10, 2018 |
|
|
|
62755989 |
Nov 5, 2018 |
|
|
|
62830951 |
Apr 8, 2019 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 1/24 20130101; A61C
1/0046 20130101; A61C 1/0061 20130101; A61C 5/82 20170201; A61B
1/00193 20130101; A61C 1/082 20130101; A61C 3/02 20130101; A61B
6/14 20130101 |
International
Class: |
A61C 1/08 20060101
A61C001/08; A61C 1/00 20060101 A61C001/00; A61C 3/02 20060101
A61C003/02; A61B 6/14 20060101 A61B006/14; A61C 5/82 20060101
A61C005/82; A61B 1/24 20060101 A61B001/24; A61B 1/00 20060101
A61B001/00 |
Claims
1. A multi-degree of freedom dental positioning system comprising:
(a) a power source connector to a power source; (b) a dental
end-effector; (c) an end-effector coupling connected to the power
source connector and the dental end-effector, wherein the
end-effector coupling is configured to transfer power from the
power source connector to the dental end-effector; and (d) a drive
assembly configured to translate the dental end-effector in two or
more directions.
2. The system of claim 1, wherein the dental end effector comprises
a drill, a laser, a probe, a nozzle, a pick, an x-ray, or any
combination thereof.
3. The system of claim 2, wherein the laser comprises a picosecond
laser, a femtosecond laser, a microsecond CO2 laser, or any
combination thereof.
4. The system of claim 2, wherein the laser emits a beam having a
wavelength of about 0.5 82 m to about 18 .mu.m.
5. The system of claim 2, wherein the laser emits a beam having a
pulse energy of about 0.5 .mu.J to about 50,000 .mu.J.
6. The system of claim 2, wherein the laser emits a beam having a
pulse duration of about 10 ns to about 500,000 ns.
7. The system of claim 2, wherein the laser emits a beam having a
pulse repetition rate of about 5 Hz to about 5,000,000 Hz.
8. The system of claim 2, wherein the laser emits 1 to 10 billion
pulses.
9. The system of claim 1, wherein the end-effector coupling
comprises a gear, a shaft, a pulley, an optical fiber, a light
guide, a free-space optic, a worm drive, a linear slide, a linear
drive mechanism, a rotary mechanism, a mirror, a lens, a prism, or
any combination thereof.
10. The system of claim 1, wherein the drive assembly comprises a
stepper drive, piezoelectric drive, a servomotor drive, or any
combination thereof.
11. The system of claim 1, wherein the drive assembly is configured
to translate or rotate the dental end effector about two or more
degrees of freedom.
12. The system of claim 1, wherein the power source comprises one
or more of a motor, a laser emitter, a battery, a wall outlet, a
generator, or any combination thereof.
13. The system of claim 12, wherein the power source is mounted to
the drive assembly.
14. The system of claim 12, wherein the power source is not mounted
to the drive assembly.
15. The system of claim 1, further comprising a housing, and
wherein at least a portion of one or more of the power source
connector, the dental end-effector, the end-effector coupling, and
the drive assembly resides within the housing.
16. The system of claim 1, further comprising a tooth clamp and a
tooth clamp connector, wherein the tooth clamp is configured to be
rigidly and removably affixed to a tooth of a patient.
17. The system of claim 16, wherein the tooth clamp connector is
rigidly attached to the drive assembly, the tooth clamp, or
both.
18. The system of claim 16, wherein the tooth clamp connector is
affixed to the drive assembly, the tooth clamp, or both and free to
move in one or more directions with respect to the drive assembly,
the tooth clamp, or both.
19. The system of claim 16, wherein the drive assembly translates
the end effector in at least two degrees of freedom with respect to
the tooth clamp.
20. The system of claim 1, further comprising a gimbal arm attached
to the housing, the drive assembly, or both, wherein the gimbal arm
is configured to manually position the housing, the drive assembly,
or both with respect to a fixed surface.
21. The system of claim 20 further comprising a three-dimensional
(3D) vision system comprising one or more cameras attached to the
automated dental drill, wherein each camera provides a two
dimensional image, a live video feed, or both of a subject's
teeth.
22. The system of claim 21, wherein at least one of the two
dimensional image, a live video feed are mapped to a predetermined
3D surface scan of a surgical site to establish a world coordinate
system to which the automated dental drill is registered and/or the
material removal rate is tracked.
23. The system of claim 21 wherein the one or more of cameras
includes a millimeter scale camera.
Description
CROSS-REFERENCE
[0001] This application claims the benefit of U.S. Provisional
Patent Application No. 62/669,934, filed on May 10, 2018, U.S.
Provisional Patent Application No. 62/755,989, filed on Nov. 5,
2018, and U.S. Provisional Patent Application No. 62/830,951, filed
on Apr. 8, 2019, each of which is entirely incorporated herein by
reference.
BACKGROUND
[0002] Although advances have been made in recent years for the
trea tment of specific dental diseases, the actual delivery of
dental treatment remains a manually intensive process. Accordingly,
there is a need for methodology for automating dental
treatment.
SUMMARY
[0003] In at least one aspect, the present invention is related to
automated dental drill systems for treating dental disease. The
present invention solves one or more problems of the prior art by
providing in at least one embodiment, an automated dental drill for
performing dental surgery on a subject. The automated dental drill
includes a dental drill housing that includes a mouth piece housing
section and a translation drive housing section; an end effector
drive support having a shaft section that is at least partially
positioned in the mouth piece housing section, and an end effector
for cutting of a native tooth or dental appliance to a desired
tolerance. The end effector is positioned on the end effector drive
support. The automated dental drill also includes a motor that
drives the end effector which is mechanically coupled to the end
effector. In an alternative embodiment, the end effector is a
cutting laser, connected to a laser generating source through
optical means. A drive assembly positions the end effector along
three orthogonal linear directions relative to the mouth piece
housing section.
[0004] In at least one aspect, the present invention is directed to
automated dental drill (ADD) which is a fully automated robotic
platform and support system for crown preparations (among others,
e.g. bridges, veneers, carious material removal, root canals, etc.)
in dental surgeries. The ADD is intended to perform the cutting of
a native tooth to a desired tolerance and form, so a prepared
prosthetic tooth may be adhered to it, replacing the need for
manual cutting currently done by dentists.
[0005] One aspect provided herein is an automated dental drill
comprising: a dental drill housing that includes a mouth piece
housing section and a translation drive housing section; an end
effector drive support having a shaft section that is at least
partially positioned in the mouth piece housing section; an end
effector for cutting of a native tooth or dental appliance to a
desired tolerance, the end effector positioned on the end effector
drive support; a motor that drives the end effector is coupled to
the end effector; and a drive assembly to translate the end
effector along one or more degrees of freedom relative to the mouth
piece housing section.
[0006] In some embodiments, the automated dental drill further
comprises a rotation drive positioned in the dental drill housing,
the rotation drive rotating the end effector drive support and
therefore the end effector with respect to the mouth piece housing
section. In some embodiments, the rotation drive rotates the end
effector drive support about an axis through the shaft section. In
some embodiments, the shaft section is hollow in order to allow
coupling of the motor to the end effector. In some embodiments, the
motional drive assembly includes three rotational drives and three
translational drives that can move end effector with six degrees of
freedom. In some embodiments, the motional drive assembly includes
three translational drives that can move end effector in three
orthogonal linear directions. In some embodiments, the three
translational drives are each independently an electromechanical
device (motor, e.g. stepper drive or piezoelectric drive or
servomotor drive, etc.). In some embodiments, the three rotational
drives and three translational drives are each independently an
electromechanical device (motor, e.g. stepper drive or
piezoelectric drive or servomoter drive, etc.). In some
embodiments, the three translational drives are each independently
an electromechanical device (motor, e.g. stepper drive or
piezoelectric drive or servomotor drive, etc.). In some
embodiments, the dental drill further comprises a coupler that
couples movement of the six motional drives to the end effector
drive support and end effector. In some embodiments, the dental
drill further comprises a coupler that couples movement of the
three translational drives to the end effector drive support and
end effector. In some embodiments, a portion of the drive mechanism
is positioned directly above the end effector, manipulating it in
one or more degrees of freedom. In some embodiments, the entire
drive mechanism is miniaturized and positioned directly above the
end effector, manipulating it in two or more degrees of
freedom.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] The novel features of the disclosure are set forth with
particularity in the appended claims. A better understanding of the
features and advantages of the present disclosure will be obtained
by reference to the following detailed description that sets forth
illustrative embodiments, in which the principles of the disclosure
are utilized, and the accompanying drawings of which:
[0008] FIG. 1 shows a side view illustration of an exemplary
automated dental drill (ADD) system, in accordance with an
embodiment herein;
[0009] FIG. 2 shows a perspective view illustration of an exemplary
ADD system treating a patient, in accordance with in embodiment
herein;
[0010] FIG. 3 shows a side cross sectioned view illustration of an
exemplary ADD system treating a patient, in accordance with in
embodiment herein;
[0011] FIG. 4 shows a side cross sectioned view illustration of an
exemplary ADD system, in accordance with in embodiment herein;
[0012] FIG. 5 shows a side view illustration of the components
within an exemplary ADD system, in accordance with in embodiment
herein;
[0013] FIG. 6 shows an illustration of an exemplary first dental
clamp, in accordance with an embodiment herein;
[0014] FIG. 7 shows an illustration of an exemplary second dental
clamp, in accordance with an embodiment herein;
[0015] FIG. 8 shows an illustration of an exemplary third dental
clamp, in accordance with an embodiment herein;
[0016] FIG. 9 shows an illustration of an exemplary first dental
clamp, light guide, imaging sensor, and water flushing system, in
accordance with an embodiment herein;
[0017] FIG. 10 shows an illustration of an exemplary second dental
clamp, light guide, imaging sensor, and water flushing system, in
accordance with an embodiment herein;
[0018] FIG. 11 shows an illustration of an exemplary laser ADD
system, in accordance with an embodiment herein;
[0019] FIG. 12 shows an illustration of an exemplary dental
treatment system, in accordance with an embodiment herein. and
[0020] FIG. 13 shows a non-limiting example of a computing device;
in this case, a device with one or more processors, memory,
storage, and a network interface.
DETAILED DESCRIPTION
[0021] As required, detailed embodiments of the present invention
are disclosed herein; however, it is to be understood that the
disclosed embodiments are merely exemplary of the invention that
may be embodied in various and alternative forms. The figures are
not necessarily to scale; some features may be exaggerated or
minimized to show details of components. Therefore, specific
structural and functional details disclosed herein are not to be
interpreted as limiting, but merely as a representative basis for
teaching one skilled in the art to variously employ the present
invention.
Terms and Definitions
[0022] Unless otherwise defined, all technical terms used herein
have the same meaning as commonly understood by one of ordinary
skill in the art to which this disclosure belongs.
[0023] As used herein, the singular forms "a," "an," and "the"
include plural references unless the context clearly dictates
otherwise. Any reference to "or" herein is intended to encompass
"and/or" unless otherwise stated.
[0024] As used herein, the term "about" refers to an amount that is
near the stated amount by 10%, 5%, or 1%, including increments
therein.
[0025] As used herein, the term "about" in reference to a
percentage refers to an amount that is greater or less the stated
percentage by 10%, 5%, or 1%, including increments therein.
[0026] The term "subject" as used herein refers to a human patient
in need of dental treatment.
[0027] As used herein, the phrases "at least one", "one or more",
and "and/or" are open-ended expressions that are both conjunctive
and disjunctive in operation. For example, each of the expressions
"at least one of A, B and C", "at least one of A, B, or C", "one or
more of A, B, and C", "one or more of A, B, or C" and "A, B, and/or
C" means A alone, B alone, C alone, A and B together, A and C
together, B and C together, or A, B and C together.
Dental Drills
[0028] FIGS. 4 and 5 show schematic illustrations of an automated
drill are provided. The dental drill 10 can comprise a dental drill
housing 12 which includes mouth piece housing section 14 attached
to drive housing section 16. The mouth piece housing section 14 can
be configured to at least be partially positioned in a subject's
mouth during an operation. The end effector drive support 18 can be
disposed in dental drill housing 12. At least a portion of end
effector drive support 18 can be moveably positioned in mouth piece
housing section 14. The mouth piece housing section 14 can comprise
a shaft section 20 that extends into the mouth piece housing
section 14. In some embodiments, the shaft section 20 is hollow in
order to allow coupling of the cutting mechanism driver to the end
effector via a shaft 22.
[0029] Further, per FIGS. 4, 5, and 12 the end effector 88 can be
attached to end effector drive support 18 and can be moveable along
three orthogonal linear directions (e.g., x, y, z) relative to
mouth piece housing section 14. Alternatively, the end effector 88
can be attached to end effector drive support 18 and can be
moveable along six of more degrees of freedom relative to mouth
piece housing section 14. In operation, the z direction is defined
as normal to the tooth. The x and y directions can be defined as
being perpendicular to the z direction. Typically, the end effector
88 is located at the end of the end effector drive support 18. The
end effector 88 can protrude from the mouth piece housing section
14 and can be used for cutting of a native tooth, a dental
appliance, or both to a desired tolerance and form. The cutting
mechanism driver 30 can be coupled to the end effector 88 position.
The end effector 88 can be positioned by the dental drill housing,
through which a shaft can direct power to the end effector 88
(whether electromechanical for cutting burr, or electro-optical for
cutting laser).
[0030] In some embodiments, the automated dental drill 10 further
includes a drive assembly 36 which drives end effector 88 along the
three or more directions. The drive assembly 36 can comprise three
or more drives that move an end effector 88 in three or more
directions: z-direction drive 38, y-direction drive 40, and
x-direction drive 42. Each of the z-direction drive 38, the
y-direction drive 40, and the x-direction drive 42 can be actuated
by a stepper drive, piezoelectric drive, servomotor drive, or any
combination thereof. Each of the z-direction drive 38, the
y-direction drive 40, and the x-direction drive 42 can be a stepper
drive, piezoelectric drive, servomotor drive, or any combination
thereof. A coupler 44 can be used to couple the movement of the
three drives to cutting drive support 18 and end effector 88 (e.g.
whether electromechanical as with a cutting burr, or
electro-optical as with a cutting laser). The system's end effector
can be positioned in a plethora of ways to enable the removal of
tooth tissue, and is enabled by but not limited to the degrees of
freedom described herein.
[0031] In some embodiments, the automated dental drill 10 also
comprises a clamp connector 46 that attaches to tooth clamp. The
tooth clamp 48 can be attached to a subject's teeth about a tooth
to be treated. The clamp connector 46 can be attached to support
system 50 which is fixed to a dental drill housing 12. The clamp 48
can be fabricated from scanned data of the target teeth position
and topography. Such data may be acquired from dental scanning
devices (such as but not limited to use of a Dentsply Sirona CEREC
or Align Technologies intraoral scanning device). The clamp 48 can
reposition teeth to their original scanned position to correct for
relative teeth movement between scanning and clamping when placed
on the patient's teeth prior to cutting a given tooth. The drive
assembly 36 can be zeroed to the clamp 48 before cutting. The drive
assembly 36 can be mechanically coupled to the clamp 48 during
cutting. In some embodiments, the tooth clamp 48 can be a 3D
printed, molded or CNC machined structure having internal surfaces
that mate with the teeth in an ultra-high precision fashion. During
cutting, the end effector (e.g., the drill or laser) can cut
through the plastic of the clam-shell structure, accessing the
tooth material beneath. Since several teeth are held simultaneously
by the tooth clamp internal surfaces, movement of the teeth can be
reduced during cutting.
[0032] FIG. 6 shows an illustration of an exemplary first dental
clamp. FIG. 7 shows an illustration of an exemplary second dental
clamp. FIG. 8 shows an illustration of an exemplary third dental
clamp. FIG. 9 shows an illustration of an exemplary first dental
clamp, light guide, imaging sensor, and water flushing system. FIG.
10 shows an illustration of an exemplary second dental clamp, light
guide, imaging sensor, and water flushing system. FIG. 11 shows an
illustration of an exemplary laser ADD system.
[0033] In some embodiments, the automated dental drill 10 further
includes a cantilever arm 50 and gimbals 52, 54, 56 that allow
passive positioning and support of the automated dental drill. The
cantilever arm 50 can be anchored to a support structure 58 (e.g.,
a wall, cart, ceiling, floor, dental chair, etc.).
[0034] Referring to FIG. 12, the dental treatment system 60 can
include a central processing unit 62 in communication with tooth
scanner 64 and automated dental drill 10. The automated dental
drill 10 can be held by a user (i.e., a dentist) or mounted on a
cantilever arm as set forth above. Per FIG. 12, treatment of the
subject 78 can be performed while sitting in dental chair 80. The
subject's 78 head can be immobilized and/or supported by a head
restraint 82.
[0035] In some embodiments, the tooth scanner 64 includes a user
handle for a user to hold and move the scanner as needed. A central
processing unit 62 can control automated operation of the dental
treatment system 60 monitor tooth cutting performance. The central
processing unit can receive inputs from a force feedback mechanism
that is used to monitor burr contact, indicating unplanned cutting,
or to detect tooth decay. Additionally, positional information can
be fed back from real time imaging of the cut surface during
ablation procedures with a laser-based cutting system. Typically,
the central processing unit 62 is contained in a computer work
station. Control programs 70 which reside in computer memory 72 can
be executed by the central processing unit 62 to receive image
files from the tooth scanner 64 and to at least partially control
the movement of automated dental drill 10. During operation, the
tooth scanner 64 can transfer tooth image data to the central
processing unit 62. The central processing unit 62 can include a
display 74 on which the surgical process is guided through a series
of onscreen prompts. The display 74 can render an image 76 of a
target tooth of the subject 78 requiring surgical intervention from
an image file.
[0036] The automated dental drill 10 can include an end effector 88
extending therefrom for performing dental surgery. In one
embodiment, the end effector 88 is a dental burr. In another
embodiment, end effector 88 is an optical element (such as a lens)
to deliver and focus a laser beam on the treatment area. In another
embodiment, the end effector 88 is a focused laser cutting region,
adjusted by a movable lens. In some embodiments, the dental
treatment system 10 includes a cantilever arm 50 which tracks the
patient position and relays it to central processing unit 62. In
some embodiments, the dental treatment system includes a cooling
water jet that is used for position tracking, the water cooling jet
providing an ultrasound signal or a light signal along a fiber
optic axially down the cooling water jet to calculate distance to
the target tooth.
End Effectors
[0037] In one embodiment, per FIG. 5, the end effector contains a
motorized drill coupled to a motor 30. The dental drill 10 can also
include a rotation drive 32 positioned in the dental drill housing,
wherein the rotation drive 32 rotates the cutting drive support 18
and therefore the end effector 26 with respect to the mouth piece
housing section 14.
[0038] In some embodiments, the end effector emits laser radiation
at one and/or a plurality of laser wavelengths selected for their
ability to cut dental tissue, and is focused onto the work area
using optical components (e.g. lenses, mirrors, fiber optic cables,
or light pipes). For example, the laser beam includes an operating
wavelength in the range from about 0.1 .mu.m to about 50 .mu.m. In
variation, the laser beam has an operating wavelength within a
range of wavelengths from about 1 .mu.m to about 50 .mu.m. In some
embodiments, the laser beam has an operating wavelength within a
range of wavelengths from about 5 .mu.m to about 20 .mu.m. In some
embodiments, the laser beam has an operating wavelength within a
range of wavelengths from about 6 .mu.m to about 15 .mu.m. In some
embodiments, the laser beam has an operating wavelength within a
range of wavelengths from about 0.1 .mu.m to about 50 .mu.m. In
some embodiments, the laser beam operates at a plurality of
wavelengths in the range from about 1 .mu.m to about 50 .mu.m. In
some embodiments, the laser beam operates at a plurality of
wavelengths in the range from about 5 .mu.m to about 50 .mu.m. In
some embodiments, the laser beam operates at a plurality of
wavelengths in the range from about 5 .mu.m to about 20 .mu.m.
[0039] In one embodiment, the laser generating source is located
external to the end effector, within dental cutting head. In one
variation, the laser generating source is located external to
dental drill. In some embodiments, the laser is coupled to the end
effector using an optical fiber and/or a plurality of fibers. In
some embodiments, the laser is coupled to the end effector using a
solid light guide. In some embodiments, the laser is coupled to the
end effector using a hollow light guide. In some embodiments, the
laser is coupled to the end effector using free-space optics (e.g.
lenses and mirrors). In some embodiments, the laser generating
source is located on or within the end effector (for example, a
laser diode).
[0040] In some embodiments, the laser includes an isotopic CO2
laser that vaporizes enamel. In some embodiments, the laser is
configured to allow fast and efficient cutting at any angle, with
more speed, precision and less bleeding than traditional cutting or
drilling methods. In some embodiments, the system comprising a
laser beam for tooth cutting or drilling does not require
anesthesia of the subject. In some embodiments, the laser beam is
configured to provide different spot size suitable for different
cutting or drilling applications. In some embodiments, the laser
beam is switched on and off in a pulsed, periodic manner during
cutting. In some embodiments, the duration and time between "on"
pulses may be controlled to optimize the cutting or drilling
process. In some embodiments, the optical power of the laser beam
generated herein may be controlled to optimize the cutting or
drilling process. In some embodiments, the optic power of the laser
beam generated herein may be varied from pulse to pulse in order to
optimize the cutting or drilling process. In some embodiments, the
optical power of the laser beam generated herein may be varied
within a pulse in order to optimize the cutting or drilling
process. In some embodiments, the laser-beam spot may be scanned
within a localized region of the tooth, to optimize removal of
tooth material at that region. In some embodiments, the laser-beam
spot may be scanned within a localized region of the tooth, to
optimize removal of gingiva at that region. In some embodiments,
several or all of the spot size, spot scanning pattern, pulse
repletion rate, pulse duration, pulse duty cycle, pulse firing
system, and laser optical power may be controlled in concert to
optimize the removal of tooth material. In some embodiments,
several or all of the spot size, spot scanning pattern, pulse
repletion rate, pulse duration, and laser optical power may be
controlled in concert to optimize the removal of gingiva.
[0041] In a variation, the laser parameters are chosen such that
the rate of tissue removal in one type of tissue is significantly
higher than for other types of tissue, such that the other types of
tissue are not significantly affected by the laser. For example,
the laser parameters may be chosen such that the rate of tissue
removal in soft tissue is ten times, one hundred times, or more
higher than the rate of tissue removal in tooth enamel. As another
example, the laser parameters may be chosen such that the rate of
tissue removal in decayed tooth is ten times, one hundred times, or
more higher than the rate of tissue removal in tooth enamel. In
this manner, the laser may be made to effectively remove only the
tissue type with the higher rate of tissue removal, while leaving
the other tissue type predominantly unaffected.
[0042] In some embodiments, laser parameters are chosen such that
the rate of tissue removal in one type of tissue is significantly
higher than for other types of tissue, such that the other types of
tissue are not significantly affected by the laser. For example,
the laser parameters may be chosen such that the rate of tissue
removal in soft tissue is ten times, one hundred times, or more
higher than the rate of tissue removal in tooth enamel. As another
example, the laser parameters may be chosen such that the rate of
tissue removal in decayed tooth is ten times, one hundred times, or
more higher than the rate of tissue removal in tooth enamel. In
this manner, the laser may be made to effectively remove only the
tissue type with the higher rate of tissue removal, while leaving
the other tissue type predominantly unaffected.
[0043] In some embodiments, the laser generating source is an
neodymium-doped yttrium aluminum garnet laser (neodymium YAG,
Nd:YAG). In some embodiments, the laser generating source emits a
light having a wavelength of about 0.946 .mu.m. In some
embodiments, the laser generating source emits a light having a
wavelength of about 1.12 .mu.m. In some embodiments, the laser
generating source emits a light having a wavelength of about 1.32
.mu.m. In some embodiments, the laser generating source emits a
light having a wavelength of about 1.44 .mu.m.
[0044] In some embodiments, the laser generating source is an
erbium and chromium-doped yttrium aluminum garnet laser
(erbium-chromium YAG, Er,Cr:YSSG). In some embodiments, the laser
generating source emits a light having a wavelength of about 2.78
.mu.m. In some embodiments, the laser generating source is an
erbium-doped yttrium aluminum garnet laser (erbium YAG, Er:YAG). In
some embodiments, the laser generating source emits a light having
a wavelength of about 2.94 .mu.m.
[0045] In some embodiments, the laser generating source is a
carbon-dioxide laser. In some embodiments, the laser generating
source emits a light having a wavelength of about 10 .mu.m. In some
embodiments, the laser generating source emits a light having a
wavelength of about 10.6 .mu.m. In some embodiments, the laser
generating source emits a light having a wavelength of about 10.3
.mu.m. In some embodiments, the laser generating source emits a
light having a wavelength of about 9.6 .mu.m. In some embodiments,
the laser generating source emits a light having a wavelength of
about 9.3 .mu.m.
[0046] In some embodiments, the laser generating source emits a
light having a wavelength of about 9.3 .mu.m, nearing the peak
absorption of hydroxyapatite. In some embodiments, the gain medium
of the laser generating source is a carbon-dioxide gas that
includes an oxygen-18 isotope. In some embodiments, the laser
herein includes an isotopic CO2 laser that vaporizes enamel and
gingiva. In some embodiments, the laser is configured to allow fast
and efficient cutting at any angle, with more speed, precision and
less bleeding than traditional cutting or drilling methods. In some
embodiments, the system comprising a laser beam for tooth or
gingiva cutting or drilling does not require anesthesia of the
subject.
[0047] In some embodiments, the laser generating source is
titanium-sapphire (Ti:Sapph) laser producing pulses of duration
between about 10 fs and about 5 ps, with peak optical fluences
sufficient to drive multi-photon ionization in dental tissue. In
some embodiments, the laser generating source emits light of
wavelength between about 0.65 .mu.m and about 1.10 .mu.m. In some
embodiments, the laser generating source emits light of center
wavelength of about 0.78 .mu.m. In some embodiments, the laser
generating source emits light of center wavelength of about 0.80
.mu.m.
[0048] In some embodiments, the laser generating source is a fiber
laser, consisting of Ytterbium-doped silica fiber producing pulses
of duration between about 10 fs and about 5 ps, with peak optical
fluences sufficient to drive multi-photon ionization in dental
tissue. In some embodiments, the laser generating source emits a
range of wavelengths between about 1.00 .mu.m and about 1.20 .mu.m.
In some embodiments, the laser generating source emits light of
center wavelength of about 1.03 .mu.m. In some embodiments, the
laser generating source emits light of center wavelength of about
1.04 .mu.m.
[0049] In some embodiments, the laser generating source is a fiber
laser, consisting of Ytterbium-doped silica fiber producing pulses
of duration between about 10 fs and about 5 ps, with peak optical
fluences sufficient to drive multi-photon ionization in dental
tissue. In some embodiments, the laser generating source emits a
range of wavelengths between about 1.45 .mu.m and about 1.65 .mu.m.
In some embodiments, the laser generating source emits light of
center wavelength of about 1.55 .mu.m.
[0050] In some embodiments, the laser generating source is a fiber
laser, consisting of Erbium-doped fluoride glass fiber producing
pulses of duration between about 10 fs and about 5 ps, with peak
optical fluences sufficient to drive multi-photon ionization in
dental tissue. In some embodiments, the laser generating source
emits a range of wavelengths between about 2.0 .mu.m and about 4.0
.mu.m. In some embodiments, the laser generating source emits light
of center wavelength about 2.80 .mu.m.
Scanning Systems
[0051] In one embodiment, per FIG. 12, the tooth scanner 64
includes a sensor system in which actuators and/or sensors are
external to the automated dental drill 10. In FIG. 12, this
external sensor system 94 visualizes the automated dental drill 10
and tracks its motion relative to the cut tooth. In some
embodiments, the tooth scanner 64 determines the current
conformation of the tooth as the procedure takes place, for
comparison to the surgical plan. For example, a plurality of
cameras 92 attached to automated dental drill 10. The plurality of
cameras 92 provide two and/or three-dimensional images and/or live
video of a subject's teeth to be mapped to a predetermined 3D
surface scan of a surgical site thereby establishing a world
coordinate system to which the segmented dental handpiece is
registered. In one refinement, the plurality of cameras 92 includes
millimeter scale cameras.
[0052] In some embodiments, the tooth scanner 64 includes sensors
internal to the dental drill 10. In some embodiments, the tooth
scanner may be mounted adjacent to the dental drill shaft. In some
embodiments, the tooth scanner sensors may be mounted coaxially
with the dental drill shaft in an annular configuration.
[0053] In some embodiments, when the end effector is a laser beam,
the tooth scanner 64 includes optical sensors fed by light of a
wavelength different than that used by the dental-drill actuator.
In some embodiments, the optical scanners are fed by light
counter-propagating with the laser beam, and split off to the senor
inputs using a beam splitter. In some embodiments, the optical
scanners are fed by light that is neither co-propagating nor
counter-propagating with the laser beam, and split off to the senor
inputs using a beam splitter. In some embodiments, the beam
splitter is dichroic: reflecting only the optical wavelengths used
by the tooth-scanner, and not the optical wavelength of the laser
beam. In some embodiments, the tooth scanner may be mounted
adjacent to the dental drill shaft. In other embodiments, the tooth
scanner sensors may be mounted coaxially with the dental drill
shaft in an annular configuration.
[0054] In one embodiment, the tooth scanner 64 includes a
three-dimensional laser rangefinding system that measures the
location of a plurality of points in the treatment area. In a
variation, the three-dimensional laser rangefinding system includes
a plurality of pulsed-laser time-of-flight rangefinders. In a
variation, the three-dimensional laser rangefinding system includes
a plurality of scattered-light sensors. In one embodiment, the
scattered-light sensors use speckle holography to determine the
location of a plurality of points on the tooth.
[0055] In a second variation, the three-dimensional laser
rangefinding system includes an optical-coherence tomography (OCT)
system. In some embodiments, this optical-coherence tomography
rangefinding system may use white light interferometry to determine
the range to a plurality of locations on the tooth. In other
embodiments, this optical-coherence tomography rangefinding system
may use frequency domain spatially encoded distance determination.
In another embodiment, this optical-coherence tomography
rangefinding system may use frequency domain temporally encoded
distance determination.
[0056] In some embodiments, the tooth scanner 64 includes a
three-dimensional ultrasound system. For example, the ultrasound
system includes a plurality of ultrasound transducers and a
plurality of ultrasound receivers. In yet another embodiment, the
tooth scanner 64 includes a three-dimensional vision system. For
example, the vision system may include a plurality of cameras.
[0057] In some embodiments, the current dimensions of the tooth as
determined by the tooth scanner 64 are compared to prior dimensions
of the tooth to determine the rate of tissue removal. In some
embodiments, the prior dimensions of the tooth are determined using
previous measurements by the sensors during the same procedure. In
some embodiments, the prior dimensions of the tooth are determined
using prior measurements of the tooth performed using other means
which will be apparent to those knowledgeable in the art. As a
nonlimiting example, teeth surface data is provided by a surface
scanning system (such as but not limited to a Dentsply Sirona CEREC
or Align Technologies intraoral scanning device).
[0058] In some embodiments, the current and past dimensions of the
tooth are used to control the cutting speed of the automated dental
drill (ADD) for optimal tissue removal. In some embodiments, the
rate of tissue removal (as determined by current and past
dimensions of the tooth) is used to distinguish healthy tissue from
unhealthy tissue. As a nonlimiting example, dense tooth material
will ablate at a lower rate than caries. In some embodiments, the
rate of tissue removal (as determined by current and past
dimensions of the tooth) is used to distinguish gingiva from tooth.
In some embodiments, the spatial distribution of tissue-removal
rate is used to determine the extent of tissue to be removed, and
determine the progress and completion of the procedure.
[0059] In some embodiments, the determination of procedural
progress or completion, as determined using the tissue-removal
rate, is performed using an automated control system. As a
nonlimiting example, the automated control system may be
implemented using a computer. As another nonlimiting example, the
automated control system may be implemented using a
microcontroller. As a third nonlimiting example, the automated
control system may be implemented using a Field-Programmable Gate
Array (FPGA).
[0060] In other embodiments, in which the end effector is a laser
beam, the laser beam is brought to a tight focus by an optical
system such as a lens, holographic element, or the like, such that
the laser beam irradiance is sufficiently high to remove tissue in
only a small volume of space, while leaving tissue substantially
unaffected outside said volume. In such an embodiment, the location
of tissue removal is known absolutely by the physical laws of
optics with respect to the location of the end of the lens which,
itself, is attached to the drill arm. The size of the small volume
of space in which tissue is removed is determined by the physical
laws of optics with respect to the location of the end of the lens
and by the optical properties characteristic of the specific tissue
being removed. In this manner, knowledge of the location of the
drill-arm position is sufficient to know the location of the tissue
being removed. Said location may be changed by controllably
changing the x-, y-, and z-positions of the drill arm. In another
embodiment, the z-position of the focusing optical system may,
instead, be changed to change the z-position of the tissue to be
removed. In other embodiments, the z-position of both the drill arm
and the focusing optical system may be changed in concert to change
the z-position of the tissue to be removed. In such embodiments,
the tooth scanner 64, while providing valuable diagnostic
information on the progress of the procedure, is not required for
the control of the cutting procedure.
[0061] Referring to FIG. 12, the operation of dental treatment
system 60 is described as follows. Central processing unit 62
controls automated dental drill 10 to remove a region of the target
tooth. Dental treatment system 60 includes input devices 120, 122
which can for example be a keyboard and mouse that receive surgical
instructions from a user (i.e., dentist) for providing the surgical
intervention. The instructions are received by the central
processing unit 62. Characteristically, the surgical instructions
including visual indications 124 on the image of a target tooth
that are to be treated. Control program 70 guides the user through
the dental protocols through a series of onscreen prompts (i.e.,
the user interface). In this context, actions attributable to
control program 70 is understood to mean the execution of the
relevant steps by central processing unit 62. In a variation,
dental treatment system 60 includes static memory 130 for storing
patient profiles and records which can be accessed by the user. In
a refinement, central processing unit 62 also displays a load
screen that shows a series of patient records and gives the option
to load an existing patient, or create a new patient record.
[0062] In one embodiment, the tooth's cut surface is flushed with
water during cutting from orifices surrounding the cutting head.
Referring to FIG. 6, the water is then drawn away from the cutting
region by means of a suction tube, attached onto a single orifice
on the tooth clamp. In a variation, suction takes place through
multiple suction tubes and orifices on the tooth clamp. In a
variation, the tooth's surface is flooded with water from
irrigation ports on the tooth clamp itself, and suction (as
generalized above) is provided to draw away excess water. In an
alternative embodiment, the tooth's cut surface does not require
irrigation, due to the laser ablating tissue and fully vaporizing
all materials. In all embodiments, suction is provided to draw away
particulate, liquids, and gases formed from and during cutting
activities.
[0063] While exemplary embodiments are described above, it is not
intended that these embodiments describe all possible forms of the
invention. Rather, the words used in the specification are words of
description rather than limitation, and it is understood that
various changes may be made without departing from the spirit and
scope of the invention. Additionally, the features of various
implementing embodiments may be combined to form further
embodiments of the invention.
Computing System
[0064] Referring to FIG. 13, a block diagram is shown depicting an
exemplary machine that includes a computer system 1300 (e.g., a
processing or computing system) within which a set of instructions
can execute for causing a device to perform or execute any one or
more of the aspects and/or methodologies for static code scheduling
of the present disclosure. The components in FIG. 13 are examples
only and do not limit the scope of use or functionality of any
hardware, software, embedded logic component, or a combination of
two or more such components implementing particular
embodiments.
[0065] Computer system 1300 may include one or more processors
1301, a memory 1303, and a storage 1308 that communicate with each
other, and with other components, via a bus 1340. The bus 1340 may
also link a display 1332, one or more input devices 1333 (which
may, for example, include a keypad, a keyboard, a mouse, a stylus,
etc.), one or more output devices 1334, one or more storage devices
1335, and various tangible storage media 1336. All of these
elements may interface directly or via one or more interfaces or
adaptors to the bus 1340. For instance, the various tangible
storage media 1336 can interface with the bus 1340 via storage
medium interface 1326. Computer system 1300 may have any suitable
physical form, including but not limited to one or more integrated
circuits (ICs), printed circuit boards (PCBs), mobile handheld
devices (such as mobile telephones or PDAs), laptop or notebook
computers, distributed computer systems, computing grids, or
servers.
[0066] Computer system 1300 includes one or more processor(s) 1301
(e.g., central processing units (CPUs) or general purpose graphics
processing units (GPGPUs)) that carry out functions. Processor(s)
1301 optionally contains a cache memory unit 1302 for temporary
local storage of instructions, data, or computer addresses.
Processor(s) 1301 are configured to assist in execution of computer
readable instructions. Computer system 1300 may provide
functionality for the components depicted in FIG. 13 as a result of
the processor(s) 1301 executing non-transitory,
processor-executable instructions embodied in one or more tangible
computer-readable storage media, such as memory 1303, storage 1308,
storage devices 1335, and/or storage medium 1336. The
computer-readable media may store software that implements
particular embodiments, and processor(s) 1301 may execute the
software. Memory 1303 may read the software from one or more other
computer-readable media (such as mass storage device(s) 1335, 1336)
or from one or more other sources through a suitable interface,
such as network interface 1320. The software may cause processor(s)
1301 to carry out one or more processes or one or more steps of one
or more processes described or illustrated herein. Carrying out
such processes or steps may include defining data structures stored
in memory 1303 and modifying the data structures as directed by the
software.
[0067] The memory 1303 may include various components (e.g.,
machine readable media) including, but not limited to, a random
access memory component (e.g., RAM 1304) (e.g., static RAM (SRAM),
dynamic RAM (DRAM), ferroelectric random access memory (FRAM),
phase-change random access memory (PRAM), etc.), a read-only memory
component (e.g., ROM 1305), and any combinations thereof. ROM 1305
may act to communicate data and instructions unidirectionally to
processor(s) 1301, and RAM 1304 may act to communicate data and
instructions bidirectionally with processor(s) 1301. ROM 1305 and
RAM 1304 may include any suitable tangible computer-readable media
described below. In one example, a basic input/output system 1306
(BIOS), including basic routines that help to transfer information
between elements within computer system 1300, such as during
start-up, may be stored in the memory 1303.
[0068] Fixed storage 1308 is connected bidirectionally to
processor(s) 1301, optionally through storage control unit 1307.
Fixed storage 1308 provides additional data storage capacity and
may also include any suitable tangible computer-readable media
described herein. Storage 1308 may be used to store operating
system 1309, executable(s) 1310, data 1311, applications 1312
(application programs), and the like. Storage 1308 can also include
an optical disk drive, a solid-state memory device (e.g.,
flash-based systems), or a combination of any of the above.
Information in storage 1308 may, in appropriate cases, be
incorporated as virtual memory in memory 1303.
[0069] In one example, storage device(s) 1335 may be removably
interfaced with computer system 1300 (e.g., via an external port
connector (not shown)) via a storage device interface 1325.
Particularly, storage device(s) 1335 and an associated
machine-readable medium may provide non-volatile and/or volatile
storage of machine-readable instructions, data structures, program
modules, and/or other data for the computer system 1300. In one
example, software may reside, completely or partially, within a
machine-readable medium on storage device(s) 1335. In another
example, software may reside, completely or partially, within
processor(s) 1301.
[0070] Bus 1340 connects a wide variety of subsystems. Herein,
reference to a bus may encompass one or more digital signal lines
serving a common function, where appropriate. Bus 1340 may be any
of several types of bus structures including, but not limited to, a
memory bus, a memory controller, a peripheral bus, a local bus, and
any combinations thereof, using any of a variety of bus
architectures. As an example and not by way of limitation, such
architectures include an Industry Standard Architecture (ISA) bus,
an Enhanced ISA (EISA) bus, a Micro Channel Architecture (MCA) bus,
a Video Electronics Standards Association local bus (VLB), a
Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X)
bus, an Accelerated Graphics Port (AGP) bus, HyperTransport (HTX)
bus, serial advanced technology attachment (SATA) bus, and any
combinations thereof.
[0071] Computer system 1300 may also include an input device 1333.
In one example, a user of computer system 1300 may enter commands
and/or other information into computer system 1300 via input
device(s) 1333. Examples of an input device(s) 1333 include, but
are not limited to, an alpha-numeric input device (e.g., a
keyboard), a pointing device (e.g., a mouse or touchpad), a
touchpad, a touch screen, a multi-touch screen, a joystick, a
stylus, a gamepad, an audio input device (e.g., a microphone, a
voice response system, etc.), an optical scanner, a video or still
image capture device (e.g., a camera), and any combinations
thereof. In some embodiments, the input device is a Kinect, Leap
Motion, or the like. Input device(s) 1333 may be interfaced to bus
1340 via any of a variety of input interfaces 1323 (e.g., input
interface 1323) including, but not limited to, serial, parallel,
game port, USB, FIREWIRE, THUNDERBOLT, or any combination of the
above.
[0072] In particular embodiments, when computer system 1300 is
connected to network 1330, computer system 1300 may communicate
with other devices, specifically mobile devices and enterprise
systems, distributed computing systems, cloud storage systems,
cloud computing systems, and the like, connected to network 1330.
Communications to and from computer system 1300 may be sent through
network interface 1320. For example, network interface 1320 may
receive incoming communications (such as requests or responses from
other devices) in the form of one or more packets (such as Internet
Protocol (IP) packets) from network 1330, and computer system 1300
may store the incoming communications in memory 1303 for
processing. Computer system 1300 may similarly store outgoing
communications (such as requests or responses to other devices) in
the form of one or more packets in memory 1303 and communicated to
network 1330 from network interface 1320. Processor(s) 1301 may
access these communication packets stored in memory 1303 for
processing.
[0073] Examples of the network interface 1320 include, but are not
limited to, a network interface card, a modem, and any combination
thereof. Examples of a network 1330 or network segment 1330
include, but are not limited to, a distributed computing system, a
cloud computing system, a wide area network (WAN) (e.g., the
Internet, an enterprise network), a local area network (LAN) (e.g.,
a network associated with an office, a building, a campus or other
relatively small geographic space), a telephone network, a direct
connection between two computing devices, a peer-to-peer network,
and any combinations thereof. A network, such as network 1330, may
employ a wired and/or a wireless mode of communication. In general,
any network topology may be used.
[0074] Information and data can be displayed through a display
1332. Examples of a display 1332 include, but are not limited to, a
cathode ray tube (CRT), a liquid crystal display (LCD), a thin film
transistor liquid crystal display (TFT-LCD), an organic liquid
crystal display (OLED) such as a passive-matrix OLED (PMOLED) or
active-matrix OLED (AMOLED) display, a plasma display, and any
combinations thereof. The display 1332 can interface to the
processor(s) 1301, memory 1303, and fixed storage 1308, as well as
other devices, such as input device(s) 1333, via the bus 1340. The
display 1332 is linked to the bus 1340 via a video interface 1322,
and transport of data between the display 1332 and the bus 1340 can
be controlled via the graphics control 1321. In some embodiments,
the display is a video projector. In some embodiments, the display
is a head-mounted display (HMD) such as a VR headset. In further
embodiments, suitable VR headsets include, by way of non-limiting
examples, HTC Vive, Oculus Rift, Samsung Gear VR, Microsoft
HoloLens, Razer OSVR, FOVE VR, Zeiss VR One, Avegant Glyph, Freefly
VR headset, and the like. In still further embodiments, the display
is a combination of devices such as those disclosed herein.
[0075] In addition to a display 1332, computer system 1300 may
include one or more other peripheral output devices 1334 including,
but not limited to, an audio speaker, a printer, a storage device,
and any combinations thereof. Such peripheral output devices may be
connected to the bus 1340 via an output interface 1324. Examples of
an output interface 1324 include, but are not limited to, a serial
port, a parallel connection, a USB port, a FIREWIRE port, a
THUNDERBOLT port, and any combinations thereof.
[0076] In addition or as an alternative, computer system 1300 may
provide functionality as a result of logic hardwired or otherwise
embodied in a circuit, which may operate in place of or together
with software to execute one or more processes or one or more steps
of one or more processes described or illustrated herein. Reference
to software in this disclosure may encompass logic, and reference
to logic may encompass software. Moreover, reference to a
computer-readable medium may encompass a circuit (such as an IC)
storing software for execution, a circuit embodying logic for
execution, or both, where appropriate. The present disclosure
encompasses any suitable combination of hardware, software, or
both.
[0077] Those of skill in the art will appreciate that the various
illustrative logical blocks, modules, circuits, and algorithm steps
described in connection with the embodiments disclosed herein may
be implemented as electronic hardware, computer software, or
combinations of both. To clearly illustrate this interchangeability
of hardware and software, various illustrative components, blocks,
modules, circuits, and steps have been described above generally in
terms of their functionality.
[0078] The various illustrative logical blocks, modules, and
circuits described in connection with the embodiments disclosed
herein may be implemented or performed with a general purpose
processor, a digital signal processor (DSP), an application
specific integrated circuit (ASIC), a field programmable gate array
(FPGA) or other programmable logic device, discrete gate or
transistor logic, discrete hardware components, or any combination
thereof designed to perform the functions described herein. A
general purpose processor may be a microprocessor, but in the
alternative, the processor may be any conventional processor,
controller, microcontroller, or state machine. A processor may also
be implemented as a combination of computing devices, e.g., a
combination of a DSP and a microprocessor, a plurality of
microprocessors, one or more microprocessors in conjunction with a
DSP core, or any other such configuration.
[0079] The steps of a method or algorithm described in connection
with the embodiments disclosed herein may be embodied directly in
hardware, in a software module executed by one or more
processor(s), or in a combination of the two. A software module may
reside in RAM memory, flash memory, ROM memory, EPROM memory,
EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or
any other form of storage medium known in the art. An exemplary
storage medium is coupled to the processor such the processor can
read information from, and write information to, the storage
medium. In the alternative, the storage medium may be integral to
the processor. The processor and the storage medium may reside in
an ASIC. The ASIC may reside in a user terminal. In the
alternative, the processor and the storage medium may reside as
discrete components in a user terminal.
[0080] In accordance with the description herein, suitable
computing devices include, by way of non-limiting examples, server
computers, desktop computers, laptop computers, notebook computers,
sub-notebook computers, netbook computers, netpad computers,
set-top computers, media streaming devices, handheld computers,
Internet appliances, mobile smartphones, tablet computers, personal
digital assistants, video game consoles, and vehicles. Those of
skill in the art will also recognize that select televisions, video
players, and digital music players with optional computer network
connectivity are suitable for use in the system described herein.
Suitable tablet computers, in various embodiments, include those
with booklet, slate, and convertible configurations, known to those
of skill in the art.
[0081] In some embodiments, the computing device includes an
operating system configured to perform executable instructions. The
operating system is, for example, software, including programs and
data, which manages the device's hardware and provides services for
execution of applications. Those of skill in the art will recognize
that suitable server operating systems include, by way of
non-limiting examples, FreeBSD, OpenBSD, NetBSD.RTM., Linux,
Apple.RTM. Mac OS X Server.RTM., Oracle.RTM. Solaris.RTM., Windows
Server.RTM., and Novell.RTM. NetWare.RTM.. Those of skill in the
art will recognize that suitable personal computer operating
systems include, by way of non-limiting examples, Microsoft.RTM.
Windows.RTM., Apple.RTM. Mac OS X.RTM., UNIX.RTM., and UNIX-like
operating systems such as GNU/Linux.RTM.. In some embodiments, the
operating system is provided by cloud computing. Those of skill in
the art will also recognize that suitable mobile smartphone
operating systems include, by way of non-limiting examples,
Nokia.RTM. Symbian.RTM. OS, Apple.RTM. iOS.RTM., Research In
Motion.RTM. BlackBerry OS.RTM., Google.RTM. Android.RTM.,
Microsoft.RTM. Windows Phone.RTM. OS, Microsoft.RTM. Windows
Mobile.RTM. OS, Linux.RTM., and Palm.RTM. WebOS.RTM.. Those of
skill in the art will also recognize that suitable media streaming
device operating systems include, by way of non-limiting examples,
Apple TV.RTM., Roku.RTM., Boxee.RTM., Google TV.RTM., Google
Chromecast.RTM., Amazon Fire.RTM., and Samsung.RTM. HomeSync.RTM..
Those of skill in the art will also recognize that suitable video
game console operating systems include, by way of non-limiting
examples, Sony.RTM. PS3.RTM., Sony.RTM. PS4.RTM., Microsoft.RTM.
Xbox 360.RTM., Microsoft Xbox One, Nintendo.RTM. Wii.RTM.,
Nintendo.RTM. Wii U.RTM., and Ouya.RTM..
Non-Transitory Computer Readable Storage Medium
[0082] In some embodiments, the platforms, systems, media, and
methods disclosed herein include one or more non-transitory
computer readable storage media encoded with a program including
instructions executable by the operating system of an optionally
networked computing device. In further embodiments, a computer
readable storage medium is a tangible component of a computing
device. In still further embodiments, a computer readable storage
medium is optionally removable from a computing device. In some
embodiments, a computer readable storage medium includes, by way of
non-limiting examples, CD-ROMs, DVDs, flash memory devices, solid
state memory, magnetic disk drives, magnetic tape drives, optical
disk drives, distributed computing systems including cloud
computing systems and services, and the like. In some cases, the
program and instructions are permanently, substantially
permanently, semi-permanently, or non-transitorily encoded on the
media.
Computer Program
[0083] In some embodiments, the platforms, systems, media, and
methods disclosed herein include at least one computer program, or
use of the same. A computer program includes a sequence of
instructions, executable by one or more processor(s) of the
computing device's CPU, written to perform a specified task.
Computer readable instructions may be implemented as program
modules, such as functions, objects, Application Programming
Interfaces (APIs), computing data structures, and the like, that
perform particular tasks or implement particular abstract data
types. In light of the disclosure provided herein, those of skill
in the art will recognize that a computer program may be written in
various versions of various languages.
[0084] The functionality of the computer readable instructions may
be combined or distributed as desired in various environments. In
some embodiments, a computer program comprises one sequence of
instructions. In some embodiments, a computer program comprises a
plurality of sequences of instructions. In some embodiments, a
computer program is provided from one location. In other
embodiments, a computer program is provided from a plurality of
locations. In various embodiments, a computer program includes one
or more software modules. In various embodiments, a computer
program includes, in part or in whole, one or more web
applications, one or more mobile applications, one or more
standalone applications, one or more web browser plug-ins,
extensions, add-ins, or add-ons, or combinations thereof.
[0085] In some embodiments, a computer program includes a web
application. In light of the disclosure provided herein, those of
skill in the art will recognize that a web application, in various
embodiments, utilizes one or more software frameworks and one or
more database systems. In some embodiments, a web application is
created upon a software framework such as Microsoft.RTM. .NET or
Ruby on Rails (RoR). In some embodiments, a web application
utilizes one or more database systems including, by way of
non-limiting examples, relational, non-relational, object oriented,
associative, and XML database systems. In further embodiments,
suitable relational database systems include, by way of
non-limiting examples, Microsoft.RTM. SQL Server, mySQL.TM., and
Oracle.RTM.. Those of skill in the art will also recognize that a
web application, in various embodiments, is written in one or more
versions of one or more languages. A web application may be written
in one or more markup languages, presentation definition languages,
client-side scripting languages, server-side coding languages,
database query languages, or combinations thereof. In some
embodiments, a web application is written to some extent in a
markup language such as Hypertext Markup Language (HTML),
Extensible Hypertext Markup Language (XHTML), or eXtensible Markup
Language (XML). In some embodiments, a web application is written
to some extent in a presentation definition language such as
Cascading Style Sheets (CSS). In some embodiments, a web
application is written to some extent in a client-side scripting
language such as Asynchronous Javascript and XML (AJAX), Flash.RTM.
Actionscript, Javascript, or Silverlight.RTM.. In some embodiments,
a web application is written to some extent in a server-side coding
language such as Active Server Pages (ASP), ColdFusion.RTM., Perl,
Java.TM., JavaServer Pages (JSP), Hypertext Preprocessor (PHP),
Python.TM., Ruby, Tcl, Smalltalk, WebDNA.RTM., or Groovy. In some
embodiments, a web application is written to some extent in a
database query language such as Structured Query Language (SQL). In
some embodiments, a web application integrates enterprise server
products such as IBM.RTM. Lotus Domino.RTM.. In some embodiments, a
web application includes a media player element. In various further
embodiments, a media player element utilizes one or more of many
suitable multimedia technologies including, by way of non-limiting
examples, Adobe.RTM. Flash.RTM., HTML 5, Apple.RTM. QuickTime.RTM.,
Microsoft.RTM. Silverlight.RTM., Java.TM., and Unity.RTM..
Standalone Application
[0086] In some embodiments, a computer program includes a
standalone application, which is a program that is run as an
independent computer process, not an add-on to an existing process,
e.g., not a plug-in. Those of skill in the art will recognize that
standalone applications are often compiled. A compiler is a
computer program(s) that transforms source code written in a
programming language into binary object code such as assembly
language or machine code. Suitable compiled programming languages
include, by way of non-limiting examples, C, C++, Objective-C,
COBOL, Delphi, Eiffel, Java.TM., Lisp, Python.TM., Visual Basic,
and VB NET, or combinations thereof. Compilation is often
performed, at least in part, to create an executable program. In
some embodiments, a computer program includes one or more
executable complied applications.
Software Modules
[0087] In some embodiments, the platforms, systems, media, and
methods disclosed herein include software, server, and/or database
modules, or use of the same. In view of the disclosure provided
herein, software modules are created by techniques known to those
of skill in the art using machines, software, and languages known
to the art. The software modules disclosed herein are implemented
in a multitude of ways. In various embodiments, a software module
comprises a file, a section of code, a programming object, a
programming structure, or combinations thereof. In further various
embodiments, a software module comprises a plurality of files, a
plurality of sections of code, a plurality of programming objects,
a plurality of programming structures, or combinations thereof. In
various embodiments, the one or more software modules comprise, by
way of non-limiting examples, a web application, a mobile
application, and a standalone application. In some embodiments,
software modules are in one computer program or application. In
other embodiments, software modules are in more than one computer
program or application. In some embodiments, software modules are
hosted on one machine. In other embodiments, software modules are
hosted on more than one machine. In further embodiments, software
modules are hosted on a distributed computing platform such as a
cloud computing platform. In some embodiments, software modules are
hosted on one or more machines in one location. In other
embodiments, software modules are hosted on one or more machines in
more than one location.
Databases
[0088] In some embodiments, the platforms, systems, media, and
methods disclosed herein include one or more databases, or use of
the same. In view of the disclosure provided herein, those of skill
in the art will recognize that many databases are suitable for
storage and retrieval of operational and surgical information to
assist in planning or execution of dental preparations undertaken
by the automated dental drill system. information. In various
embodiments, suitable databases include, by way of non-limiting
examples, relational databases, non-relational databases, object
oriented databases, object databases, entity-relationship model
databases, associative databases, and XML databases. Further
non-limiting examples include SQL, PostgreSQL, MySQL, Oracle, DB2,
and Sybase. In some embodiments, a database is internet-based. In
further embodiments, a database is web-based. In still further
embodiments, a database is cloud computing-based. In a particular
embodiment, a database is a distributed database. In other
embodiments, a database is based on one or more local computer
storage devices.
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