JP7126516B2 - 口腔および顎顔面処置の案内付き実施方法、および関連システム - Google Patents
口腔および顎顔面処置の案内付き実施方法、および関連システム Download PDFInfo
- Publication number
- JP7126516B2 JP7126516B2 JP2019558461A JP2019558461A JP7126516B2 JP 7126516 B2 JP7126516 B2 JP 7126516B2 JP 2019558461 A JP2019558461 A JP 2019558461A JP 2019558461 A JP2019558461 A JP 2019558461A JP 7126516 B2 JP7126516 B2 JP 7126516B2
- Authority
- JP
- Japan
- Prior art keywords
- treatment
- procedure
- site
- virtual
- tooth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/082—Positioning or guiding, e.g. of drills
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C13/00—Dental prostheses; Making same
- A61C13/0003—Making bridge-work, inlays, implants or the like
- A61C13/0004—Computer-assisted sizing or machining of dental prostheses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0088—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for oral or dental tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/0007—Control devices or systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C3/00—Dental tools or instruments
- A61C3/02—Tooth drilling or cutting instruments; Instruments acting like a sandblast machine
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/363—Use of fiducial points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
Description
Claims (5)
- 対象物に関連する案内付き処置を実行するシステムであって、
基準装置と関連する対象物を有する部位との間に確実で物理的な相互作用から生じる基準マーカと、
部位において対象物に関連する処置を詳述する仮想処置計画を形成する処置計画装置であって、仮想処置計画が、基準マーカを用いて位置合わせされ、基準マーカに対して位置合わせされている処置計画装置と、
処置計画装置と通信する制御装置と、
基準マーカと通信する制御装置に応答して、基準マーカに関して、処置実行装置と作動可能に係合し、処置実行装置の動作を物理的に調整する案内装置であって、処置実行装置の処置経路と、操作経路に沿った処置実行装置の配向および距離とを含む仮想処置計画に従い、処置経路および操作経路に沿った、ユーザによる処置実行装置の物理的操作に対応して、対象物関連処置を実行するために、処置実行装置の動作を物理的に調整するように構成されている、案内装置と、
を備えるシステムであって、
処置実行装置が複数の交換可能な処置装置を備え、ユーザによる処置実行装置の物理的操作により、処置実行装置が仮想処置計画の処置経路または操作経路から逸脱する場合、ユーザに触覚フィードバックを提供するように複数の交換可能な処置装置は構成され、
複数の交換可能な装置のそれぞれを、交換時に基準マーカと位置合わせするように、較正要素が処置実行装置における複数の交換可能な処置装置と交換可能であるシステム。 - 複数の交換可能な処置装置の内の一つが対象物除去装置であり、対象物関連処置が対象物除去処置である、請求項1に記載のシステム。
- 対象物除去装置が切除装置であり、対象物関連処置が切除対象物除去処置である、請求項2に記載のシステム。
- 複数の交換可能な処置装置の内の一つが穴開け装置または研磨装置であり、対象物関連処置が穴開け処置または研磨処置である、請求項1に記載のシステム。
- 複数の交換可能な処置装置の内の一つが研磨装置であり、対象物関連処置が歯冠を受け取るために対象物を成形するステップである、請求項1に記載のシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201762491410P | 2017-04-28 | 2017-04-28 | |
US62/491,410 | 2017-04-28 | ||
PCT/IB2018/052955 WO2018198095A1 (en) | 2017-04-28 | 2018-04-27 | Methods for conducting guided oral and maxillofacial procedures, and associated system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020517381A JP2020517381A (ja) | 2020-06-18 |
JP7126516B2 true JP7126516B2 (ja) | 2022-08-26 |
Family
ID=62218015
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019558461A Active JP7126516B2 (ja) | 2017-04-28 | 2018-04-27 | 口腔および顎顔面処置の案内付き実施方法、および関連システム |
Country Status (7)
Country | Link |
---|---|
US (1) | US20200054421A1 (ja) |
JP (1) | JP7126516B2 (ja) |
KR (3) | KR20210158877A (ja) |
CN (1) | CN110831539A (ja) |
CA (1) | CA3061578A1 (ja) |
TW (1) | TWI783995B (ja) |
WO (1) | WO2018198095A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105395295B (zh) * | 2015-11-24 | 2017-05-10 | 张海钟 | 一种用于口腔和牙齿治疗的机器人系统 |
CN109069211B (zh) | 2016-01-26 | 2022-04-29 | 网络牙科(美国)公司 | 自动牙科治疗系统 |
CN110520074A (zh) * | 2017-02-22 | 2019-11-29 | 网络牙科公司 | 自动牙科治疗系统 |
FR3095331A1 (fr) * | 2019-04-26 | 2020-10-30 | Ganymed Robotics | Procédé de chirurgie orthopédique assistée par ordinateur |
US20210015584A1 (en) * | 2019-07-17 | 2021-01-21 | Millennium Healthcare Technologies, Inc. | LASER ASSISTED DENTISTRY WITH RIDGE PRESERVATION (LARiP) |
JP7414611B2 (ja) | 2020-03-26 | 2024-01-16 | 株式会社メディカロイド | ロボット手術支援装置、処理方法、及びプログラム |
CN111772829B (zh) * | 2020-07-08 | 2021-10-01 | 诸暨市人民医院 | 一种数显牙挺 |
CN111803211B (zh) * | 2020-07-13 | 2021-11-16 | 北京大学口腔医学院 | 用于颌面外科手术中的颌骨定位系统及方法 |
CN116419727A (zh) * | 2020-08-06 | 2023-07-11 | 尼奥西斯股份有限公司 | 用于假体放置、手术引导件放置和正颌手术重组的系统和方法 |
TWI767816B (zh) * | 2021-08-09 | 2022-06-11 | 國立臺灣大學 | 根管治療輔助機器人系統以及根管治療輔助組件 |
WO2023079530A1 (en) * | 2021-11-08 | 2023-05-11 | Neocis Inc. | A robot system |
KR102550024B1 (ko) * | 2022-03-14 | 2023-06-29 | 이재영 | 측방 가압 및 수직 가압이 가능한 근관 치료 장치 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130261433A1 (en) | 2012-03-28 | 2013-10-03 | Navident Technologies, Inc. | Haptic simulation and surgical location monitoring system and method |
US20140272789A1 (en) | 2013-03-15 | 2014-09-18 | Neocis Inc. | Method for conducting a guided sinus lift procedure |
CN104146773A (zh) | 2014-08-12 | 2014-11-19 | 江苏久信医疗科技股份有限公司 | 用于校准手术器械的校准块 |
WO2016093984A1 (en) | 2014-12-09 | 2016-06-16 | Biomet 3I, Llc | Robotic device for dental surgery |
WO2016118737A1 (en) | 2015-01-22 | 2016-07-28 | Neocis, Inc. | Interactive guidance and manipulation detection arrangements for a surgical robotic system, and associated method |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5562448A (en) * | 1990-04-10 | 1996-10-08 | Mushabac; David R. | Method for facilitating dental diagnosis and treatment |
DE50002672D1 (de) * | 2000-12-19 | 2003-07-31 | Brainlab Ag | Verfahren und Vorrichtung zur navigationsgestüzten Zahnbehandlung |
US7912257B2 (en) * | 2006-01-20 | 2011-03-22 | 3M Innovative Properties Company | Real time display of acquired 3D dental data |
EP3673861B1 (en) * | 2008-04-02 | 2022-12-07 | Neocis, Llc | Guided dental implantation system |
WO2014143014A1 (en) * | 2013-03-15 | 2014-09-18 | Triagenics, Llc | Therapeutic tooth bud ablation |
IT1401669B1 (it) * | 2010-04-07 | 2013-08-02 | Sofar Spa | Sistema di chirurgia robotizzata con controllo perfezionato. |
JP2013236749A (ja) * | 2012-05-15 | 2013-11-28 | Denso Corp | 歯科インプラント手術支援装置 |
DE102012209448B4 (de) * | 2012-06-05 | 2019-06-19 | Siemens Healthcare Gmbh | Bestimmung einer Lage eines medizinischen Instruments |
US9675419B2 (en) * | 2013-08-21 | 2017-06-13 | Brachium, Inc. | System and method for automating medical procedures |
JP6278747B2 (ja) * | 2014-02-28 | 2018-02-14 | オリンパス株式会社 | マニピュレータのキャリブレーション方法、マニピュレータ、およびマニピュレータシステム |
WO2016073053A1 (en) * | 2014-11-03 | 2016-05-12 | FPJ Enterprises, LLC | Dental instrument alignment systems |
US9402691B2 (en) * | 2014-09-16 | 2016-08-02 | X-Nav Technologies, LLC | System for determining and tracking movement during a medical procedure |
WO2016196592A1 (en) * | 2015-06-02 | 2016-12-08 | Biomet 3I, Llc | Robotic device for dental surgery |
-
2018
- 2018-04-26 TW TW107114265A patent/TWI783995B/zh active
- 2018-04-27 CN CN201880044059.7A patent/CN110831539A/zh active Pending
- 2018-04-27 KR KR1020217042107A patent/KR20210158877A/ko not_active IP Right Cessation
- 2018-04-27 KR KR1020197034078A patent/KR20190141708A/ko not_active IP Right Cessation
- 2018-04-27 WO PCT/IB2018/052955 patent/WO2018198095A1/en active Application Filing
- 2018-04-27 KR KR1020237017696A patent/KR20230079492A/ko not_active Application Discontinuation
- 2018-04-27 CA CA3061578A patent/CA3061578A1/en active Pending
- 2018-04-27 JP JP2019558461A patent/JP7126516B2/ja active Active
-
2019
- 2019-10-28 US US16/665,980 patent/US20200054421A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130261433A1 (en) | 2012-03-28 | 2013-10-03 | Navident Technologies, Inc. | Haptic simulation and surgical location monitoring system and method |
US20140272789A1 (en) | 2013-03-15 | 2014-09-18 | Neocis Inc. | Method for conducting a guided sinus lift procedure |
CN104146773A (zh) | 2014-08-12 | 2014-11-19 | 江苏久信医疗科技股份有限公司 | 用于校准手术器械的校准块 |
WO2016093984A1 (en) | 2014-12-09 | 2016-06-16 | Biomet 3I, Llc | Robotic device for dental surgery |
WO2016118737A1 (en) | 2015-01-22 | 2016-07-28 | Neocis, Inc. | Interactive guidance and manipulation detection arrangements for a surgical robotic system, and associated method |
Also Published As
Publication number | Publication date |
---|---|
KR20230079492A (ko) | 2023-06-07 |
WO2018198095A1 (en) | 2018-11-01 |
JP2020517381A (ja) | 2020-06-18 |
TW201902431A (zh) | 2019-01-16 |
CN110831539A (zh) | 2020-02-21 |
CA3061578A1 (en) | 2018-11-01 |
TWI783995B (zh) | 2022-11-21 |
KR20190141708A (ko) | 2019-12-24 |
KR20210158877A (ko) | 2021-12-31 |
US20200054421A1 (en) | 2020-02-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7126516B2 (ja) | 口腔および顎顔面処置の案内付き実施方法、および関連システム | |
KR102596660B1 (ko) | 수술 기구를 위한 절단 가이드를 조종하기 위한 로봇 시스템 및 방법 | |
EP3673861B1 (en) | Guided dental implantation system | |
KR102005751B1 (ko) | 환자-상호작용 장치를 포함하는 치아 이식 시스템 | |
JP6259757B2 (ja) | コンピュータ支援手術の搭載器具追跡システム | |
KR102352789B1 (ko) | 통합된 수술 계획 및 임플란트 준비를 위한 수술 로봇 시스템 및 관련 방법 | |
US11116584B2 (en) | Robotic surgical tool | |
KR20170125360A (ko) | 가상의 환경에서 대응하는 가상의 대상을 조작하도록 물리적 대상을 이용하기 위한 방법 및 관련 장치와 컴퓨터 프로그램 제품 | |
CN112955094B (zh) | 植牙系统及其导航方法 | |
KR20220157512A (ko) | 로봇 보조식 교정 수술을 위한 시스템 | |
US9877810B2 (en) | Method for conducting a guided sinus lift procedure | |
JP2017000772A (ja) | ロボット支援手術のための装置及び方法 | |
JP2010530268A (ja) | 神経外科用多機能ロボット化プラットフォームと位置調整方法 | |
EP2997926B1 (en) | Guiding and holding device for minimum incision foot surgery | |
WO2015107520A1 (en) | Dental guiding system and method | |
WO2020151598A1 (zh) | 一种手术机器人系统及其使用方法 | |
WO2017117382A1 (en) | Robotic assisted prostate surgery device | |
TW202036471A (zh) | 影像掃描與坐標系統對位方法及相關方法及系統 | |
Kinariwala et al. | Dynamic navigation in endodontics | |
EP4201364A1 (en) | Method for indicating an incision trajectory by a laser of an intraoperative imaging system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A529 | Written submission of copy of amendment under article 34 pct |
Free format text: JAPANESE INTERMEDIATE CODE: A529 Effective date: 20191224 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20191224 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20201002 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20201208 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210304 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210907 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20211206 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220510 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220721 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220802 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220816 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7126516 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |