WO1998015234A1 - Methode pour faciliter les diagnostics et les traitements en medecine dentaire - Google Patents

Methode pour faciliter les diagnostics et les traitements en medecine dentaire Download PDF

Info

Publication number
WO1998015234A1
WO1998015234A1 PCT/US1996/016087 US9616087W WO9815234A1 WO 1998015234 A1 WO1998015234 A1 WO 1998015234A1 US 9616087 W US9616087 W US 9616087W WO 9815234 A1 WO9815234 A1 WO 9815234A1
Authority
WO
WIPO (PCT)
Prior art keywords
computer
tooth
method recited
instrument
patient
Prior art date
Application number
PCT/US1996/016087
Other languages
English (en)
Inventor
David R. Mushabac
Original Assignee
Mushabac David R
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mushabac David R filed Critical Mushabac David R
Priority to AU73950/96A priority Critical patent/AU7395096A/en
Priority to PCT/US1996/016087 priority patent/WO1998015234A1/fr
Publication of WO1998015234A1 publication Critical patent/WO1998015234A1/fr

Links

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
    • A61C1/084—Positioning or guiding, e.g. of drills of implanting tools
    • 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
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/04—Measuring instruments specially adapted for dentistry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/283—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for dentistry or oral hygiene
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
    • 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

Definitions

  • This invention is directed to a series of related methods for facilitating dental diagnosis
  • this invention relates to a method for use in forming a preparation in a patient's jaw This method is useful, for example, in anchoring a dental
  • a related method entails conducting a practice operation on the patient
  • this invention relates to a method for instructing and possibly monitoring an actual operation on the patient
  • This invention also relates to a method for providing information as to a patient's dental
  • This invention further relates to a method for at least partially automatically making a dental diagnosis
  • Another method in accordance with the invention provides a computer with data
  • the system includes a
  • pantograph type assembly for feeding to a computer digitized data representing surface
  • the pantograph assembly includes a hand-held probe inserted into the
  • pantograph extension outside the patient's mouth tracks the motion of the probe and particularly the stylus tip thereof, the motion of the pantograph extension being monitored by
  • the computer shows on a monitor a graphic representation or image of the tooth
  • image is generated from the digitized contour data and possibly also video data from an optical
  • the computer is preprogrammed with data on prosthetic dental appliances
  • kits may be in a
  • pocket depth information is conventionally
  • depth information is stored as numbers on a form or a sketch outlines on the form More
  • the pocket depth information is available in the form of a chart print out upon manual
  • Each such chart is a printed form with
  • Roots are thus represented as two-dimensional shapes, outlined
  • An X-ray film of a tooth or other dentitious structure contains a great quantity of useful
  • X-ray data is obtained separately from the pe ⁇ odontal clinical data and both classes of data are read separately.
  • diagnostic information store or single method of storing and presenting all the different observational results.
  • Study models are conventionally made of stone or plaster, although more recent technologies are based on more modern materials such as synthetic polymeric materials. Study models are necessary, or
  • the jaw bone of a patient is drilled to form a bore which receives a
  • orientation of the blade must take into account the thickness of the bone at the area of the
  • a general object of the present invention is to provide a method for facilitating the
  • a more specific object of the present invention is to provide such a method which is
  • An additional object of the present invention is to provide a method for enabling a
  • Another, more particular, object of the present invention is to provide a method for
  • Yet another particular object of the present invention is to provide a method for
  • a further object of the present invention is to provide a method for storing together
  • invention is to provide a method for facilitating the storage and presentation of dental
  • diagnostic information More specifically, it is an object of the present invention to provide an
  • An associated object of the present invention is to provide a method for facilitating the production of a study model (an electronic study model)
  • An additional object of the present invention is to provide an improved method for
  • invention is to provide an improved method for positioning and orientation an implant blade
  • Yet another object of the present invention is to provide an improved method for
  • a method for use in forming a preparation in a patient's jaw comprises, in accordance
  • the computer to generate, on the monitor, a graphic representation of the tool in the optimal
  • the pre-existing structure includes bone in the patient's
  • the preparation comprises a bored structured form that has been in the jaw bone for
  • the drilling or material removal tool are adapted to produce a desired position and a desired
  • encoded data comprises a first step of generating digitized surface data and a second step of
  • the digitized surface data may include, for example, video surface
  • composite image may in turn be enlarged or expanded, modified or highlighted and shown in
  • a method in accordance with the present invention may be used to conduct a practice
  • the dental practitioner orients a dental type instrument (e.g., a probe or a drill) in juxtaposition to the pre-existing structure at the dental practitioner.
  • a dental type instrument e.g., a probe or a drill
  • the computer is provided with electrical feedback or signals as to the actual position
  • the computer is then operated to automatically determine an angle between the optimal orientation and the actual orientation.
  • the computer then alerts the dental practitioner as to the deviation, if any, between the instrument and the
  • the instrument used by the practitioner in the practice exercise may take the form of a
  • a virtual tip that is, a non-operational tip.
  • a tip may be a
  • the tool e.g., drill
  • the tool is used to modify the pre-existing dental
  • the computer provides the dental practitioner operating the dental tool
  • the alert signal may take the form of an auditory
  • the alert signal may include a visual indication provided on the monitor.
  • alert signal may also be provided in a practice operation, to indicate to the operator a deviation
  • the patient is analyzed to determine position and orientation of a desired preparation
  • the dental structure includes teeth on opposite sides of a missing tooth
  • teeth may be analyzed to determine their positions and orientations and the desired position, size and orientation of a crown to be attached to an implant blade or anchor at the gap.
  • analysis may include the determination of different virtual or imaginary structures, such as an
  • occlusal plance or a lingual buccal tilt or a lingual buccal tilt, axes of symmetry and different parameters of a dental
  • the analysis may supplemented with the steps of (a) at least partially automatically
  • the actual dental devices of the inventory include blades
  • At least one of the views may be generated by the computer upon interpolation of
  • the electrically encoded data For example, the thickness or breadth of the root of a tooth (as
  • the interpolated dimensions are easily determined from available statistical information, such as
  • the electrically encoded data advantageously includes X-ray data and contour or surface data as to the pre-existing structure
  • a method for providing information as to a patient's dental condition and more
  • a method for producing an electronic chart of a patient's teeth comprises, in
  • the electronic chart combines X-ray data and surface data into one storage medium and enables the presentation of
  • the present invention presents internal structural features and external structural features
  • the present invention can incorporate various classes of input More specifically, the electronic
  • study model can include the surface anatomies of dental structures, X-ray data pertaining to
  • periodontal information such as pocket depths and pocket outlines, arch relationships and other bite information such as occlusal contact points and stress analyses.
  • Pocket information is obtained by contour tracing done with a probe in accordance
  • gingival contour data is integrated with X-ray data to provide a complete map of the pocket
  • the electrically encoded coordinate reference data for enabling the coordination of the
  • X-ray data and surface data may be produced in part by attaching an X-ray opaque reference element to a dental surface in the patient's mouth.
  • the position of the X-ray opaque reference may be produced in part by attaching an X-ray opaque reference element to a dental surface in the patient's mouth.
  • the X-ray opaque reference element is attached to the occlusal surface via
  • reference element takes a saddle-like form and is laid on an edentulous gum surface in the
  • the computer is operated to
  • structures may include different substructures of a tooth.
  • the computer uses various
  • This method is particularly valuable in conjunction with the method of providing an
  • the chart thus shows various internal and external dentitious structures in different colors or textural patterns
  • the computer is
  • a selected dimension of an internal dental structure may be
  • thickness of a tooth root (in a direction from lingual to buccal), is calculated from a width and a depth of the root and the total contours and dimensions of the crown
  • pocket depths are at least
  • a method for making a dental diagnosis comprises, in accordance with the present
  • the computer is operated to select and match
  • the anatomical condition is displayed on the monitor in a predetermined
  • Another method in accordance with the present invention provides a computer with
  • This method comprises the steps of (a)
  • this method is usef l, if not necessary, in
  • a dentitious preparation comprises the steps of displaying on a monitor a graphic representation in a first color of three-dimensional dental structure in a patient's mouth and also
  • a practitioner uses a material removal instrument (e.g.,
  • the different colors or hues of the palette may, for example, represent sequential halves of the drill diameter distance
  • the third color i.e., the color of the modified surface
  • the third color is a
  • predetermined color to indicate a spatial difference between the actual modification and the
  • a method for charting a patient's dentition comprises, in accordance with the present
  • identification is converted into a second electrical signal and, partially in response to the first
  • a chart of the teeth is produced including an
  • the characteristic may be decay or a
  • a method for preparing a tooth in a patient's jaw comprises, in accordance with the
  • the steps of (a) generating electrically encoded data as to surfaces of the tooth, (b) transmitting the data to a computer, and (c) operating the computer to generate, on a monitor connected to the computer, a graphic representation of at least one view of the
  • an electrically encoded preparation preform is selected from resourced dental
  • the computer Upon the selection, the computer is operated to display the electrically encoded preparation
  • the step of operating the computer to generate a graphic representation includes the step of operating the computer to generate,
  • the views is generated by the computer upon interpolation of electrically encoded surface data For example, the thickness or breadth of the root of a tooth (as visible in a distal or mesial
  • a method for use in forming a preparation in a patient's jaw or tooth comprises, in
  • the practice instrument is then moved in a virtual or pretend operation as if to form the preparation in the patient's jaw.
  • the tool is automatically operated via the enslavement thereof to the practice instrument, so that a recess is formed in the block.
  • the actual dental instrument is coupled to a slave probe
  • Fig. 1 is a block diagram of a system effecting a desired modification in the shape of a
  • FIG. 2 is a block diagram showing details of a surface data generating device shown in
  • Fig. 3 is partially a block diagram and partially a schematic elevational view of a
  • Fig. 4 is a cross-sectional view taken along line IV-IV in Fig. 3.
  • Fig. 5 is a detailed schematic diagram of optical components in a grid projection assembly
  • Fig. 6 is a cross-sectional view, similar to Fig. 4, of another particular embodiment of
  • Fig. 7 is a schematic cross-sectional longitudinal view of yet another particular
  • Fig. 8 is an elevational view of a distal end of the embodiment of Fig. 7, taken in the
  • Fig. 9 is a plan view of a reference stylus usable in conjunction with the data generating
  • Fig. 10 is a plan view of another reference stylus usable in conjunction with the data generating device of Figs 3 and 7
  • Fig. 11 is a partially diagrammatic perspective view of an embodiment of a contour data generating device shown in Fig 1
  • Fig. 12 is a partial perspective view, on an enlarged scale, of the contour generating
  • Fig. 13 is a partial perspective view, on an even larger scale, of another embodiment of
  • Fig. 14 is a perspective view of another contour data generating device usable in a
  • Fig 15 is a perspective view of drill movement control assembly
  • Fig 16 is a partial perspective view, on an enlarged scale, of a drill movement
  • Fig 17 is a partial schematic perspective view of a reference marker assembly
  • Fig 18 is a side elevational view, partially in cross-section, of a hand held instrument
  • Fig. 19 is a cross-sectional view taken along line XIX-XIX in Fig 18
  • Fig 20 is a partial cross-sectional view taken along line XX-XX in Fig 19
  • Fig 21 is a partial cross-sectional view similar to that shown in Fig 20, showing a
  • Fig 22 is a diagram showing a circuit of another parallel contour data gathering device.
  • Fig 23 is a schematic side elevational view of yet another parallel contour data gathering device
  • Fig. 24 is a schematic side elevational view of a tooth as it would appear on a computer
  • Fig. 25 is a display on a computer monitor, showing optimal and actual orientations of
  • a dental instrument relative to a patient's dentitious surfaces.
  • Fig. 26 is a side elevational view, on an exaggerated scale of a dental instrument with a
  • Fig. 27 is a side elevational view of another dental instrument for use in a practice or
  • Fig. 28 is a schematic top plan view of an instrument assembly being used in
  • Fig. 29 is a side elevational view of a pair of molars bearing fiducial coordinate frame reference elements in accordance with the present invention.
  • Fig. 30 is a perspective view of another fiducial coordinate frame reference element in
  • Fig. 31 is a graphic representation, as would appear on a computer monitor in
  • digitized video signals representing a three-dimensional surface of an object
  • a second data generating device or assembly 26 is operatively connected to
  • computer 24 may receive from a third data generating device or assembly 28 digitized input
  • device 28 may take the form of an X-ray device such as used in current extra-oral or intra-oral
  • radiology or other methodologies and basically comprises a source 30 of X-ray radiation and a
  • detector 32 for receiving the X-ray radiation after it passes through a tooth and converting the incident radiation into a digital data stream fed to computer 24
  • the computerized interactive dentistry system also comprises a display device 34 such as a monitor or stereo or holographic projector In
  • computer 24 In response to data signals, computer 24 generates a three-dimensional view on display of
  • the computerized interactive dentistry system of Fig 1 further includes another data
  • Data generating device 36 thus enables computer 24 to monitor modifications to the shape of the tooth
  • Fig 1 The system of Fig 1 is further provided with any of several instruction input devices
  • keyboard 40 such as a keyboard 40, a mouse (not shown), or a contact sensitive surface of monitor 34,
  • computer 24 may use input from drill data generating device 36 as instructions regarding, for example, the depth of a tooth preparation to be displayed on monitor 34.
  • Computer 24 monitors the location of the operating tip of the drill via data
  • generating device 22 includes a grid projection assembly 46 for optically imposing a grid onto
  • Data generating device 22 also includes an opto-electrical
  • transducer 48 such as a charge-coupled device for optically sensing or scanning the tooth
  • pattern projected on the tooth surface need not be an orthogonal grid having two sets of lines
  • a grid may be imposed onto the tooth surface by
  • data generating device As further depicted in Fig. 1 and described in detail hereinafter, data generating device
  • pantograph-type component 50 which incorporates a stylus handle or holding member 52 and a pantograph extension 54 in turn including a pantograph arm 56 and a bridge element 58.
  • Bridge element 58 connects pantograph arm 56 to stylus holding member 52.
  • Data generating device 26 further comprises at least a pair of opto-electrical transducers 60 and 62 preferably in the form of respective charge-coupled devices ("CCD"s).
  • CCD charge-coupled devices
  • component 50 enables computer 24 to track, from outside the mouth, the motions of the tip of
  • data generating devices 22, 26 and 28 provide to computer 22 electrically
  • Computer 24 then "draws” and forms a graphic model of the tooth on monitor 34. At that
  • the dentist instructs the computer to modify the displayed three-dimensional shape.
  • the dentist may use keyboard 40 to input a command that a predefined tooth preparation, in graphic form, be overlaid on the three-dimensional graphic representation of the
  • the size of the tooth preparation relative to the tooth may be specified by entering a depth dimension via keyboard 40, data generating device 36, a mouse or a contact-sensitive
  • computer 24 may be programed to automatically select a
  • the dentist may command the
  • the selection of the desired surface area may include
  • pantograph-type component 64 which incorporates drill 38 and a pantograph
  • Data generating device 36 further comprises at
  • Pantograph component 64 enables computer 24 to track
  • Data generating device 36 may be the same as data generating device 26 with stylus
  • the tooth are displayed in real time on monitor 34 by computer 24.
  • grid projection assembly 46 of data generating device 22 includes a
  • the grid light along a path through the data generating device and for focusing the grid light on
  • CCD charge-coupled device
  • CCD 48 generates and transmits to computer 24 a digitized video signal containing
  • the components 76, 78, 80, 82 and 48 of data generating device 22 may be housed in an elongate instrument frame or holder 84 including a handle 86 and a stem
  • portion 88 displaced laterally with respect to a longitudinal axis of handle 86.
  • holder 84 of Fig. 3 further includes a Y-shaped distal end portion 90 having a pair of hollow
  • Each CCD includes a respective photosensitive sensor array 96a and 98b and respective sequencing and processing electronics
  • the sequencing and processing electronics 96b and 98b have input and output
  • lenses 104 and 106 disposed in legs 92 and 94. Lenses 104 and 106 may be considered
  • focusing optics 82 parts of focusing optics 82 (Fig. 2), while lens 100 is part of focusing optics assembly 80.
  • grid projection assembly 46 includes light source 76 (also
  • frame or holder 84 may be provided with various movable mounting elements (not limited to,
  • Grid light may be guided through the grid projection instrument or frame 84 by
  • beams is guided to lens 100 by a bundle 1 18 of optical fibers, while a pair of optical fiber input
  • bundles 120 and 122 receive incoming optical radiation focused on the input ends of bundles by lenses 104 and 108.
  • Fiber bundles 120 and 122 guide the incoming radiation to a pair of CCDs (not shown)
  • instrument frame 90 disposed in instrument frame 90 at a more proximal end of the frame, for example, in the
  • the first data generating device 22 may include a
  • a data generating device or optical probe 124 As schematically shown in Figs. 7 and 8, a data generating device or optical probe 124
  • the handle 128 may incorporate a single CCD transducer 126 disposed in a handle 128 of an elongate instrument frame or casing 130.
  • the handle 128 also houses a grid source 132.
  • fiber bundle 134 guides a grid pattern from grid source 132 through a part of handle 128 and a stem portion 136 of frame 130 to a distal end of the probe. At the distal end, the grid pattern
  • a lens 138 is focused by a lens 138 onto a subject tooth, the reflected radiation pattern being focused by
  • another lens 140 onto the distal or input end of another fiber optic bundle 142 extending to CCD 126.
  • frame member 84 and optical probe frame 130 are provided
  • CCD 48, CCDs 96 and 98, or CCD 126 for providing computer 24 with a reference distance
  • Computer 24 is thereby able to
  • Computer 24 measures distances by calculating the number of pixels in the respective sensor array (e.g., 96a
  • Stylus element 144 is retractable into handle 86 or 128. Retraction may be
  • stylus 144 is advantageously replaceable by other elements such as stylus 148 shown in Fig. 9 or stylus 150 shown in Fig.
  • Stylus 148 is formed at a distal end with three prongs 152, 154 and 156 each having a
  • Spheres 158, 160 and 162 may have
  • stylus 150 has a plurality of prongs 164, 166, 168, 170 and 172 each provided at its
  • a dentist places at least two of spheres 158, 160 and 162 on the surface of the tooth. Similarly, two enlarged end
  • formations 174, 176, 178, 180 and 182 are positioned in engagement with a tooth surface
  • contour data generating device 26 (Fig. 1) comprises
  • arms 190, 192 and 194 in turm connected at their other ends to a pedestal member 196.
  • Contour data generating device 26 further comprises three transparent plates 198, 200 and 202
  • Support arm 206 is cemented or otherwise
  • plates 198, 200 and 202 are illustrated as being orthogonally disposed and as having Cartesian orthogonal grids, it is not necessary for
  • contour data generating device 26 includes
  • pantograph-type component 50 As described hereinabove with reference to Fig. 1 (includes
  • pantograph component 50 essentially a mirror image of illustrations in Fig. 11 and 12
  • pantograph arm 56 is fixed with respect to stylus member 52, computer 24 is accordingly able to track, from outside the mouth of patient P, the motions
  • Pantograph component 50 is mounted to the free end of a linkage 210 including a
  • member 196 is secured to a base 214.
  • Both stylus member 52 and pantograph arm 56 are rotatably secured to bridge element
  • Pantograph arm 56 is coupled to
  • stylus member 52 via an endless toothed belt 53 whereby rotation of stylus arm 52 about its
  • pantograph arm 56 is a pantograph arm 56.
  • Fig. 13 In the specific embodiment shown in Fig. 13, three CCD cameras 216, 218 and 220
  • pantograph arm 56 and thus stylus member 52 are integral to pantograph arm 56 and thus stylus member 52.
  • the camera assembly of Fig. 13 essentially includes three pixel
  • pixel arrays to focus the light from the tip 208 of the pantograph arm on the pixel arrays.
  • tip 208 of pantograph arm 56 may be provided with an LED or other marker element to
  • optical scanning assembly comprising cameras 216, 218 and 220.
  • contour data may be generated by an alternative technique employing a multiple segment support arm 310 which extends from a fixed platform 312.
  • Support arm 310 includes segments 314, 316, 318, 320, 322 and 324 of which the first
  • segment 314 is connected to platform 312. Segments 314-324 are pivotably connected to one
  • an operating instrument e.g., drill
  • free end of a last or outermost arm 324 can move with six degrees of freedom, specifically along three translational axes and three rotational axes.
  • Stationary platform 312 and segment 314 are connected at joint 326 to provide rotation
  • segment 316 are coupled to one another for rotation about an axis which is essentially a
  • arm segments 316 and 318 are rotatably linked
  • a probe or pantograph-type extension 344 is mounted to the outermost segment 324 and through a belt 346 rotates in synchronism with operating instrument 338. In this fashion,
  • probe 344 is slaved to operating instrument 338. Accordingly, a three-dimensional configuration or contour traced by the tip of operating instrument 338 will be replicated by a
  • Each joint 326-336 is formed to have sufficient friction to allow the joint to hold a
  • a plurality of digital encoders 340 are mounted to arm segments 314-324. Upon a
  • encoders 340 transmit to computer 24 respective
  • the monitoring device of Fig. 14 need not include pantograph extension 344 since motion tracking is
  • contour data generating device 26 (Fig. 1), computer displays partial or
  • representations include the visible three-dimensional surfaces of each such tooth, as well as invisible base line data fed to computer 24 by contour data generating device 26.
  • computer 24 may ⁇ be provided with electrically encoded data specifying internal structures such as the dentine inside each tooth and prior fillings or other prosthetic devices.
  • a dentist may select a preparation which may be appropriate for the particular condition of the tooth. As described above, this selection may be
  • the selection may be
  • keyboard 40 implemented by inputing dimensional parameters via keyboard 40, including distances, angles,
  • computer 24 may provide a menu selection on
  • monitor 34 selections being made from the menu via the keyboard, a mouse or a
  • virtual preparation instruments to input specific percentages of tooth removal and to input specific boundaries and depths of tooth removal.
  • the virtual preparation instruments include a telescopic stylus and/or drill substitutes.
  • computer 24 In yet another alternative procedure, computer 24
  • the tooth may be programed to recognize structural features of the tooth, such as its type, the location
  • the computer may be further
  • drill 38 (Fig. 1) is then used to remove a portion of the
  • Computer 24 may control the supply of power to the drill so that the drill is
  • drill 38 will be de-energized until the cutting tip of the drill is in near engagement with a surface to be cut. Then computer 24 enables the transmission of
  • Fig. 15 illustrates a drill movement control assembly 230 similar in geometric design to
  • Drill member 240 is rigidly but removably coupled
  • pantograph arm 238 via a U-shaped bridge 242 including a pair of legs 244 and 246 fastened to pantograph arm 238 and drill 240, respectively, and a transverse connector piece
  • leg member 250 is rigid with connector piece 248 and is telescopingly
  • a spring loaded release latch 252 serves to removably clamp leg
  • Release latch 252 constitutes a safety mechanism enabling a
  • computer 24 generates a series of signals
  • computer 24 controls the energization of drill 240 so that the drill is operative only in preselected zones in and about the regions of tooth to be removed
  • Limiting the motion of a dentist's drill 254 may be accomplished by selecting a tooth
  • preparation preform 256 from a kit of preparation preforms Preform 256 may be selected by computer 24, as described above, to confrom to a desired preparation or may be manually
  • Preform 256 is cemented to one end of a support bracket 258, the other end of
  • a pantograph assembly including a drill 260, a bridge
  • pantograph arm 264 is then used to cut the tooth A tip on the pantograph
  • cavity or recess 266 limits the concomitant motion of the drill, whereby the tooth is provided
  • kits are provided of dental preparation preforms in different sizes and
  • preforms correspond to shapes of onlays or crowns
  • the kit may also include prefabricated
  • restorations or restorative devices that is, preformed inlays and onlays for attachment and/or
  • Computer 24 has a data memory loaded with electrically encoded data corresponding
  • keyboard 40 via keyboard 40 or otherwise all correspond to respective prosthetic or restorative inserts of
  • computer 24 operates to select a desired tooth preparation and to control the formation of that preparation in the subject tooth. Upon the completion of the preparation,
  • a selected preformed inlay or onlay or crown can be machined
  • Computer 24 may control the machining operations in a
  • Fig. 17 shows an assembly 270 for supplying surface data generating device 22 (Fig. 1) with optically detectable reference distances or displacements at the surface of the object (such
  • Assembly 270 is attachable to the distal end of a dental probe such as instrument frame or holder 84 and comprises a holder member 272 made of transparent material and
  • Each stylus is pushed outwardly in a transverse direction relative to holder member 272 by a respective compression spring 278.
  • each stylus 276 is provided with a series of longitudinally equispaced striations or reference
  • elements such as prisms (not shown) may be placed on the same lateral side of the stylus array.
  • styli 276 presses styli 276 against a tooth surface. Under the pressure exerted by the operator, styli 276
  • each stylus 276 depends on and is a measure of a height of a respective surface element or zone of the tooth surface.
  • assembly 270 are required for computer 24 to map the entire surface of the tooth under
  • the surface of an object such as a tooth comprises a hand-held dental instrument or frame 402
  • pantograph assembly forms a part of a pantograph assembly such as that illustrated in Figs. 11 through 15.
  • Instrument frame 402 is locked in a predetermined position and orientation to pantograph
  • instrument frame 402 carries two sets of pins 410 and 412 slidably
  • instrument frame 402 Proximally of nose portion 414, instrument frame 402 has a shoulder 418 in turn
  • a lens 422 is disposed at
  • CCD charge coupled device
  • CCD 426 is provided with conventional scanning circuitry 428 and output signal preprocessing circuitry 430.
  • An output lead or multiple 432 extends from
  • preprocessing circuitry 430 to computer 24 (Fig. 1).
  • CCD 426 and its associated circuitry 428 and 430 may
  • optical fiber bundle 424 extends out from instrument frame
  • optical fiber bundle 424 may be omitted and CCD 426 positioned in juxtaposition to lens 422.
  • each pin 410 is hollow and contains an end portion of a respective optical fiber 434 extending from a light source 436 inside instrument frame 402 to a
  • Each pin 412 is also hollow and
  • mounting bracket 442 at an end of the respective pin 412.
  • instrument frame 402 may be instantaneously and
  • each pin 410 is provided with a pair of spaced
  • a helical spring 448 is compressed between a wall 450 of nose portion 414 and flange 444, thereby biasing the respective pin 410 in a direction indicated by an arrow 452.
  • Flange 446 cooperates with another wall 454 of nose
  • Each pin 412 is provided with a pair of spaced perimetrically extending flanges 458 and
  • a helical spring 462 is compressed between a wall 464 of nose portion 414 and flange
  • pantograph arm 56 which is monitored by opto-electrical transducers or video cameras 60 and
  • Pantograph component 50 enables computer 24 to track, from outside the mouth, the
  • pantograph assembly enables computer
  • computer 24 is continuously informed not only as to the position of the arbitrary reference point, but also the orientation of a coordinate system or reference frame, exemplarily with the reference point as origin.
  • instrument frame 402 inside a patient's mouth and the three-dimensional orientation of the
  • instrument frame computer 402 is supplied with a data stream from CCD 426 regarding the
  • CCD 426 tracing a plurality of parallel contours along the tooth surface are sensed by CCD 426 and
  • computer 24 is able to
  • Pins 410 and 412 are shown in Fig. 19 as being aligned with one another along the
  • contour data is collectible at an enhanced rate if the pins 410 of one row are staggered with respect to the pins 412 of the other
  • Such a two-dimensional array of pins 410 and 412 enables a greater pin density, thereby
  • Instrument frame 402 may be provided with a button (not shown) which, when pressed
  • Fig. 21 depicts another pin or stylus 470 slidably mounted to nose portion 414 of
  • instrument frame 402 in substitution for pins 410 and/or 412 In pin 470, a light-emitting
  • diode 472 forms the light source for facilitating detection by CCD 426 (Fig. 18) and
  • Diode 472 is connected by a pair of leads 474 and 476 to two
  • Plates 482 and 484 are connected to opposite terminals of a direct-current voltage source 486 and are insulated from nose portion 414 by a buffer element 487
  • each pin 470 is provided with a pair of spaced
  • Flange 490 cooperates with wall 454 or 466 of nose portion 414 to limit the distance that a pointed end 496 of the respective pin 470 projects from nose portion 414.
  • Fig. 22 illustrates a portion of a pin or stylus 498 slidably mounted to a nose portion
  • pin or stylus 498 is one of a plurality of identical stylii all slidably mounted to the
  • nose portion of the instrument frame in a linear or two-dimensional array for providing contour
  • the dental instrument carrying pins 498 is removably attachable to pantograph-type
  • a pair of brush type contacts 500 and 502 are embedded in stylus 498 and operatively
  • direct-current voltage source 508 is connected across resistive element 506, while an output
  • a parallel contour data gathering device includes an instrument frame or body 510.
  • a nose portion 512 is pivotably attached to a distal end of frame 510 for
  • Nose portion 512 carries two linear arrays of pins or stylii 516 and
  • Pins 516 and 518 are partially longitudinally traversed by respective optical fibers 520 and 522 extending from a diode 524 in nose portion 512.
  • Diode 524 in turn is energized by a source of electrical power via a pair of leads 526.
  • Leads 526 include a pair of sliding or brush type contacts 528 for enabling the conduction of electrical energy to diode 524 over the
  • portion 512 along a tooth surface is monitored by computer 24 via digitized video signals
  • CCD charge-coupled device
  • nose portion 512 particularly facilitates the collection of parallel contour data along a plurality
  • Computer 24 is able to take the orientation of nose portion 512 into account by monitoring, via pantograph
  • preforms in different sizes and shapes corresponding to actual preforms in a kit, computer 24
  • each preform in the kit of preforms has in the data memory of
  • the computer 24 a plurality of digitized images, one image representing the preform itself and
  • computer 24 displays on monitor 34 an
  • images may be modified, for example, in response to instructions from keyboard 40, to show different perspective views and/or cross-sectional views of the tooth, the selected preparation,
  • the successive stages may be
  • the displayed intermediate stage may be modified by computer 24
  • modifying the shape of a tooth is especially useful to teach students preferred steps in
  • Computer 24 is preprogramed to store in encoded form a plurality of possible final modifications or preparations of a tooth and for each such final preparation at
  • preprogramed intermediate stage data may be implemented automatically by computer 24
  • Computer 24 thus uses the drill movement control
  • Pantograph assembly 50 or, alternatively or additionally, encoders and articulated
  • support arm assembly 310 provide a system and procedure for automatically and precisely
  • orientations of the dental instrument may be recorded for subsequent playback or display on
  • dentist or dentistry teacher uses a dental instrument to execute a preferred or ideal technique, and successive positions and orientations of the instrument are input into a computer via
  • pantograph assembly 50 and its attendant cameras or, alternatively or additionally, encoders
  • these motion digitization devices are used to digitize the entire motion of a dental instrument or other tool as it approaches and begins work
  • Recognition may be triggered, of course, by appropiate input, for
  • the initial recordation of a preferred manner of holding the dental instrument (which may be an operating instrument such as a drill or a non-operative instrument such as a
  • periodontic probe may be implemented using a model or a representative tooth.
  • computer 24 uses the data to illustrate the motion on
  • monitor 34 Such a depiction of instrument motion may take the form of a series of discrete
  • successive images may be shown in rapid succession, as in a video presentation, or in slow
  • the successive positions and orientations may be displayed simultaneously in juxtaposition on monitor 34.
  • the successive positions and orientations may be displayed simultaneously in juxtaposition on monitor 34.
  • computer 24 may be operated to show only that one position and orientation of the dental instrument.
  • computer 24 may be operated to show only that one position and orientation of the dental instrument.
  • monitor 34 a graphic representation of a hand holding the instrument is shown on monitor 34.
  • the hand's orientation may change together with the
  • drill 38 Fig. 1
  • a mock drill e.g., with a telescoping or self-sinkable
  • computer 24 advantageously monitors the
  • results may take the form, for example, of two differently colored images or sets of images.
  • the alert signal may be generated by computer 24 to indicate deviation from the ideal motion
  • the alert signal may be generated by computer 24 to indicate deviation from the ideal motion
  • the auditory signal may become louder
  • the providing of feedback to a practitioner or student thus includes the step of
  • the graphic representation can be displayed in juxtaposition to the image of the ideal position and orientation of the
  • Fig 24 represents a graphic representation of a tooth 550 shown on computer monitor
  • computer 24 is operated to select a digitized or electronic preform 552 from
  • kits of actual preforms which may be inserted into actual preparations upon the formation of the preparations in patient's mouths by a dental
  • preparation 552 is displayed in a different color from tooth
  • Fig. 24 shows only a single view of tooth 550. It is to be understood that several views may be displayed on monitor 34 simultaneously.
  • tooth 550 may be
  • one or more cross-sectional views of tooth 550 may be provided. These views may be
  • the new tooth surface 554 is preferably displayed in a color different from the colors of the
  • tooth surfaces 554 are to the desired or target preparation 552, the color selected by computer
  • computer 24 is provided with a
  • preprogramed sequence or palette of selectable colors which may, for example, represent
  • Fig. 25 shows a display on monitor 34 of three views of an optimal position and orientation 556 of a drill (not separately enumerated) for cutting into a patient's mandible 558
  • Fig. 25 also illustrates in dot-dash phantom outline an actual position and orientation 562 of
  • a first screen portion 564 illustrates a buccal or lingual elevational
  • a second screen portion 570 is depicted a view of molars 556 from the mesial direction.
  • third screen portion 572 is a top plan view of molars 566, front teeth 568 and bone 558.
  • teeth 566 and 568 are measured or digitized as described
  • stylus or probe member 52 (Fig. 1) is used to digitize the surface of jaw bone 558. To that end, stylus member 52 is provided with a sharp
  • stylus 574 (Fig. 1) having a length sufficient long to penetrate gum tissue and contact the bone
  • the practitioner Upon achieving a contact, the practitioner signals computer 24, e.g., via keyboard 40.
  • the dental practitoner repeats the procedure of piercing the gum tissue in a region about a
  • bore 560 may be determined to a greater or lesser extent
  • Computer 24 makes this determination in accordance with (a)
  • jaw bone 558 dimensions and shape of jaw bone 558, and (d) the location of internal bone structures, such as
  • anatomical structures is in an excellent position to determine the optimal angle and depth of anchor-receiving bore 560.
  • generating device or assembly 26 is implemented as described hereinafter with reference to Fig.
  • computer 24 calculates an optimal position and orientation 556 of a drill for forming bore 560 and displays that optimal position and orientation preferably,
  • the drill is attached to the pantograph assembly (e.g., like cutting instrument 38 in Fig. 1).
  • the pantograph assembly e.g., like cutting instrument 38 in Fig. 1.
  • Figs. 26 and 27 may be attached to the pantograph assembly.
  • the dentist holds either the actual drilling instrument or a practice instrument in the
  • Fig. 25 may be shown in a different color or in phantom outline, as in Fig. 25.
  • a dentist or oral surgeon is provided with immediate feedback
  • This feedback also includes an indication of
  • the indication may include not only an illustration of the relative positions
  • the display on monitor 34 may also include one or
  • orientation 562 and the predetermined optimal position and orientation 556 are simplified to
  • predetermined optimal position and orientation 556 may alternatively or additionally take an aural form, instructions or information being communicated to the dentist or surgeon via electro-acoustic transducer 44 (Fig. 1). If the instructions or information is in the form of
  • FIG. 26 A virtual instrument for use in practice or trial runs is depicted in Fig. 26.
  • the instrument includes a handle 592 attachable to pantograph component 64 (Fig. 1) and a virtual operating tip 594 comprising a telescoping member. Telescoping operating tip 594
  • tooth or tissues e.g., gingiva, edentulous gum tissue or bone tissue.
  • Computer 24 may terminate power to the
  • the drilling operation may be conducted
  • a selection made by computer 24 may be
  • the necessary steps include (a)
  • practicing an implant procedure may be undertaken with a dental
  • instrumentation shown in Fig. 27 may be modified for placing an implant anchor into a
  • a practice or trial run of an implant drilling operation may be
  • Drill 604 is enslaved to virtual instrument 600, as described
  • drill 604 cuts a bore into a block of acrylic material
  • block 606 is provided with a hole (not shown) matching the bore 560 to be formed in the patient's jaw bone 608.
  • the hole (not shown) matching the bore 560 to be formed in the patient's jaw bone 608.
  • block 606 can then be used as a template to guide, limit or control the motions of an implant drill during an actual operation on the patient's jaw bone 558. Prior to the actual operation, of
  • virtual instrument 600 is replaced by an actual implant drill while a drone or probe is
  • the system of Fig. 1 includes (a) optical data generating
  • pantograph data generating device or assembly 26 for providing computer 24 with digitized
  • optical data generating device or assembly 22 In order to coordinate the data from optical data generating device or assembly 22
  • pantograph data generating device or assembly 26 on the one hand, with the data from
  • this common coordinate system may be
  • fiducial reference elements 610 each comprising an X-ray opaque or X-ray detectable portion 612 in the form of a cross-bar of a T shape.
  • opaque cross-bar 612 is connected to an X-ray transparent stem 614 in turn cemented to the
  • pantograph data generating device or assembly 26 that device merely traces the shape of cross-bar 612 or a predetermined feature on the surface of the respective reference element 610.
  • the teeth to which the particular coordinate-system reference elements 610 are attached are determined via the use of pantograph data generating device or assembly 26. That device merely traces the shape of cross-bar 612 or a predetermined feature on the surface of the respective reference element 610.
  • elements 610 are provided with distinguishable identifying features detectable via X-ray data
  • Such identifying features may take the form of a bar code
  • Fig. 29 shows T-shaped reference elements
  • Fig. 30 depicts a coordinate-system reference element 620 in the shape of a saddle
  • Reference element 620 may include one or more X-ray opaque segments or strips 624.
  • the strips may include a bar code or other identification corresponding to the location of gum surface 622.
  • Data fed to computer 24 via X-ray data generating device or assembly 28 may
  • the thicknesses of internal structures may be determined by computer 24 by from X-ray detectable densities.
  • the gray level of a particular feature is
  • Computer 24 analyzes external surface data from optical data generating device or assembly 22 and/or pantograph data generating device or assembly 26 and internal structure
  • Computer 24 may be programed additionally to recognize shapes, X-ray
  • Fig. 31 illustrates an image which computer 24 provides on monitor
  • Fig. 31 is a lingual or buccal elevational view of a pair of molars 626 and
  • the different structures of molars 626 and 628 such as the root 630, the pulp
  • computer 24 is programed to detect and display on
  • a circle 644 may be used to indicate the normal tooth substructures.
  • a circle 644 may be used to indicate the normal tooth substructures.
  • computer 24 may display, at the
  • the view of the subject tooth or teeth 626, 628 may be a perspective view which is rotating in space, as shown on monitor 34
  • One tooth may be selected or even all of the teeth of one or both jaws In the
  • the information displayed advantageously includes bite information such as the
  • Computer 24 is additionally programed to calculate stresses on jaw bones and root
  • depths may be calculated by computer 24 in response to the digitized contour data from
  • pantograph data generating device or assembly 26 and displayed in numerical or other coded form on monitor 34
  • computer 24 is connected at an input to a voice-recognition unit
  • acousto-electric transducer 652 which in turn receives input signals from an acousto-electric transducer 652, for example,
  • a microphone Transducer 652 and voice-recognition unit 650 are used by a practitioner to generate voice signals.
  • teeth and/or the surfaces to which the surface data or X-ray data pertain For example, the practitioner might say “tooth number 24, occlusal.”
  • the dentist identifies a condition or abnormality such as a filling or decay, these characteristics

Landscapes

  • Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Dentistry (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Mathematical Optimization (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Medicinal Chemistry (AREA)
  • Algebra (AREA)
  • Computational Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mathematical Analysis (AREA)
  • Biophysics (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Theoretical Computer Science (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)

Abstract

L'invention concerne une méthode préliminaire à une intervention sur la mâchoire d'un patient, qui consiste à: (a) produire des données codées sous forme électrique, décrivant la structure dentaire préexistante de la mâchoire du patient, (b) transmettre les données à un ordinateur (24), (c) exploiter l'ordinateur (24) pour produire sur un écran (34), connecté à l'ordinateur, une représentation graphique de la structure préexistante, (d) utiliser l'ordinateur pour déterminer la position optimale et l'orientation optimale d'un instrument d'extraction de matériau (38) par rapport à la structure préexistante et (e) utiliser l'ordinateur pour produire sur l'écran une représentation graphique de l'instrument dans la position optimale et dans l'orientation optimale par rapport à la structure préexistante.
PCT/US1996/016087 1996-10-08 1996-10-08 Methode pour faciliter les diagnostics et les traitements en medecine dentaire WO1998015234A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU73950/96A AU7395096A (en) 1996-10-08 1996-10-08 Method for facilitating dental diagnosis and treatment
PCT/US1996/016087 WO1998015234A1 (fr) 1996-10-08 1996-10-08 Methode pour faciliter les diagnostics et les traitements en medecine dentaire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US1996/016087 WO1998015234A1 (fr) 1996-10-08 1996-10-08 Methode pour faciliter les diagnostics et les traitements en medecine dentaire

Publications (1)

Publication Number Publication Date
WO1998015234A1 true WO1998015234A1 (fr) 1998-04-16

Family

ID=22255924

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1996/016087 WO1998015234A1 (fr) 1996-10-08 1996-10-08 Methode pour faciliter les diagnostics et les traitements en medecine dentaire

Country Status (2)

Country Link
AU (1) AU7395096A (fr)
WO (1) WO1998015234A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2804859A1 (fr) * 2000-02-10 2001-08-17 Areall Procede pour guider le deplacement d'au moins un point de reference par rapport a un corps
EP1177773A1 (fr) * 2000-08-03 2002-02-06 Robert Drosten Procédé et appareil pour la détermination et la calibration des coordonnées d'un instrument chirurgical
WO2002089692A1 (fr) * 2001-05-04 2002-11-14 Areall Procede et dispositif pour guider le deplacement d'au moins un point de reference par rapport a un corps
WO2003090179A2 (fr) * 2002-04-19 2003-10-30 Robert Riener Procede et dispositif pour enseigner des methodes de traitement dentaire et permettre a des personnes de s'exercer a les pratiquer
WO2006016348A1 (fr) * 2004-08-13 2006-02-16 Haptica Limited Procede et systeme permettant d'obtenir un module de formation en chirurgie
EP1627272A2 (fr) * 2003-02-04 2006-02-22 Z-Kat, Inc. Systeme de chirurgie interactif assiste par ordinateur et procede
WO2007101015A1 (fr) * 2006-02-22 2007-09-07 Zimmer Technology, Inc. Système de chirurgie assistée par ordinateur utilisant une technologie des énergies de remplacement
WO2008050372A2 (fr) * 2006-10-27 2008-05-02 Calabrian High Tech Srl Robot odonto-navi pour le positionnement de précision d' implants dans la cavité orale
EP2177175A1 (fr) * 2008-10-15 2010-04-21 Straumann Holding AG Dispositif de référence non invasif
WO2011089164A3 (fr) * 2010-01-21 2012-03-15 Hoehne Jens Simulateur et procédé de simulation du traitement d'un tissu biologique
ITCS20100015A1 (it) * 2010-10-28 2012-04-29 Calabrian High Tech Cht S R L Sistema integrato per il rilievo del calco orale ed il posizionamento di precisione di impianti nello stesso
WO2014172781A1 (fr) * 2013-04-26 2014-10-30 Badawi Hisham Référencement dentaire électronique
WO2018158411A1 (fr) * 2017-03-03 2018-09-07 Sirona Dental Systems Gmbh Procédé de réalisation d'une restauration

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4964770A (en) * 1987-07-16 1990-10-23 Hans Steinbichler Process of making artificial teeth
US5224049A (en) * 1990-04-10 1993-06-29 Mushabac David R Method, system and mold assembly for use in preparing a dental prosthesis
US5257219A (en) * 1990-09-18 1993-10-26 U.S. Philips Corporation Spectrum equalization arrangement
US5452219A (en) * 1990-06-11 1995-09-19 Dentsply Research & Development Corp. Method of making a tooth mold

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4964770A (en) * 1987-07-16 1990-10-23 Hans Steinbichler Process of making artificial teeth
US5224049A (en) * 1990-04-10 1993-06-29 Mushabac David R Method, system and mold assembly for use in preparing a dental prosthesis
US5452219A (en) * 1990-06-11 1995-09-19 Dentsply Research & Development Corp. Method of making a tooth mold
US5257219A (en) * 1990-09-18 1993-10-26 U.S. Philips Corporation Spectrum equalization arrangement

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2804859A1 (fr) * 2000-02-10 2001-08-17 Areall Procede pour guider le deplacement d'au moins un point de reference par rapport a un corps
EP1177773A1 (fr) * 2000-08-03 2002-02-06 Robert Drosten Procédé et appareil pour la détermination et la calibration des coordonnées d'un instrument chirurgical
WO2002089692A1 (fr) * 2001-05-04 2002-11-14 Areall Procede et dispositif pour guider le deplacement d'au moins un point de reference par rapport a un corps
WO2003090179A2 (fr) * 2002-04-19 2003-10-30 Robert Riener Procede et dispositif pour enseigner des methodes de traitement dentaire et permettre a des personnes de s'exercer a les pratiquer
WO2003090179A3 (fr) * 2002-04-19 2004-02-12 Robert Riener Procede et dispositif pour enseigner des methodes de traitement dentaire et permettre a des personnes de s'exercer a les pratiquer
US8376753B2 (en) 2002-04-19 2013-02-19 Robert Riener Method and device for learning and training dental treatment techniques
EP1627272B1 (fr) * 2003-02-04 2012-12-12 Mako Surgical Corp. Systeme de chirurgie interactif assiste par ordinateur et procede
EP1627272A2 (fr) * 2003-02-04 2006-02-22 Z-Kat, Inc. Systeme de chirurgie interactif assiste par ordinateur et procede
WO2006016348A1 (fr) * 2004-08-13 2006-02-16 Haptica Limited Procede et systeme permettant d'obtenir un module de formation en chirurgie
US8924334B2 (en) 2004-08-13 2014-12-30 Cae Healthcare Inc. Method and system for generating a surgical training module
WO2007101015A1 (fr) * 2006-02-22 2007-09-07 Zimmer Technology, Inc. Système de chirurgie assistée par ordinateur utilisant une technologie des énergies de remplacement
WO2008050372A3 (fr) * 2006-10-27 2008-06-19 Calabrian High Tech Srl Robot odonto-navi pour le positionnement de précision d' implants dans la cavité orale
WO2008050372A2 (fr) * 2006-10-27 2008-05-02 Calabrian High Tech Srl Robot odonto-navi pour le positionnement de précision d' implants dans la cavité orale
EP2177175A1 (fr) * 2008-10-15 2010-04-21 Straumann Holding AG Dispositif de référence non invasif
WO2010043352A1 (fr) * 2008-10-15 2010-04-22 Straumann Holding Ag Dispositif de référence non invasif
WO2011089164A3 (fr) * 2010-01-21 2012-03-15 Hoehne Jens Simulateur et procédé de simulation du traitement d'un tissu biologique
ITCS20100015A1 (it) * 2010-10-28 2012-04-29 Calabrian High Tech Cht S R L Sistema integrato per il rilievo del calco orale ed il posizionamento di precisione di impianti nello stesso
WO2014172781A1 (fr) * 2013-04-26 2014-10-30 Badawi Hisham Référencement dentaire électronique
WO2018158411A1 (fr) * 2017-03-03 2018-09-07 Sirona Dental Systems Gmbh Procédé de réalisation d'une restauration
CN110381880A (zh) * 2017-03-03 2019-10-25 西诺德牙科设备有限公司 用于构造修复体的方法
EP3824844A1 (fr) * 2017-03-03 2021-05-26 Sirona Dental Systems GmbH Procédé de construction d'une restauration
CN110381880B (zh) * 2017-03-03 2021-07-13 西诺德牙科设备有限公司 用于构造修复体的方法
US11534275B2 (en) 2017-03-03 2022-12-27 Dentsply Sirona Inc. Method for constructing a restoration

Also Published As

Publication number Publication date
AU7395096A (en) 1998-05-05

Similar Documents

Publication Publication Date Title
US5562448A (en) Method for facilitating dental diagnosis and treatment
US5343391A (en) Device for obtaining three dimensional contour data and for operating on a patient and related method
US5545039A (en) Method and apparatus for preparing tooth or modifying dental restoration
US5257184A (en) Method and apparatus with multiple data input stylii for collecting curvilinear contour data
US5448472A (en) Method using reference indicia on tape attached to mouth surface to obtain three dimensional contour data
US20220233286A1 (en) System and method for scanning an intraoral cavity
US20220151756A1 (en) Dental device with probe and methods associated therewith
KR100912973B1 (ko) 인공 치근 매입 위치 특정 장치, 인공 치근 매입 위치 특정방법, 가이드 부재 제조 장치, 검지 장치, 드릴, 의치 제조 장치, 컴퓨터 프로그램 및 기록 매체
US10052160B2 (en) Robotic surgery system
US4611288A (en) Apparatus for taking odontological or medical impressions
US11229503B2 (en) Implant surgery guiding method
US9936166B2 (en) Method for planning a dental treatment
US20100291505A1 (en) Haptically Enabled Coterminous Production of Prosthetics and Patient Preparations in Medical and Dental Applications
JP2011510685A (ja) 歯科用計画および生産のための方法およびシステム
WO1998015234A1 (fr) Methode pour faciliter les diagnostics et les traitements en medecine dentaire
CN1326500C (zh) 用于治疗牙齿的方法和装置
JP2005168518A (ja) 人工歯根埋入位置特定装置、人工歯根埋入位置特定方法、ガイド部材製造装置、検知装置、ドリル、義歯製造装置、コンピュータプログラム及び記録媒体
KR20210121093A (ko) 시술지원시스템, 처리장치 및 플레이트
US6488638B2 (en) Dental instrument assembly
JP2003088537A (ja) インプラント植立用治具およびその作製方法
JP2006271986A (ja) 人工歯根埋入位置特定装置及び人工歯根埋入位置特定方法
KR102061778B1 (ko) 치아 수복물 제조방법
Singh et al. Digital Impression in Dentistry-A Comprehensive Review
KR102490579B1 (ko) 치과 로봇
Saravanan Journal Homepage:-www. journalijar. com

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AL AM AT AU AZ BB BG BR BY CA CH CN CZ DE DK EE ES FI GB GE HU IL IS JP KE KG KP KR KZ LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK TJ TM TR TT UA UG UZ VN AM AZ BY KG KZ MD RU TJ TM

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): KE LS MW SD SZ UG AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: CA