WO2021028360A1

WO2021028360A1 - Apparatus and method for automated intraoral treatment of a patient

Info

Publication number: WO2021028360A1
Application number: PCT/EP2020/072315
Authority: WO
Inventors: Gregor Brandstetter
Original assignee: Universitätsmedizin Mainz
Priority date: 2019-08-14
Filing date: 2020-08-07
Publication date: 2021-02-18
Also published as: DE102019212211A1

Abstract

The invention relates to an apparatus (200) for the automated intraoral treatment of a patient, comprising a treatment and/or diagnosis device (220) with at least one instrument (39), further comprising fixation means (110) on which the treatment and/or diagnosis device (220) can be moved in a translatory or rotatory fashion, the fixation means (110) being designed to be firmly anchored in the oral cavity of the patient.

Description

description

Device and method for the automated intraoral treatment of a

Patient

The invention relates to a device for automated intraoral treatment of a patient, comprising a treatment and / or diagnostic device designed to accommodate at least one instrument, further comprising fixation means on which the treatment and / or diagnostic device can move translationally and / or rotationally. It continues to concern a corresponding procedure.

The latest developments in the field of robotics are spreading more and more to the field of dentistry. The first dental surgery robots are already in use and insert dental implants into patients without a doctor having to intervene directly on the patient. In contrast to other operations, where automated systems are already used on a regular basis, a patient is rarely completely anesthetized and restrained in dental surgery. Therefore, slight head movements pose great challenges for an automated treatment system.

There are known dental systems in which the dental treatment tools are moved from outside the oral cavity by means of robot arms to the treatment site in the oral cavity.

WO 2016/022347 A1 describes a medical robot unit which acts autonomously or via remote control. By means of several sensors, the position and movement of the patient are registered during the treatment and directly compensated. In addition, a mouth support is described which - based on the outer frame of the apparatus - enables the patient to insert it firmly between the upper and lower jaw. CN 107582193 A describes a robot for oral implant surgery with a robot arm and solves the above-mentioned problem using highly sensitive force sensors that detect movements in real time and initiate a corresponding compensation.

A so-called “tracking and guiding” system is described in WO 2018/051276 A1, which compensates for relative movements.

The disadvantage of the above-mentioned systems is that, due to the relative movements of the patient and the treatment or diagnostic equipment, they are limited in their precision and require human care.

The invention is therefore based on the object of relieving humans of the transfer from diagnosis to treatment and of being able to carry out this treatment in parts or entirely automatically. Furthermore, it is based on the problem of replacing the lower movement coordination and accuracy of a person with a machine. Furthermore, the underlying problem is to reduce the size of the treatment robots used so far and to enlarge and make their areas of application more flexible. Furthermore, a corresponding advantageous method should be specified.

In relation to the device, this object is achieved according to the invention in that the fixation means are designed to be firmly anchored, in particular reversibly, in the oral cavity of the patient.

Advantageous embodiments of the invention are the subject of the subclaims.

The invention is based on the idea that intraoral treatment and diagnostics are made more difficult by the patient's movements in the jaw area, since usually during these treatments the patient's head is not or cannot be fixed from the outside, and in particular relative movements between the two Pine trees can occur. As has now been recognized, the problem of compensating for disturbing movements of the patient during the treatment can be solved in a fundamental way by miniaturizing a treatment robot and placing and fixing it directly at the treatment site in the oral cavity. This means that head movements are transmitted directly to the device, so these movements are irrelevant in the device's inertial system and do not have to be compensated for in a complex manner. The reference point or reference point for the treatment or diagnosis is therefore moved into the patient's mouth or the oral cavity.

As was also recognized, this type of fixation enables jaw movements to be prevented in the lower jaw. This is a pleasant situation for the patient, as he does not have to keep his mouth open, as is the case with treatment devices attached extraorally. Keeping the mouth open for a long time is exhausting for the patient, since only one muscle is used to open the mouth, while the closing of the mouth is performed by a large number of muscles.

The fixation means are preferably reversibly or reversibly firmly anchored in the patient's oral cavity so that they can be removed again after the operation. The term “fixed” here preferably means a rigid spatial arrangement in relation to the oral cavity.

The treatment and / or diagnostic device is also referred to below as a robot or treatment robot. The device or apparatus can be fixed by means of known methods for attaching other zahnärztli cher instruments to the rows of teeth or the jawbone, for example by using an impression compound.

Depending on the situation in the oral cavity, the fixation can take place directly on the jawbone or on the attached mucous membrane on the jawbone.

This impression material is either already attached to the apparatus and is hardened when it is inserted in the oral cavity, or the device is applied to the material put on and curing takes place afterwards. In both cases, the treatment robot would thus be firmly connected to bone material and relative movements of the jaw with respect to the device would no longer be possible.

The downsizing of the autonomously acting treatment robot is accompanied by challenges to the available instruments and energy supply. Mechanical movements of a robot arm for detailed positioning, surgical activity such as B. drilling or the analysis systems such. B. Imaging are sometimes used in a treatment in a row or in parallel and require energy. The invention meets these challenges with the concept of modularization - the treatment and / or diagnosis device can accommodate different instruments - and the supply of energy from the outside, for example via a hydraulic system.

Advantageously, the fixing means comprise two rails connected to one another by at least one connecting member. In a preferred embodiment, four connecting links or supports are provided. At least two of the supports are advantageously adjustable in height. The respective support can be firmly connected to the opposite rail or can also be designed in one piece with it.

The respective splint is advantageously designed to be fixed to a row of teeth or a jawbone. A splint for tooth-bearing areas or areas with a pronounced alveolar ridge (bone process) is preferably designed in such a way that its width can be varied, advantageously with the aid of a clamping mechanism and / or an adjusting screw and / or an adjustable locking connection. The splint can then be fixed to this jaw area without an impression material. In this variant, the splint is preferably coated on its inside, ie the area that comes into contact with teeth or mucous membrane / bones when inserted, with a sterilizable agent, in particular plastic / silicone, so that retention is high enough / comparable with an impression material. The respective rail is advantageously designed to receive a hardenable molding compound.

In a preferred embodiment, at least one splint has an anchorage for receiving a bite.

The device advantageously comprises a data processing unit and an operator interface connected thereto.

The device preferably has at least one instrument from the group: drill, file, grinder, polisher (generally rotating components); imaging device; Sensor, in particular current sensor, voltage sensor, impedance sensor, pressure sensor; Laser; Filling component.

A drive unit for the treatment and / or diagnosis device is advantageously provided, which is connected to the treatment and / or diagnosis device via operative connections and is designed to be at least partially positioned outside the oral cavity.

With regard to the method, the above-mentioned object is achieved by controlling a treatment and / or diagnostic device in the oral cavity of a patient, in particular rotationally and / or translationally, with respect to fixation means, the fixation means on at least one row of teeth and / or at least one jawbone of the patient are fixed.

In a preferred embodiment of the method, the fixation takes place by curing an impression compound.

The fixing means are preferably provided with curing compound, the fixing means and the curing compound then being positioned in the oral cavity of the patient. In an alternative preferred variant or in combination therewith, the curing compound is introduced into the oral cavity of the patient, the fixation means being placed on the curing compound.

In a preferred embodiment, spatial data of the oral cavity are recorded by means of at least one diagnosis component of the treatment and / or diagnosis device, from which a virtual model is created.

According to what has been said above, the invention comprises a methodology and a device that can diagnose and treat autonomously in a region defined by the practitioner. For this purpose, depending on the diagnostics and treatment required, various components can be used that enable targeted treatment. The device can therefore be assembled from components to suit the application. Due to its unique, compact design, the device can be held individually and precisely in the patient, as well as autonomous diagnostics and treatment of the region of interest. The methodology enables the data recorded by the diagnostic components to be linked. This can be used to create a virtual model in a coordinate system that is displayed on a monitor. In addition, a diagnosis can be made and displayed on the basis of the data obtained and it can be recognized on the basis of this and the virtual model whether this diagnosis is relevant to treatment. Furthermore, the data can be anonymized and used for study purposes and for ongoing optimization of the device software or device control.

The advantages of the invention are in particular that initially the possibility of error sources is reduced, since all information is processed with the aid of one device. Bundling the information in and running the information in one device also avoids the wrong area being processed. In addition, treatment can take place within one session, which saves time for everyone involved. Furthermore, treatment errors are minimized. By combining diagnostics and treatment in one device, measurement errors can be minimized. which are still so large in current technical devices that they have no advantage over manual work.

Thanks to automation and mechanization, neighboring structures or healthy tissue areas are injured less or not at all. In contrast, up to 10% of tooth preparations currently suffer from grinding trauma as a result of the treatment. The possibility of an intraoral installation also leads to more patient comfort and a unique stabilization of the work area, which cannot be provided by extraoral robotic arms or the like. Furthermore, material costs are saved by combining and compacting in one device. Finally, the component-like structure offers the advantage that if one component fails or becomes worn, only this one has to be set.

An embodiment of the invention is tert erläu using a drawing. They show in a highly schematic representation:

FIG. 1 shows a device for the automated intraoral treatment of a patient in a diagram in a preferred embodiment;

FIG. 2 fixation means of a device for automated intraoral

Treatment of a patient in a preferred embodiment;

FIG. 3 further fixation means of a device for the automated intra-oral treatment of a patient in a preferred embodiment;

FIG. 4 further fixation means of a device for the automated intra-oral treatment of a patient in a preferred embodiment;

FIG. 5 extraoral components of a drive unit in a preferred embodiment; FIG. 6 intraoral components of a drive unit in a preferred embodiment;

FIG. 7 the intraoral components according to FIG. 6 in the assembled state;

FIG. 8 a device for the automated intraoral treatment of a patient with fixation means and a treatment and / or diagnosis device;

FIG. 9 a treatment component of a treatment and / or diagnosis device;

FIG. 10 a further treatment component of a treatment and / or diagnostic device;

FIG. 11 shows a device for the automated intraoral treatment of a patient with fixation means and a treatment and / or diagnosis unit in a further perspective illustration;

FIG. 12 fixation means of a device for automated intraoral

Treatment of a patient in a further perspective Dar position;

FIG. 13 shows a device for the automated intraoral treatment of a patient with fixation means and a treatment and / or diagnosis unit in a further perspective illustration;

FIG. 14 fixation means of a device for automated intraoral

Treatment of a patient in a further perspective Dar position; FIG. 15 fixation means of a device for automated intraoral

Treatment of a patient in a further perspective Dar position;

FIG. 16 fixation means of a device for automated intraoral

Treatment of a patient in a further perspective Dar position;

FIG. 17 shows a height-adjustable support of a device for the automated intraoral treatment of a patient in a further perspective illustration;

FIG. 18 the intraoral components according to FIG. 7 in a perspective illustration;

FIG. 19 the intraoral components according to FIG. 7 in a further perspective view;

FIG. 20 the intraoral components according to FIG. 7 in a further perspective view; and

FIG. 21 is a component responsible for rotational movements of the component shown in FIG. 7 intraoral components shown.

The same parts are provided with the same reference symbols in all figures.

A device 200 for the automated intraoral treatment of a patient comprises a data processing unit 1 which, in the present embodiment, is designed as a computer center. The computer center is connected to a digital user interface or an operator interface 2, via which an authorized person can make settings and changes if necessary. The data processing unit 1 with a user interface or operator interface 2 could for example be a tablet with a touchscreen monitor. That one- ten processing unit 1 is preferably a unit that can perform arithmetic operations. The operator interface 2 can for example also comprise a USB interface to another device.

The operator interface 2 is designed such that a treatment and / or diagnostic device (see below), which is also referred to as a robot, can be stopped at any time by a corresponding input. The data processing unit 1 is used for complete control and control of the robot. This includes the control of the robot, the consolidation of all diagnostic data in a coordinate system, the creation of a virtual model of the work area on the basis of the collected data and its representation as well as any other representation (e.g. treatment progress) in the user interface. Using this representation, the practitioner can choose what (tooth / gums / bones or similar components such as implants or prostheses), how (reconstructive / subtractive / additive) and where (lower / upper jaw, etc.) should be treated. The data center can make suggestions for this on the basis of the data collected and visualize them in the user interface.

The diagnostic data can be obtained from diagnostic components 3 used by the robot or from other sources via interfaces. Another source of this type is, for example, an X-ray. In addition, the accuracy of the virtual models during the treatment can be compared with the diagnostic data by means of pressure sensors 4, for example.

The pressure sensors 4 do not have to be located intraorally for this purpose, but can be placed at any point of a connection 5 between extraoral drive components 6 and intraoral drive components 7. Likewise, this data can be checked via impedance measurement between at least one treatment instrument 8 and tissue if it is a reconstructive / subtractive method. To do this, the data center must be aware of the various resistances of tissues.

Furthermore, the data center can interact with a central data pool 9 via an interface. This is analyzed by a deep learning unit 10 lysed in order to optimize the treatment for each individual device (e.g. through device updates), as well as to achieve diagnostic links and other learning progress. In addition, through this data pool 9 of diagnostic data, new medical knowledge can be obtained which can be helpful for research or the development of guidelines. As soon as new observations and improvements have been found by the deep learning unit, it can update the software of the devices via the interface. The computer center preferably carries out at least one of the following tasks: processing of diagnostic data (e.g. representation of this data in a coordinate system), creation of a virtual model, creation of a treatment proposal, device control. The data pool 9 holds treatment data and / or diagnostic data advantageously in anonymized form.

In connection with the FIG. 2 to 4 and FIG. 6, the individually adaptable and assemblable intraoral components of the device 200 are described in more detail below. These are preferably inserted and connected internally step by step.

The device 200 has fixing means 110 with the aid of which a treatment and / or diagnostic device or a robot can be positioned in the oral cavity of a patient, these fixing means 11 being designed to be firmly anchored in the oral cavity. This means in particular that unwanted relative movements of the robot with respect to the interior of the oral cavity are completely avoided or greatly reduced so that precise work, in particular dental surgery work or imaging methods of the robot in the oral cavity, is possible.

The fixation means 110 comprise at least one rail, in the present exemplary embodiment two rails 11, 19 which are each designed to be placed on a row of teeth. For this purpose, the respective rail 11, 19 can be individually adapted in a first preferred embodiment. In a second preferred embodiment, the respective rail 11, 19 has a receiving area for an impression compound. To insert the splint 11, 19 into the oral cavity of a patient, the impression material is mixed and the splint 11, 19 is coated with it. When inserting the splint 11 into the oral cavity or onto the teeth, excess impression material is displaced, while the remaining or remaining impression material ensures an individualized hold. The respective rail 11, 19 is comparable to an impression tray, but it has a recess 13 or 21 for a work area of the robot. The rail 11 has a first wall 14a, which shields a work area in front of the tongue and a second wall 14b, which shields a work area in front of the cheek. In this way, injuries to the patient's tongue or cheek are avoided by the robot. The splint 11 has a recess 13a which can accommodate a row of teeth or a jawbone of the patient and is firmly anchored thereon.

The rail 11 also has a carriage 15 for the robot or the movable components ble. The carriage 15 runs parallel to the rail 11. The robot preferably engages with a toothing device in a toothing 16 which is attached on the inside, ie on the side of wall 14b facing the recess 13. When rolling on the toothing 16, the robot can move forward and backward along the pavement 15. The toothing 16 prevents unintentional falling out or unintentional movement in the horizontal direction. The robot preferably has a guide element which is arranged in a channel formed by the driving bearing 15 and which is prevented from moving perpendicular to the toothing 16 by the toothing 16. This prevents the robot from slipping vertically or falling out. This is important because the in FIG. The arrangement shown in FIG. 2 could also be placed upside down in the mouth area of a patient. In general, the robot advantageously has means that prevent unwanted translations / rotations in all directions. An anchoring device 17 is provided on the wall 14a to the tongue side. It serves to anchor a bite block 22 (see FIG. 4). Advantageously, at least one suction device 18 is attached to the rail 11 or integrated into it, with the aid of which the patient's saliva can be removed. The saliva is preferably drained to the outside with the help of a hose.

So that the robot is positionally stable in all directions, two rails 11, 19, per jaw, ie. H. Upper jaw and lower jaw, one, needed. In FIG. 3 shows a second rail 19 which lies opposite the work area and is firmly connected to two supports 20a, which are not adjustable in length, and two height-adjustable supports 20b. In other preferred embodiments, three or four height-adjustable supports 20b can also be provided. The supports set on the walls 14a, 14b.

The height adjustability of the supports 20b can be implemented in accordance with common methods (e.g. quick release, screw thread, etc.). A recess 21 can also be provided in the second rail 19, so that the upper surface of the opposing jaw can also be sensed and diagnosed by sensors. This recess 21 can also be used to insert / anchor further diagnostic components (z. B. imaging).

In a further jaw section, a height-adjustable bite block 22, see FIG. 4, are used, which is braced with the remaining fixation means 110 via a length-adjustable cylindrical joint 23 with the device 17, an anchoring of the rail in the work area. The bite 22 is referred to in the fol lowing due to its shape as a T-piece.

The bite block 22 or stabilizer is used to stabilize the other side of the jaw, since if the other side of the jaw is not stabilized, a rotation / shift in the working area could take place despite everything.

The bite block 22 is advantageously designed to be height-adjustable, since the height of the splints 11, 19 can be adjusted on the jaw side thereof. The bite block should also prevent the patient from “in the air “bites and thus perhaps bites more than on the working side and this creates this disadvantageous rotation. The bite block 22 can be installed on the other side of the jaw in any location (further front / back) the only important thing is that it is available.

The bite 22 ensures that the patient does not need any force to open or close the mouth and that the jaws are mutually supported and positionally stable. In addition, a sufficiently large and stable work area is guaranteed. At the same time, however, the patient's comfort is maintained, since there is a sufficiently large free space for the tongue. If another area (e.g. toothless jaw) has to be worked on, other splint shapes may be necessary. The splint 11, 19 is then preferably less high than in the case of a row of teeth and more rounded in the transition.

The device 200 comprises a drive unit or a drive system 23a. In the case of intraoral use, this drive system 23a does not fit completely into the intraoral components or only into some of the components used. In this case, the drive or movement of the intraoral components must take place via a hose system with components located extraorally, i.e. H. The drive system 23a comprises both extraoral drive components 6 (see FIG. 5) and intraoral drive components 7 (see FIG. 6). This separation is helpful for better cleaning and hygiene of the components and reduces wear on the extraoral components.

Liquids (e.g. water) or air are conceivable as the medium of the extraoral drive components 6, since these are easily available, environmentally friendly and sterilizable. In the present preferred embodiment, what water is preferably used because it has better cooling properties than air, is not compressible and is biocompatible with oil. Thus, pumps 24 are preferably used as extraoral components. The extraoral components also include other parts that are essential for operation, such as a power supply unit, the electrical wiring, etc., which are shown in FIG. 5 are provided with the reference symbol 25. Several possibilities are suitable as drive systems. A combination of different drive systems in one device is conceivable. In this case, turbine-operated screws and toothed wheels, the recoil principle or hydraulic systems are predestined for use. The tubes are attached to openings 26 of the extraoral drive components 6 provided for this purpose, see FIG. 5, and intraoral drive components 7, see FIG. 6, fastened and connected these. The attachment of the hoses to the respective openings 26 can be done by conventional systems, such as. B. Clip / snap mechanisms are made.

The intraoral drive components 7 of the drive system are shown in FIG. 6 represents Darge and comprise at least three bearings. These allow two directions of travel and are orthogonal to each other. The driving bearings cover the three levels of a coordinate system (horizontal / vertical / transversal).

In the embodiment shown, a roller-mounted, vertical bearing 27 is provided, through which a drive device located in the longest driving bearing 15 can be moved along the row of teeth. This drive device 28 comprises a water-powered, roller-bearing mounted turbine 28a, which rotates a gear 28b. The gear 28b engages in the teeth of the longest, horizontal driving bearing 15, which is firmly connected to the rail 11.

The vertical bearing 27 is driven by a vertical drive device 29 (Fig.6: 29) on which a horizontal or transverse bearing 30 (for transverse plane) is anchored and oriented orthogonally to the two previous ones. The anchoring takes place via a roller and ball bearing mounted slide 31 which can be moved up and down by the vertical drive device 29.

The vertical drive device 29 comprises a turbine 29a mounted on roller bearings, which rotates a ball-bearing thread 29b. The transversal bearing anchored to the slide moves along this according to the thread level.

In this case, the transversal drive system is based on the recoil principle, whereby the other drive system designs would also be suitable. The drive system has a nozzle 32 for realizing the recoil. It is integrated in a further slide 33. In addition, 33 diagnostic and treatment components can be attached to this slide. These components can be moved along the transverse bearing 30 by the slide 33. The components can be fastened using conventional mechanisms such as a clip or a snap-in system so that the diagnostic / treatment components used can be changed as required.

Rotations of the vertical and transverse bearings 27, 30, as well as their compo components are possible in the horizontal-vertical plane due to a roller-mounted water wheel 34 by 360 °. In addition, a compensating rotation of the components in the opposite direction by several degrees can take place with the aid of a hydraulic cylinder 35. In addition to enlarging the boundaries of the working area, this also enables a better 3-D display through the sensors and more processing variants.

In FIG. 7 the movable intraoral machine parts are put together represents.

FIG. 8 shows the intraoral components including a treatment and / or diagnostic device 220 fully assembled.

The treatment components used in the treatment and / or diagnosis device 220 can work either reconstructively / additively or subtractively, see FIG. 9 and FIG. 10. In the case of the illustrated application example, a rotating instrument 39 or a laser can be used as a treatment component, see FIG. 9 and another treatment component fill plastic in the removed areas, see FIG. 10. The structure for the rotating instrument 39 can be carried out as follows. A housing 36 is provided on which anchoring options 37, the opening 38 for a hose, for the rotating instrument 39 and openings 40 for the ejection of the medium are provided. The openings 40 for the ejection of the medium can be designed in such a way that the instrument tip is cooled. In- Within the housing 36 there are two roller bearings 41, 42, between which a turbine 43 is arranged. The turbine center in the axis around which the turbine rotates is hollow. It merges into the opening for the rotating instrument 39. The shaft of a rotating instrument can thus be placed in the center of the turbine. The instrument can be fastened in accordance with common methods (screw system, clamping system, latch, etc.).

A treatment component that works in a reconstructive / additive manner can be exemplified by the following, shown in FIG. 10 have illustrated structure. It has a housing 44 on which anchoring options 45, an opening 46 for a hose, a cable plug 47 and an opening 48 for ejecting the material to be applied. In the housing 44 a channel 49 runs from the hose to the opening 48 of the spout. In addition, a lamp 50 is integrated, which causes the applied material to harden.

In FIG. 11, the reference numeral 70 denotes an opening in the wall of the rail 11 on the working side, for example to accommodate the hose for suctioning off the patient's saliva. The opening 70 extends to the lowest point in the oral cavity / end of the splint 11 and has access to the work area (see FIG. 13: three openings are arranged next to one another on the left inside of the splint 11), so that saliva / blood etc. be sucked off.

In FIGS. 11 and 13, the reference numeral 33 denotes the carriage, which is designed as a transverse moving body of the robot and to which the diagnostic and / or treatment components can be attached. In a preferred embodiment, two components can be attached at the same time, e.g. B. a diagnostic component and a treatment component.

In FIG. 14 shows a roller joint 76 of the length-adjustable joint 23 or the length-adjustable strut, which engages in the anchorage 17 (see FIG. 2) of the splint 11 and connects the bite block 22 with the splint 11, thereby stabilizing the lower jaw. In FIG. 16 supports 78 of the splint 11 are shown, which are each part of the splint 11 and are necessary to ensure the hold on teeth / o. Ä. To he possible and to form a retention for the impression mass / further fixative.

In FIG. 17 shows a height-adjustable support 20b which has a body part 84 and a head part 86.

The head part 86 can, for example, either be clamped to the rail 19 (see FIG. 3) or it can also be an integral part of this rail 19. The lower body part 84 has a height adjustability. This can be done using common mechanisms, such as B. a clamp / adjusting screw or the like, can be fixed on the head part 86 so that the height can no longer be changed.

FIG. 21 shows a plate on which the vertical driving bearing 27 (see FIG. 6) of the robot is suspended between the hydraulic cylinder 35 (see FIG. 6) and a cylinder or water wheel 34 (see FIG. 6) with roller bearings. The hydraulic cylinder 35 allows a counter-rotation to enlarge the work area, while cylinder 34 is a water wheel, which is responsible for the rotation of the vertical Fahrla gers 27.

Diagnostic components that are used for the treatment and / or diagnostic device 220 can include various systems. A component could, for example, acquire data sonographically. These data not only contain distances, but also provide information about the type of tissue. This could be of particular interest in the operative area and enable a comparison of this data with X-rays. This also offers the possibility of orienting the device beyond the work area. In addition, planning based on x-ray recordings or in tissues that cannot be completely analyzed for usable diagnostic components could be implemented on the basis of this orientation. Optical components are also conceivable. The exact structure of such a component must be the degree of familiarity with these techniques and their application in dentistry are not described in detail.

Claims

Expectations

1. A device (200) for the automated intraoral treatment of a patient, comprising a treatment and / or diagnostic device (220) designed to accommodate at least one instrument (39), further comprising fixation means (110) on which the treatment and / or diagnostic device (220) can move translationally and / or rotationally, characterized in that the fixation means (110) are designed to be firmly anchored, in particular reversibly, in the oral cavity of the patient.

2. Device (200) according to claim 1, wherein the fixing means (110) comprise two rails (11, 19) connected to one another by at least one connecting member (20a, 20b).

3. Device (200) according to claim 2, wherein the respective splint (11, 19) is designed for fixing to a row of teeth or a jawbone.

4. Device (200) according to claim 2 or 3, wherein the respective rail (11, 19) is designed to receive a hardenable impression material.

5. Device (200) according to one of claims 2 to 4, wherein at least one rail (11) has an anchor (17) for receiving a bite (22).

6. Device (200) according to one of claims 1 to 5, with at least one instrument (39) from the group: drill, file, grinder, polisher; imaging- de device; Sensor, in particular current sensor, voltage sensor, impedance sensor, pressure sensor; Laser; Filling component.

7. Device (200) according to one of claims 1 to 6, comprising a drive unit (23a) for the treatment and / or diagnostic device (220), which is connected via operative connections with the treatment and / or diagnose device (220) and is configured to be positioned outside of the oral cavity.

8. A method for controlling a treatment and / or diagnostic device (220) in the oral cavity of a patient, in particular rotationally and / or translationally, with respect to fixation means (110), the fixation means (110) on at least one row of teeth and / or at least are fixed to a jawbone of the patient.

9. The method according to claim 8, wherein the fixation is carried out by curing an impression compound, and wherein the curing compound is introduced into the oral cavity of the patient and wherein the fixation means (110) are placed on the curing compound and / or wherein the fixation means (110) with Curing compound are provided, and then the fixation means (110) and the curing compound are positioned in the oral cavity of the patient.

10. The method according to claim 8 or 9, wherein by means of at least one diagnosis component of the treatment and / or diagnostic device (220) spatial data of the oral cavity are recorded, from which a virtual model is created.