US 11,864,727 B2
Automated dental treatment system
Christopher John Ciriello, Castlegar (CA); Robert Joseph Ciriello, Ontario (CA); and James Alexander Farwell, Ontario (CA)
Assigned to Cyberdontics (USA), Inc., Boston, MA (US)
Filed by Cyberdontics (USA), Inc., San Francisco, CA (US)
Filed on Jan. 28, 2020, as Appl. No. 16/774,679.
Application 16/774,679 is a continuation of application No. 16/073,057, abandoned, previously published as PCT/IB2017/000109, filed on Jan. 26, 2017.
Claims priority of provisional application 62/287,212, filed on Jan. 26, 2016.
Prior Publication US 2020/0163729 A1, May 28, 2020
Int. Cl. A61B 34/30 (2016.01); A61C 9/00 (2006.01); A61B 34/10 (2016.01); A61C 1/08 (2006.01); A61B 90/00 (2016.01); A61B 34/00 (2016.01); G16H 50/50 (2018.01); A61B 34/20 (2016.01); A61C 19/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/00 (2016.02); A61B 34/10 (2016.02); A61B 90/361 (2016.02); A61C 1/082 (2013.01); A61C 19/00 (2013.01); G16H 50/50 (2018.01); A61B 34/25 (2016.02); A61B 2034/102 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2059 (2016.02); A61B 2090/064 (2016.02); A61B 2090/364 (2016.02); A61B 2090/367 (2016.02); A61B 2090/373 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A system for performing dental surgery on a subject, the system comprising:
a density scanner creating a voxel image of a target tooth representing a density value of a target tooth, the density value comprising a radial distance from the external surface of the target tooth;
a central processing unit having a computer memory encoded with a control program to render a three dimensional model of a target tooth from the voxel image and create an application that controls automated operation of the system, the three dimensional model including a post-surgical tooth mesh and a restoration mesh, wherein generation of the post-surgical tooth mesh and the restoration mesh incorporates a minimum material thickness, and wherein the minimum material thickness is determined by articulating a target tooth mesh with an opposing tooth mesh and subtracting a minimum thickness requirement of the target tooth from a height of the opposing tooth mesh;
an input device that receives surgical instructions from a user for providing the surgical intervention, the input device comprising a display for depicting the three dimensional model of the target tooth, the surgical instructions comprising selection of a positioning reference point corresponding to a position of a clamp, wherein the surgical instructions are received by the central processing unit; and
a robot in communication with the central processing unit, the robot including an end effector for performing dental surgery, wherein the central processing unit controls the robot to remove a region of the target tooth based on the surgical instructions, the voxel image, a motor load of the end effector, coordinates of the end effector, and a feed rate of the end effector.