阅读说明：本技术 用于进行引导式口腔颌面部手术的方法以及相关联的系统 (Method for performing guided oromaxillofacial surgery and associated system ) 是由 A·摩泽斯 于 2018-04-27 设计创作，主要内容包括：进行对象相关手术的方法和相关联的系统涉及在基准设备与具有相关联的对象的部位之间形成稳固且物理的交互以形成基准标记。形成虚拟计划，该虚拟计划详述在部位处对对象的手术，该虚拟计划与基准标记配准并且相对于该基准标记。利用引导设备响应于控制器设备并且相对于基准标记而物理地调节手术进行设备的移动。引导设备根据虚拟计划并且对应于由用户对手术进行设备的物理操纵来物理地调节手术进行设备的移动以进行手术。如果由用户进行的物理操纵导致手术进行设备从虚拟计划偏离，则经由手术进行设备向用户提供触知反馈。(Methods and associated systems for performing subject-related procedures involve creating a secure and physical interaction between a fiducial device and a site having an associated subject to form a fiducial marker. A virtual plan is formed detailing the surgery on the subject at the site, registered with and relative to the fiducial markers. Movement of the surgical performance apparatus is physically adjusted with the guide apparatus in response to the controller apparatus and relative to the fiducial markers. The guide device physically adjusts movement of the surgical performance device to perform the procedure according to the virtual plan and corresponding to physical manipulation of the surgical performance device by the user. Tactile feedback is provided to the user via the surgical performance device if the physical manipulation by the user causes the surgical performance device to deviate from the virtual plan.)

1. A method of performing a procedure to remove a subject from a site, comprising:

forming a robust and physical interaction between a fiduciary apparatus and the part, the part having the object associated therewith, the fixed fiduciary apparatus forming a fiducial marker;

forming a virtual removal plan detailing removal of the subject from the site, the virtual removal plan being registered with and relative to the fiducial markers;

physically adjusting, with a guide device in response to a controller device in communication with the guide device and relative to the fiducial marker, movement of an object removal device, the guide device operably engaged with the object removal device, the guide device configured to physically adjust movement of the object removal device to remove the object from the site in accordance with the virtual object removal plan and corresponding to physical manipulation of the object removal device by the user; and

providing tactile feedback to the user via the object removal device if the physical manipulation of the object removal device by the user causes the object removal device to deviate from the virtual removal plan.

2. The method of claim 1, further comprising: imaging the subject relative to the fiducial marker to facilitate registration of the virtual removal plan with the fiducial marker.

3. The method of claim 1, wherein providing tactile feedback further comprises: allowing movement of the object removal device according to the virtual removal plan and physically blocking movement of the object removal device deviating from the virtual removal plan.

4. The method of claim 1, wherein providing tactile feedback further comprises: vibrating the object removal device if the movement of the object removal device deviates from the virtual removal plan.

5. The method of claim 1, further comprising: engaging the guide device in communication with the fiducial device such that the guide device is related to the fiducial marker.

6. The method of claim 5, wherein engaging the boot device to communicate with the reference device comprises: the boot device is engaged in physical or non-physical communication with the reference device.

7. The method of claim 1, wherein physically adjusting movement of the object removal device further comprises: physically adjusting the movement of the ablation device.

8. The method of claim 1, wherein physically adjusting movement of the object removal device further comprises: physically adjusting movement of the object removal device via the guide device, the guide device including an arm member physically engaged with the object removal device, the guide device being responsive to the controller device to guide the physical manipulation of the object removal device by the user in accordance with the virtual removal plan.

9. A method of performing a subject-related procedure at a site, comprising:

forming a robust and physical interaction between the fiduciary apparatus and the part, the part having an object associated therewith, the fixed fiduciary apparatus forming a fiducial marker;

forming a virtual object-related surgical plan detailing the object-related surgery on the object at the site, the virtual object-related surgical plan being registered with and relative to the fiducial markers;

physically adjusting movement of a material removal device in response to and relative to the fiducial marker with a guide device operably engaged with the material removal device, the controller device in communication with the guide device, the guide device configured to physically adjust movement of the material removal device to drill into the object and remove material from within the object in accordance with the virtual object-related surgical plan and corresponding to physical manipulation of the material removal device by the user; and

providing tactile feedback to the user via the material removal device if the physical manipulation of the material removal device by the user causes the material removal device to deviate from the virtual object-related surgical plan.

10. The method of claim 9, further comprising: imaging the subject relative to the fiducial markers to facilitate registration of the virtual subject-related surgical plan with the fiducial markers.

11. The method of claim 9, wherein providing tactile feedback further comprises: allowing movement of the material removal device according to the virtual object-related surgical plan and physically blocking movement of the material removal device that deviates from the virtual object-related surgical plan.

12. The method of claim 9, wherein providing tactile feedback further comprises: vibrating the material removal device if the movement of the material removal device deviates from the virtual object-related surgical plan.

13. The method of claim 9, further comprising: engaging the guide device in communication with the fiducial device such that the guide device is physically related to the fiducial marker.

14. The method of claim 13, wherein engaging the boot device to communicate with the reference device comprises: the boot device is engaged in physical or non-physical communication with the reference device.

15. The method of claim 9, wherein physically adjusting the movement of the material removal apparatus further comprises: physically adjusting the movement of the drilling or milling apparatus.

16. The method of claim 9, wherein physically adjusting the movement of the material removal apparatus further comprises: physically adjusting movement of the material removal device via the guide device, the guide device including an arm member physically engaged with the material removal device, the guide device being responsive to the controller device to guide the physical manipulation of the material removal device by the user in accordance with the virtual object-related surgical plan.

17. A method of preparing a subject for receiving a dental crown, comprising:

forming a robust and physical interaction between a fiduciary apparatus and a site, the site having the object associated therewith, the fixed fiduciary apparatus forming a fiducial marker;

forming a virtual object preparation plan detailing an object preparation procedure performed on the object at the site to receive the crown with the prepared object, the virtual object preparation plan being registered with and relative to the fiducial marker;

physically adjusting movement of an object preparation device with a guide device in response to a controller device and relative to the fiducial marker, the guide device operably engaged with the object preparation device, the controller device in communication with the guide device, the guide device configured to physically adjust movement of the object preparation device to grind and shape the object in accordance with the virtual object preparation plan and corresponding to physical manipulation of the object preparation device by the user; and

providing tactile feedback to a user via the object preparation device if the physical manipulation of the object preparation device by the user causes the object preparation device to deviate from the virtual object preparation plan.

18. The method of claim 17, further comprising: imaging the subject relative to the fiducial markers to facilitate registration of the virtual subject preparation plan with the fiducial markers.

19. The method of claim 17, wherein providing tactile feedback further comprises: allowing movement of the object preparation device according to the virtual object preparation plan and physically blocking movement of the object preparation device deviating from the virtual object preparation plan.

20. The method of claim 17, wherein providing tactile feedback further comprises: vibrating the object preparation device if the movement of the object preparation device deviates from the virtual object preparation plan.

21. The method of claim 17, further comprising: engaging the guide device in communication with the fiducial device such that the guide device is related to the fiducial marker.

22. The method of claim 21, wherein engaging the boot device to communicate with the reference device comprises: the boot device is engaged in physical or non-physical communication with the reference device.

23. The method of claim 17, wherein physically adjusting movement of the object preparation device further comprises: physically regulating the movement of the grinding apparatus.

24. The method of claim 17, wherein physically adjusting movement of the object preparation device further comprises: physically adjusting movement of the object preparation device via the guide device, the guide device including an arm member physically engaged with the object preparation device, the guide device being responsive to the controller device to guide the physical manipulation of the object preparation device by the user in accordance with the virtual object preparation plan.

25. A system for performing guided object-related procedures, comprising:

fiducial markers derived from a robust and physical interaction between a fiducial device and a part having an object associated therewith;

a surgical planning apparatus that forms a virtual surgical plan detailing the subject-related surgery at the site, the virtual surgical plan being registered with and relative to the fiducial markers;

a controller device in communication with the surgical planning device; and

a guide device operably engaged with a surgical performance device and physically adjusting movement of the surgical performance device in response to the controller device and relative to the fiducial marker, the controller device in communication with the guide device, the guide device configured to physically adjust movement of the surgical performance device to perform the subject-related surgery in accordance with the virtual surgical plan and corresponding to physical manipulation of the surgical performance device by the user;

wherein the surgical performance device is configured to provide tactile feedback to the user if the physical manipulation of the surgical performance device by the user causes the surgical performance device to deviate from the virtual surgical plan.

26. The system of claim 25, wherein the surgical performance device comprises a plurality of interchangeable surgical devices.

27. The system of claim 26, wherein the surgical device is an object removal device and the object-related procedure is an object removal procedure.

28. The system of claim 27, wherein the object removal device is an ablation device and the object-related procedure is an ablative object removal procedure.

29. The system of claim 26, wherein the surgical device is a drilling device or an abrading device and the subject-related procedure is a drilling procedure or an abrading procedure.

30. A system as recited in claim 26, wherein the surgical device is a grinding device and the subject-related procedure is preparing the subject for receiving a crown.

Technical Field

The present disclosure relates to dental or oromaxillofacial surgery, and more particularly, to methods and associated systems for performing guided oromaxillofacial surgery including wisdom tooth ablation, root canal treatment, and tooth preparation for crown placement.

Background

Disclosure of Invention

The above and other needs are met by the present disclosure which, in one aspect, provides a method of performing a wisdom tooth removal procedure. A secure and physical interaction is formed between the fiduciary apparatus and the site within the patient's mouth, wherein the fixed fiduciary apparatus forms the fiducial marker. Forming a virtual removal plan detailing removal of wisdom teeth within the mouth of the patient, wherein the virtual removal plan is registered with and relative to the fiducial markers. The guide device is operably engaged with the tooth removal device responsive to a controller device in communication with the guide device and physically adjusting movement of the tooth removal device relative to the fiducial marker. The guide device is configured to physically adjust movement of the tooth removal device to remove wisdom teeth according to the virtual tooth removal plan and corresponding to physical manipulation of the tooth removal device by the user. Tactile or haptic feedback is provided to the user via the tooth removal device if physical manipulation of the tooth removal device by the user causes the tooth removal device to deviate from the virtual removal plan.

As disclosed herein, any reference to wisdom tooth removal or removal of wisdom teeth may also include wisdom tooth growth prevention. That is, if wisdom teeth have been formed, wisdom tooth removal involves removing the formed wisdom teeth. However, if the item of interest is a dental bud, the "removal" procedure (e.g., ablation of the dental bud) would actually be a wisdom tooth growth prevention procedure, as the dental bud is ablated and removed before the wisdom tooth grows. Accordingly, "wisdom tooth removal" as referred to herein will be understood to apply to wisdom tooth removal as well as wisdom tooth prevention.

Further, while the wisdom tooth removal procedures disclosed and claimed herein refer to and describe wisdom tooth removal devices (e.g., ablation devices) for removing wisdom teeth or preventing wisdom tooth growth, one skilled in the art will also appreciate that wisdom tooth removal procedures may also include and use devices for penetrating soft tissue (e.g., gum tissue or gingival tissue) covering wisdom teeth or wisdom tooth buds prior to interaction of the wisdom tooth removal devices with the wisdom teeth or wisdom tooth buds in the wisdom tooth removal procedures. For example, in one aspect, the penetration device may be combined with a tooth removal device in the form of a "self-introducing" probe. That is, a single probe may have a first portion configured to penetrate soft tissue and then include a second portion for performing a tooth removal procedure. In another example aspect, the penetration device may include a drilling device for drilling an access port through soft tissue to prepare the tooth removal device (e.g., a separate device) for access to the wisdom teeth or wisdom tooth buds.

Another aspect provides a method of performing a root canal procedure. A secure and physical interaction is formed between the fiduciary apparatus and the site within the patient's mouth, wherein the fixed fiduciary apparatus forms the fiducial marker. Forming a virtual endodontic plan detailing a endodontic procedure on a tooth in a mouth of a patient, wherein the virtual endodontic plan is registered with and relative to a fiducial marker. The method further includes physically adjusting movement of the material removal device with the guide device in response to a controller device in communication with the guide device and relative to the fiducial marker, the guide device being operably engaged with the material removal device. The guide device is configured to physically adjust movement of the material removal device to drill into the teeth and remove neural material from within the teeth according to the virtual root canal treatment plan and corresponding to physical manipulation of the material removal device by the user. Tactile feedback is provided to the user via the material removal apparatus if physical manipulation of the material removal apparatus by the user causes the material removal apparatus to deviate from the virtual root canal treatment plan.

Yet another aspect provides a method of preparing a tooth for receiving a crown. A secure and physical interaction is formed between the fiduciary apparatus and the site within the patient's mouth, wherein the fixed fiduciary apparatus forms the fiducial marker. A virtual tooth preparation plan is formed detailing a tooth preparation procedure for a tooth within the patient's mouth for receiving a crown from the prepared tooth, wherein the virtual tooth preparation plan is registered with and relative to the fiducial marker. The guide device is operably engaged with the tooth preparation device to physically adjust movement of the tooth preparation device in response to a controller device in communication with the guide device and relative to the fiducial marker. The guide device is configured to physically adjust movement of the tooth preparation device to grind or shape teeth according to the virtual tooth preparation plan and corresponding to physical manipulation of the tooth preparation device by the user. Tactile or haptic feedback is provided to the user via the tooth preparation device if physical manipulation of the tooth preparation device by the user causes the tooth preparation device to deviate from the virtual tooth preparation plan.

Yet another aspect provides a system for performing guided oromaxillofacial surgery. Fiducial markers result from a robust and physical interaction between the fiducial device and the site within the patient's mouth. The surgical planning apparatus forms a virtual surgical plan detailing an oral maxillofacial procedure on the patient, wherein the virtual surgical plan is registered with and relative to the fiducial markers. The guide device physically adjusts movement of a surgical performance device operably engaged therewith in response to a controller device in communication with the surgical planning device and the guide device and relative to the fiducial markers. The guide device is configured to physically adjust movement of the surgical performance device to perform oral maxillofacial surgery in accordance with the virtual surgical plan and corresponding to physical manipulation of the surgical performance device by the user. Tactile or haptic feedback is provided to the user via the surgical performance device if physical manipulation of the surgical performance device by the user causes the surgical performance device to deviate from the virtual surgical plan.

Various other aspects of the present disclosure may include and be directed to systems for facilitating the disclosed methods of performing oral and/or maxillofacial surgery. The present disclosure thus includes, but is not limited to, the following examples:

Drawings

Having thus described the disclosure in general terms, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale, and wherein:

fig. 1 schematically illustrates a system for performing guided oral maxillofacial surgery according to one aspect of the present disclosure;

figures 2 and 3 schematically illustrate a system for conducting guided oral maxillofacial surgery according to an alternative aspect of the present disclosure;

fig. 4 schematically illustrates a system for performing guided oral maxillofacial surgery according to a further aspect of the present disclosure;

fig. 5 schematically illustrates a portion of a procedure for performing a guided oromaxillofacial procedure, particularly for performing a guided wisdom tooth removal procedure using ablation probes to ablate wisdom tooth buds, according to one aspect of the present disclosure;

fig. 6A-6D schematically illustrate portions of a procedure for performing guided oromaxillofacial surgery (particularly for performing guided root canal treatment surgery) according to an aspect of the present disclosure;

fig. 7A and 7B schematically illustrate portions of a procedure for performing a guided oromaxillofacial procedure, particularly for performing a tooth preparation procedure for receiving a crown of teeth, according to an alternative aspect of the present disclosure.

example 1: a method of performing a procedure to remove a subject from a site, the method comprising: forming a robust and physical interaction between the fiduciary apparatus and the site having the object associated therewith, wherein the fixed fiduciary apparatus forms a fiducial marker; forming a virtual removal plan detailing removal of the subject from the site, wherein the virtual removal plan is registered with and relative to the fiducial marker; physically adjusting movement of the object removal device with the guide device in response to the controller in communication with the guide device and relative to the fiducial marker, the guide device operably engaged with the object removal device, wherein the guide device is configured to physically adjust movement of the object removal device to remove the object from the site in accordance with the virtual object removal plan and corresponding to physical manipulation of the object removal device by the user; and providing tactile feedback to the user via the object removal device if physical manipulation of the object removal device by the user causes the object removal device to deviate from the virtual removal plan.