This International Application claims priority from a provisional patent application filed in India having patent application number 201941015091, filed on April 15, 2019 and titled“A SYSTEM FOR DENTAL ROBOTIC ARM”.

FIELD OF INVENTION

Embodiments of the present disclosure relate to dental appliances, more particularly to, a dental apparatus and a method to operate the same.

BACKGROUND

In the practice of dentistry, many standard procedures require a professional such as a dentist to manipulate various instruments within the patient's mouth. Often the procedures to be performed on a patient is a lengthy procedure, involving more chair time and use of the dental appliances by the dentist. Due to increased chair time and use of various dental appliances, most of the time clinical errors are bound to occur as the dentist increasingly becomes weary. The dentist, due to such vigorous hands on procedure, experiences psychological stress, fatigue, musculoskeletal disorders cross infections and the like.

Most of the lengthy procedures involve the dentist to perform procedures at the back of the mouth, where the amount of visibility is compromised. Due to low visibility of the procedure being performed, there may occur errors by the dentist, which may be harmful to the patient. Also, in some cases, a patient’s mouth opening may be small or due to other issues, the visibility of the area on which the procedure to be performed, within the patient’s mouth, is decreased, thereby leading to various mishaps by the dentist. Moreover, it increases the risk of cross infection due to proximity between the dentist and the patient.

Hence, there is a need for an improved dental apparatus and a method to operate the same in order to address the aforementioned issues.

BRIEF DESCRIPTION In accordance with an embodiment of the disclosure, a dental apparatus is disclosed. The apparatus includes an end effector. The end effector includes at least one camera configured to capture a multimedia information of an oral dental structure of a patient. The end effector also includes a detachable tool configured to provide a plurality of dental treatments to the patient. The end effector also includes at least two projection elements configured to provide air and water irrigation into the oral structure of the patient via an air nozzle and a water nozzle respectively. The end effector also includes at least one sensor configured to determine an amount of pressure applied by the detachable tool on the patient when the detachable tool is in operating mode. The apparatus also includes an intra oral arm mechanically coupled to at least one connector of the end effector. The intra oral arm is configured to provide a circular motion and a vertical motion of the end effector along an axis of the intra-oral arm. The apparatus also includes an extra oral arm mechanically coupled to the intra oral arm. The extra oral arm is configured to extend and retract the intra oral arm in one or more directions relative to the axis of the intra oral arm to operate on the patient.

In accordance with another embodiment of the disclosure, a method of operating a dental apparatus is disclosed. The method includes capturing a multimedia information of an oral structure of a patient. The method also includes providing a plurality of dental treatments to the patient. The method also includes providing air and water irrigation into the oral structure of the patient via an air nozzle and a water nozzle respectively. The method also includes determining an amount of pressure applied by the detachable tool on the patient when the detachable tool is an operating mode. The method also includes providing a circular motion and a vertical motion of the end effector along an axis of the intra-oral arm. The method also includes extending and retracting, by an extra oral arm, the intra oral arm in one or more directions relative to the axis of the intra oral arm to operate on the patient.

To further clarify the advantages and features of the present disclosure, a more particular description of the disclosure will follow by reference to specific embodiments thereof, which are illustrated in the appended figures. It is to be appreciated that these figures depict only typical embodiments of the disclosure and are therefore not to be considered limiting in scope. The disclosure will be described and explained with additional specificity and detail with the appended figures. BRIEF DESCRIPTION OF DRAWINGS

The disclosure will be described and explained with additional specificity and detail with the accompanying figures in which:

FIG. 1 is a block diagram representation of a dental apparatus in accordance with an embodiment of the present disclosure;

FIG. 2 is a schematic representation of a bottom view of an end effector of the dental apparatus of FIG. 1 in accordance with an embodiment of the present disclosure;

FIG. 3 is a schematic representation of a side view of the end effector of the dental apparatus of FIG. 1 in accordance with an embodiment of the present disclosure; FIG. 4 is a schematic representation of a side view of an intra oral arm of the dental apparatus of FIG. 1 in accordance with an embodiment of the present disclosure;

FIG. 5 is a schematic representation of a front side view of an extra oral arm of the dental apparatus of FIG. 1 in accordance with an embodiment of the present disclosure; FIG. 6 is a schematic representation of a top view of the extra oral arm of the dental apparatus of FIG. 1 in accordance with an embodiment of the present disclosure; and

FIG. 7 is a flow diagram representing steps involved in a method of operating a dental apparatus in accordance with an embodiment of the present disclosure.

Further, those skilled in the art will appreciate that elements in the figures are illustrated for simplicity and may not have necessarily been drawn to scale. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the figures by conventional symbols, and the figures may show only those specific details that are pertinent to understanding the embodiments of the present disclosure so as not to obscure the figures with details that will be readily apparent to those skilled in the art having the benefit of the description herein.

DETAIFED DESCRIPTION For the purpose of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiment illustrated in the figures and specific language will be used to describe them. It will nevertheless be understood that no limitation of the scope of the disclosure is thereby intended. Such alterations and further modifications in the illustrated system, and such further applications of the principles of the disclosure as would normally occur to those skilled in the art are to be construed as being within the scope of the present disclosure.

The terms "comprise", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such a process or method. Similarly, one or more devices or sub-systems or elements or structures or components preceded by "comprises... a" does not, without more constraints, preclude the existence of other devices, sub-systems, elements, structures, components, additional devices, additional sub-systems, additional elements, additional structures or additional components. Appearances of the phrase "in an embodiment", "in another embodiment" and similar language throughout this specification may, but not necessarily do, all refer to the same embodiment.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure belongs. The system, methods, and examples provided herein are only illustrative and not intended to be limiting.

In the following specification and the claims, reference will be made to a number of terms, which shall be defined to have the following meanings. The singular forms“a”, “an”, and“the” include plural references unless the context clearly dictates otherwise.

Embodiments of the present disclosure relate to a dental apparatus and a method to operate the same. The apparatus includes an end effector. The end effector configured to perform a plurality of treatments. The end effector includes at least one camera configured to capture a multimedia information of an oral structure of a patient. The end effector also includes a detachable tool configured to provide a plurality of dental treatments to the patient. The end effector also includes at least two projection elements configured to provide air and water irrigation into the oral structure of the patient via an air nozzle and a water nozzle respectively. The end effector also includes at least one sensor configured to determine an amount of pressure applied by the detachable tool on the patient when the detachable tool is in operating mode. The apparatus also includes an intra oral arm mechanically coupled to at least one connector of the end effector. The intra oral arm is configured to provide a circular motion and a vertical motion of the end effector along an axis of the intra-oral arm. The apparatus also includes an extra oral arm mechanically coupled to the intra oral arm. The extra oral arm is configured to extend and retract the intra oral arm in one or more directions relative to the axis of the intra oral arm to operate on the patient.

FIG. 1 is a block diagram representation of a dental apparatus () in accordance with an embodiment of the present disclosure. The apparatus (10) includes an end effector (20), an intra oral arm (30) and an extra oral arm (40). As used herein, the term“end effector (20)” may be defined as a device at the end of a dental arm, designed to interact with an environment, wherein the environment includes a patient (50). In one embodiment, the end effector (20) may be detachable. Also, as used herein, the term “oral structure” is defined as a space from the lips to the end of the hard palate, where the space contains the teeth, the buccal and gingival mucosa, the mandible and hard palate, the floor of the mouth and the tongue anterior to the circumvallate papilla.

The end effector (20) includes at least one camera (60), a detachable tool (70), at least two projection elements (80) and at least one sensor (90). Further, the intra oral arm (30) is mechanically coupled to at least one connector (100) of the end effector (20). Further, the extra oral arm (40) is mechanically coupled to the intra oral arm (30).

FIG. 2 is a schematic representation of a bottom view of an end effector (20) of the dental apparatus (10) of FIG. 1 in accordance with an embodiment of the present disclosure. The end effector (20) includes a first disc (110), a tapered cylinder (120) and a second disc (130). The first disc (110) includes a first set of openings, wherein the first set of opening includes at least three openings receives the at least one camera (60), the detachable tool (70) and at least one light emitting diode (140), respectively. The at least one camera (60) captures a multimedia information of an oral structure of the patient. In one embodiment, the at least one camera (60) may include, but not limited to, a large focus of vision, a micro camera, a hydrophobic lens, a dual or a triple lens and the like. In some embodiment, the multimedia information may include, but not limited to, one or more images, one or more videos, a 2-dimensional scanning image, a 3-dimensional scanning image and the like.

Further, the detachable tool (70) provides multiple dental treatments to the patient. In one embodiment, the plurality of dental treatments may include, but not limited to, a tooth filling, root canals, a teeth whitening and the like. In some embodiment, the detachable tool (70) may include, but not limited to, a cutting mechanical, a cutting laser, a filling tool, an endo filling tool, an endo motor, an x-ray unit, a piezo electric, an implant motor and the like. In one embodiment, a configuration of the end effector tool (20) may be changed according to the detachable tool (70) and a vice-versa. Furthermore, in one embodiment, the at least one light emitting device (140) may include, but not limited to, a high intensity light emitting device and an ultraviolet (UV) light, wherein the UV light may be configured for tooth filling and the teeth whitening.

FIG. 3 is a schematic representation of a side view of the end effector (20) of the dental apparatus (10) of FIG. 1 in accordance with an embodiment of the present disclosure. The tapered cylinder (120) includes at least two projection elements (80) provides air and water irrigation, respectively, via at least one nozzle (150). In one embodiment, the at least one nozzle (150) may include an air nozzle and a water nozzle. In such embodiment, the air nozzle may provide air for dusting solid residue when the apparatus (10) is in operating mode. The internal connection to the air nozzle may also provide high pressure air to an air driven turbine (not shown in figures), present inside the first disc (110), wherein the air driven turbine (not shown in figures) rotates the detachable tool (70), wherein the air driven turbine is adapted to be coupled to the detachable tool (70). In some embodiment, the water nozzle provides water for cooling the detachable tool (70) and an irrigation of operating area when the apparatus (10) is in operating mode.

Further, in one specific embodiment, the second disc (130) may include at least one connector (160) and at least a second set of openings (150). In one embodiment, the second set of openings (150) may be located either near or within the at least one connector.

Furthermore, in such embodiment, the second set of openings (150) includes at least three openings that receive air, water and an internal connection with the at least one camera (60). In one embodiment, the internal connection with the at least one camera (60) may be an optic fibre. The end effector (20) also includes at least one sensor (90) configured within the first disc (110). In one embodiment, the at least one sensor (90) may be coupled to the detachable tool (70). In some embodiment, the at least one sensor may be operatively coupled with a controlling module. The at least one sensor (90) determines the amount of pressure applied by the detachable tool (70) when in operating mode which sends to the controlling module as a haptic feedback. In one embodiment, the at least one sensor (90) may be, including but not limited to, a tactile sensor and a pressure sensor.

FIG. 4 is a schematic representation of a side view of the intra oral arm (30) of the dental apparatus (10) of FIG. 1 in accordance with an embodiment of the present disclosure. In one embodiment, the intra-oral arm (30) may include a robotic three- axes (230, 240, 250) intra-oral arm. In such embodiment, the three-axes (230, 240, 250) may include x-axis (230), y-axis (240) and z-axis (250). The intra oral arm (30) provides a circular motion and a vertical motion of the end effector (20) along the three-axes (230, 240, 250) of the intra-oral arm (30). In one specific embodiment, the intra-oral arm (30) includes a third disc (170), a fourth disc (180), a fifth disc (190), a sixth disc (200) and a first cylinder (210).

The third disc (170) includes at least one opening (220) receives the at least one connector (160). The third disc (170) is coupled with the fourth disc (180), wherein the fourth disc (180) is coupled to the fifth disc (190). The fifth disc (190) is coupled to the sixth disc (200), wherein the sixth disc (200) is coupled to the first cylinder (210). In some embodiment, the fourth disc (180) moves in a vertical direction. In one exemplary embodiment, the fourth disc (180) moves up and down. In such embodiment, the sixth disc (200) rotates in a circular motion, thereby enabling the fourth disc (180) to move in the vertical direction and thereby enabling the circular motion along the three-axes (230, 240, 250) of the intra-oral arm (30).

FIG. 5 is a schematic representation of a front side view of the extra oral arm (40) of the dental apparatus (10) of FIG. 1 in accordance with an embodiment of the present disclosure. In one embodiment, the extra-oral arm (40) may include a robotic 3 -axis (230, 240, 250) extra-oral arm. The extra-oral arm (40) extends and retracts the intra oral arm (30) in one or more directions relative to the 3 -axis (230, 240, 250) of the intra oral arm (30) to operate on the patient. In one embodiment, the one or more directions may include, a linear direction, a vertical directional, a circular direction, a lateral direction and the like. In some embodiment, the extra-oral arm (40) includes a first hollow cylinder (260), a second hollow cylinder (270), a second cylinder (280), seventh disc (290) and a clamp (300).

In such embodiment, the first hollow cylinder (260) receives the first cylinder (210) of the intra-oral arm (30), wherein the first cylinder (210) moves in a linear motion. In one exemplary embodiment, the first cylinder (210) moves forward and backward. Further, the second hollow cylinder (270) is vertically coupled to the first hollow cylinder (260), wherein the second hollow cylinder (270) is concentrically arranged to the second cylinder (280). The second cylinder (280) moves in a lateral direction in combination with the clamp (300), wherein the second cylinder (280) is pivoted to the clamp (300) to revolve in the lateral direction on the pivoted axis (230, 240, 250). The clamp (300) may be, including but not limited to, a c-shaped clamp.

Further, in one specific embodiment, the clamp (300) is coupled to the seventh disc (290), wherein the seventh disc (290) may be placed in middle of the clamp (300). The seventh disc (290) moves in one or more directions in order to be aligned with the movement of the fourth disc (180), thereby achieving parallelism between the end effector tool (20) and the extra-oral arm (40). In one embodiment, the one or more directions may represent a vertical movement, a rotational movement, a lateral movement of the seventh disc (290), in turn enabling the vertical movement of the dental arm.

In one embodiment, the second hollow cylinder (270) may be solid cylinder and the second cylinder (280) may be divided into two discs, wherein each of the two discs may be operatively coupled to the solid cylinder. Each end of the clamp (300) may be operatively coupled to each of the two discs, respectively.

FIG. 6 is a schematic representation of a top view of the extra oral arm (40) of the dental apparatus (10) of FIG. 1 in accordance with an embodiment of the present disclosure. The seventh disc (290) is operatively coupled to at least one rod (310). In one embodiment, the at least one rod (310) receives through the seventh disc (290), wherein the seventh disc (290) moves along the direction of the at least one rod (310), thereby enabling the movement of the dental arm in a second linear direction. In one embodiment, the second linear direction may represent a horizontal movement of the seventh disc (290), in turn enabling the horizontal movement of the dental arm.

The at least one rod (310) is further operatively coupled to a support module (not shown in figures). In one embodiment, the support module (not shown in figures) may be operatively coupled to the seventh disc (290) and operatively coupled to the controlling module. The support module (not shown in figures) may include, but not limited to, a real time movement tracker, a jaw and a facial support, a virtual reality or display headset for inducing calm and deep relaxation visually or in communication with dentist during tele dentistry, an eye scanner and tracker for pain indication and recognition, a non-invasive finger probe for pain detection. The jaw and facial support may be padded with soft tissues for safety to the patient while the apparatus (10) is in the operating mode, wherein the padding may be, including but not limited to, a silicon.

Further, the apparatus (10) may be operatively connected to a display module (not shown in figures) for real time visual guidance for the operator, wherein the display module (not shown in figures) may be coupled to the at least one camera (60), either wired or wirelessly. In one embodiment, the display module (not shown in figures) may include, but not limited to, a television, a LED display for eye scanner or tracker, pain indicator from eye scanner or finger probe, one or more clinical parameters, diagnostic data, display for the at least one camera associated with the end effector and the like. In another embodiment, the display module may include a virtual reality (VR) or augmented reality (AR) display. In such embodiment, the two-dimensional (2D) scans and three dimensional (3D) scans (scans the site of operation or structure), computed tomography (CT) scans, x-rays and the like are superimposed together for a virtual display or augmented display of the operation site.

Further, in one specific embodiment, the apparatus (10) also includes a controlling module (not shown in figures) operatively coupled to the display module (not shown in figures). The controlling module (not shown in figures) controls at least one of the circular motion and the vertical motion of the end effector (20) along a three-axes (230, 240, 250) of the intra-oral arm (30).

Also, the controlling module (not shown in figures) controls the vertical motion of the extra oral arm (40) relative to the three-axes (230, 240, 250) of the intra oral arm (30). In some embodiment, the controlling module (not shown in figures) may be, including but not limited to, a pressure sensitive haptic guided control device, a joystick, a tele- surgical control, a pen based joystick attached to four or more actuators with a position based tracking, a haptic sensor coupled with the sensor in the end effector, an arm holder including a simulation or movement of arm during the operating mode, an artificial intelligence based controller and a predetermined computer-aided design (CAD) and computer-aided manufacturing (CAM), a cone beam computed tomography (CBCT) process. In such embodiment, the controlling module assists the end effector and the intra oral arm. In some embodiment, the artificial intelligence- based controller controls the end effector, intra oral arm and the extra oral arm with one or more automated processes such as computer aided design (CAD), computer aided manufacturing (CAM) and the like.

The controlling module (not shown in figures) may be coupled to a control device (not shown in figures) via the extra-oral arm (40), the support module (not shown in figures) and the display module, wherein the control device is configured to be used by the operator. The control device may be, including but not limited to, a laptop, a surgical robot and the like. In such embodiment, the surgical robot assists the movement of the intra oral arm and extra oral arm.

Further, the support module (10) may include an alert generation module (not shown in figures) operatively coupled to the controlling module. The alert generation module (not shown in figures) generates an alert signal to the operator upon an emergency. In one embodiment, the alert signal may include, but not limited to, nociceptive pain indicator, a sudden movement of the patient body or eye, a faulty system detector, a malfunction indicator and the like.

In such embodiment, the apparatus (10) may include an emergency module which shuts down the apparatus (10) upon receiving alert from the alert generation module (not shown in figures). In case of a shut down, the apparatus (10) reinitiates and continues the operation from where the apparatus (10) was shut down upon rectifying and examining the problem by the operator.

FIG. 7 is a flow diagram representing steps involved in a method (320) of operating a dental apparatus in accordance with an embodiment of the present disclosure. The method (320) includes capturing, by at least one camera, a multimedia information of the oral structure of the patient in step 330. In one embodiment, capturing the multimedia information of the oral structure of the patient by the at least one camera may include capturing the multimedia information of the oral structure of the patient by a large focal of vision, a micro camera, a hydrophobic lens, a dual or a triple lens and the like. In one embodiment, capturing the multimedia information of the oral structure may include capturing one or more images, one or more videos, one or more 3D scanning images, one or more 2D scanning images and the like of the oral structure of the patient.

The method (320) also includes providing, by a detachable tool, a plurality of dental treatments to the patient in step 330. In one embodiment, providing the plurality of dental treatments to the patient by the detachable tool may include providing the plurality of dental treatments to the patient by a cutting laser, a mechanical cutting, a filling tool, an endo filling tool, an endo motor, a micro x-ray unit, a piezo electric, an implant motor, a fast and slow speed drill, a cement filling tips and the like.

The method (320) also includes providing, by at least two projection elements, air and water irrigation into the oral structure of the patient via an air nozzle and a water nozzle respectively in step 350. The method (320) also includes determining, by at least one sensor, an amount of pressure applied by the detachable tool on the patient when the detachable tool is an operating mode in step 360. In one embodiment, determining the amount of pressure applied by the detachable tool on the patient by the at least one sensor may include determining the amount of pressure applied by the detachable tool on the patient by a tactile sensor and a pressure sensor via a haptic feedback on the controlling module.

The method (320) also includes providing, by an intra oral arm, a circular motion and a vertical motion of the end effector along a 3- axis of the intra-oral arm in step 370. The method (320) also includes extending and retracting, by an extra oral arm, the intra oral arm in one or more directions relative to the 3 -axis of the intra oral arm to operate on the patient in step 380. In one embodiment, the method (320) may include providing, by a display module, a real time visual guidance such as an eye and body movement tracker and a pain index information for an operator. In some embodiment, the method (320) may include controlling, by a controlling module, at least one of the circular motion and the vertical motion of the end effector along the 3 -axis of the intra- oral arm. In one embodiment the method (320) may also include controlling, by the controlling module, the vertical motion of the extra oral arm relative to the 3 -axis of the intra oral arm.

Various embodiments of the present disclosure provide a technical solution to the problem of dental apparatus. The present disclosure provides an efficient dental apparatus which will help in increasing the visibility by using one or more basic functions such as camera, light, irrigation and the like and reducing the use of a number of instruments like mouth mirror, air spray, water spray, and suction. Further, the apparatus will also have a multi tool modular attachment as an end effector which can execute multiple treatment procedures by not just replacing a traditional handpiece, but rather adding tools such as fast and slow speed drill, laser, endo-motor, Implant- motor, cement filling tips, micro x-ray units.

Moreover, the apparatus reduces error, by using a computer assisted planning and haptic guidance which will increase the precision of the treatment. Also, the end effector used in the dental apparatus can be sterilized for reuse ability and rest of the intra oral arm and extra oral arm will have disposable sleeve to avoid cross contamination. Further, the present apparatus is easily accessible at the site of treatment. Moreover, the risk of cross infection can be limited by reducing the proximity between the dentist and the patient.

While specific language has been used to describe the disclosure, any limitations arising on account of the same are not intended. As would be apparent to a person skilled in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein.

The figures and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment. For example, order of processes described herein may be changed and are not limited to the manner described herein. Moreover, the actions of any flow diagram need not be implemented in the order shown; nor do all of the acts need to be necessarily performed. Also, those acts that are not dependant on other acts may be performed in parallel with the other acts. The scope of embodiments is by no means limited by these specific examples.