METHODS FOR CONDUCTING GUIDED ORAL AND MAXILLOFACIAL PROCEDURES, AND ASSOCIATED SYSTEM

20200054421

16/665980

October 28, 2019

Methods of conducting object-related procedures and associated system involve a secure and physical interaction being formed between a fiducial device and a site having an associated object to form a fiducial marker. A virtual plan is formed, detailing the procedure on the object at the site, in registration with and with respect to the fiducial marker. Movement of a procedure-conducting device is physically regulated with a guidance device responsive to a controller device and with respect to the fiducial marker. The guidance device physically regulates movement of the procedure-conducting device, according to the virtual plan and corresponding with physical manipulation of the procedure-conducting device by the user, to conduct the procedure. Tactile feedback is provided to the user, via the procedure-conducting device, if the physical manipulation by the user causes the procedure-conducting device to deviate from the virtual plan.

1. A method of conducting an object removal procedure from a site, comprising: forming a secure and physical interaction between a fiducial device and the site having the object associated therewith, the secured fiducial device forming a fiducial marker; forming a virtual removal plan detailing removal of the object from the site, the virtual removal plan being in registration with and with respect to the fiducial marker; physically regulating movement of an object removal device with a guidance device operably engaged therewith, in response to a controller device in communication with the guidance device and with respect to the fiducial marker, the guidance device physically regulating movement of the object removal device, in accordance with the virtual object removal plan and in correspondence with physical manipulation of the object removal device by the user, to remove the object from the site; 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. A method according to claim 1, further comprising imaging the object with respect to the fiducial marker to facilitate registration of the virtual removal plan with the fiducial marker.

3. A method according to claim 1, wherein providing tactile feedback further comprises allowing movement of the object removal device in accordance with the virtual removal plan and physically preventing movement of the object removal device deviating from the virtual removal plan.

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

5. A method according to claim 1, further comprising engaging the guidance device in communication with the fiducial device such that the guidance device is related with the fiducial marker.

6. A method according to claim 5, wherein engaging the guidance device in communication with the fiducial device comprises engaging the guidance device in physical or nonphysical communication with the fiducial device.

7. A method according to claim 1, wherein physically regulating movement of the object removal device further comprises physically regulating movement of an ablation device.

8. A method according to claim 1, wherein physically regulating movement of the object removal device further comprises physically regulating movement of the object removal device via the guidance device comprising an arm member physically engaged with the object removal device, the guidance device being responsive to the controller device to guide the physical manipulation of the object removal device by the user according to the virtual removal plan.

9. A method of conducting an object-related procedure at a site, comprising: forming a secure and physical interaction between a fiducial device and the site having an object associated therewith, the secured fiducial device forming a fiducial marker; forming a virtual object-related procedure plan detailing the object-related procedure on the object at the site, the virtual object-related procedure plan being in registration with and with respect to the fiducial marker; physically regulating movement of a material removal device with a guidance device operably engaged therewith, in response to a controller device in communication with the guidance device and with respect to the fiducial marker, the guidance device physically regulating movement of the material removal device, in accordance with the virtual object-related procedure plan and in correspondence with physical manipulation of the material removal device by the user, to drill into the object and to remove material from within the object; 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 procedure plan.

10. A method according to claim 9, further comprising imaging the object with respect to the fiducial marker to facilitate registration of the virtual object-related procedure plan with the fiducial marker.

11. A method according to claim 9, wherein providing tactile feedback further comprises allowing movement of the material removal device in accordance with the virtual object-related procedure plan and physically preventing movement of the material removal device deviating from the virtual object-related procedure plan.

12. A method according to claim 9, wherein providing tactile feedback further comprises vibrating the material removal device if movement of the material removal device deviates from the virtual object-related procedure plan.

13. A method according to claim 9, further comprising engaging the guidance device in communication with the fiducial device such that the guidance device is physically related with the fiducial marker.

14. A method according to claim 13, wherein engaging the guidance device in communication with the fiducial device comprises engaging the guidance device in physical or nonphysical communication with the fiducial device.

15. A method according to claim 9, wherein physically regulating movement of the material removal device further comprises physically regulating movement of a drilling device or an abrading device.

16. A method according to claim 9, wherein physically regulating movement of the material removal device further comprises physically regulating movement of the material removal device via the guidance device comprising an arm member physically engaged with the material removal device, the guidance device being responsive to the controller device to guide the physical manipulation of the material removal device by the user according to the virtual object-related procedure plan.

17. A method of preparing an object for receiving a crown, comprising: forming a secure and physical interaction between a fiducial device and a site having the object associated therewith, the secured fiducial device forming a fiducial marker; forming a virtual object preparation plan detailing an object preparation procedure on the object at the site for the prepared object to receive the crown, the virtual object preparation plan being in registration with and with respect to the fiducial marker; physically regulating movement of an object preparation device with a guidance device operably engaged therewith, in response to a controller device in communication with the guidance device and with respect to the fiducial marker, the guidance device physically regulating movement of the object preparation device, in accordance with the virtual object preparation plan and in correspondence with physical manipulation of the object preparation device by the user, to abrade and shape the object; and providing tactile feedback to the 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. A method according to claim 17, further comprising imaging the object with respect to the fiducial marker to facilitate registration of the virtual object preparation plan with the fiducial marker.

19. A method according to claim 17, wherein providing tactile feedback further comprises allowing movement of the object preparation device in accordance with the virtual object preparation plan and physically preventing movement of the object preparation device deviating from the virtual object preparation plan.

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

21. A method according to claim 17, further comprising engaging the guidance device in communication with the fiducial device such that the guidance device is related with the fiducial marker.

22. A method according to claim 21, wherein engaging the guidance device in communication with the fiducial device comprises engaging the guidance device in physical or nonphysical communication with the fiducial device.

23. A method according to claim 17, wherein physically regulating movement of the object preparation device further comprises physically regulating movement of an abrading device.

24. A method according to claim 17, wherein physically regulating movement of the object preparation device further comprises physically regulating movement of the object preparation device via the guidance device comprising an arm member physically engaged with the object preparation device, the guidance device being responsive to the controller device to guide the physical manipulation of the object preparation device by the user according to the virtual object preparation plan.

25. A system for conducting a guided object-related procedure, comprising: a fiducial marker resulting from a secure and physical interaction between a fiducial device and a site having an object associated therewith; a procedure planning device forming a virtual procedure plan detailing the object-related procedure at the site, the virtual procedure plan being in registration with and with respect to the fiducial marker; a controller device in communication with the procedure planning device; and a guidance device operably engaged with and physically regulating movement of a procedure-conducting device comprising a plurality of interchangeable procedural devices, in response to the controller device in communication therewith and with respect to the fiducial marker, the guidance device physically regulating movement of the procedure-conducting device, in accordance with the virtual procedure plan and in correspondence with physical manipulation of the procedure-conducting device by the user, to perform the object-related procedure, the procedure-conducting device providing tactile feedback to the user, if the physical manipulation of the procedure-conducting device by the user causes the procedure-conducting device to deviate from the virtual procedure plan.

26. The system of claim 25, wherein the procedural device is an object removal device, and the object-related procedure is an object removal procedure.

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

28. The system of claim 25, wherein the procedural device is a drilling device or an abrading device, and the object-related procedure is a drilling procedure or an abrading procedure.

29. The system of claim 25, wherein the procedural device is an abrading device, and the object-related procedure is preparing the object for receiving a crown.

61; 61; 61; 61; 61; 61; 61

edspap.20200054421