Abstract: A method and system are provided to determine an optimal placement with respect to position and orientation for one or more bones in a workspace of a robot to improve robotic cutting and maximize the robot workspace during a robotic surgical procedure. The method is additionally useful to aid a user in positioning and orienting the bones in the operating room at the determined position and orientation.

Abstract: An apparatus for calibration of a robotic arm having an end effector of a robot includes a magnetic coupler having a body, a receiving face, a mounting member, and a magnetic portion. The mounting member is configured to fixedly connect to the end effector of the robotic arm. A mechanical digitizer probe having a ball and a handle are provided, where the ball is fixedly attached to a distal end of the handle and the ball is removably coupled to the magnetic coupler via the magnetic portion on the receiving face to form a rotatable ball and socket connection, and where a proximal end of the handle is adapted to be attached to a mechanical digitizer associated with the robot. A method for calibration of the robotic arm of a robot is also detailed.

Abstract: A portable tooth polishing and bleaching treatment system is provided for simultaneous tooth surface polishing and bleaching for use at home or in dental clinics. A full contact swinging mechanism is employed to transfer a continuously rotational input from a motor into a back-and-forth swinging movement output. The system comprises an electrically powered handpiece, a detachable swinging angle, a rubber cup, a user-specific thermoplastic gum protector, and a dual-agent mixing set consisting of a separated storage of polishing bleaching agents and an agent mixing tool. The swinging angle alone is used as a prophylaxis angle for dental clinics.

Abstract: A mechanical rotational-swinging adapter is provided to transfer a continuous rotational input from a driving tool into back-and-forth swinging output via a slotted cam structure. When the rotational-swinging adapter is installed between the nosecone and the air motor of a conventional dental handpiece, the nosecone outputs the back-and-forth swinging movement for dental work such as root canal or prophylaxis treatments.

Abstract: A method for re-registration between a robotic coordinate system and an image data set is provided. The inventive re-registration method includes the steps of providing an image data set that has been registered within a robotic coordinate system based on an initial bone position; locating a first conserved point and a line segment that is fixed relative to the initial bone position prior to any detectable change in bone position from the initial bone position; relocating the first conserved point and at least a portion of the line segment after bone motion may have occurred to determine the locational change in the first conserved point and the line segment; and re-registering the image data set within the robotic coordinate system based on the determined locational changes. A system for performing this method is also provided.

Abstract: A mechanical rotational-swinging adapter is provided to transfer a continuous rotational input from a driving tool into back-and-forth swinging output via a slotted cam structure. When the rotational-swinging adapter is installed between the nosecone and the air motor of a conventional dental handpiece, the nosecone outputs the back-and-forth swinging movement for dental work such as root canal or prophylaxis treatments.

Abstract: An apparatus for calibration of a robotic arm having an end effector of a robot includes a magnetic coupler having a body, a receiving face, a mounting member, and a magnetic portion. The mounting member is configured to fixedly connect to the end effector of the robotic arm. A mechanical digitizer probe having a ball and a handle are provided, where the ball is fixedly attached to a distal end of the handle and the ball is removably coupled to the magnetic coupler via the magnetic portion on the receiving face to form a rotatable ball and socket connection, and where a proximal end of the handle is adapted to be attached to a mechanical digitizer associated with the robot. A method for calibration of the robotic arm of a robot is also detailed.

Abstract: A portable tooth polishing and bleaching treatment device is provided for simultaneous tooth surface polishing and bleaching for use at home or in dental clinics. A single-rod-swinging mechanism, either using tilt-rod-driving or bent-rod-driving, is employed to transfer a continuously rotational input from an electric power into a back-and-forth swinging movement output. The device comprises a battery-powered handpiece with a detachable swinging angle, a dual-functional rubber cup, a user-specific thermoplastic gum protector, a dual-agent mixing set consisting of a separated storage of polishing and bleaching agents and an agent mixing tool. The swinging angle alone is used as a prophylaxis angle for dental clinics.

Abstract: Systems and methods for monitoring an operative site during a surgical procedure using a computer controlled surgical device. In general, the methods include the steps of processing one or more defined cutting paths having one or more cut regions; determining a correlation between the cut region and one or more critical regions to generate an alert, wherein the alert indicates a movable end-effector is within a defined proximity of the critical region; and requiring a user acknowledgment of the alert to allow processing of the cutting path to continue. Also described herein are systems and methods for minimizing user fatigue during a semi-computer controlled surgical procedure. In general, the methods includes the step of requiring a user generated acknowledgment in response to a computer generated alert, wherein the user acknowledgment is generated using a user controller, the user controller being minimally intrusive to the user experience.

Abstract: A method and system are provided to determine an optimal placement with respect to position and orientation for one or more bones in a workspace of a robot to improve robotic cutting and maximize the robot workspace during a robotic surgical procedure. The method is additionally useful to aid a user in positioning and orienting the bones in the operating room at the determined position and orientation.

Abstract: A system and method are provided that permits a mentor to remotely observe, train, or mentor an end-user of a medical device. The remote mentor is able to observe and take control, if necessary, of a medical device during a surgical procedure from a remote location using a network connection. New end-users, or end-users requiring assistance, may obtain feedback directly from the mentor in real-time. The remote mentor may remove power from the medical device at any time to provide assistance or recommendations to the end-user. The remote mentor can then re-activate the power, or allow the device to re-power, after assessing the situation.

Abstract: A method for re-registration between a robotic coordinate system and an image data set is provided. The inventive re-registration method includes the steps of providing an image data set that has been registered within a robotic coordinate system based on an initial bone position; locating a first conserved point and a line segment that is fixed relative to the initial bone position prior to any detectable change in bone position from the initial bone position; relocating the first conserved point and at least a portion of the line segment after bone motion may have occurred to determine the locational change in the first conserved point and the line segment; and re-registering the image data set within the robotic coordinate system based on the determined locational changes. A system for performing this method is also provided.

Abstract: Systems and methods for monitoring an operative site during a surgical procedure using a computer controlled surgical device. In general, the methods include the steps of processing one or more defined cutting paths having one or more cut regions; determining a correlation between the cut region and one or more critical regions to generate an alert, wherein the alert indicates a movable end-effector is within a defined proximity of the critical region; and requiring a user acknowledgment of the alert to allow processing of the cutting path to continue. Also described herein are systems and methods for minimizing user fatigue during a semi-computer controlled surgical procedure. In general, the methods includes the step of requiring a user generated acknowledgment in response to a computer generated alert, wherein the user acknowledgment is generated using a user controller, the user controller being minimally intrusive to the user experience.

Abstract: Systems and methods for monitoring an operative site during a surgical procedure using a computer controlled surgical device. In general the methods include the steps of processing one or more defined cutting paths having one or more cut regions; determining a correlation between the cut region and one or more critical regions to generate an alert, wherein the alert indicates a movable end-effector is within a defined proximity of the critical region; and requiring a user acknowledgment of the alert to allow processing of the cutting path to continue. Also described herein are systems and methods for minimizing user fatigue during a semi-computer controlled surgical procedure. In general the methods includes the step of requiring a user generated acknowledgment in response to a computer generated alert, wherein the user acknowledgment is generated using a user controller, the user controller being minimally intrusive to the user experience.

Abstract: Systems and methods for monitoring an operative site during a surgical procedure using a computer controlled surgical device. In general the methods include the steps of processing one or more defined cutting paths having one or more cut regions; determining a correlation between the cut region and one or more critical regions to generate an alert, wherein the alert indicates a movable end-effector is within a defined proximity of the critical region; and requiring a user acknowledgment of the alert to allow processing of the cutting path to continue. Also described herein are systems and methods for minimizing user fatigue during a semi-computer controlled surgical procedure. In general the methods includes the step of requiring a user generated acknowledgment in response to a computer generated alert, wherein the user acknowledgment is generated using a user controller, the user controller being minimally intrusive to the user experience.

Abstract: A device and a method are described for finding the location of a bone surface in patients or living animals by using a thin probe equipped with bone contacting detection functionality for a minimally invasive procedure.

Abstract: A portable dental prophylaxis and bleaching system is provided for simultaneous tooth polishing and bleaching. It includes an oscillatory driving handpiece, a dental angle with a disposable rubber cup assembly, a dual-component dispenser, and a disposable mouthpiece. The battery-powered handpiece transforms a continuous rotation through a driving cam into a rotary oscillation which is then transferred through the attached dental angle to the rubber cup with an obtuse angle at its distal output end. The dispenser is operated manually to correctly apportion and mix the dual treatment materials into the rubber cup. In order to provide longer shelf life and effective bleaching action, the treatment materials are maintained at optimal pH values in separate compartments within the dispenser before use. The disposable mouthpiece is shaped for easy access to the user's teeth while protecting the gum surfaces. The system can be used both in dental clinics and at home.

Abstract: A device and a method are described for finding the location of a bone surface in patients or living animals by using a thin probe equipped with bone contacting detection functionality for a minimally invasive procedure.

Abstract: A method and apparatus using a graphics processing unit (GPU) are disclosed for three-dimensional (3D) imaging and continuously updating organ shape and internal points for guiding targets during motion. It is suitable for image-guided surgery or operations because the speed of guidance is achieved close to video rate. The system incorporates different methods of rigid and non-rigid registration using the parallelism of GPU processing that allows continuous updates in substantially real-time.

Abstract: A method and apparatus are disclosed for three-dimensional (3D) imaging and continuously updating organ shape and internal points for guiding targets during motion. It is suitable for image-guided surgery or operations as the speed of this guidance is achieved in real-time.