Abstract: A tooth clamp for mounting on, and rigidly clamping to, a plurality of teeth. The tooth clamp includes a buccal side portion, a lingual side portion, at least one tightening mechanism, and a coupling portion. The buccal side portion is disposed on a buccal side, and the lingual side portion is disposed on a lingual side, of the plurality of teeth, when the tooth clamp is mounted thereon. The at least one tightening mechanism is configured to allow a user to progressively bring the buccal and lingual side portions closer together, to thereby engage the plurality of teeth with a desired amount of clamping force. The coupling portion is configured to rigidly couple the clamp to a robotic dental system. Inwardly-facing sides of the buccal and lingual side portions include impression portions, which are shaped as impressions of the buccal side and the lingual side, respectively, of the subject's teeth.

Abstract: A dental robot includes a platform and a suspension system. The suspension system supports the platform and automatically compensates for weights of the platform and a robot arm, end effector, and tooth clamp attached to the platform. The suspension system maintains a constant height of the platform above a base, absent an external force on the tooth clamp. The suspension system allows position and orientation of the platform to change with three degrees of positional freedom and three degrees of rotational freedom, relative to the base, in response to an external force on the tooth clamp, such as a result of movement (change in position and/or orientation) of a subject. A rigid connection between the tooth clamp and the platform ensures that position and orientation of the platform remains fixed, relative to the subject's teeth, in response to movement of the teeth.

Abstract: A dental robot includes a platform and a suspension system. The suspension system supports the platform and automatically compensates for weights of the platform and a robot arm, end effector, and tooth clamp attached to the platform. The suspension system maintains a constant height of the platform above a base, absent an external force on the tooth clamp. The suspension system allows position and orientation of the platform to change, relative to the base, in response to an external force on the tooth clamp greater than about 0.1 N, such as a result of movement (change in position and/or orientation) of a subject. Consequently, the position and orientation of the platform remain fixed, relative to the subject's teeth, in response to movement of the teeth.

Abstract: An optical coherence tomography scanning system traverses its respective scan pattern quickly, typically completing an entire two-dimensional frame faster than a conventional raster scanner completes one raster line segment. To traverse the scan pattern quickly, the system takes fewer A-scans per length of scan pattern than a conventional OCT scanner. To compensate for the sparsity of the sample points along the respective scan line segments, and for gaps between respective line segments of the trajectory, the system acquires and combines several partially overlapping frames for each study to generate a dense OCT image. A visible light camera captures an image for each traversal of the scan pattern, but only a predetermined subset of pixels in the visible light image, which correspond to locations on the anatomical item interrogated by a sample arm of the OCT, are used to color corresponding pixels in the dense OCT image.

Abstract: An automated dental drill includes a dental drill housing that includes a mouthpiece housing section and a one or more degrees of freedom drive housing section; an end effector drive support having a shaft section that is at least partially positioned in the mouthpiece housing section, and an end effector for the cutting of a native tooth or dental appliance to a desired tolerance. The end effector is positioned on the end effector drive support. The automated dental drill also includes a power source that drives the end effector and is coupled to the end effector and a one or more degrees of freedom drive assembly to direct the end effector along one or more degrees of freedom relative to the mouthpiece housing section.

Abstract: Provided are systems and methods for generating a three-dimensional model from an intra-oral optical coherence tomography scan.

Abstract: An optical coherence tomography scanning system traverses its respective scan pattern quickly, typically completing an entire two-dimensional frame faster than a conventional raster scanner completes one raster line segment. To traverse the scan pattern quickly, the system takes fewer A-scans per length of scan pattern than a conventional OCT scanner. To compensate for the sparsity of the sample points along the respective scan line segments, and for gaps between respective line segments of the trajectory, the system acquires and combines several partially overlapping frames for each study to generate a dense OCT image. A visible light camera captures an image for each traversal of the scan pattern, but only a predetermined subset of pixels in the visible light image, which correspond to locations on the anatomical item interrogated by a sample arm of the OCT, are used to color corresponding pixels in the dense OCT image.

Abstract: An automated dental drill includes an end effector, including a dental tool for disposition at least partially in a patient's mouth and to perform an operation on a tooth. A tooth clamp releasably rigidly attaches to at least one tooth. A drive assembly is controlled by a processor and positions the end effector with a first at least three degrees of freedom, relative to the tooth clamp. The drive assembly remains outside the patient's mouth. A clamp connector connects the tooth clamp to the drive assembly. With the tooth clamp coupled to the drive assembly and the tooth clamp attached to the at least one tooth, position and orientation of the drive assembly remain fixed, relative to the at least one tooth. A passive cantilever arm, mechanically coupled between a support structure and the drive assembly, has a second at least three degrees of freedom and supports the drive assembly.

Abstract: Embodiments of the present invention generate comprehensive and accurate three-dimensional (3D) models of dental anatomy from acquired Cone Beam Computed Tomography (CBCT) data of the dental anatomy and acquired Optical Coherence Tomography (OCT) data of the dental anatomy. Generating the 3D model of the dental anatomy includes identifying one or more pathology volumes within the dental anatomy, based on the CBCT data and the OCT data.

Abstract: Disclosed herein are robotic controlled systems and methods for tooth resurfacing utilizing a robotic control unit capable of controlling the movement of a tissue removal mechanism an optical beam path configured to scan the surface of a tooth; a mechanism for tissue removal capable of removing tissue during resurfacing, including: a first mechanism for tissue removal; and a second mechanism for stance measurement to the tooth surface using metrology methods; a metrology beam recording system integrated within the optical beam path, configured to record the original and final position of the tooth surface during the tissue removal process, and to generate a ‘difference map’ representing the remaining tissue to be removed; a 3D model of a target tooth shape; and a control algorithm capable of adjusting parameters based on the difference map and the difference in shape between the tooth and the 3D model.

Abstract: A dental robot includes a platform and a suspension system. The suspension system supports the platform and automatically compensates for weights of the platform and a robot arm, end effector, and tooth clamp attached to the platform. The suspension system maintains a constant height of the platform above a base, absent an external force on the tooth clamp. The suspension system allows position and orientation of the platform to change, relative to the base, in response to an external force on the tooth clamp greater than about 0.1 N, such as a result of movement (change in position and/or orientation) of a subject. Consequently, the position and orientation of the platform remain fixed, relative to the subject's teeth, in response to movement of the teeth.

Abstract: A dental robot includes a platform and a suspension system. The suspension system supports the platform and automatically compensates for weights of the platform and a robot arm, end effector, and tooth clamp attached to the platform. The suspension system maintains a constant height of the platform above a base, absent an external force on the tooth clamp. The suspension system allows position and orientation of the platform to change, relative to the base, in response to an external force on the tooth clamp greater than about 0.1 N, such as a result of movement (change in position and/or orientation) of a subject. Consequently, the position and orientation of the platform remain fixed, relative to the subject's teeth, in response to movement of the teeth.

Abstract: An optical coherence tomography scanning system traverses its respective scan pattern quickly, typically completing an entire two-dimensional frame faster than a conventional raster scanner completes one raster line segment. To traverse the scan pattern quickly, the system takes fewer A-scans per length of scan pattern than a conventional OCT scanner. To compensate for the sparsity of the sample points along the respective scan line segments, and for gaps between respective line segments of the trajectory, the system acquires and combines several partially overlapping frames for each study.

Abstract: Provided herein are computer-implemented methods, computer-implemented systems, and a non-transitory computer-readable storage media for directing an automated dental drill (ADD) for preparation of a target tooth of a patient under the control of a practitioner

Abstract: An apparatus for performing dental surgery includes a central processing unit that controls automated operation of the apparatus and a display that renders an image of a target tooth requiring surgical intervention. The image of a target tooth being created from an image file received from the central processing unit. An input device receives surgical instructions from a user for providing the surgical intervention. The instructions are provided to the central processing unit for process. The surgical instructions include visual indications on the image of a target tooth that is to be treated. A robotic arm that includes an end effector is in communication with the central processing unit. The central processing unit controls the robotic arm to remove a region of the target tooth. The system also simultaneously mills the final tooth restoration in a separate milling chamber.

Abstract: Provided are systems and methods for generating a three-dimensional model from an intra-oral optical coherence tomography scan.

Abstract: Provided herein are computer-implemented methods, computer-implemented systems, and a non-transitory computer-readable storage media for directing an automated dental drill (ADD) for preparation of a target tooth of a patient under the control of a practitioner.

Abstract: An optical coherence tomography scanning system traverses its respective scan pattern quickly, typically completing an entire two-dimensional frame faster than a conventional raster scanner completes one raster line segment. To traverse the scan pattern quickly, the system takes fewer A-scans per length of scan pattern than a conventional OCT scanner. To compensate for the sparsity of the sample points along the respective scan line segments, and for gaps between respective line segments of the trajectory, the system acquires and combines several partially overlapping frames for each study.

Abstract: An optical coherence tomography scanning system traverses its respective scan pattern quickly, typically completing an entire two-dimensional frame faster than a conventional raster scanner completes one raster line segment. To traverse the scan pattern quickly, the system takes fewer A-scans per length of scan pattern than a conventional OCT scanner. To compensate for the sparsity of the sample points along the respective scan line segments, and for gaps between respective line segments of the trajectory, the system acquires and combines several partially overlapping frames for each study.

Abstract: An automated dental drill includes a dental drill housing that includes a mouth piece housing section and a one or more degrees of freedom drive housing section; an end effector drive support having a shaft section that is at least partially positioned in the mouth piece housing section, and an end effector for the cutting of a native tooth or dental appliance to a desired tolerance. The end effector is positioned on the end effector drive support. The automated dental drill also includes a power source that drives the end effector and is coupled to the end effector and a one or more degrees of freedom drive assembly to direct the end effector along one or more degrees of freedom relative to the mouth piece housing section.