Granted Patent B2

US 12,396,830 · App. 17/284,683 · Granted Aug 26, 2025

Inventor: Pierre Chelala (Waterloo, BE)

Assignee: DIGITAL DENTAL DESIGN ROBOTICS

A61C13/0004A61B6/512A61C1/082A61C9/0046A61C13/34

Abstract

Claims (148)

1. A computer-implemented method of manufacturing a prosthetic element comprising:

(i) providing a first computer file comprising:

an intra-oral three-dimensional representation of a dentition comprising at least one tooth to be restored by means of said prosthetic element; and

a radiographic image of said dentition; and

by means of a computer system:

identifying common reference axes on said intra-oral three-dimensional representation and on said radiographic image; and

performing a comparison said intra-oral three-dimensional representation with said radiographic image, the comparison comprising an overlay of said common reference axes;

(ii) determining a three-dimensional representation of an extrados of said prosthetic element on the basis of said first computer file;

(iii) determining technical parameters comprising at least one of:

a dental protocol;

a type of dental preparation; and

technical constraints,

on the basis of said first computer file, at least one of said technical parameters being determined on the basis of the comparison of step (i);

(iv) generating a second computer file comprising a three-dimensional representation of a volumetric reduction of said at least one tooth on the basis of said technical parameters;

(v) validating and/or modifying said second computer file;

(vi) obtaining a three-dimensional representation of an intrados of said prosthetic element on the basis of said second validated and/or modified computer file;

(vii) generating a third computer file comprising information relating to the three-dimensional representations of said extrados and intrados of said prosthetic element;

(vii′) generating a fourth computer file on the basis of said second validated and/or modified computer file, said fourth computer file comprising machining instructions for said at least one tooth corresponding to said three-dimensional representation of said volumetric reduction of said at least one tooth;

(vii″) driving a dental drill along a path with a robotic arm according to the machining instructions of the fourth computer file so that the dental drill mills the surface of the tooth to correspond to the intrados of the prosthetic element; and

(viii) manufacturing said prosthetic element according to said third computer file,

wherein steps (ii) to (vii′) are implemented by means of said computer system.

2. The computer-implemented method according to claim 1 , wherein step (ii) comprises:

(ii.1) selecting a three-dimensional representation model of a model dentition from a database on the basis of said first computer file;

(ii.2) selecting a zone of the three-dimensional representation model corresponding to a zone of the intra-oral three-dimensional representation corresponding to said at least one tooth;

(ii.3) validating and/or modifying the zone of the three-dimensional representation model on the basis of said first computer file; and

(ii.4) defining the three-dimensional representation of the extrados of said prosthetic element from the validated and/or modified zone of the three-dimensional representation model.

3. The computer-implemented method according to claim 1 , wherein step (iii) comprises:

(iii.1) determining a type of dental preparation on the basis of said first computer file;

(iii.2) algorithmically generating a dental protocol on the basis of the type of dental preparation determined in sub-step (iii.1),

said dental protocol consisting of a collection of numerical data to geometrically parameterise said three-dimensional representation of the volumetric reduction; and

(iii.3) validating and/or modifying said dental protocol on the basis of the comparison of step (i).

4. The computer-implemented method according to claim 1 , wherein:

said second computer file consists of a file of modifiable STL format; and

step (v) comprises a validation and/or a modification of each of the geometric parameters relating to said three-dimensional representation of the volumetric reduction of said at least one tooth in a set of admissible values previously defined by at least one of said technical parameters determined in step (iii).

5. The computer-implemented method according to claim 1 , wherein:

said information of said third computer file comprises instructions for machining a material; and

step (viii) comprises machining said material on the basis of said machining instructions.

6. A set of apparatus for designing a prosthetic element by carrying out the computer-implemented method according to claim 1 , the set of apparatus comprising:

at least one imaging apparatus for providing the first computer file of step (i) of the computer-implemented method;

a computer system comprising:

an interface for receiving:

at least one technical parameter determined in step (iii) of the computer-implemented method, and

validations and/or modifications of the second computer file of step (v) of the computer-implemented method;

and to visualise and/or communicate data on:

the intra-oral three-dimensional representation and the radiographic image of the first computer file provided in step (i);

the three-dimensional representation of the extrados of said prosthetic element obtained in step (ii);

the three-dimensional representation of the volumetric reduction of the at least one tooth of the second computer file generated in step (iv);

the three-dimensional representation of the volumetric reduction of the at least one tooth of the second computer file validated and/or modified in step (v); and

the three-dimensional representation of the intrados of said prosthetic element obtained in step (vi); and

a logic unit for at least partially implementing steps (ii), (iv), (vi) and (vii) of the computer-implemented method; and

a production machine for reading the information from the third computer file generated in step (vii), and for implementing step (viii) of the computer-implemented method.

7. A non-transitory computer-readable medium having logic stored thereon that in response to execution by a computer, causes the computer to perform actions comprising steps of:

executing a first set of instructions that implement step (iv) of the computer-implemented method according to claim 1 ;

executing a second set of instructions that implement step (vii) of the computer-implemented method according to claim 1 ; and

executing a third set of instructions that implement step (vii′) of the computer-implemented method according to claim 1 .

8. A computer-readable medium on which is recorded at least one of the sets of instructions according to claim 7 .

9. A computer-readable medium on which is recorded:

a third and/or a fourth computer file generated by the computer-implemented method according to claim 1 .

10. A prosthetic element produced by the computer-implemented method according to claim 1 .

11. A computer-implemented method of manufacturing a prosthetic element comprising:

(i) providing a first computer file comprising:

an intra-oral three-dimensional representation of a dentition comprising at least one tooth to be restored by means of said prosthetic element; and

a radiographic image of said dentition; and

by means of a computer system:

identifying common reference axes on said intra-oral three-dimensional representation and on said radiographic image; and

performing a comparison said intra-oral three-dimensional representation with said radiographic image, the comparison comprising an overlay of said common reference axes;

(ii) determining a three-dimensional representation of an extrados of said prosthetic element on the basis of said first computer file;

(iii) determining technical parameters comprising at least one of:

a dental protocol;

a type of dental preparation; and

technical constraints,

on the basis of said first computer file, at least one of said technical parameters being determined on the basis of the comparison of step (i);

(iv) generating a second computer file comprising a three-dimensional representation of a volumetric reduction of said at least one tooth on the basis of said technical parameters;

(v) validating and/or modifying said second computer file;

(vi) obtaining a three-dimensional representation of an intrados of said prosthetic element on the basis of said second validated and/or modified computer file;

(vii) generating a third computer file comprising information relating to the three-dimensional representations of said extrados and intrados of said prosthetic element;

(vii′) driving a dental drill along a path with a robotic arm according to the information of the third computer file so that the dental drill mills the surface of the tooth to correspond to the intrados of the prosthetic element; and

(viii) manufacturing said prosthetic element according to said third computer file,

wherein steps (ii) to (viii) are implemented by means of said computer system,

wherein step (iii) further comprises:

(iii.1) determining a type of dental preparation on the basis of said first computer file;

(iii.2) algorithmically generating a dental protocol on the basis of the type of dental preparation determined in sub-step (iii.1),

said dental protocol consisting of a collection of numerical data to geometrically parameterise said three-dimensional representation of the volumetric reduction; and

(iii.3) validating and/or modifying said dental protocol on the basis of the comparison of step (i), and

wherein sub-step (iii.1) further comprises:

visualizing said intra-oral three-dimensional representation of a dentition;

segmenting said intra-oral three-dimensional representation of a dentition so as to obtain an isolated three-dimensional representation of the at least one tooth;

algorithmically generating vestibular, lingual, mesial, distal and occlusal faces of the at least one tooth by identifying a point on each of these faces at the isolated three-dimensional representation of the at least one tooth;

modifying and/or validating boundaries of said vestibular, lingual, mesial, distal and occlusal faces of the at least one tooth by adding, moving and/or removing points of these faces on the isolated three-dimensional representation of the at least one tooth; and

identifying a reference frame of at least one of said reference axes on the basis of the comparison of step (i), the reference frame comprising an insertion axis of the at least one tooth.

12. The computer-implemented method according to claim 11 , wherein the numerical data comprise:

for each face among the vestibular, lingual, mesial and distal faces of said at least one tooth:

a radius; and

a height,

corresponding to a parameterisation of a transverse section of an elliptical fillet of the face along an elliptical arc of semi-major axis corresponding to said radius measured essentially perpendicularly to said insertion axis and of semi-minor axis corresponding to said height measured essentially parallel to said insertion axis;

for each of the vestibular, lingual, mesial and distal faces of said at least one tooth,

a first offset data corresponding to a displacement of each point of the face on the isolated three-dimensional representation of the at least one tooth towards the insertion axis;

for the occlusal face of said at least one tooth,

a first offset data corresponding to a displacement of each point of the occlusal face on the isolated three-dimensional representation of the at least one tooth along the insertion axis;

two percentages defining two zones consisting of marginal and middle zones of the at least one tooth on the isolated three-dimensional representation of the at least one tooth, each percentage corresponding to the ratio between a height of one zone and a height of both zones, these heights being measured essentially parallel to the insertion axis; and

for each of said zones:

a volumetric reduction orientation angle measured with respect to the insertion axis; and

a minimum height.

13. The computer-implemented method according to claim 12 , wherein the technical constraints comprise a minimum thickness of a material for the design of the prosthetic element, and in that the first offset data of the faces depend on this minimum thickness.

14. The computer-implemented method according to claim 12 ,

wherein step (iv) comprises an algorithmic generation of a three-dimensional representation of a volumetric reduction of said at least one tooth, comprising:

(iv.1) generating a marginal surface consisting of the elliptical fillets of the vestibular, lingual, mesial and distal faces of said at least one tooth;

(iv.2) generating a first conical surface around said insertion axis (Z) from an end curve bordering the marginal surface generated in sub-step (iv.1), this first conical surface extending parallel to said marginal zone and having an inclination towards the insertion axis of an angle corresponding to the volumetric reduction orientation angle of said marginal zone;

(iv.3) generating a second conical surface around said insertion axis from an end curve bordering the first conical surface generated in sub-step (iv.2), this second conical surface extending parallel to said middle zone and having an inclination towards the insertion axis of an angle corresponding to the orientation angle of volumetric reduction of said middle zone;

(iv.4) calculating a second offset data for each point of the marginal and middle zones on the isolated three-dimensional representation of the at least one tooth, this second offset data corresponding to a displacement of this point towards or away from the insertion axis to displace this point on one of the first or second conical surfaces; and

defining a primary reduction surface by moving each point from the marginal and middle zones towards the insertion axis according to:

the second offset data of this point if it corresponds to a displacement towards the insertion axis and if it is larger than the first offset data of this point, and

the first offset data of this point otherwise;

(iv.5) generating an occlusal surface from an end curve bordering the primary reduction surface generated in sub-step (iv.4) by a displacement of each point on the occlusal face on the isolated three-dimensional representation of the at least one tooth along the insertion axis according to the first offset data; and

(iv.6) smoothing and/or regularising a total surface consisting of the assembly of the marginal, primary reduction and occlusal surfaces, this total surface having a plane tangent to the total surface at an intersection with the insertion axis perpendicular to the insertion axis.

15. The computer-implemented method according to claim 14 , further comprising:

(iv′) generating a sixth computer file on the basis of said first computer file and said dental protocol validated and/or modified in step (iii.3), the sixth computer file comprising three collections of instructions for machining a rigid raw material, each of these collections comprising machining instructions for creating a cavity in the rigid raw material corresponding to the isolated three-dimensional representation,

a first of the collections of instructions further comprising machining instructions for creating an access window at least partially conical around the cavity following the first and second conical surfaces,

a second of the collections of instructions further comprising machining instructions for creating two windows of upper access to the cavity bordering mesial and distal faces of the cavity which correspond to the mesial and distal faces of said at least one tooth on the isolated three-dimensional representation, and

a third of the collections of instructions further comprising instructions for machining a portion of the rigid raw material surrounding a middle zone of the cavity corresponding to the middle zone of said at least one tooth on the isolated three-dimensional representation, to create two sloping edges according to the orientation angle of volumetric reduction of the middle zone; and

(viii′) machining a first, a second and a third block of said rigid raw material, respectively, on the basis of the first, second and third collections of machining instructions of said sixth computer file to produce three guides for machining the at least one tooth according to said three-dimensional representation of the volumetric reduction of the at least one tooth.

16. The computer-implemented method according to claim 15 , further comprising interlocking at least one safety abutment and a rail for positioning a dental drill on the guides.

17. Machining guides produced by the computer-implemented method according to claim 15 .

18. A computer-implemented method of manufacturing a prosthetic element comprising:

(i) providing a first computer file comprising:

an intra-oral three-dimensional representation of a dentition comprising at least one tooth to be restored by means of said prosthetic element; and

a radiographic image of said dentition; and

by means of a computer:

identifying common reference axes on said intra-oral three-dimensional representation and on said radiographic image; and

performing a comparison said intra-oral three-dimensional representation with said radiographic image, the comparison comprising an overlay of said common reference axes;

(ii) determining a three-dimensional representation of an extrados of said prosthetic element on the basis of said first computer file;

(iii) determining technical parameters comprising at least one of:

a dental protocol;

a type of dental preparation; and

technical constraints,

on the basis of said first computer file, at least one of said technical parameters being determined on the basis of the comparison of step (i);

(iv) generating a second computer file comprising a three-dimensional representation of a volumetric reduction of said at least one tooth on the basis of said technical parameters;

(v) validating and/or modifying said second computer file;

(vi) obtaining a three-dimensional representation of an intrados of said prosthetic element on the basis of said second validated and/or modified computer file;

(vii) generating a third computer file comprising information relating to the three-dimensional representations of said extrados and intrados of said prosthetic element; and

(viii) manufacturing said prosthetic element according to said third computer file,

(vii″) generating a fifth computer file on the basis of said second validated and/or modified computer file, said fifth computer file comprising information relating to the three-dimensional representation of the intrados of said prosthetic element obtained in step (vi), this information comprising instructions for machining a rigid raw material corresponding to said three-dimensional representation of the intrados of said prosthetic element;

(vii″) driving a dental drill along a path with a robotic arm according to the instructions of the fifth computer file so that the dental drill mills the surface of the tooth to correspond to the intrados of the prosthetic element; and

(viii″) machining a block of said rigid raw material on the basis of the machining instructions of said fifth computer file, so as to produce a control key of a machining of said at least one tooth corresponding to a machining according to said three-dimensional representation of the volumetric reduction of said at least one tooth,

wherein steps (ii) to (viii″) are implemented by means of said computer system.

19. The computer-implemented method according to claim 18 ,

further comprising cutting the control key into slices parallel to a plane.

20. A control key produced by the computer-implemented method according to claim 18 .

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (25)