Granted Patent B2

US 12,727,966 · App. 17/527,046 · Granted Sep 8, 2026

Inventors: Benny Pesach (Rosh Haayin, IL); Georgy Melamed (Ramat Gan, IL); Blanc Zach Lehr (Tel-Aviv, IL); Ygael Grad (Tel-Aviv, IL); Amitai Reuvenny (Kfar-Saba, IL)

A61C1/082A61B34/20A61C1/003A61C1/0069A61C1/08A61C3/02A61C5/70A61C9/0053A61C19/04A61B2034/2048A61B2034/2051A61B2034/2057A61B2034/2065A61B2034/2072A61B2090/064A61B2090/306A61B2090/309A61B2090/3614A61B2090/371A61B2090/3937A61B2090/3958A61B2090/3991

Abstract

Claims (29)

1 . A method of position-sensing in relation to a geometry of an oral surface for a position-sensing system, said position-sensing system comprising a probe including a probe volume, said method comprising:

receiving a 3-D model of the oral surface;

tracking positions of said probe volume by sensing a position of at least one region of said probe via a position sensor;

registering said tracked positions to said 3-D model of said oral surface based on:

a mapping between a surface at which encounters of the probe with the oral surface limit motion of said probe as tracked by said position sensor; and

said 3-D model of the oral surface;

wherein:

said position sensor is an electromagnetic field sensor and is fixed onto at least one tooth,

said probe comprises a rotating dental tool portion that is adapted to contact at least one of a bone surface and tooth surface for preparation thereof,

said at least one region is configured to rotate with the rotation of said rotating dental tool portion, and

said at least one region comprises a magnet configured such that rotation of said rotating dental tool portion rotates said magnet to thereby generate a modulated electromagnetic field sensed by said electromagnetic field sensor.

2 . The method according to claim 1 , wherein said probe is an elongated element extending from a distal region of a dental device.

3 . The method according to claim 2 , wherein said probe comprises a dental drill bur.

4 . The method according to claim 3 , further comprising generating an estimated tooth contour by converting a bur tip position data of a bur tip of said probe into estimated tooth contour contact regions.

5 . The method according to claim 2 , wherein said dental device comprises at least one camera.

6 . The method according to claim 5 , wherein said 3D model is generated using images acquired using said at least one camera.

7 . The method according to claim 1 , wherein said 3D model is generated using images acquired using an independent device comprising at least one camera.

8 . The method according to claim 1 , wherein said 3D model is generated and/or updated while said sensing said position of said at least one region of said probe via a position sensor.

9 . The method according to claim 1 , wherein said 3D model is generated off-line based on recorded positions.

10 . The method according to claim 1 , wherein said registering comprises determining a transform between said tracked positions and said 3-D model of the oral surface.

11 . The method according to claim 10 , wherein said determining comprises determining a transform with a minimized variance between sensed position measurements and said 3-D model.

12 . The method according to claim 1 , further comprising registering tracked positions away from the modeled oral surface, based on the transform.

13 . The method according to claim 1 , wherein said registering is used for calibrating an output of said position-sensing system.

14 . The method according to claim 1 , wherein said sensor is configured to sense a magnet mounted on said probe.

15 . The method according to claim 1 , wherein said sensor is configured to be fixed onto a body of said probe.

16 . The method according to claim 1 , wherein said tracking comprises acquiring an image including at least a portion of said oral surface and at least a portion of said probe.

17 . The method according to claim 1 , wherein said mapping between a surface at which encounters of the probe with the oral surface limit motion of said probe is generated by collecting a plurality of position measurement points where said encounters occur.

18 . The method according to claim 17 , wherein some of said plurality of position measurement points are located below a gum line.

19 . The method according to claim 1 , wherein said registering comprises trimming sensed position measurements, provided by said position sensor, which are at least potentially in contact with a surface of a tooth.

Assignments (2)

Continuity (4)

References Cited (387)