Robotic dental system and method of preparing for a robotic dental procedure

A robotic dental system, comprising:

• a treatment system, which comprises:
• a dental clamp, which is configured to be rigidly clamped to one or more teeth of a subject;
• a robotic arm, a distal end of which is coupled to an end effector;
• and
• a platform, to which a proximal end of the robotic arm is coupled, the platform comprising a coupling portion configured to rigidly and releasably couple to the dental clamp, the platform and coupling portion being configured such that, when the dental clamp is rigidly coupled to the coupling portion, a rigid coupling between the dental clamp and the platform is thereby provided, so that a position and orientation of the platform remain fixed, relative to the dental clamp;
• a base;
• and
• a passive or active suspension system comprising a plurality of linkages and joints, wherein the suspension system mechanically couples the platform with the base, and supports a weight of the treatment system, and wherein, when the robotic dental system is operating in a treatment mode, with the dental clamp rigidly coupled to the coupling portion, the plurality of joints enable the linkages to move relative to one another so that the suspension system permits the position and orientation of the platform to change, relative to the base, in response to a force applied to the dental clamp, so as to accommodate changes in a position, orientation, and both of the dental clamp, through corresponding changes in the position, orientation or both of the platform, relative to the base, with the rigid coupling between the dental clamp and the platform causing the position and orientation of the platform to remain fixed, relative to the dental clamp, during such changes in the position, orientation or both of the platform relative to the base.