Interactive guidance and manipulation detection arrangements for a surgical robotic system, and associated method

A dental implantation method, comprising:

• guiding an instrument of a patient-interacting device, via a guiding device and relative to a fiducial marker adapted to be engaged with a mouth of a patient, in conjunction with manipulation of the patient-interacting device by a user, the patient-interacting device being received by the guiding device, and the instrument being configured to interact with and prepare the site within the mouth of the patient for receiving a dental implant;
• directing the patient-interacting device, via the guiding device, to prepare the site to receive the dental implant, via a controller device including a processor, the controller device being configured to be in communication with the guiding device;
• and
• directing the guiding device to at least maintain the patient-interacting device at a minimum vertical disposition, via the controller device, in response to disengagement between the patient-interacting device and the user determined by an engagement sensor operably engaged with the patient-interacting device and configured to be in communication with the controller device.

A dental implantation system, comprising:

• a patient-interacting device having an instrument adapted to at least interact with and prepare a site within a mouth of a patient for receiving a dental implant;
• a guiding device in communication with a fiducial marker adapted to be engaged with the mouth of the patient, the guiding device being configured to receive the patient-interacting device, and to guide the instrument of the patient-interacting device, relative to the fiducial marker, in conjunction with manipulation of the patient-interacting device by a user;
• a display device configured to display a real-time representation of the instrument of the patient-interacting device, in relation to a representation of the mouth of the patient, during manipulation of the patient-interacting device by the user;
• and
• a controller device including a processor, and configured to be in communication with the guiding device and the display device, the controller device being configured to direct the patient-interacting device, via the guiding device and according to a virtual implantation plan, to prepare the site to receive the dental implant, and to direct tactile feedback to the user, via the patient-interacting device, if the instrument manipulated by the user deviates from the virtual implantation plan, the controller device being further configured to direct the display device to display the real-time representation of the instrument in relation to a virtual representation of the instrument of the patient-interacting device manipulated in accordance with the virtual implantation plan, and direct an audio device in communication therewith to emit a selected audio signal indicative of the instrument of the patient-interacting device in the real-time representation of the instrument being manipulated in accordance with the virtual implantation plan, or direct the guiding device to provide a selected resistance to manipulation of the instrument of the patient-interacting device in accordance with the real-time representation of the instrument in relation to the virtual implantation plan.

A dental implantation method, comprising:

• guiding an instrument of a patient-interacting device, via a guiding device and relative to a fiducial marker adapted to be engaged with a mouth of a patient, in conjunction with manipulation of the patient-interacting device by a user, the patient-interacting device being received by the guiding device, and the instrument being configured to interact with and prepare the site within the mouth of the patient for receiving a dental implant;
• displaying a real-time representation of the instrument of the patient-interacting device on a display device, in relation to a representation of the mouth of the patient, during manipulation of the patient-interacting device by the user;
• directing the patient-interacting device, via the guiding device and according to a dental implantation plan, to prepare the site to receive the dental implant, via a controller device including a processor, the controller device being configured to be in communication with the guiding device and the display device;
• directing tactile feedback to the user, via the patient-interacting device, if the instrument manipulated by the user deviates from the virtual implantation plan;
• and
• one of directing the display device, via the controller device, to display the real-time representation of the instrument in relation to a virtual representation of the instrument of the patient-interacting device manipulated in accordance with the virtual implantation plan;
• directing an audio device, via the controller device in communication therewith, to emit a selected audio signal indicative of the patient-interacting device manipulated in accordance with the virtual implantation plan;
• and directing the guiding device, via the controller device, to provide a selected resistance to manipulation of the patient-interacting device in accordance with the virtual implantation plan.