Robotic Dental System and Method of Preparing for a Robotic Dental Procedure

A robotic dental system, comprising:

• a treatment system, which comprises:
• a robotic arm, a distal end of which is configured to be 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 for rigidly coupling to a dental clamp, which is configured to be rigidly clamped to one or more teeth of a subject, the platform and coupling portion being configured such that, when the dental clamp is rigidly clamped to the one or more teeth and the dental clamp is rigidly coupled to the coupling portion, a position and orientation of the platform remain fixed, relative to the one or more teeth ;
• a base;
• and
• a suspension system, comprising a proximal end, which is coupled to the base, and a distal end, which is coupled to the platform, wherein the suspension system supports a weight of the treatment system, and is configured such that, when the robotic dental system is operating in a treatment mode, with the dental clamp rigidly clamped to the one or more teeth and the dental clamp rigidly coupled to the coupling portion, the suspension system permits a the position and orientation of the platform to change, relative to the base, in response to forces applied by the one or more teeth to the dental clamp, thereby accommodating changes in a the position, orientation, and both of the one or more teeth by enabling corresponding changes in the position, orientation, or both of the platform,
• wherein the suspension system comprises a plurality of linkages, connected by a plurality of joints, the plurality of linkages and the plurality of joints together providing the platform with three degrees of translational freedom and three degrees of rotational freedom.