Device for obtaining three dimensional contour data and for operating on a patient and related method

A device for use in operating on a patient, comprising:

• a multiplicity of arm segments;
• first mounting means for connecting said arm segments to one another to form an articulated assembly of said arm segments;
• second mounting means for fixing said articulated assembly relative to a person's head;
• third mounting means for attaching an operating instrument to said articulated assembly at a point spaced from said second mounting means;
• and
• drive means operatively coupled with at least some of said arm segments for controlling and modifying positions of said arm segments relative to one another, thereby determining the position and orientation of said instrument relative to the person's head.

A device for use in a dental/medical application to obtain three-dimensional contour information, comprising:

• a hand held dental instrument;
• a plurality of first gyroscope components each capable of generating an electrical output signal indicative of orientation of the respective first gyroscope component;
• first mounting means for mechanically connecting said first gyroscope components to said dental instrument to provide electrical output signals indicative of the orientation of said dental instrument;
• a plurality of second gyroscope components each capable of generating an electrical output signal indicative of orientation of the respective second gyroscope component;
• second mounting means for mechanically connecting said second gyroscope components to a patient's jaw to provide electrical output signals indicative of the orientation of the jaw;
• signal generation means for providing electrical output signals indicative of the translatory position of said dental instrument relative to said jaw;
• third mounting means for mechanically connecting at least a part of said signal generation means to said jaw;
• and
• computer means operatively connected to said first gyroscope components, said second gyroscope components and said signal generation means for receiving the electrical output signals thereof and for computing the position and orientation of said dental instrument relation to said jaw.

A method for use in a dental or medical application to operate on a patient, comprising the steps of:

• attaching an articulated arm assembly to the patient's head;
• automatically moving individual arms of said arm assembly to control position and orientation of an operating instrument attached to said assembly;
• and
• automatically activating said instrument upon juxtaposition of an operating tip thereof with the patient.

A method for use in a dental or medical application to obtain three-dimensional structural information as to a patient, comprising the steps of:

• attaching an articulated arm assembly to the patient's head;
• manually moving a probe instrument attached to said arm assembly so that a tracer tip of said instrument contacts a surface of the patient;
• automatically monitoring positions of individual arms of said arm assembly relative to each other during motion of said probe instrument;
• and
• automatically calculating in digital form the traced surface of the patient.

A device for use in operating on a patient, comprising:

• an operating instrument having an operating tip;
• mounting means for removably attaching said instrument to a patient;
• linear drive means operatively connected to said instrument for automatically shifting said instrument in a given direction relative to the patient;
• rotary drive means operatively connected to said instrument for automatically pivoting said instrument about an axis.

A device for use in operating on a patient, comprising:

• an operating instrument;
• a hand-held carrier, said instrument being movably connected to said carrier;
• drive means mounted to said carrier and operatively connected to said instrument for moving same relative to said carrier;
• tracking means operatively connected to said carrier for tracking position and orientation thereof relative to a patient;
• and
• control means operatively connected said drive means and said tracking means for actuating said drive means to perform a predetermined operation on the patient partially in response to position and orientation of said carrier, as communicated to said control means by said tracking means.

A method for use in providing a dental implant, comprising the steps of:

• generating electrically encoded data specifying preexisting bone structure in a patient's jaw;
• transmitting said data to a computer;
• operating said computer to predetermine an optimal position and an optimal orientation of an implant anchor;
• and
• automatically providing an implant anchor in accordance with automatic determinations of said computer based on said data.

A device for use in a dental or medical application to track position and orientation of an instrument relative to a body part of a patient, comprising:

• a reference element fixed to the body part of the patient;
• a first articulated arm assembly connected to said reference element and to a stationary fixture, said first articulated arm assembly provided with first feedback means for providing electrical signal feedback data as to position of and orientation of said reference element relative to said stationary fixture;
• and
• a second articulated arm assembly connected to said reference element and to the instrument, said second articulated arm assembly provided with second feedback means for providing electrical signal feedback data as to position of and orientation of said instrument relative to said reference element.

A device for use in a dental or medical application to track position and orientation of an instrument relative to a body part of a patient, comprising:

• a reference element fixed to the body part of the patient;
• a first articulated arm assembly connected to said reference element and to a first stationary fixture, said first articulated arm assembly provided with first feedback means for providing electrical signal feedback data as to position of and orientation of said reference element relative to said first stationary fixture;
• and
• a second articulated arm assembly connected to a second stationary fixture and to the instrument, said second articulated arm assembly provided with second feedback means for providing electrical signal feedback data as to position of and orientation of said instrument relative to said second stationary fixture.

A device for obtaining data as to position and orientation of a person's jaw, comprising:

• a multiplicity of arm segments;
• first mounting means for connecting said arm segments to one another to form an articulated assembly of said arm segments;
• second mounting means for fixing said articulared assembly to a stationary fixture;
• third mounting means for fixing said articulated assembly relative to a person's jaw;
• and
• feedback means operatively coupled with at least some of said arm segments for providing electrical signal feedback data as to positions of said arm segments relative to one another, thereby providing information as to the position of jaw relative to said stationary fixture.

A device for performing a surgical operation, comprising;

• a surgical instrument;
• first drive means operatively coupled to said instrument for incrementally moving said instrument about a point;
• second drive means operatively coupled to said instrument for shifting said point;
• and
• detector means operatively coupled to said instrument for monitoring position and orientation thereof.