Image sound and feeling simulation system for dentistry

• US 5,688,118 A
• Filed: 01/29/1996
• Issued: 11/18/1997
• Est. Priority Date: 12/27/1995
• Status: Expired due to Term

• Current Assignee: Image Navigation Incorporated
• Original Assignee: Denx Ltd. (Ellis Amalgamated LLC)
• Inventors: Eytan, Liat, Hayka, Alon
• Primary Examiner(s): Lewis, Ralph A.
• Application Number:
  US08/593,300
• Time in Patent Office: 659 Days
• Field of Search: 433/27, 433/28, 433/29, 433/68, 433/98, 433/108, 433/114, 433/223, 433/229, 600/117, 434/263
• US Class Current: 433/27
• CPC Class Codes: A61C 1/082 Positioning or guiding, e.g. of drills
• CPC Class Codes: G09B 23/283 for dentistry or oral hygiene G09B23/286 takes precedence

Abstract

An image, sound and feeling simulation system for dentistry, comprising a dental handpiece having a drill for drilling a cavity in a tooth, the drill having a drilling end; a first three-dimensional sensor attached to the dental handpiece, the first three-dimensional sensor providing the system with position and orientation in space of at least the drill; and a data processing and display unit for simulating of at least the drilling end of the drill. The system further comprising means to control the flow of compressed air operating the drill and thus to control the rotation of the drill to imitate the sound and hand-feeling associated when drilling through tooth layers of different hardness.

Claims

1. A simulation system for dentistry, comprising:

a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions and being located at a fixed known location and orientation in space, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a compressed gas unit being connected via a gas line to said dental handpiece, said gas unit providing a compressed gas for rotating said drill, said gas having a flow rate; and

(e) first means for controlling said flow rate of said gas;

wherein said data processing and display unit;

(i) includes a set of data, wherein said artificial tooth is simulated as being divided into at least a first simulated region simulating a substance of a first hardness, and a second simulated region simulating a substance of a second hardness, said first hardness is harder than said second hardness; and

(ii) controls said first means for controlling said flow rate of said gas, such that when said drilling end of said drill is at said first simulated region said drill rotates in a first speed, whereas when said drilling end of said drill is at said second simulated region said drill rotates in a second speed, said first speed is slower than said second speed.

2. A simulation system for dentistry as in claim 1, wherein said first three-dimensional sensor is selected from the group consisting of an electromagnetic based three-dimensional sensor, an ultrasound based three-dimensional sensor, an optic based three-dimensional sensor and a mechanical three-dimensional sensor.

3. A simulation system for dentistry as in claim 1, wherein said compressed gas unit is a compressed air unit and said gas is air.

4. A simulation system for dentistry as in claim 1, wherein the simulation is scaled-up.

5. A simulation system for dentistry comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions and being located at a fixed known location and orientation in space, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and .display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a compressed gas unit being connected via a gas line to said dental handpiece, said gas unit providing a compressed gas for rotating said drill, said gas having a flow rate; and

(e) first means for controlling said flow rate of said gas;

wherein said data processing and display unit;

(i) includes a set of data, wherein said artificial tooth is simulated as being divided into at least a first simulated region simulating a substance of a first hardness and a second simulated region simulating a substance of a second hardness, said first hardness is harder than said second hardness, wherein, atmosphere surrounding said artificial tooth is simulated as being a third region of no hardness; and

(ii) controls said first means for controlling said flow rate of said gas, such that when said chilling end of said drill is at said first simulated region said drill rotates in a first speed, when said drilling end of said drill is at said second simulated region said drill rotates in a second speed, and when said drilling end of said drill is at said third simulated region said drill rotates in a third speed, said first speed is slower than said second speed, itself slower than said third speed.

6. A simulation system for dentistry comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions and located at a fixed known location and orientation in space, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill; and

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

wherein said data processing and display unit;

(i) includes a first set of data including said shape, dimensions and fixed location and orientation in space of said artificial tooth;

(ii) receives a second set of data including said position and orientation in space of at least said drilling end of said drill, from said first three-dimensional sensor;

(iii) calculates the effect of said position and orientation in space of said drilling end of said drill on said shape of said artificial tooth; and

(iv) displays a simulation of said shape of said artificial moth, such that a user monitors said effect of said drill on said shape of said artificial tooth by viewing said displayed simulation;

the system further comprising a dental mirror and a second three-dimensional sensor, said second sensor being attached to said dental mirror and providing the system with position and orientation in space of said dental mirror, wherein said data processing and display unit receives from said second three-dimensional sensor a third set of data, said third set of data includes said position and orientation in space of said dental mirror, said data processing and display unit displays a simulation of said dental mirror in space and of a simulated reflection reflected from said displayed simulation of said dental mirror.

7. A simulation system for dentistry as in claim 6, wherein any of said first and second three-dimensional sensors are selected from the group consisting of electromagnetic based three-dimensional sensors, ultrasound based three-dimensional sensors, optic based three-dimensional sensors and mechanical three-dimensional sensors.

8. A simulation system for dentistry comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions and located at a fixed known location and orientation in space, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a compressed gas unit being connected via a gas line to said dental handpiece, said gas unit providing a compressed gas for rotating said drill, said gas having a flow rate; and

(e) first means for controlling said flow rate of said gas;

wherein said data processing and display unit;

(i) includes a first set of data including said shape, dimensions and fixed location and orientation in space of said artificial tooth;

(ii) receives a second set of data including said position and orientation in space of at least said drilling end of said drill, from said first three-dimensional sensor;

(iii) calculates the effect of said position and orientation in space of said drilling end of said drill on said shape of said artificial tooth;

(iv) displays a simulation of said shape of said artificial tooth, such that a user monitors said effect of said drill on said shape of said artificial tooth by viewing said displayed simulation;

(v) includes a third set of data, wherein said artificial tooth is simulated as being divided into at least a first simulated region simulating a substance of a first hardness, and a second simulated region simulating a substance of a second hardness said first hardness is harder than said second hardness; and

(vi) controls said first means for controlling said flow rate of said gas, such that when said drilling end of said drill is at said first simulated region said drill rotates in a first speed, whereas when said drilling end of said drill is at said second simulated region said drill rotates in a second speed, said first speed is slower than said second speed.

9. A simulation system for dentistry comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions and located at a fixed known location and orientation in space, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a compressed gas unit being connected via a gas line to said dental handpiece, said gas unit providing a compressed gas for rotating said drill, said gas having a flow rate; and

(e) first means for controlling said/low rate of said gas;

wherein said data processing and display unit;

(i) includes a first set of data including said shape, dimensions and fixed location and orientation in space of said artificial tooth;

(ii) receives a second set of data including said position and orientation in space of at least said drilling end of said drill, from said first three-dimensional sensor;

(iii) calculates the effect of said position and orientation in space of said drilling end of said drill on said shape of said artificial tooth;

(iv) displays a simulation of said shape of said artificial tooth, such that a user monitors said effect of said drill on said shape of said artificial tooth by viewing said displayed simulation;

(v) includes a third set of data, wherein said artificial tooth is simulated as being divided into at least a first simulated region simulating a substance of a first hardness and a second simulated region simulating a substance of a second hardness, said first hardness is harder than said second hardness, wherein, atmosphere surrounding said artificial tooth is simulated as being a third region of no hardness; and

(vi) controls said first means for controlling said flow rate of said gas, such that when said drilling end of said drill is at said first simulated region said drill rotates in a first speed, when said drilling end of said chili is at said second simulated region said drill rotates in a second speed, and when said chilling end of said drill is at said third simulated region said drill rotates in a third, speed, said first speed is slower than said second speed, itself slower than said third speed.

10. A simulation system for dentistry comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a platform to which said tooth being connected; and

(e) a second three-dimensional sensor being attached to said platform, said second three-dimensional sensor providing the system with position and orientation in space of said artificial moth;

wherein said data processing and display unit;

(i) includes a first set of data including said shape and dimensions of said artificial tooth, said first set of data further including said location and orientation in space of said artificial tooth as received from said second three-dimensional sensor;

(ii) receives a second set of data including said position and orientation in space of at least said drilling end of said drill from said first three-dimensional sensor;

(iii) calculates the effect of said position and orientation in space of said drilling end of said drill on said shape of said artificial tooth; and

(iv) displays a simulation of said shape of said artificial tooth, such that a user monitors said effect of said drill on said shape of said artificial tooth by viewing said displayed simulation;

the system further comprising a dental mirror and a third three-dimensional sensor, said third sensor being attached to said dental mirror and providing the system with position and orientation in space of said dental mirror, wherein said data processing and display unit receives from said third three-dimensional sensor a third set of data, said third set of data includes said position and orientation in space of said dental mirror, said data processing and display unit displays a simulation of said dental mirror in space and of a simulated reflection reflected from said displayed simulation of said dental mirror.

11. A simulation system for dentistry as in claim 10, wherein the simulation is scaled-up.

12. A simulation system for dentistry as in claim 10, wherein any of said first and second three-dimensional sensors are selected from the group consisting of electromagnetic based three-dimensional sensors, ultrasound based three-dimensional sensors, optic based three-dimensional sensors and mechanical three-dimensional sensors.

13. A simulation system for dentistry as in claim 10, wherein said platform is a phantom head imitating a head of a human.

14. A simulation system for dentistry, comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a platform to which said tooth being connected; and

(e) a second three-dimensional sensor being attached to said platform, said second three-dimensional sensor providing the system with position and orientation in space of said artificial tooth;

(f) a compressed gas unit being connected via a gas line to said dental handpiece, said gas unit providing a compressed gas for rotating said drill, said gas having a flow rate;

(g) first means for controlling said flow rate of said gas;

wherein said data processing and display unit;

(i) includes a first set of data including said shape and dimensions of said artificial tooth, said first set of data further including said location and orientation in space of said artificial tooth as received from said second three-dimensional sensor;

(ii) receives a second set of data including said position and orientation in space of at least said chilling end of said drill from said first three-dimensional sensor;

(iii) calculates the effect of said position and orientation in space of said drilling end of said drill on said shape of said artificial tooth;

(iv) displays a simulation of said shape of said artificial tooth such that a user monitors said effect of said drill on said shape of said artificial tooth by viewing said displayed simulation;

(v) includes a third set of data, wherein said artificial tooth is simulated as being divided into at least a first simulated region simulating a substance of a first hardness, and a second simulated region simulating a substance of a second hardness, said first hardness is harder than said second hardness; and

(vi) controls said first means for controlling said flow rate of said gas, such that when said drilling end of said drill is at said first simulated region said drill rotates in a first speed, whereas when said drilling end of said drill is at said second simulated region said drill rotates in a second speed, said first speed is slower than said second speed.

15. A simulation system for dentistry as in claim 14, wherein said platform is a phantom head imitating a head of a human.

16. A simulation system for dentistry, comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a platform to which the tooth being connected; and

(e) a second three-dimensional sensor attached to said platform, said second three-dimensional sensor providing the system with position and orientation in space of said artificial tooth;

wherein said data processing and display unit;

(i) includes a first set of data including said shape and dimensions of said artificial tooth, said first set of data further includes said location and orientation in space of said artificial tooth as received from said second three-dimensional sensor;

(ii) receives a second set of data including said position and orientation in space of at least said chilling end of said drill from said first three-dimensional sensor;

(iii) calculates the effect of said position and orientation in space of said drilling end of said drill on said shape of said artificial tooth; and

(iv) displays a simulation of said shape of said artificial tooth, such thin a user monitors said effect of said drill on said shape of said artificial tooth by viewing said displayed simulation;

the system further comprising a dental mirror and a third three-dimensional sensor, said third sensor being attached to said dental mirror and providing the system with position and orientation in space of said dental mirror, wherein said data processing and display unit receives from said third three-dimensional sensor a third set of data, said third set of data includes said position and orientation in space of said dental mirror, said data processing and display unit displays a simulation of said dental mirror in space and of a simulated reflection reflected from said displayed simulation of said dental mirror.

17. A simulation system for dentistry as in claim 16, wherein the simulation is scaled-up.

18. A simulation system for dentistry as in claim 16, wherein any of said first and second three-dimensional sensors are selected from the group consisting of electromagnetic based three-dimensional sensors, ultrasound based three-dimensional sensors, optic based three-dimensional sensors and mechanical three-dimensional sensors.

19. A simulation system for dentistry, comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in an artificial tooth having known shape and dimensions, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a platform to which the tooth being connected; and

(e) a second three-dimensional sensor attached to said platform, said second three-dimensional sensor providing the system with position and orientation in space of said artificial tooth;

(f) a compressed gas unit being connected via a gas line to said dental handpiece, said gas unit providing a compressed gas for rotating said drill, said gas having a flow rate;

(g) first means for controlling said flow rate of said gas;

wherein said data processing and display unit;

(i) includes a first set of data including said shape and dimensions of said artificial tooth, said first set of data further includes said location and orientation in space of said artificial tooth as received from said second three-dimensional sensor;

(ii) receives a second set of data including said position and orientation in space of at least said drilling end of said drill from said first three-dimensional sensor;

(iii) calculates the effect of said position and orientation in space of said drilling end of said drill on said shape of said artificial tooth; and

(iv) displays a simulation of said shape of said artificial tooth, such that a user monitors said effect of said chill on said shape of said artificial tooth by viewing said displayed simulation;

(v) includes third data, wherein said artificial tooth is simulated as being divided into at least a first simulated region simulating a substance of a first hardness and a second simulated region simulating a substance of a second hardness, said first hardness is harder than said second hardness, atmosphere surrounding said artificial tooth is simulated as being a third region of no hardness; and

(vi) controls said first means for controlling said flow rate of said gas, such that when said drilling end of said drill is at said first simulated region said drill rotates in a first speed, when said drilling end of said drill is at said second simulated region said drill rotates in a second speed, and when said drilling end of said drill is at said third simulated region said drill rotates in a third speed, said first speed is slower than said second speed, itself slower than said third speed.

20. A simulation system for dentistry, comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in a tooth of a patient having a head, said tooth having known shape, dimensions and internal distribution of enamel, dentin and caries affected tissue, said drill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill;

(d) a second three-dimensional sensor attached to the head of the patient, said second three-dimensional sensor providing the system with the position and orientation in space of said tooth, said second three-dimensional sensor and said known shape, dimensions and internal distribution of enamel, dentin and caries affected tissue of said tooth being for simulating said tooth by said data processing and display unit, such that a user is capable of monitoring said drilling of said cavity in said tooth;

(e) a dental mirror; and

(f) a third three-dimensional sensor, said third three-dimensional sensor being attached to said dental mirror and providing the system with position and orientation in space of said dental mirror, wherein said data processing and display unit receives from said third three-dimensional sensor a set of data, said set of data includes said position and orientation in space of said dental mirror, said data processing and display unit displays a simulation of said dental mirror in space and of a simulated reflection reflected from said displayed simulation of said dental mirror.

21. A simulation system for dentistry as in claim 20, wherein the simulation is scaled-up.

22. A simulation system for dentistry as in claim 20, wherein any of said first and second three-dimensional sensors are selected from the group consisting of electromagnetic based three-dimensional sensors, ultrasound based three-dimensional sensors, optic based three-dimensional sensors and mechanical three-dimensional sensors.

23. A simulation system for dentistry, comprising:

(a) a hand-held dental handpiece having a drill for drilling a cavity in a tooth of a patient having a head, said tooth having known shape, dimensions and internal distribution of enamel, dentin and caries affected tissue, said chill having a drilling end, said dental handpiece being shaped and dimensioned suitable to be held by the hand of a user;

(b) a first three-dimensional sensor attached to said dental handpiece, said first three-dimensional sensor providing the system with position and orientation in space of at least said drill;

(c) a data processing and display unit for receiving data about said position and orientation in space of at least said drill from said first three dimensional sensor, for simulating said drill; and

(d) a second three-dimensional sensor attached to the head of the patient, said second three-dimensional sensor providing the system with the position and orientation in space of said tooth said second three-dimensional sensor and said known shape, dimensions and internal distribution of enamel, dentin and caries affected tissue of said tooth being for simulating said tooth by said data processing and display unit, such that a user is capable of monitoring said drilling of said cavity in said tooth;

wherein any of said first and second three-dimensional sensors are selected from the group consisting of electromagnetic based three-dimensional sensors, ultrasound based three-dimensional sensors, optic based three-dimensional sensors and mechanical three-dimensional sensors.