口腔正畸弓丝矫治器自动制备成形中的回弹补偿方法  

A Compensation Method of Springback Effect for Automatic Orthodontic Archwire Preparation

作　　者：邓豪[1,2] 翁少葵[1,2] 夏泽洋[1,2] 甘阳洲 熊璟[1] 

机构地区：[1]中国科学院深圳先进技术研究院,深圳518055 [2]中国科学院人机智能协同系统重点实验室,深圳518055

出　　处：《集成技术》2016年第3期20-27,共8页Journal of Integration Technology

基　　金：广东省自然科学杰出青年基金(2015A030306020);广东省科技计划项目(2014B090919002);深圳市孔雀计划技术创新项目(KQCX20130628112914284);深圳市基础研究项目(JCYJ20140901003939038)

摘　　要：在传统的口腔正畸临床治疗中,弓丝矫治器主要依赖于正畸医师手工弯制来完成,这不仅要求医师有长时间的训练过程,同时难以达到理想的个性化及精度要求,也增加了患者复诊次数及椅旁等待时间。据此,我们研发机器人系统来实现自动化的正畸弓丝矫治器制备。其中的一个难点问题是,弓丝材料的高弹性引起的回弹现象严重影响了弓丝矫治器的成形精度。因此,提出一种基于过弯预补偿模型和回弹力在线检测的过弯补偿方法,来消除弯制过程中的弓丝回弹现象。该方法首先通过一个自行设计的弯制回弹装置测量回弹前后的角度差,并将回弹后的角度作为目标成形角,以此建立成形角过弯量预补偿模型;然后通过力传感器进行弓丝回弹力在线检测,建立基于零力状态判断的自动弯制控制方法。上述方法在所研发的弓丝弯制机器人系统中进行弯制实验测试。结果表明,它能够最大限度地减小回弹效应,实现满足临床精度要求的正畸弓丝自动弯制成形。In traditional orthodontic treatment, archwire preparation is performed by orthodontists manually. This manual pattern not only requires long time trainning of the clinicians, but also can not ensure the clinical requirement of customization and accuracy. It also increases the number of patient＇s office visits and long chairside time. Thus, an archwire bending robotic system aiming to perform this task automatically was developed. The springback effect caused by high elasticity of material affects the accuracy of bend forming. In this paper, a compensation method based on an overbend prediction model and an online force detection was presented to eliminate the springback effect of archwire. This method contains two steps. Firstly, an overbend prediction model was constructed to predict the overbend allowance of a target angle, based on calculating the difference of two angles measured by a self-designed instrument and taking the angle after springback as the target angle. Secondly, a force-based bending control algorithm was designed to detect the defi ned zero-force state using a force sensor to online measure the force at a given target angle. Finally, bending experiments were conducted in the self-developed orthodontic archwire bending system. Results show that the proposed compensation method can eliminate springback effect to minimum and accomplish the preparation of clinical required orthodontic archwire.

关 键 词：口腔正畸弓丝 自动制备 弹性回弹 过弯补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]