个性化正畸弓丝成形规划方法及实验研究  

Forming Planning Method and Experimentation of Personalized Orthodontic Archwires

作　　者：姜金刚[1] 陈厚鋆 马雪峰[1] 张永德[1] 刘怡[2] JIANG Jingang;CHEN Houjun;MA Xuefeng;ZHANG Yongde;LIU Yi(Robotics&Its Engineering Research Center,Harbin University of Science and Technology,Harbin,150080;Department of Orthodontics,Peking University Hospital of Stomatology,Beijing,100081)

机构地区：[1]哈尔滨理工大学机器人技术及工程应用研究中心,哈尔滨150080 [2]北京大学口腔医学院正畸科,北京100081

出　　处：《中国机械工程》2020年第11期1323-1330,1336,共9页China Mechanical Engineering

基　　金：黑龙江省普通本科高等学校青年创新人才培养计划资助项目(UNPYSCT-2017082);中国博士后科学基金特别资助项目(2018T110313);黑龙江省博士后特别资助(博士后青年英才计划)项目(LBH-TZ1705);黑龙江省普通高校基本科研业务费专项资金资助项目(LGYC2018JQ016)。

摘　　要：传统手工弯制正畸弓丝弯制效率低、弯制精度不高,使用正畸弓丝弯制机器人弯制正畸弓丝能够克服上述缺点。根据临床上正畸医师常用的牙位标识方法对牙位进行了标识,使用贝塞尔曲线量化正畸弓丝在三维空间内的形状、位置和约束关系,采用插补的方式以离散的运动形式表达连续的状态,以实现正畸弓丝空间曲线的弯制,提出了基于有限点展成法的成形控制点的规划方法以及基于投影面角度合成的空间角度规划方法。通过对一例临床患者一组上颌的三维节点信息进行正畸弓丝弯制实验研究,证明了正畸弓丝机器人弯制方法的有效性。Traditional manual archwire bending was low efficiency and low bending precision,using the orthodontic archwire bending robots might overcome the shortcomings of manual bending method.The dental position was marked according to the clinical orthodontist's common dental position identification method.The shapes,positions and constraint relations of orthodontic archwires in three-dimensional space were expressed by the Bezier curve.In order to realize the bending of the space curves for the orthodontic archwires,the continuous state was expressed in the form of discrete motion by interpolation.The planning method of forming control points based on finite point extension method and the spatial angle planning method based on the synthesis of projection plane angle were proposed.The effectiveness of robotic bending method was proved by an experiment of maxillary three-dimensional node information of a clinical patient which was conducted by an orthodontic archwire bending robot.

关 键 词：个性化正畸弓丝 数字化表达 成形规划方法 有限点展成法 机器人弯制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH787[自动化与计算机技术—控制科学与工程]