个性化正畸弓丝成形规划方法及实验研究

摘要/Abstract

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。

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

Abstract: 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.

Key words: personalized orthodontic archwire； digital expression, forming planning method； finite point extension method； robotic bending

中图分类号:

TP242
TH787

姜金刚1;陈厚鋆1;马雪峰1;张永德1;刘怡2. 个性化正畸弓丝成形规划方法及实验研究[J]. 中国机械工程.

JIANG Jingang1;CHEN Houjun1;MA Xuefeng1;ZHANG Yongde1;LIU Yi2. Forming Planning Method and Experimentation of Personalized Orthodontic Archwires[J]. China Mechanical Engineering.

参考文献

[1]刘筠.6～10岁儿童错颌畸形与口腔不良习惯关系探究[J].中国妇幼保健, 2016, 31(4):768-769.
LIU Jun. A Study on the Relationship between Abnormal Jaw Deformity and Bad Habits of Oral Cavity in Children from 6 to 10 Years Old[J]. Maternal and Child Health Care of China, 2016, 31(4):768-769.
[2]曾婧, 郑德华, 王旭霞, 等. 错颌畸形对成人心理健康状况的影响[J]. 山东大学学报(医学版), 2014, 52(6):94-97.
ZENG Jing, ZHENG Dehua, WANG Xuxia, et al. The Influence of the Abnormal Jaw Deformity on the Mental Health Status of Adults[J]. Journal of Shandong University(Health Sciences), 2014, 52(6):94-97.
[3]周静帆, 陈孜, 赵阳. 错颌畸形最常出现时间、原因及预防调查分析[J]. 医药, 2015, 1(13):81.
ZHOU Jingfan, CHEN Zi, ZHAO Yang. The Common Time, Causes and Prevention of the Malocclusion[J]. Medicine, 2015, 1(13):81.
[4]孙秋华, 肖丹娜, 高辉, 等. 大学生错畸形与口腔健康相关生存质量的相关性[J]. 国际口腔医学杂志, 2015, 42(2):156-159.
SUN Qiuhua, XIAO Danna, GAO Hui, et al. Correlation between Oral Health Related Quality of Life and the Relationship between College Students’ Malocclusion[J]. International Journal of Stomatology, 2015, 42(2):156-159.
[5]FEU D, DE O B. Oral Health Elated Quality of Life and Orthodontic Treatment Seeking[J]. American Journal of Orthodontics and Dentofacial Orthopedics, 2010, 138(2):152-159.
[6]王寅声, 李晓智. 口腔固定矫治器及技术在中国的发展与创新[J]. 国际口腔医学杂志, 2015, 42(4):471-474.
WANG Yinsheng, LI Xiaozhi. The Development and Innovation of Oral Fixed Appliance and Technology in China[J]. International Journal of Stomatology, 2015, 42(4):471-474.
[7]张永德, 蒋济雄. 正畸弓丝弯制特性分析及实验研究[J]. 中国机械工程, 2011, 22(15):1827-1831.
ZHANG Yongde, JIANG Jixiong. Analysis and Experimental Study on the Bending Properties of Orthodontic Arch Wire[J]. China Mechanical Engineering, 2011, 22(15):1827-1831.
[8]JIANG Jingang, HUANG Zhiyuan, MA Xuefeng, et al. Orthodontic Process Safety Evaluation Based on Periodontal Ligament Capillary Pressure and Ogden Model[J]. Journal of Mechanics in Medicine and Biology, 2018, 18(8):1840033.
[9]JIANG Jingang, MA Xuefeng, HAN Yingshuai, et al. Experimentation and Simulation of Second Sequential Loop Orthodontic Moment Prediction Modeling[J]. IEEE Access, 2018, 6:56258-56268.
[10]任庆源, 齐慧川, 胡敏. 不同种类初始弓丝对正畸治疗影响的研究进展[J]. 吉林大学学报(医学版), 2015, 41(4):874-876.
REN Qingyuan, QI Huichuan, HU Min. Research Progress of the Effects of Different Initial Orthodontic Wires on Orthodontic Treatment[J]. Journal of Jilin University (Medicine Edition), 2015, 41(4):874-876.
[11]梁玉林. 口腔正畸矫正术中弓丝的应用分析[J]. 中国医疗美容, 2015, 5(1):93-94.
LIANG Yulin. Analysis of the Application of Orthodontic Appliance in Orthodontic Treatment[J]. Chinese Journal of Aesthetic Medicine, 2015, 5(1):93-94.
[12]李多, 梁甲兴. 正畸弓丝三点弯曲实验装置[J]. 中国实用口腔科杂志, 2013, 6(11):701-702.
LI Duo, LIANG Jiaxing. Three Point Bending Test Device for Orthodontic Archwire[J]. Chinese Journal of Practical Stomatology, 2013, 6(11):701-702.
[13]张永德, 蒋济雄. 弓丝弯制机器人的运动分析与仿真研究[J]. 高技术通讯, 2012, 22(7):727-734.
ZHANG Yongde, JIANG Jixiong. Motion Analysis and Simulation Research of the Bow Wire Bending Robot[J]. Chinese High Technology Letters, 2012, 22(7):727-734.
[14]JIANG Jingang, ZHANG Yongde, WEI Chunge, et al. A Review on Robot in Prosthodontics and Orthodontics[J]. Advances in Mechanical Engineering, 2015, 7(1):198748.
[15]JIANG Jingang, ZHANG Yongde, JIN Mingliang, et al. Bending Process Analysis and Structure Design of Orthodontic Archwire Bending Robot[J]. International Journal of Smart Home, 2013, 7(5):345-352.
[16]RIGELSFORD J. Robotic Bending of Orthodontic Archwires[J]. Industrial Robot:an International Journal, 2004, 65(4):321-335.
[17]杜海艳, 贾裕祥, 张永德, 等. 弓丝弯制机器人运动轨迹规划[J]. 中国机械工程, 2010, 21(13):1605-1608.
DU Haiyan, JIA Yuxiang, ZHANG Yongde, et al. Trajectory Planning of Archwire Bending Robot[J]. China Mechanical Engineering, 2010, 21(13):1605-1608.
[18]MOLES R. The Sure Smile System in Orthodontic Practice[J]. Journal of Clinical Orthodontics, 2009, 43(3):161-174.
[19]THARON L, BUDI K, MARIA T G, et al. Mesiodistal Tip and Faciolingual Torque Outcomes in Computer-driven Orthodontic Appliances[J]. Journal of the World Federation of Orthodontists, 2015, 4(2):63-70.
[20]GILBERT A. An In-office Wire-bending Robot for Lingual Orthodontics[J]. Journal of Clinical Orthodontics, 2011, 45(4):230-234.
[21]胡玮, 段银钟, 林珠. 个性化正畸牙弓形态计算机辅助设计软件的应用[J]. 实用口腔医学杂志, 2000, 16(3):211-213.
HU Wei, DUAN Yinzhong, LIN Zhu. Application of a New Computer Aided Analysis System for Individual Arch Form[J]. Journal of Practical Stomatology, 2000, 16(3):211-213.
[22]张林. 正畸弓丝形态的研究进展[J]. 国际口腔科学杂志, 2012, 39(2):273-276.
ZHANG Lin. Research Progress on the Arch Form in Orthodontics[J]. International Journal of Oral Science, 2012, 39(2):273-276.
[23]ZHANG Wenjun. Research of 3D Virtual Design and Automated Bending of Oral Orthodontic Archwire[J]. International Journal of Advancements in Computing Technology, 2013, 5(8):741-749.
[24]姜金刚, 王钊, 张永德, 等. 机器人弯制澳丝的回弹机理分析及实验研究[J]. 仪器仪表学报, 2015, 36(4):919-926.
JIANG Jingang, WANG Zhao, ZHANG Yongde, et al. Springback Mechanism Analysis and Experiment Study of Australian Orthodontic Archwire with Robotic Bending[J]. Chinese Journal of Scientific Instrument, 2015, 36(4):919-926.
[25]JIANG Jingang, HAN Yingshuai, ZHANG Yongde, et al. Springback Mechanism Analysis and Experiments on Robotic Bending of Rectangular Orthodontic Archwire[J]. Chinese Journal of Mechanical Engineering, 2017, 30(6):1406-1415.
[26]姜金刚, 郭晓伟, 张永德, 等. 基于有限点展成法的正畸弓丝成形控制点规划[J]. 仪器仪表学报, 2017, 38(3):612-619.
JIANG Jingang, GUO Xiaowei, ZHANG Yongde, et al. Formed Control Point Planning of Orthodontic Archwire Based on Finite Point Extension Method[J]. Chinese Journal of Scientific Instrument, 2017, 38(3):612-619.
[27]姜金刚, 韩英帅, 张永德, 等. 机器人弯制正畸弓丝成形控制点规划及实验研究[J]. 仪器仪表学报, 2015, 36(10):2297-2303.
JIANG Jingang, HAN Yingshuai, ZHANG Yongde, et al. Formed Control Point Planning and Experimentation of Orthodontic Archwire with Robotic Bending[J]. Chinese Journal of Scientific Instrument, 2015, 36(10):2297-2303.
[28]魏春阁. 正畸弓丝的三维数学模型及弯制算法研究[D]. 哈尔滨:哈尔滨理工大学, 2015.
WEI Chunge. Research on Three Dimensional Mathematical Model and Bending Algorithm of Orthodontic Archwire[D]. Harbin:Harbin University of Science and Technology, 2015.