CN209032683U - A kind of manufacturing equipment of the tooth movement appliance snap ring based on precision customization - Google Patents

Abstract

This application involves a kind of manufacturing equipments of tooth movement appliance snap ring based on precision customization.Database is constructed by acquiring a large amount of patient teeth's information datas, and doctor's clasp design experience is combined to form processing module.In precision method for customizing, by patient teeth's Information input processing Module Generation snap ring build information, and the snap ring compatible with mechanical arm is further generated by info conversion module and bends instruction, the precision customized production of snap ring is realized under the mechanical arm operation for being exclusively used in production snap ring.This device achieves that producing whole process automatic processing by patient teeth's information to snap ring, a large amount of manpower and time cost are saved, without there is experience doctor to design snap ring modeling scheme, the error that artificial bending and casting are easy to produce is avoided, the standardization that snap ring is bent is realized.

Description

A kind of manufacturing equipment of the tooth movement appliance snap ring based on precision customization

Technical field

This application involves orthodontic fields, and in particular to the artificial intelligence manufacturing equipment of tooth movement appliance

Background technique

In Orthodontics, appliance is treated or is kept to be most commonly seen correction scheme, and patient can be according to need Ask selection fixed appliance or removable appliance.It is uneven for the denture of children, usually rescued using removable appliance, It can voluntarily be plucked and be worn or orthotic device that doctor freely loads and unloads by patient, intact when taking, this appliance is in addition to being attached to corona Above but also it need to be attached on oral mucosa surface.Doctor can arbitrarily subtract increasing attachment on appliance, to reach correction dentognathic deformity Purpose.It especially occupies an important position in the therapeutic scheme of adolescent patient in the treatment of dentognathic deformity.

Removable appliance is made of fixing device, active force part, that is, three parts such as various spring attachments and base.At present Common anchoring methods have snap ring method, embrasure hook method, base tissue surface's liner method and the methods of are directly bonded in denture.Card Ring is the most common fixing device, on all teeth for being selected as anchorage, is undertaken by Anchorage molar and is rescued what tooth generated Reaction force, and make to be rescued Tooth movement.

Currently, the production method of Dental clasps mainly has casting and bends two kinds by hand, manual bending clasp difficulty is big, skill Skilful property is strong, is not easy to grasp, in addition, during the bending process, stainless steel wire greatly reduces the antifatigue of material by repeatedly bending Intensity causes the mechanical strength of snap ring to reduce, therefore snap ring fractures and happens occasionally, and easily causes serious consequence.In addition, bending card by hand Ring is the snap ring that formula of " cutting the garment according to the figure " one by one bends, thus bends by hand by the true form size of each specific abutment, Its geometry and size are all uncertain.Machine casting snap ring be widely used in situation of all-level hospitals dentistry, private clinic and Skilled worker's machining center, however its there is also certain limitations, it is necessary first to mold is constructed according to the result of clasp design, then is adopted It is formed with the mode of hot extrusion or cold-punching mould, and since patient teeth's situation is entirely personalization, needed every time by doctor's root Snap ring is designed according to tooth mould, and grinding tool is manufactured according to design result, then cast, not only the production cycle is long in this way, and it is at high cost, and And error can be formed in actual production, the later period also needs doctor's manual setting.

It is less about the innovation and creation of snap ring in the prior art, snap ring bending tool and shape-designing are related generally to, such as CN200520021263 has invented a kind of ring clamping-special forceps, and CN201611039206, US4273530, WO2011146062A1 are equal The innovation and creation in relation to snap ring appliance moulding are related to, related snap ring automated manufacturing method still belongs to blank field.

In recent years, application of the information scanning basis in oral cavity in correction scheme was increasingly extensive, CN201310289989 invention Oral cavity CT data acquisition results are used for reconstructing three-dimensional model, calculated simultaneously by a kind of digitized manufacturing system method of orthodontic appliance The threedimensional model being made of forcing unit is obtained, production is realized by way of 3D printing.CN201610393572 has invented one The method that kind manufacture customizes invisible orthotic device, realizes manufacture by way of Stereolithography.Although oral cavity information scanning is It is gradually used for correction, but rests on the link for rebuilding threedimensional model mostly for the processing of data, these data are used only for The 3D printing or photocuring scheme in later period are instructed, manufactured appliance is mainly the appliance of immobilization, and mainly For the arch wire for needing individual character manufacturing.There has been no schemes, and patient medical information to be directly used for setting for removable appliance product Meter, in removable appliance fixation member-snap ring personalized designs and production.

The application aims to solve the problem that problems of the prior art, saves the link of doctor's diagnosis and treatment and hand-designed snap ring, Avoid bending by hand or casting process in the error that generates, facilitate the later period to adjust.Therefore, this application provides one kind to be based on patient The method that personalized dental information generates removable appliance fixed solution and automated production snap ring.

Utility model content

The utility model relates to a kind of manufacturing equipments of removable appliance snap ring, or are a kind of integrated life of customization snap ring Equipment is produced, which is included message handler and obtain the equipment of information and set using what information auto-control manufactured It is standby.The operation of the system includes the following steps:

(1) patient teeth's information is scanned, data acquisition system 1 is formed

(2) by the information input information searching module of data acquisition system 1, with the information progress in dental information database Match, snap ring modeling scheme, i.e. data acquisition system 2 are automatically generated according to match information

(3) data acquisition system 2 is inputted into info conversion module, automatically generates snap ring and bends command information, i.e. data acquisition system 3

(4) it by the information input snap ring making apparatus of data acquisition system 3, automatically controls and completes snap ring manufacture.

In a specific embodiment, patient teeth's information passes through the spy different from traditional oral information acquisition apparatus Different mouth cavity scanner obtains.

Information retrieval will be carried out in the prefabricated software of the information input of data acquisition system 1, and Auto-matching snap ring moulding is basic Scheme.Meanwhile software inhouse can form according to basic scheme combination patient oral cavity information and customize modeling scheme-data acquisition system 2.

Data acquisition system 2 continues through software operation formation and bends command information-data acquisition system 3.By data acquisition system 1 to number It can be integrated in an equipment according to the treatment process of set 3, can also be handled and be realized by different equipment respectively.

Manufacturing process is completed using command information commander's snap ring manufacturing equipment of set 3.In a concrete scheme, manufacture Equipment is mechanical arm.

Another face of the application is related to the snap ring of the device fabrication by the utility model, and the snap ring includes but unlimited In: arrow clasp assists arrow clasp, incisor snap ring, bulb snap ring, Duyzings snap ring, half snap ring.

The another aspect of the application is related to the removable appliance prepared by the utility model snap ring as accessory, and activity is rectified The type for controlling device includes but is not limited to: early treatment appliance, adjuvant treatment appliance, bad habit appliance, gap are kept Device, functional appliance, retainer etc..

The innovation of the utility model compared with the existing technology is: (1) including information retrieval processor, wherein passing through Big data mode establishes oral cavity information data processing model, and doctor's clasp design experience is passed through software processing in processor Mode is realized, the clasp design period is substantially reduced, and saves limited Dentist resource, and traditional manual bending clasp is from trouble Person's acquisition of information needs at least 1 week time to finished product is generated, and passes through the application automatic collection, processing information and automatic metaplasia The mode for producing snap ring shorten to the above-mentioned time 1 day, only bends in this step in snap ring, the production time can be small from 2 When shorten to half an hour；(2) include information conversion processor, directly convert robot for snap ring build information parameter and control automatically Parameter processed realizes the automatic realization of personalized snap ring production, has saved the manufacturing cycle, improved the accuracy of manufacture, avoided doctor The uncertainty and Gao Chengben of manual bending clasp or casting manufacture snap ring.(3) another significant contribution of the application is to block Ring-shaped data are changed to design parameter, and thereby determine that the parameter needed in Primary Stage Data acquisition and later period fabrication order ginseng Number realizes the conversion of parameter in different process procedures, thus realize that the data for collecting product manufacturing by data flow, it is real The combination of existing artificial intelligence analysis and automated manufacturing.(4) the oral cavity scanning device of the application and data retrieval process device are new Grain husk, orthodontic demand and aesthetic demands are comprehensively considered, by acquiring the dental information comprising special parameter in snap ring Functional and aesthetic beauty double effects may be implemented during position and shape-designing, be more suitable for making for teenager and the crowd that likes to be beautiful With.

Detailed description of the invention

Fig. 1 is the structure chart of the application manufacturing equipment.

Utility model content is described in detail

The explanation of formula is extended to scheme involved in the application specific implementation process and principle below.

Oral cavity scanning device

The utility model relates to first component be oral cavity scanning device, for obtaining patient oral cavity information.Existing In technology, usually used oral cavity 3 D information obtaining method includes dental impressions, radioscopic image or the CBCT at oral cavity position Image and its corresponding equipment.It is the problem is that need for above-mentioned three-dimensional information to be reused for the reconstruction of oral cavity model, example Such as construct 3-dimensional digital or entity tooth model.And the utility model is then unique that specially designed oral cavity has been used to scan Instrument can obtain the data acquisition system 1 for database retrieval with the scanning head end optical module of scanner, wherein it is important that The information such as tooth, denture and alveolar bone.The oral cavity three-dimensional information obtained using especially equipment of the invention, following parameters are especially Important, it is also to participate in operation to generate the parameter that the key parameter of snap ring build information is directed to: tooth shaft rake, tooth inclination Degree, convexity, length, width and height of alveolar bone etc., the above parameter are the parameters (referred to as therapeutic parameter) in therapeutic consideration；Furthermore It further include abutment cheek axis ridge far middle concave region, proximal surface concave region, the information of tongue side concave region, these parameters belong to beautiful fixed bit Area's parameter (referred to as aesthetic region parameter), it is intended to by clasp design in these regions.

Information retrieval processor

Data acquisition system 1 needs to input in information retrieval processor, and carries the database of 1 storage inside of software in processor It is retrieved in information, match patient information and automatically generates snap ring and bend scheme.

The database is that the clinical scanning information obtained by ten hundreds of patient oral cavity scanning merges.These The calculating that information participates in snap ring modeling scheme by way of mathematical modeling simultaneously generates.The calculation method passes through by doctor The software design of participation and be cured in a data processing module.The algorithm of the data processing module is bent according to doctor What the experience of snap ring and algorithm designer cooperated to complete, the patient teeth's information and snap ring that the inside includes, which bend information, to be had pair It should be related to.

Message handler may be integrally incorporated in mouth cavity scanner, can also be using independent equipment as carrier, such as be present in In information retrieval processor.

Data acquisition system 1 after database retrieval can obtain matching data acquisition system 2, i.e. snap ring bends letter Breath.The set can be whole snap ring and bend information, be also possible to bend the group that information forms by multiple functional snap rings.It should Data can be final snap ring and bend information, be also possible to preliminary clasp design information in some cases.

Therefore, in a preferred embodiment, snap ring build information being reaffirmed by doctor, obtain by amendment or Data acquisition system 2. after the approval

In data acquisition system 2, the build information of snap ring depends on the type of Anchorage molar, the position of snap ring and number, snap ring The factors such as type, need from corona height, tooth moving direction in practice, the power for needing to apply, the active force of occlusal surface is turned round The functional requirement for turning the appliances such as single tooth sets out, and determines above-mentioned factor in conjunction with used active force component, so that it is determined that card Ring moulding, these empirical conversions for passing through doctor are that algorithm is fixed in database.That is, above-mentioned factor and snap ring three-dimensional are made Mathematical connection is established between type data, to realize the output of moulding data by data processing.That is, by the letter of data acquisition system 1 Input Software is ceased, by Auto-matching and calculates generation snap ring modeling scheme.As previously mentioned, the scheme of snap ring moulding is not fully It is pre-set in processor, the amendment of doctor, therapeutic scheme and corresponding patient information quilt after being corrected can be passed through It is appended in database again, so that later retrieval and matching use.

The type of snap ring is also to correspond to generation according to above-mentioned dental information comprising arrow clasp assists arrow Snap ring, incisor snap ring, bulb snap ring, Duyzings snap ring etc..It for aesthetic reasons, can be by snap ring shape-designing at cheek side Short retention arm snap ring, tongue side maintenance cheek arm snap ring, tongue side maintenance L-type snap ring, tongue side maintenance J-type snap ring etc..

Snap ring build information is including forming various curved information, such as vertical loop, omega song, box loop, vertical pass Song, T shape song etc. are closed, after these bending digitlizations, forms the calibration curve information being made of the point on countless three-dimensional space, each point Three-dimensional coordinate XYZ is all corresponded to, these information have codetermined the type of snap ring, corresponding tooth type, the information such as length.This Outside, snap ring gauge of wire is also one of parameter.

The information of data acquisition system 2 can be converted into general stl file format, to facilitate subsequent automated production.

Information conversion processor

Data acquisition system 2 is converted to data acquisition system 3 by processor, thus certainly for generating data acquisition system 3 by the processor Dynamic control robotic arm completes snap ring and bends movement.The processor may be integrally incorporated in mechanical arm, independent can also count Calculation equipment is carrier, such as is present in information conversion processor.

It should be pointed out that the instruction needs of control arm are compiled according to the specific structure and automatic control mode of arm It writes.Therefore, the another contribution of the utility model is to be converted to snap ring build information into three-dimensional mechanical arm movement instruction.

In arm motion instruction, most important parameter is the moving parameter for moving clamp structure, including is moved along the x-axis, along Y Axis is mobile, moves along Z axis, rotates around Y-axis, rotates around X-axis, rotates about the z axis, shares 6 each freedom degrees.

Mechanical arm

The snap ring manufacturing equipment or machine of the application can take the manipulator for being installed to pedestal or worktable support surface The form of arm or robot.In one preferred embodiment, mechanical arm has first clamping device.The tool can be with It fixes or is can be incorporated into moveable arm relative to pedestal.First clamping device has for keeping steel wire or other materials The first clamp structure.The equipment further includes moveable arm, which has mounted to base portion and far from the first clamping work Have the proximal part and free distal end part of a distance.It the free distal end part of moveable arm can be along at least one translation Axis and at least one rotation axis are relative to the first clamping device self-movement.In specific embodiments, moveable arm With one group of joint, allow the distal end of arm with the mobile 3 orthogonal translation axis of 6 freedom degrees and 3 orthogonal rotary axes.So And required bending is formed depending on the property of medical device and in a device, it is possible to have less freedom degree, to drop The cost and complexity of low equipment.Second clamping device is installed to the distal part of moveable arm.Second clamping device, which has, to be used for Second clamp structure of the raw materials such as clamping steel wire.Therefore, steel wire is clamped by the first and second clamping devices, wherein second is removable Clamping device can be moved along at least one translated axis line and at least one rotation axis relative to the first clamping device.

The movement of two clamping devices of mechanical arm provides instruction by mechanical arm control centre.Control centre receives and comes from Schemes generation module bends command information file, and correspondingly operating movable arm and the first, second clamping device with shape At a series of bendings and/or distortion.

In addition, mechanical arm can also include heating element, with the flexibility of reinforcing material in the process of bending, needed for reduction The external force of application.

Snap ring integrated manufacturing system

Above-mentioned several components together constitute comprehensive customization snap ring and integrate production equipment, including patient information acquisition is set Standby, information retrieval processor, information conversion processor and snap ring curving apparatus, the system of integration realize information and are respectively setting Flowing between standby, to realize that manual intelligent produces.

Snap ring product

The functional component that can be used as appliance according to the snap ring that the application method manufactures can also be used as individual snap ring and produce Product or semi-finished product use.Such as it can be used for producing in batches the preliminary manufacture snap ring for particular tooth, and be applied to doctor In subsequent manual setting and correction scheme.

Removable appliance

The snap ring preparation method of the application is particularly suitable for various activities appliance, comprising:

Early treatment appliance --- Occlusal pad appliance (closes i.e. Bao Tian, inclined jaw for anti-tooth)；

Assisting in the treatment of appliance --- the upper jaw carries out appliance (for expanding dental arch), inclined guide plate appliance (for drawing Lead lower jaw forward), flat guide plate appliance (be used to open conjunction of gritting one's teeth, force down lower labial teeth)；

Bad habit appliance --- lip gear (for limiting dental protrusion of going forward), tongue pierces (for limiting tongue thrusting)；

Gap of the space retainer for deciduous teeth early to take off is kept；

Functional appliance is used to promote or limit the growth and development and muscular function correction of jawbone；

Hawley retainer is used for the postoperative holding of Fixed Orthodontics.

In different types of removable appliance, the design of snap ring is necessarily different.Technical staff will be according to snap ring institute The design scheme of the specific active force component adjustment snap ring of connection, this adjustment, which equally inputs the parameter as clasp design, to be counted Calculation machine, and subsequent transformation bends instruction at steel wire.

Specific embodiment

Specific embodiment of the present utility model is described with reference to the accompanying drawing

Embodiment 1

The method of operation of the manufacturing equipment of the removable appliance snap ring of the utility model is as follows:

(1) by with optical module mouth cavity scanner obtain tooth 3-dimensional image information, such as tooth, denture, The information of alveolar bone: the scanning information file of information retrieval processor readable format is obtained, XXX1.sof, this document are named as In particularly contain following parameter, tooth shaft rake A, tooth gradient B, convexity C, alveolar bone length, width and height D, abutment cheek axis ridge is remote Middle undercut zone position E, proximal surface undercut zone position F, tongue side undercut zone position G.

It (2), can by the direct output information conversion processor of operation by the file incoming information retrieval process device of sof format The message file for reading format, is named as XXX2.STL.This document contains snap ring build information, and parameter includes snap ring location information H, snap ring type information I, snap ring part build information J.

(3) stl file that step (2) generate is inputted into special mechanical arm, processing system is carried by mechanical arm, The stl file is first converted into snap ring and bends command file XXX3.bat, the steel wire of preset size is provided, runs mechanical arm Execution program, bend obtain need snap ring.

Bending for snap ring is completed by the arm that bends being connected on computer, and robot includes a master arm and one Slave arm, slave arm hold and position arch wire, master arm according to the information in XXX3.bat in relation to arch wire turning point carry out by One bends, and completes the production of individuation snap ring；The product that machine is bent can also be adjusted by the method bent by hand, Angle and direction is bent a little and bent according to individuation clasp design, snap ring is carried out using manual instrument to bend molding.

(4) to snap ring progress polishing treatment appropriate is customized, snap ring finished product is obtained.

The foregoing is merely the alternative embodiments of the utility model, are not intended to limit the invention, all practical at this Within novel spirit and principle, any modification, equivalent substitution, improvement and etc. done should be included in the utility model protection Within the scope of.

Claims (7)

1. a kind of manufacturing equipment of the tooth movement appliance snap ring based on precision customization, including mouth cavity scanner, information Retrieval process device, information conversion processor and snap ring curving apparatus, wherein information retrieval processor includes database, the number It is made of according to library patient oral cavity information and corresponding clasp design information, information retrieval processor realizes patient oral cavity information Conversion to snap ring build information, info conversion module realize that snap ring build information bends the conversion of instruction to snap ring.

2. the manufacturing equipment of the tooth movement appliance snap ring as described in claim 1 based on precision customization, wherein suffering from Person oral cavity information includes simultaneously therapeutic parameter and aesthetic region parameter.

3. the manufacturing equipment of the tooth movement appliance snap ring as claimed in claim 2 based on precision customization, wherein controlling The property treated parameter includes: tooth shaft rake, tooth gradient, convexity, alveolus bone size.

4. the manufacturing equipment of the tooth movement appliance snap ring as claimed in claim 2 based on precision customization, Sino-U.S. Seeing region parameter includes: the location information of the far middle concave region of abutment cheek axis ridge, proximal surface concave region, tongue side concave region.

5. the manufacturing equipment of the tooth movement appliance snap ring as described in claim 1 based on precision customization, wherein blocking Ring build information includes simultaneously snap ring location parameter and bending parameters.

6. the manufacturing equipment of the tooth movement appliance snap ring as claimed in claim 5 based on precision customization, wherein curved Bent parameter includes: vertical loop, omega song, box loop, vertical closing is bent, T shape is bent.

7. the manufacture of the tooth movement appliance snap ring as claimed in any one of claims 1 to 6 based on precision customization is set It is standby, wherein the snap ring curving apparatus is six axis robot arm.