WO2024098319A1 - 一种正畸钳头、正畸器械机器人及成型方法 - Google Patents

一种正畸钳头、正畸器械机器人及成型方法 Download PDF

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Publication number
WO2024098319A1
WO2024098319A1 PCT/CN2022/131079 CN2022131079W WO2024098319A1 WO 2024098319 A1 WO2024098319 A1 WO 2024098319A1 CN 2022131079 W CN2022131079 W CN 2022131079W WO 2024098319 A1 WO2024098319 A1 WO 2024098319A1
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Prior art keywords
orthodontic
pliers head
rigid core
orthodontic pliers
robot
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PCT/CN2022/131079
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English (en)
French (fr)
Inventor
夏泽洋
邓豪
熊璟
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深圳先进技术研究院
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Priority to PCT/CN2022/131079 priority Critical patent/WO2024098319A1/zh
Publication of WO2024098319A1 publication Critical patent/WO2024098319A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
    • A61C7/02—Tools for manipulating or working with an orthodontic appliance
    • A61C7/04—Tools for manipulating or working with an orthodontic appliance plier-type, e.g. pincers

Definitions

  • the invention belongs to the technical field of robots, and in particular relates to an orthodontic forceps head, an orthodontic instrument robot and a molding method.
  • the tooth movement in orthodontic treatment is driven by the orthodontic force applied by the appliance on the teeth.
  • the design, preparation and loading of the appliance will directly affect the orthodontic force applied by the appliance on the teeth during treatment, thereby affecting the treatment process and results.
  • Archwire appliances are commonly used instruments for the clinical treatment of oral malocclusion.
  • Clinical orthodontists use different orthodontic pliers to clamp, bend, shear and other operations and push and squeeze with fingers to complete the bending and forming of different functional curves.
  • the dexterous end effector is the key to completing the above-mentioned coordinated operation of both hands.
  • Orthodontic treatment of personalized archwire appliances requires high clinical precision and complex multifunctional curve forming process.
  • the manual bending method of archwire appliances has low efficiency and precision, and requires high technician experience. Therefore, there is an urgent need for a fast, accurate and automated appliance preparation system in clinical practice.
  • the current technical solution can achieve bending and forming operations similar to those of orthodontists by configuring an end effector with a similar shape to the orthodontic pliers head with a dual operating arm.
  • the robot end effector used in the prior art is designed to be replaceable through a mechanism.
  • Such replaceable forceps heads are generally designed into different forceps head shapes according to the bending process requirements of various functional curves in clinical practice, such as: fine wire bending forceps heads, fine wire bird beak forceps heads, Tweed curved trapezoidal forceps heads, Kim forceps heads, torque forming forceps heads, etc.
  • As a type of robot-like end gripper almost all known orthodontic forceps heads are made of metal rigid materials.
  • the purpose of the embodiments of this specification is to provide an orthodontic forceps head, an orthodontic instrument robot and a molding method.
  • the present application provides an orthodontic pliers head, the orthodontic pliers head comprising:
  • Rigid core the rigid core adopts variable cross-section design
  • the soft sleeve has adjustable rigidity and is provided with an internal cavity, the internal cavity is consistent with the shape of the rigid core; the soft sleeve is nested outside the rigid core through interference fit.
  • the rigid core is made of steel or high-strength material.
  • the rigid core is made by material manufacturing and processing or 3D printing.
  • the soft cover is made by 3D printing or wax casting.
  • the soft cover is designed with a closed cavity inside
  • the orthodontic forceps head also includes a pipeline; air pressure is input into the closed cavity through the pipeline, and the closed cavity is deformed under external drive to change the entire or partial rigidity of the soft sleeve.
  • the closed cavity is filled with particles.
  • the particle is an elastic sphere or a rigid sphere.
  • the present application provides an orthodontic instrument robot, the robot comprising:
  • a connecting piece connects the orthodontic pliers head and the pliers body.
  • the orthodontic pliers head is arranged at an angle to the connecting member, and the angle is determined according to the arrangement of mounting the orthodontic pliers head and the variable cross-section of the rigid core of the orthodontic pliers head.
  • the present application provides a forming method of an orthodontic instrument robot using the second aspect. After one end of the appliance is stably clamped by a traditional pliers head, the orthodontic pliers head of the orthodontic instrument robot clamps the other end of the appliance, and completes extrusion and sliding by controlling the clamping force, contact cross-section and stiffness of the soft cover of the orthodontic pliers head, thereby obtaining a continuous arc segment functional curve.
  • this solution can realize the clamping, bending, shearing, pushing, squeezing and other actions of clinical orthodontists to complete the bending and forming of different functional curves.
  • FIG1 is a schematic diagram of the structure of an orthodontic pliers head provided in the present application.
  • FIG2 is a schematic diagram of the structure of an orthodontic instrument robot provided in the present application.
  • FIG3 is a schematic diagram of the structure of the rigid core and the connecting member provided by the present application.
  • FIG4 is a schematic diagram of the bending and molding operation of the archwire appliance using the "clamping-pushing" combined action provided by the present application;
  • FIG5 is a schematic diagram of the bending and molding operation of the archwire appliance using the "clamping-squeezing" combined action provided by the present application;
  • FIG. 1 there is shown a schematic structural diagram of an orthodontic forceps head applicable to an embodiment of the present application.
  • an orthodontic pliers head may include:
  • the rigid core 11 adopts a variable cross-section design
  • the soft cover 12 has adjustable rigidity and is provided with an internal cavity, the internal cavity having the same shape as the rigid core; the soft cover 12 is nested outside the rigid core 11 by interference fit.
  • the rigid core 11 adopts a variable cross-section design so that arcs of different curvatures can be formed by contacting cross sections at different positions. It is understandable that the variable cross-section rigid core 11 can adopt a trapezoidal cross-section, and can also be personalized and designed into other cross-sections according to the bending molding process, which is not limited here.
  • the rigid core 11 when using the orthodontic forceps, can be connected to the robot end effector through a connecting piece. It is also understandable that the rigid core 11 and the connecting piece can be designed as an integral whole or separately.
  • the rigid core 11 can be made of materials such as steel or high-strength plastic.
  • the rigid core 11 can be made by manufacturing and processing the above-mentioned materials such as steel or high-strength plastic or by 3D printing.
  • the soft cover 12 is interference fit with the rigid core 11 through the internal cavity, so that the soft cover 12 is nested outside the rigid core 11. It can be understood that the shape of the soft cover 12 also adopts a variable cross-section design, and the soft cover 12 and the rigid core 11 form a complete "finger" shape.
  • the soft cover 12 is mainly made of soft materials such as silicone rubber, and is made by 3D printing or melted wax casting, etc., with low cost.
  • the soft cover 12 is designed with a closed cavity inside
  • the orthodontic forceps head also includes a pipe 13 ; air pressure is input into the closed cavity through the pipe 13 , and the closed cavity is deformed under external drive to change the entire or partial rigidity of the soft sleeve 12 .
  • the air pressure input into the closed cavity through the pipeline 13 can be hydraulic pressure or air pressure, or other driving modes. It is also understandable that the input air pressure can be positive pressure or negative pressure, and the closed cavity is deformed under external driving to change the entire or partial stiffness of the soft cover 12.
  • the soft sleeve 12 is driven by hydraulic pressure or pneumatic pressure to achieve different surface stiffnesses to achieve different contact and compression states with the arch wire.
  • tiny particles can be added into the closed cavity of the soft sleeve 12.
  • the particles can be selected as elastic balls or rigid balls; in specific use, when the particles are not filled, when the input air pressure P is positive, the closed cavity expands to squeeze each other, and the overall stiffness will be improved; when the particles are filled, when the input air pressure P is negative, the particles will be squeezed to reduce the gap between each other, and the overall stiffness will be improved.
  • the structure of the above-mentioned soft sleeve 12 can be replaced by other structures with variable stiffness, as long as the characteristic of adjustable contact stiffness can be met.
  • the orthodontic pliers provided in the embodiment of the present application may also include some necessary mounting and fastening structures and corresponding driving control units for the pipelines, etc.
  • the orthodontic pliers provided in the embodiment of the present application can be applicable to orthodontic pliers used by clinical physicians during manual operations, and can also be applied to the molding of similar objects other than orthodontic appliance archwires, etc., without limitation herein.
  • FIG. 2 there is shown a schematic diagram of the structure of an orthodontic instrument robot applicable to an embodiment of the present application.
  • an orthodontic instrument robot may include:
  • the orthodontic forceps head 10 provided in the above embodiment
  • the connecting piece 30 connects the orthodontic pliers head 10 and the pliers body 20 .
  • a first mounting hole is formed on the pliers body 20; a second mounting hole is formed on the connecting member 30; and the orthodontic pliers head 10 and the pliers body 20 are fastened by means of the latch 40 which is respectively interference-fitted with the first mounting hole and the second mounting hole.
  • a single orthodontic pliers head 10 is configured on the pliers body 20, so that the orthodontic instrument robot has a pushing and squeezing function, similar to a finger.
  • the orthodontic pliers heads 10 are configured in pairs on the pliers body 20, so that the orthodontic instrument robot has a clamping function, similar to a claw, as shown in FIG. 2 .
  • the main body of the end effector is connected to the end of the mechanical arm and can realize the opening and clamping of a pair of pliers 20.
  • the designed variable cross-section adjustable stiffness orthodontic pliers head 10 is inserted into the hole of the pliers body 20 through the connecting piece 30, and is tightened by interference fit with the first and second mounting holes on the pliers body 20 and the connecting piece 30 respectively by means of the latch 40.
  • the orthodontic pliers heads 10 and the connecting piece 30 are set at an angle, and the angle is determined according to the arrangement of the orthodontic pliers heads 10 and the variable cross-section of the rigid core of the orthodontic pliers heads 10, that is, the internal rigid core 11 is designed to have a certain inclination angle with the connecting piece 30, as shown in FIG3 .
  • the new archwire appliance forming method supports actions such as clamping and bending, as well as bending forming by means of pushing action and forming of continuous functional curved segments by means of squeezing action.
  • the end effector of the orthodontic clamp 10 provided in the above embodiment of the present application can complete a small radius functional bend by a “pushing” action on the outside.
  • the forming method provided in the embodiment of the present application includes a method of forming a bending functional curve by means of a pushing action and a method of forming a continuous functional curve by means of an extrusion action, as well as a robot forming operation method of forming a combined functional curve by cooperating with existing rigid clamp head clamping, bending and other actions.
  • the molding method provided in the embodiment of the present application can realize the clamping, bending, shearing, pushing, squeezing and other actions of clinical orthodontists.
  • the forming method provided in the embodiment of the present application can realize the action of pushing the arch wire from the outside, which will greatly reduce the minimum bending radius of the bending forming to achieve the bending of fine functional curves.
  • the forming method provided in the embodiment of the present application can realize extrusion of different stiffnesses with different contact cross-sections (i.e., curvature radii), and can accurately control the contact state to obtain continuous arc functional curves with different curvatures.
  • the forming method provided in the embodiment of the present application can achieve safe and stable contact between the end effector and the archwire object during the bending process.
  • the molding method provided in the embodiment of the present application improves the dexterity of the robot arm preparation and can realize the bending of functional curves of orthodontic appliances with more complex structures and mechanical properties.
  • the molding method provided in the embodiment of the present application in addition to common actions such as pushing and squeezing, can also realize more complex actions according to operation planning and coordinated control of both arms.

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  • Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

公开了一种正畸钳头、正畸器械机器人及成型方法，该正畸钳头（10）包括：刚体芯（11），刚体芯（11）采用变截面设计；刚度可调的软体套（12），软体套（12）开设有内部空腔，内部空腔与刚体芯（11）外形一致，软体套（12）通过过盈配合嵌套在刚体芯（11）外部。

Description

一种正畸钳头、正畸器械机器人及成型方法 技术领域
本发明属于机器人技术领域，特别涉及一种正畸钳头、正畸器械机器人及成型方法。
背景技术
正畸治疗牙齿移动是由矫治器施加在牙齿上的正畸力驱动的，矫治器的设计、制备和加载都将直接影响治疗中矫治器施加在牙齿上的正畸力，从而影响治疗过程和结果。弓丝矫治器是临床治疗口腔错颌畸形的常用器械。临床正畸医师借助不同正畸钳的夹持、弯折、剪切等操作并配合手指的推、挤压等动作完成不同功能曲的弯制成型。在“机器换人”过程中，灵巧的末端执行器是完成上述双手协调操作的关键。正畸治疗个性化弓丝矫治器临床精度要求高，多功能曲成型工艺复杂。弓丝矫治器人工弯制方式效率和精度低，且对技师经验要求较高，因此，临床上对快速、精确及自动化的矫治器制备***有着迫切的需求。目前的技术解决方案可以通过双操作臂配置类似正畸钳头形态的末端执行器来实现如同正畸医师类似的弯制成型操作。
现有技术中采用的机械手末端执行器被设计为可通过机构进行替换，这种可替换的钳头一般按照临床各种不同功能曲的弯制工艺要求被设计成不同的钳头形状，如：细丝弯制钳头，细丝鸟嘴钳头、Tweed弯曲梯形钳头、Kim钳头、转矩成型钳头等。作为类机器人末端手爪的一种，几乎全部已知的正畸钳头均采用金属刚体材料制作。
但是，现有技术中通过两个钳头的夹持和弯折操作在实现复杂功能曲的弯制时存在不可避免的干涉，尤其是当弓丝弯折角度达到180度附近时，此外，由于钳头半径的存在，弯折回转时存在最小的折弯半径，这也限制了钳头对一些精细功能曲的成型能力。对比临床正畸医师的操作，我们不难发现，手指的推、挤压等动作在复杂功能曲的成型操作中至关重要。当一个钳头夹持弓丝时，手指可以从外侧进行推、挤压，而不是在内侧的弯折，这样大大提高操作的灵活性。对于现有刚性的钳头，这种“碰撞”(在机器人学里，一般用于描述两个刚体发生接触)的操作时需要避免的，因而，很难在现有的结构中实现这样的动作。
发明内容
本说明书实施例的目的是提供一种正畸钳头、正畸器械机器人及成型方法。
为解决上述技术问题，本申请实施例通过以下方式实现的：
第一方面，本申请提供一种正畸钳头，该正畸钳头包括：
刚体芯，刚体芯采用变截面设计；
刚度可调的软体套，软体套开设有内部空腔，内部空腔与刚体芯外形一致；软体套通过过盈配合嵌套在刚体芯外部。
在其中一个实施例中，刚体芯采用钢或高强度材料制作。
在其中一个实施例中，刚体芯通过材料制作及加工或3D打印制作而成。
在其中一个实施例中，软体套采用3D打印或熔蜡铸造制作而成。
在其中一个实施例中，软体套内部设计有封闭空腔；
正畸钳头还包括管道；通过管道向封闭空腔内输入气压，在外部驱动下封闭空腔发生形变以改***体套整个或局部刚度。
在其中一个实施例中，封闭空腔内填充有颗粒。
在其中一个实施例中，颗粒为弹性球或刚体球。
第二方面，本申请提供一种正畸器械机器人，该机器人包括：
如第一方面的正畸钳头；
钳身；
连接件，连接件连接正畸钳头与钳身。
在其中一个实施例中，正畸钳头与连接件之间呈角度设置，角度根据安装正畸钳头的布置和正畸钳头的刚体芯的变截面确定。
第三方面，本申请提供一种采用第二方面的正畸器械机器人的成型方法，当矫治器的一端被传统钳头稳定夹持后，正畸器械机器人的正畸钳头夹持矫治器的另一端，并通过控制夹持力度、接触截面和正畸钳头的软体套的刚度完成挤压滑移，得到一段连续的圆弧段功能曲。
由以上本说明书实施例提供的技术方案可见，该方案：可实现临床正畸医师的夹持、弯折、剪切，推、挤压等动作，以完成不同功能曲的弯制成型。
附图说明
为了更清楚地说明本说明书实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本说明书中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请提供的正畸钳头的结构示意图；
图2为本申请提供的正畸器械机器人的结构示意图；
图3为本申请提供的刚体芯与连接件的结构示意图；
图4为本申请提供的使用“夹持-推”组合动作的弓丝矫治器弯制成型操作示意图；
图5为本申请提供的使用“夹持-挤压”组合动作的弓丝矫治器弯制成型操作示意图；
附图标记：
10、正畸钳头；11、刚体芯；12、软体套；13、管道；20、钳身；30、连接件；40、插销；50、弓丝矫治器；60、刚体钳头。
具体实施方式
为了使本技术领域的人员更好地理解本说明书中的技术方案，下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都应当属于本说明书保护的范围。
以下描述中，为了说明而不是为了限定，提出了诸如特定***结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的***、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。
在不背离本申请的范围或精神的情况下，可对本申请说明书的具体实施方式做多种改进和变化，这对本领域技术人员而言是显而易见的。由本申请的说明书 得到的其他实施方式对技术人员而言是显而易见得的。本申请说明书和实施例仅是示例性的。
关于本文中所使用的“包含”、“包括”、“具有”、“含有”等等，均为开放性的用语，即意指包含但不限于。
本申请中的“份”如无特别说明，均按质量份计。
下面结合附图和实施例对本发明进一步详细说明。
参照图1，其示出了适用于本申请实施例提供的正畸钳头的结构示意图。
如图1所示，一种正畸钳头，可以包括：
刚体芯11，刚体芯11采用变截面设计；
刚度可调的软体套12，软体套12开设有内部空腔，内部空腔与刚体芯外形一致；软体套12通过过盈配合嵌套在刚体芯11外部。
具体的，刚体芯11采用变截面设计，使得通过与不同位置的截面接触得多不同曲率的圆弧。可以理解的，变截面的刚体芯11可以采用梯形截面，还可以根据弯制成型工艺进行个性化设计为其他形式的截面，在此不做限制。
可以理解的，使用正畸钳头时，可以由刚体芯11通过连接件与机器人末端执行器相连接，还可以理解的，刚体芯11与连接件可以采用一体设计，也可以分开设计。
一个实施例中，刚体芯11可以采用钢或高强度塑料等材料制作。刚体芯11可以通过上述钢或高强度塑料等材料制作及加工或3D打印制作而成。
软体套12通过开设的内部空腔与刚体芯11过盈配合，使得软体套12嵌套于刚体芯11的外部，可以理解的，软体套12的外形也采用变截面设计，软体套12和刚体芯11组成一个完整的“手指”形态。
一个实施例中，软体套12以硅橡胶等软体材料为主，通过3D打印或熔蜡铸造等方式制作而成，成本低。
一个实施例中，软体套12内部设计有封闭空腔；
正畸钳头还包括管道13；通过管道13向封闭空腔内输入气压，在外部驱动下封闭空腔发生形变以改***体套12整个或局部刚度。
可以理解的，通过管道13向封闭空腔内输入的气压可以为液压也可以为气压，还可以为其他驱动方式。还可以理解的，输入的气压可以为正压也可以为负压， 在外部驱动下封闭空腔发生形变以改***体套12的整个或局部刚度。
软体套12的通过液压或气压驱动实现不同的表面刚度以完成与弓丝不同的接触挤压状态。
为提高软体套12变刚度的范围，可以在软体套12的封闭空腔内加入微小颗粒。根据变刚度的参数要求，该颗粒可选择为弹性球或刚体球；具体使用过程中，当不填充颗粒时，输入气压P为正时，封闭空腔膨胀以彼此挤压，整体的刚度将被提高；当填充颗粒后，输入气压P为负时，颗粒将受到挤压以减小彼此间的间隙，整体的刚度将被提高。
可以理解的，上述软体套12的结构可通过其他具备变刚度的结构进行替换，只要能够满足接触刚度可调的特性即可。
还可以理解的，本申请实施例提供的正畸钳头，除了上述部件外，还可以包括一些必要的安装紧固结构和管道相应的驱动控制单元等。
还可以理解的，上述刚体芯和软体套可以快捷更换。
还可以理解的，本申请实施例提供的正畸钳头，可以适用于临床医师手工操作时用到的正畸钳头，也可应用于正畸矫治器弓丝以外的类似对象的成型等，在此不做限制。
参照图2，其示出了适用于本申请实施例提供的正畸器械机器人的结构示意图。
如图2所示，一种正畸器械机器人，可以包括：
如上述实施例提供的正畸钳头10；
钳身20；
连接件30，连接件连接正畸钳头10与钳身20。
具体的，钳身20上开设有第一安装孔；连接件30上开设有第二安装孔；借助插销40分别与第一安装孔和第二安装孔过盈配合完成正畸钳头10和钳身20的紧固。
可以理解的，在钳身20上配置单个正畸钳头10，可以使得正畸器械机器人具备推、挤压功能，类似手指。在钳身20上成对配置正畸钳头10，可以使得正畸器械机器人具备夹持功能，类似手爪，如图2中示出为成对配置正畸钳头10。
如图2所示，末端执行器的主体与机械臂末端相连接并能够实现一副钳身20 的张开和夹紧，所设计的变截面可调刚度正畸钳头10通过连接件30***到钳身20的孔中，并借助插销40分别与钳身20和连接件30上的第一、第二安装孔过盈配合完成紧固。为了配合变截面设计以成对使用，即保证一对正畸钳头10的外侧软体套12实现夹紧，正畸钳头10与连接件30之间呈角度设置，角度根据安装正畸钳头10的布置和正畸钳头10的刚体芯的变截面确定，即内部刚体芯11被设计为与连接件30具有一定的倾角，如图3所示。
在上述实时方案中，新的弓丝矫治器成型方法支持的动作除了夹持和折弯外，还将包括借助推的动作实现折弯成型和借助挤压动作实现连续功能曲段的成型。
如图4所示，当弓丝矫治器50的一端被传统的刚体钳头60稳定夹持后，配制本申请上述实施例提供的正畸钳头10的末端执行器通过在外侧的“推”的动作，可完成小半径的功能曲弯折。
一种采用如上述实施例提供的正畸器械机器人的成型方法，如图5所示，当弓丝矫治器50的一端被传统的刚体钳头60稳定夹持后，正畸器械机器人的正畸钳头10夹持弓丝矫治器50的另一端，并通过控制夹持力度、接触截面和正畸钳头10的软体套12的刚度完成挤压滑移，得到一段连续的圆弧段功能曲。可以理解的，通过控制与软体套12不同截面的接触，可以得到不同的圆弧。
本申请实施例提供的成型方法，包括借助推的动作实现折弯功能曲成型和借助挤压动作实现连续功能曲成型方法，以及配合已有的刚体钳头夹持、弯折等动作实现组合功能曲的机器人成型操作方法。
本申请实施例提供的成型方法，可实现临床正畸医师的夹持、弯折、剪切，推、挤压等动作。
本申请实施例提供的成型方法，能够实现从外侧对弓丝施加推的动作，将大大减小弯折成型的最小折弯半径，以实现精细功能曲的弯折。
本申请实施例提供的成型方法，能够实现不同接触截面(即曲率半径)不同刚度的挤压，能够精确调控接触状态以得到不同曲率的连续圆弧功能曲。
本申请实施例提供的成型方法，借助现有的结构，能够实现末端执行器与弓丝对象在弯制过程中的安全稳定接触。
本申请实施例提供的成型方法，提高了机械臂制备的灵巧性，能够实现结构和力学性能更复杂的矫治器功能曲的弯制。
本申请实施例提供的成型方法，除推、挤压等常用的动作外，还可根据操作规划和双臂协同控制以实现更加复杂的动作。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于***实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。

Claims (10)

  1. 一种正畸钳头，其特征在于，所述正畸钳头包括：
    刚体芯(11)，所述刚体芯(11)采用变截面设计；
    刚度可调的软体套(12)，所述软体套(12)开设有内部空腔，所述内部空腔与所述刚体芯外形一致；所述软体套(12)通过过盈配合嵌套在所述刚体芯(11)外部。
  2. 根据权利要求1所述的正畸钳头，其特征在于，所述刚体芯(11)采用钢或高强度材料制作。
  3. 根据权利要求1所述的正畸钳头，其特征在于，所述刚体芯(11)通过材料制作及加工或3D打印制作而成。
  4. 根据权利要求1所述的正畸钳头，其特征在于，所述软体套(12)采用3D打印或熔蜡铸造制作而成。
  5. 根据权利要求1所述的正畸钳头，其特征在于，所述软体套(12)内部设计有封闭空腔；
    所述正畸钳头还包括管道(13)；通过所述管道(13)向封闭空腔内输入气压，在外部驱动下所述封闭空腔发生形变以改变所述软体套(12)整个或局部刚度。
  6. 根据权利要求5所述的正畸钳头，其特征在于，所述封闭空腔内填充有颗粒。
  7. 根据权利要求6所述的正畸钳头，其特征在于，所述颗粒为弹性球或刚体球。
  8. 一种正畸器械机器人，其特征在于，所述机器人包括：
    如权利要求1-7任一项所述的正畸钳头(10)；
    钳身(20)；
    连接件(30)，所述连接件连接所述正畸钳头(10)与所述钳身(20)。
  9. 根据权利要求8所述的机器人，其特征在于，所述正畸钳头(10)与所述连接件(30)之间呈角度设置，所述角度根据安装所述正畸钳头(10)的布置和所述正畸钳头(10)的刚体芯的变截面确定。
  10. 一种采用如权利要求8或9所述的正畸器械机器人的成型方法，其特征在于，当矫治器的一端被传统钳头稳定夹持后，所述正畸器械机器人的正畸钳头夹持所述矫治器的另一端，并通过控制夹持力度、接触截面和正畸钳头的软体套的刚度完成挤压滑移，得到一段连续的圆弧段功能曲。
PCT/CN2022/131079 2022-11-10 2022-11-10 一种正畸钳头、正畸器械机器人及成型方法 WO2024098319A1 (zh)

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