用于机器人全口义齿制作的排牙算法

A Tooth Arrangement Algorithm for Robot Aided Denture Processing

研究使用计算机辅助设计和机器人辅助操作 ,实现全口义齿制作中的定量排牙 .根据口腔修复专家给出的全口义齿形态匹配数学模型和刚体的空间位姿变换原理 ,设计出符合口腔修复医学要求的排牙算法 ,同时融合了口腔修复专家的排牙经验 .该算法能够根据患者的无牙颌形态参数 ,计算出适合该患者的全口义齿中各人工散牙的相对位姿关系 .

The traditional way in the processing of complete denture has to be manual, low in efficiency and having high rejection rates. Quantitative tooth arrangement can realize perfect quality and high efficiency, applying robot aided processing system and employing computer aided design. A tooth arrangement algorithm has to be developed for such a system that can satisfy the requirements of complete denture preparation and represent the experience of oral restoration experts as accurately as possible. This paper introduces the concept of tooth arrangement method in a robot aided system of complete denture preparation developed by the authors, giving the relevant mathematical model. The results of an application example indicate that this method is logical and efficient.