机器人弯制正畸弓丝成形控制点规划及实验研究

Forming control point planning and experimentation of orthodontic archwire with robotic bending

错颌畸形是目前危害人类健康的第三大口腔疾病,固定矫治是一种常用且有效的正畸治疗手段,其中矫治弓丝的弯制是重要部分。机器人以其精确的位姿控制和刚性保持能力可以克服弓丝的超弹性实现弓丝弯制。基于幂函数模型建立了分段式的正畸弓丝数学模型,提出采用增量法实现正畸弓丝成形控制点的规划,进行了增量法实现正畸弓丝成形控制点规划策略的研究。通过正畸弓丝成形控制点规划实验,分析不同等分数下初始精度值对控制点数目和面积误差的影响规律,以及控制点数目和面积误差之间的关系。基于正畸弓丝弯制机器人实验系统,针对一例患者的口腔参数,进行了正畸弓丝弯制实验研究,结果验证了正畸弓丝成形控制点规划策略的有效性。

Malocclusion is currently the third largest oral disease harming human health. Fixed appliance technology is the most common and effective malocclusion orthodontic treatment method,and the key step of fixed appliance technology is the bending of orthodontic archwire. A robot,with the precise position and posture control ability and stiffness retaining ability,can overcome the archwire hyperelasticity and realize the bending of the orthodontic archwire. A segmented orthodontic archwire mathematical model is established based on the power function model. The incremental method is presented to realize the forming control point planning of orthodontic archwire. And on this basis,the planning strategy of forming control point of orthodontic archwire is studied. The experiment on the forming control point planning of orthodontic archwire is conducted,the influences of the initial accuracy for different division number on the number of the control points and area error are analyzed,and the relationship between the number of the control points and the area error is also analyzed. With the oral parameters of one patient,the bending experiment of the orthodontic archwire is conducted using the orthodontic archwire bending robot system. The experiment results verify the validity of the planning strategy of the forming control points of orthodontic archwire.