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    Orthodontic treatment planning with user-specified simulation of tooth movement
    2.
    发明授权
    Orthodontic treatment planning with user-specified simulation of tooth movement 有权
    牙齿矫正治疗计划用户指定的牙齿运动模拟

    公开(公告)号：US07585172B2

    公开(公告)日：2009-09-08

    申请号：US10684252

    申请日：2003-10-09

    申请人： Rüdger Rubbert ,  Thomas Weise ,  Rohit Sachdeva ,  Hans Imgrund ,  Peer Sporbert ,  Mario Leichner ,  Jens Troeger ,  Dimitrij Kouzian ,  Stephan Maetzel

    发明人： Rüdger Rubbert ,  Thomas Weise ,  Rohit Sachdeva ,  Hans Imgrund ,  Peer Sporbert ,  Mario Leichner ,  Jens Troeger ,  Dimitrij Kouzian ,  Stephan Maetzel

    IPC分类号： A61C3/00

    CPC分类号： A61C7/00 ,  A61C7/002 ,  A61C7/146 ,  A61C9/006 ,  A61C13/0004 ,  A61F2002/30953 ,  B33Y80/00 ,  G06F19/00

    摘要： An interactive, software-based treatment planning method to correct a malocclusion is described. The method can be performed on an orthodontic workstation in a clinic or at a remote location such as a lab or precision appliance manufacturing center. The workstation stores a virtual three-dimensional model of the dentition of a patient and patient records. The virtual model is manipulated by the user to define a target situation for the patient, including a target archform and individual tooth positions in the archform. Parameters for an orthodontic appliance, such as the location of orthodontic brackets and resulting shape of an orthodontic archwire, are obtained from the simulation of tooth movement to the target situation and the placement position of virtual brackets. The treatment planning can also be executed remotely by a precision appliance service center having access to the virtual model of the dentition. In the latter situation, the proposed treatment plan is sent to the clinic for review, and modification or approval by the orthodontist. The method is suitable for other orthodontic appliance systems, including removable appliances such as transparent aligning trays.

    摘要翻译： 描述了一种基于软件的交互式治疗计划方法来纠正咬合错位。 该方法可以在诊所或远程位置的实验室或精密器具制造中心的正畸工作站上进行。 工作站存储患者和患者记录的牙列的虚拟三维模型。 虚拟模型由用户操纵以定义患者的目标情况，包括目标archform和archform中的单个牙齿位置。 矫正器具的参数，例如正畸托架的位置和正畸弓丝的形状，可以从牙齿运动模拟到目标情况和虚拟支架的放置位置获得。 治疗计划也可以由能够访问牙列的虚拟模型的精密设备服务中心远程执行。 在后一种情况下，拟议的治疗计划被送到诊所进行审查，并由正牙医生修改或批准。 该方法适用于其他矫正设备系统，包括可移动电器，如透明对齐托盘。

    Virtual bracket library and uses thereof in orthodontic treatment planning
    3.
    发明授权
    Virtual bracket library and uses thereof in orthodontic treatment planning 有权
    虚拟支架图书馆及其在正畸治疗计划中的应用

    公开(公告)号：US07361017B2

    公开(公告)日：2008-04-22

    申请号：US11246990

    申请日：2005-10-07

    申请人： Rohit Sachdeva ,  Rüdger Rubbert ,  Thomas Weise

    发明人： Rohit Sachdeva ,  Rüdger Rubbert ,  Thomas Weise

    IPC分类号： A61C3/00

    CPC分类号： A61C7/00 ,  A61C7/002 ,  A61C7/146 ,  A61C9/0053 ,  A61C9/0086 ,  A61C13/0004 ,  A61F2002/30953 ,  G06F19/00 ,  G06F19/3481 ,  G06Q50/22 ,  G06Q50/24 ,  G06T19/00 ,  G06T2210/41 ,  G16H50/50

    摘要： An orthodontic workstation stores a library of virtual three-dimensional brackets in a memory. Each of the virtual brackets has a unique three-dimensional configuration and prescription. Typically, the library of bracket comprises a library of commercially available, off-the-shelf brackets. The workstation further includes an interactive treatment planning program that permits a user to move teeth from a virtual model of the dentition to a proposed set-up. In one possible embodiment, the treatment planning program provides the ability to display a virtual bracket placed on a virtual tooth and change the prescription or configuration of the virtual bracket. The treatment program automatically compares the modified prescription with the prescription information of the virtual brackets in the library and selects a bracket from the library that most closely matches the virtual bracket displayed on the tooth. Thus, the user does not have to use customized brackets. Any deviation in tooth position resulting from a discrepancy between the off-the-shelf bracket and the user-defined bracket can be corrected for by changing the position of the bracket on the tooth or by changing the shape of the archwire.

    摘要翻译： 正畸工作站将虚拟三维括号库存储在存储器中。 每个虚拟括号都具有独特的三维配置和处方。 通常，托架库包括一个可商购的现成支架库。 工作站还包括交互式治疗计划程序，其允许用户将齿从齿列的虚拟模型移动到所提出的设置。 在一个可能的实施例中，治疗计划程序提供显示放置在虚拟牙齿上的虚拟支架并改变虚拟支架的处方或配置的能力。 治疗程序自动将修改的处方与库中虚拟括号的处方信息进行比较，并从库中选择与牙齿上显示的虚拟括号最匹配的括号。 因此，用户不必使用自定义括号。 可以通过改变支架在牙齿上的位置或通过改变弓丝的形状来校正由现有支架和用户定义支架之间的差异导致的齿位置偏差。

    Robot and method for bending orthodontic archwires and other medical devices
    6.
    发明授权
    Robot and method for bending orthodontic archwires and other medical devices 有权
    用于弯曲正畸弓和其他医疗器械的机器人和方法

    公开(公告)号：US06860132B2

    公开(公告)日：2005-03-01

    申请号：US10260762

    申请日：2002-09-27

    申请人： Werner Butscher ,  Friedrich Riemeier ,  Rüdger Rubbert ,  Thomas Weise ,  Rohit Sachdeva

    发明人： Werner Butscher ,  Friedrich Riemeier ,  Rüdger Rubbert ,  Thomas Weise ,  Rohit Sachdeva

    IPC分类号： A61C7/00 ,  A61C7/02 ,  B21F1/00 ,  B21F23/00 ,  B21F45/00 ,  B25J11/00 ,  G06Q50/24 ,  B21D11/10 ,  A61C3/00

    CPC分类号： A61C7/04 ,  A61C7/002 ,  A61C7/20 ,  A61C7/28 ,  B21F1/00 ,  B21F23/005 ,  B21F45/00 ,  B21F45/008 ,  B25J11/00 ,  B33Y50/00 ,  B33Y80/00 ,  G06F19/00 ,  G06Q50/24

    摘要： A robotic bending apparatus for bending archwires and other types of elongate, bendable medical devices into a desired configuration includes a first gripping tool and a moveable gripping tool. The first gripping tool can be either fixed with respect to a base or table for the robot or positioned at the end of robot am. The moveable gripping tool is mounted to the end of a moveable robot arm having a proximal portion also mounted to the base. The robot preferably comprises a six axis bending robot, in which the distal end of the moveable arm can move relative to the fixed gripping tool about three translational axes and three rotational axes. The gripping tools preferably incorporate force sensors which are used to determine overbends needed to get the desired final shape of the archwire. The robot may also include a resistive heating system in which current flows through the wire while the wire is held in a bent condition to heat the wire and thereby retain the bent shape of the wire. A magazine for holding a plurality of straight archwires needing to be bent and a conveyor system for receiving the wires after the bending process is complete are also described. The robot bending system is able to form archwires with any required second and third order bends quickly and with high precision. As such, it is highly suitable for use in a precision appliance-manufacturing center manufacturing a large number of archwires (or other medical devices or appliances) for a distributed base of clinics.

    摘要翻译： 用于将弓丝和其它类型的细长的可弯曲医疗装置弯曲成所需构造的机器人弯曲装置包括第一夹持工具和可移动夹持工具。 第一夹持工具可以相对于用于机器人的基座或工作台来固定，或者位于机器人的末端。 可移动夹持工具安装到可移动机器人臂的端部，其具有也安装到基部的近端部分。 机器人优选地包括六轴弯曲机器人，其中可移动臂的远端可相对于固定夹持工具围绕三个平移轴线和三个旋转轴线移动。 夹紧工具优选地结合有力传感器，其用于确定获得弓丝的所需最终形状所需的过弯。 机器人还可以包括电阻加热系统，其中电流流过导线，同时线被保持在弯曲状态以加热线，从而保持线的弯曲形状。 还描述了一种用于保持需要弯曲的多个直的弓形线的弹匣和用于在弯曲过程完成之后接收电线的输送机系统。 机器人弯曲系统能够快速，高精度地形成任何所需的二次和三次弯曲的弓丝。 因此，它非常适合用于制造分布式诊所基地的大量弓丝（或其他医疗设备或器具）的精密器具制造中心。

    Method and apparatus for generating a desired three-dimensional digital model of an orthodontic structure
    7.
    发明授权
    Method and apparatus for generating a desired three-dimensional digital model of an orthodontic structure 有权
    用于产生正畸结构的所需三维数字模型的方法和装置

    公开(公告)号：US06851949B1

    公开(公告)日：2005-02-08

    申请号：US09560134

    申请日：2000-04-28

    申请人： Rohit Sachdeva ,  Rüdger Rubbert

    发明人： Rohit Sachdeva ,  Rüdger Rubbert

    IPC分类号： A61C7/00 ,  A61C9/00 ,  G06T17/00 ,  A61C11/00

    CPC分类号： A61C7/00 ,  A61C7/002 ,  A61C9/0046 ,  G06T17/00

    摘要： A method and apparatus for generating a three-dimensional digital model of a desired orthodontic structure include processing that begins by obtaining a three-dimensional model of an actual orthodontic structure, wherein the three-dimensional digital model is defined in x, y, z space. The processing then continues by generating an interim three-dimensional model of the desired orthodontic structure less teeth. The interim three-dimensional model is designed in x, y, z space and includes the desired placement of an occlusal plane, an upper-arch form, a lower-arch form, an upper-arch midline, and a lower-arch midline. The processing then continues by positioning the upper and lower teeth with respect to the interim digital model and the defined x, y, z space to obtain a first pass three-dimensional digital model of the desired orthodontic structure. The processing continues by determining whether achieving the first pass three-dimensional model is feasible. When achieving the first pass three-dimensional image is feasible, the processing continues by utilizing the first pass three-dimensional model as the desired three-dimensional digital model.

    摘要翻译： 用于产生所需正畸结构的三维数字模型的方法和装置包括通过获得实际正畸结构的三维模型开始的处理，其中三维数字模型被定义在x，y，z空间中 。 然后通过产生期望的正畸结构较少牙齿的临时三维模型继续处理。 临时三维模型设计在x，y，z空间中，包括所需的咬合平面，上拱形，下拱形，上拱中线和下拱中线的放置。 然后通过相对于临时数字模型和限定的x，y，z空间定位上下齿并继续进行处理，以获得所需正畸结构的第一遍三维数字模型。 通过确定实现第一遍三维模型是否可行来继续处理。 当实现第一遍三维图像是可行的时，通过利用第一遍三维模型作为期望的三维数字模型继续处理。

    Orthodontic treatment planning with user-specified simulation of tooth movement
    8.
    发明授权
    Orthodontic treatment planning with user-specified simulation of tooth movement 有权
    牙齿矫正治疗计划用户指定的牙齿运动模拟

    公开(公告)号：US06632089B2

    公开(公告)日：2003-10-14

    申请号：US09834412

    申请日：2001-04-13

    申请人： Rüdger Rubbert ,  Thomas Weise ,  Rohit Sachdeva ,  Hans Imgrund ,  Peer Sporbert ,  Mario Leichner ,  Jens Troeger ,  Dimitrij Kouzian ,  Stephan Maetzel

    发明人： Rüdger Rubbert ,  Thomas Weise ,  Rohit Sachdeva ,  Hans Imgrund ,  Peer Sporbert ,  Mario Leichner ,  Jens Troeger ,  Dimitrij Kouzian ,  Stephan Maetzel

    IPC分类号： A61C300

    CPC分类号： A61C7/00 ,  A61C7/002 ,  A61C7/146 ,  A61C9/006 ,  A61C13/0004 ,  A61F2002/30953 ,  B33Y80/00 ,  G06F19/00

    摘要： An interactive, software-based treatment planning method to correct a malocclusion is described. The method can be performed on an orthodontic workstation in a clinic or at a remote location such as a lab or precision appliance manufacturing center. The workstation stores a virtual three-dimensional model of the dentition of a patient and patient records. The virtual model is manipulated by the user to define a target situation for the patient, including a target archform and individual tooth positions in the archform. Parameters for an orthodontic appliance, such as the location of orthodontic brackets and resulting shape of an orthodontic archwire, are obtained from the simulation of tooth movement to the target situation and the placement position of virtual brackets. The treatment planning can also be executed remotely by a precision appliance service center having access to the virtual model of the dentition. In the latter situation, the proposed treatment plan is sent to the clinic for review, and modification or approval by the orthodontist. The method is suitable for other orthodontic appliance systems, including removable appliances such as transparent aligning trays.

    摘要翻译： 描述了一种基于软件的交互式治疗计划方法来纠正咬合错位。 该方法可以在诊所或远程位置的实验室或精密器具制造中心的正畸工作站上进行。 工作站存储患者和患者记录的牙列的虚拟三维模型。 虚拟模型由用户操纵以定义患者的目标情况，包括目标archform和archform中的单个牙齿位置。 矫正器具的参数，例如正畸托架的位置和正畸弓丝的形状，可以从牙齿运动模拟到目标情况和虚拟支架的放置位置获得。 治疗计划也可以由能够访问牙列的虚拟模型的精密设备服务中心远程执行。 在后一种情况下，拟议的治疗计划被送到诊所进行审查，并由正牙医生修改或批准。 该方法适用于其他正畸设备系统，包括可移动设备，如透明对齐托盘。

    Robot and method for bending orthodontic archwires and other medical devices
    10.
    发明授权
    Robot and method for bending orthodontic archwires and other medical devices 有权
    用于弯曲正畸弓和其他医疗器械的机器人和方法

    公开(公告)号：US07283891B2

    公开(公告)日：2007-10-16

    申请号：US11260538

    申请日：2005-10-27

    申请人： Werner Butscher ,  Friedrich Riemeier ,  Rüdger Rubbert ,  Thomas Weise ,  Rohit Sachdeva

    发明人： Werner Butscher ,  Friedrich Riemeier ,  Rüdger Rubbert ,  Thomas Weise ,  Rohit Sachdeva

    IPC分类号： G06F19/00

    CPC分类号： A61C7/04 ,  A61C7/002 ,  A61C7/20 ,  A61C7/28 ,  B21F1/00 ,  B21F23/005 ,  B21F45/00 ,  B21F45/008 ,  B25J11/00 ,  B33Y50/00 ,  B33Y80/00 ,  G06F19/00 ,  G06Q50/24

    摘要： A robotic bending apparatus for bending archwires and other types of elongate, bendable medical devices into a desired configuration includes a first gripping tool and a moveable gripping tool. The first gripping tool can be either fixed with respect to a base or table for the robot or positioned at the end of robot am. The moveable gripping tool is mounted to the end of a moveable robot arm having a proximal portion also mounted to the base. The robot preferably comprises a six axis bending robot, in which the distal end of the moveable arm can move relative to the fixed gripping tool about three translational axes and three rotational axes. The gripping tools preferably incorporate force sensors which are used to determine overbends needed to get the desired final shape of the archwire. The robot may also include a resistive heating system in which current flows through the wire while the wire is held in a bent condition to heat the wire and thereby retain the bent shape of the wire. A magazine for holding a plurality of straight archwires needing to be bent and a conveyor system for receiving the wires after the bending process is complete are also described. The robot bending system is able to form archwires with any required second and third order bends quickly and with high precision. As such, it is highly suitable for use in a precision appliance-manufacturing center manufacturing a large number of archwires (or other medical devices or appliances) for a distributed base of clinics.

    摘要翻译： 用于将弓丝和其它类型的细长的可弯曲医疗装置弯曲成所需构造的机器人弯曲装置包括第一夹持工具和可移动夹持工具。 第一夹持工具可以相对于用于机器人的基座或工作台来固定，或者位于机器人的末端。 可移动夹持工具安装到可移动机器人臂的端部，其具有也安装到基部的近端部分。 机器人优选地包括六轴弯曲机器人，其中可移动臂的远端可相对于固定夹持工具围绕三个平移轴线和三个旋转轴线移动。 夹紧工具优选地结合有力传感器，其用于确定获得弓丝的所需最终形状所需的过弯。 机器人还可以包括电阻加热系统，其中电流流过导线，同时线被保持在弯曲状态以加热线，从而保持线的弯曲形状。 还描述了一种用于保持需要弯曲的多个直的弓形线的弹匣和用于在弯曲过程完成之后接收电线的输送机系统。 机器人弯曲系统能够快速，高精度地形成任何所需的二次和三次弯曲的弓丝。 因此，它非常适合用于制造分布式诊所基地的大量弓丝（或其他医疗设备或器具）的精密器具制造中心。