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1.发明申请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：US20080154644A1
公开(公告)日：2008-06-26
申请号：US11901108
申请日：2007-09-14
IPC分类号： G06Q50/00
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 arm. 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固定或者位于机器人手臂的末端。 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。
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2.发明申请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：US20080153053A1
公开(公告)日：2008-06-26
申请号：US11901098
申请日：2007-09-14
IPC分类号： 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。
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公开(公告)号：US20090197217A1
公开(公告)日：2009-08-06
申请号：US12384538
申请日：2009-04-06
CPC分类号： A61K33/06 , A61K31/198 , A61K31/522 , A61K36/82 , B33Y80/00 , A61K2300/00
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.
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公开(公告)号：US20060130550A1
公开(公告)日：2006-06-22
申请号：US11260538
申请日：2005-10-27
IPC分类号： B21D11/02
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.
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5.发明申请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：US20090199609A1
公开(公告)日：2009-08-13
申请号：US12384543
申请日：2009-04-06
CPC分类号： A61K33/06 , A61K31/198 , A61K31/522 , A61K36/82 , B33Y80/00 , A61K2300/00
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。
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6.发明申请公开(公告)号：US20050043837A1
公开(公告)日：2005-02-24
申请号：US10951119
申请日：2004-09-27
IPC分类号： A61C3/00 , A61C7/00 , A61C7/14 , A61C9/00 , A61C13/00 , A61F2/30 , G06F19/00 , G06Q10/06 , G06T17/00
CPC分类号： G06T17/00 , A61C7/00 , A61C7/002 , A61C7/12 , A61C7/14 , A61C7/146 , A61C7/28 , A61C9/0046 , A61C13/0004 , A61F2002/30953 , B33Y50/00 , B33Y80/00 , G06F19/00 , G06F19/321 , G06F19/3481 , G06Q10/06 , G16H50/50
摘要： Interactive, computer based orthodontist treatment planning, appliance design and appliance manufacturing is described. A scanner is described which acquires images of the dentition which are converted to three-dimensional frames of data. The data from the several frames are registered to each other to provide a complete three-dimensional virtual model of the dentition. Individual tooth objects are obtained from the virtual model. A computer-interactive software program provides for treatment planning, diagnosis and appliance from the virtual tooth models. A desired occlusion for the patient is obtained from the treatment planning software. The virtual model of the desired occlusion and the virtual model of the original dentition provide a base of information for custom manufacture of an orthodontic appliance. A variety of possible appliance and appliance manufacturing systems are contemplated, including customized archwires and customized devices for placement of off-the shelf brackets on the archwires, and removable orthodontic appliances.
摘要翻译： 描述了交互式，基于计算机的正畸治疗计划，器具设计和器具制造。 描述了一种扫描器，其获取被转换为三维数据帧的齿列的图像。 来自多个帧的数据彼此登记，以提供牙列的完整的三维虚拟模型。 从虚拟模型获得单个牙齿对象。 计算机交互软件程序提供虚拟牙齿模型的治疗计划，诊断和器具。 从治疗计划软件获得患者期望的闭塞。 所需闭塞的虚拟模型和原始齿列的虚拟模型提供了用于定制矫正器具制造的信息的基础。 可以考虑各种可能的器具和器具制造系统，包括定制的弓丝和用于将弓形架上的现成支架放置的定制装置以及可移除的矫正器具。
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公开(公告)号：US20060079981A1
公开(公告)日：2006-04-13
申请号：US11285629
申请日：2005-11-22
IPC分类号： A61C3/00
CPC分类号： G06T17/00 , A61C7/00 , A61C7/002 , A61C7/146 , A61C9/0046 , A61C13/0004 , A61F2002/30953 , B33Y50/00 , B33Y80/00 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06Q10/06 , G16H50/50 , G16H80/00
摘要： Interactive, computer based orthodontist treatment planning, appliance design and appliance manufacturing is described. A scanner is described which acquires images of the dentition which are converted to three-dimensional frames of data. The data from the several frames are registered to each other to provide a complete three-dimensional virtual model of the dentition. Individual tooth objects are obtained from the virtual model. A computer-interactive software program provides for treatment planning, diagnosis and appliance from the virtual tooth models. A desired occlusion for the patient is obtained from the treatment planning software. The virtual model of the desired occlusion and the virtual model of the original dentition provide a base of information for custom manufacture of an orthodontic appliance. A variety of possible appliance and appliance manufacturing systems are contemplated, including customized archwires and customized devices for placement of off-the shelf brackets on the archwires, and removable orthodontic appliances.
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公开(公告)号：US06688885B1
公开(公告)日：2004-02-10
申请号：US09560642
申请日：2000-04-28
申请人： Rohit Sachdeva , Ron Jennings , David M. Schaller , Thomas Weise , Rudger Rubbert , Friedrich Riemeier , Gary Sadow
发明人： Rohit Sachdeva , Ron Jennings , David M. Schaller , Thomas Weise , Rudger Rubbert , Friedrich Riemeier , Gary Sadow
IPC分类号： A61C300
摘要： A method and apparatus for treating an orthodontic patient include processing that begins by generating digital information regarding the orthodontic patient by a site orthodontic system. The site orthodontic system then transmits the digital information to an orthodontic server, which creates an electronic patient record therefrom. The orthodontic server then generates an initial treatment from the electronic patient record, wherein the initial treatment plan includes precise steps to obtain a desired orthodontic structure. The orthodontic server then transmits a digital version of the initial treatment plan to the site orthodontic system. Upon confirmation from the site orthodontic system, the orthodontic server designs an orthodontic apparatus for one of the precise steps based on the treatment plan. The orthodontic apparatus is then fabricated and provided to the site orthodontic system. At predetermined points in time after installation of the orthodontic apparatus in accordance with the treatment plan, the patient's mouth is electronically scanned to obtain updated digital information. The site orthodontic system provides the updated digital information to the orthodontic server, which uses the updated digital information to update the electronic patient record. From the updated electronic patient record, the orthodontic server determines whether the actual movement of the patient's teeth is as predicted. If so, the next step of the initial treatment plan is executed. If, however, the actual movement is not as predicted, the orthodontic server adjusts the treatment plan to obtain the desired results. After the treatment plan has been adjusted, the next step of the revised treatment plan is executed. This monitoring of a patient's progress and revising the treatment plan, when necessary, continues throughout the treatment.
摘要翻译： 用于治疗正畸患者的方法和装置包括通过由正畸系统产生关于正畸患者的数字信息开始的处理。 现场正畸系统然后将数字信息发送到正畸服务器，从而从其创建电子病人记录。 然后，正畸服务器从电子患者记录产生初始治疗，其中初始治疗计划包括获得所需正畸结构的精确步骤。 然后，正畸服务器将初始治疗计划的数字版本发送到正畸系统。 在正畸系统确认之后，正畸服务器根据治疗计划为正确的设备设计一个精确的步骤。 然后将正畸装置制造并提供给正畸系统。 在根据治疗计划安装正畸装置之后的预定时间点，电子扫描病人的嘴以获得更新的数字信息。 正畸系统向正畸服务器提供更新的数字信息，其使用更新的数字信息来更新电子病人记录。 从更新的电子病历记录，正畸服务器确定患者牙齿的实际运动是否如预期的那样。 如果是这样，则执行初始治疗计划的下一步骤。 然而，如果实际运动没有如预期，则正畸服务器调整治疗计划以获得期望的结果。 治疗计划调整后，执行治疗计划的下一步。 在必要时，对患者进展情况进行监测，并在整个治疗过程中继续修订治疗计划。
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9.发明申请Method and apparatus for generating an orthodontic template that assists in placement of orthodontic apparatus 有权用于产生有助于放置正畸装置的矫正模板的方法和装置公开(公告)号：US20050208450A1
公开(公告)日：2005-09-22
申请号：US11135143
申请日：2005-05-23
申请人： Rohit Sachdeva , Rudger Rubbert , Thomas Weise , Friedrich Riemeier , Michael Placke , Mathew Johnson
发明人： Rohit Sachdeva , Rudger Rubbert , Thomas Weise , Friedrich Riemeier , Michael Placke , Mathew Johnson
摘要： A method and apparatus for generating a orthodontic template that assists in the placement of an orthodontic apparatus includes processing that begins by obtaining a digital model of an orthodontic structure of an orthodontic patient. The processing continues by obtaining a selection of one of a plurality of orthodontic apparatuses for the orthodontic structure to produce a selected orthodontic apparatus. The processing then continues by obtaining a digital model of placement of the selected orthodontic apparatus on the digital model of the orthodontic structure. The processing then continues by retrieving a digital image of a tooth mounting apparatus (e.g., a bracket, a band, a headgear tube, etc.) of the selected apparatus for a given tooth. The processing then continues by generating a orthodontic template for holding a physical embodiment of the tooth mounting apparatus based on the digital image of the tooth mounting apparatus, the digital model of the placement, and at least a portion of the digital model of the orthodontic structure.
摘要翻译： 用于产生有助于矫正装置放置的矫正模板的方法和装置包括通过获得正畸患者的正畸结构的数字模型开始的处理。 通过获得用于正牙结构的多个正畸装置之一的选择来继续处理以产生所选择的正畸装置。 然后通过获得将所选择的正畸装置放置在正畸结构的数字模型上的数字模型继续进行处理。 然后通过检索用于给定牙齿的所选装置的牙齿安装装置（例如，支架，带，头带管等）的数字图像继续进行处理。 然后，通过基于牙齿安装装置的数字图像，放置的数字模型以及正畸结构的数字模型的至少一部分生成用于保持牙齿安装装置的物理实施例的正牙模板的处理 。
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公开(公告)号：US06540512B1
公开(公告)日：2003-04-01
申请号：US09451560
申请日：1999-11-30
申请人： Rohit Sachdeva , Ron Jennings , David M. Schaller , Thomas Weise , Rudger Rubbert , Friedrich Riemeier , Gary Sadow
发明人： Rohit Sachdeva , Ron Jennings , David M. Schaller , Thomas Weise , Rudger Rubbert , Friedrich Riemeier , Gary Sadow
IPC分类号： A61C300
摘要： A method and apparatus for treating an orthodontic patient include processing that begins by generating digital information regarding the orthodontic patient by a site orthodontic system. The site orthodontic system then transmits the digital information to an orthodontic server, which creates an electronic patient record therefrom. The orthodontic server then generates an initial treatment from the electronic patient record, wherein the initial treatment plan includes precise steps to obtain a desired orthodontic structure. The orthodontic server then transmits a digital version of the initial treatment plan to the site orthodontic system. Upon confirmation from the site orthodontic system, the orthodontic server designs an orthodontic apparatus for one of the precise steps based on the treatment plan. The orthodontic apparatus is then fabricated and provided to the site orthodontic system. At predetermined points in time after installation of the orthodontic apparatus in accordance with the treatment plan, the patient's mouth is electronically scanned to obtain updated digital information. The site orthodontic system provides the updated digital information to the orthodontic server, which uses the updated digital information to update the electronic patient record. From the updated electronic patient record, the orthodontic server determines whether the actual movement of the patient's teeth is as predicted. If so, the next step of the initial treatment plan is executed. If, however, the actual movement is not as predicted, the orthodontic server adjusts the treatment plan to obtain the desired results. After the treatment plan has been adjusted, the next step of the revised treatment plan is executed. This monitoring of a patient's progress and revising the treatment plan, when necessary, continues throughout the treatment.
摘要翻译： 用于治疗正畸患者的方法和装置包括通过由正畸系统产生关于正畸患者的数字信息开始的处理。 现场正畸系统然后将数字信息发送到正畸服务器，从而从其创建电子病人记录。 然后，正畸服务器从电子患者记录产生初始治疗，其中初始治疗计划包括获得所需正畸结构的精确步骤。 然后，正畸服务器将初始治疗计划的数字版本发送到正畸系统。 在正畸系统确认之后，正畸服务器根据治疗计划为正确的设备设计一个精确的步骤。 然后将正畸装置制造并提供给正畸系统。 在根据治疗计划安装正畸装置之后的预定时间点，电子扫描病人的嘴以获得更新的数字信息。 正畸系统向正畸服务器提供更新的数字信息，其使用更新的数字信息来更新电子患者记录。 从更新的电子病历记录，正畸服务器确定患者牙齿的实际运动是否如预期的那样。 如果是这样，则执行初始治疗计划的下一步骤。 然而，如果实际运动没有如预期，则正畸服务器调整治疗计划以获得期望的结果。 治疗计划调整后，执行治疗计划的下一步。 在必要时，对患者进展情况进行监测，并在整个治疗过程中继续修订治疗计划。
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