机器人弯制正畸弓丝成形控制点规划及实验研究

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。     

机器人弯制澳丝的回弹机理分析及实验研究

错颌畸形是一种常见的口腔疾病,固定矫治技术是目前常见且有效的正畸治疗的方法,其中正畸弓丝的弯制是固定矫治技术的关键部分。由于弓丝的超弹性、成形弓丝的形状复杂性和手工操作的不确定性,难以实现快速、精确的个性化正畸弓丝的弯制。提出采用机器人实现正畸弓丝弯制,利用机器人的位姿精确控制能力和刚性保持能力克服弓丝的超弹性,实现弓丝弯制。基于弓丝弯制原理的分析,进行了澳丝弯制回弹过程分析。从考虑弯曲过程中中性层内移和弯曲力臂影响的角度出发,以澳丝拉伸试验所得材料本构模型为基础,进行了澳丝弯曲中性层曲率半径和弯曲力矩的计算,进而建立了澳丝的弯曲回弹理论计算模型。基于正畸弓丝回弹测量仪进行了澳丝弯曲回弹实验研究,结果验证了澳丝弯曲回弹理论计算模型的正确性。针对一例患者的口腔参数,基于正畸弓丝弯制机器人实验系统,进行了澳丝弯制实验研究,实验结果满足口腔治疗的要求,结果验证了该机器人样机的有效性和实用性。     

基于有限点展成法的正畸弓丝成形控制点规划

错颌畸形是目前常见的口腔疾病,固定矫治是治疗错颌畸形的有效方法,其中固定矫治技术的关键是正畸弓丝的精确化弯制。机器人利用其位姿的精确控制能力可以实现精确化的弓丝弯制,其中弓丝成形控制点的规划决定了机器人弯制正畸弓丝的成形精度。基于分段式的正畸弓丝数学模型,提出采用有限点展成法实现正畸弓丝成形控制点的位置规划,对基于有限点展成法的正畸弓丝成形控制点位置规划方案进行实验验证,对不同弦弧围成面积下弦弧差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进行了讨论,并提出基于斜率法的正畸弓丝成形控制点角度规划策略。基于患者临床口腔数据,利用自行设计的正畸弓丝弯制机器人实验系统,通过正畸弓丝弯制实验验证了正畸弓丝成形控制点位置和角度规划策略的有效性。     

正畸弓丝弯制特性分析及实验研究

对镍钛合金弓丝、β-钛合金弓丝、澳丝和国产不锈钢弓丝这4种正畸弓丝的弯制特性进行了分析。采用MSC.Marc有限元分析软件根据实际弯制方法建立弓丝弯制有限元模型并进行仿真分析,结合弯制实验得到4种正畸弓丝的回弹特性曲线,并对实验结果进行了对比。结果表明,镍钛合金弓丝、β-钛合金弓丝、澳丝和国产不锈钢弓丝这4种正畸弓丝的回弹性依次减小,回弹角随着弯制角度的增加而增大;有限元仿真结果和实验结果基本一致。采用弓丝弯制机器人在弓丝回弹特性的基础上进行弓丝弯制,固定夹具和移动夹具的距离t=2mm时的拟合曲线要优于t=10mm时的拟合曲线;因此在使用弓丝弯制机器人弯丝时要尽量减小固定夹具和移动夹具之间的距离。     

个性化正畸弓丝曲线交互调整方法研究*

数字化医疗技术是口腔正畸领域发展的必然趋势,临床上开始使用正畸弓丝弯制机器人技术辅助弯制正畸弓丝,而正畸弓丝的数字化表达是机器人弯制的前提。由于人类牙齿排列的个性化,弓丝形状设计的复杂性,难以实现精确地个性化正畸弓丝曲线数字化表达。提出一种个性化正畸弓丝曲线交互调整的设计方法,根据托槽上的基准点坐标,定义了正畸弓丝曲线的托槽直线段和过渡曲线段,过渡曲线段由3阶Bezier曲线数学模型构建。参考手工弯制正畸弓丝的过程,基于离散和组合的方式建立了正畸弓丝特殊功能曲的参数化数学模型及数学模型库。通过对托槽直线段的位置调整、过渡曲线段的形状改变、选择插入特殊功能曲的位置和类型的方式,进行了个性化正畸弓丝曲线交互调整方法的研究。基于LABVIEW软件平台设计了交互调整的软件,并进行调整实验,其结果证明个性化正畸弓丝曲线交互调整的方法具有可行性和有效性。     

个性化正畸弓丝成形规划方法及实验研究

传统手工弯制正畸弓丝弯制效率低、弯制精度不高，使用正畸弓丝弯制机器人弯制正畸弓丝能够克服上述缺点。根据临床上正畸医师常用的牙位标识方法对牙位进行了标识，使用贝塞尔曲线量化正畸弓丝在三维空间内的形状、位置和约束关系，采用插补的方式以离散的运动形式表达连续的状态，以实现正畸弓丝空间曲线的弯制，提出了基于有限点展成法的成形控制点的规划方法以及基于投影面角度合成的空间角度规划方法。通过对一例临床患者一组上颌的三维节点信息进行正畸弓丝弯制实验研究，证明了正畸弓丝机器人弯制方法的有效性。     

正畸不锈钢丝弯制形状设计

在口腔正畸临床中,需要对提供正畸力的不锈钢丝弯曲成型。对不锈钢正畸丝弯曲成型和回弹问题进行了研究,运用有限元分析软件ANSYS的APDL参数化程序设计技术,对正畸临床医学中使用的正畸不锈钢丝小型方弓的弯制形状进行优化设计,得到了合适的弯制形状。使用有限元软件ABAQUS对计算结果进行了校核,验证了ANSYS优化设计计算得到的结果;并使用理论解析求解的方法验证了有限元软件计算结果。对设计不锈钢丝弯制成型器具有重要指导意义,可以减少正畸丝弯制操作的人为性,提高正畸丝弯制过程的效率。     

基于Matlab的编烟机曲针部分的运动仿真分析

从某新开发的烤烟编烟机中的曲针运动特性分析入手,通过对曲针部分的曲柄连杆滑块机构的简化,判断机构运动的特性和极限位置。利用Matlab提供的机构运动仿真分析模块SimMechanics,建立编烟机曲针结构模型,并根据实际情况设置运动仿真的各个参数,并对所要研究的对象进行运动数据的测量,对编烟机曲针的预期运动进行了仿真验证,通过对SimMechanics计算出的数据进行分析,获得了符合预期运动特性的参数,为机构的设计提供了可靠的仿真依据,使设计更加完善。     

氮化硅陶瓷套圈磨削力有限元仿真分析与实验

分析磨削氮化硅陶瓷材料时产生的磨削力,对磨削力的变化规律进行探索,对磨削过程中磨削力的大小进行预测,提高磨削效率和加工表面质量。通过超景深电子显微镜对砂轮表面磨粒分布状况进行扫描,计算得到砂轮表面的磨粒密度,建立多颗磨粒随机分布的三维虚拟砂轮模型,将砂轮模型导入到Abaqus有限元仿真软件中进行氮化硅陶瓷的磨削仿真,得到不同参数组合下的磨削力仿真数据。在MK2710的数控磨床上进行氮化硅陶瓷的磨削实验,获取相应的磨削力实验数据,比较实验数值与预测数值,并分析影响磨削力因素的主次顺序。实验数值与预测数值具有一致性,磨削深度对磨削力的影响最大,其次为砂轮转速和径向进给速度。     

考虑装配误差的车门关闭力计算

针对由装配误差引起的车门关闭力预测不准确问题,提出了一种计算精确车门关闭力的方法。该方法首先建立车门关闭过程中各部件相应的力学模型,在影响关闭力大小的几个因素中以门锁为例,通过蒙特卡罗模拟得到车门装配过程中门锁位置误差的概率分布统计,然后在计算关闭力的数学模型中结合门锁位置装配误差,得到车门关闭力的概率分布结果,最后对样车进行关闭力测试,试验结果表明考虑装配误差的车门关闭力的计算精度明显提高。     

Morphological investigation of various orthodontic lingual bracket slots using scanning electron microscopy and atomic force microscopy

Various labial and lingual orthodontic appliances with aesthetic materials have been developed due to an increased demand in aesthetic orthodontic treatment. However, there are few reports regarding the morphology of lingual orthodontic appliances. Therefore, this study evaluates the roughness of slot surfaces of various orthodontic lingual brackets using field emission scanning electron microscopy (FE‐SEM) and atomic force microscopy (AFM). Three types of stainless steel lingual brackets (Stealth^®, 7th Generation^®, and Clippy L^®) and one gold lingual bracket (Incognito?) with a slot size of 0.018 inches × 0.025 inches (0.457 × 0.635 mm²) were selected as representative lingual materials. Both FE‐SEM and AFM examinations showed that the Stealth^® and Clippy L^® brackets had the lowest surface roughness, while the 7th Generation^® bracket had the highest surface roughness. There was a significant difference in surface morphology between the types of lingual brackets, even when composed of the same material. The surface roughness of the bracket slot was dependent on the manufacturing process or surface polishing process rather than the fundamental properties of the bracket materials. There was no significant difference in the mean surface roughness of the slot floor between gold and stainless steel lingual brackets. These findings suggest that, although the gold lingual bracket is very expensive, it has great potential for use in patients with nickel allergy.     

Changes in the surface roughness and friction coefficient of orthodontic bracket slots before and after treatment

In this study, we tested the surface roughness of bracket slots and the friction coefficient between the bracket and the stainless steel archwire before and after orthodontic treatment. There were four experimental groups: groups 1 and 2 were 3M new and retrieved brackets, respectively, and groups 3 and 4 were BioQuick new and retrieved brackets, respectively. All retrieved brackets were taken from patients with the first premolar extraction and using sliding mechanics to close the extraction space. The surface roughness of specimens was evaluated using an optical interferometry profilometer, which is faster and nondestructive compared with a stylus profilometer, and provided a larger field, needing no sample preparation, compared with atomic force microscopy. Orthodontic treatment resulted in significant increases in surface roughness and coefficient of friction for both brands of brackets. However, there was no significant difference by brand for new or retrieved brackets. These retrieval analysis results highlight the necessity of reevaluating the properties and clinical behavior of brackets during treatment to make appropriate treatment decisions. SCANNING 35: 265‐272, 2013. © 2012 Wiley Periodicals, Inc.     

SolidWorks在智能口腔矫治器设计中的应用

运用三维CAD/CAM/CAE集成化设计软件SolidWorks设计了智能口腔矫治器.介绍了SolidWorks的三维建模、虚拟装配、运动仿真等功能在产品开发设计中的应用.     

Assessment of frictional resistance and surface roughness in orthodontic wires coated with two different nanoparticles

Several mechanical and biological factors may change the orthodontic wire frictional resistance (FR). Titanium dioxide (TiO₂) and silica dioxide (SiO₂) nanoparticle (NP) coatings may be used to improve the characteristics of materials, reducing FR between archwire and bracket. This in vitro study aimed to evaluate the FR of orthodontic wires with and without coating in both dry and wet environments and measure the surface roughness (SR). One hundred and eighty segments of rectangular Cr–Ni orthodontic wires (Morelli Co, Brazil) were divided into three groups according to the NP coating applied: TiO₂ group; SiO₂ group; and control group. The SR parameters were measured in an optical profilometer, the surface morphology was analyzed with scanning electron microscopy (SEM), and FR was performed in a universal testing machine in dry and wet environments (n = 30). The statistical analysis was performed using the Generalized Estimated Equations model with a Bonferroni post-test (α = 0.05). It was observed that SiO₂ NP coating decreased FR significantly when compared to the TiO₂ and control groups, in both environments (p < .001). The SiO₂ and TiO₂ groups presented statistically lower SR than the control group and were similar to each other (p < .001). The SiO₂ group presented the lower depth of Valley parameter than the TiO₂ group (p < .001). The SEM showed that the TiO₂ coating had the most heterogeneous surface morphology than the SiO₂ and control groups. The orthodontic wires with NP coating modified the FR and morphology. The SiO₂ coating reduced FR in both dry and wet environments and decreased SR.

• Titanium dioxide (TiO₂) and silica dioxide (SiO₂) nanoparticles coatings may be used to reduce frictional resistance (FR) between archwire and bracket as well as to improve surface morphology.
• The SiO₂ coating reduced FR in both dry and wet environments and decreased the SR of Cr–Ni orthodontic wire.
• The TiO₂ coating promoted the most heterogeneous surface morphology of Cr–Ni orthodontic wire.

     

Changes in ultrastructure and properties of bracket slots after orthodontic treatment with bicuspid extraction

This study examined the effects of an orthodontic treatment using a bicuspid extraction on the surface roughness and mechanical properties of stainless steel (SS) brackets adjacent to the extraction space. Four experimental groups were employed; groups 1 and 2 used the Archist^® SS brackets before and after the extraction treatment, respectively, and groups 3 and 4 used the Victory^® SS brackets before and after the extraction treatment, respectively. The slot surfaces of the bracket were scanned in air at a resolution of 512 × 512 pixels with a scan speed of 0.8 line/s. The visco‐elasticity of the bracket slot was determined from the force–distance curves of atomic force microscopy. The orthodontic treatment with bicuspid extraction led to a significant increase (p<0.0001) in surface roughness in both groups. In particular, the Archist^® SS brackets showed more changes than the Victory^® SS brackets (p<0.0005). However, there was no significant difference in properties of the Victory^® and Archist^® brackets between before and after treatment. This suggests that the orthodontic treatment with bicuspid extraction is more responsible for the changes in surface roughness than the properties of the brackets. SCANNING 33: 25–32, 2011. © 2011 Wiley Periodicals, Inc.