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。

Forming Planning Method and Experimentation of Personalized Orthodontic Archwires

Traditional manual archwire bending was low efficiency and low bending precision，using the orthodontic archwire bending robots might overcome the shortcomings of manual bending method. The dental position was marked according to the clinical orthodontist's common dental position identification method. The shapes, positions and constraint relations of orthodontic archwires in three-dimensional space were expressed by the Bezier curve. In order to realize the bending of the space curves for the orthodontic archwires, the continuous state was expressed in the form of discrete motion by interpolation. The planning method of forming control points based on finite point extension method and the spatial angle planning method based on the synthesis of projection plane angle were proposed. The effectiveness of robotic bending method was proved by an experiment of maxillary three-dimensional node information of a clinical patient which was conducted by an orthodontic archwire bending robot.