WO2021238132A1 - Manufacturing method for shell-shaped dental appliance, and laser cutting system - Google Patents

Abstract

A manufacturing method for a shell-shaped dental appliance, and a laser cutting system. The manufacturing method comprises: according to a digital correction plan for gradually changing teeth from an initial position to a target correction position, manufacturing a solid dental model (100) in each stage of the digital correction plan; and cutting an initial dental instrument (22) covered on the solid dental model (100) in the laser cutting system after corresponding film pressing on the solid dental model (100) in each stage of the digital correction plan to manufacture the shell-shaped dental appliance (200). The shell-shaped dental appliance (200) manufactured by the manufacturing method and the laser cutting system can maintain preset correction characteristics while keeping self-properties.

Description

Preparation method of shell-shaped tooth appliance and laser cutting system

Cross-references to related applications

This application claims the priority of the Chinese patent application 202010478966.1 filed on May 29, 2020, the entire content of which is hereby incorporated by reference.

Technical field

The application belongs to the field of medical devices, and relates to a method for preparing a shell-shaped dental appliance and a laser cutting system for preparing the shell-shaped dental appliance.

Background technique

With the development of orthodontic medicine technology, invisible correction technology based on polymer materials has attracted more and more attention from dentists. Therefore, dental professionals in major hospitals and clinics gradually accept invisible correction technology, which promotes the popularization and application of invisible correction technology in patients with oral malocclusion. However, with the substantial increase in the output of invisible shell-shaped dental appliances (hereinafter referred to as: shell-shaped dental appliances), the purely manual processing mode in the prior art can no longer meet the demand for the production of shell-shaped dental appliances. In the process of processing, the manual cutting process involves manually using an electric cutting mobile phone to cut the shell-shaped dental appliance, which is a manual contact cutting method, and the burrs need to be polished later after cutting. The method requires a relatively high level of operation proficiency of the worker, and the cutting accuracy is greatly affected by the operator's personal cutting skill level. The advantages of the method are simple production equipment and easy small-scale production. The disadvantage is that large-scale production efficiency is low. The edges of the shell-shaped dental appliance may not be smooth and have burrs. The training period for operators is long, and the product quality is relatively stable. Difference. In addition, the high-speed rotating electric cutting mobile phone is prone to accidents, which may cause personal injury to the operator.

With the development of technology, the laser cutting shell-shaped dental appliance technology appears. The material to be cut is irradiated with a high-power density laser beam, so that the material is quickly heated to the vaporization temperature, and evaporates to form holes. As the beam moves on the material, the holes are continuous A slit with a very narrow width (such as about 0.1mm) is formed to complete the cutting of the material. Laser cutting can replace manual cutting to realize automatic cutting, and the cut shell-shaped dental appliance does not require secondary processing, which saves work efficiency. However, laser cutting has high requirements on processing equipment and technology. If the laser cutting parameters are not properly controlled, it will not only Cut damage to the cut shell-shaped dental appliance, such as changing the physical and/or chemical properties of the shell-shaped dental appliance, where the physical properties, such as improving the color, thickness, brittleness or toughness of the shell-shaped dental appliance, make The corrective power of the shell-shaped dental appliance is affected; chemical properties such as the change of the chemical structure of the shell-shaped dental appliance under high energy, which affects the corrective performance or safety performance of the shell-shaped dental appliance, and even more likely The effect of the treatment on the patient is not expected; if the laser energy used to cut the shell-shaped dental appliance is high, it will also cause damage to the dental model that carries the shell-shaped dental appliance. The jaw model is made of resin material, which may produce harmful substances that are not allowed in the oral cavity under high energy. Therefore, it is of great significance to control the laser cutting parameters when laser cutting the shell-shaped dental appliance.

Summary of the invention

Some examples of this application provide a method for preparing a shell-shaped dental appliance and a laser cutting system for preparing the shell-shaped dental appliance. This application controls the laser output command on the cutting path to make the output on the cutting path The energy is maintained constant and can cut through the maximum thickness of the cutting path and control the cutting depth of the dental model corresponding to the minimum thickness of the cutting path, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset correction characteristics.

An embodiment of the present application provides a method for preparing a shell-shaped dental appliance, including:

According to the digital orthodontic plan that gradually changes the teeth from the initial position to the target orthodontic position, the preparation of the solid dental model in each stage of the digital orthodontic plan is performed, and the corresponding lamination of the solid dental model in each stage of the digital orthodontic plan is performed The initial dental instrument covered on the solid dental model is cut in a laser cutting system to produce a shell-shaped dental appliance.

Wherein, the initial dental instrument is laser cut along a cutting path, and the cutting path on the initial dental instrument has at least two different thicknesses, and the thickness includes the maximum and minimum thickness of the cutting path, based on The maximum and minimum values set the output instructions of the laser cutting system so that the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum thickness of the cutting path and make the thickness of the cutting path less than the maximum value. The cutting depth of the solid dental model corresponding to the minimum value is maintained within the preset threshold range, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset treatment characteristics.

Wherein, the preset threshold range is 0.01-1.60mm.

Wherein, the maximum value of the thickness of the cutting path is a continuous area or a discrete point; the minimum value of the thickness of the cutting path is a continuous area or a discrete point.

Wherein, the cutting energy on the cutting path is maintained substantially constant, and its fluctuation range is maintained within ±1%.

Wherein, the thickness of the cutting path is obtained by real-time measurement, medical history data statistics or virtual modeling statistics, and the thickness of the cutting path on the initial dental instrument ranges from 0.45 to 1.80 mm.

Wherein, the preset treatment characteristic of the shell-shaped dental appliance is the treatment characteristic capable of gradually changing the teeth from the initial position to the target treatment position.

Wherein, the preset treatment characteristics of the shell-shaped dental appliance include the physical properties of the shell-shaped dental appliance and/or the chemical properties of the shell-shaped dental appliance.

Wherein, the output instruction further includes setting based on the material of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum thickness of the cutting path and make the cutting The cutting depth of the solid dental model corresponding to the minimum path thickness is maintained within a preset threshold range, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset correction characteristics.

Wherein, the material of the initial dental appliance is thermoplastic polyurethane material, ethylene terephthalate high polymer, polyethylene terephthalate-ethylene glycol copolyester, polyvinyl ester mixture , At least one of cyclohexanediol modified ethylene terephthalate copolymers.

Wherein, the material of the initial dental appliance is at least one of PETG, TPU, and PC.

Wherein, the output instruction further includes setting based on the relative movement rate of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum thickness of the cutting path and make the cutting The cutting depth of the solid dental model corresponding to the minimum path thickness is maintained within a preset threshold range, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset correction characteristics.

Wherein, the laser cutting system includes a control device, a laser output device, and an initial dental instrument fixing device. The control device controls the output energy of the laser output device to maintain a constant and the cutting energy on the cutting path to maintain a constant; The relative movement rate of the initial dental instrument fixing device and the laser output device is such that the cutting energy on the cutting path is maintained substantially constant.

Wherein, the initial dental instrument fixing device is a fixing part provided at the free end of at least a three-axis mechanical arm.

Wherein, the laser cutting system further includes an output device, and the control device controls the temperature of the output device to the area in contact with the laser energy on the cutting path, so as to maintain the performance of the shell-shaped dental appliance to maintain a preset correction characteristic.

Wherein, the output device is a gas output device or a liquid output device.

Wherein, the gas output by the gas output device is air or inert gas, and the liquid output by the liquid output device is water.

Wherein, the laser cutting system further includes a waste processing device, and the control device controls the waste processing device to process the cut waste with the laser cutting.

Wherein, the cutting path is a trajectory near the gum line of the initial dental instrument, an opening or a grooved trajectory on the shell-shaped dental appliance.

Another embodiment of the present application also provides a laser cutting system for preparing a shell-shaped dental appliance, including: a control device, a laser output device, a module to be cut, and a module fixing device to be cut; wherein the control devices are respectively Communicatingly connected with the laser output device and the fixing device of the module to be cut, the module to be cut includes a dental model and an initial dental instrument pressed on the dental model, and the module to be cut is fixed on On the fixing device of the module to be cut.

Wherein, the control device controls the laser output device and the to-be-cut module fixing device installed with the to-be-cut module to move relative to the cutting path to perform laser cutting, and the initial dental instrument on the cutting path is at least There are two different thicknesses. The thickness includes the maximum and minimum of the thickness of the cutting path. Based on the maximum and minimum, the laser cutting system is set to output instructions to make the cutting on the cutting path The energy is maintained basically constant and can cut through the maximum value of the cutting path thickness and maintain the cutting depth of the solid dental model corresponding to the minimum value of the cutting path thickness within the preset threshold range, thereby maintaining the shell-shaped tooth correction The performance of the device maintains the preset correction characteristics.

Wherein, the preset threshold range is 0.01-1.60mm.

Wherein, the maximum value of the thickness of the cutting path is a continuous area or a discrete point; the minimum value of the thickness of the cutting path is a continuous area or a discrete point.

Wherein, the cutting energy on the cutting path is maintained substantially constant, and its fluctuation range is maintained within ±1%.

Wherein, the thickness of the cutting path is obtained by real-time measurement, medical history data statistics or virtual modeling statistics, and the thickness of the cutting path on the initial dental instrument ranges from 0.45 to 1.80 mm.

Wherein, the preset treatment characteristic of the shell-shaped dental appliance is the treatment characteristic capable of gradually changing the teeth from the initial position to the target treatment position.

Wherein, the preset treatment characteristics of the shell-shaped dental appliance include the physical properties of the shell-shaped dental appliance and/or the chemical properties of the shell-shaped dental appliance.

Wherein, the output instruction further includes setting based on the material of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum value of the cutting path thickness and make the cutting path thickness The minimum value of, corresponding to the cutting depth of the solid dental model is maintained within a preset threshold range, and the performance of the shell-shaped dental appliance is maintained to maintain the preset correction characteristics.

Wherein, the material of the initial dental appliance is thermoplastic polyurethane material, ethylene terephthalate high polymer, polyethylene terephthalate-ethylene glycol copolyester, polyvinyl ester mixture , At least one of cyclohexanediol modified ethylene terephthalate copolymers.

Wherein, the material of the initial dental appliance is at least one of PETG, TPU, and PC.

Wherein, the output instruction further includes setting based on the relative movement rate of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum thickness of the cutting path and make the cutting The cutting depth of the solid dental model corresponding to the minimum path thickness is maintained within a preset threshold range, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset correction characteristics.

Wherein, the control device controls the output energy of the laser output device to maintain substantially constant and the output energy on the cutting path to maintain substantially constant; the control device controls the rate of relative movement of the initial dental instrument fixing device and the laser output device , So that the output energy of the laser output device is maintained constant and the output energy on the cutting path is maintained substantially constant.

Wherein, the initial dental instrument fixing device is a fixing part provided at the free end of at least a three-axis mechanical arm.

Wherein, the laser cutting system further includes an output device, and the control device controls the temperature of the output device to the area in contact with the laser energy on the cutting path to maintain the performance of the shell-shaped dental appliance and maintain the preset correction characteristics.

Wherein, the output device is a gas output device or a liquid output device.

Wherein, the gas output device is an air-cooled spray head, and the liquid output device is a water-cooled spray head.

Wherein, the laser cutting system further includes a waste processing device, and the control device controls the waste processing device to process the cut waste with the laser cutting.

Wherein, the cutting path is a trajectory near the gum line of the initial dental instrument, an opening or a grooved trajectory on the shell-shaped dental appliance.

Compared with the prior art, this application has at least the following technical advantages.

The preparation method of the shell-shaped dental appliance provided in this application is based on a digital orthodontic plan that gradually changes teeth from an initial position to a target orthodontic position. In the treatment plan, the initial dental instruments covered on the solid dental model after pressing the film corresponding to the dental model in each stage of the orthodontic plan are cut in a laser cutting system to produce a shell-shaped dental appliance. Wherein, the initial dental instrument is laser cut along a cutting path, and the cutting path on the initial dental instrument has at least two different thicknesses, and the thickness includes the maximum and minimum thickness of the cutting path, based on The maximum and minimum values set the output instructions of the laser cutting system so that the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum thickness of the cutting path and make the thickness of the cutting path less than the maximum value. The cutting depth of the dental model corresponding to the minimum value is maintained within the preset threshold range, so that the performance of the prepared shell-shaped dental appliance maintains the preset treatment characteristics.

Using the preparation method provided by this application not only facilitates the control of the output of cutting parameters, that is, only needs to set a constant laser output energy to complete the corresponding cutting action, but also ensures that the cut shell-shaped dental appliance maintains its preset The treatment characteristics make the patient's teeth gradually change from the initial initial position to the target treatment position. In addition, the production efficiency of this preparation method is relatively high, and the qualified yield of the shell-shaped dental appliance produced by the preparation is relatively high.

In addition, the laser cutting system for preparing shell-shaped dental appliances provided by the present application, the laser cutting system is adjusted by the control device, so that the laser output device and the initial dental appliance fixing device can respond according to preset control instructions Cutting, so that the cutting energy on the cutting path is maintained substantially constant, and the maximum cutting path thickness can be cut through and the cutting depth of the solid dental model corresponding to the minimum cutting path thickness is maintained at a predetermined depth The performance of the shell-shaped dental appliance is maintained within the preset threshold range.

Description of the drawings

Fig. 1 is a schematic flow chart of a method for preparing a shell-shaped dental appliance according to an embodiment of the application.

FIG. 2 is a schematic diagram of the structure of a laser output device according to an embodiment of the application.

FIG. 3 is a schematic structural diagram of a laser cutting system according to an embodiment of the application.

FIG. 4 is a schematic diagram of another view of the structure of the laser cutting system according to an embodiment of the application.

Fig. 5 is a partial enlarged view of part A in Fig. 4.

Fig. 6 is a schematic structural diagram of an initial dental appliance according to an embodiment of the application.

Fig. 7 is a schematic structural diagram of an initial dental instrument and a dental jaw model along the lip/buccal-lingual cross-section of an embodiment of the application.

Fig. 8 is a partial enlarged view of part B in Fig. 7.

Fig. 9 is a schematic structural diagram of another initial dental instrument and a dental jaw model along the lip/buccal-lingual cross-section according to an embodiment of the application.

Fig. 10 is a partial enlarged view of part C in Fig. 9.

FIG. 11 is a schematic diagram of the structure of the uncut anterior jaw model along the cutting surface according to an embodiment of the application.

FIG. 12 is a schematic diagram of the structure of the dental jaw model along the cutting surface after laser cutting according to an embodiment of the application.

FIG. 13 is a schematic diagram of the structure along the cut surface of the initial dental instrument including the dental jaw model after laser cutting according to an embodiment of the application.

Fig. 14 is a partial enlarged view of part D in Fig. 13.

Fig. 15 is a partial enlarged view of part E in Fig. 13.

Fig. 16 is a partial enlarged view of part F in Fig. 13.

Detailed ways

In order to make the purpose, technical solutions, and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application. Unless otherwise defined, the technical terms or scientific terms used here shall have the usual meanings understood by those with ordinary skills in the field to which this application belongs. As used herein, "comprising" and other similar words mean that the element or item appearing before the word encompasses the element or item listed after the word and its equivalents, but does not exclude other elements or items.

An embodiment of the present application provides a method for preparing a shell-shaped dental appliance, including: performing a solid dental model of each stage in the digital orthodontic plan according to a digital orthodontic plan that gradually changes teeth from an initial position to a target orthodontic position The initial dental instruments covered on the solid dental model are cut in the laser cutting system to prepare the shell-shaped dental appliance. Wherein, the initial dental instrument is laser cut along a cutting path, and the cutting path on the initial dental instrument has at least two different thicknesses, and the thickness includes the maximum and minimum thickness of the cutting path, based on The maximum and minimum values set the output instructions of the laser cutting system so that the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum thickness of the cutting path and make the thickness of the cutting path less than the maximum value. The cutting depth of the dental model corresponding to the minimum value is maintained within the preset threshold range, so as to maintain the performance of the shell-shaped dental appliance to maintain the preset correction characteristics.

Wherein, the shell-shaped dental appliance is prepared according to the method shown in FIG. 1, including: performing the solid dental model of each stage in the digital orthodontic plan according to the digital orthodontic plan that gradually changes the teeth from the initial position to the target orthodontic position The initial dental instruments covered on the solid dental model are cut in the laser cutting system to prepare the shell-shaped dental appliance.

According to the actual situation of the patient’s oral cavity, the initial position of the teeth, the patient’s orthodontic needs and the final target orthodontic position determined by the doctor’s orthodontic plan are obtained, and a digital simulation design is carried out to obtain a series of intermediate digital jaw models of various stages of digitization. The intermediate digital dental model at each stage includes a digital gum model and a digital tooth model segmented into individual teeth. The digital tooth model in the intermediate digital dental model at each stage is gradually positioned from the initial position to the target treatment position; Then, according to the intermediate digital dental model of each stage, the solid preparation of the intermediate digital dental model of each stage is carried out, and a series of solid dental models of different correction stages are obtained; and then performed on a series of solid dental models of different correction stages. The hot pressing operation means that the heated and preheated membranes are respectively adsorbed on a series of solid dental models of different orthodontic stages, and the membranes are adsorbed into a shell-like structure similar to the solid dental model. A series of initial dental instruments covering different solid dental models; finally, the laser cutting system is cut according to the cutting requirements of the initial dental instruments to produce a shell-like dental appliance. The cutting requirements include cutting the shell along the gum line. The tooth-shaped appliance is cut or a hole/grooved setting is performed on the shell-shaped appliance.

The initial dental instrument is made based on the dental jaw model of different patients. Therefore, the thickness of different areas on the initial dental instrument is different. When cutting on the initial dental instrument, there are at least two cutting paths for the cutting path. Different thicknesses must have the maximum and minimum thicknesses. If the laser cutting system outputs instructions, the laser output power maintains a constant range. If the laser cutting process is set according to the minimum value that can be cut, it will The minimum value is cut through, but the maximum thickness is not cut through and there is adhesion between the shell-shaped dental appliance and the waste material, so that the final shell-shaped dental appliance has the phenomenon of uneven edges and burrs. It cannot be worn directly in the patient’s mouth for correction; if it is set according to the maximum thickness that can be cut during laser cutting, the maximum thickness will be cut through, and the minimum value will not only be cut through, but also on the dental model. Cutting damage. Improper cutting will cause brittleness, melting or discoloration of the cutting edge of the shell-shaped dental appliance, and also cause cutting damage to the dental model. If the cutting depth is too large, it will easily release the dental model Harmful substances, which make the shell-shaped dental appliances in contact with them become contaminated, and are not passed during the detection of biological indicators such as cytotoxicity, oral mucosal irritation, sensitization, subchronic systemic toxicity, and genotoxicity. Therefore, the cutting path is controlled. The different thickness of the laser cutting system is of great significance for the output command setting of the laser cutting system. In some embodiments, the laser output power is 15W-25W. If the laser output power is greater than 25W, the area near the cutting path of the initial dental instrument will burn, produce black smoke or melt edges (the cutting edge is caused by high temperature. The edge curling phenomenon, forming a structure thicker than the rest of the area) phenomenon, and even the phenomenon of adhesion with the dental jaw model carried underneath, the above phenomenon reduces the yield of the final shell-shaped dental appliance, and causes a serious impact on the manufacturing environment. Pollution. If the laser output power is less than 15W, the area near the cutting path of the initial dental appliance will not be completely cut, and the prepared shell-shaped dental appliance cannot be separated from the waste material. Even after being forced to separate, the shell-shaped dental appliance The edge of the cutting path will also have a jagged structure, which will cause damage to the oral mucosa after the patient wears it.

In some embodiments, the cutting energy on the cutting path is maintained substantially constant, and its fluctuation range is maintained within ±1%. There will be a partial attenuation between the output energy of the laser and the cutting energy in contact with the object to be cut, but the attenuation range should be controlled within an acceptable range to ensure the correspondence between the output energy used by the object to be cut and the cutting energy Keep the relationship. In some embodiments, the laser energy output by the laser output device and the cutting energy on the object to be cut are maintained correspondingly constant, so as to ensure that the cutting energy on the cutting path is maintained within a constant range.

In some embodiments, the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum value of the cutting path thickness and maintain the cutting depth of the dental model corresponding to the minimum value of the cutting path thickness at a predetermined depth. The threshold range is set within 0.01-1.60mm, and the performance of the shell-shaped dental appliance is maintained to maintain the preset correction characteristics. When the thickness of the corresponding shell-shaped dental appliance on the dental model is thin, the laser beam cuts through the shell-shaped dental appliance, which will cause cutting damage to the dental model corresponding to the supporting shell-shaped dental appliance. The damage (ie, the cutting depth) needs to be controlled within a preset range so that the performance of the final shell-shaped dental appliance can maintain the preset orthodontic characteristics. The preset threshold range needs to be maintained within 0.01-1.60mm, for example, the cutting depth is any one of 0.01mm, 0.03mm, 0.05mm, 0.10mm, 0.50mm, 1.00mm, 1.5mm or 1.60mm, of course It can also be other data values within this range, which will not be listed here. Any value with a cutting depth of 0.01-1.60 mm corresponding to the dental jaw model is within the protection scope of this application.

In some embodiments, the maximum value of the cutting path thickness is a continuous area or a discrete point; the minimum value of the cutting path thickness is a continuous area or a discrete point. For example, the cutting path can be refined into multiple cutting points, and the thickness of the corresponding points on the cutting path can be the same or different in the thickness of the cutting points in a continuous section; the corresponding points on the cutting path The thickness value can also be a discrete setting of the maximum thickness, that is, there are multiple maximum thickness points on the cutting path; the thickness value of the corresponding point on the cutting path can also be a discrete setting of the minimum thickness, that is, there are multiple minimum thicknesses on the cutting path point.

In some embodiments, the thickness of the cutting path on the initial dental instrument ranges from 0.45 to 1.80 mm. The membrane thickness of the shell-shaped dental appliance is 0.5mm, 0.6mm, 0.75mm, 1.0mm, 1.5mm or 2.0mm, which can be selected according to different orthodontic needs. In addition, the thickness of the selected local area is different from other areas. Thickness of the diaphragm, that is, when the diaphragm is non-uniform, the thickness of the diaphragm is in the range of 0.5mm-2.0mm. The initial dental instrument 22 formed after thermoforming is formed with a thickness of 0.45 in the area surrounding the dental model 100 or teeth. -1.8mm, which means that after the hot pressing operation, the thickness of the shell-shaped dental appliance is thinner than that of the diaphragm, and the thickness is not uniform. The specific need to be determined according to the height of the corresponding dental model.

The thickness range of the cutting track can be obtained based on real-time measurement, case data statistics, or virtual modeling statistics; the real-time measurement method can be dynamic real-time scanning using a scanning device, for example, before laser cutting and/or during laser cutting. When using real-time scanning to obtain the thickness of the cutting path, such as dynamic real-time scanning by a sensor, the sensor is set next to the laser output device and can be measured in real time. The sensor transmits the measured data to the control device, and the control device controls the constant output power. The cutting energy on the cutting path is maintained constant and the maximum thickness that can cut through the cutting path and the cutting depth of the dental model corresponding to the minimum cutting path are maintained at 0.01-1.60mm, while maintaining the shell-shaped dental appliance The performance maintains the preset corrective characteristics. The method of case data statistics is to classify and set the patient’s teeth in the case database according to different classification standards, and then type the dental model corresponding to the shell-shaped dental appliance to be prepared with the dental model in the database For comparison, the laser output energy is set based on the thickness range of the cutting path on the shell-shaped dental appliance corresponding to the same or similar dental model. The method of using virtual modeling statistics is based on the patient's digital jaw model and the treatment plan to construct the digital model of the virtual digital shell-shaped dental appliance. The construction law of the digital model can be obtained by means of big data statistics, and then based on the construction The cutting path thickness range of the digital model is used to set the laser output energy.

In some embodiments, the preset treatment characteristic of the shell-shaped dental appliance is the treatment characteristic capable of gradually changing the tooth from the initial position to the target treatment position. For example, the patient’s teeth are treated with shell-shaped teeth to achieve the treatment effect, so that the patient’s teeth gradually change from the initial initial position to the target treatment position. The treatment characteristics include the size of the force that can be applied and the characteristics of the shell-shaped dental appliance material ( Such as color, elasticity, toughness, brittleness, etc.). In other embodiments, the treatment characteristics are not only related to the performance of the shell-shaped dental appliance itself, but also related to the preset treatment position in the treatment plan. Combining the preset treatment position with the performance of the shell-shaped dental appliance itself, it can be more It is targeted to make the patient's treatment effect have a personalized treatment effect.

In some embodiments, the preset treatment characteristics of the shell-shaped dental appliance include the physical properties of the shell-shaped dental appliance and/or the chemical properties of the shell-shaped dental appliance. For example, the physical properties of a shell-shaped dental appliance are its inherent properties, such as its color, shape, elasticity, toughness, brittleness, density/relative density, and viscosity of the material of the shell-shaped dental appliance. After the shell-shaped dental appliance is formed by hot pressing during the preparation process, its physical properties are the same as or similar to the physical properties of the material from which it is prepared. The physical properties of the material prepared for it are selected to be suitable for the oral cavity and meet the requirements of the orthodontic characteristics of the teeth. For example, PETG material suitable for intraoral use is selected. After it is prepared into a shell-shaped dental appliance, after the patient wears it, under the preset movement value of the treatment plan design and the elastic performance of the shell-shaped dental appliance itself, The teeth can move towards the target treatment position in accordance with the treatment plan. When the polymer material is applied under high energy, it may cause the physical properties of the cutting path area to change compared with the physical properties of other areas, such as changes in the brittleness and color of the cutting path area. For example, the cutting path area is melted or sublimated under high energy, and the color of the nearby area becomes darker due to the high temperature, which causes the color of the cutting path area of the shell-shaped dental appliance to darken, and it is worn on the patient’s mouth The internal aesthetics is poor; from another point of view, the cutting path area is cut at high temperature and then cooled, it is easy to increase the brittleness, that is, the brittleness of the cutting edge increases, which causes the shell-like dental appliance to be easily broken after being worn in the patient’s mouth This phenomenon affects the patient’s treatment effect.

In some embodiments, the chemical performance of the shell-shaped dental appliance is the relative chemical performance of the material for preparing the shell-shaped dental appliance. Because the initial dental appliance and the shell-shaped dental appliance are made of polymer materials, for example, they can be thermoplastic polyurethane materials. , Ethylene terephthalate high polymer, polyethylene terephthalate-ethylene glycol copolyester, polyvinyl ester mixture, cyclohexanediol modified ethylene terephthalate At least one of alcohol ester copolymers. In a specific embodiment, the material of the shell-shaped dental appliance is at least one of PETG, TPU, and PC. Therefore, the shell-shaped dental appliance after laser cutting is prone to molecular reorganization in the polymer material. Whether the reorganized chemical substances in this process can be applied to the oral environment is unpredictable, that is, new products produced after laser cutting Chemical substances may not be suitable for the oral environment, and failing to pass the qualification inspection will affect the qualification rate of the product.

Further, the output instruction further includes setting based on the material of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially constant and the maximum thickness of the cutting path can be cut through and the minimum cutting path The cutting depth of the corresponding dental model is maintained at 0.01-1.60mm, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset correction characteristics. For example, according to the different types of materials of the initial dental instruments, the laser output energy output is controlled, such as the laser output power, so as to ensure the corrective performance of the cut shell-shaped dental appliance (including the corrective performance of the cutting path area and the removal of cutting Corrective performance outside the path area). Using the same cutting rate, different material types, and corresponding to different thicknesses of the cutting paths on the initial dental instruments, the output commands to control the output laser power are also different, so as to ensure the maximum thickness of the cutting path and make the The cutting depth of the dental model corresponding to the minimum cutting path is maintained at 0.01-1.60mm, as shown in the following table.

It can be seen from the above table that under the same laser cutting power, the initial dental instruments are made of different materials, and the laser output power and laser receiving power used are different under the same cutting path thickness. The purpose is to prevent various materials from being damaged. Unexpected changes in physical properties and chemical properties occur under high-energy laser cutting, and the overall treatment performance of the shell-shaped dental appliance after cutting is maintained.

Further, the output instruction further includes setting based on the relative movement rate of the initial dental instrument, so that the output energy on the cutting path is maintained constant and the maximum thickness of the cutting path can be cut through and the minimum cutting path is minimized. The cutting depth of the dental model corresponding to the value is maintained at 0.01-1.60mm, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset correction characteristics. For example, the relative movement of both the initial dental instrument to be cut and the laser output device relative to the other can realize laser cutting of the initial dental instrument. For example, the laser output device is fixed while the initial dental instrument fixing device is relatively fixed. move. In one embodiment, the initial dental instrument to be cut is carried by an ABB120-6-axis robotic arm (robot), and the movement mode adopted is the external TCP movement mode. The TCP center point is used as the reference object, and the movement rate of the TCP center point is 50. -90mm/s. For example, TCP refers to Tool Center Point (TCP). In order to complete various tasks, it is necessary to install various tools at the end of the industrial robot, such as spray guns, grippers, welding torches, etc. Due to the different shapes and sizes of tools, the actual working point of the robot relative to the position of the end of the robot will change after the tool is replaced or adjusted. The currently commonly used method is to establish a tool coordinate system on the robot tool, the origin of which is the Tool Center Point (TCP). The robot is programmed in this coordinate system. After the tool is adjusted, only the pose of the working coordinate system needs to be recalibrated, and the robot can be put into use again. The movement rate of the TCP center point is 50-90mm/s, which can ensure that the cutting track on the initial dental instrument can be cut through, and the cutting depth of the dental model is maintained at 0.01-1.60mm, while maintaining the shell-shaped dental appliance The performance of the dental appliance maintains the preset correction characteristics. When the moving speed is greater than 90mm/s, the area near the cutting path of the initial dental appliance will not be completely cut, and the prepared shell-shaped dental appliance cannot be separated from the waste material, even if it is After the force is separated, the edge of the cutting path of the shell-shaped dental appliance will also have a jagged structure, or the shell-shaped dental appliance will have a large deformation due to tearing, which will cause damage to the oral mucosa after the patient wears it; when moving; When the speed is less than 50mm/s, it will cause the area near the cutting path of the initial dental instrument to burn, produce black smoke or melt edges (the cutting edge will be rolled up due to excessive temperature, forming a structure with a thickness larger than the rest of the area). Even the phenomenon of adhesion with the dental jaw model carried underneath occurs. All of the above phenomena reduce the yield of the final shell-shaped dental appliance and cause pollution to the preparation environment.

For example, when the laser output power is basically constant (the laser output power is set to 20W), the difference in the relative movement rate of the laser output device and the initial dental instrument causes the cutting thickness of the cutting path and the cutting thickness of the dental model to be different. The details are shown in the table below.

It can be seen from the above table that under the same laser output power, cutting the initial dental instruments of different materials, using different relative movement speeds between the laser output device and the initial dental instruments, will result in different cutting depths of the dental model. In a given range of relative movement rate, the orthodontic performance of the shell-shaped dental appliance will be affected. When the relative movement rate is too small, the edge of the shell-shaped dental appliance will burn, produce black smoke or melt edges; when the relative movement speed When it is too large, there will be burrs on the edges of the shell-shaped dental appliance, which will damage the oral mucosa after being worn by the patient.

In another embodiment, the present application provides a laser cutting system for preparing a shell-shaped dental appliance, the structure of which is shown in Figs. 2-5. The laser cutting system includes a control device, a laser output device 10, and an initial dental instrument fixing device 20. The control device controls the output energy of the laser output device 10 to be constant and the output energy on the cutting path to be kept constant; the control device controls The initial rate of the relative movement of the dental instrument fixing device 20 and the laser output device is such that the cutting energy on the cutting path is maintained constant. The free end 21 of the initial dental instrument fixing device 20 carries an initial dental instrument 22, and the initial dental instrument 22 is driven by the free end 21 of the initial dental instrument fixing device 20 to complete laser cutting. The control device may include a processor and a memory. The control instructions output from the control device can be stored in the memory and executed by the processor to control the output parameters of the laser output device 10 and control the initial dental instrument fixture 20 relative to the laser output. The relative movement parameter of the device 10 or the relative movement parameter of the control laser output device 10 relative to the initial dental instrument fixing device 20. For example, the output parameters of the laser output device 10 may include laser output power, laser output power stability, laser beam quality factor (M2 factor), beam parameter product (BPP), laser output spot size, laser beam diameter and other parameters.

A further explanation of the above parameters is as follows.

Laser output power refers to the physical quantity of laser energy output in a measurement unit time.

The stability of laser output power characterizes the instability of laser output power within a certain period of time, which is generally divided into RMS stability and peak-to-peak stability. Among them, RMS stability refers to the ratio of the root mean square of all sampled power values during the test period to the average power value, and describes the degree of dispersion of the output power from the average power value; peak-to-peak stability refers to the maximum and minimum output power The percentage of the difference between the average value of the power and the percentage of the output power within a certain period of time.

The laser beam quality factor (M2 factor) is the ratio of the product of the laser beam waist radius and the beam far-field divergence angle to the product of the ideal fundamental mode beam waist radius and the fundamental mode divergence angle, that is, M2=θw/θideal w ideal. The quality of the laser beam will affect the focusing effect of the laser and the spot distribution in the far field. It is a parameter used to characterize the quality of the laser beam. The closer the actual laser beam quality factor is to 1, the closer the beam quality is to the ideal beam. The better. Beam shapers generally require high-quality lasers, and M2 needs to be less than 1.5.

The beam parameter product (BPP) is the product of the far-field divergence angle of the laser beam and the radius of the narrowest point of the beam, that is, BPP=θw, which can quantify the quality of the laser beam and the degree to which the laser beam is focused to a small point. The lower the beam parameter product, that is, the BPP value, the better the quality of the beam. The relationship between the BPP value and the M ² value is: the M ² value is the normalized value of the BPP value, which is normalized for the diffraction-limited beam with a specific wavelength, that is, M ² =BPP/BPP0, where BPP0 is the diffraction of a specific wavelength The value of the limit beam, and BPP0=λ/π.

The spot is the distribution of a stable field on a cross section perpendicular to the laser propagation direction. The laser spot characterization is the transverse mode distribution. The transverse mode distribution can be simulated by a spot analyzer or a laser profile analyzer to obtain some laser beams. feature.

The measurement methods of laser beam diameter include sleeve hole method, laser beam analyzer (CCD) measurement, knife edge method and so on. Among them, the hole method: this method is generally not used, because it is difficult to make the hole and the beam concentric in the experiment, and the accuracy of the experimental results cannot be guaranteed. Laser profile analyzer (CCD) test: The accuracy of the test results can be guaranteed. The results of four calculation methods for laser beam diameter are presented in the software interface. The most commonly used one is 13.5% (1/e ² ) of the peak value as the boundary The definition method. However, this method also has certain drawbacks. For high-power lasers, CCDs are saturated. If an attenuator is used, it may cause beam distortion. The knife-edge method is an ideal method for measuring the laser beam diameter of high-power lasers. Take the coordinate of the position of the knife edge where the laser to be measured through the edge of the optical power accounts for 1% of the total power as x, and take the coordinate of the knife position where the edge of the laser to be measured optical power accounts for 90% of the total power as x, and the laser beam diameter can be measured. =1.561×|xx| (where 1.561 is the fitted value).

In one embodiment, the initial dental instrument fixing device is a fixing part provided at the free end of at least the three-axis mechanical arm. For example, the initial dental instrument fixing device can be the fixed part of the free end of the three-axis robot arm, the fixed part of the free end of the four-axis robot arm or the fixed part of the free end of the five-axis robot arm, and the fixed part of the free end of the six-axis robot arm, all of which are Multi-articulated robotic arm, as shown in Figure 3, where the initial dental instrument fixing device is a six-axis robotic arm. Since the cutting path on the initial dental instrument being cut is more complicated, such as the cutting path in the area near the gum line, this area It is suppressed according to the actual situation in the patient’s mouth. The situation is changeable and complex. As shown in Figure 3, the six-axis robotic arm can be flexible in action. The non-cutting path part causes cutting damage, causing unnecessary damage to the shell-shaped dental appliance, and affects the output effect of the shell-shaped dental appliance.

In one embodiment, as shown in FIG. 3, the laser cutting system further includes an output device 12, and the control device controls the output device 12 to control the temperature of the area in contact with the laser energy on the cutting path to maintain a shell shape. The performance of the dental appliance maintains the preset orthodontic characteristics. The output device can output so that the temperature of the area where the cutting path trajectory is in contact with the laser energy can not be too high, so as to avoid affecting the performance of the high-energy shell-shaped dental appliance, thereby affecting the correction effect worn in the patient's mouth. For example, the output device 12 is a gas output device or a liquid output device, that is, by inputting hot, normal temperature or cooled gas or liquid into the laser cutting path, when the output is hot gas or liquid, the laser can be slowly reduced. The temperature of the area where the cutting path is in contact with the laser energy to avoid changes in the properties of the material in the cutting path area of the shell-shaped dental appliance due to the large temperature difference, such as increased brittleness; when the output is normal temperature or cooled gas or liquid When the laser cutting path is in contact with the laser, it can quickly reduce the temperature of the area where the laser cutting path is in contact with the laser, and avoid the performance changes of the material in the cutting path area of the shell-shaped dental appliance under continuous high temperature, such as color changes or edge fusion; the above method Both can reduce the temperature of the area where the laser cutting path is in contact with the laser energy, while maintaining the performance of the shell-shaped dental appliance. For example, the gas output by the gas output device is air or inert gas. When the output device is hot, normal temperature or cooled inert gas, it can not only play a role in insulation, but also avoid the production of laser cutting process. The dust adheres to the shell-shaped dental appliance, which is difficult to clean afterwards. For example, the output inert gas forms an inert gas protective layer near the cutting path of the laser cutting, which insulates the oxygen in the air from oxidizing the cutting path of the initial dental instrument, and affects the corrective performance of the shell-shaped dental appliance after the final cutting. For example, the toughness or elastic modulus of the material on the cutting path of the shell-shaped dental appliance after cutting is damaged, so that the correction force in this area is more brittle than other parts that have not been laser cut, and the final shell-shaped dental appliance When worn in the mouth of a patient, it is prone to breakage or failure to achieve the expected correction purpose. When the output of the output device is normal temperature or cooled air, the cost is lower than that of the inert gas, and it is more suitable for reducing the production cost in large-scale production. When the liquid output by the liquid output device is water, it can be normal temperature water or cooling water, and the form can be spray or water column. Of course, any spray form when the output liquid does not affect the laser cutting is acceptable. I will not repeat it here. . In addition, the gas or liquid output by the output device can be output after the laser cutting beam, and its output angle can be parallel to the laser beam or output at a certain angle with the laser beam. The above-mentioned output method does not affect the laser emitted by the laser output device. The cutting of the initial dental instrument by the beam can also ensure that the temperature of the area in contact with the laser energy on the cutting path of the output device is controlled, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset correction characteristics.

For example, the output device can be a gas or liquid output nozzle. As shown in Figure 3, one nozzle or multiple nozzles can be provided; when multiple nozzles are provided, it can be a set of multiple gas nozzles or a set of nozzles. The plurality of liquid nozzles may also be at least one gas nozzle and at least one liquid nozzle, and the above-mentioned setting method will not affect the effect of laser cutting. For example, the nozzle is a jet tube with a diameter of 1.0-2.0 mm, and the angle between the nozzle and the laser beam can be between 10° and 40°, which can be appropriately selected according to the cutting requirements. Of course, the positions of the nozzles are different, and it is sufficient to ensure that the incident direction and angle of the gas or liquid sprayed by the nozzle are after the laser beam output by the laser cutter, which will not be repeated here.

In one embodiment, as shown in FIGS. 3 and 4, the laser cutting system further includes a waste processing device 13, and the control device controls the waste processing device 13 to process the cut waste with laser cutting. The waste processing device 13 can be an air extraction device, which can perform a timely suction operation on the gas or liquid output from the output device. When the output is a liquid, it can prevent the liquid from adhering to the shell-shaped dental appliance; in addition, it can also promptly control the laser The dust or smoke generated after cutting can be removed in time. On the one hand, it avoids the pollution of the production environment. On the other hand, it prevents the dust from adhering to the shell-shaped dental appliance, which increases the difficulty of subsequent cleaning. On the other hand, it can effectively remove the laser The heat generated by cutting is removed in time, thereby reducing the temperature around the laser cutter.

In addition, the output trajectory and suction trajectory respectively corresponding to the output device 12 and the waste processing device 13 can be set along a certain rule, or refer to the arrow in FIG. After cutting, the jetting angle is the same as the incident angle of the laser beam. The waste processing device 13 is set on the other side of the output device, which can effectively receive the output gas and liquid without affecting the laser beam's cutting trajectory. .

In one embodiment, the cutting path 210 is a trajectory near the gum line of the initial dental instrument, an opening or a grooved trajectory on a shell-shaped dental appliance. As shown in Fig. 6, there is shown a schematic structural diagram of an initial dental instrument according to an embodiment of the present application, wherein the trajectory near the gum line includes the trajectory of the gum line, the side of the gum line to the occlusal surface is less than 2mm, and the gum line is toward the gum. The side is less than 2mm. For example, according to the different orthodontic needs of different patients, select the trajectory near the gum line. For example, for patients with periodontal, the cutting path is less than 2mm from the gum line to the occlusal surface, avoiding the shell-shaped dental appliance The area that wraps the gums is too large, which makes the symptoms of gingivitis worse. For teenagers, especially in the deciduous period, because the crowns of the deciduous teeth are short, wearing a shell-shaped dental appliance is prone to the phenomenon of appliance shedding, which affects the treatment effect. Among them, when setting the lingual buckle or traction device, the lingual buckle or traction device can be set on the tooth, and the lingual buckle or traction device can also be set on the shell-shaped dental appliance. The above two methods are for shell-shaped teeth. The processing method of the appliance is different. The opening track on the shell-shaped dental appliance means that when the lingual buckle or traction device is attached to the tooth, the shell-shaped dental appliance cannot achieve the lingual buckle or traction. When the traction device is wrapped, it is necessary to make an opening design on the shell-shaped dental appliance to expose the lingual buckle or the traction device to the shell-shaped dental appliance to achieve a traction effect. When the slotting track on the shell-shaped dental appliance refers to the operation of the shell-shaped dental appliance without completely cutting through the shell-shaped dental appliance, this operation method is to change the thickness of the specified area on the shell-shaped dental appliance Thinning, so that the lingual buckle or traction device can be attached to the shell-shaped dental appliance. This operation method can reduce the lip/buccal lingual direction of sticking the lingual buckle or traction device to the corresponding shell-shaped dental appliance. The overall thickness is reduced, reducing the discomfort in the patient's mouth.

As shown in Figures 7-10, the initial dental instrument and the dental jaw model corresponding to different cutting depths along the lip/buccal-lingual cross-section structure diagram, where Figure 7-8 shows when the laser cutting The structural schematic diagram of the post-initial dental instrument and the dental model along the lip/buccal-lingual cross-section, it can be seen that the shell-shaped dental appliance 200 is cut through this section, and the dental model 100 is not cut, of course, because of the shell-shaped teeth The thickness of different regions of the appliance 200 is different. It should be noted that when the cross-section is at another angle, the shell-shaped tooth appliance 200 may be cut through the cutting path 210 corresponding to one side of the cross-section, but the dental model 100 is not cut, and the shell-shaped tooth on the other side The appliance 200 is cut through and the dental model 100 is cut to the depth of 0.01-1.60mm; as shown in Figures 9-10, it is also possible that on both sides of the cross section corresponding to the cutting path 210, shell-shaped teeth The appliance 200 is cut through and the dental jaw model 100 is cut to the dental jaw model 100, with a cutting depth of 0.01-1.60 mm.

As shown in Figs. 12-16, the dental model 100 covered with the shell-shaped dental appliance 200 is a cross-sectional view along the cut surface after laser cutting. Comparing the structural schematic diagram of the anterior jaw model along the cutting surface in FIG. 11 without laser cutting, laser cutting is performed after the shell-shaped dental appliance 200 is worn. Because the thickness of different areas of the shell-shaped dental appliance 200 is different, it follows the cutting path 210 After cutting, the overall section of the cutting surface, as shown in Figures 12-16, shows the result of the dental model 100 being cut. For a single tooth, after cutting along the cutting trajectory 210, it can be seen The thickness of the different areas in the cutting surface of the corresponding shell-shaped dental appliance is different, and the corresponding cutting depth on the dental model 100, as can be seen from the cross-sectional view, corresponds to the cutting area of the dental model on the dental model 100 110 is also different. For example, as shown in Figs. 14-16, which correspond to enlarged views of different areas in Fig. 13, Fig. 15 shows when the thickness of the shell-shaped dental appliance 200 is at the maximum thickness on the cutting path , The shell-shaped dental appliance 200 in this area is not cut into the corresponding dental model 100 after laser cutting, and Figures 14 and 16 show that when the thickness of the shell-shaped dental appliance 200 is not at the maximum thickness , The corresponding dental model 100 is cut by laser, and has a certain cutting depth, and the cutting depth is maintained at 0.01-1.60mm.

Another embodiment of the present application also provides a laser cutting system for preparing shell-shaped dental appliances, including: a control device, a laser output device 10, a module to be cut, and a module fixing device 20 to be cut. The control The device is respectively communicatively connected with the laser output device 10 and the fixed module 20 to be cut. The module to be cut includes a dental model 100 and an initial dental instrument 200 pressed on the dental model. The module to be cut is fixed on the fixing device 20 for the module to be cut.

The control device controls the laser output device 10 and the module-to-be-cut fixing device 20 installed with the module-to-be-cut to perform laser cutting by relative movement along the cutting path 210, which is the cutting path 210 on the initial dental instrument. There are at least two different thicknesses on the cutting path. The thickness includes the maximum and minimum of the thickness of the cutting path. Based on the maximum and minimum, the laser cutting system is The cutting energy is maintained substantially constant and can cut through the maximum value of the cutting path thickness and maintain the cutting depth of the solid dental model corresponding to the minimum value of the cutting path thickness within a preset threshold range, while maintaining the shell shape The performance of the dental appliance maintains the preset orthodontic characteristics.

Among them, the control device can be any suitable computing device, such as a personal computer, a server, a programmable logic controller (Programmable Logic Controller, PLC controller for short), a single-chip microcomputer, and a combination of a programmable controller and a server, etc., or it can be a computer device The control device has the functions of receiving information and sending control commands. The control device can control the laser output device 10 and the initial dental instrument fixture 20 to perform corresponding actions through wired communication or wireless communication to complete the initial dental instrument cutting The cutting energy on the path 210 is maintained substantially constant and the cutting energy on the preset cutting path can be maintained substantially constant and can cut through the maximum thickness of the cutting path and make the minimum value of the cutting path thickness correspond to the dental model The cutting depth is maintained within 0.01-1.60mm, while maintaining the performance of the shell-shaped dental appliance maintains the preset correction characteristics. For example, the control device outputs a laser output control command to the laser output device 10, the laser output device 10 starts emitting laser beams, and the control device outputs an action command to the initial dental instrument fixing device 20, so that the initial dental instrument fixing device 20 The dental instrument 22 moves in contact with the laser beam along the cutting path 210 to perform corresponding laser cutting, so that the cutting energy cuts through the initial dental instrument 22 at the maximum thickness on the cutting path 210, and the thickness on the cutting path 210 The minimum is cut through and the cutting depth of the corresponding solid dental model 100 is within 0.01-1.60mm. After the cutting is completed, the control device receives the instruction to complete the initial dental instrument fixture 20 to stop moving, and the laser output device 10 stops the laser beam And the initial dental instrument fixing device 20 and the laser output device 10 wait for the next cutting control instruction output by the control device. The preparation method of the shell-shaped dental appliance refers to the description in the above-mentioned embodiment, which will not be repeated here.

In one embodiment, the laser output device 10 includes a laser light source, which emits laser light; an output adjustment part, which adjusts the output of the laser light emitted from the laser light source; and a mirror unit, which emits the laser light that has passed the output adjustment part to the outside; The mounting base has a main surface on which the laser light source, the output adjustment part and the mirror unit are arranged; the optical path of the laser light reaching the mirror unit from the laser light source through the output adjustment part is set along a plane parallel to the main surface , The mirror unit has a mirror for adjusting the optical axis of the laser, and emits the laser to the outside in a direction crossing the plane. It is also possible to use a laser output device with relatively mature technology in the prior art, such as a laser output device produced by Wuhan Ruike Company or a German IPG fiber laser.

In one embodiment, the initial dental instrument fixing device is a fixing part provided at the free end of at least the three-axis mechanical arm. For example, the initial dental instrument fixing device can be the fixed part of the free end of the three-axis robot arm, the fixed part of the free end of the four-axis robot arm or the fixed part of the free end of the five-axis robot arm, and the fixed part of the free end of the six-axis robot arm, all of which are Multi-articulated robotic arm, as shown in Figure 3, where the initial dental instrument fixing device is a six-axis robotic arm. Since the cutting path on the initial dental instrument being cut is more complicated, such as the cutting path in the area near the gum line, this area It is suppressed according to the actual situation in the patient's mouth. The situation is changeable and complicated. The six-axis robotic arm can be flexible in action. When there are obstacles during cutting, it can be avoided in time to avoid cutting and blocking the part of the non-cutting path. Cutting damage affects the output effect of the shell-shaped dental appliance.

In one embodiment, the laser cutting system for preparing the shell-shaped dental appliance further includes an output device, which may be a gas or liquid output nozzle, as shown in FIG. 2, one nozzle or multiple nozzles may be provided; When multiple nozzles are provided, it may be multiple gas nozzles, or multiple liquid nozzles, or at least one gas nozzle and at least one liquid nozzle. The above-mentioned setting method will not affect the effect of laser cutting. For example, the nozzle is a jet tube with a diameter of 1.0-2.0 mm, and the angle between the nozzle and the laser beam can be between 10° and 40°, which can be appropriately selected according to the cutting requirements. Of course, the positions of the nozzles are different, and it is sufficient to ensure that the incident direction and angle of the gas or liquid sprayed by the nozzle are after the laser beam output by the laser cutter, which will not be repeated here.

In one embodiment, the laser cutting system for preparing shell-shaped dental appliances provided by the present application further includes a waste processing device, and the control device controls the waste processing device to process the cut waste with the laser cutting. The waste processing device may be a suction device. The suction device includes, for example, a suction tube and a suction power unit (such as an air pump). The suction tube covers the waste generated by laser cutting and can cover the waste generated by laser cutting. The dust, smoke, etc. ensure that the generated waste is completely processed to prevent pollution to the environment. The suction device can perform timely suction operation on the gas or liquid output from the output device. When the output is liquid, it can prevent the liquid from adhering to the shell-shaped dental appliance; in addition, it can also timely remove the dust or smoke generated after laser cutting. Timely removal, on the one hand, avoids pollution of the production environment, on the other hand, prevents dust from adhering to the shell-shaped dental appliance, which increases the difficulty of subsequent cleaning. On the other hand, it can effectively remove the heat generated by laser cutting in time. Thus, the temperature around the laser output device 10 (such as a laser cutter) is reduced.

In one embodiment, the laser output device, the output device, and the waste processing device in the laser cutting system are in an integrated structure. This arrangement can save space and area as a whole, and is more suitable for mass production. In another embodiment, the laser cutting system also has a purification cycle device (not shown in the figure), and the process is: after the laser output device outputs the laser beam, the initial dental instrument is cut along the cutting path, and The output device outputs gas or liquid at the cutting track point after the laser beam. The waste treatment device collects the generated exhaust gas or waste liquid, and then re-outputs the purified gas or liquid from the output device through the purification cycle device. To achieve the effect of recycling resources, not only can the overall production cost be reduced, but also the external input of other devices can be saved, saving production space for large-scale production.

Although the specific implementations of the present application are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these implementations without departing from the principle and essence of the application, but these changes and modifications all fall within the protection scope of the application.

Claims (36)

1. A method for preparing a shell-shaped dental appliance includes:

   According to the digital orthodontic plan that gradually changes the teeth from the initial position to the target orthodontic position, the preparation of the solid dental model in each stage of the digital orthodontic plan is performed, and the corresponding lamination of the solid dental model in each stage of the digital orthodontic plan is performed Afterwards, the initial dental instruments covered on the solid dental model are cut in a laser cutting system to produce a shell-shaped dental appliance;

   Wherein, the initial dental instrument is laser cut along a cutting path, and the cutting path on the initial dental instrument has at least two different thicknesses, and the thickness includes the maximum and minimum thickness of the cutting path, based on The maximum and minimum values set the output instructions of the laser cutting system so that the cutting energy on the cutting path is maintained substantially constant and can cut through the maximum thickness of the cutting path and make the thickness of the cutting path less than the maximum value. The cutting depth of the solid dental model corresponding to the minimum value is maintained within the preset threshold range, so as to maintain the performance of the shell-shaped dental appliance and maintain the preset treatment characteristics.
2. The preparation method according to claim 1, wherein the preset threshold value range is 0.01-1.60 mm.
3. The preparation method according to claim 1, wherein the maximum value of the thickness of the cutting path is a continuous area or a discrete point; and the minimum value of the thickness of the cutting path is a continuous area or a discrete point.
4. The preparation method according to claim 1, wherein the cutting energy on the cutting path is maintained substantially constant, and the fluctuation range thereof is maintained within ±1%.
5. The preparation method according to claim 1, wherein the thickness of the cutting path is obtained by real-time measurement, medical record data statistics, or virtual modeling statistics, and the thickness range of the cutting path on the initial dental instrument is 0.45-1.80mm.
6. The preparation method according to claim 1, wherein the preset treatment characteristic of the shell-shaped dental appliance is the treatment characteristic capable of gradually changing the teeth from the initial position to the target treatment position.
7. The preparation method according to claim 6, wherein the preset corrective properties of the shell-shaped dental appliance include the physical properties of the shell-shaped dental appliance and/or the chemical properties of the shell-shaped dental appliance .
8. The preparation method according to any one of claims 1-7, wherein the output instruction further comprises setting based on the material of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially constant And it can cut through the maximum value of the cutting path thickness and maintain the cutting depth of the solid dental model corresponding to the minimum value of the cutting path thickness within a preset threshold range, thereby maintaining the shell-shaped dental appliance The performance maintains the preset corrective characteristics.
9. The preparation method according to claim 8, wherein the material of the initial dental appliance is thermoplastic polyurethane material, ethylene terephthalate high polymer, polyethylene terephthalate-ethylene At least one of diol copolyester, polyvinyl ester mixture, and cyclohexanediol-modified ethylene terephthalate copolymer.
10. The preparation method according to claim 9, wherein the material of the initial dental appliance is at least one of PETG, TPU, and PC.
11. The preparation method according to any one of claims 1-7, wherein the output instruction further comprises setting based on the relative movement rate of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially constant And it can cut through the maximum value of the cutting path thickness and maintain the cutting depth of the solid dental model corresponding to the minimum value of the cutting path thickness within a preset threshold range, thereby maintaining the shell-shaped dental appliance The performance maintains the preset corrective characteristics.
12. The preparation method according to claim 1, wherein the laser cutting system includes a control device, a laser output device, and an initial dental instrument fixing device, and the control device controls the output energy of the laser output device to maintain a constant and the cutting path The cutting energy is maintained constant; the control device controls the relative movement rate of the initial dental instrument fixing device and the laser output device, so that the cutting energy on the cutting path is maintained substantially constant.
13. The preparation method according to claim 12, wherein the initial dental instrument fixing device is a fixing part provided at the free end of at least a three-axis mechanical arm.
14. The preparation method according to claim 12, wherein the laser cutting system further comprises an output device, and the control device controls the temperature of the output device on the area in contact with the laser energy on the cutting path to maintain the The performance of the shell-shaped dental appliance maintains the preset corrective properties.
15. The preparation method according to claim 14, wherein the output device is a gas output device or a liquid output device.
16. The preparation method according to claim 15, wherein the gas output by the gas output device is air or inert gas, and the liquid output by the liquid output device is water.
17. The preparation method according to claim 12, wherein the laser cutting system further comprises a waste processing device, and the control device controls the waste processing device to process the cut waste with the laser cutting.
18. The preparation method according to claim 1, wherein the cutting path is a trajectory near the gum line of the initial dental instrument, an opening or a grooved trajectory on the shell-shaped dental appliance.
19. A laser cutting system for preparing a shell-shaped dental appliance, comprising: a control device, a laser output device, a module to be cut and a fixed device for the module to be cut, the control device is respectively connected to the laser output device and the The to-be-cut module fixing device is communicatively connected, the to-be-cut module includes a dental model and an initial dental instrument pressed on the dental model, and the to-be-cut module is fixed on the to-be-cut module fixing device ；

    The control device controls the laser output device and the fixed device of the module to be cut installed with the module to be cut to move relative to each other along a cutting path to perform laser cutting, and the initial dental instrument has at least two cutting paths on the cutting path Different thicknesses, the thickness includes the maximum and minimum of the thickness of the cutting path, and based on the maximum and minimum, the laser cutting system is set to output instructions to maintain the cutting energy on the cutting path Basically constant and capable of cutting through the maximum value of the cutting path thickness and maintaining the cutting depth of the solid dental model corresponding to the minimum value of the cutting path thickness within a preset threshold range, thereby maintaining the shell-shaped dental appliance The performance maintains the preset corrective characteristics.
20. The laser cutting system according to claim 19, wherein the preset threshold value range is 0.01-1.60 mm.
21. The laser cutting system according to claim 19, wherein the maximum value of the thickness of the cutting path is a continuous area or a discrete point; and the minimum value of the thickness of the cutting path is a continuous area or a discrete point.
22. The laser cutting system according to claim 19, wherein the cutting energy on the cutting path is maintained substantially constant, and the fluctuation range thereof is maintained within ±1%.
23. The laser cutting system according to claim 19, wherein the thickness of the cutting path is obtained by real-time measurement, medical record data statistics or virtual modeling statistics, and the thickness range of the cutting path on the initial dental instrument It is 0.45-1.80mm.
24. The laser cutting system according to claim 19, wherein the preset treatment characteristic of the shell-shaped dental appliance is the treatment characteristic capable of gradually changing the teeth from the initial position to the target treatment position.
25. The laser cutting system according to claim 24, wherein the preset treatment characteristics of the shell-shaped dental appliance include the physical properties of the shell-shaped dental appliance and/or the chemical properties of the shell-shaped dental appliance. performance.
26. The laser cutting system according to any one of claims 19-25, wherein the output instruction further comprises setting based on the material of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially constant and It can cut through the maximum value of the thickness of the cutting path and maintain the cutting depth of the solid dental model corresponding to the minimum value of the thickness of the cutting path within a preset threshold range, thereby maintaining the shell-shaped dental appliance The performance maintains the preset corrective characteristics.
27. The laser cutting system according to claim 26, wherein the material of the initial dental instrument is thermoplastic polyurethane material, ethylene terephthalate high polymer, polyethylene terephthalate- At least one of ethylene glycol copolyester, polyvinyl ester mixture, and cyclohexanediol-modified ethylene terephthalate copolymer.
28. The laser cutting system according to claim 27, wherein the material of the initial dental appliance is at least one of PETG, TPU, and PC.
29. The laser cutting system according to any one of claims 19-25, wherein the output instruction further comprises setting based on the relative movement rate of the initial dental instrument, so that the cutting energy on the cutting path is maintained substantially Constant and capable of cutting through the maximum value of the cutting path thickness and maintaining the cutting depth of the solid dental model corresponding to the minimum value of the cutting path thickness within a preset threshold range, thereby maintaining the shell-shaped teeth The performance of the appliance maintains the preset treatment characteristics.
30. The laser cutting system according to claim 19, wherein the control device controls the output energy of the laser output device to maintain substantially constant and the output energy on the cutting path to maintain substantially constant; the control device controls the initial dental instrument The relative movement rate of the fixing device and the laser output device is such that the output energy of the laser output device is maintained constant and the output energy on the cutting path is maintained substantially constant.
31. The laser cutting system according to claim 19, wherein the initial dental instrument fixing device is a fixing part provided at a free end of at least a three-axis mechanical arm.
32. The laser cutting system according to claim 19, wherein the laser cutting system further comprises an output device, and the control device controls the temperature of the output device on the area in contact with the laser energy on the cutting path to maintain the shell The performance of the shaped dental appliance maintains the preset orthodontic characteristics.
33. The laser cutting system according to claim 32, wherein the output device is a gas output device or a liquid output device.
34. The laser cutting system according to claim 33, wherein the gas output device is an air-cooled spray head, and the liquid output device is a water-cooled spray head.
35. 18. The laser cutting system according to claim 19, wherein the laser cutting system further comprises a waste processing device, and the control device controls the waste processing device to process the cut waste with the laser cutting.
36. The laser cutting system according to claim 19, wherein the cutting path is a trajectory near the gum line of the initial dental instrument, an opening or a grooved trajectory on the shell-shaped dental appliance.

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