CN107822722A - A kind of finite point that motion planning is bent for orthodontic bow-wire recovers generating method - Google Patents
A kind of finite point that motion planning is bent for orthodontic bow-wire recovers generating method Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/12—Brackets; Arch wires; Combinations thereof; Accessories therefor
- A61C7/20—Arch wires
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Abstract
A kind of finite point that motion planning is bent for orthodontic bow-wire recovers generating method, it is related to orthodontic bow-wire and bends technical field, personalized orthodontic bow-wire curve of the invention according to patient, robot motion's information collection based on orthodontic bow-wire curve shaping control point information collection, shaping control point, the movement characteristic of orthodontic bow-wire is bent with reference to robot, show that a kind of finite point that motion planning is bent for orthodontic bow-wire recovers generating method.Technical essential is：According to the personalized orthodontic bow-wire curve of patient, orthodontic bow-wire curve is shaped into control point information collection M, robot motion's information collection N input orthodontic bow-wires at shaping control point are bent in system；Divide personalized orthodontic bow-wire curve；Control point number in computation partition region, each region descending is arranged；Calculating inversely bends information collection；Whether detection is interfered at bending.
Description
Technical field
Patent of the present invention is related to a kind of finite point that motion planning is bent for orthodontic bow-wire and recovers generating method, belongs to just
Abnormal bending of arch edgewise technical field.
Background technology
With the improvement of living standards, beautiful increasingly focused on health, beautiful profile, healthy physique can give
People bring confidence, but the tooth for being referred to as the shop front always closes the realization that jaw hampers this hope sometimes, and the health of tooth jaw is not
Only directly affect the attractive in appearance of face, be also relate to normal oral cavity function, oral cavity malocclusion be detrimental to health it is great
Mouth disease, the higher incidence of disease is presented, in Clinical mouth treatment, patient wears orthodontic appliance more, in recent years, with numeral
Change the development of manufacturing technology, the Digital manufacturing of arch wire has become inexorable trend in orthodontic appliance.
Bent in current orthodontic arch filament during robot (CN103892929A) bends personalized orthodontic bow-wire,
Personalized orthodontic bow-wire and robot may interfere between bending paw, and interference is that personalized orthodontic bow-wire is bent with robot
Paw collides, and interference can largely effect on the precision that bends of personalized orthodontic bow-wire after occurring, and then influence rectifying effect, cause
The personalized orthodontic bow-wire for making to be bent can not be applied to clinical treatment；Research is found, personalized orthodontic bow-wire is bent in forward direction
During, forward direction bends the shaping arch wire that complexity is bent into by the orthodontic bow-wire not bent, interferes often caused by not conforming to
The shaping control point of reason is bent caused by order, and rational forward direction bends shaping control point and bends order and can be effectively prevented from
The generation of interference, it is to realize necessity that orthodontic bow-wire digitlization is bent to obtain rational forward direction and bend shaping control point to bend order
Premise, but current orthodontic bow-wire bends technical field and lacks the positive planing method for bending shaping control point and bending order, it is difficult to
Realize that orthodontic bow-wire digitlization is bent.
The content of the invention
In view of the above-mentioned problems, the present invention proposes that a kind of finite point that motion planning is bent for orthodontic bow-wire recovers the side of transforming into
Method, solve the problems, such as current orthodontic bow-wire bend technical field lack forward direction bend shaping control point bend sequential program(me) method,
And then realize that orthodontic bow-wire digitlization is bent.
It is of the invention to be for the taken scheme that solves the above problems：
A kind of finite point that motion planning is bent for orthodontic bow-wire recovers generating method, it is characterised in that：Methods described
Specific implementation process be：
Step 1: data import：
Doctor according to patient have i shaping control point, g specific function song, g+1 sequence curve section personalized correction
Arch wire curve, input personalized orthodontic bow-wire curve shaping control point information collection M={ m1,m2,m3,…,mi},mi=(ui,vi,
wi) ' be shapes the coordinate at control point, each orthodontic bow-wire curve shaping control point m per personalized orthodontic bow-wire curvei
Corresponding shaping control point robot motion's information unit ni, so robot motion's information collection at the shaping control point of input
For N={ n1,n2,n3,…,ni, niRepresent that shaping of the robot when bending this controls point coordinates and bend angle, ni=
(ui,vi,wi,αi) ', ui、vi、wiFor shaping control point miCoordinate, αiShaping control point m is acted on for robotiOn it is curved
Controlling angle, orthodontic bow-wire curve is shaped into control point information collection M, robot motion's information collection N at shaping control point is input to and led
Enter orthodontic bow-wire to bend in system；
Step 2: divide personalized orthodontic bow-wire curve：
Personalized orthodontic bow-wire curve is made up of the sequence curve section that specific function is bent and connection specific function is bent, and one has
G specific function is bent, the personalized orthodontic bow-wire curve of g+1 sequence curve section can be divided into g specific function song region
With g+1 sequence song region, specific function song area information collection Q={ q are obtained1,q2,q3,…,qg, sequence song area information collection
X={ x1,x2,x3,…,xg+1, given birth to by specific function song on personalized orthodontic bow-wire curve and the arrangement mode of sequence curve section
Into orthodontic bow-wire curve regions information collection Z={ x1,q1,x2,q2,x3,…,xg,qg,xg+1}；
Step 3: control point number in zoning, each region descending is arranged：
Calculate each region (x1,q1,x2,q2,x3,…,xg,qg,xg+1) on control point number b, obtain control point number letter
Breath collection B1={ bx1,bq1,bx2,bq2,...,bxg+1, control point number b in more each region, obtain bq1＞ bx1＞ ... ＞ bq2,
Then 2g+1 region descending is arranged using control point number b as index, if two Region control point number b are equal, by region sequence
Number for index descending arrange, specific function song region bend order prior to sequence song region, obtain descending area information collection
For A1={ q1,x1,…q2}；
Step 4: sequentially it is ranked up to bending a little to bend in region：
Area information collection A in descending order1={ q1,x1,…,q2In the order in each region read control point in each region and shape
Robot motion's information at control point, q1={ n2,n3}、x1={ n4,n5}…q2={ ni-2,ni-1,ni, believe by robot motion
Cease ni=(ui,vi,wi,αi) ' middle αiSize be index, by each drape forming control point descending arrange, if α3>α2、α4>
α5、…、αi>αi-2>αi-1, then it is M that personalized orthodontic bow-wire curve shaping, which controls point coordinates descending matrix,1={ m3,m2,m4,...,
mi-1, robot motion's descending information integrates as N1={ n3,n2,n4,...,ni-1}；
Inversely information collection is bent Step 5: calculating：
With the thought inversely bent, i.e., formed personalized orthodontic bow-wire is bent into back unprocessed orthodontic bow-wire, will
Personalized orthodontic bow-wire curve shaping control point coordinates descending matrix M1={ m3,m2,m4,...,mi-1And robot motion's descending
Information collection N1={ n3,n2,n4,...,ni-1It is converted into the reverse matrix M of personalized orthodontic bow-wire curve shaping control point coordinates1'=
{m3′,m2′,m4′,...,mi-1' and robot motion's reverse information collection N1'={ n3′,n2′,n4′,...,ni-1′}；
Step 6: detection bend at whether interfere：
Personalized orthodontic bow-wire curve is shaped into the reverse matrix M of control point coordinates1'={ m3′,m2′,m4′,...,mi-1′}
With robot motion's reverse information collection N1'={ n3′,n2′,n4′,...,ni-1' input is into ROS systems, by being shaped in matrix
Control the order m of point coordinates3′,m2′,m4′,...,mi-1' successively analogous reverse bend personalized orthodontic bow-wire, in simulation process,
Robot model and personalized orthodontic bow-wire model are moved simultaneously, and robot is detected in personalization with ROS collision detection algorithms
When orthodontic bow-wire curve shaping dominating pair of vertices personalization orthodontic bow-wire is inversely bent, if can be sent out with personalized orthodontic bow-wire
Raw interference：
In the event of interference：
Moved being shaped at interference after control point bends order, it is reverse that control point coordinates is shaped to personalized orthodontic bow-wire curve
Matrix M1'={ m3′,m2′,m4′,...,mi-1' and robot motion's reverse information collection N1'={ n3′,n2′,n4′,...,ni-1′}
Resequenced, obtain new personalized orthodontic bow-wire curve shaping control point coordinates matrix M2={ m3′,m2′,...,m4′,
mi-1' and robot motion's information collection N2={ n3′,n2′,...,n4′,ni-1', step 6 is reruned, by new personalization
Orthodontic bow-wire curve shapes control point coordinates matrix M2={ m3′,m2′,...,m4′,mi-1' and robot motion's information collection N2=
{n3′,n2′,...,n4′,ni-1' input into ROS systems；
If do not interfere：
Jump to step 7；
Step 7: obtaining final bend a little bends order：
Shaping control point is bent into order M2={ m3′,m2′,...,m4′,mi-1′}、N2={ n3′,n2′,...,n4′,
ni-1' inverted order arrangement, obtain and export final bend and a little bend order M3={ mi-1′,m4′,...,m2′,m3′}、N3={ ni-1′,
n4′,...,n2′,n3', EP (end of program).
Beneficial effects of the present invention are：
1st, the present invention be controlled a little bend sequential program(me) when, by patient personalized orthodontic bow-wire curve shaping control point
Information collection, robot motion's information collection at shaping control point are imported in ROS systems, and dummy robot bends personalized orthodontic bow-wire
Process, while with collision detection algorithm detect interfere, orthodontic bow-wire moves simultaneously with robot in simulation process, therefore,
Carry out interference detection when, the present invention both considered orthodontic bow-wire displacement initiation interference, it is also considered that orthodontic bow-wire with
The interference that the relative motion of the machine human world triggers, improves the correctness that orthodontic bow-wire bends motion planning.
2nd, the present invention is divided into specific function song region and sequence song using by the personalized orthodontic bow-wire curve of complexity
Region, meet in Orthodontics to the mode classification of each curved section in orthodontic bow-wire curve, controlled with being shaped on every section of curve
Point number is the descending sort that index to each curve bend order, improves the efficiency that orthodontic bow-wire bends motion planning.
3rd, it is that first method obtains shaping control that the present invention shapes control point number as index first using on every section of curve
Point bends order；This is bent again to be sequentially input to simulate in ROS systems and bends motion, with the collision detection in ROS systems
Algorithm detects personalized orthodontic bow-wire and the interference in the machine human world, using by the shaping interfered control point bend order after
The mode of shifting is that the new shaping control point of second method acquisition bends order, and is bent sequentially with ROS system detectios are new；Cause
During acquisition finally bends order, the present invention has successively used two kinds to plan the method for bending order, improves rule for this
Draw the reliability for bending order.
4th, the present invention has used the thought inversely bent, i.e., the orthodontic arch bent by the shaping bending of arch edgewise Hui Wei of complexity
Silk, during being bent what is inversely bent, the space that the complicated personalized orthodontic bow-wire of shaping takes when bending is more not
The orthodontic bow-wire of processing is more, is more easy to interfere with robot, and during reverse bend, personalized orthodontic bow-wire
Complexity is changed stepwise from high to low, is changed stepwise so the space taken when bending is descending, orthodontic bow-wire when bending
The possibility interfered with robot is changed stepwise from high to low；And apply conventional forward direction to bend thought and bend orthodontic bow-wire
When, forward direction bends the shaping arch wire that complexity is bent into by the orthodontic bow-wire not bent, orthodontic bow-wire and machine when forward direction is bent
The possibility that people interferes is changed stepwise from low to high, so in the case where identical bends order, inversely think of is bent using satisfaction
The order that bends thought is more difficult to complete bending for personalized orthodontic bow-wire under conditions of not interfering, therefore meets inversely to bend
The order that bends necessarily bent suitable for forward direction, will not interfere, ensure that of the invention plan bends the correctness of order.
5th, the present invention interfere detect when, using by bent at interference a little bend moved after order method generation newly bend
Point bends order, it is rear new bending a little bent into the arrangement of order inverted order again produce final bending a little bend sequentially, i.e., final
Bend and a little bend in order, the point easily interfered is preferentially bent, and meets the characteristics of robot bends orthodontic bow-wire.
6th, the present invention is index by the size of angle is bent in robot motion's information, by each drape forming control point descending
Arrangement obtains each shaping control point inside region and bends order, and the size to bend angle meets robot as index and bends correction
The principle of arch wire, improve the reliability of this planing method.
Brief description of the drawings
For ease of explanation, the present invention is described in detail by following specific implementations and accompanying drawing.
Fig. 1 is that a kind of finite point that motion planning is bent for orthodontic bow-wire recovers the flow chart of generating method；
Fig. 2 is that personalized orthodontic bow-wire shapes control point distribution schematic diagram；
Fig. 3 is with specific function song region, sequence song region division personalization orthodontic bow-wire curve synoptic diagram.
Embodiment
To make the purpose, technical scheme and advantage of patent of the present invention of greater clarity, below by what is shown in accompanying drawing
Specific embodiment describes patent of the present invention, it should be appreciated that, these descriptions are merely illustrative, and be not intended to limit this hair
The scope of bright patent, in addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily mixing
The concept for patent of the present invention of confusing.
As shown in Figure 1, Figure 2, Figure 3 shows, present embodiment uses following technical scheme：One kind is bent for orthodontic bow-wire
The finite point of motion planning recovers generating method,
It is characterized in that：The specific implementation process of methods described is：
Step 1: data import：
Doctor according to patient have i shaping control point, g specific function song, g+1 sequence curve section personalized correction
Arch wire curve, input personalized orthodontic bow-wire curve shaping control point information collection M={ m1,m2,m3,…,mi},mi=(ui,vi,
wi) ' be shapes the coordinate at control point, each orthodontic bow-wire curve shaping control point m per personalized orthodontic bow-wire curvei
Corresponding shaping control point robot motion's information unit ni, so robot motion's information collection at the shaping control point of input
For N={ n1,n2,n3,…,ni, niRepresent that shaping of the robot when bending this controls point coordinates and bend angle, ni=
(ui,vi,wi,αi) ', ui、vi、wiFor shaping control point miCoordinate, αiShaping control point m is acted on for robotiOn it is curved
Controlling angle, orthodontic bow-wire curve is shaped into control point information collection M, robot motion's information collection N at shaping control point is input to and led
Enter orthodontic bow-wire to bend in system；
Step 2: divide personalized orthodontic bow-wire curve：
Personalized orthodontic bow-wire curve is made up of the sequence curve section that specific function is bent and connection specific function is bent, and one has
G specific function is bent, the personalized orthodontic bow-wire curve of g+1 sequence curve section can be divided into g specific function song region
With g+1 sequence song region, specific function song area information collection Q={ q are obtained1,q2,q3,…,qg, sequence song area information collection
X={ x1,x2,x3,…,xg+1, given birth to by specific function song on personalized orthodontic bow-wire curve and the arrangement mode of sequence curve section
Into orthodontic bow-wire curve regions information collection Z={ x1,q1,x2,q2,x3,…,xg,qg,xg+1}；
Step 3: control point number in zoning, each region descending is arranged：
Calculate each region (x1,q1,x2,q2,x3,…,xg,qg,xg+1) on control point number b, obtain control point number letter
Breath collection B1={ bx1,bq1,bx2,bq2,...,bxg+1, control point number b in more each region, obtain bq1＞ bx1＞ ... ＞ bq2,
Then 2g+1 region descending is arranged using control point number b as index, if two Region control point number b are equal, by region sequence
Number for index descending arrange, specific function song region bend order prior to sequence song region, obtain descending area information collection
For A1={ q1,x1,…q2}；
Step 4: sequentially it is ranked up to bending a little to bend in region：
Area information collection A in descending order1={ q1,x1,…,q2In the order in each region read control point in each region and shape
Robot motion's information at control point, q1={ n2,n3}、x1={ n4,n5}…q2={ ni-2,ni-1,ni, believe by robot motion
Cease ni=(ui,vi,wi,αi) ' middle αiSize be index, by each drape forming control point descending arrange, if α3>α2、α4>α5…、
αi>αi-2>αi-1, then it is M that personalized orthodontic bow-wire curve shaping, which controls point coordinates descending matrix,1={ m3,m2,m4,...,mi-1,
Robot motion's descending information integrates as N1={ n3,n2,n4,...,ni-1}；
Inversely information collection is bent Step 5: calculating：
With the thought inversely bent, i.e., formed personalized orthodontic bow-wire is bent into back unprocessed orthodontic bow-wire, will
Personalized orthodontic bow-wire curve shaping control point coordinates descending matrix M1={ m3,m2,m4,...,mi-1And robot motion's descending
Information collection N1={ n3,n2,n4,...,ni-1It is converted into the reverse matrix M of personalized orthodontic bow-wire curve shaping control point coordinates1'=
{m3′,m2′,m4′,...,mi-1' and robot motion's reverse information collection N1'={ n3′,n2′,n4′,...,ni-1′}；
Step 6: detection bend at whether interfere：
Personalized orthodontic bow-wire curve is shaped into the reverse matrix M of control point coordinates1'={ m3′,m2′,m4′,...,mi-1′}
With robot motion's reverse information collection N1'={ n3′,n2′,n4′,...,ni-1' input is into ROS systems, by being shaped in matrix
Control the order m of point coordinates3′,m2′,m4′,...,mi-1' successively analogous reverse bend personalized orthodontic bow-wire, in simulation process,
Robot model and personalized orthodontic bow-wire model are moved simultaneously, and robot is detected in personalization with ROS collision detection algorithms
When orthodontic bow-wire curve shaping dominating pair of vertices personalization orthodontic bow-wire is inversely bent, if can be sent out with personalized orthodontic bow-wire
Raw interference：
In the event of interference：
Moved being shaped at interference after control point bends order, it is reverse that control point coordinates is shaped to personalized orthodontic bow-wire curve
Matrix M1'={ m3′,m2′,m4′,...,mi-1' and robot motion's reverse information collection N1'={ n3′,n2′,n4′,...,ni-1′}
Resequenced, obtain new personalized orthodontic bow-wire curve shaping control point coordinates matrix M2={ m3′,m2′,...,m4′,
mi-1' and robot motion's information collection N2={ n3′,n2′,...,n4′,ni-1', step 6 is reruned, by new personalization
Orthodontic bow-wire curve shapes control point coordinates matrix M2={ m3′,m2′,...,m4′,mi-1' and robot motion's information collection N2=
{n3′,n2′,...,n4′,ni-1' input into ROS systems；
If do not interfere：
Jump to step 7；
Step 7: obtaining final bend a little bends order：
Shaping control point is bent into order M2={ m3′,m2′,...,m4′,mi-1′}、N2={ n3′,n2′,...,n4′,
ni-1' inverted order arrangement, obtain and export final bend and a little bend order M3={ mi-1′,m4′,...,m2′,m3′}、N3={ ni-1′,
n4′,...,n2′,n3', EP (end of program).
The advantages of general principle and principal character and patent of the present invention of patent of the present invention has been shown and described above, one's own profession
The technical staff of industry is it should be appreciated that patent of the present invention is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate the principle of patent of the present invention, on the premise of patent spirit and scope of the present invention are not departed from, patent of the present invention is also
Various changes and modifications are had, these changes and improvements are both fallen within claimed invention the scope of the claims.Patent of the present invention
Claimed scope is by appended claims and its equivalent thereof.
Claims (1)
1. a kind of finite point that motion planning is bent for orthodontic bow-wire recovers generating method, it is characterised in that：Methods described
Specific implementation process is：
Step 1: data import：
Doctor according to patient have i shaping control point, g specific function song, g+1 sequence curve section personalized orthodontic bow-wire
Curve, input personalized orthodontic bow-wire curve shaping control point information collection M={ m1,m2,m3,…,mi},mi=(ui,vi,wi) ' be
The coordinate at shaping control point per personalized orthodontic bow-wire curve, each orthodontic bow-wire curve shaping control point miCorresponding one
Individual shaping control point robot motion's information unit ni, so robot motion's information at the shaping control point of input integrates as N=
{n1,n2,n3,…,ni, niRepresent that shaping of the robot when bending this controls point coordinates and bend angle, ni=(ui,vi,
wi,αi) ', ui、vi、wiFor shaping control point miCoordinate, αiShaping control point m is acted on for robotiOn bend angle,
Orthodontic bow-wire curve is shaped into control point information collection M, robot motion's information collection N at shaping control point is input to importing orthodontic arch
Silk is bent in system；
Step 2: divide personalized orthodontic bow-wire curve：
Personalized orthodontic bow-wire curve is made up of the sequence curve section that specific function is bent and connection specific function is bent, and one has g
Specific function is bent, the personalized orthodontic bow-wire curve of g+1 sequence curve section can be divided into g specific function song region and g+
1 sequence song region, obtain specific function song area information collection Q={ q1,q2,q3,…,qg, sequence song area information collection X=
{x1,x2,x3,…,xg+1, generated just by specific function song on personalized orthodontic bow-wire curve and the arrangement mode of sequence curve section
Abnormal arch wire curve regions information collection Z={ x1,q1,x2,q2,x3,…,xg,qg,xg+1}；
Step 3: control point number in zoning, each region descending is arranged：
Calculate each region (x1,q1,x2,q2,x3,…,xg,qg,xg+1) on control point number b, obtain control point number information collection
B1={ bx1,bq1,bx2,bq2,...,bxg+1, control point number b in more each region, obtain bq1＞ bx1＞ ... ＞ bq2, then with
Control point number b is that index arranges 2g+1 region descending, if two Region control point number b are equal, by region serial number
Index descending arranges, and specific function song region bends order prior to sequence song region, obtains descending area information and integrates as A1
={ q1,x1,…q2}；
Step 4: sequentially it is ranked up to bending a little to bend in region：
Area information collection A in descending order1={ q1,x1,…,q2In the order in each region read shaping control point in control point in each region
Robot motion's information, q1={ n2,n3}、x1={ n4,n5}…q2={ ni-2,ni-1,ni, by robot motion's information ni=
(ui,vi,wi,αi) ' middle αiSize be index, by each drape forming control point descending arrange, if α3>α2、α4>α5…、αi>αi-2
>αi-1, then it is M that personalized orthodontic bow-wire curve shaping, which controls point coordinates descending matrix,1={ m3,m2,m4,...,mi-1, robot
Motion descending information integrates as N1={ n3,n2,n4,...,ni-1}；
Inversely information collection is bent Step 5: calculating：
With the thought inversely bent, i.e., formed personalized orthodontic bow-wire is bent into back unprocessed orthodontic bow-wire, by individual character
Change orthodontic bow-wire curve shaping control point coordinates descending matrix M1={ m3,m2,m4,...,mi-1And robot motion's descending information
Collect N1={ n3,n2,n4,...,ni-1It is converted into the reverse matrix M of personalized orthodontic bow-wire curve shaping control point coordinates1'=
{m3′,m2′,m4′,...,mi-1' and robot motion's reverse information collection N1'={ n3′,n2′,n4′,...,ni-1′}；
Step 6: detection bend at whether interfere：
Personalized orthodontic bow-wire curve is shaped into the reverse matrix M of control point coordinates1'={ m3′,m2′,m4′,...,mi-1' and machine
People moves reverse information collection N1'={ n3′,n2′,n4′,...,ni-1' input is into ROS systems, by shaping control point in matrix
The order m of coordinate3′,m2′,m4′,...,mi-1' successively analogous reverse bend personalized orthodontic bow-wire, in simulation process, robot
Model and personalized orthodontic bow-wire model are moved simultaneously, and robot is detected in personalized orthodontic arch with ROS collision detection algorithms
When silk curve shaping dominating pair of vertices personalization orthodontic bow-wire is inversely bent, if can occur with personalized orthodontic bow-wire dry
Relate to：
In the event of interference：
Moved being shaped at interference after control point bends order, the control reverse matrix of point coordinates is shaped to personalized orthodontic bow-wire curve
M1'={ m3′,m2′,m4′,...,mi-1' and robot motion's reverse information collection N1'={ n3′,n2′,n4′,...,ni-1' carry out
Rearrangement, obtain new personalized orthodontic bow-wire curve shaping control point coordinates matrix M2={ m3′,m2′,...,m4′,
mi-1' and robot motion's information collection N2={ n3′,n2′,...,n4′,ni-1', rerun
Step 6, new personalized orthodontic bow-wire curve is shaped into control point coordinates matrix M2={ m3′,m2′,...,m4′,mi-1′}
With robot motion's information collection N2={ n3′,n2′,...,n4′,ni-1' input into ROS systems；
If do not interfere：
Jump to step 7；
Step 7: obtaining final bend a little bends order：
Shaping control point is bent into order M2={ m3′,m2′,...,m4′,mi-1′}、N2={ n3′,n2′,...,n4′,ni-1' fall
Sequence arranges, and obtains and exports final bend and a little bends order M3={ mi-1′,m4′,...,m2′,m3′}、N3={ ni-1′,
n4′,...,n2′,n3', EP (end of program).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711122139.3A CN107822722B (en) | 2017-11-14 | 2017-11-14 | Finite point searching and expanding method for orthodontic arch wire bending motion planning |
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|---|---|---|---|
| CN201711122139.3A CN107822722B (en) | 2017-11-14 | 2017-11-14 | Finite point searching and expanding method for orthodontic arch wire bending motion planning |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875702A (en) * | 2018-06-16 | 2019-06-14 | 哈尔滨理工大学 | A kind of manpower bends orthodontic wire motion model method for building up |
| CN109875702B (en) * | 2018-06-16 | 2020-08-04 | 哈尔滨理工大学 | Method for establishing motion model of arch wire for orthodontics by bending hands |
| CN111588497A (en) * | 2020-06-01 | 2020-08-28 | 哈尔滨理工大学 | Plane equal-radius circular domain dividing radius determination method based on orthodontics arch wire bending point-angle-distance ratio sum |
| CN111588499A (en) * | 2020-06-01 | 2020-08-28 | 哈尔滨理工大学 | Plane equal-radius circular domain dividing radius determining method based on orthodontic arch wire bending point density |
| CN111588500A (en) * | 2020-06-01 | 2020-08-28 | 哈尔滨理工大学 | Equal-angle division angle determination method for orthodontic arch wire bending sequence planning |
| CN111588502A (en) * | 2020-06-01 | 2020-08-28 | 哈尔滨理工大学 | Orthodontic arch wire variable-radius circular domain dividing method based on bending point-angular distance ratio sum |
| CN111588505A (en) * | 2020-06-01 | 2020-08-28 | 哈尔滨理工大学 | Method for planning bending sequence of orthodontic arch wire divided by plane variable-radius circular domain |
| CN111588503A (en) * | 2020-06-01 | 2020-08-28 | 哈尔滨理工大学 | Orthodontic arch wire variable-radius circular domain dividing method based on bending point density |
| CN111588503B (en) * | 2020-06-01 | 2021-05-28 | 哈尔滨理工大学 | Orthodontic arch wire variable-radius circular domain dividing method based on bending point density |
| CN111588500B (en) * | 2020-06-01 | 2021-06-04 | 哈尔滨理工大学 | Equal-angle division angle determination method for orthodontic arch wire bending sequence planning |
| CN114972184A (en) * | 2022-04-18 | 2022-08-30 | 哈尔滨理工大学 | Weight value proportion method-based orthodontic arch wire error evaluation method |
| CN114972184B (en) * | 2022-04-18 | 2023-07-21 | 哈尔滨理工大学 | Orthodontic archwire error evaluation method based on weight ratio method |
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