CN108024847B - Method and equipment for manufacturing digital complete denture with easily-adapted function - Google Patents
Method and equipment for manufacturing digital complete denture with easily-adapted function Download PDFInfo
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- CN108024847B CN108024847B CN201680000399.0A CN201680000399A CN108024847B CN 108024847 B CN108024847 B CN 108024847B CN 201680000399 A CN201680000399 A CN 201680000399A CN 108024847 B CN108024847 B CN 108024847B
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- A61C13/00—Dental prostheses; Making same
- A61C13/08—Artificial teeth; Making same
Abstract
A manufacturing method of complete denture comprises the following steps: determining complete denture three-dimensional data (101) based on the patient edentulous jaw function pressure impression; manufacturing a diagnosis denture (102) by adopting a low-wear-resistance material according to the three-dimensional data of the complete denture; and scanning the diagnosed denture after the re-diagnosis and the adjustment and the abrasion of the patient's own chewing to obtain three-dimensional data of the diagnosed denture so as to manufacture the complete denture (103) according to the three-dimensional data of the diagnosed denture. Also provides a manufacturing device of the digital complete denture with easy adaptability. The complete denture manufactured by the method and the equipment can better meet the requirements of patients, and improve the manufacturing accuracy of the denture and the comfort of the patients.
Description
Technical Field
The invention relates to the field of oral medicine, in particular to a method and equipment for manufacturing a digital complete denture with easily-adapted functions.
Background
The oral cavity repair CAD/CAM (computer Aided Design/computer Aided Manufacturing) system mainly comprises three parts of data acquisition, computer Aided Design and computer Aided machining. After more than 40 years of research, the technology occupies a place in the field of oral fixation and restoration, well embodies the superiority of CAD/CAM technology, improves efficiency, reduces labor intensity of medical technicians, improves restoration quality and accuracy, and weakens influences caused by factors such as experience of the medical technicians and personal quality.
With the development of the aging population of China, the number of the edentulous patients is high, and the complete denture is the most main repairing mode of the edentulous patients, but the traditional manufacturing steps of the complete denture are complicated, the procedures are complex, and the requirements on the experience of doctors and technicians, the operation technique and the personal quality are high. Because the complete denture diagnosis and treatment process has complicated steps, the research on the complete denture digital solution is still relatively lagged, and no breakthrough progress is made.
Disclosure of Invention
One purpose of the invention is to provide a complete denture manufacturing scheme which improves the complete denture manufacturing efficiency and accuracy.
According to an aspect of the present invention, a method for manufacturing a denture is provided, including: determining complete denture three-dimensional data based on the patient edentulous jaw function pressure impression; manufacturing a diagnosis denture by adopting a low-wear-resistance material according to the three-dimensional data of the complete denture; and scanning the diagnosed denture after the re-diagnosis and the adjustment and the abrasion of the patient after chewing to obtain the three-dimensional data of the diagnosed denture so as to manufacture the complete denture according to the three-dimensional data of the diagnosed denture.
Optionally, scanning the diagnosed denture after the re-diagnosis and the grinding and the self-chewing abrasion of the patient, and obtaining the three-dimensional data of the diagnosed denture comprises: scanning the occlusal surface of the diagnosed denture after the re-diagnosis, the adjustment and the grinding and the self chewing and abrasion of the patient to obtain three-dimensional data of the occlusal surface; the complete denture manufacturing method according to the diagnosis denture three-dimensional data comprises the following steps: performing Boolean operation on the occlusal surface three-dimensional data and the occlusal surface of the complete denture three-dimensional data to obtain data of which the occlusal surface needs to be removed; manufacturing a primary complete denture according to the complete denture three-dimensional data; and adjusting the pre-formed complete denture according to the data of the occlusal surface needing to be ground, and obtaining the complete denture.
Optionally, the creating a pre-formed complete denture from the complete denture three-dimensional data comprises: processing the complete denture base by utilizing multi-axis numerical control processing equipment according to the complete denture three-dimensional data; inserting the artificial teeth of corresponding type into the positioning holes on the complete denture base and fixing.
Optionally, the creating a pre-formed complete denture from the complete denture three-dimensional data comprises: and printing the preliminarily formed complete denture by using a three-dimensional printer according to the three-dimensional data of the complete denture.
Optionally, the method further comprises: manufacturing a closed individual tray based on the initial impression of the edentulous jaw and jaw position relation record data; obtaining a pressure impression of the edentulous jaw function in the median relation position by using a closed individual tray; marking anatomical marking lines on the surface of the pressure impression of the edentulous jaw function, wherein the anatomical marking lines comprise oral angle lines, lip height lines and facial midline lines; and acquiring the habitual chewing motion track of the patient.
Optionally, based on the patient edentulous function pressure impression, using the complete denture design software to determine complete denture three-dimensional data as: and determining the complete denture three-dimensional data by using complete denture design software based on the edentulous jaw function pressure impression marked with the anatomical marking line and the habitual chewing movement track of the patient.
Optionally, creating a closed individual tray based on the edentulous primary impression and jaw position relationship record data comprises: acquiring upper jaw edentulous jaw three-dimensional data and lower jaw edentulous jaw three-dimensional data based on the edentulous jaw initial impression; aligning the upper jaw edentulous jaw three-dimensional data and the lower jaw edentulous jaw three-dimensional data according to the jaw position relation record data, and acquiring the edentulous jaw three-dimensional data of a preset jaw position; adjusting the pose of the predetermined dentition three-dimensional data according to the edentulous jaw three-dimensional data of the predetermined jaw position, filling a gap between the dentition data and the tissue surface data, and acquiring closed individual tray three-dimensional data; and manufacturing the closed individual tray according to the three-dimensional data of the closed individual tray.
Optionally, aligning the upper jaw edentulous three-dimensional data and the lower jaw edentulous three-dimensional data according to the jaw position relation record data, and acquiring the edentulous three-dimensional data of the predetermined jaw position includes: scanning labial and buccal surfaces of the lower and upper jaws between the two side oral corners by scanning the exposed labial and buccal surfaces of the predetermined jaw relation of the patient to obtain labial and buccal surfaces scanning data of the lower and upper jaws; and respectively aligning the upper jaw edentulous jaw three-dimensional data and the lower jaw edentulous jaw three-dimensional data with the upper jaw and lower jaw surface scanning data according to the common area in the upper jaw and lower jaw cheek surface scanning data, the upper jaw and lower jaw three-dimensional data and the lower jaw edentulous jaw three-dimensional data, and obtaining the edentulous jaw three-dimensional data of the preset jaw position.
By the method, the complete denture three-dimensional data can be acquired, and the diagnosis denture can be made; because the diagnosis false tooth is made of a low-wear-resistance material and is easy to wear in the use process of a patient, the complete false tooth is made according to the three-dimensional data of the diagnosis false tooth after being subjected to re-diagnosis, adjustment and grinding and the self chewing and wearing of the patient during re-diagnosis, so that the false tooth can better meet the requirements of the patient, and the accuracy of false tooth making and the comfort of the patient are improved; the mode of manufacturing the complete denture by adopting the three-dimensional data is more convenient and faster, and the manufacturing efficiency of the complete denture is improved.
According to another aspect of the present invention, there is provided a denture manufacturing apparatus comprising: a complete denture design device for determining complete denture three-dimensional data based on the patient edentulous jaw function pressure impression; the diagnosis false tooth manufacturing device is used for manufacturing a diagnosis false tooth by adopting a low-wear-resistance material according to the three-dimensional data of the complete false tooth; and the re-diagnosis scanning device is used for scanning the diagnosed denture after re-diagnosis, adjustment and grinding and the self chewing and wearing of the patient to obtain the three-dimensional data of the diagnosed denture so as to manufacture the complete denture according to the three-dimensional data of the diagnosed denture.
Optionally, the double-diagnosis scanning device is used for scanning the occlusal surface of the diagnosed denture after double-diagnosis, adjustment and grinding and the self chewing and wearing of the patient to obtain three-dimensional data of the occlusal surface; the complete denture manufacturing device is used for manufacturing the complete denture according to the occlusal surface three-dimensional data.
Optionally, the complete denture creation device comprises: the computing sub-device is used for performing Boolean operation on the occlusal surface three-dimensional data and the occlusal surface of the complete denture three-dimensional data to obtain data of which the occlusal surface needs to be removed; the primary manufacturing sub-equipment is used for manufacturing a primary formed complete denture according to the complete denture three-dimensional data; and the finishing sub-equipment is used for adjusting the initially formed complete denture according to the data which needs to be removed by the occlusal surface to obtain the complete denture.
Optionally, the preliminary manufacturing sub-apparatus includes: the base manufacturing sub-device is used for processing the complete denture base according to the complete denture three-dimensional data by utilizing multi-axis numerical control processing equipment; and the artificial tooth fixing device is used for inserting the artificial teeth of the corresponding type into the positioning holes on the complete denture base and fixing.
Optionally, the primary fabrication sub-device is a three-dimensional printer for printing the as-formed complete denture according to the complete denture three-dimensional data.
Optionally, the method further comprises: a closed individual tray manufacturing device for manufacturing a closed individual tray based on the edentulous jaw initial impression and jaw position relation record data; an impression making device for obtaining the pressure impression of the edentulous jaw function in the middle relation position by using the closed individual tray; marking anatomical marking lines on the surface of the pressure impression of the edentulous jaw function, wherein the anatomical marking lines comprise oral angle lines, lip height lines and facial midline lines; and the track recording device is used for acquiring the chewing motion track of the habit of the patient.
Optionally, the complete denture design device is configured to determine complete denture three-dimensional data using complete denture design software based on the edentulous jaw function pressure impression marked with anatomical landmark lines and the patient's habitual chewing movement trajectory.
Optionally, the closed-end individual tray making apparatus comprises: an edentulous jaw data acquisition sub-device for acquiring upper and lower jaw edentulous jaw three-dimensional data based on the edentulous jaw preliminary impression; the data alignment sub-equipment is used for aligning the upper jaw edentulous jaw three-dimensional data and the lower jaw edentulous jaw three-dimensional data according to the jaw position relation record data and acquiring the edentulous jaw three-dimensional data of a preset jaw position; the closed individual tray three-dimensional data acquisition sub-device is used for adjusting the pose of the predetermined dentition three-dimensional data according to the edentulous jaw three-dimensional data of the predetermined jaw position, filling a gap between the dentition data and the tissue surface data, and acquiring the closed individual tray three-dimensional data; and the closed individual tray manufacturing sub-equipment is used for manufacturing the closed individual tray according to the three-dimensional data of the closed individual tray.
Optionally, the data alignment sub-device comprises: the labial-buccal surface data acquisition sub-device is used for acquiring labial-buccal surface scanning data of the upper and lower jaws between the two side mouth corners by scanning the labial-buccal surface of the upper and lower jaws under the preset jaw position relationship exposed by the patient; and the data matching sub-device is used for respectively matching the upper jaw edentulous three-dimensional data and the lower jaw edentulous three-dimensional data with the upper jaw and lower jaw surface scanning data according to the common area in the upper jaw and lower jaw surface scanning data, the upper jaw and lower jaw three-dimensional data and the lower jaw and edentulous three-dimensional data to obtain the edentulous three-dimensional data of the preset jaw position.
The equipment can acquire the three-dimensional data of the complete denture and make a diagnosis denture; because the diagnosis false tooth is made of a low-wear-resistance material and is easy to wear in the use process of a patient, the complete false tooth is made according to the three-dimensional data of the diagnosis false tooth after being subjected to re-diagnosis, adjustment and grinding and the self chewing and wearing of the patient during re-diagnosis, so that the false tooth can better meet the requirements of the patient, and the accuracy of false tooth making and the comfort of the patient are improved; the mode of manufacturing the complete denture by adopting the three-dimensional data is more convenient and faster, and the manufacturing efficiency of the complete denture is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a method of manufacturing a denture according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating a method of manufacturing a denture according to another embodiment of the present invention.
Fig. 3 is a flowchart illustrating a method of manufacturing a denture according to another embodiment of the present invention.
Fig. 4 is a flowchart illustrating an embodiment of manufacturing a closed individual tray in the denture manufacturing method according to the present invention.
Fig. 5 is a flowchart illustrating a method of manufacturing a denture according to still another embodiment of the present invention.
Fig. 6 is a schematic view of an embodiment of a denture manufacturing apparatus of the present invention.
Fig. 7 is a schematic view of another embodiment of the denture manufacturing apparatus of the present invention.
Fig. 8 is a schematic view showing an example of a complete denture creating apparatus in the denture creating device according to the present invention.
Fig. 9 is a schematic view of another embodiment of a denture production apparatus of the present invention.
Fig. 10 is a schematic view of an embodiment of a closed individual tray manufacturing apparatus in a denture manufacturing apparatus according to the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
A flowchart of an embodiment of a method of manufacturing a denture according to the present invention is shown in fig. 1.
In step 101, complete denture three-dimensional data is determined based on a pressure impression of the patient's edentulous jaw function. In one embodiment, a pressure impression of the patient's edentulous jaw function may be taken prior to designing a full denture from the impression, generating full denture three-dimensional data. In one embodiment, a complete denture design can be performed based on the three-dimensional data of the edentulous functional pressure impression to generate complete denture three-dimensional data.
In step 102, a diagnosis denture is made of a low-wear-resistance material according to the complete denture three-dimensional data. In one embodiment, a three-dimensional printer can be adopted, and a low-wear-resistance high polymer material is used for printing to quickly generate the diagnosis denture, so that a patient can conveniently obtain the diagnosis denture in real time.
In step 103, the diagnosed denture after the re-diagnosis and the grinding and the self-chewing abrasion of the patient is scanned to obtain three-dimensional data of the diagnosed denture. After the patient wears the diagnosis denture for a period of time, some detail problems of the denture design are gradually exposed, and the re-diagnosis and grinding are needed; in addition, the diagnosis false tooth can be worn during the use process of the patient, so that the diagnosis false tooth can better meet the individual requirements of the patient. The diagnosis denture after re-diagnosis, adjustment and abrasion and the self chewing abrasion of the patient can better meet the requirements of comfort and beauty, and the complete denture which better meets the requirements of the patient can be generated according to the three-dimensional data of the diagnosis denture.
By the method, the complete denture three-dimensional data can be acquired, and the diagnosis denture can be made; because the diagnosis false tooth is made of a low-wear-resistance material and is easy to wear in the use process of a patient, the complete false tooth is made according to the three-dimensional data of the diagnosis false tooth after being subjected to re-diagnosis, adjustment and grinding and the self chewing and wearing of the patient during re-diagnosis, so that the false tooth can better meet the requirements of the patient, and the accuracy of false tooth making and the comfort of the patient are improved; the mode of manufacturing the complete denture by adopting the three-dimensional data is more convenient and faster, and the manufacturing efficiency of the complete denture is improved.
In one embodiment, after the diagnostic denture three-dimensional data is obtained, the diagnostic denture three-dimensional data can be used to fabricate complete dentures, such as by printing with a three-dimensional printer or by machining using multi-axis numerical control machining equipment. By the method, the complete denture can be quickly manufactured according to the diagnosis denture three-dimensional data, the manufacturing efficiency of the complete denture is further improved, the waiting time of a patient is reduced, and the experience of the patient is optimized.
In one embodiment, a multicolor three-dimensional printer may be used to print the final complete denture from the three-dimensional data of the diagnostic denture using materials of corresponding colors, such as a gingival part data using a gingival part material and a dental part data using a dental part material. In another embodiment, the final complete denture can be generated by cutting processing based on the diagnosis denture three-dimensional data on the basis of the preset color material blocks by using a multi-axis numerical control processing device, such as processing a base part by using a gingival homochromy material and processing a tooth part by using a tooth homochromy material; a pre-finished denture having a size slightly larger than that of a final complete denture of a general patient may be prepared in advance, and a final complete denture may be created by performing cutting work on the pre-finished denture. The complete denture manufactured by the method meets the use requirement, improves the aesthetic degree and further improves the experience of patients.
In one embodiment, because the gums of a normal person have different colors and the teeth are in a gradual change state, in order to make the manufactured complete denture more beautiful and conform to the color condition of the oral cavity of the normal person, the gradual change color can be set on the basis of the three-dimensional data of the diagnosis denture, so that the colors of the gums and the teeth conform to the color condition of the gums and the teeth of the normal person, and when the three-dimensional data of the diagnosis denture is printed by using a three-dimensional printer, the data of the corresponding positions are printed by adopting the printing materials of the corresponding colors. By the method, the complete denture with more attractive appearance can be manufactured, the confidence of a patient can be improved, and the user experience can be improved. In one embodiment, to increase the printing speed, the color interface can be set to be a plane parallel to the printing surface, so as to facilitate the replacement of the printing material, increase the printing speed, and reduce the requirement for the number of color types that can be printed by the three-dimensional printer at the same time. Similarly, when the multi-axis numerical control machining equipment is used for cutting, a material block or a preformed complete denture which is in accordance with the color change of the oral cavity of the human body can also be adopted. On the basis of the above, the complete denture with more beautiful appearance can be manufactured by cutting.
Fig. 2 shows a flowchart of another embodiment of a method for manufacturing a denture according to the present invention.
In step 201, complete denture three-dimensional data is determined based on the patient edentulous jaw function pressure impression.
In step 202, a diagnostic denture is made from a low-wear material based on the complete denture three-dimensional data.
In step 203, the occlusal surface of the diagnosed denture after the re-diagnosis, the conditioning and the abrasion of the patient's own chewing is scanned to obtain three-dimensional data of the occlusal surface.
In step 204, boolean operation is performed on the occlusal surface three-dimensional data and the occlusal surface data of the complete denture three-dimensional data to obtain data that the occlusal surface needs to be removed.
In step 205, a pre-formed complete denture is created based on the complete denture three-dimensional data. In one embodiment, the complete denture base portion may be fabricated using a multi-axis numerical control machining apparatus, and the corresponding model of artificial tooth inserted into the alignment hole of the base and secured using resin bonding. In another embodiment, a three-dimensional printer may be used to print a dissolvable material denture and a cementing operation may be used to make a pre-formed full denture. In yet another embodiment, the full denture can be completely printed using a three-dimensional printer and dissolvable material, upon which the insertion and cementing operations are performed to complete the fabrication of the pre-formed full denture.
In step 206, the pre-formed complete denture is adjusted according to the data to be milled off from the occlusal surface, and the occlusal surface portion of the pre-formed complete denture can be milled by using a multi-axis numerical control processing device to obtain the complete denture.
By the method, the data of the part needing to be milled can be obtained through operation, and then the milling operation is carried out on the basis of the initially-formed complete denture made according to the complete denture three-dimensional data, so that the occlusal surface form is the same as the diagnosis denture adapted to a patient, and the complete denture more suitable for a user is obtained; on the other hand, because the grinding is only performed on the occlusal surface, the primary complete denture can be manufactured in advance, so that the waiting time for the patient to obtain the complete denture through the double-examination is reduced, and the user experience is further improved.
In one embodiment, digital methods may be used to obtain complete denture data. A flowchart of another embodiment of a method of manufacturing a denture according to the present invention is shown in fig. 3.
In step 301, a closed individual tray is fabricated based on the jaw relation record data of the edentulous jaw initial impression and the patient.
In step 302, a pressure impression of the patient's edentulous jaw function is obtained using the closed individual tray. During the manufacturing process, the patient needs to keep the jaw relation in the central relation position, the central relation position is further confirmed by trying in the oral cavity of the patient, and the relation is fixed by using a jaw recording material.
In step 303, anatomical landmark lines including oral angle lines, lip elevation lines, and facial midline lines are marked on the fabricated pressure impression of edentulous jaw function.
In step 304, a habitual chewing movement trajectory of the patient is acquired. In one embodiment, after the impression material is completely solidified, a habitual chewing movement trajectory of the edentulous patient may be acquired using a mandibular movement trajectory tracking device.
In step 305, the pressure impression of the edentulous jaw function marked with the anatomical landmark line is scanned, the scanning data of the pressure impression of the edentulous jaw function is obtained, and the complete denture which meets the use requirement of the user, dynamic balance and aesthetics is designed according to the habitual chewing motion trail of the patient, so that the three-dimensional data of the complete denture is obtained. In one embodiment, complete denture design software with virtual articulator functionality can be used to perform complete denture design, generating complete denture three-dimensional data.
In step 306, a diagnosis denture is made of a low-wear-resistance material according to the complete denture three-dimensional data.
In step 307, the diagnosed denture after the re-diagnosis and the grinding and the self-chewing abrasion of the patient are scanned to obtain three-dimensional data of the diagnosed denture. In one embodiment, the diagnostic denture three-dimensional data is occlusal three-dimensional data of the diagnostic denture.
In step 308, a complete denture is created based on the three-dimensional data of the diagnostic denture. In one embodiment, a full denture can be fabricated as in steps 204-206 of the embodiment of FIG. 2.
By the method, the complete denture can be designed by adopting a digital method on the basis of the edentulous jaw initial impression, jaw position relation data and the habitual chewing movement track of a patient, the complete denture three-dimensional data is generated, the digital design mode is more accurate and quicker, the precision and the generation efficiency of the complete denture three-dimensional data are improved, the dependence on manual operation of doctors and technicians is reduced, and the method is convenient to popularize and apply.
In one embodiment, the manner in which the individual trays are made in a closed form may also be digitized. As shown in the embodiment of fig. 4.
In step 401, the upper and lower edentulous three-dimensional data is acquired based on the edentulous preliminary impression. In one embodiment, the upper and lower edentulous preliminary impressions can be acquired separately, and the upper and lower edentulous three-dimensional data can be obtained by scanning the upper and lower edentulous preliminary impressions separately.
In step 402, the three-dimensional data of the upper and lower edentulous jaws are aligned according to the jaw relation recording data, and the three-dimensional data of the edentulous jaws in the preset jaw relation is obtained. In one embodiment, the labial and buccal surfaces of the upper and lower jaws between the two corners of the mouth exposed by the patient under the predetermined jaw position relationship can be scanned to obtain the scanning data of the labial and buccal surfaces of the upper and lower jaws, and then the three-dimensional data of the upper and lower jaws and the three-dimensional data of the lower jaw can be respectively aligned with the scanning data of the labial and buccal surfaces of the upper and lower jaws, so that the three-dimensional data of the lower jaw under the predetermined jaw position relationship can be obtained.
In step 403, adjusting the pose of the predetermined dentition three-dimensional data according to the edentulous jaw three-dimensional data of the predetermined jaw position relationship, and filling the gap between the dentition data and the tissue surface data to obtain closed individual tray three-dimensional data. In one embodiment, the predetermined dentition three-dimensional data may be scan data of a plaster model of upper and lower jaw dentition as a reference, and in the posture adjustment, the horizontal left-right direction, horizontal front-back direction overall size of the predetermined dentition three-dimensional data may be adjusted according to the edentulous jaw three-dimensional data.
In step 404, a closed individual tray is fabricated from the closed individual tray three-dimensional data. In one embodiment, a closed-end individual tray may be printed using a three-dimensional printer.
By the method, the closed individual tray can be manufactured in a digital mode on the basis of the edentulous jaw initial impression, and the manufacturing efficiency of the closed individual tray is improved; meanwhile, the dependence on manual operation is reduced, and the closed type individual tray is more accurate.
In one embodiment, a flow chart of yet another embodiment of a method of manufacturing a denture of the present invention is shown in fig. 5.
In step 501, the upper and lower non-dental three-dimensional data are acquired based on the non-dental primary impression, the upper and lower non-dental primary impressions may be acquired separately, and the upper and lower non-dental three-dimensional data are acquired by scanning the upper and lower non-dental primary impressions separately.
In step 502, the labial and buccal surfaces of the lower and upper jaws between the two corners of the mouth are scanned for the exposed predetermined jaw relation of the patient to obtain the upper and lower jaws labial and buccal surface scan data.
In step 503, according to the common area of the upper and lower jaw labial surface scanning data and the upper and lower non-dental three-dimensional data, the upper and lower non-dental three-dimensional data are respectively aligned with the upper and lower jaw labial surface scanning data, and the non-dental three-dimensional data of the predetermined jaw position is obtained. In one embodiment, the alignment of the scan data may be performed by feature point matching.
In step 504, the pose of the predetermined dentition three-dimensional data is adjusted according to the edentulous jaw three-dimensional data of the predetermined jaw position relationship, and gaps between the dentition data and the tissue surface data are filled to obtain closed individual tray three-dimensional data.
In step 505, a closed individual tray is created from the closed individual tray three-dimensional data.
In step 506, a pressure impression of the patient's edentulous jaw function is obtained using the closed individual tray, and the patient needs to maintain jaw position in a neutral relationship during the procedure. And (3) uniformly coating the final impression material on the inner surfaces of the upper and lower jaw trays, positioning the trays on the alveolar ridges of the upper and lower jaws of the patient, occluding the patient, and obtaining the edentulous jaw function pressure impression positioned in the central relation position after the impression material is completely solidified.
In one embodiment, anatomical landmark lines are marked on the fabricated pressure impression of edentulous jaw function, including oral angle lines, lip elevation lines, and facial midline lines. And acquiring the habitual chewing movement track of the edentulous jaw patient by using a lower jaw movement track tracking device.
In step 507, the pressure impression of the edentulous jaw function marked with the anatomical landmark line is scanned, scanning data of the pressure impression of the edentulous jaw function is obtained, and a complete denture which meets the use requirement of a user, dynamic balance and aesthetics is designed according to the habitual chewing motion trail of a patient, so that three-dimensional data of the complete denture is obtained. In one embodiment, complete denture design software with virtual articulator functionality can be used to perform complete denture design, generating complete denture three-dimensional data.
In step 508, a low-wear-resistance material is used to fabricate a diagnostic denture based on the three-dimensional data of the complete denture.
In step 509, the occlusal surface of the diagnosed denture after the re-diagnosis and the conditioning and abrasion of the patient's own chewing is scanned to obtain three-dimensional occlusal surface data.
In step 510, boolean operation is performed on the occlusal surface three-dimensional data and the occlusal surface data of the complete denture three-dimensional data to obtain data that the occlusal surface needs to be removed.
In step 511, a preliminary-formed complete denture is produced based on the complete denture three-dimensional data. In one embodiment, the complete denture base portion may be fabricated using a multi-axis numerical control machining apparatus, and the corresponding model of artificial tooth inserted into the alignment hole of the base and secured using resin bonding. In another embodiment, a three-dimensional printer may be used to print a dissolvable material denture and a cementing operation may be used to make a pre-formed full denture.
In step 512, the pre-formed complete denture is adjusted according to the data of the occlusal surface to be removed, and the occlusal surface part of the pre-formed complete denture can be adjusted and ground by using multi-axis numerical control processing equipment, so that the three-dimensional form of the occlusal surface part is the same as the diagnosis denture adapted by the patient, and the complete denture is obtained.
By the method, after the upper and lower jaw initial impression is obtained, a series of digital solutions can be adopted to simplify the complete denture manufacturing process in each step, the dependence of denture manufacturing on the experience of doctors and technicians is greatly reduced, the manufacturing efficiency and accuracy are greatly improved, and the user experience is improved.
The research results in the field of complete denture digital manufacturing shown in domestic and foreign documents at present mainly comprise:
in the aspect of complete denture data acquisition: firstly, copying the existing complete denture to obtain the three-dimensional data of the existing denture; secondly, scanning the edentulous jaw model of the patient and the jaw position relation, and designing the tooth arrangement and the base by using a computer to design the complete denture data.
In the aspect of processing and forming: firstly, cutting the preformed resin blocks of the base and then inserting the finished artificial teeth one by one. Secondly, the three-dimensional printing technology is utilized for direct processing, but no directly available product exists at present. And thirdly, three-dimensionally printing a wax pattern or a pattern box, and performing adhesive pressing forming by using a traditional false tooth manufacturing method for clinical application.
The method can not really reflect the physiological and personalized occlusal surface CAD result of the artificial dentition of the artificial denture, can not really realize the functional adaptive repair of the edentulous jaw complete denture, and can not fully reflect the convenience of digital processing.
The method in the embodiment of the invention can greatly simplify the complicated manual operation steps of the dentures of the edentulous jaw complete mouth prosthesis, reduce the physiological and psychological burden of the patient in the diagnosis and treatment process, shorten the time for the patient to adapt to the final denture prosthesis, reduce the possibility of discomfort in the adaptation process and obviously improve the functional adaptability of the final denture by optimally combining and applying the oral medicine digitization technologies such as three-dimensional scanning, intelligent automatic design, accurate digital processing and the like.
A schematic diagram of one embodiment of a denture making apparatus of the present invention is shown in fig. 6. Therein, the complete denture design apparatus 601 is used to determine complete denture three-dimensional data based on a patient edentulous jaw function pressure impression. In one embodiment, a pressure impression of the patient's edentulous jaw function may be taken prior to designing a full denture from the impression, generating full denture three-dimensional data. In one embodiment, the complete denture design apparatus can include a three-dimensional scanner and a device or software capable of complete denture design, obtaining three-dimensional data of the pressure impression of the edentulous jaw function by scanning the pressure impression of the edentulous jaw function, and performing complete denture design based on the three-dimensional data of the pressure impression of the edentulous jaw function to generate the three-dimensional data of the complete denture. The diagnostic denture creating device 602 can create a diagnostic denture from the full denture three-dimensional data using low-wear materials. In one embodiment, diagnostic denture creation device 602 may include a three-dimensional printer to facilitate immediate access to the diagnostic dentures by the patient by using a low-wear polymer material for rapid printing. The re-diagnosis scanning device 603 is used for scanning the diagnosed denture after re-diagnosis, adjustment and grinding and the self chewing and wearing of the patient to obtain three-dimensional data of the diagnosed denture. After the patient wears the diagnosis denture for a period of time, some detail problems of the denture design are gradually exposed, and the re-diagnosis and grinding are needed; in addition, the diagnosis false tooth can be worn during the use process of the patient, so that the diagnosis false tooth can better meet the individual requirements of the patient. The diagnosis denture after re-diagnosis, adjustment and abrasion and the self chewing abrasion of the patient can better meet the requirements of comfort and beauty, and the complete denture which better meets the requirements of the patient can be generated according to the three-dimensional data of the diagnosis denture.
The equipment can acquire the three-dimensional data of the complete denture and make a diagnosis denture; because the diagnosis false tooth is made of a low-wear-resistance material and is easy to wear in the use process of a patient, the complete false tooth is made according to the three-dimensional data of the diagnosis false tooth after being subjected to re-diagnosis, adjustment and grinding and the self chewing and wearing of the patient during re-diagnosis, so that the false tooth can better meet the requirements of the patient, and the accuracy of false tooth making and the comfort of the patient are improved; the mode of manufacturing the complete denture by adopting the three-dimensional data is more convenient and faster, and the manufacturing efficiency of the complete denture is improved.
A schematic view of another embodiment of the denture making apparatus of the present invention is shown in fig. 7. The complete denture design apparatus 701, the diagnostic denture creation apparatus 702, and the review scan apparatus 703 are similar in structure and function to the embodiment of fig. 6. The denture creating apparatus further includes a complete denture creating device 704 capable of creating a complete denture based on the diagnostic denture three-dimensional data. In one embodiment, the complete denture creation device 704 may include a three-dimensional printer, or be a multi-axis numerical control machining apparatus.
The complete denture can be rapidly manufactured according to the diagnosis denture three-dimensional data, the manufacturing efficiency of the complete denture is further improved, the waiting time of a patient is reduced, and the experience of the patient is optimized.
In one embodiment, the diagnostic denture three-dimensional data is occlusal surface data of the milled diagnostic denture. A schematic diagram of one embodiment of a complete denture creation device is shown in fig. 8. The computing sub-device 801 can perform boolean computation on the occlusal surface three-dimensional data of the diagnosed denture and the occlusal surface data of the complete denture three-dimensional data to acquire data that the occlusal surface needs to be removed. The preliminary fabrication sub-apparatus 802 can fabricate a preliminary-formed complete denture from the complete denture three-dimensional data. The primary fabrication sub-equipment 802 may include multi-axis numerical control machining equipment, three-dimensional printers, and positioning glue equipment, etc.
In one embodiment, the primary fabrication sub-apparatus 802 may include an abutment fabrication sub-apparatus for fabricating a complete denture base portion using a multi-axis numerical control machining apparatus, and an artificial tooth fixture sub-apparatus; the artificial tooth retention sub-device is used for inserting an artificial tooth of a corresponding model into the positioning hole of the base and bonding and retaining the artificial tooth by using resin.
In another embodiment, the primary fabrication sub-apparatus 802 may include a three-dimensional printer that prints a dissolvable material denture and employs a cementing operation to fabricate a pre-formed full denture.
The finishing sub-device 803 is used for adjusting the pre-formed complete denture according to the data of the occlusal surface which needs to be removed. In one embodiment, finishing sub-assembly 803 is a multi-axis numerical control machining apparatus that creates a full denture by grinding the occlusal surface portion of the as-formed full denture.
The equipment can obtain data of a part needing to be milled through operation, and then the milling operation is carried out on the basis of the initially formed complete denture made according to the complete denture three-dimensional data, so that the occlusal surface form is the same as the diagnosis denture adapted to a patient, and the complete denture more suitable for a user is obtained; on the other hand, because the grinding is only performed on the occlusal surface, the primary complete denture can be manufactured in advance, so that the waiting time for the patient to obtain the complete denture through the double-examination is reduced, and the user experience is further improved.
In one embodiment, the denture manufacturing device can acquire complete denture data by adopting a digital method, and obtain diagnosis denture three-dimensional data according to the complete denture data generated by digitalization, so that complete dentures can be manufactured according to the data. A schematic view of yet another embodiment of the denture making apparatus of the present invention is shown in fig. 9. The closed individual tray creating apparatus 901 can create a closed individual tray based on the edentulous jaw initial impression and the jaw position relation record data of the patient. The impression making apparatus 902 is used to obtain a pressure impression of the patient's edentulous jaw function using a closed individual tray, which is required to maintain jaw position in a neutral relationship during the making process. In one embodiment, anatomical landmark lines including oral corner lines, lip elevation lines, and facial midline lines may be marked on the fabricated edentulous pressure impression. The trajectory recording device 903 is used for acquiring the habitual chewing movement trajectory of the patient. In one embodiment, the trajectory recording means comprises means with mandibular movement trajectory tracking functionality, such as a mandible movement trajectory recorder. The complete denture designing device 904 is used for designing a complete denture which meets the use requirements, dynamic balance and aesthetics of a user according to the habitual chewing motion trail of a patient based on the scanning data of the pressure impression of the edentulous jaw function obtained by scanning the pressure impression of the edentulous jaw function marked with anatomical marking lines, so as to obtain the three-dimensional data of the complete denture. In one embodiment, complete denture design apparatus 904 may include complete denture design software that enables complete denture design to generate complete denture three-dimensional data. The complete denture design device 904 can also include a three-dimensional scanner for scanning the edentulous pressure impression to obtain scan data of the edentulous pressure impression. The diagnostic denture creating device 905 is used to create a diagnostic denture from the complete denture three-dimensional data using a low-wear material, and in one embodiment, may include a three-dimensional printer or a multi-axis numerical control machining apparatus. The re-diagnosis scanning device 906 is used for scanning the diagnosed denture after re-diagnosis, adjustment and grinding and the chewing and wearing of the patient to obtain the three-dimensional data of the diagnosed denture so as to manufacture the complete denture according to the three-dimensional data of the diagnosed denture. The review scanning device may comprise a three-dimensional scanner.
The device can adopt a digital method to carry out the design of the complete denture on the basis of the edentulous jaw initial impression, jaw position relation data and the habitual chewing movement track of a patient to generate the complete denture three-dimensional data, the digital design mode is more accurate and quicker, the precision and the generation efficiency of the complete denture three-dimensional data are improved, the dependence on manual operation of doctors and technicians is reduced, and the popularization and the application are convenient.
In one embodiment, the denture manufacturing apparatus of the present invention is capable of digitally manufacturing closed individual trays. A schematic diagram of an embodiment of the closed individual tray making apparatus of the present invention is shown in fig. 10, wherein an edentulous jaw data acquisition sub-device 1001 is used to acquire upper and lower edentulous jaw three-dimensional data based on an edentulous jaw initial impression. In one embodiment, the upper and lower edentulous preliminary impressions may be acquired separately, and the edentulous data acquisition sub-device 1001 includes a three-dimensional scanner to obtain the upper and lower edentulous three-dimensional data by scanning the upper and lower edentulous preliminary impressions separately. The data alignment sub-device 1002 is configured to align the upper and lower edentulous three-dimensional data according to the jaw relation record data, and acquire the edentulous three-dimensional data in a predetermined jaw relation. In one embodiment, the data alignment sub-device 1002 may include a three-dimensional scanner and a data processing sub-device, wherein the three-dimensional scanner is used to scan labial surfaces between two corners of the mouth with the upper and lower jaws exposed by the patient in the predetermined jaw relation to obtain scanning data of the labial surfaces of the upper and lower jaws, and the three-dimensional data of the upper and lower jaws are aligned with the scanning data of the labial surfaces of the upper and lower jaws through the data processing sub-device 1002, so as to obtain the three-dimensional data of the upper and lower jaws in the predetermined jaw relation. The closed individual tray three-dimensional data acquisition sub-device 1003 is used for adjusting the pose of the predetermined dentition three-dimensional data according to the edentulous jaw three-dimensional data of the predetermined jaw position relationship, and filling the gap between the dentition data and the tissue surface data to obtain the closed individual tray three-dimensional data. The closed individual tray manufacturing sub-apparatus 1004 is for manufacturing a closed individual tray from the closed individual tray three-dimensional data. In one embodiment, the closed-ended individual tray making sub-apparatus 1004 may comprise a three-dimensional printer.
The device can be used for manufacturing the closed individual tray in a digital mode on the basis of the edentulous jaw initial impression, so that the manufacturing efficiency of the closed individual tray is improved; meanwhile, the dependence on manual operation is reduced, and the closed type individual tray is more accurate.
Note: as hereinbefore described
Sympathetical occlusion (also known as occlusion) refers to the contact between the upper and lower dentition.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (14)
1. A method of manufacturing a denture, comprising:
determining complete denture three-dimensional data based on the patient edentulous jaw function pressure impression;
manufacturing a diagnosis denture by adopting a low-wear-resistance material according to the complete denture three-dimensional data;
scanning the diagnosed denture after re-diagnosis, conditioning and abrasion by the patient himself chewing, comprising: scanning the occlusal surface of the denture to be diagnosed after the denture is subjected to re-diagnosis, adjustment and grinding and the self chewing and abrasion of the patient to obtain three-dimensional data of the occlusal surface and three-dimensional data of the denture to be diagnosed;
manufacturing a complete denture according to the diagnosis denture three-dimensional data, comprising:
performing Boolean operation on the occlusal surface three-dimensional data and the occlusal surface of the complete denture three-dimensional data to obtain data of which the occlusal surface needs to be removed;
manufacturing a primary complete denture according to the complete denture three-dimensional data;
adjusting the pre-formed complete denture according to the data of the occlusal surface needing to be adjusted and ground, comprising: and (3) grinding the occlusal surface part of the primarily formed complete denture by utilizing multi-axis numerical control machining equipment to obtain the complete denture.
2. The method according to claim 1, wherein said creating a pre-formed complete denture from said complete denture three-dimensional data comprises:
processing the complete denture base according to the complete denture three-dimensional data; and inserting the artificial teeth of the corresponding type into the positioning holes on the complete denture base and fixing.
3. The method according to claim 1, wherein said creating a pre-formed complete denture from said complete denture three-dimensional data comprises:
and printing the primary formed complete denture by using a three-dimensional printer according to the complete denture three-dimensional data.
4. The method of claim 1, further comprising:
manufacturing a closed individual tray based on the initial impression of the edentulous jaw and jaw position relation record data;
obtaining a pressure impression of the edentulous jaw function in a median relationship position using the closed individual tray;
marking anatomical marking lines on the surface of the pressure impression of the edentulous jaw function at the median relation position, wherein the anatomical marking lines comprise an oral angle line, a lip height line and a facial midline;
and acquiring the habitual chewing motion track of the patient.
5. The method of claim 4, wherein the complete denture three-dimensional data is determined using complete denture design software based on the patient edentulous function pressure impression as:
and determining complete denture three-dimensional data by using complete denture design software based on the edentulous jaw function pressure impression of the median relation position marked with the anatomical marking line and the patient habitual chewing movement track.
6. The method of claim 4, wherein the making of the closed individual tray based on the edentulous jaw initial impression and jaw relation record data comprises:
acquiring upper jaw edentulous jaw three-dimensional data and lower jaw edentulous jaw three-dimensional data based on the edentulous jaw initial impression;
aligning the upper jaw edentulous jaw three-dimensional data and the lower jaw edentulous jaw three-dimensional data according to the jaw position relation record data, and acquiring edentulous jaw three-dimensional data of a preset jaw position;
adjusting the pose of the predetermined dentition three-dimensional data according to the edentulous jaw three-dimensional data of the predetermined jaw position, filling a gap between the dentition data and the tissue surface data, and acquiring closed individual tray three-dimensional data;
and manufacturing the closed individual tray according to the three-dimensional data of the closed individual tray.
7. The method of claim 6, wherein aligning the upper and lower edentulous three-dimensional data according to the jaw relation record data, acquiring the edentulous three-dimensional data of a predetermined jaw position comprises:
scanning labial and buccal surfaces of the lower and upper jaws between the two side oral corners by scanning the exposed labial and buccal surfaces of the predetermined jaw relation of the patient to obtain labial and buccal surfaces scanning data of the lower and upper jaws;
and respectively aligning the upper jaw edentulous jaw three-dimensional data and the lower jaw edentulous jaw three-dimensional data with the upper jaw edentulous jaw surface scanning data according to the common area in the upper jaw edentulous jaw three-dimensional data and the lower jaw edentulous jaw three-dimensional data, and obtaining the edentulous jaw three-dimensional data of a preset jaw position.
8. A denture production apparatus, comprising:
a complete denture design device for determining complete denture three-dimensional data based on the patient edentulous jaw function pressure impression;
the diagnosis false tooth manufacturing device is used for manufacturing a diagnosis false tooth by adopting a low-wear-resistance material according to the complete false tooth three-dimensional data;
a re-diagnosis scanning device for scanning a diagnosed denture after re-diagnosis, conditioning and grinding and self-chewing and wearing of a patient, comprising: scanning the occlusal surface of the denture to be diagnosed after the denture is subjected to re-diagnosis, adjustment and grinding and the self chewing and abrasion of the patient to obtain three-dimensional data of the occlusal surface and three-dimensional data of the denture to be diagnosed;
the complete denture manufacturing device is used for manufacturing complete dentures according to the diagnosis denture three-dimensional data, and comprises:
the computing sub-device is used for performing Boolean operation on the occlusal surface three-dimensional data and the occlusal surface of the complete denture three-dimensional data to obtain data of which the occlusal surface needs to be removed;
the primary manufacturing sub-equipment is used for manufacturing a primary formed complete denture according to the complete denture three-dimensional data;
the fine processing sub-equipment is used for adjusting the initially formed complete denture according to the data which needs to be adjusted and ground off from the occlusal surface, and comprises: and (3) grinding the occlusal surface part of the primarily formed complete denture by utilizing multi-axis numerical control machining equipment to obtain the complete denture.
9. The apparatus of claim 8, wherein the preliminary fabrication sub-apparatus comprises: the base making sub-device is used for processing the complete denture base according to the complete denture three-dimensional data; and the artificial tooth fixing sub-device is used for inserting the artificial tooth of the corresponding type into the positioning hole on the complete denture base and fixing.
10. The apparatus of claim 8, wherein said preformation sub-apparatus is a three-dimensional printer for printing said as-formed complete denture based on said complete denture three-dimensional data.
11. The apparatus of claim 8, further comprising:
a closed individual tray manufacturing device for manufacturing a closed individual tray based on the edentulous jaw initial impression and jaw position relation record data;
impression making means for taking a pressure impression of the edentulous jaw function in a neutral relationship position with the closed individual tray; marking anatomical marking lines on the surface of the pressure impression of the edentulous jaw function at the median relation position, wherein the anatomical marking lines comprise an oral angle line, a lip height line and a facial midline;
and the track recording device is used for acquiring the chewing motion track of the habit of the patient.
12. The apparatus according to claim 11, wherein the complete denture design device is configured to determine complete denture three-dimensional data using complete denture design software based on the edentulous jaw function pressure impression marked with anatomical landmark lines and the patient's habitual chewing motion trajectory.
13. The apparatus according to claim 11, wherein the closed-end individual tray making device comprises:
an edentulous jaw data acquisition sub-device for acquiring upper and lower jaw edentulous jaw three-dimensional data based on the edentulous jaw preliminary impression;
the data alignment sub-equipment is used for aligning the upper jaw edentulous jaw three-dimensional data and the lower jaw edentulous jaw three-dimensional data according to the jaw position relation record data and acquiring the edentulous jaw three-dimensional data of a preset jaw position;
the closed individual tray three-dimensional data acquisition sub-equipment is used for adjusting the pose of the preset dentition three-dimensional data according to the edentulous jaw three-dimensional data of the preset jaw position, filling a gap between the dentition data and the tissue surface data, and acquiring the closed individual tray three-dimensional data;
and the closed individual tray manufacturing sub-equipment is used for manufacturing closed individual trays according to the three-dimensional data of the closed individual trays.
14. The device of claim 13, wherein the data alignment sub-device comprises:
the labial-buccal surface data acquisition sub-device is used for acquiring labial-buccal surface scanning data of the upper and lower jaws between the two side mouth corners by scanning the labial-buccal surface of the upper and lower jaws under the preset jaw position relationship exposed by the patient;
and the data matching sub-device is used for respectively matching the upper jaw edentulous three-dimensional data and the lower jaw edentulous three-dimensional data with the upper jaw and lower jaw surface scanning data according to the common area in the upper jaw and lower jaw surface scanning data and the upper jaw and lower jaw three-dimensional data and obtaining the edentulous jaw three-dimensional data of the preset jaw position.
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| PCT/CN2016/079962 WO2017181397A1 (en) | 2016-04-22 | 2016-04-22 | Method and apparatus for making functional, digital full denture |
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| CN110095063B (en) * | 2019-04-19 | 2021-08-31 | 北京大学口腔医学院 | Standard detection method for 3D printing precision of oral medical product |
| CN110269706B (en) * | 2019-06-26 | 2021-09-07 | 深圳牙领科技有限公司 | Digital manufacturing method of false tooth |
| CN110675492B (en) * | 2019-10-09 | 2023-07-18 | 北京大学口腔医学院 | Method for presuming midpoint of upper lip and lower lip of dentures after dentures are worn into dentures |
| CN113367821B (en) * | 2021-06-07 | 2022-10-28 | 深圳云甲科技有限公司 | Digital processing method and system for forming movable complete denture |
| CN115300148B (en) * | 2022-08-30 | 2023-08-08 | 中国人民解放军空军军医大学 | Personalized palate diagram of molded upper jaw half denture and method thereof |
| CN116350371B (en) * | 2023-04-06 | 2024-04-12 | 广东省极数增材医疗科技有限公司 | Occlusion relation remolding method and 3D printing method for adsorptive false tooth |
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| US5961325A (en) * | 1997-04-17 | 1999-10-05 | Van Handel; William J. | Method and apparatus for fabricating and fitting dentures |
| US20070207441A1 (en) * | 2006-03-03 | 2007-09-06 | Lauren Mark D | Four dimensional modeling of jaw and tooth dynamics |
| CN101548911B (en) * | 2008-04-03 | 2011-11-30 | 北京大学口腔医学院 | Complete denture designing and manufacturing method based on CAD/RP technology |
| US8897526B2 (en) * | 2011-05-06 | 2014-11-25 | Sirona Dental Systems Gmbh | Method, system, and computer-readable medium for uncovering and planning an accurate dental preparation |
| DE102012011371B9 (en) * | 2012-06-11 | 2018-10-18 | Kulzer Gmbh | Production of individual dental prostheses via CAD / CAM and rapid manufacturing / rapid prototyping from digitally collected data of the oral situation |
| JPWO2013191127A1 (en) * | 2012-06-22 | 2016-05-26 | 株式会社ジーシー | Preparation method of complete denture base |
| CN105012033A (en) * | 2014-04-28 | 2015-11-04 | 李凤强 | Manufacturing method of complete denture |
| CN105078598B (en) * | 2014-05-14 | 2016-12-07 | 北京大学口腔医学院 | The digitized preparation method of edentulous jaw personalization impression tray |
| DE102014110154A1 (en) * | 2014-07-18 | 2016-01-21 | Heraeus Kulzer Gmbh | Dental prosthesis for the determination of abrasion facets |
| CN104367389B (en) * | 2014-11-19 | 2016-08-24 | 上海上远齿科技术有限公司 | A kind of artificial tooth data process and 3 D-printing system |
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| WO2017181397A1 (en) | 2017-10-26 |
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