WO2008131140A2 - Appareil et procédé d'enregistrement et de réplication du mouvement mandibulaire - Google Patents

Appareil et procédé d'enregistrement et de réplication du mouvement mandibulaire Download PDF

Info

Publication number
WO2008131140A2
WO2008131140A2 PCT/US2008/060690 US2008060690W WO2008131140A2 WO 2008131140 A2 WO2008131140 A2 WO 2008131140A2 US 2008060690 W US2008060690 W US 2008060690W WO 2008131140 A2 WO2008131140 A2 WO 2008131140A2
Authority
WO
WIPO (PCT)
Prior art keywords
movement
assembly
suspension assembly
actuator
mandibular
Prior art date
Application number
PCT/US2008/060690
Other languages
English (en)
Other versions
WO2008131140A3 (fr
Inventor
Yevsey Gutman
John Joseph Keller
Original Assignee
Gnath Tech Dental Systems, Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gnath Tech Dental Systems, Llc filed Critical Gnath Tech Dental Systems, Llc
Priority to EP08746162A priority Critical patent/EP2136733A4/fr
Publication of WO2008131140A2 publication Critical patent/WO2008131140A2/fr
Publication of WO2008131140A3 publication Critical patent/WO2008131140A3/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/04—Measuring instruments specially adapted for dentistry
    • A61C19/045—Measuring instruments specially adapted for dentistry for recording mandibular movement, e.g. face bows
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
    • A61C11/02—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings characterised by the arrangement, location or type of the hinge means ; Articulators with pivots
    • A61C11/025—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings characterised by the arrangement, location or type of the hinge means ; Articulators with pivots with a pivotable lower part, i.e. mandibule motion simulator
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
    • A61C11/08—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings with means to secure dental casts to articulator
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
    • A61C11/08—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings with means to secure dental casts to articulator
    • A61C11/081—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings with means to secure dental casts to articulator with adjusting means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints

Definitions

  • the present invention generally relates to dental restorative or corrective work.
  • the present invention relates to an apparatus for measuring, recording, analyzing and replicating mandibular movement for use in dental restorative and corrective work.
  • Occlusal motion is quite complex. While a dominant factor of occlusal motion includes pivotal movement of the lower jaw about a hinge axis through the TMJ, other factors contributing to the movement include torsional and linear movement of the lower jaw. Such movement can be characterized as having factors relating to pitch, yaw and roll, as well as linear movement transverse to the condylar axis. It has therefore been quite difficult to not only record mandibular movement, but also precisely replicating such movement within precise tolerances. There exist in the art a wide variety of devices which have attempted to record mandibular movement. Perusing the prior art, incremental changes in the attempts to record such mandibular movement can be observed. Early examples include dental pantographs, such as those suggested by U.S.
  • Each clutch is in turn operatively linked to a pantograph such that the dentist can guide the jaws and record the resulting movement pattern.
  • a stylus and magnetic pads to record the movements of the jaw, a set of tracings in the form of trajectories were obtained.
  • the resulting tracings have the appearance of a regular strip charge recorder with no interface to any data storage device for future analysis.
  • the overall time required to prepare the system with the patient and the overall difficulty in using the pantographic system has hindered its wide-spread growth. Subsequently, less accurate but more workable systems are have become more popular. More recently, there have been other attempts to record mandibular movement.
  • One such attempt includes supplementing the recording surface of the aformentioned dental pantographs with pressure sensitive elements capable of transmitting an electric signal. Such devices, however, still did not accurately and precisely depict three-dimensional motion of the jaw.
  • Another example includes the use of corresponding arrays of ultrasonic transmitters and receivers in order to record jaw movement with at least six degrees of the freedom. This attempt again required the patient to wear the entire device in order to record movement of the lower jaw. Also, this attempt has inherent accuracy and precision issues as the contact points for the arrays within each jaw are secluded to a single area which, for example, can compound errors when determining roll characteristics of mandibular movement.
  • An even further example includes the use of video cameras to optically capture a target image attached to a tooth on the upper jaw and a target image attached to a tooth on the lower jaw of the patient. This attempt also has inherent accuracy and precision issues as the contact points within each jaw are secluded to movement of the lower jaw about a single tooth, which may not accurately or precisely record roll or uneven pivoting about the condyles.
  • the prior art also includes examples of devices which attempted to mimic mandibular movement. These examples, however, have been found to be unreliable in producing successful results, so there still remains a need to precisely and accurately replicate mandibular movement.
  • a first embodiment of the present invention includes an apparatus for recording and analyzing in real time mandibular movement, or the movement of the mandible (lower jaw) of a patient relative to the maxilla (upper jaw) of the patient.
  • the apparatus includes a recording device which is suspended by a wrist mechanism and revolute arm such that the recording device is freely positionable proximate the patient.
  • the recording device includes three electro-mechanical sensors positioned substantially orthogonal to one another. Each sensor is designed to be positionable about three degrees of freedom to collect pitch, yaw and translational movement proximately along its respective axis.
  • a freely moveable recording bar connects to each sensor.
  • the maxilla of the patient is fixedly securable to the recording device, whereupon securing the mandible to the recording bar, mandibular movement in the form of positional data is obtained from each of the three sensors and stored into a computer as time history files.
  • Dental casts of the lower and upper jaws of the patient are digitally scanned in such a manner to preserve their occlusal relationship based upon a hinge axis reference.
  • the time history files and the digital scans of the dental casts can then be processed by the computer to replicate the mandibular movement of the patient in either a virtual environment or on an electro-mechanical articulator.
  • a second embodiment of the present invention includes an apparatus to replicate in real time mandibular movement using dental casts of an upper jaw portion and a lower jaw portion obtained from a patient.
  • the apparatus includes a base frame for supporting an arm to hold the dental cast of the upper jaw, a positionable suspension assembly supporting a platform to hold the dental cast of the lower jaw, and a plurality of actuators for imparting movement to the suspension assembly.
  • the suspension assembly includes first and second opposing struts which connect to the platform in such a manner so as to represent a hinge axis along a tempormandibular joint of the patient. Each actuator connects to the struts through a series of linkages.
  • Figure 1 is an overall view of a first embodiment of the present invention showing a general arrangement of components.
  • Figure 2 is a perspective view of a recording device of the first embodiment of the present invention positioned proximate a patient.
  • Figure 4 is a perspective view of a sensor assembly of the first embodiment of the present invention.
  • Figure 5 is a perspective view of the recording device of the first embodiment of the present invention illustrating a recording bar decoupled from a locking bar.
  • Figure 6 is a perspective view of the recording device and clutch assemblies of the first embodiment of the present invention illustrating the recording bar coupled to the locking bar.
  • Figure 7 is a perspective view of the recording device of the first embodiment of the present invention illustrating the recording bar decoupled from the locking bar.
  • Figure 8 is a perspective view of dental casts of the upper and lower jaw for use in accordance with the first embodiment of the present invention.
  • Figure 9 is a perspective view of an alignment device for forming the dental casts of Figure 8 in accordance with the first embodiment of the present invention.
  • Figure 10 is a perspective view of a calibrating bar for use in accordance with the present invention.
  • Figure 11 is a perspective view of an alignment device having the calibrating bar Figure 10 disposed therein in accordance with the present invention.
  • Figure 12 is a perspective view of a fixture and dental cast for use in accordance with the present invention.
  • Figure 13 is a right-hand perspective view of a replicating apparatus of a second embodiment of the present invention.
  • Figure 14 is a left-hand perspective view of the replication apparatus of the second embodiment of the present invention.
  • Figure 15 is an exploded perspective view of a suspension assembly of the second embodiment of the present invention.
  • Figure 16 is a perspective view of a calibrating frame as used in accordance with the second embodiment of the present invention.
  • Figure 18 is a diagram of the second embodiment of the present invention showing a general arrangement of components.
  • a dental recording system of the present invention for recording and analyzing mandibular movement in real time is generally indicated at 100 in Figure 1.
  • the system includes a recording apparatus 102, connected to a user interface 104 and computing means 106, and supported by a wrist device 108 and revolute arm 110. Both the wrist device 108 and revolute arm 110 allow the recording apparatus 102 to be positionable proximate a patient, as illustrated in Figure 2, and suspend the recording apparatus 102 at any desired position.
  • the wrist device 108 is positionable within three degrees of freedom, providing for pitch, roll and yaw orientation of the recording apparatus 102 when attached thereto.
  • the wrist device 108 includes a rod 114 having a distal end pivotally attached to the recording apparatus 102 by means of a rotational joint 116 allowing the recording apparatus 102 to be positioned with roll orientation. An opposing proximal end of the rod 114 disposes upon a set of bearings 117 contained within a housing 118, allowing pitch positioning of the recording apparatus 102.
  • the wrist device 108 further includes a connecting arm 120 having a proximal end 122 fixedly attached to an outer surface of the housing 118 and a distal end 124 rotatably attached to the revolute arm 110, also by means of a rotational joint 112, allowing yaw positioning of the recording apparatus 102.
  • each rotational joint used in construction of the wrist 108 includes low friction bearings to reduce the effort of angularly positioning the recording apparatus 102 during both the initial setup with the patient and throughout the recording process.
  • Figure 1 illustrates the revolute arm 110 being secured to the ground by a base 125.
  • a horizontal segment 126 rotationally connects to a vertical member 128 secured to the base 125 by means of a rotational joint 130.
  • An upright segment 132 in turn connects to the horizontal segment 126 by means of a second rotational joint 134, providing rotational positioning of the upright segment 132 along a vertical axis.
  • the upright segment 132 also includes a pivotal joint 136 positioned proximate the rotational joint 134, allowing the upright segment 132 to be pivoted past the vertical.
  • the revolute arm 110 has four degrees of freedom, which not only allows the wrist 108, and subsequently the recording apparatus 102, to be infinitely positionable within three-dimensional space, but the added degree of freedom provides flexibility in orientation around the vertical axis, enhancing the ease at which the wrist 108 can initially position the recording apparatus 102 relative to the patient.
  • the base 125 of the revolute arm 110 should be secured to the ground in such a manner that the recording apparatus 102 and wrist 108 can be suspended therefrom without toppling over. This may be accomplished by providing flat platform with an appropriate amount of surface area, or providing the base 125 with an appropriate amount of mass, such as by securing weights to the base 125.
  • the base member 125 can be permanently affixed to the ground by bolting or otherwise cementing the base 125 to the floor. It should be noted, though, that any means necessary to secure the base 125 to the ground is well within the scope of the present invention.
  • the frame further includes a "L"-shaped substructure 152 extending downwardly therefrom for attaching mounting plates 154.
  • a first mounting plate 154a attaches to a first leg 156 of the sub-structure 152 proximate a lower forward corner 158 of the frame 144.
  • a second mounting plate 154b attaches to a second leg 160 of the sub-structure 152 proximate a lower central rearward portion of the frame 162.
  • a third mounting plate 154c attaches to an upper forward corner 166 of the frame 144.
  • the mounting plates 154 are for attaching sensor assemblies 168 frame 144. As illustrated in Figure 4, each sensor assembly 168 includes first and second rotational joints, 170 and 171 respectively, and a linear translational joint 172.
  • each sensor assembly 168a, 168b, 168c connects to an interface point on a positionable recording bar 184 by means of a universal joint 186.
  • the recording bar 184 is suspended by springs 188 connected to the frame 144, which also provide balance to the recording bar 184 to offset the weight of the bar and allow for free movement thereof when connected to the lower jaw of the patient.
  • the recording bar 184 is fixedly secured to the frame 144 by connecting pins 190 insertable into mateable apertures 192 contained within the recording bar 184.
  • the connecting pins 190 are positioned on a locking bar 194 which fixedly connects to the frame 144 via a post 196.
  • the recording bar 184 is essential to the recording system because the lower jaw or mandible of the patient attaches to the recording bar 184 through a clutch device 200.
  • the clutch device 200 which is securable to either the upper jaw or lower jaw, includes a metal, plastic or ceramic tray 202 similarly shaped to the contour of the jaws.
  • the tray 202 is attachable to a transfer bar 204.
  • the transfer bar 204 is in turn attachable to the respective upper bar 198, or the recording bar 184, aligned by connecting pins, 205 and 207 respectively.
  • Each transfer bar is then frictionally secured to the respective bar 198 or 184 by threaded screws 209. Proper positioning is further ensured by detents (not shown) positioned on each transfer bar 204 mateable with indents 211 contained with the upper bar 198 and the recording bar 184.
  • detents not shown
  • the lower jaw of the patient is securable to the recording bar 184
  • the upper jaw of the patient is securable to the upper bar 198.
  • the patient is still permitted to slightly move their head or body during the recording process without interfering with the recording itself.
  • This provides an extra degree of comfort to the patient who does not have to support the recording device, as was typically required in the prior art, and further allows the patient to move their head and jaws in a natural state during the entire recording process.
  • the recording bar 184 connects to each sensor assembly 168a, 168b, 168c through the universal joint 186 with interface point A[I] at the center of each universal joint 186.
  • the universal joint 186 provides two angular degrees of freedom between each respective sensor assembly and the respective attachment point on the bar.
  • a third degree of freedom, in the form of the rotation of the tube 180 about the sensor rod 178, is a passive degree of freedom and is not recorded.
  • the computer utilizes a system of high speed data acquisition channels 206 to condition, read-in and store the information simultaneously from each sensor assembly.
  • Such hardware is made commercially available through National Instruments of Austin, Texas.
  • Two digital I/O channels are used to allow the dentist to control the process of recording in hands-free mode through two foot operated switches.
  • a first switch 208 signals the computer when to initiate the software while a second switch 210 starts and stops the recording.
  • the recording system of the present invention represents a combination of multiple degrees of freedom in a mechanical system to acquire positional information of mandibular movement as collected by the sensor assemblies 168a, 168b, 168c and stored within a data storage medium controlled and included within the computer 106.
  • the positional information from the sensor assemblies 168a, 168b, 168c is not used directly for mandibular or tempormandibular joint motion analysis, but must first be converted into an output file, such as trajectory information of the tempormandibular joint's condyles, or motion of the lower jaw, before it can be understood and interpreted by the practicing dentist.
  • a set of coordinate systems mathematically connects to and associates with key parts of the recorder 102. It is also important to establish all major sets of parameters called domains for each coordinate system. Such domains include TMJ domain, Sensor Domain, Joint Domain and Lower Jaw Domain.
  • the TMJ Domain is associated with coordinates of each center of the condyles and the rotational angle about the axis through each condyle. It can be represented as a set of three-dimensional coordinates, namely Left(X,Y,Z) for the left condyle, Right(X,Y,Z) for the right condyle, and an angle A. In reality, however, there are only six independent parameters, instead of seven, because the distance from the left condyle right condyle stays relatively constant.
  • the Sensor Domain includes the nine sensors contained within the three sensor assemblies. The Sensor Domain is considered to be a nine degrees of freedom domain. There is a cross -coupling relationship between these nine parameters to provide only six independent degrees of freedom information for the position of the recording bar 184.
  • Joint Domain represents all mechanical joints used by the recorder device 102 as a part of the multiple degrees of freedom linkage. Represented by Kinematic Mode or Diplacement Mode.
  • Lower Jaw Domain also referred to as World Domain, reflects the six degrees of freedom of the lower jaw measured relative to the reference or home coordinate system.
  • Lower Jaw Domain with its coordinate system rigidly associated with the recording bar 184, or lower transfer bar 204 which is just a simple offset away from the recording bar 184, has six parameters, or six degrees of freedom, with three translational degrees of freedom, X, Y and Z off the center of the recording bar, and three rotational degrees of freedom, consisting of pitch, yaw and roll.
  • each sensor assembly detects positioning of the recording bar 184 in Sensor Domain.
  • These readings are sent to the computer system 106 for processing.
  • the processing in this case means converting information from Sensor Domain into the Lower Jaw Domain.
  • This transformation is required to establish a kinematic model of the entire system using coordinate systems associated with each individual element of the sytsem. It should be noted that there are two major kinematic transformations, namely Direct Kinematic Transformation (“DKT”) and Inverse Kinematic Transformation (“IKT"). Both transformations convert known information in one domain into information for another domain.
  • DKT Direct Kinematic Transformation
  • IKT Inverse Kinematic Transformation
  • the Direct Kinematic Transformation is performed when the A(I) parameters of the patient's jaw are known or given. This transformation would convert it into sensor domain information.
  • the Inverse Kinematic Transformation is used when the information from all nine sensors is obtained in the form of feedback information from each sensor, and the position of the jaws in World Domain shall be obtained.
  • DKT is always unique and relatively fast. IKT is constrained to the Sensor Domain. However, if the number of degrees of freedom in Sensor Domain is greater than six, a damped least square method is used to determine the optimal solution for the World Domain. Thus the use of over constrained and redundant sensor systems increases the accuracy and repeatability of the conversion process going from Sensor Domain into World Domain.
  • Use of direct and inverse Jacobian matrices allows both transformations to be performed at very high sampling rates in real time application such as recording by the software application.
  • the clutch 200 Prior to beginning the recording process, the clutch 200 is secured to the upper jaw and the lower jaws of the patient before each being attached to the recorder device 102.
  • the tray 202 of each clutch 200 is fillable with a compound material and formed in the patient's mouth in a centered relation position. The clutches are then temporarily cemented to the teeth.
  • the trays 202 when positioned inside the mouth of the patient contact through the lower pin and the upper dome surface and keep the teeth of the upper and lower jaw apart and work as an interface between the recording device 102 and jaws of the patient.
  • the clutches 200 also permit exclusive recording of the tempormandibular joint movements without interference from the teeth.
  • the recording process can be started after both jaws of the patient are secured to the respective clutch system 200, with the upper clutch being secured to the upper bar 198 of the recording device 102, and the lower clutch being secured to the recording bar 184.
  • the recording bar 184 is locked in place by the docking pins 190 positioned on the locking bar 194 just below the upper bar 198. Recording can begin at this home position to determine the home coordinates.
  • the recording bar 184 is released from the docking pins 190 and the mandible becomes free of any unnatural constraints to be moved relative to the maxilla.
  • border movements There are four different movements during recording which in dentistry are defined as border movements.
  • the four border movements are the right and left lateral, protrusion and jaw hinging movements.
  • the four aforementioned border movements are typical of a traditional recording process as currently used by dental professionals.
  • the recording device of the present invention is not limited to those four motions, but can be employed for any arbitrary jaw movement within the physiological constraints of the jaw, including chewing process or any other movement within the border. Recording the four border movements permits establishing a hinge axis.
  • the hinge axis represents an imaginary line connected between geometric centers of the left and right condyles of the tempormandibular joint. More precisely, this line passes through those centers.
  • the tempormandibular joint performs nearly pure rotational motion around the hinge axis which is functioning at this point as an instant hinge.
  • the computer system utilizes a software program to determine the location of the aforementioned center points in the Lower Jaw Domain coordinate system. This is accomplished by determining in the first 1 to 20 mm of mouthing opening the least variation in the condyles.
  • the recording device obtains and sends the raw information to the data acquisition channels 206, which the computer 106 stores in the data storage medium 212 the trajectory of both central points of the left condyle and the right condyle, as well as the angle of rotation of the jaw about the hinge axis.
  • the last movement is called protrusive motion wherein the jaw is moved forward and is recorded in much the same manner.
  • Results are stored in the data storage medium 212 in the form of multi- degree of freedom time history files. Any cross section of this multi-degree of freedom data structure represents all information about the position and orientation of the lower jaw with its condyle center points in three-dimensional space.
  • results thereof can be presented in traditional form as recognized by one skilled in the art as a series of two-dimensional graphs using Frontal, Horizontal and Sagital projections.
  • results can be represented in three-dimensional space using either a mechanical articulator 300 or within a virtual environment.
  • FIG. 8 illustrates an upper dental cast 216 positioned in relation to a lower dental cast 218, each mounted to a magnetic base base. Each magnetic base base is mateable with a corresponding receiving base 222 positioned on the articular 224. It should be noted, though, that some analysis can be done during or immediately after the recording process by the computing means 106 and the user interface 104 by using a generic dental cast previously scanned and stored within the computer. However, for the most accurate analysis, dental casts of the actual patient are preferred.
  • the present invention provides a unique method of making the dental casts such that their spatial relationship with one another is preserved throughout the entire recording and replicating process, whether such replication be done either a virtual environment or mechanically. Further, it should be noted that the casting of the patient's upper and lower jaw can be done prior to recording. If done prior to recording, virtual representation of the mandibular movement is viewable in real-time on the user interface during the recording process.
  • the tempormandibular joint parameters are obtained during the recording process and used by the software program to determine a set of corresponding parameters H and V to establish proper mounting conditions of the dental cast of the lower jaw on an alignment device to form the dental casts in a static occlusal relation.
  • the set of parameters include vertical V and horizontal H settings, and are measured from point C representing the hinge axis of the left and right condyles in the Lower Jaw Domain coordinate system. The user reads these values off the user interface 104 and adjusts the alignment device to correspond thereto.
  • the lower jaw is positioned into the same location relative to the tempormandibular joint hinge C obtained during the recording.
  • the alignment device 224 has two degrees of freedom to manipulate the location of the lower cast, corresponding to the H and V parameters. Adjusting the alignment device 224 includes attaching a clutch base to a mounting bracket 225. The mounting bracket rests upon a threaded bolt 226 and is vertically adjustable by rotating the bolt to obtain the proper V value. Adjust for the H value, the two halves of the alignment device are moved relative to one another by loosening set screw 227. The upper dental cast 216 and the lower dental cast 218 are then formed in much the same fashion as is known in the art by filling the gaps between the dental cast and the respective magnetic base with plaster.
  • the adjustable alignment device 224 allows the lower cast 218 to pivot around the true hinge axis C determined by the tempormandibular joint during recording. It should be noted that the previously described method of forming the dental casts is not limited to any one type of alignment device 224, and modifications to its structure while still accomplishing the same result is well within the scope of the present invention.
  • a calibrating bar 228 is used to determine a home or initial reference position of the alignment device 224.
  • the calibrating bar 228 includes a cylinder 230 connected to a magnetic base 232, and another magnetic base 234.
  • the calibrating bar 228 is fitted within the alignment device 224 an plaster 236 is filled in the space between the cylinder 230 and the magnetic base 234.
  • Each base 232, 234 is mateable with bases 222 of the articlulator such that rotation motion is not permitted.
  • the calibrating bar can be adjusted prior to making the dental casts, as all that is needed to do either is a knowledge of the H and V values. Regardless of when the calibration takes place, this procedure is done only once to calibrate the fixture.
  • the calibration bar 228 is used to homogenize positioning 238 fixtures for scanning each dental cast and applying the casts to a mechanical articulator.
  • the correct relationship between the two casts is preserved at a given home or initial reference position during scanning, mechanical articulation, or virtual modeling.
  • a dental cast is secured to a fixture 228.
  • the fixture contains a magnetic base 240, along with apertures 242 for securing the fixture during the scanning process.
  • each dental cast 216, 218 must first be digitally scanned.
  • each dental cast 216, 218 is mounted to a fixture 238 to hold the cast 216, 218 at a fixed position during scanning, as is illustrated in Figure 12.
  • the scanners primarily include a device capable of surface scanning with high resolution and being able to format or convert the information from the scanning device into a data file.
  • Each dental cast 216, 218 is then scanned or digitized, and this information transferred to the data storage medium 212, operated by the computer 106, in the form of three-dimensional meshes.
  • the software tool for the development of the three-dimensional package is one as developed by the inventors of the present invention.
  • Said software was developed using a DirectX® package developed by Microsoft® and widely used by other developers in the field of three-dimensional animation, including CAD/CAM packages.
  • a program called PolyTrans as distributed by Okino Computer Graphics of Mississauga, Ontario, Canada, was used to convert the scanned data from the industry standard .STL format into an .X format which is supported by DirectX®.
  • Implementation of the entire virtual articulator package in DirectX® for three-dimensional motion of the scanned surfaces was done in a Visual Basic environment.
  • the software program can simulate practically any motion of the tempero mandiublar joint on the screen of the user interface 104.
  • the positional data obtained during the recording process can be used to synthesize or replicate motion of the tempormandibular joint.
  • either software package can interface the virtual environment with the recording device, so virtual representation of the mandibular movement can be viewed in real time throughout the recording process.
  • Virtual mandibular motion can be controlled by a mouse as well as by a joystick, or the like.
  • Virtual mandibular motion allows the user to change not only the position on the user interface screen of the upper and lower jaws, or portions thereof, but also the location of the light source and view point.
  • An unguided, nonborder chewing movement can also be recorded and observed on the virtual articulator.
  • the user can virtually rotate the jaws in all directions to observe the movements in different views The user may also turn the entire image and work it from different perspectives, which indicates the base moving together with the lower jaw as an option.
  • the product may display both jaws as well.
  • the last segment of the virtual environment includes a 'fly-through' capability.
  • this feature allows the dentist to control with a joy stick, similar to a pilot in a small airplane, and fly through all the parts and components on the screen and observe all the specific parts of the jaw in minute detail. This is extremely useful in the virtual diagnosis and redesigning of new teeth as use of three-dimensional displays makes an enormous difference in understanding the problem.
  • CT computed tomography
  • DICOM Digital Imaging and Communications in Medicine
  • the next step would be to superimpose these images of the casts (outside mesh only) with image of the CT scan.
  • This image would be a shell around the volumetric area and besides moving them together the doctor can always click a particular location and see the density of the bones around this area, whether the patient has a sufficient support for the bridge, crown or an implant. That information may be taken in form of the three- dimensioinal volumetric image from the NewTom type of machine and can be incorporated with a surface image, and then be displayed and moved on the screen based on any desired trajectory.
  • the virtual environment package of the present invention uses the same drive files obtained from the recorder to display the movement of a jaw in three- dimensional space.
  • the virtual mandibular movement can be used for analysis of tooth geometry as well as TMJ kinematics.
  • the virtual environment package also allows user to move/adjust the jaw in any of six degrees of freedom.
  • the virtual environment package was developed by using the aforementioned DirectX technology and can be considered as a "plug and play" option for Dental CAD packages.
  • This virtual articulator of the present invention has an interface to a joystick so the user can control the position of the jaw not only with the computer mouse but with a three- dimensional joystick as well. This capability is critical for the virtual articulation when it is extended by a few more features such as the fly-through option.
  • a second embodiment of the present invention including an apparatus to replicate mandibular movement in real time is generally indicated at 300 in Figures 13 and 14.
  • the apparatus includes a computer controlled mechanical system driven by information derived from a recording device to create, amongst other things, exact duplication of movement between a dental cast of the lower jaw 302 relative to a dental cast of the upper jaw 304 in real time.
  • the replicator apparatus 300 is either supported by or mountable to a work surface 306.
  • the replicator 300 includes a base frame 308 having opposing first and second side walls, 310 and 312 respectively, joined together by a rear wall 314.
  • the sidewalls 310, 312 provide the main support for the apparatus 300 and are engageable with the work surface 306.
  • the apparatus 300 includes vertically extending post members 316 attached to opposing ends of the rear wall 314. Terminal upper ends of the post members 316 each contain bearings 318 mounted therein for supporting a pivotal shaft 320.
  • the shaft 320 supports a proximal end of a swing arm 322 which is positionable between a working and non-working position (not shown).
  • a mounting block 324 having a pair of through-bores for receiving rods 328 attached to a mounting bracket 330.
  • the mounting bracket 330 includes a magnetic base 332 for accepting a corresponding mateable base 334 to which is attached the dental cast of the upper jaw 304.
  • the position of the mounting bracket 330 relative to the mounting block 324 is adjustable by sliding the rods 328 through the mounting block 324.
  • Set screws 336 permit frictional engagement of the rods 328 with the mounting block 324 when the desired position of the mounting bracket 330, or the dental cast 304, is achieved.
  • the angle at which the swing arm 322 rests relative to the work surface 306 can be adjusted by positioning a threaded burr 338 on a threaded bolt 340 which extends through an aperture in the swing arm 322.
  • the threaded bolt 340 and swing arm 322 attach to a platform 344 supported by a cross beam 346 having terminal ends attached to each post 316.
  • the swing arm 322 rests upon the threaded burr 338, and by rotating the burr 338, the swing arm 322 can be raised or lowered to the desired position.
  • the swing arm 322 is also positionable transverse to the shaft 320.
  • Bolts 348 dispose through slotted apertures contained within the swing arm 322 and threadably engage a second mounting block 352 fixedly attached to the shaft 320.
  • the suspension system 354 generally includes first and second spaced apart struts, 356 and 358 respectively, to which is mounted a support assembly 360.
  • the support assembly 360 includes a platform 362 for supporting a magnetic base 364 attached to the dental cast of the lower jaw 302.
  • the platform 362 is suspended from a yoke 366 by rods 368 extending from a connecting block 370 to which is attached the platform 362.
  • Each rod 368 slidably disposes within a corresponding aperture 372 contained within the yoke 366.
  • first and second blocks 376 extend from the yoke 366, each containing an aperture 378 for receiving a shaft 380. Threadably engaged to each end of the shaft 380 are rod end bearings 382 for receiving a ball joint 384 attached to an upper portion of each strut 356, 358.
  • the ball joints 384 therefore permit fluid positioning of the support assembly 360 through the displacement of each strut 356, 358.
  • the suspension assembly 354 is positionable within six degrees of freedom in a reference or coordinate system by means of articulators and linkages connected to the frame 308 and the suspension assembly 354.
  • the six degrees of freedom are broken down into two groups, including five active degrees of freedom and one passive degree of freedom.
  • Providing the five active degrees of freedom are angular actuators 386.
  • each angular actuator 386 is preferably a servomotor.
  • Servomotor 386a attaches to the first sidewall 310 and connects to a lower portion of the first strut 356 by means of a linkage 390. Such attachment of the linkage 390 to the strut 356 is accomplished by means of a rod end bearing 392 and mateable ball joint 394.
  • the rod end bearing 392 attaches to the strut 356 and the ball joint 394 attaches to the linkage 390.
  • the servomotor 386a pivots the linkage 390 in either a clockwise or counter-clockwise relation, which in turn imparts a vertical movement to the lower portion of the first strut 356 at the point of attachment, either upwardly or downardly.
  • a corresponding servomotor 386b attached to the second side wall 312 provides similar vertical movement to a lower portion of the second strut 358 when activated.
  • servomotor 386b connects to the second strut 358 by means of linkage 396, rod end bearing 398 and ball joint 400, in much the same manner that servomotor 386a connects to the first strut 356.
  • servomotor 386c Also attached to the first side wall 310 is servomotor 386c.
  • Servomotor 386c connects to the first strut 356 proximately midway along the length of the strut.
  • the servomotor connects to the strut 356 by means of a linkage 402 and connecting arm 404. Both the linkage 402 and the strut 356 each include a ball joint 406 for journaling with corresponding rod end bearings 408 attached to terminal ends of the connecting arm 404.
  • the servomotor 386c pivots the linkage 402 in either a clockwise or counterclockwise relation, which in turn imparts a translational movement, either rearward or forward, to the first strut 356.
  • a corresponding servomotor 386d attached to the second side wall 312 provides similar translational movement to a middle portion of the second strut 358 when activated.
  • the servomotor 386d connects to the second strut 358 by means of linkage 410, connecting arm 412 with rod end bearings 416 and ball joints 414, in much the same manner that servomotor 386c connects to the first strut 356.
  • servomotor 386e To laterally position the suspension system 354, servomotor 386e is provided. Servomotor 386e connects to the frame 308 by an "L"-shaped bracket 418 having a first leg 420 attached to the frame 308 and a second leg 422 for attaching the servomotor 386e thereto. Servomotor 386e is positioned substantially orthogonal to the other servomotors 386a through 386d and connects to an upper portion of the first strut 356 by means of a linkage 424 and connecting arm 426. Both the linkage 424 and the strut 356 each include a ball joint 428 for journaling with corresponding rod end bearings 430 attached to terminal ends of the connecting arm 426. When activated, the servomotor 386e pivots the linkage 424 in either a clockwise or counterclockwise relation, which in turn imparts a lateral movement, either left or right, to the upper portion of the first strut 356.
  • a linear actuator 440 mounted to the rear wall 314 of the frame 308 and connected to the connecting block 370 attached to the platform 362.
  • the linear actuator 440 provides a constant force to the support assembly 360, and therefore preferably includes a pneumatic cylinder. However, the amount of force can be controlled to increase or decrease the amount of pressure to simulate chewing conditions.
  • a port 442 allows introduction of air into the cylinder 440, which in turn forces a piston against the connecting block 370 of the support assembly 360.
  • a distal end of the cylinder 440 includes a ball joint 444 which mateably engages a corresponding housing 446 attached to the connecting block 370.
  • the servomotors, 368a through 368e connect to the suspension assembly 354 and deliver five active degrees of freedom along a hinge line of an imaginary tempormandibular joint.
  • This imaginary line extends through the center of each ball joint 384 connecting the platform assembly 360 to each strut 356, 358.
  • the ball joints 384 represent a pivot axis for the hinge, or an axis around which the platform assembly, and subsequently the dental cast of the lower jaw 302, pivots.
  • the angle of rotation about this hinge is the sixth degree of freedom, and is referred to herein as the passive degree of freedom.
  • the passive degree of freedom represents an approach motion between both jaws about the tempormandibular joint hinge.
  • the passive degree of freedom is controlled in force mode, as compared to the other five active degrees of freedom which are controlled in displacement mode by the servomotors.
  • the difference between force mode and displacement mode is that the active degrees of freedom effectively deliver the tempormandibular joint hinge into the desired position and orientation, while the passive degree of freedom in force mode maintains constant, or any desired force, on the platform 362 to achieve proper contact between upper and lower teeth of the respective dental casts 302, 304.
  • the passive degree of freedom is controlled by the pneumatic cylinder 440 to provide a selected force to simulate the forces of working, or rather chewing, teeth.
  • the amount of pressure maintained on the pneumatic cylinder rangers from about 1 psig to 3 psig. However depending upon the effective piston area, or the application process, the force can be as high as 20 psig.
  • a synchronized motion of all the active degrees of freedom must be simultaneously controlled in real time. Any time delay creates an error in trajectory as well as wrong positioning of the lower jaw dental cast 302 versus the upper jaw dental cast 304.
  • Positioning of the suspension system 354 is controlled by the servomotors 386a through 386e, which each include optical encoders (not shown) as a source of the feedback information.
  • This network of motors and linkages represents a system having multiple degrees of freedom with high cross -coupling effects between input parameters, such as command signals, to the servomotors 386, or motor shaft positions of the servomotors, to provide true positioning of the lower jaw dental cast 302 versus the upper jaw dental cast 304.
  • This is achieved through a closed loop control of the lower jaw in real time using both Direct and Inverse Kinematic Transformations, which are performed by a computer 448 running a software application and based upon positional data received during the recording process.
  • use of the apparatus 300 of the present invention is not meant to be limited to any particular recording process, especially any process which is capable of recording or obtaining mandibular movement in an electronically stored format.
  • an initial reference position be set to establish the proper relationship between the dental casts, 302, 304 when mounted on their respective bases 364, 332.
  • several calibration devices are used. The calibration devices ensure the user that the integrity of information transferred from the recorder 102 to the replicator 300 is not lost and both jaws will be placed into replicator with the proper relative alignment.
  • the vertical positioning includes the distance as measured between two imaginary planes substantially horizontal to the work surface, one passing through the condylar ball joints 384 and the other consisting of a plane through the platform 362.
  • the horizontal positioning includes the distance between two imaginary planes substantially orthogonal to the work surface, one passing through the condylar ball joints 384 and the other passing through the center of each magnetic base member 332, 364 respectively attached to the swing arm 322 and platform 362. The position of both the platform 362 and the swing arm 322 are then adjusted adjustable as described herein.
  • the dental casts Upon making the proper adjustments, the dental casts are attached to their respective bases and are brought together to define to the home occlusal position.
  • the calibration bar 220 as used during the setting up of the dental casts 302, 304 is then used to establish the proper distance between each upper base 332 and the lower base 364.
  • the articulator 300 is then calibrated with the computer 448 to determine the initial reference or home position. With reference to Figures 16 and 17, this is accomplished by using a calibration frame 456 and adjustable support device 458.
  • the calibration frame 456 rests upon the works surface 306 and supports the suspension assembly 354 at a fixed position.
  • the adjustable support device is then positioned between the work surface 306 and the platform 362 to provide support to the platform 362.
  • the computer 448 zeros out all optical encoders used for feedback to control servo loops.
  • the reference or zero position can be calibrated which can be verified and compared with other fixtures.
  • This initial reference position is critical because closed loop control is used around each individual servo motor 386, meaning that the apparatus 300 is controllable in Joint Domain and not TMJ Domain, as is fully described in concurrently filed application previously referenced herein.
  • Joint Domain represents all mechanical joints used by the recording device as a part of the multiple degrees of freedom linkage, while TMJ Domain is associated with coordinates of each center of the condyles and the rotational angle about the axis through each condyle. That type of control requires a transfer function between the Joint Domain and the TMJ Domains, which is performed by a software program within the computer 448 to be performed in real time or in preprocessed mode.
  • the servomotors 386 are controlled by an interface module which is controlled by the computer 448 by a motion interface board.
  • the interface board is preferably includes Model No. DMC- 1800 as made commercially available by Galil Motion Control of Rocklin, California.
  • a separate power source 462 runs all of the servomotors 386.
  • the computer 448 selectively and synchronously activates each servomotor 386a through 386e to position the suspension assembly 354 to move the lower dental cast 302 relative to the upper dental cast 304 to accurately replicate the actual movement obtained during the recording process.
  • the upper jaw dental cast 304, attached to the swing arm 322, remains stationary with respect to the replicator 300 and does not move during the replicator process.
  • the arm 322 can be preset for any given settings and still perform during replication wherein the computer 448 recalculates command signals to control the servomotors 386a through 386e to follow the desired trajectory from the pre-recorded settings into any the actual settings used during the replication.
  • the swing arm 322 can be pivoted away from the platform assembly 360, whereby the similar dental casts 302, 304 can be removed or replaced if testing on dental casts from the same patient is desired. Because all of the settings are preserved, recalibration of the apparatus 300 is not required.
  • the swing arm 322 is designed to pivot out of place if the force supplied to the lower dental cast 302 is too great, thereby minimizing damage to the dental casts 302, 304, the swing arm 322 or the suspension assembly 354 is such an event should occur.

Landscapes

  • Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Dentistry (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)

Abstract

Un appareil à utiliser en dentisterie pour enregistrer et analyser le mouvement mandibulaire comprend un cadre de support rigide destiné à supporter un élément de support du maxillaire, un élément mandibulaire positionnable et des ensembles de détection. L'élément de support se raccorde de manière fixe au cadre de support. L'élément mandibulaire peut être positionné près de l'élément de maxillaire. Les données de positionnement sont récoltées par un dispositif de calcul et stockées dans un système de stockage de données, comme des fichiers d'historique. Les fichiers peuvent ensuite être transformés en informations utilisables pour répliquer le mouvement mandibulaire en temps réel soit virtuellement, soit mécaniquement. L'articulateur mécanique comprend un cadre de base, un bras relié au cadre de base et un ensemble de suspension positionnable par une pluralité d'actionneurs électromécaniques. Les divers actionneurs donnent chacun sélectivement un mouvement aux côtés de l'ensemble de suspension, de sorte que le mouvement de la mandibule obtenu pendant un processus d'enregistrement puisse être répliqué sur l'appareil en temps réel.
PCT/US2008/060690 2007-04-17 2008-04-17 Appareil et procédé d'enregistrement et de réplication du mouvement mandibulaire WO2008131140A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP08746162A EP2136733A4 (fr) 2007-04-17 2008-04-17 Appareil et procédé d'enregistrement et de réplication du mouvement mandibulaire

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US91231607P 2007-04-17 2007-04-17
US91227807P 2007-04-17 2007-04-17
US91229907P 2007-04-17 2007-04-17
US60/912,299 2007-04-17
US60/912,316 2007-04-17
US60/912,278 2007-04-17

Publications (2)

Publication Number Publication Date
WO2008131140A2 true WO2008131140A2 (fr) 2008-10-30
WO2008131140A3 WO2008131140A3 (fr) 2008-12-11

Family

ID=39876163

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/060690 WO2008131140A2 (fr) 2007-04-17 2008-04-17 Appareil et procédé d'enregistrement et de réplication du mouvement mandibulaire

Country Status (2)

Country Link
EP (1) EP2136733A4 (fr)
WO (1) WO2008131140A2 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010136517A1 (fr) * 2009-05-28 2010-12-02 Sirona Dental Systems Gmbh Système d'imagerie pour la production d'un ensemble de données en 3d et procédé de fonctionnement associé
WO2013041671A1 (fr) * 2011-09-21 2013-03-28 Zebris Medical Gmbh Système d'articulateur et procédé permettant de faire fonctionner un articulateur
WO2013158551A1 (fr) * 2012-04-17 2013-10-24 Poly Virtual Occlusion, LLC Systèmes et procédés pour analyser des occlusions dentaires dynamiques et fabriquer des appareils dentaires
JP2016022228A (ja) * 2014-07-22 2016-02-08 高橋　淳 コンピュータ、コンピュータで実行される方法、及びコンピュータプログラム、並びにフェイスボウ
WO2016021619A1 (fr) * 2014-08-04 2016-02-11 タカノ株式会社 Système robotique pour ajuster une occlusion dentaire
EP3295892A1 (fr) * 2016-09-16 2018-03-21 GC Europe N.V. Éléments d'étalonnage et procédé d'étalonnage d'un articulateur virtuel
WO2023061767A1 (fr) * 2021-10-12 2023-04-20 Universität Zürich Procédé et système de production d'une prothèse dentaire sur la base de données numériques de patient
WO2024153253A1 (fr) * 2023-01-20 2024-07-25 苏州玄瑞医疗科技有限公司 Système personnalisé de réplication d'occlusion

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4014097A (en) * 1975-08-14 1977-03-29 Trustees Of Boston University Method and apparatus for measuring and recording three-dimensional condylermovements of the mandible
FR2449442A1 (fr) * 1979-02-26 1980-09-19 Anvar Dispositifs articulateurs pour reproduire les mouvements de la mandibule
FR2627077A1 (fr) * 1988-02-17 1989-08-18 Waysenson Bernard Articulateur dentaire
US6067892A (en) * 1998-03-18 2000-05-30 Erickson; Joel R. Artificial muscle actuator assembly
US7283654B2 (en) * 2004-08-26 2007-10-16 Lumeniq, Inc. Dynamic contrast visualization (DCV)

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of EP2136733A4 *

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010136517A1 (fr) * 2009-05-28 2010-12-02 Sirona Dental Systems Gmbh Système d'imagerie pour la production d'un ensemble de données en 3d et procédé de fonctionnement associé
WO2013041671A1 (fr) * 2011-09-21 2013-03-28 Zebris Medical Gmbh Système d'articulateur et procédé permettant de faire fonctionner un articulateur
WO2013158551A1 (fr) * 2012-04-17 2013-10-24 Poly Virtual Occlusion, LLC Systèmes et procédés pour analyser des occlusions dentaires dynamiques et fabriquer des appareils dentaires
US8594408B2 (en) 2012-04-17 2013-11-26 Poly Virtual Occlusion, LLC Systems and methods for analyzing dynamic dental occlusions and making dental appliances
JP2016022228A (ja) * 2014-07-22 2016-02-08 高橋　淳 コンピュータ、コンピュータで実行される方法、及びコンピュータプログラム、並びにフェイスボウ
EP3173049A4 (fr) * 2014-07-22 2018-07-18 Medicom LLC Ordinateur, procédé mis en oeuvre par ordinateur, programme informatique, et arc facial
WO2016021619A1 (fr) * 2014-08-04 2016-02-11 タカノ株式会社 Système robotique pour ajuster une occlusion dentaire
EP3295892A1 (fr) * 2016-09-16 2018-03-21 GC Europe N.V. Éléments d'étalonnage et procédé d'étalonnage d'un articulateur virtuel
WO2018050836A1 (fr) * 2016-09-16 2018-03-22 Gc Europe N.V. Éléments d'étalonnage et procédé d'étalonnage d'un articulateur virtuel
WO2023061767A1 (fr) * 2021-10-12 2023-04-20 Universität Zürich Procédé et système de production d'une prothèse dentaire sur la base de données numériques de patient
WO2024153253A1 (fr) * 2023-01-20 2024-07-25 苏州玄瑞医疗科技有限公司 Système personnalisé de réplication d'occlusion

Also Published As

Publication number Publication date
WO2008131140A3 (fr) 2008-12-11
EP2136733A2 (fr) 2009-12-30
EP2136733A4 (fr) 2012-04-25

Similar Documents

Publication Publication Date Title
US8382686B2 (en) Apparatus and method for recording mandibular movement
EP1017332B1 (fr) Procedes relatifs a l'articulation dentaire
US9084653B2 (en) Methods for use in dental articulation
EP2136733A2 (fr) Appareil et procédé d'enregistrement et de réplication du mouvement mandibulaire
US11633265B2 (en) Dynamic virtual articulator for simulating occlusion of teeth
Kwon et al. A digital approach to dynamic jaw tracking using a target tracking system and a structured-light three-dimensional scanner
US8021149B2 (en) Apparatus and method for replicating mandibular movement
US20190216580A1 (en) Dynamic virtual articulator for simulating occlusion of teeth
EP3641653B1 (fr) Procédé d'enregistrement du mouvement et de la géométrie de l'articulation temporo-mandibulaire
JP3002530B2 (ja) 人体またはその一部の動きを測定および分析する装置
US20070292004A1 (en) Position-Determining and -Measuring System
US20180147039A1 (en) System and method for measuring and simulating mandibular movement
US20150072314A1 (en) Mandible position indicator for analyzing bite function
EP1955671A1 (fr) Simulation chirurgicale orthognathe en 3-D
Gutman et al. Jaw tracking device and methods of analysis of patient’s specific TMJ kinematics
CA3152850A1 (fr) Appareil de mesure automatise et methode pour quantifier les dimensions d'une preparation dentaire
CN115363796B (zh) 一种基于虚拟颌架的下颌运动模拟方法、装置及设备
US20200405465A1 (en) Occlusion control system and method for occlusion control
WO2016021619A1 (fr) Système robotique pour ajuster une occlusion dentaire
JP4150895B2 (ja) ゴシックアーチトレーサー用チエックバイトシステム
WO2021094837A1 (fr) Système et procédé d'enregistrement de données odontologiques
JP4130433B2 (ja) 歯科用顎運動再現装置
JPS60119922A (ja) 下顎運動の再現化方法及び同方法に用いる検出装置
JPH10314192A (ja) チエックバイト測定支援用入力システム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08746162

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

REEP Request for entry into the european phase

Ref document number: 2008746162

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2008746162

Country of ref document: EP