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在传统的口腔正畸临床治疗中,弓丝矫治器主要依赖于正畸医师手工弯制来完成,这不仅要求医师有长时间的训练过程,同时难以达到理想的个性化及精度要求,也增加了患者复诊次数及椅旁等待时间。据此,我们研发机器人系统来实现自动化的正畸弓丝矫治器制备。其中的一个难点问题是,弓丝材料的高弹性引起的回弹现象严重影响了弓丝矫治器的成形精度。因此,提出一种基于过弯预补偿模型和回弹力在线检测的过弯补偿方法,来消除弯制过程中的弓丝回弹现象。该方法首先通过一个自行设计的弯制回弹装置测量回弹前后的角度差,并将回弹后的角度作为目标成形角,以此建立成形角过弯量预补偿模型;然后通过力传感器进行弓丝回弹力在线检测,建立基于零力状态判断的自动弯制控制方法。上述方法在所研发的弓丝弯制机器人系统中进行弯制实验测试。结果表明,它能够最大限度地减小回弹效应,实现满足临床精度要求的正畸弓丝自动弯制成形。
In the traditional orthodontic treatment, the arch wire appliance relies mainly on manual bending by an orthodontic surgeon. This not only requires the physician to have a long training period, but also difficult to achieve the desired personalization and precision requirements as well as increase The number of patient referrals and waiting time beside the chair. Accordingly, we developed a robotic system to achieve automated orthodontic arch wire appliance preparation. One of the difficulties is that the springback caused by the high elasticity of the archwire material severely affects the accuracy of the archwire appliance. Therefore, a bend compensation method based on the pre-compensation model of bend and on-line detection of spring back force is proposed to eliminate the bowback phenomenon during the bending process. The method firstly measures the angle difference before and after rebound through a curved rebound device designed by ourselves and takes the angle after rebound as the target forming angle so as to establish the pre-compensation model of the forming angle inflection; and then through the force sensor On-line detection of bow wire elasticity, an automatic bending control method based on zero-force state judgment is established. The above method is used to test the bending test in the developed bow-wire robot system. The results show that it can minimize the rebound effect and realize the automatic bending and forming of orthodontic arch wire that meets the requirements of clinical accuracy.