姜金刚,郭晓伟,张永德,刘怡,于晓洋.基于有限点展成法的正畸弓丝成形控制点规划[J].仪器仪表学报,2017,38(3):612-619
基于有限点展成法的正畸弓丝成形控制点规划
Formed control point planning of orthodontic archwire based on finite point extension method
  
DOI:
中文关键词:  机器人弯制  正畸弓丝  成形控制点规划  有限点展成法  斜率法
英文关键词:robotic bending  orthodontic archwire  formed control point planning  finite point extension method  slope method
基金项目:国家自然科学基金(51205093)、中国博士后科学基金(2016M591538)、黑龙江省博士后科学基金(LBH Z16091)、黑龙江省教育厅项目(12541147)、哈尔滨理工大学青年拔尖创新人才培养计划(201509)项目资助
作者单位
姜金刚 哈尔滨理工大学 机器人技术及工程应用研究中心 哈尔滨 150080 
郭晓伟 哈尔滨理工大学 机器人技术及工程应用研究中心 哈尔滨 150080 
张永德 哈尔滨理工大学 机器人技术及工程应用研究中心 哈尔滨 150080 
刘怡 北京大学口腔医学院 北京 100081 
于晓洋 哈尔滨理工大学 测控技术与仪器黑龙江省高校重点实验室 哈尔滨 150080 
AuthorInstitution
Jiang Jingang Robotics & its Engineering Research Center, Harbin University of Science and Technology, Harbin 150080, China 
Guo Xiaowei Robotics & its Engineering Research Center, Harbin University of Science and Technology, Harbin 150080, China 
Zhang Yongde Robotics & its Engineering Research Center, Harbin University of Science and Technology, Harbin 150080, China 
Liu Yi School of Stomatology, Peking University, Beijing 100081, China 
Yu Xiaoyang Higher Educational Key Laboratory for Measuring & ControlTechnology and Instrumentations of Heilongjiang Province, Harbin University of Science and Technology, Harbin 150080, China 
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中文摘要:
      错颌畸形是目前常见的口腔疾病,固定矫治是治疗错颌畸形的有效方法,其中固定矫治技术的关键是正畸弓丝的精确化弯制。机器人利用其位姿的精确控制能力可以实现精确化的弓丝弯制,其中弓丝成形控制点的规划决定了机器人弯制正畸弓丝的成形精度。基于分段式的正畸弓丝数学模型,提出采用有限点展成法实现正畸弓丝成形控制点的位置规划,对基于有限点展成法的正畸弓丝成形控制点位置规划方案进行实验验证,对不同弦弧围成面积下弦弧差值对控制点数目和面积误差的影响规律,以及控制点数目和面积误差之间的关系进行了讨论,并提出基于斜率法的正畸弓丝成形控制点角度规划策略。基于患者临床口腔数据,利用自行设计的正畸弓丝弯制机器人实验系统,通过正畸弓丝弯制实验验证了正畸弓丝成形控制点位置和角度规划策略的有效性。
英文摘要:
      Malocclusion is currently the most common oral disease. Fixed appliance technology is the effective treatment method for malocclusion, and the key step of fixed appliance technology is the accurate bending of orthodontic archwire. A robot with precise position and posture control ability can realize the bending of orthodontic archwire. And the formed accuracy of orthodontic archwire with robotic bending depends on formed control point planning of orthodontic archwire. Based on the segment orthodontic archwire mathematical model, the finite point extension method is presented to realize the formed control point position planning of orthodontic archwire. The position planning strategy of formed control point of orthodontic archwire is studied. On the basis of the position planning experiments of formed control point of orthodontic archwire, the influence of arc chord difference value on control points number and area error, and the control points number on area error with different arc chord formed area are analyzed. Aiming to the oral parameters of patients, the bending experiments of orthodontic archwire are conducted by using the orthodontic archwire bending robot system. The experimental results verify the effectiveness of the position and angle planning strategy of formed control point of orthodontic archwire.
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