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11. 发明授权

US07850451B2 Modular system for customized orthodontic appliances 有权
标题翻译：定制矫正器具的模块化系统
公开(公告)号：US07850451B2
公开(公告)日：2010-12-14
申请号：US10897149
申请日：2004-07-22
申请人： Dirk Wiechmann , Ralf Paehl , Rüdger Rubbert , Thomas Weise
发明人： Dirk Wiechmann , Ralf Paehl , Rüdger Rubbert , Thomas Weise
IPC分类号： A61C3/00
CPC分类号： A61C7/16 , A61C7/002 , A61C7/141 , A61C7/145 , A61C7/148 , A61C7/20 , A61C13/0004 , B33Y50/00 , B33Y80/00
摘要： A set of customized orthodontic brackets are provided with slots that are arranged substantially parallel to the tooth surface. The archwire, in an as-manufactured condition, has a portion of substantial arcuate extent, which is canted relative to the occlusal plane. The brackets are designed on a computer as a combination of three-dimensional virtual objects comprising the virtual bracket bonding pad and a separate virtual bracket body retrieved from a library of virtual bracket bodies. The virtual brackets can be represented as a file containing digital shape data and exported to a rapid prototype fabrication device for fabrication of the bracket in wax or other material and casting the wax prototype in a suitable alloy. Other manufacturing techniques are also contemplated, including milling and laser sintering.
摘要翻译：一组定制的正畸托架设置有基本上平行于牙齿表面布置的槽。弓形丝在制造条件下具有相对于咬合面倾斜的弓形部分的一部分。支架在计算机上设计为三维虚拟对象的组合，其包括虚拟支架粘合垫和从虚拟支架体的库检索的单独的虚拟支架体。虚拟括号可以表示为包含数字形状数据的文件，并输出到用于在蜡或其他材料中制造支架的快速原型制造装置，并将蜡原型铸造成合适的合金。还考虑了其它制造技术，包括研磨和激光烧结。

12. 发明授权

US07458812B2 Three-dimensional occlusal and interproximal contact detection and display using virtual tooth models 有权
标题翻译：使用虚拟牙齿模型进行三维咬合和邻间接触检测和显示
公开(公告)号：US07458812B2
公开(公告)日：2008-12-02
申请号：US11074423
申请日：2005-03-08
申请人： Peer Sporbert , Hans Imgrund , Dimitij Kouzian , Stephan Maetzel , Rohit Sachdeva , Rüdger Rubbert
发明人： Peer Sporbert , Hans Imgrund , Dimitij Kouzian , Stephan Maetzel , Rohit Sachdeva , Rüdger Rubbert
IPC分类号： A61C3/00 , A61C11/00 , A61C13/00 , A61C5/08
CPC分类号： A61C7/00 , A61C7/002 , A61C7/146 , A61C9/0053 , A61C13/0004 , A61C13/097 , A61C19/04 , A61F2002/30953 , B33Y50/00 , B33Y70/00 , B33Y80/00 , G06F19/00 , G06F19/3481 , G06T17/00 , G06T19/20 , G06T2210/21 , G06T2219/2012 , G16H50/50
摘要： Occlusal contact between upper and lower virtual three-dimensional teeth of a patient when the upper and lower arches are in an occlused condition are determined and displayed to the user on a user interface of a general purpose computing device. Various techniques for determining occlusal contacts are described. The areas where occlusal contact occurs is displayed on the user interface in a readily perceptible manner, such as by showing the occlusal contacts in green. If the proposed set-up would result in a interpenetration of teeth in opposing arches, such locations of interpenetration are illustrated in a contrasting color or shading (e.g., red). The ability to calculate distances and display occlusal contacts in a proposed set-up assists the user in planning treatment for the patient. The process can be extended to interproximal contact detection as well. The concepts also apply to dental prosthetics, such as crowns, fillings and dentures.
摘要翻译：确定上下拱形件处于闭合状态时病人的上下虚拟三维牙齿之间的咬合接触，并在通用计算装置的用户界面上显示给使用者。描述了用于确定咬合接触的各种技术。咬合接触发生的区域以易于察觉的方式显示在用户界面上，例如通过将咬合接触显示为绿色。如果所提出的设置将导致相对拱形中的相互渗透，则这种相互渗透的位置以对比色或阴影（例如，红色）示出。在建议的设置中计算距离和显示咬合接触的能力有助于用户规划患者的治疗。该过程也可以扩展到邻近接触检测。这些概念也适用于牙科假肢，如冠，填充物和假牙。

13. 发明授权

US07283891B2 Robot and method for bending orthodontic archwires and other medical devices 有权
标题翻译：用于弯曲正畸弓和其他医疗器械的机器人和方法
公开(公告)号：US07283891B2
公开(公告)日：2007-10-16
申请号：US11260538
申请日：2005-10-27
申请人： Werner Butscher , Friedrich Riemeier , Rüdger Rubbert , Thomas Weise , Rohit Sachdeva
发明人： Werner Butscher , Friedrich Riemeier , Rüdger Rubbert , Thomas Weise , Rohit Sachdeva
IPC分类号： G06F19/00
CPC分类号： A61C7/04 , A61C7/002 , A61C7/20 , A61C7/28 , B21F1/00 , B21F23/005 , B21F45/00 , B21F45/008 , B25J11/00 , B33Y50/00 , B33Y80/00 , G06F19/00 , G06Q50/24
摘要： A robotic bending apparatus for bending archwires and other types of elongate, bendable medical devices into a desired configuration includes a first gripping tool and a moveable gripping tool. The first gripping tool can be either fixed with respect to a base or table for the robot or positioned at the end of robot am. The moveable gripping tool is mounted to the end of a moveable robot arm having a proximal portion also mounted to the base. The robot preferably comprises a six axis bending robot, in which the distal end of the moveable arm can move relative to the fixed gripping tool about three translational axes and three rotational axes. The gripping tools preferably incorporate force sensors which are used to determine overbends needed to get the desired final shape of the archwire. The robot may also include a resistive heating system in which current flows through the wire while the wire is held in a bent condition to heat the wire and thereby retain the bent shape of the wire. A magazine for holding a plurality of straight archwires needing to be bent and a conveyor system for receiving the wires after the bending process is complete are also described. The robot bending system is able to form archwires with any required second and third order bends quickly and with high precision. As such, it is highly suitable for use in a precision appliance-manufacturing center manufacturing a large number of archwires (or other medical devices or appliances) for a distributed base of clinics.
摘要翻译：用于将弓丝和其它类型的细长的可弯曲医疗装置弯曲成所需构造的机器人弯曲装置包括第一夹持工具和可移动夹持工具。第一夹持工具可以相对于用于机器人的基座或工作台来固定，或者位于机器人的末端。可移动夹持工具安装到可移动机器人臂的端部，其具有也安装到基部的近端部分。机器人优选地包括六轴弯曲机器人，其中可移动臂的远端可相对于固定夹持工具围绕三个平移轴线和三个旋转轴线移动。夹紧工具优选地结合有力传感器，其用于确定获得弓丝的所需最终形状所需的过弯。机器人还可以包括电阻加热系统，其中电流流过导线，同时线被保持在弯曲状态以加热线，从而保持线的弯曲形状。还描述了一种用于保持需要弯曲的多个直的弓形线的弹匣和用于在弯曲过程完成之后接收电线的输送机系统。机器人弯曲系统能够快速，高精度地形成任何所需的二次和三次弯曲的弓丝。因此，它非常适合用于制造分布式诊所基地的大量弓丝（或其他医疗设备或器具）的精密器具制造中心。

14. 发明授权

US07160110B2 Three-dimensional occlusal and interproximal contact detection and display using virtual tooth models 有权
标题翻译：使用虚拟牙齿模型进行三维咬合和邻间接触检测和显示
公开(公告)号：US07160110B2
公开(公告)日：2007-01-09
申请号：US10137495
申请日：2002-05-01
申请人： Hans Imgrund , Rüdger Rubbert , Dimitij Kouzian , Peer Sporbert , Stephan Maetzel , Rohit Sachdeva
发明人： Hans Imgrund , Rüdger Rubbert , Dimitij Kouzian , Peer Sporbert , Stephan Maetzel , Rohit Sachdeva
IPC分类号： A61C11/00 , A61C3/00 , A61C5/08 , A61C13/00
CPC分类号： A61C7/00 , A61C7/002 , A61C7/146 , A61C9/0053 , A61C13/0004 , A61C13/097 , A61C19/04 , A61F2002/30953 , B33Y50/00 , B33Y70/00 , B33Y80/00 , G06F19/00 , G06F19/3481 , G06T17/00 , G06T19/20 , G06T2210/21 , G06T2219/2012 , G16H50/50
摘要： Occlusal contact between upper and lower virtual three-dimensional teeth of a patient when the upper and lower arches are in an occlused condition are determined and displayed to the user on a user interface of a general purpose computing device. Various techniques for determining occlusal contacts are described. The areas where occlusal contact occurs is displayed on the user interface in a readily perceptible manner, such as by showing the occlusal contacts in green. If the proposed set-up would result in a interpenetration of teeth in opposing arches, such locations of interpenetration are illustrated in a contrasting color or shading (e.g., red). The ability to calculate distances and display occlusal contacts in a proposed set-up assists the user in planning treatment for the patient. The process can be extended to interproximal contact detection as well. The concepts also apply to dental prosthetics, such as crowns, fillings and dentures.
摘要翻译：确定上下拱形件处于闭合状态时患者的上部和下部虚拟三维牙齿之间的咬合接触，并在通用计算装置的用户界面上显示给使用者。描述了用于确定咬合接触的各种技术。咬合接触发生的区域以易于察觉的方式显示在用户界面上，例如通过将咬合接触显示为绿色。如果所提出的设置将导致相对拱形中的相互渗透，则这种相互渗透的位置以对比色或阴影（例如，红色）示出。在建议的设置中计算距离和显示咬合接触的能力有助于用户规划患者的治疗。该过程也可以扩展到邻近接触检测。这些概念也适用于牙齿假肢，如冠，填充物和假牙。

15. 发明授权

US06776614B2 Modular system for customized orthodontic appliances 有权
标题翻译：定制矫正器具的模块化系统
公开(公告)号：US06776614B2
公开(公告)日：2004-08-17
申请号：US10075676
申请日：2002-02-13
申请人： Dirk Wiechmann , Ralf Paehl , Rüdger Rubbert , Thomas Weise
发明人： Dirk Wiechmann , Ralf Paehl , Rüdger Rubbert , Thomas Weise
IPC分类号： A61C300
CPC分类号： A61C7/16 , A61C7/002 , A61C7/141 , A61C7/145 , A61C7/148 , A61C7/20 , A61C13/0004 , B33Y50/00 , B33Y80/00
摘要： A set of customized orthodontic brackets are provided with slots that are arranged substantially parallel to the tooth surface. The archwire, in an as-manufactured condition, has a portion of substantial arcuate extent, which is canted relative to the occlusal plane. The brackets are designed on a computer as a combination of three-dimensional virtual objects comprising the virtual bracket bonding pad and a separate virtual bracket body retrieved from a library of virtual bracket bodies. The virtual brackets can be represented as a file containing digital shape data and exported to a rapid prototype fabrication device for fabrication of the bracket in wax or other material and casting the wax prototype in a suitable alloy. Other manufacturing techniques are also contemplated, including milling and laser sintering.
摘要翻译：一组定制的正畸托架设置有基本上平行于牙齿表面布置的槽。弓形丝在制造条件下具有相对于咬合面倾斜的弓形部分的一部分。支架在计算机上设计为三维虚拟对象的组合，其包括虚拟支架粘合垫和从虚拟支架体的库检索的单独的虚拟支架体。虚拟括号可以表示为包含数字形状数据的文件，并输出到用于在蜡或其他材料中制造支架的快速原型制造装置，并将蜡原型铸造成合适的合金。还考虑了其它制造技术，包括研磨和激光烧结。

16. 发明授权

US06648640B2 Interactive orthodontic care system based on intra-oral scanning of teeth 有权
公开(公告)号：US06648640B2
公开(公告)日：2003-11-18
申请号：US09835039
申请日：2001-04-13
申请人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
发明人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
IPC分类号： A61C300
CPC分类号： G06T17/00 , A61C7/00 , A61C7/002 , A61C7/146 , A61C9/0046 , A61C13/0004 , A61F2002/30953 , B33Y50/00 , B33Y80/00 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06Q10/06 , G16H50/50 , G16H80/00
摘要： Interactive, computer based orthodontist treatment planning, appliance design and appliance manufacturing is described. A scanner is described which acquires images of the dentition which are converted to three-dimensional frames of data. The data from the several frames are registered to each other to provide a complete three-dimensional virtual model of the dentition. Individual tooth objects are obtained from the virtual model. A computer-interactive software program provides for treatment planning, diagnosis and appliance from the virtual tooth models. A desired occlusion for the patient is obtained from the treatment planning software. The virtual model of the desired occlusion and the virtual model of the original dentition provide a base of information for custom manufacture of an orthodontic appliance. A variety of possible appliance and appliance manufacturing systems are contemplated, including customized archwires and customized devices for placement of off-the shelf brackets on the archwires, and removable orthodontic appliances.

17. 发明授权

US08121718B2 Interactive orthodontic care system based on intra-oral scanning of teeth 有权
标题翻译：基于口腔内扫描牙齿的互动矫正护理系统
公开(公告)号：US08121718B2
公开(公告)日：2012-02-21
申请号：US12510921
申请日：2009-07-28
申请人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
发明人： Rüdger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Werner Butscher , Peer Sporbert , Hans Imgrund , Lutz Pfeil , Hans-Florian Geerdes , Dimitrij Kouzian , Mario Leichner , Stephan Maetzel , Peter See , Jens Troeger
IPC分类号： G06F19/00 , G06F17/50
CPC分类号： G06T17/00 , A61C7/00 , A61C7/002 , A61C7/146 , A61C9/0046 , A61C13/0004 , A61F2002/30953 , B33Y50/00 , B33Y80/00 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06Q10/06 , G16H50/50 , G16H80/00
摘要： Interactive, computer based orthodontist treatment planning, appliance design and appliance manufacturing is described. A scanner is described which acquires images of the dentition which are converted to three-dimensional frames of data. The data from the several frames are registered to each other to provide a complete three-dimensional virtual model of the dentition. Individual tooth objects are obtained from the virtual model. A computer-interactive software program provides for treatment planning, diagnosis and appliance from the virtual tooth models. A desired occlusion for the patient is obtained from the treatment planning software. The virtual model of the desired occlusion and the virtual model of the original dentition provide a base of information for custom manufacture of an orthodontic appliance. A variety of possible appliance and appliance manufacturing systems are contemplated, including customized archwires and customized devices for placement of off-the shelf brackets on the archwires, and removable orthodontic appliances.
摘要翻译：描述了交互式，基于计算机的正畸治疗计划，器具设计和器具制造。描述了一种扫描器，其获取被转换为三维数据帧的齿列的图像。来自多个帧的数据彼此登记，以提供牙列的完整的三维虚拟模型。从虚拟模型获得单个牙齿对象。计算机交互软件程序提供虚拟牙齿模型的治疗计划，诊断和器具。从治疗计划软件获得患者期望的闭塞。所需闭塞的虚拟模型和原始齿列的虚拟模型提供了用于定制矫正器具制造的信息的基础。可以考虑各种可能的器具和器具制造系统，包括定制的弓丝和用于将弓形架上的现成支架放置的定制装置以及可移除的矫正器具。

18. 发明授权

US08082769B2 Robot and method for bending orthodontic archwires and other medical devices 有权
标题翻译：用于弯曲正畸弓和其他医疗器械的机器人和方法
公开(公告)号：US08082769B2
公开(公告)日：2011-12-27
申请号：US11901098
申请日：2007-09-14
申请人： Werner Butscher , Friedrich Riemeier , Rüdger Rubbert , Thomas Weise , Rohit Sachdeva
发明人： Werner Butscher , Friedrich Riemeier , Rüdger Rubbert , Thomas Weise , Rohit Sachdeva
IPC分类号： B21D37/16
CPC分类号： A61C7/04 , A61C7/002 , A61C7/20 , A61C7/28 , B21F1/00 , B21F23/005 , B21F45/00 , B21F45/008 , B25J11/00 , B33Y50/00 , B33Y80/00 , G06F19/00 , G06Q50/24
摘要： A robotic bending apparatus for bending archwires and other types of elongate, bendable medical devices into a desired configuration includes a first gripping tool and a moveable gripping tool. The first gripping tool can be either fixed with respect to a base or table for the robot or positioned at the end of robot am. The moveable gripping tool is mounted to the end of a moveable robot arm having a proximal portion also mounted to the base. The robot preferably comprises a six axis bending robot, in which the distal end of the moveable arm can move relative to the fixed gripping tool about three translational axes and three rotational axes. The gripping tools preferably incorporate force sensors which are used to determine overbends needed to get the desired final shape of the archwire. The robot may also include a resistive heating system in which current flows through the wire while the wire is held in a bent condition to heat the wire and thereby retain the bent shape of the wire. A magazine for holding a plurality of straight archwires needing to be bent and a conveyor system for receiving the wires after the bending process is complete are also described. The robot bending system is able to form archwires with any required second and third order bends quickly and with high precision. As such, it is highly suitable for use in a precision appliance-manufacturing center manufacturing a large number of archwires (or other medical devices or appliances) for a distributed base of clinics.
摘要翻译：用于将弓丝和其它类型的细长的可弯曲医疗装置弯曲成所需构造的机器人弯曲装置包括第一夹持工具和可移动夹持工具。第一夹持工具可以相对于用于机器人的基座或工作台来固定，或者位于机器人的末端。可移动夹持工具安装到可移动机器人臂的端部，其具有也安装到基部的近端部分。机器人优选地包括六轴弯曲机器人，其中可移动臂的远端可相对于固定夹持工具围绕三个平移轴线和三个旋转轴线移动。夹紧工具优选地结合有力传感器，其用于确定获得弓丝的所需最终形状所需的过弯。机器人还可以包括电阻加热系统，其中电流流过导线，同时线被保持在弯曲状态以加热线，从而保持线的弯曲形状。还描述了一种用于保持需要弯曲的多个直的弓形线的弹匣和用于在弯曲过程完成之后接收电线的输送机系统。机器人弯曲系统能够快速，高精度地形成任何所需的二次和三次弯曲的弓丝。因此，它非常适合用于制造分布式诊所基地的大量弓丝（或其他医疗设备或器具）的精密器具制造中心。

19. 发明授权

US07811087B2 Modular system for customized orthodontic appliances 有权
公开(公告)号：US07811087B2
公开(公告)日：2010-10-12
申请号：US10843897
申请日：2004-05-12
申请人： Dirk Wiechmann , Ralf Paehl , Thomas Weise , Rüdger Rubbert
发明人： Dirk Wiechmann , Ralf Paehl , Thomas Weise , Rüdger Rubbert
IPC分类号： A61C7/00
CPC分类号： A61C7/16 , A61C7/002 , A61C7/141 , A61C7/145 , A61C7/148 , A61C7/20 , A61C13/0004 , B33Y50/00 , B33Y80/00
摘要： A set of customized orthodontic brackets are provided with slots that are arranged substantially parallel to the tooth surface. The archwire, in an as-manufactured condition, has a portion of substantial arcuate extent, which is canted relative to the occlusal plane. The brackets are designed on a computer as a combination of three-dimensional virtual objects comprising the virtual bracket bonding pad and a separate virtual bracket body retrieved from a library of virtual bracket bodies. The virtual brackets can be represented as a file containing digital shape data and exported to a rapid prototype fabrication device for fabrication of the bracket in wax or other material and casting the wax prototype in a suitable alloy. Other manufacturing techniques are also contemplated, including milling and laser sintering.

20. 发明授权

US07379584B2 Methods for registration of three-dimensional frames to create three-dimensional virtual models of objects 有权
标题翻译：用于注册三维框架以创建对象的三维虚拟模型的方法
公开(公告)号：US07379584B2
公开(公告)日：2008-05-27
申请号：US11636739
申请日：2006-12-11
申请人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Dimitrij Kouzian
发明人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Dimitrij Kouzian
IPC分类号： G06K9/00 , G06T15/00 , G01C3/14 , H04N13/00
CPC分类号： G06T7/35 , A61C7/00 , A61C7/002 , A61C7/146 , A61C9/0053 , A61C13/0004 , A61F2002/30953 , B33Y50/00 , B33Y80/00 , G06K2009/2045 , G06K2209/05 , G06K2209/40 , G06T7/30 , G06T2207/30004
摘要： A method and system are provided for constructing a virtual three-dimensional model of an object using a data processing system, and at least one machine-readable memory accessible to said data processing system. A set of at least two digital three-dimensional frames of portions of the object are obtained from a source, such as a computing system coupled to an optical or laser scanner, CT scanner, Magnetic Resonance Tomography scanner or other source. The at least two frames comprise a set of point coordinates in a three dimensional coordinate system providing differing information of the surface of the object. The frames provide a substantial overlap of the represented portions of the surface of the object, but do not coincide exactly for example due to movement of the scanning device relative to the object between the generation of the frame. Data representing the set of frames are stored in the memory. The data processing system processes the data representing the set of frames with said data processing system so as to register the frames relative to each other to thereby produce a three-dimensional virtual representation of the portion of the surface of the object covered by said set of frames. The registration is performed without using pre-knowledge about the spatial relationship between the frames. The three-dimensional virtual model or representation is substantially consistent with all of the frames.
摘要翻译：提供了一种用于使用数据处理系统构建对象的虚拟三维模型的方法和系统，以及至少一个可访问所述数据处理系统的机器可读存储器。从源（例如耦合到光学或激光扫描仪，CT扫描仪，磁共振断层扫描仪或其他源的计算系统）获得对象的部分的至少两个数字三维帧的集合。所述至少两个框架包括提供物体表面的不同信息的三维坐标系中的一组点坐标。这些框架提供了物体表面的表示部分的实质重叠，但是由于扫描装置相对于物体在帧的产生之间的移动，例如不精确地重合。表示帧集合的数据被存储在存储器中。数据处理系统使用所述数据处理系统处理表示帧集合的数据，以便相对于彼此登记帧，从而产生由所述一组数据处理系统覆盖的对象表面部分的三维虚拟表示框架。执行注册而不使用关于帧之间的空间关系的预先知识。三维虚拟模型或表示与所有帧基本一致。

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