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1. 发明申请

US20090291417A1 INTERACTIVE ORTHODONTIC CARE SYSTEM BASED ON INTRA-ORAL SCANNING OF TEETH 有权
标题翻译：基于口腔内窥镜扫描的交互式正畸治疗系统
公开(公告)号：US20090291417A1
公开(公告)日：2009-11-26
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： A61B6/03 , G06G7/60 , 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。

2. 发明授权

US07585172B2 Orthodontic treatment planning with user-specified simulation of tooth movement 有权
标题翻译：牙齿矫正治疗计划用户指定的牙齿运动模拟
公开(公告)号：US07585172B2
公开(公告)日：2009-09-08
申请号：US10684252
申请日：2003-10-09
申请人： Rüdger Rubbert , Thomas Weise , Rohit Sachdeva , Hans Imgrund , Peer Sporbert , Mario Leichner , Jens Troeger , Dimitrij Kouzian , Stephan Maetzel
发明人： Rüdger Rubbert , Thomas Weise , Rohit Sachdeva , Hans Imgrund , Peer Sporbert , Mario Leichner , Jens Troeger , Dimitrij Kouzian , Stephan Maetzel
IPC分类号： A61C3/00
CPC分类号： A61C7/00 , A61C7/002 , A61C7/146 , A61C9/006 , A61C13/0004 , A61F2002/30953 , B33Y80/00 , G06F19/00
摘要： An interactive, software-based treatment planning method to correct a malocclusion is described. The method can be performed on an orthodontic workstation in a clinic or at a remote location such as a lab or precision appliance manufacturing center. The workstation stores a virtual three-dimensional model of the dentition of a patient and patient records. The virtual model is manipulated by the user to define a target situation for the patient, including a target archform and individual tooth positions in the archform. Parameters for an orthodontic appliance, such as the location of orthodontic brackets and resulting shape of an orthodontic archwire, are obtained from the simulation of tooth movement to the target situation and the placement position of virtual brackets. The treatment planning can also be executed remotely by a precision appliance service center having access to the virtual model of the dentition. In the latter situation, the proposed treatment plan is sent to the clinic for review, and modification or approval by the orthodontist. The method is suitable for other orthodontic appliance systems, including removable appliances such as transparent aligning trays.
摘要翻译：描述了一种基于软件的交互式治疗计划方法来纠正咬合错位。该方法可以在诊所或远程位置的实验室或精密器具制造中心的正畸工作站上进行。工作站存储患者和患者记录的牙列的虚拟三维模型。虚拟模型由用户操纵以定义患者的目标情况，包括目标archform和archform中的单个牙齿位置。矫正器具的参数，例如正畸托架的位置和正畸弓丝的形状，可以从牙齿运动模拟到目标情况和虚拟支架的放置位置获得。治疗计划也可以由能够访问牙列的虚拟模型的精密设备服务中心远程执行。在后一种情况下，拟议的治疗计划被送到诊所进行审查，并由正牙医生修改或批准。该方法适用于其他矫正设备系统，包括可移动电器，如透明对齐托盘。

3. 发明授权

US07361017B2 Virtual bracket library and uses thereof in orthodontic treatment planning 有权
标题翻译：虚拟支架图书馆及其在正畸治疗计划中的应用
公开(公告)号：US07361017B2
公开(公告)日：2008-04-22
申请号：US11246990
申请日：2005-10-07
申请人： Rohit Sachdeva , Rüdger Rubbert , Thomas Weise
发明人： Rohit Sachdeva , Rüdger Rubbert , Thomas Weise
IPC分类号： A61C3/00
CPC分类号： A61C7/00 , A61C7/002 , A61C7/146 , A61C9/0053 , A61C9/0086 , A61C13/0004 , A61F2002/30953 , G06F19/00 , G06F19/3481 , G06Q50/22 , G06Q50/24 , G06T19/00 , G06T2210/41 , G16H50/50
摘要： An orthodontic workstation stores a library of virtual three-dimensional brackets in a memory. Each of the virtual brackets has a unique three-dimensional configuration and prescription. Typically, the library of bracket comprises a library of commercially available, off-the-shelf brackets. The workstation further includes an interactive treatment planning program that permits a user to move teeth from a virtual model of the dentition to a proposed set-up. In one possible embodiment, the treatment planning program provides the ability to display a virtual bracket placed on a virtual tooth and change the prescription or configuration of the virtual bracket. The treatment program automatically compares the modified prescription with the prescription information of the virtual brackets in the library and selects a bracket from the library that most closely matches the virtual bracket displayed on the tooth. Thus, the user does not have to use customized brackets. Any deviation in tooth position resulting from a discrepancy between the off-the-shelf bracket and the user-defined bracket can be corrected for by changing the position of the bracket on the tooth or by changing the shape of the archwire.
摘要翻译：正畸工作站将虚拟三维括号库存储在存储器中。每个虚拟括号都具有独特的三维配置和处方。通常，托架库包括一个可商购的现成支架库。工作站还包括交互式治疗计划程序，其允许用户将齿从齿列的虚拟模型移动到所提出的设置。在一个可能的实施例中，治疗计划程序提供显示放置在虚拟牙齿上的虚拟支架并改变虚拟支架的处方或配置的能力。治疗程序自动将修改的处方与库中虚拟括号的处方信息进行比较，并从库中选择与牙齿上显示的虚拟括号最匹配的括号。因此，用户不必使用自定义括号。可以通过改变支架在牙齿上的位置或通过改变弓丝的形状来校正由现有支架和用户定义支架之间的差异导致的齿位置偏差。

4. 发明授权

US07029275B2 Interactive orthodontic care system based on intra-oral scanning of teeth 有权
公开(公告)号：US07029275B2
公开(公告)日：2006-04-18
申请号：US10280758
申请日：2002-10-24
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： A61C3/00
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.

5. 发明授权

US07471821B2 Method and apparatus for registering a known digital object to scanned 3-D model 有权
标题翻译：将已知数字对象注册到扫描的3-D模型的方法和装置
公开(公告)号：US07471821B2
公开(公告)日：2008-12-30
申请号：US10136607
申请日：2002-05-01
申请人： Rüdger Rubbert , Hans Imgrund , Peer Sporbert , Stephan Maetzel , Thomas Weise
发明人： Rüdger Rubbert , Hans Imgrund , Peer Sporbert , Stephan Maetzel , Thomas Weise
IPC分类号： G06K9/00
CPC分类号： H02K9/19 , A61B5/1178 , A61B5/4547 , A61C7/00 , A61C7/002 , A61C7/146 , A61C9/006 , A61C13/0004 , A61F2002/30953 , B33Y50/00 , B33Y80/00 , G06T7/75 , G06T17/00 , G06T2207/30036 , H02K3/22 , H02K3/24 , H02K3/487
摘要： Method and apparatus for registering an object of known predetermined geometry to scanned three dimensional data such that the object's location may be verified. Such a known object may comprise a less than ideal three-dimensional (3-D) digital object such as a tooth, a dental appliance (e.g., as a tooth bracket model) or other like object, including portions thereof. Knowledge of such an object's location is generally helpful in planning orthodontic treatment, particularly where the location of the object needs to be determined or confirmed or where incomplete or poor scan data is obtained. Aspects of the present invention provide methods of effectively verifying dental appliance location and displaying appliance locations using a computer and three-dimensional models of teeth.
摘要翻译：用于将已知预定几何体的对象注册到扫描的三维数据以使得可以验证对象的位置的方法和装置。这种已知的物体可以包括不太理想的三维（3-D）数字物体，例如牙齿，牙科器具（例如，作为牙支架型号）或其他类似物体，包括其部分。了解这样的物体的位置通常有助于规划正畸治疗，特别是在需要确定或确认物体的位置或者获得不完整或差的扫描数据的情况下。本发明的方面提供了使用计算机和三维牙齿模型有效地验证牙科器具位置并显示器具位置的方法。

6. 发明授权

US07172417B2 Three-dimensional occlusal and interproximal contact detection and display using virtual tooth models 有权
公开(公告)号：US07172417B2
公开(公告)日：2007-02-06
申请号：US11010618
申请日：2004-12-13
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
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.

7. 发明授权

US06860132B2 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：US06860132B2
公开(公告)日：2005-03-01
申请号：US10260762
申请日：2002-09-27
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： A61C7/00 , A61C7/02 , B21F1/00 , B21F23/00 , B21F45/00 , B25J11/00 , G06Q50/24 , B21D11/10 , A61C3/00
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。

8. 发明授权

US06851949B1 Method and apparatus for generating a desired three-dimensional digital model of an orthodontic structure 有权
标题翻译：用于产生正畸结构的所需三维数字模型的方法和装置
公开(公告)号：US06851949B1
公开(公告)日：2005-02-08
申请号：US09560134
申请日：2000-04-28
申请人： Rohit Sachdeva , Rüdger Rubbert
发明人： Rohit Sachdeva , Rüdger Rubbert
IPC分类号： A61C7/00 , A61C9/00 , G06T17/00 , A61C11/00
CPC分类号： A61C7/00 , A61C7/002 , A61C9/0046 , G06T17/00
摘要： A method and apparatus for generating a three-dimensional digital model of a desired orthodontic structure include processing that begins by obtaining a three-dimensional model of an actual orthodontic structure, wherein the three-dimensional digital model is defined in x, y, z space. The processing then continues by generating an interim three-dimensional model of the desired orthodontic structure less teeth. The interim three-dimensional model is designed in x, y, z space and includes the desired placement of an occlusal plane, an upper-arch form, a lower-arch form, an upper-arch midline, and a lower-arch midline. The processing then continues by positioning the upper and lower teeth with respect to the interim digital model and the defined x, y, z space to obtain a first pass three-dimensional digital model of the desired orthodontic structure. The processing continues by determining whether achieving the first pass three-dimensional model is feasible. When achieving the first pass three-dimensional image is feasible, the processing continues by utilizing the first pass three-dimensional model as the desired three-dimensional digital model.
摘要翻译：用于产生所需正畸结构的三维数字模型的方法和装置包括通过获得实际正畸结构的三维模型开始的处理，其中三维数字模型被定义在x，y，z空间中。然后通过产生期望的正畸结构较少牙齿的临时三维模型继续处理。临时三维模型设计在x，y，z空间中，包括所需的咬合平面，上拱形，下拱形，上拱中线和下拱中线的放置。然后通过相对于临时数字模型和限定的x，y，z空间定位上下齿并继续进行处理，以获得所需正畸结构的第一遍三维数字模型。通过确定实现第一遍三维模型是否可行来继续处理。当实现第一遍三维图像是可行的时，通过利用第一遍三维模型作为期望的三维数字模型继续处理。

9. 发明授权

US06632089B2 Orthodontic treatment planning with user-specified simulation of tooth movement 有权
标题翻译：牙齿矫正治疗计划用户指定的牙齿运动模拟
公开(公告)号：US06632089B2
公开(公告)日：2003-10-14
申请号：US09834412
申请日：2001-04-13
申请人： Rüdger Rubbert , Thomas Weise , Rohit Sachdeva , Hans Imgrund , Peer Sporbert , Mario Leichner , Jens Troeger , Dimitrij Kouzian , Stephan Maetzel
发明人： Rüdger Rubbert , Thomas Weise , Rohit Sachdeva , Hans Imgrund , Peer Sporbert , Mario Leichner , Jens Troeger , Dimitrij Kouzian , Stephan Maetzel
IPC分类号： A61C300
CPC分类号： A61C7/00 , A61C7/002 , A61C7/146 , A61C9/006 , A61C13/0004 , A61F2002/30953 , B33Y80/00 , G06F19/00
摘要： An interactive, software-based treatment planning method to correct a malocclusion is described. The method can be performed on an orthodontic workstation in a clinic or at a remote location such as a lab or precision appliance manufacturing center. The workstation stores a virtual three-dimensional model of the dentition of a patient and patient records. The virtual model is manipulated by the user to define a target situation for the patient, including a target archform and individual tooth positions in the archform. Parameters for an orthodontic appliance, such as the location of orthodontic brackets and resulting shape of an orthodontic archwire, are obtained from the simulation of tooth movement to the target situation and the placement position of virtual brackets. The treatment planning can also be executed remotely by a precision appliance service center having access to the virtual model of the dentition. In the latter situation, the proposed treatment plan is sent to the clinic for review, and modification or approval by the orthodontist. The method is suitable for other orthodontic appliance systems, including removable appliances such as transparent aligning trays.
摘要翻译：描述了一种基于软件的交互式治疗计划方法来纠正咬合错位。该方法可以在诊所或远程位置的实验室或精密器具制造中心的正畸工作站上进行。工作站存储患者和患者记录的牙列的虚拟三维模型。虚拟模型由用户操纵以定义患者的目标情况，包括目标archform和archform中的单个牙齿位置。矫正器具的参数，例如正畸托架的位置和正畸弓丝的形状，可以从牙齿运动模拟到目标情况和虚拟支架的放置位置获得。治疗计划也可以由能够访问牙列的虚拟模型的精密设备服务中心远程执行。在后一种情况下，拟议的治疗计划被送到诊所进行审查，并由正牙医生修改或批准。该方法适用于其他正畸设备系统，包括可移动设备，如透明对齐托盘。

10. 发明授权

US06495848B1 Evaluation of projection pattern for transitions in pattern to determine spatial structure of 3D surfaces 有权
标题翻译：评估图案中转换的投影图案，以确定3D表面的空间结构
公开(公告)号：US06495848B1
公开(公告)日：2002-12-17
申请号：US09673963
申请日：2000-11-30
申请人： Rüdger Rubbert
发明人： Rüdger Rubbert
IPC分类号： G01N2186
CPC分类号： G06T7/521 , G06T2207/30004
摘要： The present invention concerns a process for detecting the spatial structure of a three-dimensional surface by projection of a pattern on to the surface along a projection direction which defines a first axis, and by pixel-wise detection of at least one region of the pattern projected on to the surface, by means of one or more sensors in a viewing direction of the sensor or sensors, which defines a second axis, wherein the first and the second axes (or a straight line parallel to the second axis) intersect at an angle different from 0° so that the first and the second axes (or the straight line parallel thereto) define a triangulation plane, wherein the pattern is defined at least upon projection into a plane perpendicularly to the first axis by a varying physical parameter which can be detected by the sensor (sensors), and wherein the pattern is such that the difference in the physically measurable parameter, measured between predeterminable image pixels or pixel groups, along a predeterminable pixel row which is preferably parallel to the triangulation plane, assumes at least two different values. In order to provide a process for detecting the spatial structure of a three-dimensional surface, which is substantially independent of different inclinations with respect to a normal to the triangulation plane and also independent of the other surface properties which independently of the spatial extent of the surface can influence the physical parameter to be measured, in accordance with the invention it is proposed that, for the purposes of evaluation of the imaged pattern structure only changes in the physical parameter between the predetermined pixels or predetermined pixel groups of one or more pixel rows which are preferably parallel to the triangulation plane are detected and converted into spatial co-ordinates of the surface.
摘要翻译：本发明涉及一种用于通过沿着限定第一轴的投影方向将图案投影到表面上的图案来检测三维表面的空间结构的方法，并且通过像素方式检测图案的至少一个区域通过在传感器或传感器的观察方向上的一个或多个传感器投影在表面上，该传感器限定第二轴线，其中第一和第二轴线（或平行于第二轴线的直线）在角度不同于0°，使得第一和第二轴线（或与其平行的直线）限定三角测量平面，其中，图案至少在通过变化的物理参数投影到垂直于第一轴线的平面中时被限定，由传感器（传感器）检测，并且其中所述图案使得沿着预先确定的图像像素或像素组之间测量的物理可测量参数的差异优选地平行于三角测量平面的终止像素行假设至少两个不同的值。为了提供用于检测三维表面的空间结构的方法，其基本上独立于相对于三角剖面的法线的不同倾斜度，并且还独立于其它表面性质，其独立于空间范围表面可以影响要测量的物理参数，根据本发明，提出为了评估成像图案结构的目的，仅改变一个或多个像素行的预定像素或预定像素组之间的物理参数优选地平行于三角测量平面被检测并转换成表面的空间坐标。

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