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1. 发明申请

US20020156652A1 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：US20020156652A1
公开(公告)日：2002-10-24
申请号：US10137523
申请日：2002-05-01
申请人： OraMetrix, Inc.
发明人： Rohit Sachdeva , Rudger Rubbert , Thomas Weise
IPC分类号： G06F017/60
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。

2. 发明申请

US20020180760A1 Method and workstation for generating virtual tooth models from three-dimensional tooth data 有权
标题翻译：用于从三维牙齿数据生成虚拟牙齿模型的方法和工作站
公开(公告)号：US20020180760A1
公开(公告)日：2002-12-05
申请号：US09834413
申请日：2001-04-13
申请人： OraMetrix, Inc.
发明人： Rudger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Mario Leichner , Rohit Sachdeva
IPC分类号： G09G005/00
CPC分类号： A61C9/0053 , A61C7/002 , B33Y80/00 , G06F19/00 , G06F19/321 , G16H40/63 , G16H50/50
摘要： A method is described for taking a three-dimensional virtual model of the dentition and associated anatomical structures of a patient and isolating individual teeth from the rest of the anatomical structure, e.g. gums, to thereby produce individual, virtual three-dimensional tooth objects. The individual tooth objects can be displayed on the display of an orthodontic workstation and moved independently from each other, and thereby form the basis of planning treatment for the patient. The individual, virtual three-dimensional tooth objects are created by comparing the virtual model of the dentition to virtual, three-dimensional template teeth that are stored in memory in a process described in detail herein. The template teeth can include roots as well as crowns. The template teeth can be stored objects acquired from some external source or alternatively developed from a database of patient scans. Virtual three-dimensional brackets are also stored in the memory of the workstation. The virtual brackets can be placed on the virtual teeth and moved relative to the teeth as needed in a preliminary step in treatment planning.
摘要翻译：描述了一种用于采取患者的牙列和相关解剖结构的三维虚拟模型的方法，并将个体牙齿与解剖结构的其余部分隔离，例如，牙龈，从而产生单独的虚拟三维牙体。各个牙齿物体可以显示在正畸工作台的显示器上，彼此独立地移动，从而形成患者的计划治疗的基础。通过将齿列的虚拟模型与在本文详细描述的过程中存储在存储器中的虚拟三维模板齿进行比较来创建个体虚拟三维牙对象。模板牙齿可以包括根和冠。模板牙齿可以是从一些外部来源获取的或者从病人扫描的数据库开发的储存物体。虚拟三维支架也存储在工作站的存储器中。虚拟支架可以放置在虚拟牙齿上，并在治疗计划的初步步骤中根据需要相对于牙齿移动。

3. 发明申请

US20020006217A1 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：US20020006217A1
公开(公告)日：2002-01-17
申请号：US09835007
申请日：2001-04-13
申请人： OraMetrix, Inc.
发明人： Rudger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Dimitrij Kouzian
IPC分类号： G06K009/00
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。

4. 发明申请

US20010038705A1 Scanning system and calibration method for capturing precise three-dimensional information of objects 失效
标题翻译：用于捕获物体的精确三维信息的扫描系统和校准方法
公开(公告)号：US20010038705A1
公开(公告)日：2001-11-08
申请号：US09834593
申请日：2001-04-13
申请人： ORaMetrix, Inc.
发明人： Rudger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Hans-Florian Geerdes , Lutz Pfeil , Peter See
IPC分类号： G06K009/00
CPC分类号： G01B11/2504 , A61C7/00 , A61C7/002 , A61C7/146 , A61C9/006 , A61C13/0004 , A61F2002/30953 , B33Y50/00 , B33Y80/00 , G01B11/2518 , G06T7/521 , G06T17/00
摘要： A scanning system includes a hand-held scanning device that generates two-dimensional images of a pattern reflected off an object. The system also includes a memory and processing unit. The memory stores a calibration table for the scanner and received scanned bitmap images. The processing unit generates three-dimensional information as to a scanned object. The scanning can be performed without knowledge or even precise control of the position of the object relative to the scanner. Random movement of the object during scanning is also possible. For example, the scanner is simply swept over the surface of the object by hand. Three-dimensional information of the object is obtained from the captured images using a calibration table for the scanner. A method of calibration of the scanner in X, Y and Z directions is also described. The scanner can be used for a variety of purposes, including medical and industrial purposes. The illustrated embodiment is in-vivo scanning of human teeth for purposes of orthodontic treatment planning and diagnosis.
摘要翻译：扫描系统包括产生从物体反射的图案的二维图像的手持式扫描装置。该系统还包括存储器和处理单元。存储器存储扫描仪的校准表并接收扫描的位图图像。处理单元产生关于扫描对象的三维信息。可以在不知情的情况下执行扫描，或者甚至可以精确地控制对象相对于扫描仪的位置。扫描期间对象的随机移动也是可能的。例如，扫描仪只需用手扫过物体表面即可。使用扫描仪的校准表从捕获的图像中获得对象的三维信息。还描述了在X，Y和Z方向上校准扫描仪的方法。扫描仪可用于各种用途，包括医疗和工业用途。所示实施例是用于正牙治疗计划和诊断的人牙齿的体内扫描。

5. 发明申请

US20040073417A1 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：US20040073417A1
公开(公告)日：2004-04-15
申请号：US10684252
申请日：2003-10-09
申请人： OraMetrix, Inc.
发明人： Rudger Rubbert , Thomas Weise , Rohit Sachdeva , Hans Imgrund , Peer Sporbert , Mario Leichner , Jens Troeger , Dimitrij Kouzian , Stephan Maetzel
IPC分类号： G06G007/58 , G06G007/48 , A61B005/00
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。

6. 发明申请

US20030194677A1 Method and apparatus for generating an orthodontic template that assists in placement of orthodontic apparatus 有权
公开(公告)号：US20030194677A1
公开(公告)日：2003-10-16
申请号：US10414542
申请日：2003-04-14
申请人： OraMetrix, Inc.
发明人： Rohit Sachdeva , Rudger Rubbert , Thomas Weise , Friedrich Riemeier , Michael Placke , Mathew Johnson
IPC分类号： A61C003/00
CPC分类号： A61C19/04 , A61C7/00 , A61C7/002 , A61C7/146 , A61F2002/30953 , B33Y80/00
摘要： A method and apparatus for generating a orthodontic template that assists in the placement of an orthodontic apparatus includes processing that begins by obtaining a digital model of an orthodontic structure of an orthodontic patient. The processing continues by obtaining a selection of one of a plurality of orthodontic apparatuses for the orthodontic structure to produce a selected orthodontic apparatus. The processing then continues by obtaining a digital model of placement of the selected orthodontic apparatus on the digital model of the orthodontic structure. The processing then continues by retrieving a digital image of a tooth mounting apparatus (e.g., a bracket, a band, a headgear tube, etc.) of the selected apparatus for a given tooth. The processing then continues by generating a orthodontic template for holding a physical embodiment of the tooth mounting apparatus based on the digital image of the tooth mounting apparatus, the digital model of the placement, and at least a portion of the digital model of the orthodontic structure.

7. 发明申请

US20030096210A1 Interactive orthodontic care system based on intra-oral scanning of teeth 有权
公开(公告)号：US20030096210A1
公开(公告)日：2003-05-22
申请号：US10280758
申请日：2002-10-24
申请人： OraMetrix, Inc.
发明人： Rudger 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： A61C003/00
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.

8. 发明申请

US20030074945A1 Robot and method for bending orthodontic archwires and other medical devices 有权
公开(公告)号：US20030074945A1
公开(公告)日：2003-04-24
申请号：US10260870
申请日：2002-09-27
申请人： OraMetrix, Inc.
发明人： Werner Butscher , Friedrich Riemeier , Rudger Rubbert , Thomas Weise , Rohit Sachdeva
IPC分类号： B21D011/02
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.

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