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41. 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。

42. 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。

43. 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.

44. 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。

45. 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。

46. 发明授权

US07080979B2 Method and workstation for generating virtual tooth models from three-dimensional tooth data 有权
公开(公告)号：US07080979B2
公开(公告)日：2006-07-25
申请号：US09834413
申请日：2001-04-13
申请人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Mario Leichner , Rohit Sachdeva
发明人： Rüdger Rubbert , Thomas Weise , Peer Sporbert , Hans Imgrund , Mario Leichner , Rohit Sachdeva
IPC分类号： A61C3/00
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.

47. 发明授权

US07076980B2 Robot and method for bending orthodontic archwires and other medical devices 有权
公开(公告)号：US07076980B2
公开(公告)日：2006-07-18
申请号：US10857284
申请日：2004-05-28
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： 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.

48. 发明授权

US06732558B2 Robot and method for bending orthodontic archwires and other medical devices 有权
公开(公告)号：US06732558B2
公开(公告)日：2004-05-11
申请号：US10260763
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： B21D1110
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.

49. 发明授权

US09466151B2 Bracket-slot-to-wire play compensation archwire design 有权
标题翻译：支架槽到线播放补偿弓线设计
公开(公告)号：US09466151B2
公开(公告)日：2016-10-11
申请号：US12772133
申请日：2010-04-30
申请人： Phillip Getto , Rohit Sachdeva , Peer Sporbert , Dimitij Kouzian
发明人： Phillip Getto , Rohit Sachdeva , Peer Sporbert , Dimitij Kouzian
IPC分类号： G06F17/50 , G06T19/20 , A61C7/00 , A61C7/12
CPC分类号： G06T19/20 , A61C7/002 , A61C7/12 , G06F17/5009 , G06F19/00 , G06F2217/16 , G06T2210/41
摘要： A method and workstation are described for designing compensation in an orthodontic archwire in order to offset the bracket-slot-to-wire play and realize the disered displacement in a tooth from an initial position to the target position. Bracket-slot-to-wire play can reduce the effectiveness of an archwire in bringing the teeth of an orthodontic patient from malocclusion to desired target. Bracket-slot-to-wire play is the difference in volume between the size of a bracket slot, which is larger than the size of the archwire, and the size of the sliding segment of an archwire inserted in the bracket slot. Customized archwires comprise alternating sliding segments interconnected by segments with bends and/or twists in three-dimensional space. The sliding segments are placed in the bracket slots and exert forces on the brackets created by the segments with bends and/or twists for moving the teeth towards the target positions.
摘要翻译：描述了用于在正牙弓线中设计补偿的方法和工作站，以便抵消支架槽到线的播放，并实现从初始位置到目标位置的齿中的分散位移。支架槽到线的玩法可以降低弓丝将正畸患者的牙齿从咬合不良引向所需目标的有效性。支架槽到线的播放是在大于弓丝的尺寸的支架槽的尺寸和插入支架槽中的弓丝的滑动段的尺寸之间的体积差。定制的弓线包括通过在三维空间中具有弯曲和/或扭曲的段相互连接的交替滑动段。滑动部分被放置在支架槽中，并且通过弯曲部和/或扭转部分在由该部分产生的支架上施加力，以将齿朝向目标位置移动。

50. 发明授权

US09412166B2 Generating three dimensional digital dentition models from surface and volume scan data 有权
标题翻译：从表面和体积扫描数据生成三维数字牙列模型
公开(公告)号：US09412166B2
公开(公告)日：2016-08-09
申请号：US12772208
申请日：2010-05-01
申请人： Phillip Getto , Rohit Sachdeva , Peer Sporbert , Markus Kaufmann
发明人： Phillip Getto , Rohit Sachdeva , Peer Sporbert , Markus Kaufmann
IPC分类号： G06T7/00 , G09B23/28 , A61B6/14
CPC分类号： G06T7/0024 , A61B6/14 , G06F19/00 , G06T7/30 , G06T2207/10028 , G06T2207/10081 , G06T2207/10088 , G06T2207/10116 , G06T2207/30036 , G09B23/283
摘要： A method and apparatus are disclosed enabling an orthodontist or a user to create an integrated three dimensional digital model of dentition and surrounding anatomy of an orthodontic patient from a three-dimensional digital model obtained using a scanner with a three-dimensional digital model obtained using a Cone Beam Computed Tomography (CBCT) or Magnetic Resonance Tomography (MRT) imaging devices. The digital data obtained from scanning as well as from CBCT imaging are downloaded into a computer workstation, and registered together in order to create a comprehensive 3-D model of the patient's teeth with roots, bones and soft tissues. The invention provides substantial improvement over the traditional two dimensional imaging modalities such as x-rays, photographs, cephalometric tracing for diagnosis and treatment planning.
摘要翻译：公开了一种方法和装置，其使得正牙医生或使用者能够从使用扫描器获得的三维数字模型中创建牙列的综合三维数字模型和围绕正畸患者的解剖结构，所述三维数字模型具有使用锥形计算机断层扫描（CBCT）或磁共振层析成像（MRT）成像装置。从扫描和CBCT成像获得的数字数据被下载到计算机工作站中，并且一起登记，以便创建具有根，骨骼和软组织的患者牙齿的综合3-D模型。本发明比传统的二维成像方式如x射线，照片，用于诊断和治疗计划的头颅跟踪提供了实质性的改进。

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