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1. 发明申请

US20050158686A1 Modular system for customized orthodontic appliances 有权
公开(公告)号：US20050158686A1
公开(公告)日：2005-07-21
申请号：US10843897
申请日：2004-05-12
申请人： Dirk Wiechmann , Ralf Paehl , Thomas Weise , Rudger Rubbert
发明人： Dirk Wiechmann , Ralf Paehl , Thomas Weise , Rudger Rubbert
IPC分类号： A61B19/00 , A61C7/00 , A61C7/14 , A61C7/28 , A61C13/00 , G06F17/50 , 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.

2. 发明申请

US20050003321A1 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：US20050003321A1
公开(公告)日：2005-01-06
申请号：US10897149
申请日：2004-07-22
申请人： Dirk Wiechmann , Ralf Paehl , Rudger Rubbert , Thomas Weise
发明人： Dirk Wiechmann , Ralf Paehl , Rudger Rubbert , Thomas Weise
IPC分类号： A61B19/00 , A61C7/00 , A61C7/14 , A61C7/28 , A61C13/00 , G06F17/50 , 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，并导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。

3. 发明申请

US20070015104A1 Customized orthodontic bracket system 有权
标题翻译：定制正畸支架系统
公开(公告)号：US20070015104A1
公开(公告)日：2007-01-18
申请号：US11522674
申请日：2006-09-18
申请人： Dirk Wiechmann , Ralf Paehl , Rudger Rubbert , Thomas Weise
发明人： Dirk Wiechmann , Ralf Paehl , Rudger 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 customized orthodontic bracket system is provided. The system can include a bracket having a customized bracket bonding pad for bonding the bracket to a tooth of a patient and a bracket slot adapted to receive a customized archwire. The customized archwire is adapted to be positioned in the bracket slot to form a precise bracket slot-archwire interface. The bracket slot and the archwire when positioned in the bracket slot can be positioned substantially adjacent the tooth surface to reduce induced vertical error in tooth positioning. The bracket slot can be configured to have a bracket slot width substantially matching a cross-section of the archwire to reduce torque rotation around an axis of the archwire when positioned therein to further enhance end-of-treatment tooth positioning and reduce overall treatment time.
摘要翻译：提供定制的正畸托架系统。该系统可以包括具有用于将支架结合到患者牙齿的定制支架接合垫的支架和适于接收定制弓丝的支架槽。定制的弓丝适于定位在支架槽中以形成精确的支架槽 - 弓丝接口。当定位在支架槽中时，托架槽和弓丝可以基本上邻近牙齿表面定位，以减少齿定位中的引起的垂直误差。托架槽可以被配置成具有基本上与弓丝的横截面相匹配的托架槽宽度，以便在定位于其中时减小围绕弓丝的轴线的转矩旋转，以进一步增强治疗结束牙齿定位并减少总体处理时间。

4. 发明申请

US20080154644A1 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：US20080154644A1
公开(公告)日：2008-06-26
申请号：US11901108
申请日：2007-09-14
申请人： Werner Butscher , Friedrich Riemeier , Rudger Rubbert , Thomas Weise , Rohit Sachdeva
发明人： Werner Butscher , Friedrich Riemeier , Rudger Rubbert , Thomas Weise , Rohit Sachdeva
IPC分类号： G06Q50/00
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 arm. 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固定或者位于机器人手臂的末端。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。

5. 发明申请

US20080153053A1 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：US20080153053A1
公开(公告)日：2008-06-26
申请号：US11901098
申请日：2007-09-14
申请人： Werner Butscher , Friedrich Riemeier , Rudger Rubbert , Thomas Weise , Rohit Sachdeva
发明人： Werner Butscher , Friedrich Riemeier , Rudger Rubbert , Thomas Weise , Rohit Sachdeva
IPC分类号： 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。

6. 发明申请

US20060093206A1 System and method for mapping a surface 有权
公开(公告)号：US20060093206A1
公开(公告)日：2006-05-04
申请号：US11303722
申请日：2005-12-16
申请人： Rudger Rubbert , Peer Sporbert , Thomas Weise
发明人： Rudger Rubbert , Peer Sporbert , Thomas Weise
IPC分类号： G06K9/00 , G01B11/24
CPC分类号： G01B11/2513 , A61C9/006 , G06K7/10
摘要： In accordance with a specific embodiment of the present invention, an image is projected upon a surface. The image can include a pattern having a plurality of individual shapes used to measure and map the surface. The plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis. The image further comprises a feature containing an encoding information for identifying the plurality of shapes individually. The feature containing encoding information can be a separate feature from each of the plurality of individual shapes, or may be a feature integral to the plurality of individual shapes. The feature containing encoding information is oriented such that the encoding information is retrieved along a line perpendicular to a plane formed by the projection axis and the point along the view axis. The use of the feature is used to perform multiframe reference independent scanning.

7. 发明申请

US20050043837A1 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：US20050043837A1
公开(公告)日：2005-02-24
申请号：US10951119
申请日：2004-09-27
申请人： Rudger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Peer Sporbert
发明人： Rudger Rubbert , Thomas Weise , Friedrich Riemeier , Rohit Sachdeva , Peer Sporbert
IPC分类号： A61C3/00 , A61C7/00 , A61C7/14 , A61C9/00 , A61C13/00 , A61F2/30 , G06F19/00 , G06Q10/06 , G06T17/00
CPC分类号： G06T17/00 , A61C7/00 , A61C7/002 , A61C7/12 , A61C7/14 , A61C7/146 , A61C7/28 , A61C9/0046 , A61C13/0004 , A61F2002/30953 , B33Y50/00 , B33Y80/00 , G06F19/00 , G06F19/321 , G06F19/3481 , G06Q10/06 , G16H50/50
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。

8. 发明授权

US06771809B1 Method and system for registering data 有权
标题翻译：注册数据的方法和系统
公开(公告)号：US06771809B1
公开(公告)日：2004-08-03
申请号：US09560132
申请日：2000-04-28
申请人： Rudger Rubbert , Peer Sporbert , Thomas Weise
发明人： Rudger Rubbert , Peer Sporbert , Thomas Weise
IPC分类号： G06K900
CPC分类号： A61C7/146 , A61C7/00 , A61C7/002 , A61C9/006 , A61F2002/30953
摘要： In accordance with a specific embodiment of the present invention, an image is projected upon a surface. The image can include a pattern having a plurality of individual shapes used to measure and map the surface. The plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis. The image further comprises a feature containing an encoding information for identifying the plurality of shapes individually. The feature containing encoding information can be a separate feature from each of the plurality of individual shapes, or may be a feature integral to the plurality of individual shapes. The feature containing encoding information is oriented such that the encoding information is retrieved along a line perpendicular to a plane formed by the projection axis and the point along the view axis. The use of the feature is used to perform multiframe reference independent scanning. In a specific embodiment, the frames captured during the scanning process are registered.
摘要翻译：根据本发明的具体实施例，将图像投影到表面上。图像可以包括具有用于测量和映射表面的多个单独形状的图案。多个单独形状包括在平行于由投影形状的投影轴形成的平面的方向上可检测的特征以及与视轴相关联的点。图像还包括包含用于分别识别多个形状的编码信息的特征。包含编码信息的特征可以是与多个单独形状中的每一个单独的特征，或者可以是与多个单独形状成一体的特征。包含编码信息的特征被定向成使得沿着垂直于由投影轴和沿着视轴的点形成的平面的线来检索编码信息。该功能的使用用于执行多帧参考独立扫描。在具体实施例中，记录在扫描处理期间捕获的帧。

9. 发明授权

US06532299B1 System and method for mapping a surface 有权
标题翻译：用于映射表面的系统和方法
公开(公告)号：US06532299B1
公开(公告)日：2003-03-11
申请号：US09616093
申请日：2000-07-13
申请人： Rohit Sachdeva , Rudger Rubbert , Peer Sporbert , Thomas Weise
发明人： Rohit Sachdeva , Rudger Rubbert , Peer Sporbert , Thomas Weise
IPC分类号： G06K900
CPC分类号： A61C7/146 , A61C7/00 , A61C7/002 , A61C9/006 , A61F2002/30953 , B33Y50/00 , B33Y80/00
摘要： A 3D scan data of an anatomical structure is obtained. The 3D scan data is transmitted to a remote facility for further use. For example, the three-dimensional scan data can be used to design an anatomical device, manufacture an anatomical device, monitor structural changes of the anatomy, archive data pertaining to the anatomical structure, perform a closed-loop iterative analysis of the anatomical structure, perform an interactive consultation of the structure, perform simulations based upon the structure, make a diagnosis related to the anatomical structure, determine a treatment plan based on the anatomical structure, manufacture the anatomical device, perform a verification of a treatment or structure, or for educational purposes.
摘要翻译：获得解剖结构的3D扫描数据。 3D扫描数据被传送到远程设备以供进一步使用。例如，三维扫描数据可用于设计解剖装置，制造解剖装置，监测解剖结构的结构变化，存档与解剖结构相关的数据，执行解剖结构的闭环迭代分析，执行结构的交互式咨询，基于结构执行模拟，进行与解剖结构相关的诊断，基于解剖结构确定治疗计划，制造解剖装置，执行治疗或结构的验证，或对教育目的

10. 发明授权

US07697721B2 System and method for mapping a surface 有权
标题翻译：用于映射表面的系统和方法
公开(公告)号：US07697721B2
公开(公告)日：2010-04-13
申请号：US11303722
申请日：2005-12-16
申请人： Rudger Rubbert , Peer Sporbert , Thomas Weise
发明人： Rudger Rubbert , Peer Sporbert , Thomas Weise
IPC分类号： G06K9/00
CPC分类号： G01B11/2513 , A61C9/006 , G06K7/10
摘要： In accordance with a specific embodiment of the present invention, an image is projected upon a surface. The image can include a pattern having a plurality of individual shapes used to measure and map the surface. The plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis. The image further comprises a feature containing an encoding information for identifying the plurality of shapes individually. The feature containing encoding information can be a separate feature from each of the plurality of individual shapes, or may be a feature integral to the plurality of individual shapes. The feature containing encoding information is oriented such that the encoding information is retrieved along a line perpendicular to a plane formed by the projection axis and the point along the view axis. The use of the feature is used to perform multiframe reference independent scanning.
摘要翻译：根据本发明的具体实施例，将图像投影到表面上。图像可以包括具有用于测量和映射表面的多个单独形状的图案。多个单独形状包括在平行于由投影形状的投影轴形成的平面的方向上可检测的特征以及与视轴相关联的点。图像还包括包含用于分别识别多个形状的编码信息的特征。包含编码信息的特征可以是与多个单独形状中的每一个单独的特征，或者可以是与多个单独形状成一体的特征。包含编码信息的特征被定向成使得沿着垂直于由投影轴和沿着视轴的点形成的平面的线来检索编码信息。该功能的使用用于执行多帧参考独立扫描。

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