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1. 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。

2. 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。

3. 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。

4. 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

5. 发明申请

US20060079981A1 Interactive orthodontic care system based on intra-oral scanning of teeth 有权
公开(公告)号：US20060079981A1
公开(公告)日：2006-04-13
申请号：US11285629
申请日：2005-11-22
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
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.

6. 发明授权

US06918761B2 Method and apparatus for generating an orthodontic template that assists in placement of orthodontic apparatus 有权
公开(公告)号：US06918761B2
公开(公告)日：2005-07-19
申请号：US10414542
申请日：2003-04-14
申请人： Rohit Sachdeva , Rudger Rubbert , Thomas Weise , Friedrich Riemeirer , Michael Placke , Mathew Johnson
发明人： Rohit Sachdeva , Rudger Rubbert , Thomas Weise , Friedrich Riemeirer , Michael Placke , Mathew Johnson
IPC分类号： A61C7/00 , A61C7/14 , A61C9/00 , A61C13/00 , A61C13/097 , A61C19/04 , A61F2/30 , A61C3/00
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. 发明授权

US06688885B1 Method and apparatus for treating an orthodontic patient 有权
标题翻译：用于治疗正畸患者的方法和装置
公开(公告)号：US06688885B1
公开(公告)日：2004-02-10
申请号：US09560642
申请日：2000-04-28
申请人： Rohit Sachdeva , Ron Jennings , David M. Schaller , Thomas Weise , Rudger Rubbert , Friedrich Riemeier , Gary Sadow
发明人： Rohit Sachdeva , Ron Jennings , David M. Schaller , Thomas Weise , Rudger Rubbert , Friedrich Riemeier , Gary Sadow
IPC分类号： A61C300
CPC分类号： A61C3/00 , A61C7/00 , A61C7/002
摘要： A method and apparatus for treating an orthodontic patient include processing that begins by generating digital information regarding the orthodontic patient by a site orthodontic system. The site orthodontic system then transmits the digital information to an orthodontic server, which creates an electronic patient record therefrom. The orthodontic server then generates an initial treatment from the electronic patient record, wherein the initial treatment plan includes precise steps to obtain a desired orthodontic structure. The orthodontic server then transmits a digital version of the initial treatment plan to the site orthodontic system. Upon confirmation from the site orthodontic system, the orthodontic server designs an orthodontic apparatus for one of the precise steps based on the treatment plan. The orthodontic apparatus is then fabricated and provided to the site orthodontic system. At predetermined points in time after installation of the orthodontic apparatus in accordance with the treatment plan, the patient's mouth is electronically scanned to obtain updated digital information. The site orthodontic system provides the updated digital information to the orthodontic server, which uses the updated digital information to update the electronic patient record. From the updated electronic patient record, the orthodontic server determines whether the actual movement of the patient's teeth is as predicted. If so, the next step of the initial treatment plan is executed. If, however, the actual movement is not as predicted, the orthodontic server adjusts the treatment plan to obtain the desired results. After the treatment plan has been adjusted, the next step of the revised treatment plan is executed. This monitoring of a patient's progress and revising the treatment plan, when necessary, continues throughout the treatment.
摘要翻译：用于治疗正畸患者的方法和装置包括通过由正畸系统产生关于正畸患者的数字信息开始的处理。现场正畸系统然后将数字信息发送到正畸服务器，从而从其创建电子病人记录。然后，正畸服务器从电子患者记录产生初始治疗，其中初始治疗计划包括获得所需正畸结构的精确步骤。然后，正畸服务器将初始治疗计划的数字版本发送到正畸系统。在正畸系统确认之后，正畸服务器根据治疗计划为正确的设备设计一个精确的步骤。然后将正畸装置制造并提供给正畸系统。在根据治疗计划安装正畸装置之后的预定时间点，电子扫描病人的嘴以获得更新的数字信息。正畸系统向正畸服务器提供更新的数字信息，其使用更新的数字信息来更新电子病人记录。从更新的电子病历记录，正畸服务器确定患者牙齿的实际运动是否如预期的那样。如果是这样，则执行初始治疗计划的下一步骤。然而，如果实际运动没有如预期，则正畸服务器调整治疗计划以获得期望的结果。治疗计划调整后，执行治疗计划的下一步。在必要时，对患者进展情况进行监测，并在整个治疗过程中继续修订治疗计划。

8. 发明授权

US06318995B1 Method and apparatus for bonding a bracket to a tooth 有权
标题翻译：用于将支架粘合到牙齿上的方法和装置
公开(公告)号：US06318995B1
公开(公告)日：2001-11-20
申请号：US09560129
申请日：2000-04-28
申请人： Rohit Sachdeva , Rudger Rubbert , Thomas Weise , Friedrich Riemeirer
发明人： Rohit Sachdeva , Rudger Rubbert , Thomas Weise , Friedrich Riemeirer
IPC分类号： A61C300
CPC分类号： A61C3/00 , A61C7/00 , A61C7/002 , A61C7/146 , A61F2002/30953
摘要： A method and apparatus for bonding a bracket to a tooth includes processing that begins by obtaining a digital model of a desired bracket placement on a tooth. The processing continues by scanning actual placement of the bracket on the tooth to produce digital information of the actual placement and generating a digital model of the actual placement. The processing continues by comparing the digital model of the desired bracket placement with the digital model of the actual placement. When the digital model of the desired bracket placement substantially matches the digital model of the actual placement, enabling bonding of the bracket to the tooth.
摘要翻译：用于将支架粘合到牙齿的方法和装置包括通过获得在牙齿上的期望的支架放置的数字模型而开始的处理。通过扫描支架在牙齿上的实际布置来继续处理，以产生实际放置的数字信息并生成实际放置的数字模型。通过将所需支架位置的数字模型与实际放置的数字模型进行比较，继续处理。当所需支架放置的数字模型基本上与实际放置的数字模型相匹配时，能够将支架粘接到牙齿上。

9. 发明申请

US20090197217A1 Robot and method for bending orthodontic archwires and other medical devices 审中-公开
公开(公告)号：US20090197217A1
公开(公告)日：2009-08-06
申请号：US12384538
申请日：2009-04-06
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： A61C7/20 , B21D11/10
CPC分类号： A61K33/06 , A61K31/198 , A61K31/522 , A61K36/82 , B33Y80/00 , A61K2300/00
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.

10. 发明申请

US20060130550A1 Robot and method for bending orthodontic archwires and other medical devices 有权
公开(公告)号：US20060130550A1
公开(公告)日：2006-06-22
申请号：US11260538
申请日：2005-10-27
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： B21D11/02
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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