机器人辅助全口义齿排牙系统的初步研究

目的 研制机器人辅助制作全口义齿人工牙列的计算机系统。方法 利用CRS-450 6自由度机器人使被抓取的物体实现任意位置和姿态，研制可调式排牙器。用三维激光扫描测量系统获取无牙颌骨形态的几何参数。根据高级口腔修复专家排牙经验奸商的数学模型，用VC^ 和RAPL机器人语言编制了专家排牙、三维牙列模拟显示和机器人排牙控制程序。当排牙方案确定后，数据传给机器人，由机器人完成排牙器的定位工作，最终完成全口义齿人工牙列的制作。结果 建立了完整的机器人辅助全口义齿人工牙列制作系统。已用该系统为一例患者试作人工牙列。目前该牙列在咬合方面存在一些误差，尚需调整和完善。结论 首次实现了由机器人辅助制作人工牙列，具有科技进步意义。虽牙列在咬合方面还不十分理想，但实验结果已证明该系统的设计思想和技术路线是可行的。

Development of a system for robot aided teeth alignment of complete denture

OBJECTIVE: To develop a robot aid aligning artificial teeth for complete denture. METHODS: The CRS-450, a 6-direction-free robot was utilized to make the grasped object realize any position and pose, and to develop an adjustable tooth arrangement machine. The geometry parameters of the shape of agomphious jaw were obtained through 3-D laser scanning and measuring system. The math's model, which was set up according to senior prosthodontic experts' experiences on tooth arrangement, was used to control program of experts in arranging teeth, 3-D denture simulation, and robots in arranging teeth. The program used VC++ and RAPL robot languages. When the teeth arrangement plan was formed, the data were transmitted to a robot, who would fix the position and finish the fabrication of complete denture. RESULTS: A complete system of robot-aided complete denture teeth arranging was set up and tried using this system to make an artificial dentition for a patient. There were still some errors in the articulation of the dentition, which needed adjustment and perfection. CONCLUSIONS: We succeed in using robot to fabricate artificial dentition for the first time. Although the dentition is not perfect in articulation, the system's scientific significance is profound. The results have proved that the designing idea and technical routine are workable.