Bending Planning Study Of Robotic Orthodontic Archwire Bending Based On Finite Point Retriever Extension Method

Orthodontic archwire correction technology is an effective way to solve malocclusion.The orthodontic archwire robot assists orthodontic doctors to bend the archwire technology to make the bending of the orthodontic archwire more efficient.Doctors are more focused on the diagnosis and treatment of patients.In order to realize the automatic bending of the personalized orthodontic archwire,the design of the freedom degree and the bending point should be considered comprehensively,which promote and restrict each other point design.The two factors promote and restrict each other.This article analyzes and summarizes the movement characteristics of hand bending orthodontic archwire,and realizes the degrees of freedom and structure design of orthodontic archwire bending robots;proposes a motion planning method based on finite point recovery and formation,and realizes orthodontic archwires.The bending point is designed to realize the automatic bending of complex personalized orthodontic archwires by the research of the orthodontic archwire robot bending planning.First,the doctor’s bending habits are observed and analyzed,redundant degrees of freedom are removed,obtain the effective degrees of freedom for orthodontic archwire human hand bending.The degree of freedom of the bending robot is allocated reasonably,and then the mechanical structure of the robot is designed.According to the mechanical structure design of the orthodontic archwire bending robot and the bending motion rule of the human hand,the planning of the robot to bend a bending unit is further realized,and the orthodontic archwire bending robot is given the ability to bend individual archwires.Secondly,the complexity of the bending process is analyzed.The definition of bending point and the bending sequence of bending point are studied to avoid the risk of bending failure due to collision.For this reason,based on the characteristics of personalized orthodontic arch wire forming,this paper puts forward three kinds of bending area division methods: Round field division method,Equal angle division method and Special function curve division method,and evaluates the effect of region division from the perspective of planning efficiency.Then,considering the complex factors of bending point sequencing,archwire bending based on finite point retriever extension method is proposed.This method combines the bending ability of the robot structure,considers the influence of motion interference and bending point density on the bending order of the bending point.It realizes the planning of the bending sequence of the bending point of the personalized orthodontic archwire,and solves the problem of the bending movement sequence.Finally,the motion planning software is developed,and then the experimental prototype of the orthodontic bow wire bending robot is built.The results show that the bending error of the orthodontic arch wire meets the requirements of clinical application.Thus,the rationality of the structure design and motion planning method of the robot is verified.