Bending Motion Planning Of Orthodontic Archwire Robot Based On Bionic Hand Motion Principle

With the development of oral digital medical technology,the application of digital medical technology in oral orthodontics is also more and more widely.Among them,robot technology is used to realize automatic and accurate bending of orthodontic archwire in orthodontic treatment,which greatly shortens the cycle of orthodontic archwire and improves the efficiency of orthodontic treatment.It's used to solve the contradiction between growing need for malocclusion treatment and small number of orthodontist.At present,orthodontic archwire bending robot is unable to realize orthodontic arch second series curved arch bending because of its bending limit,but the human hand can flexibly bend.Therefore,starting from orthodontic hand bending orthodontic archwire second sequence method,based on the bionic motion principle of human hand,this paper explores the relationship between the bending wire and the bent wire of robot,so as to realize the bending planning of second series.Firstly,this paper introduces a method to configure robot DOF based on humanoid motion trajectories.And analyze the operation principle and hand movement characteristics when orthodontist manually bends second series of orthodontic archwire curves.Then,the simulation of human hand bending wire process,a human hand bending movement model is established.Secondly,this paper comparatively analyzes the bending method and the freedom degree configuration of two kinds of orthodontic archwire bending robots,and summarizes the bending limit existing in the bending method.The robot bending method imitating human hand bending operation is established.The DOF of the key finger and the manpower manipulator in the process of hand bending the second order of orthodontic archwire are analyzed,and the DOF configuration model of the orthodontic archwire bending robot is obtained through union operation,and the robot's bending movement model is established.Thirdly,based on the correspondence between the human hand bending movement and the robotic bending movement unit,a man-robot bending movement unit mapping model is established to realize the robot bending planning of the bending movement unit.The bending limit in the robot bending method is defined as the collision unit.According to the orthodontic manual bending strategy,a new robot bending planning was carried out on the collision unit to finally realize the bending planning of the second order of orthodontic archwire.Finally,a variety of three-dimensional simulation software platforms are analyzed,and the Move IT module of ROS(Robot Operation System)software is used to construct the orthodontic archwire bending planning simulation experiment platform.The orthodontic archwire robotic model and the orthodontic archwire model are constructed respectively with URDF files,and configure the collision detection properties.Plan robot bending movement and deformation of orthodontic archwire movement at the same time,the test robot and orthodontic archwire interference.The experimental results show that the robot bending planning method can achieve the interference-free bending movement.