Robotic system approach for complete denture manufacturing

摘要

A robotic system for complete denture manufacturing, which can realize automatic implanting of artificial teeth, is described. The tooth arrangement algorithm is presented, including the equations of jaw-arch curve and teeth-arch curve, setup of a single tooth coordinate system and calculation of tooth position in teeth-arch curve. An expert system software is developed that integrates high-level dentist experiences and dexterous technician skills. Three-dimensional (3-D) display of tooth arrangement, human-computer interactive adjustment of tooth position and orientation in teeth-arch curve are achieved. Robot path planning and control data creation are realized by this software also. Finally, an experiment of complete denture manufacturing is made for a patient, a pair of complete dentures is obtained, and the results are analyzed. This robotic system is expected to change the manner of complete denture manufacturing wholly, and significantly improve product quality and manufacturing efficiency.