A control method, device, medium and product of an automatic archwire bending device

Abstract

The present invention provides a control method for an automatic archwire bending device, comprising the following steps: obtaining parameters, reading the size and angle of the archwire segment inside the archwire drawing, and the size of the archwire to be bent; calculating the actual bending size, offsetting the archwire segment inside the archwire drawing according to the size of the archwire to be bent, recalculating the size of the archwire segment, and obtaining the actual bending size; archwire bending, writing a process instruction according to the process of archwire bending, storing each generated instruction in an instruction pool, taking out the instruction from the instruction pool, and calling the operation execution function of different motors according to the instruction to control the rotation of the motor to achieve a predetermined action. The control method provided by the present invention has a simple process, convenient operation, and high bending efficiency. It solves the problem that the archwires used in the current oral orthodontic treatment are all manually bent completely relying on the experience of the physician, the physician training time is long, the error is large, it is time-consuming and labor-intensive, and the bent archwires have high uncertainty and low precision.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a control method, equipment, medium and product of an automatic archwire bending device. Background Art

[0002] Malocclusion is a common oral disease, which is mainly manifested in uneven tooth arrangement, abnormal jaw relationship between the upper and lower dental arches, and abnormal jaw size, shape and position. Fixed correction technology is currently a common and effective orthodontic treatment method. Fixed correction technology is mainly achieved by brackets and orthodontic archwires. The brackets are bonded to the tooth surface, and the shape memory function of the deformable archwire generates continuous biological force to move the teeth to be flat and restore normal occlusion. In the process of orthodontic correction, especially lingual fixed correction, it is often necessary to bend the archwires of different angles and put them into the lingual inclined groove brackets for use. At present, personalized lingual brackets are usually designed and manufactured digitally, which can make the brackets very thin and fit the tooth surface, giving patients a very good experience and allowing the brackets to better control the movement of teeth. However, this brings difficulties to the bending of the archwire. Because of the special shape of the lingual side of the teeth, and the groove of the bracket is shorter from the tooth surface, the bends on the archwire are much more than those on the labial side. In addition, in order to better control the movement during the correction process, the lingual archwire will be designed to increase the torque, which will also increase the difficulty of bending the archwire.

[0003] At present, the archwires used in orthodontic treatment are all manually bent completely based on the physician's experience. On the one hand, physicians often need a long period of archwire bending training to reach the standard; on the other hand, the shape and size of the manually bent archwires have large errors, manual bending is time-consuming and labor-intensive, and the bent archwires have high uncertainty and low precision. Therefore, there is an urgent need for a control method for an automatic archwire bending device. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a control method for an automatic archwire bending device, which solves the problem that the archwires currently used in oral orthodontic treatment are all manually bent entirely relying on the physician's experience, the physician training time is long, the error is large, it is time-consuming and labor-intensive, and the bent archwires have high uncertainty and low precision.

[0005] The present invention provides a control method for an automatic archwire bending device, comprising the following steps:

[0006] Obtain parameters, read the size and angle of the archwire segment inside the archwire drawing, and the size of the archwire to be bent;

[0007] Calculating the actual bending size, offsetting the archwire line segment inside the archwire drawing according to the size of the archwire to be bent, recalculating the size of the archwire line segment, and obtaining the actual bending size;

[0008] Archwire bending, write process instructions according to the process of archwire bending, store each generated instruction in the instruction pool, take out the instruction from the instruction pool, call the operation execution function of different motors according to the instruction to control the rotation of the motor to achieve the predetermined action.

[0009] Furthermore, an angle judgment step is included between the step of obtaining parameters and the step of calculating the actual bending size, to judge whether the minimum angle of the arch wire among all angles is less than the limit angle. If so, it is prompted that the arch wire cannot be bent. The limit angle is determined by the limit angle of the rotating actuator, the arch wire limiting mechanism and the arch wire itself.

[0010] Furthermore, a bending size compensation step is included between the actual bending size calculation step and the archwire bending step, in which the actual bending size is compensated to obtain a final bending size.

[0011] Furthermore, in the step of calculating the actual bending size, the offset direction of the archwire segment is directed outward, and the offset distance is one half of the archwire width.

[0012] Furthermore, in the archwire bending step, the process instruction includes the instruction type, the motor number of the operation, and the rotation angle; if it is an archwire bending instruction, the motor rotation angle is calculated according to the fitting function of the archwire angle and the motor rotation angle, and the rotation angle is used as the actual angle to write the instruction, and each generated instruction is stored in the instruction pool in an orderly manner; the upper computer takes out the instructions from the instruction pool one by one, transmits them to the lower computer through serial port communication, and the lower computer reads and identifies the corresponding instructions, and calls the operation execution function of different motors according to the instructions to control the rotation of the motor to achieve the predetermined action.

[0013] Furthermore, the archwire bending step includes feeding the first archwire segment and determining whether the bending direction is consistent with the current initial position of the rotary actuator. Otherwise, the rotary actuator retreats, the rotary actuator rotates in the opposite direction to the initial position on the other side, the rotary actuator advances, and jumps to the rotary actuator to continue the execution by bending according to the angle. If yes, the rotary actuator bends according to the angle, the rotary actuator retreats to the current reverse initial position, the next archwire segment is fed, and it is determined whether it is the last archwire segment. If yes, it ends, otherwise it jumps to the determination of whether the bending direction is consistent with the current initial position of the rotary actuator to continue the execution. The distance of the archwire feeding is converted into the corresponding rotation angle according to the lead size of the hardware device.

[0014] Furthermore, in the arch wire bending step, the diffuse reflection photoelectric sensor used for limiting is detected in real time during the action of the lower computer. If the limit is triggered, the action is stopped immediately. If the action is successfully completed or the limit is triggered, the lower computer sends a corresponding status code to the upper computer, and the upper computer reads the corresponding status code. If the returned status code is a successful execution status code, the next instruction is sent to the lower computer from the instruction pool in order, and the next operation is continued. If the returned status code is an unsuccessful execution status code, a prompt is given and the execution is stopped, and this cycle is repeated until all steps are completed. After all steps are completed, the arch wire is bent, and the upper computer automatically clears all relevant arch wire data and waits for the next arch wire to be read.

[0015] An electronic device, comprising: a processor;

[0016] A memory; and a program, wherein the program is stored in the memory and is configured to be executed by a processor, the program including a method for executing a control method of an automatic archwire bending device.

[0017] A computer-readable storage medium stores a computer program, wherein the computer program is executed by a processor to control a method for an automatic archwire bending device.

[0018] A computer program product includes a computer program / instruction, which implements a control method for an automatic archwire bending device when executed by a processor.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention provides a control method for an automatic archwire bending device, comprising the following steps: obtaining parameters, reading the size and angle of the archwire segment inside the archwire drawing, and the size of the archwire to be bent; calculating the actual bending size, offsetting the archwire segment inside the archwire drawing according to the size of the archwire to be bent, recalculating the size of the archwire segment, and obtaining the actual bending size; archwire bending, writing a process instruction according to the process of archwire bending, storing each generated instruction in an instruction pool, taking out the instruction from the instruction pool, and calling the operation execution function of different motors according to the instruction to control the rotation of the motor to achieve a predetermined action. The control method provided by the present invention has a simple process, convenient operation, and high bending efficiency. It solves the problem that the archwires used in the current oral orthodontic treatment are all manually bent completely relying on the experience of the physician, the physician training time is long, the error is large, it is time-consuming and labor-intensive, and the bent archwires have high uncertainty and low precision.

[0021] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 It is a flow chart of a control method of an automatic archwire bending device of the present invention;

[0024] Figure 2 1 is a flow chart of the archwire bending steps according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0026] A control method for an automatic archwire bending device, such as Figure 1 As shown, the following steps are included:

[0027] Obtain parameters, including inputting the archwire drawing in CAD two-dimensional drawing format (polylines along the inner edge of the archwire) and the size of the archwire to be bent; read the size and angle of the archwire line segment inside the archwire drawing, as well as the size of the archwire to be bent;

[0028] In one embodiment, an archwire drawing in a CAD two-dimensional drawing format is selected, and the size and angle of the internal line segment of the selected archwire drawing are read. The size of the archwire to be bent is selected, and the size of the selected archwire to be bent is read, taking 1725ss as an example. The archwire drawing and size and other parameters are obtained by the selected method, so as to achieve accuracy and efficiency in obtaining the drawing and size and other parameters. For example, the size and angle of the internal line segment of the archwire drawing read are:

[0029] Segment length: [43.973153,2.392844,5.096803,6.532501,6.539116,

[0030] 5.852087,6.572515,5.988797,2.078636,44.263041]

[0031] Segment Angle: [130.035, 249.0, 203.1736, 202.3419, 193.8681, 197.8112,

[0032] 205.2837,249.0,130.5435]

[0033] The line segment angle is the outer angle of the archwire.

[0034] Angle judgment: judge whether the minimum angle of the arch wire among all angles is less than the limit angle. If so, it indicates that the arch wire cannot be bent. The limit angle is determined by the rotary actuator, the arch wire limit mechanism and the limit angle of the arch wire itself.

[0035] Calculate the actual bending size. If all angles meet the requirements, click the "Convert to Command" command. The host computer software will offset the internal archwire line segment of the read CAD two-dimensional archwire drawing in the specified direction according to the required bending size of the archwire. The offset direction is pointing outward, and the offset distance is half of the archwire width. Then recalculate the size of the archwire line segment to get the actual bending size. Take 0.017*0.025ss as an example. 0.017*0.025ss is a 0.017*0.025 inch stainless steel wire. Its millimeter size is 0.4318*0.635mm, so half of the width is 0.2159mm, which is about 0.216mm. Each segment is offset in the normal direction toward the outside. The intersection of the segments is the intersection of the two segments after the offset. Finally, the distance of each segment is the straight-line distance between the two end points of the segment. The size and angle of the internal line segment of the above archwire drawing are offset by 0.216mm, and the obtained line segment length and angle value (normal offset, angle unchanged) are:

[0036] The length of the line segment after offset: [43.87251, 2.440655, 5.289543, 6.619443, 6.60804,

[0037] 5.912202,6.654808,6.185697,2.127611,44.16356]

[0038] Segment Angle: [130.035, 249.0, 203.1736, 202.3419, 193.8681, 197.8112,

[0039] 205.2837,249.0,130.5435].

[0040] Compensation for bending dimensions. Since there may be loss in each length during the actual bending process, and the difference in loss is small, the actual bending dimensions of each archwire segment are compensated to obtain the final bending dimensions. The compensation value is obtained after repeated testing and comparison after the actual bending of the entire archwire segment. In this embodiment, the compensation value is increased by 0.03mm, and the results are as follows:

[0041] The length of the line segment after compensation is: [43.90251, 2.470655, 5.319543, 6.649443, 6.63804,

[0042] 5.942202,6.684808,6.215697,2.157611,44.19356]

[0043] Segment Angle: [130.035, 249.0, 203.1736, 202.3419, 193.8681, 197.8112,

[0044] 205.2837,249.0,130.5435].

[0045] For archwire bending, obtain accurate archwire size information, and then write process instructions according to the archwire bending process. The written process instructions include instruction type, motor number of operation, rotation angle, etc.; if it is an archwire bending instruction, calculate the motor rotation angle according to the fitting function of the archwire angle and the motor rotation angle, and write the instruction with the rotation angle as the actual angle. Each generated instruction is stored in the instruction pool in an orderly manner. In the archwire feeding instruction, the distance of the archwire feeding is converted into the corresponding rotation angle according to the lead size of the hardware device. The calculation formula is as follows:

[0046] result_range=range0 / T*360 (T is the lead, i.e. the distance the lead screw moves when the motor rotates one circle)

[0047] Taking the lead of 4mm as an example, the rotation angle corresponding to the above line segment length is:

[0048] The rotation angle corresponding to the line segment length is: [3951.2259,222.35895,478.75887,598.44987,597.4236,534.79818,601.63272,559.41273,194.18499,3977.4204].

[0049] In the archwire bending command, since the line segment angle is the outer angle of the archwire, the angle of the bending direction is calculated first. The calculation method is as follows:

[0050] If it is less than 180°, it is recorded as positive bending, and its supplementary angle is the angle in the bending direction;

[0051] If it is greater than 180°, it is recorded as negative bending, and (360°-the angle) is the angle in the bending direction;

[0052] The results are as follows:

[0053] Angle of archwire bending direction: [49.965,111.0,156.8264,157.6581,166.1319,

[0054] 162.1888,154.7163,111.0,49.4565]

[0055] According to the fitting function of the archwire angle and the motor rotation angle, the angle that the motor should rotate is calculated, and this angle is used as the actual angle to write the instruction. The obtained archwire bending corresponding to the motor rotation angle is as follows:

[0056] The angle that the motor should rotate to for archwire bending is: [41.41, -40.67, 6.21, 7.14,

[0057] 16.86,12.29,3.86,-40.67,40.96].

[0058] Click the "Execute Action" button function, the upper computer software takes out instructions from the instruction pool one by one, and transmits them to the lower computer through serial communication. The lower computer reads and identifies the corresponding instructions, and calls the operation execution functions of different motors according to the instructions to control the motor rotation and achieve the predetermined action.

[0059] like Figure 2 As shown, the archwire bending step includes feeding the first archwire segment, and judging whether the bending direction is consistent with the current initial position of the rotary actuator, otherwise the rotary actuator retreats, the rotary actuator reversely rotates to the initial position of the other side, the rotary actuator advances, and jumps to the rotary actuator to bend according to the angle to continue the execution; if yes, the rotary actuator bends according to the angle, the rotary actuator retreats to the current reverse initial position, the next archwire segment is fed, and judging whether it is the last archwire segment, if yes, the process ends, otherwise the process jumps to judging whether the bending direction is consistent with the current initial position of the rotary actuator to continue the execution;

[0060] During the action of the lower computer, the diffuse reflection photoelectric sensor used for limit is detected in real time. If the limit is triggered, the action is stopped immediately. If the action is completed successfully or the limit is triggered, the lower computer sends the corresponding status code to the upper computer. The upper computer reads the corresponding status code. If the status code returned is a successful execution status code, the next instruction is sent to the lower computer from the instruction pool in order, and the next step is continued. If the status code returned is an unsuccessful execution status code, a prompt is given and the execution is stopped. This cycle is repeated until all steps are completed.

[0061] After all the steps are completed, the archwire is bent, and the host computer automatically clears all relevant archwire data and waits for the next archwire to be read. Finally, the automatically bent physical archwire is output.

[0062] An electronic device, comprising: a processor;

[0063] A memory; and a program, wherein the program is stored in the memory and is configured to be executed by the processor, the program including a method for executing a control method of an automatic archwire bending device.

[0064] A computer-readable storage medium stores a computer program, and the computer program is executed by a processor to control a method for an automatic archwire bending device.

[0065] A computer program product includes a computer program / instruction, which implements a control method for an automatic archwire bending device when executed by a processor.

[0066] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A control method for an automatic archwire bending device, characterized in that: The following steps are involved: Obtain parameters, read the size and angle of the archwire segment inside the archwire drawing, and the size of the archwire to be bent; Angle judgment: judging whether the minimum angle of the archwire among all angles is less than the limit angle, if so, it indicates that the archwire cannot be bent. The limit angle is determined by the rotation actuator, the archwire limiting mechanism and the limit angle of the archwire itself; Calculate the actual bending size, offset the archwire line segment inside the archwire drawing according to the size of the archwire to be bent, the offset direction of the archwire line segment is pointing outward, the offset distance is half of the archwire width, the intersection of the segments is the intersection of the two segments after offset, and finally the distance of each segment is the straight-line distance between the two end points of the segment, recalculate the size of the archwire line segment to obtain the actual bending size; Compensating the bending size, compensating the actual bending size, the compensation value is obtained after the whole archwire is bent and repeatedly tested and compared to obtain the final bending size; Archwire bending, write process instructions according to the process of archwire bending, store each generated instruction in the instruction pool, take out the instruction from the instruction pool, call the operation execution function of different motors according to the instruction to control the rotation of the motor to achieve the predetermined action.

2. The control method of the automatic archwire bending device according to claim 1, characterized in that: In the archwire bending step, the process instruction includes the instruction type, the motor number of the operation, and the rotation angle; if it is an archwire bending instruction, the motor rotation angle is calculated according to the fitting function of the archwire angle and the motor rotation angle, and the rotation angle is used as the actual angle to write the instruction, and each generated instruction is stored in the instruction pool in an orderly manner; the upper computer takes out the instructions from the instruction pool one by one, transmits them to the lower computer through serial port communication, and the lower computer reads and identifies the corresponding instructions, and calls the operation execution function of different motors according to the instructions to control the rotation of the motor to achieve the predetermined action.

3. A control method for an automatic archwire bending device according to claim 2, characterized in that: The archwire bending step includes feeding the first archwire segment and judging whether the bending direction is consistent with the current initial position of the rotary actuator. Otherwise, the rotary actuator retreats, the rotary actuator rotates in the opposite direction to the initial position on the other side, the rotary actuator advances, and jumps to the rotary actuator to continue to bend according to the angle; if yes, the rotary actuator bends according to the angle, the rotary actuator retreats to the current reverse initial position, the next archwire segment is fed, and judging whether it is the last archwire segment, if yes, it ends, otherwise, it jumps to judging whether the bending direction is consistent with the current initial position of the rotary actuator to continue; the distance of the archwire feeding is converted into the corresponding rotation angle according to the lead size of the hardware device.

4. A control method for an automatic archwire bending device as claimed in claim 3, characterized in that: In the arch wire bending step, the diffuse reflection photoelectric sensor used for limiting is detected in real time during the action of the lower computer. If the limit is triggered, the action is stopped immediately. If the action is successfully completed or the limit is triggered, the lower computer sends the corresponding status code to the upper computer, and the upper computer reads the corresponding status code. If the status code returned is a successful execution status code, the next instruction is sent to the lower computer from the instruction pool in order, and the next operation is continued. If the status code returned is an unsuccessful execution status code, a prompt is given and the execution is stopped, and this cycle is repeated until all steps are completed. After all steps are completed, the arch wire is bent, and the upper computer automatically clears all relevant arch wire data and waits for the next arch wire to be read.

5. An electronic device, characterized in that include: processor; Memory; and a program, wherein the program is stored in the memory and configured to be executed by a processor, the program comprising instructions for executing the method according to any one of claims 1 to 4.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to perform the method according to any one of claims 1 to 4.

7. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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