robotics in orthodontics

Robotics in Orthodontics

Dr.Umar Mohamed

Contents • INTRODUCTION

• HISTORY

• ROBOTICS IN ORTHODONTICS

• WIRE BENDING ROBOT

• WIRE BENDING ROBOT FOR LINGUAL ORTHODONTICS

• ROBOT FOR APPLIANCE FABRICATION

• INVISALIGN AUTOMATED MANUFACTURING

• DIGITAL FABRICATION OF SPLINTS

• NANO ROBOTS IN ORTHODONTICS

• ROLE OF ROBOTICS IN RESEARCH

• CONCLUSION

• REFERENCES

Introduction• The discipline of orthodontics ,since its very

inception has strived to improve the efficacy and

efficiency of orthodontics appliance through

improvement in appliance design.

History• Ancient civilization

• In the medieval period(1136-1206) Al-Jazari

• In the renaissance Italy (1452-1519)

• The first electronic autonomous Robots(1948-1949) -

William Grey Walter . Elmer and Elsie

• The first truly modern Robot- George Devol in 1954

Unimate

• In 1985 PUMA 560 –place needle for a brain biopsy

using CT

• In 1988 PROBOT- prostatic surgery

• The ROBODOC in 1992 was used to mill out precise

fittings in the femur for hip replacement.

• The word robot was introduced to the public by the

Czech interwar writer Karel Čapek in his play R.U.R.

(Rossum's Universal Robots), published in 1920.

• The robot institute of America in 1979 defined Robot

as “A re proggramable, multifunctional manipulator

designed to move material,parts,tools or specialized

devices through various programmed motion for

the performance of variety of tasks .

• Complex tasks with precison

• Robotics devices transcend –accuracy and

efficiency

• Clinician have more time for diagnosis and

treatment planning rather than spending time on

cumbersome wire bending and appliance

fabrication

• Scanning Solid objects with great accuracy and

ability to manipulate 3d Images that are produced

using softwares

Robotics for Arch Wire Bending

SURE SMILE SYSTEM• Designed to reduced errors in treatment resulting

from appliance management

• Suresmile incorperates intraoral scanning

,conebeam CT, special alloy arch wires and

precision robotic wire bending ,along

Clinical proceduresDentition is prepared by scanning using Orascanner

Structured white light

CBCT scans

• OraScan is intergrated with conventional

photographs and x ray.

• OraScan software

The arch wire geometry is automatically calculated in

three dimension for the bracket positions on the target

the orthodontist selects the appropriate cross-section ,

material , and force output from the computer menu.

Electronic prescription of arch wire and customized

bracket positions

• Treatment plan is sent –Suresmile precision

appliance center

• New OraScan for finishing wires

The current accuracy of the

system• Orascanner -6 unblured images/sec

3500 3D points per image

accuracy of each point =50 microns

Linear error of scan is .1mm per tooth

• Wire bending –bending postioning erroe is_+1

• angular/torsional error is _+ 1 degree

• Digital bracket placement= accurate to +25

microns

Wire Bending Robot

• Force sensors

• Resistive Heating system

Magazine holding straight arch wires

Conveyor belt system for mass production of arch wires

Orametrix wire bending robot system

Efficiency and Effectiveness of SureSmile”, Alana K. Saxe, DMD; Lenore J. Louie, MSc, DMD; James

Mah, DDS, MSc, DMSc

The research shows that the SureSmile process results in a lower mean ABO OGS score and a reduced treatment time than conventional approaches with great potential to both decrease treatment time and improve quality.

• In 1999 AJODO Wiechmann et all reported the use

robotic arch fabrication method developed by

Orametrix system for the use customized lingual

brackets and archwire system

Wire bending Robot for lingual orthodontics

LAMDA Robotic wire bending

system• Developed by Alfredo Gilbert in

• Designed to use in office,either

before or after bracket bonding

• Robot makes only 1st order bends

Lingual arch wire design using LAMDA

• Digital occlusal photographs of

the study cast.

• User click on image at the distal

end of archwire and at each

point where wire will be bent by

• Allow sufficient space for the desired bracket

depth.

• Lamda software assigns x and y coordinates to

each point using pixels as unit measurements .

A similar protocol is followed in a patient

with brackets already bonded, but a single occlusal

photograph is used instead of a photograph of

the plaster cast.

• Used to measure intercanine and intermolar widths

during treatment from either cast or occlusal

photographs.

• Occlusal photographs should

be taken at each appointment,

so that LAMDA can be used to

determine the caliber and

design of the next archwire

LAMDA wire bending Robot

• Also known as cartesian

coordinate robots .

• They are often used

extended workspaces and

act on object with vertical

planes of symmetry

• It is relatively simple ,

compact and inexpensive.

• 600 F

• The robot

manufactures

SS archwires 5 min

NiTi archwires =6 min

The LAMDA wire-bending robot is much simpler than the robots

used in commercially outsourced systems, since it manufactures

only 1st-order bends.

Although this requires the use of the Hiro bracketpositioning

system3 for 2nd- and 3rd-order bends,

it makes the unit affordable for a solo practitioner.In addition, the

orthodontist is able to regulate the process at any time

• BAS - It is the first ever developed robotic

CAD / CAM system for the fabrication of

customized orthodontic arch wires.

• Prof. Helge Fischer-Brandies

invented this in 1984 and his

co-worker Dr. Wolfgang

Orthuber, together with an

engineering company

developed this hardware and

software.

• company developed this hardware and software.

1st prototype of BAS was manufactured in 1993.

• It is used for fabrication of both labial and lingual

orthodontic wires.

Robotics in Orthodontics 407 April 2015

Components of BAS:• Stereoscopic camera

Components of BAS:• A Personal Computer and its customized

software

Components of BAS:• Arch wire bending device

Stereoscopic camera:• It consists of CCD (charged coupled

device) camera, which is protected by a

thin glass case. This glass case can be

disinfected after being used.

Stereoscopic camera:• This is used to scan plaster models, typhodont

model or directly from patients mouth by

introducing camera into patients mouth

Procedure–

stainless steel measuring

plates should be inserted

into bracket slots and tubes

of molar attachments. They

are secured in place with

elastomeric ligatures. These

plates are available in

different sizes for .018” and

.022” bracket system.

Procedure

• Each dental arch

is scanned as two

quadrants; the

computer merges

the left and right

Procedure• It takes 4 sec/quadrant. Within this time the

mirror of camera moves two times forward and

backward

o Forward -110º

o Backward - 80º

• It scans using a white light (not laser) and takes

20 min to capture and format the image

Arch wire bending component

• Head of bending machine has 3

components.

, which clamps any arch wire

bending or torquing,

, which clamps any wire during

torquing and

, configurated as partial cone.Robotics in Orthodontics 497 April 2015

• It can be used to work with both round as well as

rectangular wires.

• Wire may be S.S., TMA or Ni-Ti alloy.

• Bending process starts after programming all

desired bends.

• The time taken to complete the bending process is

5-7 min.

Advantages of BAS and Indications for its use:1) Finishing arch wires can be made with precision

pre-wires.

2) During treatment if arch wire needs any additive or

subtractive bends.

Advantages of BAS and Indications for its use:

3) Wire breakage or deformation during

appointments can be rapidly fabricated

with BAS.

4) The computer will locate the ideal slot position of

brackets in relation to neighbouring brackets in

case of any breakages.

5) BAS can be used for fabricating passive full sized

arch wires required for orthognathic surgical

patients.Robotics in Orthodontics 547 April 2015

6) BAS can negate indiscriminate use of continuous

arch wires, during leveling procedure, which

consists of both desirable and undesirable

movements, which can be avoided.

7) BAS can also be used to construct T-loops or L-

loops. The present system is unable to bend a

complete loop. But working configuration of desired

loop can be fabricated and then bent into final

shape manually.

8) Utility arches can be made using BAS.

9) Since any number of bends can be given using BAS

which facilitates the use standard edge wise

instead of straight wire and which saves additional

10) Can be used for making lingual retainer

11) Splinting on avulsed teeth

12) Patients database can be stored in

memory

Shortcomings of BAS1. Time required for insertion of the measuring plates

for their identification. This can be rectified by

keeping standardized markers on orthodontic

brackets.

2. Though it is designed accurately we cannot

precisely predict the tooth movement to applied

forces, so clinical judgment is still vital.

3. Steel wire material presently used (recommended

by BAS) deform very readily.

Invisalign automated manufacturing process

• Requires from 6-40 sequential appliances per arch.

• Instead, Align Technology uses stereolithography

technology to create its reference models, making

the orthodontic industry the first to bring on-demand

digital manufacturing to commercial production

Nanorobotics in Orthodontics

• Nanotechnology refers to the science and engineering activities at the level of atoms and molecules

• Nanomedicine is the process of diagnosing treating and preventing disease and traumatic injury of relieving pain and of preserving and improving human health through the use of Nano scale structured materials biotechnology and genetic engineering and eventually complex molecular machine systems and Nano robots using molecular tools and molecular knowledge of human body

• Nanorobots would constitute any smart struture

capable of actuation sensing signaling, information

processing ,intelligence manipulation and swarm

behavior at nano scale

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