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 procedures
Dentition 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
arch.
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

• 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
2011
• 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
robot

• 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.
Robotics in Orthodontics

• 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.
Robotics in Orthodontics

• 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
side.

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

Arch wire bending
component• It can be used to work with both round as well as
rectangular wires.
• Wire may be S.S., TMA or Ni-Ti alloy.

Arch wire bending
component
• 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.

for its use:
3) Wire breakage or deformation during
appointments can be rapidly fabricated
with BAS.

for its use: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.

for its use:
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.

Advantages of BAS and Indications for
its use: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.

for its use:
8) Utility arches can be made using BAS.

for its use:
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
cost.

for its use:
10) Can be used for making lingual retainer
11) Splinting on avulsed teeth
12) Patients database can be stored in
memory

Shortcomings of BAS
1. 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

• 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

Robotics in orthodontics

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