Abstract: An orthodontic workstation stores a library of virtual three-dimensional brackets in a memory. Each of the virtual brackets has a unique three-dimensional configuration and prescription. Typically, the library of bracket comprises a library of commercially available, off-the-shelf brackets. The workstation further includes an interactive treatment planning program that permits a user to move teeth from a virtual model of the dentition to a proposed set-up. In one possible embodiment, the treatment planning program provides the ability to display a virtual bracket placed on a virtual tooth and change the prescription or configuration of the virtual bracket. The treatment program automatically compares the modified prescription with the prescription information of the virtual brackets in the library and selects a bracket from the library that most closely matches the virtual bracket displayed on the tooth. Thus, the user does not have to use customized brackets.

Abstract: A method and system are disclosed for quickly arriving at a pre-set-up for the orthodontic treatment of a patient based up on the user specified parameters; and thereafter enabling the user in interactively arriving at a final, desired treatment set-up for the patient. Several sub-operations are disclosed for arriving at the orthodontic pre-set-up. These sub-operations can be arranged in a specific sequence for realizing the orthodontic treatment pre-set-up for a patient. According to another aspect of the invention, a global reference system is disclosed that enables consistent treatment planning. The global reference system prevents unintended tooth displacements caused as side effects to the desired tooth displacements.

Abstract: A scanning system includes a hand-held scanning device that generates two-dimensional images of a pattern reflected off an object. The system also includes a memory and processing unit. The memory stores a calibration table for the scanner and received scanned bitmap images. The processing unit generates three-dimensional information as to a scanned object. The scanning can be performed without knowledge or even precise control of the position of the object relative to the scanner. Random movement of the object during scanning is also possible. Three-dimensional information of the object is obtained from the captured images using a calibration table for the scanner. A method of calibration of the scanner is also described. The illustrated embodiment is in-vivo scanning of human teeth for purposes of orthodontic treatment planning and diagnosis.

Abstract: A single surface representation is created from a cloud of points. Each point in the cloud of points is assigned three-dimensional spatial coordinates. The cloud of points is stored in a memory of a computer. Machine-executable instructions are provided for the computer that operate on the cloud of points. The instructions construct an initial triangle from the cloud of points. The instructions construct a multitude of adjacent triangles forming a single continuous surface representing the object. The triangles comprise planar surfaces having three vertices. The vertices of the adjacent triangles comprise the three points forming the initial triangle and a multitude of other points. Except for the initial two points, the points forming the triangles are each computed as a weighted average of a set of nearby points in the cloud of points that satisfy selection criteria. The resulting vertex also has to satisfy one or more selection criteria.

Abstract: A method and apparatus for facilitating placement and evaluation of virtual appliances on virtual teeth of an orthodontic patient are described. Positioning references comprising bracket height, occlusal plane, or any arbitrary plane are provided to facilitate desired placement of virtual appliances on virtual teeth model. The process can be applied with any dentition state of a patient such as malocclusion, target state from treatment, or intermediate monitored state during the course of a treatment. An unified workstation for treatment planning provides the computer software tools for verification, simulation and evaluation of the virtual appliance placement. The process enables proper planning of treatment for an orthodontic patient suffering from malocclusion involving bonding of virtual brackets to the surface of the patient's virtual teeth with archwires placed in the slots of the brackets, so as to realize the desired results from the treatment in the most desired manner.

Abstract: A robotic bending apparatus for bending archwires and other types of elongate, bendable medical devices into a desired configuration includes a first gripping tool and a moveable gripping tool. The first gripping tool can be either fixed with respect to a base or table for the robot or positioned at the end of robot am. The moveable gripping tool is mounted to the end of a moveable robot arm having a proximal portion also mounted to the base. The robot preferably comprises a six axis bending robot, in which the distal end of the moveable arm can move relative to the fixed gripping tool about three translational axes and three rotational axes. The gripping tools preferably incorporate force sensors which are used to determine overbends needed to get the desired final shape of the archwire. The robot may also include a resistive heating system in which current flows through the wire while the wire is held in a bent condition to heat the wire and thereby retain the bent shape of the wire.

Abstract: Templates are disclosed that permit an orthodontist to accurately place appliances such as bracket shims or brackets on a tooth or teeth at a desired position. The templates can be used for accurately locating the position of other dental or orthodontic procedures, such as varnishing, tooth etching and root canals. The templates are made from a flexible sheet of material adapted to be adhered directly to the surface of the tooth or teeth. The sheet of material is formed with the outline of the tooth or teeth or in the shape of the tooth to allow the template to be posited in a proper, reference position. The sheet of material is also formed with one or more marks indicating the location of the bracket on the tooth, for example one mark indicting the bracket base location and other marks indicating the orientation of the base and bracket slot.

Abstract: An integrated system is described in which digital image data of a patient, obtained from a variety of image sources, including CT scanner, X-Ray, 2D or 3D scanners and color photographs, are combined into a common coordinate system to create a virtual three-dimensional patient model. Software tools are provided for manipulating the virtual patient model to simulation changes in position or orientation of craniofacial structures (e.g., jaw or teeth) and simulate their affect on the appearance of the patient. The simulation (which may be pure simulations or may be so-called “morphing” type simulations) enables a comprehensive approach to planning treatment for the patient. In one embodiment, the treatment may encompass orthodontic treatment. Similarly, surgical treatment plans can be created. Data is extracted from the virtual patient model or simulations thereof for purposes of manufacture of customized therapeutic devices for any component of the craniofacial structures, e.g., orthodontic appliances.

Abstract: A single surface representation is created from a cloud of points. Each point in the cloud of points is assigned three-dimensional spatial coordinates. The cloud of points is stored in a memory of a computer. Machine-executable instructions are provided for the computer that operate on the cloud of points. The instructions construct an initial triangle from the cloud of points. The instructions construct a multitude of adjacent triangles forming a single continuous surface representing the object. The triangles comprise planar surfaces having three vertices. The vertices of the adjacent triangles comprise the three points forming the initial triangle and a multitude of other points. Except for the initial two points, the points forming the triangles are each computed as a weighted average of a set of nearby points in the cloud of points that satisfy selection criteria. The resulting vertex also has to satisfy one or more selection criteria.

Abstract: A method and system are provided for constructing a virtual three-dimensional model of an object using a data processing system, and at least one machine-readable memory accessible to said data processing system. A set of at least two digital three-dimensional frames of portions of the object are obtained from a source, such as a computing system coupled to an optical or laser scanner, CT scanner, Magnetic Resonance Tomography scanner or other source. The at least two frames comprise a set of point coordinates in a three dimensional coordinate system providing differing information of the surface of the object. The frames provide a substantial overlap of the represented portions of the surface of the object, but do not coincide exactly for example due to movement of the scanning device relative to the object between the generation of the frame. Data representing the set of frames are stored in the memory.

Abstract: Occlusal contact between upper and lower virtual three-dimensional teeth of a patient when the upper and lower arches are in an occlused condition are determined and displayed to the user on a user interface of a general purpose computing device. Various techniques for determining occlusal contacts are described. The areas where occlusal contact occurs is displayed on the user interface in a readily perceptible manner, such as by showing the occlusal contacts in green. If the proposed set-up would result in a interpenetration of teeth in opposing arches, such locations of interpenetration are illustrated in a contrasting color or shading (e.g., red). The ability to calculate distances and display occlusal contacts in a proposed set-up assists the user in planning treatment for the patient. The process can be extended to interproximal contact detection as well. The concepts also apply to dental prosthetics, such as crowns, fillings and dentures.

Abstract: Occlusal contact between upper and lower virtual three-dimensional teeth of a patient when the upper and lower arches are in an occlused condition are determined and displayed to the user on a user interface of a general purpose computing device. Various techniques for determining occlusal contacts are described. The areas where occlusal contact occurs is displayed on the user interface in a readily perceptible manner, such as by showing the occlusal contacts in green. If the proposed set-up would result in a interpenetration of teeth in opposing arches, such locations of interpenetration are illustrated in a contrasting color or shading (e.g., red). The ability to calculate distances and display occlusal contacts in a proposed set-up assists the user in planning treatment for the patient. The process can be extended to interproximal contact detection as well. The concepts also apply to dental prosthetics, such as crowns, fillings and dentures.

Abstract: A method and workstation for evaluation of an orthodontic treatment plan for a patient. The workstation is based on a computing platform having a graphical user interface, a processor and a computer storage medium containing digitized records pertaining to a patient including image data (3D image data and/or 2D image data). The workstation further includes a set of software instructions providing graphical user interface tools by which the user can create a proposed treatment plan (proposed position of the teeth at the end of treatment) in three dimensions. The workstation also provides tools for evaluation of the proposed treatment plan.

Abstract: A method is described for taking a three-dimensional virtual model of the dentition and associated anatomical structures of a patient and isolating individual teeth from the rest of the anatomical structure, e.g. gums, to thereby produce individual, virtual three-dimensional tooth objects. The individual tooth objects can be displayed on the display of an orthodontic workstation and moved independently from each other, and thereby form the basis of planning treatment for the patient. The individual, virtual three-dimensional tooth objects are created by comparing the virtual model of the dentition to virtual, three-dimensional template teeth that are stored in memory in a process described in detail herein. The template teeth can include roots as well as crowns. The template teeth can be stored objects acquired from some external source or alternatively developed from a database of patient scans. Virtual three-dimensional brackets are also stored in the memory of the workstation.

Abstract: A robotic bending apparatus for bending archwires and other types of elongate, bendable medical devices into a desired configuration includes a first gripping tool and a moveable gripping tool. The first gripping tool can be either fixed with respect to a base or table for the robot or positioned at the end of robot am. The moveable gripping tool is mounted to the end of a moveable robot arm having a proximal portion also mounted to the base. The robot preferably comprises a six axis bending robot, in which the distal end of the moveable arm can move relative to the fixed gripping tool about three translational axes and three rotational axes. The gripping tools preferably incorporate force sensors which are used to determine overbends needed to get the desired final shape of the archwire. The robot may also include a resistive heating system in which current flows through the wire while the wire is held in a bent condition to heat the wire and thereby retain the bent shape of the wire.

Abstract: A scanning system includes a hand-held scanning device that generates two-dimensional images of a pattern reflected off an object. The system also includes a memory and processing unit. The memory stores a calibration table for the scanner and received scanned bitmap images. The processing unit generates three-dimensional information as to a scanned object. The scanning can be performed without knowledge or even precise control of the position of the object relative to the scanner. Random movement of the object during scanning is also possible. For example, the scanner is simply swept over the surface of the object by hand. Three-dimensional information of the object is obtained from the captured images using a calibration table for the scanner. A method of calibration of the scanner in X, Y and Z directions is also described. The scanner can be used for a variety of purposes, including medical and industrial purposes.

Abstract: In accordance with a specific embodiment of the present invention, an image is projected upon a surface. The image can include a pattern having a plurality of individual shapes used to measure and map the surface. The plurality of individual shapes include features that are detectable in a direction parallel to the plane formed by a projection axis of the projected shapes and a point associated with a view axis. The image further comprises a feature containing an encoding information for identifying the plurality of shapes individually. The feature containing encoding information can be a separate feature from each of the plurality of individual shapes, or may be a feature integral to the plurality of individual shapes. The feature containing encoding information is oriented such that the encoding information is retrieved along a line perpendicular to a plane formed by the projection axis and the point along the view axis. The use of the feature is used to perform multiframe reference independent scanning.

Abstract: A scanning system includes a hand-held scanning device that generates two-dimensional images of a pattern reflected off an object. The system also includes a memory and processing unit. The memory stores a calibration table for the scanner and received scanned bitmap images. The processing unit generates three-dimensional information as to a scanned object. The scanning can be performed without knowledge or even precise control of the position of the object relative to the scanner. Random movement of the object during scanning is also possible. For example, the scanner is simply swept over the surface of the object by hand. Three-dimensional information of the object is obtained from the captured images using a calibration table for the scanner. A method of calibration of the scanner in X, Y and Z directions is also described. The scanner can be used for a variety of purposes, including medical and industrial purposes.

Abstract: Interactive, computer based orthodontist treatment planning, appliance design and appliance manufacturing is described. A scanner is described which acquires images of the dentition which are converted to three-dimensional frames of data. The data from the several frames are registered to each other to provide a complete three-dimensional virtual model of the dentition. Individual tooth objects are obtained from the virtual model. A computer-interactive software program provides for treatment planning, diagnosis and appliance from the virtual tooth models. A desired occlusion for the patient is obtained from the treatment planning software. The virtual model of the desired occlusion and the virtual model of the original dentition provide a base of information for custom manufacture of an orthodontic appliance.

Abstract: A method and system are provided for constructing a virtual three-dimensional model of an object using a data processing system, and at least one machine-readable memory accessible to the data processing system. A set of at least two digital three-dimensional frames of portions of the object are obtained from a scanner or other source comprising a set of point coordinates in a three dimensional coordinate system providing differing information of the surface of the object. The frames provide a substantial overlap of the represented portions of the surface of the object, but do not coincide exactly. Data representing the set of frames are stored in the memory and processed by the data processing system so as to register the frames relative to each other to thereby produce a three-dimensional virtual representation of the portion of the surface of the object covered by the set of frames.

Abstract: An improved method and apparatus for preventing electrical shorts between sets of stator coil headers and accompanying connections is disclosed in which a reinforced, non-conducting cover is fitted over a pair of stator coil headers, or a stator coil header and an adjacent phase connector. Thereafter, the cavity formed by the fitted cover can be filled with an insulating, solidifying or polymerizing material or resin. Use of such an apparatus insulates the entire header apparatus and prevents any accidental shorting between sets of stator coil ends.