CIR Dental School, Department of Surgical Sciences, University of Turin, Turin, Italy.
BMC Oral Health. 2020 Oct 7;20(1):271. doi: 10.1186/s12903-020-01257-6.
Fully adjustable articulators and pantographs record and reproduce individual mandibular movements. Although these instruments are accurate, they are operator-dependant and time-consuming. Pantographic recording is affected by inter and intra operator variability in the individuation of clinical reference points and afterwards in reading pantographic recording themselves. Finally only border movements can be reproduced.
Bionic Jaw Motion system is based on two components: a jaw movement analyzer and a robotic device that accurately reproduces recorded movements. The jaw movement analyzer uses an optoelectronic motion system technology made of a high frequency filming camera that acquires 140frames per second and a custom designed software that recognizes and determines the relative distance at each point in time of markers with known geometries connected to each jaw. Circumferential modified retainers connect markers and do not cover any occlusal surfaces neither obstruct occlusion. The recording process takes 5 to 10 s. Mandibular movement performance requires six degrees of freedom of movement, 3 rotations and 3 translations. Other robots are based on the so-called delta mechanics that use several parallel effectors to perform desired movements in order to decompose a complex trajectory into multiple more simple linear movements. However, each parallel effector introduces mechanical inter-component tolerances and mathematical transformations that are required to transform a recorded movement into the combination of movements to be performed by each effector. Bionic Jaw Motion Robot works differently, owing to three motors that perform translational movements and three other motors that perform rotations as a gyroscope. This configuration requires less mechanical components thus reducing mechanical tolerances and production costs. Both the jaw movement analyzer and the robot quantify the movement of the mandible as a rigid body with six degrees of freedom. This represents an additional advantage as no mathematical transformation is needed for the robot to reproduce recorded movements.
Based on the described procedure, Bionic Jaw Motion provide accurate recording and reproduction of maxillomandibular relation in static and dynamic conditions.
This robotic system represents an important advancement compared to available analogical and digital alternatives both in clinical and research contexts for cost reduction, precision and time saving opportunities.
全可调式颌架和描记器可记录和再现下颌的个体运动。虽然这些仪器精确，但它们依赖于操作人员，且耗时。描记器记录受临床参考点个体化以及随后读取描记器本身的操作人员间和操作人员内变异性的影响。最后，只能再现边缘运动。
仿生下颌运动系统基于两个组件：下颌运动分析仪和精确再现记录运动的机器人设备。下颌运动分析仪使用光电运动系统技术，由一台高频拍摄相机组成，每秒可获取 140 帧，以及一个定制设计的软件，该软件可识别并确定连接到每个下颌的具有已知几何形状的标记在每个时间点的相对距离。环形改良保持器连接标记，既不覆盖任何咬合面，也不妨碍咬合。记录过程需要 5 到 10 秒。下颌运动性能需要 3 个旋转和 3 个平移 6 个自由度的运动。其他机器人基于所谓的 delta 力学，使用几个平行的效应器来执行所需的运动，以便将复杂的轨迹分解为多个更简单的线性运动。然而，每个平行效应器都引入了机械部件间公差和数学变换，这些变换需要将记录的运动转换为每个效应器要执行的运动组合。仿生下颌运动机器人的工作方式不同，它有三个执行平移运动的电机和三个执行旋转运动的电机，作为一个陀螺仪。这种配置需要较少的机械部件，从而减少机械公差和生产成本。下颌运动分析仪和机器人都将下颌的运动量化为具有 6 个自由度的刚体。这是一个额外的优势，因为机器人无需进行数学变换即可再现记录的运动。
基于所描述的程序，仿生下颌运动在静态和动态条件下提供了精确的颌位关系记录和再现。
与现有的模拟和数字替代方案相比，该机器人系统在临床和研究环境中具有成本降低、精度提高和节省时间的优势，是一个重要的进步。
