title: [Development of a system for robot aided teeth alignment of complete denture].
abstract: OBJECTIVE
  To develop a robot aid aligning artificial teeth for complete denture.
  
  
  METHODS
  The CRS-450, a 6-direction-free robot was utilized to make the grasped object realize any position and pose, and to develop an adjustable tooth arrangement machine. The geometry parameters of the shape of agomphious jaw were obtained through 3-D laser scanning and measuring system. The math's model, which was set up according to senior prosthodontic experts' experiences on tooth arrangement, was used to control program of experts in arranging teeth, 3-D denture simulation, and robots in arranging teeth. The program used VC++ and RAPL robot languages. When the teeth arrangement plan was formed, the data were transmitted to a robot, who would fix the position and finish the fabrication of complete denture.
  
  
  RESULTS
  A complete system of robot-aided complete denture teeth arranging was set up and tried using this system to make an artificial dentition for a patient. There were still some errors in the articulation of the dentition, which needed adjustment and perfection.
  
  
  CONCLUSIONS
  We succeed in using robot to fabricate artificial dentition for the first time. Although the dentition is not perfect in articulation, the system's scientific significance is profound. The results have proved that the designing idea and technical routine are workable.
authors.affiliation: Research Center of Engineering and Technology for Dental Computing, Ministry of Health, Peking University School of Stomatology, Beijing 100081, China.
authors.forename: P
authors.initials: P
authors.lastname: Lü
authors.forename: Y
authors.initials: Y
authors.lastname: Wang
authors.forename: G
authors.initials: G
authors.lastname: Li
mesh_terms: D003779:Denture Design; D003824:Denture, Complete; D006801:Humans; D012371:Robotics