# US 11,432,908 B2 · Closed loop adaptive orthodontic treatment methods and apparatuses > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,908 B2 - Document ID: US11432908B2 - Status: Granted - Kind: B2 - Application number: 16/220,381 - Filed: 2018-12-14 - Published: 2019-06-27 - Granted: 2022-09-06 - Earliest claimed: 2017-12-15 - Assignees: Align Technology, Inc. - Applicants: Align Technology, Inc. - Inventors: Avi Kopelman; Zelko Relic; Srinivas Kaza - Web page: https://patentgrep.com/patent/US11432908B2 ## CPC - A61C 7/002: {Orthodontic computer assisted systems} - A61B 5/1111: {Detecting tooth mobility} - A61B 5/682: {Mouth, e.g., oral cavity; tongue; Lips; Teeth} - A61C 7/08: Mouthpiece-type retainers {or positioners, e.g. for both the lower and upper arch (arch-shaped medicament applicators for teeth or gums A61C19/063; mouthguards for protecting the teeth of sportsmen A63B71/085)} - A61C 19/04: Measuring instruments specially adapted for dentistry ({A61C5/44 takes precedence; testing vitality of teeth A61B5/0534;} radiation diagnosis specially adapted for dentistry A61B6/51) - A61B 2562/0223: Magnetic field sensors - A61B 2562/0247: Pressure sensors - A61B 2562/0261: Strain gauges - A61C: DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE (non-driven toothbrushes A46B; {tongue scrapers A61B17/24;} preparations for dentistry A61K6/00; preparations for cleaning the teeth or mouth A61K8/00, A61Q11/00) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Method and Apparatuses for monitoring progress of an orthodontic treatment plan and automatically or semi-automatically modifying the orthodontic treatment plan. The orthodontic treatment plan may be monitored by sensors on one or more appliance in the treatment plan, and may be monitored if the sensed data deviates from the expected treatment plan. ## Claims ### Claim 1 A method of modifying an orthodontic treatment plan, the method comprising: receiving sensor data from one or more sensors of an orthodontic appliance; determining force acting on teeth and mechanical impedance of the teeth based on the sensor data; estimating tooth movement based on the determined force acting on the teeth and mechanical impedance of the teeth; comparing the estimated tooth movement to an expected tooth movement from the treatment plan; and modifying the treatment plan if the estimated tooth movement is not within a predetermined range of the expected tooth movement from the treatment plan. ### Claim 2 (depends on 1) The method of claim 1, wherein receiving the sensor data comprises receiving the sensor data in a processor that is on the orthodontic appliance. ### Claim 3 (depends on 1) The method of claim 1, wherein the one or more sensors include one or more force sensors. ### Claim 4 (depends on 1) The method of claim 1, wherein receiving the sensor data comprises receiving measurements of torque on one or more of the teeth by the appliance. ### Claim 5 (depends on 1) The method of claim 1, wherein the sensor data comprises resistive force measurements, magnetic force measurements, pressure measurements, or strain measurements. ### Claim 6 (depends on 1) The method of claim 1, wherein determining the force acting on the teeth based on the sensor data comprises identifying a direction of force acting on one or more of the teeth based on the sensor data. ### Claim 7 (depends on 1) The method of claim 1, wherein determining the force comprises identifying a rotation of one or more tooth based on the sensor data. ### Claim 8 (depends on 1) The method of claim 1, wherein modifying the treatment plan comprises adding one or more stages to the treatment plan based on the determined force acting on the teeth. ### Claim 9 (depends on 1) The method of claim 1, wherein modifying the treatment plan comprises replacing one or more stages with one or more new stages based on the determined force acting on the teeth. ### Claim 10 (depends on 1) The method of claim 1, wherein determining the mechanical impedance of the teeth comprises receiving force data and acceleration data from the one or more sensors, and correlating the force data and the acceleration data over time. ### Claim 11 A method of modifying an orthodontic treatment plan, the method comprising: receiving sensor data from one or more sensors of an orthodontic appliance, the sensor data related to forces applied to one or more aligner attachments on a patient's teeth wherein receiving the sensor data from the one or more sensors includes triggering a switch in the orthodontic appliance when one or more electrodes contact the one or more aligner attachments on the patient's teeth; determining an expected one or more force values or a range of expected force values for the one or more sensors from the orthodontic treatment plan; comparing the determined expected one or more force values to the sensor data for each of the one or more sensors; and modifying the treatment plan if the sensor data does not match the determined expected one or more force values. ### Claim 12 (depends on 11) The method of claim 11, wherein receiving the sensor data comprises receiving the sensor data in a processor that is on the orthodontic appliance. ### Claim 13 (depends on 11) The method of claim 11, wherein the one or more sensors include one or more force sensors. ### Claim 14 (depends on 11) The method of claim 11, wherein receiving the sensor data comprises receiving measurements of torque on one or more teeth by the appliance. ### Claim 15 (depends on 11) The method of claim 11, wherein the sensor data comprises resistive force measurements, magnetic force measurements, pressure measurements, or strain measurements. ### Claim 16 (depends on 11) The method of claim 11, wherein determining the expected one or more force values or the range of expected force values for the one or more sensors comprises calculating the expected one or more force values or the range of expected force values from a stage of the treatment plan corresponding to the orthodontic appliance. ### Claim 17 (depends on 11) The method of claim 11, wherein modifying the treatment plan comprises adding one or more stages to the treatment plan. ### Claim 18 (depends on 11) The method of claim 11, wherein modifying the treatment plan comprises replacing one or more stages with one or more new stages. ### Claim 19 (depends on 11) The method of claim 11, wherein the one or more sensors includes one or more pressure, force, or pressure and force sensors in one or more receptacles shaped to receive the one or more aligner attachments.