CN113244000A - Step-by-step method for tooth correction, step-by-step system and electronic equipment - Google Patents
Step-by-step method for tooth correction, step-by-step system and electronic equipment Download PDFInfo
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- CN113244000A CN113244000A CN202110497074.0A CN202110497074A CN113244000A CN 113244000 A CN113244000 A CN 113244000A CN 202110497074 A CN202110497074 A CN 202110497074A CN 113244000 A CN113244000 A CN 113244000A
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- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
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Abstract
A stepwise method of dental correction, comprising: acquiring initial tooth state information of a patient and target tooth position information corrected to a target position in a dental coordinate system; acquiring the moving distance parameter information of the tooth at the tooth extraction position and/or the tooth at two sides of the missing tooth position towards the middle end and the far middle end according to the position information of the tooth extraction position and/or the position information of the missing tooth position; according to the moving distance parameter information, the position information of the tooth extraction position and/or the position information of the missing tooth position, a step-by-step moving scheme for correcting the teeth of the patient is formulated; and acquiring the total movement amount of a single tooth under different correction modes according to the initial tooth position information and the correction target tooth position information, and constructing a tooth movement step list by utilizing a step movement scheme for tooth correction and combining a tooth arrangement step logic algorithm. The invention also discloses a step-by-step method and a step-by-step system for tooth correction, electronic equipment and a computer storage medium.
Description
Technical Field
The invention belongs to the technical field of tooth correction, and particularly relates to a step-by-step method for tooth correction, a step-by-step system, electronic equipment and a computer storage medium.
Background
In recent years, along with the improvement of life quality, people pay more and more attention to tooth aesthetics, the tooth orthodontic treatment technology is gradually accepted by people, the invisible orthodontic technology in a digital oral cavity is rapidly developed, teeth of orthodontic patients are designed to be in a final target position from an initial position in the process of making a correction scheme, a plurality of correction cycles can be completed according to different moving modes of the teeth in the process, and the specific moving mode and the moving amount in each correction cycle are different from each other; there are also semi-automatic stepping ways in which manual stepping is combined with computer.
However, the tooth orthodontic treatment belongs to personalized customization, because of different individuals of patients, particularly under the condition of tooth extraction and/or tooth position loss, the formulation of a tooth step-by-step scheme is more complicated, if the tooth correction distribution scheme is designed manually only by the experience of a doctor, the efficiency of the scheme design is low, the reliability is difficult to control, and the requirements of large-scale design and production cannot be met; for a semi-automatic mode, a doctor still needs to participate in decision making, the spent design time is still more, the later-stage design time of the doctor is not reduced, the design efficiency of the doctor cannot be really improved, and meanwhile, the high-efficiency working efficiency cannot be realized.
The present invention provides a technical solution to the above technical problems.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art, provide a step-by-step method for tooth correction, a step-by-step system, electronic equipment and a computer storage medium, and greatly improve the generation efficiency of step-by-step schemes without manual participation in the step-by-step tooth correction.
The technical scheme provided by the invention is as follows:
a stepwise method of dental correction, comprising:
acquiring initial tooth state information of a patient and target tooth position information corrected to a target position in a dental coordinate system; the initial tooth state information comprises position information of tooth extraction positions and/or position information of missing tooth positions and tooth initial position information;
acquiring the moving distance parameter information of the tooth at the tooth extraction position and/or the tooth at two sides of the missing tooth position towards the middle end and the far middle end according to the position information of the tooth extraction position and/or the position information of the missing tooth position; the moving distance parameter information is the ratio of the moving distance of the proximal teeth at two sides of the tooth extraction position and/or the missing tooth position to the distal end to the moving distance of the distal teeth to the proximal end;
according to the moving distance parameter information, the position information of the tooth extraction position and/or the position information of the missing tooth position, a step-by-step moving scheme for correcting the teeth of the patient is formulated;
and acquiring the total movement amount of a single tooth under different correction modes according to the initial tooth position information and the correction target tooth position information, and constructing a tooth movement step list by utilizing a step movement scheme for tooth correction and combining a tooth arrangement step logic algorithm.
Further preferably, the method further comprises the following steps:
acquiring position information of single step of teeth after step-by-step movement in a tooth movement step-by-step list, and calculating collision depth by using the position information between two adjacent teeth to perform collision detection; and if collision occurs, performing allowance adjustment between the collided teeth to release the collision, and updating the tooth position information after the collision is released in the tooth moving step list.
Further preferably, the collision detection includes:
emitting rays in a jaw coordinate system along a jaw plane normal direction, and acquiring intersection point position information of the rays and each tooth; acquiring the intersection point position information of the same ray on two adjacent teeth, calculating the difference value information between the two teeth according to the intersection point position information on the two adjacent teeth, and judging whether collision occurs according to the difference value information between the two teeth.
Further preferably, the collision release includes:
and respectively moving two adjacent collided teeth by preset distances along the opposite direction of the normal direction of the collision contact surface, detecting again after the movement is finished, adjusting the step information of the single-jaw teeth after the collision is relieved, further acquiring the position information of the two adjacent teeth after the collision is relieved, and updating the tooth movement step list.
Further preferably, the step-by-step movement scheme for orthodontic treatment of the patient comprises:
determining the dental jaw position corresponding to tooth correction according to the position information of the tooth extraction position and/or the position information of the missing tooth position; determining a correction anchorage position on the dental jaw position according to the moving distance parameter information; wherein, the dentognathic zone position includes: bilateral tooth extraction and/or missing tooth position correspondence, or unilateral tooth extraction.
Further preferably, the step-by-step dental regimen when the tooth is extracted bilaterally and/or corresponding to a missing tooth site, or extracted unilaterally comprises:
when the moving distance parameter information is judged to be a first threshold parameter, setting the teeth moving towards the near middle end as strong anchorage positions, and controlling the teeth moving towards the far middle end to move step by step; the first threshold parameter is infinite.
Further preferably, the step-by-step dental regimen when the tooth is extracted bilaterally and/or corresponding to a missing tooth site, or extracted unilaterally comprises: judging that the movement distance parameter information is not equal to a first threshold parameter, and respectively controlling the tooth extraction tooth position or the tooth on two sides of the missing tooth position to move and adjust in opposite directions; the second threshold parameter is greater than 1.
Further preferably, the controlling of the movement of the teeth at both sides of the extracted or missing tooth site in the opposite direction comprises:
when the tooth number is smaller than a first threshold parameter and is larger than or equal to a second threshold parameter, controlling a first far middle tooth moving to the near middle end to move, setting a second far middle tooth adjacent to the first far middle tooth as a middle-strong anchorage position, and simultaneously controlling each near middle tooth moving to the far middle end to alternately move to a far middle set position;
after the first far middle tooth moves to the first near middle set position, the second far middle tooth adjacent to the first far middle tooth is controlled to move to the first far middle tooth, and when the second far middle tooth moves to the second rear near middle set position, other far middle teeth to be moved are sequentially controlled to move to the target position towards the near middle end.
Further preferably, the controlling of the movement of the teeth at both sides of the extracted or missing tooth site in the opposite direction comprises:
when the moving distance parameter information is judged to be smaller than the second threshold parameter and larger than 0, controlling the first far middle tooth moving to the near middle end to move to the target position, simultaneously controlling each near middle tooth moving to the far middle end to move to the corresponding target position according to the set moving sequence, and setting the far middle tooth which is not moved in the far middle teeth as a weak anchorage position; and after the first far middle tooth is judged to move to the target position, the second far middle tooth adjacent to the first far middle tooth in movement is moved to the corresponding target position in sequence.
Further preferably, when the tooth is extracted from one side, the step-by-step method for tooth correction is performed;
the other side dental step plan comprises: judging whether two adjacent teeth move towards the mesial end and the distal end respectively, if so, correcting the two adjacent teeth firstly, and further correcting the teeth on two sides in sequence;
if not, whether a single tooth moves towards the near-middle end or moves towards the far-middle end is detected in sequence, if so, each tooth is moved towards the near-middle end to the corresponding target position in sequence, or each tooth is moved towards the far-middle end to the corresponding target position in sequence.
Preferably, the total movement amount of the single tooth under different correction modes is obtained according to the tooth initial position information and the correction target tooth position information, and a tooth movement step list is constructed by combining a tooth arrangement step logic algorithm with a step movement scheme for tooth correction.
Further preferably, the step list of tooth movement is constructed by:
acquiring corresponding movement amounts of the single tooth from the tooth initial position information to the correction target tooth position information in different correction modes, acquiring the maximum movement amount of the single tooth from the movement amounts, and setting the maximum movement amount of the single tooth as the target movement amount of the single tooth; acquiring the target step number of the single tooth according to the target moving amount of the single tooth and the preset single-step moving amount of the single tooth; and constructing a tooth moving step list according to the target step number of the single tooth and the preset single-step moving amount of the single tooth.
Further preferably, the obtaining of the moving distance parameter information includes:
and (3) the ratio of the distance of tooth moving towards the far middle end to the distance of tooth moving towards the near middle end on both sides of the tooth extraction position and/or the missing tooth position.
A step-by-step system for orthodontic treatment, which can execute the step-by-step method for orthodontic treatment, the step-by-step system comprising: the tooth information acquisition module is used for acquiring initial tooth state information of a patient and target tooth position information corrected to a target position in a dental jaw coordinate system; the initial tooth state information comprises position information of tooth extraction positions and/or position information of missing tooth positions and tooth initial position information;
the distance parameter acquisition module is used for acquiring the moving distance parameter information of the tooth at the two sides of the tooth extraction position and/or the missing tooth position towards the middle end and the far middle end according to the position information of the tooth extraction position and/or the position information of the missing tooth position; the step-by-step scheme making module is used for making a step-by-step moving scheme for correcting the teeth of the patient according to the moving distance parameter information, the position information of the tooth extraction position and/or the position information of the missing tooth position; the step list building module obtains the total movement amount of a single tooth under different correction modes according to the tooth initial position information and the correction target tooth position information, and a tooth movement step list is built by combining a step movement scheme of tooth correction and a tooth arrangement step logic algorithm.
Further preferred, comprising: the collision detection module is used for acquiring the position information of the single step of teeth after the step-by-step movement in the tooth movement step-by-step list and calculating the collision depth by using the position information between two adjacent teeth to perform collision detection;
and the collision detection module is used for detecting and detecting the collision according to the collision detection module, adjusting the allowance between the collided teeth to release the collision and updating the tooth position information after the collision is released in the tooth moving step-by-step list.
An electronic device comprising a processor and a memory, the processor executing computer instructions stored by the memory to cause the electronic device to perform any of the above described step-by-step methods of dental correction.
A computer storage medium comprising computer instructions which, when run on an electronic device, cause the electronic device to perform any of the above described dental appliance stepping methods.
The invention provides a step-by-step method and a step-by-step system for tooth correction, electronic equipment and a computer storage medium, which can bring about at least one of the following beneficial effects:
according to the tooth information and characteristics of a patient, a tooth movement step-by-step scheme of different tooth extraction cases and/or tooth position loss cases is designed; when the design of the step-by-step scheme is formulated, only the tooth information and the position information parameters of the correcting target of the patient need to be input before step-by-step, the step-by-step of the tooth can be efficiently completed by embedding the corresponding logic step-by-step algorithm in the program constructed by the computer and carrying out automatic calculation, and the method can be applied to cases of correcting double-sided tooth extraction and single-sided tooth extraction and various anchorage situations. The invention saves a great deal of time spent by doctor decision and manual design and improves the design efficiency of the doctor.
The step-by-step design process of tooth correction is carried out completely based on the actual parameters of the bone mass of a human body, so that the correction steps have data basis, and the tooth correction of a patient is more accurate in moving distance during moving.
The invention provides a step-by-step method suitable for tooth correction under the condition of tooth extraction correction cases according to the types and characteristics of the tooth extraction cases, so that the tooth movement track is ensured to be smooth and not to collide, the time spent by a doctor in decision making and design is simplified, and the design efficiency of the doctor is improved.
Drawings
The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.
FIG. 1 is a flow chart of a step-by-step method embodiment of dental correction of the present invention;
FIG. 2 is another flow chart of a step-by-step method of orthodontic treatment according to an embodiment of the present invention;
FIG. 3 is another flow chart of a step-by-step method of orthodontic treatment according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a step-by-step system for tooth correction according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an electronic device of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
In the process of constructing the tooth orthodontic correction scheme, the step-by-step of the tooth to be corrected is an important link, and the step-by-step scheme determines the correction period, the correction effect and the correction accuracy; the actual problems faced by the current correction cases during design include that doctors manually set the moving stage and logic sequence of each tooth according to experience, the design time spent by the doctors in decision making is still long, the time for modification and correction in the later period is relatively long, accurate data basis is lacked, and the scheme making efficiency is influenced. The invention provides a stepwise method without manual intervention, particularly for tooth extraction or tooth position loss. The invention provides a specific implementation mode of an automatic step-by-step process of correcting and moving teeth from an initial position to a target position under the condition of tooth extraction cases and/or tooth position loss cases based on a computer, which comprises the following steps:
as shown in connection with fig. 1-5; the invention provides an embodiment of a step-by-step method for tooth correction, which comprises the following steps:
s100, acquiring initial tooth state information of a patient and target tooth position information corrected to a target position in a dental coordinate system; the initial tooth state information comprises position information of tooth extraction positions and/or position information of missing tooth positions and tooth initial position information;
according to the method, an initial digital tooth model of a patient is obtained through scanning and the like, a medical doctor combines or combines case information and patient appeal information according to the initial digital tooth model and designs a target digital tooth model, and the target digital tooth model corresponds to target tooth position information corrected to a target position; the initial digital tooth model corresponds to tooth initial position information, a tooth crowding state can be further obtained on the initial digital tooth model, a diagnosis and treatment scheme in the process of correction can comprise tooth extraction treatment and the like, and then arrangement steps are carried out; the method also comprises the deletion of a certain tooth, and a diagnosis and treatment scheme is formulated; in the correcting step-by-step scheme, the two conditions of tooth position loss and tooth extraction on the same jaw are also included; the invention aims to liberate the manual operation of a medical doctor and realize automatic step-by-step operation through a computer. Relevant parameters required in performing the automatic stepping process in embodiments of the present invention include: the tooth position information comprises tooth jaw position information, position information of tooth position loss, position information of tooth extraction positions, tooth initial position information, tooth target position information and single-step movement amount of corrected teeth in different movement modes.
The method specifically comprises the following steps: the dental jaw position information refers to the dental jaws to be corrected, and comprises an upper jaw, an upper left half jaw, an upper right half jaw, a lower left half jaw, a lower right half jaw and a whole jaw.
The position information of missing tooth positions refers to the missing condition of teeth, and if a certain tooth position is missing, the tooth position is not automatically stepped;
the position information of the tooth extraction position refers to the tooth extraction position number, and the tooth number can be determined according to an FDI tooth position representation method;
the tooth initial position information refers to the position and the posture of the initial tooth jaw model before tooth correction after digital segmentation.
The tooth target position information refers to that teeth are aligned to the spatial position and the posture which are expected by a doctor in a certain correcting period or from the initial position to the target position.
Different movement patterns of teeth include: the teeth are subjected to overall movement, rotation, torque, positive axis, elongation and depression motions.
Step S200, acquiring the moving distance parameter information of the tooth at the tooth extraction position and/or the tooth at the two sides of the missing tooth position towards the middle end and the far middle end according to the position information of the tooth extraction position and/or the position information of the missing tooth position;
the moving distance parameter information is the ratio of the moving distance of the proximal teeth at two sides of the tooth extraction position and/or the missing tooth position to the distal end to the moving distance of the distal teeth to the proximal end;
wherein the mesial teeth move to the distal teeth position, or the distal teeth move to the mesial teeth position;
step S300, a step-by-step moving scheme for correcting the teeth of the patient is formulated according to the moving distance parameter information, and the position information of the tooth extraction positions and/or the position information of the missing tooth positions;
step S310, determining a dental jaw position corresponding to tooth correction according to the position information of the tooth extraction position and/or the position information of the missing tooth position;
step S320, determining a correction anchorage position on the dental jaw zone according to the moving distance parameter information;
wherein, the dentognathic zone position includes: the extracted and/or missing tooth sites are on the same jaw, i.e., bilateral, or the extracted and/or missing tooth sites are on one side of the same jaw, i.e., unilateral.
In an embodiment of the invention, a specific stepwise movement scheme for making a patient's teeth correction comprises the following: according to the information of the position of the jaw, obtaining the jaw position and zone bits suitable for the step-by-step moving scheme for correcting the teeth of the patient; according to the position information, determining whether the tooth moving adopts a bilateral tooth extraction scheme or a unilateral tooth extraction scheme step by step;
according to the position information of the missing tooth position, obtaining the tooth position suitable for the step-by-step moving scheme for correcting the teeth of the patient; judging the position information of the tooth extraction position according to the position information of the tooth extraction position, and determining the extraction of the tooth position of the No. 4; and determining which anchorage scheme is adopted by the tooth moving step by step according to the ratio of the moving distances of the near middle end and the far middle end at two sides of the extracted tooth position, thereby determining the moving step stage and the logic sequence of the tooth.
In the computer, the step-by-step scheme adopted for different tooth extraction cases is determined by the previously input position information of the jaw, the position information of the missing tooth position and the position information of the tooth extraction position of the patient.
In the invention, 3 anchorage modes are constructed according to a tooth step-by-step scheme:
the first preferred method: and when the moving distance parameter information is judged to be the first threshold parameter, setting the tooth moving to the near middle end as a strong anchorage position, and controlling the tooth moving to the far middle end to move step by step.
The specific implementation mode is as follows: in the embodiment of the invention, a bilateral tooth extraction scheme is taken, the ratio of the far-middle movement distance of the tooth No. 3 to the near-middle movement distance of the tooth No. 5 is infinite when the tooth No. 4 is extracted from both sides of the upper jaw, namely the tooth No. 5 has no near-middle movement, the condition is absolute anchorage, and the specific step-by-step mode is as follows: designing the alternative backward movement of No. 3, No. 1 and No. 2 teeth, and aligning the front teeth; teeth No. 5-7 have anti-inflammatory effect until the anterior teeth are adjusted.
Preferably, the step-by-step dental regimen when the tooth is extracted bilaterally and/or corresponding to a missing tooth site, or extracted unilaterally comprises: and when the moving distance parameter information is judged to be smaller than the first threshold parameter and larger than or equal to the second threshold parameter or smaller than the second threshold parameter and larger than 0, controlling the tooth extraction tooth position or the tooth on two sides of the missing tooth position to move and adjust in opposite directions respectively. The following two ways are included in this scheme:
the second preferred mode: when the tooth number is smaller than a first threshold parameter and is larger than or equal to a second threshold parameter, controlling a first far middle tooth moving to the near middle end to move, setting a second far middle tooth adjacent to the first far middle tooth as a middle-strong anchorage position, and simultaneously controlling each near middle tooth moving to the far middle end to alternately move to a far middle set position;
when the first far middle tooth moves to the first near middle set position, the second far middle tooth adjacent to the first far middle tooth is controlled to move to the first far middle tooth, and when the second far middle tooth moves to the near middle set position, other far middle teeth to be moved are sequentially controlled to move to the target position towards the near middle end.
The specific implementation mode is as follows: in the embodiment of the invention, a bilateral tooth extraction scheme is taken, and the ratio of the far-middle movement distance of the No. 3 tooth to the near-middle movement distance of the No. 5 tooth is greater than 3/2 when the No. 4 tooth is extracted from the upper jaw at both sides; further comprising: 4/3, 5/4, 6/5, etc.;
the condition is medium-strong anchorage, and the specific step-by-step mode is as follows: designing the alternative backward movement of No. 3 teeth, No. 1 teeth and No. 2 teeth and the forward movement of No. 5 teeth; in the alternative backward movement of No. 3 teeth, No. 1 teeth and No. 2 teeth, No. 5 teeth move forward to the right, No. 6 teeth start to move forward, and in the period, except that the last back tooth at the tail end of the dentition is not designed to move forward, only 1 back tooth can move forward in each step in each area; the No. 7 tooth needs to move forwards after the anterior tooth moves backwards; if the No. 7 tooth is missing, the No. 6 tooth needs to move after the adjustment of the front tooth is finished; if the No. 6 tooth and the No. 7 tooth are both lost, the No. 5 tooth needs to move after the adjustment of the front teeth is finished; the last tooth at the end of the dentition needs to be moved forward after the anterior teeth are moved backward.
A preferred third mode: when the moving distance parameter information is judged to be smaller than the second threshold parameter and larger than 0, controlling the first far middle tooth moving to the near middle end to move to the target position, simultaneously controlling each near middle tooth moving to the far middle end to move to the corresponding target position according to the set moving sequence, and setting the far middle tooth which is not moved in the far middle teeth as a weak anchorage position;
and after the first far middle tooth is judged to move to the target position, the second far middle tooth adjacent to the first far middle tooth in movement is moved to the corresponding target position in sequence.
The specific implementation mode is as follows: in the embodiment of the invention, a bilateral tooth extraction scheme is adopted, the number 4 tooth is extracted from the upper jaw bilaterally, and the ratio of the far-middle movement distance of the number 3 tooth to the near-middle movement distance of the number 5 tooth is less than or equal to 3/2; further comprising: 4/3, 5/4, 6/5, etc.;
the situation is a weak anchorage position, and the specific step-by-step mode is as follows: designing No. 5 teeth to move forwards and No. 3 teeth to move backwards, and gradually aligning the front teeth; the No. 5 tooth moves forward to the right position, and the No. 6 tooth starts to move forward; no. 6 tooth is advanced to the right, No. 7 tooth is advanced, and No. 7 tooth cannot move backwards in the period of 2-2.
The upper and lower jaws of the present invention are in the same step-by-step manner. When the full jaw scheme is adopted, each jaw is stepped according to the respective anchorage type, and if the anchorage types of the zones at two sides are different, each zone is independently stepped according to the respective anchorage type.
A preferred fourth mode: when the tooth is extracted from one side, the step is performed by the above embodiment, if the step plan for the tooth on the other side includes:
judging whether two adjacent teeth move towards the mesial end and the distal end respectively, if so, correcting the two adjacent teeth firstly, and further correcting the teeth on two sides in sequence;
if not, whether a single tooth moves towards the near-middle end or moves towards the far-middle end is detected in sequence, if so, each tooth is moved towards the near-middle end to the corresponding target position in sequence, or each tooth is moved towards the far-middle end to the corresponding target position in sequence.
Specifically, taking the upper jaw as an example, when only a half area needs to be corrected for tooth extraction, a step-by-step single-side tooth extraction scheme is adopted, and the step-by-step tooth extraction scheme on the tooth extraction side is as described above, and the step-by-step non-tooth extraction mode is as follows: sequentially detecting No. 3 teeth from No. 7 teeth forwards, judging whether the situation that the No. k +1 teeth move in the near-middle direction and the No. k teeth move in the far-middle direction exists, if so, identifying the tooth numbers as k +1 and k, correcting the No. k +1 and the No. k teeth, and sequentially correcting the teeth on two sides until all the teeth on the side without tooth extraction are traversed; if not, whether the No. 7 tooth has mesial movement or not is judged, if the No. 7 tooth has mesial movement, the correction sequence is from No. 1 tooth to No. 7 tooth, and if the No. 7 tooth has distal movement, the correction sequence is from No. 7 tooth to No. 1 tooth.
Step S400, acquiring the total movement amount of a single tooth in different correction modes according to the initial tooth position information and the correction target tooth position information, and constructing a tooth movement step list by utilizing a step movement scheme of tooth correction and combining a tooth arrangement step logic algorithm;
the total moving amount of the single tooth in different moving modes is as follows: under a local coordinate system, the angle change from an initial position to a target position can be directly measured and calculated according to the torsion, the torque and the shaft inclination (three movement modes measured by angles). For the near/far movement, the buccal/lingual movement and the stretching and depressing movement (three movement modes measured by distance), the barycentric position coordinate point of the target position is linearly distant from the barycentric position coordinate point of the initial position by two points, and then the projection distance along each direction under the local coordinate system is the total movement amount of each movement mode.
The construction of the tooth movement step list comprises:
step S410, acquiring corresponding movement amounts of a single tooth when the single tooth moves from the initial tooth position information to the correction target tooth position information in different correction modes, acquiring the maximum movement amount of the single tooth from the movement amounts, and setting the maximum movement amount of the single tooth as the target movement amount of the single tooth;
step S420, obtaining the target step number of the single tooth according to the target moving amount of the single tooth and the preset single-step moving amount of the single tooth;
step S430 constructs a tooth movement step list according to the target step number of the single tooth and the preset single-step movement amount of the single tooth.
Specifically, the total movement amount of each moving mode of each tooth is calculated according to the initial position and the target position, the step number of each moving mode of each tooth is calculated according to the pre-input single-step movement amounts of different moving modes of the teeth, the maximum step number of each moving mode of each tooth is used as the step number of each tooth, and the actual single-step movement amount of each moving mode is further calculated.
By way of example of the second premolar in the region of the right half of the upper jaw, the total elongation/depression of the second premolar is expressed as
The total amount of gross labial/lingual movement is expressed as
The total amount of total mesial-distal movement is expressed as
The total amount of torsional movement is expressed as
The total amount of tilt movement is expressed as
The total amount of root torque is expressed as
The total movement amount of each movement pattern of the second molar is written in the form of a vector as:
it is derived from the difference between the target and initial positions of the second premolar.
Assuming that the single-step movement amount of each movement mode of the second premolar input in advance is: { a, b, c, d, e, f }, the number of steps of each movement pattern of the second premolar is:
the step number of the second premolar is the maximum step number of each moving mode:
the single-step movement amount of each movement mode under the second premolar compound movement is as follows:
according to the selected step scheme and the calculated actual single-step movement amount of each tooth movement mode, in the computer, the tooth position number is used as a row number, the step number is used as a column number, column-by-column step calculation is carried out on each tooth according to respective logic sequence, and the single-step movement amount of each movement mode is recorded to form a tooth movement step table.
The invention also provides an implementation mode for performing collision detection after completing the tooth moving step table on the basis of the embodiment, which comprises the following steps:
step S500, acquiring position information of single step of teeth after step-by-step movement from a tooth movement step-by-step list, and calculating collision depth by using the position information between two adjacent teeth to perform collision detection;
step S510, rays are emitted along the normal direction of a jaw plane in a dental coordinate system, and intersection point position information of the rays and each tooth is obtained;
step S520 obtains the intersection position information of the same ray on two adjacent teeth, calculates the difference information between the two teeth according to the intersection position information on the two adjacent teeth, and determines whether a collision occurs according to the difference information between the two teeth.
And if collision occurs, performing allowance adjustment between the collided teeth to release the collision, and updating the tooth position information after the collision is released in the tooth moving step list.
The collision release includes:
and respectively moving two adjacent collided teeth by preset distances along the opposite direction of the normal direction of the collision contact surface, detecting again after the movement is finished, adjusting the step information of the single-jaw teeth after the collision is relieved, further acquiring the position information of the two adjacent teeth after the collision is relieved, and updating the tooth movement step list.
When collision detection is carried out, whether each tooth collides with an adjacent tooth is detected from the first row of the tooth moving step table, if so, the collision is relieved, and if not, the adjustment is carried out again until the collision is relieved; the collision detection algorithm is that the grid models of all teeth of the upper jaw and the lower jaw are placed in a tooth jaw coordinate system and are moved to the corresponding position in each step, then rays are emitted along the normal direction of a jaw plane, the intersection point of the rays and each tooth is recorded, and whether collision occurs between the teeth of the upper jaw and the lower jaw is judged according to the position of the intersection point. The collision relieving algorithm is that after some two teeth are detected to be transmitted and collided in some step, the collision depth is calculated, the two teeth are made to move in the normal direction and the opposite direction of the collision contact surface by half the distance of the collision depth, so that the two teeth are not contacted, the positions of the two teeth under the non-collision condition are calculated, the rest moving amount is evenly distributed in all the subsequent steps until the last column of collision detection in the step table is finished, and at the moment, the step of tooth correction is finished.
Referring to fig. 4, the present invention also provides an embodiment of a step-by-step system for dental correction, comprising:
the tooth information acquisition module 100 is used for acquiring initial tooth state information of a patient and target tooth position information corrected to a target position in a dental coordinate system; the initial tooth state information comprises position information of tooth extraction positions and/or position information of missing tooth positions and tooth initial position information;
the distance parameter acquisition module 200 is used for acquiring the moving distance parameter information of the tooth at the tooth extraction position and/or the tooth at the two sides of the missing tooth position towards the middle end and the far middle end according to the position information of the tooth extraction position and/or the position information of the missing tooth position;
the step-by-step scheme making module 300 is used for making a step-by-step moving scheme for correcting the teeth of the patient according to the moving distance parameter information, the position information of the extracted tooth positions and/or the position information of the missing tooth positions;
the step list building module 400 obtains the total movement amount of a single tooth in different correction modes according to the tooth initial position information and the correction target tooth position information, and builds a tooth movement step list by combining a step movement scheme of tooth correction and a tooth arrangement step logic algorithm.
Preferably, the method comprises the following steps:
the collision detection module 500 is used for acquiring the position information of the single step of teeth after the step-by-step movement in the tooth movement step-by-step list, and calculating the collision depth by using the position information between two adjacent teeth to perform collision detection;
and detecting collision according to a collision detection module, adjusting allowance between the collided teeth to remove the collision, and updating the tooth position information after the collision is removed in the tooth moving step-by-step list.
In particular, the embodiment of the step-by-step system for dental correction of the present invention can implement the embodiment of the step-by-step method for dental correction described above, and will not be described herein again.
The present embodiment provides an electronic device, as shown in fig. 5, the electronic device 000 may be a tablet computer, a notebook computer or a desktop computer. The electronic device 000 may also be referred to by other names such as a portable terminal, a laptop terminal, a desktop terminal, and the like.
The electronic device 000 is internally provided with a processor 010 and a memory 020, wherein the memory 020 is stored with a computer program, and the processor 010 implements the step-by-step method for dental treatment in the invention when running the computer program in the memory 020.
Processor 010 can include one or more processing cores, such as 4 core processors, 8 core processors, and so forth. The processor 010 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 010 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.
In some embodiments, the processor 010 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 010 may further include an AI (Artificial Intelligence) processor for processing a computing operation related to machine learning.
The memory 020 includes one or more computer-readable storage media, which may be non-transitory. The memory 020 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 020 is used to store at least one instruction, at least one program, a set of codes, or a set of instructions for execution by the processor 010 to implement the step-wise method of dental appliance provided in embodiments of the present invention. And the electronic device 000 is also provided with 050 peripheral interface devices which can be used for communicating external information numbers, and further comprises the steps of generating a correction scheme after the step-by-step method for tooth correction is completed, further producing a correction device, and a 3D printing device for printing the dental model 040 and a 030 intraoral scanner for obtaining the digital dental model in the production of the correction device.
The modules in the system embodiments, if implemented in software functional modules and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (16)
1. A stepwise method of orthodontic treatment, comprising:
acquiring initial tooth state information of a patient and target tooth position information corrected to a target position in a dental coordinate system; the initial tooth state information comprises position information of tooth extraction positions and/or position information of missing tooth positions and tooth initial position information;
acquiring the moving distance parameter information of the tooth at the tooth extraction position and/or the tooth at two sides of the missing tooth position towards the middle end and the far middle end according to the position information of the tooth extraction position and/or the position information of the missing tooth position; the moving distance parameter information is the ratio of the moving distance of the proximal teeth at two sides of the tooth extraction position and/or the missing tooth position to the distal end to the moving distance of the distal teeth to the proximal end;
according to the moving distance parameter information, the position information of the tooth extraction position and/or the position information of the missing tooth position, a step-by-step moving scheme for correcting the teeth of the patient is formulated;
and acquiring the total movement amount of a single tooth under different correction modes according to the initial tooth position information and the correction target tooth position information, and constructing a tooth movement step list by utilizing a step movement scheme for tooth correction and combining a tooth arrangement step logic algorithm.
2. The stepped method of dental correction of claim 1, further comprising:
acquiring position information of single step of teeth after step-by-step movement in a tooth movement step-by-step list, and calculating collision depth by using the position information between two adjacent teeth to perform collision detection;
and if collision occurs, performing allowance adjustment between the collided teeth to release the collision, and updating the tooth position information after the collision is released in the tooth moving step list.
3. The stepping method for orthodontic treatment of claim 2, wherein the collision detection comprises:
emitting rays in a jaw coordinate system along a jaw plane normal direction, and acquiring intersection point position information of the rays and each tooth;
acquiring the intersection point position information of the same ray on two adjacent teeth, calculating the difference value information between the two teeth according to the intersection point position information on the two adjacent teeth, and judging whether collision occurs according to the difference value information between the two teeth.
4. The stepped method of dental appliance of claim 3, wherein the collision release comprises:
and respectively moving two adjacent collided teeth by preset distances along the opposite direction of the normal direction of the collision contact surface, detecting again after the movement is finished, adjusting the step information of the single-jaw teeth after the collision is relieved, further acquiring the position information of the two adjacent teeth after the collision is relieved, and updating the tooth movement step list.
5. The stepwise method of dental correction of claim 1, wherein the stepwise movement scheme of dental correction of the patient comprises:
determining the dental jaw position corresponding to tooth correction according to the position information of the tooth extraction position and/or the position information of the missing tooth position;
determining a correction anchorage position on the dental jaw position according to the moving distance parameter information;
wherein, the dentognathic zone position includes: bilateral tooth extraction and/or missing tooth position correspondence, or unilateral tooth extraction.
6. The stepwise method of dental correction of claim 5, wherein the stepwise dental plan when bilateral extraction and/or missing site correspondence, or unilateral extraction comprises:
when the moving distance parameter information is judged to be a first threshold parameter, setting the teeth moving towards the near middle end as strong anchorage positions, and controlling the teeth moving towards the far middle end to move step by step;
the first threshold parameter is infinite.
7. The stepwise method of dental correction of claim 5, wherein the stepwise dental plan when bilateral extraction and/or missing site correspondence, or unilateral extraction comprises:
when the moving distance parameter information is judged to be smaller than a first threshold parameter and larger than or equal to a second threshold parameter or smaller than the second threshold parameter and larger than 0, controlling the tooth extraction tooth position or the tooth on two sides of the missing tooth position to move and adjust in opposite directions respectively;
the second threshold parameter is greater than 1.
8. The stepwise method of dental correction of claim 7, wherein controlling the movement of the teeth on either side of the extracted or missing tooth site towards each other comprises:
when the moving distance parameter information is smaller than a first threshold parameter and is larger than or equal to a second threshold parameter, controlling a first far middle tooth moving to a near middle end to move, setting a second far middle tooth adjacent to the first far middle tooth as a middle-strong anchorage position, and simultaneously controlling all near middle teeth moving to a far middle end to alternately move to far middle set positions;
and after the second far-middle tooth moves to the second rear near-middle set position, sequentially controlling other far-middle teeth to be moved to move to the target position towards the near-middle end.
9. The stepwise method of dental correction of claim 7, wherein controlling the movement of the teeth on either side of the extracted or missing tooth site towards each other comprises:
when the moving distance parameter information is judged to be smaller than the second threshold parameter and larger than 0, controlling the first far middle tooth moving to the near middle end to move to the target position, simultaneously controlling each near middle tooth moving to the far middle end to move to the corresponding target position according to the set moving sequence, and setting the far middle tooth which is not moved in the far middle teeth as a weak anchorage position;
and after the first far middle tooth is judged to move to the target position, the second far middle tooth adjacent to the first far middle tooth in movement is moved to the corresponding target position in sequence.
10. The stepwise method for dental correction according to any one of claims 5 to 8, wherein the stepwise method for dental correction according to any one of claims 5 to 8 is performed when the tooth is extracted on one side;
the other side dental step plan comprises:
judging whether two adjacent teeth move towards the mesial end and the distal end respectively, if so, correcting the two adjacent teeth firstly, and further correcting the teeth on the two sides in sequence;
otherwise, whether the single tooth moves towards the near-middle end or moves towards the far-middle end is detected in sequence, if so, all the teeth move towards the near-middle end to the corresponding target positions in sequence, or all the teeth move towards the far-middle end to the corresponding target positions in sequence.
11. The method of claim 1, wherein constructing the step list of tooth movements comprises:
acquiring corresponding movement amounts of a single tooth from tooth initial position information to correction target tooth position information in different correction modes, acquiring the maximum movement amount of the single tooth from the movement amounts, and setting the maximum movement amount of the single tooth as the target movement amount of the single tooth;
acquiring the target step number of the single tooth according to the target moving amount of the single tooth and the preset single-step moving amount of the single tooth;
and constructing a tooth moving step list according to the target step number of the single tooth and the preset single-step moving amount of the single tooth.
12. The stepwise method of dental correction according to any one of claims 1 to 11, wherein each of the different forms of correction of a single tooth comprises: at least one of translational, rotational, torque, positive axis, elongation, or depression motion of the tooth.
13. A step system for performing the step method of dental correction of any one of claims 1-12, comprising:
the tooth information acquisition module is used for acquiring initial tooth state information of a patient and target tooth position information corrected to a target position in a dental jaw coordinate system; the initial tooth state information comprises position information of tooth extraction positions and/or position information of missing tooth positions and tooth initial position information;
the distance parameter acquisition module is used for acquiring the moving distance parameter information of the tooth at the two sides of the tooth extraction position and/or the missing tooth position towards the middle end and the far middle end according to the position information of the tooth extraction position and/or the position information of the missing tooth position;
the step-by-step scheme making module is used for making a step-by-step moving scheme for correcting the teeth of the patient according to the moving distance parameter information, the position information of the tooth extraction position and/or the position information of the missing tooth position;
the step list building module obtains the total movement amount of a single tooth under different correction modes according to the tooth initial position information and the correction target tooth position information, and a tooth movement step list is built by combining a step movement scheme of tooth correction and a tooth arrangement step logic algorithm.
14. The stepped system for dental appliance of claim 13, comprising:
the collision detection module is used for acquiring the position information of the single step of teeth after the step-by-step movement in the tooth movement step-by-step list and calculating the collision depth by using the position information between two adjacent teeth to perform collision detection;
and the collision detection module is used for detecting and detecting the collision according to the collision detection module, adjusting the allowance between the collided teeth to release the collision and updating the tooth position information after the collision is released in the tooth moving step-by-step list.
15. An electronic device comprising a processor and a memory, wherein execution of the computer instructions stored by the memory causes the electronic device to perform the method of stepping for dental appliance of any of claims 1-12.
16. A computer storage medium comprising computer instructions which, when executed on an electronic device, cause the electronic device to perform the method of stepping for dental correction of any one of claims 1-12.
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