CN114431989B - Method for establishing coordinate system based on target dental arch curve, automatic tooth arrangement method and tooth movement evaluation method - Google Patents
Method for establishing coordinate system based on target dental arch curve, automatic tooth arrangement method and tooth movement evaluation method Download PDFInfo
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- A61C9/00—Impression cups, i.e. impression trays; Impression methods
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- A—HUMAN NECESSITIES
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- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
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- A—HUMAN NECESSITIES
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- 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
The invention relates to a method for establishing a coordinate system based on a target dental arch curve, and an automatic tooth arrangement method and a tooth movement evaluation method based on the dental arch curve coordinate system. The dental arch curve coordinate system is provided with different local coordinate systems consisting of a tangent axis, a main normal axis and a secondary normal axis at different points of the curve, is suitable for the three-dimensional position of teeth, can guide more efficient and accurate automatic tooth arrangement and more accords with clinical tooth movement evaluation, and is beneficial to more scientific, more reasonable and more accurate tooth movement scheme design and curative effect evaluation.
Description
Technical Field
The invention belongs to the technical field of dental orthodontics, and particularly relates to a method for establishing a coordinate system based on a target dental arch curve, an automatic tooth arrangement method based on the dental arch curve coordinate system and a tooth movement evaluation method.
Technical Field
In the current orthodontic treatment, whether the digital fixed correction technology or the digital bracket-free invisible correction technology is adopted, digital tooth arrangement is required based on a digital dental model before treatment, a target dental model is arranged, and tooth movement evaluation from an initial position to a target position is carried out. The establishment of the efficient and accurate automatic tooth arrangement and scientific and accurate tooth movement evaluation method has very important significance for treatment target design, treatment mechanics system construction and treatment effect evaluation.
Currently, mainstream orthodontic tooth arrangement software still relies on technicians to manually arrange teeth, and tooth arrangement efficiency is low. In recent years, a method of automatically discharging teeth has been proposed (for example, see patent documents 1 and 2 below). In the automatic tooth arrangement method, a dental arch curve, a global coordinate system and a local coordinate system of teeth are required to be established, and teeth are arranged through calculation of the coordinate system, however, in the automatic tooth arrangement method, the established coordinate system is still a traditional Cartesian coordinate system (rectangular coordinate system), and calculation of angles during tooth arrangement depends on specific empirical values.
Evaluation of tooth movementA simplified mathematical model is generally adopted, and one common method is to set up a global rectangular coordinate system in a three-dimensional position space by taking a jawbone as a reference, and determine the movement amount and movement direction of each tooth in the sagittal direction, the coronal direction and the vertical direction before and after treatment. This method imparts the same sagittal, coronal and perpendicular directions to all teeth, however, this does not conform to the tooth arrangement on a circular arc arch and has personalized position, angle and movement direction characteristics. Another common method is to set up a local reference coordinate system for a single tooth before treatment, and evaluate the movement amount and movement direction of the single tooth along its long axis (or a tangent to its long axis) (for example, see patent document 3 below). The method has personalized tooth movement direction, but the error of teeth before treatment
The influence of the state is larger, in error->
The tooth moving direction pointed by the local coordinate system established along the long axis of the tooth moving direction is different from the clinically practical moving direction pointed by the teeth in normal arrangement. Therefore, the above two methods for evaluating tooth movement are not fit for clinical practice, have only mathematical significance, and cannot scientifically and accurately evaluate tooth movement. Considering that the nature of orthodontic tooth movement is reconstruction of alveolar bone under mechanical force guidance, a tooth movement evaluation method based on a curved natural coordinate system of an alveolar bone morphology has been proposed (for example, refer to patent document 4 below), which imparts a biomechanically compliant movement evaluation to the teeth, but requires personalized or large data-averaged CBCT alveolar bone data.
It should be noted that although the prior art (for example, see patent documents 5 and 6 below) mentions a tooth movement measurement method, the focus is to acquire the overlapping of the tooth models with complete crown roots before and after treatment by using CBCT images and/or three-dimensional surface phase-to-phase, and then calculate the movement amounts of the teeth before and after treatment, and the mathematical calculation of the tooth movement amounts itself is still established on a conventional rectangular coordinate system.
Prior Art
Patent document 1: CN107374758A
Patent document 2: CN108403234A
Patent document 3: CN108245264A
Patent document 4: CN113827362A
Patent document 5: CN110811653A
Patent document 6: CN111388125A
Disclosure of Invention
Problems to be solved by the invention
According to the techniques described in patent documents 1 and 2, automatic tooth alignment is performed on a dental arch curve by calculation between a local rectangular coordinate system and a global rectangular coordinate system, and the calculated value of each dimension angle refers to a fixed empirical value or theoretical value, so that the tooth angle cannot adapt to the personalized dental arch curve shape, or the long axis direction of the tooth is simply directed to the vertical axis direction of the global coordinate system, and the automatic aligned tooth is still insufficient in accuracy, and more manual fine adjustment may be required in the later stage.
According to the technique described in patent document 4, a natural coordinate system of a curve based on an arch curve of an alveolus is established, and tooth movement amounts are measured under the natural coordinate system of the curve, and the method can reflect biomechanical movement of teeth more scientifically and accurately, but requires CBCT data of a patient, has no universality for medical units without CBCT equipment at a basic level, and can be replaced by CBCT data with a large data average value, but has lower accuracy than that of CBCT data with individual reality. In addition, for automated tooth placement, the coordinate system based on the dental arch curve is not as good as the coordinate system based on the dental arch curve, because the dental arch curve is fitted based on the characteristic points of the dental crowns, the orderly arrangement of the dental crowns can be guided more accurately.
In view of the problems in the prior art, the inventors herein have recognized a need for a better coordinate system that allows for more rational and accurate assessment of tooth movement, since automated tooth placement is more efficient and accurate. Through researches, a method for establishing a natural curve coordinate system based on a target dental arch curve is found, and automatic computer tooth arrangement and tooth movement evaluation are carried out based on the dental arch curve coordinate system.
The first aspect of the present application provides a method for establishing a coordinate system based on a target dental arch curve, which sequentially includes the following steps:
obtaining a target dental arch curve based on the pre-treatment dental arrangement or the big data dental arch curve;
and establishing a curve natural coordinate system based on the target dental arch curve.
In some embodiments, the specific method for obtaining the target dental arch curve based on the pre-treatment dental arrangement or the big data dental arch curve is as follows:
(1) Acquiring a digital dental model before treatment, selecting tooth characteristic points on the maxillary model and the mandibular model respectively, fitting a maxillary dental arch curve and a mandibular dental arch curve respectively by using a mathematical method,
the characteristic points of the teeth are the mid-point of the incisors and the side incisors, the cuspid points of the cuspids, the buccal cuspids of the first premolars and the second premolars, the near mid-buccal cuspids and the far mid-buccal cuspids of the first molars and the second molars, and can also be crown axis points, dental crown geometric center points, adjacent surface contact points or functional cuspids;
the fitted dental arch curve has different forms in the three-dimensional direction, and on the horizontal plane, the dental arch curve is generally divided into a sharp circle, an oval circle, a square circle and a personalized arch, and on the sagittal plane, the dental arch curve is in a Spee curve form, and on the coronal plane, the dental arch curve is in a Wilson curve form; or alternatively, the process may be performed,
obtaining an upper jaw dental arch curve and a lower jaw dental arch curve according to the dental arch curve fitted by the dentition of the big data, selecting a proper dental arch curve shape in the big data, and determining the width, the length and the depth of the dental arch curve according to the width, the length and the depth of the dental arch before treatment;
(2) Automatically matching the upper jaw dental arch curve and the lower jaw dental arch curve to ensure that the upper jaw dental arch curve and the lower jaw dental arch curve have uniform normal coverage on a horizontal plane;
(3) The doctor or technician can individually adjust the width, length, depth and shape of the dental arch curve and the matching degree of the upper dental arch curve and the lower dental arch curve according to the treatment requirement, and finally the target dental arch curve is generated.
In some embodiments, the step of establishing a curved natural coordinate system based on the target dental arch curve comprises:
(1) Selecting a midpoint on a target dental arch curve as an origin of a coordinate system, and sequentially determining corresponding reference points and distances of all dental positions on the dental arch curve according to the widths of teeth of a patient from the origin of the coordinate system;
(2) For any point on the dental arch curve, taking a tangent line of the curve at the point as a tangent axis of a local coordinate system, and taking a plane perpendicular to the tangent axis as a normal plane;
(3) Determining a secondary normal axis of a local coordinate system on a normal plane where a corresponding reference point of each tooth position is located, wherein the method comprises the following steps: the teeth are opposite to each other
Standard reference values of the crown axis inclination and the crown inclination of the plane are converted into angle data of a tooth long axis relative to a dental arch curve through data, or are normal according to the treatment>
Dental cast or untreated normal->
The big data of the dental model obtain the angle data of the dental long axis of each dental position relative to the dental arch curve, and the projection line of the dental long axis on the normal plane is determined as a secondary normal axis;
a doctor can adjust the minor normal axis of each tooth position reference point in a personalized way according to the requirements of a patient treatment scheme;
for points between every two tooth position reference points on the tooth bow curve, obtaining a secondary normal axis corresponding to each point by using an interpolation method or other mathematical methods;
(4) The tangent axis and the secondary normal axis of each point form a secondary tangent plane of the dental bow local coordinate system, a perpendicular line of the secondary tangent plane is taken as a primary normal axis, the tangent axis and the primary normal axis form an intimate plane, and the primary normal axis and the secondary normal axis form a normal plane;
finally, a dental arch curve natural coordinate system with different local coordinate systems formed by tangent axis, secondary normal axis, primary normal axis, close plane, secondary tangent plane and normal plane at different points of the three-dimensional dental arch curve is established.
A second aspect of the present application provides an automatic tooth alignment method using the above-described method of establishing a coordinate system based on a target arch curve for automatic tooth alignment.
In some embodiments, the specific method for automatic tooth alignment based on the target dental arch curve coordinate system is as follows:
obtaining a target dental arch curve and establishing a curve natural coordinate system according to the method of the first aspect of the application;
selecting tooth characteristic points consistent with the tooth characteristic points of the fitting dental arch curve;
determining a tooth long axis and a tooth transverse axis of the tooth;
the midpoints of the central incisor feature points on the two sides coincide with the midpoints of the dental arch curve, and the teeth are sequentially moved to ensure that the feature points of the teeth coincide with the dental arch curve;
checking for abutment collision, moving the teeth along the dental arch curve to make the tooth abutment points contact without gaps or collisions, or reserving a small amount of adjacent collision or a small amount of adjacent inter-surface distance according to the requirements of adjacent surface stripping or reserved gaps of the medical scheme;
rotating the tooth around a secondary normal axis of a local curve coordinate system of the tooth, so that the included angle between a tooth transverse axis and a tangent axis of the curve coordinate system on a close plane of the curve coordinate system is 0, and positioning crown torsion of the tooth;
rotating the tooth around the tangent axis of the local curve coordinate system of the tooth, so that the included angle between the long axis of the tooth and the secondary normal axis of the curve coordinate system on the normal plane of the curve coordinate system is 0, and thus positioning the crown inclination, namely crown torque, of the tooth;
rotating the tooth around the principal normal axis of the local curved coordinate system of the tooth so that the major axis of the tooth on the principal tangential plane of the curved coordinate system and the secondary normal axis of the curved coordinate system reach a certain standard value, thereby positioning the crown axis inclination of the tooth, the standard value being obtained by the existing relative method
The crown axis inclination standard value of the plane is converted or obtained by measuring the crown axis inclination value of a relative curve coordinate system by big data;
checking the coverage between the upper and lower dentitions, each tooth moving lingually along a principal normal axis of the local coordinate system to achieve a standard coverage between the upper and lower dentitions, or a personalized coverage according to the requirements of the medical protocol;
checking the collision of the opposite jaws, and enabling each tooth to move up and down along a secondary normal axis of a local coordinate system to enable the upper jaw and the lower jaw to be in light contact or no contact, or locally keeping heavy contact according to the requirements of a medical scheme;
to obtain better occlusion and abutment, the angles of the teeth can be properly adjusted;
checking the adjacent collision again, if the teeth need to move along the to-be-extracted arch curve, repositioning crown torsion, crown axis inclination and crown inclination of the teeth after the movement, checking coverage, checking jaw collision, and sequentially and iteratively moving and rotating the teeth until reasonable tooth arrangement is achieved, thereby completing automatic tooth arrangement;
the ideal occlusion relationship parameters may generate a new coordinate system template.
A third aspect of the present application provides a tooth movement evaluation method for performing tooth movement evaluation using the above-described method for establishing a coordinate system based on a target arch curve.
In some embodiments, the specific method for evaluating tooth movement based on the target dental arch curve coordinate system is as follows:
obtaining a target dental arch curve and establishing a curve natural coordinate system according to the method of the first aspect of the application;
according to the method disclosed in the second aspect of the application, automatic tooth alignment is performed, and a technician or doctor can manually adjust the automatic tooth alignment based on the automatic tooth alignment result according to treatment requirements to obtain final target tooth alignment;
calculating tooth coordinates;
calculating tooth movement changes;
output tooth coordinates and tooth movement changes.
In some embodiments, the step of calculating the tooth coordinates is:
(1) Defining the direction of a coordinate system:
in the dental arch curve natural coordinate system, the tangential axis of the curve is the mesial-distal direction of the teeth, the primary normal axis is the labial (buccal) lingual (palate) direction of the teeth, and the secondary normal axis is the vertical direction of the teeth;
in the dental arch curve natural coordinate system, the normal plane of the curve is the labial (buccal) lingual (palate) plane of the tooth, the tangential plane of the curve is the mesial-distal midplane of the tooth, and the close plane of the curve is the horizontal plane of the tooth;
(2) Calculating coordinates of the tooth, including three-dimensional position and three-dimensional angle:
positioning the corresponding point of the tooth measuring point on the dental arch curve, wherein the corresponding point is a vertical point of the tooth measuring point on the dental arch curve, and the local coordinate system established on the corresponding point of the dental arch curve is a local coordinate system of the tooth;
the near-far middle coordinates refer to the tooth position on the incisor axis, namely the curve distance between the corresponding point of the tooth measuring point on the tooth socket bow curve and the origin of the curve coordinate system;
labial (buccal) lingual (palate) coordinates refer to the tooth position on the principal normal axis, i.e., the linear distance between the perpendicular point of the tooth measurement point on the principal normal axis and the corresponding point on the alveolar arch;
the vertical coordinate refers to the tooth position on the secondary normal axis, i.e., the linear distance between the perpendicular point of the tooth measurement point on the secondary normal axis and the corresponding point on the alveolar arch;
the torsion angle is the included angle between the tooth transverse axis and the curve tangent axis in the close plane;
the axis inclination angle refers to the included angle between the tooth long axis and the curve secondary normal axis in the secondary tangential plane;
the inclination angle is the included angle between the tooth long axis and the curve secondary normal axis in the normal plane;
the initial position tooth coordinates and the target position tooth coordinates are calculated, and the intermediate stage tooth coordinates can also be calculated.
In some embodiments, the step of calculating the tooth movement change is:
the tooth movement change is equal to the difference value between the initial position tooth coordinate and the target position tooth coordinate, and the three-dimensional displacement and the three-dimensional angle change are included;
the difference between the initial tooth coordinates and any stage tooth coordinates can be calculated, and the tooth movement change in the stage is evaluated;
the mesial-distal movement refers to the movement of the tooth along the incisor axis, namely the change of the coordinate of the mesial-distal movement of the tooth, wherein the movement close to the midpoint of the curve is mesial movement, and the movement far from the midpoint of the curve is distal movement;
labial (buccal) lingual (palatal) movement refers to movement of teeth along a principal normal axis, i.e., changes in labial (buccal) lingual (palatal) coordinates of teeth, wherein labial (buccal) movement refers to outward movement and lingual (palatal) movement refers to inward movement;
elongation, depression refers to movement of the teeth along the minor normal axis, i.e., change in the vertical coordinates of the teeth, wherein the upward movement of the upper jaw is elongated, the downward movement is depressed, and the lower jaw is vice versa;
torsion refers to the change in torsion angle in the plane of the close fitting;
axicon refers to the change in the inclination of the axis from the tangential plane;
tilting refers to a change in tilt angle in the normal plane.
In some embodiments, the measurement points for assessing tooth movement include a cusp point or a incisal midpoint, a crown center point, a root center point, a tooth impedance center point, and a root point.
The invention has the beneficial effects that: the natural coordinate system based on the target dental arch curve can be simultaneously used for automatic tooth arrangement and tooth movement evaluation, is more efficient and accurate than the existing automatic tooth arrangement method at least in the aspect of tooth torsion arrangement, is superior to the coordinate system established based on initial teeth in the prior art in the aspect of clinical significance of tooth movement evaluation, and is superior to the coordinate system based on dental arch curve in the aspect of universality, so that more scientific, reasonable and accurate tooth movement scheme design and curative effect evaluation are facilitated.
Drawings
Fig. 1 is a three-dimensional view of an arch curve fitted based on cusp points and incisor points in one embodiment of the invention.
Fig. 2 is a side view of a dental arch curve based on a dental crown facial axis point fit in one embodiment of the invention.
Fig. 3 is a top view of a dental arch curve based on a dental abutment fit in one embodiment of the invention.
Fig. 4 is a three-dimensional view of a dental arch coordinate system in one embodiment of the invention.
Fig. 5 is a top view of automatic tooth alignment based on a dental arch curve coordinate system in one embodiment of the present invention.
Fig. 6 is a side view of automatic tooth alignment based on a dental arch curve coordinate system in one embodiment of the present invention.
Fig. 7 is a schematic view of a tooth measurement point in one embodiment of the invention.
Fig. 8 is a schematic diagram of evaluating tooth twist angle variation under a dental arch curve coordinate system in one embodiment of the invention.
Fig. 9 is a schematic diagram of evaluating changes in tooth axis inclination in a dental arch curve coordinate system in one embodiment of the invention.
Fig. 10 is a schematic diagram of evaluating tooth tilt angle change under a dental arch curve coordinate system in one embodiment of the invention.
Mark 1: midpoint of incisal edge of tooth; mark 2: a cusp; mark 3: a dental arch curve; mark 4: dental crown surface axis points; mark 5: a tooth abutment; and (6) marking: tangent axis of curve natural coordinate system; mark 7: a principal normal axis of the curved natural coordinate system; mark 8: a secondary normal axis of the curve natural coordinate system; mark 9: a tooth transverse axis; the mark 10: a tooth long axis; mark 11: a crown center point; mark 12: a tooth impedance center point; mark 13: a root center point; mark 14: root tip; mark 15: the tooth moves from the point A to the point B in the mesial-distal direction, and the displacement is the curve arc length between the point A 'and the point B'; mark 16: the buccal-lingual displacement of the tooth from the point A to the point B is the difference between the line distance of the point A 'and the line distance of the point B' on the principal normal axis; mark 17: the torsion angle is the included angle between the transverse axis of the tooth and the tangent axis on the close plane, and the torsion change of the tooth from the point A to the point B is the difference between the torsion angles of the point A and the point B; mark 18: the vertical displacement of the tooth from the point A to the point B is the difference between the line distance of the point A 'and the line distance of the point B' on a secondary normal line axis; mark 19: the axis inclination angle is the angle between the long axis of the tooth and the secondary normal axis on the tangential plane, and the axis inclination change of the tooth from the point A to the point B is the difference between the axis inclination angles of the point A and the point B; mark 20: the inclination angle is the angle between the long axis of the tooth and the minor normal axis on the normal plane, and the inclination change of the tooth from the point A to the point B is the difference between the inclination angles of the point A and the point B
Detailed Description
Specific examples of the present invention will be described below in order to better illustrate the content of the present invention with reference to the accompanying drawings, but the illustrated implementation method is only an example and does not limit the protection scope of the present invention.
The invention provides a method for establishing a coordinate system based on a target dental arch curve, which specifically comprises the following steps:
1. obtaining a digitized model of the tooth:
by scanning the teeth of the upper and lower jaws of a patient in or out of the mouth, a digital three-dimensional tooth model is obtained, and the model has high-precision dental crown information;
2. obtaining a target dental arch curve based on pre-treatment dental alignment or big data dental arch curve:
(a) Tooth characteristic points are selected on the upper jaw model and the lower jaw model respectively, and as shown in fig. 1, the characteristic points comprise a mid-incisor and side-incisor mid-edge midpoint (1), a cuspid cusp, a buccal cusp of a first premolars and a second premolars, a near mid-buccal cusp and a far mid-buccal cusp (2) of the first molars and the second molars, and the characteristic points of the first molars and the second molars can also be mid-points of the near mid-buccal cusp and the far mid-buccal cusp so as to avoid the influence of tooth torsion;
(b) Respectively fitting an upper jaw dental arch curve and a lower jaw dental arch curve (3) by using a mathematical method, wherein the fitted mathematical method comprises a polynomial equation, a Beta function, a spline function and the like;
(c) The characteristic points of the teeth can be crown surface axial points (4) as shown in fig. 2, crown geometric center points, functional cusp points, adjacent surface contact points (5) as shown in fig. 3, and if gaps exist between two adjacent teeth but are not contacted, the adjacent surface contact points are midpoints of the closest points of the two teeth;
(d) If there is a missing, inhibited or apparent dislocation of individual teeth
The reasons cause the missing or ectopic of the local tooth characteristic points, and then the asymmetry of the fitted dental arch curve, the missing tooth characteristic points can be complemented or the characteristic points with obvious ectopic are regulated by referring to the basic bone form on the dental model, then the fitting of the target dental arch curve is carried out, or the mirror symmetry is carried out on the double-side tooth characteristic points before the fitting, then the fitting of the target dental arch curve is carried out, for slight asymmetry, the symmetry of the dental arch curve can be directly restrained in a mathematical equation, and an asymmetric dental arch curve can also be selected by a doctor according to the treatment requirement of a patient;
(e) As shown in fig. 1, the fitted dental arch curve has different shapes in three dimensions, and on a horizontal plane, the dental arch curve is generally divided into a cusp shape, an oval shape, a square shape and a personalized arch shape, and on a sagittal plane, the dental arch curve takes a Spee curved shape, and on a coronal plane, the dental arch curve takes a Wilson curved shape;
(f) The upper jaw arch curve and the lower jaw arch curve can also be obtained according to the arch curve fitted by the big data dentition, the proper arch curve form in the big data is selected, then the width, the length and the depth of the arch curve are determined according to the width, the length and the depth of the front arch of the patient treatment, the width of the arch is the distance between the first molar on two sides, the length of the arch is the vertical distance from the midpoint of the middle incisor to the middle of the first molar on two sides, the depth of the arch is the vertical distance from the lowest point of the cusp (generally, the buccal cusp of the first front molar or the second front molar or between the two) to the connecting line of the cutting edge of the middle incisor the middle buccal cusp of the second molar, in some embodiments, the width and the length of the arch curve can also be determined according to the reference of the second molar, and the big data arch curve can be derived from the normal non-orthodontic treatment
The crowd can also come from the crowd after orthodontic treatment for obtaining normal occlusion;
(g) The upper jaw dental arch curve and the lower jaw dental arch curve are automatically matched, so that the upper jaw dental arch curve and the lower jaw dental arch curve have uniform normal coverage on a horizontal plane, namely a certain distance is uniformly kept between the upper dental arch curve and the lower dental arch curve, and the distance can be set through software, and the range is not more than 3mm;
(h) The doctor or technician can individually adjust the width, length, depth and shape of the dental arch curve and the matching degree of the upper dental arch curve and the lower dental arch curve according to the treatment requirement, and finally the target dental arch curve is generated.
3. Establishing a curved natural coordinate system based on a target dental arch curve, which specifically comprises the following steps:
(a) Selecting a midpoint on a target dental arch curve as an origin of a coordinate system, and regarding any point on the dental arch curve, taking a tangent line of the curve at the point as a tangent line axis (6) of a local coordinate system, wherein a plane perpendicular to the tangent line axis is a normal plane;
(b) Starting from an origin of a coordinate system, sequentially determining corresponding reference points of each tooth position on a dental arch curve according to the width of the teeth of a patient;
(c) A secondary normal axis (8) of the local coordinate system is determined on the normal plane where the corresponding reference points of the dental sites are located, the method being as follows: the teeth are opposite to each other
Standard reference values of the crown axis inclination and the crown inclination of the plane are converted into angle data of a tooth long axis relative to a dental arch curve through data, or are normal according to the treatment>
Dental cast or untreated normal->
The big data of the dental model obtain the angle data of the dental long axis of each dental position relative to the dental arch curve, and the projection line of the dental long axis on the normal plane is determined as a secondary normal axis;
(d) A doctor can personalize the minor normal axis of each tooth position reference point in software according to the requirements of a patient treatment scheme;
(e) For points between every two tooth position reference points on the tooth bow curve, obtaining a secondary normal axis corresponding to each point by using an interpolation method or other mathematical methods;
(f) The tangent axis and the secondary normal axis of each point form a secondary tangent plane of the dental bow local coordinate system, a perpendicular line of the secondary tangent plane is a primary normal axis (7), the tangent axis and the primary normal axis form an intimate plane, and the primary normal axis and the secondary normal axis form a normal plane;
(g) Finally, a natural dental arch curve coordinate system is established as shown in fig. 4, wherein the coordinate system has different local coordinate systems consisting of tangent axis, secondary normal axis, primary normal axis, close plane, secondary tangent plane and normal plane at different points of the three-dimensional dental arch curve.
The invention provides a method for automatically aligning teeth based on a coordinate system of a target dental arch curve, which specifically comprises the following steps:
1. according to the method provided by the invention, a target dental arch curve is obtained and a curve natural coordinate system is established;
2. automatic alignment of three-dimensional positions of teeth is carried out:
(a) Selecting tooth characteristic points consistent with the tooth characteristic points of the fitting dental arch curve;
(b) The midpoints of the central incisor feature points on the two sides coincide with the midpoints of the dental arch curve, and the teeth are sequentially moved to ensure that the feature points of the teeth coincide with the dental arch curve;
(c) Checking for abutment collision, moving the teeth along the dental arch curve to enable adjacent surfaces of the teeth to be just contacted, or reserving a small amount of adjacent surface collision or a small amount of adjacent surface distance according to the requirements of adjacent surface stripping or reserved gaps of a medical scheme;
3. automatic tooth three-dimensional angle alignment is carried out:
(a) The tooth transverse axis (9) and the tooth long axis (10) of the tooth are determined, and the tooth long axis can be a principal component axis of mathematical calculation, or can be a connecting line from a crown center point (11) to a root center point (13), a connecting line from the crown center point to a root tip point (14) or a connecting line from the tooth tip point to the root tip pointConnection of points, etc., when only the crown model is used, the root point or root center point is generated virtually by big data, and the tooth transverse axis is along the posterior tooth
The connection between the mesial edge ridge point and the distal edge ridge point in the direction of the facial central groove, the connection between the mesial edge ridge point and the distal edge ridge point in the direction of the cusp or the incisal edge, the tooth transverse axis can be defined in the mesial-distal direction by other methods, such as the connection between the mesial adjacent point and the distal adjacent point, or->
Perpendicular lines connecting the cheek tip point and the tongue tip point on the face, etc.;
(b) Rotating the tooth around a secondary normal axis of the local curve coordinate system of the tooth, so that the included angle between the transverse axis of the tooth and the tangent axis of the curve coordinate system is 0 on the close plane of the curve coordinate system, thereby positioning the crown twist of the tooth, and aligning the crown twist of the middle incisor as shown in fig. 5;
(c) Rotating the tooth around the principal normal axis of the local curved coordinate system of the tooth so that the major axis of the tooth on the principal tangential plane of the curved coordinate system and the secondary normal axis of the curved coordinate system reach a certain standard value, thereby positioning the crown axis inclination of the tooth, the standard value being obtained by the existing relative method
The crown axis inclination standard value of the plane is converted or obtained by measuring the crown axis inclination value of a relative curve coordinate system by big data;
(d) Rotating the tooth around the tangent axis of the local curve coordinate system of the tooth so that the angle between the long axis of the tooth and the minor normal axis of the curve coordinate system is 0 on the normal plane of the curve coordinate system, thereby positioning the crown inclination (crown torque) of the tooth, and aligning the central incisor crowns in an inclined manner as shown in fig. 6;
4. self-checking and personalized adjustment of occlusion relation:
(a) Checking the coverage between the upper and lower dentitions, wherein each tooth moves along the cheek tongue direction of a main normal axis along a local coordinate system to enable the coverage between the upper and lower dentitions to reach the standard coverage or setting personalized coverage according to the requirements of a medical scheme;
(b) Checking the collision of the opposite jaws, and enabling each tooth to move up and down along a secondary normal axis of a local coordinate system to enable the upper jaw and the lower jaw to be in light contact or no contact, or setting local reserved heavy contact according to the requirements of a medical scheme;
(c) Other angles of the teeth can be properly adjusted to obtain better occlusion;
(d) Checking for abutment collision again, if the tooth needs to be moved along the dental arch curve, repositioning the crown twist, crown axis tilt and crown tilt of the tooth after the movement,
(e) Checking coverage, checking jaw collision, checking abutting collision, and sequentially iterating tooth movement and rotation until reasonable or personalized tooth arrangement is achieved, so that automatic tooth arrangement is completed;
(f) The ideal occlusion relationship parameters may generate a new coordinate system template.
The invention provides a method for evaluating tooth movement based on a coordinate system of a target dental arch curve, which specifically comprises the following steps:
1. according to the method provided by the invention, a target dental arch curve is obtained and a curve natural coordinate system is established;
2. according to the method provided by the invention, automatic tooth alignment is performed based on a dental arch curve coordinate system, and a technician or a doctor can manually adjust the method based on the automatic tooth alignment result according to treatment requirements, so that final target tooth alignment is obtained;
3. calculating tooth coordinates:
(a) Defining the direction of a coordinate system: in the dental arch curve natural coordinate system, the tangential axis of the curve is the mesial-distal direction of the teeth, the primary normal axis is the labial (buccal) lingual (palate) direction of the teeth, and the secondary normal axis is the vertical direction of the teeth;
in the dental arch curve natural coordinate system, the normal plane of the curve is the labial (buccal) lingual (palate) plane of the tooth, the tangential plane of the curve is the mesial-distal midplane of the tooth, and the close plane of the curve is the horizontal plane of the tooth;
(b) Selecting tooth measurement points: as shown in fig. 7, the tooth measuring point may be a cutting edge midpoint or a tooth cusp point (1), or may be a crown center point (11), a tooth impedance center point (12), a root center point (13) or a root cusp point (14);
(c) Positioning a tooth local coordinate system: positioning corresponding points of tooth measurement points on a dental arch curve, namely hanging points of the tooth measurement points on the dental arch curve, wherein as shown in fig. 8-10, points A ' and B ' are corresponding points of the tooth measurement points A and B on the dental arch curve when the tooth is at the position A and the position B respectively, and if the position B is a tooth automatic tooth arrangement result based on a dental arch curve coordinate system, the points B and B ' possibly coincide, and a local coordinate system established on the corresponding points of the dental arch curve is a local coordinate system of the tooth;
(d) Calculating the three-dimensional position of the tooth:
the near-far middle coordinates refer to the tooth position on the incisor axis, i.e. the curve distance between the corresponding point of the tooth measurement point on the alveolar arch and the origin of the curve coordinate system, as shown by curve a' O in fig. 8 and 9;
labial (buccal) lingual (palate) coordinates refer to the tooth position on the principal normal axis, i.e., the linear distance between the perpendicular point of the tooth measurement point on the principal normal axis and the corresponding point on the alveolar arch, as in line AA' (16) in fig. 8;
the vertical coordinate refers to the tooth position on the secondary normal axis, i.e., the linear distance between the perpendicular point of the tooth measurement point on the secondary normal axis and the corresponding point on the alveolar arch, as in line AA' (18) in fig. 9;
(e) Calculating the three-dimensional angle of the tooth:
the torsion angle is the included angle (17) between the tooth transverse axis and the curve tangent axis in the close plane;
the axis inclination is the included angle (19) between the tooth long axis and the curve minor normal axis in the tangential plane;
the inclination angle is the included angle (20) between the tooth long axis and the curve secondary normal axis in the normal plane;
(f) The initial position tooth coordinates and the target position tooth coordinates are calculated, and the tooth coordinates of any stage in the middle can also be calculated.
4. Calculating tooth movement changes: the tooth movement change is equal to the difference value between the initial position tooth coordinate and the target position tooth coordinate, including three-dimensional displacement and three-dimensional angle change, and the difference value between the initial position tooth coordinate and any stage tooth coordinate can be calculated, and the tooth movement change in the stage is evaluated;
mesial-distal movement refers to movement of the tooth along the incisor axis, i.e., a change in the coordinates of the tooth mesial-distal, as shown by curve arc length a 'B' (15) in fig. 8 and 9, wherein movement near the midpoint of the curve is mesial movement and movement away from the midpoint of the curve is mesial movement;
labial (buccal) lingual (palatal) movement refers to movement of the teeth along the principal normal axis, i.e., change of labial (buccal) lingual (palatal) coordinates of the teeth, such as the difference (16) between AA 'and BB' line spacing in fig. 8, wherein labial (buccal) movement refers to outward movement and lingual (palatal) movement refers to inward movement;
elongation, depression refers to movement of the tooth along the minor normal axis, i.e., change in the vertical coordinate of the tooth, as shown by the difference (18) between AA 'and B B' in fig. 9; wherein, the upper jaw moves downwards to be elongated, the upper jaw moves upwards to be depressed, and the lower jaw is opposite;
torsion refers to a change in torsion angle in the close plane, such as the difference between the torsion angle at the a position and the torsion angle at the B position in fig. 8;
axises refer to changes in the inclination of the axis from the tangential plane, as in the difference between the inclination of the axis at the a position and the inclination of the axis at the B position in fig. 9;
tilt refers to the change in tilt angle on the normal plane, as in fig. 10, the difference between the tilt angle of the a position and the tilt angle of the B position.
5. Output tooth coordinates and tooth movement changes: if the tooth coordinates and tooth movement changes are calculated for a plurality of measurement points of the tooth, a plurality of sets of tooth coordinates and tooth movement change tables are output.
For adolescent patients, there is a change in growth in three dimensions of length, width, and depth in the dental arch during orthodontic treatment. Physicians can perform personalized adjustment of three dimensions of length, width and depth of the dental arch curve according to the prediction of the growth and development quantity of the jawbone of the patient. For a dental arch curve coordinate system, a doctor can properly adjust according to the characteristics of a patient and treatment requirements, and coordinate angles of a personalized treatment concept, such as adjusting a secondary normal axis and a incisor axis, are set, so that a better automatic tooth arrangement result and a better tooth movement evaluation result are obtained.
The drawings are only for illustration purposes and the invention is not limited to the embodiments shown in the drawings. Any equivalent modifications and substitutions for the present invention will occur to those skilled in the art, and are also within the scope of the present invention. Accordingly, equivalent changes and modifications are intended to be included within the scope of the present invention without departing from the spirit and scope thereof.
Claims (8)
1. The method for establishing the coordinate system based on the target dental arch curve sequentially comprises the following steps: obtaining a target dental arch curve based on the pre-treatment dental arrangement or the big data dental arch curve; a curved natural coordinate system is established based on the target dental arch curve,
the specific method for obtaining the target dental arch curve based on the tooth arrangement before treatment or the big data dental arch curve comprises the following steps: (1) The method comprises the steps of acquiring a digital dental model before treatment, selecting tooth characteristic points on the upper jaw model and the lower jaw model respectively, and fitting an upper dental arch curve and a lower dental arch curve respectively by utilizing a mathematical method, wherein the tooth characteristic points are a cutting edge midpoint of incisors, cuspids, premolars and buccal cuspids of molars, crown surface axis points, crown geometric center points, adjacent surface contact points or functional cuspate points, the fitted dental arch curve has different forms in the three-dimensional direction, the fitted dental arch curve is roughly divided into a cuspid shape, an oval shape, a square shape and a personalized arch shape on the horizontal plane, the dental arch curve is in a Spee curve form on the sagittal plane, and the dental arch curve is in a Wilson curve form on the coronal plane; or obtaining an upper jaw dental arch curve and a lower jaw dental arch curve according to the dental arch curve fitted by the dentition of the big data, selecting a proper dental arch curve shape in the big data, and determining the width, the length and the depth of the dental arch curve according to the width, the length and the depth of the dental arch before treatment; (2) Automatically matching the upper jaw dental arch curve and the lower jaw dental arch curve to ensure that the upper jaw dental arch curve and the lower jaw dental arch curve have uniform normal coverage on a horizontal plane; (3) A doctor or technician can individually adjust the width, length, depth and shape of the dental arch curve and the matching degree of the upper dental arch curve and the lower dental arch curve according to the treatment requirement, and finally a target dental arch curve is generated;
wherein, a curved natural coordinate system is established according to the following steps: (1) Selecting a midpoint on a target dental arch curve as an origin of a coordinate system, and sequentially determining corresponding reference points and distances of all dental positions on the dental arch curve according to the widths of teeth of a patient from the origin of the coordinate system; (2) For any point on the dental arch curve, taking a tangent line of the curve at the point as a tangent axis of a local coordinate system, and taking a plane perpendicular to the tangent axis as a normal plane; (3) Determining a secondary normal axis of a local coordinate system on a normal plane where a corresponding reference point of each tooth position is located, wherein the method comprises the following steps: converting standard reference values of crown axis inclination and crown inclination of each tooth bit relative to a plane into angle data of a tooth long axis relative to a dental arch curve through data, or obtaining the angle data of each tooth bit tooth long axis relative to the dental arch curve according to big data of a treated normal dental model or an untreated normal dental model, and determining a projection line of the tooth long axis on a normal plane as a secondary normal axis; the physician adjusts the minor normal axis of each dental site reference point in a personalized manner according to the patient treatment regimen requirements; for points between every two tooth position reference points on the tooth bow curve, obtaining a secondary normal axis corresponding to each point by using an interpolation method or other mathematical methods; (4) The tangent axis and the secondary normal axis of each point form a secondary tangent plane of the dental bow local coordinate system, a perpendicular line of the secondary tangent plane is taken as a primary normal axis, the tangent axis and the primary normal axis form an intimate plane, and the primary normal axis and the secondary normal axis form a normal plane; finally, a dental arch curve natural coordinate system with different local coordinate systems formed by tangent axis, secondary normal axis, primary normal axis, close plane, secondary tangent plane and normal plane at different points of the three-dimensional dental arch curve is established.
2. An automatic tooth alignment method using the method for establishing a coordinate system based on a target arch curve according to claim 1.
3. The automatic tooth alignment method according to claim 2, wherein the specific method for automatic tooth alignment based on the target dental arch curve coordinate system is as follows: the method of claim 1, obtaining a target dental arch curve and establishing a curve natural coordinate system; selecting tooth characteristic points consistent with the tooth characteristic points of the fitting dental arch curve; determining a tooth long axis and a tooth transverse axis of the tooth; the midpoints of the characteristic points of the middle incisors on the two sides are overlapped with the midpoints of the dental arch curve, so that the characteristic points of all teeth are overlapped on the dental arch curve in sequence; the software checks for abutment collision, moves the teeth along the dental arch curve to make the teeth contact with abutment points without gaps or collision, or reserves a small amount of adjacent surface collision or a small amount of adjacent surface distance according to the medical scheme; rotating the tooth around a secondary normal axis of a local curve coordinate system of the tooth, so that the included angle between a tooth transverse axis and a tangent axis of the curve coordinate system on a close plane of the curve coordinate system is 0, and positioning crown torsion of the tooth; rotating the tooth around the tangent axis of the local curve coordinate system of the tooth, so that the included angle between the long axis of the tooth and the secondary normal axis of the curve coordinate system on the normal plane of the curve coordinate system is 0, and thus positioning the crown inclination, namely crown torque, of the tooth; rotating the tooth around a principal normal axis of a local curve coordinate system of the tooth, so that a tooth long axis on a secondary tangent plane of the curve coordinate system and a secondary normal axis of the curve coordinate system reach a certain standard value, thereby positioning the crown axis inclination of the tooth, wherein the standard value is obtained by converting the crown axis inclination standard value of the existing opposite plane or measuring the crown axis inclination value of the opposite curve coordinate system by big data; checking the coverage between the upper and lower dentitions, each tooth moving lingually along a principal normal axis of the local coordinate system to achieve a standard coverage between the upper and lower dentitions, or a personalized coverage according to the requirements of the medical protocol; checking the collision of the opposite jaws, and enabling each tooth to move up and down along a secondary normal axis of a local coordinate system to enable the upper jaw and the lower jaw to be in light contact or no contact, or locally keeping heavy contact according to the requirements of a medical scheme; to obtain better occlusion and abutment, the angles of the teeth can be properly adjusted; checking the adjacent collision again, if the teeth need to move along the to-be-extracted arch curve, repositioning crown torsion, crown axis inclination and crown inclination of the teeth after the movement, checking coverage, checking jaw collision, and sequentially and iteratively moving and rotating the teeth until reasonable tooth arrangement is achieved, thereby completing automatic tooth arrangement; the ideal occlusion relationship parameters may generate a new coordinate system template.
4. A tooth movement evaluation method using the method for establishing a coordinate system based on a target arch curve according to claim 1.
5. The tooth movement evaluation method according to claim 4, wherein the tooth movement evaluation is performed according to the steps of: the automatic tooth alignment according to the method of claim 2 or 3, wherein a technician or physician can manually adjust the automatic tooth alignment based on the automatic tooth alignment result according to the treatment requirement to obtain the final target tooth arrangement; calculating tooth coordinates; calculating tooth movement changes; output tooth coordinates and tooth movement changes.
6. The tooth movement evaluation method according to claim 5, wherein the step of calculating the tooth coordinates is: (1) defining a direction of a coordinate system: in the dental arch curve natural coordinate system, the tangential axis of the curve is the near-far middle direction of the teeth, the primary normal axis is the labial lingual direction of the teeth, and the secondary normal axis is the vertical direction of the teeth; in the dental arch curve natural coordinate system, the normal plane of the curve is the labial lingual plane of the tooth, the slave tangent plane of the curve is the mesial-distal midplane of the tooth, and the close plane of the curve is the horizontal plane of the tooth; (2) Calculating coordinates of the tooth, including three-dimensional position and three-dimensional angle: positioning the corresponding point of the tooth measuring point on the dental arch curve, wherein the corresponding point is a vertical point of the tooth measuring point on the dental arch curve, and the local coordinate system established on the corresponding point of the dental arch curve is a local coordinate system of the tooth; the near-far middle coordinates refer to the tooth position on the incisor axis, namely the curve distance between the corresponding point of the tooth measuring point on the tooth socket bow curve and the origin of the curve coordinate system; labial-lingual coordinates refer to the tooth position on the primary normal axis, i.e., the linear distance between the perpendicular point of the tooth measurement point on the primary normal axis and the corresponding point on the alveolar arch; the vertical coordinate refers to the tooth position on the secondary normal axis, i.e., the linear distance between the perpendicular point of the tooth measurement point on the secondary normal axis and the corresponding point on the alveolar arch; the torsion angle is the included angle between the tooth transverse axis and the curve tangent axis in the close plane; the axis inclination angle refers to the included angle between the tooth long axis and the curve secondary normal axis in the secondary tangential plane; the inclination angle is the included angle between the tooth long axis and the curve secondary normal axis in the normal plane; the initial position tooth coordinates and the target position tooth coordinates are calculated, and the intermediate stage tooth coordinates can also be calculated.
7. The tooth movement evaluation method according to claim 5, wherein the step of calculating a tooth movement change is: the tooth movement change is equal to the difference value between the initial position tooth coordinate and the target position tooth coordinate, and the three-dimensional displacement and the three-dimensional angle change are included; the difference between the initial tooth coordinates and any stage tooth coordinates can be calculated, and the tooth movement change in the stage is evaluated; the mesial-distal movement refers to the movement of the tooth along the incisor axis, namely the change of the coordinate of the mesial-distal movement of the tooth, wherein the movement close to the midpoint of the curve is mesial movement, and the movement far from the midpoint of the curve is distal movement; labial and lingual movement refers to movement of teeth along a principal normal axis, i.e., change in labial and lingual coordinates of teeth, wherein labial movement refers to outward movement and lingual movement refers to inward movement; elongation, depression refers to movement of the teeth along the minor normal axis, i.e., change in the vertical coordinates of the teeth, wherein the upward movement of the upper jaw is elongated, the downward movement is depressed, and the lower jaw is vice versa; torsion refers to the change in torsion angle in the plane of the close fitting; axicon refers to the change in the inclination of the axis from the tangential plane; tilting refers to a change in tilt angle in the normal plane.
8. The tooth movement evaluation method according to claim 6, wherein the tooth measurement points for evaluating the tooth movement amount include a cusp point or a incisal edge midpoint, a crown center point, a root center point, a tooth impedance center point, and a root tip point.
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