CN107342009B - Dental tooth preparation operation simulation method and device - Google Patents
Dental tooth preparation operation simulation method and device Download PDFInfo
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Abstract
The invention relates to the technical field of medicine, in particular to a dental tooth preparation operation simulation method and device. The dental tooth preparation surgery simulation method comprises the steps of responding to the operation of a user on the movement of the force feedback instrument to control the movement of a surgical instrument model, detecting whether a tooth model collides with the surgical instrument model, if the tooth model collides with the surgical instrument model, responding to the operation of the user to cut the part of the tooth model where the tooth model collides, meanwhile, calculating the force generated by the collision according to preset parameters, and sending the calculated force generated by the collision to the force feedback instrument so that the force feedback instrument can restore the force generated by the collision to enable the user to sense the force in real time. The operation simulation training is provided for the dentist through the scheme, so that the energy conservation of the actual operation is improved, and the normal training cost of the dentist is saved.
Description
Technical Field
The invention relates to the technical field of medicine, in particular to a dental tooth preparation surgery simulation method and device.
Background
From the trend of surgery, surgery simulation is becoming an important aspect of future surgery. The surgical simulation may not only perform preoperative planning, but also simulate each step in the surgery, thereby reducing the time and risk of the surgery. Meanwhile, the mature surgery simulation system can also be applied to dental skill training of interns, and the traditional dental skill training has defects in cost, usability, lack of real-world conditions and the like. Therefore, it is necessary to provide a dental surgery simulation system to enable a dentist to perform simulated training on the surgery.
Disclosure of Invention
The invention aims to provide a dental tooth preparation operation simulation method, which realizes the simulation training of a doctor on a dental operation so as to create a vivid actual operation environment, improve the actual operation skill of the doctor and save the training cost.
Another objective of the present invention is to provide a dental preparation surgery simulation apparatus, which realizes simulation training of a doctor on a dental surgery to create a realistic actual surgery environment, improve the actual operation skills of the doctor, and save the training cost.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a dental preparation surgery simulation method, which is applied to an electronic device, where the electronic device is connected to a force feedback instrument, and the method includes:
controlling movement of a surgical instrument model in response to user manipulation of the force-feedback instrument movements;
detecting whether a collision occurs between a tooth model and the surgical instrument model;
if the tooth model collides with the surgical instrument model, cutting the part of the tooth model where the collision occurs in response to the operation of a user, calculating the force generated by the collision according to preset parameters, and sending the calculated force generated by the collision to the force feedback instrument so that the force feedback instrument restores the force generated by the collision to enable the user to perceive the force in real time.
In a second aspect, an embodiment of the present invention further provides a dental preparation surgery simulation apparatus, which is applied to an electronic device, where the electronic device is connected to a force feedback instrument, and the apparatus includes:
a movement module for controlling movement of the surgical instrument model in response to user manipulation of movement of the force feedback instrument;
the detection module is used for detecting whether the tooth model and the surgical instrument model collide;
and the calculation module is used for responding to the operation of a user to cut the part of the tooth model where the collision occurs if the tooth model and the surgical instrument model collide, calculating the force generated by the collision according to preset parameters, and sending the calculated force generated by the collision to the force feedback instrument so that the force feedback instrument restores the force generated by the collision to enable the user to sense the force in real time.
The embodiment of the invention provides a method and a device for simulating a dental tooth preparation operation. The dental tooth preparation surgery simulation method comprises the steps of responding to the operation of a user on the movement of the force feedback instrument to control the movement of a surgical instrument model, detecting whether a tooth model collides with the surgical instrument model, if the tooth model collides with the surgical instrument model, responding to the operation of the user to cut the part of the tooth model where the tooth model collides, meanwhile, calculating the force generated by the collision according to preset parameters, and sending the calculated force generated by the collision to the force feedback instrument so that the force feedback instrument can restore the force generated by the collision to enable the user to sense the force in real time. The operation simulation training is provided for the dentist through the scheme, so that the energy conservation of the actual operation is improved, and the normal training cost of the dentist is saved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a flow chart of a dental preparation surgery simulation method according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of another dental preparation surgery simulation method according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an established tooth model according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an established model of a surgical instrument according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a mesh model wrapping a tooth according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of a rectangular frame surrounding a tooth model and a surgical instrument model according to an embodiment of the present invention.
Fig. 7 is a flow chart illustrating sub-steps of another dental preparation surgery simulation method according to an embodiment of the present invention.
Fig. 8 shows a two-dimensional projection diagram of a tooth model and a surgical instrument model provided by an embodiment of the invention.
Fig. 9 is a schematic structural diagram of a tooth model and a surgical instrument model according to an embodiment of the present invention.
Fig. 10 is a schematic diagram illustrating a cut tooth model according to an embodiment of the present invention.
FIG. 11 is a schematic view of another cut tooth model provided by an embodiment of the present invention.
Fig. 12 is a functional module schematic diagram of a dental preparation surgery simulation apparatus according to an embodiment of the present invention.
The figure is as follows: 100-dental preparation surgery simulation device; 110-a first setup module; 120-a second setup module; 130-a third setup module; 140-a mobile module; 150-a detection module; 160-calculation module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Typically dentists practice cavity preparation and other dental procedures using plastic teeth and using real dental instruments, however, plastic teeth lack the details and material properties that must be taken to accurately simulate real teeth and procedures, while providing a full set of plastic teeth for dental training greatly increases supply costs. Traditional dental training is mainly based on the patient's teeth, artificial tooth models and clinical practices, and these traditional dental training methods are only applicable to general dental cases and do not analyze rare cases well in a clinical environment. Therefore, an embodiment of the present invention provides a method for simulating a dental preparation surgery in an emulated Open Framework (SOFA), where the method is mainly applied to an electronic device, that is, the SOFA is applied to the electronic device, and the electronic device is connected to a force feedback instrument, and the electronic device and the force feedback instrument are used together to implement the method for simulating the dental preparation surgery. In the embodiment of the present invention, the model of the force feedback instrument is Omni PHANToMTM, but the present invention is not limited thereto, and other force feedback instruments capable of implementing the same function may be used. The electronic device may be, but is not limited to, a desktop computer, a notebook computer, or a tablet computer. The dental tooth preparation operation simulation method provided by the embodiment of the invention can be convenient for a dentist to simulate a dental operation on an electronic device in real time, can simulate various different dental operation conditions in real time, trains the actual operation skills of the dentist, improves the success rate of the dental operation on an actual patient, avoids training by using the teeth or tooth models of the patient, and saves the cost.
The electronic device contains two independent loops, namely, through parallel threads to control the implementation respectively, and the two independent loops comprise a tactile loop and a visual loop. Wherein, the visual cycle refers to a plurality of models in the simulation method of the dental preparation operation, the plurality of models comprise a tooth model and a surgical instrument model, the graphic rendering of 30HZ is kept, because the human eyes have persistence of vision, and the updating frequency higher than 1/24S is considered to be continuous. In addition, the touch circulation always keeps the stable updating frequency of 1KHZ, so that the synchronous operation of the vision circulation and the touch circulation is realized, the synchronous perception of vision and touch of a user is realized, and the user experience is improved.
As shown in fig. 1, which is a schematic flow chart of a dental preparation surgery simulation method according to an embodiment of the present invention, the dental preparation surgery simulation method includes:
step S110, associating the surgical instrument model with the force feedback instrument.
The surgical instrument model is formed by modeling on the electronic equipment according to the appearance characteristics of actual surgical instruments, and the surgical instrument model can be controlled to move on the screen of the electronic equipment by moving the force feedback instrument by a user through associating the surgical instrument model with the force feedback instrument, so that man-machine interaction is enhanced, and the user experience is improved.
And step S120, responding to the operation of the user on the movement of the force feedback instrument to control the movement of the surgical instrument model.
Because the surgical instrument model is associated with the force feedback instrument, a user can move the force feedback instrument according to the surgical requirements, the operation of the user on the force feedback instrument is displayed as the movement of the surgical instrument model in a screen of the electronic equipment, and the user can move the surgical instrument model.
Step S130, detecting whether the tooth model and the surgical instrument model collide with each other.
The tooth model is established in the following way: a plurality of Cone Beam CT (CBCT) images are acquired, and after the acquired plurality of CBCT images are segmented and analyzed, a tooth model is formed through commercial software modeling. Because the user can move the force feedback instrument to further control the movement of the surgical instrument model, when the user controls the movement of the surgical instrument model until the distance between the surgical instrument model and the tooth model is smaller than the preset threshold value, the surgical instrument model collides with the tooth model.
When the tooth model and the surgical instrument model collide with each other, step S140 is executed, the part of the tooth model where the collision occurs is cut in response to the operation of the user, the force generated by the collision is calculated according to preset parameters, and the calculated force generated by the collision is sent to the force feedback instrument so that the force feedback instrument restores the force generated by the collision to enable the user to perceive the force in real time.
When the tooth model and the surgical instrument model collide, the user can move the force feedback instrument to control the surgical instrument model to cut the collided part of the tooth model. Meanwhile, according to preset parameters, such as the hardness of teeth in the tooth model and the degree of collision of the surgical instrument model contacting the tooth model (the contact depth of the surgical instrument model and the tooth model), the force generated by the collision is calculated, and meanwhile, the force generated by the collision is sent to a force feedback instrument, and the force feedback instrument restores the force generated by the collision so that a user can sense and control the degree of the force generated in the process of cutting the tooth model by the surgical instrument model in real time, so that better experience is achieved, and the training effect is improved.
When the tooth model and the surgical instrument model do not collide, it indicates that the user has not started the simulated training of the dental surgery.
As shown in fig. 2, is a flowchart of another dental preparation surgery simulation method according to an embodiment of the present invention, where the dental preparation surgery simulation method includes:
step S210, a tooth model and a surgical instrument model are established.
The tooth model is established in the following way: a plurality of Cone Beam CT (CBCT) images are acquired, and after the acquired plurality of CBCT images are segmented and analyzed, a tooth model is formed through commercial software modeling. Meanwhile, in order to make the tooth model have a more realistic effect, the tooth model may be rendered, for example, the tooth model may be subjected to image processing such as shadow setting or texture setting, as shown in fig. 3, which is a schematic structural diagram of the established tooth model provided in the embodiment of the present invention. The mode of establishing the surgical instrument model is as follows: by collecting the actual appearance characteristics of the actual surgical instrument, a surgical instrument model is further established by using modeling software, and as shown in fig. 4, the model is a schematic structural diagram of the established surgical instrument model provided by the embodiment of the present invention.
Step S220, establishing a grid model, wherein the grid model is used for wrapping each tooth of the tooth model.
The grid model is established in a finite element modeling mode, the finite element modeling is derived from a continuous mechanical equation, the simulation precision can be quantified, and meanwhile, the parameters of the model can be obtained from an actual object. If the mesh model is set too precisely, that is, the meshes in the mesh model are too dense, the real-time performance will be poor, and if the mesh model is set too coarsely, that is, the meshes in the mesh model are too sparse, the visual effect will be poor. It is easy to understand that the size and the number of the grids in the grid model can be set according to actual needs.
Step S230, establishing a plurality of rectangular frames, wherein the rectangular frames are used for surrounding each tooth in the tooth model wrapped by the mesh model, and the rectangular frames are used for surrounding the surgical instrument model.
And establishing a plurality of rectangular frames, wherein each tooth in the tooth model is wrapped by the grid model, so that each tooth wrapped by the grid model is surrounded by the rectangular frames. Meanwhile, the rectangular frame is also used for surrounding the surgical instrument model, and as shown in fig. 6, the rectangular frame is a schematic diagram of the tooth model and the surgical instrument model surrounded by the rectangular frame according to the embodiment of the invention.
Step S240, associating the surgical instrument model with the force feedback instrument.
The surgical instrument model is formed by modeling on the electronic equipment according to the appearance characteristics of actual surgical instruments, and the surgical instrument model can be controlled to move on the screen of the electronic equipment by moving the force feedback instrument by a user through associating the surgical instrument model with the force feedback instrument, so that man-machine interaction is enhanced, and the user experience is improved.
And step S250, responding to the operation of the user on the movement of the force feedback instrument to control the movement of the surgical instrument model.
Because the surgical instrument model is associated with the force feedback instrument, a user can move the force feedback instrument according to the surgical requirements, the operation of the user on the force feedback instrument is displayed as the movement of the surgical instrument model in a screen of the electronic equipment, and the user can move the surgical instrument model.
Step S260, detecting whether the rectangular frame of each tooth of the tooth model intersects with the rectangular frame of the surgical instrument model.
Because the user can control the movement of the surgical instrument model, when the user performs the dental surgery simulation, the user can move the surgical instrument model to the dental model, so that the rectangular frame of the dental model and the rectangular frame of the surgical instrument model are crossed to perform the dental surgery simulation, and if the rectangular frame of the dental model and the rectangular frame of the surgical instrument model are not crossed, the dental simulation surgery is not started.
Fig. 7 is a schematic flow chart illustrating the sub-steps of step S260 of the dental preparation surgery simulation method according to an embodiment of the present invention. The step S260 includes:
step S261, calculating first projection areas of the rectangular frame of each tooth of the tooth model in the X axis and the Y axis of the spatial rectangular coordinate system, respectively.
The tooth model is a three-dimensional model, and two-dimensional examples are used here, and similar understanding is made for three-dimensional models such as tooth models. Fig. 8 is a schematic projection diagram of a two-dimensional tooth model and a surgical instrument model according to an embodiment of the present invention. The rectangular frame mark of each tooth of this tooth model is A, and the first projection region of rectangular frame A in X axle and Y axle of space rectangular coordinate system respectively is: X1-X2 and Y2-Y1.
And step S262, calculating second projection areas of the rectangular frame of the surgical instrument model in the X axis and the Y axis of the space rectangular coordinate system respectively.
The surgical instrument model is a three-dimensional model, and two-dimensional examples are used here to similarly understand three-dimensional models such as surgical instrument models. Fig. 8 is a schematic projection diagram of a two-dimensional tooth model and a surgical instrument model according to an embodiment of the present invention. The rectangular frame of the surgical instrument model is marked as B, and the second projection areas of the rectangular frame B on the X axis and the Y axis of the space rectangular coordinate system are respectively as follows: X3-X4 and Y4-Y3.
Step S263, if the first projection region and the second projection region overlap, the rectangular frame of the dental model intersects with the rectangular frame of the surgical instrument model.
As shown in fig. 8, which is a schematic projection diagram of a two-dimensional dental model and a surgical instrument model according to an embodiment of the present invention, the overlapping area of the rectangular frame a and the rectangular frame B in the X axis is X3 to X2, and the overlapping area of the rectangular frame a and the rectangular frame B in the Y axis is Y3 to Y2, which indicates that the first projection area and the second projection area overlap, and the rectangular frame of the dental model intersects the rectangular frame of the surgical instrument model. If the first projection area and the second projection area of the rectangular frame A and the rectangular frame B have no overlapping area or have overlapping areas only in the X axis or the Y axis, the rectangular frame of the tooth model is not crossed with the rectangular frame of the surgical instrument model.
If the rectangular frame of the tooth model intersects with the rectangular frame of the surgical instrument model, step S270 is executed, a distance value from a point on the rectangular frame of the surgical instrument model to a vertex of the mesh model of the tooth model is calculated, and if the distance value is smaller than a preset threshold value, the tooth model and the surgical instrument model collide with each other.
When the rectangular frame of the tooth model and the rectangular frame of the surgical instrument model are crossed, calculating the distance values from the points on the rectangular frame of the surgical instrument model to the vertices of the mesh model of the tooth model, wherein the vertices of the mesh model are the points marked in each mesh, and when one of the distance values is smaller than a preset threshold value, the tooth model and the surgical instrument model are collided.
Step S280, cutting the part of the tooth model where the collision occurs in response to the operation of the user, calculating the force generated by the collision according to preset parameters, and sending the calculated force generated by the collision to the force feedback instrument so that the force feedback instrument restores the force generated by the collision to enable the user to perceive in real time.
The part of the tooth model which is collided is a grid model contained in the crossed part of the rectangular frame of the tooth model and the rectangular frame of the surgical instrument model, and when the tooth model is collided with the surgical instrument model, a user can move the force feedback instrument to further control the surgical instrument model to cut the part of the tooth model which is collided. Meanwhile, according to preset parameters, such as the hardness of teeth in the tooth model and the degree of collision of the surgical instrument model contacting the tooth model (the contact depth of the surgical instrument model and the tooth model), the force generated by the collision is calculated, and meanwhile, the force generated by the collision is sent to a force feedback instrument, and the force feedback instrument restores the force generated by the collision so that a user can sense and control the degree of the force generated in the process of cutting the tooth model by the surgical instrument model in real time, so that better experience is achieved, and the training effect is improved.
Fig. 9 is a schematic structural diagram of a tooth model and a surgical instrument model, in which a dark color portion is used to represent a mesh model wrapping teeth according to an embodiment of the present invention. As shown in fig. 10, which is a schematic diagram of a cut tooth model according to an embodiment of the present invention, after a user controls a surgical instrument model to collide with one of teeth in the tooth model, that is, the surgical instrument model contacts with the tooth model, a mesh model of a collision portion of the tooth model and the surgical instrument model is cut. Fig. 11 is a schematic diagram of another cut tooth model according to an embodiment of the present invention, in which the mesh model portion of the tooth model is completely cut. Only an example of tooth preparation in dental surgery is given here, it being readily understood that the dental preparation surgery simulation method is also applicable to other types of dental surgery.
As shown in fig. 12, which is a schematic functional module diagram of a dental preparation surgery simulation apparatus 100 according to an embodiment of the present invention, the dental preparation surgery simulation apparatus 100 is applied to an electronic device, and the dental preparation surgery simulation apparatus 100 includes a first establishing module 110, a second establishing module 120, a third establishing module 130, a moving module 140, a detecting module 150, and a calculating module 160, where:
the first building module 110 is used for building a tooth model and a surgical instrument model.
In the embodiment of the present invention, step S210 may be performed by the first establishing module 110.
A second building module 120 for building a mesh model for wrapping each tooth in the tooth model.
In the embodiment of the present invention, step S220 may be performed by the second establishing module 120.
A third building module 130 for building a plurality of rectangular frames for enclosing each tooth in the tooth model wrapped by the mesh model and for enclosing the surgical instrument model.
In the embodiment of the present invention, step S230 may be performed by the third establishing module 130.
A movement module 140 for controlling movement of the surgical instrument model in response to user manipulation of the force-feedback instrument movements.
In the embodiment of the present invention, steps S250 and S120 may be performed by the moving module 140.
A detection module 150, configured to detect whether a collision occurs between the tooth model and the surgical instrument model.
In the embodiment of the present invention, the steps S130, S260, S270, and S261-263 can be executed by the detection module 150.
And the calculation module 160 is configured to, if the tooth model and the surgical instrument model collide with each other, cut a part of the tooth model where the collision occurs in response to an operation of a user, calculate a force generated by the collision according to a preset parameter, and send the calculated force generated by the collision to the force feedback instrument so that the force feedback instrument restores the force generated by the collision to allow the user to perceive the force in real time.
In an embodiment of the present invention, steps S140 and S280 may be performed by the calculation module 160.
Since the dental preparation surgery simulation method is described in detail in the dental preparation surgery simulation method section, the description is omitted.
In summary, the dental tooth preparation surgery simulation method and device provided by the embodiments of the present invention are both applied to an electronic device, and the electronic device is connected to a force feedback instrument. The dental tooth preparation surgery simulation method comprises the steps of responding to the operation of a user on the movement of the force feedback instrument to control the movement of a surgical instrument model, detecting whether a tooth model collides with the surgical instrument model, if the tooth model collides with the surgical instrument model, responding to the operation of the user to cut the part of the tooth model where the tooth model collides, meanwhile, calculating the force generated by the collision according to preset parameters, and sending the calculated force generated by the collision to the force feedback instrument so that the force feedback instrument can restore the force generated by the collision to enable the user to sense the force in real time. The operation simulation training is provided for the dentist through the scheme, so that the energy conservation of the actual operation is improved, and the normal training cost of the dentist is saved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, 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. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A dental tooth preparation surgery simulation method is applied to electronic equipment, and is characterized in that the electronic equipment is connected with a force feedback instrument, and the method comprises the following steps:
controlling movement of a surgical instrument model in response to user manipulation of the force-feedback instrument movements;
detecting whether a collision occurs between a tooth model and the surgical instrument model;
if the tooth model collides with the surgical instrument model, cutting a part of the tooth model where the collision occurs in response to the operation of a user, calculating force generated by the collision according to preset parameters, and sending the calculated force generated by the collision to the force feedback instrument so that the force feedback instrument restores the force generated by the collision to enable the user to sense the force in real time;
associating a surgical instrument model with the force feedback instrument;
the method further comprises the following steps:
establishing a tooth model and a surgical instrument model;
establishing a mesh model for wrapping each tooth of the tooth model;
establishing a plurality of rectangular frames for enclosing each tooth in the tooth model wrapped by the mesh model and for enclosing the surgical instrument model;
the step of detecting whether the tooth model and the surgical instrument model collide comprises: detecting whether a rectangular frame of each tooth of the tooth model is crossed with a rectangular frame of the surgical instrument model, if so, calculating a distance value from a point on the rectangular frame of the surgical instrument model to a vertex of the mesh model of the tooth model, and if the distance value is smaller than a preset threshold value, colliding the tooth model with the surgical instrument model.
2. The dental preparation procedure simulation method of claim 1, wherein the step of detecting whether the rectangular frame of each tooth of the tooth model intersects with the rectangular frame of the surgical instrument model comprises:
calculating first projection areas of the rectangular frame of each tooth of the tooth model in the X axis and the Y axis of the space rectangular coordinate system respectively;
calculating second projection areas of the rectangular frame of the surgical instrument model in the X axis and the Y axis of the space rectangular coordinate system respectively;
if the first projection region and the second projection region overlap, the rectangular frame of the tooth model intersects with the rectangular frame of the surgical instrument model.
3. A dental preparation operation simulation device applied to electronic equipment is characterized in that the electronic equipment is connected with a force feedback instrument, and the device comprises:
a movement module for controlling movement of the surgical instrument model in response to user manipulation of movement of the force feedback instrument;
the detection module is used for detecting whether the tooth model and the surgical instrument model collide;
the calculation module is used for responding to the operation of a user to cut the collision part of the tooth model if the tooth model collides with the surgical instrument model, calculating the force generated by collision according to preset parameters, and sending the calculated force generated by collision to the force feedback instrument so that the force feedback instrument can restore the force generated by collision to enable the user to sense the force in real time;
a correlation module for correlating a surgical instrument model and the force feedback instrument;
the device further comprises:
the first establishing module is used for establishing a tooth model and a surgical instrument model;
a second building module for building a mesh model for wrapping each tooth in the tooth model;
a third building module for building a plurality of rectangular frames for enclosing each tooth in the tooth model wrapped by the mesh model and for enclosing the surgical instrument model;
the detection module is used for:
detecting whether the rectangular frame of each tooth of the tooth model is crossed with the rectangular frame of the surgical instrument model, if so, enabling the tooth model to collide with the surgical instrument model.
4. The dental preparation procedure simulation device of claim 3, wherein the detection module is to:
if the rectangular frame of the tooth model is crossed with the rectangular frame of the surgical instrument model, calculating a distance value from a point on the rectangular frame of the surgical instrument model to a vertex of the mesh model of the tooth model, and if the distance value is smaller than a preset threshold value, enabling the tooth model and the surgical instrument model to collide.
Priority Applications (1)
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| CN108389488B (en) * | 2018-03-05 | 2020-12-15 | 泉州医学高等专科学校 | Interactive oral cavity simulation system |
| CN109118834A (en) * | 2018-07-12 | 2019-01-01 | 广东工业大学 | A kind of virtual tooth-implanting operation training system |
| CN110610643B (en) * | 2019-10-29 | 2021-05-28 | 首都医科大学附属北京口腔医院 | Intelligent training system for knocking force value control |
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| CN101441831A (en) * | 2008-11-17 | 2009-05-27 | 江苏科技大学 | Virtual operation artificial system based on force feedback |
| GB201108003D0 (en) * | 2011-05-13 | 2011-06-29 | Materialise Dental Nv | Endodontic treatment simulation system |
| CN106781941A (en) * | 2016-11-24 | 2017-05-31 | 北京理工大学 | A kind of method and its system for simulating microtrauma puncture operation |
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