CN111743642A

CN111743642A - Shell-shaped dental instrument cutting method, preparation method and electronic equipment

Info

Publication number: CN111743642A
Application number: CN202010606640.2A
Authority: CN
Inventors: 姚峻峰; 於路
Original assignee: Zhejiang Yinchili Medical Technology Co ltd
Current assignee: Zhejiang Yinchili Medical Technology Co ltd
Priority date: 2020-06-29
Filing date: 2020-06-29
Publication date: 2020-10-09
Anticipated expiration: 2040-06-29
Also published as: CN111743642B

Abstract

The invention provides a cutting method of a shell-shaped dental instrument and a preparation method of the shell-shaped dental instrument, wherein the cutting method comprises the following steps: constructing first coordinate system information of the component to be cut according to the information of the calibration unit on the component to be cut; acquiring a second coordinate system corresponding to the pickup equipment, establishing a conversion relation between the first coordinate system and the second coordinate system, and acquiring corresponding conversion information; converting the preset cutting path of the component to be cut into a motion path of the pickup device during cutting according to the conversion information; and controlling the pickup equipment to drive the component to be cut to move along the motion path, and cutting the component to be cut in the set cutting area to obtain the shell-shaped dental instrument. The coordinate system conversion relation between the actual dental model and the pick-up equipment is established through the calibration unit, so that the preset cutting path of the shell-shaped dental instrument can be converted into the motion path of the pick-up equipment during cutting, the accuracy of positioning the cutting point is improved, and the automatic production efficiency and yield of the shell-shaped dental instrument are improved.

Description

Shell-shaped dental instrument cutting method, preparation method and electronic equipment

Technical Field

The invention belongs to the technical field of tooth correction, and particularly relates to a shell-shaped tooth corrector manufacturing technology, in particular to a cutting method and a preparation method of a shell-shaped dental instrument and electronic equipment.

Background

At present, in the processing process of a shell-shaped dental instrument, procedures such as dental jaw model 3D printing, film preparation, film pressing, shell-shaped dental instrument cutting and cleaning are generally required. In the whole preparation process, the method for identifying and positioning the dental model is manual placement and visual identification, and although automation is realized to a certain degree, manual participation is still needed in some links, for example, the case number and the patient name of the dental model need to be identified and obtained by manually placing the dental model in the positioning process.

In addition to the above-mentioned need for manual intervention, the existing shell-shaped dental instruments are also disadvantageous in cutting the shell-shaped dental instruments, for example, when cutting the shell-shaped dental instruments, the cutting is performed manually, which results in extremely low production efficiency; or when the existing mechanical cutting is adopted, the preset cutting path is often not matched with the actual cutting path of the shell-shaped dental instrument, so that the actual cutting path has cutting deviation, and finally the cut shell-shaped dental instrument is unqualified.

Disclosure of Invention

The invention mainly aims to overcome the defects of the prior art, provides a cutting method and a preparation method of a shell-shaped dental instrument and electronic equipment, solves the technical problem of inaccurate positioning in the cutting process of the prior shell-shaped dental instrument, and improves the production efficiency of the shell-shaped dental appliance.

The technical scheme provided by the invention is as follows:

the invention provides a cutting method of a shell-shaped dental instrument, which comprises the following steps:

constructing first coordinate system information of the component to be cut according to the information of the calibration unit on the component to be cut;

acquiring a second coordinate system corresponding to the picking equipment of the component to be cut, establishing a conversion relation between the first coordinate system and the second coordinate system, and acquiring corresponding conversion information;

converting the preset cutting path of the assembly to be cut into a motion path of the picking equipment during cutting according to the conversion information;

and controlling the pickup equipment to drive the component to be cut to move along the motion path, and cutting the component to be cut in a set cutting area to obtain the shell-shaped dental instrument.

Further preferably, the component to be cut comprises a dental model and a shell-shaped dental instrument to be cut pressed on the dental model, and the dental model is provided with the calibration unit.

Further preferably, the calibration unit comprises a plurality of calibration bodies; and a positioning plane is arranged on the calibration bodies and is covered by the non-dental instrument part of the shell-shaped dental instrument to be cut.

Further preferably, the number of the calibration bodies is three; the positioning plane of the calibration body is consistent with the reference plane of the dental model.

Further preferably, the constructing the first coordinate system of the component to be cut according to the information of the calibration unit on the component to be cut specifically includes the steps of:

identifying image information of the component to be cut,

identifying the position information of the calibration body in the image information according to the contour information of the calibration body;

and constructing a first coordinate system of the component to be cut according to the position information of the calibration body.

Further preferably, the position information of the calibration body in the identification image information is specifically position information of any point on the positioning plane of the calibration body in the identification image information.

Further preferably, the position information of the calibration body in the identification image information is specifically position information of a central point on a positioning plane of the calibration body in the identification image information.

Further preferably, the constructing the first coordinate system of the component to be cut according to the position information of the calibration body includes: selecting central point position information of the three calibration bodies, calculating relative position relations of the central points of the three calibration bodies, and constructing calibration body plane information according to the relative position relations of the central points of the three calibration bodies;

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing the first coordinate system XOY of the component to be cut by taking the direction of a connecting line of the original point O and one central point of the calibration body as the X-axis direction, the direction perpendicular to the X-axis in the plane of the calibration body as the Y-axis direction, and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

detecting the position information of a calibration body on the component to be cut through a detection device;

and constructing a first coordinate system of the component to be cut according to the detected position information of the calibration body.

Further preferably, the constructing a first coordinate system of the component to be cut according to the detected position information of the calibration body specifically includes the steps of:

selecting detection position information of the three calibration bodies, and constructing calibration body plane information according to the detection position information of the three calibration bodies;

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing the first coordinate system XOY of the component to be cut by taking the connecting line direction of the original point O and the detection position information of one calibration body as the X-axis direction, the direction which is perpendicular to the X-axis direction in the plane of the calibration body as the Y-axis direction, and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

Preferably, the calibration unit comprises a first calibration body, the first calibration body is arranged on the inner side of the dental model and is connected with the dental model through a connecting part, and the center point of the first calibration body is coincided with the center of a circle circumscribed by the dental model; and selecting the central point of the first calibration body as the origin of the first coordinate system of the component to be cut.

Preferably, the calibration unit further includes a second calibration body and a third calibration body, a connection line between a center point of the second calibration body and a center point of the first calibration body and a connection line between a center point of the third calibration body and a center point of the first calibration body are arranged at a right angle, and a first coordinate system XOY of the component to be cut is established through the center point of the first calibration body, the center point of the second calibration body and the center point of the third calibration body.

Further preferably, the establishing of the transformation relationship between the first coordinate system and the second coordinate system specifically includes: and adjusting the relative position of the assembly to be cut and the picking equipment according to the first coordinate system of the assembly to be cut, so that the conversion relation between the first coordinate system of the assembly to be cut and the second coordinate system of the picking equipment meets a preset threshold value.

Further preferably, the adjusting the relative position of the to-be-cut assembly and the picking device specifically includes: and adjusting the picking angle of the picking equipment to ensure that the conversion relation between the coordinate system of the adjusted picking equipment and the first coordinate system of the component to be cut meets a preset threshold value.

Further preferably, after the picking angle of the picking device is adjusted, the origin of the first coordinate system of the component to be cut coincides with the origin of the coordinate system of the picking device after adjustment, or satisfies a predetermined displacement relationship.

Further preferably, the adjusting the pickup angle of the pickup device specifically includes:

acquiring parameters to be adjusted of the pickup equipment;

and controlling the pickup equipment to rotate to adjust the parameters to be adjusted, so that the adjusted parameters meet preset conditions, and enabling the origin of the coordinate system adjusted by the pickup equipment to coincide with the origin of the first coordinate system of the assembly to be cut or meet a preset displacement relation through rotation compensation.

Further preferably, the acquiring the parameter to be adjusted of the pickup device includes:

controlling a pickup device to drive the assembly to be cut to rotate in a first coordinate system plane of the assembly to be cut, respectively measuring vertical distances from at least three calibration bodies to a preset calibration point of a second coordinate system of the pickup device in the rotation process of the pickup device, and acquiring three vertical distances, wherein the three vertical distances are used as parameters to be adjusted.

Further preferably, the preset condition is that the three vertical distances are equal, and the controlling the pickup device to rotate adjusts the parameter to be adjusted, specifically includes:

controlling the picking equipment to rotate by an angle A around a Z axis, an angle B around a Y axis and an angle C around an X axis of a first coordinate system of the assembly to be cut respectively, so that the three vertical distances are equal respectively;

wherein, the rotation angles (A, B, C) are corresponding conversion information.

Further preferably, after the picking angle of the picking device is adjusted, the coordinate system of the picking device after adjustment coincides with the first coordinate system of the component to be cut.

Further preferably, the method further comprises the step of obtaining the preset cutting path:

acquiring identity information of the component to be cut according to the information carrier on the component to be cut;

and calling the preset cutting path of the corresponding component to be cut according to the identity information of the component to be cut.

Further preferably, the preset cutting path of the component to be cut is converted into the motion path of the picking device during cutting according to the conversion information; the method specifically comprises the following steps:

and converting the coordinates of each point on the preset cutting path into corresponding point coordinates when the picking device carries out cutting operation according to the conversion information, wherein the corresponding point coordinates jointly form a movement path when the picking device carries out the cutting operation.

Further preferably, the converting the coordinates of each point on the preset cutting path into corresponding point coordinates when the pickup device performs the cutting operation includes: the cutting is laser cutting; and according to the conversion information, enabling the Z axis in the coordinate of each point on the preset cutting path to be consistent with the laser direction.

Further preferably, the converting the coordinates of each point on the preset cutting path into corresponding point coordinates when the pickup device performs the cutting operation includes: the cutting is mechanical cutting; and according to the conversion information, enabling the Z axis in the coordinate of each point on the preset cutting path to be consistent with the axial direction of the cutting head in mechanical cutting.

Preferably, the picking device is controlled to drive the component to be cut to move along the movement path, and the component to be cut is cut in a set cutting area by laser cutting to obtain the shell-shaped dental instrument.

The invention also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the shell-like dental instrument cutting method as described above when executing the computer program.

The invention also provides a preparation method of the shell-shaped dental instrument, which comprises the following steps:

3D printing is carried out based on the digital dental model, and the dental model is prepared;

preparing a shell-shaped dental instrument to be cut containing the dental model on the dental model in a hot press molding mode;

and cutting by adopting the shell-shaped dental instrument cutting method to prepare the shell-shaped dental instrument.

The cutting method of the shell-shaped dental instrument, the preparation method of the shell-shaped dental instrument and the terminal equipment provided by the invention can bring at least one of the following beneficial effects:

the space coordinate system of the actual dental model is accurately calculated through the calibration unit on the dental model, the coordinate system conversion relation between the actual component to be cut and the picking device is established through position correction of the picking device, the preset cutting path of the shell-shaped dental instrument can be converted into the motion path of the picking device during cutting, the accuracy of positioning the cutting point of the hot-press formed membrane on the dental model is improved, and the automatic production efficiency and yield of the shell-shaped dental instrument are improved.

Furthermore, in the cutting process, the dental jaw model is spatially positioned based on the identification and positioning unit on the dental jaw model, and manual placement is not needed, so that intelligent positioning in the preparation process of the shell-shaped dental instrument is realized, the labor cost is saved, the working efficiency is improved, and the production quality of the shell-shaped dental instrument is ensured; further avoids the contact pollution of shell-shaped dental instruments and reduces the difficulty and the cost of subsequent cleaning operation.

Drawings

The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.

FIG. 1 is a flow chart of a shell-like dental instrument segmentation method;

FIG. 2 is a flow chart for establishing a dental model space coordinate system;

FIG. 3 is a flow chart of another construction method of the dental model space coordinate system;

FIG. 4 is a flow chart of adjusting the pick-up angle of the pick-up device;

FIG. 5 is a flow chart of parameter acquisition to be adjusted by the pickup device;

FIG. 6 is a flowchart of the specific adjustment of parameters to be adjusted of the pickup device;

FIG. 7 is a flow chart of another method of segmenting the shell-like dental instrument;

FIG. 8 is a functional block diagram of an electronic device;

FIG. 9 is a schematic view of a dental model;

FIG. 10 is a schematic view of another dental model;

FIG. 11 is a schematic view of another dental model;

FIG. 12 is a schematic view of another dental model;

FIG. 13 is a schematic view of image erosion;

FIG. 14 is a flow chart for preparing a shell-shaped dental appliance.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

The first embodiment is as follows:

in the process of preparing the shell-shaped dental instrument by adopting the hot pressing process, after the film pressing process is finished, the shell-shaped dental instrument needs to be cut from the dental jaw model with the film by a cutting process, generally manual cutting or mechanical cutting, and the prepared shell-shaped dental instrument pressed on the dental jaw model is cut from the dental jaw model so as to obtain the shell-shaped dental instrument.

In the mechanical cutting process, a pick-up device generally drives a shell-shaped dental instrument to be cut, which comprises a dental model and is pressed on the dental model, to move relative to a cutting head on a cutting device, so that the shell-shaped dental instrument is cut. The skilled person finds that for achieving accurate control of the cutting, it is a preferred solution to fix the cutting device or the cutting head having the cutting function therein, and to drive the above-mentioned component to be cut by the pick-up device, and to move along a certain path, thereby achieving the cutting. It was found necessary to convert the cutting path of the component to be cut into the movement path of the pick-up device. The cutting path of the shell-like dental instruments to be cut is pre-designed using computer software according to the gum line of each appliance of each patient. The space coordinate system of the cutting path of the shell-shaped dental instrument to be cut is generally different from the space coordinate system of the dental jaw model and the space coordinate system of the picking device, the space coordinate systems are converted through a certain conversion relation, and the path to be cut is converted to the space coordinate system of the picking device to carry out subsequent cutting operation.

However, in actual practice, the dental instrument to be cut and the dental jaw model are usually placed on a carrier plate, and positioning and coordinate transformation are performed by using a marking object on the carrier plate. The identification and coordinate system conversion method is to establish the space coordinate system of the dental model based on the bottom of the dental model as a reference surface. However, when the dental model is discharged after 3D printing, due to the problems of adhesion between the bottom and the printing tray, insufficient curing and the like, the bottom of the dental model is uneven, so that a great error exists in the conversion relation of a coordinate system in design and actual operation, and further the deviation occurs between the design position and the actual position of each point on a cutting path, and the shell-shaped dental instrument formed by cutting does not conform to the requirements of wearing or designing by a patient. Therefore, the design method using the bottom of the digital dental model as the reference surface of the cutting path can cause inaccurate selection of a space coordinate system of the dental model, and errors exist between each coordinate point on the path to be cut and an actual cutting point after the coordinate points are converted into the space coordinate system of the pickup equipment, so that the cut shell-shaped dental instrument does not meet the standard requirement, namely, the cut shell-shaped dental instrument is easy to fail when the space coordinate system is established by using the bottom of the dental model as the reference surface.

Based on the problems, the implementation provides a shell-shaped dental instrument cutting method, the method includes that a calibrated reference surface is brought into each component to be cut of a real object in a 3D printing mode through a mode of integrally manufacturing a calibration body and a dental model, an actual first space coordinate system of the dental model is established through the calibrated reference surface, and the established space coordinate system of the dental model is more accurate than the previous data brought into the dental model; the two coordinate systems are subjected to one-time space correction through the conversion information between the first coordinate system and the second coordinate system of the pickup equipment, so that the fact that the actual assembly to be cut serves as a reference can be guaranteed for subsequent cutting; the preset cutting path of the component to be cut is converted into the motion path of the picking device during cutting, and the cutting accuracy of the shell-shaped dental instrument is further improved.

The flow chart of the cutting method of the shell-shaped dental instrument provided by the embodiment is shown in fig. 1, and specifically includes the following steps.

S100: and constructing first coordinate system information of the component to be cut according to the information of the calibration unit on the component to be cut.

S200: and acquiring a second coordinate system corresponding to the picking equipment of the component to be cut, establishing a conversion relation between the first coordinate system and the second coordinate system, and acquiring corresponding conversion information.

S300: and converting the preset cutting path of the component to be cut into the motion path of the pickup equipment during cutting according to the conversion information.

S400: and controlling the pickup equipment to drive the component to be cut to move along the motion path, and cutting the component to be cut in the set cutting area to obtain the shell-shaped dental instrument.

As can be seen from the above steps S100 to S400, in the cutting method of this embodiment, a reference plane is established through the calibration unit, a spatial coordinate system of the dental model is established based on the reference plane, conversion information between the spatial coordinate system of the dental model and a spatial coordinate system corresponding to the pickup device is established, a preset cutting path is converted into a movement path of the pickup device during cutting based on the conversion information, and finally the pickup device is controlled to move along the movement path, so that the cutting of the shell-shaped dental instrument can be completed.

Before describing the above steps, it should be firstly described that, for the technical field of dental instruments, the component to be cut includes a dental model and a shell-shaped dental instrument to be cut pressed on the dental model, specifically, the cutting method of the shell-shaped dental instrument in this embodiment is implemented based on a unique design of the dental model, that is, the dental model in this embodiment is uniquely designed, specifically, the dental model is provided with a calibration unit, and the subsequent establishment of the spatial coordinate system of the dental model is based on a reference plane determined by the calibration unit on the dental model, but not based on a bottom plane of the dental model.

The calibration unit comprises a plurality of calibration bodies, the positioning planes covered by the shell-shaped dental instruments to be cut are arranged in a plane, for example, the positioning planes of the calibration bodies are covered by the non-dental instrument parts of the shell-shaped dental instruments to be cut, specifically, the membranes are pressed on the dental jaw models, the cavity parts formed by the membranes and used for accommodating the teeth are called the dental instruments, and any part except the cavity parts can be called the non-dental instruments, for example, the gum parts of the dental jaw models can be called the non-dental instruments.

The third embodiment is referred to with regard to specific settings of the calibration unit and the recognition and positioning unit, and the third embodiment describes specific applications of the calibration body and the recognition and positioning unit in the cutting method in detail.

The above steps will be described in detail below.

In step S100, first coordinate system information of the component to be cut is constructed according to the information of the calibration unit on the component to be cut, where the first coordinate system information is the spatial coordinate system of the dental model described above.

The first scheme is implemented based on an image recognition mode, and specifically includes the following steps, and a flowchart thereof is shown in fig. 2:

s111: and identifying image information of the component to be cut.

The image information of the shell-shaped dental instrument to be cut is shot, and then the shot image is identified to obtain the image information of the dental jaw model.

S112: and identifying the position information of the calibration body in the image information according to the contour information of the calibration body.

For example, the calibration body can be in a regular pattern, such as a regular shape like a circle, a square, a triangle, etc., or can be in an irregular pattern, as long as the positioning plane with the calibration function is a plane and is consistent with the reference plane of the dental model. Furthermore, any point on the positioning plane of the calibration body is identified and selected, the position information of the selected point in the image information of the whole calibration body is calculated, and the position of the selected point represents the position information of the calibration body. Preferably, when the calibration body is a regular pattern, the position information of the calibration body can be identified by identifying a regular shape. Specifically, the position information of the center point of the calibration body, such as the center position in the case of a circle, the center position in the case of a square, etc., may be further calculated according to the regular shape of the calibration body itself. In other embodiments, a calibration point may be preset at the center point of the calibration body, and the center point position information of the calibration body in the image information may be identified by identifying the calibration point.

S113: and constructing a first coordinate system of the component to be cut according to the position information of the calibration body.

In this step, a first coordinate system is constructed according to the position information of the center point of the calibration object obtained in the step S112, which specifically includes:

selecting central point position information of the three calibration bodies, calculating relative position relations of the central points of the three calibration bodies, and constructing calibration body plane information according to the relative position relations of the central points of the three calibration bodies;

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing a first coordinate system XOY of the component to be cut by taking the direction of a connecting line of the original point O and one central point of the calibration body as the X-axis direction, the direction perpendicular to the X-axis in the plane of the calibration body as the Y-axis direction and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

In other embodiments, the first coordinate system may also be constructed by randomly selecting three non-collinear points on a calibration body with a larger area on the same positioning plane and using the basic principle that three points determine a plane. For the purpose of precision, the distance between every two of three points selected on the same plane is as large as possible. Similarly, two calibration bodies can be adopted, one calibration point is selected on one of the calibration bodies, two calibration points are arbitrarily selected on the other calibration body, and the first coordinate system is constructed according to the relationship of the positions of the three points in the image. Many embodiments are possible and will not be further described or illustrated herein.

The second scheme is that the position detector detects the position information of the calibration body, and then a first coordinate system is constructed according to the detected position information of the calibration body, and a flow chart of the first coordinate system is shown in fig. 3, and the second scheme specifically comprises the following steps:

s120: and detecting the position information of the calibration body on the component to be cut through the detection device.

For example, the position detector is used for detecting the position information of the calibration body on the dental model, and the step does not specifically limit the detection position of the calibration body, for example, when the calibration body is a regular figure, for example, the calibration body is in a regular shape such as a circle, a square, a triangle, etc., by previously setting a calibration point at the center position of the positioning plane of the calibration body, the position detector can directly detect the calibration point set on the positioning plane of the calibration body to obtain the center position information of the positioning plane of the calibration body, and besides, the position detector can also detect the position information of any point of the positioning plane of the calibration body except the center position; when the calibration body is in an irregular pattern, a position detector is directly adopted to detect the position information of any point of a positioning plane of the calibration body; that is, as long as the position detector can detect the position information of any point of the positioning plane of the calibration body, the detected position information can be used as the position information of the calibration body.

S121: and constructing a first coordinate system of the component to be cut according to the detected position information of the calibration body.

Step S121 specifically includes:

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing a first coordinate system XOY of the component to be cut by taking the connecting line direction of the original point O and the detection position information of one calibration body as the X-axis direction, the direction perpendicular to the X-axis direction in the plane of the calibration body as the Y-axis direction and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

The position detector is used for detecting and calibrating the position information, the arrangement of the calibration body can be diversified as in the image identification, the key point is that three non-collinear calibration points are selected on a positioning plane of the calibration body with the calibration function, the position information of the three calibration points is used for constructing the calibration body and the first coordinate system information, and the description is omitted.

The two schemes can realize the establishment of the first coordinate system, and no matter which realization mode is adopted, the position information of the calibration body on the dental model is firstly obtained, the position information of the selected three non-collinear calibration bodies or the position information of the calibration point is used as the calibration reference plane, and then the first coordinate system of the dental model is established based on the calibration reference plane. Further, the coordinate system missing or deviation caused by the machining process can be avoided through the reconstruction in the actual operation process. Due to the highly customized characteristic of the shell-shaped dental instruments, the jaw models and the orthodontic appliances corresponding to different orthodontic time of each patient are possibly different, and the jaw models and the orthodontic appliances of different patients are also different in size, height and rotation, so that the shell-shaped dental instruments to be cut are subjected to corresponding modeling and verifying processes before cutting, and the cutting quality of each shell-shaped dental instrument is correspondingly guaranteed.

Further, if the positions of the calibration bodies of different dental models are set at a same position in a relative absolute manner during design, the first coordinate system established by the calibration bodies can be unified. For example, the following steps are carried out: three calibration bodies A1, A2 and A3 are arranged on the dental model A, three calibration bodies B1, B2 and B3 are arranged on the dental model B, if the three calibration bodies A1, A2 and A3 on the dental model A are in one-to-one correspondence with the three calibration bodies B1, B2 and B3 on the dental model B, namely the calibration body A1 is in correspondence with the calibration body B1, the calibration body A2 is in correspondence with the calibration body B2, and the calibration body A3 is in correspondence with the calibration body B3, first coordinate systems respectively established by the dental model A and the dental model B are unified, and the first coordinate systems do not have a relationship with the bottom plane of the dental model A and the bottom plane of the dental model B; however, in the prior art, if the first coordinate systems are respectively established by using the bottom plane of the dental model a and the bottom plane of the dental model B, the bottom plane of the dental model a and the bottom plane of the dental model B are different in concave-convex manner, which easily causes the non-uniformity of the established first coordinate system.

In step S200, a second coordinate system corresponding to the pickup device of the component to be cut is obtained, a transformation relationship between the first coordinate system and the second coordinate system is established, and corresponding transformation information is obtained.

The picking device is a mechanical arm, the shell-shaped dental instrument to be cut is grabbed through the mechanical arm, a space coordinate system exists in the picking device, the space coordinate system is called as a second coordinate system corresponding to the picking device for short, and the second coordinate system is known, so that the second coordinate system corresponding to the picking device can be obtained in a data obtaining mode.

In this embodiment, establishing the transformation relationship between the first coordinate system and the second coordinate system specifically includes: and adjusting the relative position of the assembly to be cut and the picking equipment according to the first coordinate system of the assembly to be cut, so that the conversion relation between the first coordinate system of the assembly to be cut and the second coordinate system of the picking equipment meets a preset threshold value.

The relative position of the component to be cut and the picking device is adjusted according to the first coordinate system of the component to be cut, so that after the picking device grabs the component to be cut, the space coordinate system of the picking device and the space coordinate system of the component to be cut meet the conversion relation. Specifically, the picking angle of the picking device is adjusted, so that the conversion relation between the coordinate system of the adjusted picking device and the first coordinate system of the component to be cut meets a preset threshold value.

For example, after the picking angle of the picking device is adjusted, the origin of the first coordinate system of the component to be cut coincides with the origin of the coordinate system of the picking device after adjustment, or satisfies a predetermined displacement relation.

In this embodiment, the picking angle of the picking apparatus can be specifically adjusted through the following steps, and a flowchart thereof is shown in fig. 4:

s210: and acquiring parameters to be adjusted of the pickup equipment.

The parameter to be adjusted may be set according to actual conditions, for example, the parameter to be adjusted may be a measurement angle, and may be a measurement distance, and in this embodiment, the parameter to be adjusted of the pickup device is preferably a measurement distance.

The measured distance may be obtained by the following steps, the flowchart of which is shown in fig. 5:

s211: controlling the pickup equipment to drive the to-be-cut assembly to rotate in a first coordinate system plane of the to-be-cut assembly;

s212: and respectively measuring the vertical distances from at least three calibration bodies to a preset calibration point of a second coordinate system of the pickup equipment in the rotation process of the pickup equipment, and acquiring three vertical distances which are used as parameters to be adjusted of the pickup equipment.

For example, in the rotation process of the pickup device, the distance sensors may be used to measure the vertical distances from the at least three calibration bodies to the predetermined calibration point of the second coordinate system of the pickup device, or the laser ranging may be used to measure the vertical distances from the at least three calibration bodies to the predetermined calibration point of the second coordinate system of the pickup device, which manner is specifically used for measurement may be selected according to actual needs.

S220: and controlling the pickup equipment to rotate to adjust the parameters to be adjusted, so that the adjusted parameters meet preset conditions, and enabling the origin of the coordinate system adjusted by the pickup equipment to coincide with the origin of the first coordinate system of the assembly to be cut through rotation compensation or meet a preset displacement relation.

Taking the measured distance as a parameter to be adjusted, and the preset conditions are that the three vertical distances are respectively equal, further controlling the pickup device to rotate to adjust the parameter to be adjusted, specifically comprising the following steps, and the flow chart is shown in fig. 6:

s221: and controlling the pickup device to rotate by an angle A around the Z axis of the first coordinate system of the assembly to be cut, acquiring three vertical distances to be adjusted after the pickup device rotates, judging whether the three vertical distances are equal, if not, executing the step S222, and if so, executing the step S224.

S222: and controlling the pickup device to rotate by an angle B around the Y axis, acquiring three vertical distances to be adjusted after the pickup device rotates, judging whether the three vertical distances are equal, if not, executing the step S223, and if so, executing the step S224.

S223: and controlling the pickup device to rotate by an angle C around the X axis, acquiring three vertical distances to be adjusted after the pickup device rotates, judging whether the three vertical distances are equal, if not, executing a step S221, and if so, executing a step S224.

S224: and outputting the rotation angles (A, B, C).

And circularly controlling the pickup device to rotate around the Z axis, around the Y axis and around the X axis through the steps S221 to S223 until the vertical distances from the three calibration bodies to the preset calibration point of the second coordinate system of the pickup device, wherein the rotation angles (A, B and C) are corresponding conversion information.

Further, the order of the steps S222 and S223 is not limited, and the pickup device may be controlled to rotate around the X axis first and then controlled to rotate around the Y axis.

Further, after the picking angle of the picking device is adjusted, the coordinate system of the picking device after adjustment is superposed with the first coordinate system of the component to be cut.

In step S300, the preset cutting path of the component to be cut is converted into the motion path of the pickup device at the time of cutting according to the conversion information.

Before the conversion, a preset cutting path needs to be acquired, further, in this embodiment, the acquisition mode of the preset cutting path is based on the recognition of the information carrier on the dental model, and is acquired by calling from the corresponding database according to the recognition result, and the acquisition mode of the preset cutting path is an automatic acquisition mode without manual participation.

Specifically, the identity information of the dental model is identified according to the information carrier on the dental model, and then the preset cutting path of the corresponding dental model is called according to the identity information. The identification information is an ID number comprising a dental model, a matched preset cutting path is called through the ID number, for example, coding information (for example, two-dimensional code information, hollow coding information and the like) is arranged on an information carrier arranged on the dental model, and the identification information of the dental model is obtained by identifying the coding information.

After the preset cutting path is obtained, the coordinates of each point on the preset cutting path are converted into corresponding point coordinates when the picking device carries out cutting operation according to the conversion information, and the corresponding point coordinates jointly form a movement path when the picking device carries out cutting operation.

The cutting mode of the shell-shaped dental instrument can adopt laser cutting or mechanical cutting, wherein when the laser cutting is adopted, the Z axis in the coordinate of each point on the preset cutting path is consistent with the laser direction according to the conversion information; and when mechanical cutting is adopted, the Z axis in the coordinate of each point on the preset cutting path is consistent with the axial direction of the cutting head in the mechanical cutting according to the conversion information.

In addition to converting the Z axis in the coordinates of each point on the preset cutting path according to the conversion information, the X axis and the Y axis in the coordinates of each point on the preset cutting path need to be converted into the traveling coordinates of the pickup device according to the conversion information.

For example, the following steps are carried out:

assuming that a point coordinate on the preset cutting path is (x1, y1, z1), the point coordinate is converted into a corresponding point coordinate at the time of the cutting work according to the conversion information, and a data format of the corresponding point coordinate at the time of the cutting work is (x2, y2, z2, α, β, γ), where (x2, y2, z2) is a point position at the time of the cutting work obtained after (x1, y1, z1) is rotated by a rotation angle (a, B, C), and (α, β, γ) is an euler angle attitude corresponding to (x2, y2, z 2). And analogizing in sequence, converting all point coordinates on the preset cutting path into corresponding point coordinates when the picking device carries out cutting operation, and forming a motion path when the picking device carries out the cutting operation by all the corresponding point coordinates.

In step S400, the picking device is controlled to drive the component to be cut to move along the movement path, and the component to be cut is cut in the set cutting area, so as to obtain the shell-shaped dental instrument.

Specifically, the shell-shaped dental instrument to be cut may be cut by laser cutting to obtain the shell-shaped dental instrument, or the shell-shaped dental instrument to be cut may be cut by mechanical cutting, which manner is specifically adopted and may be selected according to actual conditions, which is not specifically limited in this embodiment.

The present embodiment provides another cutting method for shell-shaped dental instruments, which has a flowchart as shown in fig. 7 and specifically includes the following steps.

S100: and carrying out space positioning on the component to be cut according to the identification positioning unit on the component to be cut.

In order to avoid the manual participation in the cutting process of the shell-shaped dental instrument, the cutting of the shell-shaped dental instrument provided by the embodiment is an intelligent cutting process, and comprises the automatic transfer of the dental model in the cutting process, so that the front side, the back side and the placing position of the dental model need to be judged before the cutting, the current position and posture of the dental model are determined to meet the requirements, and the component to be cut needs to be spatially positioned.

In the embodiment, the space positioning of the component to be cut is realized based on the recognition and positioning unit, specifically, the recognition and positioning unit is subjected to special contour design, and the dental model is determined to be a reverse side or a front side and turned upwards or downwards by recognizing the shape of the special contour, so that the position and the posture of the dental model are automatically adjusted according to the judgment result until the placing posture of the dental model meets the requirements, and the process does not need manual participation.

Please refer to the third embodiment for the specific structural design of the identification and positioning unit disposed on the dental model, which is not described in detail in this embodiment.

S200: and constructing first coordinate system information of the component to be cut according to the information of the calibration unit on the component to be cut.

S300: and acquiring a second coordinate system corresponding to the picking device of the component to be cut, establishing a conversion relation between the first coordinate system and the second coordinate system, and acquiring corresponding conversion information.

S400: and converting the preset cutting path of the component to be cut into the motion path of the pickup equipment during cutting according to the conversion information.

S500: and controlling the pickup equipment to drive the component to be cut to move along the motion path, and cutting the component to be cut in the set cutting area to obtain the shell-shaped dental instrument.

Steps S200 to S500 in fig. 7 are the same as steps S100 to S400 in fig. 1, and specific reference is made to the above detailed description of steps S100 to S400 in fig. 1, which is not repeated herein.

Example two:

according to a first embodiment, the present example provides an electronic device, a block diagram of which is shown in fig. 8, and the electronic device 1000 may be a tablet computer, a notebook computer, or a desktop computer. The electronic device 100 may also be referred to by other names, such as portable terminal, laptop terminal, desktop terminal, and the like.

The electronic device 1000 is provided with a processor 1001 and a memory 1002, wherein the memory 1002 stores a computer program, and the processor 1001 implements the shell-shaped dental instrument cutting method according to the first embodiment when running the computer program stored in the memory 1002.

Processor 1001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 1001 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1001 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also referred to as a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.

In some embodiments, the processor 1001 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 1001 may further include an AI (Artificial Intelligence) processor for processing a computing operation related to machine learning.

Memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1002 is configured to store at least one instruction, at least one program, a set of codes, or a set of instructions for execution by the processor 1001 to implement a shell-like dental instrument cutting method provided by an embodiment one of the present application.

In some embodiments, the electronic device 1000 further comprises: peripheral interface 1003 and peripherals. The processor 1001, memory 1002 and peripheral interface 1003 may be connected by a bus or signal line. The peripheral devices may be connected to the peripheral interface 1003 via a bus, signal line, or circuit board.

In the present embodiment, the peripheral devices at least include a pickup device 1004, an image capturing apparatus 1005, a measuring assembly 1006, and a cutting device 1007.

The processor 1001 acquires the required parameter information through the image acquisition device 1005 and the measurement component 1006, for example, acquires the image information of the dental jaw model through the image acquisition device 1005, acquires the parameter information to be adjusted of the pick-up device 1004 through the measurement component 1006, and the processor 1001 acquires the information acquired by the image acquisition device 1005 and the measurement component 1006 through program commands during the execution of the computer program, so as to implement the shell-shaped dental instrument cutting method according to the first embodiment.

For example, in the process of executing the computer program, according to the program command, the processor 1001 may recognize the calibration unit information on the dental model through the image information of the dental model acquired by the image acquisition device 1005 by using the recognition program for image recognition, and further realize the establishment of the first coordinate system of the dental model based on the calibration unit by operating the corresponding program; the processor 1001 acquires a second coordinate system corresponding to the pick-up device 1004 according to a program command, acquires parameter information to be adjusted of the pick-up device 1004 through the measuring component 1006, further adjusts the second coordinate system of the pick-up device 1004 by running a corresponding program, acquires conversion information according to a relation between the coordinate system adjusted by the pick-up device 1004 and the first coordinate system, and then the processor 1001 runs a corresponding program to convert a preset cutting path of the shell-shaped dental instrument to be cut into a movement path of the pick-up device 1004 during cutting according to the conversion information; finally, the processor 1001 operates the corresponding control program to control the pickup device 1004 to drive the shell-shaped dental instrument to be cut to move along the movement path, and controls the cutting device 1007 to cut the shell-shaped dental instrument to be cut in the set cutting area, so as to obtain the shell-shaped dental instrument.

Accordingly, the electronic device 1000 of the present application, which executes the shell-like dental instrument cutting method provided in the first embodiment by at least one instruction, at least one program, code set, or instruction set, has the following advantages:

Example three:

based on the cutting method of the shell-shaped dental instrument provided in the first embodiment, the present embodiment provides a dental model which is uniquely designed for implementation of the cutting method in the first embodiment.

As shown in fig. 9, the dental model 100 is provided with a calibration unit, the calibration unit includes a plurality of calibration bodies 210, the calibration bodies 210 can be directly provided on the dental model, the number of the calibration bodies 210 can be 1, 2, 3 or more, and when a plurality of calibration bodies are provided, the spatial position information of the dental model 100 can be more accurately obtained.

The surface of the calibration body 210 covered by the shell-shaped dental instrument to be cut is arranged in a plane, and a part of a positioning plane with a calibration function of the calibration body 210 is in a plane state during manufacturing or 3D printing and forming, so that the positioning or correction in the Z-axis direction in a space coordinate system of the dental jaw model in the cutting operation is facilitated.

In combination with the cutting method in the first embodiment, in the cutting method, a spatial coordinate system, that is, a first coordinate system, of the dental model 100 is established through the calibration bodies 210, in an embodiment, the number of the calibration bodies 210 may be one, which is simply referred to as a first calibration body, as shown in fig. 9, specifically, the first calibration body is disposed inside the dental model 100 and connected to the dental model 100 through a connecting portion, and a center point of the first calibration body coincides with a center point of a circle circumscribing the dental model 100; and selecting the central point of the first calibration body as the origin of the first coordinate system of the dental model.

In other embodiments, the spatial coordinate system of the dental model can be constructed by three calibration bodies (first calibration body, second calibration body and third calibration body for short), specifically, a connecting line between a center point of the second calibration body and a center point of the first calibration body is arranged at a right angle with a connecting line between a center point of the third calibration body and a center point of the first calibration body, and the first coordinate system XOY of the dental model is constructed by the center point of the first calibration body, the center point of the second calibration body and the center point of the third calibration body.

For example, the arrangement of the first calibration body 211, the second calibration body 212, and the third calibration body 213 on the dental model 100 is shown in fig. 10, wherein the center position of the first calibration body 211 coincides with the center of the circle circumscribing the dental model 100. The second calibration body 212 and the third calibration body 213 are both arranged on the dental model 100, a connecting line between the center of the second calibration body 212 and the center of the first calibration body 211, and a connecting line between the center of the third calibration body 213 and the center of the first calibration body 211 are perpendicular to each other, and the design structure of the calibration bodies makes the space coordinates of the dental model 100 easier to generate, the origin position of the coordinate system is the center position of the first calibration body 211, the connecting line between the center of the first calibration body 211 and the center of the second calibration body 212 can be the OX coordinate axis, the connecting line between the center of the first calibration body 211 and the center of the third calibration body 213 can be the OY coordinate axis, the accurate positioning of the plane where the dental model 100 is located can be realized by the three calibration bodies, theoretically, the perpendicular direction of the plane is the Z-axis direction, and for further accurate calculation, a distance sensor can be adopted, the distance measurement of the fixed point positions is carried out on the three points, the Z-axis direction is further calibrated, so that a more accurate space coordinate is established, the conversion of different coordinate systems of the dental jaw model and the cutting path is facilitated, and the accurate positioning of the cutting point of the diaphragm is facilitated.

In other embodiments, the spatial coordinate system of the dental model can be further constructed by four calibration bodies, specifically, a first calibration body 211, a second calibration body 212, a third calibration body 213, and a fourth calibration body 214, which are respectively arranged on the dental model 100 as shown in fig. 11, wherein the center position of the first calibration body 211 coincides with the center of a circumcircle of the dental model 100, and the second calibration body 212, the third calibration body 213, and the fourth calibration body 214 are uniformly distributed on the circumcircle. The plurality of calibration bodies can calculate the space coordinate system of the dental model 100 more precisely.

Fig. 10 and 11 are only specific implementations disclosed in the present embodiment, and based on the concept, those skilled in the art can construct a spatial coordinate system of a dental model from transformed calibration bodies by transforming the shapes, the numbers and the positions of the calibration bodies, which is also within the protection scope of the present invention.

Further, in order to facilitate the grabbing of the dental model by the picking device during the cutting process, the dental model of the present embodiment is further designed with a picking portion 300, as shown in fig. 12, the picking portion 300 can be disposed at an inner side, an outer side, and the like of the dental model 100, wherein when disposed at the inner side of the dental model 100, the picking portion 300 can be disposed at a central position of the dental model 100, for example, the picking portion 300 can be disposed at the inner side or the outer side of the dental model 100 through a connecting portion. When cutting operation is carried out, the picking device picks the dental model through the picking part 300, further, the plane where the top of the picking part 300 is located should be limited to the position below the position of a gum line to be cut on the dental model, namely, the top of the picking part cannot protrude above the gum line to be cut, and the height limitation of the plane where the top of the picking part is located avoids adverse effects in subsequent cutting processes, such as blocking a cutting path and the like.

Further, in order to facilitate the obtaining of the preset cutting path by identifying the identity information of the dental model 100 during the cutting process, the dental model 100 of the present embodiment is further provided with an information portion 400, and the information portion 400 is an information carrier in the first embodiment.

The information part 400 is provided with an information identification code 410, and the information identification code 410 is used for transmitting and preparing the production data information of the shell-shaped dental appliance. The information part 400 may be provided inside the dental model or outside the dental model.

The information identification code 410 may be a hollow code or a non-hollow code, and this embodiment is not particularly limited as long as the information identification code 410 is identified to obtain the production data information of the shell-shaped dental appliance.

Further, in the cutting process, the information recognition code 410 may be recognized by an Optical Character Recognition (OCR) recognition of a data code, wherein the Optical character recognition refers to a process in which an electronic device (e.g., a scanner or a digital camera) checks a character printed on paper, determines a shape thereof by detecting a dark and light pattern, and then translates the shape into a computer text by a character recognition method; namely, the process of scanning the text data, then analyzing and processing the image file and obtaining the character and layout information.

In a 24-bit color image, each pixel is represented by three bytes, typically RGB. Typically, many 24-bit color images are stored as 32-bit images, with the extra bytes per pixel stored as an alpha value, representing information that has a particular impact. In the RGB model, if R ═ G ═ B, the color represents a gray scale color, where the value of R ═ G ═ B is called the gray scale value, so that each pixel of the gray scale image only needs one byte to store the gray scale value (also called the intensity value, luminance value), and the gray scale range is 0-255. Thus, a gray scale image of a picture is obtained.

In this embodiment, a weighting method is used to realize graying of a picture. The weighted average method carries out weighted average on the three components by different weights according to importance and other indexes. Because human eyes have highest sensitivity to green and lowest sensitivity to blue, a reasonable gray image can be obtained by carrying out weighted average on RGB three components according to the following formula.

F(i，j)＝0.30R(i，j)+0.59G(i，j)+0.11B(i，j))；

The above formula shows that the proportion of green (G component) is relatively large, and therefore, the G component may be directly used for graying.

After the graying of the picture is realized, binarization processing is required, that is, the gray level of a point on the image is set to be 0 or 255, that is, the whole image has an obvious black-and-white effect. That is, a gray scale image with 256 brightness levels is selected by a proper threshold value to obtain a binary image which can still reflect the whole and local features of the image. In digital image processing, a binary image plays a very important role, and particularly in practical image processing, there are many systems configured by implementing binary image processing, and in order to perform processing and analysis of a binary image, a grayscale image is first binarized to obtain a binarized image, which is advantageous in that when an image is further processed, the collective property of the image is only related to the position of a point having a pixel value of 0 or 255, and the multi-level value of the pixel is not related, so that the processing is simplified, and the processing and compression amount of data is small.

In order to obtain an ideal binary image, a non-overlapping region is generally defined by closed and connected boundaries. All pixels with the gray levels larger than or equal to the threshold are judged to belong to the specific object, the gray level of the pixels is 255 for representation, otherwise the pixels are excluded from the object area, the gray level is 0, and the pixels represent the background or the exceptional object area. If a particular object has a uniform gray level inside it and is in a uniform background with gray levels of other levels, a comparable segmentation effect can be obtained using thresholding. If the difference between the object and the background is not represented in gray scale values (e.g., different textures), the difference feature can be converted into a gray scale difference, and then the image can be segmented using a threshold selection technique. The threshold value is dynamically adjusted to realize the binarization of the image, and the specific result of the image segmentation can be dynamically observed.

Carrying out an etching treatment process on the image: as shown in fig. 13, fig. 13(a) is a processed image X (binary image, for black dots), and fig. 13(B) is a structural element B. The corrosion method comprises the following steps: comparing the central point of the structural element B with the points on the image X one by one, if all the points on the structural element B (referring to all the black points) are within the range of the image X (i.e. the position of the processing element on the X image and on it, the left two points are black), the point is retained, otherwise the point is removed (becomes a white point); FIG. 13(c) shows the results after etching. It can be seen that it is still within the original image X and contains fewer dots than X, as if X had been etched away by a layer.

Based on the principle, the method comprises the steps of carrying out graying processing, noise reduction processing (namely the corrosion processing), binarization processing, character segmentation and normalization processing on an image of the dental model, then obtaining coding information of the dental model, then identifying the coding information, obtaining identity information of the dental model, and further calling a corresponding preset cutting path according to the identity information.

In the cutting process, in order to realize the spatial positioning of the dental model 100, for example, the placing posture of the dental model 100 is automatically recognized to determine that the placing posture of the dental model 100 meets the requirement, and if the placing posture of the dental model 100 does not meet the requirement, the spatial posture of the dental model 100 is automatically adjusted, and further, the dental model 100 is further provided with a recognition positioning part 500.

Specifically, the identification positioning part 500 may be designed irregularly, so that the identification positioning part 500 has a function of identifying the front and back of the dental model body 100.

With continued reference to fig. 12, the identification positioning portion 500 includes an identification hole and a V-shaped opening, and the identification hole is disposed below the V-shaped opening and deviated to the left side of the center line of the V-shaped opening by setting the positions of the identification hole and the V-shaped opening, for example, the front side is used as a reference plane, the center line of the V-shaped opening is used as a reference line, by such design, when the dental model body 100 is in the front side position, the identification hole is located below the V-shaped opening and located on the left side of the center line of the V-shaped opening, when the dental model body 100 is turned upside down to the reverse side, the identification hole is located above the V-shaped opening, and when the dental model body 100 is turned left and right to the reverse side, the identification hole is located below the V-shaped opening and located on the right side of the center line of the V-shaped opening.

Before cutting, whether the placing posture of the dental model meets the requirements or not is judged by identifying the identification positioning part 500, for example, whether the dental model body 100 is in the front or the back can be judged based on the relative position relation between the identification hole and the V-shaped opening, when the dental model body is in the back, whether the dental model body is turned over up and down or turned over left and right is further judged, if the current placing posture of the dental model is judged to be the back according to the identification result, the placing posture of the dental model is further automatically adjusted, so that the position posture of the dental model meets the requirements, manual participation is not needed, and automatic cutting of the shell-shaped dental instrument is realized.

The unique design of the dental model provided by the embodiment can provide accurate space positioning for mechanical cutting so as to facilitate the conversion of different coordinate systems of the dental model and the cutting path, thereby being beneficial to the accurate positioning of the cutting point of the diaphragm, and simultaneously, the recognition rate of the dental model is further improved through the unique design of the coded information.

Example four:

based on the first embodiment, the present embodiment provides a method for manufacturing a shell-shaped dental apparatus, and the flowchart is as shown in fig. 14, which specifically includes the following steps.

S710: 3D printing is carried out based on the digital dental model, and the dental model is prepared.

For example, the data information of the digital dental model can be acquired by intraoral scanning, or the data information of the digital dental model can be acquired by impression, and then the acquired data information is finally acquired by means of three-dimensional reconstruction.

According to the correction target, the digital dental model is rotated and translated, the digital dental model is moved from the initial position to the correction target position, the tooth arrangement process is completed, and then a series of digital dental models which are gradually moved from the initial position to the correction target position are designed.

And finally, 3D printing is carried out on the digital dental model after tooth arrangement in a 3D printing mode to obtain the solid dental model.

S720: preparing a shell-shaped dental instrument to be cut containing the dental model on the dental model in a hot-press molding mode.

The technology for preparing the shell-shaped dental instrument through the hot pressing film forming process is a relatively mature technology and is not repeated herein.

S730: and cutting by adopting a cutting method to prepare the shell-shaped dental instrument.

The shell-shaped dental instrument prepared in step S720 is pressed on the dental jaw model, and therefore, the shell-shaped dental instrument needs to be cut from the dental jaw model by a cutting technique, for example, the cutting technique may be manual cutting, laser cutting, mechanical cutting, or the like.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A shell-like dental instrument cutting method, comprising the steps of:

2. The shell-like dental instrument cutting method according to claim 1, wherein the component to be cut comprises a dental model and a shell-like dental instrument to be cut pressed on the dental model, the dental model being provided with the calibration unit.

3. A shell-like dental instrument cutting method according to claim 2, wherein the calibration unit comprises a number of calibration bodies; and a positioning plane is arranged on the calibration bodies and is covered by the non-dental instrument part of the shell-shaped dental instrument to be cut.

4. A shell-like dental instrument cutting method according to claim 3, wherein the number of calibration bodies is three; the positioning plane of the calibration body is consistent with the reference plane of the dental model.

5. The shell-like dental instrument cutting method according to claim 3, wherein the constructing the first coordinate system of the component to be cut according to the information of the calibration unit on the component to be cut comprises the following steps:

identifying image information of the component to be cut;

6. A shell-like dental instrument cutting method according to claim 5, wherein the position information of the calibration body in the identification image information is specifically position information of any point on the positioning plane of the calibration body in the identification image information.

7. A shell-like dental instrument cutting method according to claim 6, wherein the position information of the calibration body in the identification image information is specifically position information of a center point on a positioning plane of the calibration body in the identification image information.

8. A shell-like dental instrument cutting method according to claim 7, wherein said constructing a first coordinate system of said component to be cut from position information of said calibration body comprises the steps of:

selecting the position information of the central points of the three calibration body positioning planes, calculating the relative position relationship of the central points of the three calibration body positioning planes, and constructing the calibration body plane information according to the relative position relationship of the central points of the three calibration body positioning planes;

selecting one point in the plane information of the calibration body as an original point O of a first coordinate system of the component to be cut, and constructing a first coordinate system XOY of the component to be cut by taking the connection direction of the original point O and the central point of one of the positioning planes of the calibration body as the X-axis direction, the direction perpendicular to the X-axis direction in the plane of the calibration body as the Y-axis direction, and the normal direction of the original point O in the plane of the calibration body as the Z-axis direction.

9. The shell-like dental instrument cutting method according to claim 3, wherein the constructing the first coordinate system of the component to be cut according to the information of the calibration unit on the component to be cut comprises the following steps:

10. A shell-like dental instrument cutting method according to claim 9, wherein said constructing a first coordinate system of said component to be cut from said detected position information of said calibration body comprises the steps of:

11. The shell-shaped dental instrument cutting method according to any one of claims 3 to 10, wherein the calibration unit includes a first calibration body, the first calibration body is disposed inside the dental model and connected to the dental model through a connecting portion, and a center point of the first calibration body coincides with a center of a circle circumscribing the dental model; and selecting the central point of the positioning plane of the first calibration body as the origin of the first coordinate system of the component to be cut.

12. A shell-like dental instrument cutting method according to claim 11, wherein the calibration unit further comprises a second calibration body and a third calibration body, a connecting line between the second calibration body positioning plane center point and the first calibration body positioning plane center point being arranged at right angles to a connecting line between the third calibration body positioning plane center point and the first calibration body positioning plane center point, a first coordinate system XOY of the component to be cut being established by the first calibration body positioning plane center point, the second calibration body positioning plane center point, the third calibration body positioning plane center point.

13. A shell-like dental instrument cutting method according to claim 3, wherein said establishing a translation relationship between said first coordinate system and said second coordinate system comprises: and adjusting the relative position of the assembly to be cut and the picking equipment according to the first coordinate system of the assembly to be cut, so that the conversion relation between the first coordinate system of the assembly to be cut and the second coordinate system of the picking equipment meets a preset threshold value.

14. A shell-like dental instrument cutting method according to claim 13, wherein said adjusting the relative position of the component to be cut and the pick-up device comprises in particular: and adjusting the picking angle of the picking equipment to ensure that the conversion relation between the coordinate system of the adjusted picking equipment and the first coordinate system of the component to be cut meets a preset threshold value.

15. A shell-like dental instrument cutting method according to claim 14, wherein after adjusting the pick-up angle of the pick-up device, the origin of the first coordinate system of the component to be cut coincides with the origin of the coordinate system of the pick-up device after adjustment, or satisfies a predetermined displacement relationship.

16. Shell-like dental instrument cutting method according to claim 15, wherein said adjusting the pick-up angle of the pick-up device comprises in particular:

acquiring parameters to be adjusted of the pickup equipment;

17. The shell-like dental instrument cutting method according to claim 16, wherein said obtaining the parameter to be adjusted of the pick-up device comprises:

18. A shell-like dental instrument cutting method according to claim 17, wherein the preset condition is that the three perpendicular distances are respectively equal, and the controlling the pick-up device to rotate adjusts the parameter to be adjusted specifically includes:

19. A shell-like dental instrument cutting method according to claim 18, characterized in that the pick-up angle of the pick-up device is adjusted, the adjusted coordinate system of the pick-up device coinciding with the first coordinate system of the component to be cut.

20. The shell-like dental instrument cutting method according to claim 1, further comprising the step of acquiring the preset cutting path:

21. A shell-like dental instrument cutting method according to claim 20, wherein said converting a preset cutting path of the component to be cut into a movement path of the pick-up device at the time of cutting according to the conversion information; the method specifically comprises the following steps:

22. A shell-like dental instrument cutting method according to claim 21, wherein said converting coordinates of points on said predetermined cutting path into corresponding point coordinates when a pick-up device performs a cutting operation comprises: the cutting is laser cutting; and according to the conversion information, enabling the Z axis in the coordinate of each point on the preset cutting path to be consistent with the laser direction.

23. A shell-like dental instrument cutting method according to claim 21, wherein said converting coordinates of points on said predetermined cutting path into corresponding point coordinates when a pick-up device performs a cutting operation comprises: the cutting is mechanical cutting; and according to the conversion information, enabling the Z axis in the coordinate of each point on the preset cutting path to be consistent with the axial direction of the cutting head in mechanical cutting.

24. The shell-like dental instrument cutting method according to claim 21, wherein the picking device is controlled to move the component to be cut along the motion path, and the component to be cut is cut within a set cutting area to obtain the shell-like dental instrument.

25. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the shell-like dental instrument cutting method according to any one of claims 1-24.

26. A method of making a shell-like dental instrument, comprising the steps of:

cutting the shell-shaped dental instrument using the shell-shaped dental instrument cutting method of any one of claims 1-24 to produce a shell-shaped dental instrument.