CN112137740B - Method for intelligent step-by-step tooth movement according to initial position and final position - Google Patents
Method for intelligent step-by-step tooth movement according to initial position and final position Download PDFInfo
- Publication number
- CN112137740B CN112137740B CN202010813820.8A CN202010813820A CN112137740B CN 112137740 B CN112137740 B CN 112137740B CN 202010813820 A CN202010813820 A CN 202010813820A CN 112137740 B CN112137740 B CN 112137740B
- Authority
- CN
- China
- Prior art keywords
- tooth
- stage
- teeth
- collision
- initial position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
Abstract
The invention discloses a method for intelligently stepping tooth movement according to an initial position and a final position, which is based on a computer and comprises the following steps: step S1, inputting parameters; step S2, setting at least one stage from an initial position to a final position for each tooth; step S3, obtaining the position and the posture of each step of the tooth in the transformation process for each stage of each tooth; step S4, filling the position and the posture of each step of the tooth into table items by taking the tooth number as a line number and taking the step number as a longitudinal number to obtain a tooth stepping table; step S5, starting from the first row, calculating whether each tooth collides with an adjacent tooth, if so, removing the collision, executing step S6, and if not, executing step S6; step S6, repeat step S5 for the next column until the last column of the dental step list. The invention simplifies the operation of the technician and improves the step efficiency.
Description
Technical Field
The invention relates to the technical field of tooth correction, in particular to a method for intelligently stepping tooth movement.
Background
In recent years, digital oral techniques have been rapidly developed, and invisible orthodontics of teeth have been gradually popularized. According to the initial position and the designed final position of the teeth, proper steps are inserted in the middle, so that the teeth can be orderly, reasonably and gradually corrected. The main drawback of the currently widely used step-by-step technique is that the insertion of the intermediate steps is manually performed by the technician, and the technician is required to properly arrange the moving sequence of the teeth and to insert several intermediate positions between the initial position and the final position in order to avoid the teeth from colliding with each other during the moving process according to the requirements of the doctor. This manual insertion process is often labor intensive, and is problematic in that the intermediate position, which is manually dragged, is the optimal position, and the intermediate step is designed to account for the law of tooth movement.
Disclosure of Invention
The invention aims to provide a method for intelligently stepping tooth movement according to an initial position and a final position, which simplifies the operation of a technician and improves the stepping efficiency.
The technical scheme for realizing the purpose is as follows:
a computer-based method for intelligent stepwise movement of teeth based on initial and final positions, comprising:
step S1, inputting the intelligent step parameters to the computer: initial position, final position, space moving step and maximum slice value;
step S2, setting at least one stage in the process from the initial position to the final position for each tooth;
step S3, for each stage of each tooth, the computer splits the transformation matrix of the position and the posture of the tooth according to the initial position, the final position and the space movement stride of the stage to obtain the position and the posture of each step of the tooth in the transformation process;
step S4, the computer takes the tooth number as the line number and the step number as the longitudinal number, and fills the position and the posture of each step of the tooth into a table item to obtain a tooth step table;
step S5, starting from the first row, the computer calculates whether each tooth collides with the adjacent tooth, if so, the computer releases the collision, and then step S6 is executed, and if not, step S6 is executed;
and step S6, repeating the step S5 for the next column, and completing intelligent stepping when the last column of the tooth stepping table is executed.
Preferably, in step S5, the collision cancellation includes:
in step S7, the computer detects whether or not collision can be avoided by adjusting the order in which the teeth are moved, the principle of the adjustment order following: between adjacent teeth, if the moving directions are opposite, collision cannot be generated; if the moving directions are the same, the tooth which is at the front in the moving direction moves firstly, the tooth which is at the back moves backwards, all the steps of the tooth which moves backwards are integrally moved to the right by one row, if the tooth which moves backwards is overlapped with the next stage, the next stage is also moved to the right by one row, at the moment, collision detection calculation is carried out again, when the collision is relieved, the step S6 is carried out, and if the last step of the current tooth and the adjacent tooth still has collision after the tooth moving is delayed, the step S8 is carried out;
step S8, assuming that n is the step of collision, and fitting an arch curve according to the near-far middle edge points of all teeth by the computer according to the positions and postures of all teeth when the computer calculates the nth step; and rearranging the tooth positions according to the fitted dental arch curve, wherein the principle of arrangement is as follows: if no collision occurs between adjacent teeth, the position of the teeth is unchanged, and if the collision occurs, the teeth on the rear side are pushed back along the dental arch until the collision is relieved;
in step S9, when the computer obtains the middle position after the collision is released, the computer inserts the middle position in the nth step, and specifically, the following determination is made:
for the tooth stepping table, if the nth step belongs to a certain stage, the stage is split into two stages, wherein the initial position of the first stage is the initial position of the original stage, the final position of the first stage is the inserted middle position, the initial position of the second stage is the inserted middle position, and the final position of the second stage is the final position of the original stage;
if the nth step does not belong to a certain stage, if the tooth has a stage before the nth step, newly establishing a stage, wherein the initial position of the stage is the final position of the previous stage, the final position of the stage is the intermediate position inserted in the nth step, and if the tooth has a stage after the nth step, newly establishing a stage, the initial position of the stage is the intermediate position inserted in the nth step, and the final position of the stage is the initial position of the next stage;
finally, step S6 is performed.
Preferably, in step S1, the initial position refers to an orthogonal coordinate system formed by the position of each tooth as the origin and the directions of the mesial-distal direction, the labial-lingual direction, and the extension direction of the teeth after the digital segmentation of the original dental model;
the final position refers to an orthogonal coordinate system after the relative positions of the coordinate system and the teeth are kept unchanged under the condition of the existing initial position coordinate system, and the teeth are arranged to accord with the expected spatial positions and postures through the tooth arrangement tool and are correspondingly changed;
the space movement stride refers to the maximum distance of the single-step movement of the teeth along three directions, namely the near-far direction, the labial-lingual direction and the pressing-down extension direction;
the maximum flap value refers to the width of the maximum resection that the tooth can withstand.
Preferably, in step S2, each stage represents a linear transformation of position and posture, including an initial position, a final position, and a spatial movement step of the stage.
Preferably, in step S3, the splitting rule is: obtaining the position of each intermediate position and the direction of the coordinate axis of the intermediate position according to the initial position and the final position and the number of steps, and then obtaining a transformation matrix according to the positions of the initial position and the intermediate position and the included angle between the coordinate axes;
in step S3, the tooth is not moved during the conversion process, and the position and posture thereof are maintained at the position and posture of the previous step.
The invention has the beneficial effects that: the invention determines the moving direction of the teeth by combining two methods of dental arch positioning and tooth moving path planning, and ensures the reasonability of tooth movement by preset movement limit of the teeth in each direction. The invention not only plans the moving path of the teeth more reasonably and efficiently, and divides the moving path into a plurality of steps to ensure that the correction process is carried out step by step, but also saves a great deal of time and energy of technicians through intelligent and automatic calculation, only needs to set some parameters before the step to be carried out, can carry out the whole process of trusteeship, and completes the subsequent step steps by a computer.
Drawings
FIG. 1 is a flow chart of a method of the present invention for intelligently stepping tooth movement according to an initial position and a final position.
Detailed Description
The invention will be further explained with reference to the drawings.
Referring to fig. 1, the method for intelligently stepping tooth movement according to initial and final positions according to the present invention is based on a computer and comprises the following steps:
step S1, inputting the intelligent step parameters to the computer: initial position, final position, spatial movement stride, maximum slice cut value. Wherein the content of the first and second substances,
the initial position refers to an orthogonal coordinate system which is formed by taking the position of each tooth as an origin and the near-far and middle directions, the labial-lingual directions and the depressing and extending directions of the tooth after the original dental model is digitally cut.
The final position refers to an orthogonal coordinate system after the relative position of the coordinate system and the tooth is kept unchanged under the condition that the initial position coordinate system exists, and the tooth is arranged to the spatial position and the posture which are expected by a doctor through the tooth arranging tool and is correspondingly changed.
The spatial movement stride refers to the maximum distance of single-step movement of the teeth along three directions, namely the near-far direction, the labial-lingual direction and the depressing and extending direction, the maximum stride of each direction of each tooth can be different, which is different from person to person, and is also considered according to the movement difficulty of different teeth in each direction, which is judged by a doctor according to clinical conditions.
The maximum slicing value refers to the maximum width of the excision (distance in the mesial-distal direction) that the teeth can bear during the above operation, and means that collision between teeth may occur when the teeth are aligned, and it is necessary to cut off a portion of the adjacent teeth by cutting the side of the teeth where there is crowding so that the adjacent teeth can be aligned normally without crowding.
At step S2, at least one stage in the process from the initial position to the final position is set for each tooth. Each tooth can have one or more stages (the specific number of stages is set by a doctor or a technician according to tooth arrangement needs) in the process from the initial position to the final position, and each stage represents a linear transformation of position and posture (the direction of the coordinate axis of the tooth in space), including the initial position, the final position and the spatial movement step of the stage.
Step S3, for each stage of each tooth, the computer splits the transformation matrix of the tooth position and posture according to the initial position, the final position and the spatial movement stride of the stage (the splitting rule is that each intermediate position and the direction of XYZ axes are obtained according to the initial position and the final position and the number of steps, and then the transformation matrix is obtained according to the positions of the initial position and the intermediate position and the included angle between coordinate axes), and the position and posture of each step of the tooth in the transformation process is obtained. Wherein, the position and the posture of the step are kept as the position and the posture of the previous step.
In step S4, the computer fills the table items with the tooth numbers as row numbers and the step numbers (number of step by step) as vertical numbers, and the positions and postures of each step of the teeth are recorded as a two-dimensional table, which is defined as a tooth step table.
In step S5, starting from the first row, the computer calculates whether each tooth collides with an adjacent tooth, and if so, performs step S7, and if not, performs step S6.
And step S6, repeating the step S5 for the next column, and completing intelligent stepping when the last column of the tooth stepping table is executed.
Step S7, the computer detects whether collision can be avoided by adjusting the order of tooth movement, the principle of the adjustment order follows: between adjacent teeth, if the moving directions are opposite, collision cannot be generated; if the moving directions are the same, the tooth which is at the front in the moving direction moves first, the tooth which is at the back moves later, all the steps of the tooth which moves later are moved integrally to the right in a row (the action of the operation of moving the tooth integrally to the right in a row is to delay the moving sequence of the tooth by one step so as to avoid collision between the tooth and the adjacent tooth), if the tooth which moves at the stage is overlapped with the next stage, the tooth moves to the right in the same row in the next stage, at the moment, collision detection calculation is carried out, when the collision is released, step S6 is executed, and if the last step of the current tooth and the adjacent tooth still has collision after the tooth moves in the later stage, step S8 is executed.
And step S8, assuming that n is the step of generating the collision, and fitting an arch curve according to the near-far middle edge points of all teeth by the computer according to the positions and postures of all teeth when the computer calculates the nth step. And rearranging the tooth positions according to the fitted dental arch curve, wherein the principle of arrangement is as follows: if no collision occurs between adjacent teeth, the tooth position is not changed, and if collision occurs, the rear teeth are pushed back along the dental arch until the collision is released.
In step S9, when the computer obtains the middle position after the collision is released, the computer inserts the middle position in the nth step, and specifically, the following determination is made:
in the tooth step table, if the nth step belongs to a certain stage, the stage is divided into two stages, wherein the initial position of the first stage is the initial position of the original stage, the final position of the first stage is the inserted middle position, the initial position of the second stage is the inserted middle position, and the final position of the second stage is the final position of the original stage.
If the step n does not belong to a certain stage, if the tooth has a stage before the step n, a stage is newly established, the initial position of the stage is the final position of the previous stage, the final position of the stage is the middle position inserted in the step n, if the tooth has a stage after the step n, a stage is newly established, the initial position of the stage is the middle position inserted in the step n, and the final position of the stage is the initial position of the next stage. The above two determinations are performed simultaneously, not alternatively.
Finally, step S6 is performed.
In conclusion, the invention automatically carries out the step-by-step tooth moving process, automatically solves the collision problem, greatly reduces the manual participation part of the step-by-step work and saves the cost and the time.
The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should also fall within the scope of the present invention, and should be defined by the claims.
Claims (4)
1. A computer-based method for intelligent stepwise movement of teeth based on initial and final positions, comprising:
step S1, inputting the intelligent step parameters to the computer: initial position, final position, space moving step and maximum slice value;
step S2, setting at least one stage in the process from the initial position to the final position for each tooth;
step S3, for each stage of each tooth, the computer splits the transformation matrix of the position and the posture of the tooth according to the initial position, the final position and the space movement stride of the stage to obtain the position and the posture of each step of the tooth in the transformation process;
step S4, the computer takes the tooth number as the line number and the step number as the longitudinal number, and fills the position and the posture of each step of the tooth into a table item to obtain a tooth step table;
step S5, starting from the first row, the computer calculates whether each tooth collides with the adjacent tooth, if so, the computer releases the collision, and then step S6 is executed, and if not, step S6 is executed;
in step S5, the collision resolution includes:
in step S7, the computer detects whether or not collision can be avoided by adjusting the order in which the teeth are moved, the principle of the adjustment order following: between adjacent teeth, if the moving directions are opposite, collision cannot be generated; if the moving directions are the same, the tooth which is at the front in the moving direction moves firstly, the tooth which is at the back moves backwards, all the steps of the tooth which moves backwards are integrally moved to the right by one row, if the tooth which moves backwards is overlapped with the next stage, the next stage is also moved to the right by one row, at the moment, collision detection calculation is carried out again, when the collision is relieved, the step S6 is carried out, and if the last step of the current tooth and the adjacent tooth still has collision after the tooth moving is delayed, the step S8 is carried out;
step S8, assuming that n is the step of collision, and fitting an arch curve according to the near-far middle edge points of all teeth by the computer according to the positions and postures of all teeth when the computer calculates the nth step; and rearranging the tooth positions according to the fitted dental arch curve, wherein the principle of arrangement is as follows: if no collision occurs between adjacent teeth, the position of the teeth is unchanged, and if the collision occurs, the teeth on the rear side are pushed back along the dental arch until the collision is relieved;
in step S9, when the computer obtains the middle position after the collision is released, the computer inserts the middle position in the nth step, and specifically, the following determination is made:
for the tooth stepping table, if the nth step belongs to a certain stage, the stage is split into two stages, wherein the initial position of the first stage is the initial position of the original stage, the final position of the first stage is the inserted middle position, the initial position of the second stage is the inserted middle position, and the final position of the second stage is the final position of the original stage;
if the nth step does not belong to a certain stage, if the tooth has a stage before the nth step, newly establishing a stage, wherein the initial position of the stage is the final position of the previous stage, the final position of the stage is the intermediate position inserted in the nth step, and if the tooth has a stage after the nth step, newly establishing a stage, the initial position of the stage is the intermediate position inserted in the nth step, and the final position of the stage is the initial position of the next stage;
finally, step S6 is executed;
and step S6, repeating the step S5 for the next column, and completing intelligent stepping when the last column of the tooth stepping table is executed.
2. The method according to claim 1, wherein in step S1, the initial position is an orthogonal coordinate system formed by the position of each tooth as the origin and the directions of the teeth, the mesial-distal direction, the labial-lingual direction, and the extension direction of the teeth, after the digital segmentation of the original dental model;
the final position refers to an orthogonal coordinate system after the relative positions of the coordinate system and the teeth are kept unchanged under the condition of the existing initial position coordinate system, and the teeth are arranged to accord with the expected spatial positions and postures through the tooth arrangement tool and are correspondingly changed;
the space movement stride refers to the maximum distance of the single-step movement of the teeth along three directions, namely the near-far direction, the labial-lingual direction and the pressing-down extension direction;
the maximum flap value refers to the width of the maximum resection that the tooth can withstand.
3. A method for intelligent step-wise tooth movement according to initial and final positions as claimed in claim 1, wherein each stage represents a linear transformation of position and posture including initial position, final position and step of spatial movement of the stage in step S2.
4. The method for intelligent stepping of tooth movement according to initial and final positions of claim 1, wherein in step S3, the splitting rule is: obtaining the position of each intermediate position and the direction of the coordinate axis of the intermediate position according to the initial position and the final position and the number of steps, and then obtaining a transformation matrix according to the positions of the initial position and the intermediate position and the included angle between the coordinate axes;
in step S3, the tooth is not moved during the conversion process, and the position and posture thereof are maintained at the position and posture of the previous step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010813820.8A CN112137740B (en) | 2020-08-13 | 2020-08-13 | Method for intelligent step-by-step tooth movement according to initial position and final position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010813820.8A CN112137740B (en) | 2020-08-13 | 2020-08-13 | Method for intelligent step-by-step tooth movement according to initial position and final position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112137740A CN112137740A (en) | 2020-12-29 |
| CN112137740B true CN112137740B (en) | 2022-02-15 |
Family
ID=73888155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010813820.8A Active CN112137740B (en) | 2020-08-13 | 2020-08-13 | Method for intelligent step-by-step tooth movement according to initial position and final position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112137740B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112315597B (en) * | 2020-11-24 | 2022-02-15 | 西安科技大学 | Tooth orthodontic path planning method |
| CN112884882B (en) * | 2021-01-21 | 2022-11-11 | 上海埃蒙迪材料科技股份有限公司 | Tooth arrangement step-by-step method, device and electronic equipment |
| CN113243999B (en) * | 2021-05-07 | 2022-11-18 | 正雅齿科科技(上海)有限公司 | Step-by-step method for tooth correction, step-by-step system and electronic equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5975893A (en) * | 1997-06-20 | 1999-11-02 | Align Technology, Inc. | Method and system for incrementally moving teeth |
| CN101604455A (en) * | 2009-07-03 | 2009-12-16 | 西安市恒惠科技有限公司 | Complex treatment path generating method based on jaw state |
| EP3569167B1 (en) * | 2011-02-18 | 2021-06-16 | 3M Innovative Properties Co. | Orthodontic digital setups |
| JP7285250B2 (en) * | 2017-10-06 | 2023-06-01 | スリーエム イノベイティブ プロパティズ カンパニー | Automated process of orthodontic intermediate digital setup generation |
-
2020
- 2020-08-13 CN CN202010813820.8A patent/CN112137740B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112137740A (en) | 2020-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112137740B (en) | Method for intelligent step-by-step tooth movement according to initial position and final position | |
| US11717381B2 (en) | Methods for tooth collision detection and avoidance in orthodontic treament | |
| CN111315314B (en) | Automated method for orthodontic digital alignment generation | |
| CN110448387B (en) | System and method for making a dental appliance or housing | |
| US11717384B2 (en) | Dental appliance with eruption tabs | |
| CN105748163B (en) | Computer-aided tooth bracket-free invisible appliance design method | |
| CN110025387B (en) | Automatic generation method of digital dental ideal model | |
| CN104771231B (en) | Guider for orthognathic surgery bone piece displacement and preparation method thereof | |
| EP3342367A1 (en) | Method for manufacturing customized orthodontic square wire | |
| US20170281314A1 (en) | Method for prducing a positioning tray and the device therefor | |
| EP3346941A1 (en) | Tooth-positioning appliance, systems and methods of producing and using the same | |
| CN113662690B (en) | Orthodontic brackets, systems and methods | |
| EP3941384B1 (en) | Methods and systems for locating marks on orthodontic appliances | |
| CN109448113B (en) | Virtual tooth root generation method for computer-aided invisible orthodontic, storage device and computer | |
| CN114247898B (en) | Selective laser melting forming method for reducing residual stress of thin-wall part in situ | |
| KR102196147B1 (en) | Apparatus And Method For Automatically Generating Margin Lines | |
| KR102019601B1 (en) | System and method of prosthesis design using software | |
| US11357599B1 (en) | Method for producing an aligner | |
| CN113244000B (en) | Step-by-step method for tooth correction, step-by-step system and electronic equipment | |
| EP3685793A1 (en) | Method and apparatus for generating dental data suitable for manufacturing a dental aligner | |
| CN112932694A (en) | Computer-implemented method for generating tooth movement plan for orthodontic treatment | |
| CN112932695B (en) | Method for judging adjacent surface glaze removing time by computer | |
| KR102304436B1 (en) | Method for guide design for implant surgery and apparatus thereof | |
| CN114145869B (en) | Denture adhesive making method, denture adhesive making system, computer equipment and readable storage medium | |
| CN114652467B (en) | Tooth bracket-free invisible correction method based on computer assistance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211125 Address after: 201801 3rd floor, No.5 factory building, Lane 615, Fengdeng Road, Malu Town, Jiading District, Shanghai Applicant after: Shanghai Emendi Material Technology Co.,Ltd. Address before: 201306 room 25077, area 1, building 1, No.888, Huanhu West 2nd Road, Nanhui new town, Pudong New Area, Shanghai Applicant before: SHANGHAI AISHENGMEI TECHNOLOGY CO.,LTD. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |