CN113449426B - Digital tooth arrangement method, system, apparatus and medium - Google Patents
Digital tooth arrangement method, system, apparatus and medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 76
- 210000002455 dental arch Anatomy 0.000 claims abstract description 194
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- 230000006870 function Effects 0.000 claims description 49
- 210000004283 incisor Anatomy 0.000 claims description 33
- 210000004763 bicuspid Anatomy 0.000 claims description 18
- 238000010276 construction Methods 0.000 claims description 12
- 210000003464 cuspid Anatomy 0.000 claims description 11
- 210000004513 dentition Anatomy 0.000 claims description 11
- 230000036346 tooth eruption Effects 0.000 claims description 11
- 238000004422 calculation algorithm Methods 0.000 claims description 10
- 238000005520 cutting process Methods 0.000 claims description 9
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- 238000000513 principal component analysis Methods 0.000 claims description 6
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- 238000004458 analytical method Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
-
- 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
- A61C7/08—Mouthpiece-type retainers or positioners, e.g. for both the lower and upper arch
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- 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
- A61C2007/004—Automatic construction of a set of axes for a tooth or a plurality of teeth
Abstract
The invention discloses a digital tooth arrangement method, a digital tooth arrangement system, digital tooth arrangement equipment and digital tooth arrangement media, wherein the digital tooth arrangement method comprises the following steps: firstly, an initial digital dental model of a patient is obtained, then, the tooth characteristics of the initial digital dental model of the patient are identified to be combined with a preset dental arch curve to represent the model, in addition, a dental arch curve objective function can be obtained according to the initial dental arch curve combination medical index, the initial dental arch curve is corrected according to the dental arch curve objective function and the preset tooth arrangement parameter, a target dental arch curve is obtained, the teeth on the initial digital dental model are arranged on the target dental arch curve, and therefore, the digital tooth arrangement result of the patient is obtained.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a digital tooth arrangement method, a digital tooth arrangement system, digital tooth arrangement equipment and digital tooth arrangement media.
Background
The invisible tooth appliance has the advantages of attractive appearance, comfort and convenience for a patient to take off and wear at any time, so that the invisible tooth appliance is used for correcting the teeth and is more and more accepted by the patient. The tooth invisible appliance can be a polymer shell-shaped appliance designed according to the situation of the dento-maxillofacial region of a patient, when the patient wears the tooth invisible appliance, the masticatory acting force of the patient can act on the tooth invisible appliance, daily accumulation and monthly accumulation can change deformed jawbone, misplaced teeth and periodontal supporting tissues, and the teeth are promoted to be regulated to a reasonable position laid by the tooth invisible appliance.
At present, in the process of designing and manufacturing the tooth invisible appliance, manufacturers generally need to scan and acquire three-dimensional image data of the jaw face of a patient firstly, perform diagnosis analysis and treatment prediction on the three-dimensional image data, simulate tooth arrangement through a computer, namely perform tooth cutting and tooth alignment, and finally realize personalized manufacturing of the tooth invisible appliance. However, the existing digital tooth arrangement method is aimed at the whole teeth, and some patients may desire to correct only some teeth due to the consideration of correction cost and correction time, but the digital tooth arrangement method of the whole teeth is not suitable for correcting some teeth and obtaining the needs of customers.
The application provides a technical scheme for solving the technical problems.
Disclosure of Invention
The embodiment of the application provides a digital tooth arrangement method, a system, equipment and a medium, which can realize digital tooth arrangement of teeth to be corrected of a patient.
In a first aspect, embodiments of the present application provide a method for digitizing a tooth arrangement, the method being executable by an electronic device, such as a personal computer, the method comprising: firstly, an initial digital dental model of a patient is obtained, then, the tooth characteristics of the initial digital dental model of the patient are identified to be combined with a preset dental arch curve to represent the model, in addition, a dental arch curve objective function can be obtained according to the initial dental arch curve combination medical index, the initial dental arch curve is corrected according to the dental arch curve objective function and the preset tooth arrangement parameter, a target dental arch curve is obtained, the teeth on the initial digital dental model are arranged on the target dental arch curve, and therefore, the digital tooth arrangement result of the patient is obtained. Wherein, tooth incisal edge midpoint includes: the initial digital dental model comprises a front dental area tooth incisor midpoint and/or a rear dental area tooth cheek tip midpoint, an incisor edge midpoint, an cuspid cusp, a premolars cheek tip point and a molar cheek tip intermediate point, wherein the acquisition modes of the premolars cheek tip point and the molar cheek tip intermediate point are as follows: the midpoint of the furthest two buccal cusps on the same molar is found.
In the embodiment of the application, other non-corrected teeth are considered to be influenced after the adjustment of the teeth to be corrected, so that the objective function constructed by the application considers the matching relation between the non-corrected teeth and the teeth to be corrected, thereby constructing a dental arch curve by using the objective function, and using the dental arch curve to simulate the tooth arrangement result, the non-corrected teeth and the corrected teeth can be orderly arranged without fall, and the tooth arrangement result can meet the medical index and the attractive requirement.
In one possible design, the construction of the target dental coordinate system includes: acquiring the occlusion direction of an initial digital dental model; and constructing a target dental coordinate system based on the midpoint of the incisal margin and the occlusal direction of the tooth to be corrected. The method can realize the construction of a dental jaw coordinate system so as to accurately represent the target dental arch curve.
In one possible design, one way of constructing the target dental coordinate system may include: acquiring a dental center line of an initial digital dental model, and constructing an initial dental coordinate system of the initial digital dental model by combining a dental incisal edge midpoint of tooth characteristics and an occlusion direction, wherein a y-axis of the initial dental coordinate system is the dental center line, a z-axis is the occlusion direction, and an x-axis is a cross product of the y-axis and the z-axis;
Respectively mapping and projecting the midpoint of the tooth incisal edge of the set tooth on the single-jaw single-side initial digital dental model to a jaw plane, and acquiring the main direction of the projection point of the mapped projection point through a principal component analysis algorithm;
performing angular bisector processing on the main directions of projection points at two sides of the obtained single-jaw initial digital dental model, and setting the angular bisector as a corrected dental midline;
and adjusting the initial dental coordinate system based on the corrected dental midline to obtain the target dental coordinate system, wherein a Y axis of the target dental coordinate system is the corrected dental midline, a Z axis is the occlusion direction, and an X axis is the cross product of the Y axis and the Z axis.
In this embodiment, the final target dental coordinate system is more accurate by adjusting the dental midline.
In one possible design, the dental arch curve objective function is represented by:
the deviation of the actual value from the ideal value, representing the measured buccal lingual deviation between the first anterior molars of the upper and lower jaws, and representing the distance of the second anterior molars of the upper and lower jaws from the midpoint of the incisor edge of the first molar are summed.
In one possible design, the deviation of the actual value from the ideal value representing the incisor coverage includes at least one of the following:
ω 1 [R(x 1 ,x 4 ,Δ ovj_0 ,Δ ovj_1 )] n ，
Or omega 1 (lnR(x 1 ,x 4 ,Δ ε ,Δ ovj_0 ,Δ ovj_1 )) n Or (b)
In one possible design, the indication of measuring the buccal lingual deviation between the first premolars of the upper and lower jaws includes at least one of the following:
ω 2 [N(x，p 4 )-Δ ovj_4 ] m ，
or omega 2 (lnN(x，p 4 )-Δ ovj_4 ) m ，
Or (b)
In one possible design, the distance from the midpoint of the incisor edge of the upper and lower teeth to the dental arch curve is represented by at least one of:
ω 3 [D(x 1 ，x 2 )+D(x 3 ，x 4 )] t ，
or omega 3 (lnD(x 1 ，x 2 )+D(x 3 ，x 4 )) t ；
Or (b)
In one possible design, the constraints include:
L(x 1 ,x 2 )≤Δ teeth_u ,Δ elmgap_u ；
L(x 3 ,x 4 )≤Δ teeth_l ,Δ elmgap_l ；
L(x 3 ,x 4 )≤Δ teeth_l ,Δ elmgap_l ；
Δ teeth_u -Δ enamax_u ≤L(x 1 ，,x 2 )；
Δ teeth_l -Δ enamax_l ≤L(x 3 ，,x 4 )；
(N(x,p 23 )-N(x,p 4 ))*(N(x,p 23 )-(x 1 -x 3 -Δ ε ))≤0。
in one possible design, this includes:
x 1 : maxillary dental arch depth;
x 2 : a dental arch width compensation amount at any point on the mesial side of the maxillary 4/5 tooth abutment;
x 3 : a dental arch width compensation amount at any point between the 4/5 tooth abutment point and the 6/7 tooth abutment point of the upper jaw;
x 4 : mandibular arch depth;
x 5 : a dental arch width compensation amount at any point on the mesial side of the mandibular 4/5 tooth abutment;
x 6 : a dental arch width compensation amount at any point between the 4/5 tooth abutment point and the 6/7 tooth abutment point of the lower jaw;
n, m, t are real numbers greater than 0;
ω 1 ，ω 2 ，ω 3 is a weight coefficient;
Δ ε : deviation of origin of upper and lower jaw coordinate system on y axis;
Δ ovj_0 ,Δ ovj_1 : a coverage initial value and a target value of the tooth number 1;
Δ ovj_4 : cheek lingual distance from the cheek tip of the maxillary No. 4 tooth to the central sulcus;
Δ teeth_u ,Δ teeth_l : total teeth amount of upper and lower jaws;
Δ elmgap_u ,Δ elmgap_l : minimum stripping amount for eliminating gaps between the upper jaw and the lower jaw;
Δ enamax_u ,Δ enamax_l : maximum glazing amount of upper and lower jaws;
r: a weighting function of the upper and lower tooth coverage trend target values;
n: the distance from a certain point on the maxillary dental arch curve to the mandibular dental arch;
d: the key distance from the arch curve of the single jaw tooth to the cutting edge of the tooth number 5/6;
l: arc length between the single jaw arches 4-4;
p 23 : 2/3 adjacent points of the maxillary dental arch curve;
p 4 : position parameters of the buccal cusp No. 4.
In one possible design, arch width information is obtained from tooth features, as well as arch width compensation information; and distributing the dental arch width information and the dental arch width compensation information to a preset dental arch curve representation model through a preset weight function to obtain an initial dental arch curve constructed on a target dental jaw coordinate system. The method can realize the representation of the initial dental arch curve on the target dental coordinate system.
In one possible design, the correcting the initial dental arch curve according to the dental arch curve objective function in combination with a preset tooth arrangement parameter, and obtaining a target dental arch curve includes:
acquiring preset tooth arrangement parameters which are expected to be met by teeth to be corrected of a patient; the preset tooth arrangement parameters comprise a target value of upper and lower front teeth coverage trend, a tooth arch curve arc length of teeth to be corrected of the upper jaw or the lower jaw falls into a set interval, and the collision quantity between the teeth to be corrected of the upper jaw or the lower jaw meets the set interval;
And correcting the arch width compensation quantity of the teeth to be corrected and the stripping quantity of the teeth to be corrected of the initial arch curve according to the arch curve objective function in combination with preset tooth arranging parameters, and obtaining the objective arch curve.
In this embodiment, the initial arch curve is adjusted, so that the final target arch curve is more suitable for the medical requirements of tooth arrangement and the tooth characteristics of the patient.
In one possible design, the arrangement of teeth on the initial digitized dental model on the target dental arch curve includes: based on the target dental arch curve, the positions of the teeth on the initial digital dental model are moved, and the angles of the teeth on the initial digital dental model are adjusted, so that a digital tooth arrangement result of a patient is obtained. The method can ensure that the teeth to be corrected can meet the medical requirements of tooth arrangement after being corrected.
In one possible design, the method further comprises: adjusting the upper back teeth and the lower back teeth to an occlusion state meeting the set collision amount; the upper and lower teeth are translated to a set reasonable ideal value according to a set tooth adjusting sequence, the collision quantity of the upper and lower teeth is calculated by using a collision detection algorithm, and the collision quantity is removed, so that the digital teeth of the patient are covered. The method can achieve the purpose of optimizing the simulated tooth arrangement result by covering the simulated tooth arrangement result.
In one possible design, the method of determining the set coverage ideal includes: and calculating the set coverage reasonable thinking value of the teeth of the patient according to the medical index and the aesthetic requirement, the occlusion state information of the rear teeth of the patient and the actual coverage value of the teeth of the patient.
In one possible design, the medical index includes: the anterior teeth of the upper and lower jaws are kept covered normally; the occlusions of the upper and lower back teeth keep the opposite state of the cuspids; the teeth of the upper jaw or the lower jaw are aligned to form neat and smooth dentition, and adjacent teeth have no obvious buccal lingual deviation; the ratio of the total dental volume of the upper and lower jaws; the dental volume of the teeth to be corrected of the upper jaw or the lower jaw and the corresponding dental arch length parameter.
In a second aspect, embodiments of the present application also provide a digital dental alignment system, the system comprising:
the acquisition module is used for acquiring an initial digital dental model of a patient;
an identification module for identifying tooth features of an initial digitized dental model of the patient; the tooth feature comprises: tooth incisal margin, tooth incisal margin midpoint, clinical crown spatial pose;
the construction module is used for constructing an initial dental arch curve on a target dental jaw coordinate system by utilizing a preset dental arch curve representation model according to the tooth characteristics;
The construction module is also used for acquiring a dental arch curve objective function according to the initial dental arch curve medical index; correcting the initial dental arch curve according to the dental arch curve objective function and a constraint condition obtained by combining a preset tooth arrangement parameter, and obtaining a target dental arch curve;
the arrangement module is used for arranging the teeth on the initial digital dental model on the target dental arch curve;
wherein the tooth incisal edge midpoint comprises: the initial digital dental model comprises a front dental area tooth incisor midpoint and/or a rear dental area tooth cheek tip midpoint, an incisor edge midpoint, an cuspid cusp, a premolars cheek tip point and a molar cheek tip intermediate point, wherein the acquisition modes of the premolars cheek tip point and the molar cheek tip intermediate point are as follows: the midpoint of the furthest two buccal cusps on the same molar is found.
The advantages of the second aspect may be found in the description of the first aspect, and the detailed description is not repeated here.
In a third aspect, embodiments of the present application provide a method of designing a shell dental appliance, the method comprising designing a shell dental appliance according to the digital dental alignment method of the first aspect described above.
In a fourth aspect, the present application provides an electronic device comprising a processor and a memory, the processor executing computer instructions stored in the memory, to cause the electronic device to perform the method of any one of the first aspects.
In a fifth aspect, embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium comprising a computer program, which when run on an electronic device causes the electronic device to perform the method of any one of the possible designs of the above aspect.
In a sixth aspect, embodiments of the present application also provide a method comprising a computer program product, which when run on a terminal, causes the electronic device to perform any one of the possible designs of the above aspect.
Advantageous effects concerning the above third to sixth aspects can be seen from the description of the above first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a patient's teeth according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for digital tooth alignment according to an embodiment of the present invention;
fig. 3 is a schematic view of a dental coordinate system according to an embodiment of the present invention;
FIG. 4 is a schematic view of a dental arch according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a target dental arch curve represented by an objective function according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an example of a simulated tooth arrangement effect according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a digital tooth arrangement system according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
Currently, prior to a doctor's delivery of a patient, a regimen of tooth placement needs to be predicted and evaluated first, with the prediction and evaluation of the regimen being accomplished by simulating a tooth placement procedure. The simulated tooth arrangement mode can firstly utilize a 3D digital imaging technology and a three-dimensional modeling technology to obtain accurate three-dimensional dentition grid model data; and then, automatically arranging teeth in the three-dimensional dentition grid model data by utilizing the arrangement rules in orthodontics and through a proper algorithm, so as to provide prediction and evaluation for an actual arrangement scheme. The digital tooth arrangement method is aimed at the whole mouth teeth, and the analog tooth arrangement industry aiming at partial teeth does not have the related technology.
For example, for eight teeth in the dashed box shown in fig. 1. Considering that only the eight teeth are corrected, there may occur a problem that the eight teeth collide with the teeth around which correction is not required or the gap is excessively large after being moved. Therefore, the embodiment of the application provides a digital tooth arrangement method, which is used for carrying out simulated tooth arrangement on teeth to be corrected so that the non-corrected teeth cannot collide with the corrected teeth or have abnormal gaps, or the simulated tooth arrangement method provided by the embodiment of the application can be used for meeting the correction requirements of staggered tooth arrangement and tidy teeth.
Before describing embodiments of the present application, some of the terms used in the embodiments of the present application are explained below to facilitate understanding by those skilled in the art.
1. Dental arch curve refers to an ideal curve tangential to the dentition.
Because the dental arch of the patient is abnormal in shape, the embodiment of the application designs the target dental arch curve, and the fitting and the generation of the target dental arch curve have important significance in auxiliary correction design and simulated tooth arrangement test.
2. Alignment refers to the correction of teeth in a crowded, dislocated state, to adjust the teeth to the normal physiological position that should be occupied on the arch.
3. International Association of dentistry or FDI formula recording method
4. Palmer-zsignmondy recording method
An embodiment of the present invention provides a digital tooth arrangement method, which may be applied to the invisible orthodontic treatment of a part of teeth, as shown in fig. 2, and may be performed by an electronic device, which may be a mobile phone (mobile phone), a tablet (Pad), a personal computer (personal computer, PC), a wireless terminal in remote medical (remote medical), or the like. The method will be described below by taking an electronic device as an example of a personal computer (personal computer, PC), and specifically includes the following steps.
S201, acquiring an initial digital dental model of a patient.
The digitized dental model may include, among other things, a dental mesh, dental triaxial, dental gum line, dental FDI number, dental initial position, bite direction, dental midline, etc.
In a possible embodiment, the initial digital dental model may be obtained by using a 3D digital imaging technique and a three-dimensional modeling technique to obtain three-dimensional dentition grid model data, and generating the initial digital dental model based on the three-dimensional dentition grid model data; or, a plaster dental cast can be obtained based on the patient's bite model, and then the plaster dental cast is subjected to three-dimensional reconstruction to obtain three-dimensional dentition grid model data, and an initial digital dental model is generated based on the three-dimensional dentition grid model data.
S202, identifying the tooth characteristics of the initial digital dental model of the patient.
The tooth characteristics may include, among other things, the incisal margin of the tooth, the midpoint of the incisal margin of the tooth, the spatial pose of the clinical crown, the buccal lingual distance of the midpoint of the incisal margin of the maxillary No. 4 to the central sulcus. Tooth characteristics may also include clinical coronal axis clinical coronal long axis (facial axis ofthe clinical crown, FACC) axis, FACC point, FACC axis direction.
In this embodiment, the identified tooth characteristic may be a tooth characteristic of all of the patient's teeth, or may be a tooth characteristic of a portion of the patient's teeth.
Illustratively, the teeth to be treated may be all of the teeth of the patient as shown in fig. 1; or eight teeth as shown in the dashed box of fig. 1, namely eight teeth including 1 (central incisors), 2 (side incisors), 3 (cuspids), and 4 (first premolars); or the teeth to be corrected can also be ten teeth including 1 (middle incisors), 2 (side incisors), 3 (cuspids), 4 (first premolars) and 5 (second premolars); or the teeth to be corrected can be six teeth including 1 (middle incisors), 2 (side incisors) and 3 (cuspids). It should be noted that, in the following, the teeth to be corrected will be mainly described as eight teeth shown in the dashed line box in fig. 1.
S203, constructing an initial dental arch curve on a target dental jaw coordinate system by using a preset dental arch curve representation model according to the tooth characteristics.
One possible implementation in this step may be: acquiring dental arch width information and dental arch width compensation information from the tooth characteristics; and distributing the dental arch width information and the dental arch width compensation information to a preset dental arch curve representation model through a preset weight function to obtain an initial dental arch curve constructed on a target dental jaw coordinate system. There are various ways of constructing the target dental coordinate system, and specific reference may be made to examples one to three below.
For example, the preset dental arch curve representation model may be an equation representation model of a deformed ellipse. The arch width information contains an arch width W, and the arch width compensation information includes an arch depth D, an arch width compensation amount C1, and an arch width compensation amount C2. Wherein C1, C2 are assigned to the elliptic curve using a weight function.
S204, acquiring a dental arch curve objective function according to the initial dental arch curve combination medical index.
In this embodiment, the medical index may include at least one of: the anterior teeth of the upper and lower jaws are kept covered normally; the occlusions of the upper and lower back teeth keep the opposite state of the cuspids; the teeth of the upper jaw or the lower jaw are aligned to form neat and smooth dentition, and adjacent teeth have no obvious buccal lingual deviation; the ratio of the total teeth amount of the upper jaw to the lower jaw is matched so as to meet the requirement of occlusion; the tooth quantity of the teeth to be corrected of the upper jaw or the lower jaw is matched with the corresponding dental arch length so as to meet the tooth alignment requirement.
In this step, one possible implementation may be: firstly, constructing a dental coordinate system based on a mid-point of a incisal edge of a tooth to be corrected and a dental midline, and then constructing an objective function for solving an objective dental arch curve of a patient under the dental coordinate system according to the mid-point of the incisal edge of the tooth to be corrected, the dental arch width, the dental arch depth and the dental arch width compensation quantity; the characteristic parameters of the objective function for solving the objective dental arch curve may include a maxillary dental arch depth, a mandibular dental arch depth, a maxillary dental arch width, a mandibular dental arch width, a maxillary dental arch width compensation amount, a mandibular dental arch width compensation amount, and the like.
And S205, correcting the initial dental arch curve according to the dental arch curve objective function and combining with preset tooth arrangement parameters, and obtaining a target dental arch curve.
In this step, one possible implementation may be: acquiring preset tooth arrangement parameters which are expected to be met by teeth to be corrected of a patient; the preset tooth arrangement parameters comprise a target value of upper and lower front teeth coverage trend, a tooth arch curve arc length of teeth to be corrected of the upper jaw or the lower jaw falls into a set interval, and the collision quantity between the teeth to be corrected of the upper jaw or the lower jaw meets the set interval; further, according to the dental arch curve objective function, the dental arch width, the dental arch depth and the dental arch width compensation amount of the initial dental arch curve are corrected by combining with preset dental arch arranging parameters, and the target dental arch curve is obtained. The specific calculation of the target arch curve can be seen below.
S206, performing arrangement processing on the teeth on the initial digital dental model on the target dental arch curve.
In this step, one possible implementation may be: based on the target dental arch curve, the positions of the teeth on the initial digital dental model are moved, and the angles of the teeth on the initial digital dental model are adjusted, so that a digital tooth arrangement result of a patient is obtained.
Therefore, by the method, the embodiment can realize the simulated tooth arrangement of the teeth of the patient and obtain the digital tooth arrangement result. According to the digital tooth arrangement method, under the condition that the teeth to be corrected of a patient are part of the teeth of the patient, the matching relation between the teeth which are not corrected and the teeth to be corrected can be considered, so that an arch curve is constructed by utilizing the objective function, and the result of simulating tooth arrangement by utilizing the arch curve is used for enabling the teeth which are not corrected and the teeth which are corrected to be orderly arranged without fall, and the tooth arrangement result meets the medical index and the aesthetic requirement.
In this embodiment, the target dental coordinate system needs to be constructed before the initial dental arch curve is constructed. The construction mode of the target dental coordinate system can be as follows: firstly, acquiring the occlusion direction of an initial digital dental model; and then constructing a target dental coordinate system based on the midpoint of the incisal margin and the occlusal direction of the tooth to be corrected. Specifically, reference may be made to examples one to three described below.
Firstly, acquiring a dental midline of the initial digital dental model, constructing an initial dental coordinate system of the initial digital dental model by combining a dental incisal edge midpoint and an occlusion direction of tooth characteristics, wherein a y-axis of the initial dental coordinate system is the dental midline, a z-axis is the occlusion direction, x-axes are cross products of the y-axis and the z-axis, mapping and projecting the dental incisal edge midpoint of a set tooth on the single-jaw single-side initial digital dental model to a jaw plane, and acquiring a main direction of a projection point of the mapped projection point through a principal component analysis algorithm. Further, angular bisectors can be processed on the main directions of projection points on two sides of the obtained single-jaw initial digital dental model, the angular bisectors are set to be corrected dental centerlines, an initial dental coordinate system is adjusted based on the corrected dental centerlines, and a target dental coordinate system is obtained, wherein a Y axis of the target dental coordinate system is the corrected dental centerlines, a Z axis is the occlusion direction, and an X axis is the cross product of the Y axis and the Z axis.
As shown in fig. 3, first, a dental coordinate system of the maxillary teeth (as shown in (a) of fig. 3) and a dental coordinate system of the mandibular teeth (as shown in (b) of fig. 3) are established, respectively. Specifically, an initial dental coordinate system is established by utilizing the mid-points of incisal edges, the occlusal directions and the dental midline of the upper and lower teeth, the mid-points of incisal edges of the teeth with the number 15-17/45-47 are projected onto a jaw plane, the main directions of the mid-points of incisal edges of the teeth with the number 25-27/35-37 are calculated by using a principal component analysis (principal component analysis, PCA) algorithm, the same treatment is carried out, and the angular bisectors of the two main directions are taken as the midline directions to correct the dental midline. And then taking the midpoint of the incisal edge of the 6 th tooth of the single-jaw tooth, shifting the projection point on the central line backwards by 10mm, and interpolating according to the midpoint of the incisal edge of the 5/6/7 th tooth in the occlusion direction to obtain a single-jaw origin, wherein the Y axis of a jaw coordinate system is the central line direction of the corrected jaw central line, the Z axis is the occlusion direction, and the X axis is the cross product of the Y axis and the Z axis.
Taking all vertexes (or mid-points of incisors or centers of gravity of the teeth) of the single-jaw teeth grid as PCA, and taking a third row as an occlusal direction, namely a z direction; taking the midpoint of the connecting line of all vertexes (or the midpoint of the incisal edge or the center of gravity of the tooth grid) of the single-jaw tooth and the FDI tooth, and performing PCA or least square fitting on all midpoints to obtain a direction, and projecting the direction to the normal direction of the occlusal direction, namely the midline direction, namely the y direction; the cross product of the two is in the other direction, namely the x direction; all vertices (or the mid-point of the incisal edge, or the center of gravity of the tooth mesh) are projected in the midline direction to be the most posterior, and the projected point on the midline is taken as the origin.
Example three: taking the midpoints of the incisors of the two 6 teeth and the midpoints of the incisors of the two 1 teeth (and/or the midpoints of the incisors of the two 3 teeth) of a single jaw, and fitting a least square plane, wherein the normal direction of the plane is the occlusal direction, namely the z direction; taking the perpendicular bisectors of the connection lines of the single-jaw teeth and the FDI teeth and the midpoints of incisors, wherein the least square direction (or average direction) of all perpendicular bisectors is the midline direction, namely the y direction; the cross product of the two is in the other direction, namely the x direction; the point of projection of the average point of the midpoints of the rearmost cutting edges on the two sides on the central line is taken as the origin.
For the above-mentioned S204 and S205, the incisal midpoint of the teeth to be corrected (e.g., the incisal midpoint of the 4-4 teeth), the width of the dental arch, and the depth of the dental arch are first obtained, and the dental arches of the upper and lower teeth are fitted to the same coordinate system to be represented. Illustratively, as shown in fig. 4, the mid-point of the incisal edge, the arch width, and the arch depth of each tooth in the initial digitized dental model shown in fig. 4 (a) are obtained, and the maxillary initial dental arch curve and the mandibular initial dental arch curve (shown in the drawing with thick black lines) are represented in the world coordinate system shown in fig. 4 (b). It can be seen that the arch curve can be represented by a function of a deformed elliptic curve, for example, the function of the elliptic curve includes four characteristic parameters of arch width W, arch depth D, arch width compensation amount C1 and arch width compensation amount C2, wherein C1 and C2 are distributed on the elliptic curve by a weight function. And then obtaining a dental arch curve objective function based on the medical indexes and the initial dental arch curve, wherein characteristic parameters of the dental arch curve objective function can comprise the depth of the maxillary dental arch, the depth of the mandibular dental arch, the dental arch width compensation quantity of the teeth to be corrected, such as the dental arch width compensation quantity of the teeth No. 1, the dental arch width compensation quantity of the teeth No. 2 and the like.
Taking the teeth to be corrected as 4-4 teeth of a patient shown by a dashed line frame in fig. 1 as an example, by scanning the oral cavity of the patient, obtaining three-dimensional dentition grid model data by utilizing a 3D digital imaging technology and a three-dimensional modeling technology, obtaining an initial digital dental model of the patient, identifying tooth characteristics of the initial digital dental model, such as a incisal edge, a incisal edge midpoint, a FACC axis and the like, of each tooth, constructing an objective function of the teeth of the patient based on the tooth characteristics, and fitting dental archwires of the upper and lower jaw teeth in the same world coordinate system to represent the dental archwires, wherein the representation mode of the dental archwire objective function comprises: the deviation of the actual value from the ideal value, representing the measured buccal lingual deviation between the first anterior molars of the upper and lower jaws, and representing the distance of the second anterior molars of the upper and lower jaws from the midpoint of the incisor edge of the first molar are summed.
The dental arch curve objective function is set to min.f (x);
a deviation of an actual value representing the incisor coverage amount from an ideal value is set to Δθ1;
represent a measure of the buccal lingual deviation Δθ2 between the first premolars of the upper and lower jaws;
representing the distance delta theta 3 of the midpoint of the incisor edge of the upper and lower teeth from the first teeth to the dental arch curve:
The eye arch curve objective function is thus expressed as: f (x) =Δθ1+Δθ2+Δθ3;
the preset tooth arrangement parameters in the objective function of the dental arch curve can meet the constraint conditions:
L(x 1 ,x 2 )≤Δ teeth_u ,Δ elmgap_u ；
L(x 3 ,x 4 )≤Δ teeth_l ,Δ elmgap_l ；
L(x 3 ,x 4 )≤Δ teeth_l ,Δ elmgap_l ；
Δ teeth_u -Δ enamax_u ≤L(x 1 ，,x 2 )；
Δ teeth_l -Δ enamax_l ≤L(x 3 ，,x 4 )；
(N(x,p 23 )-N(x,p 4 ))*(N(x,p 23 )-(x 1 -x 3 -Δ ε ))≤0；
wherein, min.f (x) is f (x) to take the minimum value, x 1 : maxillary dental arch depth; x is x 2 : a dental arch width compensation amount at any point on the mesial side of the maxillary 4/5 tooth abutment; x is x 3 : a dental arch width compensation amount at any point between the 4/5 tooth abutment point and the 6/7 tooth abutment point of the upper jaw; x is x 4 : mandibular arch depth; x is x 5 : a dental arch width compensation amount at any point on the mesial side of the mandibular 4/5 tooth abutment; x is x 6 : dental arch at any point between 4/5 th tooth abutment point and 6/7 th tooth abutment point of lower jawA width compensation amount; n, m, t are real numbers greater than 0; omega 1 ，ω 2 ，ω 3 Is a weight coefficient; delta ε : deviation of origin of upper and lower jaw coordinate system on y axis; delta ovj_0 ,Δ ovj_1 : a coverage initial value and a target value of the tooth number 1; delta ovj_4 : cheek lingual distance from the cheek tip of the maxillary No. 4 tooth to the central sulcus;
Δ teeth_u ,Δ teeth_l : total teeth amount of upper and lower jaws;
Δ elmgap_u ,Δ elmgap_l : minimum stripping amount for eliminating gaps between the upper jaw and the lower jaw;
Δ enamax_u ,Δ enamax_l : maximum glazing amount of upper and lower jaws;
r: a weighting function of the upper and lower tooth coverage trend target values;
n: the distance from a certain point on the maxillary dental arch curve to the mandibular dental arch;
D: the key distance from the arch curve of the single jaw tooth to the cutting edge of the tooth number 5/6;
l: arc length between the single jaw arches 4-4;
p 23 : 2/3 adjacent point and p of maxillary dental arch curve 4 : position parameters of the buccal cusp No. 4. .
Then, by combining the objective function with iterative calculation of the preset tooth arrangement parameters, the minimum characteristic parameter x of the objective function can be obtained 1 ，x 2 ，x 3 ，x 4 ，x 5 ，x 6 Then based on the characteristic parameter x 1 ，x 2 ，x 3 ，x 4 ，x 5 ，x 6 A target dental arch curve (such as the curve shown in fig. 5) can be obtained. From the target arch curve, the arch width of teeth No. 4-4 on the target arch curve is compensated.
It should be noted that, other variations of the above formula f (x) are also possible, for example, the deviation Δθ1 between the actual value and the ideal value representing the incisor coverage includes at least one of the following ways:
ω 1 [R(x 1 ,x 4 ,Δ ovj_0 ,Δ ovj_1 )] n ；
or omega 1 (lnR(x 1 ,x 4 ,Δ ε ,Δ ovj_0 ,Δ ovj_1 )) n ，
Or (b)
Representing the measurement of the buccal lingual deviation Δθ2 between the first premolars of the upper and lower jaws includes at least one of the following:
ω 2 [N(x，p 4 )-Δ ovj_4 ] m ；
or omega 2 (lnN(x，p 4 )-Δ ovj_4 ) m ；
Or (b)
In one possible design, the distance Δθ3 from the arch curve representing the midpoint of the incisors of the upper and lower teeth and the first molar includes at least one of the following:
ω 3 [D(x 1 ，x 2 )+D(x 3 ，x 4 )] t
or omega 3 (lnD(x 1 ，x 2 )+D(x 3 ，x 4 )) t ；
Or (b)
The above Δθ1, Δθ2, and Δθ3 may be arbitrarily combined when f (x) is represented
Wherein n, m, t are real numbers greater than 0.
Based on the target dental arch curve, the teeth to be corrected can be arranged, specifically, the positions of the teeth to be corrected can be moved based on the target dental arch curve, for example, the teeth are orderly distributed on the dental arch according to the dental arch curve, and then the angles of the teeth to be corrected after the positions are moved are adjusted, so that the adjusted teeth to be corrected are adjustedThe collision quantity between adjacent teeth of the teeth to be corrected meets a set interval, and the collision quantity is determined based on the adjusted torque angle of the teeth to be corrected. Collision can occur in the process of simulating tooth arrangement, and the inclination angle of the shaft is realized according to the long axis direction of the tooth appointed by FDI number; the 2-2 tooth torque angle is realized according to the FACC axis direction appointed by the FDI number, the 3-4 tooth torque angle is firstly obtained as an initial value according to the FACC axis direction appointed by the FDI number, and then the final value is obtained by compensating by using the midpoint of the FACC; the torsion angle is realized by tangential cutting of the cutting edge and the dental arch curve. For example, one possible calculation method for the collision amount may be to equally divide the actual stripping amount, specifically, equally divide the actual stripping amount to obtain the collision amount of adjacent teeth, and move the midpoint of the incisal edge of the 4-4 teeth along the dental arch curve to make the collision amount between the teeth reach the set interval. In the collision process, the axial dip angle is realized according to the FDI number to designate the long axis direction of the teeth; the 2-2 tooth torque angle is realized according to the FACC axis direction appointed by the FDI number, the 3-4 tooth torque angle is firstly obtained as an initial value according to the FACC axis direction appointed by the FDI number, and then the final value is obtained by compensating by using the midpoint of the FACC; the torsion angle is realized by tangential cutting of the cutting edge and the dental arch curve. Another possible calculation method may be to obtain the actual stripping amount in a non-uniform way, specifically, the total stripping amount is delta, and according to aesthetic requirements, the actual stripping amount is calculated between two teeth No. 1 according to min { delta, 0.5 }; if the residual stripping amount delta c Stripping the glaze according to the sequence of 3/4 teeth, 4/5 teeth, 2/3 teeth and 1/2 teeth and according to the sequence of min { rdelta } c Calculating the actual stripping amount of 0.5, and taking 0.75, 0.6, 0.5, 1 and delta as r respectively c Updated after each calculation.
In one possible embodiment, in order to optimize the result of the simulated tooth arrangement, the maxillary and mandibular posterior teeth may also be adjusted to an occlusal state that meets the set collision amount; and translating the upper and lower teeth to a set reasonable expected value according to the set tooth adjustment sequence, calculating the collision quantity of the upper and lower jaws by using a collision detection algorithm, and removing the collision quantity to enable the digital teeth of the patient to realize covering. The method for determining the set coverage ideal value comprises the following steps: and calculating to obtain the set reasonable expected value of the teeth of the patient according to the medical indexes and aesthetic requirements, as well as the occlusion state information (the projection distance of the midpoint of the incisal edge of the upper and lower teeth in the occlusion direction) of the rear teeth of the patient and the actual coverage value (the projection distance of the midpoint of the incisal edge of the upper and lower teeth in the occlusion direction) of the teeth of the patient. For example, the posterior maxillary and mandibular teeth are first brought into a bite state of-0.2 collision volume; and then the z-direction displacement of the teeth is respectively adjusted according to the sequence of the teeth of the upper jaw 1/3, the teeth of the lower jaw 2-2, the teeth of the lower jaw 3, the teeth of the upper jaw 2, the teeth of the upper jaw 4 and the teeth of the lower jaw 4, so that the teeth of the upper jaw 4-4 and the teeth of the lower jaw 4 are covered.
As shown in fig. 6, for 4-4 teeth of a patient, the initial digital dental model of the patient can be shown in fig. 6 (a) and fig. 6 (b), and the posterior tooth arrangement result of the simulated tooth arrangement according to the method can be shown in fig. 6 (c) and fig. 6 (d), so that the simulated tooth arrangement according to the method can obtain 4-4 teeth which are relatively regular, and the incisors and other teeth which are not corrected meet the correction requirements of staggered tooth arrangement and regular teeth. In addition, the labor time consumption in the design process of the tooth orthodontic scheme is reduced through computer modeling operation, and the working efficiency can be improved.
Referring to fig. 7, a digital dental alignment system is further provided for an embodiment of the present application, and includes an acquisition module 701 for acquiring an initial digital dental model of a patient.
An identification module 702 for identifying tooth features of an initial digitized dental model of the patient; the tooth feature comprises: tooth incisal margin, midpoint of tooth incisal margin, clinical crown spatial pose.
A construction module 703, configured to construct an initial dental arch curve on the target dental jaw coordinate system according to the dental feature by using a preset dental arch curve representation model.
A construction module 703, configured to obtain a dental arch curve objective function according to the initial dental arch curve medical index; and correcting the initial dental arch curve according to the dental arch curve objective function and combining with preset tooth arrangement parameters, and obtaining a target dental arch curve.
An arrangement module 704, configured to perform an arrangement process on the teeth on the initial digital dental model on the target dental arch curve;
wherein the tooth incisal edge midpoint comprises: the initial digital dental model comprises a front dental area tooth incisor midpoint and/or a rear dental area tooth cheek tip midpoint, an incisor edge midpoint, an cuspid cusp, a premolars cheek tip point and a molar cheek tip intermediate point, wherein the acquisition modes of the premolars cheek tip point and the molar cheek tip intermediate point are as follows: the midpoint of the furthest two buccal cusps on the same molar is found.
In one possible design, the build module 702 is specifically configured to: acquiring the occlusion direction of the initial digital dental model; and constructing a target dental coordinate system based on the midpoint of the incisal edge of the tooth to be corrected and the occlusion direction.
In one possible design, the build module 702 is also to:
acquiring a dental midline of the initial digital dental model, and constructing an initial dental coordinate system of the initial digital dental model by combining a dental incisal midpoint of the tooth characteristic and the occlusion direction, wherein a y-axis of the initial dental coordinate system is the dental midline, a z-axis is the occlusion direction, and an x-axis is a cross product of the y-axis and the z-axis;
Respectively mapping and projecting the midpoint of the tooth incisal edge of the set tooth on the single-jaw single-side initial digital dental model to a jaw plane, and acquiring the main direction of the projection point of the mapped projection point through a principal component analysis algorithm;
performing angular bisector processing on the main directions of projection points at two sides of the obtained single-jaw initial digital dental model, and setting the angular bisector as a corrected dental midline;
and adjusting the initial dental coordinate system based on the corrected dental midline to obtain the target dental coordinate system, wherein a Y axis of the target dental coordinate system is the corrected dental midline, a Z axis is the occlusion direction, and an X axis is the cross product of the Y axis and the Z axis.
In one possible design, the construction module 702 is specifically configured to, when constructing an initial dental arch curve on a target dental jaw coordinate system using a preset dental arch curve representation model according to the dental features:
acquiring dental arch width information and dental arch width compensation information from the tooth characteristics;
and distributing the dental arch width compensation information to the preset dental arch curve representation model through a preset weight function, and combining the dental arch width information and the dental arch depth to obtain the initial dental arch curve constructed on a target dental jaw coordinate system.
In one possible design, the construction module 702 is specifically configured to, when performing correction processing on the initial dental arch curve according to the dental arch curve objective function in combination with a preset dental arch setting parameter, and obtaining a target dental arch curve:
acquiring preset tooth arrangement parameters which are expected to be met by teeth to be corrected of the patient; the preset tooth arrangement parameters comprise a target upper and lower front tooth coverage trend value, a dental arch curve arc length of teeth to be corrected of the upper jaw or the lower jaw falls into a set interval, and the collision quantity between the teeth to be corrected of the upper jaw or the lower jaw meets the set interval;
and correcting the arch width compensation quantity of the teeth to be corrected of the initial arch curve and the stripping quantity of the teeth to be corrected according to the arch curve objective function in combination with preset tooth arrangement parameters, and obtaining the target arch curve.
In one possible design, the arrangement module 704 is specifically configured to: and moving the positions of the teeth on the initial digital dental model based on the target dental arch curve, and adjusting the angles of the teeth on the initial digital dental model to obtain a digital tooth arrangement result of the patient.
In one possible design, the arrangement module 704 is specifically configured to: adjusting the upper back teeth and the lower back teeth to an occlusion state meeting the set collision amount;
And translating the upper and lower teeth to a set reasonable expected value according to the set tooth adjustment sequence, calculating the collision quantity of the upper and lower jaws by using a collision detection algorithm, and removing the collision quantity to enable the digital teeth of the patient to realize covering.
For the benefits of the digital dental alignment system, reference may be made to the description of the method embodiments described above, and the detailed description is not repeated here.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
The functional units in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or a part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: flash memory, removable hard disk, read-only memory, random access memory, magnetic or optical disk, and the like.
The embodiment of the application also provides a design method of the shell-shaped dental appliance, which comprises the step of designing the shell-shaped dental appliance based on the digital tooth arrangement method. In this embodiment, when designing the shell-shaped dental appliance, a digital dental model needs to be designed first, and scientific and reasonable design of the digital dental model is a basis for producing the dental appliance, and tooth arrangement in each correction stage needs to be realized by the implementation of the method, and the shell-shaped dental appliance, such as a polymer shell-shaped dental appliance, can be manufactured after tooth arrangement. The implementation of the first embodiment will not be described in detail herein.
Embodiments of the present application also provide a method of manufacturing a shell-shaped dental appliance, comprising: designing a shell-shaped dental appliance according to the design method of the shell-shaped dental appliance; shell-shaped dental appliances are manufactured using 3D printing or hot-film methods. The method comprises the steps of manufacturing a digital shell-shaped dental appliance model in a 3D printing mode, wherein the 3D printing individuation degree is high, and the method is suitable for customizing different digital shell-shaped dental appliance models for different patients; or the shell-shaped tooth appliance is directly printed according to the tooth model, so that the manufacturing is more intelligent, the hot-pressing film process and the like are saved, the processing time is shortened, and the production efficiency is further improved.
The embodiment of the application also provides electronic equipment, which comprises a processor and a memory, wherein the processor executes computer instructions stored in the memory, so that the electronic equipment executes the digital tooth arrangement method.
The embodiment of the application also provides a computer storage medium, which comprises computer instructions, wherein the computer instructions, when running on the electronic equipment, cause the electronic equipment to execute the digital tooth arrangement method.
The foregoing is merely a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited to this, and any changes or substitutions within the technical scope disclosed in the embodiment of the present application should be covered in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.
Claims (18)
1. A method of digitizing a tooth arrangement, the method comprising:
acquiring an initial digital dental model of a patient;
identifying dental features of the initial digitized dental model of the patient; the tooth feature comprises: midpoint of incisal margin of tooth, clinical crown space posture;
constructing an initial dental arch curve on a target dental jaw coordinate system by utilizing a preset dental arch curve representation model according to the tooth characteristics;
acquiring a dental arch curve representing objective function according to the initial dental arch curve combination medical index, wherein the dental arch curve representing objective function comprises a matching relation between the non-corrected teeth and the teeth to be corrected;
correcting the initial dental arch curve according to the dental arch curve objective function and a constraint condition obtained by combining a preset tooth arrangement parameter, and obtaining a target dental arch curve;
performing arrangement treatment on teeth on the initial digital dental model on the target dental arch curve;
wherein the tooth incisal edge midpoint comprises: the initial digital dental model comprises a front dental area tooth incisor midpoint and/or a rear dental area tooth cheek tip midpoint, an incisor edge midpoint, an cuspid cusp, a premolars cheek tip point and a molar cheek tip intermediate point, wherein the acquisition modes of the premolars cheek tip point and the molar cheek tip intermediate point are as follows: the midpoint of the furthest two buccal cusps on the same molar is found.
2. The digitized tooth alignment method of claim 1 wherein said constructing a dental coordinate system comprises:
acquiring the occlusion direction and the dental midline of an initial digital dental model, and constructing an initial dental coordinate system of the initial digital dental model by combining the midpoint of the dental incisal edge of the dental feature;
respectively mapping and projecting the midpoint of the tooth incisal edge of the set tooth on the single-jaw single-side initial digital dental model to a jaw plane, and acquiring the main direction of the projection point of the mapped projection point through a principal component analysis algorithm;
performing angular bisector processing on the main directions of projection points at two sides of the obtained single-jaw initial digital dental model, and setting the angular bisector as a corrected dental midline;
and constructing the target dental coordinate system based on the corrected dental midline.
3. The digitized tooth alignment method of claim 2 wherein said constructing of said initial dental coordinate system comprises:
the y axis of the initial dental coordinate system is the dental midline, the z axis is the occlusion direction, and the x axis is the cross product of the y axis and the z axis.
4. A method of digitizing a tooth arrangement as claimed in claim 3, wherein the construction of the dental coordinate system comprises:
And constructing a dental coordinate system based on the midpoint of the incisal edge of the tooth to be corrected and the dental midline, wherein the Y axis of the dental coordinate system is the midline direction of the dental midline, the Z axis is the occlusion direction, and the X axis is the cross product of the Y axis and the Z axis.
5. The method of digitized tooth alignment of claim 4 wherein said dental arch curve objective function is represented in a manner comprising:
the deviation of the actual value from the ideal value, representing the measured buccal lingual deviation between the first anterior molars of the upper and lower jaws, and representing the distance of the second anterior molars of the upper and lower jaws from the midpoint of the incisor edge of the first molar are summed.
6. The digitized tooth alignment method of claim 5 wherein the deviation of the actual value from the desired value indicative of the incisor coverage comprises at least one of:
ω 1 [R(x 1 ,x 4 ,Δ ovj_0 ,Δ ovj_1 )] n ，
or omega 1 (lnR(x 1 ,x 4 ,Δ ε ,Δ ovj_0 ,Δ ovj_1 )) n Or (b)
Wherein omega is 1 Is a weight coefficient;
r: a weighting function of the upper and lower tooth coverage trend target values;
x 1 : maxillary dental arch depth;
x 4 : mandibular arch depth;
n is a real number greater than 0;
Δ ε : deviation of origin of upper and lower jaw coordinate system on y axis;
Δ ovj_0 ,Δ ovj_1 : initial value of coverage at tooth number 1, target value.
7. The method of digitized tooth alignment of claim 5 wherein representing a measure of a buccal lingual deviation between the first premolars of the upper and lower jaws comprises at least one of:
ω 2 [N(x，p 4 )-Δ ovj_4 ] m ，
Or omega 2 (lnN(x，p 4 )-Δ ovj_4 ) m ，
Or (b)
Wherein omega is 2 Is a weight coefficient;
n: the distance from a certain point on the maxillary dental arch curve to the mandibular dental arch;
p 4 : position parameters of the buccal cusp of No. 4;
Δ ovj_4 : cheek lingual distance from the cheek tip of the maxillary No. 4 tooth to the central sulcus;
m is a real number greater than 0.
8. The method of digitized tooth alignment of claim 5 wherein representing the distance of the second premolars of the upper and lower jaws from the midpoint of the incisor edge of the first molar to the arch curve comprises at least one of:
ω 3 [D(x 1 ，x 2 )+D(x 3 ，x 4 )] t ，
or omega 3 (lnD(x 1 ，x 2 )+D(x 3 ，x 4 )) t ；
Or (b)
Wherein omega is 3 Is a weight coefficient;
d: the key distance from the arch curve of the single jaw tooth to the cutting edge of the tooth number 5/6;
x 1 : maxillary dental arch depth;
x 2 : a dental arch width compensation amount at any point on the mesial side of the maxillary 4/5 tooth abutment;
x 3 : a dental arch width compensation amount at any point between the 4/5 tooth abutment point and the 6/7 tooth abutment point of the upper jaw;
x 4 : mandibular arch depth;
t is a real number greater than 0.
9. The digitized tooth alignment method of any of claims 6-8 wherein the constraints comprise:
L(x 1 ,x 2 )≤Δ teeth_u ,Δ elmgap_u ；
L(x 3 ,x 4 )≤Δ teeth_l ,Δ elmgap_l ；
Δ teeth_u -Δ enamax_u ≤L(x 1 ，x 2 )；
Δ teeth_l -Δ enamax_l ≤L(x 3 ，x 4 )；
(N(x,p 23 )-N(x,p 4 ))*(N(x,p 23 )-(x 1 -x 3 -Δ ε ))≤0；
wherein L: arc length between the single jaw arches 4-4;
x 1 : maxillary dental arch depth;
x 2 : a dental arch width compensation amount at any point on the mesial side of the maxillary 4/5 tooth abutment;
x 3 : a dental arch width compensation amount at any point between the 4/5 tooth abutment point and the 6/7 tooth abutment point of the upper jaw;
x 4 : mandibular arch depth;
Δ teeth_u ,Δ teeth_l : total teeth amount of upper and lower jaws;
Δ elmgap_u ,Δ elmgap_l : minimum stripping amount for eliminating gaps between the upper jaw and the lower jaw;
Δ enamax_u ,Δ enamax_l : maximum glazing amount of upper and lower jaws;
p 23 : 2/3 adjacent points of the maxillary dental arch curve;
p 4 : position parameters of the buccal cusp of No. 4;
n: the distance from a certain point on the maxillary dental arch curve to the mandibular dental arch.
10. The digitized tooth alignment method of claim 1 wherein constructing an initial arch curve on a target dental coordinate system using a preset arch curve representation model from the tooth characteristics comprises:
acquiring dental arch width information and dental arch width compensation information from the tooth characteristics;
and distributing the dental arch width compensation information to the preset dental arch curve representation model through a preset weight function, and combining the dental arch width information and the dental arch depth to obtain the initial dental arch curve constructed on a target dental jaw coordinate system.
11. The method according to claim 1, wherein the correcting the initial dental arch curve according to the dental arch curve objective function in combination with a preset dental arch arrangement parameter, and obtaining a target dental arch curve, comprises:
Acquiring preset tooth arrangement parameters which are expected to be met by teeth to be corrected of the patient; the preset tooth arrangement parameters comprise a target upper and lower front tooth coverage trend value, a dental arch curve arc length of teeth to be corrected of the upper jaw or the lower jaw falls into a set interval, and the collision quantity between the teeth to be corrected of the upper jaw or the lower jaw meets the set interval;
and according to the dental arch curve objective function, combining preset tooth arrangement parameters, correcting the dental arch width information, the dental arch depth information and the dental arch width compensation information of the initial dental arch curve, and obtaining the objective dental arch curve.
12. The method of digital tooth alignment according to claim 1, wherein the alignment of the teeth on the initial digital dental model on the target dental arch curve comprises:
and moving the positions of the teeth on the initial digital dental model based on the target dental arch curve, and adjusting the angles of the teeth on the initial digital dental model to obtain a digital tooth arrangement result of the patient.
13. The digitized tooth alignment method of claim 1, wherein the method further comprises:
Adjusting the upper back teeth and the lower back teeth to an occlusion state meeting the set collision amount;
the upper and lower teeth are translated to a set reasonable ideal value according to a set tooth adjusting sequence, the collision quantity of the upper and lower teeth is calculated by using a collision detection algorithm, and the collision quantity is removed, so that the digital teeth of the patient are covered.
14. The method of claim 7, wherein the determining means for setting the rational wants value comprises:
and calculating to obtain the set reasonable expected value of the teeth of the patient according to the medical index, the occlusion state information of the rear teeth of the patient and the actual coverage value of the teeth of the patient.
15. The method of claim 1, wherein the medical index comprises at least one of: the anterior teeth of the upper and lower jaws are kept covered normally; the occlusions of the upper and lower back teeth keep the opposite state of the cuspids; the teeth of the upper jaw or the lower jaw are aligned to form neat and smooth dentition, and adjacent teeth have no obvious buccal lingual deviation; the ratio of the total dental volume of the upper and lower jaws; the dental volume of the teeth to be corrected of the upper jaw or the lower jaw and the corresponding dental arch length parameter.
16. A digital dental alignment system, the system comprising:
The acquisition module is used for acquiring an initial digital dental model of a patient;
an identification module for identifying tooth features of an initial digitized dental model of the patient; the tooth feature comprises: tooth incisal margin, tooth incisal margin midpoint, clinical crown spatial pose;
the construction module is used for constructing an initial dental arch curve on a target dental jaw coordinate system by utilizing a preset dental arch curve representation model according to the tooth characteristics;
the construction module is also used for acquiring a dental arch curve objective function according to the initial dental arch curve medical index; correcting the initial dental arch curve according to the dental arch curve objective function and a constraint condition obtained by combining a preset tooth arrangement parameter, and obtaining a target dental arch curve;
the arrangement module is used for arranging the teeth on the initial digital dental model on the target dental arch curve;
wherein the tooth incisal edge midpoint comprises: the initial digital dental model comprises a front dental area tooth incisor midpoint and/or a rear dental area tooth cheek tip midpoint, an incisor edge midpoint, an cuspid cusp, a premolars cheek tip point and a molar cheek tip intermediate point, wherein the acquisition modes of the premolars cheek tip point and the molar cheek tip intermediate point are as follows: the midpoint of the furthest two buccal cusps on the same molar is found.
17. An electronic device comprising a processor and a memory, the processor executing computer instructions stored in the memory, causing the electronic device to perform the digitized tooth arrangement method of any one of claims 1 to 15.
18. A computer readable storage medium comprising computer instructions which, when run on an electronic device, cause the electronic device to perform the digitized tooth arrangement method of any one of claims 1 to 15.
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| CN114601578B (en) * | 2022-03-11 | 2024-04-19 | 上海爱乐慕健康科技有限公司 | Manufacturing method and manufacturing system of pre-activated expander and pre-activated expander |
| CN117058306A (en) * | 2022-05-07 | 2023-11-14 | 上海时代天使医疗器械有限公司 | Method for generating a digital data set representing a tooth target layout |
| CN114948287A (en) * | 2022-05-10 | 2022-08-30 | 上海爱乐慕健康科技有限公司 | Occlusion induction appliance design and manufacturing method and occlusion induction appliance |
| CN116636940A (en) * | 2023-05-06 | 2023-08-25 | 佛山臻硅科技有限公司 | Orthodontic appliance design method, manufacturing method and orthodontic appliance |
| CN117257491A (en) * | 2023-09-18 | 2023-12-22 | 安徽美立刻医疗器械有限公司 | Method, device, equipment and medium for quantifying tooth correction effect |
| CN117132596B (en) * | 2023-10-26 | 2024-01-12 | 天津医科大学口腔医院 | Mandibular third molar generation-retarding type identification method and system based on deep learning |
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