CN115273589A

CN115273589A - Orthodontic method and device based on virtual reality, electronic equipment and storage medium

Info

Publication number: CN115273589A
Application number: CN202210811239.1A
Authority: CN
Inventors: 陈友超; 江久汇; 李皓镧
Original assignee: Peking University School of Stomatology
Current assignee: Peking University School of Stomatology
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-11-01

Abstract

The present disclosure provides a virtual reality-based orthodontic method, apparatus, electronic device and storage medium, the method comprising: generating a virtual model corresponding to the head model; determining a ligated site segment in the virtual model based on a virtual reality head mounted display device; moving a buckle device along a slide rail to the ligating tooth site section; controlling the buckling device to be in a locking state, and applying tensile stress to the needle holder; orthodontic ligation of teeth within the ligated site segment based on the virtual reality head mounted display device and the tensile stress.

Description

Orthodontic method and device based on virtual reality, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of orthodontic technology, and in particular, to an orthodontic method and apparatus based on virtual reality, an electronic device, and a storage medium.

Background

The orthodontic clinical operation needs continuous practice and practice to reach the specified standard and requirement, but except for clinical follow-up diagnosis, students basically have no opportunity of practice and practice. In the stage of this department, students do not have the opportunity to follow the clinic and basically do not contact the content related to the orthodontic clinic, most colleges and universities do not have the condition of scene type teaching, so that the students lack the clinical perception and the experience of clinical interaction, and researchers or normals mainly take the experience of learning in the early stage of the clinic, so that the training and practice opportunities are less, and the technical details are not deeply known.

Therefore, it is a continuing goal to provide a practical approach to orthodontic technology that can be close to the actual clinical practice scenario.

Disclosure of Invention

The present disclosure provides a virtual reality-based orthodontic method, apparatus, electronic device, and storage medium to at least solve the above technical problems in the prior art.

According to a first aspect of the present disclosure, there is provided a virtual reality based orthodontic method, the method comprising: generating a virtual model corresponding to the head model; determining a ligated site segment in the virtual model based on a virtual reality head mounted display device; moving a buckle device along a slide rail to the ligating tooth position section; controlling the buckling device to be in a locking state, and applying tensile stress to the needle holder; orthodontic ligation of teeth within the ligated site segment based on the virtual reality head mounted display device and the tensile stress.

In an implementable embodiment, prior to determining the ligated tooth site section in the virtual model based on a virtual reality head mounted display device, the method further comprises: and adjusting the orientation of the dummy head model based on the received voice signal.

In an embodiment, the determining a ligated dentition segment in the virtual model based on a virtual reality head mounted display device comprises: acquiring a moving track of the needle holder by using the virtual reality head-mounted display equipment; determining the ligated tooth site section based on a movement trajectory of the needle holder.

In an embodiment, the determining a ligated dentition segment in the virtual model based on a virtual reality head mounted display device comprises: determining the position of a needle nozzle of a needle holder; determining the ligated site section based on a position of a needle mouth of the needle holder.

In an embodiment, said controlling said snap device to be in a locked state, applying a tensile stress to the needle holder, comprises: when the needle holder is in a locking state, the buckling device is locked; the clamping device clamps the silk thread and applies tensile stress to the needle holder.

In an embodiment, the orthodontic ligation of teeth within the ligated site segment based on the virtual reality head mounted display device and the tensile stress comprises: simulating a clinical operating environment of a ligation wire hook in a bracket based on the tensile stress, the bracket being nested in the ligating tooth site segment; orthodontic ligation of teeth within the ligated site segment is performed in the clinical operating environment.

According to a second aspect of the present disclosure, there is provided a virtual reality based orthodontic apparatus, the apparatus comprising: the generating module is used for generating a virtual model corresponding to the head simulating model; a determination module to determine a ligated bite segment in the virtual model based on a virtual reality head mounted display device; the processing module is used for moving the buckle device to the ligating tooth position section along the slide rail; controlling the buckling device to be in a locking state, and applying tensile stress to the needle holder; orthodontic ligation of teeth within the ligated site segment based on the virtual reality head mounted display device and the tensile stress.

In one embodiment, the apparatus further comprises: and the adjusting module is used for adjusting the orientation of the head-imitating model based on the received voice signal.

In an implementation manner, the determining module is specifically configured to acquire a moving track of the needle holder by using the virtual reality head-mounted display device; determining the ligated site segment based on a trajectory of movement of the needle holder.

In an embodiment, the determining module is specifically configured to determine a position of a needle mouth of the needle holder; determining the ligating tooth site segment based on a position of a needle mouth of the needle holder.

In an embodiment, the processing module is specifically configured to lock the buckle device when the needle holder is in a locked state; the clamping device clamps the silk thread and applies tensile stress to the needle holder.

In one embodiment, the processing module is specifically configured to simulate a clinical operating environment of a ligation wire hook in a bracket nested in the ligating site segment based on the tensile stress; orthodontic ligation of teeth within the ligated site segment is performed in the clinical operating environment.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the methods of the present disclosure.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the present disclosure.

According to the virtual reality-based orthodontic method, device, electronic equipment and storage medium, the tensile stress applied to the needle holder by the clamping device simulates the tensile stress applied to the needle holder by the bracket, and the virtual reality head-mounted display equipment is combined, so that an orthodontic clinical immersive experience and exercise mode is provided, a learner can feel the orthodontic ligation process in a clinical operating environment, is familiar with the operating details of orthodontic ligation, and the learning efficiency is improved.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

in the drawings, like or corresponding reference characters designate like or corresponding parts.

Fig. 1 illustrates an operation diagram of orthodontic ligation in the related art;

fig. 2 shows a schematic representation of a model of orthodontic ligation in the related art;

fig. 3 illustrates an operational schematic diagram of a virtual reality-based orthodontic method according to an embodiment of the disclosure;

fig. 4 is a process flow diagram of a virtual reality-based orthodontic method according to an embodiment of the disclosure;

fig. 5 illustrates an alternative flow diagram of a virtual reality-based orthodontic method according to an embodiment of the disclosure;

fig. 6-9 are schematic diagrams illustrating the components of an apparatus for simulating orthodontic ligation according to an embodiment;

fig. 10 is a schematic diagram illustrating a structure of a virtual reality-based orthodontic device according to an embodiment;

fig. 11 shows a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, features and advantages of the present disclosure more apparent and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Fig. 1 shows an operation diagram of orthodontic ligation in the related art.

As shown in fig. 1, the conventional method based on a plaster model and a two-dimensional image is still the mainstream method for practicing orthodontic ligation in the related art.

FIG. 2 is a schematic view showing a model of orthodontic ligation in the related art

As shown in fig. 2, in the traditional mode, operations such as orthodontic bonding bracket and ligation are performed on a plaster model, the actual orthodontic clinical operation scene cannot be restored, the clinical body position cannot be correctly trained, and the learner has a sense of experience personally on the scene.

Fig. 3 illustrates an operational diagram of a virtual reality-based orthodontic method according to an embodiment of the disclosure.

Referring to fig. 3, the embodiment of the present disclosure provides an orthodontic method based on virtual reality, which truly restores an orthodontic clinical operation scene, and through virtual reality, students who just step into the orthodontic field and students who have not yet come into contact with the clinic experience a patient for receiving a call in advance, grasp technical details of basic orthodontic operation, improve self-confidence, and lay a foundation for gaining the confidence of the patient.

First, the virtual reality and augmented reality are explained as follows:

virtual Reality (VR) is a comprehensive technology integrating computer technology, sensor technology, human psychology and physiology, and provides a multi-information, three-dimensional dynamic and interactive simulation experience for a user by simulating an external environment with a computer simulation system, wherein a main simulation object has an environment, a skill, a sensing device, perception and the like.

Augmented Reality (AR) is a technology that combines and interacts a virtual world on a screen with a real world scene by performing position and angle calculations on an image and adding an image analysis technology.

Fig. 4 shows a process flow diagram of a virtual reality-based orthodontic method according to an embodiment of the disclosure.

Referring to fig. 4, a process flow of the virtual reality-based orthodontic method according to the embodiment of the disclosure includes at least the following steps:

and step S101, generating a virtual model corresponding to the head model.

In some embodiments, a virtual reality head-mounted display device renders a hardware environment such as a dummy head model to generate a Three-dimensional (3D) virtual model corresponding to the dummy head model and related hardware.

The simulated head model and the dentition model in the simulated head model can be rendered in three dimensions by adopting augmented reality, the simulated head model is rendered into a real appearance of a patient, and the simulated head model is more real and closer to a clinical oral environment through the virtual reality head-mounted display equipment; a three-dimensional virtual craniofacial model can be established in advance, the virtual craniofacial model is presented through virtual reality head-mounted display equipment, and the virtual craniofacial model and the head-simulated model are registered in real time, so that the accuracy of the tooth position and the oral cavity area is ensured.

In some embodiments, different ligation exercise modes may be selected by the orthodontic virtual reality system. The existing orthodontic ligation technology can be divided into two categories of ligature wires and ligature rings, so that the ligation training mode can be divided into a ligature wire training mode and a ligature ring training mode.

The ligation method by the ligature wire is complex, and the ligature wire practice mode can be further divided into conventional ligation, suspended ligation, single-wing ligation, oblique ligation, continuous ligation, splayed ligation and ligation under special conditions.

In step S102, a ligated tooth site section in the virtual model is determined based on the virtual reality head mounted display apparatus.

In some embodiments, before determining the ligated tooth site section in the virtual model based on the virtual reality head mounted display device, may further include:

the orientation of the dummy head model is adjusted based on the received speech signal.

In some embodiments, the internal control system receives the voice signal and controls the head-imitating model to rotate, such as controlling the head-imitating model to perform left head deviation, right head deviation, head raising, head lowering, mouth opening and mouth closing.

Wherein, in order to provide a clearer visual field, if the left posterior teeth are ligated, a voice signal is required to be received to control the head-imitating mould to deviate to the right; if the right posterior teeth are ligated, the voice signal is received to control the head-imitating mould to deviate to the left.

In some embodiments, the internal control system functions to be implemented in and supported by an orthodontic virtual reality system that is part of the orthodontic virtual reality system.

In some embodiments, the detailed implementation process of determining a ligated bite segment in a virtual model based on a virtual reality head mounted display device may include at least:

and step S1021a, acquiring the movement track of the needle holder by using virtual reality head-mounted display equipment.

In some embodiments, a needle holder, also known as a needle forceps, is a common instrument in clinical medicine as well as in surgical procedures. It is mainly used for clamping, sewing and suturing various tissues and is sometimes used for knotting by instruments.

Step S1021b, determining a ligature tooth position section based on the movement track of the needle holder.

In some embodiments, the movement track of the needle holder can be acquired through an image capturing technology, and then the ligation tooth position section is determined, that is, the shape of the needle holder is acquired through an internal control system, the virtual reality head-mounted display device captures the movement track of the needle holder according to the shape of the needle holder, when the needle holder stops moving, the movement track of the needle holder also stops correspondingly, the internal control system identifies the needle holder according to the position where the movement track stops, and if the needle mouth of the needle holder is located at the right posterior tooth, that is, the ligation tooth position section is located at the right posterior tooth.

The internal control system can acquire the shape of the needle holder by inputting the shape of the needle holder into the internal control system through an algorithm.

In some embodiments, the detailed implementation process of determining a ligated bite segment in a virtual model based on a virtual reality head mounted display device may further include at least:

in step S1022a, the position of the needle nozzle of the needle holder is determined.

In step S1022b, a ligated site section is determined based on the position of the needle mouth of the needle holder.

In some embodiments, a sensor may be mounted at a position of the needle mouth of the needle holder, and the position of the needle mouth of the needle holder is sensed by the internal control system, if the internal control system senses that the needle mouth of the needle holder is located at the left posterior teeth, that is, the left posterior teeth is a ligature tooth position section.

Step S103, moving the fastener device along the slide rail to the ligation teeth section.

In some embodiments, the slide rail can rotate 360 degrees in a plane, and the fastening device moves along the slide rail.

And step S104, controlling the card buckle device to be in a locking state, and applying tensile stress to the needle holder.

In some embodiments, the controlling the card-locking device in the locked state, and the applying the tensile stress to the needle holder may at least include:

and step S104a, locking the buckling device when the needle holder is in a buckling state.

And step S104b, clamping the silk thread by the clamping device, and applying tensile stress to the needle holder.

When the buckling device moves to the ligation tooth position section along the sliding rail, the needle holder is buckled, at the moment, the needle holder is in a buckling and locking state, the internal control system sends a locking signal to the buckling device, and the buckling device receives the locking signal sent by the internal control system and then is in the buckling and locking state. When the buckling device is in a buckling state, the buckling device can clamp the internal silk thread tightly to apply tensile stress to the needle holder.

In some embodiments, a control switch of an internal control system is installed at a tooth buckle of the needle holder, when the needle holder is in a locking state, the tooth buckle is clamped, the control switch is closed, and the internal control system sends a locking signal to the locking device; when the needle holder is in a loose state, the tooth buckle is opened, the control switch is disconnected, and the buckling device cannot receive a locking signal sent by the internal control system and is in an open state.

In some embodiments, prior to ligation, the needle holder is in a released state; correspondingly, when the needle holder is in the released state, the buckle device is also in the open state.

In some embodiments, the silk thread used in the ligature wire practice mode is made of a material with certain elasticity, one end of the silk thread is connected with a needle mouth of the needle holder, the other end of the silk thread is connected to the inner side of the head imitation die through a buckle device, when orthodontic ligation is performed, a picture displayed in virtual reality head-mounted display equipment for orthodontic ligation by the ligature wire is displayed, the number of circles of ligation performed by the ligature wire is consistent with the number of circles of rotation of the needle holder, the ligation direction is consistent with the rotation direction of the needle holder, and when the needle holder and the buckle device are in a loosening state, the silk thread can automatically rebound to the needle mouth of the needle holder.

In some embodiments, if the ligature ring is selected to be adopted for orthodontic ligation, the silk thread can be changed into the elastic thread, at the moment, a picture of orthodontic ligation is carried out by adopting the ligature ring, the stretched length of the elastic thread is consistent with that of the ligature ring, the elastic thread is stretched, the needle holder moves along with the stretching of the elastic thread, after the ligature ring is hung on teeth in the virtual reality head-mounted display device, the needle holder is loosened, the elastic thread automatically rebounds to the needle mouth of the needle holder, and orthodontic ligation of the next tooth can be continued.

And S105, orthodontic ligation is carried out on the teeth in the ligation tooth site section based on the virtual reality head-mounted display equipment and the tensile stress.

In some embodiments, the specific implementation of orthodontic ligation of teeth within a ligation site segment based on a virtual reality head mounted display device and tensile stress may include at least:

step S105a, simulating a clinical operation environment of the ligation wire hook in the bracket based on the tensile stress, and the bracket is sleeved on the ligation site section.

And step S105b, performing orthodontic ligation on teeth in the ligation site section in a clinical operation environment.

The traditional metal fixing orthodontic appliance consists of a bracket, a belt ring, an arch wire and a ligature wire or a ligature ring. The archwire is secured to the brackets or bands by ligatures or ligatures to apply corrective forces to the teeth. The embodiment of the disclosure provides a method for replacing a ligature wire with a wire, wherein the tensile stress provided by a needle holder when the wire is clamped by a buckle device simulates the tensile stress provided by the needle holder when the wire is supported on a bracket, namely, the rotation of the needle holder can be controlled by fingers to perform orthodontic ligation without supporting the bracket and the ligature wire, and if the single-finger rotation needle holder performs orthodontic ligation or the three-finger rotation needle holder performs orthodontic ligation, the complicated process of separating the bracket and the ligature wire during repeated practice is avoided. Simultaneously, what virtual reality worn display device showed is that the ligature wire hook is in the clinical operating environment in support groove, and the support groove cover is in ligature tooth position section, provides an orthodontic clinical immersive experience exercise mode from this, makes the learner in clinical operating environment, experiences orthodontic ligation's process, familiarizes with orthodontic ligation's operation details, increases learning efficiency.

It should be understood that if the ligature ring is selected for orthodontic ligation, the ligature ring replaced by the elastic thread also has the technical effects, and the ligature ring is not described in detail herein.

Fig. 5 shows an alternative flow diagram of a virtual reality-based orthodontic method according to an embodiment of the disclosure.

Referring to fig. 5, an alternative flow of a virtual reality-based orthodontic method according to an embodiment of the present disclosure is described by taking a ligature wire exercise mode as an example, where the alternative flow at least includes the following steps:

step S201, a virtual model corresponding to the dummy head model is generated.

Optionally, the simulated head model and the dentition model in the simulated head model are rendered in three dimensions by using augmented reality, the simulated head model is supplemented to be the real appearance of the patient, and the virtual reality head-mounted display device is used for presenting a more real and more close to a clinical oral environment.

And S202, selecting a ligature wire exercise mode through an orthodontic virtual reality system.

Alternatively, ligature wire practice patterns may be further classified into conventional ligatures, suspended ligatures, single wing ligatures, oblique ligatures, splayed ligatures, and special case ligatures.

Step S203, the orientation of the head-imitated model is adjusted based on the received voice signal.

Specifically, the internal control reality system receives the voice signal and controls the head-imitating model to rotate, such as controlling the head-imitating model to perform left head deviation, right head deviation, head raising, head lowering, mouth opening and small mouth closing.

In step S204, a ligated tooth site section in the virtual model is determined based on the virtual reality head mounted display apparatus.

Optionally, a movement track of the needle holder is acquired by using a virtual reality head-mounted display device, and the ligated tooth position section is determined based on the movement track of the needle holder.

Optionally, a position of a needle mouth of the needle holder is determined, and the ligating tooth site section is determined based on the position of the needle mouth of the needle holder.

Step S205, move the fastening device along the slide rail to the ligating tooth position segment.

And step S206, locking the buckling device when the needle holder is in a buckling state.

Step S207, the clamping device clamps the silk thread and applies tensile stress to the needle holder.

Step S208, simulating the clinical operation environment of the ligation wire hook in the bracket based on the tensile stress, and sleeving the bracket in the ligation tooth area section.

Step S209, orthodontic ligation is performed on the teeth in the ligation site segment in a clinical operating environment.

It should be understood that the embodiments of the present disclosure are only used for illustrating an application scenario of the virtual reality-based orthodontic method by taking the ligature exercise mode as an example, and the related specific implementation manner and the corresponding technical effect are described in detail in the above embodiments, and are not described herein again.

Fig. 6-9 are schematic diagrams illustrating the components of an orthodontic ligation simulating device according to an embodiment.

Referring to fig. 6-9, an apparatus for simulating orthodontic ligation provided by an embodiment of the present disclosure includes: the device comprises a clamping device 1, a silk thread 2, a clamping device 3, a needle holder 4, a control switch 5, an upper jaw model 6, a lower jaw model 7 and a sliding rail 8.

The buckle device 1 and the buckle device 3 are connected with a slide rail 8, and the slide rail 8 is used for adjusting the positions of the buckle device 1 and the buckle device 3 based on the upper jaw model 6 and the lower jaw model 7; the slide rail 8 is positioned behind the upper jaw model 6 and the lower jaw model 7, and the tooth buckle of the needle holder 4 is provided with a control switch 5.

Fig. 10 shows a schematic structural diagram of a virtual reality-based orthodontic device according to an embodiment.

Referring to fig. 10, an embodiment of a virtual reality based orthodontic apparatus, the virtual reality based orthodontic apparatus 60 comprises: a generating module 601, configured to generate a virtual model corresponding to the head simulator; a determination module 602 to determine a ligated bite segment in a virtual model based on a virtual reality head mounted display device; a processing module 603 for moving the fastening device along the slide rail to the ligating teeth section; controlling the card buckle device to be in a locking state, and applying tensile stress to the needle holder; orthodontic ligation of teeth within a section of a ligation site is performed based on virtual reality head mounted display devices and tensile stress.

In some embodiments, the apparatus 60 further comprises: an adjusting module 604 for adjusting the orientation of the dummy head model based on the received speech signal.

In some embodiments, the determining module 602 is specifically configured to acquire a movement trajectory of the needle holder by using a virtual reality head-mounted display device; determining a ligated site segment based on a movement trajectory of the needle holder.

In some embodiments, the determining module 602 is specifically configured to determine a position of a needle mouth of the needle holder; the ligating tooth site segment is determined based on a position of a needle mouth of the needle holder.

In some embodiments, the processing module 603 is specifically configured to lock the snap device when the needle holder is in the snap state; the clamping device clamps the silk thread and applies tensile stress to the needle holder.

In some embodiments, the processing module 603 is specifically configured to simulate a clinical operating environment of a ligation wire hook in a bracket nested within a ligating site segment based on tensile stress; orthodontic ligation of teeth in a section of a ligation site in a clinical practice environment

According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

FIG. 11 illustrates a schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable electronic devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 11, the electronic device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 can also be stored. The computing unit 701, the ROM702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

A plurality of components in the electronic device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the electronic device 700 to exchange information/data with other electronic devices via a computer network such as the internet and/or various telecommunication networks.

Computing unit 701 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The computing unit 701 performs the various methods and processes described above, such as virtual reality based orthodontic methods. For example, in some embodiments, the virtual reality-based orthodontic method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 700 via the ROM702 and/or the communication unit 709. When loaded into RAM 703 and executed by the computing unit 701, may perform one or more steps of the virtual reality based orthodontic methods described above. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the virtual reality-based orthodontic method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server combining a blockchain.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A virtual reality based orthodontic method, the method comprising:

generating a virtual model corresponding to the head model;

determining a ligated site segment in the virtual model based on a virtual reality head mounted display device;

moving a buckle device along a slide rail to the ligating tooth site section;

controlling the buckling device to be in a locking state, and applying tensile stress to the needle holder;

orthodontic ligation of teeth within the ligated site segment based on the virtual reality head mounted display device and the tensile stress.

2. The method of claim 1, wherein prior to determining the ligated locus segment in the virtual model based on a virtual reality head mounted display device, the method further comprises:

adjusting the orientation of the dummy head model based on the received voice signal.

3. The method of claim 1, wherein the determining a ligated tooth site section in the virtual model based on a virtual reality head mounted display device comprises:

acquiring a moving track of the needle holder by using the virtual reality head-mounted display equipment;

determining the ligated site segment based on a trajectory of movement of the needle holder.

4. The method of claim 1, wherein the determining a ligated locus segment in the virtual model based on a virtual reality head mounted display device comprises:

determining the position of a needle nozzle of a needle holder;

determining the ligating tooth site segment based on a position of a needle mouth of the needle holder.

5. The method of claim 1, wherein said controlling said snap device to be in a locked state applies a tensile stress to a needle holder, comprising:

when the needle holder is in a locking state, the buckling device is locked;

the clamping device clamps the silk thread and applies tensile stress to the needle holder.

6. The method of claim 1, wherein the orthodontic ligation of the teeth within the ligated site segment based on the virtual reality head mounted display device and the tensile stress comprises:

simulating a clinical operating environment of a ligation wire hook in a bracket based on the tensile stress, the bracket being nested in the ligating tooth site segment;

orthodontic ligation of teeth within the ligated site segment is performed in the clinical operating environment.

7. A virtual reality based orthodontic apparatus, the apparatus comprising:

the generating module is used for generating a virtual model corresponding to the head simulating model;

a determination module to determine a ligated bite segment in the virtual model based on a virtual reality head mounted display device;

the processing module is used for moving the buckle device to the ligating tooth position section along the slide rail; controlling the buckling device to be in a locking state, and applying tensile stress to the needle holder; orthodontic ligation of teeth within the ligated site segment based on the virtual reality head mounted display device and the tensile stress.

8. The device according to claim 7, characterized in that the processing module is in particular adapted to lock the snap means when the needle holder is in a snap-lock state; the buckling device clamps the silk thread and applies tensile stress to the needle holder.

9. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the virtual reality based orthodontic method of any one of claims 1-6.

10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the virtual reality based orthodontic method of any one of claims 1-6.