CN116712203A

CN116712203A - Dental motion trail detection method and dental motion trail detection device

Info

Publication number: CN116712203A
Application number: CN202310672945.7A
Authority: CN
Inventors: 王豆豆; 牟雁东; 夏思思; 李传述; 郝亮; 岳源; 杜林谕; 谭海波
Original assignee: Yiyun Yukang Chengdu Medical Technology Co ltd
Current assignee: Yiyun Yukang Chengdu Medical Technology Co ltd
Priority date: 2023-06-07
Filing date: 2023-06-07
Publication date: 2023-09-08

Abstract

The invention relates to the technical field of dental treatment, in particular to a dental movement track detection method and a dental movement track detection device. The method of the invention comprises the following steps: determining a first reference plane and a second reference plane; acquiring the space positions and the directions of the first mark plane and the second mark plane; determining the spatial position and the direction of the first reference plane according to the relative position relation between the first reference plane and the first mark plane and the spatial position and the direction of the first mark plane; determining the spatial position and the direction of the second reference plane in the process of the relative movement of the human lower jaw and the upper jaw according to the relative position relation between the second reference plane and the second marking plane and the spatial position and the direction of the second marking plane; and acquiring the track of the relative motion of the human mandible and the upper jaw according to the space position and the direction of the first reference plane and the space position and the direction of the second reference plane. The invention can improve the accuracy of the detection of the dental motion trail.

Description

Dental motion trail detection method and dental motion trail detection device

Technical Field

The invention relates to the technical field of dental treatment, in particular to a dental movement track detection method and a dental movement track detection device.

Background

Dental movements are closely related to the healthy coordination of the function and structure of the oromaxillofacial system. Analysis and observation of dental movements are important bases for oral medical diagnosis, implant restoration planning, orthodontic treatment scheme formulation and surgical effect evaluation.

At present, the analysis of dental movements mainly depends on clinical examination of doctors, a reproduction model of the dentition in the mouth of a patient and various image data of the dentition of the patient in a static state. However, in clinical examinations, the movement of the dentition is difficult to be clearly exposed to the field of vision of the doctor due to the occlusion of the soft tissue of the lips. And the jaw movement is a relatively complex dynamic process, and the jaw movement of a patient is difficult to intuitively and accurately display only through clinical examination of a doctor and a reproduction model of the dentition in the mouth of the patient. In addition, the image analysis in the static state cannot display the continuous motion track of the dentition. Therefore, the examination of the movement track of the dental caries is still not intuitive clinically, doctors often need to rely on clinical diagnosis and treatment experience and a dental reproduction model, and the true movement track of the dental caries is estimated by combining a plurality of dental caries image data in a static state, so that the accuracy is difficult to be ensured. It is proposed to connect a marker that can be tracked by an optical acquisition device with the dental arch of a human body, and capture the trajectory of the marker during the movement of the human body's dental jaw to detect the movement trajectory of the human body's dental jaw. However, the method detects the movement track of the human dental jaw by detecting the track of the specific point on the marker, but the point-to-point movement track cannot accurately reflect the actual movement mode of the human dental jaw, so that the method cannot accurately detect the movement track of the human dental jaw.

Disclosure of Invention

In view of the above, the embodiment of the invention provides a method and a device for detecting a jaw motion track, which are used for solving the technical problem that the existing technique for detecting the jaw motion track can not accurately detect the jaw motion track of a human body.

The technical scheme adopted by the invention is as follows:

in a first aspect, the present invention provides a method for detecting a dental motion profile, the method comprising the steps of:

determining a first reference plane with a determined relative position relation to a first marking plane and a second reference plane with a determined relative position relation to a second marking plane, wherein the first reference plane is perpendicular to the first marking plane, the second reference plane is perpendicular to the second marking plane, the first marking plane moves synchronously with the upper jaw, and the second marking plane moves synchronously with the lower jaw;

acquiring the space positions and the directions of a first marking plane and a second marking plane in the process of the relative movement of the lower jaw and the upper jaw of the human body;

determining the spatial position and the direction of the first reference plane in the process of the relative movement of the human mandible and the upper jaw according to the relative position relation between the first reference plane and the first marking plane and the spatial position and the direction of the first marking plane in the process of the relative movement of the human mandible and the upper jaw;

Determining the spatial position and the direction of the second reference plane in the process of the relative movement of the human mandible and the upper jaw according to the relative position relation between the second reference plane and the second marking plane and the spatial position and the direction of the second marking plane in the process of the relative movement of the human mandible and the upper jaw;

and acquiring the track of the relative movement of the human lower jaw and the upper jaw according to the spatial position and the direction of the first reference plane and the spatial position and the direction of the second reference plane in the process of the relative movement of the human lower jaw and the upper jaw.

Preferably, the determining a first reference plane having a determined relative positional relationship with a first marking plane and a second reference plane having a determined relative positional relationship with a second marking plane, wherein the first reference plane is perpendicular to the first marking plane, the second reference plane is perpendicular to the second marking plane, the first marking plane moves synchronously with the upper jaw, and the second marking plane moves synchronously with the lower jaw, further comprising the steps of;

establishing a first reference coordinate system, wherein the origin of the first reference coordinate system is positioned on the first marking plane, the first reference coordinate system comprises a first coordinate axis, a second coordinate axis and a third coordinate axis which are mutually perpendicular, and the direction of the first coordinate axis is perpendicular to the first marking plane;

Determining a first reference plane according to a first reference coordinate system, wherein the first reference plane is parallel to a plane formed by a first coordinate axis and a second coordinate axis;

establishing a second reference coordinate system, wherein the origin of the second reference coordinate system is positioned on the second marking plane, the second reference coordinate system comprises a fourth coordinate axis, a fifth coordinate axis and a sixth coordinate axis which are mutually perpendicular, and the direction of the fourth coordinate axis is perpendicular to the second marking plane;

a second reference plane is determined from the second reference coordinate system, the second reference plane being parallel to a plane formed by the fourth coordinate axis and the fifth coordinate axis.

Preferably, the first marking surface is located on a first tracking device, the first tracking device comprises a first fixedly connecting piece, a first marking piece and a first middle piece, the first fixedly connecting piece is connected with the first marking piece through the first middle piece, the first marking plane is arranged on the first marking piece, the first fixedly connecting piece is used for being fixedly connected with the upper dental arch, the first middle piece comprises a first connecting column, and the axial direction of the first connecting column is perpendicular to the first marking plane;

the method comprises the steps of determining a first reference plane according to a first reference coordinate system, wherein the first reference plane is parallel to a plane formed by a first coordinate axis and a second coordinate axis, and the method further comprises the following steps:

Acquiring the axial position of a first connecting column;

and determining the position of the first reference plane according to the axis position of the first connecting column, so that the first reference plane passes through the axis of the first connecting column and is parallel to a plane formed by the first coordinate axis and the second coordinate axis.

Preferably, a marking pattern is arranged on the first marking plane, the marking pattern at least comprises 1 central circle and 4 peripheral circles, the centers of the four peripheral circles are positioned at four vertex positions of the same rectangle, and the central circle is positioned at the central position of the rectangle:

the method comprises the steps of establishing a first reference coordinate system, wherein an origin of the first reference coordinate system is located on a first marking plane, the first reference coordinate system comprises a first coordinate axis, a second coordinate axis and a third coordinate axis which are perpendicular to each other, and the direction of the first coordinate axis is perpendicular to the first marking plane and further comprises the following steps:

determining the origin position of a first reference coordinate system according to the center of a center circle, so that the origin of the first reference coordinate system is positioned at the center position of the center circle;

and determining the directions of a second coordinate axis and a third coordinate axis according to the circle center positions of the four peripheral circles, so that the second coordinate axis and the third coordinate axis are respectively parallel to two adjacent sides of the rectangle.

Preferably, the second marking surface is located on a second track tracking device, the second track tracking device comprises a second fixedly connecting piece, a second marking piece and a second middle piece, the second fixedly connecting piece is connected with the second marking piece through the second middle piece, the second marking plane is arranged on the second marking piece, the second fixedly connecting piece is used for being fixedly connected with the lower dental arch, the second middle piece comprises a second connecting column, and the axial direction of the second connecting column is perpendicular to the second marking plane;

the method for determining the second reference plane according to the second reference coordinate system, wherein the second reference plane is parallel to a plane formed by a fourth coordinate axis and a fifth coordinate axis, and comprises the following steps of:

acquiring the axis position of the second connecting column;

and determining the position of a second reference plane according to the axis position of the second connecting column, so that the second reference plane passes through the axis of the second connecting column and is parallel to a plane formed by the fourth coordinate axis and the fifth coordinate axis.

Preferably, a marking pattern is provided on the second marking plane, the marking pattern includes at least 1 central circle and 4 peripheral circles, the centers of the four peripheral circles are located at four vertex positions of the same rectangle, the central circle is located at the central position of the rectangle, a second reference coordinate system is established, an origin of the second reference coordinate system is located on the second marking plane, the second reference coordinate system includes a fourth coordinate axis, a fifth coordinate axis and a sixth coordinate axis which are perpendicular to each other, and the direction of the fourth coordinate axis and the second marking plane are perpendicular to each other, and further includes the following steps:

Determining the origin position of a second reference coordinate system according to the center of a center circle, so that the origin of the second reference coordinate system is positioned at the center position of the center circle;

and determining the directions of a fourth coordinate axis and a fifth coordinate axis according to the circle center positions of the four peripheral circles, so that the fourth coordinate axis and the fifth coordinate axis are respectively parallel to two adjacent sides of the rectangle.

Preferably, the first fixing part comprises a first connecting part, a first fixing part and a second fixing part, wherein the first fixing part and the second fixing part are formed by extending from two sides of the first connecting part respectively, the first fixing part and the second fixing part enclose a semi-surrounding structure which is sunken towards one side of the first connecting part, and the first reference plane is vertical to the surface of the first fixing part, which is fixedly connected with the upper dental arch;

the second fixing part comprises a second connecting part, a third fixing part and a fourth fixing part, wherein the third fixing part and the fourth fixing part are formed by extending from two sides of the second connecting part respectively, the third fixing part and the fourth fixing part enclose a semi-surrounding structure which is sunken towards one side of the second connecting part, and the second reference plane is perpendicular to the surface of the second fixing part, which is fixedly connected with the lower dental arch.

Preferably, the determining the spatial position and direction of the first reference plane in the process of the relative motion of the human mandible and the upper jaw according to the relative position relationship between the first reference plane and the first marking plane and the spatial position and direction of the first marking plane in the process of the relative motion of the human mandible and the upper jaw further comprises the following steps:

Acquiring the space position and the direction of a normal vector of a first mark plane at each sampling moment in the process of the relative motion of the lower jaw and the upper jaw of a human body;

determining the position and the direction of the normal vector of the first reference plane at each sampling moment according to the spatial position and the direction of the normal vector of the first marking plane at each sampling moment and the relative position relation between the first reference plane and the first marking plane;

the step of determining the spatial position and the direction of the second reference plane in the process of the relative movement of the human mandible and the upper jaw according to the relative position relation between the second reference plane and the second marking plane and the spatial position and the direction of the second marking plane in the process of the relative movement of the human mandible and the upper jaw further comprises the following steps:

acquiring the space position and the direction of a normal vector of a second mark plane at each sampling moment in the process of the relative motion of the lower jaw and the upper jaw of the human body;

and determining the position and the direction of the normal vector of the second reference plane at each sampling time according to the spatial position and the direction of the normal vector of the second marker plane at each sampling time and the relative position relation between the second reference plane and the second marker plane.

Preferably, the method for acquiring the track of the relative movement of the human mandible and the upper jaw according to the spatial position and the direction of the first reference plane and the spatial position and the direction of the second reference plane in the process of the relative movement of the human mandible and the upper jaw further comprises the following steps:

Acquiring the space position and the direction of a normal vector of a first reference plane at each sampling moment;

acquiring the space position and the direction of a normal vector of a second reference plane at each sampling moment;

and determining the relative spatial position and direction between the normal vector phase of the first reference plane and the normal vector of the second reference plane at each sampling moment according to the spatial position and direction of the normal vector of the first reference plane and the normal vector of the second reference plane at each sampling moment.

The present invention also provides a dental motion profile detection apparatus comprising first and second tracking means, an infrared binocular camera and control circuitry comprising at least one processor, at least one memory and computer program instructions stored in the memory which when executed by the processor implement the method of the first aspect.

The beneficial effects are that: the present invention relates to a method and apparatus for detecting a locus of movement of a dental jaw, which uses a first reference plane to represent movement of a dental jaw and a second reference plane to represent movement of a dental jaw. The position and the direction of the first reference plane in space are obtained through the position and the direction of the first mark plane in space in the process of the relative movement of the lower jaw and the upper jaw of the human body, and the position and the direction of the second reference plane in space are obtained through the position and the direction of the second mark plane in space. This allows indirect measurement of the relative movement between the upper and lower jaw by detecting the relative position and orientation between the first and second marking planes. The relative movement form between the first reference plane and the second reference plane can reflect the actual movement of the upper jaw and the lower jaw of the human body more accurately, so that the accuracy of detecting the movement track of the human jaw can be obviously improved.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described, and it is within the scope of the present invention to obtain other drawings according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a method for detecting a jaw motion trajectory according to the present invention;

FIG. 2 is a schematic view of a three-dimensional structure of the dental motion profile detection apparatus of the present invention;

FIG. 3 is a schematic diagram of the detection of the movement track of the dental jaw by using the movement track detection device of the dental jaw according to the present invention;

FIG. 4 is a flow chart diagram of a method of determining a first reference plane and a second reference plane of the present invention;

FIG. 5 is a schematic diagram illustrating a positional relationship between a first reference plane and a first tracking device according to the present invention;

FIG. 6 is a schematic diagram of the present invention for detecting a maxillary motion track using a first tracking device;

FIG. 7 is a flow chart of a method of determining a first reference plane using a first connection post according to the present invention;

FIG. 8 is a flow chart of a method of establishing a first reference frame using a marking pattern on a first marking plane according to the present invention;

FIG. 9 is a schematic illustration of a marking pattern of the present invention;

FIG. 10 is a flow chart of a method of determining a first reference plane using a first connection post according to the present invention;

FIG. 11 is a schematic diagram illustrating a relationship between a second reference plane and a second tracking device according to the present invention;

FIG. 12 is a schematic view of the present invention for detecting mandibular movement trajectories using a second tracking device;

FIG. 13 is a flow chart of a method of establishing a second reference frame using a marking pattern on a second marking plane according to the present invention;

FIG. 14 is a flow chart of a method of determining the spatial position and orientation of a first reference plane and a second reference plane during dental motion according to the present invention;

fig. 15 is a flow chart of a method of determining a trajectory of movement in a dental jaw according to the first reference plane and the second reference plane of the present invention.

Parts and numbers in the figure:

the first tracking device 1, the first fastening member 11, the first marking member 12, the first connecting post 13, the first marking plane 14, the second tracking device 2, the second fastening member 21, the second marking member 22, the second connecting post 23, the second marking plane 24, the first reference plane 3, the first vertex 31, the second vertex 32, the third vertex 33, the second reference plane 4, the fourth vertex 41, the fifth vertex 42, the sixth vertex 43, the center circle 5, the peripheral circle 6, the upper dental arch 7, the lower dental arch 8.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element. If not conflicting, the embodiments of the present application and the features of the embodiments may be combined with each other, which are all within the protection scope of the present application.

Example 1

As shown in fig. 1, the present embodiment provides a method for detecting a movement track of a dental jaw, the method including the steps of:

s1: determining a first reference plane 3 having a determined relative positional relationship with the first marking plane 14 and a second reference plane 4 having a determined relative positional relationship with the second marking plane 24, wherein the first reference plane 3 is perpendicular to the first marking plane 14, the second reference plane 4 is perpendicular to the second marking plane 24, the first marking plane 14 moves in synchrony with the upper jaw, and the second marking plane 24 moves in synchrony with the lower jaw;

the first marking plane 14 is provided with a marking pattern, the marking pattern can be made of a material with reflective performance, an optical acquisition device similar to an infrared binocular camera can be used for acquiring optical signals reflected by the marking pattern, and then the optical signals of the received pattern are analyzed and processed to obtain the position and the direction of the first marking plane 14 in space. The second marking plane 24 is likewise provided with a marking pattern similar to the first marking plane 14 and the position and orientation of the second marking plane 24 in space can be obtained by means of a light-harvesting device. Since the detection of the movement track of the human dental jaw is mainly to detect the relative movement track between the human upper jaw and the lower jaw, in order to detect the relative movement between the upper jaw and the lower jaw, the first marking plane 14 may be indirectly or directly fixed to the upper jaw of the human by some fixing structures, so that the first marking plane 14 may move synchronously with the upper jaw. Similarly, the second marking plane 24 may be indirectly or directly fixed to the mandible of the human body by some fixing structure, so that the second marking plane 24 may move synchronously with the mandible.

As shown in fig. 2 and 3, the present embodiment uses the movement between the first reference plane 3 and the second reference plane 4 to represent the movement of the upper jaw of the human body relative to the lower jaw, so that the movement is more consistent with the real relative movement mode between the upper jaw and the lower jaw. The aforementioned plane, which can accurately represent that the upper jaw has moved down, is not a truly existing entity, and thus the relative movement of the plane representing the upper jaw and the lower jaw movement is not easily detected. For this embodiment, the first reference plane 3 having a defined relative positional relationship with the first marking plane 14 is determined in connection with the first reference plane 3 representing the movement of the upper jaw and the second reference plane 4 having a defined relative positional relationship with the second marking plane 24 is determined in connection with the second reference plane 4 representing the movement of the lower jaw. Thus, the motion profile of the first reference plane 3 can be indirectly detected by detecting the motion profile of the first marker plane 14, and the motion profile of the second reference plane 4 can be indirectly detected by detecting the motion profile of the second marker plane 24. Since the first reference plane 3 is perpendicular to the first marking plane 14 and the second reference plane 4 is perpendicular to the second marking plane 24 in this embodiment, the pattern on the first marking plane 14 can be more easily tracked by the optical capturing device while ensuring that the first reference plane 3 accurately represents the movement of the upper jaw, and the pattern on the second marking plane 24 can be more easily tracked by the optical capturing device while the second reference plane 4 accurately represents the movement of the upper jaw.

S2: acquiring the spatial positions and directions of the first marking plane 14 and the second marking plane 24 in the process of the relative movement of the lower jaw and the upper jaw of the human body;

when the detection of the movement track of the teeth and the jaw is performed, the upper jaw and the lower jaw of the human body perform opening and closing movements, and at this time, the first marking plane 14 moves synchronously with the upper jaw of the human body, and the lower jaw of the human body moves synchronously with the lower jaw of the human body. The position and orientation of the first marking plane 14 in space varies with the upper jaw and the second marking plane 24 in space varies with the lower jaw during the opening and closing movements of the upper jaw and the lower jaw.

Since the first marking plane 14 and the second marking plane 24 are provided with marking patterns, the marking patterns can be acquired by a light collecting device, and the marking patterns are subjected to image analysis and processing to obtain the positions and the directions of the first marking plane 14 and the second marking plane 24 in space. In particular, the patterns of the first marking plane 14 and the second marking plane 24 during the relative movement of the dental jaw may be photographed to obtain a series of image frames, wherein the moment at which each frame of image is photographed is referred to herein as the sampling moment. The position and orientation of the first 14 and second 24 marker planes in space at each sampling instant can be obtained by analyzing each frame of image.

S3: determining the spatial position and the direction of the first reference plane 3 in the process of the relative movement of the human mandible and the upper jaw according to the relative position relation between the first reference plane 3 and the first marking plane 14 and the spatial position and the direction of the first marking plane 14 in the process of the relative movement of the human mandible and the upper jaw;

since the first reference plane 3 and the first marking plane 14 have a defined relative positional relationship. Thus, after the position and orientation of the first marking plane 14 in space are obtained, the position and orientation of the first reference plane 3 in space can be deduced from the relative positional relationship between the first reference plane 3 and the first marking plane 14.

S4: determining the spatial position and the direction of the second reference plane 4 in the process of the relative movement of the human mandible and the upper jaw according to the relative position relation between the second reference plane 4 and the second marking plane 24 and the spatial position and the direction of the second marking plane 24 in the process of the relative movement of the human mandible and the upper jaw;

since the second reference plane 4 and the second marking plane 24 have a defined relative positional relationship. Thus, after the position and orientation of the second marking plane 24 in space are obtained, the position and orientation of the two reference planes in space can be deduced from the relative positional relationship between the second reference plane 4 and the second marking plane 24.

S5: and acquiring the track of the relative movement of the human mandible and the upper jaw according to the spatial position and the direction of the first reference plane 3 and the spatial position and the direction of the second reference plane 4 in the process of the relative movement of the human mandible and the upper jaw.

As an alternative but advantageous embodiment, as shown in fig. 4, the method of determining the first reference plane 3 in this example comprises the steps of:

s11: establishing a first reference coordinate system, wherein the origin of the first reference coordinate system is positioned on the first marking plane 14, the first reference coordinate system comprises a first coordinate axis, a second coordinate axis and a third coordinate axis which are mutually perpendicular, and the direction of the first coordinate axis is perpendicular to the first marking plane 14;

as shown in fig. 5, the first reference coordinate system is a three-dimensional rectangular coordinate system, which has three axial directions, wherein the first coordinate axis is denoted as Z1, the second coordinate axis is denoted as X1, and the third coordinate axis is denoted as Y1 for convenience of description. The first reference frame moves synchronously with the first marking plane 14.

As shown in fig. 9, in this embodiment, the first marking plane 14 is provided with a marking pattern, where the marking pattern includes at least 1 central circle 5 and 4 peripheral circles 6, the centers of the four peripheral circles 6 are located at four vertex positions of the same rectangle, and the central circle 5 is located at the central position of the rectangle:

As shown in fig. 8, the step S11: establishing a first reference coordinate system, wherein an origin of the first reference coordinate system is located on the first marking plane 14, the first reference coordinate system comprises a first coordinate axis, a second coordinate axis and a third coordinate axis which are perpendicular to each other, and the direction of the first coordinate axis is perpendicular to the first marking plane 14, and the method further comprises the following steps:

s111: determining the origin position of a first reference coordinate system according to the circle center of a center circle 5, so that the origin of the first reference coordinate system is positioned at the circle center position of the center circle 5;

s112: and determining the directions of a second coordinate axis and a third coordinate axis according to the circle center positions of the four peripheral circles 6, so that the second coordinate axis and the third coordinate axis are respectively parallel to two adjacent sides of the rectangle.

The second coordinate axis and the third coordinate axis are parallel to the two adjacent sides of the rectangle respectively, so that the directions of the second coordinate axis and the third coordinate axis can be rapidly determined through the circle center positions of the four peripheral circles 6 on the marking pattern, and the position of the first reference plane 3 can be rapidly determined.

S12: determining a first reference plane 3 according to a first reference coordinate system, wherein the first reference plane 3 is parallel to a plane formed by a first coordinate axis and a second coordinate axis;

Wherein the plane formed by the first coordinate axis and the second coordinate axis refers to a plane parallel to both the first coordinate axis and the second coordinate axis. The present embodiment can represent the relative positional relationship between the first reference plane 3 and the first marking plane 14 by the position and the direction of the first reference plane 3 in the first coordinate system. Since the origin of the first coordinate system is located on the first marking plane 14 and the first coordinate axis is perpendicular to the first marking plane 14, the first reference plane 3 is parallel to the plane formed by the first coordinate axis and the second coordinate axis, so that the subsequent process of estimating the position and the direction of the first reference plane 3 from the position and the direction of the first marking plane 14 can be simplified.

As shown in fig. 5 and 6, in the present embodiment, the first marking surface is located on the first tracking device 1, the first tracking device 1 includes a first fixing member 11, a first marking member 12, and a first intermediate member, the first fixing member 11 and the first marking member 12 are connected by the first intermediate member, the first marking plane 14 is disposed on the first marking member 12, the first fixing member 11 is used for fixing with the upper dental arch 7, the first intermediate member includes a first connecting post 13, and an axial direction of the first connecting post 13 is perpendicular to the first marking plane 14;

As shown in fig. 7, the step S12: determining a first reference plane 3 according to a first reference coordinate system, wherein the first reference plane 3 is parallel to a plane formed by a first coordinate axis and a second coordinate axis, and further comprises the following steps:

s121: acquiring the axial position of the first connecting column 13;

s122: the position of the first reference plane 3 is determined based on the axial position of the first connecting column 13, so that the first reference plane 3 passes through the axis of the first connecting column 13 and is parallel to a plane formed by the first coordinate axis and the second coordinate axis.

As shown in fig. 11 and 12, the present embodiment connects the first fastening member 11 and the first marking member 12 by the first connecting post 13 perpendicular to the first marking plane 14, and passes the first reference plane 3 through the axis of the first connecting post 13. In this way, the first connection post 13 can maintain a stable and reliable relative positional relationship between the first reference plane 3 and the first marking plane 14, and the trajectory of the first reference plane 3 can be calculated from the trajectory of the first marking plane 14.

S13: establishing a second reference coordinate system, wherein the origin of the second reference coordinate system is positioned on the second marking plane 24, the second reference coordinate system comprises a fourth coordinate axis, a fifth coordinate axis and a sixth coordinate axis which are mutually perpendicular, and the direction of the fourth coordinate axis is perpendicular to the second marking plane 24;

As shown in fig. 11, the second reference coordinate system is a three-dimensional space rectangular coordinate system having three axial directions, wherein the fourth coordinate axis is denoted as Z2, the fifth coordinate axis is denoted as X2, and the sixth coordinate axis is denoted as Y2 for convenience of description. The second reference frame moves synchronously with the second marking plane 24.

The second marking plane 24 is provided with a marking pattern. The marking pattern shown in fig. 8 includes at least 1 center circle 5 and 4 peripheral circles 6, the centers of the four peripheral circles 6 are located at four vertex positions of the same rectangle, and the center circle 5 is located at the center position of the rectangle. As shown in fig. 13, the step S13: establishing a second reference coordinate system, wherein an origin of the second reference coordinate system is located on the second marking plane 24, the second reference coordinate system comprises a fourth coordinate axis, a fifth coordinate axis and a sixth coordinate axis which are perpendicular to each other, and the direction of the fourth coordinate axis is perpendicular to the second marking plane 24, and the method further comprises the following steps:

s131: determining the origin position of a second reference coordinate system according to the center of a center circle 5 so that the origin of the second reference coordinate system is positioned at the center position of the center circle 5;

s132: and determining the directions of a fourth coordinate axis and a fifth coordinate axis according to the circle center positions of the four peripheral circles 6, so that the fourth coordinate axis and the fifth coordinate axis are respectively parallel to two adjacent sides of the rectangle.

Since the fifth coordinate axis and the sixth coordinate axis are parallel to the two adjacent sides of the rectangle, the directions of the fifth coordinate axis and the sixth coordinate axis can be rapidly determined by the positions of the centers of the circles 6 of the four peripheral circles on the marking pattern, so that the position of the second reference plane 4 can be rapidly determined.

S14: a second reference plane 4 is determined from a second reference coordinate system, said second reference plane 4 being parallel to a plane formed by the fourth coordinate axis and the fifth coordinate axis.

Wherein the plane formed by the fourth coordinate axis and the fifth coordinate axis refers to a plane parallel to both the fourth coordinate axis and the fifth coordinate axis. The present embodiment can represent the relative positional relationship between the second reference plane 4 and the second marking plane 24 by the position and orientation of the second reference plane 4 in the second coordinate system. Since the origin of the second coordinate system is located on the second marking plane 24 and the second coordinate axis is perpendicular to the second marking plane 24, the second reference plane 4 is parallel to the plane constituted by the fourth coordinate axis and the fifth coordinate axis, so that the subsequent process of estimating the position and the direction of the second reference plane 4 from the position and the direction of the second marking plane 24 can be simplified.

In this embodiment, the second marking surface is located on a second track following device, the second track following device 2 includes a second fixing member 21, a second marking member 22, and a second intermediate member, where the second fixing member 21 and the second marking member 22 are connected by a second intermediate member, the second marking plane 24 is disposed on the second marking member 22, the second fixing member 21 is used to fix to the lower dental arch 8, and the second intermediate member includes a second connecting post 23, and an axial direction of the second connecting post 23 is perpendicular to the second marking plane 24;

as shown in fig. 10, the step S14: determining a second reference plane 4 from a second reference coordinate system, said second reference plane 4 being parallel to a plane formed by a fourth coordinate axis and a fifth coordinate axis, comprising the steps of:

s141: acquiring the axial position of the second connecting column 23;

s142: the position of the second reference plane 4 is determined based on the axial position of the second connecting post 23 such that the second reference plane 4 passes through the axis of the second connecting post 23 and is parallel to the plane formed by the fourth coordinate axis and the fifth coordinate axis.

The present embodiment connects the second fastening member 21 and the second marking member 22 by means of a second connecting post 23 perpendicular to the second marking plane 24, and passes the second reference plane 4 through the axis of the second connecting post 23. In this way, the second reference plane 4 and the second marking plane 24 can be kept in a stable and reliable relative positional relationship by the second connecting post 23, so that the trajectory of the second reference plane 4 can be accurately calculated from the trajectory of the second marking plane 24.

As an alternative but advantageous embodiment, in this embodiment, the first fastening member 11 includes a first connection portion, and a first fastening portion and a second fastening portion formed by extending from two sides of the first connection portion, respectively, where the first fastening portion and the second fastening portion enclose a semi-surrounding structure that is recessed toward one side of the first connection portion, and the first reference plane 3 is perpendicular to a surface on the first fastening member 11 that is fastened to the upper dental arch 7;

in this embodiment, the inner side of the semi-surrounding structure may be fixedly connected with the upper dental arch 7 of the human body, that is, the surface of the first fixing portion and the second fixing portion facing to the dental arch side is the surface fixedly connected with the upper dental arch 7 of the human body. Because the first reference plane 3 is perpendicular to the surface of the first fixing member 11, which is fixedly connected with the upper dental arch 7 in this embodiment, after the first fixing member 11 is fixedly connected with the upper dental arch 7, the planar motion of the first reference plane 3 is closer to the planar motion of the upper dental arch 7, so that the accuracy of detecting the movement track of the upper jaw can be improved.

The second fixing member 21 includes a second connecting portion, and a third fixing portion and a fourth fixing portion formed by extending two sides of the second connecting portion, where the third fixing portion and the fourth fixing portion enclose a semi-surrounding structure that is recessed toward one side of the second connecting portion, and the second reference plane 4 is perpendicular to a surface of the second fixing member 21 that is fixedly connected with the lower dental arch 8.

In this embodiment, the inner side of the semi-surrounding structure may be fixedly connected with the upper dental arch 7 of the human body, that is, the surface of the third fixing portion and the fourth fixing portion facing to the dental arch side is the surface fixedly connected with the lower dental arch 8 of the human body. Because the second reference plane 4 is perpendicular to the surface of the second fixing member 21, which is fixedly connected with the lower dental arch 8 in this embodiment, after the second fixing member 21 is fixedly connected with the lower dental arch 8, the planar motion of the second reference plane 4 is closer to the planar motion of the lower dental arch 8, so that the accuracy of detecting the mandibular motion track can be improved.

As shown in fig. 14, in the present embodiment, the step S3: the method for determining the spatial position and the direction of the first reference plane 3 in the process of the relative movement of the human mandible and the upper jaw according to the relative position relation between the first reference plane 3 and the first marking plane 14 and the spatial position and the direction of the first marking plane 14 in the process of the relative movement of the human mandible and the upper jaw further comprises the following steps:

s31: acquiring the space position and the direction of the normal vector of the first marking plane 14 at each sampling moment in the process of the relative movement of the lower jaw and the upper jaw of the human body;

wherein the start point of the normal vector of the first marking plane 14 may be disposed at the center position of the first marking plane 14, and the start point position is taken as the spatial position of the normal vector of the first marking plane 14.

Because the normal vector of the first marking plane 14 always maintains a perpendicular relationship with the first marking plane 14, the spatial position and the direction of the first marking plane 14 at each sampling time can be obtained first, and then the spatial position and the direction of the corresponding normal vector at each sampling time can be obtained through the spatial position and the direction of the first marking plane 14 at each sampling time. The spatial position and direction of the normal vector at each sampling instant can also be obtained directly from the pattern on the first marker plane 14.

S32: determining the position and the direction of the normal vector of the first reference plane 3 at each sampling time according to the spatial position and the direction of the normal vector of the first marking plane 14 at each sampling time and the relative position relation between the first reference plane 3 and the first marking plane 14;

wherein the starting point position of the normal vector of the first reference plane 3 is located on the first reference plane 3, and the starting point position of the normal vector is taken as the position of the normal vector in space. Since the first reference plane 3 and the first marking plane 14 are perpendicular to each other, the normal vector of the first reference plane 3 and the normal vector of the first marking plane 14 are also perpendicular to each other, and thus the position and direction of the normal vector of the first reference plane 3 at each sampling instant can be quickly obtained from the spatial position of the normal vector of the first marking plane 14 at each sampling instant.

As an alternative but advantageous embodiment, the starting point position of the normal vector of the first reference plane 3 is located in the first target triangle area in the present example. The first target triangular region is located on a first reference plane 3. The first target triangle area includes three vertices forming a triangle, and the three vertices are a first vertex 31, a second vertex 32, and a third vertex 33, respectively. The first vertex 31 is located on the axis of the first connecting post 13. The second and third vertices 32, 33 are symmetrically arranged about a first target plane perpendicular to the first reference plane 3 and the first marking plane 14. The connection line between the second vertex 32 and the third vertex 33 is parallel to the second coordinate axis. The second vertex 32 and the third vertex 33 are located on the side of the first connecting post 13 facing the first fastening member 11. In this embodiment, the starting point position of the normal vector of the first reference plane 3 is set in the aforementioned region, so that the vector can accurately reflect the movement of the human upper jaw.

The S4: the determining the spatial position and direction of the second reference plane 4 in the process of the relative movement of the human mandible and the upper jaw according to the relative position relation between the second reference plane 4 and the second marking plane 24 and the spatial position and direction of the second marking plane 24 in the process of the relative movement of the human mandible and the upper jaw further comprises the following steps:

S41: acquiring the space position and the direction of the normal vector of the second marking plane 24 at each sampling moment in the process of the relative movement of the lower jaw and the upper jaw of the human body;

wherein the start point of the normal vector of the second marking plane 24 may be arranged at the central position of the second marking plane 24, and the start point position is taken as the spatial position of the normal vector of the second marking plane 24.

Since the normal vector of the second marking plane 24 and the second marking plane 24 always maintain a perpendicular relationship, the spatial position and the direction of the second marking plane 24 at each sampling time can be obtained first in this step, and then the spatial position and the direction of the corresponding normal vector at each sampling time can be obtained through the spatial position and the direction of the second marking plane 24 at each sampling time. The spatial position and orientation of the normal vector at each sampling instant may also be obtained directly from the pattern on the second marker plane 24.

S42: determining the position and the direction of the normal vector of the second reference plane 4 at each sampling time according to the spatial position and the direction of the normal vector of the second marking plane 24 at each sampling time and the relative position relation between the second reference plane 4 and the second marking plane 24;

Wherein the starting point position of the normal vector of the second reference plane 4 is located on the second reference plane 4, and the starting point position of the normal vector is taken as the position of the normal vector in space. Since the second reference plane 4 and the second marking plane 24 are perpendicular to each other, the normal vector of the second reference plane 4 and the normal vector of the second marking plane 24 are also perpendicular to each other, so that the position and direction of the normal vector of the second reference plane 4 at each sampling instant can be quickly obtained from the spatial position of the normal vector of the second marking plane 24 at each sampling instant.

As an alternative but advantageous embodiment, the starting point position of the normal vector of the second reference plane 4 is located in the second target triangle area in the present example. The second target triangular region is located on a second reference plane 4. The second target triangle area includes three vertices forming a triangle, and the three vertices are a fourth vertex 41, a fifth vertex 42, and a sixth vertex 43, respectively. The fourth vertex 41 is located on the axis of the first connecting post 13. The fifth and sixth vertices 42, 43 are symmetrically arranged about a first target plane, which is perpendicular to the second reference plane 4 and the second marking plane 24. The connection line between the fifth vertex 42 and the sixth vertex 43 is parallel to the fourth coordinate axis. The fifth vertex 42 and the sixth vertex 43 are located on the side of the first connecting post 13 facing the second fastening member 21. In this embodiment, the starting point position of the normal vector of the second reference plane 4 is set in the aforementioned region, so that the vector can accurately reflect the movement of the human mandible.

As shown in fig. 15, S5 described in the present embodiment: the method for acquiring the track of the relative movement of the human mandible and the upper jaw according to the spatial position and the direction of the first reference plane 3 and the spatial position and the direction of the second reference plane 4 in the process of the relative movement of the human mandible and the upper jaw further comprises the following steps:

s51: acquiring the space position and the direction of the normal vector of the first reference plane 3 at each sampling moment;

the method in which the spatial position and direction of the normal vector of the first reference plane 3 at each sampling time are acquired may employ the method in which the spatial position and direction of the normal vector of the first reference plane 3 are acquired using the spatial position and direction of the normal vector of the first marker plane 14 as described above.

S52: acquiring the space position and the direction of the normal vector of the second reference plane 4 at each sampling moment;

the method in which the spatial position and direction of the normal vector of the second reference plane 4 at each sampling time are acquired may employ the method in which the spatial position and direction of the normal vector of the second reference plane 4 are acquired by using the spatial position and direction of the normal vector of the second marker plane 24 as described above.

S53: the relative spatial position and direction between the normal vector phase of the first reference plane 3 and the normal vector of the second reference plane 4 at each sampling instant is determined from the spatial position and direction of the normal vector of the first reference plane 3 and the normal vector of the second reference plane 4 at each sampling instant.

The step can first find out the space position and direction of the normal vector phase of the first reference plane 3 and the normal vector of the second reference plane 4 which belong to the same sampling time, let the space position and direction of the normal vector of one of the reference planes be used as a reference standard, and calculate the space position and direction of the normal vector of the other reference plane which is equivalent to the reference standard. Each sampling instant may result in a relative spatial position and orientation. Curve fitting is carried out on the relative spatial positions and the directions of all sampling moments, so that the track of the relative movement of the human mandible and the upper jaw can be obtained. The present embodiment uses the position and direction of the normal vector of the first reference plane 3 and the normal vector of the second reference plane 4 in space to represent the position and direction of the first reference plane 3 and the second reference plane 4 in space, that is, simplifies the process of obtaining the position and direction of the first reference plane 3 from the spatial position and direction of the first mark plane 14 and obtaining the position and direction of the first reference plane 3 from the spatial position and direction of the second mark plane 24, and effectively uses the relative spatial position and direction between the first reference plane 3 and the second reference plane 4 to accurately represent the relative movement between the upper jaw and the lower jaw.

Example 2

The present embodiment provides a dental motion trajectory detection apparatus comprising a first tracking device 1, a second tracking device, an infrared binocular camera and a control circuit comprising at least one processor, at least one memory and computer program instructions stored in the memory, which when executed by the processor implement the method of the first aspect. Wherein the first tracking device 1 is fixedly connected with an upper dental arch 7 of a human body, and the second tracking device is fixedly connected with a lower dental arch 8 of the human body.

The first tracking device 1 comprises a first fixedly connecting piece 11, a first marking piece 12 and a first middle piece, wherein the first fixedly connecting piece 11 and the first marking piece 12 are connected through the first middle piece, the first marking plane 14 is arranged on the first marking piece 12, the first fixedly connecting piece 11 is used for being fixedly connected with the upper dental arch 7, the first middle piece comprises a first connecting column 13, and the axial direction of the first connecting column 13 is perpendicular to the first marking plane 14; the second tracking device 2 comprises a second fixedly connecting piece 21, a second marking piece 22 and a second intermediate piece, the second fixedly connecting piece 21 and the second marking piece 22 are connected through the second intermediate piece, the second marking plane 24 is arranged on the second marking piece 22, the second fixedly connecting piece 21 is used for fixedly connecting with the lower dental arch 8, the second intermediate piece comprises a second connecting column 23, and the axial direction of the second connecting column 23 is perpendicular to the second marking plane 24.

The above is a detailed description of the dental motion trajectory detection and the dental motion trajectory detection apparatus and the storage medium provided by the embodiments of the present invention.

It should be understood that the invention is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after appreciating the spirit of the present invention.

The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.

It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.

In the foregoing, only the specific embodiments of the present invention are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present invention is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and they should be included in the scope of the present invention.

Claims

1. The method for detecting the movement track of the tooth jaw is characterized by comprising the following steps of:

2. The method according to claim 1, wherein the determining a first reference plane having a determined relative positional relationship with a first marking plane and a second reference plane having a determined relative positional relationship with a second marking plane, wherein the first reference plane is perpendicular to the first marking plane, the second reference plane is perpendicular to the second marking plane, the first marking plane moves in synchronization with the upper jaw, and the second marking plane moves in synchronization with the lower jaw, further comprising the steps of;

3. The method according to claim 2, wherein the first marking surface is located on a first tracking device, the first tracking device includes a first fixing member, a first marking member and a first intermediate member, the first fixing member and the first marking member are connected by the first intermediate member, the first marking plane is disposed on the first marking member, the first fixing member is used for fixing with an upper dental arch, the first intermediate member includes a first connecting column, and an axial direction of the first connecting column is perpendicular to the first marking plane;

acquiring the axial position of a first connecting column;

4. The method for detecting a dental motion trajectory according to claim 3, wherein a marking pattern is provided on the first marking plane, the marking pattern at least includes 1 central circle and 4 peripheral circles, the centers of the 4 peripheral circles are located at four vertex positions of the same rectangle, and the central circle is located at the central position of the rectangle:

5. The method for detecting a dental motion track according to claim 2, wherein the second marking surface is located on a second track following device, the second track following device comprises a second fixedly connecting piece, a second marking piece and a second intermediate piece, the second fixedly connecting piece is connected with the second marking piece through the second intermediate piece, the second marking plane is arranged on the second marking piece, the second fixedly connecting piece is used for fixedly connecting with the lower dental arch, the second intermediate piece comprises a second connecting column, and the axial direction of the second connecting column is perpendicular to the second marking plane;

acquiring the axis position of the second connecting column;

6. The method for detecting a dental motion track according to claim 5, wherein a marking pattern is provided on the second marking plane, the marking pattern at least includes 1 central circle and 4 peripheral circles, the centers of the 4 peripheral circles are located at four vertex positions of the same rectangle, the central circle is located at the central position of the rectangle, a second reference coordinate system is established, an origin of the second reference coordinate system is located on the second marking plane, the second reference coordinate system includes a fourth coordinate axis, a fifth coordinate axis and a sixth coordinate axis which are perpendicular to each other, and the direction of the fourth coordinate axis and the second marking plane are perpendicular to each other, and further includes the following steps:

7. The method according to claim 3, wherein the first fixing member includes a first connecting portion, and a first fixing portion and a second fixing portion formed by extending from two sides of the first connecting portion, respectively, the first fixing portion and the second fixing portion enclose a semi-surrounding structure recessed toward one side of the first connecting portion, and the first reference plane is perpendicular to a surface of the first fixing member, which is fixed to the upper dental arch;

8. The method according to any one of claims 1 to 7, wherein determining the spatial position and direction of the first reference plane during the relative movement of the human mandible and the maxilla according to the relative positional relationship between the first reference plane and the first marking plane and the spatial position and direction of the first marking plane during the relative movement of the human mandible and the maxilla further comprises:

9. The method for detecting a movement track of a dental jaw according to claim 8, wherein the step of acquiring the movement track of the human mandible and the upper jaw according to the spatial position and the direction of the first reference plane and the spatial position and the direction of the second reference plane in the process of the relative movement of the human mandible and the upper jaw further comprises the steps of:

10. A dental motion trajectory detection device comprising first tracking means, second tracking means, an infrared binocular camera and control circuitry, said control circuitry comprising at least one processor, at least one memory and computer program instructions stored in said memory, which when executed by said processor, implement the method of any one of claims 1-9.