CN117582303A - Digital tooth arrangement method and system for accurate orthodontic treatment - Google Patents
Digital tooth arrangement method and system for accurate orthodontic treatment Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
- A61C2007/004—Automatic construction of a set of axes for a tooth or a plurality of teeth
Abstract
The invention belongs to the field of tooth orthodontics, and provides a digital tooth arranging method and system for accurate orthodontics, which are used for acquiring a three-dimensional dentition model and obtaining a crown point cloud and a tooth point cloud which are initially arranged, and a corresponding tooth label, a tooth characteristic point and a characteristic axis according to the three-dimensional dentition model; establishing a local coordinate system for each tooth according to the characteristic axes and the tooth characteristic points, and obtaining the initial pose of the tooth according to the local coordinate system; determining the target ideal pose of the tooth, and calculating the rotation amount and the translation amount between the initial pose of the tooth and the target ideal pose; applying the calculated rotation and translation to each tooth to obtain a preliminary tooth arrangement result; and (3) fine-adjusting the teeth according to collision and interval relation among the teeth in the initial tooth arrangement result to obtain a final tooth arrangement result. The invention can automatically generate a tooth arrangement scheme, ensures that tooth arrangement meets basic criteria, and avoids collision and overlarge gaps between teeth.
Description
Technical Field
The invention belongs to the technical field of orthodontic treatment, and particularly relates to a digital tooth arrangement method and system for accurate orthodontic treatment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the development of digital technology, invisible dental aligners are introduced into the field of orthodontics and become an effective method for solving the problem of malocclusion. The multifunctional mosquito net is widely used due to the characteristics of convenience, stealth, attractive appearance, small influence on daily life of patients and the like. At the same time, digital orthodontic has become an emerging field. Artificial intelligence and deep learning approaches have achieved great success in medical image processing. Digital orthodontic is an advanced computer-aided diagnosis and treatment technology in the field of orthodontic in recent years, and compared with the traditional mode of orthodontic treatment which is highly dependent on dentist experience, digital orthodontic is based on data, and diagnosis and treatment efficiency of dentists and the intelligent level of orthodontic treatment are greatly improved by utilizing various digital and intelligent technologies. The digital orthodontic procedure is as follows: data collection is firstly carried out through an intraoral scanner and the like, and then digital modeling is carried out on the results obtained through scanning. After the three-dimensional tooth model is obtained, the oral cavity data features are detected, wherein the oral cavity data features mainly comprise tooth feature shafts and feature points, and orthodontic treatment and orthodontic scheme formulation are carried out based on the oral cavity data features.
From the above process, it can be understood that the establishment of the orthodontic scheme, that is, the arrangement of the teeth target positions, is one of the key steps of digital orthodontic, and is the most direct display and experience for users in the digital orthodontic process. In the tooth arrangement process, not only aesthetic factors but also functional factors are considered, so that the teeth after orthodontic treatment are ensured to have correct occlusion relation. The automatic arrangement of the tooth models is performed by using the computer-aided orthodontic technology, so that doctors can be helped to quickly make orthodontic schemes, patients can intuitively know orthodontic effects, and the participation of the patients and the communication efficiency of doctors and patients are improved. Meanwhile, by means of the tooth arrangement interaction system, personalized requirements can be added to predicted orthodontic results by doctors and patients, and orthodontic effects are improved.
Currently, in the invisible orthodontic correction scheme, most of ideal target arrangement of teeth is manually arranged by a professional orthodontist by means of computer-aided software, so that time and effort are consumed, and the tooth arrangement effect is influenced by experience of the orthodontist. Although more data-driven based methods have been used in recent years to predict tooth ideal alignment, they suffer from poor interpretability, inability to personalize and collision-free results.
Disclosure of Invention
In order to solve the problems, the invention provides a digital tooth arrangement method and a digital tooth arrangement system for accurate orthodontic treatment.
According to some embodiments, the present invention employs the following technical solutions:
a digital tooth arrangement method for accurate orthodontic treatment comprises the following steps:
acquiring a three-dimensional dentition model, and acquiring a crown point cloud and a tooth point cloud which are initially arranged, and corresponding tooth labels, tooth characteristic points and characteristic axes according to the three-dimensional dentition model;
establishing a local coordinate system for each tooth according to the characteristic axes and the tooth characteristic points, and obtaining the initial pose of the tooth according to the local coordinate system;
determining the target ideal pose of the tooth, and calculating the rotation amount and the translation amount between the initial pose of the tooth and the target ideal pose;
applying the calculated rotation and translation to each tooth to obtain a preliminary tooth arrangement result;
and (3) fine-adjusting the teeth according to collision and interval relation among the teeth in the initial tooth arrangement result to obtain a final tooth arrangement result.
Alternatively, the specific process of establishing a local coordinate system for each tooth includes: setting the midpoint of the line of the sharp points of the distal cheek of the two second molars of the upper jaw as A, and setting the origin O of a coordinate system as the projection of the point A on the occlusal surface;
the Z axis of the coordinate system is perpendicular to the occlusal surface and points to the direction of the upper jaw;
assuming that the projection of the contact point of two middle incisors of the upper jaw on the occlusal surface is B, the Y-axis of a coordinate system is a straight line where the connecting line of the B point and the origin O is positioned, and the positive direction isA direction; the X-axis of the coordinate system is the cross of the Y-axis and the Z-axis.
In an alternative embodiment, the process of calculating the rotation amount between the initial pose of the tooth and the target ideal pose comprises: the calculation of tooth movement quantity is divided into X, Y, Z directions, which are respectively marked as delta X, delta Y and delta Z, wherein the calculation process of delta X and delta Y is to fit a dental arch curve, rearrange teeth on the fitted dental arch curve, determine ideal coordinates of tooth characteristic points of X axis and Y axis, calculate and apply rotation quantity, and finally calculate the movement quantity of teeth before and after tooth arrangement in the X axis and Y axis directions;
the calculating process of delta Z is to fit a Spee curve, calculate the ideal coordinate of the characteristic point Z axis according to the ideal coordinate of the characteristic point Y axis of the tooth, calculate and apply the rotation quantity, and finally calculate the movement quantity of the teeth before and after tooth arrangement in the Z axis direction.
In an alternative embodiment, the process of calculating the rotation amount from the initial pose to the target pose includes: according to orthodontic knowledge, the rotation of the teeth is decomposed into a rotation angle, an axis inclination angle and a torque angle, the ideal posture of the teeth is determined according to the values of the axis inclination angle and the torque angle, and the angle and the rotation axis of the teeth required to rotate are calculated according to the initial posture and the ideal posture.
As a further embodiment, the projection of the i axis of the tooth standard frame on the XOY plane is parallel to the tangent line of the dental arch curve, and the projection of the tangent line of the dental arch curve and the i axis on the XOY plane is solved to obtain the rotation angle.
Alternatively, the process of applying the calculated rotation and translation to each tooth includes: according to the rotation angle and the rotation shaft, a rotation matrix of the rotation angle, the shaft inclination angle and the torque angle is obtained, the rotation matrix of the rotation angle, the shaft inclination angle and the torque angle is multiplied to obtain a total rotation matrix, and the coordinates of all vertexes of the teeth are multiplied by the rotation matrix, so that the teeth after rotation can be obtained.
Further, the coordinate system conversion is completed for the vertex coordinates of each tooth before the total rotation matrix is multiplied, and the vertex coordinates of the teeth are restored to the coordinates under the tooth row coordinate system after the rotation matrix is multiplied.
Alternatively, the process of fine-tuning the relationship of the collision and spacing between teeth in the preliminary tooth arrangement results includes: collision processing is performed based on a collision and interval processing algorithm of the directed distance field.
A digital orthodontic system for precision orthodontics, comprising:
the data processing module is configured to acquire a three-dimensional dentition model, and obtain a crown point cloud and a tooth point cloud which are initially arranged, and corresponding tooth labels, tooth characteristic points and characteristic axes according to the three-dimensional dentition model;
the coordinate system construction module is configured to establish a local coordinate system for each tooth according to the characteristic axes and the tooth characteristic points, and obtain the initial pose of the tooth according to the local coordinate system;
the deviation calculating module is configured to determine the target ideal pose of the tooth and calculate the rotation amount and the translation amount between the initial pose of the tooth and the target ideal pose;
the tooth arranging module is configured to apply the calculated rotation quantity and the calculated translation quantity to each tooth to obtain a preliminary tooth arranging result;
and the adjustment optimization module is configured to finely adjust the teeth according to the collision and interval relation among the teeth in the initial tooth arrangement result to obtain a final tooth arrangement result.
As an alternative embodiment, the system further comprises a data interaction module configured to receive input instructions of the user on the tooth model, wherein the input instructions are used for fine tuning and correcting the tooth model; or/and adding or deleting feature points.
Compared with the prior art, the invention has the beneficial effects that:
by comprehensively utilizing the anatomical features of teeth and the orthodontic medical knowledge, an automatic tooth arrangement scheme is constructed, the tooth arrangement is ensured to meet the basic criteria, and collision and excessive gaps between teeth are avoided.
The system provided by the invention also allows the user to interactively adjust, meets the expected position requirement of the user by rotating and displacing the teeth, and simultaneously performs collision detection, thereby ensuring the safety and accuracy of the tooth arrangement scheme. In a word, the invention realizes automatic tooth arrangement of accurate orthodontic, improves treatment effect, reduces unnecessary problems and brings remarkable benefits to the field of orthodontic treatment.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic flow chart of a digital tooth arrangement method facing to accurate orthodontic in the embodiment;
FIG. 2 is a provided tooth class and its corresponding label of the present embodiment;
FIG. 3 is a tooth arrangement coordinate system used in the present embodiment;
FIGS. 4 (a) -4 (d) are tooth feature points provided in this example;
FIG. 5 is a dental frame provided in this embodiment;
FIG. 6 is a graph of an arch for use with the present embodiment;
FIG. 7 is a Spee curve used in this example;
fig. 8 (a) -8 (c) are rotation angles used in the present embodiment, which are rotation angle, torque angle, and shaft inclination angle in order;
FIG. 9 is a detailed flowchart of the collision interval processing method used in the present embodiment;
FIG. 10 is an ideal tooth arrangement result produced by this example;
FIG. 11 is a functional block diagram of a digital tooth arrangement interactive system for use with another embodiment.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
The embodiment provides a digital tooth arrangement method for accurate orthodontic treatment, which comprises the following steps as shown in fig. 1:
step 1: acquiring three-dimensional tooth information, and acquiring a crown point cloud and a tooth point cloud which are initially arranged, and corresponding tooth labels, tooth characteristic points and characteristic axes according to a dentition model;
the step 1 specifically includes:
step 1.1: using intraoral scanning equipment or scanning occlusion reverse mould gypsum to obtain a three-dimensional grid model of dentition, dividing the dentition model by using a deep learning or manual labeling method, and classifying each tooth and detecting tooth characteristics;
step 1.2: taking a dentition model obtained by scanning occlusion reverse gypsum as an example, taking an off format as a model file, calculating normal data of vertexes according to a vertex topological connection relationship, selecting the vertexes as required point clouds, and storing according to a format of < x, y, z, N_x, N_y and N_z >; and inputting the point cloud into a segmentation and classification network constructed based on deep learning to obtain the dental crown point cloud and the labels of the teeth corresponding to the dental crown point cloud. And then, inputting the point cloud into a tooth characteristic point and characteristic axis detection network constructed based on deep learning to obtain tooth characteristic points and characteristic axes corresponding to the crown point cloud.
In this embodiment, the segmentation method used is 3D Tooth Segmentation and Labeling Using Deep Convolutional Neural Networks, and the point cloud is segmented into 29 categories, which respectively correspond to the non-tooth part point cloud and the 28 tooth part point clouds; as shown in fig. 2, since human teeth are symmetrically distributed, according to the teeth representation of the international dental association (FDI), the tooth part point clouds are respectively labeled with two-digit numbers. The first digits 1-4 represent the positions of the teeth in the upper left, upper right, lower left and lower right, respectively. The second digits 1-8 represent the tooth class, ranging from midline to distal: the number 1 is the incisor, the number 2 is the side incisor, the number 3 is the cuspid, the numbers 4 and 5 are the first premolars and the second premolars, and the numbers 6 and 7 are the first premolars and the second premolars.
As shown in fig. 4, the feature point detection method used is Dense representative tooth landmark/axis detection network on D model, and the 9 feature points of each tooth are respectively two occlusion points (OC), two connection points (Contact points (CO)), one facial axis point (Facial axis point (FA)), four Cusp points (CU);
the characteristic axis detection method used is TAD-Net: tooth axis detection network based on rotation transformation encoding the 4 characteristic axes of each tooth are buccal axis (Buccal surface axis (BA)), lingual axis (Lingual axis (LA)), proximal axis (Mesialaxis (MA)), distal axis (Distalaxis (DA));
step 2: and establishing a tooth arrangement coordinate system. Establishing a tooth standard frame for each tooth according to the characteristic axis and the characteristic point, wherein the process of establishing the tooth standard frame can be regarded as a process of establishing a local coordinate system of a single tooth, and the initial pose of the tooth is obtained according to the local coordinate system;
the step 2 specifically includes:
step 2.1: the tooth row coordinate system establishment rules shown in fig. 3 are as follows: assuming that the midpoint of the connecting line of the points of the distal cheek points of the two second molars of the upper jaw is A, and the origin O of the coordinate system is the projection of the point A on the occlusal surface; the Z axis of the coordinate system is perpendicular to the occlusal surface and points to the direction of the upper jaw; assuming that the projection of the contact point of two middle incisors of the upper jaw on the occlusal surface is B, the Y-axis of a coordinate system is a straight line where the connecting line of the B point and the origin O is positioned, and the positive direction isA direction; the X-axis of the coordinate system is the cross of the Y-axis and the Z-axis.
Step 2.2: as shown in fig. 5, the dental frame is composed of four parts: i-axis, j-axis, k-axis and tooth centroid point. Wherein the i-axis is the unit vector connecting the two points of contact of the teeth. The K-axis is the median long axis of the tooth. The J-axis is obtained by the cross multiplication of the i-axis and the k-axis. And (3) combining the tooth characteristic axes and the characteristic points obtained by the detection in the step (1.2) to obtain the standard frame of each tooth.
Step 3: determining the ideal target pose of the tooth according to the related orthodontic medical knowledge, and calculating the rotation and translation between the initial pose and the target pose;
the step 3 specifically includes:
step 3.1: the tooth movement was calculated in three directions X, Y, Z, denoted as Tx, ty, tz, respectively.
The calculation method for DeltaX and DeltaY is as follows: fitting a dental arch curve, rearranging teeth on the fitted dental arch curve, determining ideal coordinates of tooth characteristic points in the X axis and the Y axis, calculating and applying rotation amounts, and finally calculating movement amounts of teeth in the X axis and the Y axis before and after tooth arrangement. It should be noted that after the ideal coordinates of the tooth feature points on the X-axis and the Y-axis are determined, the calculation and application of the rotation amount should be completed first, and then the movement amount should be calculated.
Dental arches are three-dimensional curves that are typically projected as a two-dimensional curve from top to bottom. As shown in fig. 6. Fitting the arch curve by Beta function, the expression is as follows:。
where D represents the depth of the arch curve, W represents the width of the arch curve, e is related to the shape of the arch curve, the greater the value of e, the more the arch curve is biased toward the cusp shape, the smaller the value of e, the more the arch curve is biased toward the square shape, with the oval shape in between.
The arch width W is obtained using the projection length of the far and intermediate buccal cusp line of two No. 7 molars of the lower jaw on the X axis, and the arch depth D is obtained using the line of the midpoint of the far and intermediate buccal cusp of two No. 7 molars of the lower jaw and the contact point of the intermediate incisorsThe projection length on the Y axis is obtained, and for e, it is assumed that the cusp coordinates of the two cusps of the mandible are (X 1 ，Y 1 )、(X 2 ，Y 2 ) After obtaining W and D, since the dental arch curve is symmetrical about the Y-axis, it is only necessary to obtain (X 1 ，) Or (X) 2 ，/>) The e value can be found by taking the expression. After the W, D, e value is obtained, a fitted dental arch curve can be obtained.
The calculation concept for Δz is as follows: and fitting a Spee curve, calculating the Z-axis ideal coordinate of the characteristic point according to the Y-axis ideal coordinate of the characteristic point of the tooth, calculating and applying the rotation quantity, and finally calculating the movement quantity of the tooth before and after tooth arrangement in the Z-axis direction. It should be noted that, after the ideal coordinate of the Z axis of the tooth feature point is determined, the calculation and application of the rotation amount should be completed first, and then the movement amount should be calculated.
As shown in fig. 7, the Spee curve is a line connecting the incisor ridge of the mandibular central incisor, the incisor ridge of the mandibular lateral incisor, the cusp of the mandibular cuspid, the buccal cusp of the mandibular first second premolars, the mesial buccal cusp of the mandibular first molars, and the distal buccal cusp, and is an upwardly concave curve. We fit the spe curve by a quadratic polynomial:。
step 3.2: as shown in fig. 8 (a) - (c), the calculation of tooth rotation is broken down into three angles: rotation angleInclination of axis->And torque angle->。
The rotation angle may change the projection of the i-axis of the dental frame in the XOY plane. The projection of the i-axis of the dental frame in the XOY plane is generally parallel to the tangent of the arch curve.
The tangent to the arch curve can be derived from the Beta function formula used in step 3.1 and its first derivative:。
according to the above, the included angle between each tangent line of the dental arch curve and the positive direction of the X axis can be obtained, then the included angle between the projection of the i axis of the dental standard frame on the XOY plane and the positive direction of the X axis is obtained, the difference value of the two is the rotation angle, and the rotation axis is the Z axis of the coordinate system.
The tooth axis inclination angle and the torque angle are the average values of the tooth angles obtained by the related researchers. The specific calculation thought is as follows: and determining the ideal posture of the tooth according to the values of the shaft inclination angle and the torque angle, and calculating the selection angle and the rotation shaft of the tooth to be rotated according to the initial posture and the ideal posture.
Step 4: applying the obtained rotation and translation to each tooth to obtain a preliminary tooth arrangement result;
the step 4 specifically includes:
step 4.1: after the rotation angle, the shaft inclination angle and the torque angle have been calculated in step 3.2, these three rotations need to be applied to the teeth. According to the rotation angle and the rotation axis, a rotation matrix of the rotation angle, the shaft inclination angle and the torque angle can be obtained, and the three rotation matrices are multiplied to obtain a total rotation matrixWherein the expression mode is as follows: />。
The total translation vector is t=tx+ty+tz.
Step 4.2: in particular, the tooth rotation is a rotation process using the center point of the C tooth as the rotation point, and then the transformation from the initial tooth Pori to the target tooth Pnew can be expressed as: pnew=r· (Pori-C) +t+c.
Through the transformation, a preliminary tooth arrangement result can be obtained.
Step 5: and (3) fine adjustment is carried out on the teeth according to collision and interval relation among the teeth in the initial tooth arrangement result, so that the situation that the teeth have no collision and overlarge interval is ensured.
As shown in fig. 9, the step 5 specifically includes:
step 5.1: establishing an SDF, denoted S, for each tooth;
step 5.2: processing the teeth 11 and 21, respectively recording the teeth A and the teeth B, calculating the distance D between the teeth A and the teeth B, if D <0 collision occurs between the teeth, respectively moving the teeth 11 and the teeth 12 along the far middle direction of the dental arch curve, if D >0 spacing is too large, respectively moving the middle incisors 11 and 12 along the near middle direction, and repeating the above processes until the teeth 11 and 12 have no collision and no too large spacing, namely D=0;
step 5.3: processing left teeth, calculating the distance between the No. 11 teeth and the No. 12 teeth, if collision occurs, moving the No. 12 teeth along the far-middle direction of the dental arch curve, if the interval is too large, moving the No. 12 teeth along the near-middle direction, and repeating the above processes until the No. 12 teeth and the No. 11 teeth have no collision and no interval is too large; calculating the distance between the teeth No. 13 and No. 12, if collision occurs, moving the teeth No. 13 along the far-middle direction of the dental arch curve, if the interval is too large, moving the teeth No. 13 along the near-middle direction, and repeating the above processes until the teeth No. 13 and No. 12 have no collision and no interval is too large; the other left teeth are processed in the same way;
step 5.4: the right teeth were treated in the same manner as the left teeth. The order of treatment of the left and right teeth may be interchanged.
Finally, the final desired tooth arrangement is obtained.
Example two
The embodiment provides a digital tooth arrangement system for accurate orthodontic treatment;
as shown in fig. 11, the digital orthodontic system for precision orthodontic includes:
a data processing module configured to: the user uploads or scans the oral impression through the system to obtain three-dimensional data of the tooth model. The data processing module processes and registers the acquired data to generate a three-dimensional tooth model that can be used in the system. The module also provides data import and export functionality, allowing the user to backup or import previous data at any time.
A data visualization module configured to: once the three-dimensional tooth model is generated, the data visualization module will present it visually on a screen, which the user can clearly view the tooth model by rotating, zooming in and out.
A data interaction module configured to: the user may interact directly on the tooth model, for example clicking and dragging feature points or brackets, to make fine adjustments and corrections. This module also allows the user to add or delete feature points, ensuring the accuracy of the data. The interactive adjustment by the user helps to correct errors that may exist in the data, thereby ensuring accuracy of the tooth arrangement.
A tooth arrangement module configured to: the module integrates an automatic tooth arrangement algorithm, and automatic tooth arrangement calculation is performed according to tooth models and feature point data provided by a user. The user can select to apply the default automatic tooth arrangement result and can also conduct personalized adjustment so as to meet specific correction requirements. Once the tooth arrangement is completed, the user can view the final tooth arrangement effect in the data visualization module, ensuring that his expectations are met.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may employ one or more computer-usable storage media (including, but not limited to, disk storage, memory,CD-ROMOptical storage, etc.).
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which do not require the inventive effort by those skilled in the art, are intended to be included within the scope of the present invention.
Claims (10)
1. The digital tooth arrangement method for accurate orthodontic is characterized by comprising the following steps of:
acquiring a three-dimensional dentition model, and acquiring a crown point cloud and a tooth point cloud which are initially arranged, and corresponding tooth labels, tooth characteristic points and characteristic axes according to the three-dimensional dentition model;
establishing a local coordinate system for each tooth according to the characteristic axes and the tooth characteristic points, and obtaining the initial pose of the tooth according to the local coordinate system;
determining the target ideal pose of the tooth, and calculating the rotation amount and the translation amount between the initial pose of the tooth and the target ideal pose;
applying the calculated rotation and translation to each tooth to obtain a preliminary tooth arrangement result;
and (3) fine-adjusting the teeth according to collision and interval relation among the teeth in the initial tooth arrangement result to obtain a final tooth arrangement result.
2. The digital orthodontic-oriented tooth alignment method of claim 1, wherein the specific process of establishing a local coordinate system for each tooth comprises: setting the midpoint of the line of the sharp points of the distal cheek of the two second molars of the upper jaw as A, and setting the origin O of a coordinate system as the projection of the point A on the occlusal surface;
the Z axis of the coordinate system is perpendicular to the occlusal surface and points to the direction of the upper jaw;
assuming that the projection of the contact point of two middle incisors of the upper jaw on the occlusal surface is B, the Y-axis of a coordinate system is a straight line where the connecting line of the B point and the origin O is positioned, and the positive direction isA direction; the X-axis of the coordinate system is the cross of the Y-axis and the Z-axis.
3. The digital tooth arranging method for accurate orthodontic according to claim 1, wherein the process of calculating the rotation amount from the initial pose of the tooth to the target ideal pose comprises the following steps: the calculation of tooth movement quantity is divided into X, Y, Z directions, which are respectively marked as delta X, delta Y and delta Z, wherein the calculation process of delta X and delta Y is to fit a dental arch curve, rearrange teeth on the fitted dental arch curve, determine ideal coordinates of tooth characteristic points of X axis and Y axis, calculate and apply rotation quantity, and finally calculate the movement quantity of teeth before and after tooth arrangement in the X axis and Y axis directions;
the calculating process of delta Z is to fit a Spee curve, calculate the ideal coordinate of the characteristic point Z axis according to the ideal coordinate of the characteristic point Y axis of the tooth, calculate and apply the rotation quantity, and finally calculate the movement quantity of the teeth before and after tooth arrangement in the Z axis direction.
4. The digital tooth arrangement method for accurate orthodontic treatment according to claim 1, wherein the process of calculating the rotation amount from the initial pose to the target pose comprises: according to orthodontic knowledge, the rotation of the teeth is decomposed into a rotation angle, an axis inclination angle and a torque angle, the ideal posture of the teeth is determined according to the values of the axis inclination angle and the torque angle, and the angle and the rotation axis of the teeth required to rotate are calculated according to the initial posture and the ideal posture.
5. The digital tooth arranging method for accurate orthodontic according to claim 4, wherein the projection of the i axis of the tooth standard frame on the XOY plane is set to be parallel to the tangent line of the dental arch curve, and the tangent line of the dental arch curve and the projection of the i axis on the XOY plane are solved to obtain the rotation angle.
6. The digital orthodontic-oriented orthodontic method of claim 1 wherein applying the calculated rotational and translational amounts to each tooth comprises: according to the rotation angle and the rotation shaft, a rotation matrix of the rotation angle, the shaft inclination angle and the torque angle is obtained, the rotation matrix of the rotation angle, the shaft inclination angle and the torque angle is multiplied to obtain a total rotation matrix, and the coordinates of all vertexes of the teeth are multiplied by the rotation matrix, so that the teeth after rotation can be obtained.
7. The digital tooth arranging method for accurate orthodontic according to claim 6, wherein before multiplying the total rotation matrix, coordinate system conversion is completed on the vertex coordinates of each tooth, and after multiplying the rotation matrix, the vertex coordinates of the tooth are restored to the coordinates under the tooth arranging coordinate system.
8. The digital orthodontic-oriented tooth alignment method of claim 1 wherein the fine adjustment of the collision and spacing relationship between teeth in the preliminary tooth alignment result comprises: collision processing is performed based on a collision and interval processing algorithm of the directed distance field.
9. Digital tooth arrangement system towards accurate just abnormal, characterized by includes:
the data processing module is configured to acquire a three-dimensional dentition model, and obtain a crown point cloud and a tooth point cloud which are initially arranged, and corresponding tooth labels, tooth characteristic points and characteristic axes according to the three-dimensional dentition model;
the coordinate system construction module is configured to establish a local coordinate system for each tooth according to the characteristic axes and the tooth characteristic points, and obtain the initial pose of the tooth according to the local coordinate system;
the deviation calculating module is configured to determine the target ideal pose of the tooth and calculate the rotation amount and the translation amount between the initial pose of the tooth and the target ideal pose;
the tooth arranging module is configured to apply the calculated rotation quantity and the calculated translation quantity to each tooth to obtain a preliminary tooth arranging result;
and the adjustment optimization module is configured to finely adjust the teeth according to the collision and interval relation among the teeth in the initial tooth arrangement result to obtain a final tooth arrangement result.
10. The digital orthodontic-oriented tooth alignment system of claim 9, further comprising a data interaction module configured to receive user input instructions to the tooth model for fine tuning and correction of the tooth model; or/and adding or deleting feature points.
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