CN107374758A - Automatic row's tooth method and apparatus based on fitting optimization - Google Patents
Automatic row's tooth method and apparatus based on fitting optimization Download PDFInfo
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- CN107374758A CN107374758A CN201710574764.5A CN201710574764A CN107374758A CN 107374758 A CN107374758 A CN 107374758A CN 201710574764 A CN201710574764 A CN 201710574764A CN 107374758 A CN107374758 A CN 107374758A
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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
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- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses automatic row's tooth method and apparatus based on fitting optimization, it is related to orthodontic technical field, first global coordinate system and tooth local coordinate system are established after tooth STL models are obtained, then tooth translational movement and rotation amount are calculated using the method based on fitting optimization, then collision detection is carried out to upper mandibular teeth, choose tooth to be adjusted, tooth to be adjusted is translated after the translation vector of tooth to be adjusted is calculated, finally integrated regulation is carried out to the denture of border issue be present, the method of the present invention overcomes the problem of prior art is present, the denture sequenced meets normal dentition feature, so that row's tooth efficiency greatly improves.
Description
Technical field
The present invention relates to orthodontic technical field, more particularly to automatic row's tooth method and dress based on fitting optimization
Put.
Background technology
Possess the tooth of a secondary neat health, the smile that can make us is more self-confident, caters to the vision of life that modern likes to be beautiful
Read, orthodontic technology is gradually paid attention to by people.Teeth arrangement technology is one of key technology of orthodontic, has benefited from counting
The development of calculation machine technology, the alignment processes of three-dimensional digital tooth can be visualized with computer so that doctor
Raw and patient can understand in advance rescues result.
Tradition row's tooth method is man-machine interactive row's tooth, although this method can obtain preferable row's tooth effect, is excessively consumed
Take manpower.With row's tooth technology development, automation row's tooth gradually substitutes man-machine interactive to arrange tooth.Row's tooth mistake of existing row's tooth technology
Journey is substantially：Upper lower jaw biteplane and dental arch curve are obtained by dental features point first, then are successively moved to tooth to be arranged
Near dental arch curve, finally adjust denture and comply with normal dentition feature.Row's tooth mode of said process excessively relies on dental arch
Curve, dental arch curve original are the imaginary curves drawn along tooth jaw, and its shape varies with each individual, according to the dental arch of dislocation tooth
The curve that form draws to obtain carries out row's tooth, can there is certain error, so as to cause row's tooth result precision low.
The content of the invention
The embodiments of the invention provide automatic row's tooth method and apparatus based on fitting optimization, can solve in the prior art
The problem of existing.
The embodiments of the invention provide a kind of automatic row's tooth method based on fitting optimization, methods described includes following step
Suddenly：
Tooth STL models are obtained, dental features point is obtained, establishes global coordinate system and tooth local coordinate system；
Based on the global coordinate system and tooth local coordinate system, the flat of tooth is calculated using the method based on fitting optimization
Shifting amount and rotation amount；
Translational movement and rotation amount according to being calculated move to every tooth, update denture data；
Collision detection is carried out to each tooth of upper lower jaw successively, to choose tooth to be adjusted；
According to tooth to be adjusted with it is remote in direction adjacent teeth distance computation translation vector；
Tooth to be adjusted is moved according to translation vector, updates denture data；
If the denture after adjustment also has border issue, denture data are exported after making integrated regulation；If side is not present
Boundary's problem, then directly export denture data.
The embodiment of the present invention additionally provides a kind of automatic row's tooth device based on fitting optimization, and described device includes：
Data preparatory unit, for obtaining tooth STL models and obtaining dental features point, establish global coordinate system and tooth
Tooth local coordinate system；
Optimization calculation unit is fitted, for calculating the translational movement and rotation amount of tooth using the method based on fitting optimization；
First mobile unit, for being moved according to the translational movement and rotation amount that are calculated to every tooth, update
Denture data；
Collision detection unit, for carrying out collision detection to each tooth of upper lower jaw successively, to choose tooth to be adjusted；
Iterate to calculate unit, for according to tooth to be adjusted with it is remote in direction adjacent teeth distance computation translation vector；
Second mobile unit, for moving tooth to be adjusted according to translation vector, update denture data；
Judging unit, when border issue also be present for denture after the adjustment, denture number is exported after making integrated regulation
According to；If border issue is not present, denture data are directly exported.
Automatic row's tooth method and apparatus based on fitting optimization in the embodiment of the present invention, obtaining tooth STL moulds first
Global coordinate system and tooth local coordinate system are established after type, then using based on fitting optimization method calculate tooth translational movement and
Rotation amount, collision detection then is carried out to upper mandibular teeth, tooth to be adjusted is chosen, being translated towards for tooth to be adjusted is calculated
Tooth to be adjusted being translated after amount, finally carrying out integrated regulation, method gram of the invention to the denture of border issue be present
The problem of prior art is present is taken, the denture sequenced meets normal dentition feature so that row's tooth efficiency greatly improves.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of automatic row's tooth method provided in an embodiment of the present invention based on fitting optimization；
Fig. 2 is global coordinate system schematic diagram；
Fig. 3 is the tooth local coordinate system schematic diagram of premolar teeth；
Fig. 4 is the fitted figure of upper lower jaw dental features spot projection XOY plane；
Fig. 5 is upper mandibular unilateral dental features spot projection YOZ plane fitting figures；
Fig. 6 is i axles and the angle and characteristic point X-axis coordinate relation fitted figure of X-axis；
Fig. 7 is border issue schematic diagram；
Fig. 8 is the functional block diagram of automatic row's tooth device provided in an embodiment of the present invention based on fitting optimization.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Reference picture 1, automatic row's tooth method based on fitting optimization is provided in the embodiment of the present invention, and this method includes following
Step：
Step 100, tooth STL models are obtained, dental features point is obtained, establishes global coordinate system and tooth local coordinate
System.Wherein obtain dental features points can by the way of man-machine interaction or Computer Automatic Recognition mode.
Specifically, STL models are entered by the corona data after single tooth separation using FDI tooth positional representations to tooth
Line number, with the tooth jaw data instance of complete 28 teeth of mouth, from the point of view of observer's angle, to the 3rd from central incisor on the left of the upper jaw
Numbering of grinding one's teeth in sleep is 11~17, and numbering is 21~27 on the right side of the upper jaw, and numbering is 31~37 on the right side of lower jaw, on the left of lower jaw numbering be 41~
47。
With the angle of observer, global coordinate system OXYZ is established in accordance with the following steps：(1) origin of coordinates O is determined first, it is former
Point O, close to the position of lip, and falls on the biting surface in center line；(2) upper lip, people are pointed in the vertical occlusal surface of coordinate Z axis, direction
In, nose and glabella point；(3) coordinate Y-axis is parallel with imaginary center line, by the incisxal edge of maxillary incior, with the left and right sides
One grind one's teeth in sleep it is near in cheek cusp line it is vertical；(4) coordinate X-axis points to the right side of observer in the incisxal edge direction of maxillary incior.Such as figure
Shown in 2, three reference axis meet the right-hand rule.
By taking premolar teeth as an example, local coordinate system is established at tooth model barycenter, defines the entitled A of cheek side cusp, tongue side
The entitled C of the closely middle lateral margin point of the entitled B of cusp, alveolus ditch, the alveolus ditch far entitled D of middle lateral margin point.With 2 line directions of AB
For the j direction of principal axis of coordinate system, positive direction points to tongue side by cheek side；Again by CD 2 points be connected, with the rectilinear direction of AB and CD cross products
For the k direction of principal axis of coordinate system, positive direction is occlusion direction；The finally i axles using the rectilinear direction that j axles and k yokes accumulate as coordinate system
Direction, Fig. 3 illustrate the local coordinate system of premolar teeth.
It should be understood that global coordinate system is intended only as reference frame use, in theory, any point can conduct in space
The origin of global coordinate system；Tooth local coordinate system is established mode and can also established by bounding box, wherein establishing bounding box
Mode also have AABB bounding boxs, OBB bounding boxs, k-DOPs bounding boxs etc..
Step 110, the translational movement and rotation amount of tooth are calculated using the method based on fitting optimization；
If translational component is (Δ x, Δ y, Δ z), rotational component are (Δ α, Δ β, Δ γ), and computational methods are as follows：
(1) translational movement Δ x, Δ y are solved.
Upper lower jaw is taken respectively the midpoint of the characteristic point of incisor incisxal edge two, the cusp of canine tooth, premolar teeth cheek side cusp, grind one's teeth in sleep
The characteristic point of cheek side two midpoint, and be designated as point set { PN}.By { PNProject to the XOY plane of global coordinate system, and it is fitted projection
Point set.For convenience of observation, the projection point set Y-axis coordinate of lower jaw is taken into opposite number, as shown in figure 4, calculating each subpoint again to plan
Close the beeline of curve, you can try to achieve translational movement Δ x, Δ y.
(2) translational movement Δ z is solved
Point set is projected to the YOZ planes of global coordinate system, as shown in Figure 5.Because the tooth at left and right sides of upper lower jaw is high
Degree is more or less the same, so only showing the upper lower jaw point set projection of one side.And when trying to achieve translational movement Δ z it may be noted that now tooth
Δ y it has been determined that therefore to data shown in Fig. 5 make fitting optimization when only take point PNBeeline in z-axis direction to curve, i.e.,
Δ z can be tried to achieve.
(3) rotation amount Δ γ, Δ α are solved
Unlike translational movement, restriction relation between rotation amount be present, it is only necessary to two of which is arbitrarily tried to achieve, can be complete
Into the rotation of coordinate system respective shaft, therefore to solve Δ γ, exemplified by Δ α.Tooth local coordinate axial vector is obtained, solves rotation first
Turn amount Δ γ, tooth is being engaged direction approximately perpendicular to occlusal surface, therefore Δ γ is that global coordinate system Z axis is locally sat with tooth
The angle of mark system k axles, you can try to achieve rotation amount Δ γ；Solve Δ α again, calculate respectively the i axles of each tooth local coordinate system with
The angle of global coordinate system X-axis, using the angle as ordinate, with point set { PNX-axis coordinate value be abscissa, obtain data such as
Shown in Fig. 6.It is similar with solving Δ γ, keep the coordinate value of X-axis constant, optimization tooth local coordinate system i axles and global coordinate system X
The value of the angle of axle, you can solve Δ α.
Step 120, every tooth is moved according to obtained translational movement calculated above and rotation amount, updates denture number
According to；
Step 130, collision detection is carried out to each tooth of upper lower jaw successively, to choose tooth to be adjusted；
On the basis of first molar, at left and right sides of upper lower jaw tooth from remote toward direction near by choosing a tooth to be adjusted
Tooth：If current tooth meets default with remote middle direction adjacent teeth spacing, this tooth is skipped；If do not meet it is default,
Then current dental is chosen for tooth to be adjusted.
It should be understood that collision detection algorithm species can be from two kinds of angular divisions of time-domain and spatial domain, present example
What is used is the collision detection based on AABB bounding boxs, is a kind of collision detection algorithm based on spatial domain, and common also has base
Collision detection in OBB bounding boxs, collision detection based on encirclement ball etc..
Step 140, according to tooth to be adjusted with it is remote in direction adjacent teeth distance computation translation vector；
After calculating tooth to be adjusted and its adjacent interdental spacing according to collision detection, from spacing size judge toward
Direction or far middle direction translation, if tooth spacing is more than 0.5mm, are translated, if tooth is smaller than toward remote middle direction near
0mm, then toward nearly middle direction translation, translation vector is can determine that after determining moving direction and spacing.
Step 150, tooth to be adjusted is moved according to translation vector, updates denture data；
Steepest descent method iteration adjustment is used during translation, the algorithm performs process Tooth does not rotate, only past
It is near neutralize it is remote in direction translation, wherein to second molar, be then adjusted toward direction in remote near.
It should be understood that the present invention makees iteration using steepest descent method, researcher is, it should be understood that tooth ideal position can not be straight
Prediction is connect, can only be adjusted by way of iteration to ideal position, so alternative manner is not unique, fixed step size can also be set
It is adjusted.
Step 160, if the denture after iteration adjustment also has border issue, as shown in a and b in Fig. 7, then entirety is made
Denture data are exported after adjustment；If border issue is not present, denture data are directly exported；
Specifically method of adjustment is：The anglec of rotation for the tooth that holding arranges is motionless, according to the central incisor spacing of calculating
Simultaneously by both sides tooth it is overall toward near or it is remote in direction translation, until central incisor spacing more than 0 and is less than 0.5mm.
Based on same inventive concept, present invention also offers a kind of automatic row's tooth device based on fitting optimization, such as Fig. 8 institutes
Show, the implementation of the device is identical with the implementation of the above method, repeats part and repeats no more, described device includes：
Data preparatory unit 200, for obtaining tooth STL models and obtaining dental features point, establish global coordinate system
And tooth local coordinate system；
Optimization calculation unit 210 is fitted, for calculating translational movement and the rotation of tooth using the method based on fitting optimization
Amount；
First mobile unit 220, for being moved according to the translational movement and rotation amount that are calculated to every tooth, more
New denture data；
Collision detection unit 230, for carrying out collision detection to each tooth of upper lower jaw successively, to choose tooth to be adjusted
Tooth；
Iterate to calculate unit 240, for according to tooth to be adjusted with it is remote in direction adjacent teeth distance computation translation vector；
Second mobile unit 250, for moving tooth to be adjusted according to translation vector, update denture data；
Judging unit 260, when border issue also be present for denture after the adjustment, denture is exported after making integrated regulation
Data；If border issue is not present, denture data are directly exported.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
- A kind of 1. automatic row's tooth method based on fitting optimization, it is characterised in that the described method comprises the following steps：Tooth STL models are obtained, dental features point is obtained, establishes global coordinate system and tooth local coordinate system；Based on the global coordinate system and tooth local coordinate system, using the translational movement of the method calculating tooth based on fitting optimization And rotation amount；Translational movement and rotation amount according to being calculated move to every tooth, update denture data；Collision detection is carried out to each tooth of upper lower jaw successively, to choose tooth to be adjusted；According to tooth to be adjusted with it is remote in direction adjacent teeth distance computation translation vector；Tooth to be adjusted is moved according to translation vector, updates denture data；If the denture after adjustment also has border issue, denture data are exported after making integrated regulation；If asked in the absence of border Topic, then directly export denture data.
- 2. automatic row's tooth method as claimed in claim 1 based on fitting optimization, it is characterised in that establish global coordinate system Specific method is：(1) determine that origin of coordinates O, origin O, close to the position of lip, and fall on the biting surface in center line first；(2) coordinate Z axis Vertical occlusal surface, direction point to upper lip, in people, nose and glabella point；(3) coordinate Y-axis is parallel with imaginary center line, by the upper jaw The incisxal edge of incisor, it is vertical with the closely middle cheek cusp line of the first molar of the left and right sides；(4) incisxal edge of the coordinate X-axis in maxillary incior Direction, point to the right side of observer.
- 3. automatic row's tooth method as claimed in claim 2 based on fitting optimization, it is characterised in that establish tooth local coordinate The specific method of system is：For premolar teeth, the tooth local coordinate system is established at tooth model barycenter, defines the entitled A of cheek side cusp, tongue The entitled C of the closely middle lateral margin point of the entitled B of side cusp, alveolus ditch, the alveolus ditch far entitled D of middle lateral margin point, with 2 line sides of AB To the j direction of principal axis for coordinate system, positive direction points to tongue side by cheek side；Again by CD 2 points be connected, with the straight line side of AB and CD cross products To the k direction of principal axis for coordinate system, positive direction is occlusion direction；The finally i using the rectilinear direction that j axles and k yokes accumulate as coordinate system Direction of principal axis.
- 4. automatic row's tooth method as claimed in claim 3 based on fitting optimization, it is characterised in that set translational component as (Δ X, Δ y, Δ z), rotational component are (Δ α, Δ β, Δ γ), using based on fitting optimization method calculate tooth translational movement and Rotation amount specifically includes：(1) translational movement Δ x, Δ y are solvedThe midpoint of the characteristic point of incisor incisxal edge two, the cusp of canine tooth, cheek side cusp, the cheek ground one's teeth in sleep of premolar teeth are taken to upper lower jaw respectively The midpoint of the characteristic point of side two, and it is designated as point set { PN, by { PNProject to the XOY plane of global coordinate system, and it is fitted subpoint Collection, then each subpoint is calculated to the beeline of matched curve, you can try to achieve translational movement Δ x, Δ y；(2) translational movement Δ z is solvedPoint set is projected to the YOZ planes of global coordinate system, subpoint is made to take point P during fitting optimizationNIn z-axis direction to curve Beeline, you can try to achieve Δ z；(3) rotation amount Δ γ, Δ α are solvedObtain tooth local coordinate axial vector, solve rotation amount Δ γ first, tooth in occlusion direction approximately perpendicular to occlusal surface, Therefore Δ γ is the angle of global coordinate system Z axis and tooth local coordinate system k axles, you can tries to achieve rotation amount Δ γ；Δ is solved again α, the i axles of each tooth local coordinate system and the angle of global coordinate system X-axis are calculated respectively, using the angle as ordinate, with point Collect { PNX-axis coordinate value be abscissa, keep the coordinate value of X-axis constant, optimize tooth local coordinate system i axles and world coordinates It is the value of the angle of X-axis, you can solve Δ α.
- 5. automatic row's tooth method as claimed in claim 1 based on fitting optimization, it is characterised in that successively to each of upper lower jaw Tooth carries out collision detection, is specifically included with choosing tooth to be adjusted：On the basis of first molar, at left and right sides of upper lower jaw tooth from remote toward direction near by choosing a tooth to be adjusted： If current tooth meets default with remote middle direction adjacent teeth spacing, this tooth is skipped；If do not meet it is default, when Front teeth is chosen for tooth to be adjusted.
- 6. as claimed in claim 1 based on fitting optimization automatic row's tooth method, it is characterised in that according to tooth to be adjusted with The distance computation translation vector of direction adjacent teeth specifically includes in remote：After calculating tooth to be adjusted and its adjacent interdental spacing according to collision detection, judged from spacing size toward in closely Direction or far middle direction translation, if tooth spacing is more than 0.5mm, are translated toward remote middle direction, if tooth is smaller than 0mm, Then toward nearly middle direction translation, translation vector is can determine that after determining moving direction and spacing.
- 7. automatic row's tooth method as claimed in claim 1 based on fitting optimization, it is characterised in that moved according to translation vector During tooth to be adjusted, using steepest descent method iteration adjustment.
- 8. automatic row's tooth method as claimed in claim 1 based on fitting optimization, it is characterised in that denture after the adjustment is also When border issue be present, the integrated regulation method made is：The anglec of rotation for the tooth that holding arranges is motionless, simultaneously that both sides tooth is overall toward near according to the central incisor spacing of calculating In or it is remote in direction translation, until central incisor spacing is more than 0 and is less than 0.5mm.
- 9. a kind of automatic row's tooth device based on fitting optimization, it is characterised in that described device includes：Data preparatory unit, for obtaining tooth STL models and obtaining dental features point, establish global coordinate system and tooth office Portion's coordinate system；Optimization calculation unit is fitted, for calculating the translational movement and rotation amount of tooth using the method based on fitting optimization；First mobile unit, for being moved according to the translational movement and rotation amount that are calculated to every tooth, update denture Data；Collision detection unit, for carrying out collision detection to each tooth of upper lower jaw successively, to choose tooth to be adjusted；Iterate to calculate unit, for according to tooth to be adjusted with it is remote in direction adjacent teeth distance computation translation vector；Second mobile unit, for moving tooth to be adjusted according to translation vector, update denture data；Judging unit, when border issue also be present for denture after the adjustment, denture data are exported after making integrated regulation；If In the absence of border issue, then denture data are directly exported.
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| WO2019196555A1 (en) * | 2018-04-10 | 2019-10-17 | 无锡时代天使医疗器械科技有限公司 | Computer-based method for measuring positional relationship between two teeth |
| WO2019214339A1 (en) * | 2018-05-09 | 2019-11-14 | 无锡时代天使医疗器械科技有限公司 | Local coordinate system setting method for three-dimensional digital model of teeth |
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| CN112089500A (en) * | 2020-09-17 | 2020-12-18 | 深圳云甲科技有限公司 | Denture alignment method, terminal and storage medium |
| CN112185509A (en) * | 2020-08-13 | 2021-01-05 | 上海爱圣美科技有限公司 | Method for parametrizing tooth arrangement |
| CN113693747A (en) * | 2020-05-21 | 2021-11-26 | 广州黑格智造信息科技有限公司 | Automatic 3D dental model straightening method, system, device and storage medium |
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| 李康军: "虚拟牙齿矫正***中的排牙算法研究与实现", 《中国优秀硕士学位论文全文数据库·医药卫生科技辑》 * |
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| WO2024108341A1 (en) * | 2022-11-21 | 2024-05-30 | 深圳先进技术研究院 | Method and apparatus for automatic tooth alignment based on point cloud understanding, device, and storage medium |
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