CN113040952B - Method for individually determining mandibular movement track - Google Patents
Method for individually determining mandibular movement track Download PDFInfo
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- CN113040952B CN113040952B CN202110257567.7A CN202110257567A CN113040952B CN 113040952 B CN113040952 B CN 113040952B CN 202110257567 A CN202110257567 A CN 202110257567A CN 113040952 B CN113040952 B CN 113040952B
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- A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
- A61C11/02—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings characterised by the arrangement, location or type of the hinge means ; Articulators with pivots
- A61C11/025—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings characterised by the arrangement, location or type of the hinge means ; Articulators with pivots with a pivotable lower part, i.e. mandibule motion simulator
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Abstract
The invention discloses a method for individually determining a mandibular movement track, which comprises the following steps: firstly), obtaining three-dimensional pictures of the maxilla, the upper teeth, the lower teeth and the lower teeth of a patient in different opening states in a scanning mode; secondly) determining the position of a hinge shaft of the mandible which makes rotary motion relative to the maxilla; thirdly), determining the motion trail of the lower jaw bone in rotating motion relative to the upper jaw bone; fourthly) determining the motion trail of the mandible making forward sliding motion relative to the maxilla; fifthly), determining a motion trail of the mandible making leftward sliding motion relative to the maxilla; and sixthly) determining the motion trail of the mandible making rightward sliding motion relative to the maxilla. The invention can more accurately and truly obtain the mandible movement track of the patient, further can truly and individually simulate the mandible movement of the patient, and solves the technical problems that the operation is complex, the simulation precision is low, and materials such as steel, gypsum and the like are required to be consumed when a mechanical entity articulator is adopted to simulate the mandible movement in the prior art.
Description
Technical Field
The invention relates to the technical field of oral cavities, in particular to a method for individually determining a mandible movement track.
Background
In the process of mandible movement, when the mouth is slightly opened, the mandible makes rotary movement; during large opening and chewing movement, the mandible movement not only includes rotation during small opening, but also includes sliding movement, and the mandibular condyle can move forwards and laterally along the temporal supraglenoid fossa during sliding movement.
The correct simulation of the motion trail of the mandible is the key basis for carrying out diagnosis and treatment measures such as high-quality oral restoration and orthodontics.
In the prior art, the articulator for simulating the rotation and the sliding of the lower jaw of a patient is a universal articulator, can only roughly simulate the movement track form of the mandibular condyle of the patient along the supratemporal fossa glenoid, has low precision, and cannot realize personalized real simulation of the mandibular movement track according to the real mandibular condyle and fossa glenoid forms of different patients. And the articulator is adopted to simulate the mandible movement track of the patient, and the mandible movement track needs to be completed in a special technician room, and the technical problems of multiple steps, complex operation, long consumed time, low efficiency, high cost due to the consumption of high-quality steel and the like exist.
Disclosure of Invention
In view of the above, the present invention provides a method for determining a mandible movement track individually, so as to solve the technical problem of using a mechanical articulator to simulate the mandible movement track in the prior art.
The invention discloses a method for individually determining a mandibular movement track, which comprises the following steps:
one) obtains the three-dimensional picture of the patient's maxilla, upper teeth, lower teeth and the following teeth in different opening states by scanning, it includes:
1) fixing the upper jaw complex of the patient, keeping the lower jaw and the upper jaw of the patient in a normal occlusion state, scanning the head of the patient through cone beam CT to obtain a three-dimensional graph of the upper jaw, the upper row of teeth, the lower jaw, the lower row of teeth and the position relation among the upper jaw, the upper row of teeth, the lower jaw and the lower row of teeth of the patient, and naming the obtained three-dimensional graph as a first opening position graph; decomposing the first opening position diagram to respectively obtain an upper jaw complex diagram and a lower jaw and following tooth combination diagrams;
2) continuously fixing the upper jaw complex of the patient, rotating the lower jaw of the patient downwards for an angle, then scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth and the lower teeth of the patient and the position relation between the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graph as a second opening position graph;
3) continuously fixing the upper jaw complex of the patient, rotating the lower jaw of the patient downwards by an angle, scanning the oral cavity of the patient by a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth and the lower teeth of the patient and the position relation between the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graph as a third opening position graph;
4) continuously fixing the upper jaw complex of the patient, rotating the lower jaw of the patient downwards for an angle, scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain three-dimensional graphs of the upper teeth, the lower teeth and the position relation of the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graphs as a fourth opening position graph;
5) continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do forward sliding movement, enabling the upper incisor and the lower incisor of the patient to be in a state of opposite contact, then scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth, the lower teeth and the position relation between the upper teeth and the lower teeth of the patient, transferring the lower jaw and the lower teeth combination graph into the three-dimensional graph, enabling the lower teeth to be overlapped, and naming the obtained combination graph as a fifth opening position graph;
6) continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do sliding movement towards the left side, enabling left-side cuspid teeth of upper teeth of the patient to be in direct contact with left-side cuspid teeth of lower teeth of the patient, then scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth, the lower teeth and the position relation between the upper teeth and the lower teeth of the patient, transferring the lower jaw and the lower teeth combination graph into the three-dimensional graph, enabling the lower teeth to be overlapped, and naming the obtained combination graph as a sixth opening position graph;
7) continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do sliding movement towards the right side, enabling right canine teeth of upper teeth of the patient to be in direct contact with right canine teeth of lower teeth, scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the position relationship between the upper teeth and the lower teeth of the patient, transferring a lower jaw and the lower teeth combination graph into the three-dimensional graph to enable the lower teeth to be overlapped, and naming the obtained combination graph as a seventh opening position graph;
two) determining the position of the hinge axis of the mandible for rotational movement relative to the maxilla, comprising:
fusing the second opening position diagram, the third opening position diagram and the fourth opening position diagram in the computer to obtain a first combined relation diagram, wherein upper teeth in the second opening position diagram, upper teeth in the third opening position diagram and upper teeth in the fourth opening position diagram in the first combined relation diagram are overlapped with each other; then, marking a cusp point A of a left cuspid and a cusp point B of a right cuspid of a lower tooth in a second opening position diagram, marking a cusp point C of the left cuspid and a cusp point D of the right cuspid of the lower tooth in a third opening position diagram, marking a cusp point E of the left cuspid and a cusp point F of the right cuspid of the lower tooth in a fourth opening position diagram, connecting line segments AC and CE, and making a perpendicular bisector of the line segments AC and CE in a plane determined by three points A, C, E to obtain an intersection point M of perpendicular bisectors of the line segments AC and CE; connecting the line segments BD and DF, making perpendicular bisectors of the line segments BD and DF in a plane determined by the three points B, D, F, and obtaining an intersection point N of the perpendicular bisectors of the line segments BD and DF; connecting MN, wherein MN is a hinge shaft for the mandible to do rotary motion relative to the maxilla, and obtaining the position relation between the hinge shaft MN and the upper teeth and the position relation between the hinge shaft MN and the lower teeth;
and thirdly) determining a motion trajectory of the mandible for rotational motion relative to the maxilla, which includes:
transferring the position relation between the hinge axis MN and the following teeth to a mandible and the following teeth combination drawing, thereby obtaining the position of the hinge axis MN on the condyle of the mandible; transferring the position relation between the hinge axis MN and the upper teeth to an upper jaw complex diagram, thereby obtaining the position of the hinge axis MN in a fossa glenoid on the temporal bone; superposing a hinge shaft MN in a mandible and following tooth combination diagram with a hinge shaft MN in an upper jaw complex diagram, and further determining the motion track of the mandible and following teeth rotating around the hinge shaft MN;
four) determining the motion trail of the mandible making forward sliding motion relative to the maxilla, which comprises the following steps:
fusing the first opening position diagram and the fifth opening position diagram in the computer to obtain a second combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the fifth opening position diagram are overlapped with each other in the second combined relation diagram; transferring the positional relationship between the hinge axis MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge axis MN on the mandibular condyle of the first opening position diagram; transferring the positional relationship between the hinge axis MN and the following teeth to a fifth opening position diagram, thereby obtaining a position of the hinge axis MN on the mandibular condyle of the fifth opening position diagram;
making a longitudinal condylar cross-sectional view perpendicular to the hinge axis MN for the second composite relationship map in the computer, finding an end point H of the hinge axis MN in the first opening position map and an end point G of the hinge axis MN in the fifth opening position map in the longitudinal condylar cross-sectional view,making a vertical line of the H point to obtain an intersection point H of the vertical line and the contour line of the fossa glenoid on the temporal bone1Making a vertical line passing through the G point to obtain an intersection point G of the vertical line and the contour line of the fossa glenoid on the temporal bone1With H1Starting point of motion locus for making forward sliding motion of mandible relative to maxilla, using G1The end point of the movement locus for the mandible to make forward sliding movement relative to the maxilla is G1And H1The contour line of the glenoid between the two is a movement track line of the mandible which makes forward sliding movement relative to the maxilla;
fifthly), determining a motion trail of the mandible making leftward sliding motion relative to the maxilla, wherein the motion trail comprises the following steps:
fusing the first opening position diagram and the sixth opening position diagram in the computer to obtain a third combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the sixth opening position diagram are overlapped with each other in the third combined relation diagram; transferring the position relation between the hinge shaft MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the first opening position diagram, and obtaining an intersection point I of the right end of the hinge shaft MN on the external surface of the mandibular condyle; transferring the position relation between the hinge shaft MN and the following teeth into a sixth opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the sixth opening position diagram, and obtaining an intersection point J of the right end of the hinge shaft MN on the external surface of the mandibular condyle;
drawing a first vertical section diagram of the intersection point I and the intersection point J on the third combined relational diagram in the computer, drawing a vertical line of the point I in the first vertical section diagram to obtain the intersection point I of the vertical line and the contour line of the fossa glenoid on the temporal bone1And making a vertical line passing through the J point to obtain an intersection point J of the vertical line and the contour line of the fossa glenoid on the temporal bone1In 1 with1Starting point of motion track for leftward sliding motion of mandible relative to maxilla, using J1The motion trail end point of the left sliding motion of the mandible relative to the maxilla is represented by I1And J1The contour line of the glenoid between the two is a movement track line of the left sliding movement of the mandible relative to the maxilla;
sixthly), determining a motion track of the mandible making rightward sliding motion relative to the maxilla, wherein the motion track comprises:
fusing the first opening position diagram and the seventh opening position diagram in the computer to obtain a fourth combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the seventh opening position diagram are overlapped with each other in the fourth combined relation diagram; transferring the position relation between the hinge shaft MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the first opening position diagram, and obtaining an intersection point K of the left end of the hinge shaft MN on the external surface of the mandibular condyle; transferring the position relation between the hinge shaft MN and the following teeth into a seventh opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the seventh opening position diagram, and obtaining an intersection point L of the left end of the hinge shaft MN on the external surface of the mandibular condyle;
making a second vertical section view of the intersection point K and the intersection point L on the fourth combined relation graph in the computer, and making a vertical line of the point K in the second vertical section view to obtain the intersection point K of the vertical line and the contour line of the fossa glenoid on the temporal bone1And making a vertical line passing through the L point to obtain an intersection point L of the vertical line and the contour line of the fossa glenoid on the temporal bone1With K1Starting point of motion track for right sliding motion of mandible relative to maxilla, as L1The motion locus end point of the right sliding motion of the mandible relative to the maxilla is represented by K1And L1The contour line of the glenoid space between the two is the movement track line of the mandible which makes rightward sliding movement relative to the maxilla.
The invention has the beneficial effects that:
the method for determining the mandible movement track in an individualized way can more accurately and truly obtain the mandible movement track of the patient, further simulate the mandible movement of the patient in an individualized way by the obtained track, and solve the technical problems that the operation is complex, the simulation precision is low, and materials such as steel, gypsum and the like are required to be consumed when a mechanical entity articulator is adopted to simulate the mandible movement in the prior art.
Drawings
Fig. 1 is a view of the lower and upper jaws in normal occlusion state obtained by cone beam CT scanning;
FIG. 2 is a first composite relationship diagram;
FIG. 3 is a schematic view of the determination of hinge axis MN based on the first composite relational map;
FIG. 4 is a schematic front view of the mandible in rotational movement relative to the maxilla about the hinge axis MN;
FIG. 5 is a schematic left side view of the mandible in rotational movement relative to the maxilla about hinge axis MN;
FIG. 6 is a schematic view of the mandible performing anterior gliding movement relative to the maxilla;
fig. 7 is a schematic diagram of rightward sliding movement of the mandible relative to the maxilla.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in the figure, the method for personalized determination of the mandibular movement track of the present embodiment includes the following steps:
one) obtains the three-dimensional picture of the patient's maxilla, upper teeth, lower teeth and the following teeth in different opening states by scanning, it includes:
1) fixing the upper jaw complex of the patient, keeping the lower jaw and the upper jaw of the patient in a normal occlusion state, scanning the head of the patient through cone beam CT to obtain a three-dimensional graph of the upper jaw, the upper row of teeth, the lower jaw, the lower row of teeth and the position relation among the upper jaw, the upper row of teeth, the lower jaw and the lower row of teeth of the patient, and naming the obtained three-dimensional graph as a first opening position graph; and decomposing the first opening position diagram to respectively obtain an upper jaw complex diagram and a lower jaw and the following tooth combination diagram.
2) And continuously fixing the upper jaw complex of the patient, rotating the lower jaw of the patient downwards by an angle, scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth and the lower teeth of the patient and the position relation between the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graph as a second opening position graph.
3) And continuously fixing the upper jaw complex of the patient, downwards rotating the lower jaw of the patient by an angle, scanning the oral cavity of the patient by a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth and the lower teeth of the patient and the position relation between the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graph as a third opening position graph.
4) And continuously fixing the upper jaw complex of the patient, rotating the lower jaw of the patient downwards for an angle, scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth, the lower teeth and the position relation of the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graph as a fourth opening position graph.
5) And continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do forward sliding motion, enabling the upper incisor and the lower incisor of the patient to be in a state of opposite contact, then scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth, the lower teeth and the position relation between the upper teeth and the lower teeth of the patient, transferring the lower jaw and the lower teeth combination graph into the three-dimensional graph, enabling the lower teeth to be overlapped, and naming the obtained combination graph as a fifth opening position graph.
6) And continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do sliding movement towards the left side, enabling left-side cuspid teeth of upper teeth of the patient to be in direct contact with left-side cuspid teeth of lower teeth of the patient, scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth, the lower teeth and the position relation between the upper teeth and the lower teeth of the patient, transferring the lower jaw and the lower teeth combination graph into the three-dimensional graph, enabling the lower teeth to be overlapped, and naming the obtained combination graph as a sixth opening position graph.
7) And continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do sliding movement towards the right side, enabling right canine teeth of upper teeth of the patient to be in direct contact with right canine teeth of lower teeth, scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the position relationship between the upper teeth and the lower teeth of the patient, transferring the lower jaw and the lower teeth combination graph into the three-dimensional graph to enable the lower teeth to be overlapped, and naming the obtained combination graph as a seventh opening position graph.
Two) determining the position of the hinge axis of the mandible for rotational movement relative to the maxilla, comprising:
fusing the second opening position diagram, the third opening position diagram and the fourth opening position diagram in the computer to obtain a first combined relation diagram, wherein upper teeth in the second opening position diagram, upper teeth in the third opening position diagram and upper teeth in the fourth opening position diagram in the first combined relation diagram are overlapped with each other; then, marking a cusp point A of a left cuspid and a cusp point B of a right cuspid of a lower tooth in a second opening position diagram, marking a cusp point C of the left cuspid and a cusp point D of the right cuspid of the lower tooth in a third opening position diagram, marking a cusp point E of the left cuspid and a cusp point F of the right cuspid of the lower tooth in a fourth opening position diagram, connecting line segments AC and CE, and making a perpendicular bisector of the line segments AC and CE in a plane determined by three points A, C, E to obtain an intersection point M of perpendicular bisectors of the line segments AC and CE; connecting the line segments BD and DF, making perpendicular bisectors of the line segments BD and DF in a plane determined by the three points B, D, F, and obtaining an intersection point N of the perpendicular bisectors of the line segments BD and DF; and connecting the MN, wherein MN is a hinge shaft for the mandible to do rotary motion relative to the maxilla, and obtaining the position relation between the hinge shaft MN and the upper teeth and the position relation between the hinge shaft MN and the lower teeth.
And thirdly) determining a motion trajectory of the mandible for rotational motion relative to the maxilla, which includes:
transferring the position relation between the hinge axis MN and the following teeth to a mandible and the following teeth combination drawing, thereby obtaining the position of the hinge axis MN on the condyle of the mandible; transferring the position relation between the hinge axis MN and the upper teeth to an upper jaw complex diagram, thereby obtaining the position of the hinge axis MN in a fossa glenoid on the temporal bone; and (3) superposing a hinge shaft MN in the mandible and the following tooth combination graph and a hinge shaft MN in the upper jaw complex graph, and further determining the motion track of the maxilla and the following teeth rotating around the hinge shaft MN.
Four) determining the motion trail of the mandible making forward sliding motion relative to the maxilla, which comprises the following steps:
fusing the first opening position diagram and the fifth opening position diagram in the computer to obtain a second combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the fifth opening position diagram are overlapped with each other in the second combined relation diagram; transferring the positional relationship between the hinge axis MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge axis MN on the mandibular condyle of the first opening position diagram; the positional relationship between the hinge axis MN and the following teeth is transferred to the fifth opening position diagram, thereby obtaining the position of the hinge axis MN on the mandibular condyle of the fifth opening position diagram.
Making a longitudinal sectional view of the condyle perpendicular to the hinge axis MN for the second combined relational view in the computer, finding an end point H of the hinge axis MN in the first opening position view and an end point G of the hinge axis MN in the fifth opening position view in the longitudinal sectional view of the condyle, and making a vertical line of the H point to obtain an intersection point H of the vertical line and a contour line of a glenoid fossa on the temporal bone1Making a vertical line passing through the G point to obtain an intersection point G of the vertical line and the contour line of the fossa glenoid on the temporal bone1With H1Starting point of motion locus for making forward sliding motion of mandible relative to maxilla, using G1The end point of the movement locus for the mandible to make forward sliding movement relative to the maxilla is G1And H1The contour line of the joint socket between the two parts is the movement track line of the mandible which makes forward sliding movement relative to the maxilla.
Fifthly), determining a motion trail of the mandible making leftward sliding motion relative to the maxilla, wherein the motion trail comprises the following steps:
fusing the first opening position diagram and the sixth opening position diagram in the computer to obtain a third combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the sixth opening position diagram are overlapped with each other in the third combined relation diagram; transferring the position relation between the hinge shaft MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the first opening position diagram, and obtaining an intersection point I of the right end of the hinge shaft MN on the external surface of the mandibular condyle; transferring the position relation between the hinge shaft MN and the following teeth into a sixth opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the sixth opening position diagram, and obtaining an intersection point J of the right end of the hinge shaft MN on the external surface of the mandibular condyle;
drawing a first vertical section diagram of the intersection point I and the intersection point J on the third combined relational diagram in the computer, drawing a vertical line of the point I in the first vertical section diagram to obtain the intersection point I of the vertical line and the contour line of the fossa glenoid on the temporal bone1And making a vertical line passing through the J point to obtain an intersection point J of the vertical line and the contour line of the fossa glenoid on the temporal bone1In 1 with1Starting point of motion track for leftward sliding motion of mandible relative to maxilla, using J1The motion trail end point of the left sliding motion of the mandible relative to the maxilla is represented by I1And J1The contour line of the glenoid between the two is a movement track line of the left sliding movement of the mandible relative to the maxilla;
sixthly), determining a motion track of the mandible making rightward sliding motion relative to the maxilla, wherein the motion track comprises:
fusing the first opening position diagram and the seventh opening position diagram in the computer to obtain a fourth combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the seventh opening position diagram are overlapped with each other in the fourth combined relation diagram; transferring the position relation between the hinge shaft MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the first opening position diagram, and obtaining an intersection point K of the left end of the hinge shaft MN on the external surface of the mandibular condyle; transferring the position relation between the hinge shaft MN and the following teeth into a seventh opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the seventh opening position diagram, and obtaining an intersection point L of the left end of the hinge shaft MN on the external surface of the mandibular condyle;
making a second vertical section view of the intersection point K and the intersection point L on the fourth combined relation graph in the computer, and making a vertical line of the point K in the second vertical section view to obtain the intersection point K of the vertical line and the contour line of the fossa glenoid on the temporal bone1And making a vertical line passing through the L point to obtain an intersection point L of the vertical line and the contour line of the fossa glenoid on the temporal bone1With K1Starting point of motion track for right sliding motion of mandible relative to maxilla, as L1The motion locus end point of the right sliding motion of the mandible relative to the maxilla is represented by K1And L1The contour line of the glenoid space between the two is the movement track line of the mandible which makes rightward sliding movement relative to the maxilla.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (1)
1. A method for personalized determination of mandibular movement trajectory, comprising: the method comprises the following steps:
one) obtains the three-dimensional picture of the patient's maxilla, upper teeth, lower teeth and the following teeth in different opening states by scanning, it includes:
1) fixing a maxillary complex of a patient, keeping a lower jaw and an upper jaw of the patient in a normal occlusion state, scanning the head of the patient through a cone beam CT to obtain a three-dimensional graph of the position relation among the maxillary complex, the lower jaw and the lower jaw of the patient, wherein the maxillary complex comprises the upper jaw, the upper teeth positioned on the maxillary, zygomatic bones connected with the maxillary and temporal bones connected with the zygomatic bones, the temporal bones are provided with articular fossae matched with the epicondyle of the lower jaw, and the obtained three-dimensional graph is named as a first opening position graph; decomposing the first opening position diagram to respectively obtain an upper jaw complex diagram and a lower jaw and following tooth combination diagrams;
2) continuously fixing the upper jaw complex of the patient, rotating the lower jaw of the patient downwards for an angle, then scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth and the lower teeth of the patient and the position relation between the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graph as a second opening position graph;
3) continuously fixing the upper jaw complex of the patient, rotating the lower jaw of the patient downwards by an angle, scanning the oral cavity of the patient by a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth and the lower teeth of the patient and the position relation between the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graph as a third opening position graph;
4) continuously fixing the upper jaw complex of the patient, rotating the lower jaw of the patient downwards for an angle, scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain three-dimensional graphs of the upper teeth, the lower teeth and the position relation of the upper teeth and the lower teeth of the patient, and naming the obtained three-dimensional graphs as a fourth opening position graph;
5) continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do forward sliding movement, enabling the upper incisor and the lower incisor of the patient to be in a state of opposite contact, then scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth, the lower teeth and the position relation between the upper teeth and the lower teeth of the patient, transferring the lower jaw and the lower teeth combination graph into the three-dimensional graph, enabling the lower teeth to be overlapped, and naming the obtained combination graph as a fifth opening position graph;
6) continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do sliding movement towards the left side, enabling left-side cuspid teeth of upper teeth of the patient to be in direct contact with left-side cuspid teeth of lower teeth of the patient, then scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the upper teeth, the lower teeth and the position relation between the upper teeth and the lower teeth of the patient, transferring the lower jaw and the lower teeth combination graph into the three-dimensional graph, enabling the lower teeth to be overlapped, and naming the obtained combination graph as a sixth opening position graph;
7) continuously fixing the upper jaw complex of the patient, enabling the lower jaw of the patient to do sliding movement towards the right side, enabling right canine teeth of upper teeth of the patient to be in direct contact with right canine teeth of lower teeth, scanning the oral cavity of the patient through a dental three-dimensional scanner to obtain a three-dimensional graph of the position relationship between the upper teeth and the lower teeth of the patient, transferring a lower jaw and the lower teeth combination graph into the three-dimensional graph to enable the lower teeth to be overlapped, and naming the obtained combination graph as a seventh opening position graph;
two) determining the position of the hinge axis of the mandible for rotational movement relative to the maxilla, comprising:
fusing the second opening position diagram, the third opening position diagram and the fourth opening position diagram in the computer to obtain a first combined relation diagram, wherein upper teeth in the second opening position diagram, upper teeth in the third opening position diagram and upper teeth in the fourth opening position diagram in the first combined relation diagram are overlapped with each other; then, marking a cusp point A of a left cuspid and a cusp point B of a right cuspid of a lower tooth in a second opening position diagram, marking a cusp point C of the left cuspid and a cusp point D of the right cuspid of the lower tooth in a third opening position diagram, marking a cusp point E of the left cuspid and a cusp point F of the right cuspid of the lower tooth in a fourth opening position diagram, connecting line segments AC and CE, and making a perpendicular bisector of the line segments AC and CE in a plane determined by three points A, C, E to obtain an intersection point M of perpendicular bisectors of the line segments AC and CE; connecting the line segments BD and DF, making perpendicular bisectors of the line segments BD and DF in a plane determined by the three points B, D, F, and obtaining an intersection point N of the perpendicular bisectors of the line segments BD and DF; connecting MN, wherein MN is a hinge shaft for the mandible to do rotary motion relative to the maxilla, and obtaining the position relation between the hinge shaft MN and the upper teeth and the position relation between the hinge shaft MN and the lower teeth;
and thirdly) determining a motion trajectory of the mandible for rotational motion relative to the maxilla, which includes:
transferring the position relation between the hinge axis MN and the following teeth to a mandible and the following teeth combination drawing, thereby obtaining the position of the hinge axis MN on the condyle of the mandible; transferring the position relation between the hinge axis MN and the upper teeth to an upper jaw complex diagram, thereby obtaining the position of the hinge axis MN in a fossa glenoid on the temporal bone; superposing a hinge shaft MN in a mandible and following tooth combination diagram with a hinge shaft MN in an upper jaw complex diagram, and further determining the motion track of the mandible and following teeth rotating around the hinge shaft MN;
four) determining the motion trail of the mandible making forward sliding motion relative to the maxilla, which comprises the following steps:
fusing the first opening position diagram and the fifth opening position diagram in the computer to obtain a second combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the fifth opening position diagram are overlapped with each other in the second combined relation diagram; transferring the positional relationship between the hinge axis MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge axis MN on the mandibular condyle of the first opening position diagram; transferring the positional relationship between the hinge axis MN and the following teeth to a fifth opening position diagram, thereby obtaining a position of the hinge axis MN on the mandibular condyle of the fifth opening position diagram;
making a condyle perpendicular to the hinge axis MN in the computer for the second composition mapFinding out the end point H of the hinge axis MN in the first opening position diagram and the end point G of the hinge axis MN in the fifth opening position diagram in the condylar process longitudinal section diagram, and drawing the vertical line of the point H to obtain the intersection point H of the vertical line and the contour line of the glenoid fossa on the temporal bone1Making a vertical line passing through the G point to obtain an intersection point G of the vertical line and the contour line of the fossa glenoid on the temporal bone1With H1Starting point of motion locus for making forward sliding motion of mandible relative to maxilla, using G1The end point of the movement locus for the mandible to make forward sliding movement relative to the maxilla is G1And H1The contour line of the glenoid between the two is a movement track line of the mandible which makes forward sliding movement relative to the maxilla;
fifthly), determining a motion trail of the mandible making leftward sliding motion relative to the maxilla, wherein the motion trail comprises the following steps:
fusing the first opening position diagram and the sixth opening position diagram in the computer to obtain a third combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the sixth opening position diagram are overlapped with each other in the third combined relation diagram; transferring the position relation between the hinge shaft MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the first opening position diagram, and obtaining an intersection point I of the right end of the hinge shaft MN on the external surface of the mandibular condyle; transferring the position relation between the hinge shaft MN and the following teeth into a sixth opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the sixth opening position diagram, and obtaining an intersection point J of the right end of the hinge shaft MN on the external surface of the mandibular condyle;
drawing a first vertical section diagram of the intersection point I and the intersection point J on the third combined relational diagram in the computer, drawing a vertical line of the point I in the first vertical section diagram to obtain the intersection point I of the vertical line and the contour line of the fossa glenoid on the temporal bone1And making a vertical line passing through the J point to obtain an intersection point J of the vertical line and the contour line of the fossa glenoid on the temporal bone1In 1 with1Starting point of motion track for leftward sliding motion of mandible relative to maxilla, using J1The motion trail end point of the left sliding motion of the mandible relative to the maxilla is represented by I1And J1BetweenThe contour line of the glenoid is a movement track line of the mandible which makes leftward sliding movement relative to the maxilla;
sixthly), determining a motion track of the mandible making rightward sliding motion relative to the maxilla, wherein the motion track comprises:
fusing the first opening position diagram and the seventh opening position diagram in the computer to obtain a fourth combined relation diagram, wherein the upper teeth in the first opening position diagram and the upper teeth in the seventh opening position diagram are overlapped with each other in the fourth combined relation diagram; transferring the position relation between the hinge shaft MN and the following teeth into the first opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the first opening position diagram, and obtaining an intersection point K of the left end of the hinge shaft MN on the external surface of the mandibular condyle; transferring the position relation between the hinge shaft MN and the following teeth into a seventh opening position diagram, thereby obtaining the position of the hinge shaft MN on the mandibular condyle of the seventh opening position diagram, and obtaining an intersection point L of the left end of the hinge shaft MN on the external surface of the mandibular condyle;
making a second vertical section view of the intersection point K and the intersection point L on the fourth combined relation graph in the computer, and making a vertical line of the point K in the second vertical section view to obtain the intersection point K of the vertical line and the contour line of the fossa glenoid on the temporal bone1And making a vertical line passing through the L point to obtain an intersection point L of the vertical line and the contour line of the fossa glenoid on the temporal bone1With K1Starting point of motion track for right sliding motion of mandible relative to maxilla, as L1The motion locus end point of the right sliding motion of the mandible relative to the maxilla is represented by K1And L1The contour line of the glenoid space between the two is the movement track line of the mandible which makes rightward sliding movement relative to the maxilla.
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