CN115861415A

CN115861415A - Tooth digital model attitude deviation calculation method, system, scoring method and terminal

Info

Publication number: CN115861415A
Application number: CN202111116644.3A
Authority: CN
Inventors: 於路; 张燕霞; 陆云桥; 姚峻峰
Original assignee: Shanghai Zhengya Dental Technology Co Ltd
Current assignee: Shanghai Zhengya Dental Technology Co Ltd
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2023-03-28

Abstract

The invention provides a tooth digital model attitude deviation calculation method, a tooth digital model attitude deviation calculation system, a tooth digital model attitude deviation evaluation method and a tooth digital model attitude deviation evaluation terminal, wherein the calculation method comprises the steps of selecting a single tooth model from a tooth digital model, establishing a local coordinate system on the single tooth model, and acquiring feature points of the single tooth model under the local coordinate system; establishing a global coordinate system according to the tooth digital model, converting the characteristic points from a local coordinate system to the global coordinate system, and obtaining first characteristic points under the global coordinate system; taking a point, the distance between which and a first characteristic point is less than a first threshold value, on an arch curve of the tooth digital model as an arch corresponding point, and establishing an arch coordinate system by taking the tangential direction, the normal direction and the jaw plane direction of the arch corresponding point as three axes respectively; the model attitude parameters are calculated according to the first characteristic points, the dental arch corresponding points and the dental arch coordinate system, and the attitude result of the tooth digital model is calculated according to the model attitude parameters.

Description

Tooth digital model attitude deviation calculation method, system, scoring method and terminal

Technical Field

The invention relates to the technical field of tooth correction, in particular to a tooth digital model attitude deviation calculation method, a tooth digital model attitude deviation calculation system, a tooth digital model attitude deviation scoring method and a tooth digital model attitude deviation scoring terminal.

Background

Orthodontic treatment is mainly to adjust the coordination among facial bones, nerves and muscles of teeth and maxillofacial parts, that is, to adjust abnormal relationships among maxilla and mandible, between upper and lower teeth, between teeth and jawbone, and between nerves and muscles connecting them, by various orthodontic devices, with the ultimate aim of correction being to achieve balance, stability and beauty of the oromandibular system. The correction of the malocclusion mainly depends on wearing a correction device inside or outside the oral cavity, and applying proper 'biological materials' to teeth, alveolar bones and jawbones to ensure that the teeth, the alveolar bones and the jawbones are physiologically moved, thereby correcting the malocclusion.

At present, in the process of orthodontic correction of teeth of a user, the characteristics of clinical crowns of the user can be measured in a measuring mode to grade the teeth of the patient according to a measuring result, and a clinician judges an orthodontic effect according to the grade.

Therefore, there is a need to provide a novel method, system, scoring method and terminal for calculating deviation of posture of a digital model of teeth to solve the above-mentioned problems in the prior art.

Disclosure of Invention

The invention aims to provide a tooth digital model attitude deviation calculation method, a tooth digital model attitude deviation calculation system, a tooth digital model attitude deviation scoring method and a tooth digital model attitude result terminal, so that the tooth digital model attitude result is variously combined and scored, and the tooth digital model attitude result calculation accuracy and the tooth digital model attitude result processing efficiency are improved.

In a first aspect, to achieve the above object, the method for calculating a deviation of a dental digital model pose according to the present invention includes:

selecting a single tooth model from a tooth digital model, establishing a local coordinate system on the single tooth model, and acquiring characteristic points of the single tooth model under the local coordinate system;

establishing a global coordinate system according to the tooth digital model, converting the characteristic points from a local coordinate system to the global coordinate system, and obtaining first characteristic points under the global coordinate system;

taking a point on an arch curve of the tooth digital model, wherein the distance between the point and the first characteristic point is smaller than a first threshold value, as an arch corresponding point, and respectively taking the tangential direction, the normal direction and the jaw plane direction of the arch corresponding point as three axes to establish an arch coordinate system;

and calculating model attitude parameters according to the first characteristic points, the dental arch corresponding points and the dental arch coordinate system, and calculating the attitude result of the tooth digital model according to the model attitude parameters.

The method for calculating the attitude deviation of the tooth digital model has the advantages that: the tooth digital model is characterized in that each single tooth model and the feature points of the single tooth model in a local coordinate system are obtained in the tooth digital model, the feature points in the local coordinate system are converted into first feature points in a global coordinate system, model attitude parameters of the whole tooth digital model are calculated according to the obtained first feature points, dental arch corresponding points and the dental arch coordinate system, the attitude result of the tooth digital model is calculated according to the model attitude parameters, model attitude parameter calculation is carried out on each single tooth model on the tooth digital model through the calculation method, the attitude result of each single tooth model in the tooth digital model is obtained through calculation according to the model attitude parameters, and the accuracy of calculation of the attitude result of the tooth digital model is effectively improved.

Optionally, the model pose parameter includes a first distance, the pose result includes a degree of deviation of a tooth translation amount, the calculating a model pose parameter according to the first feature point, the dental arch corresponding point, and the dental arch coordinate system, and the calculating a pose result of the tooth digital model according to the model pose parameter includes:

calculating the first distance according to the first feature point and the dental arch corresponding point;

decomposing the first distance into three coordinate directions of the dental arch coordinate system to obtain three component distances;

and weighting and summing the three component distances according to a first preset weight to obtain a distance weighted sum result, and determining the tooth translation deviation degree according to the distance weighted sum result. The beneficial effects are that: and accurately calculating the tooth translation deviation degree on the tooth digital model through the first distance.

Optionally, the local coordinate system is established by taking an average value of all vertexes of the single tooth model as an origin, and taking a proximal-distal axis, a labial-lingual axis and a long axis as an x axis, a y axis and a z axis respectively.

Optionally, the model attitude parameters include a tooth attitude angle, the attitude result includes an attitude angle deviation degree, the model attitude parameters are calculated according to the first feature point, the dental arch corresponding point and the dental arch coordinate system, and the attitude result of the tooth digital model is calculated according to the model attitude parameters, including:

calculating an actual tooth posture angle according to the dental arch corresponding point and the dental arch coordinate system;

inputting a standard tooth model in an aligned state, and acquiring a standard posture angle of the standard tooth model;

and calculating an angle difference according to the tooth attitude angle and the standard attitude angle, and calculating the attitude angle deviation degree of the tooth digital model according to the angle difference. The beneficial effects are that: and accurately calculating the attitude angle deviation degree of the tooth digital model through the tooth attitude angle.

Optionally, the calculating an angle difference according to the tooth pose angle and the standard pose angle includes:

respectively and correspondingly calculating a torsion difference, a torque difference and an axis inclination difference according to the tooth attitude angle and the standard attitude angle;

according to a second preset weight, carrying out weighted summation on the torsion difference, the torque difference and the shaft inclination difference to obtain an angle weighted summation result, and taking the angle weighted summation result as the angle difference;

the calculating the attitude angle deviation degree of the tooth digital model according to the angle difference comprises the following steps:

and determining the attitude deviation degree of a single tooth on the tooth digital model according to the angle weighted summation result.

Optionally, the tooth posture angle includes a first twist, a first torque and a first inclination, the standard posture angle includes a second twist, a second torque and a second inclination, the difference in twist is a difference between the first twist and the second twist, the difference in torque is a difference between the first torque and the second torque, and the difference in inclination is a difference between the first inclination and the second inclination.

Optionally, the method further includes:

selecting a tooth area to be calculated in the tooth digital model;

acquiring a standard gap between adjacent teeth in the tooth area to be calculated;

acquiring the near-far-middle width of each tooth model in the tooth area to be calculated;

and calculating the crowdedness degree of the teeth in the tooth area to be calculated according to the standard gap between the adjacent teeth in the tooth area to be calculated and the near-far width of each tooth model. The beneficial effects are that: the crowdedness degree of the teeth in the tooth area to be calculated in the tooth digital model is calculated in the mode, so that the actual situation of the tooth area to be calculated of the tooth digital model can be accurately judged.

Optionally, the digital tooth model for the whole jaw is selected as a tooth area to be calculated, and the crowdedness degree of the whole jaw teeth in the digital tooth model is calculated. The beneficial effects are that: by taking the digital model of the whole jaw tooth as the tooth area to be calculated, the crowdedness degree of the teeth in the whole digital model of the teeth can be conveniently and accurately calculated.

Optionally, the crowdedness of the teeth in the tooth area to be calculated is a ratio of a sum of standard gaps between each pair of adjacent teeth to a sum of the mesial-distal widths of each tooth in the tooth area to be calculated.

Optionally, the calculation process of the crowdedness of the teeth in the tooth area to be calculated satisfies the following formula:

wherein A represents the crowdedness degree of teeth in the tooth area to be calculated, and D _i Representing the standard gap between the paired teeth in the tooth area to be calculated, W _i Representing the mesial-distal width, S, of each tooth within the tooth region to be calculated ^* Representing the tooth area to be calculated, i representing the tooth number within the tooth area to be calculated.

Optionally, the calculating of the standard gap between the paired teeth includes:

acquiring the positions of the paired teeth, and adjusting the paired teeth to the posture of a standard tooth model;

calculating a first coordinate difference between a mesial contact point and a distal contact point between the paired teeth;

projecting the coordinate difference value to the near-far direction of the tooth digital model to obtain a first coordinate difference value projection result;

determining the size of the standard gap according to the projection result of the first coordinate difference value;

the calculation process of the mesial-distal width of each tooth in the tooth region to be calculated comprises:

calculating a second coordinate difference between a mesial contact point and a distal contact point of the tooth;

projecting the second coordinate difference to a mesial-distal direction of the tooth to obtain the mesial-distal width of the tooth.

Optionally, the method further includes:

selecting a plurality of matched tooth groups from the tooth digital model according to the matching of the occlusion positions of the upper and lower jaw teeth;

acquiring the first characteristic points of a plurality of groups of paired tooth groups under the global coordinate system, and establishing a combined dental arch coordinate system according to the first characteristic points of the plurality of groups of paired tooth groups;

calculating a difference value of the first feature points of two teeth in each of the paired tooth groups;

decomposing the difference values to three axes of the combined dental arch coordinate system to obtain difference value components;

determining a dental jaw relation in the dental digital model according to the magnitude of the difference component of the three axes on the combined dental arch coordinate system. The beneficial effects are that: the tooth jaw relation in the tooth digital model can be calculated accurately.

Optionally, the dental inter-jaw relationship comprises an anterior dental inter-jaw relationship comprising at least one of an anterior occlusal relationship, an anterior coverage relationship, and a midline alignment relationship.

Optionally, the dental inter-jaw relationship comprises a posterior dental inter-jaw relationship, and the posterior dental inter-jaw relationship comprises at least one of a molar relationship, a malocclusion relationship, and an open jaw relationship.

Optionally, the obtaining the first feature points of the multiple paired tooth groups in the global coordinate system, and establishing a combined dental arch coordinate system according to the first feature points of the multiple paired tooth groups includes:

acquiring coordinates of a first characteristic point of each tooth in a plurality of groups of paired tooth groups under the global coordinate system;

performing an average calculation on the coordinates of the first feature points in the paired tooth groups to find coordinates of average feature points;

taking a point on a dental arch curve of the dental model, at which a distance from the average feature point is smaller than a second threshold value, as a combined dental arch corresponding point;

and establishing a coordinate system of the combined dental arch by respectively taking the tangential direction, the normal direction and the jaw plane direction of the corresponding point of the combined dental arch as three axes.

In a second aspect, the present invention further provides a system for calculating a deviation of a posture based on a digital model of a tooth, including:

the acquisition module is used for selecting a single tooth model from the tooth digital model, respectively establishing a local coordinate system on the single tooth model, and acquiring characteristic points under the local coordinate system;

the conversion module is used for establishing a global coordinate system according to the tooth digital model and converting the feature points under the local coordinate system into first feature points under the global coordinate system;

a coordinate system establishing module, configured to acquire, on an arch, a point whose distance from the feature point is smaller than a first threshold as an arch corresponding point, and establish an arch coordinate system with tangential, normal, and jaw plane directions of the arch corresponding point as three axes, respectively;

and the calculation module is used for calculating a first distance according to the difference value between the first characteristic point and the corresponding point of the dental arch and calculating the attitude deviation of the digital tooth model according to the first distance.

The beneficial effects of the attitude deviation calculation system based on the tooth digital model are the same as the beneficial effects of the attitude deviation calculation method based on the tooth digital model in the first aspect, and are not described again here.

In a third aspect, the invention further provides a digital orthodontic scoring method, which is applied to the tooth digital model attitude deviation calculation method, and the digital orthodontic scoring method includes:

acquiring a posture result combination in the tooth digital model;

combining and acquiring a plurality of calculation results of attitude deviation according to the attitude results in the tooth digital model;

scoring according to the size of the calculation result of the attitude deviation to obtain a plurality of single scores;

acquiring a third preset weight of the calculation result of the attitude deviation;

and carrying out weighted summation on the plurality of single scores according to the third preset weight to obtain a comprehensive score.

The digital orthodontic scoring method has the beneficial effects that: the attitude result combination in the tooth digital model is obtained, the calculation results of a plurality of attitude deviations are obtained according to the attitude result combination, then the single score and the third preset weight of the calculation result of each attitude deviation are obtained, the comprehensive score of the whole tooth digital model is obtained according to the third preset weight and the one-way score, the score calculation of the tooth digital model is completed, and the orthodontic condition of the current tooth digital model is judged according to the comprehensive score of the tooth digital model.

Optionally, the combination of posture results includes at least one type of calculation result of the posture deviation.

Optionally, the method for scoring the digital orthodontic further comprises:

acquiring a tooth database of a target population to obtain orthodontic scores of teeth of each person in the population;

sorting according to the size of the orthodontic scores to obtain a score ranking of the tooth database; and obtaining the grade ranking of the dental digital model in the target population according to the comprehensive grade.

Optionally, the digital orthodontic scoring method further includes providing a target position and a step position, and calculating a composite score of the digital tooth model at the step position.

In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the above-mentioned method for calculating the deviation of the posture of the digital dental model or the above-mentioned method for scoring the digitized orthodontic treatment.

In a fifth aspect, the present invention further provides a terminal, including: a processor and a memory;

the memory is used for storing a computer program;

the processor is used for executing the computer program stored in the memory so as to enable the terminal to execute the tooth digital model posture deviation calculation method or the digital orthodontic grading method.

For specific reference to the description of the beneficial effects of the first aspect and the third aspect, the detailed description is omitted here.

Drawings

FIG. 1 is a flowchart illustrating a method for calculating a deviation of a dental digital model pose according to an embodiment of the present invention;

FIG. 2 is a flowchart of calculating the deviation degree of the tooth translation amount according to the method for calculating the attitude deviation of the digital tooth model according to the embodiment of the present invention;

FIG. 3 is a flowchart of a method for calculating a tooth pose angle according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a local coordinate system and an arch coordinate system in a method for calculating a deviation of a digital model of teeth according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an angle of torsion in a digital tooth model according to a method for calculating a deviation of an attitude of a digital tooth model according to an embodiment of the present invention;

FIG. 6 is a schematic angle diagram of the torque in the digital tooth model according to the method for calculating the attitude deviation of the digital tooth model;

FIG. 7 is a schematic diagram of the angle of the axial inclination in the dental digital model according to the method for calculating the attitude deviation of the dental digital model in the embodiment of the present invention

FIG. 8 is a flowchart illustrating a method for calculating a crowdedness between teeth according to an embodiment of the present invention;

FIG. 9 is a flowchart of a method for calculating the dental jaw relation according to an embodiment of the present invention;

FIG. 10 is a block diagram of a system for calculating a deviation of a tooth digital model according to an embodiment of the present invention;

fig. 11 is a flowchart of a method for scoring a digital orthodontic according to an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and similar words are intended to mean that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.

To solve the problems in the prior art, an embodiment of the present invention provides a method for calculating a deviation between postures of a dental digital model, as shown in fig. 1, including the following steps:

s101, selecting a single tooth model from tooth digital models, establishing a local coordinate system on the single tooth model, and obtaining feature points of the single tooth model in the local coordinate system.

In some embodiments, the local coordinate system is established with the average of all the vertexes of the single tooth model as an origin and the proximal-distal axis, the labial-lingual axis and the long axis as the x-axis, the y-axis and the z-axis, respectively.

Specifically, the local coordinate system is established according to the condition of a single tooth character model, after the single tooth model on the tooth digital model is determined, the average value of all vertexes on the single tooth model is firstly calculated, the corresponding point of the average value on the single tooth model is used as the origin of the local coordinate system of the single tooth model, and meanwhile, the near-far middle axis, the labial-lingual axis and the long axis of the single tooth model are respectively used as the x axis, the y axis and the z axis, so that the local coordinate system of the single tooth model is established.

The characteristic points under the local coordinate system comprise characteristic points which are respectively calculated as a tangent edge midpoint, a buccal cusp midpoint and a near-far middle contact point after a grid model of a single tooth model is converted into the local coordinate system corresponding to the grid model, and are expressed as A _ij Where i represents the FDI number of the tooth in the digital model of the tooth, j =1 represents the midpoint of the incisal edge for teeth numbered i from 1 to 3, j =1 represents the midpoint of the buccal apex for teeth numbered i from 4 to 8, j =2 represents the mean point of the gum line, j =3 represents the mesial contact point, and j =4 represents the distal contact point.

The FDI numbering method is a FDI tooth position representation method which is a tooth position representation method proposed by the International dental Union in 1970 and is universal in the world, also called ISO-3950 representation method, each tooth is represented by two-digit Arabic numerals, the first digit represents a quadrant in which the tooth is located: the upper right, upper left, lower left and lower right of the patient are 1, 2, 3 and 4 in permanent teeth and 5, 6, 7 and 8 in deciduous teeth; the second bit represents the position of the tooth: 1-8 from the central incisors to the third molars, which will not be described in detail here.

The method comprises the steps of obtaining a mesh vertex with a larger projection on a tooth long axis, obtaining projections of mean points of all mesh vertices on the tooth long axis and a buccal lingual axis, and obtaining incisal margin midpoints of No. 1-3 teeth, wherein the incisal margin midpoints represent midpoints of incisal margins on a tooth model, the incisal margins represent line segments of two points, and the projections of the mean points of all the mesh vertices on the tooth long axis and the buccal lingual axis and the projections of the mesh vertices on a tooth near-far axis are respectively equal to projections of the incisal margins on the tooth long axis, the buccal lingual axis and the near-far axis, so that incisal margins of the tooth model are deduced and determined, and the incisal margin midpoints of No. 1-3 teeth are obtained.

For No. 4-8 teeth, the grid vertexes on the buccal side are subjected to the above processing, the projection of the mean point of the grid vertexes on the buccal side on the tooth long axis and the buccal-lingual axis and the projection of the grid vertexes on the tooth near-far axis are respectively equal to the projection of the incisal edge on the tooth long axis, the buccal-lingual axis and the near-far axis, and the buccal cusp of the tooth model is deduced and determined from the projection, so that the buccal cusp midpoint is obtained.

And for the near-far middle contact point, the point with the largest projection on the near-far central axis is the near-middle contact point, and the point with the smallest projection is the far-middle contact point.

S102, establishing a global coordinate system according to the tooth digital model, converting the characteristic points from a local coordinate system to the global coordinate system, and obtaining first characteristic points under the global coordinate system.

In some embodiments, the process of establishing a global coordinate system from the dental digital model comprises:

firstly, determining a jaw plane direction u and a midline direction v of a jaw in a tooth digital model, taking the jaw plane direction u as a z1 axis, taking the midline direction v as a y1 axis, taking the product of the jaw plane direction u and the midline direction v as an x1 axis, and respectively obtaining a global coordinate system by the x1 axis, the x1 axis and the z1 axis, namely the tooth coordinate system of the current tooth digital model.

Specifically, the process of calculating the jaw plane direction of the dental jaw comprises the following steps:

acquiring incisor midpoint or buccal apex midpoint on the current tooth digital model, carrying out average calculation on the incisor midpoint or buccal apex midpoint on the tooth digital model to obtain an average value point M, carrying out principal component analysis on feature points on the tooth digital model to obtain a feature direction corresponding to the minimum feature vector as L, and then according to a jaw plane equation: (L-M) × u =0, the jaw plane direction u can be calculated.

On the other hand, the calculation process of the midline direction of the tooth digital model comprises the following steps:

in the obtained tooth digital model, the left and right homonymous teeth of the monomandibular teeth are paired according to the FDI number, for example, the No. 13 tooth and the No. 23 tooth are paired, and the teeth missing in pairing are ignored, so that the midpoint of each pair of paired teeth is obtained, the principal component analysis is performed on all the obtained midpoints to obtain the characteristic direction corresponding to the maximum characteristic vector, and the characteristic direction is projected to the jaw plane u obtained by the calculation, so that the midline direction v can be obtained.

And the calculation process of the dental arch of the tooth digital model is as follows:

on a digital model of the tooth, the expression for the points on the arch curve is:

D＝[W/2*sin(t)，D*cos(t)]，t∈[-π/2，π/2]

wherein W is the width of dental arch, D is the depth of dental arch

Equation AX is solved by ellipse fitting ² +BY ² The above equation for calculating the dental arch curve is the content in the prior art, and is not repeated here.

After the global coordinate system is obtained, coordinate conversion is carried out on the feature points in the local coordinate system, and the feature points in the global coordinate system can be obtained and marked as first feature points.

Wherein the first feature point is represented as B _ij Where i represents the FDI number of the tooth in the digital model of the tooth, j =1 represents the midpoint of the incisal edge for teeth numbered i from 1 to 3, j =1 represents the midpoint of the buccal apex for teeth numbered i from 4 to 8, j =2 represents the mean point of the gum line, j =3 represents the mesial contact point, and j =4 represents the distal contact point.

S103, taking a point on an arch curve of the tooth digital model, wherein the distance between the point and the first characteristic point is smaller than a first threshold value, as an arch corresponding point, and respectively taking the tangential direction, the normal direction and the jaw plane direction of the arch corresponding point as three axes to establish an arch coordinate system.

In some embodiments, the point with the distance from the first feature point being less than the first threshold is the point with the smallest distance from the first feature point, the first feature point is the midpoint of the incisal edge under the global coordinate system, and the point on the dental arch curve closest to the midpoint of the incisal edge is taken as the corresponding point of the dental arch, which is denoted as C _i 。

Wherein, if a single tooth is detected, the point which is far away from the incisal edge midpoint of the single tooth is found on the dental arch curve as the dental arch corresponding point C by taking the incisal edge midpoint of the single tooth as a reference _i (ii) a If two or more teeth are present, the average value of the midpoints of the incisal edges of the teeth is used as an average reference point, and the point on the arch curve having the smallest distance from the average reference point is used as an arch corresponding point C _i 。

And calculating to obtain dental arch corresponding point C _i Then, calculating the tangential direction, the normal direction and the jaw plane direction at the dental arch corresponding point, and using the dental arch corresponding point C _i As an origin o ', the three directions are taken as an x' axis, a y 'axis, and a z' axis, respectively, so as to establish an arch coordinate system.

S104, calculating model attitude parameters according to the first characteristic points, the dental arch corresponding points and the dental arch coordinate system, and calculating the attitude result of the dental digital model according to the model attitude parameters.

In this embodiment, the tooth digital model both includes the tooth digital model that is not just orthodontic and corrects, also includes the tooth digital model that is in orthodontic and corrects the stage, also includes the tooth digital model after orthodontic and corrects for carry out the analysis and judge to user's tooth condition through tooth digital model, with the condition of confirming user's tooth, both be convenient for the user to know the tooth condition of self, make things convenient for the doctor to appoint suitable correction plan or in time adjust the correction plan according to user's tooth condition again.

By adopting the method to analyze and calculate the tooth digital model, the tooth model of the user is not required to be manufactured and measured in a real object manner, the error in the real object operation is avoided, and meanwhile, the calculation of the attitude result in the tooth digital model is facilitated.

In some embodiments, the model pose parameter comprises a first distance, the pose result comprises a degree of deviation of a tooth translation amount, the computing a model pose parameter from the first feature point, the dental arch corresponding point and the dental arch coordinate system, and the computing a pose result of the digital model of teeth from the model pose parameter, as shown in fig. 2, comprises the steps of:

s201, calculating the first distance according to the first characteristic point and the dental arch corresponding point;

s202, decomposing the first distance into three coordinate directions of the dental arch coordinate system to obtain three component distances;

s203, weighting and summing the three component distances according to a first preset weight to obtain a distance weighted sum result, and determining the tooth translation deviation degree according to the distance weighted sum result.

Specifically, the first distance includes a distance between the tooth and the dental arch, and the distance between the tooth and the dental arch is calculated by: determining the corresponding point of the current dental arch, and calculating the incisal margin midpoint B of the tooth _i1 -C _i The difference is decomposed to the x ' axis, the y ' axis and the z ' axis of the dental arch coordinate system, so that three component distances are obtained, then the three component distances are weighted and summed according to a preset first preset weight, so that a distance weighted summation result is obtained, the tooth translation amount deviation degree in the tooth digital model is calculated according to the distance weighted summation result, and when the distance weighted summation result is larger, the tooth translation amount deviation in the tooth digital model is larger.

Through the above calculation process, the tooth translation deviation degree of teeth at different positions in the tooth number model can be judged, and doctors and patients can conveniently know the tooth condition of the doctors and the patients.

In some other embodiments, the model pose parameters include a tooth pose angle, the pose result includes a degree of pose angle deviation, the computing model pose parameters according to the first feature point, the dental arch corresponding point and the dental arch coordinate system, and the computing pose result of the digital dental model according to the model pose parameters, as shown in fig. 3, includes the following steps:

s301, calculating an actual tooth posture angle according to the dental arch corresponding point and the dental arch coordinate system.

In some embodiments, the process of calculating the tooth pose angle comprises:

after determining teeth on the tooth digital model, fig. 4 is a schematic diagram of a local coordinate system and an arch coordinate system in the tooth digital model, fig. 5 to 7 are schematic diagrams showing torsion, torque and an axis inclination included angle in the tooth digital model, as shown in fig. 4 to 7, according to the previously established arch coordinate system, determining a corresponding direction x ' axis, y ' axis and z ' axis of a corresponding point of the arch, and simultaneously determining a local coordinate system of the current teeth, namely, taking a proximal axis, a distal axis, a labial and lingual axis and a long axis as an x axis, a y axis and a z axis respectively in the foregoing, wherein the tooth attitude angle includes a first torsion, a first torque and a first axis inclination, and specifically, for the current tooth digital model, the first torsion of the tooth attitude angle is converted into an included angle between a projection obtained after projecting the x axis of the tooth local coordinate system onto a plane formed by the x ' axis and the y ' axis of the arch coordinate system; the first torque is an included angle between a projection and a z ' axis obtained after the z axis of the tooth local coordinate system is projected to a plane formed by the y ' axis and the z ' axis of the dental arch coordinate system; and the first axis is an included angle between the projection of the z axis of the tooth local coordinate system to the plane formed by the x 'axis and the z' axis.

S302, inputting the standard tooth model in the aligned state, and obtaining the standard attitude angle of the standard tooth model.

In some embodiments, the standard posture angle is a standard tooth model in an aligned state, and similar to the above process, a standard arch corresponding point of each tooth on the standard tooth model is determined, the standard arch corresponding point is a point closest to a midpoint of an incisal margin of a tooth on the standard tooth model on a standard arch curve, and tangential, normal and jaw plane directions of the standard arch corresponding point are taken as three coordinate axes of a standard arch coordinate system, which are respectively recorded as an X ' axis, a Y ' axis and a Z ' axis, and a standard tooth local coordinate system of each standard tooth is established on the standard tooth model by using the same method as the tooth local coordinate system of the tooth established on the tooth digital model, and three coordinate axes are respectively obtained, which are respectively recorded as an X axis, a Y axis and a Z axis, wherein the standard posture angle also includes a second torsion, a second torsion and a second inclination, the second torsion of the standard posture angle is set to be 0, and the second torsion of the standard posture angle is a projection angle formed between a Z axis of the tooth local coordinate system of the current standard tooth model and the Y axis; and the second axis of the standard posture angle is an included angle between the projection and the Z ' axis obtained after the Z axis of the local tooth coordinate system of the current standard tooth model is projected to a plane formed by the X ' axis and the Z ' axis of the standard dental arch coordinate system.

On the other hand, since the standard attitude angle is generally relatively fixed, the relevant data in the standard attitude angle can also be obtained in the corresponding textbook, and the details are not repeated here.

S303, calculating angle difference according to the tooth attitude angle and the standard attitude angle, and calculating the attitude angle deviation degree of the tooth digital model according to the angle difference.

Optionally, the calculation process includes:

According to the method, the torsion difference is calculated according to the difference between the first torsion and the second torsion, the torque difference is calculated according to the difference between the first torque and the second torque, the shaft inclination difference is calculated according to the difference between the first shaft inclination and the second shaft inclination, after the second preset weight is determined, the torsion difference, the torque difference and the shaft inclination difference are weighted and summed respectively, so that an angle weighted and summed result can be obtained, and the angle weighted and summed result is used as the angle difference, so that the attitude deviation degree of a single tooth in the tooth digital model can be determined according to the angle difference.

Specifically, the larger the calculated angle weighted sum result is, the more the current tooth deviates from the normal posture, and the correction adjustment is required.

In a possible embodiment, the method further comprises calculating the crowdedness between teeth in the digital model of teeth, as shown in fig. 8, comprising the steps of:

s801, selecting a tooth area to be calculated in the tooth digital model;

s802, obtaining a standard gap between adjacent teeth in the tooth area to be calculated;

s803, acquiring the near-far-middle width of each tooth model in the tooth region to be calculated;

s804, calculating the crowdedness degree of the teeth in the tooth area to be calculated according to the standard gap between the adjacent teeth in the tooth area to be calculated and the near-far middle width of each tooth model.

Wherein the crowdedness degree of the teeth in the tooth area to be calculated is a ratio of the sum of standard gaps between each pair of adjacent teeth to the sum of the mesial-distal widths of each tooth in the tooth area to be calculated.

During specific calculation, the standard gap between adjacent teeth in the tooth area to be calculated and the near-far-middle width of each tooth model in the tooth area to be calculated are obtained, and then the crowdedness degree of the teeth in the tooth area to be calculated can be calculated according to the standard gap and the near-far-middle width.

Wherein the mesial-distal width is the mesial contact point B of the tooth _i3 Distal contact point B with tooth _i4 Difference value B between _i3 -B _i4 Projection onto a dental digital modelWhere i represents the number of the current tooth.

In some embodiments, the calculation of the standard gap between the paired teeth includes the steps of:

and determining the size of the standard gap according to the projection result of the first coordinate difference.

Specifically, according to the FDI number of each tooth model in the tooth digital model, the monomandibular teeth are arranged in a sequence, the missing teeth, such as the maxillary teeth 17, 16, 15, 13, 12, 11, 21, 22, 23, 25, 26, 27, of which 14, 18, 24, 28 are omitted, the adjacent teeth are paired in the sequence, such as 15 and 13, and the paired arch corresponding points and the corresponding directions of the two paired teeth are calculated, so that the mesial-distal direction corresponding to the paired teeth is determined according to the corresponding directions of the paired arch corresponding points, and then the paired teeth are adjusted to the standard posture, the corresponding paired teeth are obtained from the standard tooth model, and the difference between the mesial contact point and the distal contact point of the paired teeth, i.e., B, is calculated under the global coordinate system of the tooth digital model _13,4 -B _15,3 And then projecting the difference value to the near-far direction corresponding to the paired teeth to obtain a projection result, wherein the projection result is the standard gap between the paired teeth.

In still other embodiments, the calculating of the mesial-distal width of each tooth in the tooth region to be calculated comprises:

and projecting the second coordinate difference value to the mesial-distal direction of the tooth to obtain the mesial-distal width of the tooth.

After determining a single tooth in the tooth region to be calculated, a second coordinate difference between the mesial contact point and the distal contact point of the tooth, namely B, is calculated _i3 -B _i4 And then projecting the second coordinate difference value to the near-far middle direction of the tooth to obtain a projection result, and recording the projection result as the near-far middle width of the tooth.

After the standard gap of the paired teeth and the near-far-middle width of a single tooth in the tooth number model are respectively calculated by the calculating method, the crowding degree of the teeth in the tooth area to be calculated can be determined by a crowding degree calculating formula.

In some optional embodiments, the crowdedness degree of the teeth in the tooth area to be calculated is calculated by the formula:

wherein A represents the crowdedness degree of teeth in the tooth area to be calculated, and D _i Representing the standard gap between the paired teeth in the tooth area to be calculated, W _i Representing the mesial-distal width, S, of each tooth within the tooth region to be calculated ^* Representing the tooth area to be calculated, i representing a tooth number within the tooth area to be calculated.

After calculating a result A according to the standard gap between the paired teeth and the near-far width of a single tooth, judging the crowdedness degree of the tooth according to the size of the calculation result A, wherein when the numerical value of A is closer to 0, the more normal the tooth in the tooth area to be calculated is, the crowdedness and the sparseness are avoided; when the numerical value of A is a positive value, the larger the numerical value of A is, the more sparse the teeth in the tooth area to be calculated are; when the value of A is negative, the more negative the absolute value of A is, the more crowded the teeth in the tooth area to be calculated are.

In some other embodiments, the digital tooth model for the whole jaw may be further selected as the tooth region to be calculated, and the crowdedness of the whole jaw teeth in the digital tooth model is calculated.

In some embodiments, the method further comprises calculating the dental jaw relationship of the digital dental model, as shown in fig. 9, comprising the steps of:

and S901, selecting a plurality of matched tooth groups from the tooth digital model according to the matching of the occlusion positions of the upper and lower jaw teeth.

S902, acquiring the first characteristic points of the plurality of groups of paired tooth groups in the global coordinate system, and establishing a combined dental arch coordinate system according to the first characteristic points of the plurality of groups of paired tooth groups.

In some optional embodiments, the method specifically includes the following steps:

taking a point on a dental arch curve of the tooth model, the distance from which to the average characteristic point is smaller than a second threshold value, as a combined dental arch corresponding point;

After the paired tooth groups are determined, firstly, coordinates of first characteristic points of each tooth in the paired tooth groups are obtained, an average value of two first characteristic points in the paired tooth groups is calculated, namely, the coordinates of average characteristic points obtained after average calculation are calculated, then, on an arch curve of a tooth digital model, points, the distance between which and the average characteristic points is smaller than a second threshold value, are found out to be used as combined arch corresponding points, and then, tangential, normal and jaw plane directions of the combined arch corresponding points are respectively used as three coordinate axes to establish a combined arch coordinate system and are respectively marked as X2, Y2 and Z2 axes.

And S903, calculating the difference value of the first characteristic points of the two teeth in each group of the matched teeth.

And S904, decomposing the difference values to three axes of the combined dental arch coordinate system to obtain difference value components.

S905, determining the tooth jaw relation in the tooth digital model according to the difference component of the three axes on the combined dental arch coordinate system.

In some alternative embodiments, the first characteristic point is the incisal edge midpoint, and when calculating, the upper and lower teeth in the tooth digital model are first paired according to reasonable occlusion positions, for example, the upper jaw 16 tooth and the lower jaw 46 tooth are paired, and after establishing the coordinate system of the combined dental arch, the difference between the incisal edge midpoint or the buccal apex midpoint of the two teeth, that is, B is calculated _16,1 -B _46,1 And decomposing the difference value to three coordinate axes of a combined dental arch coordinate system to respectively obtain three difference value components, and then determining the tooth jaw relation of the current tooth digital model according to the three difference value components.

In some embodiments, the dental inter-jaw relationship comprises an anterior dental inter-jaw relationship comprising at least one of an anterior occlusal relationship, an anterior coverage relationship, and a line-alignment relationship.

Wherein, the anterior teeth overlapping relation is determined according to the closeness degree of the difference component in the Z2 axis direction and the distance between the midpoint of the incisal edge between the anterior teeth appointed by the upper jaw and the anterior teeth corresponding to the lower jaw in the projection of the occlusion direction, the closer the two are, the higher the overlapping degree of the anterior teeth overlapping of the current tooth digital model is, otherwise, the lower the overlapping degree of the anterior teeth overlapping is.

And the anterior tooth coverage relation is determined by the closeness degree of the distance between the difference component in the Y2 axis and the midpoint of the incisal edge between the anterior tooth designated by the upper jaw and the anterior tooth designated by the lower jaw between the projections in the bucco-lingual direction, wherein the closer the two are, the higher the anterior tooth coverage degree of the tooth digital model is, and otherwise, the lower the anterior tooth coverage degree is.

And the midline alignment relation is obtained by calculating the difference between the maxillary midline and the mandibular midline in the dental digital model, and the midline alignment condition of the current dental digital model can be determined according to the size of the difference, wherein the smaller the difference is, the more aligned the midlines of the dental digital model are, otherwise, the more misaligned the midlines of the dental digital model are.

Optionally, since the calculation process of the centerline direction has been described in the foregoing, in this embodiment, through the calculation process, the maxillary centerline can be calculated after the maxillary tooth model is selected, and the mandibular centerline can be calculated after the mandibular tooth model is selected, which is not described herein again.

In still other embodiments, the dental inter-jaw relationship comprises a posterior dental inter-jaw relationship including at least one of a molar relationship, a mismaxillofacial relationship, and an open jaw relationship.

The molar relationship of the tooth digital model is determined according to the difference component on the X2 axis, the malocclusion relationship of the tooth digital model is determined according to the difference component on the Y2 axis, and the jaw opening relationship of the tooth digital model is determined according to the difference component on the Z2 axis, and the determination standard is the content in the prior art, which is not repeated here.

The method comprises the steps of selecting a batch of sampling points on the surfaces of crowns of all posterior teeth (No. 5 to No. 8 teeth) of the lower jaw, emitting rays to the upper jaw along the normal direction of a jaw plane on each sampling point, solving an intersection point of a certain tooth of the upper jaw, recording the distance (the gap is a positive value and the overlap is a negative value) between the sampling points and the intersection point, and setting the contact area ratio to be N ^* N, where N is the total number of sample points, N ^* The total number of sampling points with a distance value less than zero is not described herein since the above process is the content of the prior art.

The present invention further provides a system for calculating a deviation of a posture based on a digital dental model, as shown in fig. 10, including:

an obtaining module 1001, configured to select a single tooth model from tooth digital models, establish local coordinate systems on the single tooth model, and obtain feature points in the local coordinate systems;

a conversion module 1002, configured to establish a global coordinate system according to the tooth digital model, and convert the feature points in the local coordinate system into first feature points in the global coordinate system;

a coordinate system establishing module 1003, configured to acquire, on an arch, a point whose distance from the feature point is smaller than a first threshold as an arch corresponding point, and establish an arch coordinate system with tangential, normal, and jaw plane directions of the arch corresponding point as three axes, respectively;

a calculating module 1004, configured to calculate a first distance according to a difference between the first feature point and the corresponding point of the dental arch, and calculate a posture deviation of the digital dental model according to the first distance.

Since the structure and principle of the above-mentioned system for calculating the deviation of the posture based on the dental digital model correspond to the above-mentioned method for calculating the deviation of the posture based on the dental digital model one by one, the details are not repeated here.

It should be noted that the division of each module of the above apparatus is only a logical division, and all or part of the actual implementation may be integrated into one physical entity or may be physically separated. And these modules can be realized in the form of software called by processing element; or can be implemented in the form of hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the selection module may be a processing element that is set up separately, or may be implemented by being integrated in a chip of the system, or may be stored in a memory of the system in the form of program code, and the function of the above x module may be called and executed by a processing element of the system. The other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a System-On-a-Chip (SOC).

The invention also discloses a digital orthodontic scoring method, which applies the tooth digital model attitude deviation calculation method, and as shown in fig. 11, the digital orthodontic scoring method comprises the following steps:

s1101, acquiring a posture result combination in the tooth digital model;

s1102, combining and obtaining a plurality of calculation results of attitude deviation according to the attitude results in the tooth digital model;

s1103, scoring according to the size of the calculation result of the attitude deviation to obtain a plurality of single scores;

s1104, acquiring a third preset weight of the calculation result of the attitude deviation;

s1105, carrying out weighted summation on the plurality of single scores according to the third preset weight to obtain a comprehensive score.

After each posture result of teeth in the tooth digital model is obtained through calculation by the tooth digital model posture deviation calculation method, wherein the posture result comprises tooth translation deviation degree, posture angle deviation degree, tooth crowding degree and tooth jaw relation, a posture result combination is selected according to needs, each posture result is scored respectively to obtain a plurality of single scores, each single score is weighted and summed according to a third preset weight of each posture result, so that a comprehensive score of the tooth digital model is obtained, the specific condition of the tooth digital model is determined according to the size of the comprehensive score, different single scores and different weights can be selected according to different scenes, and doctors and patients can know the actual condition of the teeth more intuitively and quickly.

In some embodiments, the combination of pose results includes at least one type of calculation of the pose deviation.

In some optional embodiments, the attitude result combination includes a translation deviation degree, an attitude angle deviation degree, and a crowding degree of teeth, and the single scores corresponding thereto are obtained through calculation results of the translation deviation degree, the attitude angle deviation degree, and the crowding degree of the teeth, respectively, and then the single scores are weighted and summed according to a third preset weight corresponding to each single score to obtain a composite score.

In some optional embodiments, the attitude result combination includes a translation deviation degree, an attitude angle deviation degree, and a dental jaw relation, and the single scores corresponding thereto are respectively obtained through calculation results of the translation deviation degree, the attitude angle deviation degree, and the dental jaw relation, and then the single scores are weighted and summed according to a third preset weight corresponding to each single score to obtain a composite score.

In some optional embodiments, the posture result combination includes crowdedness of teeth and a tooth-jaw relationship, and the single scores are obtained through calculation results of the crowdedness of the teeth and the tooth-jaw relationship, and then the single scores are weighted and summed according to a third preset weight corresponding to each single score to obtain a composite score.

In some embodiments, the method for scoring a digital orthodontic further comprises:

By the method, after the comprehensive scores of the patients are obtained through calculation, the scoring ranking is carried out on the tooth digital models according to the tooth database of the target population, so that the patients and doctors can better know the actual conditions of the current teeth.

In some embodiments, the digital orthodontic scoring method further comprises providing a target position and a stepped position, calculating a composite score of the tooth digital model at the stepped position, and comparing the composite score of different stages with different target positions and stepped positions so as to evaluate the orthodontic condition of the teeth of the patient at different stages through the tooth digital model.

The invention also discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to execute the method for calculating the attitude deviation of the tooth digital model or the method for grading the digital orthodontic.

The storage medium of the invention has stored thereon a computer program which, when being executed by a processor, carries out the above-mentioned method. The storage medium includes: a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, a usb disk, a Memory card, or an optical disk, which can store program codes.

The present invention also provides a terminal, including: a processor and a memory;

the memory is used for storing a computer program;

the processor is used for executing the computer program stored in the memory so as to enable the terminal to execute the tooth digital model attitude deviation calculation method or the digital orthodontic scoring method.

Through the above description of the embodiments, it is clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.

Each functional unit in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or make a contribution to the prior art, or all or part of the technical solutions may be implemented in the form of a software product stored in a storage medium and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program code, such as flash memory, removable hard drive, read-only memory, random-access memory, magnetic or optical disk, etc.

Although the embodiments of the present invention have been described in detail hereinabove, it is apparent to those skilled in the art that various modifications and variations can be made to the embodiments. However, it is to be understood that such modifications and variations fall within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention as described herein is capable of other embodiments and of being practiced or of being carried out in various ways.

Claims

1. A method for calculating attitude deviation of a tooth digital model is characterized by comprising the following steps:

taking a point on an arch curve of the tooth digital model, the distance between which and the first characteristic point is less than a first threshold value, as an arch corresponding point, and establishing an arch coordinate system by taking the tangential direction, the normal direction and the jaw plane direction of the arch corresponding point as three axes respectively;

2. The method for calculating the attitude deviation of the dental digital model according to claim 1, wherein the model attitude parameters include a first distance, the attitude results include a degree of deviation of a translational amount of teeth, the calculating model attitude parameters according to the first feature point, the dental arch corresponding point and the dental arch coordinate system, and the calculating attitude results of the dental digital model according to the model attitude parameters include:

calculating the first distance according to the first characteristic point and the dental arch corresponding point;

and weighting and summing the three component distances according to a first preset weight to obtain a distance weighted sum result, and determining the tooth translation deviation degree according to the distance weighted sum result.

3. The method according to claim 1, wherein the local coordinate system is established by using an average of all vertexes of the single tooth model as an origin and using a distal-proximal axis, a labial-lingual axis and a long axis as an x-axis, a y-axis and a z-axis, respectively.

4. The method of claim 1, wherein the model pose parameters include a tooth pose angle, the pose results include a degree of pose angle deviation, the calculating model pose parameters from the first feature point, the arch corresponding point, and the arch coordinate system, and the calculating pose results for the tooth digital model from the model pose parameters include:

and calculating an angle difference according to the tooth attitude angle and the standard attitude angle, and calculating the attitude angle deviation degree of the tooth digital model according to the angle difference.

5. The method of claim 4, wherein the calculating an angle difference according to the tooth pose angle and the standard pose angle comprises:

6. The method of claim 5, wherein the tooth pose angle comprises a first twist, a first torque, and a first tilt, the standard pose angle comprises a second twist, a second torque, and a second tilt, the difference in twist is the difference between the first twist and the second twist, the difference in torque is the difference between the first torque and the second torque, and the difference in tilt is the difference between the first tilt and the second tilt.

7. The method of calculating a deviation of a pose of a digital model of a tooth according to claim 1, further comprising:

selecting a tooth area to be calculated in the tooth digital model;

and calculating the crowdedness degree of the teeth in the tooth area to be calculated according to the standard gap between the adjacent teeth in the tooth area to be calculated and the near-far width of each tooth model.

8. The method for calculating the deviation of the digital model posture of the tooth according to claim 7, wherein the digital model of the tooth in the whole jaw is selected as the tooth area to be calculated, and the crowdedness of the whole jaw teeth in the digital model of the tooth is calculated.

9. The method of calculating the deviation of the digital model of teeth according to claim 8, wherein the crowdedness of the teeth in the tooth area to be calculated is a ratio of a sum of standard gaps between each pair of adjacent teeth to a sum of the mesial-distal widths of each tooth in the tooth area to be calculated.

10. The method for calculating the deviation of the digital model of teeth according to claim 9, wherein the calculation process of the crowdedness of the teeth in the tooth area to be calculated satisfies the following formula:

wherein A represents the crowdedness of teeth in the tooth area to be calculated, and D _i Representing a standard gap between the mating teeth in the dental area to be calculated, W _i Representing the mesial-distal width, S, of each tooth within the tooth region to be calculated ^* Representing the tooth area to be calculated, i representing a tooth number within the tooth area to be calculated.

11. The method of calculating the attitude deviation of a dental digital model according to claim 9, wherein the calculation of the standard gap between the pair of teeth includes:

projecting the coordinate difference to the near-far direction of the tooth digital model to obtain a first coordinate difference projection result;

12. The method of calculating a deviation of a digital model of teeth according to claim 1 or 7, further comprising:

determining a dental jaw relation in the dental digital model according to the magnitude of the difference component of the three axes on the combined dental arch coordinate system.

13. A dental digital model pose deviation calculation method according to claim 12, wherein the dental jaw relationships comprise anterior dental jaw relationships including at least one of anterior occlusal relationships, anterior dental coverage relationships and line alignment relationships.

14. The method of claim 12, wherein the dental jaw relation comprises a posterior dental jaw relation, and the posterior dental jaw relation comprises at least one of a molar relation, a mismaxillofacial relation, and an open jaw relation.

15. The method of calculating the attitude deviation of a digital dental model according to claim 12, wherein the obtaining the first feature points of the sets of paired teeth in the global coordinate system and establishing a combined arch coordinate system based on the first feature points of the sets of paired teeth comprises:

and establishing the coordinate system of the combined dental arch by respectively taking the tangential direction, the normal direction and the jaw plane direction of the corresponding point of the combined dental arch as three axes.

16. A system for calculating a deviation of an attitude based on a digital model of a tooth, comprising:

the conversion module is used for establishing a global coordinate system according to the tooth digital model and converting the characteristic points under the local coordinate system into first characteristic points under the global coordinate system;

17. A digital orthodontic scoring method, wherein the method for calculating the deviation of the digital model of the tooth posture according to any one of claims 1 to 15 is applied, and the digital orthodontic scoring method comprises the following steps:

acquiring a posture result combination in the tooth digital model;

combining and obtaining a plurality of calculation results of attitude deviation according to the attitude results in the tooth digital model;

18. The digital orthodontic scoring method of claim 17, wherein the combination of posture results includes at least one type of calculation of the posture deviation.

19. The digital orthodontic scoring method of claim 17, further comprising:

sorting according to the orthodontic score to obtain a score ranking of the tooth database;

and obtaining the grade ranking of the dental digital model in the target population according to the comprehensive grade.

20. The digital orthodontic scoring method of claim 17 further comprising providing a goal position and a step position, and calculating a composite score of the digital model of the tooth at the step position.

21. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for calculating the deviation of the pose of a digital model of a tooth according to any one of claims 1 to 15 or the method for scoring a digitized orthodontic according to any one of claims 17 to 20.

22. A terminal, comprising: a processor and a memory;

the memory is used for storing a computer program;

the processor is configured to execute the computer program stored in the memory to cause the terminal to execute the method for calculating the deviation of the digital model of the teeth according to any one of claims 1 to 15 or the method for scoring the digital orthodontic according to any one of claims 17 to 20.