CN118000934B - Dental arch curve generation method and device, electronic equipment and storage medium - Google Patents
Dental arch curve generation method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application is applicable to the technical field of oral cavity, and provides a dental arch curve generation method and device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring oral scanning data; identifying the oral scanning data to obtain a plurality of tooth characteristic points of the target dental jaw and the long axis directions of a plurality of teeth; calculating an average value of the long axis directions of the plurality of teeth; determining an arch plane of the target dental jaw by taking the average value as a normal direction; projecting a plurality of tooth characteristic points onto a dental arch plane to obtain a plurality of projection characteristic points; and performing curve fitting by using a plurality of projection characteristic points to obtain a dental arch curve.
Description
Technical Field
The application belongs to the field of oral cavity, and particularly relates to a dental arch curve generation method and device, electronic equipment and a computer readable storage medium.
Background
Dental arch curve refers to an arch curve formed by sequentially arranging teeth on the gum along the alveolar bone. Dental archwire is the basis of orthodontic and requires shape analysis and measurement of dental archwire clinically.
In the related art, a method of generating a dental arch curve is commonly used to select a plurality of key points in a tooth model, such as a distal-middle contact point of a second premolars, a buccal cusp point of a first premolars, a mid-cutting edge point of a side incisors, a proximal-middle contact point of a middle incisors, etc., and then directly connect the points using a curve to generate a dental arch curve. The arch curve thus generated does not accurately reflect the shape of the actual arch, and these points may not be on the same plane, introducing additional errors to the arch curve generated, making the reference value of the arch curve generated insufficient.
Disclosure of Invention
The embodiment of the application provides a dental arch curve generating method and device, electronic equipment and a computer readable storage medium, which can solve the problem of insufficient reference value of dental arch curves generated in the related technology.
In a first aspect, an embodiment of the present application provides a dental arch curve generating method, including: acquiring oral scanning data; identifying the oral scanning data to obtain a plurality of tooth characteristic points of the target dental jaw and the long axis directions of a plurality of teeth; calculating an average value of the long axis directions of the plurality of teeth; determining an arch plane of the target dental jaw by taking the average value as a normal direction; projecting a plurality of tooth characteristic points onto a dental arch plane to obtain a plurality of projection characteristic points; and performing curve fitting by using a plurality of projection characteristic points to obtain a dental arch curve.
In a second aspect, an embodiment of the present application provides a dental arch curve generating device, including: the acquisition module is used for acquiring oral scanning data; the identification module is used for identifying the oral scanning data to obtain a plurality of tooth characteristic points of the target dental jaw and the long axis directions of a plurality of teeth; a calculation module for calculating an average value of the long axis directions of the plurality of teeth; a determining module for determining an arch plane of the target dental jaw with the average value as a normal direction; the projection module is used for projecting the plurality of tooth characteristic points onto the dental arch plane to obtain a plurality of projection characteristic points; and the fitting module is used for performing curve fitting by using the plurality of projection characteristic points to obtain a dental arch curve.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the dental arch curve generating method according to the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program, where the computer program when executed by a processor implements the dental arch curve generating method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer program product, which when run on an electronic device, causes the electronic device to perform the dental arch curve generating method of the first aspect described above.
Compared with the prior art, the embodiment of the application has the beneficial effects that: acquiring oral scanning data; identifying the oral scanning data to obtain a plurality of tooth characteristic points of the target dental jaw and the long axis directions of a plurality of teeth; calculating an average value of the long axis directions of the plurality of teeth; determining an arch plane of the target dental jaw by taking the average value as a normal direction; projecting a plurality of tooth characteristic points onto a dental arch plane to obtain a plurality of projection characteristic points; and performing curve fitting by using a plurality of projection characteristic points to obtain a dental arch curve. The tooth characteristic points are projected onto the dental arch plane and then fitted to generate the dental arch curve, so that the dental arch curve is ensured to be positioned on the dental arch plane, errors caused by the fact that the dental arch curve is not positioned on one plane are avoided, and meanwhile, the dental arch plane takes the average value of the long axis directions of a plurality of teeth as the normal direction, so that the dental arch plane is approximately parallel to the crest of an tooth groove, the generated dental arch curve meets the requirements of dental application, has higher reference value, and provides more effective data support for subsequent treatment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
FIG. 2 is a flow chart of a dental arch curve generating method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of the dentition of a human constant dentition;
FIG. 4 is a diagram of a specific example of a tooth model and identified tooth feature points provided by an embodiment of the present application;
FIG. 5 is a schematic diagram showing a specific flow of S4 in FIG. 2;
FIG. 6 is a schematic diagram showing a specific flow of S7 in FIG. 2;
FIG. 7 is a schematic diagram showing a specific flow of S8 in FIG. 2;
FIG. 8 is a diagram of a specific example of a fitted arch curve provided by an embodiment of the present application;
FIG. 9 is a specific illustration of a truncated arch curve provided by an embodiment of the present application;
FIG. 10 is a diagram showing a display window of an arch curve and an oral model according to an embodiment of the present application;
fig. 11 is a schematic structural view of a dental arch curve generating device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The dental arch curve generating method provided by the embodiment of the application can be applied to electronic equipment, wherein the electronic equipment comprises, but is not limited to, electronic equipment with operation functions such as a server, a server cluster, a mobile phone, a tablet personal computer, a notebook computer, a desktop computer, a personal digital assistant, wearable equipment and the like. The embodiment of the application does not limit the specific type of the electronic equipment.
Fig. 1 is a block diagram showing a part of the structure of an electronic device provided with an embodiment of the present application. Referring to fig. 1, an electronic device includes: processor 10, memory 20, bus 30, input device 40, output device 50, and communication device 60. The processor 10, the memory 20 are connected to each other by a bus 30, and the input device 40, the output device 50, the communication device 60 are also connected to the bus 30. Those skilled in the art will appreciate that the configuration of the electronic device shown in fig. 1 does not constitute a limitation of the electronic device, and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
The following describes the respective constituent elements of the electronic device in detail with reference to fig. 1:
The processor 10 is a control center of the electronic device, and can execute programs stored in the memory 20 to perform various functions and process data. The Processor 10 may be a central processing unit (Central Processing Unit, CPU), and the Processor 10 may also be other general purpose processors, digital computer vision (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In some embodiments, the processor 10 may include A I (ARTIFICIAL INTELLIGENCE ) processor for processing computing operations related to machine learning.
The memory 20 is used for storing an operating system, application programs, boot loader (BootLoader), data, and other programs, etc., such as program codes of computer programs, etc. The memory 20 may also be used to temporarily store data needed and generated for the execution of the program. The memory 20 may include high-speed random access memory, and may also include non-volatile memory such as flash memory, hard disk, multimedia card, card memory, and the like. The memory 20 may include a storage unit disposed inside the electronic device, such as a hard disk of the electronic device, and/or a removable external storage unit, such as a removable hard disk, a usb disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, or the like.
The input device 40 may include at least one of a keyboard, a mouse, a touch panel, a joystick, etc. for collecting input operations of a user to generate corresponding signals to be detected.
The output device 50 is used for outputting information to be provided to a user. The output device 50 typically includes a display, alternatively, a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), an Organic Light-Emitting Diode (OLED), or the like may be employed. In addition, the output device may further include a speaker.
The communication means 60 may comprise a modem, a network card or the like for establishing a network connection with other electronic devices and communicating with each other.
The dental arch curve generating method provided by the embodiment of the application can be implemented as a computer software program. For example, embodiments of the present application provide a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via the communications device 60, and/or installed from a removable external memory unit. The computer program, when executed by the processor 10, performs various functions defined in the dental arch curve generating method provided by the embodiment of the present application.
Fig. 2 shows a schematic flow chart of a dental arch curve generating method according to an embodiment of the present application, which may be applied to the above-mentioned electronic device by way of example and not limitation.
S1: oral scan data is acquired.
The oral scan data may be point cloud data obtained by scanning an oral cavity with an optical scanner, image data obtained by tomographic imaging of an oral cavity with a computer-aided imaging (CT) technique, or an oral model obtained by three-dimensional reconstruction of the point cloud data or the image data. Mesh data representing the tooth surface is typically included in the oral model, and in particular, the mesh data typically includes a plurality of mesh vertices located on the tooth surface, adjacent mesh vertices defining meshes (typically triangles, possibly quadrilaterals, etc.), which form the surface of the tooth.
The oral scan data sent by the other device may be received from an input device or a communication device or read from a memory.
S2: and identifying the oral scanning data to obtain a plurality of tooth characteristic points of the target dental jaw and the long axis directions of the teeth.
For ease of understanding, the arrangement of teeth will be described with reference to the accompanying drawings. As shown in fig. 3, the permanent teeth of a person are divided into upper and lower jaws according to the jaw where they are located, and the upper and lower jaws may be divided into left and right parts by a midline, which are called segments. Regardless of the missing teeth, the arrangement of the teeth as a whole is satisfactory for bilateral symmetry and up-down symmetry. Teeth can be largely classified into incisors, cuspids, premolars, and molars, which are arranged in order from the middle to the edges. In the dental chart shown in fig. 3, each tooth has a number of 1 and 2 digits, namely a dental number, wherein the first digit represents a section where the tooth is located, specifically, 1 represents a right section of the upper jaw, abbreviated as an upper right section, 2 represents a left section of the upper jaw, abbreviated as an upper left section, 3 represents a left section of the lower jaw, abbreviated as a lower left section, and 4 represents a right section of the lower jaw, abbreviated as a lower right section; the second bit indicates the number of the tooth in the segment, starting from 1, increasing in sequence from the middle to the edge, i.e. the number of the middle incisors is 1, the number of the side incisors is 2, and so on. For the deciduous teeth, the tooth numbers of the teeth in the upper right section are 51-55, the tooth numbers of the teeth in the upper left section are 61-65, the tooth numbers of the teeth in the lower left section are 71-75, and the tooth numbers of the teeth in the lower right section are 81-85. Fig. 3 shows an ideal permanent tooth arrangement, and in fact, there may be some missing teeth due to various factors such as wisdom tooth not growing, tooth extraction, etc.
The target dental jaw may include at least one of an upper jaw and a lower jaw, without limitation. For simplicity of explanation, the description will be given below with reference to the upper jaw, and so on, the lower jaw can be obtained.
If the oral cavity scanning data are point cloud data or image data, the oral cavity scanning data are required to be subjected to three-dimensional reconstruction to obtain an oral cavity model, and then identification is carried out. For the oral cavity model, the grid data can be identified to obtain the existing information of the shape, position, size and the like of each tooth, the type and number of each tooth are determined according to the information, and the characteristic point and the long axis direction of each tooth are calculated. The specific manner of three-dimensional reconstruction and recognition can be conventional image processing or neural network-based, and is not limited herein.
The tooth feature points may include at least one of a center point, a cusp point, and a center socket point of the tooth. For instance, in one specific example, a tooth model derived from oral scan data and identified tooth feature points are shown in fig. 4.
In one embodiment of the application, the tooth feature points may include the center point and cusp points of the incisors, the center point of the cusps, and the center points of the premolars and molars, so that the resulting arch curve is better positioned in the center of the alveolar process. More specifically, in consideration of possible missing teeth, the tooth center points of the teeth 11, 12, 21, 22, the tooth cusp points, the tooth center points of the teeth 13, 23, and the center points of the teeth 14, 15, 16, 24, 25, 26 may be selected as the tooth feature points in order to improve the applicability of the tooth feature points.
S3: an average value of the long axis directions of the plurality of teeth is calculated.
The long axis direction of the tooth is also understood as a rotation of the long axis of the tooth with respect to the coordinate system of the oral model, and may be expressed in various forms, for example, a rotation angle, a unit quaternion, a rotation matrix, etc., and a manner of calculating the average value may be selected according to a specific expression manner.
S4: the dental arch plane of the target dental jaw is determined with the average value as the normal direction.
Since the long axis is an imaginary straight line passing through the centers of the crown and the root, the long axis direction average value can reflect the orientation of the teeth on the target jaw as a whole, so that the arch plane with the long axis direction as the normal direction is substantially parallel to the crest of the tooth.
The only plane in three-dimensional space can be determined by combining the normal direction and a point on the plane. This point may be designated, for example, as the origin of the oral coordinate system, and specifically may be the origin of the coordinate system dividing the upper and lower jaw and left and right segments. Or this point may be determined from the identified tooth feature points, as described in more detail below in the examples.
As shown in fig. 5, in an embodiment of the present application, S4 may specifically include the following parts.
S41: the target point is determined according to the tooth characteristic points.
Specifically, the target point may be determined from the cusp of the central incisor. Since there are generally two central incisors on the target jaw, the cusp points of 1 central incisor may be selected as the target point, or a weighted average of the cusp points of 2 central incisors may be calculated as the target point.
S42: and determining the dental arch plane according to the target point and the average value.
The target point is on the dental arch plane, and the normal direction of the dental arch plane is the average value of the long axis direction, so that the specific expression of the dental arch plane can be obtained.
S5: and projecting the plurality of tooth characteristic points onto the dental arch plane to obtain a plurality of projection characteristic points.
The coordinates of the projection feature points are two-dimensional coordinates in the dental arch plane coordinate system.
S6: and performing curve fitting by using a plurality of projection characteristic points to obtain a dental arch curve.
Specifically, the fitted equation may employ a fourth order polynomial of the expression ofWherein a, b, c, d and e are coefficients that need to be solved. And (3) taking the plurality of projection characteristic points obtained in the step (S5) as a fitting point set, substituting coordinates of the points into the expression to perform curve fitting, and obtaining coefficients a, b, c, d and e. For example, the fitting may be performed using a least squares method, i.e., coefficients a, b, c, d and e are calculated with the goal of fitting the sum of squares of the distances from each point in the point set to the curve.
S7: the oral scan data is identified to determine truncated teeth.
In some embodiments, S7 and S8 may be omitted, e.g., the dental arch may not be truncated, or fixed teeth may be selected as truncated teeth, etc.
A dental arch curve generally corresponds to the left and right truncated teeth. Considering that in practical applications, teeth may be missing, the use of a common tooth as a uniform truncated tooth may not reflect the actual tooth condition. Thus, in some embodiments, the oral scan data may be identified, specific information of the teeth at the gingival margin determined and used as truncated teeth, and the dental arch curve truncated according to the mesh vertices of the truncated teeth, thereby providing a more accurate dental arch curve for subsequent measurement and reference. For example, if teeth 16-18 are missing and tooth 15 is at the gingival margin, tooth 15 is the truncated tooth; if the teeth 27-28 are missing and the tooth 26 is located at the gingival margin, the tooth 26 is the truncated tooth.
S7 is only required to be executed before S8, and the execution sequence between S1 and S6 is not limited.
As shown in fig. 6, in an embodiment of the present application, S7 may specifically include the following portions.
S71: a set of candidate teeth is obtained.
The set of candidate teeth includes at least one candidate tooth, the dental arch curve obtained by using the candidate teeth as truncated teeth has high accuracy, and the dental arch curve generated by using the teeth outside the candidate teeth as truncated teeth may have excessive errors.
The tooth position number of a particular candidate tooth may be determined by the segment and the type of tooth. The type of tooth may refer to whether the tooth is permanent or deciduous. For example, for the left segment in the permanent tooth, the second position of the tooth position number of the candidate tooth may include 5 and 6; for the right segment in the permanent tooth, the second position of the tooth position number of the candidate tooth may include 6 and 7; for the left segment in the deciduous tooth, the second position of the tooth position number of the candidate tooth may include 4 and 5; for the right segment in the deciduous tooth, the second bit of the tooth position number of the candidate tooth may include 4 and 5. In other examples, the number of candidate teeth and the particular tooth position number may be determined as desired.
S72: it is determined whether the candidate tooth with the highest priority in the candidate tooth set is missing.
In general, the greater the number of the second digit of the tooth position number of the candidate tooth, the higher the priority.
If not, jumping to S74; if not, the process goes to S73.
S73: the candidate tooth with the highest priority is taken as the truncated tooth.
Ending the flow.
S74: the candidate teeth with the highest priority are removed from the candidate teeth set.
S75: it is determined whether the candidate set of teeth is empty.
If the candidate tooth set is not empty, jumping to S72; if the candidate tooth set is empty, it means that a suitable truncated tooth cannot be found from the candidate tooth set, and the process is ended.
A dental arch generally has one truncated tooth in each of its corresponding left and right segments, and optionally, failure of the dental arch to generate is indicated as long as one segment fails to find a suitable truncated tooth from the candidate set of teeth.
A specific procedure for determining the truncated teeth of the arch curve of the permanent dental upper jaw is illustrated. Judging whether the tooth number 16 is missing or not in the upper left section, if not, taking the tooth number 16 as a truncated tooth, if not, judging whether the tooth number 15 is missing, if not, taking the tooth number 15 as the truncated tooth, and if missing, prompting that the dental arch curve generation fails; for the upper right segment, judging whether the 27 th tooth is missing, if not, taking the 27 th tooth as a truncated tooth, if missing, judging whether the 26 th tooth is missing, if not, taking the 26 th tooth as a truncated tooth, and if missing, prompting that the dental arch curve generation fails.
In other embodiments, the teeth present on the target jaw may be identified from the oral scan data, and the tooth that is furthest from the central incisors, i.e., the tooth with the largest second position in the tooth number, is selected from the teeth present in the two sections of the target jaw, as the truncated tooth, where the distance generally refers to the distance along the arch curve.
S8: the dental arch curve is truncated according to the mesh vertices of the truncated teeth.
One dental arch curve generally corresponds to two truncated teeth, and for each truncated tooth, one end point of the dental arch curve can be determined according to the grid vertex of the truncated tooth, so that the dental arch curve is truncated.
As shown in fig. 7, in an embodiment of the present application, S8 may specifically include the following portions.
S81: the closest point of the arch curve to the truncated projection point is calculated as the first closest point.
The truncated projection point is a projection point of a center point of the truncated tooth on the dental arch plane, and the first closest point is located on the dental arch line and is one closest to the truncated projection point among points on the dental arch line.
S82: a tangent to the dental arch curve at a first closest point is obtained.
S83: one mesh vertex which is positioned on the side of the truncated tooth far from the central incisor and has the largest projection distance is selected as the target vertex.
The long axis of the truncated tooth may be used to divide the truncated tooth into two sides to determine which mesh vertices on the surface of the truncated tooth belong to the side remote from the central incisors. The mesh vertices are not necessarily in the plane of the dental arch. The projection distance is the distance between the mesh vertex and the projection point of the first closest point on the same projection object. Projection objects are used here to describe the course of a tooth in the approximate dental arch direction, and can be set as desired. For example, the projection object may be a mesial-distal direction of the truncated tooth, the mesial-distal direction may be indicated by a line connecting a mesial midpoint, which may be a midpoint of an intersection of a mesial surface of the truncated tooth and an arch plane, and a distal midpoint, which may be a midpoint of an intersection of a mesial surface of the truncated tooth and an arch plane. Or the projection object may be a tangent to the dental arch line at a first closest point, the tangent lying in the dental arch plane and being tangent to the dental arch line at the first closest point.
In one embodiment of the application, after the target vertex is determined, the dental arch curve may be updated with the target vertex. Specifically, the target vertex can be projected onto the dental arch plane to obtain a target projection point, then the target projection point is added into the fitting point set, and then curve fitting is performed again by using the updated fitting point set, namely curve fitting is performed again by using a plurality of projection characteristic points and the target projection point, so that an updated dental arch curve is obtained.
S84: the dental arch curve is truncated according to the target vertex.
Specifically, the closest point of the arch curve to the target vertex may be calculated as the second closest point, and then the arch curve is truncated using the second closest point, i.e., the second closest point is set as the end point of the arch curve. The second closest point is located on the dental arch curve and is the closest one to the target apex among the points on the dental arch curve.
The second closest point obtained in the embodiment is generally very close to the edge of the gum, so that the dental arch curve is cut off, the endpoints of the generated dental arch curve can accurately divide the gum and the teeth, a user can intuitively observe the position of the dental socket, the relationship between the dental arch curve and the dental socket is judged, and the dental arch curve can be conveniently adjusted in the subsequent correction process.
For example, still referring to the example of fig. 4, the initial fit results in a dental arch curve as shown in fig. 8, and after truncation, the actual dental arch curve is shown in fig. 9.
Alternatively, the oral model and the arch curve acquired from the oral scan data may be displayed in a first window of the display window, and the arch plane and the arch curve may be displayed in a second window of the display window. Specifically, the dental arch plane and the dental arch curve in the dental arch plane can be displayed in the second window, and meanwhile, the projection of the gingival margin on the dental arch plane is displayed, namely, the gingival margin and the dental arch curve are projected on the same plane, so that a user can intuitively observe the position of the dental socket and judge the relationship between the dental arch curve and the dental socket, and the dental arch plane is favorable for judging whether the dental arch curve needs to be manually adjusted and determining the adjustment direction. An example of a display window for displaying a dental arch curve and an oral model is shown in fig. 10, in which a window of a main body portion is a first window for displaying the oral model and the dental arch curve therein, and a window of a lower right corner is a second window for displaying a dental arch plane and the dental arch curve therein. The second window is suspended over the first window and has a degree of transparency for viewing by a user. The dental archwire in the first window and the second window is updated synchronously.
In one embodiment, the arch curve may be updated in response to a position adjustment instruction within a display window (including a first window range and a second window range).
In an embodiment, only in response to the position adjustment instruction within the range of the second window, the dental arch curve is updated, so that the user can adjust the dental arch curve only in the second window displayed in two dimensions, the user operation can be facilitated, and the problem that errors are easily deviated due to the fact that the dental arch curve is adjusted on the first window displayed in three dimensions is avoided. And the dental arch curves in the first window and the second window are synchronously updated, so that a user can observe the dental arch curves from three-dimensional and two-dimensional angles at the same time, and the final adjusted dental arch curves can be more accurate.
Considering the difficulty of the three-dimensional interface adjustment curve, in one other embodiment, the identity of the user is identified, whether to respond to the position adjustment instruction in the first window range is determined according to the experience or operation examination result of the user, the dental arch curve is updated, if the experience or operation examination result of the user exceeds the threshold value, the limit can be released, the position adjustment instruction in the first window range is responded (for example, the position adjustment instruction in the second window range is responded, the position adjustment instruction in the first window range is responded, and if the experience or operation examination result of the user does not exceed the threshold value, the position adjustment instruction in the second window range is responded, and the position adjustment instruction in the first window range is not responded.
In addition, the user may adjust the projected feature points to adjust the arch curve. Specifically, a position adjustment instruction for the projected feature points, which is generally obtained by a user's manipulation of the displayed arch curve, may be received. For example, the user may perform a drag or scribing operation on an interface (for example, the second window) displaying the dental arch curve, and the identified operation track may be used as a position adjustment instruction, specifically may include a start point coordinate, and may further include at least one of an end point coordinate and a displacement amount. The start point coordinates are generally used to indicate an object of the position adjustment instruction, and for example, one projection feature point closest to the start point coordinates may be selected as the object of the position adjustment instruction, and may be referred to as a target projection feature point. The displacement amount is a vector of the start point coordinate pointing to the end point coordinate, and may be directly included in the position adjustment instruction, or may be calculated according to the start point coordinate and the end point coordinate, where the displacement amount is used to indicate how to adjust the target projection feature point, for example, the direction of the displacement amount is the moving direction of the target projection feature point, and the magnitude of the displacement amount may be directly or after being scaled according to a set ratio, be the moving distance of the target projection feature point.
Since the dental arch curve is the basis of orthodontic treatment, any adjustment may have an adverse effect on the subsequent orthodontic treatment, and thus a certain allowable range is generally set for adjustment according to experience, experiment, anatomical knowledge, and the like. Refusing to execute the position adjustment instruction under the condition that the position adjustment instruction exceeds the allowable range; and under the condition that the position adjustment instruction does not exceed the allowable range, adjusting according to the position adjustment instruction, and updating the dental arch curve. For example, still referring to the example shown in fig. 10, a user may perform a drag operation on a projection feature point represented by a small circle in the second window using an input device (e.g., a mouse, a touch screen, etc.), obtain a position adjustment instruction according to an operation track of the user, if the position adjustment instruction is within an allowable range, move a position of the target projection feature point according to the indication of the position adjustment instruction, and then update dental arch curves in the first window and the second window according to the moved target projection feature point.
Through implementation of the embodiment, the tooth characteristic points are projected onto the dental arch plane and then fitted to generate the dental arch curve, so that the dental arch curve is located on the dental arch plane, errors caused by the fact that the dental arch curve is not located on one plane are avoided, and meanwhile, the dental arch plane takes the average value of the long axis directions of a plurality of teeth as the normal direction, so that the dental arch plane is approximately parallel to the crest of an tooth groove, the generated dental arch curve meets the requirements of dental application, has higher reference value, and provides more effective data support for subsequent treatment.
Fig. 11 shows a schematic structural diagram of a dental arch curve generating device according to an embodiment of the present application, where the dental arch curve generating device includes an acquisition module 11, an identification module 12, a calculation module 13, a determination module 14, a projection module 15, and a fitting module 16.
An acquisition module 11 for acquiring oral scan data.
The identification module 12 is configured to identify the oral scan data, and obtain a plurality of tooth feature points of the target jaw and a long axis direction of the plurality of teeth.
A calculating module 13 for calculating an average value of the long axis directions of the plurality of teeth.
A determining module 14 is configured to determine an arch plane of the target dental jaw with the average value as a normal direction.
And the projection module 15 is used for projecting the plurality of tooth characteristic points onto the dental arch plane to obtain a plurality of projection characteristic points.
The fitting module 16 is configured to perform curve fitting using the plurality of projection feature points to obtain a dental arch curve.
It should be noted that, because the content of information interaction and execution process between the above devices/modules/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a camera device/electronic apparatus, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (12)
1. A dental arch curve generating method, the method comprising:
Acquiring oral scanning data;
identifying the oral scanning data to obtain a plurality of tooth characteristic points of the target dental jaw and the long axis directions of a plurality of teeth;
Calculating an average value of the long axis directions of the plurality of teeth;
determining an arch plane of the target dental jaw with the average value as a normal direction;
projecting the plurality of tooth characteristic points onto the dental arch plane to obtain a plurality of projection characteristic points;
Performing curve fitting by using the plurality of projection characteristic points to obtain a dental arch curve;
wherein the determining the arch plane of the target dental jaw with the average value as a normal direction includes:
determining a target point according to the tooth characteristic points;
And determining the dental arch plane according to the target point and the average value, wherein the dental arch plane passes through the target point and the normal direction of the dental arch plane is the average value.
2. The method of claim 1, wherein,
And performing curve fitting by using the plurality of projection characteristic points, wherein the step of obtaining a dental arch curve further comprises the steps of:
identifying the oral scan data to determine truncated teeth;
and cutting off the dental arch curve according to the grid vertexes of the cut-off teeth.
3. The method of claim 2, wherein,
The truncating the dental arch curve according to the grid vertices of the truncated teeth comprises:
Calculating the closest point from the dental arch curve to a truncated projection point as a first closest point, wherein the truncated projection point is a projection point of the central point of the truncated tooth on the dental arch plane;
selecting a grid vertex which is positioned on one side of the truncated tooth far from the central incisor and has the largest projection distance as a target vertex, wherein the projection distance is the distance between the projection point of the grid vertex and the first nearest point;
and cutting off the dental arch curve according to the target vertex.
4. The method of claim 3, wherein,
Said truncating the dental arch curve according to the target vertex comprises:
Calculating the nearest point from the dental arch curve to the target vertex as a second nearest point;
The second closest point is set as the end point of the arch curve.
5. The method of claim 3, wherein,
The method further comprises the following steps before the dental arch curve is truncated according to the target vertex:
projecting the target vertex into the dental arch plane to obtain a target projection point;
and re-performing curve fitting by using the projection characteristic points and the target projection points to update the dental arch curve.
6. The method of claim 2, wherein,
The identifying the oral scan data to determine a truncated tooth comprises:
acquiring a candidate tooth set;
Determining whether the candidate tooth with the highest priority in the candidate tooth set is missing;
And if the candidate teeth are not missing, taking the candidate teeth with the highest priority as the truncated teeth, if the candidate teeth are missing, removing the candidate teeth with the highest priority from the candidate teeth set, determining whether the candidate teeth set is empty, and if the candidate teeth set is not empty, repeating the steps of determining whether the candidate teeth with the highest priority in the candidate teeth set are missing and afterwards.
7. The method of claim 6, wherein,
The obtaining a set of candidate teeth includes:
Determining a type of the plurality of teeth, the type comprising permanent teeth or deciduous teeth;
the set of candidate teeth is determined according to the types of the plurality of teeth.
8. The method of any one of claims 1-7, wherein the method further comprises:
and displaying the dental model and the dental arch curve which are acquired according to the oral scanning data in a first window of a display window, and displaying the dental arch plane and the dental arch curve in a second window of the display window.
9. The method of claim 8, wherein the method further comprises:
receiving a position adjustment instruction for the projection characteristic points in the dental arch curve displayed in the second window;
And under the condition that the position adjustment instruction does not exceed the allowable range, adjusting according to the position adjustment instruction, and updating the dental arch curves displayed in the first window and the second window.
10. A dental arch curve generating device, the device comprising:
The acquisition module is used for acquiring oral scanning data;
The identification module is used for identifying the oral scanning data to obtain a plurality of tooth characteristic points of the target dental jaw and the long axis directions of a plurality of teeth;
A calculation module for calculating an average value of the long axis directions of the plurality of teeth;
a determining module, configured to determine a target point according to the tooth feature point, and determine a dental arch plane of the target dental jaw according to the target point and the average value, where the dental arch plane passes through the target point and a normal direction of the dental arch plane is the average value;
the projection module is used for projecting the tooth characteristic points onto the dental arch plane to obtain a plurality of projection characteristic points;
And the fitting module is used for performing curve fitting by using the plurality of projection characteristic points to obtain a dental arch curve.
11. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable by the processor, wherein the processor implements the method of any one of claims 1 to 9 when executing the computer program.
12. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 9.
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