The use of the tactile technology in the digital analysis of chewing for the analysis model of the ways of movement of the upper and lower jaws in dependence on each other, the positioning ways and the digital chewing recorder

Abstract

In a digital analysis of chewing, based on feedback principles and preferred optical marker position recognition, the interdependent movement patterns of maxillary and mandibular teeth are analyzed using bidirectional synchronization of tactile and motion image acquisition technologies, and their movements are recorded by a camera system. The camera system preferably integrates at least two systems, one on the right side of the mouth / face and the other on the left side, or one system is centered relative to the facial centerline. Each system has at least one (preferably three) camera, including at least one and preferably two monochrome or color cameras with a minimum resolution of 2.3 Mpx and a high frame rate of at least 1000 frames per second (FPS), equipped with dedicated optics / lenses, and at least one high-resolution and low-frame-rate color camera with a minimum resolution of 12 Mpx and a minimum frame rate of 25 FPS, capable of recording markers (M1) indirectly fixed by positioning patterns, or markers directly / independently (M2 – preferably using IPA technology) affixed to the veneer surface of the crown of the maxillary natural / artificial tooth, and markers independently affixed to the veneer surface of the crown of the natural / artificial tooth. Because of the connection between the camera and the trigger card, their operation is synchronized in time and is responsible for recording the position / movement of the upper crown with M1 and / or M2 markings relative to the lower crown with M1 and / or M2 markings, as well as the position / movement of the upper and lower crowns with M1 and / or M2 markings relative to the alveolar bone of the upper and lower jaws and the patient's face with M2 markings, the markings being affixed to facial feature anatomical points. This is all recorded synchronously in video film technology, and then the 3D scans of the upper and lower teeth with M1 and / or M2 markings are stitched into the video film, wherein the scans are obtained through intraoral or extraoral scanning technology. Furthermore, it can convert the repositioning of M1 and / or M2 markers. Movements during patient chewing assessment are recorded by a camera system, and the captured images are transcribed into a software environment. Digital acquisition of data from the M1 and / or M2 optical markers is submitted for further analysis in the software environment, enabling the conversion of these marker repositionings into the number of collisions between the upper and lower crowns, on which M1 and / or M2 markers are fixed. This is preferably read by a tactile device, preferably a tactile manipulator, to map / control the repositioning caused by these collisions via vibrations at a frequency between 1 and 4 kHz. The above arrangement enables the tracking of the amplitude of height changes in the collision angle, which is above / below 10 degrees between the upper and lower crown pairs with M1 and / or M2 markers, within a set time unit, divided into time intervals, preferably 0.001 seconds. Along the path of each movement phase / chewing cycle, the number of vibrations of the tactile manipulator during the set time unit represents the contact / collision moments of these crown pairs with M1 and / or M2 markers. The pattern on the crown of the natural / artificial tooth positioned on the implant consists of two separable components, including a prefabricated external component that extends out of the mouth and an internal component.The external component has at least three markings at its tip. The internal component is individually designed and customized to fit the veneer surface of the patient's tooth crowns. The digital chewing recorder, located within a single housing, simultaneously records the three-dimensional shape of the face from either the right or left side. Two sets of cameras are located at the two ends of the arched opening, independently or simultaneously recording both sides of the patient's mouth and face, as well as the visual markings M1 and / or M2 fixed to the crowns of the upper and lower teeth. Each camera set includes three cameras spaced at predetermined distances. Each set has two monochrome or color cameras with a maximum resolution of 2.3 Mbps and a high frame rate of at least 1000 FPS, equipped with dedicated optics / lenses, and one color camera with a minimum resolution of 12 Mbps.

Description

Technical Field

[0001] The subject of this patent is the analysis of the interdependent movement patterns of the maxillary and mandibular teeth by utilizing tactile technology and acquiring digital images of these movements in a bidirectional, synchronous manner. This analysis employs positioning patterns with or without markings and a digital chewing recorder to digitally analyze chewing, and the results of the described patterns are applied to implementations of prostheses and orthodontic embodiments, as well as, for example, orthognathic surgery. Background Technology

[0002] A human motion visualization method known as motion capture employs a camera or a set of cameras and markers. These markers, in the form of pre-defined anthropometric spatial patterns, stickers with printed patterns, diodes, etc., are affixed to the body surface, and their movement is recorded by the camera. After the camera acquires data from the markers, motion reconstruction based on this data is performed by digitally processing computer images of the patient and using the motion information from the markers. Using this method, definitive information about skeletal structure and range of motion can be obtained, where joints constitute hinge points and also serve as pivot points, and the skeleton / bones act as a stationary reference point. Motion reconstruction is made possible by minimizing the distance between the marker and the reference point that defines the marker (using least squares, optimal superposition-Prokrust method, or recording-iterative nearest point-ICP under conditions of unknown suitability). Motion capture is used in medicine, where it is widely applied in the physical therapy of musculoskeletal organs, including the masticatory organs. Therefore, the above model is applied to the reconstruction of the position and motion of larger units, such as determining the parameters of limb vibration and motion phases of body parts when at the highest risk of collapse.

[0003] Polish Patent No. P.231343 discloses a measuring device and method for recording tooth position. Essentially, it involves fixing the measuring device to the patient's head and recording anatomical reference points of the head and jaw. Using the measuring device, markers, camera, and other items, placed along the conventional axis of symmetry of the patient's face, it determines the spatial position of specific teeth. Using the processing method described herein, data on the appearance and relative positions of relevant units (e.g., teeth in space) can be obtained.

[0004] Polish patent number P.231343 has shown a measuring device and method for recording tooth position, in which the movement of the mandible is recorded in space by using motion capture technology and reference points, which is used to record the interdependent movement between the maxillary teeth and the mandibular / mandibular teeth, and transcribe the movement into a digital environment.

[0005] The three-dimensional device shown in Chinese Patent No. CN10501238A is used to track the movement path of the mandible. This device is used in a virtual articulator to record the activity of the teeth in the mandible / mandibular region and transcribes the acquired data into a digital environment.

[0006] The method and system shown in French Patent No. FR2015 / 052816 are used to model the kinematics of a patient's mandible by using a system consisting of two infrared cameras and markers, which are fixed to the patient's skull, upper teeth (temporarily fixed), lower teeth (fixed throughout the measurement period), and an indicator, to achieve real-time stereoscopic reconstruction of the position of the teeth relative to each other, the position of the patient's face relative to selected feature measurement points, and the movement of the mandibular teeth relative to the maxillary teeth. The movement is recorded in a computer memory for further analysis and data processing. The models of the maxillary and mandibular teeth used are obtained in advance by 3D scanning technology.

[0007] In the above-described approach, the maxillary and mandibular natural / artificial teeth are treated as rigid 3D objects with a durable and unalterable shape. They do not undergo any displacement within the bone of the alveolar process of the jaw or mandible. Therefore, the so-called periodontal ligament (connecting tissue) or implant / bone junction, which is the result of interdependence / collision during the movement of the 3D object / upper / lower teeth, particularly during mastication, is not considered. Thus, during jaw movements, at the moment of crown collision, no mutual movement of the teeth relative to the periodontal tissue or implant / bone junction is provided. In other words, the relative displacement of the teeth at the point of collision / during the collision is not considered. Therefore, their positional changes relative to other teeth, within the range of 0.2 to 1 mm, are invisible to the naked eye, but become very noticeable during masticatory organ movements. Therefore, these should be taken into account during the construction of the prosthesis embodiment or in subsequent stages of orthodontic treatment.

[0008] Haptic technology is known to utilize mechanical communication between devices / robots and virtual environments / software. It communicates with users / humans through touch by using varying forces, vibrations, or movements, and is recorded via haptic devices / haptic manipulators (HMs). Its task is to release tactile stimuli, demonstrating the interaction between the robot and the human. 3D object misalignment records obtained through digital image correlation methods can be a data source for this type of simulation. This creates the possibility of converting digitally acquired image data (where the data primarily focuses on reading the displacement of markings pasted on 3D objects as a function of time) into data read by an encoder (primarily an optical encoder). The encoder then processes the data using appropriate sensors (cylinders) and software, through specialized control algorithms, and generates control signals for the haptic robot's actuation system, i.e., its motors.

[0009] Input signals (e.g., the position of the effector) are transcribed to a control unit, which converts these signals using an appropriate algorithm and then generates an output signal based on them. The output signal (controlled by a selected motor in the haptic robot) is appropriately amplified and then sent to the actuation system, i.e., to the motor of the haptic manipulator (HM). The drive system of the haptic device then generates appropriate torque and, in effect, acts on the operator as a corrective force (e.g., a variable in the form of vibration) to achieve a correlation between the process of assessing the magnitude of the vibration amplitude of two shapes upon contact / collision, generated by a process of a certain amplitude of misalignment within a preset time unit and the amplitude height of these misalignments. For the haptic robot to naturally influence human touch, the information acquisition and transmission cycle (i.e., the so-called haptic loop) should operate at a frequency of 1 kHz. Haptic technology is also widely used in the medical field, particularly in various types of simulators. The use of vibration mechanisms achieves a particularly realistic sensation, equivalent to the sensation to be experienced, such as during surgery performed by a surgeon. Today's machines can idealize the resistance of cellular tissue when attempting to insert a probe or the forces required for precise cutting. (https: / / spidersweb.pl / 2015 / 03 / haptic-feedback.html)

[0010] There is a known technology for individually designed orthodontic appliances (braces) that uses jawbone scans and castings transcribed into a digital environment, where the orthodontic appliance is designed individually. Using this method, a separate locking system can be designed and tailored to a specific patient, and then installed individually on each tooth. (https: / / ortodonta.com / ipa-pl / )

[0011] There is a known 3D object stitching technique where 3D objects, obtained through CAD technology or 3D scanning, are stitched together with images of these objects recorded using video film technology, using optical / reflective markers mounted on the 3D objects. Then, the marked 3D objects (scanned or created in a CAD / CAM environment) are stitched together with images of the same 3D objects (recorded via video technology) bearing the same markers. (3D objects obtained from CAD / CAM or 3D scanning are stitched onto video film using optical markers.)

[0012] (https: / / www.gom.com / metrology-systems / aramis / aramis~3d-camera.html) Summary of the Invention

[0013] The purpose of this patent is to describe a pattern for analyzing the interdependent movement between the natural / artificial teeth of the maxilla and the natural / artificial teeth of the mandible by using positioning patterns and a digital recorder, which is used to digitally analyze chewing by applying scanning technology and / or using a camera / camera system, preferably with optical or infrared markings (indirectly, M1 - positioning pattern located on the external part and / or directly, M2 - located on the veneer surface of the crown), preferably optical or reflective, to record the displacement of specific natural / artificial teeth or supragingival structures (located on the implant) in video film relative to themselves and / or relative to the dental processes of the maxilla and mandible and the bones of the face, and feedback connection with a haptic manipulator (HM).

[0014] In the digital analysis of chewing, a significant feature of the analysis of the interdependent movement patterns of the maxillary and mandibular teeth, based on feedback principles and utilizing bidirectional synchronization of tactile and motion image acquisition technologies, is the use of motion capture technology. This technology is based on the identification of marker positions (preferably optical) and a camera system that records the movement of the markers. Cameras are arranged in at least two systems, one on the right side of the mouth / face and the other on the left side, or in one system, centered relative to the facial centerline. Each system has at least one (preferably three) camera, including at least one (stereo) and two monochrome or color cameras with a minimum resolution of 2.3 Mpx and a high frame rate of at least 1000 frames per second (FPS), equipped with dedicated optics / lenses (preferably with a minimum focal length of 35mm and a minimum aperture of f / 1).4), and at least one high-resolution and low-frame-rate color camera, with a minimum resolution of 12 Mpx and a minimum frame rate of 25 FPS, capable of recording marks (M1) indirectly fixed by a positioning pattern, or directly (independently, preferably using a separate design technique, M2), attached to the veneer surface of the crown of the maxillary natural / artificial tooth (placed on the natural tooth or located on the implant), and independently attached to the veneer surface of the crown of the mandibular (M1 and / or M2) natural / artificial tooth (placed on the natural tooth or located on the implant), and, due to the connection between the camera and the trigger card, their operation is synchronous in time, and is responsible for recording the upper crown (natural / artificial tooth on the implant, with M1 and / or M2). The position / movement of the crowns (natural / artificial teeth on implants, marked with M1 and / or M2) relative to the lower crowns, and the position / movement of the crowns (natural / artificial teeth on implants) of the upper and / or lower teeth relative to the alveolar bone of the maxilla and mandible and the patient's face marked with M2, are affixed to characteristic anatomical points (preferably at least three marks, located in the temporomandibular joint region on the right and left sides and on the nasal ridge), synchronously recorded in video film technology, and then (by M1 and / or M2 marks) stitched the 3D scans of the upper and lower teeth marked with M1 and / or M2 into the video film, wherein the scans are obtained by intraoral or extraoral scanning technology and are capable of converting M1 and / or M2 marks. The movement of the teeth during the patient's chewing analysis is recorded by a camera system and transcribed into a software environment. Digital acquisition of data from M1 and / or M2 markers is submitted for further analysis in the software environment, enabling the conversion of the movement of these markers into the number of collisions between the upper and lower crowns (natural / artificial on the implant), on which M1 and / or M2 markers are fixed. This is preferably read by a tactile manipulator, enabling the mapping / control of the repositioning caused by these collisions via tactile vibration at a frequency between 1 and 4 kHz. This allows for the assessment of the process of amplitude changes in the temporary collision angles on the upper and lower crown pairs (natural / artificial on the implant) marked with M1 and / or M2. The distance between the crowns (natural / artificial, marked M1 and / or M2) of the upper and lower teeth (within a preset time unit, less than / greater than 10 degrees) is divided into time intervals, preferably 0.001 seconds, along the path of each movement phase / chewing cycle, i.e., the path from retraction to intercuspals and the path from intercuspals to abduction (on average, a 0.2mm path takes 116ms – for intercuspals, on average, the distance from the retraction phase to intercuspals and from intercuspals to abduction phase is 1.3mm to 1.5mm in 200ms). Within a preset time unit, the contact / collision time of these crown pairs of the upper and lower teeth (natural / artificial, marked M1 and / or M2 on the implant) is represented by the number of vibrations of the tactile manipulator.

[0015] A key feature of this invention is that the positioning of the implant, inserted into the maxilla and / or mandible (in the case of complete edentulism of the maxilla and mandible), is achieved through supragingival structures located on the implant (e.g., impression connectors / transferors / transferors for scanning via 3D technology - scanning rods / scanning bases), which are manufactured and rigidly fixed to them by separately designed semi-occlusal brackets / spoons, forming the internal components of the positioning pattern, and connected to the pre-made, prefabricated external components of the pattern, which extend from the oral cavity and have at least three markers (preferably adhesives) at their tips to specify the spatial arrangement of the positioning pattern, and in this way specify the spatial arrangement of the supragingival structures placed on the implant relative to the recording camera system. This achieves the positioning of the teeth / supragingival structures placed on the implant relative to each other within a dental arch, as well as their positioning relative to the teeth / supragingival structures placed on the implant in the contralateral dental arch, and allows access to the patient's face via M2 markers, and the application of markers (at least three markers, located in the temporomandibular joint region on the right and left sides and on the nasal ridge) and / or video film at characteristic anatomical points of the face.

[0016] An important feature of this invention is that, in cases where there is a lack of space for joint movement or occlusion of the upper / lower tooth crowns relative to each other, resulting in the inability to record free movement, a marking and positioning method (also used in orthodontic procedures) is employed. This method involves directly drawing / positioning a marker (M2) on the veneer surface of the crown (natural / artificial on the implant), preferably drawing / positioning it separately on the crown of each tooth, and preferably using a separately designed orthodontic appliance.

[0017] A key feature of the positioning crown (natural / artificial on implant) pattern is that it consists of two separable components: a ready-made, prefabricated outer component and an inner component. The outer component extends from the oral cavity and has at least three markings (preferably optical) at its tip to indicate the spatial setting of the positioning pattern relative to the position of the recording camera. The inner component is designed separately and customized to fit the veneer surface of the crown (natural / artificial on implant) of the patient's tooth, while the inner and outer components are rigidly connected to each other.

[0018] A key feature of the digital chewing recorder is its monolithic housing with a recessed geometry (e.g., arched), designed to simultaneously record the three-dimensional shape of the face (concave, convex, flat) from either the right or left side. At the end of the arched recess are two sets of cameras (or one set, centered relative to the centerline of the face), independently or synchronously recording either side of the patient's mouth and face, as well as visual markers M1 and / or M2 connecting to the crowns of the upper and lower teeth (natural / artificial implants). Each camera set comprises three cameras spaced at predetermined distances, with two monochrome or color cameras at a maximum resolution of 2.3 Mbps and a high frame rate of at least 1000 FPS, featuring dedicated optics / lenses (preferably a minimum focal length of 35 mm and a minimum aperture of f / 1.4), and a high-resolution, low-frame-rate color camera (minimum resolution of 12 Mbps and a minimum frame rate of 25 FPS). The operation of the two camera sets is synchronized via (multiple) trigger cards (preferably analog-digital). The camera acquires information and is responsible for recording the position / movement of the upper crown (natural / artificial on the implant) marked with M1 and / or M2 relative to the lower crown (natural / artificial on the implant) marked with M1 and / or M2, and relative to the patient's face marked with M2, with the markers affixed to their characteristic anatomical points (at least three markers, located in the temporomandibular joint region on the right and left sides and on the nasal ridge). This is thanks to the simultaneous recording of the camera on video film technology, which is then stitched (by markers M1 and / or M2) into 3D scanned video films of the upper and lower teeth marked with M1 and / or M2, obtained through intraoral or extraoral scanning technology. It also allows for the conversion of misalignments of the markers M1 and / or M2 recorded by the camera system during movement during the examination (e.g., the patient's chewing movements), and the transcription of the examination results into a software environment where the digital acquisition of data from the optical markers M1 and / or M2 is further analyzed. This allows for the conversion of marker misalignments into the number of collisions occurring between the upper and lower crowns (natural / artificial on implants), on which markers M1 and / or M2 are fixed, and these are read out by a tactile device (preferably a tactile manipulator). This allows for the mapping / controlling of these misalignments caused by crown collisions, for example, through tactile vibrations at frequencies between 1 kHz and 4 kHz.

[0019] The advantage of the treatment method mentioned in the text lies in obtaining additional information about the interrelationship of maxillary and mandibular / mandibular teeth during activity (e.g., chewing), including the interdependence of the misalignment amplitude of specific crown pairs of natural / artificial teeth on the implant at the point of impact, and by transcribing information from cameras and markers into a digital environment, it is possible to monitor the process of changes in the amplitude of temporary impact angles, where the angle between paired maxillary and mandibular (natural / artificial on the implant) crown pairs marked with M1 and / or M2 is less than / greater than 10 degrees, and this process is divided into defined time units. The time interval, preferably 0.001 seconds, is used to represent the contact / collision moments of these crown pairs of upper and lower teeth (natural / artificial on implants, marked with M1 and / or M2) within a preset time unit, on the path of each movement phase / chewing cycle, i.e., on the path from retraction to intercuspaling and on the path from intercuspaling to abduction (on average, a 0.2 mm path takes 116 ms - for intercuspaling, on average, the distance from the retraction phase to intercuspaling and from intercuspaling to abduction phase is between 1.3 mm and 1.5 mm in 200 ms).

[0020] Another advantage of this approach is that the information obtained can be transcribed into a tactile manipulator (HM) in the form of vibrations, enabling analysis / control of the tactile amplitude of misalignment on the occlusal surfaces of the crown and / or future prosthetic embodiments (manufactured in the lab), in conjunction with pre-recorded movement patterns, including the patient's chewing movements, understood as the mobility of the tooth / supragingival structures, which are set on the implant and in the odontoid bone of the maxilla / mandible relative to the implant itself, realized by periodontal fibers (no fibers in the case of the implant), so that a normal or disordered so-called functional capsule is formed on the patient's own teeth and on the prosthetic embodiments (manufactured in the lab and placed on the patient's own teeth or implants), and is also applied in each stage of orthodontic treatment or subsequent procedures of orthognathic surgery.

[0021] Another advantage of this approach is that the pre-recorded and defined vibrations from the tactile manipulator can, in turn (through a feedback mechanism), determine / control / apply / prompt this rather than other upper tooth relative lower tooth movement pattern. Since the temporary collision angle is individually associated with each patient, the angle between the contact surfaces of the crowns is less than / greater than 10 degrees within a set time unit, which is divided into time intervals, preferably 0.001-second intervals, with an amplitude not exceeding 0.2 mm within the set time unit in each phase of the chewing cycle. In the case of constructing new prosthetic devices, orthodontic treatment, and orthognathic surgery, this will protect the periodontal tissues from overloading or protect the crowns on the implant from damage. [Through a dedicated algorithm in the software, thanks to appropriate high-pass filtering of the misalignment signals from markers (recorded by the camera system) used for all degrees of freedom, so-called background motion separation is achieved. This separation removes the constant component, i.e., the common, variable phase of the basic misalignment chewing motion, where all movements / collisions of the teeth are common, and the misalignment distance of the teeth in the periodontal tissue is less than 0.2 mm (average 200 ms) within a set time unit, which is divided into time intervals (preferably 0.001 second intervals). Therefore, for the (variable) constant component of the chewing motion, the number of collisions within the set time unit (average 200 ms) is constant and does not cause any deformation of the periodontal ligament exceeding 0.2 mm, thus avoiding any accompanying vibration.]

[0022] Another advantage of this treatment method is that it can measure the range of tooth mobility caused by oral activities (restoration, orthodontics, orthognathic surgery), which is achieved by recording the misalignment of markers on the upper and lower crowns (natural / artificial on the implant), reflecting / simulating the periodontal tissue movement of these teeth from 0.1 to 1.0 mm (preferably 0.2 mm to more than 1.0 mm). This is caused by the variation in the temporary collision angle, i.e., less than / greater than 10 degrees between the contact surfaces of these crowns within a set time unit in each movement phase / massage cycle, which is divided into time intervals (preferably 0.001 second intervals), i.e., on the path from retraction to cusp intercuspaling and from cusp intercuspaling to abduction. In particular, it causes periodontal tissue deformation exceeding 0.2 mm, which serves as an example of functional dysfunction of teeth relative to each other, i.e., functional capsule dysfunction caused by the aforementioned oral interference.

[0023] Another advantage is that the position and movement of the M1 and / or M2 markers are determined and monitored by a camera system, unlike other patents (where markers placed on the upper and lower teeth are used for 3D scanning positioning of the teeth relative to each other, rather than relative to the face, where the scans are obtained by internal or external scanning techniques and are used to monitor the movement of the lower teeth relative to the upper teeth, rather than the movement of the upper / lower teeth / crowns on the implant relative to each other and relative to the alveolar bone to which they are attached). This is achieved by stitching together images of the M1 and / or M2 markers obtained from 3D scans of the upper and / or lower teeth / crowns on the implant with images of the M1 and / or M2 markers on the upper and / or lower teeth / crowns on the implant, taken from video film, with a size of 0.1 mm, preferably 0.05 mm. Attached Figure Description

[0024] The subject matter of this invention provides an illustrative embodiment, as shown in the appendix. Figure 1 , Figure 1a , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown. Detailed Implementation

[0025] exist Figure 1 In this example, a model of a positioning pattern is given, which includes an outer component (1), three markers (M1) located at the end and in the form of geometric stickers (optical markers), an inner component (2) designed and manufactured separately (e.g., obtained by 3D printing technology), and rigidly adjacent to the veneer surface of the patient's crown (3), wherein the inner component (2) and the outer component (1) are rigidly connected to each other, for example by inserting the end of the outer component (1) into the end of the inner component (2).

[0026] exist Figure 1a In this example, a model of a positioning pattern is given, consisting of an outer component (1) with three markings (M1) at the end, such as geometric stickers (optical markings), an inner component (2i) of personalized design and manufacture (e.g., obtained by 3D printing technology), which is rigidly adjacent to the inner component (2i) in the form of a clip / semi-closed key to surround the supragingival structure, which extends from the implant and is located on the implant (3i) (e.g., impression connector / transformer scanned by 3D technology - scan column / scan base), and the inner component (2i) and the outer component (1) are rigidly connected, for example by inserting the end of the outer component (1) into the end of the inner component (2i).

[0027] exist Figure 2 In this example, the veneer surface of a patient’s tooth (3) with a marker (M2) is shown, on which the marker is placed, using a specially designed orthodontic appliance technique, where the marker is a geometric adhesive (optical marker).

[0028] exist Figure 3 In this example, a digital recorder is housed within an integral housing (4) with an arched recess (5), the recorder being equipped with two camera groups (6). Each camera group contains three cameras arranged relative to each other at a predetermined distance, and each camera group has two monochrome or color cameras with a minimum resolution of 2.3 Mpx and a high frame rate of at least 1000 FPS, with dedicated optics / lenses (preferably a minimum focal length of 35 mm and a minimum aperture of f1.4) and a high-resolution, low-frame-rate color camera with a minimum resolution of 12 Mpx and a minimum frame rate of 25 FPS, and the operation of these cameras is synchronized via (multiple) trigger cards.

[0029] exist Figure 4 In this example, a motion scheme is presented, the purpose of which is to acquire information from a digital image acquisition system and transcribe it into a tactile manipulator (HM)(7), and convert it into tactilely controlled vibrations. Conversely, the vibrations pre-recorded and defined in the tactile manipulator (HM)(7) can, in turn, determine / control / apply / procedure this, rather than other, movement of the upper teeth relative to the lower teeth (via a dedicated algorithm in the software), individually associated with each patient at each stage of the masticatory cycle, and with an amplitude not exceeding 0.2 mm in a set time unit. In the case of constructing new prosthetic embodiments, orthodontic or orthognathic surgery, this will protect periodontal tissues from overload or protect the crowns on the implant from damage.

[0030] To locate the upper / lower teeth / crowns / supragingival structures on the implant (3, 3i) relative to each other and relative to the patient's face (M2 markers are affixed to their characteristic anatomical points, at least three markers, preferably located in the right and left temporomandibular joint regions and on the nasal ridge), marker (M1) is used via, as... Figure 1 , Figure 1a The indirect method of the positioning pattern shown or by means of, Figure 2The direct method (M2) shown requires scanning (8) the upper / lower crown / supragingival structures located on the implant (3, 3i) with markings (M1 and / or M2), and an optional embodiment of the internal components (2, 2i) using a positioning pattern created by 3D printing technology (9). Next, a single / exemplary cycle of chewing is recorded via the markings (M1 and / or M2) using a digital recorder within the integral housing (4). The information in the recorder is then transcribed into a computer (10), where, using an application (11), the information is converted into the operation of a tactile manipulator, such as tactilely controlled vibrations, particularly for collisions occurring between crown pairs on the upper / lower teeth / crown / supragingival structures located on the implant (3, 3i), significantly greater than 0.2 mm, but less than 1.0 mm in a set time unit.

[0031] Figure 5 The average distance and time of the modified phases of the masticatory cycle (i.e., the complete functional capsule) are shown, during which the collisions of the crown pairs by the masticatory organs, recorded within the preserved method, are natural, harmless, and tolerable.

[0032] In the initial stage of prosthesis construction, a method for applying markings to the veneer surfaces of the patient's teeth (3) is selected. This is achieved through an indirect patterning approach, precisely possessing two independent patterns, one for the veneer surface of the mandibular teeth (3) and one for the veneer surface of the maxillary teeth (3). Each pattern includes an external component (1) with marking M1, defining the pattern arrangement in space, and an internal component (2) that matches the veneer surface of the patient's teeth (3). Prior to measurement, the two components are rigidly connected to each other, or a direct method is used by directly applying marking M2 to the patient's maxillary and mandibular teeth (3). Direct application of marking M2 to the veneer surfaces of the patient's teeth (3) is performed using a separately designed orthodontic appliance. The misalignment of the markings (M1, M2) is then recorded by a camera assembly mounted in a digital recorder (4) with an integrated housing, where the camera is positioned on the patient's face with marking M2, the markings affixed to characteristic anatomical points on the patient's face (preferably in the temporomandibular joint region on the right and left sides and on the nasal ridge), opposite the mouth or on either side of the face.

[0033] As illustrated in this example, during the masticatory cycle of the interdependent movements of the maxillary and mandibular teeth, recording is performed in this manner, with cameras connected to two systems, one on the right side of the face and the other on the left side. Each system has three cameras: two monochrome and / or color cameras with a minimum resolution of 2.3 Mpx and a high frame rate of at least 1000 FPS, featuring dedicated optics / lenses (preferably a minimum focal length of 35 mm and a minimum aperture of f1.4), and a high-resolution and low-frame-rate color camera with a minimum resolution of 12 Mpx and a minimum frame rate of 25 FPS, capable of recording M1 or M2 markers, which are secured to the veneer surfaces of the upper and lower teeth (3) via clips / semi-occlusal spoons or themselves. Due to the connection with the trigger card, the operation of the cameras is time-synchronized and responsible for recording the position / movement of the upper teeth relative to the lower teeth and the patient's face. Furthermore, it is able to convert the marker deformation recorded by the camera system during movement in the software environment into the number of collisions that occur between the crowns (natural / implant-mounted (3)), where markers M1 and M2 are fixed to the teeth. The acquired information is transcribed to a computer (PC) (10) and displayed in a digital environment on the screen.

[0034] The misalignment of the markers (M1 and / or M2) is recorded by a camera array and converted into digital data. This digital data allows the images of the marked dentition to be stitched together into a 3D scan video of the marked dentition (M1 and / or M2), obtained through intraoral and extraoral scanning techniques in the application (11) of the computer (10), and then transcribed into the tactile manipulator. Collisions occurring between the upper and lower crowns during the movement / chewing cycle are converted into vibrations reflecting these collisions in the tactile manipulator and recorded by the user's touch at frequencies from 1 kHz to 4 kHz.

[0035] The positioning pattern of the internal component (2) installed in the exemplary embodiment (e.g., manufactured by 3D printing technology (9)) is rigidly adjacent to the veneer surface of the existing crown of the patient's tooth (3), which has a connecting portion (e.g., a bar) onto which the external component is pushed to form a rigid connection, wherein the external component (1) is marked with M1 marks (e.g., three stickers / optical marks) placed at its end (1).

[0036] The data acquisition process for this pattern, as used in a representative example, is as follows:

[0037] Two camera systems (as described above) are used to synchronously acquire data and transcribe the data (digital acquisition of image data) from the cameras to a trigger card in the computer.

[0038] 2. Determination / inspection / control of the interdependent range of motion of (multiple) crown / supragingival structures (located on the implant) relative to the odontoid bone in the maxilla and mandible, wherein the mobility is imposed by oral interference by recording the dislocations marked (M1 and / or M2), corresponding to the movement of the dentition (connecting tissues), from 0.1 mm (for (multiple) supragingival structures located on the implant relative to the implant) to 1.0 mm (preferably greater than 0.2 mm to 1.0 mm), as an example of the functional operation of teeth relative to each other being disturbed, that is, the disturbed functional capsule being taken as a result of the aforementioned oral interference.

[0039] 3. The interdependent position and movement of the markers (M1 and / or M2) may be entered into the patient's face via the M2 marker, which is affixed to characteristic anatomical points on the face (preferably three points, located on the right and left temporomandibular joint regions and on the nasal ridge) and is continuously monitored by a camera system.

[0040] 4. The minimum interlock (stitching) between the scanned markers (M1 and / or M2) from the 3D object and the image of the markers from the video is 0.01 mm, preferably 0.05 mm.

[0041] 5. Data from digital image acquisition is converted into vibrations in a tactile manipulator, which is tactilely controlled for each phase of the movement / chewing cycle. This is achieved by determining the harmful value of impacts on the crown / supragingival structures located on the implant, causing deformation of the dentition / supragingival structures relative to the implant. Along the path of each phase of the movement / chewing cycle—specifically, the distance from inward to intercuspals and the distance from intercuspals to abduction (average 200 ms)—this deformation is divided into time intervals within a set time unit, preferably 0.001 seconds, exceeding 0.2 mm for teeth and 0.1 mm for implants.

[0042] 6. Based on the feedback principle, vibration can determine / control / apply a movement pattern, rather than other interdependent ones, of the upper crown (natural / artificial on the implant) relative to the lower teeth in the maxillary and mandibular odontoid bones, not exceeding 0.2 mm within a set time unit (average 200 ms), said time unit being divided into time intervals, preferably 0.001 sec intervals in each phase of the movement / chewing cycle. In the case of constructing new prosthetic embodiments, orthodontic or orthognathic surgery, this can prevent overloading of the dentition or protect the crown on the implant from damage.

Claims

1. A method for analyzing the interdependent movement patterns of maxillary and mandibular teeth, wherein in the digital analysis of chewing, based on feedback principles, motion capture technology is used for position recognition based on optical markers and the movement of the target object is recorded by a camera system, and bidirectional synchronization is achieved using tactile technology and digital motion image acquisition technology, characterized in that... The camera is configured as at least two systems, one system being on the right side of the mouth / face and the other system being on the left side of the mouth / face, or one system being centered relative to the center line of the face; and each system having at least one camera, the camera including at least one stereoscopic vision monochrome or color camera equipped with two high frame rate monochrome or color cameras with a minimum resolution of 2.3 Mpx and a minimum frame rate of 1000 frames / second, equipped with dedicated optical accessories / lenses, and a high resolution color camera with a minimum resolution of 12 Mpx and a minimum frame rate of 25 FPS; The camera can record the mark M1, which is indirectly fixed by a positioning pattern, or the mark M2, which is directly attached to the veneer surface of the crown of the natural / artificial tooth in the upper jaw, as well as the veneer surface of the crown of the natural / artificial tooth in the lower jaw, which is independently attached. Because the camera is connected to the trigger card, the operation of the camera is synchronized in time and is responsible for recording the positioning / movement of the upper crown with M1 and / or M2 markings relative to the lower crown with M1 and / or M2 markings, as well as the positioning / movement of the upper and lower crowns relative to the alveolar bone of the upper and lower jaws and the patient's face with M2 markings. The markings are affixed to facial feature anatomical points and include at least three markings located on the right and left temporomandibular joint regions and on the nasal ridge, respectively. The process involves synchronous recording using video film technology, and stitching 3D scans into the video film using M1 and / or M2 markers, wherein the 3D scans are scans of the upper and lower teeth with M1 and / or M2 markers, obtained through intraoral or extraoral scanning techniques; and the ability to convert misalignments of the M1 and / or M2 markers, the movement of which is recorded by the camera system during a patient's masticatory function test, and the data is transcribed into a software environment in which digital acquisition of data from the optical markers of M1 and / or M2 is submitted for further analysis, such that the misalignment of the markers is converted into the number of collisions between the upper and lower crowns, on which M1 and / or M2 are fixed. The markings, wherein vibrations are read by a tactile manipulator, enable mapping / control of the misalignment caused by the collision via vibrations at frequencies between 1 kHz and 4 kHz; and enable tracking of the process of amplitude changes in the temporary collision angle, which is above / below 10 degrees between the upper and lower crown pairs marked with M1 and / or M2, within a set time unit, divided into time intervals, on the path of each movement / chewing cycle phase, i.e., the distance from inward to cusp interlocking and the distance from cusp interlocking to abduction, within a set time unit, expressed as: the number of vibrations on the tactile manipulator at the moment of contact / collision of the upper and lower crown pairs marked with M1 and / or M2.

2. The method as described in claim 1, characterized in that, In cases where both the upper and lower jaws are completely toothless, positioning of the implant embedded in the upper and / or lower jaw is achieved through a supragingival structure located on the implant. This is accomplished by manufacturing and rigidly fixing the supragingival structure to a separately designed semi-closed bracket / spoon, forming the internal components of the positioning pattern, which connect to a pre-fabricated external component extending from the mouth and having at least three markings at its tip to specify the spatial arrangement of the positioning mode. This specifies the spatial arrangement of the supragingival structure on the implant relative to the camera system. This achieves positioning of the teeth / supragingival structures on the implant relative to each other within a dental arch, as well as positioning them relative to the teeth / supragingival structures on the implant placed in the contralateral dental arch. It also enables the carrying of M2 markers into the patient's face, with the markers attached to characteristic anatomical points of the face and / or video film.

3. The method as described in claim 1 or 2, characterized in that, In cases where there is insufficient space for joint movement or occlusion of the upper / lower crowns relative to each other, resulting in the inability to record free movement, the method performs marking and positioning by directly setting the marker M2 on the surface of the crown veneer, with the marker M2 set on each crown respectively.

4. A device for positioning a tooth crown using the method described in any one of claims 1-3, characterized in that, The device consists of two separate components: an outer component and an inner component. The outer component is prefabricated and extends from the mouth, with at least three markings at its tip. These markings are optical markings to indicate the spatial orientation of the positioning device with the markings M1 relative to the camera. The inner component is designed separately and customized to fit the veneer surface of a crown for the patient's teeth. The inner and outer components are rigidly connected to each other.

5. A digital chewing recorder implementing the method of any one of claims 1-3, characterized in that the integral housing of the digital chewing recorder has a recessed shape, configured to simultaneously record the three-dimensional shape of the face from both sides, whether concave, convex, or flat; two sets of cameras are provided at the ends of the arched cavity to independently or synchronously record the patient's oral cavity, both sides of the face, and visible M1 and / or M2 markings, and are fixed to the upper and lower crowns.

6. The recorder as claimed in claim 5, characterized in that, Each group consists of three cameras spaced apart from each other at a predetermined distance.

7. The recorder as claimed in claim 6, characterized in that, Each group includes at least one monochrome or color camera with a minimum resolution of 2.3 Mpx and a minimum frame rate of 1000 FPS, equipped with dedicated optical accessories / lenses, and a high-resolution camera with a minimum resolution of 12 Mpx and a low frame rate of 25 FPS, the operation of which is synchronized in time by releasing one or more cards.

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