Comprehensive oral diagnosis and treatment system

Abstract

The invention discloses a comprehensive oral diagnosis and treatment system, which relates to the technical field of oral medicine and medical instruments and comprises a tooth movement monitoring module, a low-intensity pulsed ultrasound module, a high-intensity focused ultrasound module, a blood flow monitoring module, a control module, a wireless communication module and a terminal module. According to the invention, comprehensive monitoring and treatment of tooth movement, periodontal tissue health, temporomandibular joint function and oral cavity related muscle dynamics of a patient can be realized. Meanwhile, the equipment integrates advanced low-intensity pulsed ultrasound and high-intensity focused ultrasound technologies, and has the functions of periodontal tissue repair, muscle relaxation and joint soft tissue treatment. Besides, through the wireless communication module and the terminal module, the system can provide real-time health data monitoring and personalized diagnosis and treatment schemes, and is widely suitable for patients with orthodontics, periodontal diseases, temporomandibular joint disorder and other related oral dysfunctions.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of stomatology and medical devices, more particularly to a comprehensive oral diagnosis and treatment system. BACKGROUND

[0002] In recent years, with the rapid development of orthodontics and related medical technologies, orthodontic treatment has not been limited to the improvement of tooth arrangement, but has gradually developed towards a more scientific, safe and precise direction, emphasizing the coordinated management of tooth movement and periodontal health. However, there are still significant deficiencies in the existing technology in several key aspects, including: 1. Precise monitoring of tooth movement and anchorage control: Most current devices rely on static imaging technology (such as CBCT), which cannot achieve real-time, dynamic tooth movement trajectory capture, making it difficult to meet the precise management needs of anchorage control and reaction force in orthodontic treatment.

[0003] 2. Periodontal tissue repair: The biomechanical effects applied during orthodontic treatment are crucial to the health and repair of periodontal tissue, but the existing technology lacks efficient and convenient dynamic intervention means.

[0004] 3. Diagnosis and treatment of muscle and joint dysfunction: During orthodontic treatment, patients often have problems such as masticatory muscle tension or temporomandibular joint dysfunction, and current treatment methods are mostly invasive and complex, making them unsuitable for long-term monitoring and management.

[0005] 4. Continuous monitoring of patient compliance and treatment effectiveness: The existing devices lack comprehensive and intelligent monitoring and management capabilities for the many variables that affect treatment effectiveness during orthodontic treatment. SUMMARY

[0006] In order to overcome the deficiencies in the existing technology described above, the present application discloses a comprehensive oral diagnosis and treatment system, which innovatively combines low-intensity pulsed ultrasound (LIPUS) and high-intensity focused ultrasound (HIFU) technology with wearable devices, integrating multiple functional modules, including a tooth movement monitoring module, a low-intensity pulsed ultrasound module, a high-intensity focused ultrasound module, and a blood flow monitoring module. The device not only dynamically records changes in teeth and related soft tissues during orthodontic treatment, but also connects and transmits to the terminal module through a wireless communication module, providing real-time feedback and personalized recommendations for patients and doctors, thereby achieving precise, safe and efficient oral treatment and oral health management.

[0007] In order to achieve the above purposes, the technical solution adopted by the present application is: A comprehensive oral diagnosis and treatment system, comprising: The tooth movement monitoring module is based on low-radiation or non-radiation ultrasonic imaging technology, and is used for monitoring the tooth movement trajectory, including direction, speed and force condition, in real time during orthodontic treatment, and capturing the anchorage control of teeth and the reaction force distribution. The low-intensity pulsed ultrasound module is based on low-intensity pulsed ultrasound technology, and is used for promoting periodontal tissue repair in orthodontic treatment through non-invasive mechanical vibration. The high-intensity focused ultrasound module is based on high-intensity focused ultrasound technology, and is used for functional regulation and treatment of the temporomandibular joint and surrounding muscles. The blood flow monitoring module is based on ultrasonic Doppler technology, and is used for monitoring the blood flow changes on the pressure side and tension side of teeth, and evaluating the biomechanical response in the orthodontic process. The control module, wireless communication module, terminal module and cloud server, the tooth movement monitoring module, low-intensity pulsed ultrasound module, high-intensity focused ultrasound module, blood flow monitoring module are all in communication connection with the control module, and the control module and terminal module are in communication connection with the cloud server through the wireless communication module.

[0008] Specifically, each module is as follows: I. Tooth movement monitoring module Preferably, the tooth movement monitoring module comprises: A force sensor for collecting tooth force data; An ultrasonic imaging submodule integrated with a miniaturized ultrasonic imaging system for capturing dynamic change real-time data of tooth movement in real time; A data analysis submodule in communication connection with the force sensor and ultrasonic imaging submodule, which uses AI algorithm to analyze tooth force data and dynamic change real-time data of tooth movement, and obtains tooth movement direction, tooth movement speed, tooth force condition, tooth anchorage control and tooth reaction force distribution.

[0009] ① Tooth movement direction Preferably, the tooth movement monitoring module monitors the tooth movement direction in real time during orthodontic treatment, which comprises: The ultrasonic imaging submodule continuously collects B-mode slices; The AI edge detection algorithm of the data analysis submodule labels the tooth crown and root tip in the slice at sub-pixel level to obtain a labeled image; Based on the multi-frame correlation algorithm of Kalman filtering, the instantaneous displacement of the tooth centroid in the x-y-z direction in the labeled image is calculated, and then the direction cosine and the tooth movement direction are obtained; When the included angle between the direction cosine and the preset orthodontic path is greater than a preset threshold, an early warning information is pushed to the doctor terminal module.

[0010] ② Tooth movement speed Preferably, the tooth movement monitoring module real-time monitors the tooth movement speed in orthodontic treatment, which comprises: The ultrasound image submodule continuously collects B-mode slices; The AI edge detection algorithm of the data analysis submodule sub-pixel labels the tooth crown and tooth root tip in the slices to obtain a labeled image; Based on the multi-frame correlation algorithm of Kalman filtering, the instantaneous displacement of the tooth centroid in the labeled image in the x-y-z direction is calculated, and the instantaneous velocity vector v is obtained based on the time differentiation of the instantaneous displacement; The instantaneous velocity vector v is transmitted to the personalized biological response model in the cloud server, the personalized biological response model generates and outputs a recommended force value to the control module according to the instantaneous velocity vector v and the patient's bone density parameters, and the control module adjusts the output intensity of the low-intensity pulsed ultrasound module or reminds the doctor to replace the arch wire / patient to replace the dental brace according to the recommended force value.

[0011] ③, tooth stress condition Preferably, the tooth movement monitoring module real-time monitors the tooth stress condition in orthodontic treatment, which comprises: A six-dimensional force sensor is embedded in the personalized diaphragm to collect tooth stress data; The tooth stress data and the ultrasound image are synchronously sampled, and the data analysis submodule calculates the force F and the moment M of each tooth through the rigid body dynamics inverse algorithm; When the absolute value of the force F exceeds the force threshold value or the absolute value of the moment M exceeds the moment threshold value, the low-intensity pulsed ultrasound module triggers the instantaneous pressure reduction mode, and pushes a red alarm to the doctor's terminal module.

[0012] ④, tooth anchorage control Preferably, the tooth movement monitoring module captures the anchorage control of the tooth, which comprises: The anchorage tooth is predefined as ROI-anchor; Based on the ultrasound image, the digital image correlation algorithm is used to track the surface microtexture of the anchorage tooth, and the relative displacement of the anchorage tooth is calculated; When the relative displacement of any anchorage tooth is greater than the displacement threshold value, the relaxation intensity of the high-intensity focused ultrasound module on the masticatory muscle is increased, the reaction force is reduced, and a risk warning of anchorage loss is pushed to the terminal module. ⑤, tooth reaction force distribution Preferably, the tooth movement monitoring module captures the reaction force distribution of the tooth, which comprises: Through the finite element fast inversion algorithm, the force F of each tooth is taken as the boundary condition to reconstruct the Von-Mises stress nephogram of the entire dentition; The stress nephogram is superimposed on the three-dimensional dental model and displayed in the form of RGB heat map on the doctor's terminal module. The doctor interacts with the virtual attachment / bracket in the doctor terminal module, and the system automatically updates the stress distribution and gives a score of the reaction force balance.

[0013] Preferably, the tooth movement monitoring module generates a three-dimensional image from the two-dimensional sequence slice images collected by ultrasound using a cubic spline interpolation method, specifically including: performing cubic spline interpolation on the two-dimensional sequence slice images to obtain a three-dimensional image V, and performing Gaussian filtering on the three-dimensional image V to obtain a final three-dimensional image V´.

[0014] Preferably, the cubic spline interpolation on the two-dimensional sequence slice images to obtain a three-dimensional image V includes: the two-dimensional sequence slice images performing cubic spline interpolation processing to obtain a three-dimensional image i at the i-th slice position , including:

[0015] wherein, is the three-dimensional image at the i-th slice position, i is the two-dimensional sequence slice image at the i-1-th slice position, is the two-dimensional sequence slice image at the i+1-th slice position, i is the two-dimensional sequence slice image at the i+2-th slice position, is the three-dimensional spline basis function, which depends on the position of i ; based on the three-dimensional image i , a reconstructed three-dimensional image is obtained using a three-dimensional reconstruction formula, including: i z wherein, is the reconstructed three-dimensional image, is the interpolation weight function, is the three-dimensional image at the i-th slice position.

[0016] wherein, is the reconstructed three-dimensional image, is the interpolation weight function, is the three-dimensional image at the i-th slice position. i Preferably, the Gaussian filtering on the three-dimensional image V to obtain a final three-dimensional image V´ includes: performing smoothing and denoising on the reconstructed three-dimensional image

[0017] using a Gaussian filtering method to obtain a final three-dimensional image V´, wherein the Gaussian filtering method includes: ​​​

[0018] wherein, is the final three-dimensional image, is a Gaussian kernel function, denotes a convolution operation, is the reconstructed three-dimensional image.

[0019] II. Low Intensity Pulsed Ultrasound Module (LIPUS) In the present application, the low intensity pulsed ultrasound module utilizes low intensity pulsed ultrasound technology to promote periodontal tissue repair in orthodontic treatment through non-invasive mechanical vibration.

[0020] Preferably, the low intensity pulsed ultrasound module promotes periodontal tissue repair in orthodontic treatment based on low intensity pulsed ultrasound technology through non-invasive mechanical vibration, comprising: The single-chip microcomputer cooperates with the direct digital frequency synthesis chip to generate a driving signal, and the miniature power amplifier amplifies the driving signal; The amplified driving signal drives the composite piezoelectric ceramic transducer to emit ultrasonic waves, which are coupled through medical ultrasonic coupling gel and personalized diaphragms to generate transient acoustic pressure and micro-displacement at the periodontal membrane-alveolar bone interface, triggering cell-level biomechanical responses.

[0021] Preferably, the low intensity pulsed ultrasound module is used for pressure side repair and tension side remodeling of teeth, wherein: Pressure side repair: utilizes low intensity pulsed ultrasound to activate osteocyte function and accelerate repair of bone resorption sites; Tension side remodeling: utilizes low intensity pulsed ultrasound to stimulate osteoblast proliferation and bone deposition, improving tooth movement efficiency.

[0022] III. High Intensity Focused Ultrasound Module (HIFU) Preferably, the high intensity focused ultrasound module is used for muscle relaxation, joint pain management, soft tissue monitoring, and focal energy density adjustment, wherein: Muscle relaxation: acts on masticatory muscles and other related muscles through high intensity focused ultrasound to relieve tension and spasm; Joint pain management: improves the comfort of patients with temporomandibular joint disorders through a non-invasive pain relief method; Soft tissue monitoring: dynamically captures the movement of the intradiscal disc and surrounding soft tissues in the temporomandibular joint to assist in diagnosing functional disorders; Focal energy density adjustment: adjusts the focal energy density of high intensity focused ultrasound to ensure precise treatment range and avoid damage to surrounding tissues.

[0023] Preferably, the non-invasive pain relief method includes: utilizing high intensity focused ultrasound to produce transient micro-heat coagulation locally in the masticatory muscle or joint capsule to block A-delta and C fiber pain transmission; The motion of the temporomandibular joint disc and the surrounding soft tissue is dynamically captured, including: using ultrasonic imaging, combining the improved Lucas-Kanade optical flow algorithm, and tracking the disc displacement in real time.

[0024] Four, blood flow monitoring module Preferably, the blood flow monitoring module comprises: A Doppler submodule for collecting Doppler images of the pressure side and tension side of the tooth; A blood flow detection submodule in communication with the Doppler submodule, for obtaining periodontal microcirculation blood flow velocity and direction based on the Doppler images; A functional parameter analysis submodule in communication with the blood flow detection submodule, for obtaining hemodynamic indexes of the tooth movement area based on the periodontal microcirculation blood flow velocity and direction, including: flow rate, flow volume, and blood flow resistance index; An abnormality alarm submodule in communication with the functional parameter analysis submodule, for identifying possible ischemia or inflammation of the periodontal tissue based on the hemodynamic indexes of the tooth movement area and alarming to prompt the doctor to adjust the orthodontic mechanical parameters.

[0025] Preferably, the blood flow monitoring of the blood flow monitoring module comprises: The probe of the Doppler submodule is attached to the personalized membrane in the mouth, an acoustic window is established by using medical ultrasonic coupling glue, and color Doppler blood flow images are continuously collected; The blood flow detection submodule extracts the peak systolic velocity PSV, end diastolic velocity EDV, and blood flow direction angle in the blood flow image by an edge detection algorithm; The functional parameter analysis submodule obtains the blood flow resistance index RI and flow volume Q based on the extracted flow rate and direction;

[0026] Wherein, r is the blood vessel radius; TAMV is the time average flow rate, which is calculated by using the peak systolic velocity PSV and the end diastolic velocity EDV; and HR is the heart rate; The abnormality alarm submodule discriminates ischemia or inflammation based on the peak systolic velocity PSV and the blood flow resistance index RI, including: when the blood flow resistance index RI exceeds a threshold value, or the peak systolic velocity PSV is less than a threshold value, ischemia or inflammation is discriminated, and a pop-up window and a sound prompt are pushed by the terminal module.

[0027] Five, terminal module Preferably, the terminal module includes a doctor terminal module and a patient terminal module, and an oral diagnosis and treatment APP is arranged in the terminal module, the oral diagnosis and treatment APP provides visual treatment progress and health analysis report, and automatically sends orthodontic instrument cleaning reminders, reexamination appointments and abnormal condition alarms, and the doctor remotely checks real-time health conditions and performs remote medical treatment through the oral diagnosis and treatment APP of the doctor terminal module.

[0028] Six, personalized film Preferably, the comprehensive oral diagnosis and treatment system further comprises a personalized film, the personalized film is a disposable medical EVA film, is fixed to a labial / buccal side of a dental crown of a patient in an intraoral manner, covers a tooth area to be monitored or to be treated, and intraoral probes of the tooth movement monitoring module, the low-intensity pulsed ultrasound module, the high-intensity focused ultrasound module and the blood flow monitoring module are all installed on the personalized film.

[0029] Preferably, standardized slots / buckles / magnetic attraction interfaces are pre-prepared on the personalized film, for detachable embedding of the functional modules, an inner surface of the personalized film is coated with medical ultrasonic coupling glue, and an outer surface of the personalized film is printed with positioning marks.

[0030] Preferably, six-dimensional force sensors and ultrasonic probes of the tooth movement monitoring module are embedded in the personalized film at corresponding tooth positions; piezoelectric ceramic pieces of the low-intensity pulsed ultrasound module are buckled in reserved positions of the personalized film on the pressure side / tension side; ceramic arrays of the high-intensity focused ultrasound module are magnetically attracted to an outer surface of the personalized film; Doppler micro-probes of the blood flow monitoring module are fixed in the personalized film in a slot type at a gum margin area.

[0031] Preferably, the personalized film includes small, medium and large types, wherein: small: the film size covers 1-2 teeth; medium: the film size covers 1-7 teeth; large: the film size covers half of the dental arch.

[0032] Seven, thermoplastic aligner Preferably, the comprehensive oral diagnosis and treatment system further comprises a thermoplastic aligner, the thermoplastic aligner is tightly wrapped around all teeth of the upper jaw or the lower jaw after being formed by thermoplastic molding, and intraoral treatment heads of the low-intensity pulsed ultrasound module and the high-intensity focused ultrasound module are installed on the thermoplastic aligner.

[0033] Preferably, dovetail-shaped guide rails for sliding of the treatment heads are reserved on labial and buccal sides of the thermoplastic aligner, and a micro ultrasonic reflection plate is embedded in a bite surface of the thermoplastic aligner.

[0034] Preferably, the thermoplastic aligner is formed by heating the silicone aligner to a specified temperature using a heating device, and the thermoplastic aligner is formed according to the occlusion of the teeth of the patient, and the thermoplastic aligner is made of a medical grade thermoplastic material.

[0035] Advantages of the present application: The comprehensive oral diagnosis and treatment system provided by the present application can realize comprehensive monitoring and treatment of tooth movement, periodontal tissue health, temporomandibular joint (TMJ) function and dynamic oral related muscle of a patient. Meanwhile, the device integrates advanced low-intensity pulsed ultrasound (LIPUS) and high-intensity focused ultrasound (HIFU) technology, and has the functions of periodontal tissue repair, muscle relaxation and joint soft tissue treatment. In addition, through the wireless communication module and the terminal module, the present application can provide real-time health data monitoring and personalized diagnosis and treatment scheme, and is widely applicable to patients with orthodontic, periodontal disease and temporomandibular joint disorder (TMD) and other related oral dysfunction.

[0036] The comprehensive oral diagnosis and treatment system provided by the present application is suitable for precise monitoring of complex orthodontic cases (such as patients with high demand for anchorage or significant tooth reaction force). The low-intensity pulsed ultrasound module shortens the orthodontic treatment period and reduces the possible tissue damage on the pressure side. The high-intensity focused ultrasound module realizes the function regulation and treatment of the temporomandibular joint and the surrounding muscles. The blood flow monitoring module realizes the dynamic evaluation of periodontal health during orthodontic treatment, and reduces the risk of periodontal tissue damage.

[0037] The comprehensive oral diagnosis and treatment system provided by the present application has the advantages of functional expansion, intelligence and personalization, dynamic environment adaptation, modular design and the like, and the specific advantages are as follows: Functional expansion: by integrating LIPUS and HIFU technology, the treatment function is enhanced, and it is suitable for periodontal repair, joint soft tissue treatment and the like.

[0038] Intelligence and personalization: through the wireless communication module and the terminal module, data is transmitted to the doctor end in real time, and treatment scheme optimization is supported.

[0039] Dynamic environment adaptation: dynamic monitoring is designed for orthodontic, periodontal tissue and temporomandibular joint function.

[0040] Modular design: flexible assembly of functional modules is supported, and various oral application requirements are met. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 It is a schematic diagram of the comprehensive oral diagnosis and treatment system of the present application; Figure 2 It is a use flow of the comprehensive oral diagnosis and treatment system of the present application; Figure 3 It is an ultrasonic probe of different shapes of the present application; Figure 4 therapeutic device of the present application; Figure 5 schematic diagram of a domestic high-intensity focused ultrasound module of the present application; Figure 6 schematic diagram of a domestic low-intensity pulsed ultrasound module of the present application; Figure 7 schematic diagram of a medical low-intensity pulsed ultrasound module of the present application; Figure 8 schematic diagram of a medical high-intensity focused ultrasound module of the present application. DETAILED DESCRIPTION

[0042] The concept, specific structure and resulting technical effects of the present application will be described clearly and completely in combination with embodiments and drawings below, so as to fully understand the purpose, features and effects of the present application.

[0043] Embodiment 1 A comprehensive oral diagnosis and treatment system, as shown in Figure 1 and Figure 2 , comprises: a tooth movement monitoring module based on low-radiation or non-radiation ultrasonic imaging technology, which monitors the tooth movement trajectory in orthodontic treatment in real time, including direction, speed and force condition, and captures the anchorage control and reaction force distribution of the tooth; a low-intensity pulsed ultrasound module based on low-intensity pulsed ultrasound technology, which promotes periodontal tissue repair in orthodontic treatment through non-invasive mechanical vibration; a high-intensity focused ultrasound module based on high-intensity focused ultrasound technology, which performs functional regulation and treatment of the temporomandibular joint and surrounding muscles; a blood flow monitoring module based on ultrasonic Doppler technology, which monitors the blood flow changes on the pressure side and tension side of the tooth and evaluates the biomechanical response in the orthodontic process; a control module, a wireless communication module, a terminal module and a cloud server, the tooth movement monitoring module, the low-intensity pulsed ultrasound module, the high-intensity focused ultrasound module and the blood flow monitoring module are all in communication connection with the control module, and the control module and the terminal module are both in communication connection with the cloud server through the wireless communication module.

[0044] Embodiment 2 This embodiment is further described on the basis of the tooth movement monitoring module of the above-mentioned embodiment: Core function: the device uses low-radiation or non-radiation ultrasonic imaging technology to monitor the tooth movement trajectory in orthodontic treatment in real time, including direction, speed and force condition. Combined with intelligent algorithm, precise evaluation of anchorage control and reaction force distribution is realized.

[0045] Technical implementation: Ultrasound imaging module: integrated miniaturized B-mode or A-mode ultrasound imaging system, real-time capture of dynamic changes in tooth movement.

[0046] Data storage and analysis: use AI algorithms to analyze historical and real-time data to generate a three-dimensional trajectory graph of tooth movement, while providing biomechanical force line analysis.

[0047] Application scenarios: suitable for precise monitoring of complex orthodontic cases (such as patients with high anchorage requirements or significant tooth reaction forces).

[0048] In this invention, the tooth movement monitoring module uses low-radiation or non-radiation ultrasound imaging technology to monitor the trajectory of tooth movement in orthodontic treatment in real time, including direction, speed and force, and capture the anchorage control and reaction force distribution of teeth.

[0049] The purpose of monitoring the direction of tooth movement is to real-time grasp the actual displacement vector of each tooth in three-dimensional space, and timely find abnormal directions such as non-planned tilting, rotation or sliding out of the bracket, so as to avoid the re-production of the appliance or the extension of the treatment course due to direction deviation.

[0050] The purpose of monitoring the speed of tooth movement is to quantify the rate of tooth movement and verify whether the current force is in the "optimal biological response interval" (0.2-0.3 mm / week), to prevent root resorption caused by too fast or prolonged treatment course caused by too slow.

[0051] The purpose of monitoring the force condition of tooth movement is to quantify the force / torque size received by each tooth, to ensure the "light force correction" principle (50-150 g orthodontic force, 50-100 g·mm torque), and to reduce the risk of root resorption and periodontal necrosis.

[0052] The purpose of capturing the anchorage control of teeth is to real-time evaluate whether the anchorage teeth appear unexpected displacement, to ensure that the maximum anchorage design (such as micro-implant anchorage) is always effective, and to avoid "anchorage loss" leading to treatment failure.

[0053] The purpose of capturing the reaction force distribution of teeth is to draw the full-arch reaction force field and analyze whether the "action-reaction" is balanced, to provide quantitative basis for the doctor to redesign the mechanical system (such as replacing NiTi wire, adding compensation curve).

[0054] In this invention, the specific implementation scheme of monitoring the direction of tooth movement is: The ultrasound imaging submodule continuously collects B-mode slices at a frame rate of ≥30fps; The AI edge detection algorithm (U-Net++) labels the tooth crown and root tip at the sub-pixel level; Through the multi-frame correlation algorithm based on Kalman filtering, the instantaneous displacement Δx, Δy, Δz of the dental centroid in the x-y-z direction is calculated, so as to obtain the direction cosine (cosα, cosβ, cosγ); When the included angle θ between the direction cosine and the preset orthodontic path is greater than 5°, the control module immediately pushes a warning to the doctor's end APP.

[0055] The specific implementation scheme for monitoring the tooth movement speed is: According to the above direction calculation result, Δx, Δy, Δz are differentiated with respect to time to obtain the instantaneous velocity vector v; In the cloud server, a personalized biological response model (LSTM network) is established, the speed v and the patient's bone density parameters are input, and the "recommended force value" is output; The control module automatically adjusts the LIPUS output intensity or reminds the doctor to replace the arch wire / patient to replace the dental cover according to the recommended value.

[0056] The specific implementation scheme for monitoring the tooth stress condition is: A Micro-Electro-Mechanical Systems (MEMS, micro-electro-mechanical system) six-dimensional force sensor (range 0-500g, resolution 0.1g) is embedded in the personalized diaphragm; The sensor data and the ultrasonic image are synchronously sampled, and the force F and the moment M of each tooth are calculated through the inverse algorithm of rigid body dynamics; When |F|>150g or |M|>100g•mm, the LIPUS instantaneous pressure reduction mode is triggered, and a red alarm is pushed to the doctor's end.

[0057] The specific implementation scheme for capturing the anchorage control of the tooth is: The anchorage tooth (usually the first molar) is defined as ROI-anchor in advance; The digital image correlation (DIC) algorithm is used to track the surface microtexture and calculate the relative displacement; When the displacement of any anchorage tooth is greater than 0.1mm (threshold value can be adjusted), the system automatically increases the relaxation intensity of HIFU to the masticatory muscle, reduces the reaction force, and pushes the "anchorage loss risk" warning.

[0058] The specific implementation scheme for capturing the reaction force distribution of the tooth is: Through the finite element rapid inversion algorithm: taking the force F of each tooth as the boundary condition, the Von-Mises stress cloud of the entire dentition is reconstructed within 30ms; The stress cloud is superimposed on the three-dimensional dental model and displayed in the form of RGB heat map on the doctor's end APP; Doctors can interactively drag and drop "virtual attachments / brackets," and the system automatically updates the stress distribution and provides a "response force balance" score (0–100).

[0059] In this embodiment, two-dimensional sequence slice images acquired by the ultrasonic device are collected. ,in z i It is the first i The location of each slice ( i =1,2,…, N The goal is to reconstruct a continuous 3D image. .

[0060] Because the resolution of the x and y planes in a sequence of sliced ​​images is higher than that of the z plane, direct 3D image stitching leads to image distortion. To correct this distortion, interpolation is needed in the z-direction. This method employs cubic spline interpolation.

[0061] Cubic spline interpolation uses piecewise cubic polynomials to fit data points, providing smoother reconstruction results. For any 3D image z, the 3D image... It can be calculated using the following formula:

[0062] in, For the first i 3D images of each slice location, For the first i A two-dimensional sequence of slice images with -1 slice location. For the first i Two-dimensional sequence slice images of slice locations, for i Two-dimensional sequence slice images with +1 slice positions, for i Two-dimensional sequence slice images with +2 slice positions, It is a cubic spline basis function, which depends on z Location; We can use interpolation methods to transform discrete two-dimensional slice data. Convert into a continuous 3D image The final 3D reconstruction formula can be expressed as:

[0063] in, To reconstruct the 3D image, For interpolation weight function, For the first i 3D images of each slice location.

[0064] Subsequently, the reconstructed three-dimensional image is smoothed and de-noised to obtain a final reconstruction result Subsequently, the reconstructed three-dimensional image is smoothed and de-noised to obtain a final reconstruction result .

[0065]

[0066] wherein, is the final three-dimensional image, is a Gaussian kernel function, denotes a convolution operation, is the reconstructed three-dimensional image.

[0067] Embodiment 3 This embodiment is based on the above-mentioned embodiments, and further describes the low-intensity pulsed ultrasound module: Core function: With the help of low-intensity pulsed ultrasound (LIPUS) technology, through non-invasive mechanical vibration, promote periodontal tissue repair in orthodontic treatment.

[0068] Technical implementation: Pressure side repair: use LIPUS to activate osteocyte function and accelerate repair of bone absorption site.

[0069] Tension side reconstruction: stimulate osteoblast proliferation and bone deposition to improve tooth movement efficiency.

[0070] Treatment parameters: control frequency (~1.5 MHz) and power density (~30 mW / cm²) to optimize treatment effect.

[0071] Clinical advantages: shorten the orthodontic treatment period, and at the same time reduce the possible tissue damage on the pressure side.

[0072] In the present application, the low-intensity pulsed ultrasound module utilizes low-intensity pulsed ultrasound technology to promote periodontal tissue repair in orthodontic treatment through non-invasive mechanical vibration. Among them, the non-invasive mechanical vibration refers to that under the premise of not piercing the mucosa and not damaging the bone cortex, through 1.5MHz±0.1MHz sound wave pulses, transient sound pressure (0.2-0.3MPa) and micro-displacement (≈50nm) are generated at the periodontal membrane-alveolar bone interface, thereby triggering cell-level biomechanical response. The specific implementation method is that the system first generates a 1.5MHz±0.1MHz, pulse repetition frequency 1kHz, duty cycle 20% drive signal by 8-bit single-chip microcomputer in cooperation with direct digital frequency synthesis chip; then amplified to 30mW / cm² safe dose through micro Class-D power amplifier. The amplified signal drives a 5mm×5mm×0.2mm 1-3 composite piezoelectric ceramic transducer to emit ultrasonic waves. The transducer meets the IEC60601-2-37 standard. The sound wave is coupled through medical ultrasonic coupling agent and personalized EVA membrane, and the acoustic impedance is matched to 1.5MRayl. The MEMS temperature sensor monitors the surface temperature of the transducer in real time, and the PID closed-loop algorithm controls the temperature rise within 1°C.

[0073] In the present embodiment, the low-intensity pulsed ultrasound module has two forms of household and medical, as shown in Figure 6 and Figure 7 .

[0074] Embodiment 4 This embodiment is based on the above-mentioned embodiments, and further describes the high-intensity focused ultrasound module: Core function: apply high-intensity focused ultrasound (HIFU) technology to realize the functional regulation and treatment of the temporomandibular joint and surrounding muscles.

[0075] Technical implementation: Muscle relaxation: through focused ultrasound acting on the masticatory muscles and other related muscles, relieve tension and spasm.

[0076] Joint pain management: provides a non-invasive pain relief solution to improve the comfort of patients with temporomandibular joint disorder (TMD).

[0077] Soft tissue monitoring: real-time dynamic capture of the movement of the intradiscal and surrounding soft tissues of the temporomandibular joint, auxiliary diagnosis of functional disorders.

[0078] Safety guarantee: automatically adjust the focal point energy density to ensure accurate treatment range and avoid damage to surrounding tissues.

[0079] In the present application, the non-invasive pain relief method of the high-intensity focused ultrasound module refers to using 4MHz high-intensity focused ultrasound to generate transient micro-thermal coagulation (≤55°C, duration <1s) locally in the masticatory muscle or joint capsule to block A-delta and C fiber pain transmission without puncture or drugs. The specific implementation method is to use a 4MHz piezoelectric ceramic array, a focal length of 10mm, a focal spot of 1mm, a dose setting of 700-900W / cm2, and a single 5min. Clinical verification shows that the VAS score decreases by an average of 2.3±0.4 points within 24 hours after treatment, and the masseter EMG amplitude decreases by 45%.

[0080] The specific method of dynamically capturing the movement of the temporomandibular joint disc and the surrounding soft tissue is to use 20fps B-mode ultrasound imaging combined with an improved Lucas-Kanade optical flow algorithm to track the disc displacement in real time with a resolution of 0.25mm and an angle error of <2°.

[0081] In the present embodiment, the high-intensity focused ultrasound module has two forms: household and medical, as shown in Figure 5 and Figure 8 .

[0082] Embodiment 5 This embodiment is based on the above-mentioned embodiments and further describes the blood flow monitoring module: Core function: Based on ultrasound Doppler technology, monitor blood flow changes on the pressure side and tension side of the teeth, and evaluate biomechanical responses during orthodontic treatment.

[0083] Technical implementation: Real-time blood flow monitoring: Obtain periodontal microcirculation blood flow velocity and direction through the Doppler module.

[0084] Functional parameter analysis: Provide hemodynamic indicators (such as flow rate, flow volume, and blood flow resistance index) in the tooth movement area.

[0085] Abnormal alarm: Identify possible ischemia or inflammation of periodontal tissue and prompt the doctor to adjust orthodontic mechanical parameters.

[0086] Clinical significance: Achieve dynamic evaluation of periodontal health during orthodontic treatment and reduce the risk of periodontal tissue damage.

[0087] In the present application, the blood flow monitoring module uses ultrasound Doppler technology to monitor blood flow changes on the pressure side and tension side of the teeth and evaluate biomechanical responses during orthodontic treatment. The purpose of monitoring blood flow changes on the pressure side and tension side of the teeth is to timely detect ischemia / hyperemia imbalance and prevent root resorption. The purpose of evaluating biomechanical responses during orthodontic treatment is to use a blood flow-mechanical linear model to predict bone remodeling speed 2-3 weeks in advance and achieve precise and quantifiable orthodontic mechanical management.

[0088] In the present application, the specific scheme for acquiring periodontal microcirculation blood flow velocity and direction through a Doppler module is as follows: a 20MHz micro Doppler probe is attached to a personalized membrane through the mouth, a sound window is established by using medical ultrasonic coupling agent, color Doppler images are continuously collected for 3 seconds, and the peak systolic velocity (PSV) and blood flow direction angle are automatically extracted by edge detection algorithm, with a spatial resolution of 0.25mm and an angle error of <2°; The specific scheme for providing the hemodynamic indicators (such as flow velocity, flow volume and blood flow resistance index) of the tooth movement area is as follows: ①Obtain flow velocity and direction A 20MHz high-frequency Doppler probe is attached to a personalized membrane, and color Doppler blood flow images are continuously collected to automatically extract the following two items: PSV—Peak Systolic Velocity (peak systolic flow velocity) EDV—End-Diastolic Velocity (end-diastolic flow velocity) ②Calculate hemodynamic indicators The system automatically calculates: RI—Resistance Index (blood flow resistance index) Formula:

[0089] Flow Volume Q—Flow Volume (flow volume) Formula:

[0090] Where: r—arterial radius (vessel radius) TAMV—Time-Average Mean Velocity (time-average mean velocity) HR—Heart Rate (heart rate); The specific scheme for identifying possible ischemia or inflammation of periodontal tissue based on Doppler images is as follows: SVM—Support Vector Machine (Support Vector Machine) Input PSV, EDV, RI and texture features, and output classification results: 0—Normal blood flow 1—Ischemia or inflammation risk Triggering logic: when RI>0.75 or PSV<2cms⁻¹, immediately push a pop-up window and sound prompt through the mobile phone App.

[0091] Example 6 The terminal module in the above embodiment is further described, which includes a doctor terminal module and a patient terminal module. An oral diagnosis and treatment APP is arranged in the terminal module. The oral diagnosis and treatment APP provides visual treatment progress and health analysis report, and automatically sends orthodontic instrument cleaning reminders, re-examination appointments and abnormal condition alarms. The doctor remotely checks real-time health conditions and performs remote medical treatment through the oral diagnosis and treatment APP of the doctor terminal module.

[0092] In the embodiment, the wireless communication module is Bluetooth, 5G wireless communication network, etc.

[0093] Core function: Real-time connection of the device and the doctor terminal and patient terminal APP is realized by using Bluetooth technology.

[0094] Technical implementation: Data transmission: The monitoring data is automatically uploaded to the cloud server, and the doctor can remotely check the real-time health conditions.

[0095] Personalized analysis: The APP provides visual treatment progress and health analysis report.

[0096] Smart reminders: Automatic sending of orthodontic instrument cleaning reminders, re-examination appointments and abnormal condition alarms.

[0097] Clinical significance: Remote medical treatment is realized, and patient compliance and treatment effect are improved.

[0098] Embodiment 7 In the above embodiment, the comprehensive oral diagnosis and treatment system further includes a personalized film. The film is personalized designed: The film is divided into three types, which are: 1) Small size: The film covers 1-2 teeth; 2) Medium size: The film covers 1-7 teeth; 3) Large size: The film covers half of the dental arch.

[0099] Personalized film installation position: The personalized film is a disposable medical EVA film, which is fixed on the labial / buccal side of the patient's tooth crown by in-mouth fitting, covering the tooth area to be monitored or treated.

[0100] Use: As a unified mechanical bearing base of the tooth movement monitoring module, the low-intensity pulsed ultrasound module, the high-intensity focused ultrasound module and the blood flow monitoring module, the ultrasonic probes of different shapes of various modules are as shown in the drawing. Figure 3

[0101] The standardized slots / buckles / magnetic attraction interfaces are pre-prepared thereon, and the functional modules can be detachably embedded to realize "plug and play".

[0102] ​The inner surface of the diaphragm is coated with 0.2mm thick medical ultrasound coupling gel to ensure efficient transmission of ultrasound energy; the outer surface is printed with positioning marks to guide precise positioning of the probe.

[0103] Relationship with modules: Tooth movement monitoring module: MEMS six-axis force sensor, B-mode ultrasound probe → embedded in the diaphragm corresponding to the tooth position; Low-intensity pulsed ultrasound module: 1.5MHz piezoelectric ceramic sheet → buckled on the diaphragm pressure side / tension side reserved position; High-intensity focused ultrasound module: 4MHz HIFU ceramic array → magnetically attracted to the outer surface of the diaphragm, focal length calibrated through diaphragm thickness; Blood flow monitoring module: 20MHz Doppler microprobe → fixed in the diaphragm gingival margin area.

[0104] Example 8 This embodiment is based on the above-mentioned embodiments, and the comprehensive oral diagnosis and treatment system further includes a thermoplastic aligner, as shown in Figure 4 .

[0105] Function description: The silicone aligner is thermoplastically formed at a specified temperature (80°C) by the heating device, according to the patient's tooth occlusion, more in line with ergonomics and oral anatomy, and more fitted to the patient's teeth. After cooling, it forms a precise personalized treatment tray.

[0106] Technical implementation: Materials: Medical-grade thermoplastic materials (such as EVA or medical silicone) are used.

[0107] Control module: The thermoplastic device adjusts the working temperature through a temperature controller to ensure safety and precise thermoplasticity.

[0108] Personalized fitting: The aligner can be accurately adjusted according to the size and shape of the patient's dental arch after thermoplasticity.

[0109] Application scenarios: Suitable for initial orthodontic treatment and mid-course adjustment stages, as well as a connecting body for LIPUS and HIFU treatment, providing efficient and comfortable treatment experience.

[0110] Thermoplastic aligner installation position: The thermoplastic aligner is a medical-grade EVA tray that tightly wraps all the upper or lower dental arches after being thermoplastically formed at 80°C.

[0111] Purpose: As an in-mouth fixing platform for high-intensity focused ultrasound module (HIFU) and low-intensity pulsed ultrasound module (LIPUS); The aligner has a dovetail-shaped guide rail on the labial side, and the HIFU / LIPUS treatment head can be positioned to the target tooth position along the guide rail; The micro ultrasonic reflection plate is embedded in the occlusal surface of the appliance to improve the focusing accuracy of HIFU and avoid energy escaping to the lingual side.

[0112] Relationship with modules: Tooth movement monitoring module: not directly installed on the appliance, the personalized film continues to bear the monitoring function during the wearing of the appliance; the two are used in different time periods to avoid signal interference.

[0113] Blood flow monitoring module: the appliance is opened at the gum line, allowing the Doppler probe to pass through the film and directly adhere to the gums.

[0114] Material and process: medical-grade thermoplastic EVA, thickness 1.0 mm; heating device is a constant temperature 80°C thermoplastic instrument, molding time 30s, shape memory after cooling ≥6 months.

[0115] The embodiments of the present application are specifically described above, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. An integrated oral diagnosis and treatment system, characterized by, The application relates to a tooth movement monitoring device, which comprises a tooth movement monitoring module, a low-intensity pulsed ultrasound module, a high-intensity focused ultrasound module and a blood flow monitoring module. The tooth movement monitoring module is based on low-radiation or non-radiation ultrasonic imaging technology and can monitor the tooth movement trajectory in orthodontic treatment in real time, including direction, speed and stress condition, and capture the anchorage control and reaction force distribution of the tooth. The low-intensity pulsed ultrasound module is based on low-intensity pulsed ultrasound technology and can promote periodontal tissue repair in orthodontic treatment through non-invasive mechanical vibration. The high-intensity focused ultrasound module is based on high-intensity focused ultrasound technology and can perform function regulation and treatment on the temporomandibular joint and surrounding muscles. The blood flow monitoring module is based on ultrasonic Doppler technology and can monitor the blood flow changes on the pressure side and tension side of the tooth and evaluate the biomechanical response in the orthodontic process. The tooth movement monitoring module comprises a force sensor, an ultrasonic imaging submodule and a data analysis submodule.

2. The comprehensive oral diagnostic and treatment system of claim 1, wherein, The force sensor is used for collecting tooth stress data. The ultrasonic imaging submodule is integrated with a small ultrasonic imaging system and can capture the dynamic change real-time data of tooth movement in real time. The data analysis submodule is in communication connection with the force sensor and the ultrasonic imaging submodule and can analyze the tooth stress data and the dynamic change real-time data of tooth movement by using an AI algorithm to obtain the tooth movement direction, tooth movement speed, tooth stress condition, tooth anchorage control and tooth reaction force distribution. The low-intensity pulsed ultrasound module is based on low-intensity pulsed ultrasound technology and can promote periodontal tissue repair in orthodontic treatment through non-invasive mechanical vibration.

3. The comprehensive oral diagnostic and treatment system of claim 1, wherein, A single-chip microcomputer cooperates with a direct digital frequency synthesis chip to generate a driving signal, and a miniature power amplifier amplifies the driving signal. The amplified driving signal drives a composite piezoelectric ceramic transducer to emit ultrasonic waves, the ultrasonic waves are coupled through medical ultrasonic coupling glue and a personalized diaphragm, transient acoustic pressure and micro-displacement are generated at the periodontal membrane-alveolar bone interface, and cell-level biomechanical response is triggered. The low-intensity pulsed ultrasound module is used for pressure side repair and tension side reconstruction of the tooth.

4. The comprehensive oral diagnostic and treatment system of claim 1, wherein, The pressure side repair utilizes low-intensity pulsed ultrasound to activate the function of bone cells and accelerate the repair of bone absorption sites. The tension side reconstruction utilizes low-intensity pulsed ultrasound to stimulate the proliferation of osteoblasts and bone deposition and improve the tooth movement efficiency. The high-intensity focused ultrasound module is used for muscle relaxation, joint pain management, soft tissue monitoring and focal energy density adjustment.

5. The comprehensive oral diagnostic and treatment system of claim 1, wherein, The muscle relaxation utilizes high-intensity focused ultrasound to act on the masticatory muscles and other related muscles to relieve tension and spasm. The joint pain management utilizes a non-invasive pain relief method to improve the comfort of patients with temporomandibular joint disorders. The soft tissue monitoring dynamically captures the movement of the intradiscal and surrounding soft tissues of the temporomandibular joint to assist in the diagnosis of functional disorders. The focal energy density adjustment adjusts the focal energy density of the high-intensity focused ultrasound to ensure the accuracy of the treatment range and avoid damage to the surrounding tissues. ​ The non-invasive pain relief method comprises: using high-intensity focused ultrasound to generate transient micro-thermal coagulation locally in the masseter muscle or joint capsule to block A-delta and C fiber pain transmission; The dynamic capture of the movement of the temporomandibular joint disc and the surrounding soft tissue comprises: using ultrasonic imaging combined with an improved Lucas-Kanade optical flow algorithm to track the disc displacement in real time.

6. The comprehensive oral diagnostic and treatment system of claim 1, wherein, The blood flow monitoring module comprises: A Doppler submodule for collecting Doppler images of the pressure side and tension side of the tooth; A blood flow detection submodule in communication with the Doppler submodule, configured to obtain periodontal microcirculation blood flow velocity and direction based on the Doppler images; A functional parameter analysis submodule in communication with the blood flow detection submodule, configured to obtain hemodynamic indexes of the tooth movement area, including flow velocity, flow volume, and blood flow resistance index, based on the periodontal microcirculation blood flow velocity and direction; An abnormality alarm submodule in communication with the functional parameter analysis submodule, configured to identify possible ischemia or inflammation of the periodontal tissue based on the hemodynamic indexes of the tooth movement area and alarm to prompt the doctor to adjust orthodontic mechanical parameters.

7. The comprehensive oral diagnostic and treatment system of claim 6, wherein, The blood flow monitoring of the blood flow monitoring module comprises: The probe of the Doppler submodule is attached to the personalized membrane in the mouth, an acoustic window is established using medical ultrasonic coupling glue, and color Doppler blood flow images are continuously collected; The blood flow detection submodule extracts the systolic peak flow velocity PSV, diastolic end flow velocity EDV, and blood flow direction angle in the blood flow image through an edge detection algorithm; The functional parameter analysis submodule obtains the blood flow resistance index RI and flow volume Q based on the extracted flow velocity and direction; wherein, r R is the vessel radius; TAMV is the time-averaged flow velocity, calculated using the peak systolic velocity (PSV) and the end-diastolic velocity (EDV); and HR is the heart rate. The abnormality alarm submodule discriminates ischemia or inflammation based on the systolic peak flow velocity PSV and the blood flow resistance index RI, including: when the blood flow resistance index RI exceeds a threshold value or the systolic peak flow velocity PSV is less than a threshold value, ischemia or inflammation is identified, and a pop-up window and a sound prompt are pushed through the terminal module.

8. The comprehensive oral diagnostic and treatment system of claim 1, wherein, The terminal module comprises a doctor terminal module and a patient terminal module, and an oral diagnosis and treatment APP is arranged in the terminal module. The oral diagnosis and treatment APP provides visual treatment progress and health analysis reports, and automatically sends orthodontic appliance cleaning reminders, re-examination appointments, and abnormality alarm. The doctor remotely checks the real-time health status and performs remote medical treatment through the oral diagnosis and treatment APP of the doctor terminal module.

9. The comprehensive oral diagnostic and treatment system of claim 1, wherein, The comprehensive oral diagnosis and treatment system further comprises a personalized membrane, which is a disposable medical EVA film and is fixed to the labial / buccal side of the patient's tooth crown by in-mouth attachment, covering the tooth area to be monitored or treated. The in-mouth probes of the tooth movement monitoring module, the low-intensity pulsed ultrasound module, the high-intensity focused ultrasound module, and the blood flow monitoring module are installed on the personalized membrane.

10. The comprehensive oral diagnostic and treatment system of claim 1, wherein, The comprehensive oral diagnosis and treatment system further comprises a thermoplastic aligner, which tightly wraps all the upper or lower teeth after thermoplastic forming. The in-mouth treatment heads of the low-intensity pulsed ultrasound module and the high-intensity focused ultrasound module are installed on the thermoplastic aligner.

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