Mandibular motion capture system, capture method and simulation method

Abstract

The present invention provides a mandibular motion capture system, capture method, and simulation method, wherein the mandibular motion capture system includes a lower dentition visual marker device, an upper dentition visual marker device, a visual probe, and a visual locator. The lower dentition visual marker device includes a flexible adhesive sheet and a first visual marker member, one side of the flexible adhesive sheet can be adhered to the outer surface of the patient's lower dentition, and the other side of the flexible adhesive sheet is connected to the first visual marker member; the upper dentition visual marker device includes a marker support member and a second visual marker member mounted on the marker support member, and the marker support member can be attached to the patient's upper dentition or a cranial face portion stationary with the upper dentition; and a third visual marker member is mounted on the end of the visual probe. This mandibular motion capture system improves the accuracy of capturing and recording mandibular motion, while enhancing operational convenience and reducing the radiation dose received by the patient.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a mandibular motion capture system, a capture method and a simulation method. Background Art

[0002] Mandibular movement is a complex and sophisticated three-dimensional spatial motion produced by the body's muscles. It performs and completes various functions of the stomatognathic system and reflects the relationship between the mandibular muscles, the temporomandibular joint, and occlusion. The manifestations, types, and displacements of mandibular movement reflect the physiological and pathological states of the stomatognathic system and can be used for comparative analysis before and after disease treatment. Therefore, dynamic analysis of mandibular movement has long been a key approach in the treatment of temporomandibular joint disorders, occlusal disorders, and the restoration of edentulous defects.

[0003] The research methods for mandibular motion trajectory have been continuously improved with technological advancements, evolving from anatomical and imaging methods to the most commonly used mandibular motion tracker in clinical practice. However, some common mandibular motion trackers are complex to use and require patients to undergo cone-beam CT (CBCT), increasing their radiation exposure. Summary of the Invention

[0004] The present invention provides a mandibular motion capture system, capture method and simulation method, which are used to solve the defects of mandibular motion recorders in the prior art, such as complex usage and high radiation dose to patients, so as to improve the convenience of mandibular motion capture.

[0005] The present invention provides a mandibular motion capture system, comprising a lower dentition visual marking device, an upper dentition visual marking device, a visual probe and a visual locator, wherein the lower dentition visual marking device comprises a flexible adhesive sheet and a first visual marking component, one side of the flexible adhesive sheet can be adhered to the outer surface of the patient's lower dentition, and the other side of the flexible adhesive sheet is connected to the first visual marking component; the upper dentition visual marking device comprises a marking support and a second visual marking component installed on the marking support, and the marking support can be attached to the patient's upper dentition or a cranial face stationary with the upper dentition; a third visual marking component is installed at the end of the visual probe, and the first visual marking component, the second visual marking component and the third visual marking component are all located within the image acquisition range of the visual locator.

[0006] According to a mandibular motion capture system provided by the present invention, the marker support is a head-mounted device, and the head-mounted device can be worn on the craniofacial area of ​​the patient.

[0007] According to a mandibular motion capture system provided by the present invention, the head-mounted device includes a connected rigid support and a tension adjustment mechanism, the tension adjustment mechanism can fix the rigid support to the patient's forehead, and the second visual marker is fixed to the rigid support.

[0008] According to a mandibular motion capture system provided by the present invention, the head-mounted device includes a support frame provided with a nose pad, the support frame can be hung on the patient's ear, and the second visual marker is fixed to the support frame.

[0009] According to a mandibular motion capture system provided by the present invention, it also includes a dentition guide plate, which can be sleeved on the upper end of the lower dentition and / or the lower end of the upper dentition; the dentition guide plate is provided with a plurality of positioning grooves adapted to the tip of the visual probe.

[0010] According to a mandibular motion capture system provided by the present invention, it also includes a mandibular motion simulation device, which includes a maxillary static platform, a mandibular dynamic platform and a six-degree-of-freedom drive device. The maxillary static platform is provided with an upper dentition model mounting position on the side facing the mandibular dynamic platform, and the mandibular dynamic platform is provided with a lower dentition model mounting position on the side facing the maxillary static platform; the six-degree-of-freedom drive device is installed on the side of the mandibular dynamic platform away from the maxillary static platform.

[0011] The present invention also provides a method for capturing mandibular motion, comprising:

[0012] Obtain the patient's upper dentition intraoral scan model and lower dentition intraoral scan model;

[0013] Adhere a lower dentition visual marker device to the outer surface of the patient's lower dentition, and attach an upper dentition visual marker device to the patient's upper dentition or a craniofacial portion stationary connected to the upper dentition;

[0014] The user holds a visual probe and touches a plurality of first anatomical landmarks on the patient's lower dentition in sequence, obtains the coordinates of the first anatomical landmarks in the coordinate system of the visual locator and the coordinates of the first anatomical landmarks in the coordinate system of the intraoral scan model of the lower dentition, and aligns the coordinates of the first anatomical landmarks in the coordinate system of the visual locator with the coordinates of the corresponding first anatomical landmarks in the coordinate system of the intraoral scan model of the lower dentition one by one, so as to match the intraoral scan model of the lower dentition to the actual spatial position of the patient's lower dentition;

[0015] The user holds a visual probe and touches a plurality of second anatomical landmarks on the patient's upper dentition in sequence, obtains the coordinates of the second anatomical landmarks in the coordinate system of the visual locator and the coordinates of the second anatomical landmarks in the coordinate system of the intraoral scan model of the upper dentition, and performs one-to-one registration of the coordinates of the second anatomical landmarks in the coordinate system of the visual locator with the coordinates of the corresponding second anatomical landmarks in the coordinate system of the intraoral scan model of the upper dentition, so as to match the intraoral scan model of the upper dentition to the actual spatial position of the patient's upper dentition;

[0016] Obtain the position and posture of the lower dentition visual marking device and the upper dentition visual marking device in the coordinate system of the visual locator when the patient performs mandibular movement, and update the position and posture of the lower dentition intra-oral scanning model and the upper dentition intra-oral scanning model.

[0017] According to a mandibular motion capture method provided by the present invention, matching the intraoral scanned model of the lower dentition to the actual spatial position of the lower dentition of the patient further comprises:

[0018] The user holds a visual probe and sequentially touches a plurality of first anatomical landmarks on the patient's lower dentition to obtain the coordinates of the first anatomical landmarks in the coordinate system of the visual locator and the position and posture of the lower dentition visual marking device in the coordinate system of the visual locator at the same time;

[0019] Based on the coordinate conversion relationship, the coordinates of the first anatomical landmark in the coordinate system of the visual locator are converted to the coordinate system of the lower dentition visual marking device;

[0020] Obtaining the coordinates of the first anatomical landmark points in the coordinate system of the intraoral scan model of the lower dentition, and performing one-to-one registration between the coordinates of the first anatomical landmark points in the coordinate system of the lower dentition visual marking device and the coordinates of the corresponding first anatomical landmark points in the coordinate system of the intraoral scan model of the lower dentition, so as to match the intraoral scan model of the lower dentition to the actual spatial position of the patient's lower dentition;

[0021] The step of matching the intraoral scanned model of the upper dentition to the actual spatial position of the upper dentition of the patient further comprises:

[0022] The user holds a visual probe and sequentially touches a plurality of second anatomical landmarks on the patient's upper dentition to obtain the coordinates of the second anatomical landmarks in the coordinate system of the visual locator and the position and posture of the upper dentition visual marking device in the coordinate system of the visual locator at the same time;

[0023] Based on the coordinate conversion relationship, the coordinates of the second anatomical landmark in the coordinate system of the visual locator are converted to the coordinate system of the upper dentition visual marking device;

[0024] Obtain the coordinates of the second anatomical landmark point in the coordinate system of the intraoral scanning model of the upper dentition, and perform one-to-one registration between the coordinates of the second anatomical landmark point in the coordinate system where the upper dentition visual marking device is located and the coordinates of the corresponding second anatomical landmark point in the coordinate system of the intraoral scanning model of the upper dentition, so as to match the intraoral scanning model of the upper dentition to the actual spatial position of the patient's upper dentition.

[0025] According to a mandibular motion capture method provided by the present invention, the updating of the position and posture of the intraoral scanned model of the lower dentition further comprises:

[0026] Calculating the relative position and posture relationship between the first anatomical landmark and the lower dentition visual marking device based on the coordinates of the first anatomical landmark in the coordinate system of the visual locator and the position and posture of the lower dentition visual marking device in the coordinate system of the visual locator at the same time;

[0027] updating the position and posture of the lower dentition intraoral scan model based on the relative position and posture relationship between the first anatomical landmark and the lower dentition visual marking device, and the position and posture of the lower dentition visual marking device in the coordinate system of the vision locator when the mandibular movement is performed;

[0028] The updating of the position of the upper dentition intraoral scan model further comprises:

[0029] Calculate the relative position and posture relationship between the second anatomical landmark and the upper dentition visual marking device based on the coordinates of the second anatomical landmark in the coordinate system of the visual locator and the position and posture of the upper dentition visual marking device in the coordinate system of the visual locator at the same time;

[0030] Based on the relative position and posture relationship between the second anatomical landmark point and the upper dentition visual marking device and the position and posture of the upper dentition visual marking device in the coordinate system of the visual locator when the mandibular movement is performed, the position and posture of the upper dentition intraoral scanning model are updated.

[0031] The present invention also provides another method for capturing mandibular motion, comprising:

[0032] Obtaining an intraoral scan model of the patient's upper dentition, an intraoral scan model of the patient's lower dentition, and a relative positional relationship between the external curved surfaces of the upper and lower dentitions in an occlusal state;

[0033] Adhere a lower dentition visual marker device to the outer surface of the patient's lower dentition, and attach an upper dentition visual marker device to the patient's upper dentition or a craniofacial portion stationary connected to the upper dentition;

[0034] The user holds a visual probe and touches a plurality of first anatomical landmarks on the patient's lower dentition in sequence, obtains the coordinates of the first anatomical landmarks in the coordinate system of the visual locator and the coordinates of the first anatomical landmarks in the coordinate system of the intraoral scan model of the lower dentition, and aligns the coordinates of the first anatomical landmarks in the coordinate system of the visual locator with the coordinates of the corresponding first anatomical landmarks in the coordinate system of the intraoral scan model of the lower dentition one by one, so as to match the intraoral scan model of the lower dentition to the actual spatial position of the patient's lower dentition;

[0035] Obtaining the position and posture of the patient's lower dentition visual marking device and the upper dentition visual marking device in the coordinate system of the visual locator in the occlusal state, and calculating the relative position and posture relationship between the lower dentition visual marking device and the upper dentition visual marking device; matching the upper dentition intraoral scan model to the actual spatial position of the patient's upper dentition based on the relative position relationship between the external curved surfaces of the upper and lower dentitions in the occlusal state and the relative position and posture relationship between the lower dentition visual marking device and the upper dentition visual marking device;

[0036] Obtain the position and posture of the lower dentition visual marking device and the upper dentition visual marking device in the coordinate system of the visual locator when the patient performs mandibular movement, and update the position and posture of the lower dentition intra-oral scanning model and the upper dentition intra-oral scanning model.

[0037] According to a method for capturing mandibular motion provided by the present invention, before acquiring the relative positional relationship between the external curved surfaces of the upper and lower dentitions in the occlusal state, the method further comprises:

[0038] Bite the patient's upper and lower dentition together and bite down on the impression material;

[0039] Before obtaining the position and posture of the lower dentition visual marking device and the upper dentition visual marking device of the patient in the occlusal state in the coordinate system of the visual locator, the method further includes:

[0040] The solidified impression material is placed between the upper and lower dentitions of the patient so that the upper and lower dentitions of the patient are re-occluded.

[0041] The present invention further provides a mandibular motion simulation method, comprising the mandibular motion capture method as described above, and further comprising:

[0042] Based on the intraoral scanned models of the upper dentition and the lower dentition, make the physical models of the upper dentition and the lower dentition;

[0043] Calculating the relative position and posture of the lower dentition intra-oral scan model relative to the upper dentition intra-oral scan model based on the positions and postures of the lower dentition intra-oral scan model and the upper dentition intra-oral scan model of the patient during the acquisition time period;

[0044] Fixing the upper dentition physical model on the lower side of the maxillary static platform, and fixing the lower dentition physical model on the upper side of the mandibular dynamic platform;

[0045] Based on the relative position and posture of the lower dentition intraoral scanning model with respect to the upper dentition intraoral scanning model, the operation amount of the six-degree-of-freedom drive device installed on the lower side of the mandibular motion platform is controlled to adjust the position and posture of the mandibular motion platform.

[0046] The present invention provides a mandibular motion capture system, capture method, and simulation method, wherein the mandibular motion capture system adheres a first visual marker to the patient's lower dentition through a flexible adhesive sheet, so that the first visual marker can indirectly reflect the spatial position and posture of the patient's lower dentition. Similarly, the second visual marker is attached to the patient's upper dentition or the cranial face statically connected to the upper dentition through a marker support, so that the second visual marker can indirectly reflect the spatial position and posture of the patient's upper dentition. The spatial position and posture of the first and second visual markers are then detected in real time by a visual locator, thereby capturing the relative movement of the patient's upper and lower jaws. At the same time, the system also uses a visual probe to match the intraoral scan models of the upper and lower dentitions in the virtual image with their corresponding actual anatomical positions, so that the relative movement of the upper and lower jaws can be displayed in the form of a virtual image, which is used to guide the user to complete various measurements, analyses, and other subsequent operations. The mandibular motion capture system improves the accuracy of capturing and recording mandibular motion, while improving the convenience of operation and reducing the radiation dose received by the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 Schematic diagram of the structure of the mandibular motion capture system provided by the present invention;

[0049] Figure 2This is a schematic diagram of the installation of the lower dentition visual marking device provided by the present invention;

[0050] Figure 3 This is a schematic diagram of the use of the dental guide plate and the visual probe provided by the present invention;

[0051] Figure 4 Schematic diagram of the structure of the mandibular movement simulation device provided by the present invention;

[0052] Figure 5 This is one of the flow charts of the mandibular motion capture method provided by the present invention;

[0053] Figure 6 Schematic diagram of the steps of matching the intraoral scan model of the lower dentition to the actual spatial position of the patient's lower dentition provided by the present invention;

[0054] Figure 7 This is the second flow chart of the mandibular motion capture method provided by the present invention;

[0055] Figure 8 Schematic diagram of the steps of occluding the upper and lower dentitions of a patient and biting the impression material provided by the present invention;

[0056] Figure 9 1 is a flow chart of the mandibular movement simulation method provided by the present invention;

[0057] Figure 10 It is a schematic diagram of the steps of making a physical model of the lower dentition provided by the present invention.

[0058] Reference numerals:

[0059] 1. Lower dentition visual marking device; 11. First visual marking member;

[0060] 12. Flexible bonding sheet; 121. Opening slot; 13. Connector;

[0061] 14. Dental guide plate; 2. Upper dentition visual marking device;

[0062] 21. Second visual marker; 3. Visual probe;

[0063] 31. Third visual marker; 4. Visual locator; 41. Display screen;

[0064] 51. Maxillary static platform; 52. Mandibular dynamic platform;

[0065] 53. Six-degree-of-freedom drive device;

[0066] 6. Physical model of lower dentition; 7. Physical model of upper dentition;

[0067] 8. Intraoral scan model of lower dentition; 81. First anatomical landmark;

[0068] 9. Intraoral scan model of the upper dentition; 10. Impression material. DETAILED DESCRIPTION

[0069] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0070] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "first", "second", and "third" are used to clearly illustrate the numbering of product components and do not represent any substantial difference. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0071] It should be noted that, unless otherwise specified or limited, the term "connected" should be understood in a broad sense, for example, it can mean directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the invention can be understood by those skilled in the art in specific circumstances.

[0072] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a mandibular motion capture system, comprising a lower dentition visual marking device 1, an upper dentition visual marking device 2, a visual probe 3, and a visual locator 4. The lower dentition visual marking device 1 comprises a flexible adhesive sheet 12 and a first visual marking member 11. One side of the flexible adhesive sheet 12 can be adhered to the outer surface of the patient's lower dentition, and the other side of the flexible adhesive sheet 12 is connected to the first visual marking member 11. The upper dentition visual marking device 2 comprises a marking support and a second visual marking member 21 mounted on the marking support. The marking support can be attached to the patient's upper dentition or a cranial face stationary with the upper dentition. A third visual marking member 31 is mounted at the end of the visual probe 3. The first visual marking member 11, the second visual marking member 21, and the third visual marking member 31 are all located within the image acquisition range of the visual locator 4.

[0073] Specifically, the flexible adhesive sheet 12 of the lower dentition visual marking device 1 can be made of aluminum alloy or other materials with good plastic deformation properties. Before use, the flexible adhesive sheet 12 can be pre-bent according to a prefabricated physical model of the patient's lower dentition, and then the flexible adhesive sheet 12 can be adhered to the outer surface of the teeth of the lower dentition using an adhesive material specifically for oral use. The specific attachment location can be close to the roots of the teeth of the lower dentition to avoid affecting the occlusal relationship of the upper and lower teeth. The first visual marking member 11 is connected to the outer surface of the flexible adhesive sheet 12 and can extend from the patient's oral cavity to facilitate the collection of image signals by the visual locator 4.

[0074] The upper dentition visual marking device 2 is attached to the patient's upper dentition or the cranial face that is statically connected to the upper dentition through a marking support. The marking support can also be attached to the patient's upper dentition using a flexible adhesive sheet 12, or a dentition guide plate can be embedded in the upper dentition. In addition, since the upper dentition is fixedly connected to the human skull, the marking support can also be fixed to the patient's cranial face. For example, the marking support can be a head-mounted device, and the patient only needs to wear the head-mounted device during the test. The overall use is convenient and fast, and can be reused. By collecting image information of the second visual marking member 21 through the visual locator 4, the patient's head movement can be captured, thereby indirectly reflecting the movement of the upper dentition.

[0075] The visual probe 3 is a rod-shaped structure. The middle part of the visual probe 3 is provided with a grip for the user to grasp. The end of the visual probe 3 is installed with a third visual marker 31 to facilitate the collection of image signals by the visual locator 4. The top of the visual probe 3 is provided with a needle tip. The visual probe 3 can be calibrated before use. Then, during actual use, the user moves the visual probe 3 and uses the tip of the probe to contact the preset test point to obtain the spatial position information of the test point in the coordinate system of the visual locator 4. For example, the visual probe 3 can be used to contact the preset marking points on the patient's lower dentition. Since these preset marking points are also located in the same position on the lower dentition intraoral scan model in the virtual image, the actual position of the lower dentition can be aligned with the lower dentition intraoral scan model in the virtual image. Then, the mandibular movement can be displayed in the form of a virtual image to guide the user to complete various measurements, analyses and other subsequent operations.

[0076] The mandibular motion capture system provided in this embodiment adheres the first visual marker 11 to the patient's lower dentition through a flexible adhesive sheet 12, so that the first visual marker 11 can indirectly reflect the spatial position and posture of the patient's lower dentition. Similarly, the second visual marker 21 is attached to the patient's upper dentition or the cranial face statically connected to the upper dentition through a marker support, so that the second visual marker 21 can indirectly reflect the spatial position and posture of the patient's upper dentition. The spatial position and posture of the first visual marker 11 and the second visual marker 21 are then detected in real time by a visual locator 4, thereby capturing the relative movement of the patient's upper and lower jaws. At the same time, the system also uses a visual probe 3 to match the intraoral scan models of the upper and lower dentitions in the virtual image with their corresponding actual anatomical positions, so that the relative movement of the upper and lower jaws can be displayed in the form of a virtual image to guide the user to complete various measurements, analyses, and other subsequent operations. The mandibular motion capture system improves the accuracy of capturing and recording mandibular movement, while improving the convenience of operation and reducing the radiation dose received by the patient.

[0077] Furthermore, if Figure 2 As shown, in this embodiment of the present invention, the flexible adhesive sheet 12 is provided with a plurality of open slots 121 spaced apart along its length. Specifically, the open slots 121 are oblong holes, and oral adhesive material can be applied to the open slots 121 or other suitable locations on the flexible adhesive sheet 12. The provision of the open slots 121 enhances the flexibility of the flexible adhesive sheet 12 and prevents wrinkles when the flexible adhesive sheet 12 is bent and adhered to the patient's lower dentition, which could affect the adhesion.

[0078] Furthermore, if Figure 1 As shown, in an embodiment of the present invention, the marking support is a head-mounted device that can be worn on the patient's craniofacial area. In a specific embodiment, the head-mounted device includes a connected rigid support and a tension adjustment mechanism. The tension adjustment mechanism can fix the rigid support to the patient's forehead, and the second visual marker 21 is fixed to the rigid support. Specifically, the rigid support can be an arc-shaped bar with a certain rigidity, and the arc-shaped bar can fit the patient's forehead. The two ends of the rigid support are connected together by the tension adjustment mechanism to form an annular structure. By adjusting the tension adjustment mechanism, the inner diameter of the annular structure is adjusted, thereby adjusting the tightness between the rigid support and the patient's forehead, making it easier for the patient to put on and take off the head-mounted device. The tension adjustment mechanism can be an elastic strap or a retractable strap with a tension knob or buckle, or two overlapping straps can be used. The two straps are connected at the overlapping portion by a gear rack mechanism or a ratchet pawl mechanism, thereby adjusting the length of the overlapping portion of the two straps to adjust the tightness. In addition, the tension adjustment mechanism may also adopt other structures as long as the tension adjustment can be achieved, and there is no limitation here.

[0079] In another specific embodiment, the head-mounted device may further include a support frame with nose pads, which can be attached to the patient's ears, and the second visual marker 21 is fixedly connected to the support frame. The head-mounted device in this embodiment adopts a structure similar to glasses. When wearing it, the patient places the nose pads on the bridge of the nose and attaches the two ends of the support frame to the ears. In addition, the head-mounted device may also adopt a structure similar to a hat, headband, headphones, etc., which is not limited here.

[0080] Furthermore, if Figure 1 As shown, in an embodiment of the present invention, the first visual marker 11, the second visual marker 21, and the third visual marker 31 each include multiple marking positions, each of which is equipped with a reflective component such as a reflective ball or reflective sheet. At least three of the multiple marking positions are not collinear. By providing at least three non-collinear reflective balls or reflective sheets, the visual locator 4 can detect the spatial position and posture of the first visual marker 11, the second visual marker 21, and the third visual marker 31 in real time, thereby indirectly reflecting the spatial position and posture of the mandible, the maxilla, and the visual probe.

[0081] Furthermore, if Figure 3 As shown, in an embodiment of the present invention, the mandibular motion capture system further includes a dentition guide 14, which can be sleeved on the upper end of the lower dentition and / or the lower end of the upper dentition. The dentition guide 14 is provided with a plurality of positioning grooves adapted to the tip of the visual probe 3. Specifically, the lower dentition is provided with a dentition guide 14 as an example for explanation. The dentition guide 14 can be designed based on the intraoral scanning model of the lower dentition. The inner surface of the dentition guide 14 fits tightly on the lower dentition, and a plurality of positioning grooves are provided at the landmark points to be measured on the dentition guide 14 (such as the tip of the tooth or other points with obvious features). The positioning grooves can be conical grooves that are consistent with the shape of the tip of the visual probe 3, so that the visual probe 3 can accurately contact the landmark points to be measured. The dentition guide 14 can be made by 3D printing. When in use, it is buckled on the upper half of the patient's lower dentition without interfering with the flexible bonding sheet 12. By providing the dentition guide plate 14 , it is possible to avoid registration errors caused by the user's inexperience in accurately touching the preset landmarks to be measured on the patient's teeth.

[0082] Furthermore, if Figure 1 and Figure 2As shown, the lower dentition visual marker device 1 also includes a connector 13. One end of the connector 13 is connected to the flexible adhesive sheet 12, and the other end of the connector 13 extends away from the lower dentition and is connected to the first visual marker 11. Specifically, the end of the connector 13 near the flexible adhesive sheet 12 has a certain curvature to facilitate the connector 13 to extend from the patient's mouth. The connection between the connector 13 and the first visual marker 11 and the flexible adhesive sheet 12 can be achieved by plugging, bonding, or integrated connection.

[0083] Furthermore, if Figure 1 As shown, the visual locator 4 is further connected to a display screen 41. The display screen 41 can display the relative movement of the patient's upper and lower jaws to the user in the form of a virtual image, so as to guide the user to complete various measurements, analyses and other subsequent operations.

[0084] Based on the above embodiments, Figure 4 As shown, the mandibular motion capture system also includes a mandibular motion simulation device, which includes a maxillary static platform 51, a mandibular dynamic platform 52, and a six-degree-of-freedom drive device 53. The maxillary static platform 51 is provided with an upper dentition model mounting position on the side facing the mandibular dynamic platform 52, for mounting the upper dentition physical model 7; the mandibular dynamic platform 52 is provided with a lower dentition model mounting position on the side facing the maxillary static platform 51, for mounting the lower dentition physical model 6. The six-degree-of-freedom drive device 53 is installed on the side of the mandibular dynamic platform 52 facing away from the maxillary static platform 51. The six-degree-of-freedom drive device 53 may include six electric push rods, each of which is provided with a universal hinge at both ends to connect to the mandibular dynamic platform 52 and the base plate. By controlling the telescopic movement of the six electric push rods, the mandibular dynamic platform 52 is able to achieve six degrees of freedom in space, thereby dynamically adjusting the position and posture of the lower dentition model relative to the upper dentition model. By using the stationary upper jaw as a reference and moving the mandibular model to perform physical simulation, a basis can be provided for subsequent diagnosis and research.

[0085] like Figure 5 As shown, the present invention also provides a method for capturing mandibular motion, comprising:

[0086] Step S110: Obtain the patient's upper dentition intra-oral scan model 9 and lower dentition intra-oral scan model 8.

[0087] Specifically, an intraoral scanner is used to scan the patient's upper and lower dentitions respectively, obtaining an intraoral scan model 9 of the patient's upper dentition and an intraoral scan model 8 of the patient's lower dentition. The upper dentition intraoral scan model 9 and the lower dentition intraoral scan model 8 can then be trimmed, such as filling holes, smoothing, and deleting unnecessary triangular faces. An intraoral scanner is an instrument manufactured based on optical principles. It uses a three-dimensional imaging method to collect a three-dimensional data point cloud of the tooth surface at a single location. Then, as the intraoral camera moves, the three-dimensional data collected at different locations is continuously superimposed to form a complete three-dimensional data model. Compared with traditional CBCT, intraoral scanners do not have radiation issues.

[0088] Step S120: Adhere the lower dentition visual marking device 1 to the outer surface of the patient's lower dentition, and attach the upper dentition visual marking device 2 to the patient's upper dentition or the craniofacial portion statically connected to the upper dentition.

[0089] Step S130: align the actual position of the patient's lower dentition with the lower dentition intraoral scan model 8. Figure 1 and Figure 6 As shown, the user holds the visual probe 3 and touches the multiple first anatomical landmark points 81 on the patient's lower dentition in turn, obtains the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator and the coordinates of the first anatomical landmark point 81 in the coordinate system of the lower dentition intraoral scanning model 8, and aligns the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator 4 with the coordinates of the corresponding first anatomical landmark point 81 in the coordinate system of the lower dentition intraoral scanning model 8 one by one to match the lower dentition intraoral scanning model 8 to the actual spatial position of the patient's lower dentition.

[0090] Specifically, the first anatomical landmarks 81 can be points with obvious features such as the tip of a tooth. The coordinates of the first anatomical landmarks 81 directly measured by the visual probe 3 in the coordinate system of the visual locator 4 are expressed as P V1 、P V2 ,…P Vn The coordinates of the corresponding first anatomical landmark 81 in the coordinate system of the lower dentition intraoral scanning model 8 are expressed as P s1 、P s2 ,…P sn .

[0091] Since the position of the patient's mandibular dentition may change during the acquisition process, in order to obtain a fixed relative position relationship, the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator 4 can be converted to the coordinate system of the first anatomical landmark point 81 in the coordinate system of the lower dentition visual marking device 1. The specific steps include:

[0092] When the visual probe 3 touches the first anatomical landmark 81, the position and posture of the lower dentition visual marking device 1 in the coordinate system of the visual locator 4 at the current moment are obtained, and the homogeneous matrix express.

[0093] Since the positional relationship of the first anatomical landmark point 81 relative to the lower dentition visual marking device 1 is fixed, the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator 4 can be converted to the coordinate system of the first anatomical landmark point 81 in the lower dentition visual marking device 1 based on the coordinate conversion relationship. The conversion formula is: The coordinates of the first anatomical landmark 81 in the coordinate system where the lower dentition visual marking device 1 is located are expressed as P M1 、P M2 ,…P Mn .

[0094] like Figure 6 As shown, the first anatomical landmark 81 (coordinates P M1 、P M2 ,…P Mn ) and the first anatomical landmark point 81 (coordinates P) corresponding to the lower dentition intraoral scan model 8 s1 、P s2 ,…P sn ) The one-to-one corresponding points in the two point sets are registered, and the lower dentition intraoral scan model 8 can be matched to the actual spatial position of the patient's lower dentition. Specifically, the singular value decomposition (SVD) method can be used to calculate the optimal transformation of the two one-to-one corresponding point sets to obtain the spatial transformation relationship (including rotation and translation relationship) between the two point sets. That is, the two corresponding point sets can be matched together through rotation and translation.

[0095] Step S140: Align the actual position of the patient's upper dentition with the intraoral scan model 9 of the upper dentition. The user holds the visual probe 3 and sequentially touches multiple second anatomical landmarks on the patient's upper dentition to obtain the coordinates of the second anatomical landmarks in the coordinate system of the visual locator 4 and the coordinates of the second anatomical landmarks in the coordinate system of the intraoral scan model 9 of the upper dentition. The coordinates of the second anatomical landmarks in the coordinate system of the visual locator 4 are aligned one by one with the coordinates of the corresponding second anatomical landmarks in the coordinate system of the intraoral scan model 9 of the upper dentition to match the intraoral scan model 9 of the upper dentition to the actual spatial position of the patient's upper dentition. Step S140 is similar to step S130 and will not be repeated here.

[0096] Step S150: Obtain the position and posture of the lower dentition visual marking device 1 and the upper dentition visual marking device 2 in the coordinate system of the visual locator 4 when the patient performs mandibular movement, and update the position and posture of the lower dentition intra-oral scanning model 8 and the upper dentition intra-oral scanning model 9.

[0097] Specifically, the updating of the position and posture of the lower dentition intraoral scan model 8 is used as an example for explanation. The updating of the position and posture of the upper dentition intraoral scan model 9 is similar and will not be described in detail. The specific steps include:

[0098] Based on the coordinates of the first anatomical landmark 81 in the coordinate system of the visual locator 4 and the position and posture of the lower dentition visual marking device 1 in the coordinate system of the visual locator 4 at the same time, the relative position and posture relationship between the first anatomical landmark 81 and the lower dentition visual marking device 1 is calculated. M1 、P M2 ,…P Mn ) The position and posture relative to the coordinate system of the lower dentition visual marking device 1 is fixed and can be described by the transformation matrix T.

[0099] Based on the relative position and posture relationship T between the first anatomical landmark 81 and the lower dentition visual marking device 1 and the position and posture of the lower dentition visual marking device 1 in the coordinate system of the visual locator 4 when the mandibular movement is performed Update the position of the lower dentition intraoral scan model. The updated position is: T ′ =T M ·T.

[0100] like Figure 7 and Figure 8 As shown, the present invention also provides another method for capturing mandibular motion, comprising:

[0101] Step S210: Obtain the patient's upper dentition intraoral scan model 9, the lower dentition intraoral scan model 8, and the relative positional relationship between the external curved surfaces of the upper and lower dentitions in the occlusal state.

[0102] Specifically, similar to step S110, an intraoral scanning instrument can be used to scan the patient's upper and lower dentitions respectively when the patient opens his mouth, and obtain the patient's upper dentition intraoral scanning model 9 and lower dentition intraoral scanning model 8. The upper dentition intraoral scanning model 9 and the lower dentition intraoral scanning model 8 can then be trimmed, such as filling holes, smoothing, deleting unnecessary triangular surfaces, etc. Then, the patient's upper and lower dentitions are occluded together and bite the impression material 10. The impression material 10 is the material used when taking the oral cavity negative mold. This material is elastic, has good fluidity and plasticity, and has stable physical properties after solidification. After the occlusion is stable (i.e., after the impression material 10 solidifies), the intraoral scanning instrument is used again to scan the curved surface of the middle part of the upper and lower dentitions, and the relative positional relationship between the external curved surfaces of the upper and lower dentitions in the occluded state can be obtained. More specifically, in order to ensure the stability of the occlusal relationship, an impression material 10 can be bitten on each side of the dentition.

[0103] Step S220: Adhere the lower dentition visual marking device 1 to the outer surface of the patient's lower dentition, and attach the upper dentition visual marking device 2 to the patient's upper dentition or the craniofacial portion statically connected to the upper dentition.

[0104] Step S230: The user holds the visual probe 3 and sequentially touches multiple first anatomical landmarks 81 on the patient's lower dentition, obtains the coordinates of the first anatomical landmarks 81 in the coordinate system of the visual locator 4 and the coordinates of the first anatomical landmarks 81 in the coordinate system of the lower dentition intraoral scan model 8, and aligns the coordinates of the first anatomical landmarks 81 in the coordinate system of the visual locator 4 with the coordinates of the corresponding first anatomical landmarks 81 in the coordinate system of the lower dentition intraoral scan model 8, thereby matching the lower dentition intraoral scan model 8 to the actual spatial position of the patient's lower dentition. Step S230 is the same as step S130 and will not be repeated here.

[0105] Step S240: Obtain the position and posture of the lower dentition visual marking device 1 and the upper dentition visual marking device 2 in the coordinate system of the visual locator 4 when the patient is in the occluded state, and calculate the relative position and posture relationship between the lower dentition visual marking device 1 and the upper dentition visual marking device 2; based on the relative position relationship between the external curved surfaces of the upper and lower dentitions in the occluded state and the relative position and posture relationship between the lower dentition visual marking device 1 and the upper dentition visual marking device 2, match the upper dentition intraoral scanning model 9 to the actual spatial position of the patient's upper dentition.

[0106] Specifically, the patient is asked to bite again. In order to ensure that the relative position relationship of the upper and lower teeth is consistent with that recorded in step S210 when the upper and lower teeth are occluded, the solidified impression material 10 can be stuffed on both sides of the teeth to limit the relative movement of the upper and lower teeth to ensure that the two occlusion states are consistent. Then, the position and posture of the lower teeth visual marking device 1 and the upper teeth visual marking device 2 in the occlusion state are obtained by the visual positioning device 4, and the relative position and posture relationship between the lower teeth visual marking device 1 and the upper teeth visual marking device 2 is calculated. Since the lower teeth intraoral scanning model 8 has been matched to the actual spatial position of the patient's lower teeth in step S230, based on the relative position relationship between the external curved surfaces of the upper and lower teeth in the occlusion state and the relative position and posture relationship between the lower teeth visual marking device 1 and the upper teeth visual marking device 2, the upper teeth intraoral scanning model 9 can be matched to the actual spatial position of the patient's upper teeth.

[0107] Step S250: Obtain the position and posture of the lower and upper dentition visual markers 1 and 2 within the coordinate system of the visual locator 4 during mandibular movement, and update the position and posture of the lower and upper dentition intraoral scan models 8 and 9. Step S250 is identical to step S150 and will not be repeated here.

[0108] like Figure 9 and Figure 10 As shown, the present invention also provides a mandibular motion simulation method, including the mandibular motion capture method as described above, and further comprising:

[0109] Step S310: Based on the intraoral scan model of the upper dentition 9 and the intraoral scan model of the lower dentition 8, a physical model of the upper dentition 7 and a physical model of the lower dentition 6 are produced.

[0110] Specifically, if Figure 10 As shown, taking the production of the lower dentition physical model 6 as an example, the boundary of the lower dentition intraoral scan model 8 is projected downward (or in a specified direction) to generate a base including the tooth model (such as Figure 10 Finally, a physical model of the lower dentition was manufactured through 3D printing and other methods 6.

[0111] Step S320: Calculate the relative position and posture of the lower dentition intra-oral scan model 8 relative to the upper dentition intra-oral scan model 9 based on the positions and postures of the lower dentition intra-oral scan model 8 and the upper dentition intra-oral scan model 9 of the patient during the acquisition time period.

[0112] Step S330: Figure 4 As shown, the upper dentition physical model 7 is fixed on the lower side of the maxillary static platform 51, and the lower dentition physical model 6 is fixed on the upper side of the mandibular dynamic platform 52.

[0113] Step S340: Based on the relative position and posture of the lower dentition intraoral scan model 8 relative to the upper dentition intraoral scan model 9, the six-degree-of-freedom drive mechanism 53, mounted on the underside of the mandibular motion platform 52, is controlled to adjust its position and posture. By using the maxillary dentition as a reference (stationary), the mandibular dentition model is moved to simulate the physical condition, providing a foundation for subsequent diagnosis and research.

[0114] Based on the above embodiments, the mandibular motion capture system further includes an electronic device comprising a processor, a communications interface, a memory, and a communications bus. The processor, the communications interface, and the memory communicate with each other via the communications bus. The processor can invoke logic instructions in the memory to execute the steps of the mandibular motion capture method described in any of the above embodiments.

[0115] Specifically, the electronic device communicates data with the intraoral scanning instrument and the visual locator 4 through the communication interface to obtain the patient's upper dentition intraoral scanning model 9 and the lower dentition intraoral scanning model 8; and when the user holds the visual probe 3 and touches the multiple first anatomical landmark points 81 on the patient's lower dentition in turn, the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator and the coordinates of the first anatomical landmark point 81 in the coordinate system of the lower dentition intraoral scanning model 8 are obtained, and the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator 4 and the coordinates of the corresponding first anatomical landmark point 81 in the coordinate system of the lower dentition intraoral scanning model 8 are registered one by one to match the lower dentition intraoral scanning model 8 to the actual spatial position of the patient's lower dentition; and when the user holds the visual probe 3 and touches the multiple first anatomical landmark points 81 on the patient's lower dentition in turn, the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator When the visual probe 3 is held and touched in sequence with multiple second anatomical landmarks on the patient's upper dentition, the coordinates of the second anatomical landmarks in the coordinate system of the visual locator 4 and the coordinates of the second anatomical landmarks in the coordinate system of the upper dentition intraoral scan model 9 are obtained, and the coordinates of the second anatomical landmarks in the coordinate system of the visual locator 4 are aligned one by one with the coordinates of the corresponding second anatomical landmarks in the coordinate system of the upper dentition intraoral scan model 9, so as to match the upper dentition intraoral scan model 9 to the actual spatial position of the patient's upper dentition; then, the position and posture of the lower dentition visual marker device 1 and the upper dentition visual marker device 2 in the coordinate system of the visual locator 4 when the patient performs mandibular movement are obtained, and the position and posture of the lower dentition intraoral scan model 8 and the upper dentition intraoral scan model 9 are updated. The visual locator 4 can display the positions of the lower dentition intraoral scan model 8 and the upper dentition intraoral scan model 9 in real time through the display screen 41 and dynamically update them.

[0116] Alternatively, the electronic device communicates data with the intraoral scanning instrument and the visual locator 4 through the communication interface to obtain the relative position relationship between the patient's upper dentition intraoral scanning model 9, the lower dentition intraoral scanning model 8, and the external curved surfaces of the upper and lower dentitions in the occluded state; and when the user holds the visual probe 3 and touches the multiple first anatomical landmark points 81 on the patient's lower dentition in turn, the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator and the coordinates of the first anatomical landmark point 81 in the coordinate system of the lower dentition intraoral scanning model 8 are obtained, and the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual locator 4 are matched one by one with the coordinates of the corresponding first anatomical landmark point 81 in the coordinate system of the lower dentition intraoral scanning model 8 to match the lower dentition intraoral scanning model 8 to the actual lower dentition of the patient. In terms of spatial position; and when the patient is in the occlusal state, the position and posture of the lower dentition visual marker device 1 and the upper dentition visual marker device 2 in the coordinate system of the visual locator 4 are obtained, and the relative position and posture relationship between the lower dentition visual marker device 1 and the upper dentition visual marker device 2 is calculated. Based on the relative position relationship between the external curved surfaces of the upper and lower dentitions in the occlusal state and the relative position and posture relationship between the lower dentition visual marker device 1 and the upper dentition visual marker device 2, the upper dentition intra-oral scan model 9 is matched to the actual spatial position of the patient's upper dentition; then, the position and posture of the lower dentition visual marker device 1 and the upper dentition visual marker device 2 in the coordinate system of the visual locator 4 are obtained when the patient performs mandibular movement, and the position and posture of the lower dentition intra-oral scan model 8 and the upper dentition intra-oral scan model 9 are updated. The visual locator 4 can display the position of the lower dentition intra-oral scan model 8 and the upper dentition intra-oral scan model 9 in real time through the display screen 41 and dynamically update them.

[0117] Furthermore, the electronic device can also communicate data with the mandibular motion simulation device through the communication interface. The mandibular motion simulation device can calculate the relative position and posture of the lower dentition intra-oral scanning model 8 relative to the upper dentition intra-oral scanning model 9 based on the position and posture of the lower dentition intra-oral scanning model 8 and the upper dentition intra-oral scanning model 9 of the patient during the acquisition time period; and then control the operation amount of the six-degree-of-freedom drive device 53 installed on the lower side of the mandibular motion platform 52 based on the relative position and posture of the lower dentition intra-oral scanning model 8 relative to the upper dentition intra-oral scanning model 9 to adjust the position and posture of the mandibular motion platform 52, and use the maxillary dentition as a reference base (stationary) to move the mandibular dentition model to perform physical simulation.

[0118] It can be seen from the above embodiments that the present invention provides a mandibular motion capture system, capture method and simulation method, wherein the mandibular motion capture system adheres the first visual marker 11 to the patient's lower dentition through a flexible adhesive sheet 12, so that the first visual marker 11 can indirectly reflect the spatial position and posture of the patient's lower dentition. Similarly, the second visual marker 21 is attached to the patient's upper dentition or the cranial face statically connected to the upper dentition through a marker support, so that the second visual marker 21 can indirectly reflect the spatial position and posture of the patient's upper dentition. The spatial position and posture of the first visual marker 11 and the second visual marker 21 are then detected in real time by a visual locator 4, thereby capturing the relative movement of the patient's upper and lower jaws. At the same time, the system also uses a visual probe 3 to match the intraoral scanning models of the upper and lower dentitions in the virtual image with their corresponding actual anatomical positions, so that the relative movement of the upper and lower jaws can be displayed in the form of a virtual image, which is used to guide the user to complete various measurements, analyses and other subsequent operations. The mandibular motion capture system improves the accuracy of capturing and recording mandibular motion, while also enhancing the ease of operation and reducing the radiation dose received by patients. It can also simulate the relative movement of the upper and lower jaws in real-life dynamics.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A mandibular motion capture system, characterized in that: The device comprises a visual marking device for the lower dentition, a visual marking device for the upper dentition, a visual probe and a visual locator, wherein the visual marking device for the lower dentition comprises a flexible adhesive sheet and a first visual marking member, one side of the flexible adhesive sheet can be adhered to the outer surface of the patient's lower dentition, and the other side of the flexible adhesive sheet is connected to the first visual marking member, and the flexible adhesive sheet is provided with a plurality of open slots at intervals in the length direction; the visual marking device for the upper dentition comprises a marking support member and a second visual marking member mounted on the marking support member, the marking support member can be attached to the patient's upper dentition or a cranial face stationary connected to the upper dentition; a third visual marking member is mounted on the end of the visual probe, and the first visual marking member, the second visual marking member and the third visual marking member are all located within the image acquisition range of the visual locator; The device further comprises a dentition guide plate, which can be sleeved on the upper end of the lower dentition and / or the lower end of the upper dentition; the dentition guide plate is provided with a plurality of positioning grooves adapted to the tip of the visual probe; The method for capturing jaw movement using this system includes the following steps: Obtaining an intraoral scan model of the patient's upper dentition, an intraoral scan model of the patient's lower dentition, and a relative positional relationship between the external curved surfaces of the upper and lower dentitions in an occlusal state; Adhere a lower dentition visual marker device to the outer surface of the patient's lower dentition, and attach an upper dentition visual marker device to the patient's upper dentition or a craniofacial portion stationary connected to the upper dentition; The user holds a visual probe and touches a plurality of first anatomical landmarks on the patient's lower dentition in sequence, obtains the coordinates of the first anatomical landmarks in the coordinate system of the visual locator and the coordinates of the first anatomical landmarks in the coordinate system of the intraoral scan model of the lower dentition, and aligns the coordinates of the first anatomical landmarks in the coordinate system of the visual locator with the coordinates of the corresponding first anatomical landmarks in the coordinate system of the intraoral scan model of the lower dentition one by one, so as to match the intraoral scan model of the lower dentition to the actual spatial position of the patient's lower dentition; Obtaining the position and posture of the patient's lower dentition visual marking device and the upper dentition visual marking device in the coordinate system of the visual locator in the occlusal state, and calculating the relative position and posture relationship between the lower dentition visual marking device and the upper dentition visual marking device; matching the upper dentition intraoral scan model to the actual spatial position of the patient's upper dentition based on the relative position relationship between the external curved surfaces of the upper and lower dentitions in the occlusal state and the relative position and posture relationship between the lower dentition visual marking device and the upper dentition visual marking device; Obtaining the position and posture of the lower dentition visual marking device and the upper dentition visual marking device in the coordinate system of the visual locator when the patient performs mandibular movement, and updating the position and posture of the lower dentition intraoral scanning model and the upper dentition intraoral scanning model; Wherein, before obtaining the relative positional relationship between the outer curved surfaces of the upper dentition and the lower dentition in the occlusal state, the method further includes: Bite the patient's upper and lower dentition together and bite down on the impression material; Before obtaining the position and posture of the lower dentition visual marking device and the upper dentition visual marking device of the patient in the occlusal state in the coordinate system of the visual locator, the method further includes: placing the solidified impression material between the upper and lower dentitions of the patient to reocclude the upper and lower dentitions of the patient; The mandibular motion capture system also includes a mandibular motion simulation device, which includes a maxillary static platform, a mandibular dynamic platform and a six-degree-of-freedom drive device. The maxillary static platform is provided with an upper dentition model mounting position on the side facing the mandibular dynamic platform, and the mandibular dynamic platform is provided with a lower dentition model mounting position on the side facing the maxillary static platform; the six-degree-of-freedom drive device is installed on the side of the mandibular dynamic platform away from the maxillary static platform.

2. The mandibular motion capture system according to claim 1, characterized in that: The marking support is a head-mounted device, which can be worn on the patient's craniofacial area.

3. The mandibular motion capture system according to claim 2, characterized in that: The head-mounted device includes a connected rigid support and a tightness adjustment mechanism, wherein the tightness adjustment mechanism can fix the rigid support to the forehead of the patient, and the second visual marker is fixed to the rigid support.

4. The mandibular motion capture system according to claim 2, wherein: The head-mounted device includes a support frame provided with a nose pad, the support frame can be hung on the patient's ear, and the second visual marker is fixed to the support frame.

5. The mandibular motion capture system according to claim 1, wherein: The method for capturing jaw movement using the system further includes: Based on the intraoral scanned models of the upper dentition and the lower dentition, make the physical models of the upper dentition and the lower dentition; Calculating the relative position and posture of the lower dentition intra-oral scan model relative to the upper dentition intra-oral scan model based on the positions and postures of the lower dentition intra-oral scan model and the upper dentition intra-oral scan model of the patient during the acquisition time period; Fixing the upper dentition physical model on the lower side of the maxillary static platform, and fixing the lower dentition physical model on the upper side of the mandibular dynamic platform; Based on the relative position and posture of the lower dentition intraoral scanning model with respect to the upper dentition intraoral scanning model, the operation amount of the six-degree-of-freedom drive device installed on the lower side of the mandibular motion platform is controlled to adjust the position and posture of the mandibular motion platform.

Images