An artificial tooth arrangement method, device, system and readable storage medium

Abstract

The present application provides an artificial tooth arrangement method, device, system and readable storage medium. The artificial tooth arrangement method includes the following steps: determining a reference projection plane based on an initial dentition model; determining at least one tooth set based on the initial dentition model, where each tooth set includes a plurality of three-dimensional tooth models that are adjacent in sequence and in an initial pose; determining an initial dental arch broken line corresponding to each tooth set on the reference projection plane; adjusting the initial dental arch broken line corresponding to each tooth set to a target dental arch broken line; determining a target dentition model according to the target dental arch broken line corresponding to each tooth set, and each three-dimensional tooth model in the target dentition model is in a target pose. The artificial tooth arrangement method, device, system and readable storage medium provided by the present application improve the defects of the prior art in arranging teeth using a dental arch curve, and greatly improve the efficiency and accuracy of tooth arrangement.

Description

Technical Field

[0001] The present application belongs to the technical field of oral orthodontics, and specifically, relates to a teeth arrangement method, device, system and readable storage medium. Background Art

[0002] Tooth simulation arrangement is an important part of orthodontic technology. The traditional method of artificial tooth arrangement is to arrange teeth on a plaster model, physically cut each tooth, move the teeth to the ideal position, and conduct diagnostic tests to finally obtain the target position of the dentition.

[0003] In recent years, computer technology has been widely used in the field of orthodontics, especially virtual tooth correction simulation technology, which plays an increasingly important role. The use of computer-assisted virtual tooth arrangement is an important part of virtual tooth correction simulation technology. It uses computer technology to move teeth to the ideal position and posture on virtual three-dimensional software based on the principle of spatial position transformation of rigid bodies.

[0004] In the existing computer virtual tooth arrangement, the fixed coordinate system of each tooth must be established first, and then the teeth are moved one by one to the ideal position and posture in the three-dimensional virtual space to obtain the target tooth row, and the moving unit is a single tooth. Due to the ideal tooth arrangement state, it is necessary to ensure that the teeth are closely connected or have a suitable gap, the occlusal relationship between the upper and lower teeth is consistent, and the left and right symmetry are required. Therefore, there is a close connection between the teeth, and a single move affects the whole body. Often, after fine-tuning the position of a tooth, most of the other teeth need to be adjusted accordingly. This situation brings a huge workload to the tooth arrangement work, prolongs the tooth arrangement cycle, and also leads to a decrease in the quality of tooth arrangement. Summary of the invention

[0005] The purpose of the present application is to solve the problems existing in the above-mentioned existing computer virtual tooth arrangement methods, and to provide a convenient, fast and high-quality tooth arrangement method, device, system and readable storage medium.

[0006] One aspect of an embodiment of the present application provides a method for arranging teeth, comprising the following steps:

[0007] S100: determining a reference projection plane based on the initial dental arch model;

[0008] S200: determining at least one tooth set based on the initial dentition model, wherein each tooth set includes a plurality of three-dimensional tooth models that are adjacent in sequence and in initial positions;

[0009] S300: Determine an initial dental arch fold line corresponding to each tooth set on the reference projection plane, wherein the initial dental arch fold line includes a projection line segment corresponding to each three-dimensional model of teeth in the tooth set in an initial position;

[0010] S400: Adjust the initial dental arch polyline corresponding to each tooth set to the target dental arch polyline;

[0011] S500: Determine a target dental arch model according to the target dental arch polyline corresponding to each tooth set, and each three-dimensional tooth model in the target dental arch model is in a target pose.

[0012] In some embodiments of the present application, the step S100 further includes the following steps:

[0013] S110: Construct an initial jaw coordinate based on the initial dental arch model;

[0014] S120: Determine a target jaw coordinate based on the initial jaw coordinate;

[0015] S130: Obtain a plane corresponding to the occlusal surface based on the target jaw coordinate;

[0016] S140: Obtain a reference projection plane based on the plane corresponding to the occlusal surface.

[0017] Furthermore, the X-axis direction of the initial jaw coordinate is determined with reference to the midpoint position of the mesial incisal angles of two central incisor three-dimensional models; the XY plane of the initial jaw coordinate is fitted based on the cusp points and incisal ridges of multiple three-dimensional tooth models, or the XY plane of the initial jaw coordinate is fitted based on the gingival margins of multiple three-dimensional tooth models.

[0018] Preferably, the reference projection plane is determined by translating the plane corresponding to the occlusal surface towards the cusp direction to a position beyond all three-dimensional tooth models.

[0019] Preferably, in some embodiments of the present application, the initial dental arch polyline further includes at least one auxiliary line segment, and the auxiliary line segment is used to connect the endpoints of adjacent projection line segments.

[0020] In some embodiments of the present application, the step S300 specifically includes the following steps:

[0021] S310: Determine the crown bounding cuboid of each three-dimensional tooth model in the initial pose included in the tooth set, and the crown bounding cuboid is determined based on the fixed coordinate system of each three-dimensional tooth model;

[0022] S320: Determine the mesiodistal feature line of each three-dimensional tooth model in the initial pose according to the crown bounding cuboid;

[0023] S330: Project the mesiodistal feature line onto the reference projection plane to obtain an initial dental arch polyline composed of projection line segments of each three-dimensional tooth model in the initial pose.

[0024] Furthermore, the x-axis of the fixedly attached coordinate system extends along the mesiodistal direction of the tooth; the z-axis of the fixedly attached coordinate system extends along the long axis direction of the tooth.

[0025] Optionally, the mesiodistal feature line is composed of the center line on the occlusal surface of the crown-containing cuboid of the tooth or the projection line of the x-axis of the fixedly attached coordinate system of the three-dimensional tooth model on the occlusal surface of the crown-containing cuboid of the tooth.

[0026] Optionally, the mesiodistal feature line is fitted by a specific shape on the occlusal surface of the crown of the three-dimensional tooth model, and the specific shape includes at least one of the incisal ridge, cusp, cusp ridge, and occlusal groove of the tooth.

[0027] In some embodiments of the present application, the initial arch broken line corresponding to each tooth set is adjusted to the target arch broken line described in step S400 by manual adjustment or automatic adjustment according to the linkage rule algorithm.

[0028] Furthermore, the linkage rule algorithm includes a limited range algorithm and a linkage law algorithm.

[0029] In the above embodiments, the limited range algorithm includes the setting of the angular size range of a single position in the target arch broken line and the setting of the size relationship of the angular sizes at different positions.

[0030] Preferably, the setting of the size relationship of the angular sizes at different positions includes the setting of equality of the angles at symmetric positions.

[0031] In the above embodiments, the linkage law algorithm includes the setting of the change ratio of the size relationship of the angular sizes at different positions in the target arch broken line and the setting of the range of the change ratio of the size relationship of the angular sizes at different positions.

[0032] In the above embodiments, the initial arch broken line further includes at least one auxiliary line segment, and the auxiliary line segment is used to connect the endpoints of adjacent projection line segments; the linkage rule algorithm further includes the limitation of the length of the auxiliary line segment when adjusting the initial arch broken line to the target arch broken line.

[0033] In some embodiments of the present application, step S500 further includes the following steps:

[0034] S510: Based on the target arch broken line corresponding to each tooth set, adjust each three-dimensional tooth model in the tooth set in the initial pose to the target pose;

[0035] S520: Adjust the relative pose of the tooth set and other three-dimensional tooth models to obtain a target dentition model, where the other three-dimensional tooth models are three-dimensional tooth models that do not belong to any tooth set.

[0036] In some embodiments of the present application, it further includes steps of displaying on a display terminal and performing interactive operations on an initial dentition model, a reference projection plane, a set of teeth, an initial dental arch polyline, a target dental arch polyline, and a target dentition model.

[0037] Another aspect of the embodiments of the present application provides an orthodontic device, including:

[0038] A projection plane determination unit for determining a reference projection plane based on the initial dentition model;

[0039] A set of teeth determination unit for determining at least one set of teeth based on the initial dentition model, where each set of teeth includes a plurality of three-dimensional tooth models that are adjacent in sequence and in an initial pose;

[0040] An initial dental arch polyline determination unit for determining the initial dental arch polyline corresponding to each set of teeth on the reference projection plane, the initial dental arch polyline including projection line segments corresponding to each three-dimensional tooth model in the set of teeth in an initial pose;

[0041] A target dental arch polyline determination unit for adjusting the initial dental arch polyline corresponding to each set of teeth to a target dental arch polyline;

[0042] A target dentition model determination unit for determining a target dentition model according to the target dental arch polyline corresponding to each set of teeth, and each three-dimensional tooth model in the target dentition model is in a target pose.

[0043] Further, the projection plane determination unit includes:

[0044] An initial jaw coordinate determination module for constructing an initial jaw coordinate based on the initial dentition model;

[0045] A target jaw coordinate determination module for determining a target jaw coordinate based on the initial jaw coordinate;

[0046] A first plane determination module for obtaining a plane corresponding to the occlusal surface based on the target jaw coordinate;

[0047] A second plane determination module for obtaining a reference projection plane based on the plane corresponding to the occlusal surface.

[0048] Further, the X-axis direction of the initial jaw coordinate is determined with reference to the midpoint position of the mesial incisal angles of two central incisor three-dimensional models;

[0049] The XY plane of the initial jaw coordinate is fitted based on the cusp points and incisal ridges of multiple three-dimensional tooth models, or the XY plane of the initial jaw coordinate is fitted based on the gingival margins of multiple three-dimensional tooth models.

[0050] Preferably, the reference projection plane is determined by translating the plane corresponding to the occlusal surface towards the cusp direction to a position beyond all the three-dimensional tooth models.

[0051] Preferably, the initial dental arch polyline further includes at least one auxiliary line segment for connecting the endpoints of adjacent projection line segments.

[0052] Furthermore, the initial dental arch polyline determination unit includes:

[0053] A crown enclosing cuboid determination module for determining the crown enclosing cuboid of each three-dimensional tooth model in the initial pose included in the tooth set, where the crown enclosing cuboid is determined based on the fixed coordinate system of each three-dimensional tooth model;

[0054] A mesiodistal feature line determination module for determining the mesiodistal feature line of each three-dimensional tooth model in the initial pose according to the crown enclosing cuboid;

[0055] A projection module for projecting the mesiodistal feature line onto the reference projection plane to obtain an initial dental arch polyline composed of projection line segments of each three-dimensional tooth model in the initial pose.

[0056] Furthermore, the x-axis of the fixed coordinate system extends along the mesiodistal direction of the tooth; the z-axis of the fixed coordinate system extends along the long axis direction of the tooth body.

[0057] Optionally, the mesiodistal feature line is composed of the center line on the occlusal surface of the crown enclosing cuboid or the projection line of the x-axis of the fixed coordinate system of the three-dimensional tooth model on the occlusal surface of the crown enclosing cuboid.

[0058] Optionally, the mesiodistal feature line is fitted from a specific shape on the crown occlusal surface of the three-dimensional tooth model, and the specific shape includes at least one of the incisal ridge, cusp, cusp ridge, and occlusal groove of the tooth.

[0059] Furthermore, the target dental arch polyline determination unit adjusts the initial dental arch polyline corresponding to each tooth set to the target dental arch polyline by manual adjustment or automatic adjustment according to the linkage rule algorithm.

[0060] Furthermore, the linkage rule algorithm includes a limit range algorithm and a linkage law algorithm.

[0061] Furthermore, the limit range algorithm includes the setting of the angle size range of a single position in the target dental arch polyline and the setting of the size relationship of the angle sizes at different positions.

[0062] Preferably, the setting of the size relationship of the angle sizes at different positions includes the setting of the equality of the angles at symmetric positions.

[0063] Further, the linkage law algorithm includes setting a change ratio of the magnitude relationship of the angular magnitudes at different positions in the target dental arch broken line and setting a range of the change ratio of the magnitude relationship of the angular magnitudes at different positions.

[0064] Preferably, the linkage rule algorithm further includes restricting the length of the auxiliary line segment when adjusting the initial dental arch broken line to the target dental arch broken line.

[0065] Further, the target dental arch model determination unit includes:

[0066] An in-set tooth arrangement module, configured to adjust the three-dimensional model of each tooth in the initial pose in the tooth set to the target pose based on the target dental arch broken line corresponding to each tooth set;

[0067] An overall tooth arrangement module, configured to adjust the relative poses of the tooth set and the three-dimensional models of other teeth to obtain a target dental arch model, where the three-dimensional models of other teeth are the three-dimensional models of teeth that do not belong to any tooth set.

[0068] Further, the tooth arrangement device further includes a display terminal, configured to display and perform interactive operations on the initial dental arch model, the reference projection plane, the tooth set, the initial dental arch broken line, the target dental arch broken line, and the target dental arch model.

[0069] Another aspect of the embodiments of the present application provides a tooth arrangement system, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, the steps in the foregoing tooth arrangement method are implemented.

[0070] Another aspect of the embodiments of the present application provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the foregoing tooth arrangement method are implemented.

[0071] The technical solutions provided by the embodiments of the present application at least have the following beneficial effects:

[0072] (1) In the tooth arrangement method provided by the present application, multiple teeth that need to be adjusted more frequently or may have a greater impact on surrounding teeth during the entire tooth arrangement process are first adjusted within the tooth set in the form of a tooth set. After adjusting multiple teeth within the set from the initial state to the target state, overall translation, rotation, etc. are performed to adjust the relative positions with other teeth, thereby greatly reducing the situation of "affecting the whole by pulling one hair" that is likely to occur in the method of adjusting teeth one by one, effectively reducing the workload of the tooth arrangement operation, and improving the tooth arrangement efficiency;

[0073] (2) The tooth arrangement method provided by this application improves the prior art method of using a smooth dental arch curve as a reference for tooth arrangement. It generates a dental arch polyline based on the inherent structural characteristics of each tooth. After adjusting the dental arch polyline to the target state, it can provide accurate positioning references for each corresponding tooth, avoiding the large number of fine adjustments of teeth along the dental arch curve in the prior art, thus greatly improving the efficiency of tooth arrangement. Description of the Drawings

[0074] Figure 1 It is a tooth numbering diagram of a specific dentition in the permanent tooth stage;

[0075] Figure 2 It is a schematic diagram of a dentition to be corrected according to the prior art;

[0076] Figure 3 It is a flowchart of a tooth arrangement method according to an embodiment of this application;

[0077] Figure 4A It is a schematic diagram of a specific initial dentition model according to an embodiment of this application;

[0078] Figure 4B Based on Figure 4A Schematic diagram of the initial jaw coordinates constructed from the initial dentition model;

[0079] Figure 4C It is a schematic diagram of the target jaw coordinates and the reference projection plane according to an embodiment of this application;

[0080] Figure 5A It is a schematic diagram of the fixed connection coordinate system according to an embodiment of this application;

[0081] Figure 5B According to Figure 5A Schematic diagram of the tooth crown enclosing cuboid generated by the fixed connection coordinate system shown;

[0082] Figure 6A It is a mesial or distal view of the three-dimensional tooth model according to an embodiment of this application;

[0083] Figure 6B It is a view of the three-dimensional tooth model according to an embodiment of this application observed along the z-axis perpendicular to the fixed connection coordinate system;

[0084] Figure 7A It is a schematic diagram of the initial dental arch polyline according to an embodiment of this application;

[0085] Figure 7B It is a schematic diagram of the initial dental arch polyline according to an embodiment of this application;

[0086] Figure 8Schematic diagram of automatically adjusting the target dental arch fold line according to the defined range algorithm according to an embodiment of the present application;

[0087] Figure 9A Comparison between the initial dental arch fold line and the target dental arch fold line according to an embodiment of the present application;

[0088] Figure 9B Comparison between the initial dental arch fold line and the target dental arch fold line according to an embodiment of the present application;

[0089] Figure 10 Situation of the set of teeth with adjustment completed according to an embodiment of the present application;

[0090] Figure 11 Schematic diagram of the target dentition model obtained according to an embodiment of the present application;

[0091] Figure 12 System block diagram of an orthodontic device according to an embodiment of the present application. Detailed implementation manners

[0092] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings. The schematic embodiments mentioned in the specification and drawings are only for illustrative purposes and are not intended to limit the protection scope of the present application. Those skilled in the art can understand that many other embodiments can also be adopted, and various changes can be made to the described embodiments without departing from the gist and protection scope of the present application. It should be understood that the various aspects of the present application described and illustrated herein can be arranged, replaced, combined, separated, and designed in many different configurations, and these different configurations are all included in the present application.

[0093] In addition, for the convenience of understanding, various components in the drawings are enlarged or reduced, but this is not intended to limit the protection scope of the present application. In the description of the embodiments of the present application, if terms such as "upper", "lower", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the products in the embodiments of the present application are usually placed during use, it is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present application.

[0094] In addition, for flowcharts, functional descriptions, and method claims, the order of the boxes given here should not be limited to the order in which various embodiments perform the functions, unless clearly indicated in the context.

[0095] Figure 1 Tooth numbering diagram of a specific dentition in the permanent dentition stage, such as Figure 1The dentition shown includes 16 teeth in the upper jaw and 16 teeth in the lower jaw. Figure 1 The dentition shown can represent either a real dentition or a dentition model for virtual tooth arrangement composed of three-dimensional tooth models.

[0096] To better illustrate the embodiments of the present application, first, a brief description of the existing process of virtual tooth arrangement using computer technology is given.

[0097] Generally speaking, for a dentition in a state to be corrected, first, a corresponding digital dentition model is obtained through, for example, digital scanning and / or three-dimensional modeling methods, and can be further segmented into individual three-dimensional tooth models. The pose of each three-dimensional tooth model reflects the pose of the real tooth. During the process of virtual tooth arrangement, by adjusting the poses of the above individual three-dimensional tooth models and their relative positions to each other, the dentition model can be adjusted from the state to be corrected to the ideal state, and a series of dentition models in intermediate correction states experienced during the above adjustment process are obtained. Using the above series of dentition models in intermediate correction states and the dentition model in the ideal state, tooth correction appliances corresponding to the above series of intermediate correction states and the final ideal state can be fabricated.

[0098] In a specific process of virtual tooth arrangement, to better align the teeth, tooth arrangement can be referred to the ideal dental arch curve. Figure 2 A schematic diagram of a dentition to be corrected is shown. To obtain the ideal dental arch curve, first, a dental arch curve of the dentition to be corrected can be generated by fitting based on the FA points of each tooth (the FA point is the midpoint of the FACC curve on the clinical crown surface connecting the occlusal margin to the gingival margin), and then it is manually or automatically adjusted according to the clinical treatment plan or treatment goal. By adjusting the dental arch form and / or the length of the dental arch, the ideal dental arch curve as shown in Figure 2 is obtained ( Figure 2 is a picture cited from the prior art and is only used for schematically illustrating a specific virtual tooth arrangement method based on the prior art).

[0099] After obtaining the ideal dental arch curve, it can be used as a reference to align the teeth, thereby obtaining a dentition in the ideal state. For example, each tooth in the state to be corrected can be moved and rotated one by one so that the FA points of all teeth are located on the ideal dental arch curve; or the cusp points corresponding to all teeth can be moved and aligned with reference to the ideal dental arch curve; or other alignment rules can be defined to align all teeth with reference to the ideal dental arch curve. The above method of tooth arrangement using the ideal dental arch curve is already known to those skilled in the art.

[0100] However, the existing technical solutions for the above virtual tooth arrangement generally have the following defects:

[0101] (1) The ideal dental arch curve is a smooth curve obtained by fitting, while each tooth in the dentition is discrete. In particular, it is difficult to find structural features on the teeth that match parameters such as the curvature of the dental arch curve. Usually, only after being constrained by rules such as "setting the FA point of each tooth on the ideal dental arch curve", can further pose adjustments be made. And during the process of aligning teeth with reference to the dental arch curve, the specific position of each tooth on the dental arch curve is difficult to directly determine. In most cases, it requires the operator to continuously and repeatedly adjust along the dental arch curve according to experience.

[0102] (2) In the process of adjusting the dentition from the to - be - corrected state to the ideal state, multiple factors need to be taken into consideration. For example, the dentition in the ideal arrangement state should ensure requirements such as tight connection between teeth or having appropriate gaps, proper occlusion relationship between the upper and lower teeth, and left - right symmetry. This makes each tooth interlocked during the entire tooth - arranging process, and their positions and postures are in a dynamically linked process. However, the existing tooth - aligning method of moving and rotating each tooth one by one often requires corresponding adjustments to most of the remaining teeth after adjusting one tooth as needed. This situation may occur multiple times during the entire tooth - arranging process, which brings a huge workload to the tooth - arranging work, prolongs the tooth - arranging cycle, and also leads to a decline in the quality of tooth - arranging.

[0103] To solve the above problems existing in the prior art, one aspect of the present application provides a tooth - arranging method. Figure 3 The flowchart of a tooth - arranging method according to an embodiment of the present application is shown, which specifically includes the following steps:

[0104] S100: Determine a reference projection plane based on the initial dentition model;

[0105] S200: Determine at least one tooth set based on the initial dentition model, where each tooth set contains multiple three - dimensional tooth models that are adjacent in sequence and in the initial pose;

[0106] S300: Determine the initial dental arch broken line corresponding to each tooth set on the reference projection plane, where the initial dental arch broken line includes projection line segments corresponding to each three - dimensional tooth model in the tooth set in the initial pose;

[0107] S400: Adjust the initial dental arch broken line corresponding to each tooth set to the target dental arch broken line;

[0108] S500: Determine the target dentition model according to the target dental arch broken line corresponding to each tooth set, where each three - dimensional tooth model in the target dentition model is in the target pose.

[0109] In some embodiments of the present application, the above tooth arrangement method further includes steps of displaying on a display terminal and performing interactive operations on an initial dentition model, a reference projection plane, a set of teeth, an initial dental arch broken line, a target dental arch broken line, and a target dentition model. Specifically, the display terminal may be a display component of devices such as a desktop computer, a laptop computer, or a tablet computer.

[0110] For the tooth arrangement method provided by the present application, multiple teeth that need to be adjusted more frequently or may have a greater impact on surrounding teeth during the entire tooth arrangement process are first adjusted within the set of teeth in the form of a set of teeth. After adjusting the multiple teeth within the set from the initial state to the target state, overall translation, rotation, etc. operations are performed to adjust the relative positions with other teeth, thereby greatly reducing the situation of "affecting the whole by moving one hair" that is likely to occur in the method of adjusting teeth one by one, effectively reducing the workload of the tooth arrangement operation, and improving the tooth arrangement efficiency.

[0111] In addition, for the tooth arrangement method provided by the present application, it improves the way of using a smooth dental arch curve as a reference for tooth arrangement in the prior art. Based on the inherent structural characteristics of each tooth, a dental arch broken line is generated. After adjusting the dental arch broken line to the target state, it can provide a relatively accurate positioning reference for each corresponding tooth, avoiding a large number of fine adjustments of teeth along the dental arch curve in the prior art, thereby greatly improving the tooth arrangement efficiency.

[0112] It should be noted that the tooth arrangement method provided by the present application is not limited to adjusting the dentition model from the to-be-corrected state to the ideal state: in some embodiments of the present application, the initial dentition model may be a dentition model in the to-be-corrected state, that is, a dentition model corresponding to the dentition that has not entered the correction stage; in some other embodiments of the present application, the initial dentition model may also be a dentition model corresponding to the dentition at an intermediate stage of correction; in some other embodiments of the present application, the target dentition model may be a dentition model corresponding to the dentition at an intermediate stage of correction; in some other embodiments of the present application, the target dentition model may also be a dentition model in the ideal state, that is, a dentition model corresponding to the ideal dentition expected to be achieved after the correction is completed.

[0113] The following will specifically describe steps S100 to S500 of a tooth arrangement method provided by the present application in detail in conjunction with the accompanying drawings and specific implementation manners.

[0114] Step S100 is used to generate a reference projection plane according to the initial dentition model.

[0115] Among them, the initial dentition model is composed of multiple three-dimensional tooth models in the initial pose. The initial dentition model can be obtained by various methods. For example, a three-dimensional model including teeth and surrounding tissues can be obtained through optical scanning, X-ray / ultrasound imaging, CT scanning, magnetic resonance imaging, etc., and further, the three-dimensional tooth models corresponding to each tooth can be obtained by manual separation, computer automatic separation, or a combination of both.

[0116] The initial dentition model can be composed of the three-dimensional tooth models corresponding to multiple or all teeth in the upper jaw, or can be composed of the three-dimensional tooth models corresponding to multiple or all teeth in the lower jaw, or can also be composed of the three-dimensional tooth models corresponding to multiple or all teeth in the upper and lower jaws including the occlusion relationship.

[0117] In some embodiments of the present application, step S100 includes the following steps:

[0118] S110: Construct an initial jaw coordinate based on the initial dentition model;

[0119] S120: Determine the target jaw coordinate based on the initial jaw coordinate;

[0120] S130: Obtain a plane corresponding to the occlusal surface based on the target jaw coordinate;

[0121] S140: Obtain a reference projection plane based on the plane corresponding to the occlusal surface.

[0122] Figure 4A A specific initial dentition model 100 according to an embodiment of the present application is shown. In step S110, first, an initial jaw coordinate is constructed based on the initial dentition model 100. Since the initial jaw coordinate needs to correspond to the upper jaw or the lower jaw respectively, it can be easily known that according to the situation of the three-dimensional tooth models included in the initial dentition model (only including the three-dimensional tooth models of the upper jaw, only including the three-dimensional tooth models of the lower jaw, or including the three-dimensional tooth models of both the upper and lower jaws), the number of initial jaw coordinates can be 1 or 2.

[0123] Specifically, in some alternative embodiments of the present application, the initial jaw coordinate can be constructed in the following manner: First, determine the X-axis direction by referring to the midpoint position of the mesial incisal angles of two central incisor three-dimensional models, and then generate the XY plane of the initial jaw coordinate by fitting the cusp points and incisal ridges of multiple three-dimensional tooth models; in some other alternative embodiments of the present application, the XY plane of the initial jaw coordinate can also be generated by fitting the gingival margin lines of multiple three-dimensional tooth models. Figure 4B Shows based on Figure 4A The schematic diagram of the initial jaw coordinate constructed from the initial dentition model.

[0124] The initial jaw coordinates characterize the overall state of the dental arch formed by each tooth in the initial pose state. After obtaining the initial jaw coordinates, it is necessary to further adjust the initial jaw coordinates to target jaw coordinates for adjusting the dental arch model to the target state. Adjusting the initial jaw coordinates to the target jaw coordinates is generally performed by an operator according to the doctor's prescription or according to experience in accordance with the expected orthodontic goals. And in most cases, there is only a slight angular difference between the target jaw coordinates and the initial jaw coordinates. Similarly, it is easy to know that according to the situation of the three-dimensional tooth models included in the initial dental arch model, the number of target jaw coordinates can be 1 or 2. Figure 4C Shows target jaw coordinates adjusted from the initial jaw coordinates generated based on the gingival margin line according to an embodiment of the present application.

[0125] Figure 4C Also shows the plane corresponding to the occlusal surface determined based on the target jaw coordinates in the figure. In this embodiment, the plane corresponding to the occlusal surface is the XY plane of the target jaw coordinates. Further, this plane can be determined as the reference projection plane.

[0126] In some preferred embodiments of the present application, in order to unobstructedly display the dental arch broken line projected onto the reference projection plane for subsequent operations, the reference projection plane can be translated along the Z axis of the target jaw coordinates to avoid occlusion of the reference projection plane by the three-dimensional tooth models. Specifically, as Figure 4C shown, the plane can be translated along the Z axis of the target jaw coordinates towards the cusp tip direction to a position beyond all the three-dimensional tooth models to obtain a new reference projection plane.

[0127] Same as the initial jaw coordinates and target jaw coordinates corresponding to the upper jaw and the lower jaw respectively, the number of reference projection planes can be 1 or 2, corresponding to the upper jaw and / or the lower jaw respectively.

[0128] Step S200 is a step of determining the tooth set for overall alignment according to the initial pose conditions of the three-dimensional tooth models of each tooth in the initial dental arch model. The number of tooth sets can be 1 or multiple, and each tooth set includes multiple three-dimensional tooth models that are adjacent in sequence and in the initial pose.

[0129] The tooth set can be determined through comprehensive evaluation according to the initial pose of each three-dimensional tooth model, the expected movement during tooth arrangement, the impact on the alignment of the entire dental arch, and other considerations. For example, in some specific embodiments of the present application, six three-dimensional tooth models of teeth 11, 21, 12, 22, 13, and 23 in the upper jaw can be determined as the tooth set; in some other specific embodiments of the present application, four three-dimensional tooth models of teeth 31, 41, 32, and 42 in the lower jaw can also be determined as the tooth set; in still some other specific embodiments of the present application, the initial dental arch model includes three-dimensional tooth models of both the upper and lower jaws, and the tooth set can be two. One tooth set includes six three-dimensional tooth models of teeth 11, 21, 12, 22, 13, and 23 in the upper jaw, and the other tooth set includes four three-dimensional tooth models of teeth 31, 41, 32, and 42 in the lower jaw; in yet some other embodiments of the present application, all three-dimensional tooth models of the entire upper jaw or all three-dimensional tooth models of the entire lower jaw can also be determined as the tooth set.

[0130] It should be noted that after the tooth set is determined, the three-dimensional tooth models of the entire dental arch are divided into two categories. One category of three-dimensional tooth models belongs to a certain tooth set, and the other category of three-dimensional tooth models does not belong to any tooth set. In the embodiments of the present application, the second category of three-dimensional tooth models is called other three-dimensional tooth models, and the alignment of other three-dimensional tooth models can be achieved using any tooth arrangement method known to those skilled in the art in the prior art.

[0131] Step S300 is the step of obtaining the dental arch broken line projected by the tooth set on the reference projection plane. In some embodiments of the present application, step S300 further includes the following steps:

[0132] S310: Determine the crown-containing cuboid of each tooth three-dimensional model in the initial pose included in the tooth set, and the crown-containing cuboid is determined based on the fixed connection coordinate system of each tooth three-dimensional model;

[0133] S320: Determine the mesiodistal feature line of each tooth three-dimensional model in the initial pose according to the crown-containing cuboid;

[0134] S330: Project the mesiodistal feature line onto the reference projection plane to obtain an initial dental arch broken line composed of projection line segments of each tooth three-dimensional model in the initial pose.

[0135] Specifically, first, in step S310, the corresponding crown-containing cuboid is generated based on the fixed connection coordinate system of each tooth three-dimensional model in the tooth set. Figure 5A shows a schematic diagram of the fixed connection coordinate system according to a specific embodiment of the present application, asFigure 5A As shown, the crown part 301 of a specific three-dimensional tooth model is in the initial pose. The x, y, and z axes of its attached coordinate system are perpendicular to each other in pairs. The z axis extends along the long axis direction of the tooth, and the x axis extends along the mesiodistal direction of the tooth.

[0136] Figure 5B It shows according to Figure 5A A schematic diagram of the crown-containing cuboid generated according to the attached coordinate system shown. Among them, each face of the crown-containing cuboid 302 is perpendicular to the x, y, and z axes respectively, and respectively corresponds to the farthest distances of the crown part 301 of the three-dimensional tooth model on the x, y, and z axes, so as to wrap the crown part entirely inside it.

[0137] After determining the crown-containing cuboid, the mesiodistal feature lines of each three-dimensional tooth model in the tooth set are further determined through step S320. The mesiodistal feature lines are determined based on the mapping of the structural features of each three-dimensional tooth model on the occlusal surface and remain unchanged during the translation and rotation of the tooth. Therefore, accurate positioning information can be provided for the tooth during the tooth arrangement process.

[0138] In some embodiments of the present application, the mesiodistal feature line is composed of the center line on the occlusal surface of the crown-containing cuboid or the projection line of the x axis of the attached coordinate system of the three-dimensional tooth model on the occlusal surface of the crown-containing cuboid.

[0139] In some other embodiments of the present application, the mesiodistal feature line is formed by fitting a specific shape on the crown occlusal surface of the three-dimensional tooth model, and the specific shape includes at least one of the incisal ridge, cusp, cusp ridge, and occlusal groove of the tooth.

[0140] Figure 6A It shows the mesial or distal view of the three-dimensional tooth model of an incisor according to a specific embodiment of the present application. Its crown part is wrapped by the crown-containing cuboid, and the plane perpendicular to the z axis and tangent to the incisal ridge of the crown-containing cuboid is the occlusal surface of the crown-containing cuboid. Figure 6B It shows the view of the three-dimensional tooth model of a premolar observed along the z axis perpendicular to the attached coordinate system according to a specific embodiment of the present application. Multiple selectable mesiodistal feature lines are shown in the figure, and one of them can be selected in the specific implementation.

[0141] After obtaining the mesiodistal feature lines of each three-dimensional tooth model in the tooth set in the initial pose, in step 330, it is further projected onto the reference projection plane to obtain the projection line segments corresponding to each three-dimensional tooth model. The set of the above projection line segments constitutes the initial dental arch broken line of the tooth set.

[0142] Figure 7AA schematic diagram showing an initial dental arch broken line according to a specific embodiment of the present application is presented. The set of teeth in the figure consists of six three-dimensional tooth models of 11, 21, 12, 22, 13, and 23 in the upper jaw in their initial poses. The thick black line 401 in the figure represents the projection line segments of each three-dimensional tooth model on the reference projection plane. The set of these projection line segments constitutes the initial dental arch broken line of the tooth set.

[0143] In some preferred embodiments of the present application, the dental arch broken line further includes at least one auxiliary line segment, and the auxiliary line segment is used to connect the endpoints of adjacent projection line segments. Figure 7B A schematic diagram showing an initial dental arch broken line according to a specific embodiment of the present application is presented. The tooth set in the figure is the same as Figure 7A that described above. The generated dental arch broken line, in addition to the projection line segments represented by the thick black line 401, also includes multiple auxiliary line segments represented by thin dashed lines 402. Each auxiliary line segment is connected to the endpoints of two adjacent projection line segments. During the subsequent process of aligning the projection line segments, the auxiliary line segments can conveniently and clearly show the linkage situation between the multiple projection line segments. Moreover, by setting limiting conditions on the lengths of the auxiliary line segments, an effective judgment basis can be provided for aligning the multiple projection line segments.

[0144] After obtaining the initial dental arch broken line of the tooth set through step S300, step S400 is used to adjust the above-mentioned initial dental arch broken line to a target dental arch broken line. The target dental arch broken line characterizes the positional and angular relationships between the projection line segments of the mesiodistal feature lines of each three-dimensional tooth model in the tooth set when the teeth reach their target poses through tooth arrangement. After the target dental arch broken line is determined, relatively accurate positioning information can be provided for the three-dimensional tooth models, so that the three-dimensional tooth models can be aligned independently, conveniently, and accurately according to their corresponding projection line segments, thus effectively solving the problem in the existing tooth arrangement method that adjusting the pose of one tooth causes linkage adjustment of other teeth. The following will describe step S400 in detail with reference to the accompanying drawings and embodiments.

[0145] In some embodiments of the present application, step S400 of adjusting the initial dental arch broken line corresponding to each tooth set to the target dental arch broken line can be achieved by manual adjustment. The technique of adjusting the initial dental arch broken line by manual adjustment is well-known to those skilled in the art. For example, the operator performing the tooth arrangement operation can adjust the positions and angles of the respective projection line segments according to the orthodontic treatment plan formulated by the doctor or / and one or more rules required for aesthetics and clinical practice or / and the constraints of the existing orthodontic techniques, and finally obtain the target dental arch broken line.

[0146] In addition to the above-mentioned manual adjustment method, in some other embodiments of the present application, automatic adjustment can also be performed according to the linkage rule algorithm to achieve the adjustment of the initial arch broken line corresponding to each tooth set to the target arch broken line described in step S400.

[0147] Further, the linkage rule algorithm includes a limit range algorithm and a linkage law algorithm.

[0148] In some embodiments of the present application, the limit range algorithm includes the setting of the angle size range of a single position in the target arch broken line and the setting of the size relationship of the angle sizes at different positions. Preferably, the setting of the size relationship of the angle sizes at different positions includes the equal setting of the angles at symmetric positions.

[0149] Figure 8 FIG. shows a schematic diagram of automatically adjusting the target arch broken line according to the limit range algorithm according to an embodiment of the present application. The multiple line segments 501 in the figure respectively represent the projection line segments of the three-dimensional models of teeth 11, 12, 21, and 22. The included angles between them are angle b1, angle a, and angle b2 respectively.

[0150] In this embodiment, according to the setting of the angle size range of a single position in the target arch broken line by the range limit algorithm, the size of angle a can be set to: 120° ≤ angle a ≤ 180°, that is, after adjusting the arch broken line, the projection line segments of the mesiodistal feature lines of the two maxillary central incisors 11 and 12 on the reference projection plane can form a straight line or an included angle greater than 120°.

[0151] In this embodiment, according to the range limit algorithm, the size relationship of the angle sizes at different positions in the target arch broken line can also be set. Further, the setting of the size relationship of the angle sizes at different positions includes the equal setting of the angles at symmetric positions. For example, angle b1 and angle b2 can be set to: angle b1 = angle b2 < angle a, that is, after adjusting the arch broken line, the included angles of the projection line segments of the two incisors 21 and 22 on the left side of the maxilla are symmetrically equal to the included angles of the projection line segments of the two incisors 11 and 12 on the right side, and are smaller than the included angle between the central incisors 11 and 12, thus forming a relatively ideal arch shape.

[0152] In some embodiments of the present application, the linkage rule algorithm further includes a linkage law algorithm. The linkage law algorithm defines the change relationship of the linkage of the included angles between the projection line segments when automatically adjusting the arch broken line, including the setting of the change ratio of the size relationship of the angle sizes at different positions in the target arch broken line and the setting of the range of the change ratio of the size relationship of the angle sizes at different positions.

[0153] Still referring to Figure 8A specific embodiment is shown. In this embodiment, the variation relationship between angle a, angle b1, and angle b2 can be set as: Δangle a = k×Δangle b1 = k×Δangle b2, where Δangle a, Δangle b1, and Δangle b2 respectively represent the variations of angle a, angle b1, and angle b2, and k is the variation ratio of angle b1 and angle b2 relative to angle a. In this embodiment, k can be set as: 0.6 < k < 1, that is, in the process of automatically adjusting the above-mentioned projection line segments, the variation speed of the included angle between the projection line segments of the two central incisors is less than the variation speed of the included angle between the projection line segments of the central incisor and the lateral incisor.

[0154] The above has described the linkage rule algorithm in detail through specific embodiments. It is easy for those skilled in the art to know that the parameters such as each angle and variation ratio in the above-mentioned linkage rule algorithm should be set according to the specific situation of the three-dimensional tooth models included in the tooth set.

[0155] Figure 9A The comparison between the initial dental arch broken line (represented by the gray line segment) and the target dental arch broken line (represented by the black line segment) according to a specific embodiment of the present application is shown.

[0156] In some preferred embodiments of the present application, the linkage rule algorithm further includes the limitation on the length of the auxiliary line segment when adjusting the initial dental arch broken line to the target dental arch broken line. Considering the limitation on the length of the auxiliary line segment in the process of adjusting the dental arch broken line is beneficial and necessary in many cases. For example: for a dental arch with tooth torsion and crowding, during the tooth arrangement process, in addition to the angular relationship, the positional relationship between the line segments in the dental arch broken line is also important. During the alignment of the dental arch, due to many differences in the labiolingual thickness, shape, and height of contour of each tooth, it is often neither possible to make the dental arch broken line completely connected with zero distance nor too far apart. Therefore, by using the auxiliary line segment connecting adjacent projection line segments and setting its length, the relative postures between adjacent teeth can be adjusted flexibly and precisely, thus greatly improving the efficiency of tooth arrangement.

[0157] Figure 9B Shows according to Figure 9A And the comparison between the initial dental arch broken line and the target dental arch broken line with the added auxiliary line segment is shown.

[0158] After obtaining the target dental arch broken line of the tooth set through step S400, in step S500, the teeth are aligned to obtain the target dentition model.

[0159] In some embodiments of the present application, step S500 specifically includes the following steps:

[0160] S510: Based on the target dental arch polyline corresponding to each tooth set, adjust the three-dimensional model of each tooth in the initial pose in the tooth set to the target pose;

[0161] S520: Adjust the relative pose of the tooth set and the three-dimensional models of other teeth to obtain the target dental arch model, where the three-dimensional models of other teeth are the three-dimensional models of teeth that do not belong to any tooth set.

[0162] As described above, by dividing the tooth sets, the three-dimensional models of teeth in the entire dental arch are divided into two categories. Among them, in step S510, the three-dimensional models of teeth in each tooth set are adjusted to the target pose according to the target dental arch polyline of each tooth set.

[0163] In some embodiments of the present application, the above adjustment can be performed manually. Specifically, the fixed connection coordinate system of each three-dimensional tooth model can be used to move and rotate it to change its pose until the projection line segment of the mesiodistal feature line of its real-time position change on the reference projection plane coincides with the target projection line segment corresponding to the target dental arch polyline; or by moving and rotating the three-dimensional tooth model until it is judged by the human eye from the perspective based on the reference projection plane that the three-dimensional tooth model is aligned with the target dental arch polyline.

[0164] In some other embodiments of the present application, the above adjustment can be performed semi-automatically. Specifically, according to the projection line segments corresponding one by one between the initial dental arch polyline and the target dental arch polyline, calculate the rotation angle of the front and rear projection line segments around the center point, and use this angle to rotate the long axis of the tooth body, that is, the z-axis in the fixed connection coordinate system, to adjust the pose of the three-dimensional tooth model; calculate the displacement of the front and rear projection line segments along the center point, and use this displacement to move the three-dimensional tooth model; finally, manually adjust the remaining parts that are not completely aligned.

[0165] In still some other embodiments of the present application, the above adjustment can also be performed fully automatically. Specifically, on the basis of the above semi-automatic adjustment, by comparing the current projection line segment and the target projection line segment to feedback the alignment value, and then adjusting and moving the three-dimensional tooth model in a loop multiple times to gradually approach the target pose. More beneficial variable parameters can also be used to assist in alignment, such as using the length of the auxiliary line segment that restricts the connection of adjacent projection line segments to increase the alignment value and alignment probability. The specific implementation methods are diverse and complex. Those skilled in the art can select specific implementation methods under the same technical concept, and will not be listed one by one here.

[0166] The adjusted tooth set, in which the poses of multiple three-dimensional tooth models and their relative positions have largely reached the target state. Only a small amount of fine adjustment is needed in the follow-up, without major changes. Therefore, in S520, operations such as translation and rotation can be performed as a whole to adjust its relative pose with other three-dimensional tooth models, thereby finally achieving the alignment of the entire dentition and obtaining the target dentition model. Figure 11 FIG. shows a schematic diagram of a target dentition model obtained according to a specific embodiment of the present application.

[0167] On the other hand, the present application provides an orthodontic device. Figure 12 FIG. shows a system block diagram of an orthodontic device according to an embodiment of the present application, as Figure 12 shown, the above-mentioned orthodontic device includes:

[0168] A projection plane determination unit for determining a reference projection plane based on the initial dentition model;

[0169] A tooth set determination unit for determining at least one tooth set based on the initial dentition model, where each tooth set includes multiple three-dimensional tooth models that are adjacent in sequence and in the initial pose;

[0170] An initial dental arch fold line determination unit for determining the initial dental arch fold line corresponding to each tooth set on the reference projection plane, where the initial dental arch fold line includes projection line segments corresponding to each three-dimensional tooth model in the tooth set in the initial pose;

[0171] A target dental arch fold line determination unit for adjusting the initial dental arch fold line corresponding to each tooth set to the target dental arch fold line;

[0172] A target dentition model determination unit for determining the target dentition model according to the target dental arch fold line corresponding to each tooth set, where each three-dimensional tooth model in the target dentition model is in the target pose.

[0173] In some preferred embodiments of the present application, the above-mentioned orthodontic device further includes a display terminal for displaying and performing interactive operations on the initial dentition model, the reference projection plane, the tooth set, the initial dental arch fold line, the target dental arch fold line, and the target dentition model.

[0174] In some embodiments of the present application, the projection plane determination unit further includes an initial jaw coordinate determination module, a target jaw coordinate determination module, a first plane determination module, and a second plane determination module; the initial dental arch fold line determination unit further includes a crown-containing cuboid determination module, a mesiodistal feature line determination module, and a projection module; the target dentition model determination unit further includes an intra-set tooth arrangement module and an overall tooth arrangement module. The specific functions of the above-mentioned modules have been introduced in detail in the implementation manners of the foregoing orthodontic method, and will not be elaborated here.

[0175] Another aspect of the embodiment of the present application provides an artificial tooth arrangement system, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, the steps in the foregoing artificial tooth arrangement method are implemented.

[0176] Another aspect of the embodiment of the present application provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the foregoing artificial tooth arrangement method are implemented.

[0177] The specific embodiments of the present application have been introduced in detail above. For those skilled in the art of the present technology, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A tooth arrangement method, characterized in that, it includes the following steps: S100: Determine a reference projection plane based on the initial dentition model; S200: Determine at least one tooth set based on the initial dentition model, where each tooth set contains a plurality of three-dimensional tooth models that are adjacent in sequence and in the initial pose; S300: Determine the initial dental arch polyline corresponding to each tooth set on the reference projection plane, and the initial dental arch polyline includes projection line segments corresponding to each three-dimensional tooth model in the initial pose in the tooth set; S400: Adjust the initial dental arch polyline corresponding to each tooth set to the target dental arch polyline; S500: Determine the target dentition model according to the target dental arch polyline corresponding to each tooth set, and each three-dimensional tooth model in the target dentition model is in the target pose; Step S300 specifically includes the following steps: S310: Determine the crown-containing cuboid of each three-dimensional tooth model in the initial pose in the tooth set, and the crown-containing cuboid is determined based on the fixed coordinate system of each three-dimensional tooth model; S320: Determine the mesiodistal feature line of each three-dimensional tooth model in the initial pose according to the crown-containing cuboid; S330: Project the mesiodistal feature line onto the reference projection plane to obtain the initial dental arch polyline composed of projection line segments of each three-dimensional tooth model in the initial pose; wherein, the x, y, and z axes of the fixed coordinate system are perpendicular to each other in pairs, the z axis extends along the long axis direction of the tooth, and the x axis extends along the mesiodistal direction of the tooth; the mesiodistal feature line is determined based on the mapping of the structural features of each three-dimensional tooth model on the occlusal surface.

2. A tooth arrangement method according to claim 1, characterized in that, the step S100 further includes the following steps: S110: Construct an initial jaw coordinate based on the initial dentition model; S120: Determine the target jaw coordinate based on the initial jaw coordinate; S130: Obtain the plane corresponding to the occlusal surface based on the target jaw coordinate; S140: Obtain the reference projection plane based on the plane corresponding to the occlusal surface.

3. A tooth arrangement method according to claim 2, characterized in that: the X-axis direction of the initial jaw coordinate is determined with reference to the midpoint position of the mesial incisal angles of two central incisor three-dimensional models; the XY plane of the initial jaw coordinate is fitted based on the cusp points and incisal ridges of multiple three-dimensional tooth models, or the XY plane of the initial jaw coordinate is fitted based on the gingival margin lines of multiple three-dimensional tooth models.

4. A tooth arrangement method according to claim 2, characterized in that: the reference projection plane is determined by translating the plane corresponding to the occlusal surface towards the cusp direction to a position beyond all three-dimensional tooth models.

5. A tooth arrangement method according to claim 1, characterized in that: the initial dental arch polyline further includes at least one auxiliary line segment, and the auxiliary line segment is used to connect the endpoints of adjacent projection line segments.

6. A tooth arrangement method according to claim 1, characterized in that: The mesiodistal feature line is composed of the center line on the occlusal surface of the cuboid encompassing the dental crown or the projection line of the x-axis of the fixed coordinate system of the dental three-dimensional model on the occlusal surface of the cuboid encompassing the dental crown.

7. A tooth arrangement method according to claim 1, wherein: The mesiodistal feature line is formed by fitting a specific shape on the occlusal surface of the dental crown of the dental three-dimensional model, and the specific shape includes at least one of the incisal ridge, cusp, cusp ridge, and occlusal groove of the tooth.

8. A tooth arrangement method according to claim 1, wherein: Manually adjusting or automatically adjusting according to the linkage rule algorithm to achieve adjusting the initial arch broken line corresponding to each tooth set to the target arch broken line described in step S400.

9. A tooth arrangement method according to claim 8, wherein: The linkage rule algorithm includes a limited range algorithm and a linkage law algorithm.

10. A tooth arrangement method according to claim 9, wherein: The limited range algorithm includes setting the angle size range of a single position in the target arch broken line and setting the size relationship of the angle sizes at different positions.

11. A tooth arrangement method according to claim 10, wherein: The setting of the size relationship of the angle sizes at different positions includes setting the equality of the angles at symmetric positions.

12. A tooth arrangement method according to claim 9, wherein: The linkage law algorithm includes setting the change ratio of the size relationship of the angle sizes at different positions in the target arch broken line and setting the range of the change ratio of the size relationship of the angle sizes at different positions.

13. A tooth arrangement method according to claim 8, wherein: The initial arch broken line further includes at least one auxiliary line segment, and the auxiliary line segment is used to connect the endpoints of adjacent projection line segments; The linkage rule algorithm further includes restricting the length of the auxiliary line segment when adjusting the initial arch broken line to the target arch broken line.

14. A tooth arrangement method according to claim 1, wherein, The step S500 further includes the following steps: S510: Based on the target arch broken line corresponding to each tooth set, adjusting each tooth three-dimensional model in the initial pose in the tooth set to the target pose; S520: Adjusting the relative pose of the tooth set and other tooth three-dimensional models to obtain a target dentition model, and the other tooth three-dimensional models are tooth three-dimensional models that do not belong to any tooth set.

15. A tooth arrangement method according to claim 1, wherein: It further includes steps of displaying on a display terminal and performing interactive operations on the initial dentition model, the reference projection plane, the tooth set, the initial arch broken line, the target arch broken line, and the target dentition model.

16. A tooth arrangement device, wherein, comprising: A projection plane determination unit for determining a reference projection plane based on the initial dentition model; A tooth set determination unit for determining at least one tooth set based on the initial dentition model, wherein each tooth set includes a plurality of sequentially adjacent tooth three-dimensional models in the initial pose; An initial dental arch fold line determination unit for determining the corresponding initial dental arch fold line of each tooth set on the reference projection plane, where the initial dental arch fold line includes the projection line segments corresponding to the three-dimensional models of each tooth in the initial pose in the tooth set; A target dental arch fold line determination unit for adjusting the initial dental arch fold line corresponding to each tooth set to a target dental arch fold line; A target dentition model determination unit for determining a target dentition model according to the target dental arch fold line corresponding to each tooth set, where each three-dimensional tooth model in the target dentition model is in a target pose; The initial dental arch fold line determination unit includes: A crown inclusion cuboid determination module for determining the crown inclusion cuboid of each three-dimensional tooth model in the initial pose included in the tooth set, where the crown inclusion cuboid is determined based on the fixed coordinate system of each three-dimensional tooth model; A mesiodistal feature line determination module for determining the mesiodistal feature line of each three-dimensional tooth model in the initial pose according to the crown inclusion cuboid; A projection module for projecting the mesiodistal feature line onto the reference projection plane to obtain an initial dental arch fold line composed of the projection line segments of each three-dimensional tooth model in the initial pose; Wherein, The x, y, and z axes of the fixed coordinate system are perpendicular to each other in pairs, the z axis extends along the long axis direction of the tooth, and the x axis extends along the mesiodistal direction of the tooth; the mesiodistal feature line is determined based on the mapping of the structural features of each three-dimensional tooth model on the occlusal surface.

17. A tooth arrangement device according to claim 16, wherein, The projection plane determination unit further includes: An initial jaw coordinate determination module for constructing an initial jaw coordinate based on the initial dentition model; A target jaw coordinate determination module for determining a target jaw coordinate based on the initial jaw coordinate; A first plane determination module for obtaining a plane corresponding to the occlusal surface based on the target jaw coordinate; A second plane determination module for obtaining a reference projection plane based on the plane corresponding to the occlusal surface.

18. A tooth arrangement device according to claim 17, wherein: The X-axis direction of the initial jaw coordinate is determined with reference to the midpoint position of the mesial incisal angles of the three-dimensional models of two central incisors; The XY plane of the initial jaw coordinate is fitted based on the cusp points and incisal ridges of multiple three-dimensional tooth models, or the XY plane of the initial jaw coordinate is fitted based on the gingival margin lines of multiple three-dimensional tooth models.

19. A tooth arrangement device according to claim 17, wherein: The reference projection plane is determined by translating the plane corresponding to the occlusal surface towards the cusp direction to a position exceeding all three-dimensional tooth models.

20. A tooth arrangement device according to claim 16, wherein: The initial dental arch fold line further includes at least one auxiliary line segment for connecting the endpoints of adjacent projection line segments.

21. A tooth arrangement device according to claim 16, wherein: The mesiodistal feature line is composed of the center line on the occlusal surface of the crown inclusion cuboid or the projection line of the x axis of the fixed coordinate system of the three-dimensional tooth model on the occlusal surface of the crown inclusion cuboid.

22. A tooth arrangement device according to claim 21, wherein: the mesiodistal characteristic line is fitted from a specific shape on the occlusal surface of the dental crown of the three-dimensional dental model, and the specific shape includes at least one of the incisal ridge, cusp, cusp ridge, and occlusal groove of the tooth.

23. A tooth arrangement device according to claim 16, wherein: the target dental arch fold line determination unit adjusts the initial dental arch fold line corresponding to each tooth set to the target dental arch fold line manually or automatically according to the linkage rule algorithm.

24. A tooth arrangement device according to claim 23, wherein: the linkage rule algorithm includes a limited range algorithm and a linkage law algorithm.

25. A tooth arrangement device according to claim 24, wherein: the limited range algorithm includes setting the angle size range of a single position in the target dental arch fold line and setting the size relationship of the angle sizes at different positions.

26. A tooth arrangement device according to claim 25, wherein: the setting of the size relationship of the angle sizes at different positions includes setting the equality of the angles at symmetric positions.

27. A tooth arrangement device according to claim 24, wherein: the linkage law algorithm includes setting the change ratio of the size relationship of the angle sizes at different positions in the target dental arch fold line and setting the range of the change ratio of the size relationship of the angle sizes at different positions.

28. A tooth arrangement device according to claim 23, wherein: the initial dental arch fold line further includes at least one auxiliary line segment for connecting the endpoints of adjacent projection line segments; the linkage rule algorithm further includes the limitation on the length of the auxiliary line segment when adjusting the initial dental arch fold line to the target dental arch fold line.

29. A tooth arrangement device according to claim 16, wherein, the target dental arch model determination unit includes: an in-set tooth arrangement module for adjusting each three-dimensional dental model of the teeth in the tooth set in the initial pose to the target pose based on the target dental arch fold line corresponding to each tooth set; an overall tooth arrangement module for adjusting the relative poses of the tooth set and other three-dimensional dental models to obtain a target dental arch model, and the other three-dimensional dental models are the three-dimensional dental models that do not belong to any tooth set.

30. A tooth arrangement device according to claim 16, wherein: it further includes a display terminal for displaying and performing interactive operations on the initial dental arch model, the reference projection plane, the tooth set, the initial dental arch fold line, the target dental arch fold line, and the target dental arch model.

31. A tooth arrangement system, wherein: it includes a memory and a processor, the memory stores a computer program that can run on the processor, and when the processor executes the computer program, it implements the steps in the tooth arrangement method according to any one of claims 1 to 15.

32. A readable storage medium with a computer program stored thereon, wherein: when the computer program is executed by the processor, it implements the steps in the tooth arrangement method according to any one of claims 1 to 15.

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