Dental implant guide orientation method, device, electronic device and storage medium

Abstract

The present application is applicable to the field of 3D printing technology, and provides a method, device, electronic device and storage medium for orienting a dental implant guide, wherein the method includes: obtaining triangular mesh model data; traversing the triangular mesh; obtaining a group of triangular meshes with convergent normal vectors and continuous shared edges and extracting non-common edge endpoints; determining the outer ring contour of the cylindrical end face of the guide ring hole; obtaining the normal vectors of all the outer ring contour planes of the cylindrical end face of the guide ring hole as a sampling set; selecting the normal vector of the plane with the highest outer ring contour completeness from the sampling set as a reference vector; dividing the normal vectors in the sampling set into two groups according to the standard that the mutual angle difference is less than θ degrees; calculating the resultant vector from a group of normal vectors where the reference vector is located; making the 3D model perpendicular to the xy plane with the direction of the resultant vector downward; and storing three-dimensional data. The technology of the present application can orient the convex surface of the implant guide downward to avoid adding support on the concave surface of the guide, and avoid or reduce the printing error of the guide ring hole in the Z-axis direction.

Description

Technical Field

[0001] The present application relates to the field of 3D printing technology, and specifically to a method, device, electronic device and storage medium for orienting a dental implant guide. Background Art

[0002] At present, with the rapid development of oral implantology and digital technology, computer-aided design (CAD), optical scanning technology, information fusion technology, 3D printing processing and manufacturing technology, etc. are applied in the field of oral implantology, which has enabled dental implant guides to develop from simple dental implant guides to digital dental implant guides for clinical application. The guiding and auxiliary role of digital dental implant guides has been increasingly widely used in the field of oral medicine. Compared with the traditional "free-hand" operation, the digital dental implant guide is an implant surgical device that achieves precise positioning through CBCT system analysis and computer-aided design. It can better assist doctors to use the guide ring holes on the dental implant guide to implant the implant, making the three-dimensional position of the implant implant more accurate and avoiding damage to some important anatomical structures.

[0003] However, the current customized production of dental implant guides mainly adopts SLA point light source photocuring molding technology, DLP surface light source curing molding technology, and LCD surface light source curing molding technology. These three molding technologies require adding support units to the model when printing and producing dental implant guides. After the printing is completed and the support units are removed, there will be support unit shear residues on the surface of the dental implant guide. In order to prevent these support unit shear residues from contacting the human oral mucosa, it is necessary to make the concave surface of the dental implant guide that contacts the gum mucosa face upward during printing, and add the support units to the lower convex surface of the dental implant guide. Therefore, it involves the orientation problem of the dental implant guide 3D model during the model computer preprocessing process.

[0004] During this process, although the orientation of the dental implant guide 3D model can be manually adjusted, manually adjusting the orientation of the dental implant guide 3D model one by one is not only inefficient when processing multiple dental implant guide 3D models, especially when processing multiple dental implant guide 3D models of different shapes and types, but also involves the problem of Z-axis compensation of the guide ring holes on the dental implant guide 3D model. Referring to the prior invention application with application number CN2022108069902 "3D Printing Z-Axis Compensation Method, Device, Electronic Device and Storage Medium", it can be seen that slicing and printing the model along the axial direction of the model hole does not require compensation for the hole edge, while slicing and printing the model along the radial direction of the model hole will cause errors in the printing of the hole features in the Z-axis direction. Therefore, when orienting the dental implant guide, it is necessary to slice and print the model so that the hole features are in the direction of the model hole axis. When orienting hole features with multiple different orientations, it is necessary to ensure that the multiple hole features point in the optimal direction to minimize the printing error in the Z-axis direction. At this time, there is also the problem of difficulty in determining the optimal direction.

[0005] To this end, it is necessary to provide a dental implant guide orientation method to facilitate the comprehensive optimal orientation of the hole features of the dental implant guide when the convex side is facing downward, so as to avoid adding support on the concave surface of the guide. It is also necessary to avoid or reduce the printing error of the guide ring hole in the Z-axis direction through comprehensive optimal orientation. Summary of the Invention

[0006] The embodiments of the present application provide a dental implant guide orientation method, device, electronic device and storage medium, which are intended to facilitate the comprehensive optimal orientation of the hole features of the dental implant guide when the convex side is facing downward, so as to avoid adding support to the concave surface of the guide and avoid printing errors in the Z-axis direction of the guide ring hole.

[0007] A first aspect of an embodiment of the present application provides a method for orienting a dental implant guide, comprising:

[0008] Obtain triangular mesh model data of the dental implant guide 3D model in a three-dimensional coordinate system;

[0009] Traversing all triangular meshes on the dental implant guide 3D model that are spliced ​​together to form the dental implant guide 3D model;

[0010] Obtain a group of triangle meshes with convergent normal vectors and continuous shared edges and extract the endpoints of non-common edges;

[0011] Determine the outer ring contour of the cylindrical end face of the guide ring hole of the dental implant guide 3D model according to the extracted endpoints of the non-public edges;

[0012] Obtaining normal vectors of outer ring contour planes of all cylindrical end faces of guide ring holes on the dental implant guide 3D model as a sampling set;

[0013] Selecting the normal vector of the plane with the highest outer ring contour completeness from the sampling set as a reference vector;

[0014] Dividing the normal vectors in the sample set into two groups according to a criterion that the mutual angle difference is less than θ degrees;

[0015] Calculating a resultant vector from a set of normal vectors where the reference vector is located;

[0016] Performing angle and coordinate conversion processing on the 3D model data of the dental implant guide so that the 3D model is perpendicular to the xy plane with the direction of the resultant vector downward;

[0017] The processed three-dimensional data of the dental implant guide 3D model is stored in a storage unit.

[0018] Furthermore, the step of obtaining a group of triangular meshes with convergent normal vectors and continuous shared edges and extracting endpoints of non-shared edges further includes:

[0019] Get the normal vectors of all triangle meshes;

[0020] Obtaining the triangular mesh groups with convergent normal vectors and continuous shared edges and dividing them into N continuous shared edge groups;

[0021] For the Nth continuous common edge group, endpoints of non-common edges are extracted as an Nth endpoint set.

[0022] Furthermore, the method of determining the outer ring contour of the cylindrical end face of the guide ring hole of the dental implant guide 3D model according to the extracted endpoints of the non-common edges further includes:

[0023] Add a minimum bounding rectangle to all endpoints in the Nth endpoint set and obtain the geometric center point G of the minimum bounding rectangle;

[0024] Selecting an endpoint A from the Nth endpoint set that is farthest from the geometric center point G in a straight line;

[0025] Selecting an endpoint B from the Nth endpoint set that is farthest from the endpoint A in a straight line;

[0026] Determine the distance from the endpoint A to the endpoint B as 2R and determine the midpoint of the line segment from the endpoint A to the endpoint B as the center C of the circle;

[0027] Determine an annular area with a radius of K1*R to a radius of K2*R with the circle center C as the center;

[0028] Divide the annular area into Y equal sectors with the circle center C as the center;

[0029] Selecting an endpoint in the annular area from the Nth endpoint set as an extraction point;

[0030] When there are extraction points in X of the Y sectors, it is determined that the extraction points in the sectors are located at the outer ring contour of the cylindrical end surface of the guide ring hole of the dental implant guide 3D model.

[0031] Furthermore, the step of selecting the normal vector of the plane with the highest outer ring contour integrity from the sampling set as the reference vector further includes:

[0032] Get the X value corresponding to the plane where each outer ring contour is located;

[0033] The normal vector of the outer ring contour plane with the largest X value is selected from the sampling set as a reference vector.

[0034] Furthermore, the dental implant guide orientation method further includes:

[0035] A support unit is added to the lower part of the dental implant guide 3D model.

[0036] Optionally, after adding a support unit to the lower part of the dental implant guide 3D model, the method further includes:

[0037] Slicing the overall three-dimensional data of the dental implant guide 3D model and the support unit and obtaining slice image data;

[0038] The slice image data is imported into a 3D printing device for 3D exposure printing.

[0039] Optionally, the angle θ is any set value between 0 and 90 degrees.

[0040] Optionally, N is a positive integer.

[0041] Optionally, the value range of K1 is any decimal between 0.6 and 1.

[0042] Optionally, the value range of K2 is any decimal between 1 and 1.4.

[0043] Optionally, the value range of Y is any integer between 8 and 100; and X is less than or equal to Y.

[0044] A second aspect of an embodiment of the present application provides a dental implant guide orientation device, comprising:

[0045] A model data acquisition module is used to obtain triangular mesh model data of the dental implant guide 3D model in a three-dimensional coordinate system;

[0046] A model mesh traversal module, configured to traverse all triangular meshes on the dental implant guide 3D model that are spliced ​​together to form the dental implant guide 3D model;

[0047] An endpoint extraction module is used to obtain a group of triangular meshes with similar normal vectors and continuous shared edges and extract endpoints of non-common edges;

[0048] An outer ring contour determination module is used to determine the outer ring contour of the cylindrical end face of the guide ring hole of the dental implant guide 3D model according to the extracted endpoints of the non-common edges;

[0049] A sampling set acquisition module is used to obtain the normal vectors of the outer ring contour planes of all the cylindrical end faces of the guide ring holes on the 3D model of the dental implant guide as a sampling set;

[0050] A reference vector acquisition module, configured to select a normal vector of a plane with the highest outer ring contour integrity from the sampling set as a reference vector;

[0051] a normal vector grouping module, configured to divide the normal vectors in the sample set into two groups according to a criterion that the mutual angle difference is less than θ degrees;

[0052] A resultant vector calculation module, configured to calculate a resultant vector from a set of normal vectors where the reference vector is located;

[0053] A model data conversion module is used to perform angle and coordinate conversion processing on the 3D model data of the dental implant guide so that the 3D model is perpendicular to the xy plane with the direction of the resultant vector downward;

[0054] The three-dimensional data storage module is used to store the processed three-dimensional data of the dental implant guide 3D model in a storage unit.

[0055] Furthermore, the endpoint extraction module further includes:

[0056] Mesh normal vector extraction module, used to obtain the normal vectors of all triangular meshes;

[0057] a continuous co-edge mesh group acquisition module, configured to acquire the triangular mesh groups with the same normal vectors and continuous co-edges and divide the groups into N continuous co-edge groups;

[0058] The non-common edge endpoint extraction module is configured to extract the endpoints of the non-common edges of the Nth continuous common edge group as an Nth endpoint set.

[0059] Furthermore, the outer ring contour determination module further includes:

[0060] A geometric center point G acquisition module is used to add a minimum bounding rectangle to all endpoints in the Nth endpoint set and obtain the geometric center point G of the minimum bounding rectangle;

[0061] A farthest endpoint A selection module, configured to select an endpoint A having the farthest straight-line distance from the geometric center point G from the Nth endpoint set;

[0062] A farthest endpoint B selection module, configured to select an endpoint B that is farthest from the endpoint A in a straight line from the Nth endpoint set;

[0063] a circle center C determination module, configured to determine the distance from the endpoint A to the endpoint B as 2R and determine the midpoint of the line segment from the endpoint A to the endpoint B as the circle center C;

[0064] An annular region determining module, configured to determine an annular region with a radius of K1*R to a radius of K2*R with the circle center C as the center;

[0065] an annular area dividing module, configured to divide the annular area into Y sectors with the circle center C as the center;

[0066] An extraction point selection module, configured to select an endpoint in the annular area from the Nth endpoint set as an extraction point;

[0067] The outer ring contour determination module is used to determine that the extraction points in the sectors are located at the outer ring contour of the cylindrical end surface of the guide ring hole of the dental implant guide plate 3D model when there are extraction points in X of the Y sectors.

[0068] Furthermore, the reference vector acquisition module further includes:

[0069] The X value acquisition module is used to obtain the X value corresponding to the plane where each outer ring contour is located;

[0070] The reference vector acquisition module is used to select the normal vector of the outer ring contour plane with the largest X value from the sampling set as the reference vector.

[0071] Furthermore, the dental implant guide orientation device further comprises:

[0072] The support unit adding module is used to add a support unit to the lower part of the dental implant guide 3D model.

[0073] Optionally, the dental implant guide orientation device further comprises:

[0074] a slicing processing module, configured to slice the overall three-dimensional data of the dental implant guide 3D model and the support unit and obtain slice image data;

[0075] The 3D printing device is used to import the slice image data into the 3D printing device for 3D exposure printing.

[0076] A third aspect of the embodiments of the present application provides an electronic device, including:

[0077] at least one processor; and a storage unit communicatively connected to the at least one processor;

[0078] The storage module stores instructions that can be executed by the at least one processor, and when the at least one processor executes the instructions, the steps of the dental implant guide orientation method provided in the first aspect of the embodiment of the present application are implemented.

[0079] The fourth aspect of the embodiments of the present application provides a non-transitory computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the dental implant guide orientation method provided in the first aspect of the embodiments of the present application.

[0080] A fifth aspect of the embodiments of the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed by a computer, the steps of the dental implant guide orientation method provided in the first aspect of the embodiments of the present application are implemented.

[0081] Compared with the prior art, the present invention has the following advantages:

[0082] 1. The dental implant guide orientation method provided in the first aspect of the embodiment of the present application can facilitate the dental implant guide model to face the concave side upward during the model preprocessing stage, and can enable the support unit to be added to the lower convex surface of the dental implant guide, thereby avoiding the discomfort caused by the support residue on the concave surface of the dental implant guide contacting the gum mucosa after subsequent printing is completed.

[0083] 2. The dental implant guide orienting method provided in the first aspect of the embodiment of the present application can make the dental implant guide with a hole feature face up while making the hole axis perpendicular to the slicing direction, thereby avoiding the printing error in the Z-axis direction caused by the guide ring hole when printing the dental implant guide.

[0084] 3. The dental implant guide orienting method provided in the first aspect of the embodiment of the present application can make the dental implant guide with a plurality of hole features with different hole axis directions face upward, and can also perform comprehensive and optimal orientation of the hole features with different directions, thereby enabling the dental implant guide to reduce the printing error of the guide ring hole in the Z-axis direction when printing.

[0085] 4. The dental implant guide orientation method provided in the first aspect of the embodiment of the present application can automatically orient a plurality of dental implant guides of different shapes in batches. While making the concave surface of the dental implant guide face upward and avoiding printing errors in the Z-axis direction of the guide ring hole, it can also avoid manually adjusting the direction of the dental implant guide 3D model one by one, thereby improving the model processing efficiency.

[0086] 5. The first aspect of the embodiment of the present application provides a dental implant guide orientation method. Based on the structural characteristics of the dental implant guide, by finding the outer ring contour of the upper end face of the dental implant guide hole feature and judging the completeness of the outer ring contour of the upper end face, the concave and convex surfaces of the dental implant guide can be distinguished. Then, the orientation of the dental implant guide can be determined by the direction of the concave and convex surfaces of the dental implant guide and the direction of the hole axis. In particular, the method can distinguish between the cylindrical end face of the hole feature and planes of other types of shapes. The method is ingenious and has high resolution. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 The process of the dental implant guide orientation method of the embodiment of the present application Figure 1 ;

[0088] Figure 2 The process of the dental implant guide orientation method of the embodiment of the present application Figure 2 ;

[0089] Figure 3 The structure of the dental implant guide orientation device of the embodiment of the present application Figure 1 ;

[0090] Figure 4 The structure of the dental implant guide orientation device of the embodiment of the present application Figure 2 ;

[0091] Figure 5A -B is the first dental implant guide of the embodiment of the present application;

[0092] Figure 5C -D is the second dental implant guide in the embodiment of the present application;

[0093] Figure 6A -D is the third dental implant guide of the embodiment of the present application;

[0094] Figure 7A -C is a schematic diagram of feature extraction of the third dental implant guide according to an embodiment of the present application;

[0095] Figure 8A -D is a schematic diagram of the non-public edge endpoint extraction process of an embodiment of the present application;

[0096] Figure 9A -D is a schematic diagram of the process of determining the center of the outer ring contour in an embodiment of the present application;

[0097] Figure 10A -D is a schematic diagram of the outer ring contour determination process according to an embodiment of the present application;

[0098] Figure 11A -C is a schematic diagram of the resultant vector determination process according to an embodiment of the present application;

[0099] Figure 12AA block diagram of the electronic device structure for implementing the dental implant guide orientation method according to an embodiment of the present application;

[0100] Figure 12B A schematic diagram of an electronic device performing pre-processing and slicing of a 3D model according to an embodiment of the present application;

[0101] Figure 13A A structural diagram of a 3D printing device for implementing the dental implant guide orientation method of the present application;

[0102] Figure 13B This is a schematic diagram of importing image data obtained by slicing after implementing the method of the present application into a 3D printing device.

[0103] Description of labels:

[0104] First dental implant guide 51; second dental implant guide 52; third dental implant guide 61; convex surface 501; concave surface 502; straight plane 503; hole feature 511; cylindrical end surface 512; model projection 601; support single cloud 602; support base 603;

[0105] Electronic device 12; computer program 120; processor 121; storage unit 122; 3D printing device 13; printing control program 130; controller 131; memory 132; mobile storage device 14;

[0106] Model data acquisition module 100; model mesh traversal module 200; endpoint extraction module 300; outer ring contour determination module 400; sampling set acquisition module 500; reference vector acquisition module 600; normal vector grouping module 700; resultant vector calculation module 800; model data conversion module 900; three-dimensional data storage module 920; support unit addition module 940; slice processing module 960;

[0107] Mesh normal vector extraction module 310; continuous common edge mesh group acquisition module 320; non-common edge endpoint extraction module 330; geometric center point G acquisition module 410; farthest endpoint A selection module 420; farthest endpoint B selection module 430; circle center C determination module 440; annular area determination module 450; annular area equalization module 460; extraction point selection module 470; outer ring contour determination module 480; X value acquisition module 610; reference vector acquisition module 620. DETAILED DESCRIPTION

[0108] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0109] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. It should also be understood that the terms used in this specification of the application are merely for the purpose of describing specific embodiments and are not intended to limit the application. As used in this specification of the application and the appended claims, the singular forms of "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" used in this specification of the application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0110] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0111] Figure 1 The process of the dental implant guide orientation method of the embodiment of the present application Figure 1 As shown in the figure, the dental implant guide orientation method includes the following steps:

[0112] S100, obtaining triangular mesh model data of a 3D model of a dental implant guide in a three-dimensional coordinate system;

[0113] S200, traversing all triangular meshes on the dental implant guide 3D model that are spliced ​​together to form the dental implant guide 3D model;

[0114] S300, obtaining a group of triangular meshes with convergent normal vectors and continuous shared edges and extracting endpoints of non-common edges;

[0115] S400, determining the outer ring contour of the cylindrical end surface of the guide ring hole of the dental implant guide 3D model according to the extracted endpoints of the non-common edges;

[0116] S500, obtaining normal vectors of outer ring contour planes of all cylindrical end faces of guide ring holes on the 3D model of the dental implant guide as a sampling set;

[0117] S600, selecting the normal vector of the plane with the highest outer ring contour integrity from the sampling set as a reference vector;

[0118] S700, dividing the normal vectors in the sample set into two groups according to a criterion that the mutual angle difference is less than θ degrees;

[0119] S800, calculating a resultant vector from a group of normal vectors where the reference vector is located;

[0120] S900, performing angle and coordinate conversion processing on the 3D model data of the dental implant guide so that the 3D model is perpendicular to the xy plane with the direction of the resultant vector downward;

[0121] S920: storing the processed three-dimensional data of the dental implant guide 3D model in a storage unit.

[0122] Optionally, after storing the processed three-dimensional data of the dental implant guide 3D model in the storage unit, the following steps are further included:

[0123] S940, adding a support unit to the lower part of the dental implant guide 3D model;

[0124] S960, slicing the entire three-dimensional data of the dental implant guide 3D model and the support unit and obtaining slice image data;

[0125] S980: Import the slice image data into a 3D printing device for 3D exposure printing.

[0126] Optionally, the angle θ is any set value between 0 and 90 degrees.

[0127] Specifically, in step S300, a group of triangular meshes with converging normal vectors and continuous common edges is obtained and the endpoints of non-common edges are extracted; wherein, the normal vectors are converging means that, for example, when the normal vector of one triangular mesh has an angle of 2 degrees with the positive semi-axis of the Z axis, and the normal vector of another triangular mesh has an angle of 0 degrees with the positive semi-axis of the Z axis, if the allowable angle error is 2 degrees, then the two triangular mesh normal vectors are regarded as converging normal vectors.

[0128] Figure 2 The process of the dental implant guide orientation method of the embodiment of the present application Figure 2 As shown in the figure, the dental implant guide orientation method, more specifically, includes the following steps:

[0129] S100, obtaining triangular mesh model data of a 3D model of a dental implant guide in a three-dimensional coordinate system;

[0130] S200, traversing all triangular meshes on the dental implant guide 3D model that are spliced ​​together to form the dental implant guide 3D model; S310, obtaining normal vectors of all triangular meshes;

[0131] S320, obtaining a group of triangle meshes with similar normal vectors and continuous shared edges and dividing them into N continuous shared edge groups;

[0132] S330, extracting endpoints of non-common edges from the Nth continuous common edge group as the Nth endpoint set;

[0133] S410, adding a minimum bounding rectangle to all endpoints in the Nth endpoint set and obtaining the geometric center point G of the minimum bounding rectangle;

[0134] S420, selecting an endpoint A that is farthest from the geometric center point G in a straight line from the Nth endpoint set;

[0135] S430, selecting endpoint B from the Nth endpoint set that has the farthest straight-line distance from endpoint A;

[0136] S440, determining the distance from endpoint A to endpoint B as 2R and determining the midpoint of the line segment from endpoint A to endpoint B as the center C;

[0137] S450, determining an annular area with a radius of K1*R to a radius of K2*R with the circle center C as the center;

[0138] S460, dividing the annular area into Y equal sectors with the circle center C as the center;

[0139] S470, selecting an endpoint in the annular area from the Nth endpoint set as an extraction point;

[0140] S480, when there are extraction points in X sectors out of Y sectors, determining that the extraction points in the sectors are located at the outer ring contour of the cylindrical end surface of the guide ring hole of the 3D model of the dental implant guide;

[0141] S500, obtaining normal vectors of outer ring contour planes of all cylindrical end faces of guide ring holes on the 3D model of the dental implant guide as a sampling set;

[0142] S610, obtaining the X value corresponding to the plane where each outer ring contour is located;

[0143] S620, selecting the normal vector of the outer ring contour plane with the largest X value from the sampling set as a reference vector;

[0144] S700, dividing the normal vectors in the sample set into two groups according to a criterion that the mutual angle difference is less than θ degrees;

[0145] S800, calculating a resultant vector from a group of normal vectors where the reference vector is located;

[0146] S900, performing angle and coordinate conversion processing on the 3D model data of the dental implant guide so that the 3D model is perpendicular to the xy plane with the direction of the resultant vector downward;

[0147] S920: storing the processed three-dimensional data of the dental implant guide 3D model in a storage unit.

[0148] Optionally, after storing the processed three-dimensional data of the dental implant guide 3D model in the storage unit, the following steps are further included:

[0149] S940, adding a support unit to the lower part of the dental implant guide 3D model;

[0150] S960, slicing the entire three-dimensional data of the dental implant guide 3D model and the support unit and obtaining slice image data;

[0151] S980: Import the slice image data into a 3D printing device for 3D exposure printing.

[0152] Optionally, the angle θ is any set value between 0 and 90 degrees.

[0153] Optionally, N is a positive integer.

[0154] Optionally, the value range of K1 is any decimal between 0.6 and 1.

[0155] Optionally, the value range of K2 is any decimal between 1 and 1.4.

[0156] Optionally, the value range of Y is any integer between 8 and 100; and X is less than or equal to Y.

[0157] Figure 3 The structure of the dental implant guide orientation device of the embodiment of the present application Figure 1 As shown in the figure, the dental implant guide orientation device includes:

[0158] The model data acquisition module 100 is used to obtain the triangular mesh model data of the dental implant guide 3D model in a three-dimensional coordinate system;

[0159] The model mesh traversal module 200 is used to traverse all triangular meshes on the dental implant guide 3D model that are spliced ​​together to form the dental implant guide 3D model;

[0160] An endpoint extraction module 300 is used to obtain a group of triangle meshes with similar normal vectors and continuous shared edges and extract endpoints of non-common edges;

[0161] An outer ring contour determining module 400 is configured to determine an outer ring contour of a cylindrical end face of a guide ring hole of a 3D model of a dental implant guide according to the extracted endpoints of the non-common edges;

[0162] The sampling set acquisition module 500 is used to obtain the normal vectors of the outer ring contour planes of all the cylindrical end faces of the guide ring holes on the 3D model of the dental implant guide as a sampling set;

[0163] A reference vector acquisition module 600 is configured to select a normal vector of a plane with the highest outer ring contour integrity from the sample set as a reference vector;

[0164] A normal vector grouping module 700 is configured to divide the normal vectors in the sample set into two groups according to a criterion that the mutual angle difference is less than θ degrees;

[0165] A resultant vector calculation module 800 is used to calculate a resultant vector from a set of normal vectors where a reference vector is located;

[0166] The model data conversion module 900 is used to perform angle and coordinate conversion processing on the 3D model data of the dental implant guide so that the 3D model is perpendicular to the xy plane with the direction of the resultant vector downward;

[0167] The three-dimensional data storage module 920 is used to store the processed three-dimensional data of the dental implant guide 3D model in a storage unit.

[0168] Furthermore, the dental implant guide orientation device further comprises:

[0169] The support unit adding module 940 is used to add a support unit to the lower part of the dental implant guide 3D model.

[0170] Optionally, the dental implant guide orientation device further comprises:

[0171] Slicing processing module 960, for slicing the overall three-dimensional data of the dental implant guide 3D model and the support unit and obtaining slice image data;

[0172] The 3D printing device 13 is used to import the slice image data into the 3D printing device for 3D exposure printing.

[0173] Figure 4 The structure of the dental implant guide orientation device of the embodiment of the present application Figure 2 As shown in the figure, the dental implant guide orientation device, more specifically, includes:

[0174] The model data acquisition module 100 is used to obtain the triangular mesh model data of the dental implant guide 3D model in a three-dimensional coordinate system;

[0175] The model mesh traversal module 200 is used to traverse all triangular meshes on the dental implant guide 3D model that are spliced ​​together to form the dental implant guide 3D model;

[0176] A mesh normal vector extraction module 310 is used to obtain the normal vectors of all triangular meshes;

[0177] A continuous shared edge mesh group acquisition module 320 is used to acquire a group of triangle meshes with similar normal vectors and continuous shared edges and divide the group into N continuous shared edge groups;

[0178] The non-common edge endpoint extraction module 330 is configured to extract the endpoints of the non-common edges of the Nth continuous common edge group as the Nth endpoint set;

[0179] A geometric center point G acquisition module 410 is configured to add a minimum bounding rectangle to all endpoints in the Nth endpoint set and acquire the geometric center point G of the minimum bounding rectangle;

[0180] The farthest endpoint A selection module 420 is used to select the endpoint A with the farthest straight-line distance from the geometric center point G from the Nth endpoint set;

[0181] The farthest endpoint B selection module 430 is used to select the endpoint B that is farthest from the endpoint A in a straight line from the Nth endpoint set;

[0182] a circle center C determination module 440 , configured to determine the distance from endpoint A to endpoint B as 2R and determine the midpoint of the line segment from endpoint A to endpoint B as the circle center C;

[0183] An annular region determining module 450 is configured to determine an annular region with a radius of K1*R to a radius of K2*R with the circle center C as the center;

[0184] The annular region dividing module 460 is configured to divide the annular region into Y sectors with the circle center C as the center;

[0185] An extraction point selection module 470 is configured to select an endpoint in the annular area from the Nth endpoint set as an extraction point;

[0186] An outer ring contour determining module 480 is configured to determine, when there are extraction points in X sectors out of Y sectors, that the extraction points in the sectors are located on the outer ring contour of the cylindrical end surface of the guide ring hole of the 3D model of the dental implant guide;

[0187] The sampling set acquisition module 500 is used to obtain the normal vectors of the outer ring contour planes of all the cylindrical end faces of the guide ring holes on the 3D model of the dental implant guide as a sampling set;

[0188] An X value acquisition module 610 is used to obtain the X value corresponding to the plane where each outer ring contour is located;

[0189] A reference vector acquisition module 620 is configured to select the normal vector of the outer ring contour plane with the largest X value from the sample set as a reference vector;

[0190] A normal vector grouping module 700 is configured to divide the normal vectors in the sample set into two groups according to a criterion that the mutual angle difference is less than θ degrees;

[0191] A resultant vector calculation module 800 is used to calculate a resultant vector from a set of normal vectors where a reference vector is located;

[0192] The model data conversion module 900 is used to perform angle and coordinate conversion processing on the 3D model data of the dental implant guide so that the 3D model is perpendicular to the xy plane with the direction of the resultant vector downward;

[0193] The three-dimensional data storage module 920 is used to store the processed three-dimensional data of the dental implant guide 3D model in a storage unit.

[0194] Furthermore, the dental implant guide orientation device further comprises:

[0195] The support unit adding module 940 is used to add a support unit to the lower part of the dental implant guide 3D model.

[0196] Optionally, the dental implant guide orientation device further comprises:

[0197] Slicing processing module 960, for slicing the overall three-dimensional data of the dental implant guide 3D model and the support unit and obtaining slice image data;

[0198] The 3D printing device 13 is used to import the slice image data into the 3D printing device for 3D exposure printing.

[0199] Figure 5A -B is the first dental implant guide in an embodiment of the present application.

[0200] As shown in the figure, Figure 5A The first dental implant guide 51 is shown outwardly with the convex surface 501; the first dental implant guide 51 has two hole features 511, and the two hole features 511 have two cylindrical end surfaces 512 from the perspective of the convex surface 501; in particular, the first dental implant guide 51 in the figure also has a straight plane 503 from the perspective of the convex surface 501.

[0201] As shown in the figure, Figure 5B The first dental implant guide 51 is shown outwardly with the concave surface 502; the first dental implant guide 51 has two hole features 511, but the hole features 511 do not have a cylindrical end surface 512 from the perspective of the concave surface 502; in particular, the first dental implant guide 51 in the figure also has a straight plane 503 from the perspective of the concave surface 502.

[0202] Figure 5C -D is the second dental implant guide in the embodiment of the present application.

[0203] As shown in the figure, Figure 5C The second dental implant guide 52 is shown outwardly with the convex surface 501; the second dental implant guide 52 has eight hole features 511, and the eight hole features 511 have eight cylindrical end surfaces 512 from the perspective of the convex surface 501; in particular, the orientations of the cylindrical end surfaces 512 of the second dental implant guide 52 in the figure are different from each other from the perspective of the convex surface 501.

[0204] As shown in the figure, Figure 5D The second dental implant guide 52 is shown outwardly with the concave surface 502 ; the second dental implant guide 52 has eight hole features 511 , but the hole features 511 do not have cylindrical end surfaces 512 from the perspective of the concave surface 502 .

[0205] Figure 6A -D is the third dental implant guide in the embodiment of the present application.

[0206] As shown in the figure, Figure 6A The third dental implant guide 61 is shown outwardly with the convex surface 501; the third dental implant guide 61 has three hole features 511, and the three hole features 511 have three cylindrical end faces 512 from the perspective of the convex surface 501; in particular, the third dental implant guide 61 in the figure also has a straight plane 503 from the perspective of the convex surface 501.

[0207] As shown in the figure, Figure 6B The third dental implant guide 61 is shown outwardly with the concave surface 502; the third dental implant guide 61 has three hole features 511, and the three hole features 511 also have three cylindrical end surfaces 512 from the perspective of the concave surface 502; in particular, the third dental implant guide 61 in the figure also has a straight plane 503 from the perspective of the concave surface 502.

[0208] As shown in the figure, Figure 6C The third dental implant guide 61 forms a model projection 601 with the concave surface 502 facing upward and downward.

[0209] As shown in the figure, Figure 6D The third dental implant guide 61 is oriented with the concave surface 502 facing upward, and the support unit 602 is added to the convex surface 501 to facilitate light-curing printing. After the third dental implant guide 61 is printed and the support unit is removed, the shear residue of the support unit only exists on the convex surface 501, and there is no shear residue of the support unit on the concave surface 502. This can prevent the third dental implant guide 61 from being covered with the gum mucosa of the human oral cavity without leaving any shear residue to irritate the gum mucosa.

[0210] Figure 7A-C is a feature extraction schematic diagram of the third dental implant guide in an embodiment of the present application.

[0211] As shown in the figure, Figure 7A The third dental implant guide 61 is taken as an example to roughly illustrate the feature extraction ideas and model orientation process of the dental implant guide. Figure 5A and Figure 5B As for the first dental implant guide 51, its convex surface 501 has two cylindrical end surfaces 512 from the perspective of the concave surface 501, and does not have a cylindrical end surface 512 from the perspective of the concave surface 501. Therefore, it is easy to determine that the side with two cylindrical end surfaces 512 is suitable for adding a support unit. Figure 5C and Figure 5D As for the second dental implant guide 52, its convex surface 501 has eight cylindrical end surfaces 512, and its concave surface 501 has no cylindrical end surface 512. Therefore, it is easy to determine that the side with eight cylindrical end surfaces 512 is the convex surface suitable for adding support units.

[0212] As for the third dental implant guide 61, Figure 6A and Figure 6B It can be seen that the convex surface 501 and the concave surface 502 both have three cylindrical end faces 512. Therefore, it is difficult to judge whether it is a concave or convex surface based on the number of cylindrical end faces 512 from the convex surface 501 or the concave surface 502. Therefore, it is necessary to further combine Figure 7A The characteristics of the third dental implant guide 61 are used to optimize the judgment idea. For the dental implant guide, Figure 7A Since the concave surface 502 of the third dental implant guide 61 contacts the gums, its cylindrical end surface 512 is typically less complete. Simply put, the cylindrical end surface 512 on the concave surface 501 has a more complete outer contour than the cylindrical end surface 512 on the convex surface 501. This is also because the cylindrical end surface 512 on the convex surface 501 is typically the side where the dental guide ring is mounted and faces away from the gums, so the cylindrical end surface 512 on the convex surface 501 is also more complete. Therefore, when orienting the dental implant guide, it is necessary to orient the concave surface, where the outer contour of the dental implant guide is more complete, upward during the model preprocessing stage, so that the support unit can be added to the convex surface.

[0213] Secondly, for models with hole features, slicing and printing the model along the axial direction of the model hole does not require compensation for the edge of the hole. However, slicing and printing the model along the radial direction of the model hole will cause errors in the Z-axis direction of the hole. Therefore, when orienting the third dental implant guide 61, it is also necessary to slice and print the model in the axial direction of the model hole. When orienting hole features with multiple different orientations, it is necessary to ensure that the multiple hole features point in the optimal direction to minimize the printing error in the Z-axis direction. At this time, the third dental implant guide 61 needs to extract the annular contour based on the cylindrical end face 512, and use the plane normal vector of the cylindrical end face 512 to determine the axial direction of the hole feature 511, and then determine the overall optimal direction.

[0214] In addition, due to Figure 7A The third dental implant guide 61 also has a straight plane 503 outside the cylindrical end surface 512 . Therefore, when obtaining the annular contour where the cylindrical end surface 512 is located, the interference of the triangular grid on the straight plane 503 also needs to be eliminated.

[0215] As shown in the figure, Figure 7B Taking a hole feature 511 of the third dental implant guide 61 as an example, it can be seen that there are multiple co-edge triangular meshes on the cylindrical end surface 512 and the straight plane 503 around it.

[0216] As shown in the figure, Figure 7C exist Figure 7B The basis highlights the triangular meshes with multiple shared edges on the circumference of the cylindrical end face 512, and the gray filled part is only for illustration of the shared edges of the triangular meshes.

[0217] Figure 8A -D is a schematic diagram of the non-public edge endpoint extraction process in an embodiment of the present application.

[0218] As shown in the figure, Figure 8A Taken from Figure 7A Taking a hole feature 511 on the third dental implant guide 61 as an example, it can be seen from the figure that the hole feature 511 has a cylindrical end surface 512 and a plurality of co-edge triangular meshes on the straight plane 503 around it.

[0219] according to Figure 1 The process of the dental implant guide orientation method of the embodiment of the present application Figure 1 In step S300, a group of triangular meshes with similar normal vectors and continuous common edges is obtained and the endpoints of non-common edges are extracted; specifically, according to Figure 2 The process of the dental implant guide orientation method of the embodiment of the present application Figure 2Step S310: obtaining normal vectors of all triangular meshes, and step S320: obtaining groups of triangular meshes with converging normal vectors and continuous shared edges and dividing them into N continuous shared edge groups;

[0220] Therefore, based on the conditions of normal vector convergence and continuous common edges, the triangle mesh group on the straight plane 503 and the triangle mesh group on the cylindrical end face 512 can be screened out; the triangle mesh group on the cylindrical end face 512 is only used as an example to illustrate the judgment and selection process of the triangle mesh group on the cylindrical end face 512. It is believed that those skilled in the art can easily judge the process of excluding the triangle mesh group on the straight plane 503 accordingly.

[0221] As shown in the figure, Figure 8B Taken from Figure 8A Taking the midpoint-shaped filling of the triangular mesh as an example, a triangular mesh group consisting of triangular meshes M1-M10 on the cylindrical end surface 512 is obtained, and the normal vectors m1-m10 corresponding to the triangular meshes converge.

[0222] As shown in the figure, Figure 8C Based on Figure 2 The process of the dental implant guide orientation method of the embodiment of the present application Figure 2 Step S330: extract the endpoints of the non-common edges from the Nth continuous common edge group as the Nth endpoint set; with the non-common edges as the condition, the following can be extracted: Figure 8C The broken lines and black-filled endpoints shown are non-public edges, and the black-filled endpoints are non-public edge endpoints.

[0223] As shown in the figure, Figure 8D For the reason Figure 8C For example, the outer circle contour and the inner circle contour formed by the endpoints of the non-common edges on the entire cylindrical end surface 512 are obtained.

[0224] Figure 9A -D is a schematic diagram of the process of determining the center of the outer ring contour in an embodiment of the present application.

[0225] As shown in the figure, Figure 9A The example is Figure 8D Add the minimum bounding rectangle to the endpoints of the non-common edges obtained in .

[0226] As shown in the figure, Figure 9B The example is Figure 9A The minimum enclosing rectangle obtained in is used to obtain the geometric center point G of the minimum enclosing rectangle.

[0227] As shown in the figure, Figure 9C The example is to select the endpoint A which is the farthest from the geometric center point G in a straight line from each endpoint.

[0228] As shown in the figure, Figure 9D In the example, endpoint B is selected from among all endpoints, which is the farthest from endpoint A in a straight line; and the midpoint of the line segment from endpoint A to endpoint B is determined as the center C of the circle.

[0229] Figure 10A -D is a schematic diagram of the outer ring contour determination process in an embodiment of the present application.

[0230] As shown in the figure, Figure 10A As an example, the distance from endpoint A to endpoint B is determined to be 2R, that is, a circle with a center at point C and a radius of R is formed.

[0231] As shown in the figure, Figure 10B In an example, the endpoints of the non-common edges on the outer circular contour are exactly on a circle with a center point C and a radius R.

[0232] As shown in the figure, Figure 10C The example shows a circular area with a radius of K1*R to a radius of K2*R determined with the center C as the center; in this figure, K1 takes a value of 0.8 and K1 takes a value of 1.2.

[0233] As shown in the figure, Figure 10D The example is to divide the annular area into Y equal sectors with the center C as the center; in this figure, Y is 20, that is, the annular area is divided into 20 equal sectors; 3 sectors are empty sets, that is, no non-public edge endpoints fall into the sectors; there are non-public edge endpoints in 17 sectors; when it is set as a condition that there are more than or equal to 13 sectors with non-public edge endpoints in the 20 sectors, and in this figure Y is 20 and X is 17, this condition is met, so it can be determined that the endpoints of the non-public edges on the outer circular contour are located at the outer ring contour of the cylindrical end face of the guide ring hole of the dental implant guide 3D model; and the X value is 17, which is also close to the Y value of 20, so it can be known that the circular contour of the cylindrical end face of the guide ring hole of the dental implant guide 3D model has a high degree of integrity.

[0234] In particular, the judgment process of this figure can distinguish and filter out Figure 8A The triangle mesh group on the straight plane 503 and the triangle mesh group on the cylindrical end face 512 .

[0235] Accordingly, in the subsequent step S600, the normal vector of the plane with the highest outer ring contour integrity is selected from the sample set as the reference vector, and the X value can be comprehensively compared to determine the following: Figure 6A The side of the cylindrical end surface on the central hole feature 511 with higher integrity is a convex surface.

[0236] Figure 11A -C is a schematic diagram of the resultant vector determination process in an embodiment of the present application.

[0237] As shown in the figure, Figure 11A The example is Figure 7A For the three cylinders where the characteristic hole 511 is located on the third dental implant guide 61, the corresponding outer ring contour plane of the left cylinder is N1, and the normal vector is n1; the outer ring contour plane of the middle cylinder is N2, and the normal vector is n2; the outer ring contour plane of the right cylinder is N3, and the normal vector is n3; the outer ring contour plane of the lower part of the left cylinder is N4, and the normal vector is n4; the outer ring contour plane of the lower part of the middle cylinder is N5, and the normal vector is n5; the outer ring contour plane of the lower part of the right cylinder is N6, and the normal vector is n6.

[0238] As shown in the figure, Figure 11B The example is to divide the normal vectors n1-n6 corresponding to the outer ring contour planes N1-N6 into two groups according to the standard that the mutual angle difference is less than θ degrees; Figure 5A The first dental implant guide 51 and Figure 6A From the third dental implant guide 61, since the cylindrical end faces where the characteristic holes 511 are located tend to be almost the same, it can be seen that when the value of θ is about 10 degrees, the cylindrical end face areas where the characteristic holes 511 are located can be divided into two groups roughly facing upward or downward; Figure 5C For example, in the second dental implant guide 52, if the cylindrical end surface area where the characteristic hole 511 is located is to be divided into two groups, roughly facing upward or downward, the value of θ should be set to close to 60 degrees to achieve this distinction. The guide ring hole angles of conventional dental implant guides generally do not exceed 60 degrees. Therefore, if the value of θ is set to 60 degrees according to the dental implant guide orientation method of the embodiment of the present application, the outer ring contours of the cylindrical end surfaces of the guide ring holes of all dental implant guide models can be divided into two groups, roughly facing upward or downward. Of course, the specific value of θ can also be adjusted appropriately.

[0239] at the same time, Figure 11B It is also exemplified by the above Figure 11A The process of selecting the normal vector of the plane with the highest outer ring contour integrity as the reference vector from the six outer ring contour planes and normal vectors; Figure 10D Assume that after the endpoints on N1-N6 fall into the sector, their X values ​​are 19, 17, 19, 19, 20, and 20, respectively. Then, the normal vectors n5 and n6 corresponding to the two outer ring contour planes N5 and N6 with the largest X values ​​are the reference vectors. Correspondingly, the vector group containing the reference vectors includes the normal vectors n4, n5, and n6.

[0240] As shown in the figure, Figure 11C The example is given by Figure 11B The vector group where the reference vector is obtained includes normal vectors n4, n5, and n6 to calculate the resultant vector; the final resultant vector is in the same direction as the normal vector n5; since the normal vector n5 mentioned above is Figure 6AThe third dental implant guide 61 is located on a cylindrical end face on the convex surface, so the normal vector n5 is the final direction of the third dental implant guide 61 with the convex surface downward, and is perpendicular to the xy plane downward; on this basis, the dental implant guide 3D model data is processed with angles and coordinates and the processed three-dimensional data of the dental implant guide 3D model is stored, thus completing the dental implant guide orientation of the third dental implant guide 61.

[0241] Figure 12A This is a block diagram of the electronic device structure for implementing the dental implant guide orientation method according to an embodiment of the present application. As shown in the figure, the electronic device 12 in the figure is taken as an example having a processor 121. As shown in the figure, an electronic device 12 includes a processor 121 and a storage unit 122; wherein the storage unit 122 stores a computer program 120 or instructions that can be executed by the processor 121, and the computer program 120 or instructions are executed by the processor 121 so that the processor 121 can perform the following operations: Figure 1 Steps S100 to S920 in the above example, or perform the following steps: Figure 1 Steps S100 to S960 in .

[0242] The storage unit 122 is a non-transitory computer-readable storage medium provided in the third aspect of the present application. The storage unit 122 stores instructions that can be executed by at least one processor 121, so that at least one processor 121 can execute the following instructions: Figure 1 Steps S100 to S920 in the embodiment, or as follows Figure 1 Steps S100 to S960 in .

[0243] The storage unit 122 is a non-transient computer-readable storage medium that can be used to store non-transient software programs, non-transient computer executable programs, and modules. Figure 1 The program instructions / modules corresponding to steps S100-S920 in the embodiment of the present invention, or the implementation of the embodiment of the present invention, Figure 1 The processor 121 executes the non-transient computer program 120, instructions and modules stored in the storage unit 122 to execute various functional applications and data processing of the server, that is, to achieve the above Figure 1 The corresponding embodiments involve steps of computers and processors.

[0244] The storage unit 122 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created when the electronic device 12 is used, etc. In addition, the storage unit 122 may include a high-speed random access storage module, and may also include a non-transient storage module, such as at least one disk storage module, a flash memory device, or other non-transient solid-state storage module. In some embodiments, the storage unit 122 may optionally include a storage module remotely arranged relative to the processor 121, and these remote storage modules may be connected to the electronic device generated by the support structure via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0245] Various implementations of the systems and techniques described herein can be realized in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input unit, and at least one output device, and transmit data and instructions to the storage system, the at least one input unit, and the at least one output device.

[0246] These computer programs 120 (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or apparatus (e.g., a magnetic disk, an optical disk, a memory module, a programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0247] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this application can be achieved. This is not a limitation herein.

[0248] Figure 12BA schematic diagram of an electronic device pre-processing and slicing a 3D model according to an embodiment of the present application. As shown, a user runs 3D slicing software on an electronic device 12 and uses a dental implant guide orientation method provided in the first aspect of the present application to orient and position the 3D dental implant guide model. Step S940 is then performed to add support units to the lower portion of the 3D dental implant guide model. Step S960 then slices the overall three-dimensional data of the 3D dental implant guide model and the support units to obtain slice image data.

[0249] Figure 13A A block diagram of the structure of a 3D printing device for implementing the method of dental implant guide orientation of the present application. As shown in the figure, a 3D printing device 13 includes a controller 131 and a memory 132; wherein the memory 132 stores a printing control program 130 or instructions that can be executed by the controller 131, and the printing control program 130 or instructions are executed by the controller 131 so that the controller 131 can perform the following operations: Figure 1 Step S980 in the above step is used to obtain the overall printout of the 3D model of the dental implant guide with the support unit added to the lower convex surface; or Figure 1 In steps S100-S980, this is because Figure 1 Steps S100-S500 in the process may also be fully executed in the 3D printing device 13.

[0250] Figure 13B This is a schematic diagram of importing sliced ​​image data obtained after implementation of the present method into a 3D printing device. As shown, a user uses a mobile storage device 14 to import the sliced ​​image data and / or printing parameters of a 3D model of a dental implant guide with support units added to the lower convex surface, processed by an electronic device 12, into a 3D printing device 13 for 3D exposure printing, thereby obtaining a complete printout of the 3D model of the dental implant guide with support units added to the lower convex surface.

[0251] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A dental implant guide orientation method, characterized in that: include: Obtain triangular mesh model data of the dental implant guide 3D model in a three-dimensional coordinate system; Traversing all triangular meshes on the dental implant guide 3D model that are spliced ​​together to form the dental implant guide 3D model; Obtain a group of triangle meshes with convergent normal vectors and continuous shared edges and extract the endpoints of non-common edges; Determine the outer ring contour of the cylindrical end face of the guide ring hole of the dental implant guide 3D model according to the extracted endpoints of the non-public edges; Obtaining normal vectors of outer ring contour planes of all cylindrical end faces of guide ring holes on the dental implant guide 3D model as a sampling set; Selecting the normal vector of the plane with the highest outer ring contour completeness from the sampling set as a reference vector; According to the criterion that the mutual angle difference of the normal vectors is less than θ degrees, the normal vectors in the sample set are divided into two groups according to whether the cylindrical end face of the model guide ring hole is facing upward or downward; Calculating a resultant vector from a set of normal vectors where the reference vector is located; Performing angle and coordinate conversion processing on the 3D model data of the dental implant guide so that the 3D model is perpendicular to the xy plane with the direction of the resultant vector downward; The processed three-dimensional data of the dental implant guide 3D model is stored in a storage unit.

2. The dental implant guide orientation method according to claim 1, characterized in that: The method of obtaining a group of triangular meshes with convergent normal vectors and continuous shared edges and extracting endpoints of non-shared edges further includes: Get the normal vectors of all triangle meshes; Obtaining the triangular mesh groups with convergent normal vectors and continuous shared edges and dividing them into N continuous shared edge groups; For the Nth continuous common edge group, endpoints of non-common edges are extracted as the Nth endpoint set.

3. The dental implant guide orientation method according to claim 2, characterized in that: The method of determining the outer ring contour of the cylindrical end surface of the guide ring hole of the dental implant guide 3D model according to the extracted endpoints of the non-common edges further includes: Add a minimum bounding rectangle to all endpoints in the Nth endpoint set and obtain the geometric center point G of the minimum bounding rectangle; Selecting an endpoint A from the Nth endpoint set that is farthest from the geometric center point G in a straight line; Selecting an endpoint B from the Nth endpoint set that is farthest from the endpoint A in a straight line; Determine the distance from the endpoint A to the endpoint B as 2R and determine the midpoint of the line segment from the endpoint A to the endpoint B as the center C of the circle; Determine an annular area with a radius of K1*R to a radius of K2*R with the circle center C as the center; Divide the annular area into Y equal sectors with the circle center C as the center; Selecting an endpoint in the annular area from the Nth endpoint set as an extraction point; When the extraction points exist in X of the Y sectors, it is determined that the extraction points in the sectors are located at the outer ring contour of the cylindrical end surface of the guide ring hole of the dental implant guide 3D model.

4. The dental implant guide orientation method according to claim 3, characterized in that: The step of selecting the normal vector of the plane with the highest outer ring contour integrity from the sampling set as a reference vector further includes: Get the X value corresponding to the plane where each outer ring contour is located; The normal vector of the outer ring contour plane with the largest X value is selected from the sampling set as the reference vector.

5. The dental implant guide orientation method according to claim 1, characterized in that: Also includes: A support unit is added to the lower part of the dental implant guide 3D model.

6. The dental implant guide orientation method according to claim 1, characterized in that: The θ is any set value between 0 and 90 degrees.

7. A dental implant guide orientation device, characterized in that: include: A model data acquisition module is used to obtain triangular mesh model data of the dental implant guide 3D model in a three-dimensional coordinate system; A model mesh traversal module, configured to traverse all triangular meshes on the dental implant guide 3D model that are spliced ​​together to form the dental implant guide 3D model; An endpoint extraction module is used to obtain a group of triangular meshes with similar normal vectors and continuous shared edges and extract endpoints of non-common edges; An outer ring contour determination module is used to determine the outer ring contour of the cylindrical end face of the guide ring hole of the dental implant guide 3D model according to the extracted endpoints of the non-common edges; A sampling set acquisition module is used to obtain the normal vectors of the outer ring contour planes of all the cylindrical end faces of the guide ring holes on the 3D model of the dental implant guide as a sampling set; A reference vector acquisition module, configured to select a normal vector of a plane with the highest outer ring contour integrity from the sampling set as a reference vector; A normal vector grouping module is used to divide the normal vectors in the sample set into two groups according to the standard that the mutual angle difference of the normal vectors is less than θ degrees, with the normal vectors facing upward or downward in the cylindrical end face area of ​​the model guide ring hole; A resultant vector calculation module, configured to calculate a resultant vector from a set of normal vectors where the reference vector is located; A model data conversion module is used to perform angle and coordinate conversion processing on the 3D model data of the dental implant guide so that the 3D model is perpendicular to the xy plane with the direction of the resultant vector downward; The three-dimensional data storage module is used to store the processed three-dimensional data of the dental implant guide 3D model in a storage unit.

8. The dental implant guide orientation device according to claim 7, characterized in that: The endpoint extraction module also includes: Mesh normal vector extraction module, used to obtain the normal vectors of all triangular meshes; A continuous co-edge mesh group acquisition module is used to acquire a triangular mesh group with similar normal vectors and continuous co-edges and divide it into N continuous co-edge groups; The non-common edge endpoint extraction module is used to extract the endpoints of the non-common edges of the Nth continuous common edge group as the Nth endpoint set.

9. The dental implant guide orientation device according to claim 8, characterized in that: The outer ring contour determination module also includes: A geometric center point G acquisition module is used to add a minimum bounding rectangle to all endpoints in the Nth endpoint set and obtain the geometric center point G of the minimum bounding rectangle; A farthest endpoint A selection module, configured to select an endpoint A having the farthest straight-line distance from the geometric center point G from the Nth endpoint set; A farthest endpoint B selection module, configured to select an endpoint B that is farthest from the endpoint A in a straight line from the Nth endpoint set; a circle center C determination module, configured to determine the distance from the endpoint A to the endpoint B as 2R and determine the midpoint of the line segment from the endpoint A to the endpoint B as the circle center C; An annular region determining module, configured to determine an annular region with a radius of K1*R to a radius of K2*R with the circle center C as the center; an annular area dividing module, configured to divide the annular area into Y sectors with the circle center C as the center; An extraction point selection module, configured to select an endpoint in the annular area from the Nth endpoint set as an extraction point; The outer ring contour determination module is used to determine that the extraction points in the sectors are located at the outer ring contour of the cylindrical end surface of the guide ring hole of the dental implant guide plate 3D model when the extraction points exist in X of the Y sectors.

10. The dental implant guide orientation device according to claim 9, characterized in that: The reference vector acquisition module further includes: The X value acquisition module is used to obtain the X value corresponding to the plane where each outer ring contour is located; The reference vector acquisition module is used to select the normal vector of the outer ring contour plane with the largest X value from the sampling set as the reference vector.

11. An electronic device, characterized in that: include: at least one processor; and a storage unit communicatively coupled to the at least one processor; The storage unit stores instructions that can be executed by the at least one processor, and when the at least one processor executes the instructions, the steps of the dental implant guide orientation method according to any one of claims 1 to 5 are implemented.

12. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the dental implant guide orientation method according to any one of claims 1 to 5 are implemented.

13. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed by a computer, the steps of the dental implant guide orientation method according to any one of claims 1 to 5 are implemented.

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