A method, apparatus, and device for establishing a virtual jaw

Abstract

The application discloses a method, device and equipment for establishing a virtual jaw frame, acquires a medical image of a patient, determines anatomic related mark points and upper and lower dental arch key points from the medical image, establishes a virtual cranial maxillary coordinate system and a mandibular coordinate system according to the anatomic related mark points, and determines the positions of the upper and lower dental arch key points in the coordinate system. The upper dental arch key points in a laser scanning tooth model of the patient are aligned with the same key points in the cranial maxillary coordinate system, and the laser scanning tooth model is added to the cranial maxillary coordinate system. The lower dental arch key points in the laser scanning tooth model are aligned with the same key points in the mandibular coordinate system, and the laser scanning tooth model is added to the mandibular coordinate system. Any point in the upper and lower dental arches in the laser scanning tooth model can be found in the corresponding position in the cranial maxillary coordinate system or the mandibular coordinate system, a highly personalized virtual jaw frame is established in a digital way, and the real situation of the patient is simulated in the morphological aspect to the maximum extent.

Description

Technical Field

[0001] This application relates to the field of oral medicine technology, specifically to a method, apparatus, and device for creating a virtual jawbone. Background Technology

[0002] Articulators are commonly used auxiliary tools in the field of oral medicine. One of their functions is to simulate static occlusal relationships, stabilize specific positional relationships between the upper and lower dental arches, and to a certain extent simulate the spatial relationship between the dental arch and the patient's facial anatomy under this positional relationship.

[0003] In existing technologies, this function of an articulator is generally achieved using a mechanical articulator. This requires referencing the patient's anatomical structure, mounting a model of the maxillary dental arch on the upper half of the mechanical articulator, and then mounting a mandibular model on the lower half of the mechanical articulator according to the three-dimensional spatial relationship between the upper and lower dental arches within the patient's mouth. This allows the occlusal relationship between the upper and lower dental arches to be stably maintained on the articulator. This is an articulator function primarily based on morphological simulation, and the realism of its simulation depends on whether the relationship between the dental arches and stable anatomical structures can be transferred to the articulator.

[0004] However, for ease of production and use, each existing jawbone must have a unified basic structure, and then the highly personalized morphology of the patient's masticatory organs must be transferred to the jawbone. Due to the extremely complex structure of the masticatory organs, such a basic design makes it difficult to coordinate the different needs of morphological simulation in three-dimensional space, and the biomimetic simulation capability of mechanical jawbone has an insurmountable limitation. Summary of the Invention

[0005] In view of this, embodiments of this application provide a method, apparatus, and device for creating a virtual jaw frame, which digitally creates a highly personalized bionic virtual jaw frame to simulate the patient's real condition to the greatest extent possible.

[0006] To address the above problems, the technical solutions provided in this application are as follows:

[0007] A method for establishing a virtual jaw frame, the method comprising:

[0008] Acquire medical imaging images of the patient and identify anatomical landmarks, key points of the maxillary dental arch, and key points of the mandibular dental arch in the medical imaging images;

[0009] Establish a craniomaxillary coordinate system based on the aforementioned anatomical landmarks;

[0010] Establish a mandibular coordinate system based on the aforementioned anatomical landmarks;

[0011] Determine the positions of the key points of the maxillary dental arch in the craniomaxillary coordinate system, and the positions of the key points of the mandibular dental arch in the mandibular coordinate system;

[0012] Obtain laser-scanned dental models of the patient;

[0013] The positions of the key points of the maxillary dental arch and the key points of the mandibular dental arch are determined in the laser-scanned dental model;

[0014] The positions of the key points of the maxillary dental arch in the laser-scanned dental model are aligned with the positions of the same key points of the maxillary dental arch in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system;

[0015] The positions of the key points of the mandibular dental arch in the laser-scanned dental model are aligned with the positions of the same key points of the mandibular dental arch in the mandibular coordinate system, thereby adding the laser-scanned dental model to the mandibular coordinate system.

[0016] In one possible implementation, establishing the craniomaxillary coordinate system based on the anatomically relevant landmarks includes:

[0017] The craniomaxillary horizontal reference plane was determined based on three primary anatomical landmarks.

[0018] The plane that passes through two second anatomically relevant landmarks and is perpendicular to the horizontal reference plane of the craniomaxilla is taken as the sagittal plane;

[0019] The plane that passes through a third anatomically relevant landmark and is perpendicular to both the craniomaxillary horizontal reference plane and the sagittal plane is defined as the coronal plane;

[0020] The craniomaxillary coordinate system is established by taking the intersecting straight line between the horizontal reference plane of the craniomaxilla, the sagittal plane, and the coronal plane as the coordinate axes of the craniomaxillary coordinate system, and taking the intersection of the horizontal reference plane of the craniomaxilla, the sagittal plane, and the coronal plane as the origin of the craniomaxillary coordinate system.

[0021] In one possible implementation, the method further includes:

[0022] A fourth anatomically relevant landmark is selected within a preset range of the first temporomandibular joint as the origin of the first craniomaxillary sub-coordinate system. The first craniomaxillary sub-coordinate system is established, and each coordinate axis of the first craniomaxillary sub-coordinate system is parallel to each coordinate axis of the craniomaxillary coordinate system.

[0023] A fifth anatomically relevant landmark is selected within a preset range of the second temporomandibular joint. A first parallel plane to the sagittal plane is constructed through the fifth anatomically relevant landmark. The foot of the perpendicular from the origin of the first craniomaxillary sub-coordinate system to the first parallel plane is determined as the origin of the second craniomaxillary sub-coordinate system. The second craniomaxillary coordinate system is established, and each coordinate axis of the second craniomaxillary coordinate system is parallel to each coordinate axis of the craniomaxillary coordinate system. The fifth anatomically relevant landmark corresponds to the fourth anatomically relevant landmark, and the second side is the other side of the first side.

[0024] In one possible implementation, establishing the mandibular coordinate system based on the anatomically relevant landmarks includes:

[0025] The first plane of the mandibular coordinate system is determined based on three sixth anatomical landmarks;

[0026] The plane that passes through two seventh anatomical landmarks and is perpendicular to the first plane is taken as the second plane of the mandibular coordinate system;

[0027] The plane that passes through an eighth anatomically relevant landmark and is perpendicular to both the first and second planes is taken as the third plane of the mandibular coordinate system.

[0028] The mandibular coordinate system is established by taking the intersecting straight lines between the first plane, the second plane, and the third plane as the coordinate axes of the mandibular coordinate system, and taking the intersection point of the first plane, the second plane, and the third plane as the origin of the mandibular coordinate system.

[0029] In one possible implementation, the method further includes:

[0030] Within a predetermined range of the temporomandibular joint condyle on the first side, a ninth anatomically relevant landmark is selected as the origin of the first mandibular sub-coordinate system. The first mandibular sub-coordinate system is established, and each coordinate axis of the first mandibular sub-coordinate system is parallel to each coordinate axis of the mandibular coordinate system.

[0031] Within a predetermined range of the second temporomandibular joint condyle, a tenth anatomically relevant landmark is selected. A second parallel plane to the first plane is constructed through the tenth anatomically relevant landmark. The foot of the perpendicular from the origin of the first mandibular sub-coordinate system to the second parallel plane is determined as the origin of the second mandibular sub-coordinate system. The second mandibular coordinate system is established, and each coordinate axis of the second mandibular coordinate system is parallel to each coordinate axis of the mandibular coordinate system. The tenth anatomically relevant landmark corresponds to the ninth anatomically relevant landmark. The second side is the other side of the first side.

[0032] In one possible implementation, acquiring the patient's medical imaging images and determining anatomically relevant landmarks in the medical imaging images includes:

[0033] When the medical image is a three-dimensional medical image, anatomical landmarks are determined from the three-dimensional medical image;

[0034] When the medical image is a two-dimensional medical image, for a single anatomical landmark, the position of the single anatomical landmark is directly determined from the two-dimensional medical image. For bilateral anatomical landmarks, the average point of the images of the bilateral anatomical landmarks is taken from the two-dimensional medical image as the position of the bilateral anatomical landmarks. The coordinate values ​​of the symmetrical and missing dimensions of the bilateral anatomical landmarks are set manually.

[0035] In one possible implementation, the method further includes:

[0036] Determine the location of the first key point in the medical image and the location of the first key point in the craniomaxillary coordinate system;

[0037] The position of the first key point in the medical image is aligned with the position of the same first key point in the craniomaxillary coordinate system, thereby adding the medical image to the craniomaxillary coordinate system.

[0038] In one possible implementation, the method further includes:

[0039] Obtain facial scan data;

[0040] Determine the location of the second key point in the facial scan data and the location of the second key point in the craniomaxillary coordinate system;

[0041] The facial scan data is added to the craniomaxillary coordinate system by aligning the position of the second key point in the facial scan data with the position of the same second key point in the craniomaxillary coordinate system.

[0042] An apparatus for creating a virtual jaw frame, the apparatus comprising:

[0043] The first determining unit is used to acquire the patient's medical imaging images and determine the anatomical landmarks, key points of the maxillary dental arch, and key points of the mandibular dental arch in the medical imaging images.

[0044] The first establishment unit is used to establish a craniomaxillary coordinate system based on the anatomical landmarks;

[0045] The second establishment unit is used to establish a mandibular coordinate system based on the anatomical landmarks;

[0046] The second determining unit is used to determine the position of the key points of the maxillary dental arch in the craniomaxillary coordinate system and the position of the key points of the mandibular dental arch in the mandibular coordinate system;

[0047] The first acquisition unit is used to acquire the patient's laser-scanned dental model;

[0048] The third determining unit is used to determine the positions of the key points of the maxillary dental arch and the key points of the mandibular dental arch in the laser-scanned dental model;

[0049] The first adding unit is used to align the position of the maxillary dental arch key point in the laser-scanned dental model with the position of the same maxillary dental arch key point in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system.

[0050] The second adding unit is used to align the positions of the key points of the mandibular dental arch in the laser-scanned dental model with the positions of the same key points of the mandibular dental arch in the mandibular coordinate system, thereby adding the laser-scanned dental model to the mandibular coordinate system.

[0051] An electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the method for creating a virtual jaw as described above.

[0052] Therefore, the embodiments of this application have the following beneficial effects:

[0053] In this embodiment, medical imaging images of the patient are acquired, and anatomical landmarks and key points of the maxillary and mandibular dental arches are identified from these images. Virtual craniomaxillary and mandibular coordinate systems are established based on these landmarks, and the positions of the key points of the maxillary and mandibular dental arches within these coordinate systems are determined. A laser-scanned dental model of the patient is then acquired, and the positions of the key points of the maxillary dental arches in the laser-scanned dental model are aligned with the positions of the corresponding key points in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system. Similarly, the positions of the key points of the mandibular dental arches in the laser-scanned dental model are aligned with the positions of the corresponding key points in the mandibular coordinate system, thereby adding the laser-scanned dental model to the mandibular coordinate system. Thus, any point in the maxillary and mandibular dental arches in the laser-scanned dental model can be located in either the craniomaxillary or mandibular coordinate system, clarifying the spatial relationship between the maxillary and mandibular scanning models and the patient's important anatomical structures, and establishing a highly personalized virtual jawbone through digitalization. Based on medical radiographic measurements, this application integrates anatomical features and establishes a highly personalized biomimetic virtual jaw frame through digital means. This breaks through the limitations of traditional jaw frame design concepts and structural forms, and simulates the patient's real condition in terms of morphology to the greatest extent possible. It can provide a more effective tool for functional diagnosis of masticatory organs and treatment design for full mouth reconstruction. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of a mechanical jaw rest in the prior art;

[0055] Figure 2 This is a flowchart illustrating a method for creating a virtual jaw frame, as provided in an embodiment of this application.

[0056] Figure 3 This is a schematic diagram of anatomical landmarks used to establish the craniomaxillary coordinate system in the embodiments of this application.

[0057] Figure 4 This is a schematic diagram of anatomical landmarks used to establish the craniomaxillary coordinate system in the embodiments of this application.

[0058] Figure 5 This is a schematic diagram of anatomical landmarks used to establish the mandibular coordinate system in the embodiments of this application.

[0059] Figure 6 This is a schematic diagram of a device for creating a virtual jaw frame provided in an embodiment of this application. Detailed Implementation

[0060] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the embodiments of this application will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0061] To facilitate understanding of the technical solutions provided in the embodiments of this application, the background technology involved in the embodiments of this application will be described below.

[0062] Articulators are commonly used auxiliary tools in the field of dentistry, primarily serving two functions. First, they simulate static occlusion, stabilizing the specific positional relationship between the maxillary and mandibular dental arches and, to some extent, simulating the spatial relationship between the dental arches and the patient's facial anatomy under this positional relationship. Second, they simulate mandibular movement, observing the changes in the spatial position of the maxillary and mandibular teeth caused by mandibular movement. This process simplifies and mechanizes the patient's masticatory organs, enabling static and dynamic analysis of the occlusal relationship between the maxillary and mandibular dental arches, and facilitating the design and fabrication of prostheses.

[0063] The jaw frame is typically divided into two parts, upper and lower, corresponding to the upper and lower jawbones respectively, connected by a hinge axis that can open and close to simulate the temporomandibular joint. The upper and lower parts can open and close along the hinge axis to simulate the opening and closing movement of the mandible in the lower space of the temporomandibular joint; they can also slide back and forth along a trajectory with a specific inclination (condylar passage) to simulate the back and forth sliding of the mandible in the upper space of the temporomandibular joint.

[0064] In existing technologies, mechanical articulators are generally used. To achieve the first function of an articulator, a model of the maxillary dental arch is installed in the upper part of the articulator, based on the patient's anatomical structure. Then, according to the three-dimensional spatial relationship between the upper and lower dental arches in the patient's mouth, a mandibular model is installed in the lower part of the articulator. This allows the occlusal relationship between the upper and lower dental arches to be stably maintained on the articulator. This is an articulator function primarily based on morphological simulation, and the realism of its simulation depends on whether the relationship between the dental arches and stable anatomical structures can be transferred to the articulator.

[0065] The second function of an articulator is to simulate mandibular movements. Depending on its design and adjustability, it can simulate mandibular movements that a patient might experience to varying degrees, and observe the changes in the spatial position of the upper and lower teeth caused by these movements. This helps in diagnosing occlusal interference points and designing the morphology of the functional surfaces of teeth. This is an articulator function primarily focused on simulating mandibular functional movements. The realism of its simulation depends on whether the opening and closing movements and the forward and backward movements of the upper and lower parts can accurately simulate the actual movements of the temporomandibular joint. To maximize the simulation of realism, a special device (motion facebow) can be used clinically to locate the hinge axis of the mandibular opening and closing movements on the patient and precisely replicate the relative position of the hinge axis with respect to the upper and lower dental arches onto the articulator. It is also necessary to record the sliding trajectory of the mandible during forward and backward movements and transfer it to the articulator.

[0066] The value of a jawbone frame lies in its accuracy in simulating the true morphology and functional movements of a patient's masticatory organs. However, achieving this level of accuracy requires different approaches, and current jawbone frame designs fail to meet both simultaneously. Existing jawbone frames primarily focus on simulating functional movements, using a reference plane composed of the hinge axis and the corresponding unstable anatomical structures on the facial surface for morphological simulation. This makes it difficult to achieve stable and repeatable morphological simulations even on the same patient, which in turn affects the accuracy of functional simulations, as the latter loses its stable anatomical reference plane between multiple simulations. Furthermore, for ease of production and use, see [link to relevant documentation]. Figure 1 The diagram illustrates a mechanical jawbone system. Each existing mechanical jawbone system must have a unified basic structure, and then the highly personalized morphology and functional movements of the patient's masticatory organs are transferred to the jawbone system. Because the structure and movement patterns of the masticatory organs are extremely complex, such a basic design struggles to coordinate the different needs of morphological and functional simulation in three-dimensional space, resulting in an insurmountable limitation in the biomimetic capabilities of mechanical jawbone systems.

[0067] Based on this, embodiments of this application provide a method, apparatus, and device for establishing a virtual jaw frame. Based on radiographic measurements, a virtual jaw frame is established, focusing on achieving the first function of the jaw frame: morphological simulation. By integrating anatomical features and digitally establishing a highly personalized biomimetic virtual jaw frame, it breaks through the limitations of traditional jaw frame design concepts and structural forms, maximizing the morphological simulation of the patient's actual condition. This provides a more effective tool for functional diagnosis of the masticatory organs and treatment design for full-mouth reconstruction.

[0068] Based on the above description, the method for establishing a virtual jaw frame provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0069] See Figure 2 This figure is a flowchart of a method for establishing a virtual jawbone according to an embodiment of this application. Figure 2 As shown, the method for establishing a virtual jaw frame may include steps S201-S208:

[0070] S201: Acquire the patient's medical imaging images and identify anatomical landmarks, key points of the maxillary dental arch, and key points of the mandibular dental arch in the medical imaging images.

[0071] Morphological simulation functions serve to accurately assess changes in anatomical structures, requiring a stable reference system capable of both lateral and longitudinal comparisons. Therefore, they must be designed based on stable bony anatomical structures. This application's embodiments integrate hard tissue structure data through patient medical imaging images, such as two-dimensional / three-dimensional radiographic measurements.

[0072] In practical applications, medical images of the patient are acquired. These images can be two-dimensional, such as X-ray images, or three-dimensional, such as CT (Computed Tomography) images. Anatomical landmarks are identified from these images to establish the coordinate systems of the virtual jawbone. Key points of the maxillary and mandibular dental arches can also be determined from the images to add the laser-scanned dental model to these coordinate systems.

[0073] S202: Establish a craniomaxillary coordinate system based on anatomical landmarks.

[0074] In the human body, the skull and maxilla cannot move relative to each other, while the mandible can. Any jawbone has upper and lower structures, and relative movement between these structures is possible; virtual jawbone systems are no exception. Therefore, a craniomaxillary coordinate system and a mandibular coordinate system can be established. The craniomaxillary coordinate system, as a world coordinate system, can be used to assess changes in the size, shape, and position of the upper and lower teeth. The craniomaxillary coordinate system can be established using relevant anatomical landmarks; the specific method for establishing the craniomaxillary coordinate system will be explained in subsequent embodiments.

[0075] S203: Establish a mandibular coordinate system based on anatomical landmarks.

[0076] Changes in the size, shape, and position of mandibular teeth relative to the mandible can be accurately assessed using the mandibular coordinate system, while changes in mandibular position can be assessed by the change in the position of the mandibular coordinate system within the world coordinate system (craniomaxillary coordinate system). The mandibular coordinate system can be established using relevant anatomical landmarks; the specific method for establishing the mandibular coordinate system will be explained in subsequent embodiments.

[0077] It should be noted that S202 and S203 can be executed in parallel or sequentially. This application embodiment does not limit the execution order between S202 and S203.

[0078] S204: Determine the positions of the key points of the maxillary dental arch in the craniomaxillary coordinate system and the positions of the key points of the mandibular dental arch in the mandibular coordinate system.

[0079] Establishing the craniomaxillary and mandibular coordinate systems for the virtual occlusal articulation is equivalent to establishing the upper and lower structures of the virtual articulation. In medical imaging, at least three key points can be identified from both the maxillary and mandibular dental arches, namely the maxillary arch key points and the mandibular arch key points. This allows us to obtain the positions of the maxillary arch key points in the craniomaxillary coordinate system and the mandibular arch key points in the mandibular coordinate system.

[0080] S205: Obtain the patient's laser-scanned dental model.

[0081] Laser-scanned dental STL models can reconstruct a patient's tooth structure more clearly and accurately. The further process of establishing a virtual jawbone in this application involves adding the patient's laser-scanned dental model to various established coordinate systems. This allows the position of any point on the laser-scanned dental model to be determined in each coordinate system. By using the position of any point on the laser-scanned dental model in each coordinate system and its relative position in different coordinate systems, morphological simulation of the patient's oral cavity can be achieved. Laser-scanned dental models can be divided into maxillary scanning models and mandibular scanning models.

[0082] S206: Determine the location of key points in the maxillary and mandibular dental arches in a laser-scanned dental model.

[0083] After obtaining the laser-scanned dental model, the key points of the maxillary and mandibular dental arches will also have corresponding positions in the laser-scanned dental model. Therefore, it is necessary to determine the positions of the key points of the maxillary and mandibular dental arches in the laser-scanned dental model.

[0084] S207: Align the positions of the maxillary arch key points in the laser-scanned dental model with the positions of the same maxillary dental key points in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system.

[0085] Key points of the maxillary dental arch are present in the laser-scanned dental model, and these same key points are also present in the patient's medical imaging. By establishing the craniomaxillary coordinate system as described above, the positions of the key points of the maxillary dental arch in the medical imaging image within the craniomaxillary coordinate system are determined. Aligning the key points of the maxillary dental arch in the laser-scanned dental model with the corresponding key points in the craniomaxillary coordinate system allows the laser-scanned dental model to be added to the craniomaxillary coordinate system. It is understood that if the number of key points of the maxillary dental arch is at least three, the position of the laser-scanned dental model within the craniomaxillary coordinate system can be uniquely determined.

[0086] In one possible implementation, key points of the maxillary dental arch may include, for example, the mesiobuccal angle of the left or right maxillary central incisors, the mesiobuccal apex of the left maxillary first permanent molar, and the mesiobuccal apex of the right maxillary first permanent molar. These three points are chosen as key points of the maxillary dental arch because they are relatively easy to determine in laser-scanned dental models and medical images. It is understood that in practical applications, key points of the maxillary dental arch can also be selected based on the specific circumstances.

[0087] S208: Align the positions of the key points of the mandibular dental arch in the laser-scanned dental model with the positions of the same key points of the mandibular dental arch in the mandibular coordinate system, thereby adding the laser-scanned dental model to the mandibular coordinate system.

[0088] Similarly, key points of the mandibular dental arch can be identified in the laser-scanned dental model, and these same key points can also be found in the patient's medical imaging images. The positions of these key points in the medical imaging images within the mandibular coordinate system can then be determined. Aligning the key points of the mandibular arch in the laser-scanned dental model with their corresponding key points in the mandibular coordinate system allows the laser-scanned dental model to be added to the mandibular coordinate system. It is understood that if there are at least three key points of the mandibular arch, the position of the laser-scanned dental model within the mandibular coordinate system can be uniquely determined.

[0089] In one possible implementation, key points of the mandibular dental arch may include, for example, the mesial incisal angle of the left or right mandibular central incisors, the distobuccal apex of the left mandibular first permanent molar, and the distobuccal apex of the right mandibular first permanent molar. These three points are chosen as key points of the mandibular dental arch because they are relatively easy to determine in laser-scanned dental models and medical images. It is understood that in practical applications, key points of the mandibular dental arch can also be selected based on the specific circumstances.

[0090] If the occlusal relationship of the maxillary and mandibular dental arches in the laser-scanned dental model is consistent with the occlusal relationship of the teeth in the medical image, three key points can be selected on the laser-scanned model of the maxillary and mandibular dental arches and aligned with the corresponding key points in the craniomaxillary coordinate system.

[0091] After the mandibular scanning model in the laser-scanned dental model is bound to the mandibular coordinate system, the mandibular coordinate system can move along with the mandibular scanning model, achieving the separation of the upper structure (craniomaxillary coordinate system + maxillary scanning model) and the lower structure (mandibular coordinate system + mandibular scanning model) of the virtual jawbone. Each point in the maxillary scanning model has a corresponding coordinate in the craniomaxillary coordinate system, and each point in the mandibular scanning model has a coordinate in both the craniomaxillary and mandibular coordinate systems.

[0092] It should be noted that S207 and S208 can be executed in parallel or sequentially. This application embodiment does not limit the execution order between S207 and S208.

[0093] In this embodiment, medical imaging images of the patient are acquired, and anatomical landmarks and key points of the maxillary and mandibular dental arches are identified from these images. Virtual craniomaxillary and mandibular coordinate systems are then established based on these landmarks. A laser-scanned dental model of the patient is then acquired, and the positions of the key points of the maxillary dental arch in the laser-scanned model are aligned with the positions of the corresponding key points of the maxillary dental arch in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system. Similarly, the positions of the key points of the mandibular dental arch in the laser-scanned dental model are aligned with the positions of the corresponding key points of the mandibular dental arch in the mandibular coordinate system, thereby adding the laser-scanned dental model to the mandibular coordinate system. Thus, any point in the maxillary or mandibular dental arch in the laser-scanned dental model can be located in either the craniomaxillary or mandibular coordinate system, achieving personalized simulation of the spatial alignment of the patient's anatomical structure and completing the establishment of a virtual jawbone. Based on medical radiographic measurements, this application integrates anatomical features and establishes a highly personalized biomimetic virtual jaw frame through digital means. This breaks through the limitations of traditional jaw frame design concepts and structural forms, and simulates the patient's real condition in terms of morphology to the greatest extent possible. It can provide a more effective tool for functional diagnosis of masticatory organs and treatment design for full mouth reconstruction.

[0094] Combination Figures 3-4 The process of establishing a craniomaxillary coordinate system based on anatomically relevant landmarks in the embodiments of this application will be described. In one possible implementation, establishing a craniomaxillary coordinate system based on anatomically relevant landmarks may include:

[0095] A1: Determine the horizontal reference plane of the craniomaxilla based on three primary anatomical landmarks.

[0096] For example, the first anatomically relevant landmarks include the bilateral bony infraorbital points (Or) and the first bony upper margin of the external auditory canal (Por). The eye-ear plane passing through the bilateral bony infraorbital points (Or) and the first bony upper margin of the external auditory canal (Por) is used as the horizontal reference plane of the craniomaxillary level; the first side is either the left or right side.

[0097] A2: The plane that passes through two second anatomically relevant landmarks and is perpendicular to the horizontal reference plane of the craniomaxilla is taken as the sagittal plane.

[0098] For example, the second anatomically relevant landmarks include the nasal root point (N) and the skull base point (Ba). The plane passing through the nasal root point (N) and the skull base point (Ba) and perpendicular to the horizontal reference plane of the craniomaxilla is defined as the sagittal plane;

[0099] A3: The plane that passes through a third anatomically relevant landmark and is perpendicular to both the craniomaxillary horizontal reference plane and the sagittal plane is taken as the coronal plane.

[0100] For example, the third anatomical landmark is the first lateral articular point (Ar). The plane that passes through the first lateral articular point (Ar) and is perpendicular to both the craniomaxillary horizontal reference plane and the sagittal plane is taken as the coronal plane.

[0101] A4: Establish the craniomaxillary coordinate system by taking the intersecting straight lines between the horizontal reference plane, sagittal plane, and coronal plane of the craniomaxillary as the coordinate axes and the intersection point of the horizontal reference plane, sagittal plane, and coronal plane of the craniomaxillary as the origin of the craniomaxillary coordinate system.

[0102] That is, as an example, see Figure 3 as well as Figure 4 The craniomaxillary horizontal reference plane is based on the eye-ear plane constructed by the bony infraorbital points (Or) on both sides and the apex of the superior margin of the first bony external auditory canal (Por); where the first side is either the left or right side, and the second side is the other side. For example, if the first side is the right side, then the apex of the superior margin of the first bony external auditory canal is the apex of the superior margin of the right bony external auditory canal. In the diagram, both bony infraorbital points are denoted as Or, and both articular points are denoted as Ar.

[0103] See Figure 3 as well as Figure 4 Draw a vertical plane from the root of the nose (N) to the horizontal reference plane of the maxilla, and make this vertical plane pass through the base of the skull (Ba), thus using it as the sagittal plane.

[0104] Then, construct a plane that is perpendicular to both the horizontal reference plane of the craniomaxilla and the sagittal plane, and passes through the first lateral articular point (Ar), as the coronal plane.

[0105] The intersection of these three planes yields the coordinate axes of the craniomaxillary coordinate system. The intersection point of these three planes is the origin of the craniomaxillary coordinate system, thus establishing the craniomaxillary coordinate system. The coordinate axes of the craniomaxillary coordinate system are, for example, the sagittal direction is the X-axis, the vertical direction is the Z-axis, and the horizontal direction is the Y-axis.

[0106] Since the movements of the mandibular joints on both sides may be asymmetrical, in order to facilitate the determination of the movement of the left and right mandibular joints relative to the craniomaxilla, this application embodiment establishes both craniomaxilla sub-coordinate systems on the basis of the craniomaxilla coordinate system.

[0107] Specifically, in one possible implementation, a fourth anatomically related landmark can be selected within a preset range of the first temporomandibular joint as the origin of the first craniomaxillary sub-coordinate system, and the first craniomaxillary sub-coordinate system can be established, with each coordinate axis of the first craniomaxillary sub-coordinate system being parallel to each coordinate axis of the craniomaxillary coordinate system.

[0108] Within a predetermined range of the second temporomandibular joint, select a fifth anatomically relevant landmark. Construct a first parallel plane to the sagittal plane through the fifth anatomically relevant landmark. Determine the origin of the first craniomaxillary sub-coordinate system on the first parallel plane as the origin of the second craniomaxillary sub-coordinate system. Establish the second craniomaxillary coordinate system. The coordinate axes of the second craniomaxillary coordinate system are parallel to the coordinate axes of the craniomaxillary coordinate system. The fifth anatomically relevant landmark corresponds to the fourth anatomically relevant landmark. The second side is the other side of the first side.

[0109] In this embodiment, a fourth anatomically relevant landmark, such as joint point Ar, is selected near the first temporomandibular joint as the origin of the craniomaxillary sub-coordinate system. The same anatomically relevant landmark, such as joint point Ar, is selected near the second temporomandibular joint as the first, as the fifth anatomically relevant landmark. A first parallel plane to the sagittal plane is drawn through this point, and the foot of the perpendicular from the origin of the first craniomaxillary sub-coordinate system to this plane is determined as the origin of the second craniomaxillary sub-coordinate system. The coordinate axes of both the first and second craniomaxillary coordinate systems are parallel to the coordinate axes of the craniomaxillary coordinate system.

[0110] The establishment of the first and second cranial maxillary coordinate systems can be used to locate the mandibular condyle and hinge axis.

[0111] Combination Figure 5 The process of establishing a mandibular coordinate system based on key points in the embodiments of this application will be described. In one possible implementation, establishing a mandibular coordinate system based on key points may include:

[0112] B1: Determine the first plane of the mandibular coordinate system based on three sixth anatomical landmarks.

[0113] The sixth anatomical landmarks include the midpoint of the line connecting the two joint points (Ar), the midpoint of the line connecting the two mandibular angle points (Go), and the submental point (Me). These three points determine the first plane, which is the sagittal plane.

[0114] B2: The plane that passes through two seventh anatomical landmarks and is perpendicular to the first plane is taken as the second plane of the mandibular coordinate system.

[0115] The seventh anatomical landmark includes the target point (PO) and the GoR point. The target point (PO) is the foot of the perpendicular from the premental point (Pog) to the target line (GoMe). The target line is the line tangent to the lower edge of one mandibular angle (GoMe) through the submental point (Me). A plane parallel to the midsagittal plane is drawn through the first lateral articular joint (Ar). The first line segment is the line segment between the first lateral articular joint (Ar) and the target point (PO). The second line segment projected onto this parallel plane forms the base of an isosceles right triangle. An isosceles right triangle is constructed on this parallel plane, with the GoR point as the vertex. The plane perpendicular to the first plane through the target point (PO) and the GoR point forms the second plane of the mandibular coordinate system.

[0116] B3: The plane that passes through an eighth anatomical landmark and is perpendicular to both the first and second planes is taken as the third plane of the mandibular coordinate system.

[0117] The eighth anatomical landmark is the Ar point on the right side, and the third plane passing through the Ar point and perpendicular to the first and second planes. The third plane is the coronal plane.

[0118] B4: Establish the mandibular coordinate system by taking the intersecting straight lines between the first, second, and third planes as the coordinate axes and the intersection of the first, second, and third planes as the origin.

[0119] The intersection of the three planes above yields the coordinate axes of the mandibular coordinate system. The intersection point of the three planes is the origin of the mandibular coordinate system, thus establishing the mandibular coordinate system.

[0120] Since the shape of the joints on both sides of the mandible and the hinge axis may be asymmetrical, the embodiments of this application establish separate sub-coordinate systems for the mandible on both sides in addition to the mandibular coordinate system.

[0121] Specifically, in one possible implementation, a ninth anatomically relevant landmark can be selected within a preset range of the first temporomandibular joint condyle as the origin of the first mandibular sub-coordinate system, and the first mandibular sub-coordinate system can be established, wherein each coordinate axis of the first mandibular sub-coordinate system is parallel to each coordinate axis of the mandibular coordinate system.

[0122] Within a predetermined range of the second temporomandibular joint condyle, a tenth anatomically relevant landmark is selected. A second parallel plane to the first plane is constructed through the tenth anatomically relevant landmark. The foot of the perpendicular from the origin of the first mandibular sub-coordinate system to the second parallel plane is determined as the origin of the second mandibular sub-coordinate system. The second mandibular coordinate system is established, and each coordinate axis of the second mandibular coordinate system is parallel to each coordinate axis of the mandibular coordinate system. The tenth anatomically relevant landmark corresponds to the ninth anatomically relevant landmark. The second side is the other side of the first side.

[0123] In this embodiment, a ninth anatomically relevant landmark (such as joint point Ar) is selected near the condyle of the first temporomandibular joint to represent the position of the condyle on that side, and the mandibular sub-coordinate system is established as the origin of the mandibular sub-coordinate system on that side.

[0124] Near the condyle of the second temporomandibular joint, select the same anatomically relevant landmark as the first side, such as joint point Ar, as the tenth anatomically relevant landmark, representing the position of the condyle on that side. Draw a second parallel plane to the first plane through this point. Determine the origin of the first mandibular sub-coordinate system as the foot of the perpendicular from the first mandibular sub-coordinate system onto the second parallel plane, thus establishing the second mandibular coordinate system. The coordinate axes of both the first and second mandibular coordinate systems are parallel to the coordinate axes of the mandibular coordinate system.

[0125] As can be seen from the above embodiments, in some examples, the anatomical landmarks for establishing the craniomaxillary coordinate system and the mandibular coordinate system may include: bilateral bony infraorbital points (Or), the apex of the first bony external auditory canal (Por), the root of the nose (N), the base of the skull (Ba), the first joint point (Ar), the second joint point (Ar), the premental point (Pog), the angle of the mandible (Go), and the submental point (Me), etc.

[0126] When the medical image is a three-dimensional image, all anatomically relevant landmarks can be determined from it. In other words, in one possible implementation, acquiring a patient's medical image and determining key points within it can include:

[0127] When the medical image is a three-dimensional medical image, anatomical landmarks are determined from the three-dimensional medical image.

[0128] For example, when the medical image is a three-dimensional medical image, the following points can be identified from the three-dimensional medical image: bilateral bony infraorbital points (Or), the apex of the first bony external auditory canal (Por), the root of the nose (N), the base of the skull (Ba), the first joint point (Ar), the second joint point (Ar), the premental point (Pog), the angle of the mandible (Go), and the submental point (Me).

[0129] When a medical image is a two-dimensional image, it is generally a side-view image. Figure 3 as well as Figure 5 For medical images with different orientations, the missing dimensions can be replaced by the average value.

[0130] In other words, in one possible implementation, acquiring a patient's medical imaging images and determining key points within those images can specifically include:

[0131] When the medical image is a two-dimensional medical image, for a single anatomical landmark, the position of the single anatomical landmark is directly determined from the two-dimensional medical image. For bilateral anatomical landmarks, the average point of the images of the bilateral anatomical landmarks is taken from the two-dimensional medical image as the position of the bilateral anatomical landmarks. The coordinate values ​​of the bilateral anatomical landmarks are symmetrical and the missing dimension is set manually.

[0132] For example, on a lateral cephalometric radiograph, the locations of individual anatomical landmarks such as the skull base (Ba), premental point (Pog), and submental point (Me) can be directly determined from the two-dimensional medical image. For bilaterally symmetrical anatomical landmarks such as articular points (Ar) and infraorbital points (Or) on a lateral cephalometric radiograph, the average of the two anatomical landmarks from both sides in the two-dimensional medical image can be used to represent the locations of the bilateral anatomical landmarks. It is assumed that the three-dimensional coordinates of the bilateral anatomical landmarks are symmetrical; the coordinate values ​​of the missing dimensions can be manually defined.

[0133] Through the above embodiments, anatomical landmarks can be identified from medical images, and coordinate systems of a virtual jawbone can be established based on these landmarks to achieve the morphological simulation function of the jawbone.

[0134] In addition, medical images and facial scan data can be added to the craniomaxillary coordinate system for display.

[0135] In one possible implementation, the location of the first key point in the medical image and the location of the first key point in the craniomaxillary coordinate system can also be determined.

[0136] The medical image is added to the craniomaxillary coordinate system by aligning the position of the first keypoint in the medical image with the position of the same first keypoint in the craniomaxillary coordinate system.

[0137] In the embodiments of this application, there may be at least three first key points. By aligning the first key points in the medical image with the same first key points in the craniomaxillary coordinate system, the medical image can be added to the craniomaxillary coordinate system, which facilitates the display of the relative relationship between the medical image and the laser-scanned dental model.

[0138] In one possible implementation, facial scan data can also be acquired;

[0139] Determine the location of the second keypoint in the facial scan data and its position in the craniomaxillary coordinate system.

[0140] The facial scan data is added to the craniomaxillary coordinate system by aligning the position of the second keypoint in the facial scan data with the position of the same second keypoint in the craniomaxillary coordinate system.

[0141] In this embodiment of the application, there may be at least three second key points. By aligning the second key points in the facial scan data with the same second key points in the craniomaxillary coordinate system, the facial scan data can be added to the craniomaxillary coordinate system, which facilitates the display of the relative relationship between the facial scan data and the laser scanned tooth model.

[0142] Based on the method for establishing a virtual jaw frame provided in the above embodiments, this application also provides an apparatus for establishing a virtual jaw frame, which will be described below with reference to the accompanying drawings.

[0143] See Figure 6 This figure is a schematic diagram of the structure of a device for creating a virtual jaw frame according to an embodiment of this application. Figure 6 As shown, the device for creating a virtual jaw frame includes:

[0144] The first determining unit 601 is used to acquire the patient's medical image and determine the anatomical landmarks, key points of the maxillary dental arch, and key points of the mandibular dental arch in the medical image.

[0145] The first establishment unit 602 is used to establish a craniomaxillary coordinate system based on the anatomical landmarks;

[0146] The second establishment unit 603 is used to establish a mandibular coordinate system based on the anatomical landmarks;

[0147] The second determining unit 604 is used to determine the position of the maxillary dental arch key point in the craniomaxillary coordinate system and the position of the mandibular dental arch key point in the mandibular coordinate system;

[0148] The first acquisition unit 605 is used to acquire the patient's laser-scanned dental model;

[0149] The third determining unit 606 is used to determine the positions of the key points of the maxillary dental arch and the key points of the mandibular dental arch in the laser-scanned dental model.

[0150] The first adding unit 607 is used to align the position of the maxillary dental arch key point in the laser-scanned dental model with the position of the same maxillary dental arch key point in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system.

[0151] The second adding unit 608 is used to align the position of the mandibular arch key point in the laser-scanned tooth model with the position of the same mandibular arch key point in the mandibular coordinate system, thereby adding the laser-scanned tooth model to the mandibular coordinate system.

[0152] In one possible implementation, the first establishing unit is specifically used for:

[0153] The craniomaxillary horizontal reference plane was determined based on three primary anatomical landmarks.

[0154] The plane that passes through two second anatomically relevant landmarks and is perpendicular to the horizontal reference plane of the craniomaxilla is taken as the sagittal plane;

[0155] The plane that passes through a third anatomically relevant landmark and is perpendicular to both the craniomaxillary horizontal reference plane and the sagittal plane is defined as the coronal plane;

[0156] The craniomaxillary coordinate system is established by taking the intersecting straight line between the horizontal reference plane of the craniomaxilla, the sagittal plane, and the coronal plane as the coordinate axes of the craniomaxillary coordinate system, and taking the intersection of the horizontal reference plane of the craniomaxilla, the sagittal plane, and the coronal plane as the origin of the craniomaxillary coordinate system.

[0157] In one possible implementation, the device further includes:

[0158] The third establishment unit is used to select a fourth anatomically related landmark point within a preset range of the first temporomandibular joint as the origin of the first craniomaxillary sub-coordinate system, and establish the first craniomaxillary sub-coordinate system, wherein each coordinate axis of the first craniomaxillary coordinate system is parallel to each coordinate axis of the craniomaxillary coordinate system.

[0159] The fourth unit is used to select a fifth anatomically related landmark within a preset range of the second temporomandibular joint, construct a first parallel plane to the sagittal plane through the fifth anatomically related landmark, determine the foot of the perpendicular from the origin of the first craniomaxillary sub-coordinate system to the first parallel plane as the origin of the second craniomaxillary sub-coordinate system, establish the second craniomaxillary coordinate system, and establish the second craniomaxillary coordinate system, wherein each coordinate axis of the second craniomaxillary coordinate system is parallel to each coordinate axis of the craniomaxillary coordinate system, the fifth anatomically related landmark corresponds to the fourth anatomically related landmark, and the second side is the other side of the first side.

[0160] In one possible implementation, the second establishing unit is specifically used for:

[0161] The first plane of the mandibular coordinate system is determined based on three sixth anatomical landmarks;

[0162] The plane that passes through two seventh anatomical landmarks and is perpendicular to the first plane is taken as the second plane of the mandibular coordinate system;

[0163] The plane that passes through an eighth anatomically relevant landmark and is perpendicular to both the first and second planes is taken as the third plane of the mandibular coordinate system.

[0164] The mandibular coordinate system is established by taking the intersecting straight lines between the first plane, the second plane, and the third plane as the coordinate axes of the mandibular coordinate system, and taking the intersection point of the first plane, the second plane, and the third plane as the origin of the mandibular coordinate system.

[0165] In one possible implementation, the device further includes:

[0166] The fifth unit is used to select a ninth anatomically related landmark point within a preset range of the temporomandibular joint condyle on the first side, as the origin of the first mandibular sub-coordinate system, and to establish the first mandibular sub-coordinate system, wherein each coordinate axis of the first mandibular sub-coordinate system is parallel to each coordinate axis of the mandibular coordinate system.

[0167] The sixth unit is used to select a tenth anatomically relevant landmark within a preset range of the second temporomandibular joint condyle, construct a second parallel plane to the first plane through the tenth anatomically relevant landmark, determine the foot of the perpendicular from the origin of the first mandibular sub-coordinate system to the second parallel plane as the origin of the second mandibular sub-coordinate system, establish the second mandibular coordinate system, the coordinate axes of the second mandibular coordinate system are parallel to the coordinate axes of the mandibular coordinate system, the tenth anatomically relevant landmark corresponds to the ninth anatomically relevant landmark, and the second side is the other side of the first side.

[0168] In one possible implementation, the first determining unit is specifically used for:

[0169] When the medical image is a three-dimensional medical image, anatomical landmarks are determined from the three-dimensional medical image;

[0170] When the medical image is a two-dimensional medical image, for a single anatomical landmark, the position of the single anatomical landmark is directly determined from the two-dimensional medical image. For bilateral anatomical landmarks, the average point of the images of the bilateral anatomical landmarks is taken from the two-dimensional medical image as the position of the bilateral anatomical landmarks. The coordinate values ​​of the symmetrical and missing dimensions of the bilateral anatomical landmarks are set manually.

[0171] In one possible implementation, the device further includes:

[0172] The fourth determining unit is used to determine the position of the first key point in the medical image and the position of the first key point in the craniomaxillary coordinate system;

[0173] The third adding unit is used to align the position of the first key point in the medical image with the position of the same first key point in the craniomaxillary coordinate system, thereby adding the medical image to the craniomaxillary coordinate system.

[0174] In one possible implementation, the method further includes:

[0175] The second acquisition unit is used to acquire facial scan data;

[0176] The fifth determining unit is used to determine the position of the second key point in the facial scan data and the position of the second key point in the craniomaxillary coordinate system;

[0177] The fourth adding unit is used to align the position of the second key point in the facial scan data with the position of the same second key point in the craniomaxillary coordinate system, thereby adding the facial scan data to the craniomaxillary coordinate system.

[0178] In addition, embodiments of this application also provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the method for establishing a virtual jaw as described in any of the preceding claims.

[0179] In addition, embodiments of this application also provide a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the method for establishing a virtual jaw as described in any of the preceding claims.

[0180] In this embodiment, medical imaging images of the patient are acquired, and anatomical landmarks and key points of the maxillary and mandibular dental arches are identified from these images. Virtual craniomaxillary and mandibular coordinate systems are established based on these landmarks, and the positions of the key points of the maxillary and mandibular dental arches within these coordinate systems are determined. A laser-scanned dental model of the patient is then acquired, and the positions of the key points of the maxillary dental arches in the laser-scanned dental model are aligned with the positions of the corresponding key points in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system. Similarly, the positions of the key points of the mandibular dental arches in the laser-scanned dental model are aligned with the positions of the corresponding key points in the mandibular coordinate system, thereby adding the laser-scanned dental model to the mandibular coordinate system. Thus, any point in the maxillary and mandibular dental arches in the laser-scanned dental model can be located in either the craniomaxillary or mandibular coordinate system, clarifying the spatial relationship between the maxillary and mandibular scanning models and the patient's important anatomical structures, and establishing a highly personalized virtual jawbone through digitalization. Based on medical radiographic measurements, this application integrates anatomical features and establishes a highly personalized biomimetic virtual jaw frame through digital means. This breaks through the limitations of traditional jaw frame design concepts and structural forms, and simulates the patient's real condition in terms of morphology to the greatest extent possible. It can provide a more effective tool for functional diagnosis of masticatory organs and treatment design for full mouth reconstruction.

[0181] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0182] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0183] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0184] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0185] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for establishing a virtual jaw frame, characterized in that, The method includes: Acquire medical imaging images of the patient and identify anatomical landmarks, key points of the maxillary dental arch, and key points of the mandibular dental arch in the medical imaging images; The first anatomical landmarks include the two bony infraorbital points Or and the first bony external auditory canal apex Por; the eye-ear plane passing through the two bony infraorbital points Or and the first bony external auditory canal apex Por is used as the craniomaxillary horizontal reference plane; the first side is the left or right side. The second anatomical landmarks include the nasal root point N and the skull base point Ba; the plane that passes through the nasal root point N and the skull base point Ba and is perpendicular to the horizontal reference plane of the craniomaxilla is taken as the sagittal plane. The third anatomical landmark is the first lateral articular point Ar; the plane that passes through the first lateral articular point Ar and is perpendicular to both the craniomaxillary horizontal reference plane and the sagittal plane is taken as the coronal plane; The intersecting straight line between the horizontal reference plane of the craniomaxilla, the sagittal plane, and the coronal plane is used as the coordinate axis of the craniomaxilla coordinate system, and the intersection point of the horizontal reference plane of the craniomaxilla, the sagittal plane, and the coronal plane is used as the origin of the craniomaxilla coordinate system to establish the craniomaxilla coordinate system. Establish a mandibular coordinate system based on the aforementioned anatomical landmarks; Determine the positions of the key points of the maxillary dental arch in the craniomaxillary coordinate system, and the positions of the key points of the mandibular dental arch in the mandibular coordinate system; Obtain laser-scanned dental models of the patient; The positions of the key points of the maxillary dental arch and the key points of the mandibular dental arch are determined in the laser-scanned dental model; The positions of the key points of the maxillary dental arch in the laser-scanned dental model are aligned with the positions of the same key points of the maxillary dental arch in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system; The positions of the key points of the mandibular dental arch in the laser-scanned dental model are aligned with the positions of the same key points of the mandibular dental arch in the mandibular coordinate system, thereby adding the laser-scanned dental model to the mandibular coordinate system.

2. The method according to claim 1, characterized in that, The method further includes: A fourth anatomically relevant landmark is selected within a preset range of the first temporomandibular joint as the origin of the first craniomaxillary sub-coordinate system. The first craniomaxillary sub-coordinate system is established, and each coordinate axis of the first craniomaxillary sub-coordinate system is parallel to each coordinate axis of the craniomaxillary coordinate system. A fifth anatomically relevant landmark is selected within a preset range of the second temporomandibular joint. A first parallel plane to the sagittal plane is constructed through the fifth anatomically relevant landmark. The foot of the perpendicular from the origin of the first craniomaxillary sub-coordinate system to the first parallel plane is determined as the origin of the second craniomaxillary sub-coordinate system. The second craniomaxillary coordinate system is established, and each coordinate axis of the second craniomaxillary coordinate system is parallel to each coordinate axis of the craniomaxillary coordinate system. The fifth anatomically relevant landmark corresponds to the fourth anatomically relevant landmark, and the second side is the other side of the first side.

3. The method according to claim 1, characterized in that, The establishment of the mandibular coordinate system based on the anatomical landmarks includes: The first plane of the mandibular coordinate system is determined based on three sixth anatomical landmarks; The plane that passes through two seventh anatomical landmarks and is perpendicular to the first plane is taken as the second plane of the mandibular coordinate system; The plane that passes through an eighth anatomically relevant landmark and is perpendicular to both the first and second planes is taken as the third plane of the mandibular coordinate system. The mandibular coordinate system is established by taking the intersecting straight lines between the first plane, the second plane, and the third plane as the coordinate axes of the mandibular coordinate system, and taking the intersection point of the first plane, the second plane, and the third plane as the origin of the mandibular coordinate system.

4. The method according to claim 3, characterized in that, The method further includes: Within a predetermined range of the temporomandibular joint condyle on the first side, a ninth anatomically relevant landmark is selected as the origin of the first mandibular sub-coordinate system. The first mandibular sub-coordinate system is established, and each coordinate axis of the first mandibular sub-coordinate system is parallel to each coordinate axis of the mandibular coordinate system. Within a predetermined range of the second temporomandibular joint condyle, a tenth anatomically relevant landmark is selected. A second parallel plane to the first plane is constructed through the tenth anatomically relevant landmark. The foot of the perpendicular from the origin of the first mandibular sub-coordinate system to the second parallel plane is determined as the origin of the second mandibular sub-coordinate system. The second mandibular coordinate system is established, and each coordinate axis of the second mandibular coordinate system is parallel to each coordinate axis of the mandibular coordinate system. The tenth anatomically relevant landmark corresponds to the ninth anatomically relevant landmark. The second side is the other side of the first side.

5. The method according to claim 1, characterized in that, The process of acquiring the patient's medical imaging images and determining anatomical landmarks in the medical imaging images includes: When the medical image is a three-dimensional medical image, anatomical landmarks are determined from the three-dimensional medical image; When the medical image is a two-dimensional medical image, for a single anatomical landmark, the position of the single anatomical landmark is directly determined from the two-dimensional medical image. For bilateral anatomical landmarks, the average point of the images of the bilateral anatomical landmarks is taken from the two-dimensional medical image as the position of the bilateral anatomical landmarks. The coordinate values ​​of the symmetrical and missing dimensions of the bilateral anatomical landmarks are set manually.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: Determine the location of the first key point in the medical image and the location of the first key point in the craniomaxillary coordinate system; The position of the first key point in the medical image is aligned with the position of the same first key point in the craniomaxillary coordinate system, thereby adding the medical image to the craniomaxillary coordinate system.

7. The method according to any one of claims 1-5, characterized in that, The method further includes: Obtain facial scan data; Determine the location of the second key point in the facial scan data and the location of the second key point in the craniomaxillary coordinate system; The facial scan data is added to the craniomaxillary coordinate system by aligning the position of the second key point in the facial scan data with the position of the same second key point in the craniomaxillary coordinate system.

8. A device for establishing a virtual jaw frame, characterized in that, The device includes: The first determining unit is used to acquire the patient's medical imaging images and determine the anatomical landmarks, key points of the maxillary dental arch, and key points of the mandibular dental arch in the medical imaging images. The first unit establishes the following anatomically relevant landmarks: the first anatomically relevant landmarks include the bilateral bony infraorbital points Or and the first lateral bony external auditory canal apex Por; the second anatomically relevant landmarks include the nasal root point N and the skull base point Ba; the third anatomically relevant landmark is the first lateral articular point Ar; the plane passing through the bilateral bony infraorbital points Or and the first lateral bony external auditory canal apex Por is used as the horizontal reference plane of the craniomaxilla; the first side is either the left or right side; the plane passing through the nasal root point N and the skull base point Ba and perpendicular to the horizontal reference plane of the craniomaxilla is used as the sagittal plane; the plane passing through the first lateral articular point Ar and perpendicular to both the horizontal reference plane of the craniomaxilla and the sagittal plane is used as the coronal plane; the intersecting straight line between the horizontal reference plane of the craniomaxilla, the sagittal plane, and the coronal plane is used as the coordinate axis of the craniomaxilla coordinate system, and the intersection point of the horizontal reference plane of the craniomaxilla, the sagittal plane, and the coronal plane is used as the origin of the craniomaxilla coordinate system, thus establishing the craniomaxilla coordinate system. The second establishment unit is used to establish a mandibular coordinate system based on the anatomical landmarks; The second determining unit is used to determine the position of the key points of the maxillary dental arch in the craniomaxillary coordinate system and the position of the key points of the mandibular dental arch in the mandibular coordinate system; The first acquisition unit is used to acquire the patient's laser-scanned dental model; The third determining unit is used to determine the positions of the key points of the maxillary dental arch and the key points of the mandibular dental arch in the laser-scanned dental model; The first adding unit is used to align the position of the maxillary dental arch key point in the laser-scanned dental model with the position of the same maxillary dental arch key point in the craniomaxillary coordinate system, thereby adding the laser-scanned dental model to the craniomaxillary coordinate system. The second adding unit is used to align the positions of the key points of the mandibular dental arch in the laser-scanned dental model with the positions of the same key points of the mandibular dental arch in the mandibular coordinate system, thereby adding the laser-scanned dental model to the mandibular coordinate system.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for creating a virtual jaw as described in any one of claims 1-7.

Images