Tooth digital model posture deviation calculation method and system, scoring method and terminal

Abstract

The application provides a tooth digital model posture deviation calculation method, system, scoring method and terminal, the calculation method comprises the following steps: selecting a single tooth model in a tooth digital model, establishing a local coordinate system on the single tooth model, and obtaining feature points of the single tooth model in the local coordinate system; a global coordinate system is established according to the tooth digital model, the feature points are converted from the local coordinate system to the global coordinate system, and first feature points in the global coordinate system are obtained; the points with a distance less than a first threshold value from the first feature points are taken as tooth arch corresponding points on a tooth arch curve of the tooth digital model, a tooth arch coordinate system is established by taking the tangent direction, the normal direction and the jaw plane direction of the tooth arch corresponding points as three axes; model posture parameters are calculated according to the first feature points, the tooth arch corresponding points and the tooth arch coordinate system, and a posture result of the tooth digital model is calculated according to the model posture parameters, and the calculation method effectively improves the processing efficiency and accuracy of the posture result calculation of the tooth digital model.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tooth correction, and particularly relates to a tooth digital model posture deviation calculation method and system, a scoring method and a terminal. BACKGROUND

[0002] Orthodontic treatment mainly adjusts the coordination between facial bones, teeth and the nerves and muscles of the maxillofacial region through various correction devices, that is, adjusts the abnormal relationship between the upper and lower jaws, the upper and lower teeth, the teeth and the jaw bones and the nerves and muscles connecting them, and the ultimate goal of the correction is to achieve balance, stability and aesthetics of the oral and maxillofacial system. The correction of malocclusion mainly relies on the use of orthodontic devices inside or outside the oral cavity to apply appropriate 'biological force' to the teeth, alveolar bone and jaw bone to produce physiological movement, thereby correcting malocclusion.

[0003] In the process of orthodontic treatment of the user's teeth, the features on the user's clinical tooth crown are measured by measurement, and the patient's teeth are scored according to the measurement results, and the orthodontic effect is judged by the clinician according to the score, but the current scoring method is to measure and calculate on the physical model, which consumes a lot of time and effort, and also cannot be directly connected with the digital oral model for calculation, not only the accuracy and processing efficiency of the final calculation result are low, but also different results cannot be selected and combined according to different scenes, which cannot meet the needs of different users in different scenes.

[0004] Therefore, it is necessary to provide a new tooth digital model posture deviation calculation method, system, scoring method and terminal to solve the above problems in the prior art. SUMMARY

[0005] The purpose of the present application is to provide a tooth digital model posture deviation calculation method, system, scoring method and terminal, obtain the posture result of the tooth digital model, realize the diversity combination scoring of the posture result of the tooth digital model, and improve the accuracy and processing efficiency of the posture result calculation of the tooth digital model.

[0006] In order to achieve the above-mentioned purpose, the tooth digital model posture deviation calculation method of the present application comprises the following steps:

[0007] In the tooth digital model, a single tooth model is selected, a local coordinate system is established on the single tooth model, and a feature point of the single tooth model in the local coordinate system is obtained;

[0008] A global coordinate system is established according to the tooth digital model, the feature point is converted from the local coordinate system to the global coordinate system, and a first feature point in the global coordinate system is obtained;

[0009] The point with a distance less than a first threshold value from the first feature point is taken as an arch corresponding point on the dental arch curve of the dental digital model, and a dental arch coordinate system is established with a tangent direction, a normal direction and a jaw plane direction of the arch corresponding point as three axes respectively;

[0010] A model posture parameter is calculated according to the first feature point, the arch corresponding point and the dental arch coordinate system, and a posture result of the dental digital model is calculated according to the model posture parameter.

[0011] The method has the advantages that: each single tooth model in the dental digital model is obtained, and feature points of the single tooth model in a local coordinate system are obtained, then the feature points in the local coordinate system are converted into first feature points in a global coordinate system, then a model posture parameter on the entire dental digital model is calculated according to the obtained first feature points, arch corresponding points and dental arch coordinate system, and a posture result of the dental digital model is calculated according to the model posture parameter, so that the model posture parameter of each single tooth model on the dental digital model is calculated, and the posture result of each single tooth model in the dental digital model is calculated according to the model posture parameter, thereby improving the accuracy of the posture result calculation of the dental digital model.

[0012] Optionally, the model posture parameter includes a first distance, and the posture result includes a tooth translation amount deviation degree, and the calculation of the model posture parameter according to the first feature point, the arch corresponding point and the dental arch coordinate system and the calculation of the posture result of the dental digital model according to the model posture parameter include:

[0013] The first distance is calculated according to the first feature point and the arch corresponding point;

[0014] The first distance is decomposed into three coordinate directions of the dental arch coordinate system to obtain three component distances;

[0015] The three component distances are weighted and summed according to a first preset weight to obtain a distance weighted sum result, and the tooth translation amount deviation degree is determined according to the distance weighted sum result, which has the advantage that the tooth translation amount deviation degree on the dental digital model is accurately calculated through the first distance.

[0016] Optionally, the local coordinate system is established by taking an average value of all vertices of the single tooth model as an origin, and taking a mesial-distal axis, a labial-lingual axis and a long axis as x, y and z axes respectively.

[0017] Optionally, the model posture parameter comprises a tooth posture angle, and the posture result comprises a posture angle deviation degree; the calculation of the model posture parameter according to the first feature point, the tooth arch corresponding point and the tooth arch coordinate system, and the calculation of the posture result of the tooth digital model according to the model posture parameter, comprise:

[0018] calculating an actual tooth posture angle according to the tooth arch corresponding point and the tooth arch coordinate system;

[0019] inputting a standard tooth model in an aligned state, and obtaining a standard posture angle of the standard tooth model;

[0020] calculating an angle difference according to the tooth posture angle and the standard posture angle, and calculating a posture angle deviation degree of the tooth digital model according to the angle difference.

[0021] Optionally, the calculation of the angle difference according to the tooth posture angle and the standard posture angle comprises:

[0022] calculating a torsion difference, a torque difference and an axis inclination difference respectively according to the tooth posture angle and the standard posture angle;

[0023] weighting and summing the torsion difference, the torque difference and the axis inclination difference according to a second preset weight to obtain an angle weighted sum result, and taking the angle weighted sum result as the angle difference;

[0024] the calculation of the posture angle deviation degree of the tooth digital model according to the angle difference comprises:

[0025] determining the posture deviation degree of a single tooth on the tooth digital model according to the size of the angle weighted sum result.

[0026] Optionally, the tooth posture angle comprises a first torsion, a first torque and a first axis inclination, the standard posture angle comprises a second torsion, a second torque and a second axis inclination, the torsion difference is a difference between the first torsion and the second torsion, the torque difference is a difference between the first torque and the second torque, and the axis inclination difference is a difference between the first axis inclination and the second axis inclination.

[0027] Optionally, the method further comprises:

[0028] selecting a to-be-calculated tooth region in the tooth digital model;

[0029] obtaining a standard gap between adjacent teeth in the to-be-calculated tooth region;

[0030] acquiring a mesial-distal width of each tooth model in the to-be-calculated tooth region;

[0031] calculating a crowding degree of teeth in the to-be-calculated tooth region according to the standard interdental space between adjacent teeth in the to-be-calculated tooth region and the mesial-distal width of each tooth model. The beneficial effect lies in that the crowding degree of teeth in the to-be-calculated tooth region in the tooth digital model is calculated in the above manner, so that the actual situation of the to-be-calculated tooth region in the tooth digital model can be accurately judged.

[0032] Optionally, the entire jaw tooth digital model is selected as the to-be-calculated tooth region, and the crowding degree of teeth in the entire jaw tooth digital model is calculated. The beneficial effect lies in that the entire jaw tooth digital model is taken as the to-be-calculated tooth region, so that the crowding degree of teeth in the entire tooth digital model can be accurately calculated.

[0033] Optionally, the crowding degree of teeth in the to-be-calculated tooth region is a ratio of a sum of the standard interdental spaces between each pair of adjacent teeth in the to-be-calculated tooth region to a sum of the mesial-distal widths of each tooth.

[0034] Optionally, the calculation process of the crowding degree of teeth in the to-be-calculated tooth region satisfies the following formula:

[0035]

[0036] wherein A represents the crowding degree of teeth in the to-be-calculated tooth region, D i represents the standard interdental space between the paired teeth in the to-be-calculated tooth region, W i represents the mesial-distal width of each tooth in the to-be-calculated tooth region, S * represents the to-be-calculated tooth region, and i represents a tooth number in the to-be-calculated tooth region.

[0037] Optionally, the calculation process of the standard interdental space between the paired teeth comprises:

[0038] acquiring positions of the paired teeth, and adjusting the paired teeth to a posture of a standard tooth model;

[0039] calculating a first coordinate difference value of mesial and distal contact points between the paired teeth;

[0040] projecting the coordinate difference value to a mesial-distal direction of the tooth digital model to obtain a first coordinate difference value projection result;

[0041] determining a size of the standard interdental space according to the first coordinate difference value projection result;

[0042] The calculation process of the mesial-distal width of each tooth in the to-be-calculated tooth region comprises:

[0043] calculating a second coordinate difference value between the mesial contact point and the distal contact point of the tooth;

[0044] projecting the second coordinate difference value to the mesial-distal direction of the tooth to obtain the mesial-distal width of the tooth.

[0045] Optionally, the method further comprises:

[0046] selecting, according to the upper and lower tooth occlusion position pairing, a plurality of groups of paired tooth groups that are paired with each other in the tooth digital model;

[0047] obtaining the first feature points of the plurality of groups of paired tooth groups in the global coordinate system, and establishing a combined dental arch coordinate system according to the first feature points of the plurality of groups of paired tooth groups;

[0048] calculating a difference value of the first feature points of two teeth in each of the plurality of groups of paired tooth groups;

[0049] decomposing the difference value into three axes of the combined dental arch coordinate system to obtain difference components;

[0050] determining a tooth-jaw relationship in the tooth digital model according to the sizes of the difference components of the three axes of the combined dental arch coordinate system. The beneficial effect is that the tooth-jaw relationship in the tooth digital model can be accurately calculated.

[0051] Optionally, the tooth-jaw relationship comprises an anterior tooth-jaw relationship, and the anterior tooth-jaw relationship comprises at least one of an anterior tooth overlap relationship, an anterior tooth overjet relationship, and a midline alignment relationship.

[0052] Optionally, the tooth-jaw relationship comprises a posterior tooth-jaw relationship, and the posterior tooth-jaw relationship comprises at least one of a molar relationship, a malocclusion relationship, and an open bite relationship.

[0053] Optionally, the obtaining of the first feature points of the plurality of groups of paired tooth groups in the global coordinate system and the establishment of the combined dental arch coordinate system according to the first feature points of the plurality of groups of paired tooth groups comprise:

[0054] obtaining coordinates of the first feature points of each tooth in the plurality of groups of paired tooth groups in the global coordinate system;

[0055] averaging the coordinates of the first feature points in the paired tooth groups to obtain coordinates of an average feature point;

[0056] taking, as a combined dental arch corresponding point, a point on a dental arch curve of the tooth model that is less than a second threshold value from the average feature point.

[0057] The tangent direction, the normal direction and the jaw plane direction of the corresponding point of the combined dental arch are taken as three axes to establish the combined dental arch coordinate system.

[0058] In a second aspect, the present application further provides a tooth digital model posture deviation calculation system, comprising:

[0059] An acquisition module is configured to select a single tooth model in a tooth digital model, establish a local coordinate system on the single tooth model, and acquire feature points in the local coordinate system.

[0060] A conversion module is configured to establish a global coordinate system according to the tooth digital model, and convert the feature points in the local coordinate system into first feature points in the global coordinate system.

[0061] A coordinate system establishment module is configured to acquire a dental arch corresponding point on a dental arch, wherein the distance between the dental arch corresponding point and the feature points is less than a first threshold value, and establish a dental arch coordinate system by taking the tangent direction, the normal direction and the jaw plane direction of the dental arch corresponding point as three axes.

[0062] A calculation module is configured to calculate a first distance according to the difference between the first feature points and the dental arch corresponding point, and calculate the posture deviation of the tooth digital model according to the first distance.

[0063] The tooth digital model posture deviation calculation system has the same beneficial effects as the tooth digital model posture deviation calculation method in the first aspect, and thus will not be described here.

[0064] In a third aspect, the present application further provides a digital orthodontic scoring method applied to the tooth digital model posture deviation calculation method, comprising:

[0065] Acquiring a posture result combination in the tooth digital model;

[0066] Acquiring the calculation results of a plurality of posture deviations according to the posture result combination in the tooth digital model;

[0067] Scoring according to the size of the calculation results of the posture deviations to obtain a plurality of single item scores;

[0068] Acquiring a third preset weight of the calculation results of the posture deviations;

[0069] Weighted sum of the plurality of single item scores according to the third preset weight to obtain a comprehensive score.

[0070] The digital orthodontic scoring method has the beneficial effects that the posture result combination in the tooth digital model is obtained, the calculation results of a plurality of posture deviations are obtained according to the posture result combination, the single-item score of each posture deviation calculation result and the third preset weight are obtained, the comprehensive score of the entire tooth digital model is obtained according to the third preset weight and the single-item score, the scoring calculation of the tooth digital model is completed, and the orthodontic condition of the current tooth digital model is judged according to the comprehensive score of the tooth digital model.

[0071] Optionally, the posture result combination includes the calculation results of at least one type of posture deviation.

[0072] Optionally, the digital orthodontic scoring method further includes:

[0073] Obtaining a tooth database of a target population to obtain the orthodontic score of the tooth of each person in the population;

[0074] The teeth in the database are sorted according to the size of the orthodontic score to obtain the score ranking of the teeth in the database, and the score ranking of the tooth digital model in the target population is obtained according to the size of the comprehensive score.

[0075] Optionally, the digital orthodontic scoring method further includes providing a target position and a step position, and calculating the comprehensive score of the tooth digital model at the step position.

[0076] In a fourth aspect, the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the tooth digital model posture deviation calculation method or the digital orthodontic scoring method.

[0077] In a fifth aspect, the present application further provides a terminal, including a processor and a memory.

[0078] The memory is used to store a computer program.

[0079] The processor is used to execute the computer program stored in the memory, so that the terminal executes the tooth digital model posture deviation calculation method or the digital orthodontic scoring method.

[0080] The beneficial effects of the fourth aspect and the fifth aspect are described in the description of the beneficial effects of the first aspect and the third aspect, and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0081] Figure 1 The flowchart of the tooth digital model posture deviation calculation method is described in the embodiments of the present application.

[0082] Figure 2A flowchart of the tooth digital model posture deviation calculation method for calculating the tooth translation amount deviation degree according to the embodiment of the present application;

[0083] Figure 3 A flowchart of the tooth digital model posture deviation calculation method for calculating the tooth posture angle according to the embodiment of the present application;

[0084] Figure 4 A schematic diagram of the local coordinate system and the dental arch coordinate system in the tooth digital model posture deviation calculation method according to the embodiment of the present application;

[0085] Figure 5 An angle diagram of the torsion in the tooth digital model in the tooth digital model posture deviation calculation method according to the embodiment of the present application;

[0086] Figure 6 An angle diagram of the torque in the tooth digital model in the tooth digital model posture deviation calculation method according to the embodiment of the present application;

[0087] Figure 7 An angle diagram of the axis inclination in the tooth digital model in the tooth digital model posture deviation calculation method according to the embodiment of the present application

[0088] Figure 8 A flowchart of the tooth digital model posture deviation calculation method for calculating the tooth crowding degree between teeth according to the embodiment of the present application;

[0089] Figure 9 A flowchart of the tooth digital model posture deviation calculation method for calculating the tooth jaw relationship according to the embodiment of the present application;

[0090] Figure 10 A structure block diagram of the tooth digital model posture deviation calculation system according to the embodiment of the present application;

[0091] Figure 11 A flowchart of the digital orthodontic scoring method according to the embodiment of the present application. DETAILED DESCRIPTION

[0092] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should be understood as the common meanings by those of ordinary skill in the art to which the present application belongs. The similar words such as "comprise" used herein mean that the elements or objects before the words cover the elements or objects listed after the words and their equivalents, and do not exclude other elements or objects.

[0093] In view of the problems in the prior art, the embodiments of the present application provide a tooth digital model posture deviation calculation method, as shown in Figure 1 The method comprises the following steps:

[0094] S101, selecting a single tooth model in a tooth digital model, establishing a local coordinate system on the single tooth model, and obtaining feature points of the single tooth model under the local coordinate system.

[0095] In some embodiments, the local coordinate system is established by taking the average value of all vertices of the single tooth model as the origin, and taking the mesiodistal axis, the labiolingual axis and the long axis as the x-axis, the y-axis and the z-axis respectively.

[0096] Specifically, the establishment of the local coordinate system is calculated according to the condition of the single tooth digital model. After the single tooth model on the tooth digital model is determined, the average value of all vertices on the single tooth model is calculated first, and the corresponding point of the average value on the single tooth model is taken as the origin of the local coordinate system of the single tooth model. At the same time, the mesiodistal axis, the labiolingual axis and the long axis of the single tooth model are taken as the x-axis, the y-axis and the z-axis respectively, so as to establish the local coordinate system of the single tooth model. Since the mesiodistal axis, the labiolingual axis and the long axis of the tooth are all features on the tooth digital model in the prior art, the calculation method is the content in the prior art, which will not be described here.

[0097] The feature points under the local coordinate system include the incisal edge midpoint, the buccal cusp midpoint and the mesiodistal contact point calculated after the mesh model of the single tooth model is converted to the corresponding local coordinate system, and the feature points are represented as A ijwherein i represents the FDI number of the tooth in the tooth digital model, for the tooth numbered i as 1-3, j=1 represents the mesial point of the incisal edge, for the tooth numbered i as 4-8, j=1 represents the buccal cusp point, and j=2 represents the average point of the gum line, j=3 represents the mesial contact point, and j=4 represents the distal contact point.

[0098] The FDI numbering method is the FDI tooth position representation method proposed by the International Dental Federation in 1970, which is a world standard and also called ISO-3950 representation method. Each tooth is represented by two Arabic numerals. The first digit represents the quadrant of the tooth: the right upper, left upper, left lower, and right lower of the patient are represented by 1, 2, 3, and 4 respectively in permanent teeth, and 5, 6, 7, and 8 respectively in deciduous teeth. The second digit represents the position of the tooth: from the central incisor to the third molar, represented by 1-8.

[0099] wherein the mesial point of the incisal edge represents the midpoint of the incisal edge on the tooth model, the incisal edge represents a line segment of two points, the grid vertex with a larger projection on the tooth long axis is obtained, and the projections of the average points of all grid vertices on the tooth long axis, the buccal-lingual axis, and the tooth mesial-distal axis are respectively equivalent to the projections of the incisal edge on the tooth long axis, the buccal-lingual axis, and the mesial-distal axis. Thus, the incisal edge of the tooth model is determined, and the mesial point of the incisal edge of tooth No. 1-3 is obtained.

[0100] For tooth No. 4-8, the grid vertices on the buccal side are processed as described above, the projections of the average points of the grid vertices on the tooth long axis, the buccal-lingual axis, and the tooth mesial-distal axis are respectively equivalent to the projections of the incisal edge on the tooth long axis, the buccal-lingual axis, and the mesial-distal axis, and the buccal cusp of the tooth model is determined therefrom to obtain the buccal cusp point.

[0101] For the mesial and distal contact points, the point with the largest projection on the mesial-distal axis among the vertices of the tooth is the mesial contact point, and the point with the smallest projection is the distal contact point.

[0102] S102, a global coordinate system is established according to the tooth digital model, and the feature points are converted from the local coordinate system to the global coordinate system to obtain the first feature points in the global coordinate system.

[0103] In some embodiments, the process of establishing a global coordinate system according to a tooth digital model includes:

[0104] First, the jaw plane direction u and the center line direction v of the tooth digital model are determined, the jaw plane direction u is taken as the z1 axis, the center line direction v is taken as the y1 axis, and the product of the jaw plane direction u and the center line direction v is taken as the x1 axis. The global coordinate system is obtained by taking the x1 axis, the x1 axis, and the z1 axis respectively, that is, the tooth and jaw coordinate system of the current tooth digital model.

[0105] Specifically, the calculation process of the jaw plane direction of the dental arch includes:

[0106] The midpoint of the incisal edge or the midpoint of the buccal cusp on the current digital tooth model is obtained, and the midpoint of the incisal edge or the midpoint of the buccal cusp on the digital tooth model is averaged to obtain an average point M. Principal component analysis is performed on the feature points on the digital tooth model to obtain a feature direction corresponding to the minimum feature vector as L. Then, according to the jaw plane equation: (L-M)*u=0, the jaw plane direction u can be calculated.

[0107] On the other hand, the calculation process of the midline direction of the digital tooth model includes:

[0108] In the obtained digital tooth model, the left and right homonymic teeth of a single jaw are paired according to the FDI number, such as the 13th tooth and the 23rd tooth, and the missing teeth in the pairing are ignored, so as to obtain the midpoint of each pair of paired teeth. Principal component analysis is performed on all the obtained midpoints to obtain a feature direction corresponding to the maximum feature vector, and the direction is projected onto the jaw plane u calculated above, so as to obtain the midline direction v.

[0109] And the calculation process of the dental arch of the digital tooth model is:

[0110] In the digital tooth model, the expression of the point on the dental arch curve is:

[0111] D=[W / 2*sin(t), D*cos(t)], t∈[-π / 2, π / 2]

[0112] Where W is the dental arch width, and D is the dental arch depth

[0113]

[0114]

[0115] An ellipse fitting is used to obtain the least square reduction of the equation AX 2 +BY 2 =1, so as to obtain the values of A and B, thereby obtaining the values of W and D, and thereby obtaining the expression of the dental arch point on the dental arch curve on the digital tooth model. It should be noted that the calculation formula of the above dental arch curve is the content of the prior art, which will not be described here.

[0116] After obtaining the global coordinate system, the feature points in the local coordinate system are converted, so as to obtain the feature points in the global coordinate system, denoted as the first feature point.

[0117] Where the first feature point is represented as B ijwherein i represents the FDI number of the tooth in the tooth digital model, for the tooth numbered i as 1-3, j=1 represents the mesial point of the incisal edge, for the tooth numbered i as 4-8, j=1 represents the buccal cusp point, j=2 represents the average point of the gum line, j=3 represents the mesial contact point, and j=4 represents the distal contact point.

[0118] S103, establishing a dental arch coordinate system by taking the point on the dental arch curve with a distance less than a first threshold value from the first feature point as a dental arch corresponding point, and taking the tangent direction, normal direction and jaw plane direction of the dental arch corresponding point as three axes respectively.

[0119] In some embodiments, the point with a distance less than a first threshold value from the first feature point is the point with the smallest distance from the first feature point, and the first feature point is the mesial point of the incisal edge in the global coordinate system. The point on the dental arch curve with the smallest distance from the mesial point of the incisal edge is taken as the dental arch corresponding point, denoted as C i .

[0120] wherein if for a single tooth, the mesial point of the incisal edge of the single tooth is taken as a reference, and the point on the dental arch curve with the smallest distance from the mesial point of the incisal edge of the single tooth is taken as the dental arch corresponding point C i ; and if for two or more teeth, the average of the mesial points of the incisal edges of the teeth is taken as an average reference point, and the point on the dental arch curve with the smallest distance from the average reference point is taken as the dental arch corresponding point C i .

[0121] After the dental arch corresponding point C i is calculated, the tangent direction, normal direction and jaw plane direction at the dental arch corresponding point are calculated, and the dental arch corresponding point C i is taken as the origin o', and the three directions are taken as the x' axis, y' axis and z' axis respectively, so as to establish the dental arch coordinate system.

[0122] S104, calculating a model posture parameter according to the first feature point, the dental arch corresponding point and the dental arch coordinate system, and calculating a posture result of the tooth digital model according to the model posture parameter.

[0123] In the embodiment, the tooth digital model includes a tooth digital model not subjected to orthodontic treatment, a tooth digital model in an orthodontic treatment stage, and a tooth digital model after orthodontic treatment, so as to analyze and judge the tooth condition of a user through the tooth digital model, to determine the tooth condition of the user, so as to facilitate the user to understand the tooth condition of himself / herself, and facilitate a doctor to specify a suitable treatment plan or to timely adjust the treatment plan according to the tooth condition of the user.

[0124] The tooth digital model is analyzed and calculated through the method, so that physical manufacturing and measurement of the tooth model of the user are not required, errors in physical operation are avoided, and the posture result in the tooth digital model is conveniently calculated.

[0125] In some embodiments, the model posture parameter comprises a first distance, the posture result comprises a tooth translation deviation degree, the model posture parameter is calculated according to the first feature point, the dental arch corresponding point and the dental arch coordinate system, and the posture result of the tooth digital model is calculated according to the model posture parameter, as shown in Figure 2 The method comprises the following steps:

[0126] S201, calculating the first distance according to the first feature point and the dental arch corresponding point.

[0127] S202, decomposing the first distance to three coordinate directions of the dental arch coordinate system to obtain three component distances.

[0128] S203, weighting and summing the three component distances according to a first preset weight to obtain a distance weighted sum result, and determining the tooth translation deviation degree according to the distance weighted sum result.

[0129] Specifically, the first distance comprises a distance between the tooth and the dental arch, and the distance between the tooth and the dental arch is calculated as follows: first, the dental arch corresponding point of the current tooth is determined, the midpoint B of the incisal edge of the tooth is calculated i1 -C i , the difference value is decomposed to the x' axis, the y' axis and the z' axis of the dental arch coordinate system, thereby obtaining three component distances, then the three component distances are weighted and summed according to the first preset weight, thereby obtaining a distance weighted sum result, and the tooth translation deviation degree in the tooth digital model is determined according to the distance weighted sum result, that is, the greater the distance weighted sum result, the greater the tooth translation deviation degree in the tooth digital model.

[0130] Through the above calculation process, the tooth translation deviation degree of the tooth at different positions in the tooth digital model can be determined, so that the doctor and the patient can understand the tooth condition of the patient.

[0131] In some other embodiments, the model posture parameter comprises a tooth posture angle, the posture result comprises a posture angle deviation degree, the model posture parameter is calculated according to the first feature point, the dental arch corresponding point and the dental arch coordinate system, and the posture result of the tooth digital model is calculated according to the model posture parameter, as shown in Figure 3 The method comprises the following steps:

[0132] S301, calculating an actual tooth posture angle according to the dental arch corresponding point and the dental arch coordinate system.

[0133] In some embodiments, the calculation process of the tooth posture angle includes:

[0134] After the teeth on the tooth digital model are determined, Figure 4 a schematic diagram of the local coordinate system and the dental arch coordinate system in the tooth digital model, Figures 5 to 7 a schematic diagram for representing the torsion, torque and axial inclination angle of the tooth digital model, such as Figures 4 to 7 As shown, according to the dental arch coordinate system established in the foregoing, the corresponding direction x' axis, y' axis and z' axis of the dental arch corresponding point is determined, and the local coordinate system of the current tooth is determined, that is, the mesial-distal axis, the labial-lingual axis and the long axis are respectively taken as the x axis, the y axis and the z axis to establish the local coordinate system of the tooth in the foregoing, and the tooth posture angle includes the first torsion, the first torque and the first axial inclination. Specifically, for the current tooth digital model, the first torsion of the tooth posture angle is the included angle between the projection of the x axis of the tooth local coordinate system to the plane formed by the x' axis and the y' axis of the dental arch coordinate system and the x' axis; the first torque is the included angle between the projection of the z axis of the tooth local coordinate system to the plane formed by the y' axis and the z' axis of the dental arch coordinate system and the z' axis; and the first axial inclination is the included angle between the projection of the z axis of the tooth local coordinate system to the plane formed by the x' axis and the z' axis and the z' axis.

[0135] S302, input the standard tooth model in the alignment state, and obtain a standard posture angle of the standard tooth model.

[0136] In some embodiments, the standard posture angle is the standard tooth model in the alignment state. Similarly to the above process, the standard dental arch corresponding point of each tooth on the standard tooth model is determined first, the standard dental arch corresponding point is the point on the standard dental arch curve closest to the midpoint of the incisal edge of the tooth on the standard tooth model, and the tangent, normal and jaw plane direction of the standard dental arch corresponding point are taken as the three coordinate axes of the standard dental arch coordinate system, which are denoted as X' axis, Y' axis and Z' axis respectively. Meanwhile, the same method as that for establishing the tooth local coordinate system of the tooth on the tooth digital model is adopted to establish the standard tooth local coordinate system of each standard tooth on the standard tooth model, and three coordinate axes are obtained, which are denoted as X axis, Y axis and Z axis respectively. The standard posture angle also includes the second torsion, the second torque and the second axial inclination. The second torsion of the standard posture angle is set to 0, the second torque of the standard posture angle is the included angle formed between the projection of the Z axis of the tooth local coordinate system of the current standard tooth model to the plane formed by the Y' axis and the Z' axis of the standard dental arch coordinate system and the Z' axis; and the second axial inclination of the standard posture angle is the included angle between the projection of the Z axis of the tooth local coordinate system of the current standard tooth model to the plane formed by the X' axis and the Z' axis of the standard dental arch coordinate system and the Z' axis.

[0137] On the other hand, since the standard posture angle is generally relatively fixed, the relevant data in the standard posture angle can also be obtained in the corresponding textbook, which will not be described here.

[0138] S303, calculate an angle difference according to the tooth posture angle and the standard posture angle, and calculate a posture angle deviation degree of the tooth digital model according to the angle difference.

[0139] Optionally, the calculation process comprises:

[0140] According to the tooth posture angle and the standard posture angle, a torsion difference, a torque difference and an axis inclination difference are respectively calculated;

[0141] According to a second preset weight, the torsion difference, the torque difference and the axis inclination difference are weighted and summed to obtain an angle weighted sum result, and the angle weighted sum result is taken as the angle difference;

[0142] According to the size of the angle weighted sum result, a posture deviation degree of a single tooth on the tooth digital model is determined.

[0143] Through the above method, the torsion difference is calculated according to the difference between the first torsion and the second torsion, the torque difference is calculated according to the difference between the first torque and the second torque, and the axis inclination difference is calculated according to the difference between the first axis inclination and the second axis inclination. After the size of the second preset weight is determined, the torsion difference, the torque difference and the axis inclination difference are weighted and summed respectively, that is, the angle weighted sum result is obtained, and the angle weighted sum result is taken as the angle difference, so as to determine the posture deviation degree of the single tooth in the tooth digital model according to the size of the angle difference.

[0144] Specifically, the larger the calculated angle weighted sum result is, the more the current tooth deviates from the normal posture, and the adjustment is needed.

[0145] In a possible embodiment, the method further comprises calculating the crowding degree between the teeth in the tooth digital model, as shown in Figure 8 The method comprises the following steps:

[0146] S801, in the tooth digital model, a tooth region to be calculated is selected;

[0147] S802, a standard gap between adjacent teeth in the tooth region to be calculated is obtained;

[0148] S803, the mesiodistal width of each tooth model in the tooth region to be calculated is obtained;

[0149] S804. Calculate the crowding degree of teeth in the area to be calculated based on the standard gap between adjacent teeth in the area to be calculated and the mesiodistal width of each tooth model.

[0150] The degree of crowding of teeth in the area to be calculated is the ratio of the sum of the standard gaps between each pair of adjacent teeth to the sum of the mesiodistal widths of each tooth in the area to be calculated.

[0151] In the specific calculation, first obtain the standard gap between adjacent teeth in the tooth region to be calculated, as well as the mesiodistal width of each tooth model in the tooth region to be calculated. Then, the crowding degree of the teeth in the tooth region to be calculated can be calculated based on the standard gap and the mesiodistal width.

[0152] The mesiodistal width is the width at the mesiodistal contact point B of the tooth. i3 Distal contact point B with the tooth i4 The difference B between them i3 -B i4 The result is obtained by projecting the image onto the mesiodistal direction of the digital tooth model, where i represents the number of the current tooth.

[0153] In some embodiments, the calculation process for the standard gap between paired teeth includes the following steps:

[0154] Obtain the position of the paired teeth and adjust the paired teeth to the posture of a standard tooth model;

[0155] Calculate the first coordinate difference between the mesial contact point and the distal contact point between the paired teeth;

[0156] The coordinate difference is projected onto the mesiodistal direction of the digital tooth model to obtain the first coordinate difference projection result;

[0157] The size of the standard gap is determined based on the projection result of the first coordinate difference.

[0158] Specifically, according to the FDI digital number of each tooth model in the tooth digital model, single arch teeth are arranged into a sequence, missing teeth are ignored, for example, maxillary teeth 17, 16, 15, 13, 12, 11, 21, 22, 23, 25, 26, 27, wherein 14, 18, 24, 28 are missing, adjacent teeth are paired in the sequence, for example, 15 and 13 are paired, the paired tooth arch corresponding points and the corresponding directions of the paired two teeth are calculated, so as to determine the mesial-distal direction corresponding to the paired teeth according to the corresponding direction of the paired tooth arch corresponding points, and then the paired teeth are adjusted to a standard posture, and the corresponding paired teeth are obtained from the standard tooth model, the difference between the mesial contact point and the distal contact point of the paired teeth is calculated in the global coordinate system of the tooth digital model, that is, B 13,4 -B 15,3 , and then the difference is projected onto the mesial-distal direction corresponding to the paired teeth to obtain a projection result, which is the standard gap between the paired teeth.

[0159] In some embodiments, the calculation process of the mesial-distal width of each tooth in the tooth region to be calculated comprises:

[0160] calculating a second coordinate difference between the mesial contact point and the distal contact point of the tooth;

[0161] projecting the second coordinate difference onto the mesial-distal direction of the tooth to obtain the mesial-distal width of the tooth.

[0162] After determining a single tooth in the tooth region to be calculated, a second coordinate difference between the mesial contact point and the distal contact point of the tooth is calculated, that is, B i3 -B i4 , and then a projection result is obtained after the second coordinate difference is projected onto the mesial-distal direction of the tooth, and the projection result is recorded as the mesial-distal width of the tooth.

[0163] After the standard gap of the paired teeth and the mesial-distal width of the single tooth in the tooth digital model are calculated by the above calculation method, the crowding degree of the teeth in the tooth region to be calculated can be determined by the crowding degree calculation formula.

[0164] In some optional embodiments, the crowding degree calculation formula of the teeth in the tooth region to be calculated is:

[0165]

[0166] wherein A represents the crowding degree of the teeth in the tooth region to be calculated, D i represents the standard gap between the paired teeth in the tooth region to be calculated, and W irepresenting the mesiodistal width of each tooth in the tooth region to be calculated, S * representing the tooth region to be calculated, i represents the tooth number in the tooth region to be calculated.

[0167] After the result A is calculated according to the standard gap between the paired teeth and the mesiodistal width of the single tooth, the degree of crowding of the teeth is judged according to the size of the calculation result A, wherein when the value of A is closer to 0, it means that the teeth in the tooth region to be calculated are normal, neither crowded nor sparse; when the value of A is positive, the larger the value of A, the sparser the teeth in the tooth region to be calculated; when the value of A is negative, the larger the absolute value of the negative value of A, the more crowded the teeth in the tooth region to be calculated.

[0168] In some other embodiments, the entire jaw of the tooth digital model can also be selected as the tooth region to be calculated, and the degree of crowding of the entire jaw of the tooth digital model is calculated. Since the calculation process is basically the same as that of the local tooth region to be calculated, it will not be described here.

[0169] In some embodiments, the method further comprises calculating the dental jaw relationship of the tooth digital model, such as Figure 9 as shown, comprising the following steps:

[0170] S901, according to the occlusal position of the upper and lower teeth, selecting a plurality of paired tooth groups in the tooth digital model.

[0171] S902, obtaining the first feature points of the plurality of paired tooth groups in the global coordinate system, and establishing a combined dental arch coordinate system according to the first feature points of the plurality of paired tooth groups.

[0172] In some optional embodiments, it specifically comprises the following steps:

[0173] Obtaining the coordinates of the first feature points of each tooth in the plurality of paired tooth groups in the global coordinate system;

[0174] averaging the coordinates of the first feature points in the paired tooth groups to obtain the coordinates of the average feature points;

[0175] On the dental arch curve of the tooth model, the points with a distance less than a second threshold value from the average feature points are taken as the combined dental arch corresponding points;

[0176] Taking the tangent, normal and jaw plane direction of the combined dental arch corresponding points as three axes to establish the combined dental arch coordinate system.

[0177] After determining the paired tooth group, first, the coordinates of the first feature points of each tooth in the paired tooth group are obtained, and the average of the two first feature points in the paired tooth group is calculated, that is, the coordinates of the average feature points obtained after the average calculation, then on the dental arch curve of the tooth digital model, the point with a distance less than the second threshold value from the average feature point is found as the combined dental arch corresponding point, and then the tangent, normal and jaw plane direction of the combined dental arch corresponding point are respectively taken as three coordinate axes to establish a combined dental arch coordinate system, which are respectively denoted as X2, Y2 and Z2 axes.

[0178] S903, calculate the difference value of the first feature points of the two teeth in each group of the paired tooth group.

[0179] S904, decompose the difference value into three axes of the combined dental arch coordinate system to obtain difference value components.

[0180] S905, determine the tooth-jaw relationship in the tooth digital model according to the size of the difference value components of the three axes in the combined dental arch coordinate system.

[0181] In some optional embodiments, the first feature point is the incisal edge midpoint, and specifically, the upper and lower jaw teeth in the tooth digital model are paired according to a reasonable occlusion position, for example, the upper 16th tooth and the lower 46th tooth are paired, after the combined dental arch coordinate system is established, the difference value between the incisal edge midpoints or buccal tip midpoints of the two teeth is calculated, that is, B 16,1 -B 46,1 and the difference value is decomposed into three coordinate axes of the combined dental arch coordinate system to obtain three difference value components, and then the tooth-jaw relationship of the current tooth digital model is determined according to the size of the three difference value components.

[0182] In some embodiments, the tooth-jaw relationship includes the anterior tooth-jaw relationship, and the anterior tooth-jaw relationship includes at least one of the anterior tooth overlap relationship, the anterior tooth coverage relationship and the midline alignment relationship.

[0183] Wherein, the anterior tooth overlap relationship is determined according to the closeness between the difference value component in the Z2 axis direction and the projection in the occlusal direction between the distances of the incisal edge midpoints between the designated anterior teeth of the upper jaw and the corresponding anterior teeth of the lower jaw, the closer the two are, the higher the overlap degree of the anterior tooth overlap of the current tooth digital model is, otherwise the lower the overlap degree of the anterior tooth overlap is.

[0184] And the anterior tooth coverage relationship is determined according to the closeness between the difference value component in the Y2 axis and the projection in the buccal-lingual direction between the distances of the incisal edge midpoints between the designated anterior teeth of the upper jaw and the designated anterior teeth of the lower jaw, the closer the two are, the higher the coverage degree of the anterior tooth coverage of the tooth digital model is, otherwise the lower the coverage degree of the anterior tooth coverage is.

[0185] The midline alignment is determined by calculating the difference between the maxillary and mandibular midlines in the digital dental model. The smaller the difference, the more aligned the midlines are; otherwise, they are less aligned.

[0186] Optionally, since the calculation process for the midline direction has been explained above, in this embodiment, the midline of the maxilla can be calculated after selecting the maxillary tooth model, and the midline of the mandible can be calculated after selecting the mandibular tooth model, which will not be repeated here.

[0187] In some other embodiments, the intermaxillary relationship includes a posterior intermaxillary relationship, which includes at least one of a molar relationship, a malocclusion relationship, and an open bite relationship.

[0188] Among them, the molar relationship of the digital tooth model is determined based on the difference component on the X2 axis, the malocclusion relationship of the digital tooth model is determined based on the difference component on the Y2 axis, and the open bite relationship of the digital tooth model is determined based on the difference component on the Z2 axis. The determination criteria are the content of the prior art and will not be repeated here.

[0189] The interdental relationship also includes the occlusal contact relationship of the posterior teeth. The method involves selecting a batch of sampling points on the crown surface of all mandibular posterior teeth (teeth 5 to 8), radiating a ray along the occlusal plane normal to the maxilla from each sampling point, finding the intersection point with a specific maxillary tooth, and recording the distance between the sampling point and the intersection point (a gap is a positive value, overlap is a negative value). The contact area percentage is N. * / N, where N is the total number of sampling points, N * The total number of sampling points with distance values ​​less than zero is not described in detail here, as the above process is existing technology.

[0190] The present invention further provides a system for calculating posture deviation based on a digital tooth model, such as... Figure 10 As shown, it includes:

[0191] The acquisition module 1001 is used to select a single tooth model in the digital tooth model, establish a local coordinate system on the single tooth model, and acquire feature points in the local coordinate system.

[0192] The conversion module 1002 is used to establish a global coordinate system based on the digital tooth model and convert the feature points in the local coordinate system into first feature points in the global coordinate system.

[0193] The coordinate system establishing module 1003 is configured to acquire, on the dental arch, a point having a distance less than a first threshold value from the feature point as a dental arch corresponding point, and establish a dental arch coordinate system with a tangent direction, a normal direction and a jaw plane direction of the dental arch corresponding point as three axes.

[0194] The calculating module 1004 is configured to calculate a first distance according to a difference between the first feature point and the dental arch corresponding point, and calculate a pose deviation of the digital tooth model according to the first distance.

[0195] Since the structure and principle of the above-mentioned system for calculating the pose deviation of the digital tooth model correspond to the above-mentioned method for calculating the pose deviation of the digital tooth model one by one, no further description is given here.

[0196] It should be noted that the division of each module of the above device is only a logical division of functions, and all or part of the modules can be integrated into one physical entity, or can be physically separated. These modules can all be implemented in the form of software called by a processing element; all can be implemented in the form of hardware; some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the selecting module can be a separate processing element, or can be integrated into a chip of the above system, in addition, it can also be stored in the memory of the above system in the form of program code, and the function of the above x module can be called and executed by a processing element of the above system. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or can be independently implemented. The processing element described herein can be an integrated circuit having a signal processing capability. In the implementation process, each step of the above method or each module can be completed by the integrated logic circuit of hardware or the instruction of software in the processing element.

[0197] For example, the above modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), or one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when a certain module above is implemented in the form of a processing element scheduling code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor that can invoke code. For another example, the modules can be integrated together to implement in the form of a System-On-a-Chip (SOC).

[0198] The application further discloses a digital orthodontic scoring method, applying the tooth digital model posture deviation calculation method, as shown in the formula, the digital orthodontic scoring method comprises: Figure 11

[0199] S1101, obtaining a posture result combination in the tooth digital model;

[0200] S1102, obtaining a calculation result of a plurality of posture deviations according to the posture result combination in the tooth digital model;

[0201] S1103, scoring according to the size of the calculation result of the posture deviation, obtaining a plurality of single scores;

[0202] S1104, obtaining a third preset weight of the calculation result of the posture deviation;

[0203] S1105, weighting and summing the plurality of single scores according to the third preset weight, obtaining a comprehensive score.

[0204] ​After the respective posture results of the teeth in the digital tooth model are calculated by the foregoing posture deviation calculation method of the digital tooth model, wherein the posture results include tooth translation deviation, posture angle deviation, tooth crowding degree, and tooth-jaw relationship, the posture results are combined according to needs, and each posture result is scored to obtain a plurality of individual scores, and then the individual scores are weighted and summed according to the third preset weight of each posture result, so as to obtain a comprehensive score of the digital tooth model, and the specific situation of the digital tooth model is determined according to the size of the comprehensive score. Not only can different individual scores and different weights be selected according to different scenes, but also the actual situation of the teeth can be more intuitively and quickly understood by doctors and patients.

[0205] In some embodiments, the posture result combination includes at least one type of calculation result of the posture deviation.

[0206] In some optional embodiments, the posture result combination includes the tooth translation deviation, the posture angle deviation, and the tooth crowding degree, and the individual scores corresponding to the calculation results of the tooth translation deviation, the posture angle deviation, and the tooth crowding degree are obtained, and then the individual scores are weighted and summed according to the third preset weight corresponding to each individual score to obtain a comprehensive score.

[0207] In some optional embodiments, the posture result combination includes the tooth translation deviation, the posture angle deviation, and the tooth-jaw relationship, and the individual scores corresponding to the calculation results of the tooth translation deviation, the posture angle deviation, and the tooth-jaw relationship are obtained, and then the individual scores are weighted and summed according to the third preset weight corresponding to each individual score to obtain a comprehensive score.

[0208] In some optional embodiments, the posture result combination includes the tooth crowding degree and the tooth-jaw relationship, and the individual scores corresponding to the calculation results of the tooth crowding degree and the tooth-jaw relationship are obtained, and then the individual scores are weighted and summed according to the third preset weight corresponding to each individual score to obtain a comprehensive score.

[0209] In some embodiments, the scoring method of digital orthodontics further includes:

[0210] Obtaining a tooth database of a target population to obtain an orthodontic score of each tooth of the population;

[0211] According to the size of the orthodontic score, the teeth database is sorted to obtain a score ranking of the teeth database, and according to the size of the comprehensive score, a score ranking of the digital tooth model in the target population is obtained.

[0212] Through the above method, after the comprehensive score of the patient is calculated, the dental digital model is scored and ranked according to the tooth database of the target population, so that the patient and the doctor can better understand the actual situation of the current teeth.

[0213] In some embodiments, the scoring method of digital orthodontics further comprises providing target positions and step positions, calculating the comprehensive score of the dental digital model at the step positions, and comparing the comprehensive scores at different stages with different target positions and step positions, so as to evaluate the treatment of the patient's teeth at different stages through the dental digital model.

[0214] The application also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to perform the posture deviation calculation method of the dental digital model or the scoring method of digital orthodontics.

[0215] The storage medium of the application stores a computer program, and the computer program is executed by a processor to implement the above method. The storage medium includes a read-only memory (ROM), a random access memory (RAM), a magnetic disk, a U disk, a memory card or an optical disk, and various media that can store program codes.

[0216] The application also provides a terminal, which comprises a processor and a memory.

[0217] The memory is used for storing a computer program.

[0218] The processor is used for executing the computer program stored in the memory, so that the terminal executes the posture deviation calculation method of the dental digital model or the scoring method of digital orthodontics.

[0219] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0220] The functional units in each embodiment of the application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The above integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0221] The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or in other words the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a flash memory, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and various media that can store program codes.

[0222] Although the embodiments of the present application are described in detail above, it is obvious for those skilled in the art that various modifications and changes can be made to the embodiments. However, it should be understood that such modifications and changes all belong to the scope and spirit of the present application described in the claims. Moreover, the present application described herein can have other embodiments and can be implemented or realized in various ways.

Claims

1. A method for calculating pose deviation of a digital dental model, characterized in that, The method comprises the following steps: selecting a single tooth model in a digital tooth model, establishing a local coordinate system on the single tooth model, and obtaining feature points of the single tooth model in the local coordinate system; establishing a global coordinate system according to the digital tooth model, converting the feature points from the local coordinate system to the global coordinate system, and obtaining first feature points in the global coordinate system; taking points with a distance less than a first threshold value from the first feature points as arch corresponding points on an arch curve of the digital tooth model, and establishing an arch coordinate system with tangent, normal and jaw plane directions of the arch corresponding points as three axes; calculating model posture parameters according to the first feature points, the arch corresponding points and the arch coordinate system, and calculating a posture result of the digital tooth model according to the model posture parameters.

2. The dental digital model pose deviation calculation method of claim 1, wherein, The model posture parameters include a first distance, and the posture result includes a tooth translation amount deviation degree. The calculation of the model posture parameters according to the first feature points, the arch corresponding points and the arch coordinate system, and the calculation of the posture result of the digital tooth model according to the model posture parameters comprise: calculating the first distance according to the first feature points and the arch corresponding points; decomposing the first distance into three coordinate directions of the arch coordinate system to obtain three component distances; weighting and summing the three component distances according to a first preset weight to obtain a distance weighted sum result, and determining the tooth translation amount deviation degree according to the distance weighted sum result.

3. The dental digital model pose bias calculation method of claim 1, wherein, The local coordinate system is established by taking an average value of all vertices of the single tooth model as an origin, and taking a mesial-distal axis, a labial-lingual axis and a long axis as x, y and z axes respectively.

4. The dental digital model pose bias calculation method of claim 1, wherein, The model posture parameters include a tooth posture angle, and the posture result includes a posture angle deviation degree. The calculation of the model posture parameters according to the first feature points, the arch corresponding points and the arch coordinate system, and the calculation of the posture result of the digital tooth model according to the model posture parameters comprise: calculating an actual tooth posture angle according to the arch corresponding points and the arch coordinate system; inputting a standard tooth model in an aligned state, and obtaining a standard posture angle of the standard tooth model; calculating an angle difference according to the tooth posture angle and the standard posture angle, and calculating the posture angle deviation degree of the digital tooth model according to the angle difference.

5. The dental digital model pose bias calculation method of claim 4, wherein, The calculation of the angle difference according to the tooth posture angle and the standard posture angle comprises: correspondingly calculating a twist difference, a torque difference and an axis inclination difference according to the tooth posture angle and the standard posture angle respectively; weighting and summing the twist difference, the torque difference and the axis inclination difference according to a second preset weight to obtain an angle weighted sum result, and taking the angle weighted sum result as the angle difference; The calculation of the posture angle deviation degree of the digital tooth model according to the angle difference comprises: determining the posture deviation degree of the single tooth on the digital tooth model according to the size of the angle weighted sum result.

6. The dental digital model pose bias calculation method of claim 5, wherein, The tooth posture angle includes a first torsion, a first torque and a first axis inclination, the standard posture angle includes a second torsion, a second torque and a second axis inclination, the torsion difference is a difference between the first torsion and the second torsion, the torque difference is a difference between the first torque and the second torque, and the axis inclination difference is a difference between the first axis inclination and the second axis inclination.

7. The dental digital model pose bias calculation method of claim 1, wherein, The method further comprises: selecting a tooth region to be calculated in the tooth digital model; acquiring a standard space between adjacent teeth in the tooth region to be calculated; acquiring a mesiodistal width of each tooth model in the tooth region to be calculated; calculating a degree of crowding of teeth in the tooth region to be calculated according to the standard space between adjacent teeth in the tooth region to be calculated and the mesiodistal width of each tooth model.

8. The dental digital model pose bias calculation method of claim 7, wherein, selecting the whole arch tooth digital model as the tooth region to be calculated, and calculating a degree of crowding of teeth in the whole arch tooth digital model.

9. The dental digital model pose bias calculation method of claim 8, wherein, The degree of crowding of teeth in the tooth region to be calculated is a ratio of a sum of the standard spaces between each pair of adjacent teeth to a sum of the mesiodistal widths of each tooth in the tooth region to be calculated.

10. The dental digital model pose bias calculation method of claim 9, wherein, The calculation process of the degree of crowding of teeth in the tooth region to be calculated satisfies the following formula: wherein A represents the degree of crowding of the teeth within the tooth region to be calculated, D i represents the standard interdigitation between the teeth within the tooth region to be calculated, W i represents the mesiodistal width of each tooth within the tooth region to be calculated, S * represents the tooth region to be calculated, and i represents the tooth number within the tooth region to be calculated.

11. The dental digital model pose bias calculation method of claim 9, wherein, The calculation process of the standard space between the paired teeth comprises: acquiring positions of the paired teeth, and adjusting the paired teeth to a posture of a standard tooth model; calculating a first coordinate difference value of mesial contact points and distal contact points between the paired teeth; projecting the coordinate difference value to a mesiodistal direction of the tooth digital model to obtain a first coordinate difference value projection result; determining a size of the standard space according to the first coordinate difference value projection result; The calculation process of the mesiodistal width of each tooth in the tooth region to be calculated comprises: calculating a second coordinate difference value between mesial contact points and distal contact points of the tooth; projecting the second coordinate difference value to a mesiodistal direction of the tooth to obtain the mesiodistal width of the tooth.

12. The dental digital model pose deviation calculation method of claim 1 or 7, wherein, The method further comprises: selecting a plurality of paired tooth groups that are paired according to a bite position of upper and lower teeth in the tooth digital model; acquiring the first feature points of the plurality of paired tooth groups in the global coordinate system, and establishing a combined dental arch coordinate system according to the first feature points of the plurality of paired tooth groups; calculating a difference value of the first feature points of two teeth in each of the plurality of paired tooth groups; decomposing the difference value to three axes of the combined dental arch coordinate system to obtain difference components; determining a tooth-jaw relationship in the tooth digital model according to sizes of the difference components of the three axes in the combined dental arch coordinate system.

13. The dental digital model pose bias calculation method of claim 12, wherein, The tooth-jaw relationship includes an anterior tooth-jaw relationship, and the anterior tooth-jaw relationship includes at least one of an anterior tooth overlap relationship, an anterior tooth overbite relationship and a midline alignment relationship.

14. The dental digital model pose bias calculation method of claim 12, wherein, The tooth-jaw relationship includes a posterior tooth-jaw relationship, and the posterior tooth-jaw relationship includes at least one of a molar relationship, a malocclusion relationship and an open bite relationship.

15. The dental digital model pose bias calculation method of claim 12, wherein, The acquiring the first feature points of a plurality of sets of paired tooth groups in the global coordinate system, and establishing a combined dental arch coordinate system according to the first feature points of the plurality of sets of paired tooth groups, comprises: acquiring the coordinates of the first feature points of each tooth in the plurality of sets of paired tooth groups in the global coordinate system; averaging the coordinates of the first feature points in the paired tooth groups to obtain the coordinates of an average feature point; taking points on a dental arch curve of the tooth model that are less than a second threshold value from the average feature point as combined dental arch corresponding points; establishing the combined dental arch coordinate system with the tangential direction, the normal direction, and the jaw plane direction of the combined dental arch corresponding points as three axes.

16. A dental model pose deviation based computing system, comprising: comprises: an acquisition module, configured to select a single tooth model in a tooth digital model, and establish a local coordinate system on the single tooth model, and acquire a feature point in the local coordinate system; a conversion module, configured to convert the feature point in the local coordinate system into a first feature point in a global coordinate system according to the tooth digital model; a coordinate system establishment module, configured to acquire points on a dental arch that are less than a first threshold value from the feature point as dental arch corresponding points, and establish a dental arch coordinate system with the tangential direction, the normal direction, and the jaw plane direction of the dental arch corresponding points as three axes; a calculation module, configured to calculate a first distance according to a difference between the first feature point and the dental arch corresponding point, and calculate an attitude deviation of the tooth digital model according to the first distance.

17. A method of scoring digital orthodontics, characterized by, The method for calculating the attitude deviation of the tooth digital model according to any one of claims 1 to 15, and the scoring method for digital orthodontics comprises: acquiring an attitude result combination in the tooth digital model; acquiring a plurality of calculation results of attitude deviations according to the attitude result combination in the tooth digital model; scoring according to the sizes of the calculation results of the attitude deviations to obtain a plurality of single-item scores; acquiring a third preset weight of the calculation results of the attitude deviations; weighting and summing the plurality of single-item scores according to the third preset weight to obtain a comprehensive score.

18. The digital orthodontic scoring method of claim 17, wherein, The attitude result combination comprises at least one type of calculation result of the attitude deviations.

19. The digital orthodontic scoring method of claim 17, wherein, The scoring method for digital orthodontics further comprises: acquiring a tooth database of a target population to obtain orthodontic scores of teeth of each person in the population; sorting according to the sizes of the orthodontic scores to obtain a scoring ranking of the tooth database; acquiring a scoring ranking of tooth digital models in the target population according to the sizes of the comprehensive scores.

20. The digital orthodontic scoring method of claim 17, wherein, The scoring method for digital orthodontics further comprises providing a target position and a step-by-step position, and calculating a comprehensive score of the tooth digital model at the step-by-step position.

21. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the method for calculating the attitude deviation of the tooth digital model according to any one of claims 1 to 15 or the scoring method for digital orthodontics according to any one of claims 17 to 20.

22. A terminal, characterized by comprises: a processor and a memory; the memory is configured to store a computer program; the computer program is configured to implement the method for calculating the attitude deviation of the tooth digital model according to any one of claims 1 to 15 or the scoring method for digital orthodontics according to any one of claims 17 to 20. The processor is configured to execute a computer program stored in the memory, so that the terminal executes the tooth digital model posture deviation calculation method in any one of claims 1 to 15 or the digital orthodontic evaluation method in any one of claims 17 to 20.

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