Method, device, equipment and medium for measuring tooth movement based on depth image

Abstract

The application relates to the technical field of tooth movement measurement based on depth images, and discloses a tooth movement measurement method, device, equipment and medium based on depth images. The method comprises the following steps: acquiring a dental bracket image and a depth image; determining respective space coordinate data corresponding to each dental bracket bounding box according to the dental bracket image and the depth image; determining a first coordinate, a second coordinate, a third coordinate and a fourth coordinate based on the space coordinate data; and determining tooth movement between two adjacent dental bracket bounding boxes according to the respective first coordinates, the respective second coordinates, the respective third coordinates and the respective fourth coordinates. The respective space coordinate data corresponding to each dental bracket bounding box can be determined through the depth image and the dental bracket image, high-precision measurement of tooth movement can be realized through the space coordinate data, and the measurement is completely non-invasive for patients, thereby improving user experience.

Description

Technical Field

[0001] This invention relates to the field of tooth movement measurement technology, and in particular to a method, apparatus, device and medium for measuring tooth movement based on depth images. Background Technology

[0002] Orthodontics is a dental specialty dedicated to the diagnosis, prevention, management, and correction of misaligned teeth, jaws, and occlusion. During one to two years of orthodontic treatment, orthodontists need to measure the patient's interdental movement (tooth movement) approximately every ten weeks to assess the treatment progress and adjust the brackets accordingly to ensure the effectiveness of the orthodontic treatment. However, most current methods are invasive or harmful to the human body, and these methods are prone to significant human measurement errors or are inefficient. Summary of the Invention

[0003] Therefore, it is necessary to address the technical problem of large measurement errors in existing tooth movement techniques by proposing a method, device, equipment, and medium for measuring tooth movement based on depth images.

[0004] In a first aspect, a method for measuring tooth movement based on depth images is provided, the method comprising:

[0005] Obtain an image of the dental bracket of the target object and a depth image corresponding to the dental bracket image, wherein the dental bracket image includes at least one front view of the dental bracket;

[0006] Based on the bracket image and the depth image, the spatial coordinate data corresponding to each bracket bounding box are determined, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image;

[0007] Based on spatial coordinate data, a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate are determined. The first coordinate is the X-axis coordinate of the distal side of the bracket in the bracket boundary frame, the second coordinate is the Z-axis coordinate of the distal side of the bracket in the bracket boundary frame, the third coordinate is the X-axis coordinate of the proximal side of the bracket in the bracket boundary frame, and the fourth coordinate is the Z-axis coordinate of the proximal side of the bracket in the bracket boundary frame.

[0008] Based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates, the amount of tooth movement between two adjacent bracket boundary frames is determined.

[0009] Secondly, a tooth movement measurement device based on depth images is provided, the device comprising:

[0010] The acquisition module is used to acquire an image of a dental bracket of a target object and a depth image corresponding to the dental bracket image, wherein the dental bracket image includes at least one front view of a dental bracket;

[0011] The first determining module is used to determine the spatial coordinate data corresponding to each bracket bounding box based on the bracket image and the depth image, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image.

[0012] The second determining module is used to determine a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate based on spatial coordinate data. The first coordinate is the X-axis coordinate of the distal side of the bracket in the bracket boundary frame, the second coordinate is the Z-axis coordinate of the distal side of the bracket in the bracket boundary frame, the third coordinate is the X-axis coordinate of the proximal side of the bracket in the bracket boundary frame, and the fourth coordinate is the Z-axis coordinate of the proximal side of the bracket in the bracket boundary frame.

[0013] The third determining module is used to determine the amount of tooth movement between two adjacent bracket boundary frames based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates.

[0014] Thirdly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method for measuring tooth movement based on depth images.

[0015] Fourthly, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described method for measuring tooth movement based on depth images.

[0016] The tooth movement measurement method based on depth images proposed in this invention acquires an image of a dental bracket and a corresponding depth image of the bracket, wherein the bracket image includes at least one front view of a bracket. Then, based on the bracket image and the depth image, the spatial coordinate data corresponding to the bounding boxes of each bracket are determined, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image. Furthermore, based on the spatial coordinate data, a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate are determined, wherein the first coordinate is the X-axis coordinate of the distal edge of the bracket in the bracket bounding box, the second coordinate is... The first coordinate is the Z-axis coordinate of the distal side of the bracket boundary frame, the second coordinate is the X-axis coordinate of the proximal side of the bracket boundary frame, and the third coordinate is the Z-axis coordinate of the proximal side of the bracket boundary frame. Finally, based on each of the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate, the tooth movement between two adjacent bracket boundary frames is determined. This method can determine the spatial coordinate data corresponding to each bracket boundary frame through depth images and bracket images, and achieve high-precision measurement of tooth movement through this spatial coordinate data. Moreover, it is a completely non-invasive measurement for patients, improving the user experience. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] in:

[0019] Figure 1 This is an application environment diagram of a tooth movement measurement method based on depth images in one embodiment;

[0020] Figure 2 This is a flowchart of a method for measuring tooth movement based on depth images in one embodiment;

[0021] Figure 3 This is a dental bracket image from one embodiment of a method for measuring tooth movement based on depth images;

[0022] Figure 4 This is a structural block diagram of a tooth movement measurement device based on depth images in one embodiment.

[0023] Figure 5 This is a structural block diagram of a computer device in one embodiment;

[0024] Figure 6 This is a structural block diagram of a computer device in another embodiment. Detailed Implementation

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The tooth movement measurement method based on depth images provided in this invention can be applied to, for example... Figure 1In this application environment, client 110 communicates with server 120 via a network. Server 120 can obtain an image of the target object's dental bracket and a corresponding depth image from client 110. The dental bracket image includes at least one front view of a dental bracket. Then, server 120 determines the spatial coordinate data corresponding to each dental bracket bounding box based on the dental bracket image and the depth image. Each dental bracket bounding box corresponds one-to-one with each dental bracket in the dental bracket image. Based on the spatial coordinate data, server 120 determines a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate. The first coordinate is the X-axis coordinate of the far side of the dental bracket bounding box, the second coordinate is the... The first coordinate is the Z-axis coordinate of the distal edge of the bracket in the bracket boundary frame, the second coordinate is the X-axis coordinate of the proximal edge of the bracket boundary frame, and the third coordinate is the Z-axis coordinate of the proximal edge of the bracket boundary frame. Finally, the server 120 determines the tooth movement between two adjacent bracket boundary frames based on each of the first, second, third, and fourth coordinates. This allows for the determination of spatial coordinate data corresponding to each bracket boundary frame using depth and bracket images, achieving high-precision measurement of tooth movement. This measurement is completely non-invasive for the patient, improving the user experience. The client 110 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. The server 120 can be implemented using a standalone server or a server cluster consisting of multiple servers. The invention will now be described in detail through specific embodiments.

[0029] Please see Figure 2 As shown, Figure 2 A schematic flowchart of a tooth movement measurement method based on depth images provided in an embodiment of the present invention includes the following steps:

[0030] Step S101: Obtain an image of the dental bracket of the target object and a depth image corresponding to the dental bracket image, wherein the dental bracket image includes at least one front view of the dental bracket;

[0031] The target object can be a patient, and the image of the dental bracket can be a two-dimensional RGB image. Both the dental bracket image and the depth image can be acquired using an RGB-D camera.

[0032] Step S102: Based on the bracket image and the depth image, determine the spatial coordinate data corresponding to each bracket bounding box, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image;

[0033] The depth image and the dental bracket image have the same size and resolution.

[0034] In one implementation, the image of the dental bracket is input into a trained YOLOv8 model to obtain the coordinate data corresponding to each dental bracket bounding box. This coordinate data includes the coordinates of the upper left and lower right corners of the dental bracket bounding box, and includes the X-axis and Y-axis. Using this coordinate data, the pixels containing the bracket bounding box in the dental bracket image and their coordinates in the dental bracket image are determined. Based on the pixel coordinates, the pixel value at the same pixel coordinates is determined in the depth image, and the Z-axis corresponding to the coordinates of the two corners of the dental bracket bounding box in three-dimensional space is determined, thereby obtaining the spatial coordinate data corresponding to each dental bracket bounding box. This spatial coordinate data includes the X-axis, Y-axis, and Z-axis of one corner of the dental bracket bounding box, and the X-axis, Y-axis, and Z-axis of the other corner of the dental bracket bounding box.

[0035] As an example, firstly, a 2D RGB image and a depth image are acquired using an RGB-D camera. Then, the input 2D RGB image is preprocessed. Images showing the braces clearly in front of the viewer are selected for use in the training and test sets. The final images must meet the following requirements: at least one brace is in frontal view, the image is neither too bright nor too dark, and the resolution is at least 640×640 pixels. Therefore, a set of 125 sample images meeting these requirements is used, and the sample set is divided into three groups: 87, 25, and 13, for the training, validation, and test sets, respectively. Subsequently, the samples in the training set need to be manually labeled, and the samples are expanded. In this invention, only one class, namely dental braces, needs to be identified and labeled, resulting in a list of images and a corresponding text file for each image, containing manually labeled bounding box information. Finally, a wide range of basic image transformation techniques are used to augment the training data to increase the accuracy of the model detection, including: vertical flipping; clockwise and counterclockwise rotation; and changing the brightness (between -35% and +35%). In model training, a pre-trained YOLOv8 model was used to minimize training loss. Appropriate settings were used to train the model, and an NVIDIA GTX 3090 GPU was utilized to improve training speed. After 200 iterations, the loss stopped and significantly decreased. Finally, a trained YOLOv8 model was obtained, which can be used to detect the coordinates of bracket bounding boxes. In sample detection, using a 2D RGB image from the input detection set, the final output of the trained YOLOv8 model has five elements: the coordinates of the top-left and bottom-right diagonal points of the bracket bounding box; the confidence score of the bracket bounding box surrounding the bracket; only bounding boxes with a confidence score exceeding a threshold are displayed and used for measurement; and the obtained coordinates are percentages relative to the entire image's length and width. Then, based on the obtained bracket bounding box information, the brackets are classified into maxillary brackets and mandibular brackets.

[0036] Step S103: Based on spatial coordinate data, determine the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate, wherein the first coordinate is the X-axis coordinate of the distal side of the bracket of the bracket boundary frame, the second coordinate is the Z-axis coordinate of the distal side of the bracket of the bracket boundary frame, the third coordinate is the X-axis coordinate of the proximal side of the bracket of the bracket boundary frame, and the fourth coordinate is the Z-axis coordinate of the proximal side of the bracket of the bracket boundary frame.

[0037] It should be noted that, as Figure 3The image shown is a dental bracket. The upper left boundary point of the dental bracket image is the origin of the dental bracket image coordinate system. For a dental bracket bounding box, the bracket bounding box consists of an upper border, a lower border, a left border, and a right border. The border closest to the origin in the left and right borders of the bracket bounding box is the near edge of the bracket, and the border farthest from the origin in the left and right borders of the bracket bounding box is the far edge of the bracket.

[0038] Step S104: Determine the amount of tooth movement between two adjacent bracket boundary frames based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates.

[0039] The tooth movement between adjacent bracket bounding boxes is calculated using the first, second, third, and fourth coordinates.

[0040] In one embodiment, the step of determining the tooth movement amount between two adjacent bracket boundary frames based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates includes:

[0041] Step S201: Determine the first distance between two adjacent bracket boundary frames based on the first coordinate and the third coordinate;

[0042] In one embodiment, the first distance is represented by the following formula:

[0043] D(b i b i+1 ) = X i+1 -W i

[0044] Wherein, D(b) i b i+1 ) represents the i-th bracket b i and the (i+1)th bracket b i+1 The first distance between them, X i+1 It is the third coordinate corresponding to the (i+1)th bracket, w i It is the first coordinate corresponding to the i-th bracket.

[0045] Step S202: Determine the size of the bracket bounding box corresponding to the center bracket in the bracket image based on the first coordinate, the third coordinate, and the number of brackets in the bracket image;

[0046] In one embodiment, the dimensions of the bracket boundary frame are expressed by the following formula:

[0047]

[0048] Where B is the size of the bracket bounding box. It is the first The third coordinate corresponding to each dental bracket It is the first The first coordinate corresponding to each bracket It is the first The third coordinate corresponding to each dental bracket It is the first The first coordinate corresponding to each dental bracket, where n is the number of dental brackets in the dental bracket image.

[0049] Step S203: Determine the correction value based on the first distance, the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate;

[0050] In one embodiment, the correction value is represented by the following formula:

[0051]

[0052] Among them, mod i For the correction value, k i A proportional correction factor, k, is introduced to account for the fact that the actual distance between the i-th bracket and the (i+1)-th bracket is a curved segment. i The value range of Z is (0, 1], i+1 It is the fourth coordinate corresponding to the (i+1)th bracket, Z i It is the fourth coordinate corresponding to the i-th bracket.

[0053] Step S204: Determine the second distance based on the correction value and the first distance;

[0054] In one embodiment, the second distance is represented by the following formula:

[0055] DM(b i b i+1 )=D(b i b i+1 )+mod i

[0056] Among them, mod i For the correction value, DM(b) i b i+1 ) represents the second distance.

[0057] Since teeth are arranged in a parabolic arc shape in space, the distance between the bracket bounding boxes on the sides of the bracket image, which is a two-dimensional RGB image, is not the true distance between the bracket bounding boxes in three-dimensional space. Therefore, the distance between the bracket bounding boxes in the two-dimensional plane is corrected to accurately measure the distance between the bracket bounding boxes on the sides of the bracket image.

[0058] Step S205: Based on the second distance and the size of the bracket boundary frame, determine the amount of tooth movement between each bracket boundary frame.

[0059] In one embodiment, the amount of tooth movement is expressed as:

[0060]

[0061] Among them, D mm For the amount of tooth movement, DM(b) i b i+1 ) represents the second distance, B is the size of the bracket boundary frame, and D is the size of the bracket boundary frame. w This refers to the width of the dental bracket.

[0062] For example, the unit for tooth movement can be millimeters, and the width of the bracket can be 4.25 mm.

[0063] This embodiment proposes a method for measuring tooth movement based on depth images. It acquires an image of the target object's dental bracket and a corresponding depth image. The dental bracket image includes at least one front view of a dental bracket. Then, based on the dental bracket image and the depth image, it determines the spatial coordinate data corresponding to the bounding boxes of each dental bracket. Each bounding box corresponds one-to-one with each dental bracket in the dental bracket image. Furthermore, based on the spatial coordinate data, it determines a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate. The first coordinate is the X-axis coordinate of the distal edge of the dental bracket bounding box, and the second coordinate... The first coordinate is the Z-axis coordinate of the distal edge of the bracket in the bracket boundary frame, the second coordinate is the X-axis coordinate of the proximal edge of the bracket in the bracket boundary frame, and the third coordinate is the Z-axis coordinate of the proximal edge of the bracket in the bracket boundary frame. Finally, based on each of the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate, the tooth movement between two adjacent bracket boundary frames is determined. This method can determine the spatial coordinate data corresponding to each bracket boundary frame through depth images and bracket images, and achieve high-precision measurement of tooth movement through this spatial coordinate data. Moreover, it is a completely non-invasive measurement for patients, improving the user experience.

[0064] Please see Figure 4 As shown, in one embodiment, a tooth movement measurement device based on depth images is provided, the device comprising:

[0065] The acquisition module 10 is used to acquire an image of the dental bracket of the target object and a depth image corresponding to the dental bracket image, wherein the dental bracket image includes at least a front view of a dental bracket;

[0066] The first determining module 20 is used to determine the spatial coordinate data corresponding to each bracket bounding box based on the bracket image and the depth image, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image.

[0067] The second determining module 30 is used to determine a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate based on spatial coordinate data. The first coordinate is the X-axis coordinate of the distal side of the bracket in the bracket boundary frame, the second coordinate is the Z-axis coordinate of the distal side of the bracket in the bracket boundary frame, the third coordinate is the X-axis coordinate of the proximal side of the bracket in the bracket boundary frame, and the fourth coordinate is the Z-axis coordinate of the proximal side of the bracket in the bracket boundary frame.

[0068] The third determining module 40 is used to determine the amount of tooth movement between two adjacent bracket boundary frames based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates.

[0069] In one embodiment, the third determining module 40 is further configured to: determine a first distance between two adjacent bracket boundary frames based on the first coordinates and the third coordinates;

[0070] Based on the first coordinate, the third coordinate, and the number of dental brackets in the dental bracket image, determine the size of the dental bracket bounding box corresponding to the center dental bracket in the dental bracket image;

[0071] A correction value is determined based on the first distance, the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate;

[0072] Based on the correction value and the first distance, determine the second distance;

[0073] Based on the second distance and the dimensions of the bracket boundary frame, the amount of tooth movement between each bracket boundary frame is determined.

[0074] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the functions or steps of a depth image-based tooth movement measurement method on the server side.

[0075] In one embodiment, a computer device is provided, which may be a client, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with an external server via a network connection. When executed by the processor, the computer program implements client-side functions or steps of a depth image-based tooth movement measurement method.

[0076] In one embodiment, a computer device is provided, including 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, performs the following steps:

[0077] Obtain an image of the dental bracket of the target object and a depth image corresponding to the dental bracket image, wherein the dental bracket image includes at least one front view of the dental bracket;

[0078] Based on the bracket image and the depth image, the spatial coordinate data corresponding to each bracket bounding box are determined, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image;

[0079] Based on spatial coordinate data, a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate are determined. The first coordinate is the X-axis coordinate of the distal side of the bracket in the bracket boundary frame, the second coordinate is the Z-axis coordinate of the distal side of the bracket in the bracket boundary frame, the third coordinate is the X-axis coordinate of the proximal side of the bracket in the bracket boundary frame, and the fourth coordinate is the Z-axis coordinate of the proximal side of the bracket in the bracket boundary frame.

[0080] Based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates, the amount of tooth movement between two adjacent bracket boundary frames is determined.

[0081] This embodiment proposes a method for measuring tooth movement based on depth images. It acquires an image of the target object's dental bracket and a corresponding depth image. The dental bracket image includes at least one front view of a dental bracket. Then, based on the dental bracket image and the depth image, it determines the spatial coordinate data corresponding to the bounding boxes of each dental bracket. Each bounding box corresponds one-to-one with each dental bracket in the dental bracket image. Furthermore, based on the spatial coordinate data, it determines a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate. The first coordinate is the X-axis coordinate of the distal edge of the dental bracket bounding box, and the second coordinate... The first coordinate is the Z-axis coordinate of the distal edge of the bracket in the bracket boundary frame, the second coordinate is the X-axis coordinate of the proximal edge of the bracket in the bracket boundary frame, and the third coordinate is the Z-axis coordinate of the proximal edge of the bracket in the bracket boundary frame. Finally, based on each of the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate, the tooth movement between two adjacent bracket boundary frames is determined. This method can determine the spatial coordinate data corresponding to each bracket boundary frame through depth images and bracket images, and achieve high-precision measurement of tooth movement through this spatial coordinate data. Moreover, it is a completely non-invasive measurement for patients, improving the user experience.

[0082] In one embodiment, a computer-readable storage medium is provided that stores a computer program, which, when executed by a processor, performs the following steps:

[0083] Obtain an image of the dental bracket of the target object and a depth image corresponding to the dental bracket image, wherein the dental bracket image includes at least one front view of the dental bracket;

[0084] Based on the bracket image and the depth image, the spatial coordinate data corresponding to each bracket bounding box are determined, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image;

[0085] Based on spatial coordinate data, a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate are determined. The first coordinate is the X-axis coordinate of the distal side of the bracket in the bracket boundary frame, the second coordinate is the Z-axis coordinate of the distal side of the bracket in the bracket boundary frame, the third coordinate is the X-axis coordinate of the proximal side of the bracket in the bracket boundary frame, and the fourth coordinate is the Z-axis coordinate of the proximal side of the bracket in the bracket boundary frame.

[0086] Based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates, the amount of tooth movement between two adjacent bracket boundary frames is determined.

[0087] This embodiment proposes a method for measuring tooth movement based on depth images. It acquires an image of the target object's dental bracket and a corresponding depth image. The dental bracket image includes at least one front view of a dental bracket. Then, based on the dental bracket image and the depth image, it determines the spatial coordinate data corresponding to the bounding boxes of each dental bracket. Each bounding box corresponds one-to-one with each dental bracket in the dental bracket image. Furthermore, based on the spatial coordinate data, it determines a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate. The first coordinate is the X-axis coordinate of the distal edge of the dental bracket bounding box, and the second coordinate... The first coordinate is the Z-axis coordinate of the distal edge of the bracket in the bracket boundary frame, the second coordinate is the X-axis coordinate of the proximal edge of the bracket in the bracket boundary frame, and the third coordinate is the Z-axis coordinate of the proximal edge of the bracket in the bracket boundary frame. Finally, based on each of the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate, the tooth movement between two adjacent bracket boundary frames is determined. This method can determine the spatial coordinate data corresponding to each bracket boundary frame through depth images and bracket images, and achieve high-precision measurement of tooth movement through this spatial coordinate data. Moreover, it is a completely non-invasive measurement for patients, improving the user experience.

[0088] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or computer device described above can be referred to the relevant descriptions on the server side and client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0089] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0090] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0091] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for measuring tooth movement based on depth images, characterized in that, The method for measuring tooth movement based on depth images includes: Acquire an image of the dental bracket of the target object and a depth image corresponding to the dental bracket image, wherein the dental bracket image includes at least one front view of the dental bracket; Based on the bracket image and the depth image, the spatial coordinate data corresponding to each bracket bounding box are determined, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image; Based on spatial coordinate data, a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate are determined. The first coordinate is the X-axis coordinate of the distal side of the bracket in the bracket boundary frame, the second coordinate is the Z-axis coordinate of the distal side of the bracket in the bracket boundary frame, the third coordinate is the X-axis coordinate of the proximal side of the bracket in the bracket boundary frame, and the fourth coordinate is the Z-axis coordinate of the proximal side of the bracket in the bracket boundary frame. Based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates, the amount of tooth movement between two adjacent bracket boundary frames is determined.

2. The method for measuring tooth movement based on depth images according to claim 1, characterized in that, The step of determining the tooth movement amount between two adjacent bracket boundary frames based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates includes: Based on the first coordinate and the third coordinate, determine the first distance between the boundary frames of two adjacent dental brackets; Based on the first coordinate, the third coordinate, and the number of dental brackets in the dental bracket image, determine the size of the dental bracket bounding box corresponding to the center dental bracket in the dental bracket image; A correction value is determined based on the first distance, the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate; Based on the correction value and the first distance, determine the second distance; Based on the second distance and the dimensions of the bracket boundary frame, the amount of tooth movement between each bracket boundary frame is determined.

3. The method for measuring tooth movement based on depth images according to claim 2, characterized in that, The first distance is represented by the following formula: D(b i ,b i+1 )=X i+1 -W i Wherein, D(b) i b i+1 ) represents the i-th bracket b i and the (i+1)th dental bracket b i+1 The first distance between them, X i+1 It is the third coordinate corresponding to the (i+1)th bracket, w i It is the first coordinate corresponding to the i-th bracket.

4. The method for measuring tooth movement based on depth images according to claim 3, characterized in that, The dimensions of the bracket boundary frame are expressed by the following formula: Where B is the size of the bracket bounding box. It is the first The third coordinate corresponding to each dental bracket It is the first The first coordinate corresponding to each bracket It is the first The third coordinate corresponding to each dental bracket It is the first The first coordinate corresponding to each dental bracket, where n is the number of dental brackets in the dental bracket image.

5. The method for measuring tooth movement based on depth images according to claim 4, characterized in that, The correction value is expressed by the following formula: Among them, mod i For the correction value, k i A proportional correction factor, k, is introduced to account for the fact that the actual distance between the i-th bracket and the (i+1)-th bracket is a curved segment. i The value range of Z is (0,1], i+1 It is the fourth coordinate corresponding to the (i+1)th bracket, Z i It is the fourth coordinate corresponding to the i-th bracket.

6. The method for measuring tooth movement based on depth images according to claim 5, characterized in that, The second distance is expressed by the following formula: DM(b i ,b i+1 )=D(b i ,b i+1 )+mod i Among them, mod i For the correction value, DM(b) i b i+1 ) represents the second distance.

7. The method for measuring tooth movement based on depth images according to claim 6, characterized in that, The amount of tooth movement is expressed as: Among them, D mm For the amount of tooth movement, DM(b) i b i+1 ) represents the second distance, B is the size of the bracket boundary frame, and D is the size of the bracket boundary frame. w This refers to the width of the dental bracket.

8. A tooth movement measurement device based on depth images, characterized in that, The tooth movement measurement device based on depth images includes: The acquisition module is used to acquire an image of a dental bracket of a target object and a depth image corresponding to the dental bracket image, wherein the dental bracket image includes at least one front view of a dental bracket; The first determining module is used to determine the spatial coordinate data corresponding to each bracket bounding box based on the bracket image and the depth image, wherein each bracket bounding box corresponds one-to-one with each bracket in the bracket image. The second determining module is used to determine a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate based on spatial coordinate data. The first coordinate is the X-axis coordinate of the distal side of the bracket in the bracket boundary frame, the second coordinate is the Z-axis coordinate of the distal side of the bracket in the bracket boundary frame, the third coordinate is the X-axis coordinate of the proximal side of the bracket in the bracket boundary frame, and the fourth coordinate is the Z-axis coordinate of the proximal side of the bracket in the bracket boundary frame. The third determining module is used to determine the amount of tooth movement between two adjacent bracket boundary frames based on each of the first coordinates, each of the second coordinates, each of the third coordinates, and each of the fourth coordinates.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method for measuring tooth movement based on depth images as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the tooth movement measurement method based on depth images as described in any one of claims 1 to 7.

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