Virtual-real instant bidirectional output lower jaw positioning device and software jaw position mutual conversion method

Abstract

The invention discloses a virtual-real immediate bidirectional output lower jaw positioning device which comprises an X-axis coordinate system, a Y-axis coordinate system, a Z-axis coordinate system, a universal spherical coordinate system and a model base. Meanwhile, the invention further discloses a virtual-real immediate bidirectional output mandibular positioning device and software jaw position mutual conversion method. According to the invention, software and hardware are matched for use, a three-dimensional XYZ space axis and a universal spherical rotating axis are taken as the basis, the movement and rotation of the mandible in any direction in a three-dimensional space are carried out, and the mandible adjustment track and position are reengraved by virtuality and reality in a ratio of 1: 1, so that the adjustment and positioning of the mandible position in any space and immediate conversion of virtuality and reality in two directions are realized.

Description

Technical Field

[0001] The present invention relates to a digital application technology of oral medicine, and in particular to a mandibular positioning device with virtual and real instant bidirectional output and a method for converting the mandibular position with software. Background Art

[0002] There is a close relationship between occlusion and jaw position, and they are in a constantly changing state of balance. In clinical practice, changes in occlusion may disrupt the balance of the oral and maxillary system, leading to the appearance of various clinical symptoms; at the same time, by adjusting the jaw position, the functional balance of the oral and maxillary system can be reestablished to achieve the therapeutic effect. Changes in jaw position and changes in joint force will significantly change the spatial relationship between the condyle, articular disc, and fossa, thereby affecting the internal structure of the joint and changing the movement pattern of the mandible.

[0003] Traditional jaw adjustment methods are mainly divided into two categories: one is to adjust and record the jaw position through the patient's own bite method, such as using the swallowing bite method to record the retracted contact position, or using the relaxed natural bite method to record the end point of the muscle closure path; the other is to adjust the jaw position through manual means, such as using a face bow, Gothic bow and occlusal frame to transfer the centric occlusal relationship and adjust the jaw position. The former is based on the patient's own reaction, the accuracy of the position depends on the patient's own adjustment, the marking is vague, and the repeatability is poor; the latter has relatively accurate control of the jaw position, but may introduce system errors and rely on complex system tools, which requires higher clinical skills and is more difficult for doctors.

[0004] In recent years, with the development of digital technology, digital jaw adjustment software has been developed and applied. Its innovative methods have changed the underlying logic of diagnosis and treatment. It uses computer technology to transform the patient's computed tomography data and construct a three-dimensional craniomaxillofacial model, adjust the condylar position under visual conditions, output the jaw position, print and try on the guide plate, take the treatment jaw position occlusal record, print the model, and use the occlusal record maxillary frame to make the final treatment plate. This treatment method abandons the definition of the virtual hinge axis when determining the reference plane. Instead, it is based on the bony anatomical structure and focuses the jaw adjustment on the condyle that is actually related to the function. The use of real-time visualization methods can obtain precise control of the condylar position and avoid certain uncertainties. At the same time, the use of three-dimensional printing technology can transfer and output the determined jaw position, thereby minimizing the errors in the design, production and transfer processes, achieving precise control, improving clinical efficacy, and improving work efficiency.

[0005] However, this treatment method still has some shortcomings, such as: 1. Occlusal treatment often requires high precision. In clinical practice, the accuracy of the guides output by 3D printing technology is poor, resulting in a certain deviation between the actual jaw position and the designed jaw position or failure to accurately position the guide in the patient's mouth, affecting the accuracy of the treatment. 2. The number of guides output each time is limited. If the position is not suitable, the jaw position can only be redesigned and the printed guide can only be designed, which makes it difficult to make timely adjustments. 3. The treatment jaw position obtained can only be used for subsequent occlusal plate production through the traditional maxillary frame method. The only way to achieve digital conversion is through re-scanning, which is time-consuming and labor-intensive. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the present invention provides a mandibular positioning device with instant virtual and real bidirectional output and a method for converting between the mandibular positioning device and the software.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A mandibular positioning device with instant virtual and real bidirectional output, including an X-axis coordinate system, a Y-axis coordinate system, a Z-axis coordinate system, a universal ball coordinate system and a model base;

[0009] The Z-axis coordinate system includes a lower base, a Z-axis fixed seat and a Z-axis moving rod; the Z-axis fixed seat is arranged on the lower base and close to one end of the lower base, and the Z-axis fixed seat is provided with a center hole in the vertical direction; one end of the Z-axis moving rod is vertically inserted into the center hole and can be adjusted up and down;

[0010] The Y-axis coordinate system includes a Y-axis fixed seat and a Y-axis moving rod; the Y-axis fixed seat is fixedly arranged on the other end of the Z-axis moving rod, the Y-axis fixed seat is provided with a Y-axis horizontal hole, the Y-axis moving rod is arranged horizontally, one end of the Y-axis moving rod is inserted into the Y-axis horizontal hole and can perform Y-axis horizontal adjustment;

[0011] The X-axis coordinate system includes an X-axis fixed seat and an X-axis moving rod; the X-axis fixed seat is fixedly arranged on the other end of the Y-axis moving rod, the X-axis fixed seat is provided with a slide groove perpendicular to the Y-axis moving rod, the X-axis moving rod is arranged in the slide groove of the X-axis fixed seat and slidably cooperates with the slide groove, and the end of the X-axis moving rod extends out of the X-axis fixed seat;

[0012] The universal ball coordinate system includes a spherical fixed seat and a universal rotating ball, one end of the spherical fixed seat is connected to one end of the X-axis moving rod, and the universal rotating ball is arranged at the other end of the spherical fixed seat and can rotate in all directions;

[0013] The model base includes a mandibular dentition model base and a maxillary dentition model base; the mandibular dentition model base is connected to a universal rotating ball, the maxillary dentition model base is connected to the other end of the lower base, and the mandibular dentition model base and the maxillary dentition model base correspond to each other in the vertical direction.

[0014] Furthermore, a scale for recording coordinate readings is provided on one end of the Z-axis moving rod close to the Z-axis fixed seat.

[0015] Furthermore, a scale for recording coordinate readings is provided at one end of the Y-axis moving rod close to the Y-axis fixing seat.

[0016] Furthermore, the X-axis moving rod is in a cross-shaped structure, the middle part of the X-axis moving rod is arranged in the slide groove of the Y-axis moving rod and slidably cooperates with the slide groove, and the two ends of the X-axis moving rod extend out of the upper and lower ends of the X-axis fixing seat respectively.

[0017] Furthermore, a scale for recording coordinate readings is provided on the upper surface of the X-axis fixing seat near the slide groove.

[0018] Furthermore, the universal ball coordinate system also includes a fixed cylinder, the sphere fixing seat is arranged in the fixed cylinder, the universal rotating ball is rotatably arranged in the fixed cylinder and close to the bottom, the top of the sphere fixing seat is fixedly connected to the bottom of the X-axis moving rod, and the bottom of the universal rotating ball extends out of the bottom of the fixed cylinder.

[0019] Furthermore, two rotation positioning points are set on the surface of the universal rotating ball; the surface of the fixed cylinder is designed with coordinate lines with equal vertical spacing to form a spherical annular coordinate system; after the universal rotating ball rotates, the rotation coordinates are determined by the positions of the rotation positioning points in the spherical annular coordinate system.

[0020] Furthermore, the fixing tube is made of a transparent polymer material to facilitate reading the coordinate position of the rotation positioning point on the spherical annular coordinate system.

[0021] Furthermore, a connecting rod is provided at the bottom of the universal rotating ball.

[0022] Furthermore, the top of the mandibular dentition model base is connected to the universal rotating ball through a connecting rod, and a T-shaped slot for inserting a lower I-shaped dentition model retention plate is arranged in the middle of the mandibular dentition model base, and the lower I-shaped dentition model retention plate is inserted into the T-shaped slot of the mandibular dentition model base; the maxillary dentition model base is designed in the same way as the mandibular dentition model base, and is symmetrically positioned up and down, and the side of the maxillary dentition model base away from its upper T-shaped slot is connected to the other end of the lower base, the upper I-shaped dentition model retention plate is inserted into the T-shaped slot of the maxillary dentition model base, and the lower I-shaped dentition model retention plate corresponds to the upper I-shaped dentition model retention plate in the vertical direction.

[0023] The present invention also provides a method for converting between a virtual and real instant bidirectional output mandibular positioning device and a software jaw position, the method adopts the virtual and real instant bidirectional output mandibular positioning device;

[0024] The method comprises the following steps:

[0025] 1) Importing the upper and lower jaw dentition oral scan models into the 3D software of the mandibular positioning device, constructing a 3D craniomaxillofacial model based on the patient's CT data through the existing 3D model software, separating and extracting the upper and lower jaw structures, and importing the upper and lower jaw dentition oral scan models for registration;

[0026] 2) Match the upper and lower dental arch models with the mandibular positioning device in the three-dimensional software, connect the upper and lower dental arch models with the upper and lower I-shaped dental arch model retention plates while keeping their relative positions unchanged, establish a three-dimensional coordinate system in the software with the center of the universal rotating ball as the coordinate origin, and the XYZ axis of the virtual coordinate system is consistent with the XYZ axis of the mandibular positioning device;

[0027] 3) Adjust the mandibular position in the horizontal, sagittal and vertical directions on the XYZ axis, record the three coordinate readings of the XYZ axis after adjustment, and reproduce the mandibular position according to the coordinate record on the physical mandibular positioning device;

[0028] 4) Use the universal ball coordinate system to perform fine rotation adjustment in all directions. After obtaining the target jaw position, record the longitude and latitude coordinate readings of the universal ball, and reproduce the jaw position according to the coordinate record on the physical mandibular positioning device; another method is to use the rotation positioning point on the universal rotating ball and the spherical annular coordinate system for positioning. After the sphere rotates, the rotation coordinates are determined by the position of the rotation positioning point in the spherical annular coordinate system;

[0029] 5) Take a bite record with this jaw position, and place it in the patient's mouth to achieve clinical mandibular repositioning. The bite record and model are sent to the processing factory to make restorations or bite plates that stabilize the mandibular position and other processed parts that require precise jaw position relationships.

[0030] The present invention also provides a method for converting between a virtual and real instant bidirectional output mandibular positioning device and a software jaw position, the method adopts the virtual and real instant bidirectional output mandibular positioning device;

[0031] The method comprises the following steps:

[0032] 1) In clinical practice, for patients who need to adjust the jaw position, after the jaw position is adjusted in the mouth, the bite record is taken, the upper and lower dental arch models and the bite record are placed on the mandibular positioning device, and the XYZ axis and the universal spherical coordinate system are adjusted to make the upper and lower dental arch models tightly occluded with the bite record;

[0033] 2) After reading the XYZ axis and universal ball coordinate system readings, input them into the software, and the mandibular positioning device can automatically adjust the upper and lower dental arch models to the jaw position. Then, through the three-dimensional coordinate system established in the software with the center of the universal rotating ball as the coordinate origin, the three-dimensional spatial position change of the mandibular relative to the maxilla after the jaw position adjustment can be synchronously displayed. At this time, the coordinate readings in the software and hardware should be completely consistent;

[0034] 3) After obtaining the appropriate mandibular position, the guides, restorations, and appliances can be designed and produced according to the jaw position generated in the software, and the changes in mandibular position can be evaluated and measured.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] 1. The present invention proposes a mandibular positioning device with instant bidirectional output of virtual and real, and a method for converting between the mandibular position and the software. The device is used in combination with software and hardware to accurately locate the mandibular position, and the mandibular adjustment trajectory and position are reproduced in a 1:1 ratio by combining virtual and real, so as to realize instant bidirectional conversion between virtual and real. Specifically, in the software part, a mandibular positioning device is designed and produced in three-dimensional engineering software. After the upper and lower dental models are in place, the mandibular is moved and rotated in any direction in the three-dimensional space based on the three-dimensional XYZ spatial axis and the universal spherical rotation axis, so as to realize arbitrary spatial adjustment and positioning of the mandibular position. In the process of adjusting the mandibular position by the software, the values ​​of the XYZ axis and the spherical coordinates can be output in real time; after the physical mandibular positioning device is adjusted according to the values, the jaw position can be reproduced on the hardware. Conversely, the mandibular position can be reversely output from the hardware to the software. That is, after a jaw position is selected in clinical practice, it is transferred to the hardware through the bite record. By reading the XYZ axial data and spherical coordinate data and entering the corresponding data in the software, the digital jaw position consistent with the hardware can be automatically reproduced, realizing precise mandibular positioning with instant bidirectional output of virtual and real.

[0037] 2. The digital mandibular positioning device with a bidirectional output function proposed in the present invention does not require jaw transfer. It uses a real-time visualization method to accurately adjust the position of the condyle, which can reduce the errors caused by jaw transfer in clinical practice. There is no need to print guide plates and jaw position records during treatment, which reduces errors in the design and production process.

[0038] 3. The device is designed with XYZ axis and universal ball coordinate system, which can realize horizontal, vertical and sagittal movement and universal rotation functions, realize precise three-dimensional adjustment, and its functions are more comprehensive.

[0039] 4. The device, combined with supporting software, can realize instant bidirectional output of virtual and real. After the jaw position is adjusted in the software, the jaw position can be checked, adjusted, and printed in the physical device to produce treatment parts. The physical device can also be used to adjust the jaw position clinically, and then the XYZ axis and universal ball coordinate system readings can be read and input into the software to observe the adjusted view of the anatomical structure of the temporomandibular joint and evaluate the treatment effect after the jaw position adjustment. This can reduce the number of CT examinations for patients in the treatment of joint diseases and reduce the patient's exposure to radiation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The main view of the mandibular positioning device is outputted bidirectionally for virtual and real instant;

[0041] Figure 2 It is a schematic diagram of the Z-axis fixed seat installed on the lower base;

[0042] Figure 3 is a schematic diagram of the Z-axis coordinate system;

[0043] Figure 4 It is a schematic diagram of the Y-axis coordinate system;

[0044] Figure 5 It is a schematic diagram of the Y-axis fixing seat;

[0045] Figure 6 It is a schematic diagram of the Y-axis moving rod;

[0046] Figure 7 Schematic diagram of the X-axis fixed seat Figure 1 ;

[0047] Figure 8 Schematic diagram of the X-axis fixed seat Figure 2 ;

[0048] Fig. 9 is a schematic diagram of the X-axis coordinate system;

[0049] Fig.10 It is a schematic diagram of the universal spherical coordinate system;

[0050] Fig.11 is a cross-sectional schematic diagram of the universal spherical coordinate system;

[0051] Fig.12 is a cross-sectional schematic diagram of a spherical fixing seat;

[0052] Fig.13 It is a schematic diagram of the universal spherical annular coordinate system;

[0053] Fig.14 Illustration of the base of the mandibular dentition model Figure 1 ;

[0054] Fig.15Illustration of the base of the mandibular dentition model Figure 2 ;

[0055] Fig.16 Schematic diagram of inserting the lower I-shaped dental arch model retention plate into the base of the mandibular dental arch model;

[0056] Fig.17 It is a schematic diagram of the correspondence between the mandibular dentition model and the maxillary dentition model in the vertical direction;

[0057] Fig.18 Schematic diagram for importing the maxillary and mandibular dentition scan models and aligning them with the separated and extracted maxillary and mandibular structures.

[0058] In the figure: 1—lower base; 2—Z-axis fixed seat; 3—Z-axis moving rod; 4—Y-axis fixed seat; 5—Y-axis moving rod; 6—X-axis fixed seat; 7—X-axis moving rod; 8—slide groove; 9—ball fixed seat; 10—universal rotating ball; 11—fixing cylinder; 12—connecting rod; 13—mandibular dentition model base; 14—maxillary dentition model base; 15—T-shaped groove; 16—lower I-shaped dentition model retention plate; 17—upper I-shaped dentition model retention plate; 18—mandibular dentition model; 19—maxillary dentition model. DETAILED DESCRIPTION

[0059] The present invention is further described in detail below in conjunction with specific implementations and drawings. For ease of operation and adjustment, the maxillary dentition model is at the bottom and the mandibular dentition model is at the top; of course, the maxillary dentition model can also be set at the top and the mandibular dentition model at the bottom. The following is an example in which the maxillary dentition model is at the bottom and the mandibular dentition model is at the top.

[0060] Embodiment 1:

[0061] The virtual-real instant bidirectional output mandibular positioning device includes an X-axis coordinate system, a Y-axis coordinate system, a Z-axis coordinate system, a universal ball coordinate system and a model base, such as Figure 1 shown.

[0062] The Z-axis coordinate system includes a lower base 1, a Z-axis fixed base 2 and a Z-axis moving rod 3. Figure 2 and Figure 3As shown. The Z-axis fixed seat 2 is arranged on the lower base 1 and close to the rear end of the lower base 1. The Z-axis fixed seat 2 is designed as a cube with a size of about 6cm×6cm×6cm. The Z-axis fixed seat 2 is provided with a center hole with a size of 1.5cm×1.5cm in the vertical direction and passes through the Z-axis fixed seat 2 up and down. The bottom end of the Z-axis moving rod 3 is vertically inserted into the center hole and can be adjusted up and down. Through screw holes are designed on the left and right sides of the Z-axis fixed seat 2, and the position of the Z-axis moving rod 3 is fixed by screws. The Z-axis moving rod 3 is designed as a cube with a size of about 1.5cm×1.5cm×15cm, which is just the right size to be inserted into the center hole of the Z-axis fixed seat 2 and can be moved up and down. A 6cm ruler with a unit of 1mm is engraved below the Z-axis moving rod 3 (i.e., close to the Z-axis fixed seat 2) for recording coordinate readings, as shown in FIG. Figure 3 shown.

[0063] The Y-axis coordinate system includes a Y-axis fixed seat 4 and a Y-axis moving rod 5. Figure 4 As shown. The Y-axis fixing seat 4 is designed as a cube of about 3.5cm×3.5cm×15cm in size. The Y-axis fixing seat 4 is fixedly set on the top of the Z-axis moving rod 3. The Y-axis fixing seat 4 is designed with a Y-axis horizontal hole of 10mm×10mm in size and passes through the Y-axis fixing seat 4 from front to back. The Y-axis moving rod 5 is set horizontally. One end of the Y-axis moving rod 5 is inserted into the Y-axis horizontal hole and the Y-axis horizontal adjustment can be performed. M4 screw holes are designed on the left and right sides of the Y-axis fixing seat 4. M4 screws are used to fix the position of the Y-axis moving rod 5, as shown. Figure 5 As shown. The Y-axis moving rod 5 is designed as a cube of 1cm×1cm×20cm. The Y-axis moving rod 5 is inserted into the Y-axis horizontal hole on the Y-axis fixing seat 4 to achieve forward and backward movement in the Y-axis direction. A 50mm scale is set at one end of the Y-axis moving rod 5 close to the Y-axis fixing seat 4 for recording coordinate readings, such as Figure 6 shown.

[0064] The X-axis coordinate system includes an X-axis fixed seat 6 and an X-axis moving rod 7. Figure 7 , Figure 8 and Fig. 9As shown in the figure. The X-axis fixed seat 6 is designed as a cube with a size of 15 cm × 5 cm × 3 mm. The X-axis fixed seat 6 is fixedly arranged at the other end of the Y-axis moving rod 5. A chute 8 perpendicular to the Y-axis moving rod 5 is arranged on the X-axis fixed seat 6. The X-axis moving rod 7 is arranged in the chute of the X-axis fixed seat 6 and is in sliding fit with the chute. The end of the X-axis moving rod extends out of the X-axis fixed seat. In this embodiment, the X-axis fixed seat 6 is designed with a chute 8 in a "cross" shape structure. Among them, the "-" shaped hole is located at the center of the X-axis fixed seat 6 and does not penetrate the X-axis fixed seat 6 in the front, back, left, and right directions, with a length, width, and height of 12 cm × 3 cm × 1 cm; the "|" shaped hole penetrates the upper and lower parts of the X-axis fixed seat 6, with a length, width, and height of 12 cm × 2 cm × 3 cm; a 120 mm scale is designed on the upper surface of the X-axis fixed seat 6 near the chute 8 for coordinate reading and recording, such as Figure 8 As shown in the figure. The X-axis moving rod 7 is in a "cross" shape structure. Among them, the length, width, and height of the horizontal "-" are 30 mm × 10 mm × 10 mm, and the length, width, and height of the vertical "|" are 50 mm × 10 mm × 10 mm. The two structures are fixedly connected, and a 5 mm screw structure is designed at the bottom. The "cross" shaped X-axis moving rod 7 is inserted into the "cross" shaped chute 8 and is in sliding fit with the chute 8. The upper and lower ends of the X-axis moving rod 7 respectively extend out of the upper and lower ends of the X-axis fixed seat 6 and can move in the left and right directions, such as Fig. 9 As shown in the figure.

[0065] Among them, the universal ball coordinate system includes a sphere fixed seat 9, a universal rotating ball 10, and a fixed cylinder 11, such as Fig.10 、 Fig.11 and Fig.12 As shown in the figure. The sphere fixed seat 9 is designed as a cylindrical structure with a diameter of 50 mm and a height of 60 mm. A screw hole is designed at the top of the sphere fixed seat 9, which can be connected and fixed with the screw structure of the X-axis moving rod 7. An arc-shaped depression is designed at the bottom of the sphere fixed seat 9 to be fitted with the top of the universal rotating ball 10, which can wrap about 1 / 8 of the volume of the top of the universal rotating ball 10, such as Fig.12 As shown in the figure. The diameter of the universal rotating ball 10 is 50 mm, which is in close contact with the upper sphere fixed seat 9. A connecting rod 12 is designed below the universal rotating ball 10. The connecting rod 12 is a screw rod with a diameter of 2 mm and a height of 5 mm, which can be connected with the mandibular dentition model base 13, such as Fig.11As shown in the figure. The fixed cylinder 11 is a hollow cylinder with a diameter of 7 cm, a wall thickness of 1 cm, and a height of 10 cm. The top of the fixed cylinder 11 is flush with the top of the spherical fixing seat 9. The inner part of the bottom of the fixed cylinder 11 is fitted with 3 / 4 of the upper part of the universal rotating ball 10. When the universal rotating ball 10 and the spherical fixing seat 9 are placed in the fixed cylinder 11 with a hollow cylindrical structure, they can be tightly fixed without falling off, and the sphere can rotate 360°. The top of the spherical fixing seat 9 is connected to the bottom end of the X-axis moving rod 7, and the bottom of the universal rotating ball 10 extends out of the bottom of the fixed cylinder 11. A screw hole is designed on the right outer side of the fixed cylinder 11, and screws can be used to tightly fix the universal rotating ball 10, the spherical fixing seat 9, and the fixed cylinder 11 together.

[0066] The maximum circular line perpendicular to the connecting rod on the universal rotating ball 10 is the equator line. Two rotation positioning points are respectively designed on the surfaces on both sides of the equator line, and the line connecting these two rotation positioning points passes through the center of the sphere. Coordinate lines with equal vertical and horizontal spacing are designed on the surface of the fixed cylinder 11, and the spacing is 0.5 mm, forming a spherical circular coordinate system. As Fig.13 shown, after the universal rotating ball 10 rotates, the rotation coordinates are determined by the positions of the rotation positioning points in the spherical circular coordinate system. The fixed cylinder 11 is made of a high-molecular transparent material to facilitate reading the coordinate positions of the rotation positioning points on the spherical circular coordinate system.

[0067] The model base includes a mandibular dentition model base 13 and a maxillary dentition model base 14. The mandibular dentition model base 13 is designed as a disc with a diameter of 12 cm and a height of 2 cm. This disc is connected to the bottom end of the connecting rod 12. The mandibular dentition model base 13 is connected to the universal rotating ball 10 through the connecting rod 12. A T-shaped groove 15 is designed in the middle of the mandibular dentition model base 12. Among them, the width of the "-" shaped hole is 7 cm, the depth is 7 cm, and the height is 1 cm. The width of the "|" shaped hole is 1 cm, the depth is 7 cm, and the height is 0.5 cm. As Fig.14 and Fig.15 shown. This T-shaped groove 15 is used to insert the printed lower I-shaped dentition model retention plate 16. As Fig.16 shown, after the lower I-shaped dentition model retention plate 16 is inserted, it can be fixed in the mandibular dentition model base 13 for placing the mandibular dentition model 18. The maxillary dentition model base 14 is designed the same as the mandibular dentition model base 13, but the position is vertically flipped 180°, and the position is symmetric up and down. The rear end of the maxillary dentition model base 14 (i.e., the end far from its T-shaped groove) is connected to the front end of the lower base 1. As Figure 2As shown, the lower base 1 is a cube with a length, width and height of about 15 cm × 6 cm × 2 cm. The mandibular dentition model base 13 and the maxillary dentition model base 14 correspond to each other in the vertical direction. The upper I-shaped dentition model retaining plate 17 is inserted into the T-shaped groove 15 of the maxillary dentition model base 14. The maxillary dentition model 19 is placed on the upper I-shaped dentition model retaining plate 17, and the mandibular dentition model 18 corresponds to the maxillary dentition model 19 in the vertical direction. Fig.17 shown.

[0068] Example 2, software jaw position adjustment and coordinate transformation (virtual-real):

[0069] A method for converting between a virtual and real instant bidirectional output mandibular positioning device and a software jaw position, wherein the method adopts the virtual and real instant bidirectional output mandibular positioning device;

[0070] The method comprises the following steps:

[0071] 1) Import the upper and lower jaw dentition scan models into the 3D software of the mandibular positioning device, construct a 3D craniomaxillofacial model based on the patient's CT data through the existing 3D model software, separate and extract the upper and lower jaw structures, import the upper and lower jaw dentition scan models and align them with them, such as Fig.18 As shown;

[0072] 2) Match the upper and lower dental arch models with the mandibular positioning device in the three-dimensional software, connect the upper and lower dental arch models with the upper and lower I-shaped dental arch model retention plates while keeping their relative positions unchanged, establish a three-dimensional coordinate system in the software with the center of the universal rotating ball as the coordinate origin, and the XYZ axis of the virtual coordinate system is consistent with the XYZ axis of the mandibular positioning device;

[0073] 3) Adjust the jaw position in the horizontal, sagittal and vertical directions on the XYZ axis, record the three coordinate readings of the XYZ axis after adjustment, and reproduce the jaw position according to the coordinate record on the physical jaw positioning device;

[0074] 4) Use the universal ball coordinate system to perform fine rotation adjustment in all directions. After obtaining the target jaw position, record the longitude and latitude coordinate readings of the universal ball, and reproduce the jaw position according to the coordinate record on the physical mandibular positioning device; another method is to use the rotation positioning point on the universal rotating ball and the spherical annular coordinate system for positioning. After the universal rotating ball rotates, the rotation coordinates are determined by the position of the rotation positioning point in the spherical annular coordinate system;

[0075] 5) Take a bite record with this jaw position, and place it in the patient's mouth to achieve clinical mandibular repositioning. The bite record and model are sent to the processing factory to make restorations or bite plates that stabilize the mandibular position and other processed parts that require precise jaw position relationships.

[0076] Example 3, software jaw position conversion (real-virtual) after jaw frame adjustment:

[0077] A method for converting between a virtual and real instant bidirectional output mandibular positioning device and a software jaw position, wherein the method adopts the virtual and real instant bidirectional output mandibular positioning device;

[0078] The method comprises the following steps:

[0079] 1) In clinical practice, for patients who need to adjust the jaw position, after the jaw position is adjusted in the mouth, the bite record is taken, the upper and lower dental arch models and the bite record are placed on the mandibular positioning device, and the XYZ axis and the universal spherical coordinate system are adjusted to make the upper and lower dental arch models tightly occluded with the bite record;

[0080] 2) After reading the XYZ axis and universal ball coordinate system readings, input them into the software, and the mandibular positioning device can automatically adjust the upper and lower dental arch models to the jaw position. Then, through the three-dimensional coordinate system established in the software with the center of the universal rotating ball as the coordinate origin, the three-dimensional spatial position change of the mandibular relative to the maxilla after the jaw position adjustment can be synchronously displayed. At this time, the coordinate readings in the software and hardware should be completely consistent;

[0081] 3) After obtaining the appropriate mandibular position, the guides, restorations, and appliances can be designed and produced according to the jaw position generated in the software, and the changes in mandibular position can be evaluated and measured.

[0082] Key points of the invention:

[0083] 1. The mandibular positioning device with instant bidirectional output of virtual and real uses computer digital control precision machining technology. The machining technology accuracy error can be controlled within 50μm, reducing the error between the mandibular positioning device in the software and the physical jaw positioning device. After processing by this technology, the inner and outer surfaces of the object are smooth, and the gaps between the parts are small.

[0084] 2. The base and rods of the mandibular positioning device with instant virtual and real bidirectional output are made of solid metal to increase weight and stability.

[0085] 3. The T-shaped groove reserved in the model base is used to accommodate the I-shaped dental arch model retention plate that fits with it. The retention plate can be connected to the patient's upper and lower dental arch oral scan model and jointly 3D printed. The retention plate can be inserted into the model for stable fixation.

[0086] 4. The fixing tube 11 of the hollow cylindrical tube structure of the universal ball coordinate system in the mandibular positioning device with instant virtual and real bidirectional output is processed by computer digital control precision machining using polymer transparent materials, so as to realize visual positioning of the universal ball coordinates, reduce the weight of the maxillary base, and make the device more stable as a whole.

[0087] 5. The three-axis XYZ is a movable rod component, which can realize a large range of manual movement. After the upper and lower dental models are in place, the initial jaw position may be quite different. The movable rod can be moved over a large range to achieve preliminary calibration of the jaw position, which is convenient for a large range of operation. If precise adjustment is required, cross roller guides and rotating differential heads can be used to achieve precise movement in the smallest unit of 0.01mm.

[0088] 6. After the upper and lower dental models are in place, the maxillary dental model is at the bottom and the mandibular dental model is at the top when observed from the front. The mandibular dental model can be moved by moving the XYZ axis and the universal spherical coordinate system to adjust the mandibular position. Compared with the traditional jaw frame device, it can more realistically simulate the movement of the mandible.

[0089] 7. If the upper and lower jaw structures are separated and extracted in the three-dimensional software, the upper and lower jaw dentition scan models are imported for registration and fixation, and the XYZ axis and universal ball coordinate data in the physical device are input into the software, the jaw position is adjusted, and the mandible is moved synchronously. The adjusted view of the anatomical structure of the temporomandibular joint can be observed, and the treatment effect after the jaw position adjustment can be evaluated.

[0090] 8. The physical device of this patent can be produced by selecting different materials and sizes for printing and production according to different usage scenarios and usage requirements for use.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A mandibular positioning device with instant virtual and real bidirectional output, characterized in that: Including X-axis coordinate system, Y-axis coordinate system, Z-axis coordinate system, universal ball coordinate system and model base; The Z-axis coordinate system includes a lower base, a Z-axis fixed seat and a Z-axis moving rod; the Z-axis fixed seat is arranged on the lower base and close to one end of the lower base, and the Z-axis fixed seat is provided with a center hole in the vertical direction; one end of the Z-axis moving rod is vertically inserted into the center hole and can be adjusted up and down; The Y-axis coordinate system includes a Y-axis fixed seat and a Y-axis moving rod; the Y-axis fixed seat is fixedly arranged on the other end of the Z-axis moving rod, the Y-axis fixed seat is provided with a Y-axis horizontal hole, the Y-axis moving rod is arranged horizontally, one end of the Y-axis moving rod is inserted into the Y-axis horizontal hole and can perform Y-axis horizontal adjustment; The X-axis coordinate system includes an X-axis fixed seat and an X-axis moving rod; the X-axis fixed seat is fixedly arranged on the other end of the Y-axis moving rod, the X-axis fixed seat is provided with a slide groove perpendicular to the Y-axis moving rod, the X-axis moving rod is arranged in the slide groove of the X-axis fixed seat and slidably cooperates with the slide groove, and the end of the X-axis moving rod extends out of the X-axis fixed seat; The universal ball coordinate system includes a spherical fixed seat and a universal rotating ball, one end of the spherical fixed seat is connected to one end of the X-axis moving rod, and the universal rotating ball is arranged at the other end of the spherical fixed seat and can rotate in all directions; The model base includes a mandibular dentition model base and a maxillary dentition model base; the mandibular dentition model base is connected to a universal rotating ball, the maxillary dentition model base is connected to the other end of the lower base, and the mandibular dentition model base and the maxillary dentition model base correspond to each other in the vertical direction.

2. The mandibular positioning device with instant virtual and real bidirectional output according to claim 1, characterized in that: A scale for recording coordinate readings is arranged on one end of the Z-axis moving rod close to the Z-axis fixing seat.

3. The mandibular positioning device with instant virtual and real bidirectional output according to claim 1, characterized in that: One end of the Y-axis moving rod close to the Y-axis fixing seat is provided with a scale for recording coordinate readings.

4. The mandibular positioning device with instant virtual and real bidirectional output according to claim 1, characterized in that: The X-axis moving rod is in a cross-shaped structure, the middle part of the X-axis moving rod is arranged in the slide groove of the Y-axis moving rod and slidably cooperates with the slide groove, and the two ends of the X-axis moving rod extend out of the upper and lower ends of the X-axis fixing seat respectively.

5. The mandibular positioning device with instant virtual and real bidirectional output according to claim 1, characterized in that: A scale for recording coordinate readings is arranged on the upper surface of the X-axis fixing seat near the slide slot.

6. The mandibular positioning device with instant virtual and real bidirectional output according to claim 1, characterized in that: The universal ball coordinate system also includes a fixed cylinder, the sphere fixing seat is arranged in the fixed cylinder, the universal rotating ball is rotatably arranged in the fixed cylinder and close to the bottom, the top of the sphere fixing seat is fixedly connected to the bottom of the X-axis moving rod, and the bottom of the universal rotating ball extends out of the bottom of the fixed cylinder.

7. The mandibular positioning device with instant virtual and real bidirectional output according to claim 6, characterized in that: Two rotation positioning points are set on the surface of the universal rotating ball; the surface of the fixed cylinder is designed with coordinate lines with equal vertical spacing to form a spherical annular coordinate system; after the universal rotating ball rotates, the rotation coordinates are determined by the positions of the rotation positioning points in the spherical annular coordinate system.

8. The mandibular positioning device with instant virtual and real bidirectional output according to claim 6, characterized in that: The fixing cylinder is made of a transparent polymer material to facilitate reading the coordinate position of the rotation positioning point on the spherical annular coordinate system.

9. The mandibular positioning device with instant virtual and real bidirectional output according to claim 6, characterized in that: A connecting rod is arranged at the bottom of the universal rotating ball.

10. The mandibular positioning device with instant virtual and real bidirectional output according to claim 1, characterized in that: The X-axis coordinate system, the Y-axis coordinate system, the Z-axis coordinate system and the universal ball coordinate system are all fixed by lateral screws.

11. The mandibular positioning device with instant virtual and real bidirectional output according to claim 1, characterized in that: The top of the mandibular dentition model base is connected to the universal rotating ball through a connecting rod, and a T-shaped slot for inserting a lower I-shaped dentition model retention plate is arranged in the middle of the mandibular dentition model base, and the lower I-shaped dentition model retention plate is inserted into the T-shaped slot of the mandibular dentition model base; the maxillary dentition model base is designed in the same way as the mandibular dentition model base, and is symmetrically positioned up and down, and the side of the maxillary dentition model base away from its upper T-shaped slot is connected to the other end of the lower base, and the upper I-shaped dentition model retention plate is inserted into the T-shaped slot of the maxillary dentition model base, and the lower I-shaped dentition model retention plate corresponds to the upper I-shaped dentition model retention plate in the vertical direction.

12. A method for converting between a virtual and real instant bidirectional output mandibular positioning device and a software jaw position, characterized in that: The method adopts the virtual-real instant bidirectional output mandibular positioning device as claimed in any one of claims 1 to 11; The method comprises the following steps: 1) Importing the upper and lower jaw dentition oral scan models into the 3D software of the mandibular positioning device, constructing a 3D craniomaxillofacial model based on the patient's CT data through the existing 3D model software, separating and extracting the upper and lower jaw structures, and importing the upper and lower jaw dentition oral scan models for registration; 2) Match the upper and lower dental arch models with the mandibular positioning device in the three-dimensional software, connect the upper and lower dental arch models with the upper and lower I-shaped dental arch model retention plates while keeping their relative positions unchanged, establish a three-dimensional coordinate system in the software with the center of the universal rotating ball as the coordinate origin, and the XYZ axis of the virtual coordinate system is consistent with the XYZ axis of the mandibular positioning device; 3) Adjust the position of the mandible in the horizontal, sagittal and vertical directions on the XYZ axis, record the three coordinate readings of the XYZ axis after adjustment, and reproduce the mandibular position according to the coordinate record on the physical mandibular positioning device; 4) Use the universal ball coordinate system to perform fine rotation adjustment in all directions. After obtaining the target jaw position, record the longitude and latitude coordinate readings of the universal ball, and reproduce the jaw position according to the coordinate record on the physical mandibular positioning device; another method is to use the rotation positioning point on the universal rotating ball and the spherical annular coordinate system for positioning. After the sphere rotates, the rotation coordinates are determined by the position of the rotation positioning point in the spherical annular coordinate system; 5) Take a bite record with this jaw position, and place it in the patient's mouth to achieve clinical mandibular repositioning. The bite record and model are sent to the processing factory to make a restoration or a bite plate that stabilizes the mandibular position, which requires a precise jaw position relationship.

13. A method for converting between a virtual and real instant bidirectional output mandibular positioning device and a software jaw position, characterized in that: The method adopts the virtual-real instant bidirectional output mandibular positioning device as claimed in any one of claims 1 to 11; The method comprises the following steps: 1) In clinical practice, for patients who need to adjust the jaw position, after the jaw position is adjusted in the mouth, the bite record is taken, the upper and lower dental arch models and the bite record are placed on the mandibular positioning device, and the XYZ axis and the universal spherical coordinate system are adjusted to make the upper and lower dental arch models tightly occluded with the bite record; 2) After reading the XYZ axis and universal ball coordinate system readings, input them into the software, and the mandibular positioning device can automatically adjust the upper and lower dental arch models to the jaw position. Then, through the three-dimensional coordinate system established in the software with the center of the universal rotating ball as the coordinate origin, the three-dimensional spatial position change of the mandibular relative to the maxilla after the jaw position adjustment can be synchronously displayed. At this time, the coordinate readings in the software and hardware should be completely consistent; 3) After obtaining the appropriate mandibular position, the guides, restorations, and appliances can be designed and produced according to the jaw position generated in the software, and the changes in mandibular position can be evaluated and measured.

Images