Oral cleaning equipment testing method and equipment and storage medium

Abstract

The invention discloses an oral cavity cleaning equipment testing method, holding equipment, computer equipment and a computer readable storage medium. The method comprises the following steps: controlling oral cavity cleaning equipment to execute a cleaning test action on a pre-constructed tooth model according to a preset cleaning program and preset cleaning parameters; in the cleaning test action execution process and / or under the condition that the cleaning test action is executed, the abrasion condition of the tooth model is obtained, so that a test result corresponding to the cleaning test action is determined. According to the invention, based on the preset cleaning program and the cleaning parameters, the holding device fixed with the oral cavity cleaning device is controlled to drive the oral cavity cleaning device to carry out the cleaning test on the tooth model, and the wear condition of the surface of the tooth model is evaluated in the execution process of the cleaning test or after the execution is completed; therefore, the oral cavity cleaning equipment is accurately controlled on the basis of the holding equipment in a mode of presetting the cleaning program and the cleaning parameters, and the abrasion condition of the oral cavity cleaning equipment for the tooth model is measured.

Description

Technical Field

[0001] The present application relates to the technical field of oral cleaning equipment, and in particular to an oral cleaning equipment testing method, a holding device, a computer device, and a computer-readable storage medium. Background Art

[0002] Tooth wear is a common dental problem. In some cases, tooth wear may be caused by improper brushing methods. Tooth wear not only affects oral health and aesthetics, but may also affect chewing function, tooth sensitivity, and even lead to problems such as tooth loss and temporomandibular joint disease. However, different brushing methods or toothbrush usage habits of different people result in differences in the angle and speed at which the brush head contacts the teeth. Most individuals have uneven teeth, so the contact and friction between the brush head and the teeth at different angles and speeds will produce different wear phenomena. The oral cleaning devices for teeth in the current related technology only support unidirectional horizontal or vertical movement, and cannot simulate the friction between teeth in different positions or unevenly arranged teeth and the bristles. Summary of the Invention

[0003] The present application provides an oral cleaning device testing method, a holding device, a computer device, and a computer-readable storage medium.

[0004] The oral cleaning device testing method involved in the embodiments of the present application is applied to a holding device on which the oral cleaning device is provided. The method comprises the following steps:

[0005] According to a preset cleaning program and preset cleaning parameters, the oral cleaning device is controlled to perform a cleaning test action on a pre-constructed tooth model, wherein the tooth model is fixed to a test table of the holding device;

[0006] During the execution of the cleaning test action and / or when the execution is completed, the wear condition of the tooth model is obtained to determine the test result corresponding to the cleaning test action.

[0007] In this way, the present application can control the movement of a holding device to which the oral cleaning device is fixed based on a pre-set cleaning program and cleaning parameters, thereby further driving the oral cleaning device to perform a cleaning test on a pre-prepared tooth model, and further obtain and evaluate the wear condition of the surface of the tooth model during or after the execution of the cleaning test, thereby realizing the use of pre-set cleaning programs and cleaning parameters, and accurately controlling the cleaning process of the oral cleaning device based on a holding device such as a robotic arm, thereby accurately measuring the different wear conditions that the oral cleaning device can produce for various different tooth models.

[0008] In some embodiments, controlling the oral cleaning device to perform a cleaning test action on a pre-built tooth model according to a preset cleaning program and preset cleaning parameters includes:

[0009] Within the first target area of the tooth model, with the target reference part of the tooth as the starting point, the oral cleaning device is controlled to perform a cleaning test action on the tooth model according to the preset cleaning program and the preset cleaning parameters, wherein the preset cleaning parameters include the pressure parameters of the oral cleaning device on the tooth model, the rotation angle of the oral cleaning device relative to the target reference part, the rotation angle of the tooth model relative to the target reference part, the moving speed of the oral cleaning device, the actual operating time of the oral cleaning device and / or the presence or absence of a cleaning medium between the oral cleaning device and the tooth model.

[0010] As such, this application provides specific types of cleaning parameters.

[0011] In some embodiments, the tooth model includes a plurality of teeth arranged neatly or irregularly, and controlling the oral cleaning device to perform a cleaning test action on the tooth model in a first target area of the tooth model with a target reference portion of the tooth as a starting point according to the preset cleaning program and the preset cleaning parameters includes:

[0012] Within the first target area of the tooth model, with the target reference position of the first tooth on the tooth model as the starting point, the oral cleaning device is controlled to perform a cleaning test action on the tooth model according to the preset cleaning program and the preset cleaning parameters, wherein the preset cleaning program is configured to perform uniform cleaning on the outer surfaces of the multiple teeth.

[0013] In this way, the present application can clean the target area on the dental model including multiple teeth by controlling the oral cleaning device to ensure that the cleaning range can evenly clean the entire outer surface of the dental model. Even if the teeth in the dental model are not arranged neatly, the exposed parts of each tooth in the dental model can be evenly cleaned, thereby ensuring the accuracy of the measurement of the degree of wear and providing data reference for orthodontic tooth arrangement.

[0014] In some embodiments, within the first target area of the tooth model, with the target reference portion of the tooth as a starting point, controlling the oral cleaning device to perform a cleaning test action on the tooth model according to the preset cleaning program and the preset cleaning parameters includes:

[0015] Within the first target area of the tooth model, with the target reference position of the first tooth on the tooth model as the starting point, the oral cleaning device is controlled to perform a cleaning test action on the tooth model according to the preset cleaning program and the preset cleaning parameters, wherein the preset cleaning program is configured to control the oral cleaning device to clean the corresponding teeth in a corresponding cleaning manner according to the type of teeth in the tooth model.

[0016] In this way, the present application can clean the target area on the tooth model including multiple teeth by controlling the oral cleaning device to ensure that different cleaning methods are performed for different types of teeth to ensure the cleaning effect for different types of teeth, while restoring the actual situation of the user when cleaning his or her own teeth as much as possible, thereby ensuring the accuracy of the measurement of the degree of wear.

[0017] In some embodiments, controlling the oral cleaning device to perform a cleaning test action on a pre-built tooth model according to a preset cleaning program and preset cleaning parameters includes:

[0018] Taking the target reference position of the target tooth as the starting point, the oral cleaning device is controlled to perform a cleaning test action on the target tooth according to the preset cleaning program and the preset cleaning parameters, wherein the preset cleaning parameters include the type of the target tooth, the pressure parameters of the oral cleaning device on the target tooth, the rotation angle of the oral cleaning device relative to the target reference position, the rotation angle of the target tooth relative to the target reference position, the moving speed of the oral cleaning device, the actual operating time of the oral cleaning device and / or the presence or absence of a cleaning medium between the oral cleaning device and the target tooth.

[0019] In this way, the present application can also clean a single tooth by controlling the oral cleaning device and measure the degree of wear on the surface of the single tooth.

[0020] In certain embodiments, obtaining the wear condition of the tooth model during and / or after the cleaning test action is performed to determine a test result corresponding to the cleaning test action includes:

[0021] Acquiring, based on a white light interferometric scanning device, a wear track on the tooth model left by the oral cleaning device due to performing the cleaning test action;

[0022] The wear volume loss of the tooth model is determined according to the wear trajectory.

[0023] In certain embodiments, the method further comprises:

[0024] According to the wear volume loss of the tooth model, a three-dimensional surface topography, surface defect distribution and / or surface roughness of the tooth model are determined.

[0025] In certain embodiments, obtaining the wear condition of the tooth model during and / or after the cleaning test action is performed to determine a test result corresponding to the cleaning test action includes:

[0026] Based on a stereo microscope, changes in the wear trajectory of the surface of the tooth model before and after the cleaning test action is performed are obtained.

[0027] In certain embodiments, obtaining the wear condition of the tooth model during and / or after the cleaning test action is performed to determine a test result corresponding to the cleaning test action further includes:

[0028] Based on a scanning electron microscope, the wear track changes of the teeth in the second target area screened and determined on the tooth model before and after the cleaning test action are obtained, wherein the second target area is screened and determined based on the wear track changes determined based on a stereo microscope, and the teeth in the second target area are processed by a preset process.

[0029] In certain embodiments, obtaining the wear condition of the tooth model during and / or after the cleaning test action is performed to determine a test result corresponding to the cleaning test action further includes:

[0030] The nano-microhardness of the surface of the tooth model before and after the cleaning test action is performed is obtained based on a nano-indentation measurement device.

[0031] Thus, the present application provides multiple methods for measuring the degree of surface wear of a tooth model.

[0032] In certain embodiments, the method further comprises:

[0033] The restoration condition of the enamel on the surface of the tooth model under the remineralization treatment condition is obtained to determine the restoration ability of the tooth model under the corresponding environment.

[0034] In certain embodiments, obtaining the restoration condition of the enamel on the surface of the tooth model under remineralization treatment conditions to determine the restoration ability of the tooth model under the corresponding environment includes:

[0035] The growth of surface crystals of the tooth model under the remineralization treatment condition and the changing trend of the surface crystals of the tooth model with the remineralization treatment time are obtained.

[0036] In certain embodiments, obtaining the restoration condition of the enamel on the surface of the tooth model under remineralization treatment conditions to determine the restoration ability of the tooth model under the corresponding environment includes:

[0037] Obtain the changes in the enamel surface morphology and enamel surface roughness of the tooth model under the remineralization treatment conditions, as well as the physical and chemical characteristics of the crystals deposited on the surface of the tooth model, to determine the surface repair condition of the tooth model under the remineralization treatment conditions.

[0038] In certain embodiments, obtaining the restoration condition of the enamel on the surface of the tooth model under remineralization treatment conditions to determine the restoration ability of the tooth model under the corresponding environment includes:

[0039] Based on the surface topography scanning device, taking the target reference point on the tooth model as a reference, obtaining the crystal changes and surface roughness changes of the enamel surface of the tooth model;

[0040] According to the crystal change and the surface roughness change, a restoration amount change curve of the tooth model under the remineralization treatment condition is determined.

[0041] In certain embodiments, obtaining the restoration condition of the enamel on the surface of the tooth model under remineralization treatment conditions to determine the restoration ability of the tooth model under the corresponding environment includes:

[0042] The surface morphology restoration of the enamel of the tooth model under the remineralization treatment conditions was obtained using a scanning electron microscope.

[0043] In certain embodiments, obtaining the restoration condition of the enamel on the surface of the tooth model under remineralization treatment conditions to determine the restoration ability of the tooth model under the corresponding environment includes:

[0044] Based on X-ray diffraction equipment, the state parameters of the crystals deposited on the surface of the tooth model under the remineralization treatment condition are obtained.

[0045] In certain embodiments, the method further comprises:

[0046] The elemental composition of the crystals deposited on the surface of the tooth model under the remineralization treatment condition was obtained based on an X-ray energy spectrum device.

[0047] In certain embodiments, the method further comprises:

[0048] Based on a scratch test device, the degree of integration between the crystals deposited on the surface of the tooth model and the tooth model under the remineralization treatment condition is obtained.

[0049] In certain embodiments, the method further comprises:

[0050] Based on the nanoindentation equipment, the hardness and elastic modulus of the repaired part of the enamel on the surface of the tooth model under the remineralization treatment condition are obtained.

[0051] In this way, the present application can further detect the repair condition of the tooth model surface during the remineralization process when the tooth model completes the remineralization treatment in a material environment simulating the human oral environment, thereby realizing simulated detection of the tooth remineralization process.

[0052] In certain embodiments, the method further comprises:

[0053] According to the wear condition of the tooth model and the repair condition of the tooth model under the remineralization treatment conditions, the cleaning test is determined according to the degree of impact of the cleaning test action on the enamel of the tooth model, and prompt information is fed back to the user to remind the user of the possible safety risks of the cleaning test action to the enamel of the tooth model.

[0054] In this way, the present application can provide users with feedback on the impact of cleaning actions on the tooth model and the degree of repair of the tooth model based on the wear of the tooth model and the repair status under remineralization conditions, and further remind users of the safety risks that cleaning actions may pose to the enamel of the tooth model.

[0055] The holding device in the embodiment of the present application is provided with an oral cleaning device and a test table, wherein the test table is provided with a tooth model;

[0056] The holding device can implement the above method.

[0057] The computer device in the embodiment of the present application includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the above method is implemented.

[0058] In this way, the present application can control the movement of a holding device to which the oral cleaning device is fixed based on a pre-set cleaning program and cleaning parameters, thereby further driving the oral cleaning device to perform a cleaning test on a pre-prepared tooth model, and further obtain and evaluate the wear condition of the surface of the tooth model during or after the execution of the cleaning test, thereby realizing the use of pre-set cleaning programs and cleaning parameters, and accurately controlling the cleaning process of the oral cleaning device based on a holding device such as a robotic arm, thereby accurately measuring the different wear conditions that the oral cleaning device can produce for various different tooth models.

[0059] The computer-readable storage medium in the embodiments of the present application stores a computer program, and when the computer program is executed by one or more processors, the above-mentioned method is implemented.

[0060] In this way, the present application can control the movement of the holding device to which the oral cleaning device is fixed based on the pre-set cleaning program and cleaning parameters, thereby further driving the oral cleaning device to perform a cleaning test on a pre-prepared tooth model, and further obtain and evaluate the wear condition of the tooth model surface during or after the execution of the cleaning test, thereby realizing the use of pre-set cleaning programs and cleaning parameters, and accurately controlling the cleaning process of the oral cleaning device based on a holding device such as a robotic arm, thereby accurately measuring the different wear conditions that the oral cleaning device can produce for various types of tooth models.

[0061] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0063] Figure 1 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0064] Figure 2 This is a schematic diagram of the structure of the robotic arm and the oral cleaning device in the embodiment of the present application;

[0065] Figure 3 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0066] Figure 4 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0067] Figure 5 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0068] Figure 6 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0069] Figure 7 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0070] Figure 8 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0071] Figure 9 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0072] Figure 10 This is a flow chart of a method for testing an oral cleaning device in an embodiment of the present application;

[0073] Figure 11 Schematic diagram of the process of testing the oral cleaning device in the embodiment of the present application. DETAILED DESCRIPTION

[0074] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0075] See also Figure 1 The oral cleaning device testing method in the embodiment of the present application is applied to a holding device on which an oral cleaning device is provided. The above method specifically includes the following steps:

[0076] 01: According to the preset cleaning program and preset cleaning parameters, control the oral cleaning device to perform cleaning test actions on the pre-built tooth model.

[0077] wherein the tooth model is fixed on a test stand of the holding device;

[0078] 02: During the execution of the cleaning test action and / or when the execution is completed, the wear condition of the tooth model is obtained to determine the test result corresponding to the cleaning test action.

[0079] The oral cleaning device testing device in the embodiments of the present application can implement the above-mentioned oral cleaning device testing method. Specifically, the oral cleaning device testing device includes a device control module and a data acquisition module, wherein the device control module is used to control the oral cleaning device to perform a cleaning test action on a pre-constructed tooth model according to a preset cleaning program and preset cleaning parameters, and the data acquisition module is used to obtain the wear status of the tooth model during and / or after the cleaning test action is executed to determine the test result corresponding to the cleaning test action.

[0080] The computer device in the embodiments of the present application can implement the above-mentioned oral cleaning device testing method. Specifically, the computer device includes a memory and a processor. The memory stores a computer program. The processor is configured to control the oral cleaning device to perform a cleaning test on a pre-constructed tooth model according to a preset cleaning program and preset cleaning parameters, and to obtain the wear status of the tooth model during and / or after the cleaning test is completed to determine a test result corresponding to the cleaning test.

[0081] Furthermore, the teeth in the tooth model are human incisors, human canines, human molars, bovine front teeth or bovine back teeth without hidden cracks and caries; the teeth retain complete root and crown areas; the teeth are sterilized and thoroughly cleaned and stored in a preset temperature environment for use.

[0082] Specifically, in order to be able to measure the degree of wear of the tooth model, it is generally possible to control the movement of the holding device that fixes the above-mentioned oral cleaning device to drive the oral cleaning device to perform a cleaning action on the tooth model, and during or after the execution of the cleaning action, use various instruments used in conjunction with the above-mentioned holding device to measure and collect the wear data on the surface of the tooth model, thereby obtaining the test results of the degree of wear on the surface of the tooth model.

[0083] The above-mentioned holding device is generally a robotic arm. Figure 2 The end of the robotic arm is a motion reference point for fixing the oral cleaning device. A clamp for clamping the oral cleaning device is generally provided at the motion reference point. The clamp can rotate to change the angle between the cleaning head on the oral cleaning device and the cleaning object, such as teeth. The robotic arm can drive the oral cleaning device to move in space through the movement of each joint on it. At the same time, it can also adjust the angle between the oral cleaning device and the cleaning object by adjusting the angle of the clamp. This can simulate the situation when a user uses the oral cleaning device to clean objects such as teeth in the mouth. In this way, the accuracy of the oral cleaning device in cleaning the tooth model can be improved by quantitatively and precisely controlling the movement of the robotic arm, thereby improving the accuracy of the wear test.

[0084] In addition, to secure the dental model, the robotic arm is further equipped with a test platform, which is equipped with fixtures for securing the dental model. Furthermore, the height of the test platform can be adjusted to simulate users of different heights.

[0085] After the prefabricated tooth model is mounted on the test bench and the height of the test bench is adjusted, the robotic arm's control device controls the movement of the robotic arm to the initial position specified by the preset cleaning program and waits for a start command from the user or automatically issued by the preset cleaning program according to established settings. Upon receiving the start command, the robotic arm's control device controls the movement of the robotic arm based on one or more preset cleaning parameters required by the preset cleaning program, thereby performing a cleaning action on the tooth model.

[0086] To more accurately simulate the oral conditions of the broadest user base using tooth models, in some examples, the tooth models can be prepared using the following method: select human incisors, canines, molars, or bovine front and back teeth, and cut them while preserving the root and crown areas. The selected teeth must also be free of cracks and caries. After selecting the teeth, they are disinfected, thoroughly cleaned, and stored at 4°C until ready for use.

[0087] While the robotic arm drives the oral cleaning device to clean the tooth model, a variety of different tooth surface wear state testing instruments used in conjunction with the robotic arm and the tooth model can be used to perform real-time testing and data collection on the wear of the tooth model surface, thereby ensuring that the morphological changes directly caused by the wear of the tooth model surface due to the cleaning test action can be directly obtained throughout the entire cleaning test process and after the cleaning test is completed. Specific testing methods can be referred to the various embodiments described below.

[0088] In this way, the present application can control the movement of a holding device to which the oral cleaning device is fixed based on a pre-set cleaning program and cleaning parameters, thereby further driving the oral cleaning device to perform a cleaning test on a pre-prepared tooth model, and further obtain and evaluate the wear condition of the surface of the tooth model during or after the execution of the cleaning test, thereby realizing the use of pre-set cleaning programs and cleaning parameters, and accurately controlling the cleaning process of the oral cleaning device based on a holding device such as a robotic arm, thereby accurately measuring the different wear conditions that the oral cleaning device can produce for various different tooth models.

[0089] See also Figure 3 In some embodiments, step 01 includes:

[0090] 011: In the first target area of the tooth model, with the target reference part of the tooth as the starting point, according to the preset cleaning program and preset cleaning parameters, control the oral cleaning device to perform a cleaning test action on the tooth model.

[0091] The preset cleaning parameters include the pressure parameters of the oral cleaning device on the tooth model, the rotation angle of the oral cleaning device relative to the target reference part, the rotation angle of the tooth model relative to the target reference part, the moving speed of the oral cleaning device, the actual operating time of the oral cleaning device and / or the presence or absence of a cleaning medium between the oral cleaning device and the tooth model.

[0092] In some embodiments, the device control module is also used to control the oral cleaning device to perform a cleaning test action on the tooth model within the first target area of the tooth model, with the target reference part of the tooth as the starting point, according to a preset cleaning program and preset cleaning parameters.

[0093] In some embodiments, the processor is further configured to control the oral cleaning device to perform a cleaning test action on the tooth model within the first target area of the tooth model, with the target reference portion of the tooth as a starting point, according to a preset cleaning program and preset cleaning parameters.

[0094] Specifically, based on the above embodiment, illustratively, the cleaning process of the oral cleaning device on the tooth model needs to be performed according to a preset cleaning program and preset cleaning parameters.

[0095] First of all, the preset cleaning program is generally obtained by adaptively adjusting the various existing brushing methods in the current relevant technology to the current tooth model. The above-mentioned brushing methods include but are not limited to the Bass brushing method, the Roche brushing method, the arc brushing method, the horizontal vibration brushing method, etc. Each brushing method corresponds to a different brushing path. The actual brushing method used can be adjusted according to actual conditions, and this application does not make specific restrictions.

[0096] In addition, in addition to the above-mentioned brushing method, in order to determine a preset cleaning program that can be executed directly, one or more preset cleaning parameters need to be set, such as the starting point of the brushing path, the pressure between the oral cleaning device and the tooth model, the rotation angle that needs to be adjusted when cleaning different tooth surfaces during brushing, the movement speed of the oral cleaning device when cleaning the teeth, the real-time duration of the oral cleaning device performing the cleaning action, etc.

[0097] For example, under most testing requirements, the starting point of the above-mentioned brushing path can generally be set to the root of a pre-selected starting tooth, and the tooth can rotate within 360 degrees in the horizontal plane on the test bench, which can generally be achieved based on the rotation of the test bench. In addition, the cleaning head of the oral cleaning device can also rotate within 360 degrees around the axis of the oral cleaning device.

[0098] Furthermore, the presence or absence of cleaning media such as toothpaste, tooth powder, and saliva can significantly affect the wear of the tooth model. Therefore, for example, when setting cleaning parameters, the presence or absence of a cleaning medium can be pre-set, and the Century Star test can be performed using or without the cleaning medium based on this setting. It is important to control the type of cleaning medium; when the cleaning medium is not the subject of research, the type of cleaning medium should remain unchanged.

[0099] In order to improve the credibility of the test, a blank control group needs to be set in the wear test. Therefore, for example, if the tooth model is configured to describe the condition of the teeth in the entire oral cavity, including the morphology of multiple teeth, a part of the tooth model can be covered with a fixed cover, and the uncovered part (corresponding to the first target area) will not be cleaned by the oral cleaning device. In addition, in other examples, two sets of exactly the same tooth models can be prepared, and the movement of the robotic arm can be controlled so that the oral cleaning device performs a cleaning action on one of the groups (corresponding to the first target area) and does not perform any cleaning action on the other group.

[0100] Then, in the above case, after determining the tooth model or part of the tooth model that needs to be cleaned, setting the brushing method and related preset cleaning parameters, and then generating a preset cleaning program, the control device of the robotic arm controls the robotic arm to perform movement, thereby driving the oral cleaning device to perform the cleaning action on the tooth model or part of the tooth model that needs to be cleaned. For example, illustratively, when it is determined that a cleaning action is to be performed on a first tooth model, a completely identical second tooth model is used as a control group, the root of the upper left incisor of the first tooth model is used as the starting point, the Bass brushing method is used, the pressure parameter between the oral cleaning device and the tooth model is 200 grams, the movement speed of the oral cleaning device simulates the speed of human hand brushing and is 7mm / s, there is no upper limit on the brushing time, and there is a cleaning medium, the robotic arm is controlled to perform movement, thereby driving the oral cleaning device to perform the cleaning action on the first tooth model, and further obtaining the wear condition of the surface of the first tooth model.

[0101] As such, this application provides specific types of cleaning parameters.

[0102] In some embodiments, the tooth model includes a plurality of teeth that are arranged neatly or irregularly. Based on this, step 011 includes:

[0103] In the first target area of the tooth model, the target reference position of the first tooth on the tooth model is used as the starting point, and the oral cleaning device is controlled to perform a cleaning test action on the tooth model according to the preset cleaning program and preset cleaning parameters.

[0104] The preset cleaning program is configured to perform uniform cleaning on the outer surfaces of multiple teeth.

[0105] In some embodiments, the device control module is also used to control the oral cleaning device to perform a cleaning test action on the tooth model within the first target area of the tooth model, with the target reference position of the first tooth on the tooth model as the starting point, according to a preset cleaning program and preset cleaning parameters.

[0106] In some embodiments, the processor is further used to control the oral cleaning device to perform a cleaning test action on the tooth model within the first target area of the tooth model, with the target reference position of the first tooth on the tooth model as the starting point, according to a preset cleaning program and preset cleaning parameters.

[0107] Specifically, based on the above-mentioned embodiment, in addition to determining the preset cleaning program based on the above-mentioned brushing method and preset cleaning parameters, there are other factors that can affect the preset cleaning program. For example, for some users, the teeth in the mouth are not arranged neatly, resulting in some tooth surfaces that are normally located between the teeth being exposed. If a general brushing method is used, some parts of some teeth may be repeatedly cleaned, causing rapid wear, while some parts of other teeth may not be cleaned, resulting in uneven cleaning.

[0108] To accommodate the aforementioned situation and avoid issues such as rapid wear of certain teeth due to excessive cleaning and uneven cleaning, in addition to determining the preset cleaning program in the aforementioned embodiment, if the tooth model to be tested includes multiple teeth, a brushing path correction factor based on the alignment of the teeth in the tooth model to be tested can be added. The purpose of introducing this brushing path correction factor is to ensure that the exposed surfaces of each tooth in the tooth model are cleaned evenly, ensuring that no part of the tooth is over-cleaned or left out. Regarding the calculation method for this brushing path correction factor, it can be pre-determined by comparing the alignment of the tooth model with the default path of the selected brushing method. This correction factor is then used to modify the brushing path during the generation of the preset cleaning program. During the process of controlling the movement of the robotic arm, i.e., controlling the robotic arm to drive the oral cleaning device to clean the tooth model according to the corrected brushing path, no correction to the selected brushing path is required. Specifically, if the teeth in the tooth model are aligned, the brushing path correction factor is set to 0.

[0109] In this way, the present application can clean the target area on the dental model including multiple teeth by controlling the oral cleaning device to ensure that the cleaning range can evenly clean the entire outer surface of the dental model. Even if the teeth in the dental model are not arranged neatly, the exposed parts of each tooth in the dental model can be evenly cleaned, thereby ensuring the accuracy of the measurement of the degree of wear and providing data reference for orthodontic tooth arrangement.

[0110] In some embodiments, step 011 further includes:

[0111] In the first target area of the tooth model, the target reference position of the first tooth on the tooth model is used as the starting point, and the oral cleaning device is controlled to perform a cleaning test action on the tooth model according to the preset cleaning program and preset cleaning parameters.

[0112] The preset cleaning program is configured to control the oral cleaning device to clean the corresponding teeth in a corresponding cleaning manner according to the type of teeth in the tooth model.

[0113] In some embodiments, the device control module is also used to control the oral cleaning device to perform a cleaning test action on the tooth model within the first target area of the tooth model, with the target reference position of the first tooth on the tooth model as the starting point, according to a preset cleaning program and preset cleaning parameters.

[0114] In some embodiments, the processor is further used to control the oral cleaning device to perform a cleaning test action on the tooth model within the first target area of the tooth model, with the target reference position of the first tooth on the tooth model as the starting point, according to a preset cleaning program and preset cleaning parameters.

[0115] Specifically, based on the above-mentioned embodiment, in addition to determining the preset cleaning program according to the above-mentioned brushing method and preset cleaning parameters, there are other factors that can affect the preset cleaning program. For example, for an average user, the oral cavity includes at least three types of teeth, namely incisors, canines, and molars. Each type of tooth has a different division of labor, different hardness, and different surface conditions. Therefore, when cleaning, in order to ensure the cleaning effect while minimizing damage to the teeth, different cleaning methods need to be adopted for different types of teeth.

[0116] Therefore, to accommodate the above-mentioned situations, in addition to determining the preset cleaning program in the above-mentioned embodiment, cleaning parameter corrections can be added for each type of tooth on the currently tested tooth model. After the brushing method and associated preset cleaning parameters are determined according to the method in the above-mentioned embodiment, the brushing path and preset cleaning parameters are adaptively corrected based on the tooth type of each tooth passed through the brushing path, using the cleaning parameter corrections. For example, for incisors, the pressure parameter between the oral cleaning device and the tooth needs to be adjusted downward, while for molars, the pressure parameter remains unchanged or is appropriately adjusted upward. The specific correction range can be determined based on the tooth quality obtained during the preparation of the tooth model, and is not specifically limited in this application. For another example, for teeth with only two surfaces, such as incisors and canines, only two target values can be set for the rotation angle of the cleaning head, so that the inner and outer surfaces of the corresponding tooth are cleaned when cleaning the corresponding tooth type. However, for teeth with three surfaces, such as molars, three target values can be set for the rotation angle of the cleaning head, so that the inner, outer, and crown surfaces of the corresponding tooth are cleaned when cleaning the corresponding tooth type. For example, for teeth suspected of having caries, it is necessary to control the brushing path to reduce the stimulation of possible caries lesions, while also ensuring the cleaning effect on the teeth as much as possible. Therefore, it is necessary to adaptively adjust the brushing path and pressure parameters for the teeth.

[0117] In this way, the present application can clean the target area on the tooth model including multiple teeth by controlling the oral cleaning device to ensure that different cleaning methods are performed for different types of teeth to ensure the cleaning effect for different types of teeth, while restoring the actual situation of the user when cleaning his or her own teeth as much as possible, thereby ensuring the accuracy of the measurement of the degree of wear.

[0118] See also Figure 4 In some embodiments, step 01 further includes:

[0119] 012: Taking the target reference part of the target tooth as the starting point, according to the preset cleaning program and preset cleaning parameters, control the oral cleaning device to perform a cleaning test action on the target tooth.

[0120] The preset cleaning parameters include the type of target teeth, the pressure parameters of the oral cleaning device on the target teeth, the rotation angle of the oral cleaning device relative to the target reference part, the rotation angle of the target teeth relative to the target reference part, the moving speed of the oral cleaning device, the actual operating time of the oral cleaning device and / or the presence or absence of a cleaning medium between the oral cleaning device and the target teeth.

[0121] In certain embodiments, the device control module is further configured to control the oral cleaning device to perform a cleaning test action on the target tooth based on a preset cleaning program and preset cleaning parameters, with the target reference portion of the target tooth as a starting point.

[0122] In certain embodiments, the processor is further configured to control the oral cleaning device to perform a cleaning test action on the target tooth based on a preset cleaning program and preset cleaning parameters, with the target reference portion of the target tooth as a starting point.

[0123] Specifically, based on the above-mentioned embodiments, in some examples, the tooth model can be a single target tooth. Then when performing a cleaning action on the tooth, it is different from cleaning a tooth model with multiple teeth. In order to ensure that each tooth surface of the tooth can be covered in the cleaning action, it is necessary to determine the number of tooth surfaces and the tooth morphology according to the type of the tooth, and further plan the brushing path, pressure parameters, the rotation angle of the target tooth and the oral cleaning device during brushing, the movement speed of the oral cleaning device when performing the cleaning action on the tooth, the upper limit of the cleaning action and other parameters based on the above-mentioned data. The number of tooth surfaces and tooth morphology can be obtained during the preparation of the target tooth. For example, for a single molar, it has four side surfaces and a crown surface. For a single canine or incisor, it has four side surfaces, and so on. The process of determining the above parameters based on the number of tooth surfaces and tooth morphology can be adjusted according to actual conditions, and this application does not make specific limitations.

[0124] In this way, the present application can also clean a single tooth by controlling the oral cleaning device and measure the degree of wear on the surface of the single tooth.

[0125] Based on the above embodiment, during or after the cleaning action is performed, a variety of different measuring instruments can be used to measure the surface of the tooth model to determine the degree of the tooth model surface.

[0126] See also Figure 5 In some embodiments, step 02 includes:

[0127] 0211: Using white light interferometric scanning equipment, obtain the wear traces left by oral cleaning equipment on the tooth model due to the cleaning test action;

[0128] 0212: Determine the wear volume loss of the tooth model based on the wear trajectory.

[0129] Furthermore, step 02 also includes:

[0130] 0213: Determine the three-dimensional surface topography, surface defect distribution and / or surface roughness of the tooth model based on the wear volume loss of the tooth model.

[0131] In certain embodiments, the data acquisition module is also used to obtain, based on a white light interference scanning device, the wear track left by the oral cleaning device on the tooth model due to the performance of the cleaning test action, and to determine the wear volume loss of the tooth model based on the wear track, and to determine the surface three-dimensional morphology, surface defect distribution and / or surface roughness of the tooth model based on the wear volume loss of the tooth model.

[0132] In some embodiments, the processor is also used to obtain the wear track left by the oral cleaning device on the tooth model due to the cleaning test action based on the white light interference scanning device, and to determine the wear volume loss of the tooth model based on the wear track, and to determine the surface three-dimensional morphology, surface defect distribution and / or surface roughness of the tooth model based on the wear volume loss of the tooth model.

[0133] Specifically, the three-dimensional surface topography of the tooth model before and after the cleaning action can be measured. This measurement is generally based on a white light interferometer scanning of the portion of the tooth model that has been cleaned by the cleaning head of the oral cleaning device. Specifically, the wear tracks left by the cleaning head on the tooth model during the cleaning process are scanned. The wear volume loss caused by the cleaning action is calculated based on these wear tracks using a data processing software platform used in conjunction with the white light interferometer.

[0134] Furthermore, by also using the data processing software platform used in conjunction with the white light interferometer, visualization processing is performed based on the above-mentioned wear volume loss, and data results such as the three-dimensional morphology of the entire or local surface of the tooth model, the surface defect distribution such as the surface defect height and surface defect size, and the surface roughness of the tooth model can be obtained, which can qualitatively or quantitatively characterize the surface wear of the tooth model.

[0135] In some embodiments, step 02 further includes:

[0136] 0221: Using stereo microscope equipment, obtain the wear trajectory changes of the tooth model before and after the cleaning test action;

[0137] 0222: Using a scanning electron microscope, obtain the wear trajectory changes of the teeth in the second target area screened and determined on the tooth model before and after the cleaning test action is performed.

[0138] The second target area is screened and determined based on the wear track changes determined based on a stereo microscope, and the teeth in the second target area are processed through a preset process.

[0139] In some embodiments, the data acquisition module is also used to obtain the changes in the wear trajectory of the surface of the tooth model before and after the cleaning test action is performed based on a stereoscopic microscope, and is used to obtain the changes in the wear trajectory of the surface of the teeth in the second target area screened and determined on the tooth model before and after the cleaning test action is performed based on a scanning electron microscope.

[0140] In some embodiments, the processor is also used to obtain the changes in the wear trajectory of the surface of the tooth model before and after the cleaning test action is performed based on a stereoscopic microscope, and is used to obtain the changes in the wear trajectory of the surface of the teeth in the second target area screened and determined on the tooth model before and after the cleaning test action is performed based on a scanning electron microscope.

[0141] Specifically, the surface microscopic morphology of the tooth model before and after the cleaning action can also be measured. The above-mentioned measurement is generally divided into two parts: coarse screening and fine measurement.

[0142] The coarse screening part is carried out based on microscopic equipment such as stereo microscopes. Before and after the cleaning action is performed, the stereo microscope is used to preliminarily observe the changes in the wear trajectory of the tooth model. Based on the actual form of the wear trajectory changes, multiple representative areas (corresponding to the second target area) are preliminarily screened out in the tooth model, and further detailed measurements are carried out.

[0143] As for the detailed measurement part, first, a plurality of representative areas are preliminarily screened out from the above-mentioned tooth model for pre-observation process processing. For example, the plurality of representative areas preliminarily screened out from the above-mentioned tooth model are first pasted on a conductive adhesive and sputter-plated with gold. Finally, the gold-plated areas are observed in a high vacuum environment using an electron flow with a potential difference of 20kV as a developing medium using an electron microscope such as a scanning electron microscope, and the wear track changes of the above-mentioned gold-plated areas are observed at a low speed supported by the scanning electron microscope, thereby realizing the measurement of the microscopic morphology of the surface of the tooth model.

[0144] In some embodiments, step 02 further includes:

[0145] 023: Based on the nanoindentation measurement equipment, the nano-microhardness of the tooth model surface before and after the cleaning test action is performed is obtained.

[0146] In certain embodiments, the data processing module is further configured to obtain the nano-microhardness of the surface of the tooth model before and after the cleaning test action is performed based on a nano-indentation measurement device.

[0147] In certain embodiments, the processor is further configured to obtain the nano-microhardness of the surface of the tooth model before and after the cleaning test action is performed based on a nano-indentation measurement device.

[0148] Specifically, the nano-microhardness of the tooth model before and after the cleaning action can be measured. The above measurement is generally based on the nano-indentation instrument to obtain the nano-hardness of the tooth model surface before and after the cleaning action is performed by indentation measurement.

[0149] To accurately measure nanohardness, multiple measurements are required on the same area of the same measurement object on a tooth model. For example, a nanoindenter is equipped with a UNHT indenter with a diamond tip. The indenter has a maximum load of 5 mN, an up / down rate of 10 mN / min, and a dwell time limit of 10 seconds at the maximum load. Under these conditions, at least five measurements are required on the same area of each measurement object. The results of each measurement are expressed as a deviation or standard deviation relative to the mean of the total measurement results.

[0150] Thus, the present application provides multiple methods for measuring the degree of surface wear of a tooth model.

[0151] See also Figure 8 In certain embodiments, the oral cleaning device testing method further comprises:

[0152] 03: Obtain the restoration status of the enamel on the surface of the tooth model under remineralization treatment conditions to determine the restoration ability of the tooth model under the corresponding environment.

[0153] In certain embodiments, the data acquisition module is further used to obtain the restoration status of the enamel on the surface of the tooth model under remineralization treatment conditions, so as to determine the restoration ability of the tooth model under the corresponding environment.

[0154] In certain embodiments, the processor is further configured to obtain the restoration condition of the enamel on the surface of the tooth model under remineralization treatment conditions, so as to determine the restoration ability of the tooth model under the corresponding environment.

[0155] Specifically, based on the above-mentioned embodiment, in daily life, the teeth in the user's mouth will be in a saliva environment for a long time after being cleaned by an oral cleaning device. Common sense says that the enamel on the surface of the teeth will slowly utilize the crystallization process of some substances in the saliva to achieve a trace amount of repair in the saliva environment, thereby repairing the wear on the tooth surface.

[0156] Therefore, for example, after completing the test for the wear condition of the tooth surface, the tooth model that has been cleaned can be further subjected to a remineralization treatment to simulate the recovery process of the tooth surface after cleaning. The above-mentioned remineralization treatment can be achieved under the following conditions: the above-mentioned worn tooth model or the enamel on the surface of the above-mentioned tooth model is placed in artificial saliva at a constant temperature of 37°C until the end of the test or the next cleaning action is performed on the above-mentioned tooth model, thereby simulating the physiological remineralization process in the oral cavity.

[0157] Next, during the remineralization process or after the remineralization treatment is completed, various instruments can be used to measure the repair of the enamel on the surface of the tooth model, thereby determining the repair capacity of the tooth model under the remineralization treatment conditions. Specific measurement methods are detailed in the following embodiments.

[0158] See also Figure 9 In some embodiments, step 03 includes:

[0159] 031: Obtain the changes in the enamel surface morphology and enamel surface roughness of the tooth model under remineralization treatment conditions, as well as the physical and chemical characteristics of the crystals deposited on the surface of the tooth model, to determine the surface repair status of the tooth model under remineralization treatment conditions.

[0160] In certain embodiments, the data processing module is used to obtain changes in the enamel surface morphology, changes in the enamel surface roughness, and the physical and chemical characteristics of crystals deposited on the surface of the tooth model under remineralization treatment conditions, so as to determine the surface repair condition of the tooth model under remineralization treatment conditions.

[0161] In some embodiments, the processor is also used to obtain the changes in the enamel surface morphology and the enamel surface roughness of the tooth model under remineralization treatment conditions, as well as the physical and chemical characteristics of crystals deposited on the surface of the tooth model, so as to determine the surface repair condition of the tooth model under remineralization treatment conditions.

[0162] Specifically, to measure the repair status under remineralization treatment conditions, the surface morphology and surface roughness changes of the enamel on the tooth model surface during the remineralization process can first be obtained through human visual observation or image analysis. At the same time, in order to clarify the characteristics of the substances involved in enamel repair, the physical and chemical characteristics of the crystals deposited on the enamel surface of the tooth model can be analyzed using relevant physical methods or chemical reagents. The physical and chemical properties of the crystals deposited on the enamel surface of the tooth model can be obtained, and the composition and growth of the crystals can be preliminarily calculated, so as to further test and study the cumulative trend of surface deposited crystals with mineralization time. As the measurement time points pass, the above methods can be used to obtain the dynamic process of the changes in the enamel surface crystals during the remineralization treatment.

[0163] See also Figure 10 In some embodiments, step 03 further includes:

[0164] 0321: Based on the surface topography scanning equipment, with the target reference point on the tooth model as the benchmark, obtain the crystal changes and surface roughness changes of the enamel surface of the tooth model;

[0165] 0322: Determine the restoration curve of the tooth model under remineralization treatment conditions based on the changes in crystals and surface roughness;

[0166] 033: Using scanning electron microscopy, obtain the surface morphology restoration of the tooth model enamel under remineralization treatment conditions;

[0167] 034: Based on X-ray diffraction equipment, obtain the state parameters of crystals deposited on the surface of the tooth model under remineralization treatment conditions;

[0168] 035: Based on X-ray energy spectrum equipment, the elemental composition of crystals deposited on the surface of the tooth model under remineralization treatment conditions was obtained;

[0169] 036: Based on the scratch test equipment, obtain the degree of integration between the deposited crystals on the tooth model surface and the tooth model under remineralization treatment conditions;

[0170] 037: Based on the nanoindentation equipment, the hardness and elastic modulus of the repaired part of the enamel on the surface of the tooth model under remineralization treatment conditions are obtained.

[0171] In some embodiments, the data processing module is also used to obtain the crystal changes and surface roughness changes of the enamel surface of the tooth model based on the target reference point on the tooth model based on the surface morphology scanning device, and to determine the repair amount change curve of the tooth model under the remineralization treatment conditions based on the crystal changes and surface roughness changes, and to obtain the surface morphology repair of the enamel of the tooth model under the remineralization treatment conditions based on the scanning electron microscope device, and to obtain the state parameters of the crystals deposited on the surface of the tooth model under the remineralization treatment conditions based on the X-ray diffraction device, and to obtain the elemental composition of the crystals deposited on the surface of the tooth model under the remineralization treatment conditions based on the X-ray energy spectrum device, and to obtain the degree of integration of the crystals deposited on the surface of the tooth model and the tooth model under the remineralization treatment conditions based on the scratch testing device, and to obtain the hardness and elastic modulus of the repaired part of the enamel on the surface of the tooth model under the remineralization treatment conditions based on the nanoindentation device.

[0172] In some embodiments, the processor is also used to obtain the crystal changes and surface roughness changes of the enamel surface of the tooth model based on the target reference point on the tooth model based on the surface morphology scanning device, and to determine the repair amount change curve of the tooth model under the remineralization treatment conditions based on the crystal changes and surface roughness changes, and to obtain the surface morphology repair of the enamel of the tooth model under the remineralization treatment conditions based on the scanning electron microscope device, and to obtain the state parameters of the crystals deposited on the surface of the tooth model under the remineralization treatment conditions based on the X-ray diffraction device, and to obtain the elemental composition of the crystals deposited on the surface of the tooth model under the remineralization treatment conditions based on the X-ray energy spectrum device, and to obtain the degree of integration of the crystals deposited on the surface of the tooth model and the tooth model under the remineralization treatment conditions based on the scratch testing device, and to obtain the hardness and elastic modulus of the repaired part of the enamel on the surface of the tooth model under the remineralization treatment conditions based on the nanoindentation device.

[0173] Specifically, on the basis of the above-mentioned embodiment, in addition to determining the surface roughness and crystal changes of the enamel of the tooth model through the above-mentioned embodiment, it is also possible to directly use surface topography scanning equipment such as a three-dimensional surface topography meter and an atomic force microscope to select a constant reference point, and measure the amount of enamel surface crystals and surface roughness in the target area around the reference point. The data processing platform used in conjunction with the surface topography scanning equipment is used to perform comprehensive data processing, and the curve of the change of the enamel surface repair amount over time in the above-mentioned target area of the tooth model is determined based on the above-mentioned enamel surface crystals and surface roughness data.

[0174] In addition, a scanning electron microscope can be used to observe and measure the restoration morphology of the enamel surface, an X-ray diffractometer (XRD) can be used to analyze the type, size and other property parameters of the crystals deposited on the enamel surface, an X-ray energy dispersive spectrometer (EDX) can be used to analyze the elemental composition of the crystals deposited on the enamel surface, a scratch test device can be used to perform a scratch test on the enamel on the surface of the tooth model to test the degree of integration of the crystals deposited on the enamel surface on the surface of the tooth model, and a nanoindenter can be used to test the hardness and elastic modulus of the enamel, etc. It should be noted that Figure 10 Except for steps 0321 and 0322, the above-mentioned steps are merely flowcharts of the above-mentioned methods. The specific execution order can be adjusted according to the actual situation. In other words, except for the execution order of steps 0321 and 0322, Figure 10 It should not be construed as a fixed order of execution.

[0175] In this way, the present application can further detect the repair condition of the tooth model surface during the remineralization process when the tooth model completes the remineralization treatment in a material environment simulating the human oral environment, thereby realizing simulated detection of the tooth remineralization process.

[0176] See also Figure 11 In certain embodiments, the oral cleaning device testing method further comprises:

[0177] 04: According to the wear of the tooth model and the repair of the tooth model under the remineralization treatment conditions, the cleaning test is determined. According to the degree of influence of the cleaning test action on the enamel of the tooth model, feedback prompt information is given to the user to remind the user of the possible safety risks of the cleaning test action on the enamel of the tooth model.

[0178] In certain embodiments, the data processing module is also used to determine the degree of impact of the cleaning test action on the enamel of the tooth model based on the wear of the tooth model and the repair condition of the tooth model under remineralization treatment conditions, and to provide feedback information to the user to remind the user of the possible safety risks of the cleaning test action on the enamel of the tooth model.

[0179] In certain embodiments, the processor is further configured to determine the extent of the impact of the cleaning test action on the enamel of the tooth model based on the wear of the tooth model and the repair condition of the tooth model under remineralization treatment conditions, and to provide feedback to the user to remind the user of the possible safety risks of the cleaning test action on the enamel of the tooth model.

[0180] Specifically, after completing the tests on the wear conditions and the repair conditions under remineralization conditions in the above-mentioned embodiment, for example, the control device of the robotic arm can also be used to summarize and evaluate the data of the above-mentioned wear conditions and repair conditions, and based on the summary and evaluation results, feedback can be given to the user on the impact of the cleaning action performed by the oral cleaning device on the tooth model.

[0181] For example, if the rate of tooth enamel wear caused by external mechanical factors such as friction of the cleaning device is less than or equal to the rate of tooth remineralization under normal oral conditions, or if the amount of tooth enamel wear caused by external mechanical factors such as friction of the cleaning device is less than or equal to the amount of remineralized crystals generated under normal oral conditions, then it can be considered that the cleaning action performed by the cleaning device will not have a negative impact on the teeth. In this case, the control device of the robotic arm can provide feedback to the user to prompt the user that the cleaning action performed by the oral cleaning device is normal.

[0182] For another example, if the rate of tooth enamel wear caused by external mechanical factors such as friction of the cleaning device is greater than the rate of tooth remineralization under normal oral conditions, or if the amount of tooth enamel wear caused by external mechanical factors such as friction of the cleaning device is greater than the amount of remineralization crystals generated under normal oral conditions, then the cleaning action performed by the oral cleaning device on the teeth will obviously cause loss of tooth surface enamel, thereby causing serious artificial tooth wear. In this case, the control device based on the robotic arm can provide feedback to the user, prompting the user that the cleaning action performed by the oral cleaning device will cause irreversible damage to the teeth in the oral cavity, and can also provide the user with exemplary suggestions for improving the cleaning action. For example, the above-mentioned feedback prompt information can be provided in the form of displaying pop-up windows, voice prompts, etc., which are not specifically limited in this application.

[0183] In this way, the present application can provide users with feedback on the impact of cleaning actions on the tooth model and the degree of repair of the tooth model based on the wear of the tooth model and the repair status under remineralization conditions, and further remind users of the safety risks that cleaning actions may pose to the enamel of the tooth model.

[0184] In the embodiment of the present application, the holding device is provided with an oral cleaning device and a test bench, and a tooth model is provided on the test bench; the holding device can implement the above method.

[0185] The computer-readable storage medium in the embodiments of the present application stores a computer program, and when the computer program is executed by one or more processors, the above-mentioned method is implemented.

[0186] In the description of this specification, the reference terms "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0187] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0188] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for testing an oral cleaning device, characterized in that: The method is applied to a holding device, on which the oral cleaning device is provided, and the method includes: According to a preset cleaning program and preset cleaning parameters, the oral cleaning device is controlled to perform a cleaning test action on a pre-constructed tooth model, wherein the tooth model is fixed to a test table of the holding device; During the execution of the cleaning test action and / or when the execution is completed, the wear condition of the tooth model is obtained to determine the test result corresponding to the cleaning test action.

2. The method according to claim 1, characterized in that The step of controlling the oral cleaning device to perform a cleaning test on a pre-built tooth model according to a preset cleaning program and preset cleaning parameters includes: Within the first target area of the tooth model, with the target reference part of the tooth as the starting point, the oral cleaning device is controlled to perform a cleaning test action on the tooth model according to the preset cleaning program and the preset cleaning parameters, wherein the preset cleaning parameters include the pressure parameters of the oral cleaning device on the tooth model, the rotation angle of the oral cleaning device relative to the target reference part, the rotation angle of the tooth model relative to the target reference part, the moving speed of the oral cleaning device, the actual operating time of the oral cleaning device and / or the presence or absence of a cleaning medium between the oral cleaning device and the tooth model.

3. The method according to claim 2, characterized in that The tooth model includes a plurality of teeth arranged neatly or irregularly, and the method of controlling the oral cleaning device to perform a cleaning test action on the tooth model in a first target area of the tooth model with a target reference position of the teeth as a starting point according to the preset cleaning program and the preset cleaning parameters includes: Within the first target area of the tooth model, with the target reference position of the first tooth on the tooth model as the starting point, the oral cleaning device is controlled to perform a cleaning test action on the tooth model according to the preset cleaning program and the preset cleaning parameters, wherein the preset cleaning program is configured to perform uniform cleaning on the outer surfaces of the multiple teeth.

4. The method according to claim 2, characterized in that The step of controlling the oral cleaning device to perform a cleaning test on the tooth model within the first target area of the tooth model with the target reference portion of the tooth as a starting point according to the preset cleaning program and the preset cleaning parameters includes: Within the first target area of the tooth model, with the target reference position of the first tooth on the tooth model as the starting point, the oral cleaning device is controlled to perform a cleaning test action on the tooth model according to the preset cleaning program and the preset cleaning parameters, wherein the preset cleaning program is configured to control the oral cleaning device to clean the corresponding teeth in a corresponding cleaning manner according to the type of teeth in the tooth model.

5. The method according to claim 1, wherein The step of controlling the oral cleaning device to perform a cleaning test on a pre-built tooth model according to a preset cleaning program and preset cleaning parameters includes: Taking the target reference position of the target tooth as the starting point, the oral cleaning device is controlled to perform a cleaning test action on the target tooth according to the preset cleaning program and the preset cleaning parameters, wherein the preset cleaning parameters include the type of the target tooth, the pressure parameters of the oral cleaning device on the target tooth, the rotation angle of the oral cleaning device relative to the target reference position, the rotation angle of the target tooth relative to the target reference position, the moving speed of the oral cleaning device, the actual operating time of the oral cleaning device and / or the presence or absence of a cleaning medium between the oral cleaning device and the target tooth.

6. The method according to claim 1, characterized in that The step of obtaining the wear condition of the tooth model during and / or after the cleaning test action is executed to determine a test result corresponding to the cleaning test action includes: Acquiring, based on a white light interferometric scanning device, a wear track on the tooth model left by the oral cleaning device due to performing the cleaning test action; The wear volume loss of the tooth model is determined according to the wear trajectory.

7. The method according to claim 6, characterized in that The method further comprises: According to the wear volume loss of the tooth model, a three-dimensional surface topography, surface defect distribution and / or surface roughness of the tooth model are determined.

8. The method according to claim 1, characterized in that The step of obtaining the wear condition of the tooth model during and / or after the cleaning test action is executed to determine a test result corresponding to the cleaning test action includes: Based on a stereo microscope, changes in the wear trajectory of the surface of the tooth model before and after the cleaning test action is performed are obtained.

9. The method according to claim 8, characterized in that The step of obtaining the wear condition of the tooth model during and / or after the cleaning test action is performed to determine a test result corresponding to the cleaning test action further includes: Based on a scanning electron microscope, the wear track changes of the teeth in the second target area screened and determined on the tooth model before and after the cleaning test action are obtained, wherein the second target area is screened and determined based on the wear track changes determined based on a stereo microscope, and the teeth in the second target area are processed by a preset process.

10. The method according to claim 1, characterized in that The step of obtaining the wear condition of the tooth model during and / or after the cleaning test action is performed to determine a test result corresponding to the cleaning test action further includes: The nano-microhardness of the surface of the tooth model before and after the cleaning test action is performed is obtained based on a nano-indentation measurement device.

11. The method according to claim 1, wherein The method further comprises: The restoration condition of the enamel on the surface of the tooth model under the remineralization treatment condition is obtained to determine the restoration ability of the tooth model under the corresponding environment.

12. The method according to claim 11, characterized in that The obtaining of the restoration condition of the enamel on the surface of the tooth model under the remineralization treatment condition to determine the restoration ability of the tooth model under the corresponding environment includes: The growth of surface crystals of the tooth model under the remineralization treatment condition and the changing trend of the surface crystals of the tooth model with the remineralization treatment time are obtained.

13. The method according to claim 12, characterized in that The obtaining of the restoration condition of the enamel on the surface of the tooth model under the remineralization treatment condition to determine the restoration ability of the tooth model under the corresponding environment includes: Obtain the changes in the enamel surface morphology and enamel surface roughness of the tooth model under the remineralization treatment conditions, as well as the physical and chemical characteristics of the crystals deposited on the surface of the tooth model, to determine the surface repair condition of the tooth model under the remineralization treatment conditions.

14. The method according to claim 12, characterized in that The obtaining of the restoration condition of the enamel on the surface of the tooth model under the remineralization treatment condition to determine the restoration ability of the tooth model under the corresponding environment includes: Based on the surface topography scanning device, taking the target reference point on the tooth model as a reference, obtaining the crystal changes and surface roughness changes of the enamel surface of the tooth model; According to the crystal change and the surface roughness change, a restoration amount change curve of the tooth model under the remineralization treatment condition is determined.

15. The method according to claim 12, characterized in that The obtaining of the restoration condition of the enamel on the surface of the tooth model under the remineralization treatment condition to determine the restoration ability of the tooth model under the corresponding environment includes: The surface morphology restoration of the enamel of the tooth model under the remineralization treatment conditions was obtained using a scanning electron microscope.

16. The method according to claim 12, characterized in that The obtaining of the restoration condition of the enamel on the surface of the tooth model under the remineralization treatment condition to determine the restoration ability of the tooth model under the corresponding environment includes: Based on X-ray diffraction equipment, the state parameters of the crystals deposited on the surface of the tooth model under the remineralization treatment condition are obtained.

17. The method according to claim 12, wherein: The method further comprises: The elemental composition of the crystals deposited on the surface of the tooth model under the remineralization treatment condition was obtained based on an X-ray energy spectrum device.

18. The method according to claim 12, wherein: The method further comprises: Based on a scratch test device, the degree of integration between the crystals deposited on the surface of the tooth model and the tooth model under the remineralization treatment condition is obtained.

19. The method according to claim 12, wherein: The method further comprises: Based on the nanoindentation equipment, the hardness and elastic modulus of the repaired part of the enamel on the surface of the tooth model under the remineralization treatment condition are obtained.

20. The method according to claim 1, wherein The method further comprises: According to the wear condition of the tooth model and the repair condition of the tooth model under the remineralization treatment conditions, the cleaning test is determined according to the degree of impact of the cleaning test action on the enamel of the tooth model, and prompt information is fed back to the user to remind the user of the possible safety risks of the cleaning test action to the enamel of the tooth model.

21. The method according to any one of claims 1 to 20, characterized in that The teeth in the tooth model are human incisors, human canines, human molars, bovine front teeth or bovine back teeth without cracks or caries; The tooth retains complete root and crown areas; After being sterilized and thoroughly cleaned, the teeth are stored under a preset temperature environment for future use.

22. A holding device, characterized in that: The holding device is provided with an oral cleaning device and a test table, and the test table is provided with a tooth model; The holding device can implement the method according to any one of claims 1-21.

23. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 21 is implemented.

24. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 21 is implemented.

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