Method, device and equipment for calculating occlusion relation of dental arch model and storage medium

Abstract

The invention relates to the technical field of dental medicine, in particular to a dental arch model occlusion relation calculation method and device, equipment and a storage medium. The method comprises the following steps: acquiring a dental three-dimensional model of a patient; executing gravity settling positioning operation, fixing the upper jaw model as a static rigid body, releasing translation and rotation freedom degrees of the lower jaw model, and applying gravity action in the normal direction of the occlusal surface; micro-vibration self-adaptive optimization operation is executed, periodic disturbing force dominated by the normal direction is applied to the lower jaw model, and the teeth are driven to generate tangential slippage behaviors along the occlusal surface; identifying an occlusal contact point set, calculating a normal stress value of each contact point, and iteratively adjusting a pose parameter of the lower jaw model; and based on the optimized mandible pose, simulating a mandible motion path, identifying interference points through a continuous collision detection algorithm, and calling back the contact mechanical equilibrium optimization operation to perform closed-loop correction so as to determine the occlusal relationship. According to the method, the occlusion alignment relation better meeting the biomechanics and occlusion function requirements is calculated in an automatic auxiliary mode.

Description

Technical Field

[0001] This application relates to the technical field of dental medicine, and in particular to a method, apparatus, device, and storage medium for calculating the occlusal relationship of a dental arch model. Background Technology

[0002] In clinical dental applications such as prosthesis restoration, occlusal reconstruction, and orthodontic treatment, accurately and stably establishing the maxillary-mandibular occlusal relationship is key to ensuring the functionality, comfort, and durability of the prosthesis.

[0003] Currently, the acquisition and matching of occlusal relationships in clinical practice mainly relies on commonly used occlusal recording methods (such as occlusal wax), combined with manual alignment using 3D models, or geometric alignment using 3D digital registration algorithms (such as iterative nearest point ICP). While these traditional techniques can achieve matching in some simple restorative scenarios, they are insufficient to meet the clinical need for "functional occlusion."

[0004] On the one hand, most existing methods are based on static registration, ignoring the physical behaviors during actual occlusion, such as gravitational settling, frictional sliding between tooth contact surfaces, and adaptive positioning behavior. This simplified model, which ignores physical interactions, means that even after the upper and lower jaws are aligned, the occlusal points still need to be manually corrected or the occlusal plates repeatedly adjusted.

[0005] On the other hand, existing systems typically lack contact force field analysis and dynamic interference detection mechanisms, making it impossible to effectively determine whether there are "occlusal high points" or movement path interference during tooth occlusion. For example, after static occlusion is established, if the patient performs forward or lateral movements, unexpected contact interference often occurs, affecting the functionality and chewing efficiency of the restoration. Furthermore, the evenness of contact force distribution has not been quantitatively assessed, which may lead to some teeth bearing excessive occlusal forces, resulting in occlusal discomfort and restoration failure. Summary of the Invention

[0006] One objective of this application is to provide a method, apparatus, device, and storage medium for calculating the occlusal relationship of a dental arch model, aiming to solve the technical problem that related technologies are unable to meet the requirements of functional occlusion when calculating clinical occlusal relationships.

[0007] In a first aspect, embodiments of this application provide a method for calculating the occlusal relationship of a dental arch model, comprising:

[0008] Obtain a three-dimensional dental model of the patient, which includes a maxillary model and a mandibular model, and the three-dimensional dental model is adapted to a preset rigid body physics engine;

[0009] The rigid body physics engine is invoked to perform a gravity settling positioning operation, which includes fixing the maxillary model as a static rigid body, releasing the translational and rotational degrees of freedom of the mandibular model, and applying gravity along the occlusal surface normal to cause the mandibular model to settle to a preset contact position.

[0010] The rigid body physics engine is invoked to perform micro-vibration optimization operation, which includes: applying periodic perturbation force to the mandibular model with the normal direction as the main force, driving the mandibular model to slide tangentially along the occlusal surface until it reaches a preset force balance stable position;

[0011] Perform a pose optimization operation, which includes: determining the occlusal contact points of the maxillary model and the mandibular model, iteratively adjusting the pose parameters of the mandibular model based on the normal force values ​​of each occlusal contact point, and determining the optimized mandibular pose.

[0012] Perform dynamic verification operation, which includes: simulating the mandibular movement path based on the optimized mandibular pose, identifying interference points in the mandibular movement path through a preset continuous collision detection algorithm, and calling back the contact mechanics equalization optimization operation for closed-loop correction to determine the occlusal relationship.

[0013] In conjunction with the first aspect, in one possible implementation, the gravity settlement positioning operation includes:

[0014] The dental 3D model is subjected to surface mesh simplification, normal reconstruction and topological repair preprocessing operations;

[0015] Initial coarse alignment is achieved through bounding box centroid registration or planar anatomical markers.

[0016] Initialize the simulation environment in the rigid body physics simulation engine, set the gravity direction as the occlusal surface normal, the maxillary model as a static rigid body, and the mandibular model as a dynamic rigid body.

[0017] Configure friction coefficient, mass distribution, and contact stiffness parameters that conform to the real oral cavity environment;

[0018] Initiate settlement simulation and monitor the contact area in real time to avoid non-physical interpenetration phenomena;

[0019] When the linear velocity and angular velocity of the mandibular model are continuously lower than the set threshold, a stable state is determined and the spatial pose matrix is ​​recorded.

[0020] In conjunction with the first aspect, in one possible implementation, the micro-vibration adaptive optimization operation includes:

[0021] Determine the low-frequency periodic disturbance function, with the normal of the biting surface as the main direction, and superimpose the planar random offset component.

[0022] Based on the low-frequency periodic perturbation function, a perturbation force is applied to the overall center of gravity of the mandible or the functional occlusal region of the molars.

[0023] Maintaining the fixed state of the jaw model described above, the adaptive sliding behavior of the teeth along the contact surface is simulated using the rigid body physics engine;

[0024] Real-time monitoring of the number of contact areas, contact area, and contact force trends;

[0025] The optimization is terminated when the rate of change of contact parameters stabilizes within a preset range for multiple consecutive simulation steps and the mandibular movement speed is lower than the convergence threshold.

[0026] In conjunction with the first aspect, in one possible implementation, the pose optimization operation specifically includes:

[0027] Obtain the set of spatial coordinates of the actual contact points under closed contact conditions;

[0028] The normal force value at each contact point is calculated using the physics engine;

[0029] Calculate the average force value at all contact points;

[0030] An optimization function is established with the goal of minimizing the force dispersion at the occlusal contact point, and the translation vector and Euler angle rotation parameters of the mandibular rigid body are determined as optimization variables.

[0031] Gradient descent is used to perform pose fine-tuning iterations until the optimization function converges or the pose change amplitude is lower than the set value.

[0032] In conjunction with the first aspect, in one possible implementation, when the pose optimization operation selects a local region for optimization, it only adjusts the pose parameters of the corresponding dental rigid body within the local region; when global optimization is selected, it adjusts the pose parameters of the overall mandibular rigid body. The specific functional region includes, but is not limited to, the left molar region, the right molar region, or the anterior tooth region.

[0033] In conjunction with the first aspect, in one possible implementation, the dynamic verification operation specifically includes: establishing a standardized mandibular movement path set that includes opening and closing movements, protrusion movements, and lateral movements;

[0034] Motion simulation of the mandibular model along the path frame sequence;

[0035] Perform continuous collision detection in each frame of motion to identify illegal model insertion regions;

[0036] Interference points where the contact force exceeds the biomechanical safety threshold are marked;

[0037] The contact mechanics equalization optimization operation is automatically invoked for local pose re-optimization in the marked interference area;

[0038] Repeat the iteration until there is no continuous interference in all motion paths and the maximum contact force meets clinical safety standards.

[0039] In conjunction with the first aspect, in one possible implementation, the gravity settling positioning operation is performed by initial registration using mechanical simulation in occlusal positioning, and the micro-vibration optimization operation is performed by physical simulation modeling of the tapping method in occlusal relationship adjustment.

[0040] In a second aspect, embodiments of this application provide a calculation device for the occlusal relationship of a dental arch model, comprising:

[0041] The data acquisition module is used to acquire the patient's dental 3D model, which includes a maxillary model and a mandibular model, and the dental 3D model is adapted to a preset rigid body physics engine.

[0042] The gravity settling positioning module is used to call the rigid body physics engine to perform gravity settling positioning operation. The gravity settling positioning operation includes: fixing the maxillary model as a static rigid body, releasing the translational and rotational degrees of freedom of the mandibular model, and applying gravity along the occlusal surface normal to make the mandibular model settle to a preset contact position.

[0043] The micro-vibration adaptive optimization module is used to call the rigid body physics engine to perform micro-vibration optimization operations. The micro-vibration optimization operations include: applying periodic perturbation force to the mandibular model with the normal direction as the main force, driving the mandibular model to slide tangentially along the occlusal surface until it reaches a preset force balance stable position.

[0044] The pose adjustment module is used to perform pose optimization operations, which include: determining the occlusal contact points of the maxillary model and the mandibular model, iteratively adjusting the pose parameters of the mandibular model according to the normal force values ​​of each occlusal contact point, and determining the optimized mandibular pose.

[0045] The data calculation module is used to perform dynamic verification operations, which include: simulating the mandibular movement path based on the optimized mandibular pose, identifying interference points in the mandibular movement path through a preset continuous collision detection algorithm, and performing closed-loop correction by calling back the contact mechanics equalization optimization operation to determine the occlusal relationship.

[0046] In a third aspect, embodiments of this application provide an electronic device including a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor causing the electronic device to perform the method as described in any of the first aspects above when executing the one or more computer programs.

[0047] In a fourth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method described in any of the preceding claims.

[0048] The embodiments of this application can achieve the following technical effects:

[0049] This application, through physical simulation and algorithm optimization, takes into account the physical process of natural occlusion and precise anatomical morphology, and adds an optimization mechanism for the occlusal contact force field and dynamic stability mechanism. It simulates the natural behavior of "plaster occlusal settlement" in digital occlusal relationship, which is different from traditional manual alignment or static ICP coarse registration. For the first time in occlusal registration, the "tapping method" action is digitized and physically simulated and modeled.

[0050] It is evident that this application utilizes automated assisted calculation to determine the occlusal alignment relationship that better aligns with biomechanical and occlusal functional requirements, thus better meeting the needs of the clinical environment. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 A flowchart illustrating a method for calculating the occlusal relationship of a dental arch model provided in an embodiment of this application;

[0053] Figure 2 This is a schematic diagram of the structure of a calculation device for the occlusal relationship of a dental arch model provided in an embodiment of this application;

[0054] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0056] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this application do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0057] In the first aspect, please refer to Figure 1 This application provides a method for calculating the occlusal relationship of a dental arch model, the method comprising:

[0058] Step S10: Obtain the patient's dental 3D model, which includes a digitized maxillary model and a mandibular model;

[0059] Step S20: Perform gravity settling positioning operation to fix the maxillary model as a static rigid body, release the translational and rotational degrees of freedom of the mandibular model, apply gravity along the normal of the occlusal surface, and allow the mandibular model to settle naturally until it reaches a stable contact posture.

[0060] Step S30: Perform micro-vibration adaptive optimization operation, apply periodic perturbation force dominated by the normal direction to the mandibular model, drive the teeth to produce tangential sliding behavior along the occlusal surface until a stable position of force balance is reached.

[0061] Step S40: Identify the set of occlusal contact points, calculate the normal force value of each contact point, iteratively adjust the pose parameters of the mandibular model, and determine the optimized mandibular pose.

[0062] Step S50: Based on the optimized mandibular pose, simulate the mandibular movement path, identify interference points through a continuous collision detection algorithm, and perform closed-loop correction by calling back the contact mechanics balancing optimization operation to determine the occlusal relationship.

[0063] Existing methods for matching occlusal relationships mainly suffer from the following technical problems:

[0064] Lack of physical simulation mechanism: The model does not take into account natural alignment processes such as gravity and adaptive sliding, which can easily lead to unstable model alignment or positional deviation; Inability to optimize contact force distribution: The model lacks force feedback and optimization algorithms, making it difficult to achieve balanced and multi-point coordination of occlusal contact; Lack of dynamic stability: The model ignores interference detection in the mandibular movement path, which can lead to poor contact of the prosthesis during movement; High degree of manual intervention: The model relies on the technician's experience or repeated adjustments, and lacks automated and intelligent alignment mechanisms, resulting in low efficiency and large errors.

[0065] In response, this application's embodiments, through the above-mentioned scheme, comprehensively consider the physical process of natural occlusion and precise anatomical morphology, and add an optimization mechanism for the occlusal contact force field and a dynamic stability mechanism to automatically assist in calculating an occlusal alignment relationship that better meets the biomechanical and occlusal functional requirements.

[0066] Specifically, in this embodiment, the upper and lower jaw models are regarded as freely movable rigid bodies. By calculating the center of gravity and simulating gravity, the models are naturally settled to the initial docking position. At the same time, by applying low-frequency periodic perturbation force to the lower jaw model, the "tapping" operation in oral occlusion examination is simulated, which causes the teeth to automatically slide along the occlusal surface to a stable contact position. An optimization model is established with the minimum dispersion of force at the occlusal contact point as the objective function. The contact area is fine-tuned to achieve uniform distribution of contact force among multiple teeth on the dental arch.

[0067] Finally, the simulated mandibular movement path (including opening and closing, protrusion, and lateral movements) is used to detect potential occlusal interference points and automatically correct tooth positions to ensure that contact in all dynamic trajectories meets the requirements.

[0068] More specifically, the gravity settling positioning operation includes:

[0069] The dental 3D model undergoes surface mesh simplification, normal reconstruction, and topological restoration preprocessing. Initial coarse alignment is achieved through bounding box centroid registration or planar anatomical landmarks. The simulation environment is initialized in the rigid body physics simulation engine, with the gravity direction set as the occlusal surface normal, the maxillary model as a static rigid body, and the mandibular model as a dynamic rigid body. Friction coefficient, mass distribution, and contact stiffness parameters that conform to the real oral cavity environment are configured. Settlement simulation is initiated and the contact area is detected in real time to avoid non-physical interpenetration phenomena. When the linear velocity and angular velocity of the mandibular model are continuously lower than the set threshold, a stable state is determined and the spatial pose matrix is ​​recorded.

[0070] In this embodiment, the patient's upper and lower jaw models are first imported into the system. To improve computational stability, the models can be preprocessed by mesh simplification, normal reconstruction, and topology repair.

[0071] The maxillary and mandibular models are initially roughly aligned using anatomical landmarks (such as incisor points, midlines, and occlusal planes) or the center of gravity of the bounding box. The purpose is to ensure that the initial positions of the two models are approximately aligned in space, thereby avoiding non-contact drift or initial jamming problems in rigid body simulation.

[0072] The rigid body physics simulation engine is invoked to initialize the simulation environment, and the simulation parameters are set as follows: the gravity direction is set to the normal direction of the occlusal surface, usually the negative direction of the Z-axis (-Z); the maxillary model is set as a static rigid body with a fixed position; the mandibular model is set as a dynamic rigid body, allowing free translation and rotation; the physical parameters of the model surface friction coefficient, mass, and contact stiffness are set to simulation values ​​that conform to the real occlusal environment.

[0073] This embodiment does not limit the specific implementation of the rigid body physics simulation engine; those skilled in the art can implement it as needed.

[0074] The rigid body simulation engine is activated, and gravity is applied to gradually settle the mandibular model under gravity. During the simulation, the system automatically detects the contact area between the upper and lower mandibular models to avoid non-physical interlocking. If there is a slight deviation on the model surface, the model is automatically adjusted by friction and mass inertia. When the system detects that the mandibular model has reached a stable state (i.e., both linear velocity and angular velocity are less than the set threshold), the settling is considered complete.

[0075] After the simulation is completed, the spatial pose (position vector and translation matrix) of the mandibular model is recorded as the initial input value for the subsequent mechanical optimization module.

[0076] More specifically, the micro-vibration adaptive optimization operation includes:

[0077] A low-frequency periodic perturbation function is designed, with the occlusal surface normal as the main direction, superimposed with a planar random offset component satisfying a preset ratio; the perturbation force is applied to the overall center of gravity of the mandible or the functional occlusal area of ​​the molars; the maxillary model is kept in a fixed state, and the adaptive sliding behavior of the teeth along the contact surface is simulated through a physics engine; the number of contact areas, contact area and contact force change trends are monitored in real time; the optimization is terminated when the rate of change of contact parameters is stable within a preset range within multiple consecutive simulation steps and the mandibular movement speed is lower than the convergence threshold.

[0078] This embodiment simulates the "tapping" operation performed by a dentist during denture adjustment, which involves applying slight, periodic interference to the patient's mandible to allow the teeth to slide naturally onto the occlusal surface to a position of minimum stress and most stable contact. The specific implementation steps include, but are not limited to:

[0079] Step 1: Design of the perturbation function

[0080] A force simulating a light tapping disturbance is applied to the mandibular model.

[0081] The direction of action is the normal or a random offset direction (e.g., mainly the negative Z-axis direction, with a small amount of X / Y direction perturbation superimposed); the perturbation force can be applied to the overall center of gravity of the mandible, or to a representative occlusal area in the dental arch (such as the molar area).

[0082] Step 2: Simulation Iteration

[0083] Maintain the maxillary model in a fixed state; initiate perturbation force to continuously drive the mandibular model to produce small-amplitude changes in three-dimensional space; under the action of contact resistance, the model produces tangential sliding behavior along the occlusal surface; due to the change in local posture, the teeth will tend to a "natural stable" state, simulating the adaptive behavior of actual human occlusal contact.

[0084] Step 3: Termination Condition Determination

[0085] The linear velocity and angular velocity of the mandibular model are both below the set threshold (e.g., <0.01mm / s); the number of contact areas, contact area or contact force changes remain stable over several consecutive time steps, and the maximum simulation duration or number of disturbance cycles reaches the upper limit.

[0086] More specifically, the contact mechanics balancing optimization operation includes:

[0087] In the closed contact state, the spatial coordinate set of the actual contact points is obtained; the normal force value of each contact point is calculated through the physics engine; the average force value of all contact points is calculated; an optimization function is established with the goal of minimizing the dispersion of the force at the occlusal contact points, and the translation vector and Euler angle rotation parameters of the mandibular rigid body are determined as optimization variables; the gradient descent method is used to perform pose fine-tuning iterations until the optimization function converges or the pose change amplitude is lower than the set value.

[0088] Optimizing the contact force distribution of the upper and lower teeth during occlusion minimizes the differences between force points, thereby achieving the clinically ideal occlusal relationship of "multi-point coordination and balanced force distribution." Specific steps to achieve this include, but are not limited to:

[0089] Step 1: Contact point identification and initial force calculation

[0090] Simulate the closed contact state of the upper and lower jaw models to obtain a set of all actual contact points:

[0091]

[0092] Pi represents the spatial coordinates of the i-th contact point;

[0093] The physics engine is used to estimate the normal force at each contact point, forming a sequence of force vectors:

[0094]

[0095] Calculate the average force value:

[0096] i = 1;

[0097] Step 2: Define the optimization objective function:

[0098] First, construct the total force deviation loss function (e.g., the minimum variance function below):

[0099]

[0100] Minimize the function to make the forces at all contact points as balanced as possible.

[0101] Step 3: Optimize variable setting and solution

[0102] The optimization variables are the local rigid body attitude parameters of the teeth (or dentition): translation vector and rotation parameters.

[0103] Translation vector of the mandibular rigid body (fine-tuned along X / Y / Z)

[0104] The rotation matrix of the mandibular rigid body is usually parameterized as Euler angles.

[0105] The optimization variables are:

[0106]

[0107] Optimization can be limited to "function-related areas" to avoid full-channel linkage.

[0108] If the optimization area is the left molar region, right molar region, etc., the rigid body of a specific dental arch can be optimized locally.

[0109] More specifically, the optimization operation can be limited to specific functional areas, including but not limited to the left molar area, right molar area, or anterior tooth area. When local area optimization is selected, only the pose parameters of the corresponding dental arch rigid body in that area are adjusted. When global optimization is selected, the pose parameters of the overall mandibular rigid body are adjusted.

[0110] More specifically, the dynamic stability verification operation includes:

[0111] Establish a standardized set of mandibular motion paths, including opening and closing movements, protrusion movements, and lateral movements; perform motion simulation of the mandibular model along the path frame sequence; perform continuous collision detection in each frame of motion to identify illegal model interspersed areas; mark interference points where the contact force exceeds the biomechanical safety threshold; automatically call the contact mechanics equalization optimization operation to re-optimize the local pose of the marked interference areas; repeat the iteration until there is no continuous interference in all motion paths and the maximum contact force meets the clinical safety standard.

[0112] More specifically, the gravity settling positioning operation uses mechanical simulation for initial registration in occlusal positioning, and the micro-vibration adaptive optimization operation uses physical simulation modeling of the tapping method in occlusal relationship adjustment.

[0113] In a second aspect, embodiments of this application also propose a calculation device for the occlusal relationship of a dental arch model. Please refer to... Figure 2 This embodiment proposes a calculation device for the occlusal relationship of a dental arch model, comprising:

[0114] The data acquisition module 210 is used to acquire the patient's dental three-dimensional model, which includes a maxillary model and a mandibular model, and the dental three-dimensional model is adapted to a preset rigid body physics engine.

[0115] The gravity settling positioning module 220 is used to call the rigid body physics engine to perform gravity settling positioning operation. The gravity settling positioning operation includes: fixing the maxillary model as a static rigid body, releasing the translational and rotational degrees of freedom of the mandibular model, and applying gravity along the occlusal surface normal to make the mandibular model settle to a preset contact position.

[0116] The micro-vibration adaptive optimization module 230 is used to call the rigid body physics engine to perform micro-vibration optimization operations. The micro-vibration optimization operations include: applying periodic perturbation force to the mandibular model with the normal direction as the main force, driving the mandibular model to slide tangentially along the occlusal surface until it reaches a preset force balance stable position.

[0117] The pose adjustment module 240 is used to perform pose optimization operations, which include: determining the occlusal contact points of the maxillary model and the mandibular model, iteratively adjusting the pose parameters of the mandibular model according to the normal force value of each occlusal contact point, and determining the optimized mandibular pose.

[0118] The data calculation module 250 is used to perform dynamic verification operations, which include: simulating the mandibular movement path based on the optimized mandibular pose, identifying interference points in the mandibular movement path through a preset continuous collision detection algorithm, and performing closed-loop correction by calling back the contact mechanics equalization optimization operation to determine the occlusal relationship.

[0119] It should be noted that the above-mentioned dental arch model occlusal relationship calculation device can execute the dental arch model occlusal relationship calculation method provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the embodiments of the dental arch model occlusal relationship calculation device can be found in the dental arch model occlusal relationship calculation method provided in the embodiments of this application.

[0120] See Figure 3, Figure 3 This is a schematic diagram of the structure of an electronic device 300 provided in an embodiment of this application. The electronic device 300 includes one or more processors 31 and a memory 32. The memory 32 is connected to one or more processors 31, for example, via a bus.

[0121] Processor 31 is configured to support the electronic device 300 in performing the corresponding functions in the methods described in the above method embodiments. Processor 31 may be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0122] Memory 32 is used to store program code, etc. Memory may include volatile memory (VM), such as random access memory (RAM); memory may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); memory 32 may also include combinations of the above types of memory.

[0123] The memory 32 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the method for calculating the occlusal relationship of the dental arch model in the embodiments of this application. The processor 31 executes various functional applications and data processing of the method for calculating the occlusal relationship of the dental arch model and the device for calculating the occlusal relationship of the dental arch model by running the non-volatile software programs, instructions, and modules stored in the memory 32, that is, it realizes the functions of the various modules or units of the method for calculating the occlusal relationship of the dental arch model and the device for calculating the occlusal relationship of the dental arch model provided in the above method embodiments.

[0124] The memory 32 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and application programs required for at least one function. The data storage area may store data created by the use of the computing device based on the dental arch model occlusion. In some embodiments, the memory 32 may optionally include memory remotely located relative to the processor 31, which can be connected to the computing device for the dental arch model occlusion via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0125] One or more modules are stored in memory 32. When executed by one or more processors 31, they perform the calculation method of the dental arch model occlusion relationship in any of the above method embodiments. For example, they perform the method steps described in the above method embodiments to realize the functions of the modules described in the above device embodiments.

[0126] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the method as described in the foregoing embodiments.

[0127] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0128] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A method for calculating the occlusal relationship of a dental arch model, characterized in that, The method includes: Obtain a three-dimensional dental model of the patient, which includes a maxillary model and a mandibular model, and the three-dimensional dental model is adapted to a preset rigid body physics engine; The rigid body physics engine is invoked to perform a gravity settling positioning operation, which includes fixing the maxillary model as a static rigid body, releasing the translational and rotational degrees of freedom of the mandibular model, and applying gravity along the occlusal surface normal to cause the mandibular model to settle to a preset contact position. The rigid body physics engine is invoked to perform micro-vibration optimization operation, which includes: applying periodic perturbation force to the mandibular model with the normal direction as the main force, driving the mandibular model to slide tangentially along the occlusal surface until it reaches a preset force balance stable position; Perform a pose optimization operation to determine an optimized mandibular pose. The pose optimization operation includes: determining the occlusal contact points of the maxillary model and the mandibular model, and iteratively adjusting the pose parameters of the mandibular model based on the normal force values ​​of each occlusal contact point. Perform a dynamic verification operation to determine the occlusal relationship. The dynamic verification operation includes: simulating the mandibular movement path based on the optimized mandibular pose, identifying interference points in the mandibular movement path through a preset continuous collision detection algorithm, and calling back the pose optimization operation for correction.

2. The method according to claim 1, characterized in that, The gravity settlement positioning operation includes: The dental 3D model is subjected to surface mesh simplification, normal reconstruction and topological repair preprocessing operations; Initial coarse alignment is achieved through bounding box centroid registration or planar anatomical markers. Initialize the simulation environment in the rigid body physics simulation engine, set the gravity direction as the occlusal surface normal, the maxillary model as a static rigid body, and the mandibular model as a dynamic rigid body. Configure friction coefficient, mass distribution, and contact stiffness parameters that conform to the real oral cavity environment; Initiate settlement simulation and monitor the contact area in real time to avoid non-physical interpenetration phenomena; When the linear velocity and angular velocity of the mandibular model are continuously lower than the set threshold, a stable state is determined and the spatial pose matrix is ​​recorded.

3. The method according to claim 1, characterized in that, The micro-vibration adaptive optimization operation includes: Determine the low-frequency periodic disturbance function, with the normal of the biting surface as the main direction, and superimpose the planar random offset component. Based on the low-frequency periodic perturbation function, a perturbation force is applied to the overall center of gravity of the mandible or the functional occlusal region of the molars. Maintaining the fixed state of the jaw model described above, the adaptive sliding behavior of the teeth along the contact surface is simulated using the rigid body physics engine; Real-time monitoring of the number of contact areas, contact area, and contact force trends; The optimization is terminated when the rate of change of contact parameters stabilizes within a preset range for multiple consecutive simulation steps and the mandibular movement speed is lower than the convergence threshold.

4. The method according to claim 1, characterized in that, The pose optimization operation specifically includes: Obtain the set of spatial coordinates of the actual contact points under closed contact conditions; The normal force value at each contact point is calculated using the physics engine; Calculate the average force at all contact points; An optimization function is established with the goal of minimizing the force dispersion at the occlusal contact point, and the translation vector and Euler angle rotation parameters of the mandibular rigid body are determined as optimization variables. Gradient descent is used to perform pose fine-tuning iterations until the optimization function converges or the pose change amplitude is lower than the set value.

5. The method according to claim 4, characterized in that, When the pose optimization operation selects a local area for optimization, it only adjusts the pose parameters of the corresponding dental rigid body within the local area. When global optimization is selected, it adjusts the pose parameters of the overall mandibular rigid body. The specific functional areas include, but are not limited to, the left molar area, the right molar area, or the anterior tooth area.

6. The method according to claim 1, characterized in that, The dynamic verification operation specifically includes: establishing a standardized set of mandibular movement paths that includes opening and closing movements, protrusion movements, and lateral movements; Motion simulation of the mandibular model along the path frame sequence; Perform continuous collision detection in each frame of motion to identify illegal model insertion regions; Interference points where the contact force exceeds the biomechanical safety threshold are marked; The contact mechanics equalization optimization operation is automatically invoked for local pose re-optimization in the marked interference area; Repeat the iteration until there is no continuous interference in all motion paths and the maximum contact force meets clinical safety standards.

7. The method according to claim 1, characterized in that, The gravity settling positioning operation uses mechanical simulation for initial registration during occlusal positioning, and the micro-vibration optimization operation uses physical simulation modeling of the tapping method during occlusal relationship adjustment.

8. A calculation device for the occlusal relationship of a dental arch model, characterized in that, include: The data acquisition module is used to acquire the patient's dental 3D model, which includes a maxillary model and a mandibular model, and the dental 3D model is adapted to a preset rigid body physics engine. The gravity settling positioning module is used to call the rigid body physics engine to perform gravity settling positioning operation. The gravity settling positioning operation includes: fixing the maxillary model as a static rigid body, releasing the translational and rotational degrees of freedom of the mandibular model, and applying gravity along the occlusal surface normal to make the mandibular model settle to a preset contact position. The micro-vibration adaptive optimization module is used to call the rigid body physics engine to perform micro-vibration optimization operations. The micro-vibration optimization operations include: applying periodic perturbation force to the mandibular model with the normal direction as the main force, driving the mandibular model to slide tangentially along the occlusal surface until it reaches a preset force balance stable position. The pose adjustment module is used to perform pose optimization operations, which include: determining the occlusal contact points of the maxillary model and the mandibular model, iteratively adjusting the pose parameters of the mandibular model according to the normal force values ​​of each occlusal contact point, and determining the optimized mandibular pose. The data calculation module is used to perform dynamic verification operations, which include: simulating the mandibular movement path based on the optimized mandibular pose, identifying interference points in the mandibular movement path through a preset continuous collision detection algorithm, and performing closed-loop correction by calling back the contact mechanics equalization optimization operation to determine the occlusal relationship.

9. An electronic device, characterized in that, The device includes a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor causing the electronic device to perform the method as described in any one of claims 1-7 when executing the one or more computer programs.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-7.

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