A system for mechanical evaluation based on rotation and inclination of a bracketless appliance

Abstract

The present application relates to a kind of based on bracketless appliance rotation and oblique mechanical evaluation system, belong to oral orthodontic equipment technical field.The system includes four big core units: whole dental arch constraint unit simulates oral temperature by constant temperature water bath component, camera holder type adjustable dental arch base adjusts model posture, constructs accurate constraint environment;Clinical displacement driving unit is based on anchorage center bearing lever structure, through adjustable anchorage positioning, multidirectional servo driving and displacement closed-loop calibration, realize positioning-driving-data synchronization;Single tooth mechanical sensing unit collects dynamic mechanical data, and interference is removed by Kalman filtering;Data processing unit combines environmental parameters, and uses multiple linear regression to correct attenuation bias, generates mechanical attenuation curve and calculates time attenuation percentage, compares clinical suitable force interval and outputs mechanical evaluation report.The evaluation accuracy and clinical adaptability of the present application provide scientific basis for oral orthodontic scheme optimization.

Description

Technical Field

[0001] This invention belongs to the field of orthodontic equipment technology, specifically relating to a mechanical assessment system based on the rotation and tilting of bracketless aligners. Background Technology

[0002] With the development of orthodontic technology, clear aligners have become an important choice for clinical orthodontic treatment due to their advantages such as good aesthetics, comfortable wear, and removability. Clear aligners apply continuous and appropriate mechanical loads to the target teeth, guiding them to gradually achieve the expected displacements such as rotation and tilt. The orthodontic effect directly depends on the match between the magnitude, direction, and mechanical decay of the applied force and the clinical needs. If the applied force is too large, it can easily lead to periodontal tissue damage; if the applied force is too small, it cannot achieve effective correction. Abnormal mechanical decay may also lead to prolonged treatment period or deviation of the treatment trajectory. Therefore, the mechanical assessment of the rotation and tilting of the target teeth under the action of clear aligners is crucial.

[0003] Current biomechanical assessment techniques for bracketless orthodontic appliances still have significant shortcomings: insufficient accuracy in biomechanical environment simulation. Existing assessment equipment mostly uses a room-temperature static environment to simulate oral scenarios, ignoring the impact of constant intraoral temperature and minor temperature fluctuations on the elastic modulus and mechanical transmission efficiency of the appliance. At the same time, traditional equipment often fixes the posture of the entire dental arch model, failing to consider the changes in the overall physiological posture of the dental arch (such as occlusal angle and arch curvature) on the force state of the target teeth in clinical practice. This results in a disconnect between the simulated environment and actual oral conditions, limiting the reference value of the assessment data.

[0004] Poor synchronization between anchorage positioning and displacement drive. The anchorage center is a key benchmark for force transmission in bracketless orthodontic treatment. Existing adjustable anchorage positioning components mostly rely on manual experience to determine the benchmark point, lacking digital and precise positioning methods based on crown morphology and root orientation, which easily leads to anchorage center deviation. Furthermore, during multi-directional displacement drive, there is often a time lag between the application of driving force, displacement acquisition, and force signal recording, making it impossible to form a real-time synchronization mechanism of "positioning-drive-data". This makes it difficult to accurately capture the displacement-force correlation characteristics from the initial loading to the stable stage, affecting the authenticity of the biomechanical data.

[0005] Incomplete mechanical data processing and attenuation analysis. During the acquisition of force signals on the target tooth, interference signals such as equipment vibration and ambient temperature fluctuations can easily be mixed into the raw data. Existing technologies lack effective filtering algorithms (such as Kalman filtering) to remove interference signals, resulting in distortion of dynamic mechanical data. At the same time, mechanical attenuation analysis often only focuses on the force change over time, without combining environmental parameters such as temperature and model posture to establish a correlation model. This makes it impossible to quantify the impact of environmental factors on the attenuation law, making it difficult to accurately calculate the percentage of time attenuation of the initial force. Consequently, it is impossible to accurately determine whether the applied force after attenuation is within the clinically appropriate range, leading to uncertainty in orthodontic treatment planning.

[0006] Insufficient clinical adaptability. Existing full-arch biomechanical databases mostly cover single tooth positions or single orthodontic types, lacking detailed operational data for different tooth positions (such as anterior and posterior teeth) and different orthodontic movements (rotation, tilting). This leads to a mismatch between the retrieved clinically appropriate force range and the actual testing conditions. Furthermore, assessment reports mostly only output biomechanical values ​​without including data sources, calculation logic, and targeted clinical suggestions, making it difficult to directly guide doctors to optimize appliance design or adjust treatment plans, and failing to meet the needs of refined clinical diagnosis and treatment.

[0007] Existing biomechanical assessment technologies for bracketless orthodontic appliances suffer from deficiencies in environmental simulation, synchronization, data processing, and clinical adaptability, which limit the accuracy and safety of orthodontic treatment. There is a need to develop a biomechanical assessment system that can solve the above problems and provide reliable technical support for the scientific optimization of bracketless orthodontic solutions. Summary of the Invention

[0008] To address the aforementioned problems in the prior art, this invention provides a mechanical assessment system based on the rotation and tilt of bracketless orthodontic appliances;

[0009] The objective of this invention can be achieved through the following technical solutions:

[0010] A mechanical assessment system based on the rotation and tilt of a bracketless orthodontic appliance includes: an overall dental arch constraint unit, a clinical displacement driving unit, a single tooth mechanical sensing unit, and a data processing unit;

[0011] The overall dental arch constraint unit includes a camera gimbal-type adjustable dental arch base. The camera gimbal-type adjustable dental arch base applies a systematic constraint force to the entire dental arch through a gimbal-type rotation or tilting mechanism, supports the full dental arch model containing the target tooth, and adjusts the biomechanical constraint environment through overall posture adjustment.

[0012] The clinical displacement drive unit adopts a lever structure based on the anchorage center bearing. According to the clinical orthodontic anchorage design principle, the anchorage center is located. The servo drive control drives the target tooth to rotate and tilt, and the displacement covers the orthodontic treatment range. The displacement-force correlation signal is recorded, and the deviation is fed back and the driving force is adjusted in combination with the displacement closed-loop calibration mechanism.

[0013] The single-tooth mechanical sensing unit acquires the mechanical signals transmitted to the target tooth by the bracketless orthodontic appliance, and records the initial force signal and the dynamic mechanical data of the mechanical signal decaying over time in real time.

[0014] The data processing unit receives the dynamic mechanical data, combines it with environmental parameters, corrects the mechanical attenuation calculation deviation, generates the mechanical attenuation curve of the target tooth during rotation and tilt displacement, calculates the time attenuation percentage of the initial force, compares the time attenuation percentage with the clinically appropriate force range for the corresponding working condition in the full dentition clinical mechanical database, and generates a mechanical assessment report.

[0015] Specifically, the overall dental arch constraint unit simulates the oral cavity temperature environment and continuously monitors water temperature changes in real time to generate a temperature change signal including monitoring timestamps and temperature values. The temperature change signal is stored in a temporary database after noise reduction preprocessing. When it is necessary to adjust the temperature fluctuation state to match the actual clinical orthodontic conditions, the temperature change signal is retrieved and combined with temperature-mechanical attenuation correlation data in historical clinical cases to generate a temperature correction coefficient.

[0016] Specifically, when adjusting the overall posture, the gimbal-type adjustable dental arch base's gimbal-type rotation or tilt mechanism records the base's posture parameters in real time, including rotation angle, tilt angle, and posture change rate, generating a time-stamped posture adjustment signal. The posture adjustment signal is compared in real time with the displacement-force correlation signal. When the posture parameters are detected to meet the preset standard, the posture adjustment signal triggers the state switching command of the clinical movement drive mechanism, while simultaneously locking the current posture of the gimbal-type rotation or tilt mechanism.

[0017] Specifically, the adjustable anchorage positioning component uses a preset anchorage reference point, combined with clinical orthodontic anchorage design principles, to generate a positioning confirmation signal through feedback pressure signals. After verifying the validity of the positioning confirmation signal, a start command is sent to the multi-directional lever drive component, which drives the target tooth to rotate or tilt along a preset trajectory, and records the displacement-force correlation signal in real time. Based on the displacement closed-loop calibration component, the actual displacement signal of the target tooth is collected and the displacement deviation value is calculated with preset parameters. If the displacement deviation value exceeds the clinical preset requirements, a correction command is generated, which is converted into a driving force adjustment signal and transmitted to the multi-directional lever drive component to change the magnitude and direction of the driving force. The actual displacement signal is collected again, the deviation calculation and adjustment are repeated, and the displacement-force correlation signal is updated.

[0018] Specifically, before the multi-directional lever drive component moves the target tooth, it divides the displacement process into specific motion stages, including an initial start-up stage, a uniform motion stage, and a stable holding stage, based on the physiological trajectory of the orthodontic movement of the target tooth. When a stage starts, a stage identifier signal is sent, and a stage identifier and a motion direction identifier are added to the displacement-force correlation signal collected in the current stage. After completion, the data is transmitted to the data processing unit, which separates the force change data corresponding to the rotational displacement and the force change data corresponding to the tilting displacement by recognizing the motion direction identifier field, and stores them in different data partitions.

[0019] Specifically, the process of locating the anchorage center using the adjustable anchorage positioning component is as follows: a digital model is generated based on the crown morphology, root orientation, and relative position data of the anchorage tooth; anatomical feature points of the anchorage tooth are selected, spatial coordinates are calculated, the spatial coordinates are weighted and calculated to generate the theoretical anchorage center spatial coordinates, the actual physical coordinates are compared with the theoretical anchorage center spatial coordinates to calculate the deviation, and a deviation correction instruction is generated.

[0020] Specifically, the process of acquiring dynamic mechanical data by the single-tooth mechanical sensing unit includes: acquiring an initial force signal and marking the initial data identifier and acquisition timestamp in the signal; sending an acquisition command according to preset logic; continuously acquiring mechanical signals and recording the acquisition time points to capture the changes in mechanical signal decay over time; using a Kalman filter algorithm to filter out interference signals caused by base vibration and temperature fluctuations during the acquisition process, retaining valid mechanical signals; and sorting the valid signals according to the acquisition timestamp to generate a dynamic mechanical dataset including the time-mechanical value correspondence.

[0021] Specifically, when the scenario-based computing component of the data processing unit processes dynamic mechanical data, it retrieves environmental parameters, including real-time temperature parameters and real-time attitude parameters; it uses a multiple linear regression algorithm to fit the correlation model between the environmental parameters and the mechanical attenuation data, and substitutes the dynamic mechanical data into the correlation model to generate a mechanical attenuation deviation value.

[0022] Specifically, the process of generating the mechanical decay curve includes: extracting time-mechanical value data from the dynamic mechanical data, generating the value range of the time parameter and the value range of the mechanical value; establishing a two-dimensional rectangular coordinate system, marking the time-mechanical value data as data points one by one in the two-dimensional coordinate system, using a cubic spline interpolation algorithm to smoothly fit the data points, and connecting them to form a continuous, uninterrupted mechanical decay curve.

[0023] Specifically, when the clinical displacement drive unit collects driving force data, it keeps time synchronized with the displacement-force correlation signal. That is, each time a driving force value is collected, the displacement data and the target tooth force value at the same time point are recorded to generate a correlation dataset, which is then transmitted to the data processing unit. A correlation analysis algorithm is used to calculate the correlation coefficient between the driving force value and the target tooth force value, generate force calibration suggestions, and adjust the power transmission structure parameters of the multi-directional lever drive component.

[0024] Specifically, when the overall dental arch constraint unit fixes the full tooth arch model, it contacts the edge and bottom of the full tooth arch model, collects pressure distribution data, generates a fit degree signal, and the fit degree signal is synchronously transmitted to the single tooth mechanical sensing unit.

[0025] Specifically, the data processing unit determines the corresponding working condition based on the target tooth position and orthodontic type of the current test, and then retrieves the clinically appropriate force application interval data under the working condition from the full dentition clinical biomechanics database. The calculated time decay percentage of the time node is compared with the clinically appropriate force application interval data. Combining the biomechanical decay curve characteristics, time decay percentage analysis results and deviation degree, a biomechanical assessment report including data source, calculation logic and clinical recommendations is generated.

[0026] The beneficial effects of this invention are as follows:

[0027] This system utilizes the synergistic effect of the thermostatic water bath component of the overall dental arch constraint unit and the camera-mounted adjustable dental arch base. On one hand, it employs the temperature sensor and water circulation module of the thermostatic water bath component to achieve uniform simulation of the oral cavity temperature environment, avoiding the mechanical environment distortion caused by local temperature differences in traditional assessment systems. On the other hand, with the help of the gimbaled rotation or tilting mechanism and attitude sensor, the overall posture of the full dental arch model can be flexibly adjusted to accurately reproduce the biomechanical constraint conditions under different orthodontic conditions. This solves the problems of traditional fixed bases being unable to adapt to diverse clinical scenarios and the large differences between the simulated environment and the actual oral cavity, providing a clinically relevant basic environment for subsequent mechanical data acquisition.

[0028] The clinically-grade displacement actuation unit employs a collaborative mechanism of "adjustable anchorage positioning - multi-directional lever actuation - displacement closed-loop calibration." First, it precisely locates the anchorage center based on the anatomical features of the anchorage tooth and clinical principles. Then, servo actuation enables controllable adjustment of the target tooth's rotation and tilt displacement. Simultaneously, a displacement closed-loop calibration component corrects deviations in real time, ensuring the accuracy of displacement actuation. Furthermore, the displacement-force correlation signal is recorded synchronously during the actuation process, forming a time-synchronized correlation with the dynamic mechanical data from the single-tooth mechanical sensing unit, avoiding data misalignment issues caused by asynchronous actuation and acquisition in traditional systems. In addition, the single-tooth mechanical sensing unit effectively filters out interference signals such as vibration and temperature through a targeted sensor fit design and Kalman filter algorithm, further ensuring the authenticity and integrity of the mechanical data and providing high-quality data support for subsequent mechanical analysis.

[0029] The data processing unit's scenario-based computing components overcome the limitations of traditional analysis that ignores environmental influences. By combining environmental parameters such as constant temperature water bath temperature and arch base posture, a correlation model is established through a multiple linear regression algorithm. This corrects the calculation deviations of mechanical attenuation caused by environmental factors, making the generated mechanical attenuation curve more closely match the mechanical changes during actual orthodontic treatment. At the same time, relying on the full-arch clinical biomechanics database, the percentage of time attenuation is accurately compared with the clinically appropriate force range for the corresponding working conditions. This not only quantifies the degree of force attenuation but also clarifies the range of deviation and provides clinical adjustment suggestions. This solves the problem that traditional assessments only output data and lack clinical adaptation analysis. It provides a scientific basis for orthodontists to optimize the force application plan of bracketless aligners and adjust the treatment cycle, reducing the risk of low treatment efficiency or tooth damage caused by improper force application.

[0030] Each unit of the system features a flexible and adaptable design: the posture memory module of the overall dental arch constraint unit can store and reproduce typical postures in different orthodontic scenarios, reducing repetitive adjustments; the image-assisted verification module and anatomical feature point calculation logic of the adjustable anchorage positioning component support precise positioning of anchorage centers for different tooth positions and morphologies, adapting to diverse target tooth orthodontic needs such as anterior and posterior teeth; the data processing unit's data export function and report generation module can output standardized assessment reports according to clinical habits, facilitating data storage and multi-scenario application. These designs solve the problems of poor adaptability and cumbersome operation of traditional assessment systems, lower the operational threshold for medical staff, and improve the system's application efficiency in clinical research and actual diagnosis and treatment.

[0031] Traditional clear aligner treatment plans often rely heavily on dentist experience, leading to lengthy trial-and-error cycles and poor patient experience. This system quantifies the biomechanical changes during target tooth rotation and tilting, establishing a complete evaluation chain of "environmental simulation - drive control - data acquisition - clinical analysis." This creates replicable and verifiable biomechanical evaluation standards, providing objective data support for the design optimization and clinical application of clear aligners. By assessing the rationality of the force application plan in advance, the system can identify and adjust potential problems before actual treatment, reducing clinical trial-and-error times, shortening the treatment cycle, and improving the patient experience. Simultaneously, the accumulated biomechanical data enriches the full-arch clinical biomechanical database, providing a foundation for establishing a standardized biomechanical evaluation system in the industry. This promotes the transformation of clear aligner technology from experience-driven to data-driven, fostering the standardized and scientific development of the entire field. Attached Figure Description

[0032] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0033] Figure 1 This is a flowchart of a mechanical assessment system based on the rotation and tilt of a bracketless orthodontic appliance according to the present invention.

[0034] Figure 2 This is a structural diagram of a mechanical assessment system based on the rotation and tilting of a bracketless orthodontic appliance according to the present invention. Detailed Implementation

[0035] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0036] Please see Figure 1-2 A mechanical assessment system based on the rotation and tilt of bracketless orthodontic appliances includes: an overall dental arch constraint unit, a clinical displacement driving unit, a single tooth mechanical sensing unit, and a data processing unit;

[0037] The overall dental arch constraint unit includes a camera gimbal-type adjustable dental arch base. The camera gimbal-type adjustable dental arch base applies a systematic constraint force to the entire dental arch through a gimbal-type rotation or tilting mechanism, supports the full dental arch model containing the target tooth, and adjusts the biomechanical constraint environment through overall posture adjustment.

[0038] The clinical displacement drive unit adopts a lever structure based on the anchorage center bearing. According to the clinical orthodontic anchorage design principle, the anchorage center is located. The servo drive control drives the target tooth to rotate and tilt, and the displacement covers the orthodontic treatment range. The displacement-force correlation signal is recorded, and the deviation is fed back and the driving force is adjusted in combination with the displacement closed-loop calibration mechanism.

[0039] The single-tooth mechanical sensing unit acquires the mechanical signals transmitted to the target tooth by the bracketless orthodontic appliance, and records the initial force signal and the dynamic mechanical data of the mechanical signal decaying over time in real time.

[0040] The data processing unit receives the dynamic mechanical data, combines it with environmental parameters, corrects the mechanical attenuation calculation deviation, generates the mechanical attenuation curve of the target tooth during rotation and tilt displacement, calculates the time attenuation percentage of the initial force, compares the time attenuation percentage with the clinically appropriate force range for the corresponding working condition in the full dentition clinical mechanical database, and generates a mechanical assessment report.

[0041] Specifically, the overall dental arch constraint unit simulates the oral cavity temperature environment and continuously monitors water temperature changes in real time to generate a temperature change signal including monitoring timestamps and temperature values. The temperature change signal is stored in a temporary database after noise reduction preprocessing. When it is necessary to adjust the temperature fluctuation state to match the actual clinical orthodontic conditions, the temperature change signal is retrieved and combined with temperature-mechanical attenuation correlation data in historical clinical cases to generate a temperature correction coefficient.

[0042] The constant temperature water bath component of the overall dental arch constraint unit has a built-in temperature sensor. When simulating the oral cavity temperature environment, the temperature sensor continuously monitors and captures water temperature changes in real time, generating a temperature change signal that includes a monitoring timestamp and temperature value. The temperature change signal is transmitted to the signal receiving module of the data processing unit through the internal data bus. The module performs noise reduction preprocessing on the signal and stores it in a temporary database. When it is necessary to adjust the temperature fluctuation state to match the actual clinical orthodontic conditions, the environmental analysis module of the data processing unit retrieves the temperature change signal from the temporary database, combines it with the "temperature-mechanical attenuation" correlation data in historical clinical cases, predicts the possible interference trend of the current temperature fluctuation on subsequent dynamic mechanical data, and then generates a temperature correction coefficient. This coefficient serves as the temperature correlation basis for subsequent mechanical attenuation calculation deviation correction and is directly imported into the correction algorithm of the scenario-based computing component.

[0043] Specifically, when adjusting the overall posture, the gimbal-type adjustable dental arch base's gimbal-type rotation or tilt mechanism records the base's posture parameters in real time, including rotation angle, tilt angle, and posture change rate, generating a time-stamped posture adjustment signal. The posture adjustment signal is compared in real time with the displacement-force correlation signal. When the posture parameters are detected to meet a preset standard, the posture adjustment signal triggers a state switching command and simultaneously locks the current posture of the gimbal-type rotation or tilt mechanism.

[0044] The camera-mounted adjustable dental arch base is equipped with an attitude sensor on its gimbal-type rotation or tilt mechanism. When adjusting the overall attitude, the attitude sensor records the base's rotation angle, tilt angle, and attitude change rate in real time, forming a time-stamped attitude adjustment signal. This attitude adjustment signal is linked with the signal processing submodule of the clinical displacement drive unit through a data interaction interface. The signal processing submodule compares the attitude adjustment signal with the displacement-force correlation signal in real time to determine whether the current attitude meets the preset biomechanical constraint environment. When the attitude parameters are detected to meet the preset standard, the attitude signal triggers a state switching command for the displacement drive mechanism, causing the multi-directional lever drive component to switch from the "ready state" to the "stable working state," while simultaneously locking the current attitude of the gimbal-type rotation or tilt mechanism to prevent attitude fluctuations during subsequent force loading from causing deviations in force signal acquisition.

[0045] Specifically, the adjustable anchorage positioning component uses a preset anchorage reference point, combined with clinical orthodontic anchorage design principles, to generate a positioning confirmation signal through feedback pressure signals. After verifying the validity of the positioning confirmation signal, a start command is sent to the multi-directional lever drive component, which drives the target tooth to rotate or tilt along a preset trajectory, and records the displacement-force correlation signal in real time. Based on the displacement closed-loop calibration component, the actual displacement signal of the target tooth is collected and the displacement deviation value is calculated with preset parameters. If the displacement deviation value exceeds the clinical preset requirements, a correction command is generated, which is converted into a driving force adjustment signal and transmitted to the multi-directional lever drive component to change the magnitude and direction of the driving force. The actual displacement signal is collected again, the deviation calculation and adjustment are repeated, and the displacement-force correlation signal is updated.

[0046] Specifically, before the multi-directional lever drive component moves the target tooth, it divides the displacement process into specific motion stages, including an initial start-up stage, a uniform motion stage, and a stable holding stage, based on the physiological trajectory of the orthodontic movement of the target tooth. When a stage starts, a stage identifier signal is sent, and a stage identifier and a motion direction identifier are added to the displacement-force correlation signal collected in the current stage. After completion, the data is transmitted to the data processing unit, which separates the force change data corresponding to the rotational displacement and the force change data corresponding to the tilting displacement by recognizing the motion direction identifier field, and stores them in different data partitions.

[0047] The deviation adjustment process of the displacement closed-loop calibration component includes: the displacement detection element positions the positioning markers on the target tooth surface via a pan-tilt unit, captures the positional changes of the markers in real time, and generates a real-time displacement signal containing position coordinates; the signal is transmitted to the calibration control module, which retrieves preset displacement parameters (based on the clinical orthodontic plan and including target displacement values ​​at each time point) from the system parameter library; the module uses the least squares method to calculate the displacement deviation between the real-time displacement signal and the preset displacement parameters, and determines whether the deviation is within the clinical drive accuracy requirement range (e.g., whether the deviation is less than the preset accuracy threshold); if the deviation exceeds the requirement, the calibration control module adjusts the deviation based on the magnitude and direction of the deviation (e.g., whether the actual displacement is less than the preset displacement). If the actual displacement is greater than the preset displacement, the driving force needs to be increased (or decreased). A deviation correction command is generated, containing specific adjustment parameters. This command is transmitted to the signal conversion module, which converts it into a driving force adjustment signal (such as a current adjustment signal) recognizable by the multi-directional lever drive component. Upon receiving the signal, the lever drive component adjusts the output power of its internal drive motor, thereby changing the magnitude and direction of the driving force. After adjustment, the gimbal again acquires the real-time displacement signal, repeating the deviation calculation and adjustment steps until the displacement deviation meets the accuracy requirements. Simultaneously, the calibration control module updates the displacement and force data in the displacement-force correlation signal to ensure the signal matches the actual working conditions.

[0048] Specifically, the process of locating the anchorage center using the adjustable anchorage positioning component is as follows: a digital model is generated based on the crown morphology, root orientation, and relative position data of the anchorage tooth; anatomical feature points of the anchorage tooth are selected, spatial coordinates are calculated, the spatial coordinates are weighted and calculated to generate the theoretical anchorage center spatial coordinates, the actual physical coordinates are compared with the theoretical anchorage center spatial coordinates to calculate the deviation, and a deviation correction instruction is generated.

[0049] Specifically, the process of acquiring dynamic mechanical data by the single-tooth mechanical sensing unit includes: acquiring an initial force signal and marking the initial data identifier and acquisition timestamp in the signal; sending an acquisition command according to preset logic; continuously acquiring mechanical signals and recording the acquisition time points to capture the changes in mechanical signal decay over time; using a Kalman filter algorithm to filter out interference signals caused by base vibration and temperature fluctuations during the acquisition process, retaining valid mechanical signals; and sorting the valid signals according to the acquisition timestamp to generate a dynamic mechanical dataset including the time-mechanical value correspondence.

[0050] The process of acquiring dynamic mechanical data by the single-tooth mechanical sensing unit includes: adjusting the position of the targeted force sensor using a fine-tuning bracket to ensure that the sensor's sensing surface is fully aligned with the preset force-bearing surface of the target tooth (such as a specific area on the labial / buccal surface or lingual / palatal surface of the crown). During the adjustment process, the contact pressure signal fed back by the sensor confirms the tightness of the fit, avoiding gaps that could lead to inaccurate signal acquisition. The sensor is then connected to a signal conditioning module, which performs zero-point calibration on the sensor to eliminate errors caused by initial environmental pressure. After initialization, the sensor acquires the initial force signal (the force value of the target tooth when the driving force is first applied) and marks the signal with a "starting data" identifier. The data acquisition controller sends acquisition commands to the sensors according to preset logic. The sensors continuously acquire mechanical signals according to the commands, and record the time point of each acquisition to capture the changes in mechanical signal decay over time. The signal filtering module uses the Kalman filter algorithm to filter out interference signals caused by base vibration (such as vibration generated by the operation of the drive components) and temperature fluctuations (small temperature changes in the constant temperature water bath) during the acquisition process, and retain the effective mechanical signals. The data integration module sorts the filtered effective signals according to the acquisition timestamp to form a dynamic mechanical dataset containing the correspondence between "time and mechanical value", and stores it in the original database of the data processing unit.

[0051] Specifically, when the scenario-based computing component of the data processing unit processes dynamic mechanical data, it retrieves environmental parameters, including real-time temperature parameters and real-time attitude parameters; it uses a multiple linear regression algorithm to fit the correlation model between the environmental parameters and the mechanical attenuation data, and substitutes the dynamic mechanical data into the correlation model to generate a mechanical attenuation deviation value.

[0052] Specifically, the process of generating the mechanical decay curve includes: extracting time-mechanical value data from the dynamic mechanical data, generating the value range of the time parameter and the value range of the mechanical value; establishing a two-dimensional rectangular coordinate system, marking the time-mechanical value data as data points one by one in the two-dimensional coordinate system, using a cubic spline interpolation algorithm to smoothly fit the data points, and connecting them to form a continuous, uninterrupted mechanical decay curve.

[0053] The generation process of the mechanical decay curve includes: the curve generation module receives the corrected dynamic mechanical data from the scenario-based computing component, and extracts the time parameters (all acquisition time points) and corresponding mechanical values ​​(effective force values ​​at each time point) from the data through the data extraction submodule, determining the value range of the time parameters (the complete time span from initial acquisition to the stable stage) and the value range of the mechanical values ​​(the minimum mechanical value from the initial force value to the stable stage); the coordinate establishment submodule establishes a two-dimensional rectangular coordinate system with time as the horizontal axis (setting the horizontal axis unit, such as time unit) and mechanical values ​​as the vertical axis (setting the vertical axis unit, such as force unit), and labels the coordinate axes with names and unit identifiers; the data point marking submodule marks the extracted "time-mechanical value" corresponding data one by one as numbers in the two-dimensional coordinate system. The system establishes data points to ensure that the location of each data point accurately corresponds to the actual data. The curve fitting submodule uses a cubic spline interpolation algorithm to smoothly fit the marked data points, connecting them to form a continuous, uninterrupted mechanical decay curve, ensuring that the curve accurately reflects the changing trend of mechanical values ​​over time. The decay calculation submodule extracts the initial force value (the mechanical value corresponding to the start of the curve) from the curve, and then extracts the mechanical value corresponding to each time node in the curve one by one. It calculates the time decay percentage of each time node using the formula "(initial force value - mechanical value at a certain time node) / initial force value". The result analysis submodule statistically analyzes the calculated time decay percentage, clarifies the differences in decay degree at different time stages (such as the early, middle, and late stages), and generates a decay degree analysis report, which is stored together with the mechanical decay curve.

[0054] Specifically, when the clinical displacement drive unit acquires driving force data, it maintains time synchronization with the displacement-force correlation signal. That is, each time a driving force value is acquired, the displacement data and the target tooth force value at the same time point are recorded to generate a correlation dataset, which is then transmitted to the data processing unit. A correlation analysis algorithm is used to calculate the correlation coefficient between the driving force value and the target tooth force value, generating force calibration suggestions and adjusting the power transmission structure parameters of the multi-directional lever drive component.

[0055] Specifically, when the overall dental arch constraint unit fixes the full tooth arch model, it contacts the edge and bottom of the full tooth arch model, collects pressure distribution data, generates a fit degree signal, and the fit degree signal is synchronously transmitted to the single tooth mechanical sensing unit.

[0056] When fixing the full dental arch model, the model fixing component of the integral dental arch constraint unit places the full dental arch model in a preset placement area of ​​the camera gimbal-type adjustable dental arch base. Multiple pressure sensors of the model fixing component contact the edge and bottom of the model, respectively, collecting the contact pressure distribution between the model and the base to generate a fit signal (containing the pressure value and position information of each sensor). The fit judgment module receives the fit signal and compares the pressure values ​​of each sensor with preset standards (such as minimum pressure threshold and pressure distribution uniformity requirements). If a pressure value is lower than the threshold or the pressure distribution is uneven, the fit is determined to be substandard. If the fit is substandard, the module adjusts the micro-adjustment structure (such as an electric micro-adjustment pusher). The push rod sends an adjustment command, and the push rod fine-tunes the three-dimensional position of the model (front-back, left-right, up-down directions) according to the command. After adjustment, the pressure sensor collects the contact pressure distribution again and generates a new fit signal. The fit judgment and position adjustment process is repeated until the fit signal shows that all sensor pressure values ​​meet the standard and are evenly distributed, and the fit is determined to meet the requirements. After the fit is confirmed, the fit signal is synchronously transmitted to the signal verification module of the single tooth mechanical sensing unit through the data transmission channel. After the module confirms that there is no risk of model displacement based on the fit signal, it sends a "collectible" command to the sensor to ensure that the force point will not change due to model displacement when the sensor collects dynamic mechanical data, thereby avoiding signal distortion.

[0057] Specifically, the data processing unit determines the corresponding working condition based on the target tooth position and orthodontic type of the current test, and then retrieves the clinically appropriate force application interval data under the working condition from the full dentition clinical biomechanics database. The calculated time decay percentage of the time node is compared with the clinically appropriate force application interval data. Combining the biomechanical decay curve characteristics, time decay percentage analysis results and deviation degree, a biomechanical assessment report including data source, calculation logic and clinical recommendations is generated.

[0058] In this embodiment, the test scenario is "rotation of the first premolar (target tooth) on the right maxillary side in an adult + labial tilt correction". The specific implementation process is as follows:

[0059] Preparation of the full dentition model: Using the patient's maxillary oral scan data, a full dentition model containing the target tooth is prepared. Pre-defined force-bearing areas are marked on the labial and buccal surfaces and the lingual and palatal surfaces of the target tooth, and positioning markers of appropriate diameter are pasted on the occlusal surfaces.

[0060] Overall dental arch constraint unit: The constant temperature water bath component (with built-in temperature sensor with built-in accuracy and signal output interface connected to the data processing unit bus) is placed on the horizontal experimental platform. The camera gimbal-type adjustable dental arch base (equipped with attitude sensor, which can collect rotation / tilt angle and rate of change) is fixed on the internal support of the water bath component. The model fixing component (including 4 pressure sensors, distributed in the four corner areas of the model) is installed on the surface of the base.

[0061] Clinical displacement drive unit: A lever structure based on the anchorage center bearing is assembled on the side of the base. The positioning probe of the adjustable anchorage positioning component is aligned with the left and right maxillary first molars (clinically routine anchorage teeth) of the full dental arch model. The output end of the multi-directional lever drive component is attached to the middle 1 / 3 of the crown of the target tooth through a flexible connector. The gimbal is aligned with the positioning mark point on the occlusal surface of the target tooth. The force value acquisition element is connected in series to the power output end of the lever drive component.

[0062] Single-tooth biomechanical sensing unit: Two targeted force sensors are attached to the preset force areas on the labial and buccal surfaces and lingual and palatal surfaces of the target tooth respectively through a fine-tuning bracket. The sensor signal conditioning module is connected to the raw database interface of the data processing unit, and the calibration module stores zero drift compensation parameters in advance.

[0063] Data processing unit: Install scenario-based computing software (integrating multiple linear regression algorithm, Kalman filter algorithm, and cubic spline interpolation algorithm) in the main control computer, import the full dentition clinical biomechanics database (including clinically appropriate force application interval data corresponding to "maxillary premolar rotation / tilt correction"), and complete time synchronization calibration between the system clock module and the data acquisition unit of each unit.

[0064] Temperature Environment Simulation: The constant temperature water bath component is activated, and clinically adapted simulated saliva (with the same composition and osmotic pressure as human saliva) is injected. The temperature sensor captures water temperature changes in continuous monitoring mode, generating time-stamped temperature change signals (e.g., "T0 time -36.2℃, T1 time -36.3℃"). The signals are stored in a temporary database after noise reduction preprocessing. When the water temperature fluctuation exceeds ±0.2℃ (the clinical oral temperature fluctuation range), the environmental analysis module retrieves historical "temperature-mechanical attenuation" correlation data, generates a temperature correction coefficient (e.g., a correction coefficient of 1.02 corresponds to a fluctuation of 0.1℃), and imports it into the scenario-based calculation component.

[0065] Posture Adjustment and Model Fixation: Through the control interface of the camera gimbal base, the rotation and tilt angles of the base are adjusted (simulating the actual posture of the maxillary dental arch during patient occlusion). The posture sensor generates a time-stamped posture adjustment signal in real time, which is linked with the signal processing submodule of the clinical displacement drive unit. When the posture parameters (such as 5° anterior tilt and 3° right rotation) meet the preset biomechanical constraints, the system automatically locks the base posture. At the same time, the pressure sensor of the model fixation component collects the contact pressure distribution between the model and the base, generating a fit signal (such as "pressure values ​​at all four corners are ≥ preset thresholds and are evenly distributed"). The signal is transmitted to the single-tooth biomechanical sensing unit, triggering the "collectible" command.

[0066] Anchorage center positioning: The adjustable anchorage positioning component is activated, and the positioning probe is attached to the central fossa of the occlusal surface of the left and right maxillary first molars (preset anchorage reference point). The accuracy of the attachment is judged by the pressure signal fed back by the probe (the pressure value is stable within the clinical positioning threshold range), and a positioning confirmation signal is generated. At the same time, the image-assisted verification module captures the positioning image and identifies the deviation between the probe position and the theoretical position of the reference point (deviation ≤ 0.1mm). After confirming that the positioning is correct, the positioning confirmation signal is transmitted to the system main control module.

[0067] Multi-directional displacement drive and closed-loop calibration:

[0068] Phase division: Based on the orthodontic physiological trajectory of the target tooth, the multi-directional lever drive component divides the displacement process into the initial start-up phase (the driving force gradually increases from 0 to the preset initial value), the uniform motion phase (the driving force is stable and the target tooth moves along the preset trajectory), and the stable holding phase (the driving force is maintained and the displacement does not change significantly). The phase control module sends a phase identification signal to the data acquisition unit.

[0069] Drive and signal recording: The main control module sends servo drive commands to the lever drive component. The component drives the target tooth to rotate clockwise first (the direction of rotation that needs to be corrected clinically) and then tilt labially. The data acquisition device records the displacement-force correlation signal in real time (including the correspondence between "time stamp-displacement amount-force value"). At the same time, the force value acquisition element collects the driving force value each time according to the time synchronization principle and integrates it with the displacement-force signal.

[0070] Closed-loop calibration: The gimbal continuously captures changes in the position of the target tooth positioning marker, generating a real-time displacement signal, which is transmitted to the deviation calculation module along with preset displacement parameters (rotation angle and tilt angle set based on the clinical orthodontic target). When the actual rotation angle is detected to be 0.5° smaller than the preset value (exceeding the clinical drive accuracy requirement), the module generates a deviation correction command, which is converted into a drive force adjustment signal (e.g., "increase the clockwise drive force by 10%)." After the lever assembly adjusts its output power, the displacement signal is collected again, and the calibration is repeated until the deviation is ≤0.1°, and the displacement-force correlation signal is updated.

[0071] Dynamic mechanical data acquisition:

[0072] Sensor initialization: The automatic calibration module of the single-tooth mechanical sensing unit is started. First, the sensor is placed in an environment without external force, zero drift signal is collected and compensated, then a standard force value is applied to generate calibration coefficient. After zero-point calibration is completed, the sensor collects the initial force signal of the target tooth (the force value when the driving force is just applied) and marks "starting data" and timestamp.

[0073] Signal Acquisition and Filtering: The data acquisition controller sends acquisition commands to the sensors at common time intervals. The sensors continuously acquire mechanical signals from the labial and buccal surfaces and lingual and palatal surfaces of the target tooth, while recording the acquisition time points. The signal filtering module starts the Kalman filter algorithm to filter out interference signals caused by base vibration (minor vibrations generated by lever drive) and temperature fluctuations (fluctuations of ±0.1℃ in water bath), retaining the effective mechanical signals, sorting them by timestamp to form a dynamic dataset of "time-mechanical values", and storing it in the raw database of the data processing unit.

[0074] Dynamic mechanical data correction: The scenario-based computing component of the data processing unit calls environmental parameters (real-time temperature of constant temperature water bath 36.2℃, base posture parameters forward tilt 5° + right rotation 3°), imports the dynamic dataset and environmental parameters into a multiple linear regression model, fits the correlation between "temperature-posture-mechanical attenuation", calculates the mechanical attenuation deviation value caused by environmental factors (such as a deviation value of 0.05N corresponding to a temperature of 36.2℃), and removes the deviation through a compensation algorithm to obtain the corrected dynamic mechanical data.

[0075] Generation of mechanical decay curve:

[0076] Data extraction: The curve generation module extracts time parameters (the complete time span from initial acquisition to the steady-state phase) and mechanical value parameters (initial force value to minimum mechanical value in the steady-state phase) from the corrected data.

[0077] Curve plotting: A two-dimensional coordinate system is established with time as the horizontal axis and mechanical value as the vertical axis. All "time-mechanical value" data points are marked. A continuous mechanical decay curve is formed by fitting the curve using a cubic spline interpolation algorithm (the curve has no discontinuities and accurately reflects the decreasing trend of mechanical value over time).

[0078] Attenuation percentage calculation: Extract the initial force value (e.g., 5N) from the curve, and calculate the time attenuation percentage at each time node (e.g., "mechanical value at time T2 is 4N, attenuation percentage is 20%; mechanical value at time T5 is 3.5N, attenuation percentage is 30%), and statistically analyze the attenuation degree at different stages (the initial stage attenuates quickly, and the uniform speed stage attenuates slowly).

[0079] Clinical fit assessment and report output:

[0080] Working condition matching: The working condition identification module determines that the current working condition is "rotation of the first premolar on the right maxillary side + labial tilting orthodontic treatment", and retrieves the clinically appropriate force range for this working condition from the full dentition clinical biomechanics database (such as the force after attenuation should be maintained at 2.5N-4.5N).

[0081] Deviation analysis: The comparative analysis module compares the attenuated force value at each time point with the appropriate range and finds that the force value at time T6 is 2.3N (below the lower limit). The deviation calculation module calculates the deviation degree as approximately 34% using the formula "|2.3-3.5| / 3.5".

[0082] Report generation: The report generation module integrates data sources and calculation logic (attenuation percentage formula, deviation degree algorithm), combines curve characteristics (fast initial attenuation requires attention), attenuation analysis results (abnormal at T6 time) and deviation degree, and generates clinical recommendations (such as "increase the labial force of the bracketless orthodontic appliance by 15% and shorten the monitoring interval of the treatment cycle"). Finally, a complete biomechanical assessment report containing curve charts, data tables, and clinical recommendations is generated and stored in the database.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A mechanical assessment system based on the rotation and tilt of bracketless orthodontic appliances, characterized in that, include: Overall dental arch constraint unit, clinical displacement driving unit, single tooth mechanical sensing unit and data processing unit; The overall dental arch constraint unit includes a camera gimbal-type adjustable dental arch base. The camera gimbal-type adjustable dental arch base applies a systematic constraint force to the entire dental arch through a gimbal-type rotation or tilting mechanism, supports the full dental arch model containing the target tooth, and adjusts the biomechanical constraint environment through overall posture adjustment. The overall dental arch constraint unit simulates the oral cavity temperature environment and continuously monitors water temperature changes in real time, generating a temperature change signal including a monitoring timestamp and temperature value. The temperature change signal is stored in a temporary database after noise reduction preprocessing. When it is necessary to adjust the temperature fluctuation state to match the actual clinical orthodontic conditions, the temperature change signal is retrieved and combined with the temperature-mechanical attenuation correlation data in historical clinical cases to generate a temperature correction coefficient. The clinical displacement drive unit adopts a lever structure based on the anchorage center bearing. According to the clinical orthodontic anchorage design principle, the anchorage center is located. The servo drive control drives the target tooth to rotate and tilt, and the displacement covers the orthodontic treatment range. The displacement-force correlation signal is recorded, and the deviation is fed back and the driving force is adjusted in combination with the displacement closed-loop calibration mechanism. The single-tooth mechanical sensing unit acquires the mechanical signals transmitted to the target tooth by the bracketless orthodontic appliance, and records the initial force signal and the dynamic mechanical data of the mechanical signal decaying over time in real time. The data processing unit receives the dynamic mechanical data, combines it with environmental parameters, corrects the mechanical attenuation calculation deviation, generates the mechanical attenuation curve of the target tooth during rotation and tilt displacement, calculates the time attenuation percentage of the initial force, compares the time attenuation percentage with the clinically appropriate force range for the corresponding working condition in the full dentition clinical mechanical database, and generates a mechanical assessment report.

2. The system according to claim 1, characterized in that, When adjusting the overall posture, the gimbal-type adjustable dental arch base's gimbal-type rotation or tilt mechanism records the base's posture parameters in real time, including rotation angle, tilt angle, and posture change rate, generating a time-stamped posture adjustment signal. The posture adjustment signal is compared in real time with the displacement-force correlation signal. When the posture parameters are detected to meet the preset standard, the posture adjustment signal triggers a state switching command for the clinical movement drive mechanism, while simultaneously locking the current posture of the gimbal-type rotation or tilt mechanism.

3. The system according to claim 1, characterized in that, Based on the preset anchorage reference point of the lever structure of the anchorage center bearing, combined with the clinical orthodontic anchorage design principles, a positioning confirmation signal is generated through the feedback pressure signal. After verifying the validity of the positioning confirmation signal, a start command is sent to drive the lever to rotate or tilt the target tooth along a preset trajectory, and the displacement-force correlation signal is recorded in real time. The actual displacement signal of the target tooth is collected, and the displacement deviation value is calculated with preset parameters. If the displacement deviation value exceeds the clinical preset requirements, a correction command is generated, which is converted into a driving force adjustment signal to change the magnitude and direction of the driving force. The actual displacement signal is collected again, the deviation calculation and adjustment are repeated, and the displacement-force correlation signal is updated.

4. The system according to claim 1, characterized in that, Based on the orthodontic movement physiological trajectory of the target tooth, the displacement process is divided into specific movement stages, including the initial start-up stage, the uniform movement stage, and the stable maintenance stage. When a stage starts, a stage identifier signal is sent, and a stage identifier and a movement direction identifier are added to the displacement-force correlation signal collected in the current stage. After completion, the data is transmitted to the data processing unit. By recognizing the movement direction identifier field, the force change data corresponding to the rotational displacement and the force change data corresponding to the tilting displacement are separated and stored in different data partitions.

5. The system according to claim 1, characterized in that, The process of locating the anchorage center is as follows: Based on the crown morphology, root orientation, and relative position data of the anchorage tooth, a digital model is generated; anatomical feature points of the anchorage tooth are selected, spatial coordinates are calculated, the spatial coordinates are weighted and calculated to generate the theoretical anchorage center spatial coordinates, the actual physical coordinates are compared with the theoretical anchorage center spatial coordinates to calculate the deviation, and a deviation correction instruction is generated.

6. The system according to claim 1, characterized in that, The process of acquiring dynamic mechanical data by the single-tooth mechanical sensing unit includes: acquiring an initial applied force signal and marking the initial data identifier and acquisition timestamp in the signal; sending an acquisition command according to preset logic; continuously acquiring mechanical signals and recording the acquisition time points to capture the changes in mechanical signal decay over time; using a Kalman filter algorithm to filter out interference signals and retain valid mechanical signals; sorting the valid signals according to the acquisition timestamp to generate a dynamic mechanical dataset including the time-mechanical value correspondence.

7. The system according to claim 1, characterized in that, When processing dynamic mechanical data, the data processing unit retrieves environmental parameters, including real-time temperature parameters and real-time attitude parameters; it uses a multiple linear regression algorithm to fit a correlation model between the environmental parameters and the mechanical attenuation data, and substitutes the dynamic mechanical data into the correlation model to generate a mechanical attenuation deviation value.

8. The system according to claim 1, characterized in that, The process of generating the mechanical decay curve includes: extracting time-mechanical value data from the dynamic mechanical data, generating the value range of the time parameter and the value range of the mechanical value; establishing a two-dimensional rectangular coordinate system, marking the time-mechanical value data as data points one by one in the two-dimensional coordinate system, using a cubic spline interpolation algorithm to smoothly fit the data points, and connecting them to form a continuous, uninterrupted mechanical decay curve.

9. The system according to claim 1, characterized in that, When the clinical displacement driving unit collects driving force data, it keeps the displacement-force correlation signal in time. That is, each time the driving force value is collected, the displacement data and the target tooth force value at the same time point are recorded to generate a correlation dataset, which is then transmitted to the data processing unit. A correlation analysis algorithm is used to calculate the correlation coefficient between the driving force value and the target tooth force value to generate force calibration suggestions and obtain power transmission structure parameters.

10. The system according to claim 1, characterized in that, When the overall dental arch constraint unit fixes the full tooth arch model, it contacts the edge and bottom of the full tooth arch model, collects pressure distribution data, and generates a fit signal. The fit signal is synchronously transmitted to the single tooth mechanical sensing unit.

11. The system according to claim 1, characterized in that, The data processing unit determines the corresponding working condition based on the target tooth position and orthodontic type of the current test, and then retrieves the clinically appropriate force application interval data under the working condition from the full dentition clinical biomechanics database. The calculated time decay percentage of the time node is compared with the clinically appropriate force application interval data. Combining the biomechanical decay curve characteristics, time decay percentage analysis results and deviation degree, a biomechanical assessment report including data source, calculation logic and clinical recommendations is generated.

Images