Denture parallel occlusion position determination method based on oral cavity scanning data registration and related device
By performing oral CT scans and 3D software registration on edentulous patients, the parallel occlusal position of the prosthesis is automatically determined, solving the problems of low efficiency and poor stability in existing technologies, and achieving efficient and stable prosthesis fitting.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-06
- Publication Date
- 2026-04-10
AI Technical Summary
In existing techniques, determining the edentulous jaw relationship relies on the doctor's experience, resulting in low operational efficiency, unstable results, and the need for multiple oral CT scans, which increases the patient's radiation risk.
By performing oral CT scans on patients to obtain at least three sets of oral scan models, and using 3D software to register the models, the rotation axis and rotation angle of the mandible are determined, so as to achieve automatic adaptation of the denture's parallel occlusal position and reduce manual operation.
It improves the efficiency and accuracy of determining the parallel occlusal position of dentures, reduces patient radiation exposure, and ensures operational stability and personalized fit.
Smart Images
Figure CN121818157A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of denture prosthetics, and particularly relates to a method for determining parallel occlusion positions of dentures based on registration of oral scanning data and a related device. BACKGROUND
[0002] When performing full denture prosthetics for edentulous people, accurate determination of the edentulous jaw position is a core and key work, and the result directly determines the prosthetic effect of the denture, including whether the denture is easy to fall off, whether wearing causes discomfort, and whether the patient's facial morphology is abnormal.
[0003] At present, in the field of clinical medicine, when determining the edentulous jaw position, mainstream oral medical institutions mostly rely on the clinical experience of doctors to carry out operations, such as guiding the patient to pronounce, observing the facial appearance, and guiding the trial occlusion, and comprehensively determining in combination with multiple oral CT scans of the patient, trial wearing of the denture, and the like, and then customizing the denture for the patient according to the above results. This process requires high requirements for the clinical experience of the doctor and the cooperation degree of the patient, and needs multiple communications and repeated adjustments between the doctor and the patient, which not only is time-consuming and laborious in the overall process, but also is difficult to guarantee the stability of the prosthetic result; at the same time, the patient needs to undergo multiple CT scans, which also has a certain risk of radiation exposure.
[0004] In summary, the defects in the prior art include the following aspects: (1) highly dependent on the clinical experience of the doctor; (2) not only requires a high degree of cooperation from the patient, but also requires multiple communications and repeated adjustments between the doctor and the patient, resulting in low efficiency in determining the parallel occlusion position of the denture; (3) not only is the process complicated, but also is inefficient, and the result of the denture fitting is also unstable. SUMMARY
[0005] The purpose of the present application is to provide a method for determining the parallel occlusion position of a denture based on registration of oral scanning data and a related device, to solve the problem of low efficiency in determining the parallel occlusion position of the denture in the prior art.
[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions: In a first aspect, the present application provides a method for determining the parallel occlusion position of a denture based on registration of oral scanning data, comprising the following steps: performing oral CT scanning on the patient to obtain at least three groups of oral scanning models, the oral scanning models comprising an upper jaw and a lower jaw, the upper jaw and the lower jaw constituting a whole, and the upper jaw and the lower jaw having a fixed relative spatial position; randomly selecting one group of oral scanning models from the at least three groups of oral scanning models, and aligning the randomly selected one group of oral scanning models to obtain an aligned group of oral scanning models; Using the maxilla of a properly aligned set of oral scanning models as a reference, the maxilla of the remaining sets of oral scanning models is registered with the maxilla of the properly aligned set of oral scanning models. After registering the maxilla of at least three sets of oral scanning models, the mandibular position of at least three sets of oral scanning models is directly determined, resulting in at least three registered sets of oral scanning models. In at least three registered oral scan models, feature points at the same position of the mandible in each group of oral scan models are obtained, and the rotation axis of the mandible is determined based on the feature points at the same position of the mandible in each group of oral scan models. Randomly select one registered oral scanning model from at least three sets of oral scanning models, fix the maxilla of the randomly selected registered oral scanning model, and obtain a fixed maxillary position. Obtain the regions of the maxilla and mandible that are parallel or approximately parallel in a randomly selected set of registered oral scan models. Based on the regions of the maxilla and mandible that are parallel or approximately parallel in a randomly selected set of registered oral scan models, determine the rotation angle of the mandible. The mandible of a randomly selected set of registered oral scanning models is rotated around the rotation axis at the specified rotation angle to obtain the rotated mandibular position. Based on the fixed maxillary position and the rotated mandibular position, the parallel occlusal position of the denture is determined.
[0007] A further improvement of the present invention is that the oral scanning model is an occlusal model of the dental arch.
[0008] A further improvement of the present invention is that the step of randomly selecting one set of oral scanning models from at least three sets of oral scanning models and aligning the randomly selected set of oral scanning models to obtain a properly aligned set of oral scanning models specifically involves: importing at least three sets of oral scanning models into 3D software, randomly selecting one set of oral scanning models from at least three sets of oral scanning models, and aligning the randomly selected set of oral scanning models to obtain a properly aligned set of oral scanning models.
[0009] A further improvement of the present invention is that the three-dimensional software is CAD software.
[0010] A further improvement of the present invention is that, in the process of obtaining feature points at the same position of the mandible in at least three registered oral scanning models, and determining the rotation axis of the mandible based on the feature points at the same position of the mandible in each group of oral scanning models, specifically includes: In at least three registered oral scan models, feature points at the same position of the mandible in each group of oral scan models are obtained, and the feature points at the same position of the mandible in each group of oral scan models are projected onto the XOY plane to obtain at least three two-dimensional feature points. The center position of the circle is obtained by calculating the position of the center point of the circle from at least three two-dimensional feature points. The rotation axis of the mandible is determined based on the center position and the direction perpendicular to the XOY plane.
[0011] A further improvement of this invention lies in that, in obtaining a randomly selected set of registered intraoral scanning models showing parallel or approximately parallel regions of the mandible, and determining the rotation angle of the mandible based on these randomly selected sets of registered intraoral scanning models showing parallel or approximately parallel regions of the maxilla and mandible, specifically includes: Randomly select a set of registered oral scan models, and draw a spatial curve in the relatively consistent area of the maxilla and mandible of the randomly selected set of registered oral scan models. Project both drawn space curves onto the XOY plane and calculate the minimum bounding box of the planar curve after the two space curves are projected. Calculate the upper edge straight line of the minimum bounding box of the two planar curves after projection of the two drawn spatial curves. The rotation angle of the mandible is determined based on the upper edge line of the minimum bounding box of the two planar curves.
[0012] Secondly, the present invention provides a system for determining the parallel occlusal position of dentures based on oral scan data registration, comprising: The scanning module is used to perform oral CT scans on patients to obtain at least three sets of oral scanning models. The oral scanning models include the maxilla and mandible, which form a whole and have fixed relative spatial positions. The alignment module is used to randomly select one set of oral scanning models from at least three sets of oral scanning models, and align the randomly selected set of oral scanning models to obtain a set of aligned oral scanning models. The registration module is used to register the maxilla of the remaining sets of oral scanning models with the maxilla of the set of oral scanning models that have been properly positioned, using the maxilla of the set of oral scanning models as a reference. After the maxilla of at least three sets of oral scanning models is registered, the mandibular position of at least three sets of oral scanning models is directly determined, and at least three sets of registered oral scanning models are obtained. The rotation axis determination module is used to obtain feature points at the same position of the mandible in at least three registered oral scan models, and determine the rotation axis of the mandible based on the feature points at the same position of the mandible in each group of oral scan models. The maxillary fixation module is used to randomly select a set of registered oral scan models from at least three sets of oral scan models, and fix the maxilla of the randomly selected set of registered oral scan models to obtain a fixed maxillary position. The rotation angle determination module is used to obtain the regions where the maxilla and mandible are parallel or approximately parallel in a randomly selected set of registered oral scan models, and to determine the rotation angle of the mandible based on the regions where the maxilla and mandible are parallel or approximately parallel in a randomly selected set of registered oral scan models. The rotation module is used to rotate the mandible of a randomly selected set of registered oral scanning models around the rotation axis by the rotation angle to obtain the rotated mandibular position. The position determination module is used to determine the parallel occlusal position of the denture based on the fixed maxillary position and the rotated mandibular position.
[0013] A further improvement of the present invention is that the oral scanning model is an occlusal model of the dental arch.
[0014] Thirdly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method for determining the parallel occlusal position of dentures based on oral scan data registration described above.
[0015] Fourthly, the present invention provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method for determining the parallel occlusal position of a prosthesis based on registration of oral scan data described above.
[0016] Compared with the prior art, the present invention has the following beneficial effects: The proposed method for determining the parallel occlusal position of dentures based on oral scan data registration involves two aspects. First, the mandibular position is directly determined using the maxilla as a reference. The rotation axis of the mandible is determined based on feature points, and the rotation angle is determined based on regions where the maxilla and mandible are parallel or approximately parallel. This transforms the subjective process of determining the parallel occlusal position of dentures into objective parameter calculations, avoiding the drawbacks of relying solely on the doctor's subjective judgment. Different operators can obtain consistent occlusal position results by performing the above process, ensuring operational stability. Second, determining the rotation axis of the mandible based on feature points and the rotation angle based on regions where the maxilla and mandible are parallel or approximately parallel allows the parallel occlusal position of the dentures to better suit the patient's personalized oral occlusal habits. Furthermore, this method involves performing an oral CT scan on the patient, obtaining at least three sets of oral scan models. Subsequent operations only require manipulating these models (maxilla and mandible). This not only reduces redundant modeling and analysis work, effectively improving clinical operational efficiency and thus increasing the efficiency of determining the parallel occlusal position of dentures, but also reduces the workload of medical staff. Furthermore, this invention randomly selects one set of oral scanning models from at least three sets of oral scanning models, and aligns the randomly selected set of oral scanning models to obtain a properly aligned set of oral scanning models. This operation can also improve the accuracy of determining the parallel occlusal position of the denture in the later stages. Attached Figure Description
[0017] Figure 1 This is a flowchart of the method for determining the parallel occlusal position of dentures based on oral scan data registration according to the present invention; Figure 2 This is a schematic diagram of the prosthesis parallel occlusal position determination system based on oral scan data registration according to the present invention. Figure 3 This is a flowchart of the method for determining the parallel occlusal position of dentures based on oral scan data registration in Embodiment 4 of the present invention; Figure 4 Model diagram after maxillary alignment and registration in Embodiment 4 of the present invention; Figure 5 This is a schematic diagram of the process for determining the parallel occlusal position of the prosthesis based on oral scan data registration in Embodiment 4 of the present invention; Figure 6 This is a schematic diagram of the structure of the electronic device of the present invention. Detailed Implementation
[0018] To further understand the content of this invention, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.
[0019] Example 1: The flowchart of the method for determining the parallel occlusal position of dentures based on oral scan data registration of the present invention is as follows:Figure 1 As shown, the method for determining the parallel occlusal position of dentures based on oral scan data registration according to the present invention includes the following steps: S1. Perform an oral CT scan on the patient to obtain at least three sets of oral scan models, wherein the oral scan models include the maxilla and mandible, the maxilla and mandible form a whole, and the relative spatial positions of the maxilla and mandible are fixed. S2. Randomly select one set of oral scanning models from at least three sets of oral scanning models, and straighten the randomly selected set of oral scanning models to obtain a set of oral scanning models that are straightened. S3. Using the maxilla of the properly positioned set of oral scanning models as a reference, register the maxilla of the remaining sets of oral scanning models with the maxilla of the properly positioned set of oral scanning models. After registering the maxilla of at least three sets of oral scanning models, directly determine the mandibular position of at least three sets of oral scanning models to obtain at least three registered sets of oral scanning models. S4. In at least three registered oral scan models, obtain the feature points at the same position of the mandible in each group of oral scan models, and determine the rotation axis of the mandible based on the feature points at the same position of the mandible in each group of oral scan models. S5. Randomly select one set of registered oral scanning models from at least three sets of oral scanning models, fix the maxilla of the randomly selected set of registered oral scanning models, and obtain a fixed maxillary position. S6. Obtain the regions where the maxilla and mandible are parallel or approximately parallel in a randomly selected set of registered oral scan models. Based on the regions where the maxilla and mandible are parallel or approximately parallel in a randomly selected set of registered oral scan models, determine the rotation angle of the mandible. S7. Rotate the mandible of a randomly selected set of registered oral scanning models around the rotation axis at the rotation angle to obtain the rotated mandibular position; S8. Determine the parallel occlusal position of the denture based on the fixed maxillary position and the rotated mandibular position.
[0020] Example 2: A schematic diagram of the prosthesis parallel occlusal position determination system based on oral scan data registration of the present invention is shown below. Figure 2 As shown, the prosthesis parallel occlusal position determination system based on oral scan data registration of the present invention includes: The scanning module is used to perform oral CT scans on patients to obtain at least three sets of oral scanning models. The oral scanning models include the maxilla and mandible, which form a whole and have fixed relative spatial positions. The alignment module is used to randomly select one set of oral scanning models from at least three sets of oral scanning models, and align the randomly selected set of oral scanning models to obtain a set of aligned oral scanning models. The registration module is used to register the maxilla of the remaining sets of oral scanning models with the maxilla of the set of oral scanning models that have been properly positioned, using the maxilla of the set of oral scanning models as a reference. After the maxilla of at least three sets of oral scanning models is registered, the mandibular position of at least three sets of oral scanning models is directly determined, and at least three sets of registered oral scanning models are obtained. The rotation axis determination module is used to obtain feature points at the same position of the mandible in at least three registered oral scan models, and determine the rotation axis of the mandible based on the feature points at the same position of the mandible in each group of oral scan models. The maxillary fixation module is used to randomly select a set of registered oral scan models from at least three sets of oral scan models, and fix the maxilla of the randomly selected set of registered oral scan models to obtain a fixed maxillary position. The rotation angle determination module is used to obtain the regions where the maxilla and mandible are parallel or approximately parallel in a randomly selected set of registered oral scan models, and to determine the rotation angle of the mandible based on the regions where the maxilla and mandible are parallel or approximately parallel in a randomly selected set of registered oral scan models. The rotation module is used to rotate the mandible of a randomly selected set of registered oral scanning models around the rotation axis by the rotation angle to obtain the rotated mandibular position. The position determination module is used to determine the parallel occlusal position of the denture based on the fixed maxillary position and the rotated mandibular position.
[0021] Example 3: The method for determining the parallel occlusal position of dentures based on oral scan data registration of the present invention includes the following steps: S1. Perform an oral CT scan on the patient to obtain at least three sets of oral scan models, the oral scan models including the maxilla and mandible.
[0022] In this step, the oral scanning model is an occlusal model of the dental arch. The maxilla and mandible form a whole, and their relative spatial positions are fixed.
[0023] S2. Randomly select one oral scanning model from at least three sets of oral scanning models, and straighten the randomly selected oral scanning model to obtain a set of straightened oral scanning models.
[0024] In this step, a set of oral scanning models is randomly selected from at least three sets of oral scanning models, and the randomly selected set of oral scanning models is aligned to obtain a properly aligned set of oral scanning models. Specifically, at least three sets of oral scanning models are imported into the 3D software, a set of oral scanning models is randomly selected from at least three sets of oral scanning models, and the randomly selected set of oral scanning models is aligned to obtain a properly aligned set of oral scanning models.
[0025] The 3D software used in this step is CAD software.
[0026] S3. Using the maxilla of the properly aligned set of oral scanning models as a reference, register the maxilla of the remaining sets of oral scanning models with the maxilla of the properly aligned set of oral scanning models. After registering the maxilla of at least three sets of oral scanning models, directly determine the mandibular position of at least three sets of oral scanning models to obtain at least three registered sets of oral scanning models.
[0027] S4. In at least three registered oral scan models, obtain the feature points at the same position of the mandible in each group of oral scan models, and determine the rotation axis of the mandible based on the feature points at the same position of the mandible in each group of oral scan models.
[0028] In this step, feature points at the same position of the mandible are obtained from at least three registered oral scan models. Based on the feature points at the same position of the mandible in each set of oral scan models, the rotation axis of the mandible is determined, specifically including: In at least three registered oral scan models, feature points at the same position of the mandible in each group of oral scan models are obtained, and the feature points at the same position of the mandible in each group of oral scan models are projected onto the XOY plane to obtain at least three two-dimensional feature points. The center position of the circle is obtained by calculating the position of the center point of the circle from at least three two-dimensional feature points. The rotation axis of the mandible is determined based on the center position and the direction perpendicular to the XOY plane.
[0029] In this step, when three two-dimensional feature points are obtained, the three-point arc method is used to calculate the position of the center of the circle. When more than three two-dimensional feature points are obtained, the least squares method is used to fit the arc to obtain the center position.
[0030] S5. Randomly select one registered oral scanning model from at least three sets of oral scanning models, fix the maxilla of the randomly selected registered oral scanning model, and obtain a fixed maxillary position.
[0031] S6. Obtain a randomly selected set of registered oral scan models where the maxilla and mandible are parallel or approximately parallel. Based on the randomly selected set of registered oral scan models where the maxilla and mandible are parallel or approximately parallel, determine the rotation angle of the mandible.
[0032] This step involves obtaining a randomly selected set of registered intraoral scanning models showing parallel or approximately parallel regions of the mandible. Based on these randomly selected regions of the maxilla and mandible showing parallel or approximately parallel regions, the rotation angle of the mandible is determined, specifically including: Randomly select a set of registered oral scan models, and draw a spatial curve in the relatively consistent area of the maxilla and mandible of the randomly selected set of registered oral scan models. Project both drawn space curves onto the XOY plane and calculate the minimum bounding box of the planar curve after the two space curves are projected. Calculate the upper edge straight line of the minimum bounding box of the two planar curves after projection of the two drawn spatial curves. The rotation angle of the mandible is determined based on the upper edge line of the minimum bounding box of the two planar curves.
[0033] S7. Rotate the mandible of a randomly selected set of registered oral scanning models around the rotation axis at the rotation angle to obtain the rotated mandibular position.
[0034] S8. Determine the parallel occlusal position of the denture based on the fixed maxillary position and the rotated mandibular position.
[0035] Example 4: The flowchart of the method for determining the parallel occlusal position of dentures based on oral scan data registration of the present invention is as follows: Figure 3 As shown below, in conjunction with Figure 3 The method of the present invention will be described in detail below: Step 1: The doctor performs an oral CT scan on the patient to obtain at least three sets of oral scan models (this example uses three sets of oral scan models for illustration). See Figure 4 The doctor performs an oral CT scan (oral scan) on the patient. In this embodiment, the oral scan is performed from three different angles (the opening angles of the maxilla and mandible are different), resulting in three sets of oral scan models. The file format of the oral scan models is .stl, and the oral scan models include the maxilla and mandible.
[0036] Step 2: Determining the parallel occlusal position of the denture See Figure 5 The three sets of intraoral scanning models are imported into the CAD software. The maxilla of the three sets of intraoral scanning models is automatically registered, the view angles of the three sets of intraoral scanning models are adjusted, the rotation axis and rotation angle of the mandible are calculated, the mandible is rotated to the position parallel to the denture occlusion, and the intraoral scanning model (maxilla and mandible) in this position is exported. The process of step 2 is explained in detail below: Run the CAD software and import the three sets of oral scan models into the CAD software; The automatic global registration function of the mesh surface (the representation of the oral scan model) enables automatic registration of the maxilla in each group of oral scan models. One set of registered oral scanning models was randomly selected from the three sets of registered oral scanning models. The maxilla of the randomly selected set of registered oral scanning models was fixed to obtain a fixed maxillary position. In the three registered oral scan models, feature points at the same position of the mandible in each group of oral scan models are obtained, and the feature points at the same position of the mandible in each group of oral scan models are projected onto the XOY plane to obtain three two-dimensional feature points. The three-point arc method is used to calculate the position of the center of the circle from the three obtained two-dimensional feature points; The rotation axis of the mandible is determined based on the position of the center of the circle and the direction perpendicular to the XOY plane; Randomly select a set of registered oral scan models, and draw a spatial curve in the relatively consistent area of the maxilla and mandible of the randomly selected set of registered oral scan models. Project both drawn space curves onto the XOY plane and calculate the minimum bounding box of the planar curve after the two space curves are projected. Calculate the upper edge straight line of the minimum bounding box of the two planar curves after projection of the two drawn spatial curves. The rotation angle of the mandible is determined based on the upper edge line of the minimum bounding box of the two planar curves. The mandible is rotated around its rotation axis by the rotation angle of the mandible to obtain the position of the rotated mandible. Based on the fixed maxillary position and the rotated mandibular position, the parallel occlusal position of the denture is obtained, and the oral scan model of this position is output.
[0037] The method for forming a three-point arc is explained below: Given three points A ( ), B ( ) and C( ), calculate the center of the circle ( (Intersection of perpendicular bisectors) Solving the system of equations AB and BC simultaneously, we can establish the equation of the perpendicular bisector:
[0038] Solving the equation of the perpendicular bisector yields the center of the circle ( ).
[0039] The main features of the method for determining the parallel occlusal position of dentures based on oral scan data registration in this invention include the following aspects: a. By registering the maxilla of three sets of oral scanning models, the mandibular rotation axis is calculated by selecting feature points at the same position of the mandible.
[0040] b. Calculate the mandibular rotation angle using curves in parallel / approximately parallel regions of a randomly selected set of intraoral scanning models.
[0041] c. Determine the parallel occlusal position of the upper and lower jaws by the rotation axis and rotation angle of the mandible.
[0042] Compared with the prior art, the present invention has the following beneficial effects: A. Reduce the risk of radiation exposure to the patient's body from multiple oral CT scans by only requiring calculations on three sets of upper and lower jaw models.
[0043] B. Reduce or even minimize the use of doctors' human experience, and automatically adapt the relative position of edentulous jaws through CAD software.
[0044] C. To achieve stable automatic adaptation of the relative position of edentulous jaws in dentistry, based on the oral scanning model, three sets of oral scanning models are imported into CAD software. The rotation axis of the mandible relative to the maxilla is calculated by selecting feature points at the same position in the three sets of oral scanning models, and the rotation angle of the mandible relative to the maxilla is calculated by selecting parallel / approximate parallel relative positions of the oral scanning models.
[0045] Example 5: Please see Figure 6 As shown, the present invention also provides an electronic device 100 for a method of determining the parallel occlusal position of dentures based on oral scan data registration; the electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on the at least one processor 102, and at least one communication bus 104.
[0046] The memory 101 can be used to store the computer program 103. The processor 102 implements the steps of the method for determining the parallel occlusal position of dentures based on oral scan data registration as described in Embodiment 1 by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101. The memory 101 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 100 (such as audio data), etc. In addition, the memory 101 may include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.
[0047] The at least one processor 102 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or any conventional processor. The processor 102 is the control center of the electronic device 100, connecting various parts of the electronic device 100 via various interfaces and lines.
[0048] The memory 101 in the electronic device 100 stores multiple instructions to implement a method for determining the parallel occlusal position of a prosthesis based on oral scan data registration, and the processor 102 can execute the multiple instructions to achieve the following: The patient undergoes an oral CT scan to obtain at least three sets of oral scan models, each of which includes the maxilla and mandible. The maxilla and mandible form a whole, and their relative spatial positions are fixed. Randomly select one oral scanning model from at least three sets of oral scanning models, and straighten the randomly selected oral scanning model to obtain a set of oral scanning models that are straightened. Using the maxilla of a properly aligned set of oral scanning models as a reference, the maxilla of the remaining sets of oral scanning models is registered with the maxilla of the properly aligned set of oral scanning models. After registering the maxilla of at least three sets of oral scanning models, the mandibular position of at least three sets of oral scanning models is directly determined, resulting in at least three registered sets of oral scanning models. In at least three registered oral scan models, feature points at the same position of the mandible in each group of oral scan models are obtained, and the rotation axis of the mandible is determined based on the feature points at the same position of the mandible in each group of oral scan models. Randomly select one registered oral scanning model from at least three sets of oral scanning models, fix the maxilla of the randomly selected registered oral scanning model, and obtain a fixed maxillary position. Obtain the regions of the maxilla and mandible that are parallel or approximately parallel in a randomly selected set of registered oral scan models. Based on the regions of the maxilla and mandible that are parallel or approximately parallel in a randomly selected set of registered oral scan models, determine the rotation angle of the mandible. The mandible of a randomly selected set of registered oral scanning models is rotated around the rotation axis at the specified rotation angle to obtain the rotated mandibular position. Based on the fixed maxillary position and the rotated mandibular position, the parallel occlusal position of the denture is determined.
[0049] Example 6: If the modules / units integrated in the electronic device 100 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).
[0050] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0051] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0052] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0053] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims
1. A method for determining the parallel occlusal position of dentures based on oral scan data registration, characterized in that, Includes the following steps: The patient undergoes an oral CT scan to obtain at least three sets of oral scan models, each of which includes the maxilla and mandible. The maxilla and mandible form a whole, and their relative spatial positions are fixed. Randomly select one oral scanning model from at least three sets of oral scanning models, and straighten the randomly selected oral scanning model to obtain a set of oral scanning models that are straightened. Using the maxilla of a properly aligned set of oral scanning models as a reference, the maxilla of the remaining sets of oral scanning models is registered with the maxilla of the properly aligned set of oral scanning models. After registering the maxilla of at least three sets of oral scanning models, the mandibular position of at least three sets of oral scanning models is directly determined, resulting in at least three registered sets of oral scanning models. In at least three registered oral scan models, feature points at the same position of the mandible in each group of oral scan models are obtained, and the rotation axis of the mandible is determined based on the feature points at the same position of the mandible in each group of oral scan models. Randomly select one registered oral scanning model from at least three sets of oral scanning models, fix the maxilla of the randomly selected registered oral scanning model, and obtain a fixed maxillary position. Obtain the regions of the maxilla and mandible that are parallel or approximately parallel in a randomly selected set of registered oral scan models. Based on the regions of the mandible that are parallel or approximately parallel in a randomly selected set of registered oral scan models, determine the rotation angle of the mandible. The mandible of a randomly selected set of registered oral scanning models is rotated around the rotation axis at the specified rotation angle to obtain the rotated mandibular position. Based on the fixed maxillary position and the rotated mandibular position, the parallel occlusal position of the denture is determined.
2. The method for determining the parallel occlusal position of dentures based on oral scan data registration according to claim 1, characterized in that, The oral scanning model is an occlusal model of the dental arch.
3. The method for determining the parallel occlusal position of dentures based on oral scan data registration according to claim 1, characterized in that, The step of randomly selecting one set of oral scanning models from at least three sets of oral scanning models and aligning the randomly selected set of oral scanning models to obtain an aligned set of oral scanning models specifically involves: importing at least three sets of oral scanning models into 3D software, randomly selecting one set of oral scanning models from at least three sets of oral scanning models, and aligning the randomly selected set of oral scanning models to obtain an aligned set of oral scanning models.
4. The method for determining the parallel occlusal position of dentures based on oral scan data registration according to claim 3, characterized in that, The 3D software is CAD software.
5. The method for determining the parallel occlusal position of dentures based on oral scan data registration according to claim 1, characterized in that, The step involves obtaining feature points at the same position of the mandible from at least three registered oral scan models, and determining the rotation axis of the mandible based on the feature points at the same position of the mandible from each set of oral scan models. Specifically, this includes: In at least three registered oral scan models, feature points at the same position of the mandible in each group of oral scan models are obtained, and the feature points at the same position of the mandible in each group of oral scan models are projected onto the XOY plane to obtain at least three two-dimensional feature points. The center position of the circle is obtained by calculating the position of the center point of the circle from at least three two-dimensional feature points. The rotation axis of the mandible is determined based on the center position and the direction perpendicular to the XOY plane.
6. The method for determining the parallel occlusal position of dentures based on oral scan data registration according to claim 1, characterized in that, The process involves obtaining regions where the mandible is parallel or approximately parallel to a randomly selected set of registered oral scan models, and determining the rotation angle of the mandible based on these regions. Specifically, this includes: Randomly select a set of registered oral scan models, and draw a spatial curve in the relatively consistent area of the maxilla and mandible of the randomly selected set of registered oral scan models. Project both drawn space curves onto the XOY plane and calculate the minimum bounding box of the planar curve after the two space curves are projected. Calculate the upper edge straight line of the minimum bounding box of the two planar curves after projection of the two drawn spatial curves. The rotation angle of the mandible is determined based on the upper edge line of the minimum bounding box of the two planar curves.
7. A system for determining the parallel occlusal position of dentures based on oral scan data registration, characterized in that, include: The scanning module is used to perform oral CT scans on patients to obtain at least three sets of oral scanning models. The oral scanning models include the maxilla and mandible, which form a whole and have fixed relative spatial positions. The alignment module is used to randomly select one set of oral scanning models from at least three sets of oral scanning models, and align the randomly selected set of oral scanning models to obtain a set of aligned oral scanning models. The registration module is used to register the maxilla of the remaining sets of oral scanning models with the maxilla of the set of oral scanning models that have been properly positioned, using the maxilla of the set of oral scanning models as a reference. After the maxilla of at least three sets of oral scanning models is registered, the mandibular position of at least three sets of oral scanning models is directly determined, and at least three sets of registered oral scanning models are obtained. The rotation axis determination module is used to obtain feature points at the same position of the mandible in at least three registered oral scan models, and determine the rotation axis of the mandible based on the feature points at the same position of the mandible in each group of oral scan models. The maxillary fixation module is used to randomly select a set of registered oral scan models from at least three sets of oral scan models, and fix the maxilla of the randomly selected set of registered oral scan models to obtain a fixed maxillary position. The rotation angle determination module is used to obtain the regions where the maxilla and mandible are parallel or approximately parallel in a randomly selected set of registered oral scan models, and to determine the rotation angle of the mandible based on the regions where the maxilla and mandible are parallel or approximately parallel in a randomly selected set of registered oral scan models. The rotation module is used to rotate the mandible of a randomly selected set of registered oral scanning models around the rotation axis by the rotation angle to obtain the rotated mandibular position. The position determination module is used to determine the parallel occlusal position of the denture based on the fixed maxillary position and the rotated mandibular position.
8. The system for determining the parallel occlusal position of dentures based on oral scan data registration according to claim 7, characterized in that, The oral scanning model is an occlusal model of the dental arch.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method for determining the parallel occlusal position of dentures based on oral scan data registration as described in any one of claims 1 to 6.
10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for determining the parallel occlusal position of dentures based on oral scan data registration as described in any one of claims 1 to 6.