Navigation positioning method and system for orthodontic bracket

Abstract

The invention provides a navigation positioning method and system for a tooth orthodontic bracket, and the method comprises the steps: determining a tooth arrangement scheme according to the oral cavity state of a user and an orthodontic target, and determining a first feature parameter group of a spatial position relation between the teeth of the user and the target position of the orthodontic bracket; pre-pasting the orthodontic bracket to the teeth of the user, collecting real-time images of the orthodontic bracket and the teeth of the user by adopting a preset augmented reality device, and determining a second characteristic parameter group of a spatial position relationship between the teeth of the user and the actual position of the orthodontic bracket; comparing the first characteristic parameter group with the second characteristic parameter group, and determining the deviation distance and the deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket; and controlling the orthodontic bracket to move to a target position of the orthodontic bracket according to the deviation distance and the deviation angle. According to the application, the orthodontic bracket is navigated and positioned in real time by adopting the augmented reality technology, accurate operation guidance is provided for doctors, and the operation accuracy and efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of orthodontic technology, specifically to a navigation and positioning method and system for orthodontic brackets. Background Technology

[0002] In orthodontic treatment, precise bracket bonding is crucial for ensuring orthodontic effectiveness, as its positional accuracy directly affects the force transmission, movement trajectory, and final treatment outcome. However, current clinical methods for bracket bonding still face significant technical challenges, relying heavily on the dentist's clinical experience, hand-eye coordination, and visual judgment, making it difficult to achieve high-precision positioning and bonding of brackets to the tooth surface. Specifically, in traditional procedures, dentists manually determine bracket positions by visually observing tooth morphology and referring to two-dimensional images (such as X-rays and dental molds). This process is easily affected by subjective judgment differences, visual errors, and slight hand tremors, leading to deviations between the actual bracket bonding position and the ideal position. This deviation not only reduces the precision of orthodontic treatment and affects the expected tooth movement results, but may also cause discomfort such as gum damage and tooth sensitivity due to uneven force distribution, and even increase potential risks such as root resorption. Furthermore, bracket position deviations directly increase the difficulty of subsequent adjustments during the orthodontic process, prolong the treatment period, increase the frequency of patient follow-up visits and treatment costs, and in severe cases, require rebonding of brackets, further exacerbating the patient's pain and financial burden. In patent "CN114052951B; A method, device, system, terminal and medium for precise positioning of orthodontic brackets based on image recognition", images of the teeth to be corrected are acquired and the crowns of the teeth to be corrected are separated. The center point and long axis of the crown are identified, and the region of interest is delineated based on the center point and long axis. Based on the region of interest, the orthodontic brackets are positioned laterally, longitudinally, and with an axial tilt angle, thus achieving precise positioning of the orthodontic brackets. However, this process is prone to positional deviations due to slight hand tremors during actual orthodontic bracket placement, reducing the accuracy of orthodontic treatment.

[0003] With the deepening of the concept of precision medicine and the application of digital technology in the field of dentistry, there is an urgent need for a technological solution that can overcome the limitations of traditional operations. Augmented reality (AR) technology, as an emerging technology that enables real-time fusion of virtual information and real scenes, provides a new approach to solving the problem of bracket bonding accuracy. AR devices (such as Microsoft HoloLens) can collect real-time three-dimensional spatial data of teeth and brackets in the oral cavity through components such as depth cameras and infrared sensors. After processing by algorithms, a virtual model is constructed and superimposed onto the dentist's field of vision with precise spatial positioning, forming intuitive navigation guidance. Compared to traditional methods, AR technology demonstrates significant advantages in orthodontic bracket bonding: First, it can provide real-time feedback on the relative position of the bracket and the tooth surface, assisting doctors in quickly adjusting bracket positions through virtual marker lines, deviation values, and other visual information, greatly improving bonding accuracy and surgical efficiency. Second, it can preset the ideal bonding coordinates of the bracket based on preoperative 3D reconstruction models (such as CBCT and intraoral scan data), and provide doctors with quantitative adjustment basis by comparing the deviation between the actual and ideal positions in real time during the operation, achieving "bonding according to plan." Third, the positioning data of the entire surgical process can be recorded and stored in real time, providing data support for postoperative effect evaluation, treatment plan optimization, and clinical experience accumulation. At the same time, the intuitive visualization effect of AR technology also helps doctors clearly explain the surgical procedure and expected results to patients, improving patients' treatment cooperation and medical experience.

[0004] Therefore, the orthodontic bracket installation navigation method based on AR technology is expected to break through the technical bottleneck of traditional surgery, promote orthodontic treatment towards a more precise, efficient and safe direction, and has important clinical application value and technological innovation significance. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this application is to provide a navigation and positioning method and system for orthodontic brackets.

[0006] A first aspect of this application provides a navigation and positioning method for orthodontic brackets, comprising: Determine the tooth arrangement plan based on the user's oral condition and orthodontic goals; Based on the tooth arrangement plan, a first set of feature parameters is used to determine the spatial relationship between the user's teeth and the target position of the orthodontic bracket; The orthodontic brackets are pre-attached to the user's teeth, and a preset augmented reality device is used to capture real-time images of the orthodontic brackets and the user's teeth; A second set of feature parameters is determined based on real-time images of the orthodontic bracket and the user's teeth to determine the spatial relationship between the actual positions of the user's teeth and the orthodontic bracket. By comparing the first set of feature parameters and the second set of feature parameters, the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket are determined; Based on the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket, the orthodontic bracket is controlled to move to the target position of the orthodontic bracket.

[0007] Optionally, the tooth alignment plan includes the target position of the user's teeth, the orthodontic bracket that matches the user's teeth, and the target position of the orthodontic bracket.

[0008] Optionally, the first set of feature parameters for determining the spatial relationship between the user's teeth and the target position of the orthodontic bracket according to the tooth arrangement plan includes: Based on the tooth arrangement plan, a three-dimensional digital model of the user's teeth and the orthodontic brackets is generated; Spatial position information is extracted from the three-dimensional digital models of the user's teeth and the orthodontic brackets to determine the relative spatial position parameters between the target positions of the user's teeth and the orthodontic brackets, which serve as the first set of feature parameters for the spatial position relationship between the user's teeth and the target positions of the orthodontic brackets.

[0009] Optionally, the step of extracting spatial position information from the three-dimensional digital model of the user's teeth and the orthodontic bracket, and determining the relative spatial position parameters between the target positions of the user's teeth and the orthodontic bracket, as the first set of feature parameters for the spatial position relationship between the target positions of the user's teeth and the orthodontic bracket, includes: The three-dimensional digital model of the user's teeth and the orthodontic brackets is segmented to determine the tooth mesh model of each of the user's teeth; For each user's tooth mesh model, tooth feature extraction and tooth contour extraction are performed sequentially to determine the geometric features of each user's tooth. A preset feature matching algorithm is used to identify the features of the tooth mesh model of each of the user's teeth to determine the geometric features of the orthodontic bracket; Based on the geometric features of the user's teeth and the orthodontic brackets, determine the relative spatial position parameters between the target positions of the user's teeth and the orthodontic brackets; The set of relative spatial position parameters between the user's teeth and the target position of the orthodontic bracket is used as the first feature parameter group.

[0010] Optionally, determining the relative spatial position parameters between the target positions of the user's teeth and the orthodontic brackets based on the geometric features of the user's teeth and the orthodontic brackets includes: A local coordinate system is defined on the three-dimensional digital model of the user's teeth. The local coordinate system has the clinical crown center point as the origin, the clinical long axis of the three-dimensional digital model of the user's teeth as the Z-axis, the oral midline as the Y-axis, and the direction pointing to the labial or buccal side based on the right-hand rule as the X-axis. The three-dimensional digital model of the orthodontic bracket is registered onto the crown surface of the three-dimensional digital model of the user's teeth; On the registered three-dimensional digital model of the orthodontic bracket, the coordinate system of the orthodontic bracket is defined with the base center or groove center as the origin, the Z-axis parallel to the groove direction as the Z-axis, the mesiodistal axis of symmetry as the Y-axis, and the gingival axis as the X-axis. Based on the local coordinate system of the three-dimensional digital model of the user's teeth and the coordinate system of the orthodontic bracket, a homogeneous transformation matrix of the coordinate system of the orthodontic bracket relative to the local coordinate system of the three-dimensional digital model of the user's teeth is determined, which serves as the relative spatial position parameter between the target positions of the user's teeth and the orthodontic bracket.

[0011] Optionally, the second set of feature parameters for determining the spatial relationship between the actual positions of the user's teeth and the orthodontic brackets based on real-time images of the orthodontic brackets and the user's teeth includes: Based on preset surgical nodes, keyframe extraction processing is performed on real-time images of the orthodontic bracket and the user's teeth to determine keyframe images; A preset visual recognition algorithm is used to recognize and process the keyframe image to determine the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic bracket, which serve as the second set of feature parameters for the spatial position relationship between the actual positions of the user's teeth and the orthodontic bracket.

[0012] Optionally, the step of using a preset visual recognition algorithm to recognize and process the keyframe image to determine the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic bracket, as a second set of feature parameters for the spatial position relationship between the actual positions of the user's teeth and the orthodontic bracket, includes: The keyframe image is preprocessed to determine the preprocessed keyframe image. The preprocessing includes noise reduction, brightness adjustment, and contrast adjustment. A preset edge detection algorithm is used to perform edge detection on the preprocessed keyframe image to determine the edges in the preprocessed keyframe image; The edges are classified using a preset edge classification model to determine the edges of the user's teeth; The user's teeth edges are subjected to crown geometric feature extraction processing to determine the user's crown geometric feature parameters, which include the crown length and the crown width; The geometric features of the orthodontic brackets are extracted from the edge of the user's teeth to determine the geometric feature parameters of the orthodontic brackets, which include the outline of the orthodontic brackets and the edge of the orthodontic brackets. Based on the geometric feature parameters of the user's crown and the orthodontic bracket, the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic bracket are determined, which serve as the second set of feature parameters for the spatial position relationship between the actual positions of the user's teeth and the orthodontic bracket.

[0013] A second aspect of this application provides a navigation and positioning system for orthodontic brackets, comprising: The tooth alignment plan determination module is used to determine the tooth alignment plan based on the user's oral condition and orthodontic goals; The first feature parameter group determination module is used to determine the first feature parameter group of the spatial positional relationship between the user's teeth and the target position of the orthodontic bracket according to the tooth arrangement plan; An augmented reality processing module is used to pre-attach the orthodontic brackets to the user's teeth and to acquire real-time images of the orthodontic brackets and the user's teeth using a preset augmented reality device; The second feature parameter group determination module is used to determine a second feature parameter group of the spatial positional relationship between the actual position of the user's teeth and the orthodontic bracket based on real-time images of the orthodontic bracket and the user's teeth. The comparison module is used to compare the first feature parameter group and the second feature parameter group to determine the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket; The navigation and positioning module is used to control the orthodontic bracket to move to the target position of the orthodontic bracket based on the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket.

[0014] A third aspect of this application provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of any of the methods provided in the first aspect of this application.

[0015] A fourth aspect of this application provides an electronic device comprising: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of any of the methods provided in the first aspect of this application.

[0016] The navigation and positioning method for orthodontic brackets in this application uses a pre-set augmented reality device to acquire real-time images of the orthodontic brackets and the user's teeth. This provides real-time feedback on the spatial relationship between the orthodontic brackets and the user's teeth, and compares and analyzes this relationship with the pre-determined ideal spatial relationship between the user's teeth and the target position of the orthodontic brackets. This obtains the deviation distance and deviation angle of the orthodontic brackets relative to their target position, providing navigation and positioning for bracket placement, guiding the surgeon's operation, and improving the efficiency and accuracy of the procedure. Furthermore, the real-time images of the orthodontic brackets and the user's teeth acquired using the pre-set augmented reality device have an intuitive visualization effect, improving the patient's treatment experience and cooperation.

[0017] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0018] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a flowchart illustrating a navigation and positioning method for orthodontic brackets according to an exemplary embodiment.

[0019] Figure 2 This is a schematic flowchart illustrating a method for navigation and positioning of orthodontic brackets according to an exemplary embodiment.

[0020] Figure 3 This is a flowchart illustrating a method for extracting the spatial relationship between a user's teeth and a target location of an orthodontic bracket, according to an exemplary embodiment.

[0021] Figure 4 This is a flowchart illustrating a method for extracting the spatial relationship between a user's teeth and the actual position of an orthodontic bracket, according to an exemplary embodiment.

[0022] Figure 5 This is a schematic diagram of the structure of a navigation and positioning system for orthodontic brackets according to an exemplary embodiment. Detailed Implementation

[0023] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0024] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0026] In traditional orthodontic bracket placement, dentists need to manually determine the bracket's position by visually observing tooth morphology or referring to two-dimensional images. Due to subjective judgment, visual errors, and hand tremors, the actual placement of the bracket often deviates from the ideal position, reducing the accuracy of orthodontic treatment and affecting the expected tooth movement results. To address these issues, this application provides a navigation and positioning method for orthodontic brackets to solve these problems.

[0027] Figure 1 This is a flowchart illustrating a navigation and positioning method for orthodontic brackets according to an exemplary embodiment. Figure 2 This is a schematic flowchart illustrating a method for navigation and positioning of orthodontic brackets according to an exemplary embodiment.

[0028] Reference Figure 1 , Figure 2 As shown in one embodiment of this application, a navigation and positioning method for orthodontic brackets includes steps S11 to S16.

[0029] S11 determines the tooth arrangement plan based on the user's oral condition and orthodontic goals.

[0030] S12, Based on the tooth arrangement plan, determine the first set of characteristic parameters for the spatial relationship between the user's teeth and the target position of the orthodontic bracket.

[0031] S13, the orthodontic brackets are pre-attached to the user's teeth, and a preset augmented reality device is used to capture real-time images of the orthodontic brackets and the user's teeth.

[0032] S14, Based on real-time images of the orthodontic brackets and the user's teeth, determine the second set of feature parameters to establish the spatial relationship between the actual positions of the user's teeth and the orthodontic brackets.

[0033] S15, compare the first feature parameter group and the second feature parameter group to determine the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket.

[0034] S16, based on the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket, control the orthodontic bracket to move to the target position of the orthodontic bracket.

[0035] The embodiments described above employ a pre-set augmented reality device to acquire real-time images of orthodontic brackets and the user's teeth. This allows for real-time feedback on the spatial relationship between the orthodontic brackets and the user's teeth, which is then compared and analyzed with a pre-determined ideal spatial relationship between the user's teeth and the target position of the orthodontic brackets. This analysis yields the deviation distance and angle of the orthodontic brackets relative to their target position, providing navigation and positioning for bracket placement, guiding the surgeon's procedure, and improving surgical efficiency and precision. Furthermore, the real-time images of the orthodontic brackets and the user's teeth acquired using a pre-set augmented reality device offer an intuitive visualization effect, enhancing the patient's experience and cooperation. It also enables data-driven recording of the surgical process, facilitating subsequent data analysis and experience accumulation, and optimizing the orthodontic treatment process.

[0036] In order to effectively implement orthodontics, in some specific embodiments of this application, for S11, a tooth arrangement plan is determined based on the user's oral condition and orthodontic goals.

[0037] Specifically, a user's oral condition can include the condition of teeth and dentition, such as the number and shape of teeth, tooth arrangement and occlusion; the condition of alveolar bone and jawbone, such as alveolar bone condition, jawbone development and relationship; the condition of periodontal tissues and oral soft tissues, such as periodontal health, gingival condition, oral mucosa; the condition of temporomandibular joint; facial shape and proportions, such as frontal view and lateral view; and the condition of oral function, such as chewing function, speech function, swallowing and breathing.

[0038] Orthodontic goals can include: the user's subjective goals, tooth alignment goals, occlusal goals, jaw and facial harmony goals, and long-term stability goals.

[0039] Doctors can use dental alignment software to design dental alignment plans, which include the target positions of the user's teeth, the orthodontic brackets that match the user's teeth, and the target positions of the orthodontic brackets.

[0040] Among them, the orthodontic bracket is an orthodontic bracket that matches the user's oral condition and orthodontic goals; the target position of the orthodontic bracket indicates the target placement position of the orthodontic bracket on the corresponding user's teeth.

[0041] The embodiments described above in this application develop detailed and personalized tooth alignment plans for users based on their oral condition and orthodontic goals. This ensures precise orthodontic treatment direction, avoids blind operation, provides a basis for orthodontic bracket bonding and tooth movement, and can also predict treatment effects and reduce the risk of relapse.

[0042] In order to obtain the spatial positional relationship parameters between the user's teeth and the target position of the orthodontic bracket, in some specific embodiments of this application, for S12, the first set of characteristic parameters for determining the spatial positional relationship between the user's teeth and the target position of the orthodontic bracket according to the tooth arrangement plan can be adopted as S121 to S122.

[0043] S121, based on the tooth arrangement plan, generates a three-dimensional digital model of the user's teeth and orthodontic brackets.

[0044] Specifically, based on the tooth arrangement plan, a three-dimensional model file of the user's teeth and orthodontic brackets is generated, that is, a three-dimensional digital model of the user's teeth and orthodontic brackets, and the three-dimensional digital model of the orthodontic brackets is preprocessed.

[0045] The preprocessing operations include file export, format conversion, and repair. Specifically, this includes: exporting 3D model files of the user's teeth and orthodontic brackets using dental alignment software. The exported 3D model files of the user's teeth and orthodontic brackets are usually in .stl or .obj format; and performing format conversion and repair on the exported 3D model files of the user's teeth and orthodontic brackets to ensure that the geometric information of the 3D model files of the user's teeth and orthodontic brackets is correct.

[0046] Specifically, format conversion refers to converting the 3D model files of the user's teeth and orthodontic brackets exported by the dental alignment software, usually in .stl or .obj format, into scientific computing formats such as .ply or .off required for subsequent algorithm processing, using professional CAD software such as Mimics, to optimize the mesh topology, reduce redundant data, and facilitate subsequent registration algorithm processing.

[0047] Repair refers to the automated correction of common geometric defects in 3D models. The main methods and objectives include: (1) Hole filling: using mimics' correction function to close unexpected holes; (2) Manifolding: eliminating non-manifold edges by edge folding and vertex separation; (3) Normal unification: using principal component analysis (PCA) to recalculate vertex normals and eliminate normal flipping caused by scanning noise; (4) Edge sharpening: applying Laplacian filtering to feature edges such as orthodontic bracket grooves to restore design sharpness; (5) Data lightweighting: using the mesh optimization function of professional software to reduce the number of meshes and reduce computational load while retaining feature accuracy, such as tolerance ≤ 0.05mm.

[0048] S122, extract spatial position information from the three-dimensional digital model of the user's teeth and orthodontic brackets, determine the relative spatial position parameters between the target positions of the user's teeth and orthodontic brackets, and use them as the first feature parameter set of the spatial position relationship between the target positions of the user's teeth and orthodontic brackets.

[0049] Specifically, the relative spatial position parameters between the user's teeth and the target position of the orthodontic bracket include the three-dimensional spatial coordinates of the orthodontic bracket relative to the user's teeth, rotation angle, size ratio, and left and right side blank distance ratio.

[0050] The set of relative spatial position parameters between the user's teeth and the target position of the orthodontic bracket is taken as the first feature parameter set P0 of the spatial position relationship between the user's teeth and the target position of the orthodontic bracket.

[0051] The first characteristic parameter group P0 is used to reflect the target relative position between the orthodontic bracket and the user's teeth in the tooth arrangement plan. In the actual surgical operation, the first characteristic parameter group P0 will serve as the target reference standard for the doctor to attach the orthodontic bracket.

[0052] According to the above embodiments of this application, the spatial relationship between the user's teeth and the target position of the orthodontic bracket is obtained based on the tooth arrangement plan, providing a target reference standard for the subsequent surgical operation process. By comparing the spatial relationship between the user's teeth and the orthodontic bracket during the actual surgical process, precise surgical navigation is provided for the doctor.

[0053] Figure 3 This is a flowchart illustrating a method for extracting the spatial relationship between a user's teeth and a target location of an orthodontic bracket, according to an exemplary embodiment.

[0054] Reference Figure 3 As shown, in order to extract the relative spatial position parameters between the user's teeth and the orthodontic bracket, in some specific embodiments of this application, for S122, the spatial position information of the three-dimensional digital model of the user's teeth and the orthodontic bracket is extracted, and the relative spatial position parameters between the target positions of the user's teeth and the orthodontic bracket are determined as the first feature parameter group of the spatial position relationship between the target positions of the user's teeth and the orthodontic bracket, which can be adopted in S101 to S105.

[0055] S101, the three-dimensional digital model of the user's teeth and orthodontic brackets is segmented to determine the tooth mesh model of each user's teeth.

[0056] Specifically, the three-dimensional digital models of the user's teeth and orthodontic brackets are segmented using region growing algorithm and active contour segmentation algorithm. The three-dimensional digital model is segmented into multiple teeth, and each tooth is identified and marked as an independent mesh surface as the tooth mesh model of the user's teeth. The three-dimensional digital model of the orthodontic brackets is also segmented to determine the independent three-dimensional digital model of the orthodontic brackets.

[0057] S102, tooth feature extraction and tooth contour extraction are performed sequentially on the tooth mesh model of each user's tooth to determine the geometric features of each user's tooth.

[0058] Specifically, tooth features are extracted from the tooth mesh model of each user's tooth to obtain the user's tooth features.

[0059] User tooth characteristics include crown center point, crown length, and crown width.

[0060] Based on the user's tooth features, the system can identify the specific location and number of each tooth, and perform tooth contour extraction processing to obtain the tooth contour of the user's teeth.

[0061] Based on the outline of the user's teeth, the angular orientation and sides of the user's teeth are determined and used as geometric features of the user's teeth.

[0062] S103 uses a preset feature matching algorithm to identify features of the tooth mesh model of each user's tooth and determine the geometric features of the orthodontic bracket.

[0063] Specifically, the geometric features of orthodontic brackets include the bracket's outline and the bracket's edges.

[0064] A preset feature matching algorithm is used to identify the features of the tooth mesh model of each user's teeth to obtain the position and shape information of the orthodontic brackets.

[0065] Based on the location and shape information of the orthodontic brackets, the installation position of the orthodontic brackets on each user's teeth is determined, thereby obtaining the outline of the orthodontic brackets.

[0066] The contour of the orthodontic bracket is analyzed using a preset edge detection algorithm and inflection point analysis algorithm to determine the edge of the orthodontic bracket.

[0067] S104, Based on the geometric features of the user's teeth and the orthodontic brackets, determine the relative spatial position parameters between the target positions of the user's teeth and the orthodontic brackets.

[0068] Specifically, based on the angle and orientation of the user's teeth, as well as the sides, the outline of the orthodontic bracket, and the edge of the orthodontic bracket, the relative spatial position parameters between the user's teeth and the target position of the orthodontic bracket are calculated. These relative spatial position parameters include the three-dimensional spatial coordinates of the orthodontic bracket relative to the user's teeth, the rotation angle, the tooth / bracket size ratio, and the left and right side blank distance ratio.

[0069] In some specific embodiments of this application, S104 may include: Step 1: Define a local coordinate system on the three-dimensional digital model of the user's teeth.

[0070] Specifically, the local coordinate system takes the clinical crown center point as the origin, the clinical long axis of the user's three-dimensional digital model of the teeth as the Z-axis, the oral midline as the Y-axis, and the direction pointing to the labial or buccal side based on the right-hand rule as the X-axis.

[0071] The X-axis direction is fitted to the geometric center of the crown and the apex of the root. If the model contains a root, it can be determined by principal component analysis (PCA).

[0072] The Y-axis direction is determined by projecting the line connecting the mesial and distal contact points onto the occlusal plane. The Y-axis is perpendicular to the Z-axis and points towards the mesial direction.

[0073] The X-axis is based on the right-hand rule, pointing towards the labial / buccal side (i.e., the anterior teeth) or the buccal side (i.e., the posterior teeth), and is perpendicular to the YZ plane.

[0074] The aforementioned local coordinate system of the user's teeth is used to provide an anatomical reference for orthodontic bracket positioning.

[0075] In this step, it is also necessary to extract the geometric parameters of the teeth: Tooth dimensions: Measure the mesiodistal width, buccolingual thickness, and crown height.

[0076] Angular orientation: Calculate the torque angle and tip angle of the tooth's long axis relative to the occlusal plane.

[0077] Step 2: Register the three-dimensional digital model of the orthodontic bracket onto the crown surface of the three-dimensional digital model of the user's teeth.

[0078] Specifically, during the registration process, doctors can manually and interactively adjust the position and orientation of orthodontic brackets in the software, or use algorithms, such as registration based on landmarks or the curved surface of the orthodontic bracket base and the curved surface of the crown, to assist in completing the registration.

[0079] For example, the bracket base surface is aligned with the curvature of the tooth crown surface. The ICP (Iterative Closest Point) algorithm is used to minimize the distance error between the two surfaces. Initial position constraints need to be preset to avoid intrusion into the tooth structure.

[0080] Step 3: Define the coordinate system of the orthodontic bracket on the registered 3D digital model of the orthodontic bracket.

[0081] Specifically, the coordinate system of orthodontic brackets has the center of the base or the center of the groove as the origin, the direction parallel to the groove as the Z-axis, the mesiodistal axis of symmetry as the Y-axis, and the gingival axis as the X-axis.

[0082] If the center of the base is taken as the origin, the center of the base can be determined by fitting the center of the sphere to the base surface.

[0083] Specifically, a coordinate system is defined for the orthodontic brackets during the registration process.

[0084] Step 4: Based on the local coordinate system of the user's three-dimensional digital model of teeth and the coordinate system of the orthodontic bracket, determine the homogeneous transformation matrix of the coordinate system of the orthodontic bracket relative to the local coordinate system of the user's three-dimensional digital model of teeth, and use it as the relative spatial position parameter between the target positions of the user's teeth and the orthodontic bracket.

[0085] Specifically, the homogeneous transformation matrix T_bracket_to_tooth includes a translation vector and a rotation matrix. The translation vector describes the position of the orthodontic bracket origin relative to the origin of the user's teeth, and the rotation matrix describes the local coordinate system of the orthodontic bracket relative to the user's teeth.

[0086] The homogeneous transformation matrix, i.e., the complete 4x4 transformation matrix, or the equivalent parameterized representation of the homogeneous transformation matrix, is the relative spatial position parameters between the target positions of the user's teeth and the orthodontic brackets, i.e., the first set of characteristic parameters.

[0087] The first set of feature parameters includes: Calculate the coordinate offset (Tx, Ty, Tz) of the orthodontic bracket origin in the user's local tooth coordinate system: Where Tx represents the vertical distance from the center of the orthodontic bracket base to the labial and buccal surfaces of the user's teeth, and is used as the clinical bonding height of the orthodontic bracket; Ty represents the horizontal distance from the mesial edge of the orthodontic bracket to the mesial contact point of the user's tooth, and is used to control the mesial and distal position of the orthodontic bracket.

[0088] Tz represents the vertical distance from the base of the orthodontic bracket to the projection plane of the long axis of the user's teeth, and is used for torque control of the orthodontic bracket.

[0089] Calculate the Euler angles (in the order ZYX) by using the axial angle between the coordinate system of the orthodontic bracket and the local coordinate system of the user's teeth: Yaw (around the Z-axis): The rotation angle of the orthodontic bracket groove relative to the mesiodistal line of the user's teeth, used to control the rotation of the user's teeth.

[0090] Pitch (around the Y-axis): The angle of inclination of the orthodontic bracket base relative to the occlusal plane of the teeth, used to control the axial tilt angle of the orthodontic bracket.

[0091] Roll (around the X-axis): The torque angle of the orthodontic bracket base relative to the labial / buccal surface of the tooth, used to control the torque of the orthodontic bracket.

[0092] Tooth / Bracelet Size Ratio: Calculate the ratio of the width of the orthodontic bracket base to the mesial and distal width of the tooth, which is usually 0.4–0.6, to ensure that the orthodontic bracket bonding does not extend beyond the tooth edge.

[0093] Left and right side blank distance ratio: This measures the ratio of the distance from the mesial / distal edge of the orthodontic bracket to the adjacent surface of the user's teeth. For example, 1:1 indicates centering, and 1.2:1 indicates offset to the distal side. This is used to dynamically adjust symmetry.

[0094] The parameters calculated above are combined into a set of relative spatial position parameters P0 between the user's teeth and the target position of the orthodontic bracket, i.e.: P0 = { (Tx, Ty, Tz), (Rx, Ry, Rz), size ratio, near-center blank ratio, far-center blank ratio)}.

[0095] S105, the set of relative spatial position parameters between the user's teeth and the target position of the orthodontic bracket is used as the first feature parameter group.

[0096] Specifically, the first set of feature parameters P0 serves as the target location data.

[0097] In the embodiments described above, spatial position information is extracted from the three-dimensional digital model of the orthodontic bracket to obtain the relative position parameters between the user's teeth and the target positions of the orthodontic bracket in the tooth arrangement plan, which serve as a reference standard for the target positions of the subsequent orthodontic bracket bonding.

[0098] In some specific embodiments of this application, orthodontic brackets are pre-attached to the user's teeth, and a preset augmented reality device is used to capture real-time images of the orthodontic brackets and the user's teeth.

[0099] Specifically, before the orthodontic bracket bonding surgery, the orthodontic brackets are pre-attached to the user's teeth, with each bracket bonded to its corresponding tooth individually, thus providing a positioning reference for image acquisition using augmented reality devices and for tracking the position of the orthodontic brackets.

[0100] Doctors used Microsoft HoloLens augmented reality (AR) devices to capture real-time images of the teeth undergoing orthodontic bracket bonding surgery, obtaining real-time images of the orthodontic brackets and the user's teeth. The augmented reality (AR) device can capture the actual scene and the three-dimensional spatial position information of the user's teeth and orthodontic brackets, providing a data basis for subsequent comparative analysis.

[0101] In order to obtain the spatial relationship between the actual position of the user's teeth and the orthodontic bracket, in some specific embodiments of this application, for S14, the second set of feature parameters for determining the spatial relationship between the actual position of the user's teeth and the orthodontic bracket based on the real-time image of the orthodontic bracket and the user's teeth can be: S141 to S142.

[0102] S141, based on the preset surgical nodes, perform keyframe extraction processing on the real-time images of the orthodontic brackets and the user's teeth to determine the keyframe images.

[0103] Specifically, the preset surgical nodes may include the timing of the initial placement and adjustment of orthodontic brackets.

[0104] Keyframe images can include images of the initial orthodontic bracket attachment, images of the tooth edges, and images of the moment of adjustment.

[0105] S142, a preset visual recognition algorithm is used to recognize and process the key frame image to determine the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic brackets, which serve as the second set of feature parameters for the spatial position relationship between the actual positions of the user's teeth and the orthodontic brackets.

[0106] Specifically, the preset visual recognition algorithm can use the U-Net++ network to perform pixel-level segmentation of the tooth region in the keyframe image, generate an accurate tooth contour mask, and at the same time use the improved YOLOv8-Nano model to detect the position of the orthodontic bracket in real time and identify the orthodontic bracket bounding box and groove direction.

[0107] This stage combines deep learning with traditional image enhancement techniques to ensure stable extraction of geometric features of teeth and brackets even in complex oral environments, providing reliable input data for subsequent spatial relationship calculations.

[0108] Subsequently, the actual relative spatial position of the orthodontic bracket and the user's teeth is calculated based on the PnP algorithm. By matching the detected 2D feature points, such as the corner points of the orthodontic bracket and the center point of the tooth, with the known 3D model dimensions, the three-dimensional translation vector and rotation angle of the orthodontic bracket relative to the user's teeth are calculated.

[0109] At the same time, the size ratio of the user's teeth to the orthodontic bracket and the ratio of the left and right blank distances are obtained by converting the pixel ratio, forming a complete second feature parameter group P1.

[0110] This process integrates computer vision and geometric computation, achieving a precise mapping from two-dimensional images to three-dimensional spatial relationships, providing data support for real-time AR projection.

[0111] The relative spatial position parameters between the user's teeth and the actual position of the orthodontic brackets can include the three-dimensional spatial coordinates of the actual position of the orthodontic brackets relative to the user's teeth, the rotation angle, the tooth / bracket size ratio, and the left and right side blank distance ratio.

[0112] The set of relative spatial position parameters between the actual positions of the user's teeth and the orthodontic brackets is used as the second feature parameter set Pr for the spatial position relationship between the target positions of the user's teeth and the orthodontic brackets.

[0113] The second feature parameter group, Pr, is used to reflect the actual relative positional relationship between the orthodontic bracket and the user's teeth at each critical moment during the surgical procedure.

[0114] The embodiments described above employ augmented reality technology to obtain the spatial relationship between the user's teeth and the actual positions of the orthodontic brackets, assisting doctors in accurately locating the orthodontic brackets, improving surgical efficiency and precision. Furthermore, augmented reality technology can intuitively and visually display the effects to the user, helping to improve the user's treatment experience and cooperation.

[0115] Figure 4 This is a flowchart illustrating a method for extracting the spatial relationship between a user's teeth and the actual position of an orthodontic bracket, according to an exemplary embodiment.

[0116] Reference Figure 4 As shown, in order to obtain the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic brackets, in some specific embodiments of this application, for S142, a preset visual recognition algorithm is used to recognize and process the key frame image to determine the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic brackets, which can be used as the second feature parameter group of the spatial position relationship between the actual positions of the user's teeth and the orthodontic brackets, and S201 to S206 can be used.

[0117] S201, preprocess the keyframe image to determine the preprocessed keyframe image.

[0118] Specifically, preprocessing includes noise reduction, brightness adjustment, and contrast adjustment.

[0119] Denoising can be achieved by using median filtering or Gaussian filtering to filter keyframe images, remove noise and interference signals, and improve the quality of keyframe images.

[0120] The brightness adjustment operation can adjust the overall brightness of the keyframe image to a preset brightness value, which is beneficial for subsequent edge detection. The preset brightness value can be adaptively set according to edge detection requirements.

[0121] Contrast adjustment can be achieved using histogram equalization to increase the contrast of keyframe images to a preset value, thus highlighting edge contours.

[0122] S202, a preset edge detection algorithm is used to perform edge detection on the preprocessed keyframe image to determine the edges in the preprocessed keyframe image.

[0123] Specifically, the preset edge detection algorithm can be the Canny edge detection algorithm, whose formula is: G = sqrt((dI / dx)^2 + (dI / dy)^2) θ = arctan(dI / dy, dI / dx) Where: I represents the preprocessed keyframe image, G represents the gradient magnitude, θ represents the gradient direction, x represents the horizontal coordinate of the image pixel in the preprocessed keyframe image (i.e., the column index), and y represents the vertical coordinate of the image pixel in the preprocessed keyframe image (i.e., the row index).

[0124] The edge detection process described above outputs a binary image, where white pixels represent detected edge regions and black pixels represent non-edge regions.

[0125] S203 uses a preset edge classification model to classify the edges and determine the edges of the user's teeth and the orthodontic brackets.

[0126] Specifically, the preset edge classification model is a model trained in advance using labeled training samples, which can identify different types of edges.

[0127] The edges detected in the preprocessed keyframe image are input into a preset edge classification model for classification and recognition, and the edges of the user's teeth are output.

[0128] The edges of a tooth include the gingival margin, the edge of the tooth itself, and the edge of the restoration.

[0129] S204, extracts the geometric features of the user's teeth by examining the edges of the crowns, and determines the geometric feature parameters of the user's crowns.

[0130] Specifically, the geometric features of a user's crown include the crown's length and width.

[0131] The edges of the user's teeth are filtered to determine the edges of the tooth body, and a polygon fitting algorithm is used to connect the discrete edges of the tooth body into a complete tooth contour line to determine the tooth contour.

[0132] Calculate the crown length and crown width of the teeth based on their outlines.

[0133] S205, extract the geometric features of the orthodontic brackets from the edge of the user's teeth and determine the geometric feature parameters of the orthodontic brackets.

[0134] Specifically, the geometric features of orthodontic brackets include the bracket's outline and the bracket's edges.

[0135] Following the example above, a preset feature matching algorithm is used to identify the contour of the teeth, i.e., the tooth contour, to determine the position contour of the orthodontic bracket, and to analyze the size and shape of the orthodontic bracket, thereby obtaining the contour line of the orthodontic bracket, i.e., the contour of the orthodontic bracket.

[0136] Based on the outline of the orthodontic bracket, edge detection algorithms or inflection point analysis algorithms are used to obtain the edge of the orthodontic bracket.

[0137] S206, based on the geometric feature parameters of the user's crown and the orthodontic bracket, determine the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic bracket.

[0138] Specifically, based on the user's crown length and width, the outline of the orthodontic bracket, and the edge of the orthodontic bracket, the relative spatial position parameters between the user's teeth and the actual positions of the orthodontic bracket are calculated. These parameters include the three-dimensional spatial coordinates of the actual position of the orthodontic bracket relative to the user's teeth, the rotation angle, the tooth / bracket size ratio, and the left and right side blank distance ratio.

[0139] S207, the set of relative spatial position parameters between the actual positions of the user's teeth and the orthodontic brackets is used as the second characteristic parameter set of the spatial position relationship between the actual positions of the user's teeth and the orthodontic brackets.

[0140] Specifically, the second feature parameter group Pr serves as real-time location data during the surgical procedure.

[0141] In the above embodiments of this application, spatial position information of the user's teeth and orthodontic brackets is extracted from image data obtained using augmented reality technology, and the relative position parameters between the actual positions of the user's teeth and orthodontic brackets are obtained as real-time position data of the orthodontic brackets during the operation.

[0142] To achieve navigation of orthodontic brackets, in some specific embodiments of this application, the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket are determined by comparing the first feature parameter group and the second feature parameter group. The deviation distance and deviation angle are then displayed in real time on the display screen of a preset augmented reality device and fed back to the doctor, providing the doctor with accurate surgical navigation and assistance, and guiding the adjustment of the position of the orthodontic bracket.

[0143] To achieve precise placement of orthodontic brackets, in some specific embodiments of this application, the orthodontic brackets are controlled to move to the target position based on the deviation distance and deviation angle of the orthodontic brackets relative to the target position of the orthodontic brackets.

[0144] Specifically, based on the navigation information provided by the pre-set augmented reality device, namely the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket, the doctor adjusts the position of the orthodontic bracket to achieve precise orthodontic bracket adhesion.

[0145] This application discloses a navigation and positioning method for orthodontic brackets. Based on augmented reality technology, the method navigates the orthodontic bracket surgery, making full use of computer vision and data analysis technology to achieve intelligent tracking and guidance of the entire surgical process. This significantly improves the accuracy and efficiency of the surgery, providing patients with a better medical experience.

[0146] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0147] Figure 5 This is a schematic diagram of the structure of a navigation and positioning system for orthodontic brackets according to an exemplary embodiment.

[0148] Reference Figure 5 As shown, a navigation and positioning system for orthodontic brackets includes: a tooth arrangement scheme determination module 110, a first feature parameter group determination module 120, an augmented reality processing module 130, a second feature parameter group determination module 140, a comparison module 150, and a navigation and positioning module 160.

[0149] The tooth arrangement plan determination module 110 is used to determine the tooth arrangement plan based on the user's oral condition and orthodontic goals; The first feature parameter group determination module 120 is used to determine the first feature parameter group of the spatial positional relationship between the user's teeth and the target position of the orthodontic bracket according to the tooth arrangement plan. Augmented reality processing module 130 is used to pre-attach orthodontic brackets to the user's teeth and to acquire real-time images of the orthodontic brackets and the user's teeth using a preset augmented reality device; The second feature parameter group determination module 140 is used to determine the second feature parameter group of the spatial positional relationship between the actual position of the user's teeth and the orthodontic bracket based on real-time images of the orthodontic bracket and the user's teeth. The comparison module 150 is used to compare the first feature parameter group and the second feature parameter group to determine the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket. The navigation and positioning module 160 is used to control the orthodontic bracket to move to the target position of the orthodontic bracket based on the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket.

[0150] The embodiments described above employ a pre-set augmented reality device to acquire real-time images of orthodontic brackets and the user's teeth. This allows for real-time feedback on the spatial relationship between the orthodontic brackets and the user's teeth, which is then compared and analyzed with a pre-determined ideal spatial relationship between the user's teeth and the target position of the orthodontic brackets. This analysis yields the deviation distance and angle of the orthodontic brackets relative to their target position, providing navigation and positioning for bracket placement, guiding the surgeon's procedure, and improving surgical efficiency and precision. Furthermore, the real-time images of the orthodontic brackets and the user's teeth acquired using a pre-set augmented reality device offer an intuitive visualization effect, enhancing the patient's experience and cooperation. It also enables data-driven recording of the surgical process, facilitating subsequent data analysis and experience accumulation, and optimizing the orthodontic treatment process.

[0151] Regarding the embodiments of the above system, the specific ways in which each module performs operations have been described in detail in the embodiments of the method, and will not be elaborated here.

[0152] Based on the same technical concept, in some specific embodiments of this application, a terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and a method that the processor can use to execute when executing the program.

[0153] Based on the same technical concept, in some specific embodiments of this application, a computer-readable storage medium is provided on which a computer program is stored, which can be used to execute a method when the program is executed by a processor.

[0154] Optionally, the memory is used to store programs; the memory may include volatile memory, such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.; the memory may also include non-volatile memory, such as flash memory. The memory is used to store computer programs (such as application programs and functional modules that implement the above methods), computer instructions, etc., and the aforementioned computer programs and computer instructions can be partitioned and stored in one or more memories. Furthermore, the aforementioned computer programs, computer instructions, data, etc., can be accessed by the processor.

[0155] The aforementioned computer programs, computer instructions, etc., can be stored in partitions within one or more memory locations. Furthermore, the aforementioned computer programs, computer instructions, data, etc., can be accessed by a processor.

[0156] A processor is used to execute a computer program stored in memory to implement the various steps of the methods involved in the above embodiments. For details, please refer to the relevant descriptions in the preceding method embodiments.

[0157] The processor and memory can be separate structures or integrated structures. When the processor and memory are separate structures, they can be coupled together via a bus.

[0158] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application 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.

[0159] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0160] 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 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0161] 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.

[0162] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A navigation and positioning method for orthodontic brackets, characterized in that, include: Determine the tooth arrangement plan based on the user's oral condition and orthodontic goals; Based on the tooth arrangement plan, a first set of feature parameters is used to determine the spatial relationship between the user's teeth and the target position of the orthodontic bracket; The orthodontic brackets are pre-attached to the user's teeth, and a preset augmented reality device is used to capture real-time images of the orthodontic brackets and the user's teeth; A second set of feature parameters is determined based on real-time images of the orthodontic bracket and the user's teeth to determine the spatial relationship between the actual positions of the user's teeth and the orthodontic bracket. By comparing the first set of feature parameters and the second set of feature parameters, the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket are determined; Based on the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket, the orthodontic bracket is controlled to move to the target position of the orthodontic bracket.

2. The navigation and positioning method for orthodontic brackets according to claim 1, characterized in that, The tooth alignment plan includes the target position of the user's teeth, the orthodontic bracket that matches the user's teeth, and the target position of the orthodontic bracket.

3. The navigation and positioning method for orthodontic brackets according to claim 1, characterized in that, The first set of feature parameters for determining the spatial relationship between the user's teeth and the target position of the orthodontic bracket according to the tooth arrangement plan includes: Based on the tooth arrangement plan, a three-dimensional digital model of the user's teeth and the orthodontic brackets is generated; Spatial position information is extracted from the three-dimensional digital models of the user's teeth and the orthodontic brackets to determine the relative spatial position parameters between the target positions of the user's teeth and the orthodontic brackets, which serve as the first set of feature parameters for the spatial position relationship between the user's teeth and the target positions of the orthodontic brackets.

4. The navigation and positioning method for orthodontic brackets according to claim 3, characterized in that, The step of extracting spatial position information from the three-dimensional digital model of the user's teeth and the orthodontic bracket, and determining the relative spatial position parameters between the target positions of the user's teeth and the orthodontic bracket, as the first set of feature parameters for the spatial position relationship between the target positions of the user's teeth and the orthodontic bracket, includes: The three-dimensional digital model of the user's teeth and the orthodontic brackets is segmented to determine the tooth mesh model of each user's teeth; For each user's tooth mesh model, tooth feature extraction and tooth contour extraction are performed sequentially to determine the geometric features of each user's tooth. A preset feature matching algorithm is used to identify the features of the tooth mesh model of each of the user's teeth to determine the geometric features of the orthodontic bracket; Based on the geometric features of the user's teeth and the orthodontic brackets, determine the relative spatial position parameters between the target positions of the user's teeth and the orthodontic brackets; The set of relative spatial position parameters between the user's teeth and the target position of the orthodontic bracket is used as the first feature parameter group.

5. The navigation and positioning method for orthodontic brackets according to claim 4, characterized in that, The step of determining the relative spatial position parameters between the target positions of the user's teeth and the orthodontic brackets based on the geometric features of the user's teeth and the orthodontic brackets includes: A local coordinate system is defined on the three-dimensional digital model of the user's teeth. The local coordinate system has the clinical crown center point as the origin, the clinical long axis of the three-dimensional digital model of the user's teeth as the Z-axis, the oral midline as the Y-axis, and the direction pointing to the labial or buccal side based on the right-hand rule as the X-axis. The three-dimensional digital model of the orthodontic bracket is registered onto the crown surface of the three-dimensional digital model of the user's teeth; On the registered three-dimensional digital model of the orthodontic bracket, the coordinate system of the orthodontic bracket is defined with the base center or groove center as the origin, the Z-axis parallel to the groove direction as the Z-axis, the mesiodistal axis of symmetry as the Y-axis, and the gingival axis as the X-axis. Based on the local coordinate system of the three-dimensional digital model of the user's teeth and the coordinate system of the orthodontic bracket, a homogeneous transformation matrix of the coordinate system of the orthodontic bracket relative to the local coordinate system of the three-dimensional digital model of the user's teeth is determined, which serves as the relative spatial position parameter between the target positions of the user's teeth and the orthodontic bracket.

6. The navigation and positioning method for orthodontic brackets according to claim 1, characterized in that, The second set of feature parameters for determining the spatial relationship between the actual positions of the user's teeth and the orthodontic brackets based on real-time images of the orthodontic brackets and the user's teeth includes: Based on preset surgical nodes, keyframe extraction processing is performed on real-time images of the orthodontic bracket and the user's teeth to determine keyframe images; A preset visual recognition algorithm is used to recognize and process the keyframe image to determine the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic bracket, which serve as the second set of feature parameters for the spatial position relationship between the actual positions of the user's teeth and the orthodontic bracket.

7. The navigation and positioning method for orthodontic brackets according to claim 6, characterized in that, The process of using a preset visual recognition algorithm to recognize and process the keyframe image to determine the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic brackets, which serve as the second set of feature parameters for the spatial position relationship between the actual positions of the user's teeth and the orthodontic brackets, includes: The keyframe image is preprocessed to determine the preprocessed keyframe image. The preprocessing includes noise reduction, brightness adjustment, and contrast adjustment. A preset edge detection algorithm is used to perform edge detection on the preprocessed keyframe image to determine the edges in the preprocessed keyframe image; The edges are classified using a preset edge classification model to determine the edges of the user's teeth; The user's teeth edges are subjected to crown geometric feature extraction processing to determine the user's crown geometric feature parameters, which include the crown length and the crown width; The geometric features of the orthodontic brackets are extracted from the edge of the user's teeth to determine the geometric feature parameters of the orthodontic brackets, which include the outline of the orthodontic brackets and the edge of the orthodontic brackets. Based on the geometric feature parameters of the user's crown and the orthodontic bracket, the relative spatial position parameters between the actual positions of the user's teeth and the orthodontic bracket are determined, serving as the second set of feature parameters for the spatial position relationship between the actual positions of the user's teeth and the orthodontic bracket.

8. A navigation and positioning system for orthodontic brackets, characterized in that, include: The tooth alignment plan determination module is used to determine the tooth alignment plan based on the user's oral condition and orthodontic goals; The first feature parameter group determination module is used to determine the first feature parameter group of the spatial positional relationship between the user's teeth and the target position of the orthodontic bracket according to the tooth arrangement plan; An augmented reality processing module is used to pre-attach the orthodontic brackets to the user's teeth and to acquire real-time images of the orthodontic brackets and the user's teeth using a preset augmented reality device; The second feature parameter group determination module is used to determine a second feature parameter group of the spatial positional relationship between the actual position of the user's teeth and the orthodontic bracket based on real-time images of the orthodontic bracket and the user's teeth. The comparison module is used to compare the first feature parameter group and the second feature parameter group to determine the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket; The navigation and positioning module is used to control the orthodontic bracket to move to the target position of the orthodontic bracket based on the deviation distance and deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1-7.

10. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-7.

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