Virtual jaw simulation method and system based on intraoral 3D scanning

Abstract

This invention discloses a virtual jawbone simulation method and system based on intraoral 3D scanning, relating to the field of computer simulation. The method includes: acquiring intraoral 3D scanning data and constructing a virtual 3D model of the maxillary and mandibular dentition; collecting intraoral scanning data according to continuous data frames of the user's opening and closing movements, identifying the relative motion information between the maxillary and mandibular dentition during the opening and closing process, and establishing a mapping relationship between opening and closing parameters and intraoral scanning data; constructing a dynamic temporal opening and closing model based on the mapping relationship, and embedding the dynamic temporal opening and closing model into the virtual 3D model to perform dynamic simulation of the maxilla and mandible. This application solves the technical problem of low matching degree between the simulated motion trajectory and the actual physiological movement law of the human mandible in existing jawbone simulations, which makes it impossible to accurately reproduce the dynamic occlusal process. It achieves the technical effect of improving the matching degree between the virtual jawbone simulation motion trajectory and the actual physiological movement law of the human mandible, and accurately reproducing the dynamic occlusal process of the maxilla and mandible.

Description

Technical Field

[0001] This application relates to the field of computer simulation, and in particular to a virtual jawbone simulation method and system based on intraoral 3D scanning. Background Technology

[0002] Articulation simulation is a crucial technology in dental prosthodontics and orthodontics, ensuring the accuracy of treatment plans by accurately reconstructing the movement relationship between the upper and lower jaws. Its simulation precision directly impacts prosthesis fit and orthodontic outcomes. Currently, mainstream articulation simulation methods in the industry often combine traditional physical articulation models with static intraoral scanning data. Specifically, this involves collecting static three-dimensional data of the patient's dentition in occlusion, importing the data into design software, and manually adjusting the relative positions of the upper and lower jaw models based on empirically set opening and closing angles and displacement parameters to simulate mandibular movement. However, existing methods, relying solely on static scanning data and empirical parameter settings, cannot capture the dynamic and continuous pose changes during mandibular movement. Furthermore, they lack precise consideration of individual physiological constraints, resulting in deviations between the simulated mandibular movement trajectory and actual human movement patterns, making it difficult to realistically reproduce the dynamic changes in occlusal contact.

[0003] Currently, jaw frame simulation suffers from a low degree of matching between the simulated movement trajectory and the actual physiological movement patterns of the human mandible, making it impossible to accurately reproduce the dynamic occlusion process. Summary of the Invention

[0004] This application provides a virtual jaw simulation method and system based on intraoral 3D scanning. By collecting intraoral 3D scan data including the upper and lower jaw dentition and occlusal state, a corresponding virtual 3D model is constructed. By collecting continuous intraoral scan data frames during the user's opening and closing movements, the relative movement information of the upper and lower jaw dentition is identified, and a mapping relationship between opening and closing parameters and scan data is established. Based on this mapping relationship, a dynamic temporal opening and closing model is constructed and embedded into the virtual 3D model to achieve dynamic simulation of the upper and lower jaws. This solves the technical problem of low matching degree between the simulated movement trajectory and the actual physiological movement law of the human mandible in existing jaw simulations, which makes it impossible to accurately reproduce the dynamic occlusal process. It achieves the technical effect of improving the matching degree between the virtual jaw simulation movement trajectory and the actual physiological movement law of the human mandible, and accurately reproducing the dynamic occlusal process of the upper and lower jaws.

[0005] This application provides a virtual jaw simulation method based on intraoral 3D scanning, comprising: acquiring intraoral three-dimensional scanning data, including the maxillary and mandibular dentition and occlusal state, and constructing a virtual three-dimensional model of the maxillary and mandibular dentition; collecting corresponding intraoral scanning data according to the user's continuous opening and closing data frames, identifying the relative motion information between the maxillary and mandibular dentition during the opening and closing process, and establishing a mapping relationship between opening and closing parameters and intraoral scanning data; constructing a dynamic temporal opening and closing model according to the mapping relationship between the opening and closing parameters and intraoral scanning data, and embedding the dynamic temporal opening and closing model into the virtual three-dimensional model to perform dynamic simulation of the maxilla and mandible.

[0006] In a possible implementation, a mapping relationship between opening and closing parameters and intraoral scanning data is established, and the following processing is performed: The user's opening and closing movements are acquired; corresponding intraoral scanning data is collected during the user's opening and closing movements using an intraoral scanning device, obtaining multiple continuous data frames corresponding to different movement stages; each continuous data frame corresponding to a movement stage is paired with its corresponding opening and closing state, and the spatial positional relationship between the maxillary and mandibular dentition in each scanning data frame is recorded; based on the spatial positional relationship of the maxillary and mandibular dentition, opening and closing angle parameters, displacement parameters, or proximity parameters are extracted to generate opening and closing parameters; according to the correspondence between the scanning data frames and the opening and closing parameters, a mapping relationship between the opening and closing parameters and the intraoral scanning data is established.

[0007] In a possible implementation, multiple consecutive data frames corresponding to different movement stages are obtained, and the following processing is performed: during the user's opening, closing, or mandibular movements, multiple scan data corresponding to the time sequence are acquired through an intraoral scanning device; the scan data are continuously arranged according to the scan time and movement stage to obtain a scan data sequence with a temporal relationship; the relative positional changes between the upper and lower jaws are tracked and located using the scan data sequence; for missing scan data frames, the data is completed by using the continuously arranged scan data to obtain the consecutive data frames.

[0008] In a possible implementation, a dynamic temporal opening and closing model is constructed, and the following processing is performed: based on the relative spatial position changes of the maxillary and mandibular dentition in continuous data frames, the mandibular movements are arranged in chronological order to obtain the pose change parameters of the mandible relative to the maxilla; the pose change parameters are correlated in chronological order or movement stage order to obtain a mandibular movement sequence with temporal continuity; the dynamic temporal opening and closing model is constructed using the mandibular movement sequence.

[0009] In a possible implementation, the dynamic temporal opening and closing model is constructed using the mandibular motion sequence, and the following processing is performed: the mandibular motion sequence is time-aligned and processed for continuity to eliminate discontinuities between adjacent motion data, and motion constraints are introduced to verify the pose change amplitude of the mandibular motion sequence; based on the verified mandibular motion sequence, the temporal relationship of the time dimension or motion stage dimension is extracted, and the corresponding temporal index is constructed; based on the temporal index, mandibular motion spatial pose parameters corresponding to each temporal index are established, and a pose change motion mechanism module is constructed to associate the continuous relationship between mandibular spatial pose changes of adjacent temporal indices, thereby obtaining the dynamic temporal opening and closing model.

[0010] In a possible implementation, the following processing is performed: the motion constraints include: mandibular motion space range constraints determined based on the morphological characteristics of the user's maxillary and mandibular dentition; and mandibular pose change direction and continuity constraints determined based on the distribution characteristics of the maxillary and mandibular contact areas. The morphological characteristics include one or more of the following: cusp height characteristics, occlusal slope angle characteristics, or dentition curve characteristics. The contact area distribution characteristics include the positional distribution characteristics or contact area stability characteristics of the contact areas.

[0011] In a possible implementation, a dynamic temporal opening and closing model is embedded in the virtual 3D model to perform dynamic simulation of the mandible and maxilla, and the following processing is performed: using the virtual 3D model as a spatial reference base model, the dynamic temporal opening and closing model is used as the motion driving model of the mandibular dentition and associated with the virtual 3D model; according to the temporal index of the dynamic temporal opening and closing model and the spatial pose parameters of the mandibular motion, corresponding spatial pose transformations are applied to the virtual 3D model at different time points or motion stages to obtain the continuous motion state of the mandibular dentition during the spatial position change process, thus completing the virtual jaw simulation process; wherein, during the spatial pose transformation of the mandibular dentition, the relative motion relationship between the virtual 3D models of the mandibular and maxillary dentition is maintained to achieve continuous motion of the mandibular dentition relative to the maxillary dentition.

[0012] This application also provides a virtual jaw simulation system based on intraoral 3D scanning, comprising: a virtual 3D model construction module for acquiring intraoral 3D scanning data, including the maxillary and mandibular dentition and occlusal state, and constructing a virtual 3D model of the maxillary and mandibular dentition; a mapping relationship establishment module for acquiring corresponding intraoral scanning data according to the user's continuous motion opening and closing data frames, identifying the relative motion information between the maxillary and mandibular dentition during the opening and closing process, and establishing a mapping relationship between the opening and closing parameters and the intraoral scanning data; and a maxillary and mandibular dynamic simulation module for constructing a dynamic temporal opening and closing model according to the mapping relationship between the opening and closing parameters and the intraoral scanning data, and embedding the dynamic temporal opening and closing model into the virtual 3D model to perform maxillary and mandibular dynamic simulation.

[0013] The proposed method and system for virtual jaw simulation based on intraoral 3D scanning, as described in this application, first acquires intraoral 3D scanning data, including the maxillary and mandibular dentition and occlusal state, and constructs a virtual 3D model of the maxillary and mandibular dentition. Then, according to the user's continuous opening and closing data frames, corresponding intraoral scanning data is collected to identify the relative motion information between the maxillary and mandibular dentition during the opening and closing process, establishing a mapping relationship between opening and closing parameters and intraoral scanning data. Finally, based on the mapping relationship between the opening and closing parameters and intraoral scanning data, a dynamic temporal opening and closing model is constructed and embedded into the virtual 3D model to perform dynamic simulation of the maxilla and mandible. Through the above process, the method and system proposed in this application achieve the technical effect of improving the matching degree between the virtual jaw simulation motion trajectory and the actual physiological movement law of the human mandible, and accurately reproducing the dynamic occlusal process of the maxilla and mandible. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Flowcharts are used in this application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed precisely in sequence. Instead, various steps can be processed in reverse order or simultaneously as needed. Furthermore, other operations can be added to these processes, or one or more steps can be removed from these processes.

[0015] Figure 1 This is a flowchart illustrating the virtual jawbone simulation method based on intraoral 3D scanning provided in an embodiment of this application.

[0016] Figure 2 This is a schematic diagram of the structure of a virtual jawbone simulation system based on intraoral 3D scanning provided in an embodiment of this application.

[0017] Figure labeling: Virtual 3D model construction module 10, mapping relationship establishment module 20, and maxillary and mandibular dynamic simulation module 30. Detailed Implementation

[0018] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0019] This application provides a virtual jawbone simulation method based on intraoral 3D scanning, such as... Figure 1 As shown, the method includes: Step S100: Obtain intraoral three-dimensional scanning data, including the upper and lower dentition and occlusal status, and construct a virtual three-dimensional model of the upper and lower dentition.

[0020] Specifically, intraoral 3D scanning data refers to 3D point cloud data or mesh data obtained by scanning the morphology, position, and natural occlusal state of the maxillary and mandibular dentition using intraoral scanning equipment. A virtual 3D model refers to a digital model constructed by processing the scan data, accurately reflecting the geometric morphology and relative positional relationships of the maxillary and mandibular dentition. Using a structured optical intraoral scanning device, a specific pattern of grating projection is emitted onto the surface of the maxillary and mandibular dentition. The device's built-in binocular camera captures grating distortion images, and the 3D coordinates of each point on the dentition surface are calculated based on triangulation principles to generate initial 3D point cloud data. The initial point cloud data undergoes denoising, registration, and meshing to remove noise points caused by oral soft tissue vibration and equipment errors during scanning. The point cloud data from multiple perspectives are fused into a complete point cloud of the maxillary and mandibular dentition. A 3D mesh model of the maxillary and mandibular dentition is constructed based on the Poisson reconstruction algorithm. The accuracy of the model is controlled by adjusting the reconstruction depth parameters, ultimately obtaining a virtual 3D model containing the occlusal surface morphology and dentition arrangement structure.

[0021] Step S200: Collect corresponding intraoral scan data according to the user's continuous motion opening and closing data frames, identify the relative motion information between the upper and lower jaw teeth during the opening and closing process, and establish the mapping relationship between the opening and closing parameters and the intraoral scan data.

[0022] Specifically, continuous motion opening and closing data frames refer to multiple frames of intraoral scan data continuously collected by the scanning device in chronological order during the user's actions such as opening and closing the mouth, and mandibular protrusion. Relative motion information refers to the positional and angular changes of the mandibular dentition relative to the maxillary dentition during the opening and closing process. Opening and closing parameters refer to quantitative indicators describing the state of opening and closing motion, such as opening and closing angle and mandibular displacement distance. Mapping relationship refers to the one-to-one correspondence between opening and closing parameters and intraoral scan data in the corresponding state. The user is controlled to complete the actions according to a preset opening and closing motion trajectory, and the intraoral scanning device is simultaneously activated to collect continuous scan data frames at a fixed frame rate. Through a feature point matching algorithm, feature points of the maxillary and mandibular dentition, such as cusps and occlusal contact points, are extracted from each frame of scan data. The positional changes of feature points between adjacent frames are calculated to obtain the relative motion information of the maxillary and mandibular dentition. Based on the relative motion information, opening and closing parameters are calculated, and a correlation database between opening and closing parameters and corresponding scan data frames is established. A regression algorithm is used to fit the functional relationship between opening and closing parameters and scan data feature values ​​to form a stable mapping model.

[0023] In one possible implementation, a mapping relationship is established between opening and closing parameters and intraoral scanning data. Step S200 further includes step S210, acquiring the user's opening and closing movements. During the user's opening and closing movements, the intraoral scanning device collects corresponding intraoral scanning data, obtaining multiple continuous data frames corresponding to the movement stages. Specifically, the movement stages refer to different phases of the opening and closing movements, including the initial occlusion stage, the opening stage, the maximum opening stage, and the closing stage. A standardized opening and closing movement guidance process is designed, determining the movement requirements and time nodes for each movement stage. The intraoral scanning device is synchronously linked with a motion capture device, such as a facial marker tracker. The motion capture device records the trajectory and stage of the user's mandibular movement in real time, triggering the scanning device to collect data at the corresponding stage. The collected raw scanning data is frame-marked, and the data frames are classified according to the movement stages, ensuring that each movement stage includes at least 5 consecutive scanning data frames.

[0024] Step S220: Pair the continuous data frames corresponding to each movement stage with the corresponding opening and closing states, and record the spatial positional relationship of the maxillary and mandibular dentition in each scanned data frame. Specifically, the opening and closing state refers to the qualitative description of the degree of occlusion and relative position of the maxillary and mandibular dentition at a certain moment during the opening and closing movement; the spatial positional relationship refers to the positional attributes such as relative translation and rotation of the maxillary and mandibular dentition in three-dimensional space. Establish a classification standard for opening and closing states, dividing them into four categories according to the opening and closing angle: closed state (0-5 degrees), small opening state (5-15 degrees), medium opening state (15-30 degrees), and large opening state (30-45 degrees). Extract the three-dimensional mesh model of the maxillary and mandibular dentition in each frame of scanned data, and align the coordinate system of all data frames to the central coordinate system of the maxillary dentition model through coordinate system registration. Calculate the translation and rotation matrices of the mandibular dentition coordinate system relative to the maxillary dentition coordinate system in each frame of the model to describe the spatial positional relationship of the maxillary and mandibular dentition. Match the opening and closing angle of the data frame with the opening and closing state category to establish a four-dimensional association table of the relationship between motion stage, data frame, opening and closing state, and spatial position.

[0025] Step S230: Based on the spatial relationship between the maxillary and mandibular dentitions, open-close angle parameters, displacement parameters, or proximity parameters are extracted to generate open-close parameters. Specifically, the open-close angle parameter refers to the angle between the mandibular dentition plane and the maxillary dentition plane; the displacement parameter refers to the translation distance of the mandibular centroid relative to the maxillary centroid; and the proximity parameter refers to the average distance between the occlusal surfaces of the maxillary and mandibular dentitions, used to describe the degree of proximity between the maxilla and mandible. Based on the translation and rotation matrices recorded in step S220, the open-close angle parameter, displacement parameter, and proximity parameter are calculated. The open-close angle parameter is obtained by extracting the angle between the plane normal vectors from the rotation matrix; the displacement parameter is obtained by extracting the magnitude of the centroid offset from the translation matrix; and the proximity parameter is obtained by calculating the average distance between corresponding point pairs on the occlusal surfaces of the maxillary and mandibular dentitions. A precision threshold is set for parameter extraction: the open-close angle parameter is retained to one decimal place, and the displacement and proximity parameters are retained to two decimal places. Outlier removal is performed on the extracted parameters, removing parameter values ​​that exceed the normal physiological range of motion, such as opening and closing angles exceeding 45 degrees or displacement distances exceeding 15 millimeters, and finally generating a standardized opening and closing parameter sequence.

[0026] Step S240: Based on the correspondence between the scanned data frames and the opening / closing parameters, establish a mapping relationship between the opening / closing parameters and the intraoral scan data. Specifically, convert the scanned data frames into feature vectors, extract feature indicators such as the number of point clouds, feature point coordinates, and number of mesh faces of the maxillary and mandibular dentition in each frame of scanned data, and construct feature vectors. Use the opening / closing parameters as output variables and the scanned data feature vectors as input variables to construct a support vector regression model. Use cross-validation to optimize the model parameters, setting the penalty factor to 10, the kernel function to radial basis function, and the kernel function parameter to 0.1. Use the trained support vector regression model as the mapping carrier between the opening / closing parameters and the intraoral scan data. By inputting the feature vector of any frame of intraoral scan data, the corresponding opening / closing parameters can be output, achieving accurate mapping between the two.

[0027] In one possible implementation, multiple continuous data frames corresponding to different movement stages are obtained. Step S210 further includes step S211, where multiple scan data corresponding to a time sequence are acquired through an intraoral scanning device during the user's opening, closing, or mandibular movements. Specifically, the intraoral scanning device is set to continuous scanning mode, and the scanning parameters are adjusted to adapt to the dynamic movement scene. The scanning exposure time is set to 0.01 seconds to avoid motion blur caused by mandibular movements. The user is guided to complete the movements according to a preset mandibular movement trajectory, including opening, closing, mandibular protrusion, and mandibular lateral movements. The scanning device collects scan data at fixed time intervals, the time interval being determined based on the movement speed, ensuring that the change in tooth position between two adjacent scans does not exceed the scanning resolution, thus avoiding data loss. The collected scan data is marked with timestamps to form a raw scan dataset with a clear time sequence.

[0028] Step S212: The scan data is arranged continuously according to scan time and motion stage to obtain a scan data sequence with temporal relationship. Specifically, based on the timestamps of the scan data, all valid scan data are initially arranged in chronological order. The time interval corresponding to each motion stage is determined using motion stage segmentation information recorded by the motion capture device. The initially arranged scan data is allocated to the corresponding motion stages according to the time intervals, maintaining the temporal order of the data within each motion stage. Boundary data frames crossing motion stages are marked to clarify the transition stage to which the data frame belongs, ultimately forming a hierarchical structure scan data sequence of total time sequence - motion stage subsequence - data frame.

[0029] Step S213: Using the scan data sequence, the relative positional changes between the upper and lower jaws are tracked and located. For missing scan data frames, continuous data is used to fill in the gaps and obtain the continuous data frames. Specifically, optical flow is used to track the motion trajectories of feature points of the upper and lower jaw dentition in adjacent scan data frames, and the motion velocity and acceleration of the feature points are calculated. For the time interval of the missing data frames, the coordinates of the feature points in the missing frames are predicted using linear interpolation or cubic spline interpolation algorithms based on the motion parameters of the feature points in adjacent valid frames. Based on the predicted feature point coordinates and combined with the existing scan data features, the filled-in scan data frames are generated. The filled-in continuous data frames are smoothed to eliminate errors caused by interpolation, ensuring that the relative positional changes between data frames are continuous and conform to physiological movement patterns.

[0030] Step S300: Based on the mapping relationship between the opening and closing parameters and the intraoral scanning data, a dynamic temporal opening and closing model is constructed, and the dynamic temporal opening and closing model is embedded into the virtual three-dimensional model to perform dynamic simulation of the maxilla and mandible.

[0031] Specifically, the dynamic temporal opening and closing model refers to a digital model that can describe the sequence of pose parameters of the mandibular dentition changing over time and includes a motion constraint mechanism. Based on the established mapping relationship, the pose data of the maxillary and mandibular dentition corresponding to different opening and closing parameters are extracted, and the pose data is integrated in chronological order to construct an initial mandibular motion pose sequence. Physiological motion constraints are introduced to verify and correct the initial pose sequence, and pose data that does not conform to physiological laws is eliminated. Based on the corrected pose sequence, a dynamic temporal opening and closing model is constructed, which includes three core modules: temporal index, pose parameters, and motion constraint rules. The dynamic temporal opening and closing model is data-linked with the constructed virtual 3D model, and the mandibular dentition model is controlled to move according to the pose sequence through a model-driven engine to achieve dynamic simulation.

[0032] In one possible implementation, a dynamic temporal opening and closing model is constructed. Step S300 further includes step S310, which involves arranging the mandibular movements in chronological order based on the relative spatial position changes of the mandibular and maxillary dentition in continuous data frames to obtain the pose change parameters of the mandible relative to the maxilla. Specifically, the pose change parameters refer to parameters describing the position and posture changes of the mandibular dentition in three-dimensional space, including translation and rotation parameters. A three-dimensional mesh model of the mandibular and maxillary dentition corresponding to each frame is extracted from the continuous data frames. A global coordinate system is established using the maxillary dentition model as a fixed reference frame. Coordinate system registration is performed on the mandibular dentition model for each frame, and the position coordinates and posture angles of the mandibular dentition model in the global coordinate system are calculated. The position coordinates are represented by the three-dimensional coordinates of the mandibular dentition centroid, and the posture angles are represented by the pitch angle, yaw angle, and roll angle of the mandibular dentition plane relative to the maxillary dentition plane. The position coordinates and posture angles corresponding to each frame are arranged in chronological order to form a sequence of pose change parameters of the mandible relative to the maxilla. The time interval of the parameter sequence is consistent with the data frame acquisition time interval.

[0033] Step S320: The pose change parameters are correlated according to time sequence or movement stage sequence to obtain a mandibular movement sequence with temporal continuity. Specifically, the mandibular movement sequence refers to a set of pose parameters that can describe the continuous movement process of the mandibular dentition. The pose change parameter sequence is time-aligned to ensure that the timestamp intervals of all parameters are uniform. The pose parameter sequence is divided into opening subsequences, closing subsequences, protrusion subsequences, etc., according to the movement stages. Within each subsequence, the continuity of parameter changes is verified by calculating the difference between adjacent parameters. If the difference between adjacent parameters exceeds a set threshold, intermediate parameters are supplemented using an interpolation algorithm. The subsequences are concatenated in time sequence to form a complete mandibular movement sequence, which contains three core pieces of information: timestamps, movement stage labels, and pose change parameters.

[0034] Step S330: Construct the dynamic temporal opening and closing model using the mandibular movement sequence. Specifically, the mandibular movement sequence undergoes a motion rationality check. Based on the physiological movement patterns of the human temporomandibular joint, motion constraints are set, such as rotation center position constraints, movement angle range constraints, and velocity acceleration constraints. Position parameters that do not meet the constraints are eliminated, and the sequence is corrected. The corrected sequence is structurally organized according to time sequence, establishing a correspondence between temporal indices and position parameters. A motion mechanism module is constructed. This module, based on multibody dynamics principles, establishes a dynamic model of mandibular movement, defines the position change rules between adjacent temporal indices, and achieves a smooth transition of position parameters. The motion rationality check module, time structure organization module, and motion mechanism module are integrated to form the dynamic temporal opening and closing model.

[0035] In one possible implementation, the dynamic temporal opening and closing model is constructed using the mandibular movement sequence. Step S330 further includes step S331, which performs time alignment and continuity processing on the mandibular movement sequence to eliminate discontinuities between adjacent movement data, and introduces motion constraints to verify the pose change amplitude of the mandibular movement sequence. The motion constraints include: a mandibular movement spatial range constraint determined based on the morphological characteristics of the user's maxillary and mandibular dentition; and a direction and continuity constraint for pose changes during mandibular movement determined based on the distribution characteristics of the maxillary and mandibular contact areas. The morphological characteristics include one or more of the following: cusp height characteristics, occlusal slope angle characteristics, or dentition curve characteristics. The contact area distribution characteristics include the positional distribution characteristics or stability characteristics of the contact areas. Specifically, the mandibular movement sequence undergoes time alignment processing, and linear interpolation is used to unify the pose parameters of different time intervals into a fixed time interval to ensure the uniformity of the time axis. Then, continuous processing is performed, calculating the first and second derivatives (velocity) and acceleration (acceleration) of adjacent pose parameters. Gaussian filtering is applied to smooth abrupt velocity and acceleration data, with the filter window size adjusted according to data density. Motion constraints are constructed based on dentition morphology features, such as cusp height, occlusal slope angle, and dentition curves, to determine the spatial range of mandibular movement. For example, cusp heights exceeding 5 mm restrict excessive mandibular descent, and occlusal slope angles greater than 30 degrees restrict lateral mandibular movement. Furthermore, motion direction and continuity constraints are determined based on contact area distribution features, such as contact position and contact stability. For instance, stable contact areas restrict rapid mandibular displacement. Finally, the motion constraints are used to verify the amplitude of pose parameter changes, eliminating parameters exceeding the constraint range to obtain the corrected mandibular movement sequence.

[0036] Step S332: Based on the validated mandibular movement sequence, extract the temporal relationships in either the time dimension or the movement stage dimension, and construct the corresponding temporal index. Specifically, determine the extraction dimensions for the temporal relationships: the time dimension is divided into time intervals in seconds, and the movement stage dimension is divided into stages such as opening, closing, protrusion, and lateralization. Label the validated mandibular movement sequence with dimensions, adding a timestamp and movement stage label to each pose parameter. Construct the temporal index: the time dimension index uses the format of timestamp-parameter sequence number, and the movement stage dimension index uses the format of movement stage-intra-stage sequence number. Finally, establish a mapping table between the index and pose parameters to ensure that the corresponding pose parameters can be quickly queried through the index.

[0037] Step S333: Based on the temporal index, establish mandibular motion spatial pose parameters corresponding to each temporal index, and construct a pose change motion mechanism module to associate the continuous relationship between mandibular spatial pose changes of adjacent temporal indices, thereby obtaining the dynamic temporal opening and closing model. Specifically, based on the mapping relationship between temporal indices and pose parameters, establish an index-pose parameter database, which stores the translation parameters, rotation parameters, and motion stage information corresponding to each temporal index. Construct the pose change motion mechanism module, which uses a dynamic interpolation algorithm to define pose change rules between adjacent indices, including translation interpolation rules and rotation interpolation rules. Translation interpolation uses cubic spline interpolation, and rotation interpolation uses quaternion interpolation to ensure the smoothness and continuity of pose changes. Simultaneously, embed a motion constraint check function in the module to verify in real time whether the interpolated pose parameters meet physiological constraints. Finally, the index-pose parameter database is integrated with the pose change motion mechanism module to form a dynamic temporal opening and closing model. By inputting any temporal index or index interval, the corresponding mandibular motion pose parameters and continuous motion trajectory can be output.

[0038] In one possible implementation, a dynamic temporal opening and closing model is embedded in the virtual 3D model for dynamic simulation of the mandible and dentition. Step S300 further includes step S340, using the virtual 3D model as a spatial reference base model and the dynamic temporal opening and closing model as the motion driving model for the mandibular dentition, and associating it with the virtual 3D model. Specifically, the constructed virtual 3D models of the mandibular and dentition are imported into a model driving platform, with the mandibular dentition model as a fixed base, and its position in the platform coordinate system is set to a fixed value. The dynamic temporal opening and closing model is converted into a driving data format supported by the platform, and the temporal index, pose parameters, and motion constraint rules in the model are extracted. The association between the driving model and the mandibular dentition model is established, and the pose parameters of the dynamic temporal opening and closing model are mapped to the spatial transformation instructions of the mandibular dentition model through model binding technology. Association verification rules are set to verify whether the pose parameters output by the driving model can accurately control the movement of the mandibular dentition model, ensuring the accuracy of the model association.

[0039] Step S350: According to the temporal index and mandibular motion spatial pose parameters of the dynamic temporal opening and closing model, apply corresponding spatial pose transformations to the virtual 3D model at different time points or motion stages to obtain the continuous motion state of the mandibular dentition during spatial position changes, completing the virtual jaw simulation process; wherein, during the spatial pose transformation of the mandibular dentition, the relative motion relationship between the virtual 3D models of the maxillary and mandibular dentition is maintained to achieve continuous motion of the mandibular dentition relative to the maxillary dentition. Specifically, spatial pose transformation refers to spatial geometric transformation operations such as translation and rotation performed on the virtual 3D model of the mandibular dentition; relative motion relationship refers to the position and posture association between the mandibular and maxillary dentition models, which conforms to the physiological movement law of the human temporomandibular joint. Read the established temporal index in the dynamic temporal opening and closing model, as well as the mandibular motion spatial pose parameters corresponding to each index, including translation parameters and rotation parameters. Set the virtual 3D model of the maxillary dentition as a fixed reference base, lock its position and posture in virtual space, and do not participate in any spatial pose transformation. For each time-series index corresponding to a specific time point or motion stage, the translation and rotation parameters under that index are converted into spatial transformation commands supported by the virtual 3D model. These commands specify the direction, amplitude, and center point of the transformation. The corresponding spatial transformation commands are sequentially applied to the virtual 3D model of the mandibular dentition. During the transformation process, coordinate binding technology is used to monitor the relative positional relationship between the maxillary and mandibular dentition models in real time, ensuring that the mandibular movement always uses the maxilla as a reference and conforms to preset physiological motion constraints. All transformation processes corresponding to the time-series indices are then chained together in chronological order to generate a continuous motion animation, completing the virtual jawbone simulation.

[0040] This application embodiment constructs a corresponding virtual three-dimensional model by collecting intraoral three-dimensional scan data including the upper and lower jaw dentition and occlusal state. By collecting continuous intraoral scan data frames during the user's opening and closing process, the relative movement information of the upper and lower jaw dentition is identified and a mapping relationship between opening and closing parameters and scan data is established. Based on this mapping relationship, a dynamic temporal opening and closing model is constructed and embedded into the virtual three-dimensional model to achieve dynamic simulation of the upper and lower jaws. This solves the technical problem of low matching degree between the simulated movement trajectory and the actual physiological movement law of the human mandible in existing jaw frame simulations, which makes it impossible to accurately reproduce the dynamic occlusal process. It achieves the technical effect of improving the matching degree between the virtual jaw frame simulated movement trajectory and the actual physiological movement law of the human mandible, and accurately reproducing the dynamic occlusal process of the upper and lower jaws.

[0041] In the above text, refer to Figure 1 A virtual jawbone simulation method based on intraoral 3D scanning according to an embodiment of the present invention is described in detail. Next, reference will be made to... Figure 2 A virtual jawbone simulation system based on intraoral 3D scanning is described according to an embodiment of the present invention.

[0042] The virtual jaw simulation system based on intraoral 3D scanning according to embodiments of the present invention addresses the technical problem of low matching degree between the simulated motion trajectory and the actual physiological movement law of the human mandible in existing jaw simulations, which makes it impossible to accurately reproduce the dynamic occlusion process. The system achieves the technical effect of improving the matching degree between the simulated motion trajectory and the actual physiological movement law of the human mandible, and accurately reproducing the dynamic occlusion process of the upper and lower jaws. The virtual jaw simulation system based on intraoral 3D scanning includes: a virtual three-dimensional model construction module 10, a mapping relationship establishment module 20, and a dynamic simulation module for the upper and lower jaws 30.

[0043] The virtual 3D model construction module 10 is used to acquire intraoral 3D scanning data, including the maxillary and mandibular dentition and occlusal state, and construct a virtual 3D model of the maxillary and mandibular dentition. The mapping relationship establishment module 20 is used to collect corresponding intraoral scanning data according to the user's continuous motion opening and closing data frames, identify the relative motion information between the maxillary and mandibular dentition during the opening and closing process, and establish a mapping relationship between the opening and closing parameters and the intraoral scanning data. The maxillary and mandibular dynamic simulation module 30 is used to construct a dynamic temporal opening and closing model according to the mapping relationship between the opening and closing parameters and the intraoral scanning data, and embed the dynamic temporal opening and closing model into the virtual 3D model to perform dynamic simulation of the maxillary and mandibular dentition.

[0044] The detailed description of the specific configuration of the mapping relationship establishment module 20 is explained as follows: As mentioned above, the mapping relationship between the opening and closing parameters and the intraoral scanning data is established. The mapping relationship establishment module 20 may further include: an intraoral scanning data acquisition unit for acquiring the user's opening and closing actions, acquiring corresponding intraoral scanning data during the user's movement opening and closing process through an intraoral scanning device, and obtaining multiple continuous data frames corresponding to the movement stages; a pairing unit for pairing the continuous data frames corresponding to each movement stage with the corresponding opening and closing state, and recording the spatial positional relationship of the maxillary and mandibular dentition in each scanning data frame; an opening and closing parameter generation unit for extracting opening and closing angle parameters, displacement parameters, or proximity parameters based on the spatial positional relationship of the maxillary and mandibular dentition to generate opening and closing parameters; and a mapping relationship establishment unit for establishing the mapping relationship between the opening and closing parameters and the intraoral scanning data according to the correspondence between the scanning data frames and the opening and closing parameters.

[0045] The intraoral scanning data acquisition unit may further include: a scanning data acquisition subunit for acquiring multiple scanning data corresponding to time sequence during the user's opening, closing, or mandibular movements using an intraoral scanning device; a continuous arrangement subunit for arranging the scanning data continuously according to scanning time and movement stage to obtain a scanning data sequence with temporal relationship; and a continuous data frame acquisition subunit for tracking and locating the relative positional changes between the upper and lower jaws using the scanning data sequence, and for missing scanning data frames, using the continuously arranged scanning data to complete the data coherence to obtain the continuous data frames.

[0046] The detailed description of the specific configuration of the maxillary and mandibular dynamic simulation module 30 is explained as follows: As mentioned above, to construct a dynamic temporal opening and closing model, the maxillary and mandibular dynamic simulation module 30 may further include: a mandibular motion arrangement unit for arranging mandibular movements in chronological order based on the relative spatial position changes of the maxillary and mandibular dentition in continuous data frames, to obtain the mandibular pose change parameters relative to the maxilla; a mandibular motion sequence acquisition unit for associating the pose change parameters in chronological order or motion stage order to obtain a mandibular motion sequence with temporal continuity; and a dynamic temporal opening and closing model construction unit for constructing the dynamic temporal opening and closing model using the mandibular motion sequence.

[0047] The dynamic temporal opening and closing model is constructed using the mandibular motion sequence. The dynamic temporal opening and closing model construction unit may further include: a pose change amplitude verification subunit for performing time alignment and continuity processing on the mandibular motion sequence, eliminating discontinuities between adjacent motion data, and introducing motion constraints to verify the pose change amplitude of the mandibular motion sequence; a temporal index construction subunit for extracting temporal relationships in the time dimension or motion stage dimension based on the verified mandibular motion sequence, and constructing corresponding temporal indexes; and a pose change motion mechanism module construction subunit for establishing mandibular motion spatial pose parameters corresponding to each temporal index based on the temporal indexes, and constructing a pose change motion mechanism module to associate the continuous relationship between mandibular spatial pose changes of adjacent temporal indexes, thereby obtaining the dynamic temporal opening and closing model.

[0048] The pose change amplitude verification subunit may further include: the motion constraints include: mandibular movement space range constraints determined based on the morphological characteristics of the user's maxillary and mandibular dentition; and pose change direction and continuity constraints determined based on the distribution characteristics of the maxillary and mandibular contact areas. The morphological characteristics include one or more of the following: cusp height characteristics, occlusal slope angle characteristics, or dentition curve characteristics. The contact area distribution characteristics include the positional distribution characteristics or contact area stability characteristics of the contact area.

[0049] The dynamic temporal opening and closing model is embedded in the virtual three-dimensional model to perform dynamic simulation of the mandible and maxilla. The dynamic simulation module 30 of the mandible and maxilla may further include: a model association unit used to associate the virtual three-dimensional model as a spatial reference base model and the dynamic temporal opening and closing model as a motion driving model of the mandibular dentition with the virtual three-dimensional model; a continuous motion state acquisition unit used to apply corresponding spatial pose transformations to the virtual three-dimensional model at different time points or motion stages according to the temporal index of the dynamic temporal opening and closing model and the spatial pose parameters of the mandibular motion, to obtain the continuous motion state of the mandibular dentition during the spatial position change process, and to complete the virtual jaw simulation process; wherein, during the spatial pose transformation of the mandibular dentition, the relative motion relationship between the virtual three-dimensional models of the mandibular dentition is maintained to achieve continuous motion of the mandibular dentition relative to the maxillary dentition.

[0050] The virtual jaw simulation system based on intraoral 3D scanning provided in this embodiment of the invention can execute the virtual jaw simulation method based on intraoral 3D scanning provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0051] Although this application makes various references to certain modules in the system according to the embodiments of this application, any number of different modules can be used and run on user terminals and / or servers. The various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of this invention.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A virtual jawbone simulation method based on intraoral 3D scanning, characterized in that, include: Acquire intraoral 3D scanning data, including the maxillary and mandibular dentition and occlusal status, and construct a virtual 3D model of the maxillary and mandibular dentition; Based on the user's continuous data frames of opening and closing motion, collect the corresponding intraoral scan data, identify the relative motion information between the upper and lower jaw dentitions during the opening and closing process, and establish the mapping relationship between opening and closing parameters and intraoral scan data. Based on the mapping relationship between the opening and closing parameters and the intraoral scanning data, a dynamic temporal opening and closing model is constructed, and the dynamic temporal opening and closing model is embedded into the virtual three-dimensional model to perform dynamic simulation of the upper and lower jaws.

2. The virtual jawbone simulation method based on intraoral 3D scanning according to claim 1, characterized in that, Establish the mapping relationship between opening and closing parameters and intraoral scanning data, including: The user's opening and closing movements are acquired, and corresponding intraoral scanning data are collected during the user's movement opening and closing process using an intraoral scanning device to obtain multiple continuous data frames corresponding to the movement stages. Pair the continuous data frames corresponding to each movement stage with the corresponding opening and closing states, and record the spatial positional relationship of the upper and lower dentition in each scan data frame; Based on the spatial relationship of the maxillary and mandibular dentition, opening and closing angle parameters, displacement parameters, or proximity parameters are extracted to generate opening and closing parameters. Based on the correspondence between the scan data frames and the opening / closing parameters, a mapping relationship is established between the opening / closing parameters and the intraoral scan data.

3. The virtual jawbone simulation method based on intraoral 3D scanning according to claim 2, characterized in that, Obtain multiple consecutive data frames corresponding to different motion phases, including: During the user's opening, closing, or jaw movements, multiple scan data corresponding to the time sequence are acquired through an intraoral scanning device; The scan data are arranged continuously according to the scan time and motion stage to obtain a scan data sequence with temporal relationship; The relative positional changes between the upper and lower jaws are tracked and located using the scan data sequence. For missing scan data frames, the data is filled in by continuously arranged scan data to obtain the continuous data frames.

4. The virtual jawbone simulation method based on intraoral 3D scanning according to claim 1, characterized in that, Constructing a dynamic temporal opening and closing model includes: Based on the relative spatial position changes of the maxillary and mandibular dentition in continuous data frames, the mandibular movement is arranged in chronological order to obtain the pose change parameters of the mandible relative to the maxilla. The posture change parameters are correlated according to the time sequence or the sequence of movement stages to obtain a mandibular movement sequence with temporal continuity. The dynamic temporal opening and closing model is constructed using the mandibular movement sequence.

5. The virtual jawbone simulation method based on intraoral 3D scanning according to claim 4, characterized in that, The dynamic temporal opening and closing model is constructed using the mandibular movement sequence, including: The mandibular motion sequence is time-aligned and processed for continuity to eliminate the inconsistency between adjacent motion data, and motion constraints are introduced to verify the pose change amplitude of the mandibular motion sequence. Based on the validated mandibular motion sequence, the temporal relationship of the time dimension or the motion stage dimension is extracted, and the corresponding temporal index is constructed. Based on the temporal index, mandibular motion spatial pose parameters corresponding to each temporal index are established, and a pose change motion mechanism module is constructed to associate the continuous relationship between mandibular spatial pose changes of adjacent temporal indices, thereby obtaining the dynamic temporal opening and closing model.

6. The virtual jawbone simulation method based on intraoral 3D scanning according to claim 5, characterized in that, The motion constraints include: constraints on the mandibular movement space range determined based on the morphological characteristics of the user's upper and lower jaw dentition; and constraints on the direction and continuity of mandibular pose changes during movement determined based on the distribution characteristics of the upper and lower jaw contact areas. Among them, morphological features include one or more of the following: cusp height features, occlusal slope angle features, or dental arch curve features; contact area distribution features include the positional distribution features of the contact area or the stability features of the contact area.

7. The virtual jawbone simulation method based on intraoral 3D scanning according to claim 5, characterized in that, The dynamic temporal opening and closing model is embedded into the virtual 3D model to perform dynamic simulation of the upper and lower jaws, including: Using the virtual three-dimensional model as a spatial reference base model, and the dynamic temporal opening and closing model as the motion driving model of the mandibular dentition, the virtual three-dimensional model is associated with it. According to the temporal index and mandibular motion spatial pose parameters of the dynamic temporal opening and closing model, corresponding spatial pose transformations are applied to the virtual three-dimensional model at different time points or motion stages to obtain the continuous motion state of the mandibular dentition during the spatial position change process, thus completing the virtual jaw simulation process. In particular, during the spatial pose transformation of the mandibular dentition, the relative motion relationship between the virtual three-dimensional models of the mandibular and maxillary dentition is maintained, so as to achieve continuous motion of the mandibular dentition relative to the maxillary dentition.

8. A virtual jawbone simulation system based on intraoral 3D scanning, characterized in that, The system is used to implement the virtual jawbone simulation method based on intraoral 3D scanning as described in any one of claims 1-7, and the system comprises: The virtual 3D model construction module is used to acquire intraoral 3D scanning data, including the upper and lower dentition and occlusal status, and to construct a virtual 3D model of the upper and lower dentition. The mapping relationship establishment module is used to collect corresponding intraoral scan data according to the user's continuous data frames of opening and closing motion, identify the relative motion information between the upper and lower jaw dentitions during the opening and closing process, and establish the mapping relationship between opening and closing parameters and intraoral scan data. The maxillary and mandibular dynamic simulation module is used to construct a dynamic temporal opening and closing model based on the mapping relationship between the opening and closing parameters and the intraoral scanning data, and to embed the dynamic temporal opening and closing model into the virtual three-dimensional model to perform dynamic simulation of the maxillary and mandibular jaws.

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