A method, apparatus, and storage medium for moving teeth

Abstract

Embodiments of the present application provide a method and device for effectively removing tooth collision in the process of intraoral tooth movement, and a storage medium. The method comprises: obtaining a treatment plan for the teeth of a patient, the treatment plan comprising a plurality of sub-stages for moving the teeth of the patient from an initial position to a target position; determining a first tooth group in the treatment plan, the first tooth group comprising a plurality of teeth that are likely to collide in the process of moving from the initial position to the target position by a first moving manner; and determining, according to the relative movement relationship between the teeth in the first tooth group, a second moving manner for moving the first tooth group to remove the collision between the teeth in the process of moving the first tooth group. By changing the moving manner of the tooth group that collides, the tooth collision in the process of intraoral tooth movement is effectively removed.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of orthodontics, and more particularly to methods, devices and storage media for moving teeth. Background Technology

[0002] In orthodontics, a treatment plan needs to be designed based on the patient's dental condition. Then, according to the multiple stages of the treatment plan, orthodontic appliances are manufactured and fitted onto the patient's teeth. These appliances apply force to one or more teeth to achieve the desired tooth movement, thereby transforming the teeth from their initial position to the target position. However, during the movement of teeth in the jaw, collisions may occur with other teeth, creating a constraint that prevents the teeth from reaching the desired position. Currently, there is no effective method to remove these collision constraints. Summary of the Invention

[0003] The present invention provides a method, device and storage medium for moving teeth, which can effectively eliminate tooth collisions during intramaxillary tooth movement.

[0004] In a first aspect, embodiments of this application provide a method for moving teeth, applied to an electronic device. The method includes: acquiring a treatment plan for a patient's teeth, the treatment plan including multiple step-by-step stages for moving the patient's teeth from an initial position to a target position; determining a first group of teeth in the treatment plan, the first group of teeth including multiple teeth that may collide during the process of moving from the initial position to the target position by a first movement method; and determining, based on the relative movement relationship between the teeth in the first group of teeth, to move the first group of teeth by a second movement method to eliminate the collision between teeth during the movement of the first group of teeth.

[0005] In the above scheme, the group of teeth that collide during the process of moving from the initial position to the target position by the first movement method in the orthodontic plan is identified. Then, based on the relative movement relationship between the teeth in the first group of teeth, the group of teeth is moved by the second movement method. By changing the movement method of the group of teeth, the collision of teeth during the intramaxillary tooth movement is effectively eliminated.

[0006] In one possible implementation, the first tooth group includes a first misaligned tooth and a first forward tooth, which are teeth that may collide. Based on the relative movement relationship between the teeth in the first tooth group, a second movement method is determined to move the first tooth group, including: based on the relative movement relationship of the first misaligned tooth and the first forward tooth moving in the same direction, and the relative position relationship of the overlap of the projections of the first misaligned tooth and the first forward tooth on the dental arch curve being greater than a first threshold, a first same-direction movement method is determined to move the first tooth group, which includes moving the first forward tooth first and then moving the first misaligned tooth.

[0007] In one possible implementation, the first tooth group includes multiple teeth in the anterior region, which are teeth that may collide; based on the relative movement relationship between the teeth in the first tooth group, a second movement method is determined to move the first tooth group, including: based on the relative movement relationship in which each tooth in the first anterior group moves synchronously in the same direction, a second unidirectional movement method is determined to move the first tooth group, the second unidirectional movement method including: sequentially initiating the movement of different numbers of teeth along the direction of the dental arch curve in a step-like manner.

[0008] In one possible implementation, the number of teeth moving simultaneously in the second unidirectional movement mode does not exceed a certain threshold.

[0009] In one possible implementation, the first tooth group includes a first rotated tooth and a first rotated adjacent tooth, which are teeth that may collide. Based on the relative movement relationship between the teeth in the first tooth group, a second movement method is determined to move the first tooth group to eliminate the collision between teeth during the movement of the first tooth group. This includes: based on the relative movement relationship of the first rotated adjacent tooth remaining stationary or moving synchronously when the first rotated tooth begins to move, and the relative positional relationship of the overlap of the projections of the first rotated tooth and the first rotated adjacent tooth on the dental arch curve being greater than a second threshold, a first torsional movement method is determined to move the first tooth group. The first torsional movement method includes: first moving the first rotated adjacent tooth, and then starting to move the first rotated tooth.

[0010] In one possible implementation, the first torsional movement method further includes: the first torsional tooth begins to move when the gap between the adjacent teeth on both sides of the first torsional tooth meets the gap requirement of the first torsional tooth.

[0011] In one possible implementation, the first torsional movement method further includes adding a torsional fast channel for the first torsional tooth.

[0012] In one possible implementation, before adding the torsion fast channel of the first torsion tooth, the method further includes: displacing or tilting the distal adjacent tooth of the first torsion tooth distally or proximally.

[0013] In one possible implementation, the first tooth group includes two adjacent groups of teeth located in the same quadrant, which are teeth that may collide; based on the relative movement relationship between the teeth in the first tooth group, a second movement method is determined to move the first tooth group, including: based on the relative relationship of the two groups of teeth moving in the same direction or the one group of teeth in the forward direction remaining stationary while the other group of teeth in the backward direction moves, a third same-direction movement method is determined to move the two groups of teeth, including: first moving the group of teeth in the forward direction, and then moving the group of teeth in the backward direction.

[0014] In one possible implementation, the first tooth group includes a first anterior tooth group and a first posterior tooth group, wherein the first anterior tooth group consists of the teeth in front of the first posterior tooth group; the third unidirectional movement method includes: first moving at least one anterior tooth of the first anterior tooth group, and then moving at least one posterior tooth of the first posterior tooth group.

[0015] In one possible implementation, the first tooth group includes a second anterior tooth group and a second posterior tooth group, wherein the second posterior tooth group is the anterior tooth of the second anterior tooth group; the third unidirectional movement method includes: first moving at least one posterior tooth of the second posterior tooth group, and then moving at least one anterior tooth of the second anterior tooth group.

[0016] In one possible implementation, the patient teeth corresponding to the first orthodontic step in the orthodontic plan are all marked with keyframe markers. The method further includes: performing continuous collision detection on the preceding orthodontic steps of the first orthodontic step; if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is the same, then the preceding orthodontic step of the first orthodontic step includes the previous keyframe step to the orthodontic step preceding the first orthodontic step, or, if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is different, then the preceding orthodontic step of the first orthodontic step includes all orthodontic steps preceding the first orthodontic step; when it is determined that at least one preceding orthodontic step of the first orthodontic step has caused a tooth collision; and by adjusting the position of the patient teeth in the first orthodontic step, the tooth collision in the preceding orthodontic step of the first orthodontic step is relieved.

[0017] In one possible implementation, the patient teeth corresponding to the first orthodontic step in the treatment plan are all marked with keyframe markers. The method further includes: performing continuous collision detection on the forward orthodontic steps and the backward orthodontic steps of the first orthodontic step; if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is the same, then the forward orthodontic step of the first orthodontic step includes the previous keyframe step to the orthodontic step preceding the first orthodontic step; or, if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is different, then the forward orthodontic step of the first orthodontic step... The step includes all orthodontic steps preceding the first orthodontic step; the next keyframe step of the first orthodontic step is the same, and the backward orthodontic steps of the first orthodontic step include all orthodontic steps following the first orthodontic step and preceding the next keyframe step; when it is determined that at least one forward orthodontic step of the first orthodontic step has a tooth collision, and / or, at least one backward orthodontic step of the first orthodontic step has a tooth collision; by adjusting the position of the patient's teeth in the first orthodontic step, the tooth collision in at least one forward orthodontic step and / or at least one backward orthodontic step in which the collision occurred is relieved.

[0018] Secondly, embodiments of this application provide a device for moving teeth, comprising:

[0019] An acquisition unit is used to acquire a treatment plan for a patient's teeth, the treatment plan including multiple step-by-step stages for moving the patient's teeth from an initial position to a target position;

[0020] A determining unit is used to determine a first group of teeth in the orthodontic plan, the first group of teeth including multiple teeth that may collide during the process of moving from an initial position to a target position by a first movement method;

[0021] The release unit is used to determine, based on the relative movement relationship between the teeth in the first tooth group, to move the first tooth group by a second movement method to release the collision between teeth during the movement of the first tooth group.

[0022] Thirdly, embodiments of this application also provide an electronic device comprising modules / units for performing the method steps of the first aspect and any possible implementation thereof. These modules / units may be implemented in hardware or by hardware executing corresponding software.

[0023] Fourthly, embodiments of this application provide an electronic device, including a processor and a memory, wherein the memory stores program instructions; the processor executes the program instructions in the memory to implement the method steps in the first aspect and any possible implementation of the first aspect.

[0024] Fifthly, embodiments of this application provide a computer-readable storage medium including computer-executable instructions that, when executed on a computer, cause the computer to perform method steps as described in the first aspect and any possible implementation thereof.

[0025] Sixthly, embodiments of this application also provide a computer program product that, when run on an electronic device, causes the electronic device to perform the method steps as described in the first aspect and any possible implementation thereof. Attached Figure Description

[0026] Figure 1 This is a schematic flowchart of a method for moving teeth provided in an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the initial position of the anterior tooth region provided in an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the overlap amount provided in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the target location of the anterior tooth region provided in an embodiment of this application;

[0030] Figure 5 A schematic diagram of the anterior tooth region provided in an embodiment of this application;

[0031] Figure 6 A schematic diagram of the anterior tooth region provided in an embodiment of this application;

[0032] Figure 7 A schematic diagram of teeth provided for an embodiment of this application;

[0033] Figures 8-11 This is a schematic diagram of anterior tooth region movement provided in an embodiment of this application;

[0034] Figure 12 This is a schematic diagram of the movement of a lingually twisted misaligned tooth provided in an embodiment of this application;

[0035] Figure 13 A schematic diagram of adding a torsion fast channel provided in an embodiment of this application;

[0036] Figure 14 Keyframe diagrams of each corrective step provided in the embodiments of this application;

[0037] Figure 15 Keyframe diagrams of each corrective step provided in the embodiments of this application;

[0038] Figure 16Keyframe diagrams of each corrective step provided in the embodiments of this application;

[0039] Figure 17 Keyframe diagrams of each corrective step provided in the embodiments of this application;

[0040] Figure 18 A schematic diagram of a device for moving teeth provided in an embodiment of this application;

[0041] Figure 19 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific implementation methods in the method embodiments can also be applied to the device embodiments or system embodiments. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0043] It should be noted that the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Furthermore, the character " / " in this document, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship. Also, in the description of the embodiments in this application, words such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0044] The various embodiments disclosed in this application can be applied to electronic devices that have display functions. In some embodiments of this application, the electronic device may include, for example, a mobile phone, tablet computer, laptop computer, wearable device with wireless communication function (such as a smartwatch or smart glasses), in-vehicle device, etc. The electronic device includes devices capable of performing data processing functions (such as a processor, or an application processor, or an image processor, or other processor), and devices capable of displaying a user interface (such as a display screen). Exemplary embodiments of the electronic device include, but are not limited to, devices equipped with... Alternatively, it can be an electronic device with another operating system. The aforementioned electronic device can also be a laptop computer, such as one with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of this application, the aforementioned electronic device can also be a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0045] Figure 1This is a schematic flowchart illustrating a method for moving teeth according to an embodiment of this application. This method can be executed by an electronic device or a component within an electronic device. For ease of description, the following embodiments use execution by an electronic device as an example. Figure 1 As shown, the method for moving teeth includes the following steps:

[0046] Step 101: The electronic device acquires an orthodontic plan for the patient's teeth, the orthodontic plan including at least one step-by-step stage for moving the patient's teeth from an initial position to a target position.

[0047] The initial position refers to the position of the patient's teeth before correction, while the target position refers to the position the patient's teeth are expected to reach after correction according to the treatment plan.

[0048] In practice, three-dimensional data of the initial position of the patient's teeth can be obtained through methods such as oral scanning and computed tomography (CT) scanning. Then, a dental model of the initial position of the patient's teeth is generated based on this three-dimensional data. Subsequently, an orthodontic plan is generated based on the dental model corresponding to the initial position of the patient's teeth and the dental model corresponding to the expected target position. This orthodontic plan can be manually generated by a doctor or designer, or it can be generated automatically by an algorithm on an electronic device. This application does not limit the method of generating the orthodontic plan.

[0049] A treatment plan is designed by engineers to manufacture orthodontic appliances in multiple step-by-step stages, which are then worn on the patient's teeth to move them from their initial positions to their target positions. The treatment plan may include N step-by-step stages, where N is an integer greater than 1. For example, the first step corresponds to a dental model of the patient's teeth in their initial position, and the Nth step corresponds to a dental model of the patient's teeth in their target position. For each step from the second to the Nth step, the dental model corresponding to that step involves the movement of one or more teeth compared to the dental model corresponding to the previous step. The teeth that move between any two adjacent steps can be the same or different.

[0050] In a patient's dentition, some teeth are normal and do not need to be moved during the entire orthodontic treatment. The initial and target positions of these teeth are the same, and their positions remain unchanged in each step of the treatment plan. Other teeth require correction, such as labial or lingual misaligned teeth or rotated teeth, and need to be moved to return to their normal positions. The initial and target positions of these teeth differ, and they can be moved through one or more orthodontic steps. The orthodontic steps for moving different teeth can be the same or different; this application does not impose any restrictions on this. For any tooth requiring movement, the process of moving it from its initial position to its corresponding target position involves one or more steps. For example, the left maxillary central incisor may move from the first orthodontic step to its target position in the fourth orthodontic step.

[0051] Although some teeth in the patient's dentition are normal, they still need to be moved during the orthodontic treatment process. This is to provide sufficient space for the teeth that need to be treated, to move the teeth to reduce the gaps between them, and to provide sufficient space for the teeth that need to be moved, thereby completing the orthodontic treatment process for the patient's dentition.

[0052] During the process of moving a patient's teeth, different tooth collisions may occur. We can first identify the group of teeth that will collide in the orthodontic plan, and then address the different tooth collision situations accordingly.

[0053] Step 102: The electronic device identifies a first group of teeth in the orthodontic plan. The first group of teeth includes multiple teeth that may collide during the movement from the initial position to the target position via a first movement method.

[0054] There are several possible scenarios for the first group of teeth, which will be described in detail below.

[0055] In scenario one, the first group of teeth includes the first misaligned tooth and the first forward-facing tooth, which are teeth that may collide.

[0056] For example, the first movement method involves the first misaligned tooth and the first anterior tooth moving in the same direction; another example is that the first misaligned tooth and the first anterior tooth move in the same direction while the first misaligned tooth undergoes labial shifting or abduction. Wherein, the overlap between the projections of the first misaligned tooth and the first anterior tooth onto the dental arch curve is greater than a first threshold, where the first threshold can be zero or a value greater than zero. The value of the first threshold can be set as needed, and this application does not impose any restrictions on it. For example, if the first threshold is zero, a collision occurs when there is an overlap between the projections of the first misaligned tooth and the first anterior tooth onto the dental arch curve; another example is that if the first threshold is greater than zero, a collision occurs when there is an overlap between the projections of the first misaligned tooth and the first anterior tooth onto the dental arch curve, and the overlap is greater than the first threshold.

[0057] For example Figure 2 The diagram shows the initial position of the anterior teeth region, which includes six teeth: canine 3 (left side of the midline), lateral incisor 2 (left side), central incisor 1 (left side), and central incisor 1 (right side), lateral incisor 2 (right side), and canine 3 (right side). Figure 2 The canine 3 on the left side of the midline in the anterior region shown is a misaligned tooth, and its projection on the dental arch curve overlaps significantly with that of the lateral incisor 2 on the left. See also Figure 3 The diagram showing the overlap indicates that the width of the projection of the left canine 3 onto the dental arch curve is L1, and the width of the projection of the left central incisor 2 onto the dental arch curve is L2. There is an overlap between the projections of the left canine 3 and the left central incisor 2 onto the dental arch curve. The overlap is... Figure 3 d1 in the middle.

[0058] Based on scenario one above, all teeth in the anterior region move in the same direction. For example, all six teeth in the anterior region move together to the right along the dental arch curve. Since the left canine 3 is a misaligned tooth, labial movement or abduction is required so that the left canine 3 moves together with the other teeth in the anterior region to align along the dental arch curve, achieving the desired alignment. Figure 4The target position of the anterior tooth region is shown. In the direction of movement to the right along the dental arch curve in the anterior tooth region, the malpositioned tooth (left canine 3) is a posterior tooth in the direction of movement, while the left lateral incisor 2, left central incisor 1, right central incisor 1, right lateral incisor 2, and right canine 3 are all anterior teeth of the malpositioned tooth (left canine 3). Since there is a large overlap between the projection of the malpositioned tooth (i.e., left canine 3) and the left lateral incisor 2 on the dental arch curve, the gap between the left first premolar and the left lateral incisor 2 is insufficient to provide enough space for the left canine 3. If the malpositioned tooth (i.e., left canine 3) moves labially or spreads labially regardless of the movement of the anterior teeth, it will collide with at least one anterior tooth, for example, the left canine 3 collides with the left lateral incisor 2. Among them, labial shift refers to the overall movement of the tooth, that is, the crown and root move equidistantly towards the labial side; labial abduction refers to the crown of the tooth moving a greater distance towards the labial side than the root moves towards the labial side.

[0059] Scenario 2: The first group of teeth includes multiple teeth in the anterior region, and these teeth are likely to collide. For example, the first movement method involves multiple teeth in the anterior region moving in the same direction.

[0060] For example Figure 5 The diagram shown depicts the anterior teeth region, which comprises six teeth: canine 3 (left side), lateral incisor 2 (left side), central incisor 1 (left side), and central incisor 1 (right side), lateral incisor 2 (right side), and canine 3 (right side). Figure 5 The initial position of the anterior teeth group shown in (a) is such that there is a gap between the canine 3 on the right side of the midline and the first premolar on the right side. The anterior teeth group needs to be moved as a whole in the same direction, that is, all six teeth in the anterior teeth group move to the right along the direction of the dental arch curve, so as to align them in the direction of the dental arch curve, as shown in (a). Figure 5 The target position of the anterior tooth group is shown in (b). When the anterior tooth group moves as a whole and all teeth in the group have a large mesiodistal movement, if all teeth in the anterior tooth group start mesiodistal movement at the same time, tooth collisions are likely to occur within the tooth group.

[0061] For example Figure 5The entire tooth group moves to the right. The canine 3, the left lateral incisor 2, and the left central incisor 1, located to the left of the midline, move closer to the midline (mesimetry). The central incisor 1, the right lateral incisor 2, and the right canine 3, located to the right of the midline, move further away from the midline (distraction). During the overall movement of the tooth group, both mesially and distally moved teeth are involved. These two movements are collectively referred to as mesiodistal movement. The amount of movement of teeth that move closer to the midline is called mesial movement, and the amount of movement of teeth that move distally is called distal movement. The mesial and distal movements of the entire tooth group during the overall movement are collectively referred to as mesiodistal movement.

[0062] Scenario 3: The first group of teeth includes the first rotated tooth and the first rotated adjacent tooth. The first rotated tooth and the first rotated adjacent tooth are teeth that may collide. The first rotated adjacent tooth may include the adjacent tooth to the left and / or right of the first rotated tooth.

[0063] In the first scenario, the first movement method involves the first rotating tooth starting to move while the first rotating adjacent tooth remains stationary or moves synchronously. The first rotating tooth and its adjacent tooth are likely to collide while moving from their initial position to the target position using this first movement method.

[0064] Optionally, if the gap between the adjacent teeth on both sides of the first twisted tooth does not meet the gap requirement of the first twisted tooth, then the probability of collision between the first twisted tooth and the first twisted adjacent teeth during the movement from the initial position to the target position through the first movement method is greater. Whether a collision occurs can be determined by judging whether the gap between the adjacent teeth on both sides of the first twisted tooth meets the gap requirement of the first twisted tooth. If the gap requirement is met, it can be judged that no collision occurs; if the gap requirement is not met, it can be judged that a collision occurs.

[0065] Optionally, whether a collision occurs between the first rotated tooth and its adjacent tooth on the dental arch curve can be determined by judging whether the overlap between their projections on the arch curve is greater than a second threshold. If the overlap is greater than the second threshold, a collision is determined to occur; if the overlap is not greater than the second threshold, a collision is determined not to occur. The second threshold can be zero or a value greater than zero, and its value can be set as needed; this application does not impose any restrictions on this. For example, the second threshold can be zero, in which case a collision occurs if there is an overlap between the projections of the first rotated tooth and its adjacent tooth on the dental arch curve. Alternatively, the second threshold can be greater than zero, in which case a collision occurs if there is an overlap between the projections of the first rotated tooth and its adjacent tooth on the dental arch curve, and the overlap is greater than the second threshold.

[0066] For example Figure 6In the diagram of the anterior teeth region shown, the lateral incisor 2 located to the left of the midline (referred to as the left lateral incisor) is a lingually rotated and misaligned tooth. The left lateral incisor 2 overlaps with its adjacent teeth on both sides. The overlap between the projections of the left lateral incisor 2 and its left adjacent teeth onto the dental arch curve is denoted as d1, and the overlap between the projections of the left lateral incisor 2 and its right adjacent teeth onto the dental arch curve is denoted as d2. Directly correcting the rotation and misalignment of the left lateral incisor 2 would result in significant intramaxillary collision with its adjacent teeth on both sides.

[0067] In the second scenario, the first movement method involves adding a rapid torsion channel to the first torsion tooth so that when the first torsion tooth begins to move, the adjacent first torsion tooth remains stationary or moves synchronously. The first torsion tooth and its adjacent first torsion tooth are likely to collide while moving from their initial position to the target position using this first movement method.

[0068] Optionally, if the gap between the adjacent teeth on both sides of the first twisted tooth does not meet the gap requirement of the first twisted tooth, and / or, the overlap of the projection of the first twisted tooth and the first twisted adjacent tooth on the dental arch curve is greater than the second threshold, then it is determined that the first twisted tooth and the first twisted adjacent tooth will collide, that is, the first twisted tooth and the first twisted adjacent tooth are a group of teeth that may collide.

[0069] For example Figure 7 In the dental diagram shown, the second premolar on the right side of the midline is a lingually rotated posterior tooth. This second premolar on the right side of the midline requires a rapid rotation channel to quickly rotate it and align it along the dental arch curve. For example... Figure 7 The mesiodistal length of the lingually rotated posterior tooth shown is denoted as d1, the labiolingual length as d2, and the gap between the adjacent teeth on both sides of the right second premolar (the right first premolar and the right first molar) as d3. Due to the large size of the molar, the gap between adjacent teeth required for the mesiodistal length d1 and the labiolingual length d2 is greater than the gap d3. The gap d3 between the adjacent teeth on both sides of the right second premolar does not meet the gap requirement of the right second premolar. If a rotation fast channel is directly added, the rotation of the right second premolar will collide with the adjacent teeth.

[0070] Case 4: The first group of teeth includes two adjacent groups of teeth located in the same quadrant, and these two groups of teeth are teeth that may collide.

[0071] First, let's introduce the quadrants. The patient's teeth can be divided into four quadrants. In the maxilla, teeth located to the left of the midline form one quadrant (upper left quadrant), and teeth located to the right of the midline form another quadrant (upper right quadrant). In the mandible, teeth located to the left of the midline form one quadrant (lower left quadrant), and teeth located to the right of the midline form another quadrant (lower right quadrant). Teeth within the same quadrant may collide during overall movement between adjacent groups of teeth. Each group of teeth may include one or more teeth.

[0072] In the first scenario, the first tooth group includes a first anterior tooth group and a first posterior tooth group. The first anterior tooth group consists of the teeth of the first posterior tooth group that are moving forward. The first movement method is that the first anterior tooth group and the first posterior tooth group move in the same direction. The first anterior tooth group being the teeth of the first posterior tooth group that are moving forward indicates a mesial movement. The first posterior tooth group includes at least one posterior tooth in the posterior region, and the first anterior tooth group includes at least one anterior tooth in the anterior region.

[0073] For example, if the fourth and fifth molars on the right side of the midline have a certain amount of mesial movement, and the right canine 3 in the anterior region adjacent to these molars has not yet moved, while the fourth and fifth molars on the right side of the midline move mesially, this will cause the fourth and fifth molars on the right side (as posterior teeth) to encroach on the movement space of the right canine 3 (as an anterior tooth), resulting in the posterior teeth encroaching on the anterior teeth's resolution space and leading to poor anterior teeth resolution. Similarly, if the right canine 3 in the anterior region adjacent to the fourth and fifth molars on the right side of the midline begins to move, and the fourth and fifth molars on the right side of the midline also begin to move mesially, this will also cause the fourth and fifth molars on the right side (as posterior teeth) to encroach on the movement space of the right canine 3 (as an anterior tooth), resulting in the posterior teeth encroaching on the anterior teeth's resolution space and leading to poor anterior teeth resolution.

[0074] In the second scenario, the first tooth group includes the second anterior tooth group and the second posterior tooth group. The second posterior tooth group consists of the anterior teeth of the second anterior tooth group. The first movement method is that the second anterior tooth group and the second posterior tooth group move in the same direction, where the second posterior tooth group consists of the anterior teeth of the second anterior tooth group, indicating a distal movement. The second posterior tooth group may include at least one posterior tooth in the posterior tooth region, and the second anterior tooth group may include at least one anterior tooth in the anterior tooth region.

[0075] When the second anterior group and the second posterior group in a single quadrant have a certain amount of distalization of the teeth in the second posterior group, if the second anterior group adjacent to the distalized second posterior group moves at the same time, the second anterior group will collide with the second posterior group because the second posterior group has not provided enough space for the second anterior group.

[0076] For the tooth groups that collide under the different circumstances described above, the collision can be resolved by changing the movement method, as detailed in step 103.

[0077] Step 103: The electronic device determines, at least based on the relative movement relationship between the teeth in the first tooth group, to move the first tooth group by a second movement method in order to eliminate the collision between teeth during the movement of the first tooth group.

[0078] The situation of the first tooth group that collides in step 102 is different. In step 103, the electronic device determines the implementation method of moving the first tooth group by the second movement method based at least on the relative movement relationship between the teeth in the first tooth group. The following provides a variety of implementation methods that can realize the above step 103.

[0079] In Implementation Method 1, based on the first tooth group in Case 1 above, which includes a first misaligned tooth and a first forward-facing tooth, the first misaligned tooth and the first forward-facing tooth are teeth that may collide. The electronic device can determine to move the first tooth group using a first unidirectional movement method based on the relative movement relationship of the first misaligned tooth and the first forward-facing tooth moving in the same direction, and the relative positional relationship where the overlap of the projections of the first misaligned tooth and the first forward-facing tooth on the dental arch curve is greater than a first threshold. The first unidirectional movement method includes moving the first forward-facing tooth first, followed by moving the first misaligned tooth.

[0080] In one alternative approach, the first unidirectional movement method may involve first moving the first anterior tooth in the same direction, and then, after the first anterior tooth has moved a certain distance, starting to move the first misaligned tooth.

[0081] In another alternative approach, the first unidirectional movement method can be to first move the first anterior tooth in the same direction, and then start moving the first misaligned tooth after the first anterior tooth has been moved.

[0082] In any of the above methods, the first misaligned tooth may first begin to move in the same direction as the first anterior tooth, and then begin labial movement or labial abduction; or it may begin to move in the same direction as the first anterior tooth and perform labial movement or labial abduction simultaneously; or it may begin labial movement or labial abduction first, and then begin to move in the same direction as the first anterior tooth. This application does not limit this.

[0083] For example, the first misaligned tooth is Figure 2The canine 3 on the left side of the midline shown in the diagram has a rightward movement in the anterior region 2-2. Anterior region 2-2 includes the left lateral incisor 2, left central incisor 1, right central incisor 1, and right lateral incisor 2. In the same direction of movement, all teeth in anterior to the left canine 3 are located in anterior to it. Based on the relative movement relationship between the left canine 3 and its anterior teeth, and the relative positional relationship of the overlap between the left canine 3 and the anterior left lateral incisor 2 exceeding a threshold, the movement can be determined. By moving the anterior teeth first, i.e., moving the anterior teeth 2-2 first, and then moving the malpositioned tooth (i.e., the left canine 3), the malpositioned tooth needs to wait if the anterior teeth have not created enough space for the malpositioned tooth. After the anterior teeth have moved a certain distance along the dental arch curve to create enough space for the posterior teeth, the malpositioned tooth will then begin to move along the dental arch curve. At the same time as the malpositioned tooth begins to move along the dental arch curve, labial abduction and / or labial movement are also performed, thereby effectively solving the problem of collision of malpositioned teeth in the anterior teeth region during the same-direction movement.

[0084] In the second implementation method, based on the first tooth group in the second scenario described above, which includes multiple teeth in the anterior region, these teeth are potentially susceptible to collision. The electronic device can determine, based on the relative movement relationship of the teeth in the first anterior tooth group moving synchronously in the same direction, to move the first tooth group using a second unidirectional movement method. This second unidirectional movement method includes: sequentially initiating the movement of different numbers of teeth along the dental arch curve in a stepped manner.

[0085] In one possible implementation, the number of teeth moving simultaneously in the second unidirectional movement mode does not exceed a certain threshold.

[0086] For example, the first group of teeth is Figure 5 The electronic device can determine the movement method of the tooth group shown in (a) by initiating the movement of different numbers of teeth in a stepwise manner along the direction of the dental arch curve, based on the relative movement relationship of the teeth in the tooth group moving to the right synchronously, and ensuring that the number of teeth moving at the same time does not exceed a certain threshold. Figure 5 The group of teeth shown in (a) is as follows. Specifically, the first canine in the anchorage relationship can be moved first along the arch curve. For example, the first canine is... Figure 8 As shown in the diagram, the right canine 3, after the first canine moves a certain distance and creates a certain gap with the first incisor that is adjacent to it, as... Figure 9 As shown, the first incisor adjacent to the first canine (i.e., the right lateral incisor 2) then begins to move along the dental arch. Once the first canine has moved distally along the dental arch curve, as... Figure 10 As shown, the three posterior incisors (such as...) Figure 8 The right central incisor 1, left central incisor 1, and left lateral incisor 2, as shown, begin to move together; after the first incisor has moved distally along the dental arch curve, as... Figure 11 As shown, the posterior canine (i.e., the left canine 3) then begins to move.

[0087] By employing the aforementioned movement rhythm of the tooth group, a step-like movement method along the dental arch is adopted, in which the six teeth in the tooth group move first, starting with the first tooth in the direction of movement. After the first tooth and the second tooth have separated by a certain distance, the second tooth then begins to move. After the first tooth has finished moving, the third, fourth, and fifth teeth begin to move. After the second tooth has finished moving, the sixth tooth begins to move. This effectively solves the problem of tooth collision during the same-direction movement of the anterior teeth in such cases.

[0088] In this embodiment, the first group of teeth can be divided into N groups of teeth. The N groups of teeth are moved sequentially according to a stepped number of teeth. After the i-th group of teeth in the N groups has finished moving, the (i+2)-th group of teeth is moved, where i is a positive integer. Optionally, when i is less than or equal to 2, the number of teeth in the i-th group is m; when i is greater than 2 and i is odd, the number of teeth in the i-th group is n; when i is greater than 2 and i is even, the number of teeth in the i-th group is m. The above example uses m=1 and n=3 as an example. It should be understood that the values ​​of m and n can be determined according to actual needs, and this application does not limit them.

[0089] In the third embodiment, the first tooth group in the above-described third case includes a first twisted tooth and a first twisted adjacent tooth. The first twisted tooth and the first twisted adjacent tooth are teeth that may collide. The first twisted adjacent tooth may include the adjacent tooth to the left and / or right of the first twisted tooth.

[0090] Regarding the first scenario in the above three situations, the first movement method is that when the first rotated tooth starts to move, the first rotated adjacent tooth remains stationary or moves synchronously. The electronic device can determine to move the first tooth group by the first rotation movement method based on the relative movement relationship of the first rotated adjacent tooth remaining stationary or moving synchronously when the first rotated tooth starts to move, and the relative position relationship of the overlap of the projection of the first rotated tooth and the first rotated adjacent tooth on the dental arch curve being greater than the second threshold. The first rotation movement method includes: first moving the first rotated adjacent tooth, and then starting to move the first rotated tooth.

[0091] In one possible implementation, the first torsional movement further includes: the first torsional tooth begins to move when the gap between the adjacent teeth on both sides of the first torsional tooth meets the gap requirement of the first torsional tooth. That is, the first torsional adjacent teeth are moved first, and then the first torsional tooth begins to move when the gap between the adjacent teeth on both sides of the first torsional tooth meets the gap requirement of the first torsional tooth.

[0092] For example Figure 6In the diagram of the teeth shown, the left lateral incisor 2 is a lingually rotated malpositioned tooth, with the first rotated tooth mentioned above as an example. Figure 6 Taking the left lateral incisor 2 as an example, the projections of the left lateral incisor 2 and its adjacent teeth on both sides onto the dental arch curve show overlap. The electronic device, based on... Figure 6 The relative movement relationship between the lingually rotated malpositioned tooth and the adjacent tooth, where the malposition is corrected by movement while the adjacent tooth remains stationary, and the relative positional relationship where the overlap of the projections of the lingually rotated malpositioned tooth and the adjacent tooth on the dental arch curve is greater than the second threshold, determines the method by first moving the two adjacent teeth mesiodistally, i.e., displacing the left canine 3 distally (e.g., Figure 12 The direction of movement 1) of the left central incisor 1 is moved closer together (e.g., the direction of movement 1). Figure 12 The movement direction is 2), and after the gap between the two adjacent teeth and the lingually rotated malaligned tooth meets the gap requirement of the lingually rotated malaligned tooth (i.e., the left lateral incisor 2), the lingually rotated malaligned tooth is moved again. The gap requirement for the lingually rotated malaligned tooth (i.e., the left lateral incisor 2) is that the gap is greater than the mesiodistal width of the left lateral incisor 2. This can effectively solve the collision problem of lingually rotated malaligned teeth when correcting misalignment. This third embodiment is also applicable to solving the collision problem of labially rotated malaligned teeth when correcting misalignment.

[0093] Regarding the second scenario in the above three situations, the first movement method is that when the rapid torsion channel of the first torsion tooth is added, the adjacent teeth of the first torsion tooth remain stationary or move synchronously. The electronic device can determine, based on the relative movement relationship that the two adjacent teeth remain stationary or move synchronously when the rapid torsion channel of the first torsion tooth is added, that the first torsion tooth will begin to move by first moving or tilting distally or proximally to the distal adjacent teeth of the first torsion tooth, and / or moving or tilting proximally to the distal adjacent teeth of the first torsion tooth, and then adding the rapid torsion channel of the first torsion tooth.

[0094] In one possible implementation, the rapid torsion channel for the first torsion tooth is added after the gap between the two adjacent teeth of the first torsion tooth meets the gap requirement of the misaligned tooth.

[0095] For example Figure 7 In the dental diagram shown, the second premolar on the right side of the midline is a lingually rotated posterior tooth, with the aforementioned first rotated tooth as an example. Figure 7Taking the second premolar on the right side of the midline as an example, the electronic device can first move at least one of the adjacent teeth on one side of the lingually rotated posterior tooth, and after the gap between the two adjacent teeth of the rotated posterior tooth meets the gap requirement of the rotated posterior tooth, it can start adding a rapid rotation channel for the rotated posterior tooth. Specifically, there are several possible implementation methods: In one method, the distal adjacent teeth located on the lingually rotated posterior tooth can be moved or tilted distally first, that is, first according to... Figure 13 As shown in movement direction 2, the first molar is moved distally or tilted distally. After the gap between the first premolars meets the gap requirement, a rapid rotation channel is added to the second premolar. In another method, the distal adjacent tooth located on the side of the posterior tooth after the rotation is misaligned can be moved proximally or tilted proximally first, i.e., first follow the movement direction as shown in the figure. Figure 13 The movement direction 1 is shown, moving or tilting the first premolar mesially. After the gap between the first premolars meets the gap requirement, a rapid rotation channel is added to the second premolar. In another method, the distal adjacent tooth of the lingually rotated malaligned tooth can be moved or tilted distally first, and then moved or tilted mesially to the distal adjacent tooth of the malaligned malaligned tooth, i.e., first following the movement direction 1. Figure 13 The indicated movement direction 2 involves distalizing or tilting the first molar, and following the... Figure 13 The indicated movement direction 1 involves mesial movement or tilting of the first premolar. Once the gap between the first premolars meets the clearance requirements, a rapid rotational channel is added to the second premolar. This eliminates inter-tooth collisions during the movement of the first anterior group.

[0096] Implementation method four: Based on the first group of teeth in the above situation four, the first group of teeth includes two adjacent groups of teeth located in the same quadrant, and the two groups of teeth are teeth that may collide.

[0097] Regarding the first scenario in situation four above, the first tooth group includes a first anterior tooth group and a first posterior tooth group, with the first anterior tooth group being the teeth anterior to the first posterior tooth group. The electronic device can determine, based on the relative movement relationship of the first posterior tooth group moving mesially while the first anterior tooth group moves in the same direction as the first posterior tooth group, or the first posterior tooth group moving mesially while the first anterior tooth group remains stationary, to first move at least one anterior tooth of the first anterior tooth group, followed by moving at least one posterior tooth of the first posterior tooth group.

[0098] For example, the first posterior group includes the 4th and 5th molars on the right side of the midline, and the first anterior group includes the 3rd canine on the right side. When the 4th and 5th molars on the right side of the midline have a certain amount of mesial movement, if the 3rd canine on the right side of the anterior region adjacent to the 4th and 5th molars on the right side of the midline has not yet moved, and the 4th and 5th molars on the right side of the midline move mesially, or if the 3rd canine on the right side of the anterior region begins to move while the 4th and 5th molars on the right side of the midline also begin to move mesially, collisions between the posterior and anterior teeth will occur. To address this, the electronic device can first move at least one anterior tooth adjacent to the at least one posterior tooth. After the at least one anterior tooth has moved along the dental arch curve, all teeth in the quadrant containing the at least one posterior tooth will be delayed by n orthodontic steps, where n is a positive integer.

[0099] Regarding the second scenario in the above-mentioned situation four, the first tooth group includes the second anterior tooth group and the second posterior tooth group. The second posterior tooth group is the anterior tooth of the second anterior tooth group. The first movement method is that the second anterior tooth group and the second posterior tooth group move in the same direction. The electronic device can determine, based on the relative movement relationship of the second posterior tooth group moving distally and the second anterior tooth group and the second posterior tooth group moving in the same direction, that at least one posterior tooth of the second posterior tooth group is moved first, and then at least one anterior tooth of the second anterior tooth group is moved.

[0100] When the teeth in a single quadrant's posterior region have a certain amount of distalization, if the anterior and posterior teeth move simultaneously, it can easily lead to collisions between the adjacent anterior teeth and the posterior teeth. To address this, electronic devices can first move the teeth in that single quadrant's posterior region. Once the teeth in that single quadrant's posterior region have moved a certain amount of distalization along the dental arch curve, the adjacent anterior teeth can then begin to move.

[0101] In this embodiment of the application, the orthodontic treatment plan corrects the patient's teeth by adding keyframe markers to one or more teeth that need to be moved, and then moving the teeth with keyframe markers. If all teeth in the jaw have keyframe markers in any step of the orthodontic treatment, then the keyframe steps of the teeth in the jaw corresponding to this orthodontic step are the same, which is called a keyframe step. For example... Figure 14 The keyframe steps for the intramaxillary teeth corresponding to the 12th orthodontic step are the same, and the keyframe steps for the intramaxillary teeth corresponding to the 18th orthodontic step are also the same; for example, Figure 17 In a treatment step, the keyframe steps for the intramaxillary teeth corresponding to the 9th orthodontic step are the same, and the keyframe steps for the intramaxillary teeth corresponding to the 12th orthodontic step are also the same. If some intramaxillary teeth in a given stage of a treatment step have keyframe markers while others do not, then the keyframe steps for the intramaxillary teeth are not the same, and this treatment step is not a treatment step with the same keyframe steps. For example... Figure 17In the second orthodontic step, tooth number 31 is marked with a keyframe, while the other teeth in the second orthodontic step do not. Therefore, the second orthodontic step is not an orthodontic step with the same keyframe step. It should be noted that in this application... Figures 14-17 The keyframe marker in the image is represented by P.

[0102] The tooth movement amount for each treatment step between two keyframe steps for any tooth is automatically interpolated based on the tooth position in the two keyframe steps. The treatment step corresponding to the automatic interpolation is called the automatic interpolation frame. For example, the movement amount of the left central incisor of the patient's maxilla from the initial position to the target position is 3mm. The first treatment step corresponds to the left central incisor of the patient's maxilla with a keyframe marker. The first treatment step is the treatment step where the left central incisor begins to move, and its corresponding position of the left central incisor is the initial position. The sixth treatment step also corresponds to the left central incisor of the patient's maxilla with a keyframe marker. The sixth treatment step is the last treatment step where the left central incisor moves, and its corresponding position of the left central incisor is the target position. The first orthodontic step corresponds to the first keyframe, and the sixth orthodontic step corresponds to the second keyframe. Each orthodontic step between the first and sixth corresponds to an automatic interpolation frame. Linear interpolation is primarily used to determine the movement of the left central incisor corresponding to each automatic interpolation frame. That is, the movement between adjacent automatic interpolation frames is 0.6mm. Thus, the total movement from the first to the sixth orthodontic step is 3mm: 0.6mm from the first to the second step, 0.6mm from the second to the third step, 0.6mm from the third to the fourth step, 0.6mm from the fourth to the fifth step, and 0.6mm from the fifth to the sixth step. The automatic interpolation frames ensure the continuity of tooth movement.

[0103] In this embodiment of the application, collision detection can be performed on each correction step corresponding to the correction plan, and the correction plan can be adjusted according to the collision detection results.

[0104] In one possible implementation, all patient teeth corresponding to the first orthodontic step are marked with keyframes, meaning that the keyframe steps of the intramaxillary teeth corresponding to the first orthodontic step are the same. The electronic device can perform continuous collision detection on the forward orthodontic steps of the first orthodontic step; when it is determined that a tooth collision has occurred in at least one forward automatic interpolation frame prior to the first orthodontic step; the tooth collision in the forward orthodontic steps of the first orthodontic step is eliminated by adjusting the position of the patient teeth in the first orthodontic step.

[0105] The following sections describe the forward and backward orthodontic steps separately. In one scenario, if there are identical keyframe steps for the intraoral teeth corresponding to the second orthodontic step before the first, then all orthodontic steps between the second and first steps, as well as the second step itself, are forward orthodontic steps of the first step; conversely, all orthodontic steps between the second and first steps, as well as the first step itself, are backward orthodontic steps of the second step. For example... Figure 14 In this case, the keyframe steps corresponding to the 12th orthodontic step are the same for the intramaxillary teeth, and the keyframe steps corresponding to the 18th orthodontic step are also the same for the intramaxillary teeth. Steps 12 through 17 are all forward steps of step 18; steps 13 through 18 are all backward steps of step 12. In another case, if no orthodontic step before the first step corresponds to the same keyframe step for the intramaxillary teeth, then all orthodontic steps before the first step are forward steps of the first step; for example... Figure 17 The keyframe steps corresponding to the 9th orthodontic step are the same for the intramaxillary teeth, the keyframe steps corresponding to the 12th orthodontic step are the same for the intramaxillary teeth, the 1st to 8th orthodontic steps are all forward orthodontic steps of the 9th orthodontic step, the 10th to 12th orthodontic steps are all backward orthodontic steps of the 9th orthodontic step, and the 9th to 11th orthodontic steps are all forward orthodontic steps of the 12th orthodontic step.

[0106] In one implementation, all patient teeth corresponding to the first orthodontic step are marked with keyframes, meaning the keyframe steps of the intraoral teeth corresponding to the first orthodontic step are the same. If the previous keyframe step of the intraoral teeth is also the same, the electronic device can perform continuous collision detection on the preceding orthodontic steps of the first orthodontic step. For example, if the previous keyframe step is the second orthodontic step, and there are automatic interpolation frames between the second and first orthodontic steps, the electronic device can traverse from the second orthodontic step, using a continuous collision detection method to detect all automatic interpolation frames between the second and first orthodontic steps. When an automatic interpolation frame is detected causing a tooth collision, the position of the intraoral tooth corresponding to the first orthodontic step is adjusted. Based on the position of the intraoral tooth corresponding to the second orthodontic step and the adjusted position of the intraoral tooth corresponding to the first orthodontic step, all automatic interpolation frames between the second and first orthodontic steps are automatically filled. After automatic interpolation, collision detection is performed again on the automatic interpolation frames, thereby ensuring that there are no tooth collisions from the previous keyframe step to the current keyframe step while also avoiding disruption of the tooth movement continuity.

[0107] The second corrective step is Figure 14 The 12th corrective step, the first corrective step is Figure 13Taking the 18th orthodontic step as an example, the electronic device can start from the 12th orthodontic step and perform continuous collision detection from the 12th to the 18th orthodontic steps. If there is a tooth collision between the 12th and 18th orthodontic steps, the position of the patient's teeth in the 18th orthodontic step is adjusted to eliminate the tooth collision in the forward automatic interpolation frame. After adjusting the position of the patient's teeth in the 18th orthodontic step, the automatic interpolation frames between the 12th and 18th orthodontic steps are automatically filled again based on the positions of the intramaxillary teeth corresponding to the 12th and 18th orthodontic steps. After refilling the automatic interpolation frames, continuous collision detection is performed again for the 12th to 18th orthodontic steps. If tooth collisions are still detected in the automatic interpolation frames between the 12th and 18th orthodontic steps, the position of the intramaxillary teeth corresponding to the 18th orthodontic step is readjusted. After the readjustment, the automatic interpolation frames between the 12th and 18th orthodontic steps are automatically filled again based on the position of the teeth corresponding to the 12th orthodontic step and the readjusted position of the intramaxillary teeth corresponding to the 18th orthodontic step, until there are no tooth collisions in the 12th to 18th orthodontic steps.

[0108] In another implementation, all patient teeth corresponding to the first orthodontic step are marked with keyframes, meaning the keyframe steps of the intramaxillary teeth corresponding to this first orthodontic step are the same. If the previous keyframe steps of the intramaxillary teeth are not identical, there may be potential tooth collisions between keyframes and interpolated frames, or between interpolated frames. For example... Figure 15 The 11th orthodontic step is the same as the keyframe step of the intramaxillary teeth, but the previous keyframe step of the intramaxillary teeth is not the same. For example, the previous keyframe step of tooth 43 is the 1st orthodontic step, the previous keyframe step of tooth 42 is the 2nd orthodontic step, the previous keyframe step of tooth 41 is the 6th orthodontic step, the previous keyframe step of tooth 31 is the 4th orthodontic step, the previous keyframe step of tooth 32 is the 1st orthodontic step, and the previous keyframe step of tooth 33 is the 1st orthodontic step.

[0109] The electronic device can perform continuous collision detection on the preceding orthodontic steps of the first orthodontic step. Specifically, the electronic device can traverse from the earliest orthodontic step initiated by the intraocular teeth and use a continuous collision detection method to detect all automatic interpolation frames between the earliest orthodontic step initiated by the intraocular teeth and the first orthodontic step. When a tooth collision is detected in an automatic interpolation frame, the position of the intraocular teeth corresponding to the first orthodontic step is adjusted. Based on the position of the corresponding intraocular teeth from the earliest orthodontic step initiated by the intraocular teeth and the adjusted position of the intraocular teeth corresponding to the first orthodontic step, the preceding automatic interpolation frames before the first orthodontic step are automatically adjusted. After automatic interpolation, collision detection is performed again on the automatic interpolation frames, thereby ensuring that there are no tooth collisions from the previous keyframe step to the current keyframe step, while also avoiding disruption of the continuity of tooth movement.

[0110] Taking the first orthodontic step as Figure 15 Taking the 11th orthodontic step as an example, the electronic device can start from the 1st orthodontic step and perform continuous collision detection from the 1st to the 11th orthodontic step. If there is a tooth collision between the 1st and 11th orthodontic steps, the position of the patient's teeth in the 11th orthodontic step is adjusted to eliminate the tooth collision in the forward automatic interpolation frame. After adjusting the position of the patient's teeth in the 11th orthodontic step, the automatic interpolation frames between the 1st and 10th orthodontic steps are automatically filled again based on the positions of the intramaxillary teeth corresponding to the 1st and 11th orthodontic steps. After refilling the automatic interpolation frames, continuous collision detection is performed again for the first to eleventh orthodontic steps. If tooth collisions still exist in the automatic interpolation frames between the first and eleventh orthodontic steps, the position of the intramaxillary teeth corresponding to the eleventh orthodontic step is readjusted. After the readjustment, the automatic interpolation frames between the first and eleventh orthodontic steps are automatically filled again based on the position of the teeth corresponding to the first orthodontic step and the readjusted position of the intramaxillary teeth corresponding to the eleventh orthodontic step, until there are no tooth collisions in the automatic interpolation frames between the first and eleventh orthodontic steps.

[0111] In one implementation, all patient teeth corresponding to the first orthodontic step are marked with keyframes, meaning that the keyframe steps of the intramaxillary teeth corresponding to the first orthodontic step are the same. If the next keyframe step of the intramaxillary teeth is also the same, the electronic device can also perform continuous collision detection on the forward orthodontic steps before the first orthodontic step and the backward orthodontic steps after the first orthodontic step. When it is determined that a tooth collision has occurred in at least one forward orthodontic step before the first orthodontic step, and / or a tooth collision has occurred in at least one backward orthodontic step before the first orthodontic step, the position of the patient teeth in the first orthodontic step is adjusted to eliminate the tooth collision in at least one forward orthodontic step and / or at least one backward orthodontic step.

[0112] In one implementation, the keyframe steps of the intramaxillary teeth corresponding to the first orthodontic step are the same. If the previous keyframe step of the intramaxillary teeth is the same, and the next keyframe step of the intramaxillary teeth is also the same, then the frames between any two keyframe steps are automatically interpolated. Taking the first orthodontic step as... Figure 16 The 15th corrective step shown in the image, the previous keyframe step (i.e. Figure 16 The 12th correction step shown is the same as the next keyframe step (i.e., Figure 16 The same applies to the 18th correction step shown in the figure. The 13th to 14th correction steps are automatic interpolation frames, the 16th to 17th correction steps are automatic interpolation frames, and the electronic device uses a continuous collision detection method to perform continuous collision detection on the 12th to 15th correction steps, and on the 16th to 18th correction steps. If tooth collision occurs between the 12th and 15th orthodontic steps, or between the 16th and 18th orthodontic steps, or between the 12th and 15th orthodontic steps and between the 16th and 18th orthodontic steps, then the position of the intramaxillary teeth corresponding to the 15th orthodontic step is adjusted, and the automatic interpolation frames between the 12th and 15th orthodontic steps are automatically filled based on the positions of the intramaxillary teeth corresponding to the 12th and 15th orthodontic steps, and the automatic interpolation frames between the 16th and 18th orthodontic steps are automatically filled. After automatic interpolation, collision detection is performed again on the forward and backward orthodontic steps of the 15th orthodontic step. If a collision is still detected, the position of the intramaxillary teeth corresponding to the 15th orthodontic step is adjusted until there are no tooth collisions in the forward and backward orthodontic steps of the 12th orthodontic step. In this implementation, by assigning both the forward and backward optimization values ​​of the current keyframe to the current keyframe, the tooth keyframe position without collisions in both forward and backward directions is optimized. This ensures that there are no tooth collisions from the previous keyframe step to the current keyframe step, and from the current keyframe step to the next keyframe step, while also avoiding disruption of the continuity of tooth movement.

[0113] In another implementation, the keyframe steps of the intramaxillary teeth corresponding to the first orthodontic step are the same. However, if the previous keyframe step of the intramaxillary teeth is not identical, and the next keyframe step of the intramaxillary teeth is also the same, then the frames between any two keyframe steps are automatically interpolated. Taking the first orthodontic step as... Figure 17 The ninth orthodontic step shown in the image is the next keyframe step for the intramaxillary teeth (i.e., Figure 17The same applies to the 12th orthodontic step shown in the figure. The 9th to 12th orthodontic steps are automatic interpolation frames. The previous keyframe step for tooth 41 is the 4th orthodontic step, and the previous keyframe step for tooth 31 is the 2nd orthodontic step.

[0114] The electronic device employs a continuous collision detection method to perform continuous collision detection on orthodontic steps 1 through 9, and also on orthodontic steps 9 through 12. If tooth collisions occur in orthodontic steps 1 through 9, or in orthodontic steps 9 through 12, or in both orthodontic steps 1 through 9 and 9 through 12, the position of the intramaxillary tooth corresponding to the 9th orthodontic step is adjusted. Based on the adjusted positions of the intramaxillary teeth corresponding to the 1st and 9th orthodontic steps, the automatic interpolation frames between orthodontic steps 1 through 9 and between orthodontic steps 9 through 12 are automatically filled. After automatic interpolation, collision detection is performed again on the forward and backward orthodontic steps of the 9th orthodontic step. If a collision is still detected, the position of the intramaxillary teeth corresponding to the 9th orthodontic step is adjusted until there are no tooth collisions in either the forward or backward orthodontic steps of the 9th orthodontic step. In this implementation, by assigning both the forward and backward optimization values ​​of the current keyframe to the current keyframe, the tooth keyframe position without collisions in either the forward or backward direction is optimized, thereby ensuring that there are no tooth collisions in the forward and backward orthodontic steps from the current keyframe step, while also avoiding disruption of the continuity of tooth movement.

[0115] The methods provided in the embodiments of this application above are described from the perspective of an electronic device as the executing entity. To implement the functions of the methods provided in the embodiments of this application above, the electronic device may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0116] Based on the same technical concept, embodiments of this application provide a device for moving teeth, such as... Figure 18 As shown, the release device 1800 includes an acquisition unit 1801, a determination unit 1802, and a release unit 1803, wherein:

[0117] The acquisition unit 1801 is used to acquire the orthodontic plan for the patient's teeth, which includes multiple step-by-step stages for moving the patient's teeth from an initial position to a target position.

[0118] The determining unit 1802 is used to determine a first group of teeth in the orthodontic plan. The first group of teeth includes multiple teeth that may collide during the process of moving from an initial position to a target position by a first movement method.

[0119] The release unit 1803 is used to determine, based on the relative movement relationship between the teeth in the first tooth group, to move the first tooth group by a second movement method in order to release the collision between the teeth during the movement of the first tooth group.

[0120] In one possible implementation, the first tooth group includes a first misaligned tooth and a first forward tooth, which are teeth that may collide; the release unit 1803 is specifically used to: determine, based on the relative movement relationship of the first misaligned tooth and the first forward tooth moving in the same direction, and the relative position relationship of the overlap of the projections of the first misaligned tooth and the first forward tooth on the dental arch curve being greater than a first threshold, to move the first tooth group by a first same-direction movement method, the first same-direction movement method including first moving the first forward tooth, and then moving the first misaligned tooth.

[0121] In one possible implementation, the first tooth group includes multiple teeth in the anterior region, and these multiple teeth are teeth that may collide; the release unit 1803 is specifically used to: determine, based on the relative movement relationship of the teeth in the first anterior group moving synchronously in the same direction, to move the first tooth group by a second unidirectional movement method, the second unidirectional movement method including: sequentially initiating the movement of different numbers of teeth along the direction of the dental arch curve in a step-like manner.

[0122] In one possible implementation, the number of teeth moving simultaneously in the second unidirectional movement mode does not exceed a certain threshold.

[0123] In one possible implementation, the first tooth group includes a first twisted tooth and a first twisted adjacent tooth, which are teeth that may collide; the release unit 1803 is specifically used to: determine the first tooth group to be moved by a first twisting movement method based on the relative movement relationship of the first twisted adjacent tooth remaining stationary or moving synchronously when the first twisted tooth begins to move, and the relative position relationship of the overlap of the projection of the first twisted tooth and the first twisted adjacent tooth on the dental arch curve being greater than a second threshold. The first twisting movement method includes: first moving the first twisted adjacent tooth, and then starting to move the first twisted tooth.

[0124] In one possible implementation, the first torsional movement method further includes: the first torsional tooth begins to move when the gap between the adjacent teeth on both sides of the first torsional tooth meets the gap requirement of the first torsional tooth.

[0125] In one possible implementation, the first torsional movement method further includes: adding a torsional rapid channel for the first torsional tooth.

[0126] In one possible implementation, before adding the rapid torsion channel for the first torsion tooth, the method further includes: displacing or tilting the distal adjacent tooth of the first torsion tooth distally, and / or mesially displacing or tilting the distal adjacent tooth of the first torsion tooth proximally.

[0127] In one possible implementation, the first tooth group includes two adjacent groups of teeth located in the same quadrant, and the two groups of teeth are teeth that may collide; the release unit 1803 is specifically used to: determine, based on the relative relationship of the two groups of teeth moving in the same direction or the group of teeth in the forward direction remaining stationary while the other group of teeth in the backward direction moves, to move the two groups of teeth by a third same-direction movement method, the third same-direction movement method including: first moving the group of teeth in the forward direction, and then moving the group of teeth in the backward direction.

[0128] In one possible implementation, the first tooth group includes a first anterior tooth group and a first posterior tooth group, wherein the first anterior tooth group consists of the teeth in front of the first posterior tooth group; the third unidirectional movement method includes: first moving at least one anterior tooth of the first anterior tooth group, and then moving at least one posterior tooth of the first posterior tooth group.

[0129] In one possible implementation, the first tooth group includes a second anterior tooth group and a second posterior tooth group, wherein the second posterior tooth group is the anterior tooth of the second anterior tooth group; the third unidirectional movement method includes: first moving at least one posterior tooth of the second posterior tooth group, and then moving at least one anterior tooth of the second anterior tooth group.

[0130] In one possible implementation, the patient teeth corresponding to the first orthodontic step in the orthodontic scheme are all marked with keyframe markers. The release device 1800 also includes a detection unit 1804, which is used to: perform continuous collision detection on the preceding orthodontic steps of the first orthodontic step; if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is the same, then the preceding orthodontic steps of the first orthodontic step include the previous keyframe step to the orthodontic step before the first orthodontic step; or, if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is not the same, then the preceding orthodontic steps of the first orthodontic step include all the orthodontic steps before the first orthodontic step.

[0131] The determining unit 1802 is also used to: determine when at least one forward orthodontic step of the first orthodontic step has caused tooth collision;

[0132] The release unit 1803 is also used to: release tooth collisions in the forward orthodontic step of the first orthodontic step by adjusting the position of the patient's teeth in the first orthodontic step.

[0133] In one possible implementation, the patient teeth corresponding to the first orthodontic step in the orthodontic plan are all marked with keyframe markers. The release device 1800 also includes a detection unit 1804, used for: performing continuous collision detection on the forward orthodontic steps and the backward orthodontic steps of the first orthodontic step; if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is the same, then the forward orthodontic step of the first orthodontic step includes the previous keyframe step to the orthodontic step preceding the first orthodontic step, or, if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is different, then the forward orthodontic step of the first orthodontic step includes all orthodontic steps preceding the first orthodontic step; if the next keyframe step of the first orthodontic step is the same, the backward orthodontic step of the first orthodontic step includes all orthodontic steps following the first orthodontic step and preceding the next keyframe step.

[0134] The determining unit 1802 is further configured to: determine that at least one forward orthodontic step of the first orthodontic step has caused tooth collision, and / or, at least one backward orthodontic step of the first orthodontic step has caused tooth collision.

[0135] The release unit 1803 is also used to: release tooth collisions in at least one forward orthodontic step and / or at least one backward orthodontic step by adjusting the position of the patient's teeth in the first orthodontic step.

[0136] When implemented in hardware, the hardware implementation of this electronic device can be found in [reference needed]. Figure 19 And its related descriptions.

[0137] See Figure 19 The electronic device includes: a display screen 1901; one or more processors 1902; a memory 1903; one or more application programs (not shown); and one or more computer programs 1904. These devices can be connected via one or more communication buses 1905. The one or more computer programs 1904 are stored in the memory 1903 and configured to be executed by the one or more processors 1902. The one or more computer programs 1904 include instructions that can be used to perform the methods in any of the above embodiments.

[0138] This application also provides a computer storage medium storing computer instructions. When the computer instructions are executed on an electronic device, the electronic device performs the aforementioned method steps to implement the methods described in the above embodiments.

[0139] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the methods described in the above embodiments.

[0140] In addition, embodiments of this application also provide an apparatus, which may specifically be a chip, an analysis item, or a module. The apparatus may include a connected processor and a memory; wherein the memory is used to store computer execution instructions, and when the apparatus is running, the processor may execute the computer execution instructions stored in the memory to cause the chip to execute the methods in the above-described method embodiments.

[0141] In this application, the electronic devices, computer storage media, computer program products or chips provided in the embodiments are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0142] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0143] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or analysis items may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0144] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0145] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0146] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0147] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for moving teeth, characterized in that, include: Obtain an orthodontic treatment plan for the patient's teeth, the orthodontic treatment plan including multiple step-by-step stages for moving the patient's teeth from an initial position to a target position; A first group of teeth is identified in the orthodontic plan, the first group of teeth including multiple teeth that may collide during the process of moving from an initial position to a target position by a first movement method; Based on the relative movement relationship between the teeth in the first tooth group, it is determined that the first tooth group will be moved by a second movement method to eliminate the collision between the teeth during the movement of the first tooth group.

2. The method as described in claim 1, characterized in that, The first tooth group includes a first misaligned tooth and a first forward-facing tooth, wherein the first misaligned tooth and the first forward-facing tooth are teeth that may collide; the step of determining the movement of the first tooth group by a second movement method based on the relative movement relationship between the teeth in the first tooth group includes: Based on the relative movement relationship between the first misaligned tooth and the first anterior tooth in the same direction, and the relative position relationship where the overlap of the projections of the first misaligned tooth and the first anterior tooth on the dental arch curve is greater than a first threshold, it is determined that the first tooth group will be moved by a first same-direction movement method, which includes moving the first anterior tooth first and then moving the first misaligned tooth.

3. The method as described in claim 1, characterized in that, The first tooth group includes multiple teeth in the anterior region, which are teeth that may collide; the step of determining the movement of the first tooth group by a second movement method based on the relative movement relationship between the teeth in the first tooth group includes: Based on the relative movement relationship of the teeth in the first anterior group moving synchronously in the same direction, it is determined that the first tooth group will be moved by a second unidirectional movement method. The second unidirectional movement method includes: moving different numbers of teeth sequentially in a step-like manner along the direction of the dental arch curve.

4. The method as described in claim 3, characterized in that, In the second unidirectional movement method, the number of teeth moving simultaneously does not exceed the number threshold.

5. The method as described in claim 1, characterized in that, The first tooth group includes a first rotated tooth and a first rotated adjacent tooth, wherein the first rotated tooth and the first rotated adjacent tooth are teeth that may collide; the step of determining the movement of the first tooth group by a second movement method based on the relative movement relationship between the teeth in the first tooth group includes: Based on the relative movement relationship of the first adjacent tooth remaining stationary or moving synchronously when the first twisted tooth begins to move, and the relative position relationship of the overlap of the projection of the first twisted tooth and the first adjacent tooth on the dental arch curve being greater than the second threshold, it is determined that the first tooth group will be moved by a first twisting movement method. The first twisting movement method includes: first moving the first adjacent tooth, and then starting to move the first twisted tooth.

6. The method as described in claim 5, characterized in that, The first torsional movement method further includes: When the gap between the adjacent teeth on both sides of the first twisted tooth meets the gap requirement of the first twisted tooth, the first twisted tooth begins to move.

7. The method as described in claim 5 or 6, characterized in that, The first torsional movement method also includes: adding a torsional fast channel for the first torsional tooth.

8. The method as described in claim 7, characterized in that, Before adding the rapid torsion channel to the first torsion tooth, the method further includes: By distalizing or distalizing the distal adjacent tooth of the first twisted tooth, and / or proximally displacing or proximally displacing the distal adjacent tooth of the first twisted tooth.

9. The method as described in claim 1, characterized in that, The first group of teeth includes two adjacent groups of teeth located in the same quadrant, and the two groups of teeth are teeth that may collide. The step of determining how to move the first tooth group using a second movement method based on the relative movement relationship between the teeth in the first tooth group includes: Based on the relative relationship of the two groups of teeth moving in the same direction or the group of teeth in the two groups moving while the group in the forward direction remains stationary, the two groups of teeth are moved by a third method of moving in the same direction. The third method of moving in the same direction includes: moving the group of teeth in the forward direction first, and then moving the group of teeth in the backward direction.

10. The method as described in claim 9, characterized in that, The first group of teeth includes a first anterior group and a first posterior group, wherein the first anterior group consists of the teeth anterior to the first posterior group; The third unidirectional movement method includes: first moving at least one anterior tooth of the first anterior tooth group, and then moving at least one posterior tooth of the first posterior tooth group.

11. The method as described in claim 9, characterized in that, The first group of teeth includes the second anterior group and the second posterior group, wherein the second posterior group consists of the teeth anterior to the second anterior group; The third unidirectional movement method includes: first moving at least one posterior tooth of the second posterior tooth group, and then moving at least one anterior tooth of the second anterior tooth group.

12. The method according to any one of claims 1-11, characterized in that, The patient's teeth corresponding to the first orthodontic step in the treatment plan are all marked with keyframe markers, and the method further includes: Continuous collision detection is performed on the preceding orthodontic steps of the first orthodontic step; if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is the same, then the preceding orthodontic steps of the first orthodontic step include the previous keyframe step to the orthodontic step before the first orthodontic step, or if the previous keyframe step of the patient teeth corresponding to the first orthodontic step is not the same, then the preceding orthodontic steps of the first orthodontic step include all orthodontic steps before the first orthodontic step. When it is determined that at least one forward orthodontic step of the first orthodontic step has resulted in tooth collision; By adjusting the position of the patient's teeth in the first orthodontic step, tooth collisions in the forward orthodontic step of the first orthodontic step are eliminated.

13. The method according to any one of claims 1-11, characterized in that, The patient's teeth corresponding to the first orthodontic step in the treatment plan are all marked with keyframe markers, and the method further includes: Continuous collision detection is performed on the forward correction step and the backward correction step of the first correction step. If the previous keyframe step of the patient's teeth corresponding to the first orthodontic step is the same, then the preceding orthodontic step of the first orthodontic step includes the previous keyframe step up to the orthodontic step preceding the first orthodontic step. Alternatively, if the previous keyframe step of the patient's teeth corresponding to the first orthodontic step is different, then the preceding orthodontic steps of the first orthodontic step include all orthodontic steps preceding the first orthodontic step. The next keyframe step of the first corrective step is the same, and the backward corrective steps of the first corrective step include each corrective step after the first corrective step and before the next keyframe step. When it is determined that at least one forward orthodontic step of the first orthodontic step has a tooth collision, and / or, at least one backward orthodontic step of the first orthodontic step has a tooth collision. By adjusting the position of the patient's teeth in the first orthodontic step, tooth collisions in at least one forward orthodontic step and / or at least one backward orthodontic step that are occurring are relieved.

14. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing program instructions; the processor executes the program instructions in the memory to implement the steps of the method as described in any one of claims 1 to 13.

15. A computer-readable storage medium, characterized in that, It includes computer-executable instructions that, when executed on a computer, cause the computer to perform the steps of the method as claimed in any one of claims 1 to 13.

Images