A distributed sensing-based invisible orthodontic monitoring system and method

Abstract

This invention discloses a distributed sensing-based invisible orthodontic monitoring system and method, relating to the field of oral medicine technology. The system includes a data acquisition module, a model construction module, a model update module, a root-bone relationship assessment module, a treatment plan adjustment module, and a brace generation module. It uses embedded flexible thin-film pressure sensors to collect pressure data on the contact surfaces between the braces and teeth in real time. Combined with biomechanical equations, it dynamically updates the tooth, gingiva, and alveolar bone models, assesses the root-bone relationship safety factor in real time, and automatically adjusts the treatment plan based on the deviation between the actual and expected positions. Finally, it uses selective laser sintering to print the next stage of the braces. This invention achieves continuous monitoring of tooth movement, dynamic assessment of root-bone relationships, and closed-loop adjustment of the treatment plan, significantly improving the safety and efficiency of orthodontics.

Description

Technical Field

[0001] This invention relates to the field of oral medicine technology, and in particular to a hidden orthodontic monitoring system and method based on distributed sensing. Background Technology

[0002] Invisible orthodontics, as an aesthetically pleasing and comfortable orthodontic method, has been widely used in clinical practice in recent years. However, accurately monitoring tooth movement and evaluating treatment effectiveness in real time during invisible orthodontic treatment has always been a technical challenge in dentistry. Current technologies for monitoring invisible orthodontics mainly suffer from the following problems: First, it's difficult to automatically update the integrated model of alveolar bone and gingiva during follow-up visits. While a complete model including the tooth root and alveolar bone can be obtained via CBCT during the initial visit, only a surface model of the gingiva can be obtained through oral scanning during follow-up visits. How to accurately register and fuse the new gingival morphology with the existing alveolar bone model, and automatically remove old gingival data to form a composite gingival-alveolar bone model reflecting the current true state, is a problem that current technology has not effectively solved. This makes it difficult for dentists to accurately grasp the real-time positional relationship between the tooth root and alveolar bone in three-dimensional space, and to assess the safe boundaries of tooth movement.

[0003] Secondly, during follow-up visits, it's impossible to dynamically monitor changes in the relative relationship between the tooth root and alveolar bone. The relationship between the tooth root and alveolar bone is a crucial indicator of whether tooth movement is safe. If the tooth root is excessively close to or penetrates the alveolar bone cortex, it can lead to serious complications such as root resorption and bone fenestration. However, due to the lack of root models during follow-up visits and updated alveolar bone models, dentists cannot observe the root-bone relationship for each tooth individually, and these issues are often only discovered after complications have occurred.

[0004] Third, current technologies largely rely on patients undergoing regular follow-up visits for oral scans, with intervals of several weeks or even months between visits, making it impossible to obtain continuous real-time data on tooth movement. If patient compliance with the treatment is poor or abnormal tooth movement occurs, it is often only discovered during a follow-up visit, by which time the optimal intervention window may have been missed, leading to prolonged treatment cycles or even restarts. This not only increases medical costs but also reduces patient satisfaction. Summary of the Invention

[0005] The purpose of this invention is to provide a distributed sensing-based invisible orthodontic monitoring system and method to achieve real-time monitoring of tooth movement, dynamic assessment of root-bone relationship, and automatic adjustment of treatment plan, thereby improving the safety and efficiency of orthodontic treatment.

[0006] To achieve the above objectives, the present invention provides a hidden orthodontic monitoring system based on distributed sensing, comprising: The data acquisition module includes multiple flexible thin-film pressure sensor units embedded inside the orthodontic braces, used to collect pressure distribution data of the contact surface between the teeth and the braces in real time; The model building module, connected to the data acquisition module, is used to build an initial tooth model and an initial gingival-alveolar bone model based on the initially acquired CBCT images and oral scan data. The model update module, connected to the data acquisition module and the model building module, is used to dynamically update the current tooth position model and the gingival-alveolar bone model based on the real-time collected pressure distribution data and the biomechanical equations of tooth movement. The root-bone relationship assessment module, connected to the model update module, is used to calculate the root-bone relationship evaluation index of each tooth based on the updated tooth model and gingival-alveolar bone model, and to determine whether it is within the safe range. The orthodontic treatment plan adjustment module is connected to the root bone relationship assessment module and the model update module, respectively. It is used to automatically adjust the subsequent orthodontic treatment plan based on the deviation between the actual position and the expected position of the teeth and the results of the root bone relationship assessment. The braces generation module, connected to the treatment plan adjustment module, is used to directly print the next stage of braces using composite polymer nylon material through selective laser sintering, based on the adjusted treatment plan.

[0007] Preferably, the model update module includes: The tooth position calculation submodule is used to calculate the actual position and orientation of each tooth based on pressure distribution data. The biomechanical equation is as follows: ; in, The mass matrix of the teeth. The periodontal ligament damping matrix is... Let be the stiffness matrix of the periodontal ligament. Let be the displacement vector of the tooth. for The vector of orthodontic forces that constantly act on the teeth; The crown update submodule is used to update the crown model based on the calculated tooth position; The tooth root update submodule is used to synchronously update the tooth root model based on the calculated tooth position; The gingival update submodule is used to update the gingival morphology based on tooth displacement using an elastic deformation model. The update formula is as follows: ; in, The location above the gum line The displacement vector at that point, For the number of teeth, The attenuation coefficient is... For the first The center of the crown of the tooth, For the first The center of the crown of the tooth, For the first The displacement vector of each tooth; The model fusion submodule is used to fuse the updated crown model, root model, and gingival-alveolar bone model to generate a complete oral cavity model in the current state.

[0008] Preferably, the root-bone relationship assessment module includes: The distance calculation submodule is used to calculate the shortest distance from each point on the root surface to the inner surface of the alveolar bone. ,in For the first The first tooth root surface The coordinates of the points Represents any point on the inner surface of the alveolar bone; The safety factor calculation submodule is used to calculate the root-bone relationship safety factor based on the shortest distance. ,in For the first Number of sampling points on the root surface of each tooth For the safety evaluation function: ; in, For safe distance threshold, This is the danger distance threshold; The risk warning submodule is used when the safety factor... A warning signal is issued when the value falls below a preset threshold.

[0009] Preferably, the treatment plan adjustment module includes: The deviation calculation submodule is used to calculate the positional deviation between the actual and expected positions of the teeth. and attitude deviation ,in and The first The actual and expected positions of the teeth and The first The actual and expected attitude angles of each tooth; The correction force calculation submodule is used to calculate the correction force that needs to be applied based on the position deviation and attitude deviation. ,in This is the proportionality coefficient. These are the differential coefficients; The path planning submodule is used to replan the subsequent orthodontic path based on the corrective force. ,in After adjustment The target location at any given time The original plan The target location at any given time To adjust the coefficient, Total treatment time; The treatment plan generation submodule is used to convert the adjusted treatment path into specific treatment plan parameters.

[0010] Preferably, the braces generation module includes: The model design submodule is used to design a 3D model of the braces based on the adjusted treatment plan, including the differential wall thickness distribution. ,in For position The braces at that location have thick walls. Based on the reference wall thickness, For thickness coefficient, For position The corrective force required at the site, of which, , Indicates the first The first tooth The weight of each key stress point Indicates position The normal unit vector at that location; The parameter setting submodule is used to set selective laser sintering printing parameters according to material properties. The printing control submodule is used to control the desktop selective laser sintering medical composite polymer printing system to directly form orthodontic braces.

[0011] This invention also provides a method for monitoring invisible orthodontics based on distributed sensing, comprising the following steps: S1: Based on the initially acquired CBCT images and oral scan data, construct the initial tooth model and the initial gingival-alveolar bone model; S2: Based on the initial tooth model, determine the location of the key stress points of each tooth, customize and embed flexible thin-film pressure sensor units, and establish the mapping relationship between the sensor output signal and the tooth stress. S3: Real-time acquisition of pressure distribution data from each sensor unit when wearing orthodontic braces; S4: Based on the collected pressure distribution data, combined with the tooth position calculation submodule, calculate the current actual position and orientation of each tooth; S5: Based on the calculated tooth positions, update the gingival-alveolar bone model to form an integrated model of the current state; S6: Based on the updated tooth model and gingival-alveolar bone model, calculate the root-bone relationship evaluation index for each tooth and assess the safety of tooth movement. S7: Compare the current actual position of the teeth with the target position in the expected orthodontic plan, and calculate the positional deviation and posture deviation; S8: Automatically adjust subsequent treatment plans based on the assessment results of positional deviation, postural deviation, and calcaneal relationship; S9: Based on the adjusted treatment plan, the next stage of orthodontic braces will be directly printed using composite polymer nylon material through selective laser sintering.

[0012] Preferably, the method for calculating the actual position and orientation of each tooth in S4 is as follows: S41. Calculate the resultant force on the teeth based on the pressure distribution from the sensor. ,in For the first Each sensor unit in Pressure values ​​collected at all times For the first The effective area of ​​each sensor unit For the first The normal unit vector at the location of each sensor unit; S42. Substitute the resultant force into the biomechanical equation. Solve for tooth displacement; S43. Use numerical integration to solve for tooth displacement and obtain the actual position and orientation of the teeth: ; ; in, For the first The initial position vector of each tooth. For the first The initial pose vector of each tooth. and For the first A tooth at all times The actual position vector and the actual attitude angle, This represents the mapping function from the displacement vector to the change in attitude angle.

[0013] Preferably, selective laser sintering printing parameters are set according to the characteristics of the composite polymer nylon material, including laser power of 16W, scanning speed of 1000mm / s, scanning spacing of 0.1mm, and layer thickness of 0.1mm.

[0014] Preferably, the orthodontic braces are directly printed using a desktop selective laser sintering medical composite polymer printer, achieving a printing accuracy of ±0.05mm and a surface roughness Ra<3.2μm.

[0015] Preferably, the key stress points include the buccal mesial, buccal distal, lingual mesial, lingual distal, and facial center of each tooth.

[0016] Therefore, the present invention employs the above-mentioned invisible orthodontic monitoring system and method based on distributed sensing, which has the following beneficial effects: (1) Pressure data between the brace and the tooth contact surface is collected in real time by an embedded flexible thin film pressure sensor, realizing continuous monitoring of tooth force and displacement; (2) The tooth, gum and alveolar bone models are dynamically updated through the model update module, which can reflect the three-dimensional changes during tooth movement in real time and improve the accuracy and real-time performance of model updates. (3) The safe distance between the tooth root and alveolar bone is quantified through the root-bone relationship assessment module to achieve automatic identification and early warning of tooth root risks; (4) The treatment plan adjustment module automatically optimizes the treatment path based on the actual deviation and safety assessment results, thereby improving the accuracy and personalization of the treatment; (5) By combining the braces generation module with SLS technology and composite materials, the orthodontic braces can be printed quickly and accurately, supporting the closed-loop execution of the phased orthodontic plan.

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 This is an architectural block diagram of an invisible orthodontic monitoring system based on distributed sensing according to the present invention. Figure 2 This is an overall flowchart of a method for monitoring invisible orthodontics based on distributed sensing according to the present invention. Figure 3 These are before-and-after comparison images of an embodiment of the present invention, wherein (a) is an occlusal view of the right upper central incisor before correction, and (b) is an occlusal view of the right upper central incisor after correction. Detailed Implementation

[0019] The following detailed description of embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0020] Please see Figure 1 A hidden orthodontic monitoring system based on distributed sensing, the data acquisition module includes multiple flexible thin-film pressure sensor units embedded inside the orthodontic braces, for real-time acquisition of pressure distribution data of the contact surface between the teeth and the braces; The model building module, connected to the data acquisition module, is used to build an initial tooth model and an initial gingival-alveolar bone model based on the initially acquired CBCT images and oral scan data. The model update module, connected to the data acquisition module and the model building module, is used to dynamically update the current tooth position model and the gingival-alveolar bone model based on real-time acquired pressure distribution data and the biomechanical equations of tooth movement. The model update module includes: The tooth position calculation submodule is used to calculate the actual position and orientation of each tooth based on pressure distribution data. The biomechanical equation is as follows: ; in, The mass matrix of the teeth. The periodontal ligament damping matrix is... Let be the stiffness matrix of the periodontal ligament. Let be the displacement vector of the tooth. for The vector of orthodontic forces that constantly act on the teeth; The crown update submodule is used to update the crown model based on the calculated tooth position; The tooth root update submodule is used to synchronously update the tooth root model based on the calculated tooth position; The gingival update submodule is used to update the gingival morphology based on tooth displacement using an elastic deformation model. The update formula is as follows: ; in, The location above the gum line The displacement vector at that point, For the number of teeth, The attenuation coefficient is... For the first The center of the crown of the tooth, For the first The center of the crown of the tooth, For the first The displacement vector of each tooth; The model fusion submodule is used to fuse the updated crown model, root model, and gingival-alveolar bone model to generate a complete oral cavity model in the current state.

[0021] The root-bone relationship assessment module, connected to the model update module, is used to calculate the root-bone relationship evaluation index for each tooth based on the updated tooth model and gingival-alveolar bone model, and to determine whether it is within a safe range. The root-bone relationship assessment module includes: The distance calculation submodule is used to calculate the shortest distance from each point on the root surface to the inner surface of the alveolar bone. ,in For the first The first tooth root surface The coordinates of the points Represents any point on the inner surface of the alveolar bone; The safety factor calculation submodule is used to calculate the root-bone relationship safety factor based on the shortest distance. ,in For the first Number of sampling points on the root surface of each tooth For the safety evaluation function: ; in, For safe distance threshold, This is the danger distance threshold; The risk warning submodule is used when the safety factor... A warning signal is issued when the value falls below a preset threshold.

[0022] The orthodontic treatment plan adjustment module is connected to both the root-bone relationship assessment module and the model update module. It automatically adjusts the subsequent orthodontic treatment plan based on the deviation between the actual and expected tooth positions and the results of the root-bone relationship assessment. The orthodontic treatment plan adjustment module includes: The deviation calculation submodule is used to calculate the positional deviation between the actual and expected positions of the teeth. and attitude deviation ,in and The first The actual and expected positions of the teeth and The first The actual and expected attitude angles of each tooth; The correction force calculation submodule is used to calculate the correction force that needs to be applied based on the position deviation and attitude deviation. ,in This is the proportionality coefficient. These are the differential coefficients; The path planning submodule is used to replan the subsequent orthodontic path based on the corrective force. ,in After adjustment The target location at any given time The original plan The target location at any given time To adjust the coefficient, Total treatment time; The treatment plan generation submodule is used to convert the adjusted treatment path into specific treatment plan parameters.

[0023] The braces manufacturing module, connected to the treatment plan adjustment module, is used to directly print the next stage of braces using a selective laser sintering process with composite polymer nylon material, based on the adjusted treatment plan. The braces manufacturing module includes: The model design submodule is used to design a 3D model of the braces based on the adjusted treatment plan, including the differential wall thickness distribution. ,in For position The braces at that location have thick walls. Based on the reference wall thickness, For thickness coefficient, For position The corrective force required at the site, of which, , Indicates the first The first tooth The weight of each key stress point Indicates position The normal unit vector at that location; The parameter setting submodule is used to set selective laser sintering printing parameters according to material properties. The printing control submodule is used to control the desktop selective laser sintering medical composite polymer printing system to directly form orthodontic braces.

[0024] Please see Figure 2 A method for monitoring invisible orthodontics based on distributed sensing includes the following steps: S1: Based on the initially acquired CBCT images and oral scan data, construct the initial tooth model and the initial gingival-alveolar bone model; S2: Based on the initial tooth model, determine the key stress points of each tooth, customize and embed flexible thin-film pressure sensor units, and establish the mapping relationship between the sensor output signal and the tooth force; the key stress points include the buccal mesial, buccal distal, lingual mesial, lingual distal, and facial center of each tooth. S3: Real-time acquisition of pressure distribution data from each sensor unit when wearing orthodontic braces; S4: Based on the collected pressure distribution data and combined with the tooth position calculation submodule, calculate the actual position and orientation of each tooth; the specific calculation method is as follows: S41. Calculate the resultant force on the teeth based on the pressure distribution from the sensor. ,in For the first Each sensor unit in Pressure values ​​collected at all times For the first The effective area of ​​each sensor unit For the first The normal unit vector at the location of each sensor unit; S42. Substitute the resultant force into the biomechanical equation. Solve for tooth displacement; S43. Use numerical integration to solve for tooth displacement and obtain the actual position and orientation of the teeth: ; ; in, For the first The initial position vector of each tooth. For the first The initial pose vector of each tooth. and For the first A tooth at all times The actual position vector and the actual attitude angle, This represents the mapping function from the displacement vector to the change in attitude angle.

[0025] S5: Based on the calculated tooth positions, update the gingival-alveolar bone model to form an integrated model of the current state; S6: Based on the updated tooth model and gingival-alveolar bone model, calculate the root-bone relationship evaluation index for each tooth and assess the safety of tooth movement. S7: Compare the current actual position of the teeth with the target position in the expected orthodontic plan, and calculate the positional deviation and posture deviation; S8: Automatically adjust subsequent treatment plans based on the assessment results of positional deviation, postural deviation, and calcaneal relationship; S9: Based on the adjusted treatment plan, the next stage of orthodontic aligners will be directly printed using a composite polymer nylon material via selective laser sintering (SLS). The SLS printing parameters are set according to the characteristics of the composite polymer nylon material, including laser power of 16W, scanning speed of 1000mm / s, scanning spacing of 0.1mm, and layer thickness of 0.1mm. A desktop SLS medical composite polymer printer will be used to directly print the orthodontic aligners, achieving a printing accuracy of ±0.05mm and a surface roughness Ra<3.2μm.

[0026] Figure 3 Images (a) and (b) show the occlusal facial images of the target tooth (right maxillary central incisor) before and after correction, respectively. By comparing and analyzing these two images, the technical effectiveness of the system of this invention in the process of correcting tooth rotation can be intuitively evaluated. The specific analysis is as follows: from Figure 3In (a) of the study, the following characteristics can be observed: Before correction, the target tooth exhibits a significant mesial torsion, with the mesial surface of the crown facing labially and the distal surface facing lingually. The long axis of the crown forms a large angle with the arch curve, presenting a typical torsion state. The center point of the crown deviates significantly from the ideal arch curve, shifting mesially, resulting in an interruption of the arch continuity. In the occlusal view, a significant depression is visible in the local arch curve. The distribution of spaces around the tooth is severely uneven, with the mesial space significantly larger than the distal space, forming a distinct triangular space region. Due to the tooth torsion, the contact relationship with adjacent teeth is abnormal; normal contact surfaces degenerate into point contact, and the contact point position deviates from the normal area. From the overall arch morphology, due to the torsion of the target tooth, a significant depression appears in the local arch curve, disrupting the continuity of the arch, impairing bilateral symmetry, and exhibiting abnormal local arch curvature, reflecting an abnormal bending shape of the arch at that location.

[0027] After monitoring and dynamic adjustment correction by the system of this invention, from Figure 3 In (b) of the study, the following characteristics can be observed: the rotation of the target tooth is effectively corrected after orthodontic treatment; the long axis of the crown perfectly matches the arch curve; the crown direction is restored to normal; the crown contour is regular; and the mesial and distal surfaces are basically perpendicular to the tangent of the arch, reflecting a normal tooth arrangement. The center point of the crown is located on the ideal arch curve, forming a continuous arch arc with adjacent teeth, restoring the overall coordination of the arch. The interdental spaces around the teeth are evenly distributed, with consistent mesial and distal spaces; the previously obvious triangular spaces have completely disappeared, forming a normal gingival morphology. A good contact relationship is formed with adjacent teeth, improving from point contact to surface contact; the contact point position is restored to normal; and the contact pressure is appropriate. From the perspective of the overall arch morphology, the local arch curve is smooth and continuous, the overall arch symmetry is restored, and the arch morphology is restored to normal, providing a foundation for normal occlusal function.

[0028] Therefore, this invention employs the aforementioned invisible orthodontic monitoring system and method based on distributed sensing. First, an initial tooth and gingival-alveolar bone model is constructed using CBCT and oral scan data. Multiple flexible thin-film pressure sensors are embedded inside the orthodontic aligners to collect real-time pressure distribution data on the contact surfaces between the teeth and the aligners. The model update module, based on the collected pressure data, uses the biomechanical equations of tooth movement to calculate the actual position and posture of the teeth and simultaneously updates the crown, root, and gingival models to form an integrated oral model of the current state. The root-bone relationship assessment module calculates the shortest distance from the root surface to the alveolar bone, quantifies the root-bone relationship safety factor, and automatically issues warnings when risks occur. The treatment plan adjustment module automatically calculates corrective forces and replans the subsequent treatment path based on the deviation between the actual and expected tooth positions, combined with the root-bone safety assessment results. Finally, based on the adjusted plan, the braces generation module adopts a differentiated wall thickness design and uses medical composite polymer nylon material to directly print the next stage of orthodontic braces through selective laser sintering. This achieves a closed-loop orthodontic process from data monitoring and risk assessment to plan adjustment and manufacturing, significantly improving the accuracy, safety and personalization of treatment.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A hidden orthodontic monitoring system based on distributed sensing, characterized in that, include: The data acquisition module includes multiple flexible thin-film pressure sensor units embedded inside the orthodontic braces, used to collect pressure distribution data of the contact surface between the teeth and the braces in real time; The model building module, connected to the data acquisition module, is used to build an initial tooth model and an initial gingival-alveolar bone model based on the initially acquired CBCT images and oral scan data. The model update module, connected to the data acquisition module and the model building module, is used to dynamically update the current tooth position model and the gingival-alveolar bone model based on the real-time collected pressure distribution data and the biomechanical equations of tooth movement. The root-bone relationship assessment module, connected to the model update module, is used to calculate the root-bone relationship evaluation index of each tooth based on the updated tooth model and gingival-alveolar bone model, and to determine whether it is within the safe range. The orthodontic treatment plan adjustment module is connected to the root bone relationship assessment module and the model update module, respectively. It is used to automatically adjust the subsequent orthodontic treatment plan based on the deviation between the actual position and the expected position of the teeth and the results of the root bone relationship assessment. The braces generation module, connected to the treatment plan adjustment module, is used to directly print the next stage of braces using composite polymer nylon material through selective laser sintering, based on the adjusted treatment plan.

2. The invisible orthodontic monitoring system based on distributed sensing according to claim 1, characterized in that, The model update module includes: The tooth position calculation submodule is used to calculate the actual position and orientation of each tooth based on pressure distribution data. The biomechanical equation is as follows: ； in, The mass matrix of the teeth. The periodontal ligament damping matrix is... Let be the stiffness matrix of the periodontal ligament. Let be the displacement vector of the tooth. for The vector of orthodontic forces that constantly act on the teeth; The crown update submodule is used to update the crown model based on the calculated tooth position; The tooth root update submodule is used to synchronously update the tooth root model based on the calculated tooth position; The gingival update submodule is used to update the gingival morphology based on tooth displacement using an elastic deformation model. The update formula is as follows: ； in, The location above the gum line The displacement vector at that point, For the number of teeth, The attenuation coefficient is... For the first The center of the crown of the tooth, For the first The center of the crown of the tooth, For the first The displacement vector of each tooth; The model fusion submodule is used to fuse the updated crown model, root model, and gingival-alveolar bone model to generate a complete oral cavity model in the current state.

3. The invisible orthodontic monitoring system based on distributed sensing according to claim 2, characterized in that, The pedicle-bone relationship assessment module includes: The distance calculation submodule is used to calculate the shortest distance from each point on the root surface to the inner surface of the alveolar bone. ,in For the first The first tooth root surface The coordinates of the points Represents any point on the inner surface of the alveolar bone; The safety factor calculation submodule is used to calculate the root-bone relationship safety factor based on the shortest distance. ,in For the first Number of sampling points on the root surface of each tooth For the safety evaluation function: ； in, For safe distance threshold, This is the danger distance threshold; The risk warning submodule is used when the safety factor... A warning signal is issued when the value falls below a preset threshold.

4. The invisible orthodontic monitoring system based on distributed sensing according to claim 3, characterized in that, The treatment plan adjustment module includes: The deviation calculation submodule is used to calculate the positional deviation between the actual and expected positions of the teeth. and attitude deviation ,in and The first The actual and expected positions of the teeth and The first The actual and expected attitude angles of each tooth; The correction force calculation submodule is used to calculate the correction force that needs to be applied based on the position deviation and attitude deviation. ,in This is the proportionality coefficient. These are the differential coefficients; The path planning submodule is used to replan the subsequent orthodontic path based on the corrective force. ,in After adjustment The target location at any given time The original plan The target location at any given time To adjust the coefficient, Total treatment time; The treatment plan generation submodule is used to convert the adjusted treatment path into specific treatment plan parameters.

5. The invisible orthodontic monitoring system based on distributed sensing according to claim 4, characterized in that, The braces generation module includes: The model design submodule is used to design a 3D model of the braces based on the adjusted treatment plan, including the differential wall thickness distribution. ,in For position The braces at that location have thick walls. Based on the reference wall thickness, For thickness coefficient, For position The corrective force required at the site, of which, , Indicates the first The first tooth The weight of each key stress point Indicates position The normal unit vector at that location; The parameter setting submodule is used to set selective laser sintering printing parameters according to material properties. The printing control submodule is used to control the desktop selective laser sintering medical composite polymer printing system to directly form orthodontic braces.

6. A method for monitoring invisible orthodontic treatment based on distributed sensing, using the invisible orthodontic monitoring system based on distributed sensing as described in any one of claims 1-5, characterized in that, Includes the following steps: S1: Based on the initially acquired CBCT images and oral scan data, construct the initial tooth model and the initial gingival-alveolar bone model; S2: Based on the initial tooth model, determine the location of the key stress points of each tooth, customize and embed flexible thin-film pressure sensor units, and establish the mapping relationship between the sensor output signal and the tooth stress. S3: Real-time acquisition of pressure distribution data from each sensor unit when wearing orthodontic braces; S4: Based on the collected pressure distribution data, combined with the tooth position calculation submodule, calculate the current actual position and orientation of each tooth; S5: Based on the calculated tooth positions, update the gingival-alveolar bone model to form an integrated model of the current state; S6: Based on the updated tooth model and gingival-alveolar bone model, calculate the root-bone relationship evaluation index for each tooth and assess the safety of tooth movement. S7: Compare the current actual position of the teeth with the target position in the expected orthodontic plan, and calculate the positional deviation and posture deviation; S8: Automatically adjust subsequent treatment plans based on the assessment results of positional deviation, postural deviation, and calcaneal relationship; S9: Based on the adjusted treatment plan, the next stage of orthodontic braces will be directly printed using composite polymer nylon material through selective laser sintering.

7. The invisible orthodontic monitoring method based on distributed sensing according to claim 6, characterized in that, The calculation method for the actual position and orientation of each tooth in S4 is as follows: S41. Calculate the resultant force on the teeth based on the pressure distribution from the sensor. ,in For the first Each sensor unit in Pressure values ​​collected at all times For the first The effective area of ​​each sensor unit For the first The normal unit vector at the location of each sensor unit; S42. Substitute the resultant force into the biomechanical equation. Solve for tooth displacement; S43. Use numerical integration to solve for tooth displacement and obtain the actual position and orientation of the teeth: ； ； in, For the first The initial position vector of each tooth. For the first The initial pose vector of each tooth. and For the first A tooth at all times The actual position vector and the actual attitude angle, This represents the mapping function from the displacement vector to the change in attitude angle.

8. The invisible orthodontic monitoring method based on distributed sensing according to claim 7, characterized in that: Selective laser sintering printing parameters were set based on the characteristics of the composite polymer nylon material, including laser power of 16W, scanning speed of 1000mm / s, scanning spacing of 0.1mm, and layer thickness of 0.1mm.

9. The invisible orthodontic monitoring method based on distributed sensing according to claim 8, characterized in that: Orthodontic braces are directly printed using a desktop selective laser sintering medical composite polymer printer, achieving a printing accuracy of ±0.05mm and a surface roughness Ra<3.2μm.

10. The invisible orthodontic monitoring method based on distributed sensing according to claim 9, characterized in that: The key stress points include the buccal mesial, buccal distal, lingual mesial, lingual distal, and central face of each tooth.

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