Tooth preparation trajectory planning method, electronic device and storage medium

Abstract

The application relates to a tooth preparation trajectory planning method, an electronic device and a storage medium. The tooth preparation trajectory planning method comprises the following steps: acquiring a local tooth model and a shoulder platform range. A tooth preparation model is acquired according to the shoulder platform range. A minimum bounding box of the tooth preparation model is acquired, and a first direction perpendicular to the shoulder platform is acquired. A minimum component of a surrounding edge of the minimum bounding box in the first direction is acquired as an axial direction. According to the minimum bounding box and the axial direction, a shoulder platform edge line is acquired, and two shoulder platform trajectory edge lines are obtained according to the shoulder platform edge line, and a shoulder platform tooth preparation trajectory is acquired. An occlusal surface tooth preparation trajectory is acquired in a range formed by occlusal surface curve closure. A functional cusp bevel surface tooth preparation trajectory is acquired in a range formed by functional cusp bevel surface curve closure. According to the acquired shoulder platform tooth preparation trajectory, the occlusal surface tooth preparation trajectory and the functional cusp bevel surface tooth preparation trajectory, different specifications of polishing structures are selected and installed on the actuating end of a surgical machine.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method for tooth preparation trajectory planning, an electronic device, and a storage medium. Background Technology

[0002] In related technologies, tooth preparation surgery, also known as "tooth preparation," refers to the procedure performed by dentists using specialized instruments to reshape, polish, and reserve space for the natural teeth that need restoration, according to the restoration plan. It is a core preliminary step in oral restorative treatment. Simply put, tooth preparation surgery removes some tooth structure so that the restoration can fit snugly against the natural tooth while meeting the needs of occlusal function, gum health, and aesthetics.

[0003] During surgical navigation, current robotic tooth preparation methods use a single bur in a reciprocating motion. While this method may yield good results in ideal conditions where there are no adjacent teeth, it's common for adjacent teeth to be present during real-world tooth preparation surgeries, posing a significant risk of damaging them. Therefore, planning the tooth preparation trajectory to improve surface smoothness while minimizing the risk of damaging adjacent teeth has become a pressing issue. Summary of the Invention

[0004] To address the aforementioned problems, according to a first aspect of the embodiments of this application, a method for planning tooth preparation trajectory is provided, comprising:

[0005] A dental model is obtained by scanning and segmenting the dental model to obtain a local tooth model corresponding to the target tooth preparation; the range of the shoulder of the tooth preparation is obtained in the local tooth model; based on the range of the shoulder of the tooth preparation, the part of the local tooth model other than the crown structure is obtained as the prepared tooth model;

[0006] Obtain a preparatory tooth model and obtain the minimum bounding box of the preparatory tooth model; obtain a first direction perpendicular to the shoulder, and obtain the component of each bounding edge of the minimum bounding box in the first direction, and obtain the direction of the bounding edge with the largest component as the axial direction of the implant;

[0007] Based on the minimum bounding box and the axial direction, obtain the shoulder edge line of the prepared tooth model; based on the shoulder edge line, obtain two shoulder trajectory edge lines by different inward distances; obtain the preset starting point of the shoulder tooth preparation trajectory, and connect the starting point of the tooth preparation trajectory with the two shoulder trajectory edge lines in sequence as the shoulder tooth preparation trajectory for vertical grinding.

[0008] Obtain the occlusal surface curve of the edge of the occlusal surface of the prepared tooth model; obtain the occlusal surface preparation trajectory within the closed area formed by the occlusal surface curve;

[0009] Obtain the functional cusp slope curve of the edge of the functional cusp slope of the prepared tooth model; within the closed area of ​​the functional cusp slope curve, obtain the tooth preparation trajectory of the functional cusp slope;

[0010] Based on the obtained shoulder preparation trajectory, occlusal surface preparation trajectory, and functional tip bevel preparation trajectory, different specifications of grinding structures are selected and installed for the actuating end of the surgical machine.

[0011] By using the aforementioned configuration, different grinding structures are employed to grind the shoulder, occlusal surface, and functional cusp bevel, effectively avoiding the use of a single grinding structure to perform all grinding trajectories. Thus, by selecting different grinding structures in different grinding processes, the grinding structure can better adapt to the environment during the grinding process, thereby effectively avoiding the risk of grinding adjacent teeth during the grinding process.

[0012] According to a second aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor; the memory stores computer-executable instructions non-transitory; the processor is configured to run the computer-executable instructions; the computer-executable instructions, when run by the processor, implement any of the aforementioned tooth preparation trajectory planning methods.

[0013] According to a third aspect of the embodiments of this application, a non-transitory computer-readable storage medium is provided, the non-transitory computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement any of the aforementioned tooth preparation trajectory planning methods.

[0014] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0016] Figure 1 This is a flowchart illustrating a tooth preparation trajectory planning method according to an embodiment of this application.

[0017] Figure 2 This is a schematic diagram of an oral cavity model according to an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the shoulder edge line according to an embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the edge line of the shoulder platform trajectory shown in an embodiment of this application.

[0020] Figure 5 This is a schematic diagram showing the occlusal surface curve and the occlusal surface preparation trajectory according to the embodiments of this application.

[0021] Figure 6 This is a schematic diagram of the functional tip bevel curve and the functional tip bevel tooth preparation trajectory according to the embodiments of this application. Detailed Implementation

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0023] Current robotic tooth preparation methods typically use a single bur for reciprocating grinding. However, the oral cavity is complex, and other teeth often surround the tooth requiring preparation. The positional relationship between the tooth and its surroundings means that a single bur cannot effectively adapt to this relationship, easily leading to accidental grinding of adjacent teeth and damage to healthy ones. Therefore, effectively avoiding accidental grinding of adjacent teeth has become a pressing issue.

[0024] To address the aforementioned problems, this application provides a method for planning tooth preparation trajectory. Figure 1 The diagram shows a flowchart of the tooth preparation trajectory planning method. Figure 1 As shown, the tooth preparation trajectory planning method includes steps S110 to S160.

[0025] In step S110, refer to Figure 2 The oral cavity model is shown. The oral cavity model is scanned and segmented to obtain a local tooth model 20 corresponding to the target tooth preparation. The extent of the shoulder 11 of the tooth preparation is obtained in the local tooth model 20. Based on the extent of the shoulder 11, the portion of the local tooth model 20 excluding the crown structure 21 is obtained as the prepared tooth model 10.

[0026] In step S120, a prepared tooth model 10 is obtained, and the minimum bounding box of the prepared tooth model 10 is obtained. A first direction perpendicular to the shoulder 11 is obtained, and the component of each bounding edge of the minimum bounding box in the first direction is obtained, and the direction of the bounding edge with the largest component is obtained as the axial direction D of the implant.

[0027] Specifically, the axial direction D can be referenced. Figure 2 The axial direction D is shown.

[0028] In step S130, the shoulder edge line L1 of the prepared tooth model 10 is obtained based on the minimum bounding box and the axial direction D. Two shoulder trajectory edge lines Lg are obtained by indenting the shoulder edge line L1 by different distances. A preset starting point for the shoulder preparation trajectory is obtained, and the starting point of the preparation trajectory is sequentially connected to the two shoulder trajectory edge lines Lg to form the shoulder preparation trajectory L1g for vertical grinding.

[0029] Specifically, the shoulder edge line L1 can be referenced. Figure 3 The content shown can be referenced by the two shoulder trajectory edge lines Lg. Figure 4 The content shown is as follows. Among them, the shoulder preparation trajectory during vertical grinding, that is, the specific grinding process after the preparation trajectory planning method is completed, involves the dental needle contacting the side of the crown 21 of the corresponding local tooth model 20 of the target tooth, and moving around the corresponding crown 21 along the shoulder preparation trajectory to achieve the grinding trajectory of the shoulder 11.

[0030] In step S140, the occlusal surface curve L2 of the edge of the occlusal surface 12 of the prepared tooth model 10 is obtained. The occlusal surface preparation trajectory L2g is obtained within the area closed by the occlusal surface curve L2.

[0031] Specifically, the occlusal surface curve L2 and the occlusal surface preparation trajectory L2g in step S140 can be referenced. Figure 5 The content shown.

[0032] In step S150, the functional cusp curve L3 of the edge of the functional cusp curve of the prepared tooth model 10 is obtained. Within the range closed by the functional cusp curve, the functional cusp preparation trajectory L3g is obtained.

[0033] Specifically, the functional cusp bevel curve L3 and the functional cusp bevel preparation trajectory L3g in step S150 can be referenced. Figure 6 The content shown.

[0034] In step S160, based on the obtained shoulder preparation trajectory L1g, occlusal surface preparation trajectory L2g, and functional tip bevel preparation trajectory L3g, different specifications of grinding structures are selected and installed for the actuating end of the surgical machine.

[0035] The grinding structure may include, but is not limited to, a dental needle structure.

[0036] It should be noted that the aforementioned shoulder 11, occlusal surface 12, and functional cusp bevel are all concepts with clear definitions in the field of dental implant surgery, and will not be elaborated upon here.

[0037] By using the above-described configuration, and by employing different grinding structures to grind the shoulder 11, occlusal surface 12, and functional tip bevel, the grinding process of using a single grinding structure to execute all grinding trajectories can be effectively avoided. Thus, by selecting different grinding structures in different grinding processes, the grinding structure can be better adapted to the environment during the grinding process, thereby effectively avoiding the risk of grinding adjacent teeth during the grinding process.

[0038] In some embodiments, reference Figure 3 and Figure 4 As shown, obtaining the shoulder edge line L1 of the prepared tooth model 10 further includes:

[0039] Obtain the size of the bounding box surfaces intersecting the axial direction D, and select the bounding box surface with the smallest area as the bottom surface of the bounding box. Discretely select points along the edge of the bottom surface of the bounding box at a preset point spacing, and obtain a first point set based on the results of the discrete point selection. Obtain the point on the prepared tooth model 10 that is closest to each point in the first point set, and obtain a second point set based on the point selection results on the prepared tooth model 10. Obtain the line connecting the points in the second point set as the shoulder edge line L1.

[0040] Through the above embodiments, the shoulder edge line L1 can be obtained, and the shoulder preparation trajectory can be obtained. Finally, by using different grinding structures to grind the shoulder 11, occlusal surface 12 and functional cusp bevel, the grinding process of using a single grinding structure to perform all grinding trajectories can be effectively avoided. Thus, by selecting different grinding structures in different grinding processes, the grinding structure can be better adapted to the environment in the grinding process, thereby effectively avoiding the risk of grinding adjacent teeth during the grinding process.

[0041] In some embodiments, such as Figure 3 and Figure 4 As shown, the points are indented by different distances according to the shoulder edge line L1, and then resampled according to a preset point spacing to obtain the third and fourth point sets. The two shoulder trajectory edge lines Lg correspond to the lines connecting the points in the third point set and the lines connecting the points in the fourth point set, respectively.

[0042] Obtain the preset starting point of the tooth preparation trajectory, and connect the starting point of the tooth preparation trajectory, the third point set, and the fourth point set in sequence to form the shoulder preparation trajectory L1g. Calculate the grinding direction of each point in the shoulder preparation trajectory, so that the grinding structure has a straight line inclination angle towards the center of the prepared tooth model 10 and the axial direction D when grinding the corresponding point, and so that the prepared tooth model obtained by the planned grinding has a degree of convergence along the axial direction.

[0043] in, Figure 2 Specifically, it shows the central straight line extending along the axial direction D, passing through the center of the prepared tooth model 10, which is also the center point of the smallest bounding box of the prepared tooth model 10. That is... Figure 2 The straight line shown not only indicates the axial direction D, but also the aforementioned straight line. When the grinding structure grinds the corresponding point, it has a direction oriented towards the center of the prepared tooth model 10, i.e., the tooth needle structure used for grinding. The longest direction of this tooth needle not only intersects the plane containing the shoulder 11, but the aforementioned direction of the tooth needle also has an angle of inclination towards the aforementioned center.

[0044] This also results in the side of the prepared tooth model 10 obtained by polishing having an inclination angle, that is, the side intersecting with the occlusal surface 12 and the shoulder 11 has an inclination angle toward the aforementioned center, and the overall structure of the prepared tooth model 10 above the shoulder 11, including the occlusal surface 12, is a frustum-shaped structure, that is, the aforementioned prepared tooth model 10 has a degree of convergence along the axial direction D.

[0045] It should be noted that the structure above the shoulder 11, including the occlusal surface 12, is a truncated cone structure, but it is not required to strictly conform to the shape of a truncated cone structure; it is sufficient to roughly conform to it.

[0046] By using the above-described configuration, the grinding direction of the grinding structure can be angled during the grinding process to further avoid grinding adjacent teeth. At the same time, by making the corresponding prepared tooth model 10 have a degree of convergence, it is easier to place the subsequent denture. Thus, while further effectively avoiding the risk of grinding adjacent teeth, the planned prepared tooth model 10 is more suitable for placing the subsequent denture structure.

[0047] In some embodiments, such as Figure 2 , Figure 3 and Figure 4 As shown, the grinding direction at each point in the shoulder preparation trajectory is calculated, including:

[0048] Based on the planned aggregation angle, rotate the straight line extending along the axial direction D from the target point in the shoulder preparation trajectory L1g by a corresponding angle to obtain multiple intermediate grinding directions. Obtain the center point of the bounding box of the minimum bounding box. Obtain the center line extending along the axial direction D from the center point of the bounding box. Obtain the first grinding direction that passes through the target point and intersects the center line, and use it as the target point grinding direction.

[0049] Specifically, the straight line passing through the center point of the smallest bounding box and extending along the axial direction D is the same as the center line described in other parts of this application, and can be referred to each other in the description.

[0050] Through the above embodiment, by calculating the grinding direction of the target point, the grinding direction of the grinding structure can be made to have an angle during the grinding process, so as to further effectively avoid grinding adjacent teeth. At the same time, by making the corresponding prepared tooth model 10 have a degree of convergence, it is easier to place the subsequent denture. Thus, it is possible to further effectively avoid the risk of grinding adjacent teeth, and make the planned prepared tooth model 10 more suitable for placing the subsequent denture structure.

[0051] In some embodiments, such as Figure 3 and Figure 4 As shown, before acquiring the shoulder preparation trajectory L1g, the process further includes:

[0052] On the shoulder edge line L1 of the prepared tooth model 10, select a first edge point P1, a second edge point P2, a third edge point P3, and a fourth edge point P4. The first edge point P1 includes the boundary between the mesial and buccal sides, the second edge point P2 includes the boundary between the buccal and distal sides, the third edge point P3 includes the boundary between the distal and lingual sides, and the fourth edge point P4 includes the boundary between the lingual and mesial sides.

[0053] Among them, the mesial, distal, buccal, and lingual sides are all locations with corresponding definitions in oral medicine. That is, the area between the third edge point P3 and the fourth edge point P4 is the lingual side, which is the side of the mouth closer to the tongue, and the area between the first edge point P1 and the second edge point P2 is the buccal side, which is the side of the mouth closer to the cheek.

[0054] Obtain the points located between the first edge point P1 and the fourth edge point P4, and between the second edge point P2 and the third edge point P3, in the third point set and the fourth point set. Then, further indent the obtained points relative to the other points in the third point set and the fourth point set, relative to the shoulder edge line.

[0055] By setting the points between the first edge point P1 and the fourth edge point P4, and between the second edge point P2 and the third edge point P3, and further shrinking the obtained points relative to other points in the third and fourth point sets, the planned path can be further shrunken when grinding the parts of the current tooth and adjacent teeth that are closest to each other, thus avoiding grinding adjacent teeth. This can more effectively avoid the risk of grinding adjacent teeth during the grinding process.

[0056] In some embodiments, such as Figure 5 As shown, the occlusal surface preparation trajectory is obtained within the area closed by the occlusal surface curve L2, including:

[0057] Within the area enclosed by the occlusal surface curve L2, multiple parallel expected occlusal surface preparation trajectory lines intersecting the occlusal surface curve L2 are obtained at fixed intervals. Points on each of the expected occlusal surface preparation trajectory lines are obtained at fixed intervals, and the projection of each point onto the occlusal surface 12 along the axial direction D is obtained. The obtained projection points are connected to obtain multiple occlusal surface preparation trajectory lines L2y.

[0058] Obtain the preset starting point of the occlusal surface preparation trajectory, and connect the starting point of the occlusal surface preparation trajectory with multiple occlusal surface preparation trajectory lines L2y in a reciprocating connection order to form the occlusal surface preparation trajectory L2g.

[0059] Through the above-described configuration, the occlusal surface preparation trajectory L2g can be obtained. By employing different grinding structures to grind the shoulder 11, occlusal surface 12, and functional cusp bevel, the grinding process of executing all grinding trajectories using a single grinding structure can be effectively avoided. Thus, by selecting different grinding structures in different grinding processes, the grinding structure can be better adapted to the environment during the grinding process, thereby effectively avoiding the risk of grinding adjacent teeth during the grinding process.

[0060] In some embodiments, such as Figure 6 As shown, within the closed area of ​​the functional tip bevel curve L3, the functional tip bevel preparation trajectory L3g is obtained, including:

[0061] Obtain the functional cusp bevel curve L3 at the edge of the functional cusp bevel of the prepared tooth model 10. The functional cusp bevel curve L3 includes two functional cusp bevel curve endpoints L3d. Within the closed area of ​​the functional cusp bevel curve L3, obtain multiple functional cusp bevel preparation trajectory lines L3y passing through the two functional cusp bevel curve endpoints L3d. Obtain a preset functional cusp bevel preparation trajectory starting point, and connect the functional cusp bevel preparation trajectory starting point with multiple functional cusp bevel preparation trajectory lines L3y in a reciprocating connection order to form the functional cusp bevel preparation trajectory L3g.

[0062] Through the above-described configuration, the preparation trajectory L3g of the functional cusp bevel can be obtained. By employing different grinding structures to grind the shoulder 11, occlusal surface 12, and functional cusp bevel, the grinding process of all grinding trajectories can be effectively avoided by using a single grinding structure. Thus, by selecting different grinding structures in different grinding processes, the grinding structure can be better adapted to the environment during the grinding process, thereby effectively avoiding the risk of grinding adjacent teeth during the grinding process.

[0063] In some embodiments, such as Figure 2 As shown, after obtaining the axial direction D, the process further includes:

[0064] The axial direction D is visualized on the prepared tooth model 10.

[0065] Through the above-described configuration, the axial direction D can be seen more intuitively on the prepared tooth model 10, making the relationship between the planned trajectory on the shoulder 11, occlusal surface 12 and functional cusp slope and the axial direction D more intuitive. This allows users to more intuitively check for problems with pits in the planned trajectory, and further avoids the risk of grinding adjacent teeth during the grinding process.

[0066] This application also provides an electronic device, including a memory and a processor. The memory stores computer-executable instructions non-transitoryly. The processor is configured to execute the computer-executable instructions. When executed by the processor, the computer-executable instructions implement any of the aforementioned tooth preparation trajectory planning methods.

[0067] This application also provides a non-transitory computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement any of the aforementioned tooth preparation trajectory planning methods.

[0068] The above embodiments of this application can complement each other without causing conflict.

[0069] It should be noted that the dimensions of layers and regions may be exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element, or there may be intermediate layers. Additionally, it is understood that when an element or layer is referred to as being "below" another element or layer, it can be directly below the other element, or there may be more than one intermediate layer or element. Furthermore, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it can be the only layer between the two layers or two elements, or there may be more than one intermediate layer or element. Similar reference numerals throughout indicate similar elements.

[0070] The term “multiple” means two or more, unless otherwise expressly defined.

[0071] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0072] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for planning tooth preparation trajectory, characterized in that, include: A dental model is obtained by scanning and segmenting the dental model to obtain a local tooth model corresponding to the target tooth preparation; the range of the shoulder of the tooth preparation is obtained in the local tooth model; based on the range of the shoulder of the tooth preparation, the part of the local tooth model other than the crown structure is obtained as the prepared tooth model; Obtain the prepared tooth model and its minimum bounding box; obtain a first direction perpendicular to the shoulder, and obtain the component of each bounding edge of the minimum bounding box in the first direction, and obtain the direction of the bounding edge with the largest component as the axial direction of the prepared tooth model; Based on the minimum bounding box and the axial direction, obtain the shoulder edge line of the prepared tooth model; based on the shoulder edge line, obtain two shoulder trajectory edge lines by different inward distances; obtain the preset starting point of the shoulder tooth preparation trajectory, and connect the starting point of the tooth preparation trajectory with the two shoulder trajectory edge lines in sequence as the shoulder tooth preparation trajectory for vertical grinding. Obtain the occlusal surface curve of the edge of the occlusal surface of the prepared tooth model; obtain the occlusal surface preparation trajectory within the closed area formed by the occlusal surface curve; Obtain the functional cusp slope curve of the edge of the functional cusp slope of the prepared tooth model; within the closed area of ​​the functional cusp slope curve, obtain the tooth preparation trajectory of the functional cusp slope; Based on the obtained shoulder preparation trajectory, occlusal surface preparation trajectory, and functional tip bevel preparation trajectory, different specifications of grinding structures are selected and installed for the actuating end of the surgical machine. Obtaining the shoulder edge line of the prepared tooth model further includes: Obtain the size of the bounding box surface intersecting the axial direction, and select the bounding box surface with the smallest area as the bottom surface of the bounding box; discretely select points on the edge of the bottom surface of the bounding box according to a preset point spacing, and obtain a first point set based on the discrete point selection results; obtain the point on the prepared tooth model that is closest to each point in the first point set, and obtain a second point set based on the point selection results on the prepared tooth model; obtain the line connecting the points in the second point set as the shoulder edge line.

2. The tooth preparation trajectory planning method according to claim 1, characterized in that, Based on the shoulder edge line, the points are indented by different distances, and the points after indentation are resampled according to the preset point spacing to obtain the third point set and the fourth point set; the two shoulder trajectory edge lines correspond to the lines connecting the points in the third point set and the lines connecting the points in the fourth point set, respectively. Obtain the preset starting point of the tooth preparation trajectory, and connect the starting point of the tooth preparation trajectory, the third point set, and the fourth point set in sequence to form the shoulder tooth preparation trajectory; calculate the grinding direction of each point in the shoulder tooth preparation trajectory, so that the grinding structure has an angle of inclination towards the center line passing through the center of the prepared tooth model and the center line of the axial direction when grinding the corresponding point, and so that the prepared tooth model obtained by the planned grinding has a degree of convergence along the axial direction.

3. The tooth preparation trajectory planning method according to claim 2, characterized in that, Calculating the grinding direction at each point in the shoulder preparation trajectory includes: Based on the planned aggregation angle, rotate the straight line extending along the axial direction through the target point in the shoulder preparation trajectory by the corresponding angle to obtain multiple intermediate grinding directions; obtain the center point of the bounding box of the minimum bounding box; obtain the center line extending along the axial direction through the center point of the bounding box; obtain the first grinding direction that passes through the target point and intersects with the center line, as the target point grinding direction.

4. The tooth preparation trajectory planning method according to claim 2, characterized in that, Before acquiring the shoulder preparation trajectory, the process also includes: Select a first edge point, a second edge point, a third edge point, and a fourth edge point on the shoulder edge line of the prepared tooth model; the first edge point includes the boundary between the mesial and buccal sides, the second edge point includes the boundary between the buccal and distal sides, the third edge point includes the boundary between the distal and lingual sides, and the fourth edge point includes the boundary between the lingual and mesial sides. Obtain points located between the first edge point and the fourth edge point, and between the second edge point and the third edge point, from the third point set and the fourth point set. Then, further indent the obtained points relative to the other points in the third point set and the fourth point set, relative to the shoulder edge line.

5. The tooth preparation trajectory planning method according to claim 1, characterized in that, Obtaining the occlusal surface preparation trajectory within the area closed by the occlusal surface curve includes: Within the area enclosed by the occlusal surface curve, multiple parallel expected occlusal surface preparation trajectory lines intersecting the occlusal surface curve are obtained at fixed intervals; points on each of the expected occlusal surface preparation trajectory lines are obtained at fixed intervals, and projection points of each point onto the occlusal surface are obtained along the axial direction; the obtained projection points are connected to obtain multiple occlusal surface preparation trajectory lines. Obtain the preset starting point of the occlusal surface preparation trajectory, and connect the starting point of the occlusal surface preparation trajectory with multiple occlusal surface preparation trajectory lines in a reciprocating connection order to form the occlusal surface preparation trajectory.

6. The tooth preparation trajectory planning method according to claim 1, characterized in that, Within the area closed by the functional tip bevel curve, the tooth preparation trajectory of the functional tip bevel is obtained, including: Obtain the functional cusp bevel curve of the edge of the prepared tooth model, the functional cusp bevel curve including two functional cusp bevel curve endpoints; within the closed area of ​​the functional cusp bevel curve, obtain multiple functional cusp bevel preparation tooth preparation trajectory lines passing through the two functional cusp bevel curve endpoints; obtain the preset functional cusp bevel preparation tooth preparation trajectory starting point, and connect the functional cusp bevel preparation tooth preparation trajectory starting point with multiple functional cusp bevel preparation tooth preparation trajectory lines in a reciprocating connection order to form the functional cusp bevel preparation tooth preparation trajectory.

7. The tooth preparation trajectory planning method according to claim 1, characterized in that, After obtaining the axial direction, the process further includes: The axial direction is visualized on the prepared tooth model.

8. An electronic device, characterized in that, The method includes a memory and a processor; the memory stores computer-executable instructions non-transiently; the processor is configured to run the computer-executable instructions; the computer-executable instructions are executed by the processor to implement the tooth preparation trajectory planning method according to any one of claims 1-7.

9. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the tooth preparation trajectory planning method according to any one of claims 1-7.

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