A method, system and storage medium for restoration occlusal contact design for full dentition occlusal balance
Patent Information
- Application Number
- CN202611150451.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-31
- Publication Date
- 2026-10-13
AI Technical Summary
[0002]当前口腔修复体咬合设计领域仍存在四方面核心短板，直接制约了修复咬合的精准性与远期效果：
[0021]经由上述的技术方案可知，与现有技术相比，本发明公开提供了一种面向全牙列咬合平衡的修复体咬合接触设计方法、系统及存储介质，首先可结合患者剩余牙列的实际咬合状态与正常人群的牙位咬合力占比基准，确定待修复牙的初始目标咬合参数；其次通过约束优化算法对目标咬合力的大小、方向进行微调，保障全牙列满足左右侧咬合平衡、整体合力方向符合生理要求等全局约束；之后可根据最终确定的目标咬合参数，自动调整修复体的摆放位置、角度及局部咬合面的微观形态；同时可自动生成多套满足目标参数范围的候选修复体咬合形态，并对各候选方案的接触区域、接触面积、相对咬合力大小与方向等参数进行可视化展示；最终支持医生自主选择最为适配的方案，也可根据医生反馈的调整需求重新生成新的候选方案，充分兼顾咬合设计的精准性与临床个性化需求。
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Abstract
Description
Technical Field
[0001] This invention relates to the fields of oral medicine, prosthodontics and digital dental design, and more specifically to a method, system and storage medium for designing occlusal contacts of prostheses for occlusal balance across the entire dentition. Background Technology
[0002] Currently, there are four core shortcomings in the field of occlusal design for dental prostheses, which directly restrict the accuracy and long-term effects of prosthetic occlusion: First, the design logic focuses only on the local occlusal fit of the tooth to be restored, lacking a holistic consideration of the overall occlusal balance of the entire dentition. Most existing occlusal designs only use the contact of the tooth to be restored as the basis for judgment, without systematically assessing whether the occlusal force distribution on the left and right sides of the dentition is balanced, whether the direction of the overall occlusal force of the entire dentition conforms to physiological norms, and whether the occlusal force borne by the restored tooth matches the physiological function of the corresponding tooth position. In scenarios involving the restoration of multiple teeth, it is also impossible to ensure that the load distribution among the restorations is reasonable, which can easily lead to long-term complications such as periodontal damage and temporomandibular joint disorders due to overall occlusal imbalance.
[0003] Second, there is a lack of standardized quantitative methods for determining the target occlusal parameters of the teeth to be restored. Traditional occlusal adjustment relies heavily on the doctor's clinical experience, which can only vaguely determine whether the occlusion of the restoration needs to be adjusted up or down. It cannot clearly define the target relative occlusal force value, target contact area range, and reasonable range of the target occlusal force direction that the teeth to be restored should achieve. It is also difficult to verify whether these target parameters are compatible with the actual occlusal state of the patient's remaining dentition. The adjustment accuracy is entirely limited by the doctor's experience level, and the consistency of results among different cases is poor.
[0004] Third, the existing design process lacks a feedback and iterative mechanism for generating occlusal morphology based on target occlusal parameters. Current digital restoration software mostly generates the initial shape of the restoration based on anatomical templates and then makes simple occlusal avoidance adjustments, rather than using "target occlusal force magnitude, direction, and contact area" as core constraints for reverse design. It cannot achieve accurate reconstruction of occlusal function through bidirectional feedback and iteration of occlusal parameters and morphological adjustments, and the final occlusal effect often deviates significantly from expectations.
[0005] Fourth, existing design outputs are too simplistic and offer insufficient choices. In clinical settings, multiple occlusal morphologies can satisfy the core requirements of occlusal force magnitude and direction, but they differ in contact distribution, anatomical structure, self-cleaning properties, compatibility with restorative material thickness, and physician preferences. Current technologies typically only output a single design, lacking the ability to automatically generate multiple qualified candidate schemes or to visualize and compare the occlusal parameters of different schemes, making it difficult to match personalized clinical needs.
[0006] Therefore, there are still significant technical gaps in the current methods of establishing occlusion, and a complete technical solution has not yet been formed that can integrate three-dimensional quantitative analysis of occlusion, full occlusal balance constraints, and feedback iterative generation of occlusal surfaces of restorations. Summary of the Invention
[0007] In view of this, the present invention provides a method, system and storage medium for designing occlusal contacts of prostheses for full occlusal balance, which completely changes the previous mode of occlusal design that relied solely on local experience judgment, and achieves precise construction of prosthesis occlusion through quantitative target constraints and feedback iteration mechanism.
[0008] To achieve the above objectives, the present invention adopts the following technical solution: A method for designing occlusal contacts in prostheses for balanced occlusion across the entire dentition includes: Step 1: Obtain three-dimensional scan data of the patient's maxillary and mandibular dentitions, and perform registration to obtain three-dimensional dentition data; Step 2: Identify the areas of teeth to be repaired and the remaining teeth in the 3D dental arch data; Step 3: Calculate the current three-dimensional occlusal parameters for the remaining tooth region; Step 4: Initialize the target occlusal parameters of the tooth to be repaired based on the current three-dimensional occlusal parameters, and perform constraint optimization and fine-tuning on the target occlusal parameters of the tooth to be repaired, and output the optimized target occlusal parameters; Step 5: Based on the tooth position to be restored and the patient's dentition morphology in the 3D scan data, generate the initial 3D morphology of the restoration; Step 6: Using the dental coordinate system, place the restoration in the initial position, establish the occlusal spatial relationship between the restoration and the opposing teeth, calculate the occlusal parameters of the current restoration, and determine whether the current restoration meets the optimized target occlusal parameters; Step 7: If the conditions are not met, calculate the error between the current occlusal parameters of the restoration and the optimized target occlusal parameters, and adjust the shape of the restoration according to the error value; Step 8: Output candidate occlusal morphologies that satisfy the optimized target occlusal parameters.
[0009] Preferably, step 3 specifically includes: Based on the three-dimensional occlusal contact quantitative analysis method, the current occlusal parameters of the remaining tooth region are calculated. The occlusal parameters include the three-dimensional occlusal contact area, the relative occlusal force magnitude, the relative occlusal force direction, the components of the occlusal force in the normal direction of the occlusal plane, the mesiodistal direction, the buccal-lingual direction, the angle between the occlusal force and the normal vector of the occlusal plane, and the distribution of the occlusal contact area.
[0010] Preferably, step 4, initializing the target occlusal parameters of the tooth to be repaired, includes: When there is a contralateral tooth with normal occlusion, the relative occlusal force of the contralateral tooth is used as the initial target relative occlusal force. The direction of the occlusal force of the contralateral tooth is used as the initial target occlusal force after midline mirror transformation. The contact area of the contralateral tooth is reused as the initial target contact area. When there is no suitable contralateral tooth of the same name for the tooth to be repaired, the database of occlusal force ratio of tooth position in the normal population is retrieved. Based on the sum of the measured total occlusal force of the remaining teeth and the population ratio, the total relative occlusal force of the patient's entire dentition is calculated. The initial target relative occlusal force of the tooth to be repaired is calculated by combining the population occlusal force ratio of the corresponding tooth position. The direction of the initial target occlusal force is determined by matching the occlusal angle range of the same tooth position in the population.
[0011] Preferably, the constraint optimization fine-tuning in step 4 includes a constraint for balancing the adjustment amount of multiple teeth to be restored, specifically including: The target relative biting force for each tooth to be repaired. Let this be the optimization variable. The target occlusal force vector of the tooth to be restored satisfies the formula: ; in, The target occlusal force vector for the tooth to be restored; This is the unit vector of the target occlusal force direction corresponding to the tooth being repaired; Set the direction of the target bite force as an adjustable variable, and limit the adjustment within a preset angle range; Set left and right occlusal force balance constraints, count the total relative occlusal force of the left dentition and the total relative occlusal force of the right dentition, and constrain the difference ratio of left and right occlusal forces to meet the preset threshold. Construct an optimization objective function, and use any one of quadratic programming, sequential quadratic programming, gradient descent, or particle swarm optimization to solve for the optimization variables and obtain the optimized target biting parameters.
[0012] Preferably, step 6, determining whether the current prosthesis meets the target occlusal parameters, includes: The occlusal parameters of the current restoration were calculated using a three-dimensional quantitative analysis method of occlusal contact, including the current three-dimensional occlusal contact area. Current relative bite force vector Current relative bite force magnitude The current direction of the biting force, the angle between the current direction of the biting force and the target direction, the current distribution of the contact area, and whether there is local premature contact or excessive penetration; For each tooth to be restored, determine whether the occlusal parameters of the current restoration meet the requirements:
[0013]
[0014]
[0015] in, These represent the minimum and maximum target contact areas, respectively. The allowable directional deviation angle is determined; if the target range is met, the occlusal parameters of the current restoration are saved as candidate occlusal morphologies; otherwise, iterative adjustments are performed.
[0016] Preferably, the formula for calculating the error between the occlusal parameters and the optimized target occlusal parameters in step 7 is as follows: ; ; ; in, A threshold value is set for the angle between the direction of the occlusal force of the entire dental arch and the normal vector of the occlusal plane. For the target contact area, For the target biting force, For angle.
[0017] Preferably, step 7, adjusting the shape of the prosthesis according to the error value, includes: translating the prosthesis along the mesial-distal, buccal-lingual, and vertical directions, and rotating it around the mesial-distal axis, buccal-lingual axis, and vertical axis; Local occlusal surface morphology adjustment includes: dividing the occlusal surface into multiple control areas, updating the coordinates of the occlusal surface vertices based on the adjustment amount of each area and the surface weight function, thereby reducing local premature contact, raising the target contact area, adjusting the cusp inclination angle, correcting the pit and fissure depth, and reducing lateral force inclination contact.
[0018] Preferably, it also includes visualizing the candidate bite patterns.
[0019] Preferably, a prosthesis occlusal contact design system for occlusal balance across the entire dentition includes: The data acquisition module is used to acquire three-dimensional dentition scan data of the patient's upper and lower jaws and to complete the occlusal registration of the upper and lower jaws; The dental arch recognition module is used to identify the areas of teeth to be repaired and the remaining teeth in three-dimensional dental arch data; The occlusal quantitative analysis module is used to perform three-dimensional occlusal contact quantitative calculations on the remaining teeth and output the three-dimensional occlusal parameters of each remaining tooth; The target parameter initialization module is used to initialize the target relative occlusal force, target occlusal force direction, and target contact area range of the tooth to be restored based on the data of the contralateral corresponding tooth or the normal population tooth position occlusal force database. The constraint optimization module incorporates constraints for left and right occlusal force balance, full occlusal force angle, single tooth load range, and multi-restoration tooth adjustment and balancing, and solves for the optimized target occlusal parameters. The prosthesis modeling iteration module is used to generate the initial three-dimensional shape of the prosthesis and iteratively adjust the overall pose and local curvature of the occlusal surface of the prosthesis until the optimized target occlusal parameters are met. The multi-scheme generation module is used to generate multiple sets of differentiated and compliant candidate bite patterns in batches; The visualization and interaction module is used to visualize and render the occlusal mechanics and contact distribution parameters of candidate solutions, and to receive doctors' selection and feedback adjustment instructions. The feedback constraints are then sent to the constraint optimization module and the prosthesis modeling iteration module to generate new candidate solutions.
[0020] Preferably, a computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above method.
[0021] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a method, system and storage medium for designing occlusal contact of prostheses for occlusal balance of the entire dentition. First, the initial target occlusal parameters of the tooth to be restored can be determined by combining the actual occlusal state of the patient's remaining dentition with the tooth position occlusal force ratio benchmark of normal population. Second, the magnitude and direction of the target occlusal force are fine-tuned through constraint optimization algorithm to ensure that the entire dentition meets global constraints such as left and right occlusal balance and the overall occlusal force direction meets physiological requirements. Then, the placement position, angle and micromorphology of the local occlusal surface of the prosthesis can be automatically adjusted according to the finally determined target occlusal parameters. At the same time, multiple sets of candidate prosthesis occlusal shapes that meet the target parameter range can be automatically generated, and the contact area, contact area, relative occlusal force magnitude and direction and other parameters of each candidate scheme can be visualized. Finally, it supports doctors to choose the most suitable scheme, and can also regenerate new candidate schemes according to the adjustment needs of doctors, fully taking into account the accuracy of occlusal design and clinical personalized needs. Attached Figure Description
[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0023] Figure 1 The method flowchart provided by the present invention. Detailed Implementation
[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0025] This invention comprises two core phases: Phase 1: Determining Target Occlusal Parameters Based on the three-dimensional quantitative analysis of the patient's remaining dentition, combined with the contralateral corresponding teeth, the database of occlusal force ratio of teeth in normal populations, and the database of occlusal force direction in normal populations, the target occlusal parameters of the teeth to be restored are determined.
[0026] Target bite parameters include, but are not limited to: The relative magnitude of the bite force; The range of relative bite force of the target; Target bite force direction; Allowable deviation in the direction of the target bite force; Target three-dimensional occlusal contact area; Target three-dimensional occlusal contact area range; Target contact distribution constraints.
[0027] Phase Two: Occlusal Morphology Formation of the Restoration
[0028] Based on the target occlusal parameters, an initial morphology of the restoration is generated, and the current occlusal parameters of the restoration are calculated using a three-dimensional quantitative analysis method of occlusal contact. If the current parameters do not meet the target range, the position, angle, and / or local occlusal surface morphology of the restoration are adjusted, and the process is iterated repeatedly until multiple candidate occlusal morphologies that meet the target parameters are generated.
[0029] Subsequently, the occlusal contact area and biomechanical parameters of multiple candidate occlusal patterns are visualized for the physician to select from. If the physician deems the current candidate patterns unsuitable, a new batch of candidate patterns is generated iteratively.
[0030] like Figure 1 As shown, this invention discloses a method for designing occlusal contacts of restorations for occlusal balance across the entire dentition, comprising: Step 1: Obtain three-dimensional scan data of the patient's maxillary and mandibular dentitions, and perform registration to obtain three-dimensional dentition data; Step 2: Identify the areas of teeth to be repaired and the remaining teeth in the 3D dental arch data; Step 3: Calculate the current three-dimensional occlusal parameters for the remaining tooth region; Step 4: Initialize the target occlusal parameters of the tooth to be repaired based on the current three-dimensional occlusal parameters, and perform constraint optimization and fine-tuning on the target occlusal parameters of the tooth to be repaired, and output the optimized target occlusal parameters; Step 5: Based on the tooth position to be restored and the patient's dentition morphology in the 3D scan data, generate the initial 3D morphology of the restoration; Step 6: Using the dental coordinate system, place the restoration in the initial position, establish the occlusal spatial relationship between the restoration and the opposing teeth, calculate the occlusal parameters of the current restoration, and determine whether the current restoration meets the optimized target occlusal parameters; Step 7: If the conditions are not met, calculate the error between the current occlusal parameters of the restoration and the optimized target occlusal parameters, and adjust the shape of the restoration according to the error value; Step 8: Output candidate occlusal morphologies that satisfy the optimized target occlusal parameters.
[0031] In one specific embodiment of the present invention, three-dimensional scanning data of the patient's maxillary and mandibular dentition are acquired and registered to the centric occlusion position or the maximum cusp intersection position.
[0032] The three-dimensional scan data can be obtained in the following ways: Intraoral scan; Model scanning; Intraoral scan data is fused with facial scan, CBCT, and other data. Other mature methods for obtaining three-dimensional surface data of the maxillary and mandibular dentition.
[0033] The data acquisition and registration process can utilize existing mature technologies.
[0034] Furthermore, the areas of teeth to be repaired and the remaining teeth are identified in the three-dimensional dental arch data.
[0035] The tooth to be repaired can be: Implant crowns or fixed restorations for a single missing tooth; Restorations for single tooth defects; Multiple teeth, either continuous or discontinuous, requiring restoration; abutment crowns and pontoons in fixed bridge restorations; Inlays, high-mounted inlays, and veneers are restorations that involve the occlusal surface; Other restorations that require the creation of occlusal surfaces.
[0036] Remaining teeth refer to the teeth in the patient's mouth that were not replaced in this restoration and can be used to analyze the current occlusal status.
[0037] Preferably, this embodiment is applicable when the patient still has a certain number of remaining teeth with basically normal occlusion. If the patient lacks reference normal remaining occlusal teeth, it may indicate that the reliability of the target parameters is insufficient, or that additional reference data needs to be introduced.
[0038] Specifically, step 3 includes: Based on the three-dimensional occlusal contact quantitative analysis method, the current occlusal parameters of the remaining tooth region are calculated. The occlusal parameters include the three-dimensional occlusal contact area, the relative occlusal force magnitude, the relative occlusal force direction, the components of the occlusal force in the normal direction of the occlusal plane, the mesiodistal direction, the buccal-lingual direction, the angle between the occlusal force and the normal vector of the occlusal plane, and the distribution of the occlusal contact area.
[0039] In one specific embodiment of the present invention, the current occlusal parameters of the remaining teeth are calculated based on a three-dimensional quantitative analysis method of occlusal contact.
[0040] The proposed three-dimensional occlusal contact quantitative analysis method can be the "method for quantitative analysis of occlusal contact for three-dimensional dental arch scanning data", or other mature methods that can obtain the occlusal contact area and occlusal force vector based on three-dimensional dental arch data.
[0041] For each remaining tooth, the calculation should include at least: Three-dimensional occlusal contact area; Relative bite force magnitude; Relative biting force direction; The components of occlusal force in the normal direction of the occlusal plane, the mesiodistal direction, and the buccal-lingual direction; The angle between the biting force and the normal vector of the biting plane; Distribution of occlusal contact areas.
[0042] It should be noted that the occlusal force in this embodiment can be a relative occlusal force. Since this embodiment is mainly used for relative distribution and balance control in occlusal reconstruction of prostheses, target parameter calculation and prosthesis design can be achieved based on the relative occlusal force even if the absolute pressure is not measured.
[0043] Specifically, step 4, initializing the target occlusal parameters of the tooth to be repaired, includes: When there is a contralateral tooth with normal occlusion, the relative occlusal force of the contralateral tooth is used as the initial target relative occlusal force. The direction of the occlusal force of the contralateral tooth is used as the initial target occlusal force after midline mirror transformation. The contact area of the contralateral tooth is reused as the initial target contact area. When there is no suitable contralateral tooth of the same name for the tooth to be repaired, the database of occlusal force ratio of tooth position in the normal population is retrieved. Based on the sum of the measured total occlusal force of the remaining teeth and the population ratio, the total relative occlusal force of the patient's entire dentition is calculated. The initial target relative occlusal force of the tooth to be repaired is calculated by combining the population occlusal force ratio of the corresponding tooth position. The direction of the initial target occlusal force is determined by matching the occlusal angle range of the same tooth position in the population.
[0044] In a specific embodiment of the present invention, it is assumed that: The collection of teeth to be repaired is ; The remaining teeth set is ; No. The relative occlusal force vector of the remaining teeth is ; No. The initial target relative occlusal force of the teeth to be restored is ; No. The initial target occlusal force direction unit vector of the tooth to be repaired is .
[0045] If the corresponding tooth on the opposite side of the tooth to be repaired exists, and the occlusion of the corresponding tooth on the opposite side is normal, the magnitude and direction of the occlusal force of the corresponding tooth on the opposite side can be used as a reference.
[0046] For example, if the lower right first molar needs restoration, and the lower left first molar is present and has normal occlusion, then: The relative biting force of the lower left first molar is used as the initial target relative biting force of the lower right first molar. The direction of the biting force of the lower left first molar is mirrored from left to right and taken as the initial target biting force direction of the lower right first molar. The three-dimensional contact area or contact area range of the left lower first molar is used as a reference for the initial target contact area of the tooth to be restored.
[0047] Right now:
[0048] in, Indicates the tooth to be repaired The opposite tooth of the same name.
[0049] Direction can be represented as:
[0050] in, This indicates a mirror transformation based on the patient's dental midline or a preset left and right mirror plane.
[0051] If the contralateral tooth is absent or has abnormal occlusion, the initialization can be based on the proportion of the occlusal force of each tooth in the normal dentition to the total occlusal force of the entire dentition.
[0052] Suppose the number in the normal population database is... The bite force ratio of the teeth is:
[0053] The total proportion of remaining teeth in the normal population is:
[0054] The total relative occlusal force of the remaining teeth was obtained through three-dimensional quantitative analysis of occlusion.
[0055] The estimated total relative occlusal force of the patient's entire dentition is:
[0056] The initial target relative occlusal force of the tooth to be restored (i) is:
[0057] The initial target occlusal force direction can be determined based on the angle between the occlusal force of the tooth position and the normal direction, mesiodistal direction, and buccal-lingual direction in the normal population database.
[0058] It should be noted that the first The remaining tooth (j) belongs to the set of remaining teeth (E), that is, it belongs to the set of remaining teeth, while the first remaining tooth (j) belongs to the set of remaining teeth (E). The tooth to be restored (i) can be any tooth (it may be a missing tooth).
[0059] The target three-dimensional occlusal contact area of the tooth to be restored can be determined by one or more of the following methods: Refer to the occlusal contact area of the contralateral tooth with the same name; Refer to the range of contact area for the same tooth position in the normal population database; Refer to the proportion of the contact area of the same tooth position to the total contact area of the entire dentition in the normal population database; Determined based on the magnitude of the target relative bite force and the statistically obtained force-area relationship; The upper and lower limits of the contact area are set according to the type of restoration, tooth position, materials, and periodontal support conditions.
[0060] For example, we can set the first... The target contact area of the tooth to be restored is ; The target contact area range is: .
[0061] Specifically, the constraint optimization fine-tuning in step 4 includes balancing constraints on the adjustment amount of multiple teeth to be restored, specifically including: The target relative biting force for each tooth to be repaired. Let this be the optimization variable. The target occlusal force vector of the tooth to be restored satisfies the formula: ; in, The target occlusal force vector for the tooth to be restored; This is the unit vector of the target occlusal force direction corresponding to the tooth being repaired; Set the direction of the target bite force as an adjustable variable, and limit the adjustment within a preset angle range; Set left and right occlusal force balance constraints, count the total relative occlusal force of the left dentition and the total relative occlusal force of the right dentition, and constrain the difference ratio of left and right occlusal forces to meet the preset threshold. Construct an optimization objective function, and use any one of quadratic programming, sequential quadratic programming, gradient descent, or particle swarm optimization to solve for the optimization variables and obtain the optimized target biting parameters.
[0062] In one specific embodiment of the present invention, the target occlusal parameters obtained during initialization may not be sufficient to ensure that the entire dentition satisfies left-right lateral balance or force direction constraints. Therefore, this embodiment further uses a constraint optimization algorithm to fine-tune the target relative occlusal force of the tooth to be restored.
[0063] Preferably, the target relative occlusal force of each tooth to be restored is used as an optimization variable: ; The target occlusal force vector of the tooth to be restored (i) is: ; in, This is the unit vector of the target biting force direction for this tooth.
[0064] In another embodiment, the direction of the target biting force can also be used as a fine-tunable variable, allowing it to be adjusted within a preset angle range.
[0065] Let the total relative occlusal force of the left lateral dentition be... The total relative occlusal force of the right dentition is The requirement is that the difference in occlusal force between the left and right sides of the dentition should be less than a set threshold. ; in, The value can be 5%, or it can be set based on a normal population database or clinical needs.
[0066] Constraints on the direction of the resultant force across the entire dental arch: Let the normal vector of the biting plane be... Then the occlusal force of the entire dentition for: ; The angle between the direction of the occlusal force of all teeth and the normal vector of the occlusal plane must be less than a set threshold. ; in, 10° can be selected, or it can be set according to a database of normal populations.
[0067] Constraints on the occlusal force range of a single tooth to be restored: To avoid a particular restorative tooth bearing excessive or insufficient occlusal force, the following can be set:
[0068] in, and The determination can be based on initial values, a normal population database, periodontal support conditions, type of restoration, and doctor's settings.
[0069] Balanced constraint adjustment for multiple teeth requiring restoration: If there are multiple teeth to be restored, the adjustment amount of each tooth should be made as even as possible to avoid any one tooth bearing too much compensation.
[0070] Definition of the first The relative adjustment amount for the teeth to be restored is:
[0071] The average relative adjustment is:
[0072] Add the following to the optimization objectives:
[0073] The adjustment amount of multiple teeth to be restored should be as uniform as possible.
[0074] Preferably, the following objective function is used:
[0075] in: and These are the weight parameters.
[0076] The first term indicates that the optimized target bite force should be as close as possible to the initial estimate. The second item indicates that the adjustment amount of multiple teeth to be restored should be as balanced as possible; This optimization problem can be solved using one or more of the following algorithms: Secondary planning; Second-order cone programming; Sequential quadratic programming; Interior point method; Active set method; Gradient descent method; Trust region method; Genetic algorithm; Particle swarm optimization algorithm; Other constrained optimization algorithms.
[0077] Preferably, when the directional constraint is expressed in the form of resultant force angle, it can be solved by second-order cone programming or sequential quadratic programming.
[0078] After optimization, the target relative occlusal force, target force direction, and allowable range of target parameters for each tooth to be restored are obtained.
[0079] Furthermore, in another specific embodiment of the present invention, an initial three-dimensional shape of the restoration is generated based on the tooth position to be restored and the morphology of the patient's dentition.
[0080] This initial form can be obtained through one of the following maturation methods: Database tooth profile matching; Mirror image of the contralateral tooth; AI tooth profile generation; Deformation of the anatomical template; Automatically generated by CAD software; The initial form designed by a doctor or technician.
[0081] This part is a mature technology, and this invention does not limit its specific generation method.
[0082] Place the restoration in its initial position: Based on the patient's dental coordinate system, the contact relationship between adjacent teeth, the shape of the dental arch, the occlusal plane, the mesiodistal direction, the buccal-lingual direction, the restoration space, and the position of the opposing teeth, the restoration is placed in its initial position.
[0083] This initial positioning can be accomplished using existing digital restoration software's automatic tooth alignment, automatic positioning, or manual adjustment methods.
[0084] Calculate the current restoration occlusal parameters
[0085] For the current morphology of the restoration, its current occlusal parameters are calculated using a three-dimensional quantitative analysis method of occlusal contact, including: Current three-dimensional occlusal contact area ; Current relative bite force vector ; Current relative bite force ; Current direction of biting force; The angle between the current biting force direction and the target direction; Current contact area distribution; Is there any localized premature contact or excessive penetration?
[0086] Specifically, step 6, determining whether the current prosthesis meets the target occlusal parameters, includes: The occlusal parameters of the current restoration were calculated using a three-dimensional quantitative analysis method of occlusal contact, including the current three-dimensional occlusal contact area. Current relative bite force vector Current relative bite force magnitude The current direction of the biting force, the angle between the current direction of the biting force and the target direction, the current distribution of the contact area, and whether there is local premature contact or excessive penetration; For each tooth to be restored, determine whether the occlusal parameters of the current restoration meet the requirements:
[0087]
[0088]
[0089] in, These represent the minimum and maximum target contact areas, respectively. The allowable directional deviation angle is determined; if the target range is met, the occlusal parameters of the current restoration are saved as candidate occlusal morphologies; otherwise, iterative adjustments are performed.
[0090] Specifically, the formula for calculating the error between the occlusal parameters and the optimized target occlusal parameters in step 7 is as follows: ; ; ; in, A threshold value is set for the angle between the direction of the occlusal force of the entire dental arch and the normal vector of the occlusal plane. For the target contact area, For the target biting force, For angle.
[0091] Specifically, step 7, adjusting the shape of the prosthesis according to the error value, includes: translating the prosthesis along the mesial-distal, buccal-lingual, and vertical directions, and rotating it around the mesial-distal axis, buccal-lingual axis, and vertical axis; Local occlusal surface morphology adjustment includes: dividing the occlusal surface into multiple control areas, updating the coordinates of the occlusal surface vertices based on the adjustment amount of each area and the surface weight function, thereby reducing local premature contact, raising the target contact area, adjusting the cusp inclination angle, correcting the pit and fissure depth, and reducing lateral force inclination contact.
[0092] In a specific embodiment of the present invention, when the current biting force is too small or the contact area is too small, the restoration can be made to slightly approach the opposing tooth. When the current biting force is too large or the contact area is too large, the restoration can be slightly moved away from the opposing tooth; When the current direction of the combined force is biased towards the buccal or lingual side, the buccal-lingual tilt angle of the prosthesis can be adjusted. When the current resultant force direction is biased towards the near or far center, the near-to-far tilt angle of the prosthesis can be adjusted.
[0093] Local occlusal surface morphology adjustment: If the overall position is basically reasonable, but there are local premature contacts, unreasonable distribution of contact areas, or deviation of the resultant force direction, then the morphology of the local area of the occlusal surface of the restoration should be adjusted.
[0094] Local adjustments include: Reduce local early contact points; Raise the target contact area; Adjust the bevel angle of the tooth cusp; Adjust the depth of the pits and fissures; Adjust the edge ridge height; Expand or reduce the contact area; Smooth local surfaces; Reduce the impact of inclined surface contact that generates excessive lateral forces; Increase support contact that is closer to the vertical direction.
[0095] The occlusal surface of the prosthesis can be divided into multiple control regions, and a local adjustment variable can be set for each control region. .
[0096] For the apex of the occlusal surface , can be represented as:
[0097] in: To adjust the coordinates of the previous vertex; The adjusted vertex coordinates; For the first Adjustment amount for each control area; For the first Each control region to the vertex Influence weight; Let be the vertex normal vector.
[0098] Optimize the objective function to determine the adjustment amount: The morphology of the prosthesis can be adjusted by optimizing the objective function.
[0099] For example, construct the following objective function:
[0100] in: This represents the penalty function when the parameters exceed the target range; This indicates a penalty for morphological changes, used to prevent excessive deformation of the restoration. Indicates a penalty for collision or excessive penetration; D This indicates a constraint or penalty on the diversity of candidate solutions; These are the weight parameters.
[0101] The optimization can employ gradient descent, finite difference sensitivity analysis, sequential quadratic programming, trust region method, coordinate descent method, genetic algorithm, particle swarm optimization, or a combination thereof.
[0102] Specifically, this also includes visualizing candidate bite patterns.
[0103] Specifically, a prosthesis occlusal contact design system for achieving full occlusal balance includes: The data acquisition module is used to acquire three-dimensional dentition scan data of the patient's upper and lower jaws and to complete the occlusal registration of the upper and lower jaws; The dental arch recognition module is used to identify the areas of teeth to be repaired and the remaining teeth in three-dimensional dental arch data; The occlusal quantitative analysis module is used to perform three-dimensional occlusal contact quantitative calculations on the remaining teeth and output the three-dimensional occlusal parameters of each remaining tooth; The target parameter initialization module is used to initialize the target relative occlusal force, target occlusal force direction, and target contact area range of the tooth to be restored based on the data of the contralateral corresponding tooth or the normal population tooth position occlusal force database. The constraint optimization module incorporates constraints for left and right occlusal force balance, full occlusal force angle, single tooth load range, and multi-restoration tooth adjustment and balancing, and solves for the optimized target occlusal parameters. The prosthesis modeling iteration module is used to generate the initial three-dimensional shape of the prosthesis and iteratively adjust the overall pose and local curvature of the occlusal surface of the prosthesis until the optimized target occlusal parameters are met. The multi-scheme generation module is used to generate multiple sets of differentiated and compliant candidate bite patterns in batches; The visualization and interaction module is used to visualize and render the occlusal mechanics and contact distribution parameters of candidate solutions, and to receive doctors' selection and feedback adjustment instructions. The feedback constraints are then sent to the constraint optimization module and the prosthesis modeling iteration module to generate new candidate solutions.
[0104] In a specific embodiment of the present invention, the system does not output only a single prosthesis shape, but outputs multiple candidate occlusal shapes that meet the target occlusal parameters.
[0105] Candidate morphologies can be generated in the following ways: Use different initial restoration morphologies; Use different optimization weights; Use different contact area preferences; Use different contact distribution preferences; Use perturbations with different local morphologies; Pareto candidate solutions were obtained using multi-objective optimization. Diversity screening is performed on the forms that meet the target parameters; Retain the top ones with lower objective function values and different distributions that are in contact with each other. One option.
[0106] Among them, multiple candidate morphologies satisfy the target relative biting force magnitude, target biting force direction, and target contact area range, but their contact point distribution, contact area shape, pit and fissure morphology, and cusp bevel morphology may differ.
[0107] To ensure differences among candidate morphologies, diversity criteria can be set, for example: The overlap rate of the contact area is lower than the set threshold; The difference in local control variables exceeds the set threshold; The center of gravity of the biting contact is different; The number of contact points or the distribution of contact spots are different; The doctors set different preferred areas.
[0108] Furthermore, the system visualizes each candidate bite pattern for doctors to select from.
[0109] The visualized content includes: Three-dimensional morphology of the restoration; Color marking of the biting contact area; Size of the contact area; Thermographic diagram of contact strength or relative bite force; Arrow pointing to the direction of the resultant force; The angle between the resultant force and the normal to the biting plane; The components of the resultant force in the proximal-distal direction, the cheek-tongue direction, and the vertical direction; The proportion of the difference in total occlusal force between the left and right sides of the dentition; Deviation angle of the resultant force direction of the entire dental arch; Are there any localized early contact areas or isolated high-contact areas? The achievement status of target parameters for each candidate scheme.
[0110] For example, the system can use different colors to indicate contact intensity: Blue indicates weak contact; Green indicates moderate contact; Yellow indicates strong contact; Red indicates that the contact may be too strong.
[0111] At the same time, the resultant force direction arrow can be displayed on the surface of the restoration or next to the dental arch model, so that the doctor can intuitively see whether the force direction of the candidate solution is reasonable.
[0112] Doctors can choose the most appropriate option based on the visualization results of the candidate morphology and clinical considerations.
[0113] Factors that a doctor may consider include: Is the contact area located in the ideal functional area of the apex, pit, or marginal ridge? Are the contact points too concentrated? Are there any adverse lateral forces? Does the anatomical shape of the restoration appear natural? Is the repair material thick enough? Is it easy to clean? Does it align with the doctor's occlusal adjustment strategy for this case? Does it meet the requirements for implants, periodontal support, or jaw position?
[0114] If a doctor deems all the current candidate morphologies unsuitable, they can provide feedback to the system, for example: We do not want contact to occur in a certain area; We hope the contact area is closer to the central fossa; The goal is to reduce contact with the cheek-side bevel. The goal is to reduce the near-to-far-to-mid-range force components; We hope for a more dispersed contact area; We wish to preserve a certain anatomical structure; The goal is to generate more schemes that are biased towards a certain contact distribution.
[0115] The system updates and optimizes constraints or weights based on doctor feedback, and continues to iterate to generate a new batch of candidate occlusal patterns until the doctor selects the final plan or the preset termination conditions are met.
[0116] Specifically, a computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above method.
[0117] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0118] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for designing occlusal contacts in restorations for balanced occlusion across the entire dentition, characterized in that, include: Step 1: Obtain three-dimensional scan data of the patient's maxillary and mandibular dentitions, and perform registration to obtain three-dimensional dentition data; Step 2: Identify the areas of teeth to be repaired and the remaining teeth in the 3D dental arch data; Step 3: Calculate the current three-dimensional occlusal parameters for the remaining tooth region; Step 4: Initialize the target occlusal parameters of the tooth to be repaired based on the current three-dimensional occlusal parameters, and perform constraint optimization and fine-tuning on the target occlusal parameters of the tooth to be repaired, and output the optimized target occlusal parameters; Step 5: Based on the tooth position to be restored and the patient's dentition morphology in the 3D scan data, generate the initial 3D morphology of the restoration; Step 6: Using the dental coordinate system, place the restoration in the initial position, establish the occlusal spatial relationship between the restoration and the opposing teeth, calculate the occlusal parameters of the current restoration, and determine whether the current restoration meets the optimized target occlusal parameters; Step 7: If the conditions are not met, calculate the error between the current occlusal parameters of the restoration and the optimized target occlusal parameters, and adjust the shape of the restoration according to the error value; Step 8: Output candidate occlusal morphologies that satisfy the optimized target occlusal parameters.
2. The method for designing occlusal contacts of a restoration for occlusal balance across the entire dentition, as described in claim 1, is characterized in that... Step 3 specifically includes: Based on the three-dimensional occlusal contact quantitative analysis method, the current occlusal parameters of the remaining tooth region are calculated. The occlusal parameters include the three-dimensional occlusal contact area, the relative occlusal force magnitude, the relative occlusal force direction, the components of the occlusal force in the normal direction of the occlusal plane, the mesiodistal direction, the buccal-lingual direction, the angle between the occlusal force and the normal vector of the occlusal plane, and the distribution of the occlusal contact area.
3. The method for designing occlusal contacts of a restoration for occlusal balance across the entire dentition, as described in claim 1, is characterized in that... Step 4, which initializes the target occlusal parameters of the tooth to be repaired, includes: When there is a contralateral tooth with normal occlusion, the relative occlusal force of the contralateral tooth is used as the initial target relative occlusal force. The direction of the occlusal force of the contralateral tooth is used as the initial target occlusal force after midline mirror transformation. The contact area of the contralateral tooth is reused as the initial target contact area. When there is no suitable contralateral tooth of the same name for the tooth to be repaired, the database of occlusal force ratio of tooth position in the normal population is retrieved. Based on the sum of the measured total occlusal force of the remaining teeth and the population ratio, the total relative occlusal force of the patient's entire dentition is calculated. The initial target relative occlusal force of the tooth to be repaired is calculated by combining the population occlusal force ratio of the corresponding tooth position. The direction of the initial target occlusal force is determined by matching the occlusal angle range of the same tooth position in the population.
4. The method for designing occlusal contacts of a restoration for occlusal balance across the entire dentition, as described in claim 1, is characterized in that... The constraint optimization and fine-tuning in step 4 includes balancing constraints on the adjustment amount of multiple teeth to be restored, specifically including: The target relative biting force for each tooth to be repaired. Let this be the optimization variable. The target occlusal force vector of the tooth to be restored satisfies the formula: ； in, The target occlusal force vector for the tooth to be restored; This is the unit vector of the target occlusal force direction corresponding to the tooth being repaired; Set the direction of the target bite force as an adjustable variable, and limit the adjustment within a preset angle range; Set left and right occlusal force balance constraints, count the total relative occlusal force of the left dentition and the total relative occlusal force of the right dentition, and constrain the difference ratio of left and right occlusal forces to meet the preset threshold. Construct an optimization objective function, and use any one of quadratic programming, sequential quadratic programming, gradient descent, or particle swarm optimization to solve for the optimization variables and obtain the optimized target biting parameters.
5. The method for designing occlusal contacts of a restoration for occlusal balance across the entire dentition, as described in claim 1, is characterized in that... Step 6, determining whether the current restoration meets the target occlusal parameters, includes: The occlusal parameters of the current restoration were calculated using a three-dimensional quantitative analysis method of occlusal contact, including the current three-dimensional occlusal contact area. Current relative bite force vector Current relative bite force magnitude The current direction of the biting force, the angle between the current direction of the biting force and the target direction, the current distribution of the contact area, and whether there is local premature contact or excessive penetration; For each tooth to be restored, determine whether the occlusal parameters of the current restoration meet the requirements: in, These represent the minimum and maximum target contact areas, respectively. The allowable directional deviation angle is determined; if the target range is met, the occlusal parameters of the current restoration are saved as candidate occlusal morphologies; otherwise, iterative adjustments are performed.
6. The method for designing occlusal contacts of a restoration for occlusal balance across the entire dentition, as described in claim 5, is characterized in that... The formula for calculating the error between the occlusal parameters and the optimized target occlusal parameters in step 7 is as follows: ； ； ； in, A threshold value is set for the angle between the direction of the occlusal force of the entire dental arch and the normal vector of the occlusal plane. For the target contact area, For the target biting force, For angle.
7. The method for designing occlusal contacts of a restoration for occlusal balance across the entire dentition, as described in claim 6, is characterized in that... The step 7 of adjusting the shape of the prosthesis according to the error value includes: translating the prosthesis along the mesial-distal, buccal-lingual, and vertical directions, and rotating it around the mesial-distal axis, buccal-lingual axis, and vertical axis; Local occlusal surface morphology adjustment includes: dividing the occlusal surface into multiple control areas, updating the coordinates of the occlusal surface vertices based on the adjustment amount of each area and the surface weight function, thereby reducing local premature contact, raising the target contact area, adjusting the cusp inclination angle, correcting the pit and fissure depth, and reducing lateral force inclination contact.
8. The method for designing occlusal contacts of a restoration for occlusal balance across the entire dentition, as described in claim 1, is characterized in that... It also includes the visualization of candidate bite patterns.
9. A prosthesis occlusal contact design system for achieving full dentition occlusal balance, characterized in that, include: The data acquisition module is used to acquire three-dimensional dentition scan data of the patient's upper and lower jaws and to complete the occlusal registration of the upper and lower jaws; The dental arch recognition module is used to identify the areas of teeth to be repaired and the remaining teeth in three-dimensional dental arch data; The occlusal quantitative analysis module is used to perform three-dimensional occlusal contact quantitative calculations on the remaining teeth and output the three-dimensional occlusal parameters of each remaining tooth; The target parameter initialization module is used to initialize the target relative occlusal force, target occlusal force direction, and target contact area range of the tooth to be restored based on the data of the contralateral corresponding tooth or the normal population tooth position occlusal force database. The constraint optimization module incorporates constraints for left and right occlusal force balance, full occlusal force angle, single tooth load range, and multi-restoration tooth adjustment and balancing, and solves for the optimized target occlusal parameters. The prosthesis modeling iteration module is used to generate the initial three-dimensional shape of the prosthesis and iteratively adjust the overall pose and local curvature of the occlusal surface of the prosthesis until the optimized target occlusal parameters are met. The multi-scheme generation module is used to generate multiple sets of differentiated and compliant candidate bite patterns in batches; The visualization and interaction module is used to visualize and render the occlusal mechanics and contact distribution parameters of candidate solutions, and to receive doctors' selection and feedback adjustment instructions. The feedback constraints are then sent to the constraint optimization module and the prosthesis modeling iteration module to generate new candidate solutions.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.