Tray design method and apparatus, electronic device, and tray design system

Abstract

Embodiments of the present application provide a tray design method and device, electronic equipment and a tray design system. The method comprises: obtaining oral scanning data of a target object, the oral scanning data comprising oral morphology data and tray reference line data of the target object; generating a tray base model based on the oral morphology data and the tray reference line data; generating a target model based on the oral scanning data and design data of a marking accessory; and merging the tray base model and the target model to generate a target tray design model. The present application can improve the efficiency and accuracy of tray design, and improve the adaptability of the target tray to the patient's oral cavity.

Description

Technical Field

[0001] This application belongs to the field of 3D scanning technology, and in particular relates to a pallet design method and device, electronic equipment and pallet design system. Background Technology

[0002] Personalized trays are widely used in edentulous cases, and their fabrication process is as follows: A preliminary impression of the patient's mouth is obtained using a traditional tray and alginate or silicone impression material, and an initial plaster model is cast from this impression. Then, a personalized tray is fabricated on this initial plaster model using materials such as self-curing resin. Next, a second impression is taken from the patient using this personalized tray to obtain more detailed intraoral impression data. Finally, a precision plaster model is cast based on this detailed impression for the design and fabrication of absorbent dentures. However, the above method suffers from low tray fabrication efficiency. Summary of the Invention

[0003] In a first aspect, embodiments of this application provide a tray design method, the method comprising: acquiring oral cavity scan data of a target object, the oral cavity scan data including oral cavity morphology data and tray reference line data of the target object; generating a tray base model based on the oral cavity morphology data and tray reference line data; generating a target model based on the oral cavity scan data and design data of marking attachments; and merging the tray base model and the target model to generate a target tray design model.

[0004] In some embodiments, generating a target model based on oral scan data and design data of the marker attachment includes: determining the dental arch parameters of the target object based on the oral scan data; determining the size specifications of the marker attachment based on the dental arch parameters; determining the design data of the marker attachment based on the size specifications; and generating a target model based on the design data.

[0005] In some embodiments, after merging the tray base model and the target model to generate a target tray design model, the method further includes: sending the target tray design model to a printing device, such that the printing device prints a target tray based on the target tray design model, the target tray including a dental tray base and a marking attachment, the marking attachment being connected to the dental tray base.

[0006] In some embodiments, the method further includes: scanning a target object on which a target tray is placed to obtain scan data; and determining the adsorption force information of the dental tray substrate based on the scan data.

[0007] In some embodiments, determining the adsorption force information of the dental tray base based on scan data includes: determining the adsorption force information of the dental tray base based on the first stability of the dental tray base entering the oral cavity, the second stability of the dental tray base when the target subject moves his / her mandible, and the facial expression information of the target subject.

[0008] In some embodiments, the method further includes: generating a designed denture model of the target object based on oral scan data and suction force information, and / or determining the validity of the tray reference line data.

[0009] In some embodiments, the method further includes: determining the validity of the tray reference line data based on the adsorption force information; adjusting the tray reference line data based on the validity of the tray reference line data; and outputting a revised target tray design model or a designed denture model based on the oral morphology data and the adjusted tray reference line data, and / or determining the mandibular movement trajectory of the target object.

[0010] In some embodiments, the method further includes: when the adsorption force of the dental tray base is determined to be greater than or equal to the adsorption force threshold based on the adsorption force information, scanning a target object with a target tray placed on it and in motion to determine the mandibular movement trajectory of the target object, so that the mandibular movement trajectory is used as the basis for designing a denture model; when the adsorption force of the dental tray base is determined to be less than the adsorption force threshold based on the adsorption force information, scanning a target object with a target tray that has undergone impression processing and in motion to determine the mandibular movement trajectory of the target object, so that the mandibular movement trajectory is used as the basis for designing a denture model.

[0011] In some embodiments, the method further includes: responding to a modification request for the target pallet design model, outputting a revised target pallet design model according to the modification request; or, adjusting the target pallet design model based on adsorption force information.

[0012] Secondly, embodiments of this application provide a tray design device, comprising: a data acquisition module for acquiring oral cavity scan data of a target object, the oral cavity scan data including oral cavity morphology data and tray reference line data of the target object; a model generation module for generating a tray base model based on the oral cavity morphology data and the tray reference line data; the model generation module is further configured to generate a target model based on the oral cavity scan data and design data of marking attachments; and a model merging module for merging the tray base model and the target model to generate a target tray design model.

[0013] Thirdly, embodiments of this application provide an electronic device, including: a memory; one or more processors; and one or more programs, the one or more programs being stored in the memory and executed by the one or more processors, the one or more programs including instructions for performing the tray design method described above.

[0014] Fourthly, embodiments of this application provide a non-transitory computer-readable storage medium that stores one or more programs or instructions, wherein the one or more programs include instructions that, when executed by one or more processors of an electronic device, cause the electronic device to perform any of the tray design methods described above.

[0015] Fifthly, embodiments of this application provide a tray design system, comprising: an oral scanning device for scanning the oral cavity of a target object to obtain oral scanning data; and an electronic device communicatively coupled to the oral scanning device, including a memory and one or more processors, the one or more processors being configured to: acquire oral scanning data of the target object, the oral scanning data including oral cavity morphology data and tray reference line data of the target object; generate a tray base model based on the oral cavity morphology data and tray reference line data; generate a target model based on the oral scanning data and design data of marking attachments; and merge the tray base model and the target model to generate a target tray design model.

[0016] In some embodiments, the tray design system further includes a facial scanning device and a printing device. The facial scanning device is used to acquire the mandibular movement trajectory of the target object. The printing device is communicatively coupled to an electronic device for printing a target tray based on the target tray design model. The target tray includes a dental tray base and marking attachments.

[0017] In the tray design method provided in this application embodiment, oral cavity scan data of the target object is obtained, including oral cavity morphology data and tray reference line data; a tray base model is generated based on the oral cavity morphology data and tray reference line data; a target model is generated based on the oral cavity scan data and design data of marking attachments; the tray base model and the target model are merged to generate a target tray design model. This application generates a tray base model using oral cavity morphology data and tray reference line data, and generates a target model based on oral cavity scan data and design data of marking attachments, thereby merging the tray base model and the target model to generate a target tray design model. This allows for the design of a target tray based on the target tray design model, improving the efficiency and accuracy of tray design, as well as enhancing the fit between the target tray and the patient's oral cavity. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is a schematic diagram of the structure of the tray design system provided in an exemplary embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the structure of the oral scanning device provided in an exemplary embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the structure of the target tray provided in an exemplary embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the structure of the target tray provided in another exemplary embodiment of this application.

[0023] Figure 5 This is a flowchart of a tray design method provided in an exemplary embodiment of this application.

[0024] Figure 6 This is a schematic diagram of the structure of the tray design device provided in an exemplary embodiment of this application.

[0025] Figure 7 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It should be understood that, unless otherwise stated, "at least one" means one or more. "More than one" means two or more. For example, at least one of a, b, or c can represent seven cases: a, b, c, a and b, a and c, b and c, and a, b, and c.

[0029] Personalized trays are widely used in edentulous cases. The fabrication process is as follows: A preliminary impression of the patient's mouth is obtained using a traditional tray and alginate or silicone rubber impression material, and an initial plaster model is cast from this impression. Then, a personalized tray is fabricated on this initial plaster model using materials such as self-curing resin. Next, a second impression is taken from the patient using this personalized tray to obtain more detailed intraoral impression data. Finally, a precision plaster model is cast based on this detailed impression for the design and fabrication of absorbent dentures.

[0030] However, the above method requires repeated manipulation inside the patient's mouth to obtain impression data, resulting in low tray production efficiency.

[0031] Furthermore, in orthodontic treatment or dental surgery, the patient's mandibular kinematics can assist clinicians in diagnosis and treatment planning to some extent, and can also assist dental technicians in the design and fabrication of prostheses. Based on this, when further use of mandibular kinematic recordings is needed to determine the occlusal relationship of edentulous jaws, the aforementioned personalized tray must also be used in conjunction with clinical procedures, namely, attaching a standard motion target to its surface so that the target's movement trajectory can be tracked subsequently using a camera or position sensor. This additional procedure has significant drawbacks: firstly, the clinical attachment process of the motion target is cumbersome, prolonging the clinical procedure time. Secondly, the target is a disposable consumable, needing to be discarded after each use, resulting in waste of consumables. In addition, manual attachment makes it difficult to guarantee the repeatability and consistency of the target's position, easily introducing positioning errors, thus affecting the accuracy and reliability of determining the occlusal relationship.

[0032] This application provides a tray design method that generates a tray base model using oral cavity morphology data and tray reference line data, generates a target model based on oral cavity scan data and design data of marking attachments, and then merges the tray base model and the target model to generate a target tray design model. This allows for the design of a target tray based on the target tray design model, which can improve the efficiency and accuracy of tray design and enhance the fit between the target tray and the patient's oral cavity.

[0033] Figure 1This is a schematic diagram of the pallet design system provided in an exemplary embodiment of this application. (See diagram below.) Figure 1 As shown, as one embodiment, the tray design method provided in this application can be applied to a tray design system 1. The tray design system 1 includes a dental scanning device 10, a printing device 20, and an electronic device 30. The dental scanning device 10 and the electronic device 30 are communicatively coupled, and the printing device 20 and the electronic device 30 are also communicatively coupled. The functions of each device within the tray design system 1 are described below.

[0034] The oral cavity scanning device 10, as a device for acquiring three-dimensional data of the oral cavity, can accurately obtain three-dimensional information of oral structures such as teeth and gums. The oral cavity scanning device 10 may include one or more of an intraoral scanner and an extraoral scanner. See also... Figure 2 , Figure 2 This is a schematic diagram of the structure of the oral scanning device provided in an exemplary embodiment of this application. Figure 2 As shown, the oral scanning device 10 includes a scanner body 11 and a scanning head 12. The scanner body 11 and the scanning head 12 are detachably connected to each other. A reflector 13 is provided at the end of the scanner body 11. The reflector 13 is used to reflect light to a camera 14 inside the scanner body 11. After the camera 14 collects the light, it can form an image. The controller (not shown) inside the scanner body 11 determines the three-dimensional model of the target to be detected based on the image.

[0035] The printing device 20 can be a 3D printer, which can create solid objects based on digital three-dimensional models by layering materials. For example, the printing device 20 uses layer-by-layer slicing technology to deposit and solidify molding materials in the form of powder, filament, or liquid through processes such as fused deposition modeling, photopolymerization, selective laser sintering, or binder jetting.

[0036] Electronic device 30 includes, but is not limited to, any electronic product with high computing power that can perform point cloud data processing and image rendering. For example, electronic device 30 may include physical machines or virtual machines, including cloud servers, personal computers, tablets, mobile computing devices, smartphones, etc.

[0037] In some embodiments, the tray design system 1 may further include a facial scanning device 40, which is communicatively coupled to the electronic device 30. The facial scanning device 40 is used to capture the mandibular movement trajectory of the target patient and transmit the mandibular movement trajectory to the electronic device 30.

[0038] The facial scanning device 40 can be held by an operator, such as a doctor, or placed using a tripod, support platform, etc. In some examples, the operator can move the facial scanning device 40 around the target patient's face by holding a detachable handle (not shown in the figure) to obtain the mandibular movement trajectory. In other examples, the operator can directly hold the housing of the facial scanning device 40 and move it around the patient's face to obtain the mandibular movement trajectory, or fix the facial scanning device 40 using a tripod or the like, with the patient keeping their face facing the facial scanning device 40 to obtain the mandibular movement trajectory.

[0039] In some embodiments, the oral scanning device 10 is communicatively coupled to the electronic device 30, the oral scanning device 10 being used to scan the oral cavity of a target object and transmit the scanned oral scan data to the electronic device 30.

[0040] The oral cavity scan data can include oral morphology data and tray reference line data of the target subject. Oral morphology data represents the three-dimensional geometric information of the target subject's oral soft and hard tissue surfaces, including point cloud data or mesh model data of oral structures such as tooth arch morphology, alveolar ridge contour, gingival surface, palatal and lingual attachment areas, used to characterize the target subject's oral anatomy. Tray reference line data can be myostatic lines from the oral morphology data or tray edge lines from the oral morphology data. After obtaining the three-dimensional myostatic lines based on the oral morphology data, equidistant lines approximately 2mm-5mm from the myostatic lines towards the gingiva are defined as the tray edge lines. To improve the stability and fit of the dental tray base fabricated based on the tray edge lines, the position of the tray edge lines is usually set further into the oral muscle and mucosa tissue, beyond the myostatic lines representing the dynamic and static junction of the teeth, gingiva, and muscle mucosa. This allows the denture to flexibly adapt to the movement of the oral muscle and mucosa and utilizes the natural support of the muscle and mucosa to enhance its stability. In other words, the tray edge line should be located in a non-rigid area within the tooth, such as the vestibule, frenulum, or border area, where points can move with the movement of the oral muscles and mucosa. Tray reference line data is used to define the coverage area of ​​the dental tray base within the oral cavity and the termination position of its edge, providing a spatial constraint benchmark for tray design and fabrication.

[0041] In some embodiments, the electronic device 30 is used to acquire oral cavity scan data of a target object, the oral cavity scan data including oral cavity morphology data and tray reference line data of the target object. Based on the oral cavity morphology data and tray reference line data, a tray base model is generated. Based on the oral cavity scan data and design data for marking attachments, a target model is generated. The tray base model and the target model are merged to generate a target tray design model.

[0042] The electronic device 30 is equipped with computer-aided design (CAD) software and optional 3D modeling software to generate corresponding 3D models based on the acquired input data. For example, using oral cavity morphology data and tray reference line data as input data, the CAD software can generate a tray base model, which is a 3D model of the dental tray base. As another example, using oral cavity scan data and design data for marking attachments as input data, the CAD software can generate a target model, which is a 3D model of the marking attachments.

[0043] The design data includes the position of the tracking reference features on the marker attachment based on the marker attachment's coordinate system, as well as the morphological information of the marker attachment. The morphological information of the marker attachment represents structured information describing its geometry, size, contour, and spatial distribution characteristics. The design data can be obtained through high-precision scanning or measuring equipment.

[0044] In some embodiments, the printing device 20 is used to print a target tray based on a target tray design model sent by the electronic device 30. The target tray includes a dental tray base and marking attachments. The target tray can be made of a biocompatible light-curing resin, plastic, or other biocompatible material.

[0045] In some embodiments, the facial scanning device 40 is used to scan a target object on which a target tray is placed and which is in motion, to obtain the mandibular movement trajectory of the target object, so that the mandibular movement trajectory is used as the basis for designing a denture model. In other embodiments, the facial scanning device 40 can also be used to scan a target object on which an impression tray has been processed and which is in motion, to obtain the mandibular movement trajectory of the target object, so that the mandibular movement trajectory is used as the basis for designing a denture model.

[0046] Please see Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of the structure of the target tray provided in an exemplary embodiment of this application. Figure 4 This is a schematic diagram of the target tray structure provided in another exemplary embodiment of this application. The target tray 50 includes a dental tray base 51 and a marking attachment 52. The dental tray base 51 is used for connection with the oral cavity of the target object, and the connection between the dental tray base 51 and the oral cavity of the target object is detachable. In use, the dental tray base 51 is placed in the oral cavity of the target object along the path of placement, so that its inner wall surface is in contact with the alveolar ridge mucosa, palatal mucosa, or dental vestibule region of the target object's mouth.

[0047] One end of the marking attachment 52 is connected to the dental tray base 51, and the other end is located outside the patient's oral cavity. The marking attachment 52 can be L-shaped, rectangular, cross-shaped, X-shaped, or other shapes, which are not limited herein. The marking attachment 52 may be equipped with at least one tracking reference feature that can be recognized by the facial scanning device 40. For example, the tracking reference feature can be an optical marker, a marker point carrying coded information, a marker point without coded information, a feature ball, a feature pattern, or a fixing plate with marker points or patterns, etc. Taking a marker point as an example, the marker point is used for recognition and tracking by the facial scanning device 40. The position and layout of the marker point must meet the requirements of three-dimensional tracking. For example, multiple marker points are scattered on the surface of the marking attachment 52, and no three marker points are on the same straight line. The shape of the marker point can be circular, and the size of the marker point can be set according to actual needs. For example, the size of the marker point can be 2mm, 4mm, 6mm, 8mm, or other suitable sizes.

[0048] The tracking reference feature can be fixed, for example, it can be a marker sticker that is directly pasted onto the marker attachment 52, or it can be a pattern that is directly sprayed onto the marker attachment 52. The tracking reference feature can also be movable or rotatable, so that it can be adjusted in time to adapt to the oral cavity of different types of users (e.g., adults, children).

[0049] In the tray design system 1 provided in this application embodiment, an oral scanning device 10 is used to acquire oral scanning data of the target object, an electronic device 30 is used to generate a target tray design model based on the oral scanning data and the design data of the marked attachments, a printing device 20 is used to print the target tray based on the target tray design model, and a facial scanning device 40 is used to acquire the patient's mandibular movement trajectory. The design of the denture is assisted based on the mandibular movement trajectory, avoiding repeated operations in the patient's mouth to acquire impression data, improving the tray manufacturing efficiency and accuracy, improving the fit between the target tray and the patient's oral cavity, and reducing the complexity of the operation of determining the jaw position relationship, thereby improving the success rate of denture design.

[0050] Figure 5 This is a flowchart of a tray design method provided in an exemplary embodiment of this application, which can be applied to electronic devices (such as...). Figure 1 In electronic devices 30). For example... Figure 5 As shown, the steps include the following.

[0051] S41, acquire oral cavity scan data of the target object, including oral cavity morphology data and tray reference line data of the target object.

[0052] The target group refers to patients who need denture design. The target group can be patients with edentulous jaws, patients with partial edentulous jaws, patients with edentulous jaws, or patients with partial missing teeth.

[0053] The oral cavity includes two jaws: the maxilla and the mandible. In some embodiments, an oral scanning device is used to scan the maxilla of the target subject to obtain maxillary scanning data; the oral scanning device is used to scan the mandible of the target subject to obtain mandibular scanning data; and the oral scanning device is used to scan the data of the target subject's maxilla and mandible during biting to obtain occlusal data. Based on the maxillary scanning data, mandibular scanning data, and occlusal data, oral cavity scanning data is obtained. In other embodiments, an oral scanning device may also be used to scan the maxilla of the target subject to obtain maxillary scanning data, and oral cavity scanning data may be obtained based on the maxillary scanning data. In still other embodiments, an oral scanning device may also be used to scan the mandible of the target subject to obtain mandibular scanning data, and oral cavity scanning data may be obtained based on the mandibular scanning data.

[0054] In some embodiments, an oral scanning device is used to scan the oral cavity of a target subject to obtain oral cavity morphology data. Based on the oral cavity morphology data, tray reference line data is determined, and the oral cavity morphology data and tray reference line data are sent to an electronic device. The method for determining the tray reference line data includes: after acquiring the oral cavity morphology data, performing an oral cavity scan while the target patient's oral cavity is being pulled to obtain traction scan data; and performing motion recognition based on the traction scan data to obtain tray reference line data. Alternatively, a target region in the oral cavity morphology data is identified using a trained model, and tray reference line data is determined based on the target region, where the target region includes at least the alveolar ridge region. Or, based on a dental model marked with myostatic lines, myostatic lines on the dental model are identified, and the identified myostatic lines are mapped onto the oral cavity morphology data to generate tray reference line data.

[0055] In other embodiments, an oral scanning device is used to scan the oral cavity of the target object to obtain oral scanning data. The oral scanning data may include multiple three-dimensional coordinate points distributed on the surface of the soft and hard tissues of the target object's oral cavity, and one or more corresponding images of the soft and hard tissues of the target object's oral cavity. The oral scanning device sends the oral scanning data to an electronic device. The electronic device parses the oral scanning data to obtain oral cavity morphology data and tray reference line data for the target object.

[0056] S42, based on oral cavity morphology data and tray reference line data, generates a tray base model.

[0057] As previously described, oral morphology data characterizes the three-dimensional geometric information of the soft and hard tissue surfaces of the target object's oral cavity. This includes point cloud data or mesh model data of oral structures such as dentition morphology, alveolar ridge contour, gingival surface, palatal and lingual attachment regions, used to characterize the oral anatomical features of the target object. The tray reference line data can be either myostatic lines or tray edge lines from the oral morphology data. After obtaining the three-dimensional myostatic lines from the oral morphology data, equidistant lines approximately 2mm-5mm from the myostatic lines towards the gingiva are defined as the tray edge lines. Based on this, the tray reference line data and oral morphology data are registered and aligned in three-dimensional space. If the tray reference line data is a myostatic line, the equidistant lines approximately 2mm-5mm from the myostatic lines towards the gingiva can be used as boundary constraints to extract the corresponding three-dimensional curved surface region from the oral morphology data. If the tray reference line data is a tray edge line, the tray edge line can be used as a boundary constraint to extract the corresponding three-dimensional curved surface region from the oral morphology data. Next, based on the three-dimensional curved surface region, a tray base model adapted to the oral anatomy of the target object is generated. For example, the three-dimensional curved surface region is filled with holes and smoothed and denoised to obtain a personalized tray base surface. Thickening is then performed along the normal direction of the tray base surface to obtain the tray base model.

[0058] S43 generates a target model based on oral scan data and design data of marked attachments.

[0059] The marking attachments come in different sizes, which may include the diameter of the optical markers, the relative distance between multiple optical markers, and the overall length and width of the support. In some embodiments, the design data of the marking attachments can be determined based on the target patient's order information, which includes information such as the size specifications of the marking attachments. In other embodiments, the design data of the marking attachments can be determined based on dental arch parameters such as the target patient's arch width, dentition curvature, and dental region height, so that the size specifications of the marking attachments match the target patient's dental arch parameters.

[0060] Based on this, a target model is generated using oral scan data and design data for the marker attachments, including: determining the dental arch parameters of the target object based on the oral scan data; determining the size specifications of the marker attachments based on the dental arch parameters; determining the design data of the marker attachments based on the size specifications; and generating a target model based on the design data.

[0061] The dental arch parameters include at least the arch width, dentition curvature, and tooth height. There is a correspondence between the arch parameters and the dimensions of the marking attachments. By querying this correspondence, the dimensions of the marking attachments corresponding to the arch parameters can be determined. For example, based on the dimensions of the marking attachments, they are divided into large, medium, and small sizes. Taking the arch parameters including arch width, dentition curvature, and tooth height as an example, if the arch width, dentition curvature, and tooth height are all within one or more of a first width range, a first curvature range, and a first height range, the marking attachment is determined to be a large size; if the arch width, dentition curvature, and tooth height are all within one or more of a second width range, a second curvature range, and a second height range, the marking attachment is determined to be a medium size; and if the arch width, dentition curvature, and tooth height are all within one or more of a third width range, a third curvature range, and a third height range, the marking attachment is determined to be a small size. Specifically, the lower limit of the first width range is greater than or equal to the upper limit of the second width range, and the lower limit of the second width range is greater than or equal to the upper limit of the third width range. Similarly, the lower limit of the first radian range is greater than or equal to the upper limit of the second radian range, and the lower limit of the second radian range is greater than or equal to the upper limit of the third radian range. Finally, the lower limit of the first height range is greater than or equal to the upper limit of the second height range, and the lower limit of the second height range is greater than or equal to the upper limit of the third height range.

[0062] According to the embodiments of this application, the size specifications of the marking attachment are determined based on the dental arch parameters of the target object. Then, the design data of the marking attachment is determined based on the size specifications, and a target model matching the dental arch parameters is generated. This can improve the tracking accuracy of the mandibular movement trajectory while improving the wearing comfort of the target object.

[0063] As mentioned earlier, the design data includes the position of the tracking reference features on the marker attachment based on the marker attachment's coordinate system, as well as the morphological information of the marker attachment. The morphological information of the marker attachment represents structured information describing its geometry, size, contour, and spatial distribution characteristics. Based on this, a target model can be generated using the position of the tracking reference features on the marker attachment based on the marker attachment's coordinate system and the morphological information of the marker attachment.

[0064] S44 merges the pallet base model and the target model to generate the target pallet design model.

[0065] In some embodiments, the connection position of the target model on the tray base model is determined, and the target model is connected to the connection position of the tray base model, so that the tray base model and the target model are merged to obtain the target tray design model. The connection position is determined to ensure that the marker attachment meets the spatial pose required for tracking and does not collide with the opposing dentition or labial / buccal soft tissue. The connection position can be a position specified by the user on the interactive interface, or a position determined through model processing, for example, identifying the middle area of ​​the tray base model as the connection position.

[0066] In some embodiments, the electronic device can provide a human-computer interaction method, allowing users to input modification requests for the target tray design model via a keyboard, mouse, remote control, touchscreen, voice control device, or mixed reality device. In other embodiments, the modification request can be determined based on a trained model. The trained model is used to detect whether the target tray design model conforms to design specifications. If the target tray design model is found to be non-compliant with design specifications, a modification request for the target tray design model is generated. The design specifications include at least manufacturing feasibility specifications and wearability specifications. In response to the modification request for the target tray design model, the electronic device outputs a revised target tray design model according to the modification request. The modification request may include modifications to the geometric dimensions and surface morphology of the target tray design model, deletion or addition of feature structures, etc., without limitation.

[0067] This application embodiment updates the target pallet design model through human-computer interaction or model detection, thereby optimizing the target pallet design model. Furthermore, the human-computer interaction or model detection method can simplify the revision process of the target pallet design model.

[0068] In the tray design method provided in this application embodiment, a tray base model is generated by using oral cavity morphology data and tray reference line data, and a target model is generated based on oral cavity scan data and design data of marking attachments. The tray base model and the target model are then merged to generate a target tray design model, which improves the efficiency of tray design by designing a target tray based on the target tray design model.

[0069] In some embodiments, after merging the tray base model and the target model to generate a target tray design model, the target tray design model is sent to a printing device, so that the printing device prints a target tray based on the target tray design model. The target tray includes a dental tray base and a marking attachment, the marking attachment being connected to the dental tray base.

[0070] This application embodiment uses a printing device to print a target tray based on a target tray design model, which facilitates doctors to perform physical verification before clinical operation, promptly confirm its compatibility with the patient's oral cavity, and improve the accuracy and clinical operability of the tray.

[0071] In some embodiments, to verify whether a target tray meets medical requirements, the target tray is placed in the oral cavity of the target patient, and the adhesive force of the target tray is detected. This adhesive force can be detected through methods such as snap-fit, force sensors, and manual traction by the physician. For example, by using a snap-fit ​​structure or force sensor on the target tray, a traction force is applied along the dislocation direction of the target tray, and the adhesive force is determined based on the peak traction force when the target tray detaches from the patient's oral cavity. Another example is that the physician applies a traction force along the dislocation direction to the target tray using a traction tool or by holding the marked attachment of the target tray, and the adhesive force is determined based on the change in resistance during the traction process.

[0072] In other embodiments, the adsorption force information of the dental tray substrate can be determined by scanning the target object on which the target tray is placed. Exemplarily, the adsorption force information detection method includes: scanning the target object on which the target tray is placed to obtain scan data; and determining the adsorption force information of the dental tray substrate based on the scan data.

[0073] This process involves using an oral or facial scanning device to scan the target object on which the target tray is placed, obtaining scan data. The scan data can include the spatial pose of the tray base after entering the oral cavity, a continuous spatial pose sequence during the dentist's manipulation of the tray base, a continuous spatial pose sequence of the tray base during the target object's mandibular movements, and facial data of the target object. By analyzing at least one of the following: the spatial pose of the tray base after entering the oral cavity, the continuous spatial pose sequence during the dentist's manipulation of the tray base, the continuous spatial pose sequence of the tray base during the target object's mandibular movements, and the facial data of the target object, the adhesion force information of the tray base can be determined.

[0074] For example, determining the adsorption force information of the dental tray base based on scan data includes: determining the adsorption force information of the dental tray base based on a first stability of the dental tray base entering the oral cavity, a second stability of the dental tray base during the target subject's mandibular movement, and the target subject's facial expression information. As another example, determining the adsorption force information of the dental tray base based on scan data further includes: determining the adsorption force information of the dental tray base based on a first stability of the dental tray base entering the oral cavity and a second stability of the dental tray base during the target subject's mandibular movement.

[0075] The first stability includes the stability of the dental tray base after it enters the oral cavity and the stability during the dentist's manipulation of the dental tray base. The stability can be determined based on the angle between the base of the dental tray and the bottom surfaces of the left and right posterior tooth regions of the corresponding target patient's dental arch. The first stability can be determined by analyzing the spatial pose of the dental tray base after it enters the oral cavity (hereinafter referred to as the "first angle" for ease of description) and by analyzing the continuous spatial pose sequence during the dentist's manipulation of the dental tray base. For example, during the dentist's manipulation of the dental tray base, the angle between the base of the dental tray and the bottom surfaces of the left and right posterior tooth regions of the corresponding target patient's dental arch is determined multiple times. A second angle is obtained by performing a first data processing on these multiple angles. This first data processing includes, but is not limited to, weighted average, mean processing, median processing, and mode processing. The first included angle and the second included angle are subjected to a second data processing to obtain the first stationarity. The second data processing includes, but is not limited to, weighted average, mean processing, median processing, and mode processing.

[0076] The second stability factor includes the stability of the dental tray base during mandibular movements. By analyzing the continuous spatial pose sequence of the dental tray base during mandibular movements, the angle between the base of the dental tray and the bottom surfaces of the corresponding posterior tooth regions on both sides of the target patient's dental arch can be determined, thus defining the second stability factor. For example, during mandibular movements, the angle between the base of the dental tray and the bottom surfaces of the corresponding posterior tooth regions on both sides of the target patient's dental arch is determined multiple times. The second stability factor is obtained by performing third data processing on these multiple angles. Third data processing includes, but is not limited to, weighted average, mean processing, median processing, and mode processing.

[0077] By analyzing the facial data of the target subject, their expression information can be determined. Adhesion force information includes whether the adhesion force of the dental tray base is greater than or equal to a threshold, and whether the adhesion force is less than a threshold. The adhesion force threshold can be set according to actual needs and is not limited here.

[0078] In some embodiments, if the first stability of the dental tray base entering the oral cavity is greater than or equal to the first stability threshold, and the second stability of the dental tray base during the target subject's mandibular movement is greater than or equal to the second stability threshold, and the target subject's facial expression information indicates that the target subject experiences no discomfort while wearing the dental tray base during the process of the dental tray base entering the oral cavity and during mandibular movement, it can be determined that the adsorption force information of the dental tray base is greater than or equal to the adsorption force threshold, and the adsorption force information is determined to be normal, and the target tray meets medical requirements.

[0079] If the first stability of the dental tray base entering the oral cavity is less than the first stability threshold, or the second stability of the dental tray base during the target subject's mandibular movement is less than the second stability threshold, or the target subject's facial expression indicates that the target subject experiences discomfort while wearing the dental tray base during the process of the dental tray base entering the oral cavity and / or during mandibular movement, it can be determined that the adsorption force information of the dental tray base is less than the adsorption force threshold, indicating an abnormality in the adsorption force information and that the target tray does not meet medical requirements.

[0080] The first and second stability thresholds can be set according to actual needs and are not restricted here. When the target subject's facial expressions include frowning, squinting, closing their eyes, grimacing, or widening their mouth, it is determined whether the target subject experiences discomfort while wearing the dental tray base during the process of the tray base entering the oral cavity and during mandibular movement.

[0081] In other embodiments, the adsorption force value of the dental tray base is determined based on a first stability, a second stability, and facial expression information. If the adsorption force value is greater than or equal to an adsorption force threshold, the adsorption force information is determined to be normal, and the target tray meets medical requirements. If the adsorption force value is less than the adsorption force threshold, the adsorption force information is determined to be abnormal, and the target tray does not meet medical requirements.

[0082] The first stability, the second stability, and the facial expression information are in numerical form. The adsorption force of the dental tray base is determined by counting and summing or weighted averaging the first stability, the second stability, and the facial expression information.

[0083] This application embodiment scans a target object on which the target tray is placed to obtain scan data. Based on the scan data, it determines the adsorption force information of the dental tray base, achieving automated confirmation of the adsorption force information, avoiding the subjective problems caused by human confirmation, and improving the accuracy of the adsorption force information determination. Furthermore, this application further improves the accuracy of the adsorption force information determination by determining the adsorption force information of the dental tray base from multiple dimensions, including the first stability of the dental tray base upon entering the oral cavity, the second stability of the dental tray base during the target object's mandibular movement, and the target object's facial expression information.

[0084] In some embodiments, the target tray has multiple functions, including at least determining the validity of the tray reference line data, assisting in generating a designed denture model for the target object, and tracking mandibular movements of the target object. Based on this, the method further includes: generating a designed denture model for the target object based on oral scan data and suction force information, and / or determining the validity of the tray reference line data. For example, generating a designed denture model for the target object based on oral scan data and suction force information. Another example is determining the validity of the tray reference line data based on oral scan data and suction force information. Yet another example is generating a designed denture model for the target object based on oral scan data and suction force information, provided the tray reference line data is determined to be valid.

[0085] In some embodiments, when the adsorption force of the dental tray base is determined to be greater than or equal to the adsorption force threshold based on adsorption force information, and the target tray is determined to meet medical requirements, the target tray can be used to determine the mandibular movement trajectory of the target object. Based on the mandibular movement trajectory and oral scan data, a designed prosthesis model for the target object can be generated. Optionally or additionally, when the adsorption force of the dental tray base is determined to be greater than or equal to the adsorption force threshold based on adsorption force information, and the target tray is determined to meet medical requirements, a facial scanning device is used to scan the target object, which has the target tray placed on it and is in motion, to determine the mandibular movement trajectory of the target object. This mandibular movement trajectory serves as the basis for designing the prosthesis model. For example, a facial scanning device can be used to continuously and dynamically acquire the three-dimensional position information of one or more optical markers on the marker attachment in the target tray. As the object's mandible opens and closes, the position of one or more optical markers in space changes continuously. The facial scanning device tracks and records these changes in real time to obtain the mandibular movement trajectory. Mandibular movement refers to the natural opening and closing of the oral cavity performed by the target object during the acquisition process. By observing and recording mandibular movement, dynamic change information of the mandible at different positions and angles can be obtained.

[0086] In this embodiment, when the adsorption force of the dental tray base is greater than or equal to the adsorption force threshold, it is determined that the target tray meets medical requirements. The target tray is used to assist in generating a denture model for the target patient, thereby improving the design efficiency of the denture model. Furthermore, by scanning the target patient, on which the target tray is placed, and in motion, the mandibular movement trajectory of the target patient is determined. Based on the mandibular movement trajectory, a denture model is generated to assist in the design, which can avoid occlusal collisions for the target patient and improve the design accuracy of the denture model.

[0087] In some embodiments, if the adsorption force of the dental tray base is determined to be less than the adsorption force threshold based on adsorption force information, the target tray is deemed not to meet medical requirements. An impression can be taken of the target tray to enhance its adsorption effect. Then, using the impression-taken target tray, the mandibular movement trajectory of the target subject is determined, thereby generating a designed prosthesis model of the target subject based on the mandibular movement trajectory and oral scan data. Optionally or additionally, a facial scanning device is used to scan the target subject, which has the impression-taken target tray placed on it and is in motion, to determine the mandibular movement trajectory of the target subject, so that the mandibular movement trajectory serves as the basis for designing the prosthesis model. For example, a facial scanning device continuously and dynamically acquires the three-dimensional position information of one or more optical markers on the marker attachment in the impression-taken target tray. As the subject's mandible opens and closes, the position of one or more optical markers in space continuously changes, and the facial scanning device tracks and records these changes in real time to obtain the mandibular movement trajectory.

[0088] In this embodiment, when the adsorption force of the dental tray base is less than the adsorption force threshold, it is determined that the target tray does not meet medical needs. The target tray is then used as a personalized tray, and an impression processing is performed on the target tray to increase the adsorption force effect. The target tray with the impression processing is used to assist in generating the designed denture model of the target object, thereby realizing the diversification of the target tray's functions.

[0089] In some embodiments, the method further includes: determining the validity of the tray reference line data based on the suction force information; adjusting the tray reference line data based on its validity; and outputting a revised target tray design model or denture design model based on oral morphology data, the adjusted tray reference line data, and / or the mandibular movement trajectory of the target object. For example, a revised target tray design model or denture design model is output based on oral morphology data and the adjusted tray reference line data. Another example is a revised denture design model output based on oral morphology data, the adjusted tray reference line data, and the determined mandibular movement trajectory of the target object.

[0090] The validity of the tray reference line data can be determined based on the adsorption force information. Validity includes both valid and invalid data. For example, if the adsorption force of the tray base is greater than or equal to the adsorption force threshold, the tray reference line data is considered valid and no revision is needed. If the adsorption force is less than the adsorption force threshold, the tray reference line data is considered invalid and needs revision. For example, the data can be adjusted towards the gum line. In some embodiments, a safe adsorption force threshold can be set, which is greater than the adsorption force threshold. If the adsorption force of the tray base is greater than the safe adsorption force threshold, the adsorption force is deemed excessive, the tray reference line data is considered invalid, and revision is needed. For example, the data can be adjusted towards the furthest point from the gum line.

[0091] In cases where the tray reference line data is determined to be invalid, the tray reference line data is adjusted so that the adhesion force of the target tray base designed based on the adjusted tray reference line data is greater than or equal to the adhesion force threshold. An adjusted tray base model is generated based on oral morphology data and the adjusted tray reference line data. The adjusted tray base model is then merged with the target model to obtain the revised target tray design model.

[0092] Since the suction force of the dental tray base corresponding to the adjusted tray base model meets medical requirements, a target object with the revised target tray placed on it and in motion is scanned to determine the revised mandibular motion trajectory corresponding to the target object. Based on oral morphology data, adjusted tray reference line data, and the revised mandibular motion trajectory, a revised denture design model is output.

[0093] In some embodiments, after the revised target tray is printed, the target object on which the revised target tray is placed can be scanned to redetermine the adsorption force information of the revised dental tray base, ensuring that the adsorption force information of the revised dental tray base meets medical requirements.

[0094] This application embodiment determines the validity of the tray reference line data based on adsorption force information, and adjusts the tray reference line data in a timely manner when it is determined to be invalid, which can improve the accuracy of the target tray design model and the denture design model; and the denture design model can be generated with the assistance of mandibular movement trajectory, which can avoid occlusal collisions in the target patient and improve the design accuracy of the denture model.

[0095] In some embodiments, the method further includes: adjusting a target tray design model based on adsorption force information. By adjusting the target tray design model, one or more of the following are adjusted: the fit between the tray base and the target patient's oral tissue surface, the gap between the tray base and the target patient's oral tissue, and the edge tightness of the tray edge line, wherein the edge tightness characterizes the degree of closure between the tray edge line and the target patient's oral tissue.

[0096] For example, if the adsorption force of the dental tray base is determined to be less than the adsorption force threshold based on the adsorption force information, and the target tray does not meet medical requirements, the target tray design model can be adjusted. For example, the tray base model can be adjusted to increase the fit between the dental tray base and the target patient's oral tissue surface, reduce the gap between the dental tray base and the target patient's oral cavity, and increase the tightness of the tray edge line, satisfying at least one of these conditions. If the adsorption force of the dental tray base is determined to be greater than the adsorption force threshold based on the adsorption force information, and the target tray meets medical requirements, then there is no need to adjust the target tray design model.

[0097] Based on the adsorption force information, the design model of the target tray in this application is adjusted so that the printed target tray can meet medical needs.

[0098] As described above, the target tray designed using the method provided in this application can achieve three functions in one. For example, based on the target tray, auxiliary verification can be performed to determine whether the edge line of the tray matches the myostatic line in the oral cavity of the target patient, or the target tray can be used as a motion target for edentulous patients to facilitate the collection of mandibular motion trajectories of edentulous patients, or the target tray can be used as a personalized tray for impression processing.

[0099] This application utilizes digital technology to generate a three-in-one tray with a fast design speed, short printing time, and high conformity between the tray edge and the myostatic lines in the patient's oral cavity. Furthermore, this application allows for optimization and adjustment at multiple stages of the denture fabrication process, thereby better assisting users in verifying the optical margin shaping, reducing the complexity of determining jaw position relationships, and improving the success rate of denture fabrication.

[0100] Figure 6 This is a schematic diagram of the pallet design device provided in an exemplary embodiment of this application. Figure 6 As shown, the tray design device 100 may include multiple functional modules composed of computer program segments. The computer programs of each program segment in the tray design device 100 may be stored in the memory of the electronic device 30 and executed by the processor to perform the tray design function.

[0101] In some embodiments, the tray design device 100 can be divided into multiple functional modules according to the functions it performs. The functional modules may include: a data acquisition module 101, a model generation module 102, and a model merging module 103.

[0102] The term "module" as used in this application refers to a series of computer program segments that can be executed by a processor and perform a fixed function, and which are stored in memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0103] The data acquisition module 101 is used to acquire the oral cavity scan data of the target object. The oral cavity scan data includes the oral cavity morphology data and tray reference line data of the target object.

[0104] The model generation module 102 is used to generate a tray base model based on oral cavity morphology data and tray reference line data.

[0105] The model generation module 102 is also used to generate a target model based on oral scan data and design data of marked attachments.

[0106] The model merging module 103 is used to merge the pallet base model and the target model to generate the target pallet design model.

[0107] It is understood that the pallet design device 100 and the pallet design method of the above embodiments belong to the same inventive concept. The specific implementation of each module of the pallet design device 100 corresponds to each step of the pallet design method in the above embodiments, and will not be repeated here.

[0108] The module division described above is a logical functional division, and other division methods may be used in actual implementation. Furthermore, the functional modules in the various embodiments of this application can be integrated into the same processing unit, or each module can exist physically separately, or two or more modules can be integrated into the same unit. The integrated modules described above can be implemented in hardware or in a combination of hardware and software functional modules.

[0109] Figure 7 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. For example... Figure 7 As shown, the electronic device 30 may include a display device 31, a communication module 32, a memory 33, a processor 34, an input / output (I / O) interface 35, and a bus 36. The processor 34 is coupled to the display device 31, the communication module 32, the memory 33, and the I / O interface 35 via the bus 36.

[0110] Display device 31 can be a touch screen, specifically a touch-sensitive liquid crystal display device. Alternatively, display device 31 can be a non-touch screen. Display device 31 can be used to display the processing results of data sent from the dental scanning device 10.

[0111] The communication module 32 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as Universal Serial Bus (USB) and Controller Area Network (CAN). The wireless communication module may provide one or more wireless communication solutions such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR).

[0112] The memory 33 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 34, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data.

[0113] Random access memory can include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.

[0114] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 34. Non-volatile memory can include disk storage devices and flash memory.

[0115] Memory 33 is used to store one or more computer programs. These one or more computer programs are executed by processor 34. The one or more computer programs include multiple instructions, which, when executed by processor 34, enable the execution of a tray design method on electronic device 30. Exemplarily, processor 34 is used to: acquire oral cavity scan data of a target object, the oral cavity scan data including oral cavity morphology data and tray reference line data of the target object; generate a tray base model based on the oral cavity morphology data and tray reference line data; generate a target model based on the oral cavity scan data and design data for marking attachments; and merge the tray base model and the target model to generate a target tray design model.

[0116] In other embodiments, the electronic device 30 also includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 30.

[0117] Processor 34 may include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processors.

[0118] The processor 34 provides computing and control capabilities, for example, the processor 34 is used to execute computer programs stored in the memory 33 to process data sent by the oral scanning device 10.

[0119] I / O interface 35 is used to provide a channel for user input or output. For example, I / O interface 35 can be used to connect various input and output devices, such as mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information.

[0120] Bus 36 is used at least to provide a channel for communication between communication modules 32, memory 33, processor 34 and I / O interface 35 in electronic device 30.

[0121] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device 30. In other embodiments of this application, the electronic device 30 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0122] This application also provides a non-transitory computer-readable storage medium storing a computer program. The computer program includes program instructions, and the method implemented when the program instructions are executed can refer to the methods in the above embodiments of this application.

[0123] The computer-readable storage medium can be the internal memory of the electronic device described in the above embodiments, such as the hard disk or memory of the electronic device. Alternatively, the computer-readable storage medium can be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the electronic device.

[0124] In some embodiments, a computer-readable storage medium may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of the electronic device, etc.

[0125] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0126] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0127] In the embodiments provided in this application, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0128] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0129] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A pallet design method, characterized in that, The method includes: Acquire oral cavity scan data of the target object, the oral cavity scan data including oral cavity morphology data and tray reference line data of the target object; Based on the oral cavity morphology data and the tray reference line data, a tray base model is generated; Based on the oral scan data and the design data of the marker attachments, a target model is generated; The pallet base model and the target model are merged to generate the target pallet design model.

2. The pallet design method as described in claim 1, characterized in that, The generation of the target model based on the oral scan data and the design data of the marker attachments includes: Based on the oral scan data, the dental arch parameters of the target object are determined; Based on the dental arch parameters, determine the size specifications of the marking attachment; Based on the size specifications, the design data of the marking attachment is determined, and based on the design data, the target model is generated.

3. The pallet design method as described in claim 1, characterized in that, After merging the pallet base model and the target model to generate the target pallet design model, the method further includes: The target tray design model is sent to the printing device, which prints the target tray based on the target tray design model. The target tray includes a dental tray base and the marking attachment, which is attached to the dental tray base.

4. The pallet design method according to any one of claims 1 to 3, characterized in that, The method further includes: The target object on which the target tray is placed is scanned to obtain scan data; Based on the scan data, the adsorption force information of the dental tray substrate is determined.

5. The pallet design method as described in claim 4, characterized in that, The determination of the adhesion information of the dental tray substrate based on the scan data includes: Based on the first stability of the dental tray base entering the oral cavity, the second stability of the dental tray base when the target object moves its mandible, and the facial expression information of the target object, the adsorption force information of the dental tray base is determined.

6. The pallet design method as described in claim 5, characterized in that, The method further includes: Based on the oral scan data and the suction force information, a designed denture model for the target object is generated, and / or the validity of the tray reference line data is determined.

7. The pallet design method as described in claim 4, characterized in that, The method further includes: Based on the adsorption force information, the validity of the tray reference line data is determined; Adjust the pallet reference line data based on its validity; Based on the oral morphology data, the adjusted tray reference line data, and / or the determined mandibular movement trajectory of the target object, a revised target tray design model or a denture design model is output.

8. The pallet design method as described in claim 5, characterized in that, The method further includes: If the adsorption force of the dental tray base is determined to be greater than or equal to the adsorption force threshold based on the adsorption force information, the target object on which the target tray is placed and in motion is scanned to determine the mandibular movement trajectory of the target object, so that the mandibular movement trajectory serves as the basis for designing the denture model. If the adsorption force of the dental tray base is determined to be less than the adsorption force threshold based on the adsorption force information, the target object, which is in motion and has the impression processed on the target tray, is scanned to determine the mandibular movement trajectory of the target object, so that the mandibular movement trajectory serves as the basis for designing the denture model.

9. The pallet design method as described in claim 4, characterized in that, The method further includes: In response to a modification request for the target pallet design model, a revised target pallet design model is output based on the modification request. Alternatively, the target tray design model can be adjusted based on the adsorption force information.

10. A pallet design device, characterized in that, The device includes: The data acquisition module is used to acquire oral cavity scan data of the target object, the oral cavity scan data including oral cavity morphology data and tray reference line data of the target object; The model generation module is used to generate a tray base model based on the oral cavity morphology data and the tray reference line data; The model generation module is also used to generate a target model based on the oral scan data and the design data of the marker attachments; The model merging module is used to merge the pallet base model and the target model to generate the target pallet design model.

11. An electronic device, comprising: Memory; One or more processors; as well as One or more programs, the one or more programs being stored in the memory and being executed by the one or more processors, the one or more programs including instructions for performing the tray design method according to any one of claims 1 to 9.

12. A pallet design system, comprising: Oral scanning equipment is used to scan the oral cavity of a target object and obtain oral scanning data; An electronic device, communicatively coupled to the intraoral scanning device, includes a memory and one or more processors, said one or more processors being used for: Obtain oral cavity scan data of the target object, the oral cavity scan data including oral cavity morphology data and tray reference line data of the target object; generate a tray base model based on the oral cavity morphology data and the tray reference line data; generate a target model based on the oral cavity scan data and the design data of the marking attachments; merge the tray base model and the target model to generate a target tray design model.

13. The pallet design system as described in claim 12, characterized in that, Also includes: A facial scanning device and a printing device are provided. The facial scanning device is used to acquire the mandibular movement trajectory of the target object. The printing device is communicatively coupled to the electronic device and is used to print a target tray based on the target tray design model. The target tray includes a dental tray base and marking attachments.

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