Smart sensing method and apparatus for a simulation headform

Abstract

The application discloses a kind of simulation head mould intelligent sensing method and device, the method includes: in the preset time length, the real-time multi-modal data of operating simulation head mould is collected;Real-time multi-modal data is time-sequenced alignment using hardware clock;According to the real-time sensing data after time-sequenced alignment and the coordinate information corresponding to real-time sensing data, determine the displacement trajectory information of force center point coordinate information and force center point coordinate information;According to displacement trajectory information, determine the force direction deviation data of actual force direction and preconfigured force direction;According to the real-time multi-modal data after time-sequenced alignment, force direction deviation data and preconfigured abnormal operation judgment decision table, output abnormal operation warning, can realize accurate mechanics perception, multi-modal data fusion analysis, real-time abnormal operation identification and warning, improve the effect of oral operation skill training and the timeliness and objectivity of evaluation.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of flexible sensing technology, and in particular to a method and device for intelligent sensing of a simulated head model. Background Technology

[0002] With the development of dental education, simulated dental head models have become an important tool for dental operation training, playing a crucial role in skills training. Traditional dental teaching simulated dental head models mainly simulate oral anatomical features through mechanical structures, providing students with a basic operating environment. However, these models have significant limitations in simulating real clinical scenarios and providing precise operational feedback.

[0003] The current methods for assessing oral surgery skills using simulated head models mainly face the following technical bottlenecks: First, traditional mechanical feedback mechanisms are insufficient. Existing simulation head models mostly use mechanical resistance simulation devices, which can only provide simple dislocation force threshold feedback and cannot record key parameters such as the dynamic pressure distribution of adjacent tooth fulcrums and the sliding trajectory of instruments during operation, resulting in a lack of objective quantitative basis for the assessment results.

[0004] Secondly, the sensing accuracy and realism are insufficient. Although some improved models have set up single-point pressure sensors in the alveolar bone region, their rigid sensing elements differ significantly from the mechanical properties of the real periodontal ligament, and they cannot capture the three-dimensional vector changes in the direction of force application, resulting in operational errors that cannot be accurately identified.

[0005] Third, there is a lack of multimodal data fusion analysis. Existing intelligent assessment systems mostly rely on motion capture technology, which can record the movement trajectory of the equipment, but it does not perform multimodal data fusion analysis with biomechanical data, resulting in insufficient real-time marking accuracy for typical erroneous operations such as "excessive prying with adjacent teeth as a fulcrum".

[0006] Finally, the real-time error correction and scoring mechanisms are inadequate. The system often relies on offline video playback combined with manual scoring, resulting in assessments that lag behind actual practice. Furthermore, the lack of a quantitative database of standardized operating parameters makes it difficult to provide learners with timely and effective feedback and guidance. Summary of the Invention

[0007] This invention provides an intelligent sensing method for a simulated head model, enabling precise mechanical sensing, multimodal data fusion analysis, real-time abnormal operation identification and warning, thereby improving the effectiveness, timeliness, and objectivity of oral operation skill training and evaluation. The method includes: Real-time multimodal data of the simulation head model is collected within a preset time period; the real-time multimodal data includes real-time sensing data and coordinate information corresponding to the real-time sensing data; the real-time sensing data and / or coordinate information are determined by a sensing array layer laid in the target adjacent tooth area in the simulation head model; the sensing array layer is laid on a rigid support layer in the target adjacent tooth area; a gingival simulation encapsulation layer is covered on the sensing array layer; the sensing array layer is divided into four quadrants in a cross-orthogonal manner according to a preset origin; Timing alignment of real-time multimodal data is performed using a hardware clock; Based on the real-time sensor data after time-series alignment and the coordinate information corresponding to the real-time sensor data, determine the coordinate information of the force application center point and the displacement trajectory information of the force application center point coordinate information; Based on the displacement trajectory information, determine the deviation data of the actual applied force direction from the pre-installed applied force direction; Based on the real-time multimodal data after time-series alignment, the force direction deviation data, and the pre-configured abnormal operation judgment decision table, an abnormal operation warning is output.

[0008] Another aspect of the present invention provides a simulated head model intelligent sensing device for achieving precise mechanical sensing, multimodal data fusion analysis, real-time abnormal operation identification and warning, thereby improving the effectiveness and timeliness and objectivity of oral operation skill training and evaluation. The device includes: The real-time multimodal data acquisition module is used to acquire real-time multimodal data of the operation on the simulation head model within a preset time period. The real-time multimodal data includes real-time sensing data and coordinate information corresponding to the real-time sensing data. The real-time sensing data and / or coordinate information are determined using a sensing array layer laid in the target adjacent tooth area of ​​the simulation head model. The sensing array layer is laid on a rigid support layer in the target adjacent tooth area. A gingival simulation encapsulation layer is covered on the sensing array layer. The sensing array layer is divided into four quadrants in a cross-orthogonal manner according to a preset origin. The timing alignment module is used to perform timing alignment of real-time multimodal data using a hardware clock; The force application center point determination module is used to determine the coordinate information of the force application center point and the displacement trajectory information of the force application center point based on the real-time sensing data after time-series alignment and the coordinate information corresponding to the real-time sensing data. The force direction deviation data determination module is used to determine the force direction deviation data between the actual force direction and the pre-installed force direction based on the displacement trajectory information; The abnormal operation warning output module is used to output abnormal operation warnings based on real-time multimodal data after time-series alignment, force direction deviation data, and a pre-configured abnormal operation judgment decision table.

[0009] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described intelligent sensing method for the simulated head model.

[0010] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described intelligent sensing method for the simulated head model.

[0011] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described intelligent sensing method for the simulated head model.

[0012] Compared with existing technologies, this invention collects real-time multimodal data of operations performed on a simulated head model within a preset time period. The real-time multimodal data includes real-time sensing data and corresponding coordinate information. The real-time sensing data and / or coordinate information are determined using a sensing array layer laid on the target adjacent tooth region of the simulated head model. The sensing array layer is laid on a rigid support layer on the target adjacent tooth region. A gingival simulation encapsulation layer covers the sensing array layer. The sensing array layer is divided into four quadrants in a cross-orthogonal manner according to a preset origin. A hardware clock is used to perform timing synchronization on the real-time multimodal data. Based on the real-time sensor data after time-series alignment and the corresponding coordinate information, the coordinate information of the force application center point and the displacement trajectory information of the force application center point coordinate information are determined; based on the displacement trajectory information, the deviation data of the actual force application direction from the pre-set force application direction is determined; based on the real-time multimodal data after time-series alignment, the force application direction deviation data, and the pre-configured abnormal operation judgment decision table, abnormal operation warnings are output. This can achieve precise mechanical perception, multimodal data fusion analysis, real-time abnormal operation identification and warning, and improve the effectiveness of oral operation skills training and the timeliness and objectivity of assessment. Attached Figure Description

[0013] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a flowchart of the intelligent sensing method for the simulated head model in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a specific example of the intelligent sensing method for the simulated head model in this invention. Figure 3This is a schematic diagram of the intelligent sensing system for the simulated head model in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the intelligent sensing device for the simulated head model in an embodiment of the present invention; Figure 5 This is a schematic diagram of a computer device in an embodiment of the present invention. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0015] This invention relates to the field of oral education equipment and skills quantitative assessment technology, specifically a method for oral simulation training based on flexible sensing technology. This method integrates biomechanical sensing technology, simulated human tissue modeling, and clinical operation big data analysis. It is mainly applied to the quantitative assessment of tooth extraction operations in oral skills training. Through an embedded intelligent sensing system, it performs three-dimensional dynamic capture and intelligent evaluation of the force characteristics of the simulated jawbone model, belonging to the interdisciplinary technical field of simulation education equipment and intelligent devices.

[0016] Based on background technology analysis, existing oral simulation training systems lack dynamic monitoring of fulcrum pressure in adjacent tooth areas, suffer from mismatch between rigid sensors and the mechanical properties of biological tissues, have limited analytical dimensions for operational parameters, and suffer from delays in real-time error correction and subjectivity in scoring. The core challenges in developing a high-precision quantitative evaluation system for tooth extraction operations lie in: flexible sensor integration under spatial constraints, real-time fusion of multimodal data, and the construction of a standardized parameter library.

[0017] To address the above problems, embodiments of the present invention provide an intelligent sensing method for a simulated head model. Figure 1 This is a flowchart of the intelligent sensing method for the simulated head model in an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes: Step 101: Collect real-time multimodal data of the operation on the simulation head model within a preset time period; the real-time multimodal data includes real-time sensing data and coordinate information corresponding to the real-time sensing data; the real-time sensing data and / or coordinate information are determined using a sensing array layer laid in the target adjacent tooth area of ​​the simulation head model; the sensing array layer is laid on a rigid support layer in the target adjacent tooth area; a gingival simulation encapsulation layer is covered on the sensing array layer; the sensing array layer is divided into four quadrants in a cross-orthogonal manner according to a preset origin; Step 102: Use a hardware clock to perform timing alignment on the real-time multimodal data; Step 103: Based on the real-time sensor data after time-series alignment and the coordinate information corresponding to the real-time sensor data, determine the coordinate information of the force application center point and the displacement trajectory information of the force application center point coordinate information. Step 104: Based on the displacement trajectory information, determine the deviation data of the actual applied force direction from the pre-installed applied force direction; Step 105: Based on the real-time multimodal data after time-series alignment, the force direction deviation data, and the pre-configured abnormal operation judgment decision table, output an abnormal operation warning.

[0018] Compared with existing technologies, the embodiments of the present invention, through the above steps, can achieve precise mechanical sensing, multimodal data fusion analysis, real-time abnormal operation identification and warning, thereby improving the effectiveness of oral operation skills training and the timeliness and objectivity of assessment.

[0019] By implanting a flexible pressure sensor array in the adjacent tooth area, fusing multimodal data in real time, and constructing a standardized operation parameter library, this method overcomes the limitations of traditional single-dimensional perception and subjective scoring. It enables a comprehensive quantitative evaluation of the rationality of fulcrum selection, the accuracy of force direction, and the safety of mechanical load during tooth extraction. Through three core technologies—flexible bionic sensing, multimodal data fusion, and real-time intelligent decision-making—it completely solves the four major bottleneck problems of traditional oral training systems: monitoring blind spots, feedback distortion, single analysis dimensions, and subjective scoring. For the first time, it realizes a paradigm shift in tooth extraction operation from "experience-driven assessment" to "data-driven assessment," significantly improving the error recognition rate and setting a new standard for skills training and assessment.

[0020] In one embodiment, a recessed positioning groove with a preset depth is formed on the rigid support layer in the alveolar crest region corresponding to the target adjacent tooth; the sensing array layer is a flexible sensing array layer that is tightly fitted in the recessed positioning groove; the flexible sensor units in the flexible sensing array layer are arranged in a cross pattern in the buccal, lingual and mesial-distal directions of the mandible to form a spatial grid; and the gingival simulation encapsulation layer is tightly fitted on the sensing array layer.

[0021] In this embodiment, the content of the bionic sensing module is first introduced. The bionic sensing module is embedded in the standardized simulation head model. The structure and working principle of the bionic sensing module are as follows: Physical layout and rigid-flexible coupling integrated structure of flexible pressure sensors: This invention does not simply "implant" the sensor into the gums, but designs a sandwich-style rigid-flexible coupling structure of "rigid support - flexible sensing - biomimetic covering" to solve the problem that traditional sensors are prone to relative sliding under force, leading to data distortion.

[0022] Integration hierarchy (from inside to outside): Rigid support layer: Simulated alveolar bone 3D printed using high-strength resin material. A recessed positioning groove with a depth of 0.8mm-1.0mm is pre-designed and machined in the alveolar ridge crest region corresponding to adjacent teeth.

[0023] Flexible sensor array layer: A PDMS (Polydimethylsiloxane) + carbon nanotube composite thin film sensor array is used. This array is precisely laid in a recessed positioning groove and led out to the internal cavity of the model through a micro FPC (Flexible Printed Circuit) cable through a wire hole reserved in the alveolar bone.

[0024] Flexible overlay (encapsulation layer): Liquid biomimetic silicone is used to cover the sensor to simulate the viscoelasticity of real gums.

[0025] Its working principle is as follows: When extraction forceps or elevators are used to pry open adjacent teeth, the instruments compress the surface of the biomimetic silicone gingiva, causing the gingiva to deform and precisely transmit the pressure to the flexible sensor below. Because the back of the sensor is embedded in a recessed groove in the rigid alveolar bone, an effective "pressure clamping" measurement effect is formed, eliminating sensor slippage errors caused by tangential forces.

[0026] Sensor implantation and packaging process steps: (1) Skeletal pretreatment: Using 3D printing technology, a simulated mandible is manufactured. A positioning groove with a depth of 1mm is precisely positioned on the alveolar bone surface of the target adjacent tooth area, and a 2mm diameter cable shuttle channel is reserved at the bottom of the groove.

[0027] (2) Sensor bonding: Apply a layer of insulating epoxy resin evenly in the positioning groove, flatly bond the flexible sensor array in the groove, remove air bubbles to ensure complete bonding, and lead the FPC cable through the cable channel to the mandibular cavity.

[0028] (3) Gingival molding: The mandibular matrix with the sensor attached is fixed in a special gingival molding mold.

[0029] (4) Integrated encapsulation: Liquid silicone that simulates gums is injected. After the silicone is cured at a constant temperature, a seamless and tight bond and integrated encapsulation of the bionic gums, flexible sensor and rigid alveolar bone is achieved.

[0030] In one embodiment, the four quadrants are divided according to their location as: mesial buccal quadrant, distal buccal quadrant, mesial lingual quadrant, and distal lingual quadrant.

[0031] In this embodiment, the sensors in the adjacent tooth area are arranged in a cross pattern along the buccal-lingual (BL) and mesiodistal (MD) directions to form a spatial grid (such as the mesiobuccal side, the distolingual side, etc.). To achieve accurate capture of the spatial force direction of the extraction instrument, this method abandons the traditional single scalar pressure measurement and adopts a quadrant partition mapping layout combined with the center of pressure (COP) algorithm.

[0032] Quadrant partitioning: The stress area around adjacent teeth is divided into four spatial quadrants in a cross-shaped orthogonal pattern. Region A (Mesial-Buccal): Corresponds to the dangerous fulcrum area for prying outward and forward during tooth extraction; Region B (distal-buccal): The corresponding fulcrum region for posterior prying; Region C (Mesial-Lingual, near the mid-lingual side); Region D (distal-lingual).

[0033] In one embodiment, the real-time multimodal data further includes instrument pose information and / or operation images; the instrument pose information is acquired using a pose tracker mounted on the instrument.

[0034] In one embodiment, collecting real-time multimodal data of operations performed on the simulation head model within a preset time period includes: determining the global hardware clock signal output by the hardware clock as the unique physical reference signal to trigger the collection of real-time multimodal data; and adding an absolute timestamp to the real-time multimodal data using the hardware clock when the real-time multimodal data enters the data buffer.

[0035] In this embodiment, timing alignment of real-time multimodal data is performed using a hardware clock, including: timing alignment of real-time multimodal data based on absolute timestamps.

[0036] In this embodiment, the present invention provides a collaborative working mechanism for the data synchronization module, including: A multimodal data microsecond-level synchronization mechanism based on FPGA (Field Programmable Gate Array) hardware clock. Tooth extraction is a transient, high-frequency mechanical interaction process, and traditional software-based data alignment cannot meet the low-latency requirements of surgery.

[0037] Hardware physical-level clock synchronization: The data synchronization module of this invention uses the main control FPGA chip as its core, and does not rely on the software time of the operating system. Instead, the FPGA directly outputs a 100MHz global hardware clock signal. This clock signal serves as the sole physical reference signal, forcibly triggering all sensor buses.

[0038] Synchronization protocols and timing alignment: 1. Global Trigger: Abandoning the traditional software-based round-robin calls, this system uses the FPGA as the synchronous control core to send unified high and low level transition commands to all sensors. Upon receiving this global trigger, the flexible pressure sensor array, pose tracker, and camera module extract current state data (analog pressure quantity, spatial coordinate vector, and image frame), thereby completely eliminating communication delays caused by operating system task scheduling.

[0039] 2. Hard-coded timestamps: The data streams acquired by each sensor (pressure scalar, instrument 3D coordinates, video frames) are directly imprinted with a unified absolute timestamp by the FPGA hardware layer the moment they enter the data buffer FIFO (First In First Out).

[0040] 3. Multimodal fusion: The intelligent analysis module, based on a global timestamp, achieves precise alignment of multi-source asynchronous data frames. This mechanism completely eliminates time-difference interference caused by differences in sensor sampling rates, and unifies the transient force on the fulcrum, the three-dimensional motion trajectory of the instrument, and visual images, providing underlying data support for determining instantaneous errors such as "excessive leverage operation."

[0041] Figure 2 The flowchart is a specific example of the intelligent sensing method for the simulated head model in the embodiments of the present invention, such as... Figure 2 As shown, in one embodiment, determining the coordinate information of the force application center point and the displacement trajectory information of the force application center point coordinate information based on the time-aligned real-time sensing data and the coordinate information corresponding to the real-time sensing data may include: Step 201: Determine the abscissa in the coordinate information of the force application center point based on the real-time sensor data after time alignment and the abscissa in the coordinate information corresponding to the real-time sensor data. Step 202: Determine the ordinate of the force application center point coordinate information based on the real-time sensor data after time alignment and the ordinate in the coordinate information corresponding to the real-time sensor data. Step 203: Determine the displacement trajectory information based on the coordinates of the force application center point within the preset time period.

[0042] In this embodiment, the coordinates of the force application center point are determined according to the following formula: ; ; Where Xcop is the abscissa of the force application center point coordinate information; Ycop is the ordinate of the force application center point coordinate information; Pi is the real-time sensing data; xi is the abscissa of the coordinate information corresponding to the real-time sensing data Pi; and yi is the ordinate of the coordinate information corresponding to the real-time sensing data Pi.

[0043] In this embodiment, the force vector analysis algorithm extracts the coordinate positions and real-time pressure values ​​of each sensing unit, and reversely analyzes the force direction by calculating the offset trajectory of the center of pressure (COP). The two-dimensional physical coordinates of each sensing unit in the array are set as (xi, yi), and the real-time measured pressure value is Pi. The mathematical formula for calculating the coordinates (Xcop, Ycop) of the center of pressure is as shown above. By continuously tracking the displacement trajectory and offset angle of (Xcop, Ycop) in the four quadrants, the three-dimensional force direction deviation (e.g., excessive offset towards the mesial cheek side by 15°) can be calculated in real time, thereby providing quantified vector data input for the dynamic decision engine.

[0044] In one embodiment, the abnormal operation judgment decision table is pre-configured with parameter thresholds corresponding to quadrants.

[0045] In this embodiment, the abnormal operation warning is output based on the time-aligned real-time multimodal data, the force direction deviation data, and the pre-configured abnormal operation judgment decision table. This may include: determining the target parameter threshold based on the abnormal operation judgment decision table and the quadrant corresponding to the time-aligned real-time multimodal data; and outputting the abnormal operation warning when the time-aligned real-time multimodal data and / or the force direction deviation data are greater than the corresponding target parameter threshold.

[0046] In this embodiment, the abnormal operation judgment decision table is shown in Table 1 below: Table 1

[0047] In this embodiment, based on the time-aligned real-time multimodal data, force direction deviation data, and a pre-configured abnormal operation judgment decision table, an abnormal operation warning is output, which may include: Decision 1: If the pressure in the adjacent tooth area is >15N, the deviation of the applied force angle is >10°, and the duration is >1.5s, it is judged as "high-risk lever error"; Decision 2: If the instrument movement speed is >5mm / s and the pressure change rate is >10N / s, determine "forceful prying error".

[0048] Figure 3 This is a schematic diagram of the intelligent sensing system for the simulated head model in an embodiment of the present invention, as shown below. Figure 3 As shown in the figure, this embodiment of the invention also provides a simulated head model intelligent sensing system. The system structure includes: a bionic sensing module, a data synchronization module, and an intelligent analysis unit. The intelligent analysis unit can perform functions such as... Figure 3 As shown, a standardized simulation head mold can also be embedded outside the simulated head mold. The biomimetic sensing module, for example... Figure 3As shown, the model includes: a rigid support layer: a simulated alveolar bone 3D printed using high-strength resin material. A recessed positioning groove with a depth of 0.8mm-1.0mm is pre-designed and fabricated in the alveolar ridge crest region corresponding to adjacent teeth. A flexible sensor array layer: a flexible pressure sensor array using a PDMS (Polydimethylsiloxane) + carbon nanotube composite film. This array is precisely laid within the recessed positioning groove and led out to the internal cavity of the model through a micro-FPC (Flexible Printed Circuit) cable passing through pre-drilled wire holes in the alveolar bone.

[0049] Flexible overlay (encapsulation layer): A liquid biomimetic silicone gingival layer is used to cover the sensor, simulating the viscoelasticity of real gums.

[0050] In this embodiment, the target adjacent tooth is at the fulcrum. When the operator operates on the target tooth, the above-mentioned simulated head model intelligent sensing system can perform real-time monitoring and early warning.

[0051] like Figure 3 As shown, in addition to pre-designing a flexible sensor array layer in the alveolar crest region corresponding to the adjacent tooth, sensors can also be installed at appropriate locations on the target tooth and / or the target adjacent tooth to assist in monitoring and early warning. Figure 3 Sensors are not required in areas marked with an "X". Installation can be done according to the user's needs, which will not be elaborated here.

[0052] This invention also provides a simulated head model intelligent sensing device, as described in the following embodiments. Since the principle by which this device solves the problem is similar to that of the simulated head model intelligent sensing method, the implementation of this device can refer to the implementation of the simulated head model intelligent sensing method; repeated details will not be elaborated further.

[0053] Figure 4 This is a schematic diagram of the structure of the intelligent sensing device for the simulated head model in an embodiment of the present invention, as shown below. Figure 4 As shown, the device includes: The real-time multimodal data acquisition module 401 is used to acquire real-time multimodal data of the operation on the simulation head model within a preset time period. The real-time multimodal data includes real-time sensing data and coordinate information corresponding to the real-time sensing data. The real-time sensing data and / or coordinate information are determined by a sensing array layer laid in the target adjacent tooth area of ​​the simulation head model. The sensing array layer is laid on a rigid support layer in the target adjacent tooth area. A gingival simulation encapsulation layer is covered on the sensing array layer. The sensing array layer is divided into four quadrants in a cross-orthogonal manner according to a preset origin. The timing alignment module 402 is used to perform timing alignment on real-time multimodal data using a hardware clock; The force application center point determination module 403 is used to determine the force application center point coordinate information and the displacement trajectory information of the force application center point coordinate information based on the real-time sensing data after time-series alignment and the coordinate information corresponding to the real-time sensing data. The force direction deviation data determination module 404 is used to determine the force direction deviation data between the actual force application direction and the pre-installed force application direction based on the displacement trajectory information. The abnormal operation warning output module 405 is used to output abnormal operation warnings based on the real-time multimodal data after time alignment, the force direction deviation data, and the pre-configured abnormal operation judgment decision table.

[0054] In one embodiment, the real-time multimodal data further includes instrument pose information and / or operation images; the instrument pose information is acquired using a pose tracker mounted on the instrument.

[0055] In one embodiment, a recessed positioning groove with a preset depth is formed on the rigid support layer in the alveolar crest region corresponding to the target adjacent tooth; The sensor array layer is a flexible sensor array layer that is tightly fitted into the recessed positioning groove; the flexible sensor units in the flexible sensor array layer are arranged in a cross pattern along the buccal and lingual sides and the mesial and distal directions of the mandible to form a spatial grid. The gingival simulation encapsulation layer is tightly bonded to the sensor array layer.

[0056] In one embodiment, the four quadrants are divided according to their location as: mesial buccal quadrant, distal buccal quadrant, mesial lingual quadrant, and distal lingual quadrant.

[0057] In one embodiment, the real-time multimodal data acquisition module 401 is specifically used for: The global hardware clock signal output by the hardware clock is determined as the unique physical reference signal to trigger the acquisition of real-time multimodal data; When real-time multimodal data enters the data buffer, an absolute timestamp is added to the real-time multimodal data using a hardware clock; Timing alignment module 402 is specifically used for: Real-time multimodal data is time-series aligned based on absolute timestamps.

[0058] In one embodiment, the force application center point determination module 403 is used for: Based on the real-time sensor data after time-series alignment and the horizontal coordinate in the coordinate information corresponding to the real-time sensor data, determine the horizontal coordinate in the coordinate information of the force application center point; Based on the real-time sensor data after time-series alignment and the ordinate in the coordinate information corresponding to the real-time sensor data, determine the ordinate in the coordinate information of the force application center point. Based on the coordinates of the center point of force application within a preset time period, the displacement trajectory information is determined.

[0059] In one embodiment, the coordinates of the force application center point are determined according to the following formula: ; ; Where Xcop is the abscissa of the force application center point coordinate information; Ycop is the ordinate of the force application center point coordinate information; Pi is the real-time sensing data; xi is the abscissa of the coordinate information corresponding to the real-time sensing data Pi; and yi is the ordinate of the coordinate information corresponding to the real-time sensing data Pi.

[0060] In one embodiment, the abnormal operation judgment decision table is pre-configured with parameter thresholds corresponding to quadrants; The abnormal operation warning output module 405 is specifically used for: Based on the abnormal operation judgment decision table and the quadrant corresponding to the real-time multimodal data after time-series alignment, the target parameter threshold is determined; If the real-time multimodal data and / or force direction deviation data after time alignment are greater than the corresponding target parameter threshold, an abnormal operation warning will be output.

[0061] Figure 5 This is a schematic diagram of a computer device in an embodiment of the present invention. Based on the foregoing inventive concept, as follows... Figure 5 As shown, the present invention also proposes a computer device 500, including a memory 501, a processor 502, and a computer program 503 stored in the memory 501 and executable on the processor 502. When the processor 502 executes the computer program 503, it implements the aforementioned intelligent sensing method for the simulated head model.

[0062] Based on the aforementioned inventive concept, this invention proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned intelligent sensing method for the simulated head model.

[0063] Based on the aforementioned inventive concept, the present invention proposes a computer program product, which includes a computer program that, when executed by a processor, implements a simulated head model intelligent sensing method.

[0064] Compared with existing technologies, this invention collects real-time multimodal data of operations performed on a simulated head model within a preset time period. The real-time multimodal data includes real-time sensing data and corresponding coordinate information. The real-time sensing data and / or coordinate information are determined using a sensing array layer laid on the target adjacent tooth region of the simulated head model. The sensing array layer is laid on a rigid support layer on the target adjacent tooth region. A gingival simulation encapsulation layer covers the sensing array layer. The sensing array layer is divided into four quadrants in a cross-orthogonal manner according to a preset origin. A hardware clock is used to perform timing synchronization on the real-time multimodal data. Based on the real-time sensor data after time-series alignment and the corresponding coordinate information, the coordinate information of the force application center point and the displacement trajectory information of the force application center point coordinate information are determined; based on the displacement trajectory information, the deviation data of the actual force application direction from the pre-set force application direction is determined; based on the real-time multimodal data after time-series alignment, the force application direction deviation data, and the pre-configured abnormal operation judgment decision table, abnormal operation warnings are output. This can achieve precise mechanical perception, multimodal data fusion analysis, real-time abnormal operation identification and warning, and improve the effectiveness of oral operation skills training and the timeliness and objectivity of assessment.

[0065] This invention, through the innovative design of the following core technical features, systematically solves the technical bottlenecks of traditional oral simulation training systems in areas such as fulcrum monitoring, mechanical feedback, data fusion, and real-time error correction. Specific beneficial effects are as follows: 1. Flexible pressure sensor array in adjacent tooth area: A high-density flexible pressure sensor array was implanted in the adjacent tooth area of ​​the simulated head model to cover the fulcrum contact area that was not monitored by traditional technology.

[0066] 2. Three-dimensional force direction vector analysis: Based on the pressure difference of the cross-laid sensing units, the three-dimensional angular deviation of the force direction is calculated in real time.

[0067] 3. Synchronous fusion of multimodal data: A hardware clock synchronizes pressure, pose, and visual data streams, enabling spatiotemporally aligned multimodal analysis. Here, the "hardware clock" is a physical reference signal used by the FPGA chip to force the camera, pressure sensor, and positioner to acquire data at the same microsecond interval. The data synchronization module, centered on the main control FPGA, timestamps pressure data, instrument pose data, and visual image data using a unified system clock. The flexible pressure sensor array outputs pressure data at a fixed sampling frequency, while visual data is acquired by internal or external camera modules within the head mold. All data types are timestamped during acquisition and aligned according to the timestamps during data processing, achieving synchronous fusion analysis of multimodal data.

[0068] 4. Dynamic decision-making model and standardized parameter library: This invention systematically solves the technical bottlenecks of traditional oral training systems, such as monitoring blind spots, feedback distortion, and high scoring subjectivity, through three core innovations: full-dimensional monitoring of adjacent tooth areas, high-fidelity biomechanical sensing, and multimodal real-time decision-making. It provides the first fully quantified, high-fidelity solution for oral skills assessment and has significant potential for widespread application.

[0069] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0070] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0071] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0073] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for intelligent sensing of a simulated head model, characterized in that, include: Real-time multimodal data of the operation on the simulation head model is collected within a preset time period; The real-time multimodal data includes real-time sensing data and coordinate information corresponding to the real-time sensing data; the real-time sensing data and / or the coordinate information are determined using a sensing array layer laid in the target adjacent tooth region of the simulated head model; the sensing array layer is laid on a rigid support layer in the target adjacent tooth region; a gingival simulation encapsulation layer is covered on the sensing array layer; the sensing array layer is divided into four quadrants in a cross-orthogonal manner according to a preset origin. The real-time multimodal data is time-aligned using a hardware clock; Based on the real-time sensing data after time-series alignment and the coordinate information corresponding to the real-time sensing data, the coordinate information of the force application center point and the displacement trajectory information of the force application center point coordinate information are determined. Based on the displacement trajectory information, determine the deviation data of the actual applied force direction from the pre-installed applied force direction; Based on the real-time multimodal data after time alignment, the force direction deviation data, and the pre-configured abnormal operation judgment decision table, an abnormal operation warning is output.

2. The method as described in claim 1, characterized in that, The real-time multimodal data also includes the pose information of the operating instrument and / or the operation image; the pose information of the instrument is collected using a pose tracker installed on the operating instrument.

3. The method as described in claim 1, characterized in that, The rigid support layer has a recessed positioning groove at a preset depth in the alveolar crest region corresponding to the target adjacent tooth; The sensing array layer is a flexible sensing array layer that is tightly fitted into the recessed positioning groove; the flexible sensor units in the flexible sensing array layer are arranged in a cross pattern along the buccal and lingual sides and the mesial and distal directions of the mandible to form a spatial grid. The gingival simulation encapsulation layer is tightly attached to the sensor array layer.

4. The method as described in claim 1, characterized in that, The four quadrants are divided according to their position as follows: mesial buccal quadrant, distal buccal quadrant, mesial lingual quadrant, and distal lingual quadrant.

5. The method as described in claim 1, characterized in that, Real-time multimodal data of operations performed on the simulated head model are collected within a preset time period, including: The global hardware clock signal output by the hardware clock is determined as the unique physical reference signal to trigger the acquisition of real-time multimodal data; At the moment when the real-time multimodal data enters the data buffer, an absolute timestamp is added to the real-time multimodal data using a hardware clock; Timing alignment of the real-time multimodal data using a hardware clock includes: The real-time multimodal data is time-aligned based on the absolute timestamp.

6. The method as described in claim 1, characterized in that, Based on the time-aligned real-time sensing data and the corresponding coordinate information, the coordinate information of the force application center point and the displacement trajectory information of the force application center point are determined, including: Based on the real-time sensing data after time-series alignment and the horizontal coordinate in the coordinate information corresponding to the real-time sensing data, determine the horizontal coordinate in the coordinate information of the force application center point; Based on the real-time sensing data after time alignment and the ordinate in the coordinate information corresponding to the real-time sensing data, determine the ordinate in the coordinate information of the force application center point; The displacement trajectory information is determined based on the coordinates of the center point of the applied force within the preset time period.

7. The method as described in claim 6, characterized in that, The coordinates of the center point of force application are determined using the following formula: ； ； Where Xcop is the abscissa of the force application center point coordinate information; Ycop is the ordinate of the force application center point coordinate information; Pi is the real-time sensing data; xi is the abscissa of the coordinate information corresponding to the real-time sensing data Pi; and yi is the ordinate of the coordinate information corresponding to the real-time sensing data Pi.

8. The method as described in claim 1, characterized in that, The abnormal operation judgment decision table is pre-configured with parameter thresholds corresponding to the quadrants. Based on the time-aligned real-time multimodal data, the applied force direction deviation data, and the pre-configured abnormal operation judgment decision table, an abnormal operation warning is output, including: The target parameter threshold is determined based on the abnormal operation judgment decision table and the quadrant corresponding to the time-series aligned real-time multimodal data. When the time-aligned real-time multimodal data and / or the force direction deviation data are greater than the corresponding target parameter threshold, an abnormal operation warning is output.

9. A simulated head model intelligent sensing device, characterized in that, include: The real-time multimodal data acquisition module is used to acquire real-time multimodal data of the operation on the simulation head model within a preset time period; The real-time multimodal data includes real-time sensing data and coordinate information corresponding to the real-time sensing data; the real-time sensing data and / or the coordinate information are determined using a sensing array layer laid in the target adjacent tooth region of the simulated head model; the sensing array layer is laid on a rigid support layer in the target adjacent tooth region; a gingival simulation encapsulation layer is covered on the sensing array layer; the sensing array layer is divided into four quadrants in a cross-orthogonal manner according to a preset origin. A timing alignment module is used to perform timing alignment on the real-time multimodal data using a hardware clock; The force application center point determination module is used to determine the force application center point coordinate information and the displacement trajectory information of the force application center point coordinate information based on the real-time sensing data after time-series alignment and the coordinate information corresponding to the real-time sensing data. The force direction deviation data determination module is used to determine the force direction deviation data between the actual force application direction and the pre-installed force application direction based on the displacement trajectory information. The abnormal operation warning output module is used to output abnormal operation warnings based on the real-time multimodal data after time-series alignment, the force direction deviation data, and the pre-configured abnormal operation judgment decision table.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 8.

12. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 8.

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