Orthodontic treatment evaluation

Abstract

Devices, systems, and methods for orthodontic treatment, orthodontic treatment planning, and orthodontic treatment evaluation are disclosed herein. Various embodiments of the technology are directed to methods of obtaining a plurality of digital models representing a patient's teeth in various arrangements and displaying the digital models to an operator such as an orthodontist, patient, etc. In some embodiments, the arrangement of the patient's teeth can comprise a predicted arrangement and / or an actual arrangement. Various embodiments of the technology relate to creating a more realistic final arrangement of a patient's teeth based on the actual position of brackets on the patient's teeth. Some embodiments relate to displaying to an operator two or more digital models of a patient's teeth and / or bracket arrangements that are specific to the operator via a graphical user interface to facilitate evaluation of the tooth and / or bracket arrangements.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 368,216, filed Jul. 12, 2022, and U.S. Provisional Patent Application No. 63 / 380,349, filed Oct. 20, 2022, each of which is incorporated herein by reference in its entirety.

[0002] (Technical Field) The present technology relates to orthodontic treatment planning and associated devices, systems, and methods.

Background Art

[0003] A common goal in orthodontics is to move a patient's teeth to an optimal and aesthetically functional position. To move the teeth, an orthodontist begins by obtaining multiple scans and / or impressions of the patient's teeth to determine a series of corrective paths between the initial and desired final positions of the teeth. The orthodontist then attaches one of two main types of devices to the patient, namely, a brace or an aligner.

[0004] Conventional braces consist of brackets and archwires that are placed across the front of the teeth, with elastic ties or ligature wires securing the archwires to the brackets. In some cases, self-ligating brackets can be used instead of ties or wires. Not only the shape and rigidity of the archwire but also the archwire-bracket interaction controls the forces applied to the teeth and, thus, the direction and extent of tooth movement. To exert the desired forces on the teeth, orthodontists often bend the archwires manually. The orthodontist monitors the patient's progress through regular appointments, during which the orthodontist visually assesses the progress of treatment, makes manual adjustments to the archwire (new bends, etc.), and / or replaces or repositions brackets. The adjustment process is both time-consuming and cumbersome for the patient, and in most cases causes discomfort to the patient for several days after the appointment. Additionally, braces are not aesthetically pleasing and make brushing, flossing, and other dental hygiene procedures difficult.

[0005] Aligners are clear, removable polymer shells with cavities shaped to receive and reposition the teeth to produce the final tooth arrangement. Aligners provide patients with significantly improved aesthetics compared to braces. Aligners do not require the orthodontist to bend wires or reposition brackets and are generally more comfortable than braces. However, unlike braces, aligners cannot effectively treat all malocclusions. Certain tooth movement steps such as extrusion, translational movement, and some rotations can be difficult or impossible to achieve using aligners. Additionally, because aligners are removable, treatment success depends heavily on patient compliance, which can be unpredictable and inconsistent.

[0006] Lingual braces are an alternative to aligners and conventional (buccal) braces and have gained popularity in recent years. Two examples of existing lingual braces are Incognito TMAn Appliance System (3M United States) and INBRACE® (Swift Health Systems (Irvine, California, USA)), each of which consists of brackets placed on the lingual or tongue side of the teeth and an archwire. In contrast to conventional braces, lingual braces are virtually invisible, and unlike aligners, lingual braces are fixed to the patient's teeth and enforce compliance. However, these existing lingual technologies also have several disadvantages. Most notably, conventional lingual devices still rely on a bracket-archwire system to move the teeth and thus require multiple office visits and painful adjustments. For example, lingual technology has a relatively short bracket-to-bracket distance, which generally makes the compliance of the archwire stiffer. As a result, the overall lingual device is more sensitive to archwire adjustments and causes more pain to the patient. Additionally, the lingual surface of the device can irritate the tongue, affect speech, and make it difficult to clean the device.

[0007] Accordingly, there is a need for improved orthodontic devices and methods of treatment planning. SUMMARY OF THE INVENTION BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Various embodiments of the present technology are directed to digital orthodontic treatment planning. The subject technology is illustrated in accordance with various aspects described below, including, for example, with reference to FIGS. 1-26C. Various examples of aspects of the subject technology are described as numbered examples (1, 2, 3, etc.) for convenience. These are provided by way of example and do not limit the subject technology. 1. A method, the method comprising: creating a first digital model representing a patient's teeth in an original position prior to an orthodontic intervention; creating a second digital model representing a patient's teeth in a planned position prior to the orthodontic intervention; At a certain time after the start of orthodontic intervention, creating a third digital model representing the patient's teeth in their current position Displaying, via a display device, images of the first, second, and third digital models overlaid on one another A method comprising the above 2. A method, the method comprising Creating a first digital model representing the patient's teeth in their original position with orthodontic brackets on the patient's teeth at the intended position for the patient's teeth Creating a second digital model representing the patient's teeth in their planned position with orthodontic brackets on the patient's teeth at the intended position for the patient's teeth Creating a third digital model representing the patient's teeth in their current position with orthodontic brackets on the patient's teeth at the actual position for the patient's teeth Displaying, via a display device, images of the first, second, and third digital models overlaid on one another A method comprising the above 3. A method, the method Creating a first digital model representing the patient's teeth in their original position with orthodontic brackets on the patient's teeth at the intended position for the patient's teeth Creating a second digital model representing the patient's teeth in their planned position with orthodontic brackets on the patient's teeth at the intended position for the patient's teeth Creating a third digital model representing the patient's teeth in their current position with orthodontic brackets on the patient's teeth at the actual position for the patient's teeth Obtaining a positional difference between the actual position and the intended position of the orthodontic brackets Creating a fourth digital model representing the patient's teeth in a realistic planned position with orthodontic brackets on the patient's teeth at the actual position for the patient's teeth, at least partially based on the positional difference A method comprising the above 4. Each of the positional differences between the actual position and the intended position of the dental correction bracket is determined by the method described in Example 3, which constitutes a transformation matrix. 5. Creating the fourth digital model includes applying the inverse matrix of the transformation matrix to the planned position, using the method described in Example 3 or Example 4. 6. The actual position of the dental correction bracket in the fourth digital model substantially corresponds to the intended position of the dental correction bracket in the second digital model, using the method described in any one of Items 1 to 5 of Example 3. 7. Obtaining each of the positional differences includes aligning each of one of the patient's teeth from the third digital model and one of the dental correction brackets on one of the patient's teeth with the corresponding one of the patient's teeth from the first digital model or the second digital model, using the method described in any one of Items 1 to 6 of Example 3. 8. Aligning each of one of the patient's teeth from the third digital model and one of the dental correction brackets on one of the patient's teeth with the corresponding one of the patient's teeth in the first digital model or the second digital model includes determining a transformation that reduces the error parameter characterizing the positional difference between one of the patient's teeth from the third digital model and the corresponding one of the patient's teeth from the first digital model or the second digital model when applied to each of one of the patient's teeth from the third digital model and one of the dental correction brackets on one of the patient's teeth, using the method described in Example 7. 9. Obtaining each of the positional differences includes aligning each of one of the patient's teeth from the first digital model or the second digital model and one of the dental correction brackets on one of the patient's teeth with the corresponding one of the patient's teeth from the third digital model, using the method described in any one of Items 1 to 8 of Example 3. 10. Aligning each of one of the patient's teeth from the first digital model or the second digital model and one of the dental correction brackets on one of the patient's teeth with the corresponding one of the patient's teeth in the third digital model involves determining a transformation that reduces the error parameter characterizing the positional difference between one of the patient's teeth from the first digital model or the second digital model and the corresponding one of the patient's teeth from the third digital model when applied to one of the patient's teeth from the first digital model or the second digital model and one of the dental correction brackets on one of the patient's teeth, the method according to Example 9. 11. The error parameter characterizes the positional difference between a first point on the crown of one of the patient's teeth from the first digital model or the second digital model and a second point on the crown of one of the patient's teeth from the third digital model, the method according to Example 8 or Example 10. 12. The error parameter characterizes the positional difference between a first point on the root of one of the patient's teeth from the first digital model or the second digital model and a second point on the root of one of the patient's teeth from the third digital model, the method according to Example 8, Example 10, or Example 11. 13. If one of the actual positions of one of the dental correction brackets is apical to the corresponding one of the intended positions of one of the dental correction brackets relative to the corresponding one of the patient's teeth, the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is extruded relative to the corresponding one of the planned positions of one of the patient's teeth, the method according to any one of Items 3-12. 14. If one of the actual positions of one of the dental correction brackets is occlusal to the corresponding one of the intended positions of one of the dental correction brackets relative to the corresponding one of the patient's teeth, the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is depressed relative to the corresponding one of the planned positions of one of the patient's teeth, the method according to any one of Items 3-13. 15. If one of the actual positions of one of the dental correction brackets is more mesial than the corresponding one of the intended positions of one of the dental correction brackets with respect to the corresponding one of the patient's teeth, the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is distal with respect to the corresponding one of the planned positions of one of the patient's teeth, the method according to any one of items 3-14. 16. If one of the actual positions of one of the dental correction brackets is more distal than the corresponding one of the intended positions of one of the dental correction brackets with respect to the corresponding one of the patient's teeth, the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is mesial with respect to the corresponding one of the planned positions of one of the patient's teeth, the method according to any one of items 3-15. 17. If one of the actual positions of one of the dental correction brackets is rotated around the buccolingual dimension more than the corresponding one of the intended positions of one of the dental correction brackets with respect to the corresponding one of the patient's teeth, the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is tilted with respect to the corresponding one of the planned positions of one of the patient's teeth, the method according to any one of items 3-16. 18. If one of the actual positions of one of the dental correction brackets is rotated around the mesiodistal dimension more than the corresponding one of the intended positions of one of the dental correction brackets with respect to the corresponding one of the patient's teeth, the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is twisted with respect to the corresponding one of the planned positions of one of the patient's teeth, the method according to any one of items 3-17. 19. If one of the actual positions of one of the dental correction brackets is rotated around the occlusal gingival dimension of one of the dental correction brackets relative to the corresponding one of the intended positions of one of the dental correction brackets, then the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is rotated around the occlusal gingival dimension relative to the corresponding one of the planned positions of one of the patient's teeth. The method according to any one of items 3-18. 20. A method, the method comprising: via a graphical user interface of a computing device, presenting to the user an original tooth arrangement (OTA) digital model characterizing the original positions of the patient's teeth, a planned tooth arrangement (PTA) digital model characterizing the planned positions of the patient's teeth, and an actual tooth arrangement (ATA) digital model characterizing the actual positions of the patient's teeth The method including presenting. 21. The method according to item 20, wherein the OTA digital model, the PTA digital model, and the ATA digital model are superimposed on one another. 22. The method according to item 20 or item 21, wherein at least one of the OTA digital model, the PTA digital model, or the ATA digital model characterizes a dental correction bracket positioned on the patient's teeth. 23. The method according to item 22, wherein at least one of the OTA digital model, the PTA digital model, or the ATA digital model characterizes a dental correction bracket at an intended position on the patient's teeth. 24. The method according to item 22, wherein at least one of the OTA digital model, the PTA digital model, or the ATA digital model characterizes a dental correction bracket at an actual position on the patient's teeth. 25. The PTA digital model characterizes the planned positions of the patient's teeth based on the intended positions of the dental correction brackets on the patient's teeth. The method according to any one of items 20-24. 26. The PTA digital model is the method according to any one of items 20 - 25, which characterizes the planned positions of the patient's teeth based on the actual positions of the orthodontic brackets on the patient's teeth. 27. Each of the OTA digital model, the PTA digital model, and the ATA digital model is the method according to any one of items 20 - 26, which is displayed in a unique color. 28. At least one of the OTA digital model, the PTA digital model, or the ATA digital model is the method according to any one of items 20 - 27, which is displayed at least partially transparently. 29. A computer-readable medium storing instructions, which when executed by a computing system having a memory and a processor, creates a first digital model representing the patient's teeth in their original positions prior to orthodontic intervention; creates a second digital model representing the patient's teeth in their planned positions prior to orthodontic intervention; creates a third digital model representing the patient's teeth in their current positions at some time after the start of orthodontic intervention; displays, via a display device, images of the first, second, and third digital models overlaid on one another; A computer-readable medium that causes a computing system to perform a method including the above. 30. A computer-readable medium storing instructions, which when executed by a computing system having a memory and a processor, creates a first digital model representing the patient's teeth in their original positions with orthodontic brackets on the patient's teeth at the intended positions for the patient's teeth; creates a second digital model representing the patient's teeth in their planned positions with orthodontic brackets on the patient's teeth at the intended positions for the patient's teeth; Creating a third digital model representing the patient's teeth in the current position with orthodontic brackets on the patient's teeth at the actual position relative to the patient's teeth; Displaying, via a display device, images of the first, second, and third digital models overlaid on one another; A computer-readable medium that causes a computing system to perform a method comprising the above. A computer-readable medium storing instructions that, when executed by a computing system having a memory and a processor, Create a first digital model representing the patient's teeth in the original position with orthodontic brackets on the patient's teeth at the intended position relative to the patient's teeth; Create a second digital model representing the patient's teeth in the planned position with orthodontic brackets on the patient's teeth at the intended position relative to the patient's teeth; Create a third digital model representing the patient's teeth in the current position with orthodontic brackets on the patient's teeth at the actual position relative to the patient's teeth; Obtain a positional difference between the actual position and the intended position of the orthodontic bracket; Create a fourth digital model representing the patient's teeth in a realistic planned position with orthodontic brackets on the patient's teeth at the actual position relative to the patient's teeth, at least partially based on the positional difference; A computer-readable medium that causes a computing system to perform a method comprising the above. 32. Each of the positional differences between the actual position and the intended position of the orthodontic bracket constitutes a transformation matrix, the computer-readable medium according to Example 31. 33. Creating the fourth digital model includes applying the inverse matrix of the transformation matrix to the planned position, the computer-readable medium according to Example 32. 34. The actual position of the orthodontic bracket in the fourth digital model substantially corresponds to the intended position of the orthodontic bracket in the second digital model, a computer-readable medium as described in Example 31. 35. Obtaining each one of the positional differences includes aligning each one of one of the patient's teeth from the third digital model and one of the orthodontic brackets on one of the patient's teeth to a corresponding one of the patient's teeth from the first digital model or the second digital model, a computer-readable medium as described in Example 31. 36. Aligning each one of one of the patient's teeth from the third digital model and one of the orthodontic brackets on one of the patient's teeth to a corresponding one of the patient's teeth in the first digital model or the second digital model includes determining a transformation that, when applied to each one of one of the patient's teeth from the third digital model and one of the orthodontic brackets on one of the patient's teeth, reduces an error parameter that characterizes the positional difference between one of the patient's teeth from the third digital model and the corresponding one of the patient's teeth from the first digital model or the second digital model, a computer-readable medium as described in Example 35. 37. Obtaining each one of the positional differences includes aligning each one of one of the patient's teeth from the first digital model or the second digital model and one of the orthodontic brackets on one of the patient's teeth to a corresponding one of the patient's teeth from the third digital model, a computer-readable medium as described in Example 31. Aligning each one of one of the patient's teeth from the first digital model or the second digital model and each one of the orthodontic brackets on one of the patient's teeth to the corresponding one of the patient's teeth in the third digital model involves determining a transformation that reduces an error parameter characterizing a positional difference between one of the patient's teeth from the first digital model or the second digital model and the corresponding one of the patient's teeth from the third digital model when applied to each one of one of the patient's teeth from the first digital model or the second digital model and each one of the orthodontic brackets on one of the patient's teeth, the computer-readable medium according to Example 37. 39. The error parameter characterizes a positional difference between a first point on the crown of one of the patient's teeth from the first digital model or the second digital model and a second point on the crown of one of the patient's teeth from the third digital model, the computer-readable medium according to Example 36 or Example 38. 40. The error parameter characterizes a positional difference between a first point on the root of one of the patient's teeth from the first digital model or the second digital model and a second point on the root of one of the patient's teeth from the third digital model, the computer-readable medium according to Example 36, Example 38, or Example 39. 41. If one of the actual positions of one of the orthodontic brackets is apical to the corresponding one of the intended positions of one of the orthodontic brackets relative to the corresponding one of the patient's teeth, the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is extruded relative to the corresponding one of the planned positions of one of the patient's teeth, the computer-readable medium according to Example 31. 42. A computer-readable medium according to example 31, wherein one of the actual positions of one of the orthodontic brackets is occlusal to the corresponding one of the intended positions of one of the orthodontic brackets relative to the corresponding one of the patient's teeth, and the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is depressed relative to the corresponding one of the planned positions of one of the patient's teeth. 43. A computer-readable medium according to example 31, wherein one of the actual positions of one of the orthodontic brackets is mesial to the corresponding one of the intended positions of one of the orthodontic brackets relative to the corresponding one of the patient's teeth, and the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is distal to the corresponding one of the planned positions of one of the patient's teeth. 44. A computer-readable medium according to example 31, wherein one of the actual positions of one of the orthodontic brackets is distal to the corresponding one of the intended positions of one of the orthodontic brackets relative to the corresponding one of the patient's teeth, and the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is mesial to the corresponding one of the planned positions of one of the patient's teeth. 45. A computer-readable medium according to example 31, wherein one of the actual positions of one of the orthodontic brackets is rotated around the buccolingual dimension relative to the corresponding one of the intended positions of one of the orthodontic brackets relative to the corresponding one of the patient's teeth, and the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is tilted relative to the corresponding one of the planned positions of one of the patient's teeth. 46. A computer-readable medium as described in Example 31, wherein one of the actual positions of one of the orthodontic brackets is rotated around the mesiodistal dimension closer to the corresponding one of the intended positions of one of the orthodontic brackets than the corresponding one of the corresponding teeth of the patient, and the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is twisted with respect to the corresponding one of the planned positions of one of the patient's teeth. 47. A computer-readable medium as described in Example 31, wherein one of the actual positions of one of the orthodontic brackets is rotated around the occlusogingival dimension of one of the orthodontic brackets more than the corresponding one of the intended positions of one of the orthodontic brackets, and the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is rotated around the occlusogingival dimension with respect to the corresponding one of the planned positions of one of the patient's teeth. 48. A computer-readable medium storing instructions that, when executed by a computing system having a memory and a processor, cause the computing system to perform a method including displaying to the user, via a graphical user interface of a computing device, an original tooth arrangement (OTA) digital model characterizing the original positions of the patient's teeth, a planned tooth arrangement (PTA) digital model characterizing the planned positions of the patient's teeth, and an actual tooth arrangement (ATA) digital model characterizing the actual positions of the patient's teeth as described in Example 48. 49. The computer-readable medium as described in Example 48, wherein the OTA digital model, the PTA digital model, and the ATA digital model are overlaid on top of each other. 50. The computer-readable medium as described in Example 48, wherein at least one of the OTA digital model, the PTA digital model, or the ATA digital model characterizes an orthodontic bracket positioned on the patient's teeth. 51. At least one of the OTA digital model, the PTA digital model, or the ATA digital model is a computer-readable medium according to Example 50, which characterizes an orthodontic bracket at an intended position on a patient's tooth. 52. At least one of the OTA digital model, the PTA digital model, or the ATA digital model is a computer-readable medium according to Example 50, which characterizes an orthodontic bracket at an actual position on a patient's tooth. 53. The PTA digital model is a computer-readable medium according to Example 48, which characterizes a planned position of a patient's tooth based on an intended position of an orthodontic bracket on the patient's tooth. 54. The PTA digital model is a computer-readable medium according to Example 48, which characterizes a planned position of a patient's tooth based on an actual position of an orthodontic bracket on the patient's tooth. 55. Each of the OTA digital model, the PTA digital model, and the ATA digital model is a computer-readable medium according to Example 48, which is displayed in a unique color. 56. At least one of the OTA digital model, the PTA digital model, or the ATA digital model is a computer-readable medium according to Example 48, which is displayed at least partially transparently.

Brief Description of the Drawings

[0009] Many aspects of the present disclosure can be understood more deeply with reference to the following drawings. The components in the drawings are not necessarily to scale. Instead, emphasis is placed on clearly illustrating the principles of the present disclosure.

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DETAILED DESCRIPTION OF THE INVENTION

[0036] A digital dental orthodontic treatment plan involves generating a 3D digital model of a patient's dental anatomical structure (e.g., teeth, gums, jawbone, etc.), which can be used to determine the planned movement of the patient's teeth to be achieved by orthodontic intervention (e.g., appliances, aligners, rubber bands, mini-screws, surgery, etc.). The teeth can then be moved by orthodontic intervention from their original position where they are misaligned and / or maloccluded to a final position where the alignment and occlusion of the teeth are improved. Such a treatment plan can facilitate the manufacture of custom orthodontic devices for moving the patient's teeth according to the planned movement.

[0037] During the digital dental orthodontic treatment planning process, various digital models representing the patient's teeth can be generated by the system of the present technology, such as an original tooth arrangement (OTA) digital model that virtually represents the teeth in their original position, a planned final tooth arrangement (pFTA) digital model that virtually represents the teeth in the planned final position, etc. Any of such digital models can include a virtual representation of orthodontic brackets positioned on the patient's teeth at the intended locations for the corresponding teeth.

[0038] The system of the present technology is configured to obtain an Actual Tooth Alignment (ATA) digital model representing the teeth of a patient after some or all of orthodontic treatment has been performed. The ATA digital model generated by the system can be compared with one or more digital models (e.g., OTA digital model, pFTA digital model, etc.) created during the treatment planning process to evaluate the accuracy and / or efficiency of the orthodontic treatment. By way of example only, the system of the present technology can compare one or more ATA digital models with an OTA digital model and / or a pFTA digital model to evaluate the distance the teeth have moved from their original position and / or whether the teeth have reached the desired final position. Further, when an orthodontic bracket is fixed to a patient's tooth at an actual location different from the intended location, the force applied to the tooth by the device fixed to the bracket is different from the intended force, and the tooth can be moved to a position other than the desired final position. Thus, it can be useful to compare the ATA digital model and the OTA digital model and / or the pFTA digital model to assess the extent to which the bracket is accurately bonded to the patient's tooth. The evaluation can lead to clinical training, further orthodontic treatment, and / or improvements in device design.

[0039] Various embodiments of the present technology relate to creating a Realistic Final Tooth Alignment (rFTA) digital model of a patient's teeth. As already described, in some cases, an orthodontic bracket can be fixed to a patient's tooth at an actual location different from the intended location used during the treatment planning process. Such inaccuracies in bracket placement can cause the orthodontic device to move the teeth to positions other than the planned final positions. Based on the actual position of the bracket relative to the tooth, it can be useful to determine the realistic final position of the tooth that should be achieved. The rFTA digital model can be compared with the ATA digital model to evaluate the extent to which the device has accurately moved the teeth.

[0040] A digital model of a patient's teeth can be displayed to a human operator via, for example, a graphical user interface (GUI) or any display device. Operators such as orthodontists, orthodontic assistants, patients, device manufacturers, etc. can view and / or manipulate the digital model in the graphical user interface to visualize various arrangements of the patient's teeth (e.g., original, planned, actual, etc.) and / or brackets fixed to the teeth (e.g., intended, actual, etc.), and evaluate proposed treatments, recently completed treatments, etc.

[0041] In some embodiments, it may be useful to simultaneously display to the operator two or more digital models of the patient's teeth via the GUI to facilitate interpretation of tooth position and / or movement. The digital models can be displayed separately simultaneously or overlaid on top of each other. Each digital model can be displayed in a unique color (e.g., the first digital model is displayed in a first color, the second digital model is displayed in a second color unique from the first color, etc.) to facilitate distinguishing the digital models from each other. Additionally, or alternatively, the transparency of one or more of the digital models can be controlled by the operator, for example, to facilitate visualization of overlapping structures.

[0042] Differences in position and / or shape between a tooth or bracket in one digital model and the same tooth or bracket in another digital model can be identified and optionally communicated to an operator. In some cases, communicating the differences to the operator may include color-coding, highlighting, shading, or otherwise representing the area where the differences occur. For example, if the difference between the 3D position and orientation of a patient's central incisor in a pFTA digital model and the 3D position and orientation of the central incisor in an rFTA digital model exceeds a predetermined threshold, the central incisor can be displayed with a unique color, pattern, contour, etc., and / or an alert can be displayed in a graphical user interface that displays text identifying the central incisor and / or the difference.

[0043] Overlaying two, three, or more digital models can include aligning one of the digital models to another of the digital models. In various embodiments, such alignment can include reducing or minimizing the distance between one of the digital models and another of the digital models and identifying and applying a transformation when applied to one of the digital models.

[0044] The system of the present technology can be configured to generate, for example, an OTA digital model of a dental arch and an ATA digital model of the dental arch, and to overlay the OTA digital model on the ATA digital model (or vice versa), as shown in FIG. 1. The system can be configured to display each of the OTA digital model and the ATA digital model with a unique color, opacity, shading, pattern, etc., to help distinguish the digital models when overlaid. The OTA digital model can represent the teeth of the dental arch in their original positions (e.g., prior to some or all implementations of orthodontic treatment), and the ATA digital model can represent the teeth of the dental arch in their actual positions at the time when the ATA digital model and / or the underlying data were acquired. For example, the ATA digital model can represent the teeth in their actual positions at a certain duration after the orthodontic treatment has started, after the orthodontic treatment has been completed, etc. As shown in FIG. 1, in some cases, the actual positions of the teeth can be different from their original positions. For example, if the ATA digital model is acquired after an orthodontic appliance has been fixed to the patient's teeth, the ATA digital model will reflect any changes in the positions of the teeth due to the forces applied to the teeth by the orthodontic appliance. For example, the teeth in the ATA digital model as shown in FIG. 1 can be aligned better than the teeth in the OTA digital model. In some cases, the actual positions of the teeth can correspond substantially to their original positions (e.g., if the ATA digital model was acquired prior to the implementation of orthodontic treatment, etc.).

[0045] The system of the present technology can be configured to generate, for example, a pFTA digital model of the dental arch and an ATA digital model of the dental arch, and to overlay the pFTA digital model on the ATA digital model (or vice versa), as shown in FIG. 2. Each of the pFTA digital model and the ATA digital model can be displayed with a unique color, opacity, shadow, pattern, etc. to help distinguish the digital models. The pFTA digital model can represent the teeth of the dental arch in a planned final position (e.g., after a planned orthodontic treatment with well-aligned teeth). In various embodiments, the pFTA digital model can be obtained by moving the teeth from the OTA digital model to the planned final position. As shown in FIG. 2, in some cases, the actual position of the teeth can be different from the planned final position of the teeth. For example, the orthodontic treatment may be incomplete (e.g., due to inaccurate device manufacturing, inaccurate bracket placement, biological variations, etc.) and / or the teeth may be moved to a position other than the planned final position, and the actual position can be different from the planned final position. For example, the teeth in the ATA digital model as shown in FIG. 2 can be insufficiently aligned with the teeth in the pFTA digital model.

[0046] The system of the present technology can be configured to overlay the OTA digital model, the ATA digital model, and the pFTA digital model. For example, FIG. 3 illustrates the OTA digital model of the dental arch of FIG. 1, the pFTA digital model of the dental arch of FIG. 2, and the ATA digital model of the dental arch of FIGS. 1 and 2 overlaid on one another. Displaying two or more digital models overlaid on one another can facilitate the visualization of any differences in the position of the teeth. Further, displaying the OTA digital model, the pFTA digital model, and the ATA digital model overlaid on one another can convey, in a single image, the amount by which the patient's teeth have moved from their original positions and the distance they need to move to reach their planned final positions.

[0047] Figures 1-3 depict digital models of teeth without dental correction brackets. In some embodiments, the system can display one or more of the digital models with brackets. For example, FIG. 4 illustrates an OTA digital model of a dental arch with brackets, FIG. 5 illustrates a pFTA digital model of a dental arch with brackets, and FIG. 6 illustrates an rFTA digital model of a dental arch with brackets. FIG. 7 illustrates the OTA digital model of the dental arch of FIG. 4, the pFTA digital model of the dental arch of FIG. 5, and the rFTA digital model of the dental arch of FIG. 6 superimposed on one another according to the present technology. The brackets can be shown at the intended positions relative to the teeth, which can be determined manually by an operator and / or automatically by a software program during the treatment planning process. Additionally, or alternatively, the brackets can be shown at the actual positions relative to the teeth that represent the true positions of the brackets on the teeth after the brackets are physically joined to the teeth.

[0048] In some embodiments, it may be advantageous to evaluate the actual positions at which dental correction brackets are joined to a patient's teeth. The brackets can be joined to the patient's teeth via an indirect bonding tray and / or via direct bonding. In either case, the brackets can be joined to the patient's teeth at actual positions that differ from the intended positions of the brackets relative to the patient's teeth. For example, errors in bracket positioning can occur due to defects in the bonding tray, human error, complex anatomical structures, and other reasons. The position of the brackets on the teeth can affect the magnitude and / or direction of the force applied to the teeth by an apparatus via the brackets. As a result, the teeth can be moved to positions other than the planned final positions by such an apparatus. Therefore, it may be useful to obtain an rFTA digital model that characterizes the realistic final positions of the patient's teeth based on the actual positions of the brackets relative to the patient's teeth. As shown in FIG. 7, the rFTA can differ from the pFTA if the actual position of the bracket differs from the intended position of the bracket.

[0049] Obtaining an rFTA digital model can include obtaining an ATA digital model representing the patient's teeth in the current position with dental correction brackets on the patient's teeth at the actual position relative to the patient's teeth, and obtaining an OTA digital model representing the patient's teeth in the original position with dental correction brackets on the patient's teeth at the intended position relative to the patient's teeth and / or a pFTA digital model representing the patient's teeth in the planned final position with dental correction brackets on the patient's teeth at the intended position relative to the patient's teeth. In some embodiments, each tooth of the ATA digital model can be aligned with the corresponding tooth of the OTA or pFTA digital model (or vice versa). Such alignment can include reducing or minimizing the error between the crown and / or root of the tooth in the ATA digital model and the crown and / or root of the tooth in the OTA or pFTA digital model. Next, obtaining the rFTA digital model can include obtaining a positional difference that characterizes the difference between the actual position of the brackets from the ATA digital model and the intended position of the brackets from the OTA digital model and / or pFTA digital model. The pFTA digital model can be modified based on the positional difference to create the rFTA digital model. For example, the teeth in the pFTA digital model can be translated and / or rotated based on the corresponding positional differences of the corresponding brackets to create an rFTA digital model representing the teeth in a realistic final position. In various embodiments, each positional difference can constitute a transformation matrix characterizing the translation and rotation in six degrees of freedom that characterize the difference between the actual position and the intended position of the brackets. Additionally, or alternatively, the teeth in the pFTA can be moved according to the inverse matrix of such a transformation matrix to obtain the realistic final position of the teeth in the rFTA. In some embodiments, the brackets in the rFTA are located at the same position in the global 3D coordinate system relative to the brackets in the pFTA.

[0050] Visualizing the differences between the actual position of brackets relative to a patient's teeth and the intended position of brackets relative to the patient's teeth can be useful. In some embodiments, a digital model of a patient's teeth can be displayed via a graphical user interface, along with the brackets at their intended positions relative to the teeth and the brackets at their actual positions relative to the teeth. FIG. 8 illustrates an example of an OTA digital model of an arch of teeth with brackets at the intended positions relative to the teeth and brackets at the actual positions relative to the teeth according to the present technique.

[0051] FIGS. 1-8 illustrate a digital model of one of a patient's dental arches, although it can be useful to evaluate and / or display both the patient's upper and lower dental arches. Some orthodontic treatments involve moving a patient's teeth according to an overall movement that each comprises one or more component movements of one or more teeth. For example, the overall movement can comprise movements that are specific to each tooth (e.g., in-arch movement), movements that are common to all of the teeth in one of the patient's dental arches (e.g., inter-arch movement), movements that are common to all of the teeth in both of the patient's dental arches, and the like. Visualizing both the patient's upper and lower dental arches simultaneously can facilitate the interpretation of such component movements. Visualizing both the patient's upper and lower dental arches in one arrangement (e.g., OTA, ATA, pFTA, rFTA, etc.) relative to the patient's upper and lower dental arches in another arrangement (e.g., OTA, ATA, pFTA, rFTA, etc.) can facilitate evaluating the magnitude and type of the planned component movements, evaluating the magnitude and type of the achieved component movements, and the like.

[0052] FIG. 9 illustrates the OTA digital models of both dental arches of a patient according to the present technique, FIG. 10 illustrates the pFTA digital models of both dental arches of a patient according to the present technique, and FIG. 11 illustrates the ATA digital models of both dental arches of a patient according to the present technique. FIG. 12 illustrates the OTA digital models of both dental arches of the patient of FIG. 9 and the ATA digital models of both dental arches of the patient of FIG. 11 superimposed on each other. The system of the present technique is configured to display the video shown in FIG. 12 to the user. FIG. 13 illustrates the pFTA digital models of both dental arches of the patient of FIG. 10 and the ATA digital models of both dental arches of the patient of FIG. 11 superimposed on each other. The system of the present technique is configured to display the video shown in FIG. 13 to the user. FIG. 14 illustrates the OTA digital models of both dental arches of the patient of FIG. 9, the pFTA digital models of both dental arches of the patient of FIG. 10, and the ATA digital models of both dental arches of the patient of FIG. 11 superimposed on each other. The system of the present technique is configured to display the video shown in FIG. 14 to the user.

[0053] FIG. 15 shows an exemplary method 1500 for digital dental orthodontic treatment planning according to some embodiments of the present technique. Method 1500 can include evaluating bracket positioning accuracy (1502), creating an rFTA based on the bracket accuracy analysis (1504), and modifying a shape forming (SF) fixture based on the bracket accuracy analysis (1506).

[0054] FIG. 16 shows an exemplary method 1600 for evaluating bracket positioning accuracy. Method 1600 can include obtaining (1602) one or more treatment planning models that can include an OTA digital model and / or a pFTA digital model. The treatment planning model can include one or more brackets positioned at the intended position for the corresponding tooth, as illustrated schematically in FIGS. 17A and 17B. For ease of explanation, the schematic diagrams depicted in the drawings showing determination of bracket inaccuracy and creation of rFTA are occlusal views of one tooth and one bracket. As shown in FIGS. 18A-18C, an ATA digital model can be obtained (1604) that characterizes the actual position of the bracket relative to the corresponding tooth after the bracket has been bonded to the patient's tooth.

[0055] The ATA digital model can be obtained after the bracket is bonded and before the device is manufactured. Obtaining the ATA digital model before installing the device can, for example, as discussed herein with reference to modifying the SF jig, enable the device design to be modified based on the actual bracket position. In some cases, it may not be practical to delay treatment to modify the device design based on the actual bracket position. Thus, the ATA digital model can be obtained after the bracket is bonded and after the device is installed. In such and other embodiments, the information obtained regarding bracket placement accuracy can be used to modify the design of the fine-tuning device, provide feedback to the clinician bonding the bracket, create and / or modify tools for facilitating bracket bonding, and the like.

[0056] In some cases, such as those shown in FIGS. 18A - 18C, the actual position of the bracket may differ from its intended position. In order to evaluate and quantify any differences between the actual and intended positions of the bracket, each tooth and its corresponding bracket in the ATA digital model can be compared to the respective tooth and corresponding bracket in one of the treatment planning models (e.g., OTA digital model, pFTA digital model, etc.). As shown in FIGS. 19A - 19C, the crown and / or root of the tooth from the treatment planning model can be aligned with the crown and / or root of the corresponding tooth from the ATA digital model (or vice versa) (1606). In particular, this alignment process involves aligning the crown and / or root of the corresponding teeth, but does not involve aligning the brackets of the corresponding teeth. To align a tooth in one digital model with the corresponding tooth in another digital model, a transformation that minimizes or reduces the distance between the two teeth can be calculated.

[0057] Comparison of the actual bracket position and the intended bracket position can be performed when the corresponding pairs of teeth from the treatment planning model and the ATA digital model are aligned. The differences in position and orientation between the actual and intended bracket positions can be characterized as a transformation matrix (1608). For example, the differences can be characterized as a 4×4 transformation matrix that, when applied to the intended position of the bracket, provides the actual position of the bracket. FIGS. 20A and 20B show an example of a transformation with a 30 - degree clockwise rotation from the solid - line bracket (ATA) to the dashed - line bracket (ATA) around the occlusal gingival axis passing through the black circle.

[0058] As previously described, the differences in bracket position can be used to generate an rFTA digital model. FIG. 21 shows a method 2100 for generating an rFTA digital model based on bracket inaccuracies according to some embodiments of the present technology. As shown in block 2102 and depicted schematically in FIGS. 22A-22D, the rFTA digital model can be generated by applying the inverse of the transformation matrix that characterizes the difference between the actual bracket position and the intended bracket position to one or more portions of the pFTA digital model and / or the ATA digital model. When applying the inverse of the transformation matrix to the pFTA digital model, the inverse transformation is applied only to each tooth and not to the corresponding bracket. As a result, the brackets in the rFTA digital model will be in the same position as the brackets in the pFTA digital model. When the device is shaped using the SF fixture, the attachment portion of the device (the portion configured to be fixed to the bracket) is set to the intended position of the bracket. Thus, even if the actual bracket position varies from the intended bracket position, when the device is deformed and installed in the patient's mouth, the device will return to its predetermined shape with the attachment portion and brackets at the intended bracket positions. However, if the actual position of the bracket is different from the intended position of the bracket, the teeth will not be aligned as expected. Therefore, the system of the present technology applies the inverse transformation to the teeth of the pFTA digital model but not to the brackets so that the rFTA digital model reflects that the brackets are in the intended positions but the teeth are misaligned. In particular, the inverse transformation is applied to the teeth at the point where the bracket inaccuracy was calculated (e.g., the center of mass of the bracket, the geometric center of the bracket, the datum of the bracket, etc.) to maintain a consistent axis of rotation. As shown in FIGS. 23A-23D, the rFTA digital model can be obtained from the ATA digital model by applying the inverse transformation to each tooth and bracket of the ATA digital model.

[0059] In some embodiments, it may be advantageous to modify the SF jig for setting the shape of the device based on the actual bracket position. FIG. 24 shows a method 2400 for modifying the SF jig based on bracket inaccuracies according to some embodiments of the present technology. Method 2400 can include generating an SF jig digital model (2402), where the manufactured SF digital model is used to fix the orthodontic device in a desired position during the shaping procedure, and in the shaping procedure, the orthodontic device is shaped into its installed configuration for moving teeth. The SF jig can have a fixed portion configured to hold the attachment portion of the device, and the position of the fixed portion can be based on the intended bracket position (SFi). As a result, when installed, the device will move the patient's teeth such that the attachment portion, and thereby the bracket, will be in the intended position. FIG. 25A shows a schematic lingual view of SFi with four teeth each with one fixed bracket. FIG. 25B shows an ATA model representing the difference between the actual and intended positions of the bracket in one embodiment. FIG. 25C shows the FTA resulting without correction. In such embodiments, the device shaped based on the SFi jig moves the teeth such that all of the attachment portions of the device are aligned as shown in SFi.

[0060] If the actual bracket position is different from the intended bracket position, the teeth in the FTA will not be aligned with the other teeth even though the bracket and attachment portion are in the intended position. Thus, it may be useful to modify the SF jig to reflect the actual bracket position. The system can be configured to generate a corrected SF jig (SFr) by applying a transformation characterizing the difference between the actual and intended bracket positions to the corresponding fixed portion of the SF jig. FIGS. 26A - 26C schematically depict various concepts related to correcting the SF jig based on the actual bracket position. In FIG. 26B, the actual bracket position is mesial and gingival to the intended bracket position.

[0061] According to some embodiments of the present technology, when a bracket positioning error is detected by the system, the system can be configured to instruct the physician to reattach the bracket, or the SF jig can be remanufactured and used to fabricate a new device. In that case, for each tooth, the system can move the SF mold hook by error conversion (not inverse conversion). This then corrects the tooth positioning.

[0062] The various processes described herein can be implemented partially or fully using program code including instructions executable by one or more processors of a computing system to implement specific logical functions or steps in the process. The program code can be stored on any type of computer-readable medium, such as a storage device or storage medium including, for example, a disk or hard drive, but not including a transitory computer-readable medium. The computer-readable medium containing the code or portion of the code can include any suitable medium known in the art, such as a non-transitory computer-readable storage medium. The computer-readable medium can include, but is not limited to, volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage and / or transmission of information such as random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory, or other memory technologies, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage devices, magnetic cassettes, magnetic tapes, magnetic disk storage devices, or other magnetic storage devices, solid state drives (SSD) or other solid state storage devices, or any other medium that can be used to store the desired information and can be accessed by a system device.

[0063] Conclusion While many of the embodiments have been described above with respect to systems, devices, and methods for orthodontic treatment evaluation, the present technology is applicable to other uses and / or other approaches. Further, in addition to those described herein, other embodiments are within the scope of the present technology. Additionally, some other embodiments of the present technology can have configurations, components, or techniques different from those described herein. One of ordinary skill in the art will, accordingly, understand that the present technology can have other embodiments with additional elements or that the present technology can have other embodiments without some of the features shown and described above.

[0064] The description of the embodiments of the present technology is not intended to be exhaustive or to limit the present technology to the precise forms disclosed above. Where context permits, the singular or plural terms may further include the plural or singular terms, respectively. Specific embodiments of the present technology and examples thereof have been described above for illustrative purposes, but as will be recognized by one of ordinary skill in the art, various equivalent modifications are possible within the scope of the present technology. For example, steps are presented in a given order, but alternative embodiments can perform the steps in a different order. The various embodiments described herein can further be combined to provide additional embodiments.

[0065] As used herein, the terms "generally", "substantially", "about", and similar terms are used as terms of approximation and not of degree and are intended to account for the inherent variations in measured or calculated values that would be recognized by one of ordinary skill in the art.

[0066] Moreover, unless the word "or" is explicitly limited to mean only a single item exclusively from among two or more items in a list, the use of "or" in such a list is to be construed as including (a) any single item in the list, (b) all of the items in the list, or (c) any combination of items in the list. In addition, the term "comprising" is used throughout to mean that at least the recited features are included, without excluding any greater number of the same features and / or additional types of other features. Further, it is to be understood that specific embodiments are described herein for purposes of illustration, and that various modifications may be made without departing from the present technology. Additionally, while the advantages associated with certain embodiments of the present technology are described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments necessarily need to exhibit such advantages in order to fall within the scope of the present technology. Accordingly, the present disclosure and the related art can encompass other embodiments not explicitly shown or described herein.

Claims

**Claim 1** A method, the method comprising: creating a first digital model representing the patient's teeth in their original position prior to dental orthodontic intervention; creating a second digital model representing the patient's teeth in a planned position prior to the dental orthodontic intervention; creating a third digital model representing the patient's teeth in their current position at a certain time after the start of the dental orthodontic intervention; displaying, via a display device, images of the first, second, and third digital models overlaid on one another. A method as described above. **Claim 2** A method, the method comprising: creating a first digital model representing the patient's teeth in their original position with dental orthodontic brackets on the patient's teeth at the intended position; creating a second digital model representing the patient's teeth in a planned position with dental orthodontic brackets on the patient's teeth at the intended position; creating a third digital model representing the patient's teeth in their current position with dental orthodontic brackets on the patient's teeth at the actual position; displaying, via a display device, images of the first, second, and third digital models overlaid on one another. A method as described above. **Claim 3** A method, the method comprising: creating a first digital model representing the patient's teeth in their original position with dental orthodontic brackets on the patient's teeth at the intended position; creating a second digital model representing the patient's teeth in a planned position with dental orthodontic brackets on the patient's teeth at the intended position; creating a third digital model representing the patient's teeth in their current position with dental orthodontic brackets on the patient's teeth at the actual position; obtaining a positional difference between the actual position and the intended position of the dental orthodontic brackets; creating a fourth digital model representing the patient's teeth in a realistic planned position with dental orthodontic brackets on the patient's teeth at the actual position, at least partially based on the positional difference. A method as described above. **Claim 4** Each of the positional differences between the actual position and the intended position of the dental correction bracket is the method according to claim 3, which constitutes a transformation matrix.

5. The method according to claim 4, wherein creating the fourth digital model includes applying the inverse matrix of the transformation matrix to the planned position.

6. The method according to claim 3, wherein the actual position of the dental correction bracket in the fourth digital model substantially corresponds to the intended position of the dental correction bracket in the second digital model.

7. The method according to claim 3, wherein obtaining each one of the positional differences includes aligning each one of one of the patient's teeth from the third digital model and one of the dental correction brackets above the one of the patient's teeth with a corresponding one of the patient's teeth from the first digital model or the second digital model.

8. Aligning each one of one of the patient's teeth from the third digital model and one of the dental correction brackets above the one of the patient's teeth with a corresponding one of the patient's teeth in the first digital model or the second digital model, when applied to each one of one of the patient's teeth from the third digital model and one of the dental correction brackets above the one of the patient's teeth, determines a transformation that reduces an error parameter characterizing the positional difference between the one of the patient's teeth from the third digital model and the corresponding one of the patient's teeth from the first digital model or the second digital model. The method according to claim 7.

9. The method according to claim 3, wherein obtaining each one of the positional differences includes aligning each one of one of the patient's teeth from the first digital model or the second digital model and one of the dental correction brackets above the one of the patient's teeth with a corresponding one of the patient's teeth from the third digital model.

10. Aligning one of the patient's teeth from the first digital model or the second digital model and each respective one of the orthodontic brackets on top of the one of the patient's teeth to the corresponding one of the patient's teeth in the third digital model includes determining a transformation that, when applied to the one of the patient's teeth from the first digital model or the second digital model and each respective one of the orthodontic brackets on top of the one of the patient's teeth, reduces an error parameter that characterizes a positional difference between the one of the patient's teeth from the first digital model or the second digital model and the corresponding one of the patient's teeth from the third digital model. The method according to claim 9.

11. The error parameter characterizes the positional difference between a first point on the crown of the one of the patient's teeth from the first digital model or the second digital model and a second point on the crown of the one of the patient's teeth from the third digital model. The method according to claim 8 or claim 10.

12. The error parameter characterizes the positional difference between a first point on the root of the one of the patient's teeth from the first digital model or the second digital model and a second point on the root of the one of the patient's teeth from the third digital model. The method according to claim 8, claim 10, or claim 11.

13. If one of the actual positions of one of the orthodontic brackets is apical to the corresponding one of the intended positions of the one of the orthodontic brackets relative to the corresponding one of the patient's teeth, the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is extruded relative to the corresponding one of the planned positions of the one of the patient's teeth. The method according to claim 3.

14. If one of the actual positions of one of the dental correction brackets is occlusal to the corresponding one of the intended positions of the one dental correction bracket relative to the corresponding one of the patient's teeth, then the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is depressed relative to the corresponding one of the planned positions of the one of the patient's teeth. The method according to claim 3.

15. If one of the actual positions of one of the dental correction brackets is mesial to the corresponding one of the intended positions of the one dental correction bracket relative to the corresponding one of the patient's teeth, then the corresponding one of the corrected planned positions of the corresponding one of the patient's teeth is distal to the corresponding one of the planned positions of the one of the patient's teeth. The method according to claim 3.

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