A method for automatically aligning a 3D single-tooth model onto 3D oral scan data, and a computer-readable recording medium containing a program for executing this method on a computer.

Abstract

This invention provides a method for automatically aligning a 3D single-tooth model onto 3D oral scan data. [Solution] A method for automatically aligning a 3D single tooth model to 3D oral scan data includes the steps of: determining the tooth curve formed by the teeth in the 3D oral scan data; determining the margin line and region of interest of the target tooth in the 3D oral scan data; determining the first axis, second axis, and third axis of the 3D oral scan data in the region of interest; determining the single tooth feature points of the 3D single tooth model; determining the fourth axis, fifth axis, and sixth axis of the 3D single tooth model based on the single tooth feature points; and aligning the 3D single tooth model to the 3D oral scan data such that the fourth axis, fifth axis, and sixth axis of the 3D single tooth model coincide with the first axis, second axis, and third axis of the 3D oral scan data, respectively.

Description

Technical Field

[0001] The present invention relates to a method for automatically aligning a three-dimensional single tooth model with three-dimensional oral scan data, and a computer-readable recording medium having recorded thereon a program for causing a computer to execute the same. More specifically, the present invention relates to a method for automatically aligning a three-dimensional single tooth model with three-dimensional oral scan data that can be automatically executed and can shorten the production time and process of a prosthesis, and a computer-readable recording medium having recorded thereon a program for causing a computer to execute the same.

Background Art

[0002] Three-dimensional oral scan data refers to data obtained by scanning teeth, the oral cavity, or an object that mimics or reconstructs the same with a three-dimensional scanner. Dental treatments such as inlays, onlays, crowns, implants, and orthodontics can acquire a patient's oral data and use it for prosthesis or implant design, orthodontic appliance production, and the like.

[0003] Conventionally, a method mainly used is to directly mimic the oral cavity using alginate or the like and then manually produce prostheses, implants, orthodontic appliances, and the like. Recently, a digital method has been increasingly used, in which three-dimensional oral scan data of a patient is acquired using a three-dimensional scanner, and prostheses, implants, orthodontic appliances, and the like are designed using a computer and three-dimensionally printed.

[0004] In the digital method, a three-dimensional single tooth model such as a tooth library model designed in advance for each tooth number or mesh data generated by an individual such as a dental technician or dentist is used.

[0005] In order to manufacture prostheses, implants, and orthodontic appliances using a digital method, the three-dimensional single-tooth model needs to be aligned onto three-dimensional oral scan data. If the process of aligning the three-dimensional single-tooth model onto the three-dimensional oral scan data is performed manually, it increases the fatigue level of the dentist or dental technician, and reduces the accuracy and productivity of the resulting product. [Overview of the project] [Problems that the invention aims to solve]

[0006] The objective of the present invention is to provide a method for automatically aligning a 3D single-tooth model onto 3D oral scan data in order to shorten the time and process of manufacturing prostheses, implants, orthodontic appliances, dental treatment instruments, and the like.

[0007] Another object of the present invention is to provide a computer-readable recording medium on which a program for causing a computer to execute a method for automatically aligning the three-dimensional single tooth model with the three-dimensional oral scan data is recorded. [Means for solving the problem]

[0008] A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to one embodiment for achieving the objectives of the present invention is characterized by including the steps of: determining oral scan feature points of the three-dimensional oral scan data and the tooth curve formed by the teeth in the three-dimensional oral scan data; determining the margin line and region of interest of the target tooth in the three-dimensional oral scan data; determining the first axis, second axis, and third axis of the three-dimensional oral scan data in the region of interest based on the oral scan feature points; determining the single tooth feature points of the three-dimensional single tooth model; determining the fourth axis, fifth axis, and sixth axis of the three-dimensional single tooth model based on the single tooth feature points; and aligning the three-dimensional single tooth model to the three-dimensional oral scan data such that the fourth axis, fifth axis, and sixth axis of the three-dimensional single tooth model coincide with the first axis, second axis, and third axis of the three-dimensional oral scan data, respectively.

[0009] The method further includes the step of adjusting the size of the three-dimensional single-tooth model based on the margin line of the target tooth in the three-dimensional oral scan data. The method further includes the step of adjusting the height of the three-dimensional single-tooth model based on the height of adjacent teeth adjacent to the target tooth in the three-dimensional oral scan data.

[0010] The method further includes the step of adjusting the width of the three-dimensional single-tooth model based on the contact points where the three-dimensional single-tooth model contacts adjacent teeth adjacent to the target tooth in the three-dimensional oral scan data.

[0011] The first axis of the three-dimensional oral scan data is defined by the tangent direction of the tooth curve. The second axis of the three-dimensional oral scan data indicates the direction of tooth insertion, or the direction opposite to the insertion direction.

[0012] The third axis of the three-dimensional oral scan data is defined by the cross product of the first vector of the first axis and the second vector of the second axis. The oral scan feature points include at least three feature points located within the three-dimensional oral scan data.

[0013] The oral scan feature point includes a first feature point located in the first step of the tooth curve, a second feature point located in the second step of the tooth curve, and a third feature point located at the midpoint of the tooth curve.

[0014] The fourth axis of the three-dimensional single-tooth model indicates the left-right direction of the tooth within the three-dimensional single-tooth model. The fifth axis of the three-dimensional single-tooth model indicates the direction of the occlusal surface of the tooth within the single-tooth model, or the direction opposite to the direction of the occlusal surface.

[0015] The sixth axis of the three-dimensional single-tooth model is defined by the cross product of the fourth vector of the fourth axis and the fifth vector of the fifth axis. The single tooth feature point includes at least two feature points defined on the tooth in the single tooth model in order to determine the fourth axis.

[0016] The single tooth feature point further includes at least two feature points defined on the tooth in the single tooth model in order to determine the fifth axis. The oral scan feature points and tooth curves of the three-dimensional oral scan data are determined using a first artificial intelligence neural network.

[0017] The margin lines and regions of interest of the target teeth in the three-dimensional oral scan data are determined using a second artificial intelligence neural network, which is different from the first artificial intelligence neural network. The single tooth feature points of the three-dimensional single tooth model are determined using a third artificial intelligence neural network that is different from the first and second artificial intelligence neural networks.

[0018] The process further includes adjusting the height of the three-dimensional single tooth model based on a first distance from a first plane in the three-dimensional oral scan data to a first point in the target tooth in the three-dimensional oral scan data, and a second distance from the first plane to a second point in the three-dimensional single tooth model.

[0019] The first distance is the distance from the first plane to the position of the target tooth, and the second distance is the distance from the first plane to the position on the occlusal surface of the three-dimensional single tooth model. The height of the three-dimensional single tooth model is adjusted so that the second distance matches the first distance.

[0020] The program for causing a computer to perform a method of automatically aligning a 3D single-tooth model onto the aforementioned 3D oral scan data is recorded on a computer-readable recording medium. [Effects of the Invention]

[0021] According to the method for automatically aligning a 3D single tooth model to 3D oral scan data according to the present invention, the 3D single tooth model is automatically aligned to the 3D oral scan data, thereby reducing the fatigue of the dentist or dental technician who aligns the 3D single tooth model to the 3D oral scan data, and improving the accuracy of the alignment of the single tooth model.

[0022] Furthermore, the aligned single-tooth model can be used in the fabrication of prostheses, implants, orthodontic appliances, dental treatment instruments, etc., thereby reducing the effort required for the fabrication of prostheses, implants, orthodontic appliances, dental treatment instruments, etc., and improving the accuracy and productivity of prostheses, implants, orthodontic appliances, dental treatment instruments, etc.

[0023] In addition, in some steps of the method for automatically aligning the three-dimensional single tooth model with the three-dimensional oral scan data, deep learning is used. When deep learning is used, the work fatigue of dentists or dental technicians for aligning the single tooth model with the three-dimensional oral scan data can be further reduced, and the accuracy of aligning the single tooth model can be further improved.

Brief Description of Drawings

[0024] [Figure 1] FIG. 1 is a flowchart showing a method for automatically aligning a three-dimensional single tooth model with three-dimensional oral scan data according to an embodiment of the present invention. [Figure 2a] FIG. 2a is a diagram showing an example of three-dimensional oral scan data in FIG. 1. [Figure 2b] FIG. 2b is a diagram showing an example of three-dimensional oral scan data in FIG. 1. [Figure 2c] FIG. 2c is a diagram showing an example of a three-dimensional single tooth model in FIG. 1. [Figure 2d] FIG. 2d is a diagram showing an example of a three-dimensional single tooth model in FIG. 1. [Figure 2e] FIG. 2e is a diagram showing an example of a three-dimensional single tooth model in FIG. 1. [Figure 2f] FIG. 2f is a diagram showing an example of a three-dimensional single tooth model in FIG. 1. [Figure 3] FIG. 3 is a diagram showing feature points and tooth curves of the three-dimensional oral scan data in FIG. 1. [Figure 4] FIG. 4 is a diagram showing a margin line of the three-dimensional oral scan data in FIG. 1. [Figure 5] FIG. 5 is a diagram showing the first axis, the second axis, and the third axis of the three-dimensional oral scan data in FIG. 1. [Figure 6] FIG. 6 is a diagram showing the fourth axis, the fifth axis, and the sixth axis of the single tooth model in FIG. 1. [Figure 7]Figure 7 shows the underside of the single tooth model in Figure 1, corresponding to the margin line of the 3D oral scan data in Figure 1. [Figure 8] Figure 8 shows an example of adjusting the size of the 3D single-tooth model in Figure 1, taking into account the margin lines of the 3D oral scan data in Figure 1. [Figure 9] Figure 9 shows an example of adjusting the size of the 3D single-tooth model in Figure 1. [Figure 10] Figure 10 shows an example of adjusting the size of the 3D single-tooth model in Figure 1. [Figure 11a] Figure 11a shows an example of 3D oral scan data. [Figure 11b] Figure 11b shows the result of combining the 3D oral scan data from Figure 11a with a 3D single-tooth model. [Figure 12a] Figure 12a shows an example of 3D oral scan data. [Figure 12b] Figure 12b shows the result of combining the 3D oral scan data from Figure 12a with a 3D single-tooth model. [Figure 13a] Figure 13a shows an example of 3D oral scan data. [Figure 13b] Figure 13b shows the result of combining the 3D oral scan data from Figure 13a with a 3D single-tooth model. [Modes for carrying out the invention]

[0025] With respect to the embodiments of the present invention shown herein, specific structural or functional descriptions are provided merely as examples for the purpose of illustrating the embodiments of the present invention, and the embodiments of the present invention can be carried out in various forms and should not be interpreted as being limited to the embodiments described herein.

[0026] The present invention can be modified in various ways and may take many forms. Specific embodiments are illustrated in the drawings and described in detail in the text. However, this should be understood not as an attempt to limit the invention to any particular disclosure, but rather as encompassing all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the invention.

[0027] Terms such as "first," "second," etc., are used to describe various components, but the components should not be limited by such terms. The terms are used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may refer to the second component, and similarly, the second component may refer to the first component.

[0028] When one component is described as being "linked" or "connected" to another component, it should be understood that this can mean that the other component is directly linked or connected to it, or that another component may exist in between. On the other hand, when one component is described as being "directly linked" or "directly connected" to another component, it should be understood that there is no other component in between. Other expressions describing the relationships between components, such as "between" and "immediately between," or "adjacent to" and "directly adjacent to," should be analyzed in the same way.

[0029] The terms used in this application are used solely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as “includes” or “having” are intended to specify the existence of features, figures, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood not to preemptively exclude the existence or possibility of adding one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0030] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as they would be generally understood by a person of ordinary skill in the art to which this invention pertains. Terms as defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as an ideal or overly formal meaning unless explicitly defined herein.

[0031] On the other hand, if a certain embodiment can be realized in a different way, the functions or actions specified within a particular block may occur differently from the procedure specified in the flowchart. For example, two consecutive blocks may actually occur substantially simultaneously, and depending on the functions or actions involved, the blocks may also occur in reverse order.

[0032] Preferred embodiments of the present invention will be described in more detail below with reference to the attached drawings. Identical components in the drawings are denoted by the same reference numerals, and redundant descriptions of the same components are omitted.

[0033] Figure 1 is a flowchart showing a method for automatically aligning a 3D single tooth model to 3D oral scan data according to one embodiment of the present invention. As shown in Figure 1, a method for automatically aligning a 3D single tooth model to 3D oral scan data according to one embodiment of the present invention includes the steps of: determining the oral scan feature points of the 3D oral scan data and the tooth curve formed by the teeth in the 3D oral scan data (step S100); determining the margin line and region of interest of the target tooth in the 3D oral scan data (step S200); and determining the first axis, second axis, and third axis of the 3D oral scan data in the region of interest based on the oral scan feature points (step S200). The method includes the steps of: step S300; determining the single tooth feature points of the 3D single tooth model (step S400); determining the fourth axis, fifth axis, and sixth axis of the 3D single tooth model based on the single tooth feature points (step S500); and aligning the 3D single tooth model with the 3D oral scan data (step S600) such that the fourth axis, fifth axis, and sixth axis of the 3D single tooth model coincide with the first axis, second axis, and third axis of the 3D oral scan data, respectively. The method for automatically aligning the 3D single tooth model with the 3D oral scan data further includes the step of adjusting the size of the 3D single tooth model (step S700) taking into account the margin line of the target tooth in the 3D oral scan data and adjacent teeth adjacent to the target tooth.

[0034] One embodiment of the method for automatically aligning a 3D single-tooth model onto 3D oral scan data is performed by a computer device. Figure 2a shows an example of 3D oral scan data in Figure 1. Figure 2b shows an example of 3D oral scan data in Figure 1. Figure 2c shows an example of a 3D single tooth model in Figure 1. Figure 2d shows an example of a 3D single tooth model in Figure 1. Figure 2e shows an example of a 3D single tooth model in Figure 1. Figure 2f shows an example of a 3D single tooth model in Figure 1.

[0035] The aforementioned 3D oral scan data refers to data obtained by scanning teeth and the oral cavity, or an object that mimics or reconstructs them, with a 3D scanner. For example, the aforementioned 3D oral scan data is mesh data that includes 3D points (vertices) and triangular or rectangular faces generated by connecting the points. The data is image data captured by a 3D scanner. There are no restrictions on the file extension of the 3D oral scan data; for example, it can be any one of ply, obj, or stl.

[0036] Figures 2a and 2b show examples of 3D oral scan data, respectively. Figure 2a shows 3D oral scan data for the entire arch of the maxilla or mandible, and Figure 2b This is 3D oral scan data for a partial arch of the maxilla or mandible. The method for automatically aligning a 3D single tooth model to 3D oral scan data according to one embodiment of the present invention is applicable to oral scan data for the entire area shown in Figure 2a and oral scan data for a partial area shown in Figure 2b.

[0037] The aforementioned three-dimensional single model is either a tooth library model pre-designed for each tooth number, or mesh data generated by an individual such as a dental technician or dentist. The tooth library model is a type of sample tooth (standard tooth) used for manufacturing prostheses, implants, orthodontic appliances, etc., and has a typical tooth shape. The tooth library model has one sample tooth (standard tooth) for each tooth number. The three-dimensional oral scan data is captured by a scanner, and the mesh quality is somewhat low. If the mesh quality is low, it is not suitable for manufacturing prostheses, implants, orthodontic appliances, etc. by 3D printing. In contrast, the three-dimensional tooth library model is a tooth model with a relatively high mesh quality. Therefore, when modifying the three-dimensional tooth library model to manufacture prostheses, implants, orthodontic appliances, etc., it is very suitable for use with a 3D printing method. Therefore, when the three-dimensional tooth library model is aligned with the patient's oral scan data, it becomes a suitable model for manufacturing prostheses, implants, orthodontic appliances, etc. by digital means.

[0038] Figures 2c, 2d, 2e, and 2f each show an example of a three-dimensional single-tooth model. Figure 2c is a three-dimensional single-tooth model for an anterior tooth, Figure 2d is a three-dimensional single-tooth model for a canine tooth, Figure 2e is a three-dimensional single-tooth model for a small molar (premolar), and Figure 2f is a three-dimensional single-tooth model for a large molar (molar). The method for automatically aligning a three-dimensional single-tooth model to three-dimensional oral scan data according to one embodiment of the present invention can be applied to all of the single-tooth models for anterior teeth (Figure 2c), canines (Figure 2d), premolars (Figure 2e), and molars (Figure 2f).

[0039] Figure 3 shows the feature points and tooth curves of the 3D oral scan data in Figure 1. Figure 4 shows the margin lines of the 3D oral scan data in Figure 1. Figure 5 shows the first axis (LR1), second axis (XA1), and third axis (BL1) of the 3D oral scan data in Figure 1.

[0040] As shown in Figures 1 to 5, the oral scan feature points of the 3D oral scan data and the tooth curve formed by the teeth in the 3D oral scan data are determined (step S100). Figure 3 shows an example of the oral scan feature points and the tooth curve.

[0041] The step of determining the oral scan feature points and tooth curves of the three-dimensional oral scan data (step S100) may be performed manually by the user or automatically by deep learning. For example, the oral scan feature points and tooth curves of the three-dimensional oral scan data are determined using a first artificial intelligence neural network.

[0042] The oral scan feature points include at least three feature points located within the three-dimensional oral scan data. For example, the oral scan feature points are located on teeth in the three-dimensional oral scan data.

[0043] For example, the oral scan feature points include a first feature point located in a first step of the tooth curve formed by the teeth in the three-dimensional oral scan data, a second feature point located in a second step of the tooth curve, and a third feature point located at the midpoint of the tooth curve.

[0044] For example, the oral scan feature point includes a first feature point located on the last tooth of the first horizontal row of the three-dimensional oral scan data, a second feature point located on the last tooth of the second horizontal row of the three-dimensional oral scan data, and a third feature point indicating the centers of the two central incisors of the three-dimensional oral scan data.

[0045] Step S200 determines the margin line and region of interest of the target tooth from the 3D oral scan data. Figure 4 shows an example of the margin line and region of interest.

[0046] In Figure 4, the target teeth for automatically aligning the 3D single model are prepared teeth (prepped teeth). These prepared teeth are prepared for crowns. It can mean a tooth that has been cut or a tooth that has had part of it removed.

[0047] In Figure 4, the margin line of the target tooth is determined, and the region within the closed curve formed by the margin line is defined as the region of interest. For example, the margin line is determined based on the region of the prepared tooth. Alternatively, the margin line can also be determined by predicting the region of the tooth in its unprepared state.

[0048] The step of determining the margin line and region of interest of the target tooth in the 3D oral scan data (step S200) can be performed manually by the user or automatically by deep learning. For example, the margin line and region of interest of the target tooth in the 3D oral scan data are determined using a second artificial intelligence neural network different from the first artificial intelligence neural network.

[0049] Based on the oral scan feature points, the first axis (LR1), the second axis (XA1), and the third axis (BL1) of the 3D oral scan data are determined in the region of interest (Step S3). 00).

[0050] For example, the first axis (LR1) of the 3D oral scan data is the tangent to the tooth curve. Defined by the linear direction. For example, the first axis (LR1) of the 3D oral scan data. The axis is defined by the tangent direction of the tooth curve in the target tooth. The first axis (LR1) of the 3D oral scan data represents the left-right direction of the target tooth.

[0051] For example, the second axis (XA1) of the 3D oral scan data is the direction of tooth insertion. Alternatively, it indicates the opposite direction to the insertion direction. For example, the second axis (XA1) of the 3D oral scan data represents the vertical direction of the target tooth. For example, the second axis (XA1) is perpendicular to the first axis (LR1).

[0052] For example, the third axis (BL1) of the 3D oral scan data is perpendicular to the first axis (LR1) and the second axis (XA1), respectively. The third axis (BL1) of the vector is the vector of the first axis (LR1) and the second axis (XA1) It is defined by the cross product of the vectors ).

[0053] Figure 6 shows the fourth axis (LR2), fifth axis (XA2), and sixth axis (BL2) of the single tooth model in Figure 1. Figure 7 shows the merged 3D oral scan data in Figure 1. This figure shows the underside of the single-tooth model in Figure 1, which corresponds to the line.

[0054] As shown in Figures 1 to 7, the single tooth feature points of the three-dimensional single tooth model are determined (step S400). The step of determining the single tooth feature points of the three-dimensional single tooth model (step S400) can be performed manually by the user or automatically by deep learning. For example, the single tooth feature points of the three-dimensional single tooth model are determined using a third artificial intelligence neural network different from the first and second artificial intelligence neural networks. In other words, the method of automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data of the present invention uses three or more artificial intelligence neural networks that are different from each other.

[0055] Based on the aforementioned single tooth feature points, the fourth axis (LR2) and fifth axis of the three-dimensional single tooth model are determined. Determine (XA2) and the sixth axis (BL2) (step S500). For example, the fourth axis (LR2) of the three-dimensional single tooth model is the three-dimensional single tooth model This shows the left-right orientation of the teeth within the Dell.

[0056] For example, the fifth axis (XA2) of the three-dimensional single tooth model is within the single tooth model This indicates the direction of the occlusal surface of the tooth, or the direction opposite to the occlusal surface direction. For example, the fifth axis (XA2) is perpendicular to the fourth axis (LR2).

[0057] For example, the sixth axis (BL2) of the three-dimensional single-tooth model is perpendicular to the fourth axis (LR2) and the fifth axis (XA2), respectively. The sixth axis (BL2) is the vector of the fourth axis (LR2) and the vector of the fifth axis (XA2) It is defined by the cross product of Toll.

[0058] For example, the single tooth feature point is used to determine the fourth axis (LR2) of the single tooth It includes at least two feature points defined on the teeth within the dentary model. Furthermore, the single tooth characteristic point is used to determine the fifth axis (XA2), The model further includes at least two feature points defined on the teeth.

[0059] In Figure 6, examples of single-tooth characteristic points are shown as white circles. The 3D single tooth model is aligned with the 3D oral scan data such that the fourth axis (LR2), fifth axis (XA2), and sixth axis (BL2) of the 3D single tooth model coincide with the first axis (LR1), second axis (XA1), and third axis (BL1) of the 3D oral scan data, respectively (step S600).

[0060] Here, the 3D single-tooth model is aligned with the 3D oral scan data so that the outline of the lower surface of the 3D single-tooth model in Figure 7 corresponds to the margin line of the target tooth in the 3D oral scan data.

[0061] Figure 8 shows an example of adjusting the size of the 3D single-tooth model in Figure 1, taking into account the margin lines of the 3D oral scan data in Figure 1. Figures 9 and 10 show examples of adjusting the size of the 3D single-tooth model in Figure 1.

[0062] As shown in Figures 1 to 10, the size of the 3D single tooth model is adjusted (step S700) by considering the margin line of the target tooth in the 3D oral scan data and the adjacent teeth adjacent to the target tooth.

[0063] For example, the size of the 3D single-tooth model is adjusted based on the margin line of the target tooth in the 3D oral scan data. If the initial alignment of the 3D single-tooth model on the 3D oral scan data based on the coordinate axes results in a configuration similar to Figure 8, i.e., if the size of the 3D single-tooth model is smaller than the margin line of the target tooth in the 3D oral scan data, the 3D single-tooth model is expanded horizontally so that it corresponds to the margin line of the target tooth in the 3D oral scan data. Conversely, if the size of the 3D single-tooth model is larger than the margin line of the target tooth in the 3D oral scan data, the 3D single-tooth model is reduced horizontally so that it corresponds to the margin line of the target tooth in the 3D oral scan data.

[0064] Figure 9 shows an example of a method for adjusting the height of the three-dimensional single-tooth model. In Figure 9, point M' is a point within the prepared target tooth, and plane A is a plane defined in the oral scan data by point M' and the second axis (XA). The first distance d1 represents the distance to the position of the prepared target tooth furthest from plane A, and the second distance d2 represents the distance to the position of the occlusal surface of the three-dimensional single-tooth model closest to plane A. The height of the three-dimensional single-tooth model is adjusted so that the second distance d2 matches the first distance d1.

[0065] Furthermore, the height of the 3D single-tooth model can be adjusted based on the heights of adjacent teeth adjacent to the target tooth in the 3D oral scan data. For example, the height of the 3D single-tooth model can be adjusted so that its height matches that of the adjacent teeth.

[0066] For example, as shown in Figure 10, the width of the 3D single tooth model is adjusted based on the contact points where the 3D single tooth model contacts the adjacent teeth adjacent to the target tooth in the 3D oral scan data. If the initially aligned 3D single tooth model moves away from the adjacent teeth, the width of the 3D single tooth model is increased so that it contacts the adjacent teeth. Conversely, if the initially aligned 3D single tooth model overlaps with the adjacent teeth in some areas, the width of the 3D single tooth model is reduced so that it does not overlap with the adjacent teeth.

[0067] Figure 11a shows an example of 3D oral scan data, and Figure 11b shows the result of combining the 3D oral scan data from Figure 11a with a 3D single-tooth model. In the 3D oral scan data shown in Figure 11a, a 3D single-tooth model is aligned to the prepared tooth (target tooth) as shown in Figure 11b. As described above, the method for aligning a 3D single-tooth model to 3D oral scan data includes the steps of: determining the oral scan feature points of the 3D oral scan data and the tooth curve formed by the teeth in the 3D oral scan data (step S100); determining the margin line and region of interest of the target tooth in the 3D oral scan data (step S200); determining the first axis, second axis, and third axis of the 3D oral scan data in the region of interest based on the oral scan feature points (step S300); and determining the single-tooth feature points of the 3D single-tooth model. The process includes the steps of: determining the fourth axis, fifth axis, and sixth axis of the three-dimensional single tooth model based on the single tooth feature points (step S500); and aligning the three-dimensional single tooth model with the three-dimensional oral scan data so that the fourth axis, fifth axis, and sixth axis of the three-dimensional single tooth model coincide with the first axis, second axis, and third axis of the three-dimensional oral scan data, respectively, thereby initial aligning the three-dimensional single tooth model with the three-dimensional oral scan data (step S600).

[0068] Furthermore, after the initial alignment, the process further includes a step (step S700) of adjusting the size of the 3D single-tooth model, taking into account the margin line of the target tooth and the adjacent teeth adjacent to the target tooth in the 3D oral scan data.

[0069] Figure 12a shows an example of 3D oral scan data, and Figure 12b shows the result of combining the 3D oral scan data from Figure 12a with a 3D single-tooth model. In the 3D oral scan data shown in Figure 12a, the prepared teeth (target teeth) are aligned with 3D single-tooth models as shown in Figure 12b.

[0070] Figure 13a shows an example of 3D oral scan data, and Figure 13b shows the result of combining the 3D oral scan data from Figure 13a with a 3D single-tooth model. In the 3D oral scan data shown in Figure 13a, the prepared teeth (target teeth) are aligned with 3D single-tooth models as shown in Figure 13b.

[0071] According to one embodiment of the present invention, the three-dimensional single tooth model is automatically aligned with the three-dimensional oral scan data, thereby reducing the fatigue of the dentist or dental technician who aligns the three-dimensional single tooth model with the three-dimensional oral scan data, and improving the accuracy of the alignment of the single tooth model.

[0072] Furthermore, the aligned single-tooth model can be used in the fabrication of prostheses, implants, orthodontic appliances, dental treatment instruments, etc., thereby reducing the effort required for the fabrication of prostheses, implants, orthodontic appliances, dental treatment instruments, etc., and improving the accuracy and productivity of prostheses, implants, orthodontic appliances, dental treatment instruments, etc.

[0073] Furthermore, deep learning is used in some steps of the method for automatically aligning the 3D single tooth model to the 3D oral scan data. When deep learning is used, the fatigue level of the dentist or dental technician who aligns the single tooth model to the 3D oral scan data can be further reduced, and the accuracy of the alignment of the single tooth model can be further improved.

[0074] According to one embodiment of the present invention, a computer-readable recording medium is provided on which a program for causing a computer to execute a method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to the embodiment is recorded. The method can be created with a program that runs on a computer and can be implemented on a general-purpose digital computer that runs the program using a computer-readable medium. The data structure used in the method is recorded on the computer-readable medium by multiple means. The computer-readable medium may include program instructions, data files, data structures, etc., individually or in combination. The program instructions recorded on the medium may be specifically designed and configured for the present invention or may be publicly known and available to the average person in the field of computer software. Computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as optical disks, and hardware devices specifically configured to store and execute program instructions, such as ROMs, RAMs, and flash memory. Program instructions include not only machine code, such as that produced by a compiler, but also high-level language code that is executed by a computer using an interpreter or the like. The aforementioned hardware device is configured to operate as one or more software modules in order to perform the operation of the present invention.

[0075] Furthermore, the method for automatically aligning the three-dimensional single-tooth model with the aforementioned three-dimensional oral scan data can also be implemented in the form of a computer program or application executed by a computer stored on a recording medium.

[0076] [Industrial applicability] The present invention relates to a method for automatically aligning a three-dimensional single tooth model with three-dimensional oral scan data, and a computer-readable recording medium on which a program for executing this method on a computer is recorded. This method can reduce the effort required for manufacturing prostheses, implants, orthodontic appliances, dental treatment instruments, etc., and improve the accuracy and productivity of prostheses, implants, orthodontic appliances, dental treatment instruments, etc.

[0077] Having described preferred embodiments of the present invention above, those skilled in the art will understand that the present invention can be modified and altered in various ways without departing from the spirit and scope of the invention as set forth in the following claims.

Claims

1. Computers A step to determine the tooth curve formed by the teeth in the 3D oral scan data, The steps include determining the margin line and region of interest of the target tooth from the three-dimensional oral scan data, The steps include determining the first axis, second axis, and third axis of the three-dimensional oral scan data in the aforementioned region of interest, A step to determine the fourth axis, fifth axis, and sixth axis of a three-dimensional single-tooth model, The steps include aligning the three-dimensional single tooth model with the three-dimensional oral scan data such that the fourth axis, fifth axis, and sixth axis of the three-dimensional single tooth model coincide with the first axis, second axis, and third axis of the three-dimensional oral scan data, respectively. A method for automatically aligning a three-dimensional single-tooth model onto three-dimensional oral scan data, characterized by performing the following:

2. The aforementioned computer, The method is further characterized by performing the step of adjusting the size of the three-dimensional single tooth model based on the margin line of the target tooth in the three-dimensional oral scan data. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 1.

3. The aforementioned computer, The method is further characterized by performing the step of adjusting the height of the three-dimensional single-tooth model based on the height of adjacent teeth adjacent to the target tooth in the three-dimensional oral scan data. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 2.

4. The aforementioned computer, The method further involves adjusting the width of the three-dimensional single-tooth model based on the contact points where the three-dimensional single-tooth model contacts adjacent teeth adjacent to the target tooth in the three-dimensional oral scan data. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 2.

5. The first axis of the three-dimensional oral scan data is defined by the tangent direction of the tooth curve, A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 1.

6. The second axis of the three-dimensional oral scan data is characterized in that it indicates the direction of tooth insertion, or the direction opposite to the insertion direction. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 5.

7. The third axis of the three-dimensional oral scan data is defined by the cross product of the first vector of the first axis and the second vector of the second axis. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 6.

8. The computer further includes the step of determining the oral scan feature points of the three-dimensional oral scan data, The oral scan feature points are characterized by including at least three feature points located within the three-dimensional oral scan data. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 5.

9. The oral scan feature point is characterized by including a first feature point located in the first step of the tooth curve, a second feature point located in the second step of the tooth curve, and a third feature point located at the midpoint of the tooth curve. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 8.

10. The fourth axis of the three-dimensional single-tooth model is characterized in that it indicates the left-right direction of the tooth within the three-dimensional single-tooth model. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 1.

11. The fifth axis of the three-dimensional single-tooth model is characterized in that it indicates the direction of the occlusal surface of the tooth within the single-tooth model, or the direction opposite to the direction of the occlusal surface. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 10.

12. The sixth axis of the three-dimensional single-tooth model is characterized by being defined by the cross product of the fourth vector of the fourth axis and the fifth vector of the fifth axis. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 11.

13. The computer further includes the step of determining the single tooth feature points of the three-dimensional single tooth model, The single tooth feature point is characterized in that it includes at least two feature points defined on the tooth in the single tooth model in order to determine the fourth axis. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 11.

14. The single tooth feature point is further characterized by including at least two feature points defined on the tooth in the single tooth model in order to determine the fifth axis. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 13.

15. The computer further includes the step of determining the oral scan feature points of the three-dimensional oral scan data, The oral scan feature points and tooth curves of the three-dimensional oral scan data are determined using a first artificial intelligence neural network. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 1.

16. The margin line and region of interest of the target tooth in the three-dimensional oral scan data are determined using a second artificial intelligence neural network different from the first artificial intelligence neural network. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 15.

17. The computer further includes the step of determining the single tooth feature points of the three-dimensional single tooth model, The single tooth feature points of the three-dimensional single tooth model are determined using a third artificial intelligence neural network that is different from the first and second artificial intelligence neural networks. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 16.

18. The aforementioned computer, The method is further characterized by performing the step of adjusting the height of the three-dimensional single tooth model based on a first distance from a first plane in the three-dimensional oral scan data to a first point in the target tooth in the three-dimensional oral scan data, and a second distance from the first plane to a second point in the three-dimensional single tooth model. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 1.

19. The first distance is the distance from the first plane to the position of the target tooth, the second distance is the distance from the first plane to the position on the occlusal surface of the three-dimensional single tooth model, and the height of the three-dimensional single tooth model is adjusted so that the second distance matches the first distance. A method for automatically aligning a three-dimensional single tooth model to three-dimensional oral scan data according to claim 18.

20. A computer-readable recording medium on which a program for causing a computer to execute the method according to any one of claims 1 to 19 is recorded.

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