Orthodontic reference data adjustment method and apparatus, electronic device, and storage medium

Abstract

Disclosed in the present application are an orthodontic reference data adjustment method and apparatus, an electronic device, and a computer-readable storage medium, used for adjusting orthodontic reference data in a three-dimensional tooth model. The orthodontic reference data comprises at least an FACC line and an FA point. The orthodontic reference data adjustment method comprises: acquiring a three-dimensional tooth model, and displaying a position of the FA point and an initial pose of the FACC line on a tooth surface of the acquired three-dimensional tooth model; when a first instruction is detected, determining a first pose change of the FACC line relative to its initial position, wherein the first instruction is a user instruction to adjust the pose of the FACC line on the tooth surface; and on the basis of the first pose change and the FA point, determining a first adjusted pose of the FACC line, and on the basis of the first adjusted pose of the FACC line, updating and displaying the pose of the FACC line. The number of adjustments can be reduced.

Description

Methods, devices, electronic equipment, and storage media for adjusting orthodontic reference data

[0001] This application claims priority to Chinese Patent Application No. 202410788559.9, filed on June 18, 2024, entitled "Method, Apparatus, Electronic Device and Storage Medium for Adjusting Orthodontic Reference Data", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of orthodontic reference data adjustment, and specifically relates to a method, device, electronic device and computer-readable storage medium for adjusting orthodontic reference data. Background Technology

[0003] Users often adjust the position of orthodontic reference data (such as the FA point and FACC line on the tooth surface) by dragging the FA point of the bracket. When the user observes from one perspective (such as the front of the tooth) that the FA has been adjusted to the correct position and the FACC line is also in the correct position, from other perspectives the FACC line may not be in the correct position, or any adjustment may cause the FACC line to shift. After each shift, the position of the FACC line needs to be readjusted, resulting in many adjustments and inconvenience.

[0004] In related technologies, when adjusting the FACC line, the geometric center of the tooth is often used as the reference for adjustment (e.g., rotation). Therefore, adjustments on the tooth surface of the current side (e.g., the front side of the tooth) may cause a large shift in the position of the FACC line on the tooth surface of the other side, resulting in a large shift on the current adjustment side. Multiple adjustments are required on the current side to reach the ideal position, which is inconvenient. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a method, apparatus, electronic device, and computer-readable storage medium for adjusting orthodontic reference data. The technical solution is as follows:

[0006] According to a first aspect of this application, a method for adjusting orthodontic reference data is provided for adjusting orthodontic reference data in a three-dimensional dental model. The orthodontic reference data includes at least the FACC line and FA points. The method includes: acquiring a three-dimensional dental model and displaying the position of the FA points and the initial pose of the FACC line on the tooth surface of the acquired three-dimensional dental model; when a first instruction is detected, determining a first pose change of the FACC line relative to the initial position, wherein the first instruction is a user instruction to adjust the pose of the FACC line on the tooth surface; based on the first pose change and the FA points, determining a first adjusted pose of the FACC line, and updating and displaying the pose of the FACC line based on the first adjusted pose of the FACC line.

[0007] According to a second aspect of this application, an orthodontic reference data adjustment device is provided for adjusting orthodontic reference data in a three-dimensional dental model. The orthodontic reference data includes at least the FACC line and the FA point. The device includes: a display unit configured to acquire the three-dimensional dental model and display the position of the FA point and the initial pose of the FACC line on the tooth surface of the acquired three-dimensional dental model; a determination unit configured to determine a first pose change of the FACC line relative to the initial position when a first instruction is detected, the first instruction being a user instruction to adjust the pose of the FACC line on the tooth surface; and an update unit configured to determine a first adjusted pose of the FACC line based on the first pose change and the FA point, and update and display the pose of the FACC line based on the first adjusted pose of the FACC line.

[0008] According to a third aspect of this application, an electronic device is provided, comprising: a processor; a memory configured to store processor-executable instructions; wherein the processor is configured to implement the method as described in the first aspect.

[0009] According to a fourth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method of the first aspect.

[0010] The technical solution provided in this application uses the position of the FA point on one side (anterior) of the tooth and the positional change of the FACC line determined by the user's adjustment command as the calibration reference. The FA point itself conforms to medical regulations, rather than using the geometric center of the tooth as the reference. When adjusting the FACC line, i.e. the intersection of the FACC plane and the tooth surface, at any position on the tooth surface, it can ensure that the offset of one side (anterior) of the tooth is relatively small, reducing the number of adjustments.

[0011] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0013] Figure 1 is a schematic diagram of an orthodontic reference data adjustment scenario in a related technology;

[0014] Figure 2 is a flowchart illustrating a method for adjusting orthodontic reference data according to an embodiment of this application;

[0015] Figure 3A is a schematic diagram of orthodontic reference data according to an embodiment of this application;

[0016] Figure 3B is a schematic diagram of orthodontic reference data according to another embodiment of this application;

[0017] Figure 3C is a schematic diagram of orthodontic reference data according to another embodiment of this application;

[0018] Figure 4A is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0019] Figure 4B is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0020] Figure 5A is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0021] Figure 5B is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0022] Figure 6 is a flowchart illustrating a method for adjusting orthodontic reference data according to another embodiment of this application;

[0023] Figure 7 is a flowchart illustrating a method for adjusting orthodontic reference data according to another embodiment of this application;

[0024] Figure 8A is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0025] Figure 8B is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0026] Figure 8C is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0027] Figure 8D is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0028] Figure 8E is a schematic diagram of an orthodontic reference data adjustment scenario according to another embodiment of this application;

[0029] Figure 9 is a flowchart illustrating a method for adjusting orthodontic reference data according to another embodiment of this application;

[0030] Figure 10A is a multi-view schematic diagram of teeth according to an embodiment of this application;

[0031] Figure 10B is a multi-view schematic diagram of teeth according to another embodiment of this application;

[0032] Figure 11 is a schematic diagram of a three-dimensional model of a tooth according to an embodiment of this application;

[0033] Figure 12 is a schematic diagram of the user interface for adjusting orthodontic reference data according to an embodiment of this application;

[0034] Figure 13 is a schematic diagram of the user interface for bracket fitting to the tooth surface and bracket adjustment according to an embodiment of this application;

[0035] Figure 14 is a schematic diagram of a three-dimensional model of a tooth with FACC stereo lines and transverse plane section lines according to an embodiment of this application.

[0036] Figure 15 is a schematic diagram of the structure of an orthodontic reference data adjustment device according to an embodiment of this application;

[0037] Figure 16 is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art should fall within the scope of protection of this application.

[0039] Orthodontic reference data can refer to the Facial Axis of the Clinical Crown (FA point), the Facial Axis of the Clinical Crown (FA point), or brackets. The Facial Axis of the Clinical Crown (FA point) can refer to the most prominent part of the central buccal lobe on the clinical crown axis of a tooth. For molars, the FA point can also refer to the midpoint between the two large buccal cusps. The FA point is very important in orthodontics and is often used to analyze tooth alignment and occlusion. The Facial Axis of the Clinical Crown Line (FACC line) is a virtual straight line passing through the clinical crown axis of a tooth. The FACC line reflects the direction and angle of tooth alignment and is of great significance for assessing the uprightness of teeth and planning orthodontic treatment. In orthodontic treatment, the FA point and FACC line are important diagnostic tools that help orthodontists understand the position, orientation, and relationship of teeth with adjacent teeth, thereby developing a more appropriate treatment plan. Brackets are small metal brackets used in orthodontic treatment to fix teeth in place. They apply force to guide teeth into their predetermined positions. Precise bracket positioning is crucial to ensure correct tooth movement and optimal results. In orthodontic treatment, the FA point and FACC line are often used as references for bracket positioning to achieve the best treatment outcome. When digitally positioning brackets on teeth, the positions of the FA point and FACC line must first be determined on the teeth. The automatic bonding of brackets to teeth is highly dependent on the positions of the FA point and FACC line; even slight differences in their positions can affect the bonding effect.

[0040] In related technologies, when positioning brackets, users often adjust the position of orthodontic reference data (such as the FA point and FACC line on the tooth surface) by dragging the FA point of the bracket. When the user observes from one perspective (such as the front of the tooth) that the FA has been adjusted to the correct position and the FACC line is also in the correct position, from other perspectives the FACC line may not be in the correct position, or any adjustment may cause the FACC line to shift. After each shift, the position of the FACC line needs to be readjusted, resulting in many adjustments and inconvenience.

[0041] When adjusting the FACC line using existing technology, the geometric center of the tooth is often used as the reference for adjustment (e.g., rotation). Adjustment on the tooth surface on the current side (e.g., the front side of the tooth) may cause a large shift in the position of the FACC line on the other side, resulting in a large shift on the current adjustment side. Multiple adjustments on the current side are required to reach the ideal position, which is inconvenient.

[0042] Please refer to Figure 1. The following is an exemplary orthodontic reference data adjustment scenario in the related technology: When adjusting the position of the FACC line in the related technology, the geometric center of the tooth is often used as the reference for adjustment (e.g., rotation). Therefore, the adjustment on the tooth surface on the current side (e.g., the front side of the tooth) may cause a large shift in the position of the FACC line on the tooth surface on the other side, resulting in a large shift on the current adjustment side. Multiple adjustments are required on the current side to reach the ideal position, which makes the adjustment inconvenient.

[0043] As shown in Figure 1, in an exemplary orthodontic reference data adjustment scenario, when the FACC line needs to be rotated to adjust its position, the reference for rotation is the geometric center of the tooth. The drawback of using the geometric center of the tooth as the reference point for rotation is that moving the FACC line at any position on the tooth may cause a large offset on other sides. For example, as shown in Figure 1, rotating the FACC line at a certain angle on the back side of the tooth may also cause the rotated FACC line to be offset from the FA point on the front side of the tooth relative to the original FACC line. In order to reduce the offset of the FACC line on the front side of the tooth and get closer to the FA point, it is necessary to adjust the rotated FACC line again on the front side of the tooth. This may cause the FACC line on the back side of the tooth or other sides of the tooth (upper or lower side) to be offset from the ideal position again. Therefore, it is necessary to repeatedly adjust on multiple sides of the tooth to make the FACC line finally reach the ideal position.

[0044] It is worth noting that the above description of orthodontic reference data adjustment scenarios in related technologies is only an illustrative example. In actual applications, other specific application scenarios may exist, and no specific limitations are made here.

[0045] To address the aforementioned issues, this application provides a method for adjusting orthodontic reference data in a three-dimensional dental model. This orthodontic reference data includes at least the FACC line and FA points, reducing the number of adjustments and improving ease of adjustment. As shown in Figure 2, the method includes the following steps: S201, acquiring a three-dimensional dental model and displaying the position of the FA points and the initial pose of the FACC line on the tooth surface of the acquired model; S202, upon detecting a first command, determining the first pose change of the FACC line relative to its initial position, where the first command is a user command to adjust the pose of the FACC line on the tooth surface; S203, based on the first pose change and the FA points, determining the first adjusted pose of the FACC line, and updating and displaying the pose of the FACC line based on the first adjusted pose.

[0046] The technical solution provided in this application uses the position of the FA point on one side (anterior) of the tooth and the pose change of the FACC line determined based on the user's adjustment command as the adjustment benchmark. The FA point itself conforms to medical regulations, rather than using the geometric center of the tooth as the benchmark. When adjusting the FACC line, i.e. the intersection of the FACC plane and the tooth surface, at any position on the tooth surface, it can ensure that the offset of one side of the tooth surface (e.g., the anterior) is relatively small, thereby reducing the number of adjustments and improving the convenience of positioning brackets.

[0047] The initial position of the FA point can be determined in several ways. For example, the FA point can be calculated geometrically, such as by roughly locating its initial position on the tooth surface based on the tooth's shape and symmetry. Alternatively, artificial intelligence (AI) technology can be used to automatically identify the initial position of the FA point on the tooth surface. For instance, proprietary orthodontic analysis software or AI recognition models can be used to identify the initial position of the FA point on the tooth surface. It is worth noting that the above descriptions of methods for determining the initial position of the FA point are merely illustrative; other methods may exist in practical applications, and no specific limitations are imposed on these methods.

[0048] Understandably, the determination of the initial location of the FA point must comply with medical regulations.

[0049] The initial pose of the FACC line can be determined in several ways. As an example, once the initial position of the FA point is determined, the FACC plane formed through the FA point can be identified. Then, the FACC line formed by the intersection of this FACC plane and the tooth surface can be determined. The position of the determined FACC line is taken as the initial position, and the initial pose of the FACC line simultaneously passes through the initial position of the FA point. It is worth noting that the above description of methods for determining the initial pose of the FACC line is merely an illustrative example. In practical applications, other methods may exist, and no specific limitation is made here.

[0050] The initial pose of the FA point and the FACC line is illustrated in Figure 3A below. As shown in Figure 3A, after the initial position of the FA point is determined on the tooth surface, the FACC plane formed by passing through the FA point can be determined. Then, the intersection of the FACC plane and the tooth surface is determined, which is the FACC line. The position of the determined FACC line is taken as the initial position, and the initial pose of the FACC line will also pass through the initial position of the FA point.

[0051] Considering that in related technologies, the FACC line may deviate from the FA point during the process of users manually adjusting the FACC line, users often need to make multiple adjustments after one adjustment to bring the FACC line back to the FA point, resulting in low adjustment efficiency.

[0052] To address this issue, as an example, after determining the first pose change of the FACC line relative to its initial position, if this first pose change is detected and the FACC line does not pass the FA point, the FACC line pose is not updated. Only when the first pose change is detected and the FACC line passes the FA point can the FACC line pose be updated. As another example, after determining the first adjusted pose of the FACC line, if this first adjusted pose is detected and the FACC line does not pass the FA point, the FACC line pose is not updated. Only when the first adjusted pose is detected and the FACC line passes the FA point can the FACC line pose be updated. This ensures that each adjustment operation by the user ensures that the displayed FACC line position does not deviate from the FA point, reducing the number of repeated adjustments.

[0053] It is understandable that the FACC line did not pass through the FA point, which can be interpreted as the FACC line deviating from the FA point.

[0054] Understandingly, not updating the FACC line pose means not moving or offsetting the FACC line, and not updating the displayed pose after the movement or offset. Updating the FACC line pose means continuing to move or offset the FACC line, and updating the displayed pose after the movement or offset. When not updating the FACC line pose, a prompt or other notification can be displayed to provide feedback to the user.

[0055] In another embodiment, when a first pose change of the FACC line relative to the initial placement pose is detected, causing the FACC line to not pass through the FA point, the pose of the FACC line is adaptively updated according to the FA point, and / or, when a first adjusted pose is detected, causing the FACC line to not pass through the FA point, the pose of the FACC line is adaptively updated according to the FA point.

[0056] Specifically, upon receiving the first instruction (the instant the mouse releases the FACC line), the algorithm is invoked to calculate the distance between the FACC line and the FA point, update the pose of the FACC line, and move the FACC line to pass through the FA point. That is, the FACC line is moved or twisted in the opposite direction according to the distance between the FACC line and the FA point, and the pose of the FACC line is adaptively updated. This ensures that the FACC line on the display interface not only adjusts its pose according to the user's instructions to provide feedback to the user, but also makes adaptive adjustments to the feedback results, making the feedback results meet medical requirements and be more reasonable.

[0057] Specifically, S202 determines the first adjusted pose of the FACC line based on the first pose change and the FA point, and updates and displays the pose of the FACC line based on the first adjusted pose.

[0058] Since the user adjusts the movement of the FACC line on the 3D tooth model on a 2D display interface, if the FACC line is adjusted directly according to the user's 2D instructions, the FACC line may deviate far from the tooth surface or from the FA point.

[0059] To address the aforementioned issues, based on the user's first instruction, including the movement distance of the FACC line relative to its initial placement position and / or the offset angle of the FACC line relative to its initial placement position, and combined with medical reference requirements such as the previously determined current position of the FA point, the first adjustment pose is recalculated. Some adjustment instructions in the first pose change are ignored, while others are executed. In other words, instructions in the first pose change that do not meet medical reference requirements are ignored, while instructions in the first pose change that do meet medical reference requirements are executed. This ensures that the FACC line pose (first adjustment pose) on the display interface always meets basic medical requirements, such as the basic positional requirements of the FA point and the FACC line.

[0060] That is, the first pose change is decomposed according to the first preset reference condition. Some or all of the instructions in the first pose change that meet the first preset reference condition are determined as the first adjustment pose of the FACC line, while some or all of the instructions in the first pose change that do not meet the first preset reference condition are ignored. The first preset reference condition is determined at least by the FA point. For example, the first preset reference condition may include: after passing through the FA point, the FACC line should be located on the tooth surface.

[0061] For example, in the first instruction, if the user clicks the FACC line by a horizontal or diagonal X distance, and the X distance causes the FACC line to exceed the tooth surface width, the FACC line will fall outside the tooth surface. In this case, the horizontal or diagonal X distance of the FACC line movement will be ignored and not executed.

[0062] For example, in the first instruction, the user clicks the mouse to move the FACC line diagonally by X distance. This X distance is decomposed into a vertical (along the first target axis) movement distance B and a horizontal (along the second target axis) movement distance C. The horizontal (along the second target axis) movement distance C is executed, while the vertical (along the first target axis) movement distance B is ignored and not executed. This is equivalent to projecting onto the horizontal plane (horizontal axis plane). Therefore, the final movement distance of the FACC line is the horizontal movement distance C while keeping the FACC line passing through the FA point.

[0063] In one embodiment, based on a first instruction, the FACC line can be controlled to rotate around the FA point to the pose indicated by the first instruction. At this time, the interactive interface displays the FACC line at the mouse click position. Simultaneously, the angle or distance of the FACC line's rotation around the FA point is determined by projecting the mouse movement distance onto the horizontal plane (horizontal axis plane). Therefore, this embodiment uses the FA point to determine the FACC line, ensuring that the final FACC line result always passes through the FA point, improving the calculation success rate and accuracy.

[0064] In one embodiment, based on a first instruction, the FACC line can be controlled to rotate around a first target axis to the pose indicated by the first instruction. At this time, the interactive interface displays the FACC line at the mouse click position. The first target axis is a straight line passing through the FA point and lying on the FACC plane formed by the FA point. Simultaneously, the angle or distance of the FACC line's rotation around the first target axis is determined by projecting the mouse movement distance onto a horizontal plane (horizontal axis plane). Therefore, this embodiment uses the first target axis to determine the FACC line, ensuring that the final FACC line result always passes through the FA point, improving the calculation success rate and accuracy.

[0065] It should be noted that the difference between using the first target axis to determine the FACC line and using the FA point is that if the FA point is used, the first target axis (FACC plane rotation axis) and the second target axis (horizontal plane rotation axis) will adjust in tandem, creating an effect similar to the second image in Figure 4B (FACC line tilt and horizontal plane intercept tilt), which is suitable for more experienced physicians to make adjustments. If the first target axis is used to determine the FACC line, the verticality of the FACC line can be guaranteed, further reducing the number of adjustments required by the user.

[0066] In addition to the FA point and FACC line, orthodontic reference data may also include the transverse plane section. When adjusting orthodontic reference data, users may need to adjust not only the position of the FACC line, but also the transverse plane section, in order to more accurately locate the bracket position.

[0067] To address this issue, in some embodiments, the method for adjusting orthodontic reference data provided in this application may further include the steps shown in Figure 6:

[0068] S601. Determine the initial pose of the transverse plane section on the tooth surface.

[0069] S602. When a second instruction from the user to adjust the pose of the transverse plane section on the tooth surface is detected, the second pose change of the transverse plane section relative to the initial position is determined.

[0070] S603. Based on the second pose change and the FA point, determine the second adjusted pose of the transverse plane section, and update and display the pose of the transverse plane section based on the second adjusted pose of the transverse plane section.

[0071] Specifically, this method can use a second target axis to determine the second adjusted pose of the transverse plane intercept. The second target axis is a straight line that passes through point FA and is located on the transverse plane that forms the transverse plane intercept, so that the final result of the transverse plane intercept all passes through point FA, thereby improving the success rate and accuracy of the calculation.

[0072] The initial position of the transverse plane section is illustrated in Figure 3B below. As shown in Figure 3A, after the initial position of point FA is determined on the tooth surface, the transverse plane formed by passing through point FA can be determined. Then, the section formed by the intersection of this transverse plane and the tooth surface is determined, which is the transverse plane section. The position of the determined transverse plane section is taken as the initial position. The initial position of the transverse plane section will also pass through the initial position of point FA.

[0073] The first and second target axes are illustrated in Figures 3A and 3C. As shown in Figures 3A and 3C, as an example, once the FA point and the FACC plane are determined, a straight line passing through the FA point and lying on the FACC plane can be determined. It can be understood that this straight line also passes through the FACC line, and this straight line is the first target axis (i.e., the "FACC plane rotation axis" in Figures 3A and 3C). As shown in Figures 3B and 3C, as another example, once the FA point and the horizontal axis plane are determined, a straight line passing through the FA point and lying on the horizontal axis plane can be determined. It can be understood that this straight line also passes through the horizontal axis plane intercept, and this straight line is the second target axis (i.e., the "horizontal axis plane rotation axis" in Figure 3B).

[0074] As an example, the adjustment process for the transverse plane section, relative to the adjustment of the FACC line, can be as follows: First, obtain a three-dimensional model of the tooth, and display the initial position of the FA point and the initial position of the transverse plane section on the tooth surface of the obtained three-dimensional model of the tooth. Then, based on the second instruction mentioned above, determine the second pose change of the transverse plane section relative to the initial position. Based on the moving distance, the offset angle, and the second target axis mentioned above, determine the second adjustment pose of the transverse plane section, and update and display the pose of the transverse plane section based on the second adjustment pose of the transverse plane section.

[0075] Considering that in the relevant technology, the horizontal axis plane section may deviate from point FA during the process of the user manually adjusting it, the user often needs to make multiple adjustments after one adjustment to bring the horizontal axis plane section back to the position of point FA, resulting in low adjustment efficiency.

[0076] To address this issue, as an example, after determining the distance and offset angle of the transverse plane section relative to its initial position, the pose of the transverse plane section is not updated if it does not pass through point FA. Only when the distance and offset angle of the transverse plane section relative to its initial position are detected, ensuring it passes through point FA, can the pose of the transverse plane section be updated. For example, after determining the final movement distance and final offset angle of the transverse plane section, the pose of the transverse plane section is not updated if the final movement distance and final offset angle of the transverse plane section have not passed through point FA. The pose of the transverse plane section is updated only when the final movement distance and final offset angle of the transverse plane section are detected, ensuring that the transverse plane section passes through point FA. This ensures that each adjustment operation of the transverse plane section by the user will ensure that the displayed position of the transverse plane section does not deviate from the position of point FA, reducing the number of repeated adjustments.

[0077] It is understandable that the transverse line in the horizontal plane does not pass through point FA, which can be interpreted as the transverse line in the horizontal plane being separated from point FA.

[0078] Understandingly, not updating the pose of the horizontal plane section means not moving or offsetting the horizontal plane section, and not updating the displayed pose after the movement or offset. Updating the pose of the horizontal plane section means continuing to move or offset the horizontal plane section, and updating the displayed pose after the movement or offset. When not updating the pose of the horizontal plane section, a prompt or other information can be displayed to provide feedback to the user.

[0079] In another embodiment, when a second pose change of the transverse plane section relative to the initial placement pose is detected such that the transverse plane section does not pass through the FA point, the pose of the transverse plane section is adaptively updated according to the FA point, and / or, when a second adjusted pose is detected such that the transverse plane section does not pass through the FA point, the pose of the transverse plane section is adaptively updated according to the FA point.

[0080] Specifically, upon receiving the second instruction (the instant the mouse releases the horizontal plane section), the algorithm is invoked to calculate the distance between the horizontal plane section and point FA, update the pose of the horizontal plane section, and move the horizontal plane section to pass through point FA. That is, the horizontal plane section is moved in the opposite direction or twisted according to the distance between the horizontal plane section and point FA, and the pose of the horizontal plane section is adaptively updated. This ensures that the horizontal plane section on the display interface not only adjusts its pose according to the user's instructions to provide feedback to the user, but also makes adaptive adjustments to the feedback results, making the feedback results meet medical requirements and be more reasonable.

[0081] Specifically, based on the second pose change and the FA point, the second adjusted pose of the transverse plane section is determined, and the pose of the transverse plane section is updated and displayed based on the second adjusted pose.

[0082] Since the user adjusts the movement of the transverse plane section on the 3D tooth model on the 2D display interface, if the transverse plane section is adjusted directly according to the user's 2D instructions, the transverse plane section may deviate far from the tooth surface or from the FA point.

[0083] To address the aforementioned issues, based on the second pose change, including the movement distance of the transverse plane section relative to its initial placement pose and / or the offset angle of the transverse plane section relative to its initial placement pose in the user's second instruction, and combined with the previously determined medical reference requirements such as the current position of the FA point, the second adjustment pose is recalculated. Some adjustment instructions in the second pose change are ignored, while others are executed. That is, instructions in the second pose change that do not meet the medical reference requirements are ignored, and instructions in the second pose change that do meet the medical reference requirements are executed. This ensures that the pose of the transverse plane section (second adjustment pose) on the display interface always meets basic medical requirements, such as the basic positional requirements of the FA point and the transverse plane section.

[0084] The second pose change is decomposed according to the second preset reference conditions. Some or all of the commands in the second pose change that satisfy the second preset reference conditions are determined as the second adjustment pose of the transverse plane section, while some or all of the commands in the second pose change that do not satisfy the second preset reference conditions are ignored. The second preset reference conditions are determined at least by the FA point. For example, the second preset reference conditions may include: the transverse plane section should lie on the tooth surface after passing through the FA point.

[0085] For example, in the second instruction, if the user clicks the horizontal plane section by a horizontal or diagonal X distance, and the X distance causes the horizontal plane section to exceed the tooth surface width, or if the horizontal plane section falls outside the tooth surface, then the horizontal or diagonal X distance of the horizontal plane section will be ignored and not executed.

[0086] For example, in the second instruction, the user clicks the horizontal plane intercept and moves it diagonally by X distance. This X distance is decomposed into a vertical (along the direction of the second target axis) movement of B distance and a horizontal (along the direction of the second target axis) movement of C distance. The horizontal (along the direction of the second target axis) movement of C distance is ignored and not executed; the vertical (along the direction of the second target axis) movement of B distance is executed, which is equivalent to projecting onto the vertical plane (FACC plane). Therefore, the final movement distance of the horizontal plane intercept is the horizontal movement of C distance while keeping the horizontal plane intercept passing through point FA.

[0087] In one embodiment, based on a second instruction, the transverse plane section can be controlled to rotate around the FA point to the pose indicated by the second instruction. At this time, the interactive interface displays the transverse plane section falling on the mouse click position. Simultaneously, the angle or distance of rotation of the transverse plane section around the FA point is determined by projecting the mouse movement distance onto the vertical plane (FACC plane). Therefore, this embodiment uses the FA point to determine the transverse plane section, ensuring that the final result of the transverse plane section always passes through the FA point, improving the calculation success rate and accuracy.

[0088] In one embodiment, based on a second instruction, the transverse plane section can be controlled to rotate relative to a second target axis to the pose indicated by the second instruction. At this time, the interactive interface displays the transverse plane section falling at the mouse click position. The second target axis is a straight line passing through point FA and lying on the transverse plane forming the transverse plane section. Simultaneously, the angle or distance of rotation of the transverse plane section around the second target axis is determined by projecting the mouse movement distance onto the vertical plane (FACC plane). Therefore, this embodiment uses the second target axis to determine the transverse plane section, ensuring that the final result of the transverse plane section always passes through point FA, improving the calculation success rate and accuracy.

[0089] It should be noted that the difference between using the second target axis to determine the transverse plane section and using the FA point is that if the FA point is used, the second target axis (FACC plane rotation axis) and the second target axis (transverse plane rotation axis) will adjust accordingly, resulting in an effect similar to the second image in Figure 4B (tilted transverse plane section), which is suitable for more experienced doctors to make adjustments. If the second target axis is used to determine the transverse plane section, the effect of a horizontally level transverse plane section can be guaranteed, avoiding any changes in the FACC line and further reducing the number of adjustments required by the user.

[0090] As an example, the positional relationship between the FACC plane and the horizontal axis plane can be orthogonal.

[0091] Please refer to Figure 3C. Point FA can be used as the coordinate center. A coordinate space is formed by the first target axis ("FACC plane rotation axis" in Figure 3C), the second target axis (horizontal axis plane rotation axis), and the intersection of the FACC plane and the horizontal axis plane, denoted as matrix A. It includes the coordinate center position and coordinate orientation.

[0092] As an example, FACC lines can be triangulated on the triangular mesh of the tooth surface using the FACC plane, and the resulting triangulation points can be connected sequentially and displayed on the surface of the 3D tooth model.

[0093] Considering that the initial position of the FA point may not match the user's expected position, as shown in Figure 4A, as an example, the user can manually adjust the position of the FA point on the tooth surface. As shown in Figure 4B, the user can also manually rotate the FA point to adjust the orientation of the FACC plane and the transverse plane. Rotating the FA point is equivalent to rotating the FACC plane and the transverse plane around the axis of their intersection (as shown in Figure 3C). By rotating the FA point by an angle, the new orientation of the first target axis (FACC plane rotation axis) and the second target axis (transverse plane rotation axis) in matrix A can be recalculated, and the pose of the FACC line and the transverse intercept can be recalculated and updated.

[0094] It is understandable that changes in the position of the FA point may alter the coordinate center position of matrix A, thereby causing changes in the positions of the FACC plane and the horizontal axis plane. In such cases, it is necessary to recalculate the pose of the FACC line and the horizontal axis intercept and update the display.

[0095] The FACC line can be updated in various ways based on a first target axis. For example, upon detecting the first command—a user command to adjust the FACC line's pose on the tooth surface—the FACC line can be controlled to rotate based on the first target axis to the pose indicated by that command, and the rotated pose can be updated and displayed. This method uses the first target axis to determine the FACC line, ensuring that the final FACC line results all pass through the FA point, thus improving the calculation success rate and accuracy.

[0096] The following figures 5A and 5B illustrate the method for updating the pose of the FACC line. As shown in Figures 5A and 5B, once the FA point and the FACC plane are determined, the first target axis can be determined. For example, both the FA point and the first target axis can be located on the anterior surface of the tooth. When a user's instruction to adjust the pose of the FACC line on the tooth surface is detected (for example, in Figures 5A and 5B, the user drags the FACC line on the posterior surface of the tooth with the mouse, which forms the first instruction), the FACC line can be controlled to rotate based on the first target axis on the anterior surface to the pose indicated by the first instruction, and the rotated pose can be updated and displayed. The first target axis is the rotation axis that controls the rotation of the FACC line on the posterior surface. As can be seen from Figures 5A and 5B, while the FACC line on the posterior surface is being adjusted, the pose of the FACC line on the anterior surface does not shift significantly and does not deviate from the FA point. Therefore, the FACC line on the anterior surface does not require much repeated adjustment.

[0097] The following figures 5A and 5B illustrate the method for updating the pose of the FACC line. As shown in Figures 5A and 5B, once the FA point and the FACC plane are determined, the first target axis can be determined. For example, both the FA point and the first target axis can be located on the anterior surface of the tooth. When a user's instruction to adjust the pose of the FACC line on the tooth surface is detected (for example, in Figures 5A and 5B, the user drags the FACC line on the posterior surface of the tooth with the mouse, which forms the first instruction), the FACC line can be controlled to rotate based on the first target axis on the anterior surface to the pose indicated by the first instruction, and the rotated pose can be updated and displayed. The first target axis is the rotation axis that controls the rotation of the FACC line on the posterior surface. As can be seen from Figures 5A and 5B, while the FACC line on the posterior surface is being adjusted, the pose of the FACC line on the anterior surface does not shift significantly and does not deviate from the FA point. Therefore, the FACC line on the anterior surface does not require much repeated adjustment.

[0098] Similar to the FACC line, the transverse plane section can update its pose in various ways based on the second target axis. As an example, when the second instruction mentioned above, that is, the user's instruction to adjust the pose of the transverse plane section on the tooth surface, is detected, the transverse plane section can be controlled to rotate based on the second target axis to the pose indicated by the second instruction, and the rotated pose can be updated and displayed.

[0099] As an example, once the FA point and the transverse plane are determined, the aforementioned second target axis can be determined. For example, both the FA point and the second target axis can be located on the anterior tooth surface. When a user's instruction to adjust the pose of the transverse plane section on the tooth surface is detected (for example, if the user drags the transverse plane section on the posterior tooth surface with the mouse, the aforementioned second instruction can be formed), the transverse plane section can be controlled to rotate based on the second target axis on the anterior tooth surface to the pose indicated by the second instruction, and the rotated pose can be updated and displayed. The second target axis is the axis of rotation when controlling the rotation of the transverse plane section on the posterior tooth surface. While the transverse plane section on the posterior tooth surface is being adjusted, the pose of the transverse plane section on the anterior tooth surface does not shift significantly and does not deviate from the FA point. Therefore, the transverse plane section on the anterior tooth surface does not require much repeated adjustment.

[0100] Orthodontic reference data may also include brackets, which may be initially positioned at the FA point. In some embodiments, the method for adjusting orthodontic reference data provided in this application may also include the steps shown in FIG7: S701, determining the initial placement position of the bracket on the tooth surface.

[0101] S702. When the third instruction is detected, determine the third pose change of the tray relative to the initial placement pose.

[0102] The third instruction is for the user to adjust the position of the tray.

[0103] S703. Based on the third pose change and the FA point, determine the third adjustment pose, and update and display the pose of the slot based on the third adjustment pose.

[0104] There are several ways to determine the initial placement position of the bracket. As an example, after determining the current positions of the FA point, FACC line, and transverse plane section, the initial placement position of the bracket on the tooth surface can be determined based on these three positions. As another example, after determining the current positions of the FA point, FACC line, and transverse plane section, the initial placement position of the bracket on the tooth surface can be determined based on these three positions and the orthodontic plan. There is no specific limitation on the method for determining the initial placement position of the bracket.

[0105] It is worth noting that the above description of the bracket pose update method is only an illustrative example. In actual applications, other update methods may exist, and no specific limitation is made here.

[0106] There are various ways to fit brackets to tooth surfaces. The following examples, using Figures 8A-8E, illustrate the different scenarios for fitting brackets to tooth surfaces: As shown in Figure 8A, brackets often have a base plate structure, which is often a curved surface. The base plate of the bracket can be a structure that directly contacts and fits to the tooth surface. As shown in Figure 8B, at the position where the bracket fits to the tooth surface, a tooth surface area is formed, which can contain the bracket.

[0107] To more accurately determine the placement posture of the bracket in the tooth surface area, as an example, when a user's instruction to adjust the bracket posture is detected, i.e., the third instruction, the tooth surface area corresponding to the bracket after posture adjustment can be determined based on the posture indicated by the third instruction, and the average normal of the tooth surface area can be determined. Finally, based on the determined average normal of the tooth surface area, the placement posture of the bracket in the tooth surface area can be determined.

[0108] As shown in Figure 8C, as an example, after determining the average normal of the tooth surface area, the orientation of the bracket in the tooth surface area can be determined based on the determined average normal, and the placement posture of the bracket can be determined based on the orientation.

[0109] To ensure that the bracket fits as closely as possible to the tooth surface before and after changes in position, and to determine the optimal contact area, after determining the bracket placement position based on the orientation, the following steps can be taken: Adjust the bracket position according to the contact area between the bracket and the tooth surface to achieve the maximum contact area between the bracket and the tooth surface.

[0110] Specifically, as an example, the maximum contact area between the bracket and the tooth surface region where the bracket is placed can be calculated based on the initial placement posture of the bracket on the tooth surface. As another example, this maximum contact area can be determined through an iterative algorithm. The bracket is swung at a certain angle to find the maximum contact surface, and the position of the bracket at the maximum contact surface is used as the final orientation of the bracket at that tooth surface position. For example, once the tooth surface region where the bracket is placed is determined, the bracket can be offset relative to the average normal of the tooth surface region, with a preset offset angle each time. After each offset, the contact area between the bracket and the tooth surface region where the bracket is placed is calculated. After a preset number of offsets, multiple contact areas between the bracket and the same tooth surface region can be calculated. The largest contact area is selected from these multiple contact areas, and the offset angle of the bracket relative to the aforementioned average normal is used as the basis for determining the final orientation of the bracket relative to the average normal at the largest contact area. The bracket's position is adjusted to achieve the maximum contact area between the bracket and the tooth surface. For example, the preset number of times could be 10, and the preset angle could be 5 degrees. Other options for the preset number of times and preset angle are not limited. Alternatively, once the tooth surface area where the bracket will be placed is determined, the bracket's angle relative to the average normal of that area can be offset. After each offset, the contact area between the bracket and the tooth surface area is calculated. If the change in contact area after multiple offsets is not significant (e.g., less than a preset threshold), the largest contact area is selected from the multiple contact areas determined by these offsets. Based on the offset angle of the bracket relative to the average normal corresponding to this largest contact area, the bracket's position is adjusted to achieve the maximum contact area between the bracket and the tooth surface. The offset angle for each offset can be fixed or random.

[0111] As another example, during the movement of the bracket along the tooth surface or the twisting of the bracket, the placement posture of the bracket may change, and the area of ​​the tooth surface on which the bracket is placed may also change. Therefore, the maximum contact area between the bracket and the new tooth surface area can be determined again based on the bracket's changed placement posture. This ensures that the bracket achieves the maximum possible contact with the tooth surface before and after the posture change. As another example, this maximum contact area can be determined using an iterative algorithm. The specific method for determining this maximum contact area is as described in the above embodiments and will not be repeated here.

[0112] It is understood that the tooth surface area corresponding to the bracket mentioned above, or the tooth surface area where the bracket is placed, can be understood as the tooth surface area near the bracket bonding position. The tooth surface area can correspond to the bracket base plate. Specifically, the position and area of ​​the tooth surface area can be determined based on the bracket pose and the area of ​​the bracket base plate. As an example, the tooth surface area can be a ring relative to the bracket base plate, such as the ring shown in Figure 8B, or it can be a ring of other shapes, such as a rectangular ring. There is no specific limitation on this.

[0113] Considering that in related technologies, when brackets are placed on the tooth surface, the base plate of the bracket is often not completely in contact with the tooth surface, as shown in Figure 8D, when the user moves or twists the bracket, the new position of the bracket after being offset may result in the bracket's normal direction being unreasonable relative to the tooth surface area, causing the bracket to embed into the tooth surface.

[0114] To address the aforementioned issues, several methods are provided to prevent bracket embedding into the tooth surface. As one example, when a third pose change of the bracket is detected that causes it to embed into the tooth surface, the bracket's pose is not updated. As another example, when a third adjustment pose of the bracket is detected that causes it to embed into the tooth surface, the bracket's pose is not updated. It is worth noting that the above descriptions of methods to prevent bracket embedding into the tooth surface are merely illustrative; in practical applications, other methods may exist, and no specific limitations are imposed on these methods.

[0115] It's understandable that not updating the bracket's pose means not moving or twisting the bracket, and not updating the bracket's pose after the movement or twist. As shown in Figure 8E, updating the bracket's pose means continuing to move or twist the bracket, and updating the displayed pose after the movement or twist. When not updating the bracket's pose, a prompt or other notification can be displayed to provide feedback to the user.

[0116] In another embodiment, when a third pose change of the bracket relative to the initial placement pose is detected, causing the bracket to embed into the tooth surface, the bracket pose is adaptively updated according to the embedding depth, and / or, when a third adjustment pose is detected, causing the bracket to embed into the tooth surface, the bracket pose is adaptively updated according to the embedding depth.

[0117] Specifically, upon receiving the third instruction (the instant the mouse is released from the bracket), the algorithm is invoked to calculate the depth of the bracket embedded in the tooth surface, update the bracket's pose, and bounce the bracket from the embedded tooth surface to a non-embedded state. That is, the bracket is moved or twisted in the opposite direction according to the depth of its embedding in the tooth surface, and the bracket's pose is adaptively updated. This ensures that the bracket on the display interface not only adjusts its pose according to the user's instructions to provide feedback to the user, but also makes adaptive adjustments to the feedback results, making the feedback results meet medical requirements and be more reasonable.

[0118] The third adjusted pose is determined based on the third pose change and the FA point.

[0119] Since users adjust the movement of brackets on the 3D tooth model on a 2D display interface, if the 3D coordinates of the brackets are adjusted directly according to the user's 2D instructions, the brackets may detach from the tooth surface or become embedded in the tooth surface.

[0120] To address the aforementioned issues, the third adjustment pose is recalculated based on the user's third instruction, which includes changes in the bracket's position relative to its initial placement, such as the distance the bracket moves relative to its initial placement and / or the angle of its offset relative to its initial placement. This is combined with the previously determined medical reference requirements for bracket settings, such as the current position of the FA point, the current position of the FACC line, and / or the orthodontic treatment plan. Some adjustment instructions in the third pose change are ignored, while others are executed. In other words, instructions in the third pose change that do not meet medical reference requirements are ignored, while instructions that do meet medical reference requirements are executed. This ensures that the bracket pose (third adjustment pose) on the display interface always meets basic medical requirements, such as the basic positional requirements of the bracket relative to the FA point and FACC line, as well as the orthodontic torque setting requirements.

[0121] This involves decomposing the third pose change based on the third preset reference conditions. Commands that satisfy the third preset reference conditions are identified as the bracket's third adjustment pose, while commands that do not satisfy the third preset reference conditions are ignored. The third preset reference conditions are determined at least by the current position of the FA point and the current position of the FACC line. The third preset reference conditions can also be determined by bracket settings such as the orthodontic treatment plan. The third preset reference conditions include that the bracket cannot detach from the tooth surface, cannot be embedded in the tooth surface, and must conform to the orthodontic treatment plan.

[0122] For example, in the third instruction, when the user clicks the bracket to move diagonally by X distance, the X distance is decomposed into moving B distance along the tooth surface and moving C distance towards the axis (away from the tooth surface). Among them, moving B distance along the tooth surface will be executed; moving C distance towards the axis (away from the tooth surface) will be ignored and not executed; this is equivalent to projecting onto the tooth surface direction, so the final movement distance of the bracket is moving B distance along the tooth surface.

[0123] For example, in the third instruction, the user clicks the bracket to move the X distance diagonally. The X distance is decomposed into moving the bracket B distance along the FACC line and moving it C distance towards the axis (away from the tooth surface). The moving bracket B distance along the FACC line will be executed, while the moving bracket C distance towards the axis (away from the tooth surface) will be ignored and not executed. This is equivalent to projecting the bracket onto the FACC line. Therefore, the final movement distance of the bracket is the moving bracket B distance along the FACC line.

[0124] For example, in the third instruction, if the user clicks the mouse to rotate the bracket clockwise by a Y angle, and the Y angle causes the subsequent torque generated by the bracket to be inconsistent with the orthodontic treatment plan, then the clockwise rotation of the bracket by a Y angle will be ignored and not executed.

[0125] Given that there are multiple teeth on a 3D dental model, users often need to observe the teeth and orthodontic reference data from multiple perspectives when adjusting the orthodontic reference data on any one of the teeth.

[0126] To address the aforementioned issues, in some embodiments, the orthodontic reference data adjustment method provided in this application may further include the steps shown in Figure 9: S901, segmenting each tooth in the three-dimensional tooth model where the tooth surface is located.

[0127] Each segmented tooth is bound to a designated tooth position number, and each tooth position number is bound to multiple views of the corresponding tooth. The multiple views of the corresponding tooth carry orthodontic reference data.

[0128] S902, Responding to the user's command to select a tooth, determine the tooth position number corresponding to the area where the selected tooth is located, and display multiple viewpoints of the tooth bound to the determined tooth position number.

[0129] As an example, when orthodontic reference data includes FA points, FACC lines, transverse cross-sections, and brackets, the positional relationship between the teeth and FA points, FACC lines, and transverse cross-sections can be observed from multiple angles through multiple views of the teeth bound to the displayed tooth position numbers. The positional relationship between the teeth and brackets can also be observed from multiple angles.

[0130] As shown in Figures 10A-10B, multiple perspectives of a tooth may include a front view, a side view, and a top view, without any specific limitation.

[0131] As an example, when a user adjusts the above orthodontic reference data, in response to the user's adjustment command for the orthodontic reference data, the system updates and displays in real time multiple views of the teeth targeted by the user's adjustment command. These multiple views of the teeth targeted by the adjustment command may carry: real-time orthodontic reference data, orthodontic reference data generated in response to the adjustment command, and measurement information for the orthodontic reference data.

[0132] It is understandable that the real-time orthodontic reference data could be the orthodontic reference data displayed before responding to the aforementioned adjustment instructions.

[0133] As shown in Figures 10A and 10B, the measurement information for orthodontic reference data can be information characterizing the relative distance between the FA point and the FACC line, such as "5.4" for the distance from the FA point to the top of the FACC line and "3.4" for the distance from the FA point to the bottom of the FACC line. Other information can also be used for orthodontic reference data; there are no specific limitations on this.

[0134] Considering users' need to print 3D tooth models, but the 3D tooth models printed by related technologies lack information that accurately describes orthodontic reference data, users find it difficult to perform orthodontic surgery efficiently using the models.

[0135] To address this issue, as an example, a 3D tooth model with at least FACC 3D lines can be generated and printed. The FACC 3D lines are generated by converting the 2D data of the aforementioned FACC lines into 3D data with depth information. As another example, the generated 3D tooth model can also have 3D lines with transverse plane cross-sections. The transverse plane cross-sections can be generated by converting the 2D data of the aforementioned transverse plane cross-sections into 3D data with depth information.

[0136] As shown in Figure 11, the following is an exemplary description of the process of generating a 3D tooth model: First, the FACC line cutting band and the transverse plane section cutting band around point FA are calculated. Specifically, a segment of the FACC line and the transverse plane section passing through point FA is selected, and the normal sampling set on the path of the selected segment of the line through the tooth surface is calculated. Based on the normal sampling set, the mesh data of the FACC line cutting band and the transverse plane section cutting band are generated. The cutting band can have a target width set. The mesh data of the FACC line cutting band and the transverse plane section cutting band can be divided into data of embedded and exposed parts of the tooth surface based on the tooth surface position, that is, the depth (height) of the cutting band. Then, the FACC line cutting band and the transverse plane section cutting band can be Boolean added with the jaw to form a cutting band protruding from the tooth surface, or Boolean subtracted with the jaw to form a cutting band concave to the tooth surface. Finally, a 3D tooth model carrying the above-mentioned FACC 3D line and the above-mentioned transverse plane section 3D line is generated.

[0137] Please refer to Figure 12, which exemplarily illustrates the user interface for adjusting orthodontic reference data provided in the embodiments of this application; please refer to Figure 13, which exemplarily illustrates the user interface for bracket fitting and bracket adjustment provided in the embodiments of this application; please refer to Figure 14, which exemplarily illustrates the three-dimensional tooth model with FACC stereo lines and transverse plane intercepts generated in the embodiments of this application.

[0138] Corresponding to the above method embodiments, this application embodiment also provides an orthodontic reference data adjustment device for adjusting orthodontic reference data in a three-dimensional tooth model. The orthodontic reference data includes at least the FACC line and the FA point. Referring to Figure 15, the device may include: a display unit 1501, configured to acquire a three-dimensional tooth model and display the position of the FA point and the initial pose of the FACC line on the tooth surface of the acquired three-dimensional tooth model; a determination unit 1502, configured to determine the first pose change of the FACC line relative to the initial position when a first instruction is detected, the first instruction being an instruction from the user to adjust the pose of the FACC line on the tooth surface; and an update unit 1503, configured to determine the first adjusted pose of the FACC line based on the first pose change and the FA point, and update and display the pose of the FACC line based on the first adjusted pose of the FACC line.

[0139] As an example, the update unit 1503 is also configured to, when a first pose change is detected that causes the FACC line to not pass through the FA point, not update the pose of the FACC line or adaptively update the pose of the FACC line according to the FA point; and / or when a first adjusted pose is detected that causes the FACC line to not pass through the FA point, not update the pose of the FACC line or adaptively update the pose of the FACC line according to the FA point.

[0140] As an example, the update unit 1503 is specifically configured to control the FACC line to rotate based on the FA point to the pose indicated by the first instruction, or to control the FACC line to rotate based on the first target axis to the pose indicated by the first instruction, wherein the first target axis is a straight line passing through the FA point and located on the FACC plane formed by passing through the FA point.

[0141] As an example, the update unit 1503 is specifically configured to decompose the first pose change according to the first preset reference condition, determine some or all of the instructions in the first pose change that meet the first preset reference condition as the first adjustment pose of the FACC line, and ignore some or all of the instructions in the first pose change that do not meet the first preset reference condition; wherein, the first preset reference condition is determined at least by the FA point.

[0142] As an example, the orthodontic reference data also includes a transverse plane section, and the determining unit 1502 is further configured to determine the initial pose of the transverse plane section on the tooth surface; when a second instruction from the user to adjust the pose of the transverse plane section on the tooth surface is detected, determine the second pose change of the transverse plane section relative to the initial position; based on the second pose change and the FA point, determine the second adjusted pose of the transverse plane section, and update and display the pose of the transverse plane section based on the second adjusted pose of the transverse plane section.

[0143] As an example, the determining unit 1502 is specifically configured to control the transverse plane section to rotate based on the FA point to the pose indicated by the second instruction; or, based on the second instruction, control the transverse plane section to rotate based on the second target axis to the pose indicated by the second instruction, wherein the second target axis is a straight line passing through the FA point and located on the transverse plane forming the transverse plane section.

[0144] As an example, the orthodontic reference data also includes the bracket, which is initially positioned at the FA point. The determining unit 1502 is also used to determine the initial placement posture of the bracket on the tooth surface; when a third command is detected, the third posture change of the bracket relative to the initial placement posture is determined, and the third command is the user's command to adjust the bracket posture; based on the third posture change and the FA point, the third adjustment posture is determined, and the bracket posture is updated and displayed based on the third adjustment posture.

[0145] As an example, the update unit 1503 is also configured to, when a third pose change is detected causing the bracket to embed into the tooth surface, not update the bracket pose or adaptively update the bracket pose according to the embedding depth; and / or when a third adjustment pose is detected causing the bracket to embed into the tooth surface, not update the bracket pose or adaptively update the bracket pose according to the embedding depth.

[0146] As an example, the update unit 1503 is specifically configured to determine the tooth surface region corresponding to the bracket after the pose adjustment based on the pose indicated by the third instruction, and to determine the average normal of the tooth surface region; based on the average normal, to determine the placement pose of the bracket in the tooth surface region.

[0147] As an example, the determining unit 1502 is specifically configured to decompose the third pose change according to the third preset reference conditions, determine some or all of the instructions in the third pose change that meet the third preset reference conditions as the third adjustment pose of the slot, and ignore some or all of the instructions in the third pose change that do not meet the third preset reference conditions. The third preset reference conditions are determined at least by the current position of the FA point and the current position of the FACC line.

[0148] As an example, the device also includes: a segmentation unit configured to segment each tooth in a three-dimensional model of the tooth on which the tooth surface is located, wherein each segmented tooth is bound to a specified tooth position number, each tooth position number is bound to multiple views of the corresponding tooth, and the multiple views of the corresponding tooth carry orthodontic reference data; the display unit 1501 is further configured to respond to a user's selection command for a tooth, determine the tooth position number corresponding to the region where the selected tooth is located, and display multiple views of the tooth bound to the determined tooth position number.

[0149] As an example, the update unit 1503 is also configured to update and display multiple views of the teeth targeted by the adjustment command in response to a user's adjustment command for orthodontic reference data. The multiple views of the teeth targeted by the adjustment command carry: real-time orthodontic reference data, orthodontic reference data generated in response to the adjustment command, and measurement information for the orthodontic reference data.

[0150] As an example, the device also includes a generation unit configured to generate a three-dimensional tooth model with at least FACC stereo lines and to print the generated three-dimensional tooth model, wherein the FACC stereo lines are generated by converting two-dimensional data of FACC lines into three-dimensional data with depth information.

[0151] This application also provides an electronic device, as shown in FIG16, which includes: a processor 1601; a memory 1602 configured to store processor-executable instructions; wherein the processor 1601 is configured to implement the orthodontic reference data adjustment method described in any of the embodiments above.

[0152] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method for adjusting orthodontic reference data as described in any of the embodiments above.

[0153] The above are merely specific embodiments of this application. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application. Industrial applicability

[0154] The technical solution provided in this disclosure uses the position of the FA point on one side (anterior) of the tooth and the pose change of the FACC line determined based on the user's adjustment command as the calibration reference. The FA point itself conforms to medical regulations, rather than using the geometric center of the tooth as the reference. When adjusting the FACC line, i.e. the intersection of the FACC plane and the tooth surface, at any position on the tooth surface, it can ensure that the offset of one side (anterior) of the tooth is relatively small, reducing the number of adjustments and having strong industrial applicability.

Claims

1. A method for adjusting orthodontic reference data, used to adjust orthodontic reference data in a three-dimensional tooth model, wherein, The orthodontic reference data includes at least the FACC line and the FA point, and the method includes: Obtain a 3D model of the tooth and display the position of the FA point and the initial pose of the FACC line on the tooth surface of the obtained 3D model of the tooth. When the first instruction is detected, the first pose change of the FACC line relative to the initial position is determined. The first instruction is an instruction from the user to adjust the pose of the FACC line on the tooth surface. Based on the first pose change and the FA point, the first adjusted pose of the FACC line is determined, and the pose of the FACC line is updated and displayed based on the first adjusted pose of the FACC line.

2. The method according to claim 1, wherein, The method further includes: When the first pose change is detected so that the FACC line does not pass through the FA point, the pose of the FACC line is not updated, or the pose of the FACC line is adaptively updated according to the FA point; and / or When it is detected that the first adjustment pose causes the FACC line to not pass through the FA point, the pose of the FACC line is not updated or the pose of the FACC line is adaptively updated according to the FA point.

3. The method according to claim 1, wherein, The step of determining the first adjusted pose of the FACC line based on the first pose change and the FA point, and updating and displaying the pose of the FACC line based on the first adjusted pose includes: Based on the first instruction, control the FACC line to rotate relative to the FA point to the pose indicated by the first instruction; or, Based on the first instruction, the FACC line is controlled to rotate to the pose indicated by the first instruction based on the first target axis, wherein the first target axis is a straight line passing through the FA point and located on the FACC plane formed by passing through the FA point.

4. The method according to claim 1, wherein, Based on the first pose change and the FA point, the first adjusted pose of the FACC line is determined, including: The first pose change is decomposed according to the first preset reference conditions. Some or all of the instructions in the first pose change that meet the first preset reference conditions are determined as the first adjustment pose of the FACC line, and some or all of the instructions in the first pose change that do not meet the first preset reference conditions are ignored. The first preset reference conditions are determined at least by the FA point.

5. The method according to claim 1, wherein, The orthodontic reference data also includes transverse plane intercepts, and the method further includes: Determine the initial pose of the transverse plane intercept on the tooth surface; When a second instruction from the user to adjust the pose of the transverse plane section on the tooth surface is detected, the second pose change of the transverse plane section relative to the initial position is determined; Based on the second pose change and the FA point, the second adjusted pose of the transverse plane section is determined, and the pose of the transverse plane section is updated and displayed based on the second adjusted pose of the transverse plane section.

6. The method according to claim 5, wherein, The step of determining the second adjusted pose of the transverse plane section based on the second pose change and the FA point, and updating and displaying the pose of the transverse plane section based on the second adjusted pose includes: Based on the second instruction, control the transverse plane section to rotate relative to the FA point to the pose indicated by the second instruction; or, Based on the second instruction, the transverse plane section is controlled to rotate based on the second target axis to the pose indicated by the second instruction, wherein the second target axis is a straight line passing through point FA and located on the transverse plane forming the transverse plane section.

7. The method according to claim 1, wherein, The orthodontic reference data also includes brackets, which are initially positioned at the FA point, and the method further includes: Determine the initial placement orientation of the bracket on the tooth surface; When a third instruction is detected, it is determined that the third position change of the tray relative to the initial placement position is determined, and the third instruction is an instruction from the user to adjust the position of the tray. Based on the third pose change and the FA point, the third adjusted pose is determined, and the pose of the bracket is updated and displayed based on the third adjusted pose.

8. The method according to claim 7, wherein, The method further includes: When the third pose change is detected, causing the bracket to embed into the tooth surface, the bracket pose is not updated, or the bracket pose is adaptively updated according to the embedding depth; and / or When the third adjustment pose is detected to cause the bracket to embed into the tooth surface, the bracket pose is not updated or the bracket pose is adaptively updated according to the embedding depth.

9. The method according to claim 7, wherein, The step of determining the third adjusted pose based on the third pose change and the FA point, and updating and displaying the pose of the bracket based on the third adjusted pose, includes: Based on the pose indicated by the third instruction, determine the tooth surface area corresponding to the bracket after the pose adjustment, and determine the average normal of the tooth surface area; Based on the average normal, the placement orientation of the bracket in the tooth surface region is determined.

10. The method according to claim 7, wherein, Based on the third pose change and the FA point, the third adjustment pose of the bracket is determined, including: The third pose change is decomposed according to the third preset reference conditions. Some or all of the instructions in the third pose change that meet the third preset reference conditions are determined as the third adjustment pose of the slot, and some or all of the instructions in the third pose change that do not meet the third preset reference conditions are ignored. The third preset reference conditions are determined at least by the current position of the FA point and the current position of the FACC line.

11. The method according to any one of claims 1-10, wherein, The method further includes: Each tooth in the three-dimensional model of the tooth surface is segmented, and each segmented tooth is bound to a specified tooth position number. Each tooth position number is bound to multiple views of the corresponding tooth, and the multiple views of the corresponding tooth carry orthodontic reference data. In response to the user's command to select a tooth, determine the tooth position number corresponding to the selected tooth region, and display multiple perspective views of the tooth bound to the determined tooth position number.

12. The method according to claim 11, wherein, The method further includes: In response to a user's adjustment command for the orthodontic reference data, the system updates and displays multiple perspective views of the teeth targeted by the adjustment command. These multiple perspective views carry: real-time orthodontic reference data, orthodontic reference data generated in response to the adjustment command, and measurement information for the orthodontic reference data.

13. The method according to claim 1, wherein, The method further includes: A three-dimensional model of a tooth with at least FACC 3D lines is generated, and the generated three-dimensional model of the tooth is printed. The FACC 3D lines are generated by converting the two-dimensional data of the FACC lines into three-dimensional data with depth information.

14. An orthodontic reference data adjustment device for adjusting orthodontic reference data in a three-dimensional tooth model, wherein, The orthodontic reference data includes at least the FACC line and the FA point, and the device includes: The display unit is configured to acquire a three-dimensional model of a tooth and display the position of the FA point and the initial pose of the FACC line on the tooth surface of the acquired three-dimensional model of the tooth. The determining unit is configured to determine the first pose change of the FACC line relative to the initial position when a first instruction is detected, wherein the first instruction is an instruction from the user to adjust the pose of the FACC line on the tooth surface. The update unit is configured to determine the first adjusted pose of the FACC line based on the first pose change and the FA point, and update and display the pose of the FACC line based on the first adjusted pose of the FACC line.

15. An electronic device, wherein, include: processor; Memory configured to store processor-executable instructions; The processor is configured to implement the method of any one of claims 1 to 13.

16. A computer-readable storage medium having a computer program stored thereon, wherein, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

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