Design method, generation method and determination method for digital occlusal splint

Abstract

A design method for a digital occlusal splint and a determination method for an occlusal splint model. The design method for a digital occlusal splint comprises: acquiring a dental model; determining a first rotation axis of the dental model on the basis of a registration relationship; opening the dental model by using the first rotation axis as a rotation axis; or acquiring an opening parameter of the dental model; adding the opening parameter to the dental model to open the dental model; and generating a digital occlusal splint on the basis of the opened dental model. The determination method for an occlusal splint model comprises: acquiring first tooth model data and first occlusal splint model data, and determining a first position, in a first orthodontic step, of each key point of a target tooth to which an occlusal splint is to be added and a second position of the key point in a second orthodontic step; determining movement information of each key point on the basis of the first position and the second position; and determining a second occlusal splint model on the basis of at least one of the movement information, the first occlusal splint model data, and an occlusal relationship of the target tooth in the second orthodontic step. The method can improve the accuracy and applicability of the design of the digital occlusal splint.

Description

Design method, generation method and determination method of digital jaw pad

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202410865260.9, filed on June 28, 2024, entitled "Generation method of jaw pad model, forming method of shell-shaped dental appliance, shell-shaped dental appliance, device, equipment and medium", the entire contents of which are incorporated herein by reference; the present application claims priority to the Chinese patent application No. 202411124100.5, filed on August 15, 2024, entitled "Design method of digital jaw pad, forming method of appliance, appliance, device, equipment and medium", the entire contents of which are incorporated herein by reference; the present application claims priority to the Chinese patent application No. 202411514239.0, filed on October 28, 2024, entitled "Determination method of jaw pad model, device, computing equipment and storage medium", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of dental treatment, and in particular to a design method, a generation method and a determination method of a digital jaw pad. BACKGROUND

[0004] Occlusion is the relationship and function of upper and lower teeth occlusion, and malocclusion affects the coordination of craniofacial dental and jaw, appearance and function, occlusion, craniofacial structure and growth direction.

[0005] The jaw pad has a very wide application in the treatment of malocclusion. The commonly used method at present is to determine the basic structure of the standard jaw pad, and then to adapt to each case by simple modification, but the structure of the standard jaw pad is single and cannot meet the individual needs of patients. SUMMARY

[0006] The present application provides a design method, a generation method and a determination method of a digital jaw pad, which helps to improve the individual design of the design scheme and improve the precision and applicability of the digital jaw pad design, helps to assist the design of the treatment scheme, and can generate a corresponding jaw pad model for each patient.

[0007] In a first aspect, the present application provides a design method of a digital jaw pad, comprising:

[0008] obtaining a three-dimensional dental model;

[0009] determine a first rotation axis of the three-dimensional dental model based on the registration relationship;

[0010] open the three-dimensional dental model with the first rotation axis as a rotation axis;

[0011] generate a digital jaw pad based on the opened three-dimensional dental model.

[0012] Optionally, an image picture corresponding to the three-dimensional dental model is obtained;

[0013] obtain a registration relationship between the image picture and the three-dimensional dental model;

[0014] determine the first rotation axis based on a second rotation axis in the image picture and the registration relationship.

[0015] Optionally, when a first condition is met, the registration relationship is based on full-arch teeth;

[0016] when a second condition is met, the registration relationship is based on single-arch teeth;

[0017] The first condition includes at least one of the following:

[0018] the occlusal deviation between the image picture and the three-dimensional dental model is less than a preset deviation;

[0019] the image picture and the three-dimensional dental model are both in a closed state;

[0020] The second condition includes at least one of the following:

[0021] the occlusal deviation between the image picture and the three-dimensional dental model is not less than a preset deviation;

[0022] the three-dimensional dental model or the image picture is in an open state;

[0023] the three-dimensional dental model or the image picture is in a guide state.

[0024] Optionally, a positional deviation between the three-dimensional dental model and the image picture is determined;

[0025] obtain a second coordinate of a second rotation node on the second rotation axis in a second coordinate system;

[0026] determine a first coordinate of a first rotation node on the first rotation axis in a first coordinate system according to the second coordinate and the positional deviation.

[0027] Optionally, a two-dimensional side view of the three-dimensional dental model is obtained, and the two-dimensional side view and the image picture are located at the same perspective;

[0028] determining a position deviation of the two-dimensional side view from the image picture, the position deviation comprising an angle deviation.

[0029] Optionally, two first reference points are selected at the three-dimensional dental model.

[0030] Two second reference points are selected at the image picture, the two second reference points corresponding to the two first reference points respectively.

[0031] According to the first reference points and the second reference points, a position deviation of the three-dimensional dental model from the image picture is determined.

[0032] Optionally, a first reference line is selected at the three-dimensional dental model.

[0033] A second reference line is selected at the image picture, the second reference line corresponding to the first reference line.

[0034] According to the first reference line and the second reference line, a position deviation of the three-dimensional dental model from the image picture is determined.

[0035] Optionally, a second coordinate of a second rotation fulcrum and a third coordinate of a second target point of the image picture in a second coordinate system are obtained, the second rotation fulcrum and the second target point having a first position relationship therebetween.

[0036] A fourth coordinate of a first target point of the three-dimensional dental model in the first coordinate system is obtained, the first target point and the second target point corresponding to the same dental position.

[0037] The fourth coordinate is updated to a fifth coordinate according to the registration relationship.

[0038] According to the first position relationship and the fifth coordinate, a first coordinate of a first rotation fulcrum on a first rotation axis in the first coordinate system is determined.

[0039] Optionally, the method comprises at least one of the following:

[0040] According to a horizontal coordinate direction distance in the first position relationship and a horizontal coordinate of the fifth coordinate, a horizontal coordinate of the first coordinate is determined.

[0041] According to a vertical coordinate direction distance in the first position relationship and a vertical coordinate of the fifth coordinate, a vertical coordinate of the first coordinate is determined.

[0042] Optionally, the three-dimensional dental model is opened to an opening height, the opening height being a vertical distance between a tooth tip of the first dental arch and a fitting straight line defined by a plurality of tooth tips of the second dental arch.

[0043] Optionally, the image picture is a lateral film.

[0044] Optionally, the target region of the three-dimensional dental arch model is divided into a plurality of sub-regions.

[0045] In at least part of the sub-regions, a first reference point located on the upper jaw and a second reference point located on the lower jaw are obtained, and the first reference point and the second reference point have a first occlusal relationship.

[0046] With the first rotation axis as the rotation axis, the three-dimensional dental arch model is opened until the plurality of first occlusal relationships of at least part of the sub-regions meet a third condition, and the third condition includes at least one of the following:

[0047] In the direction of the gingival occlusal surface, the second reference point does not exceed the first reference point;

[0048] In the direction of the gingival occlusal surface, the second reference point exceeds the first reference point by a height not greater than a preset value.

[0049] Optionally, the first reference point is the lowest point of the upper jaw, and the second reference point is the highest point of the lower jaw.

[0050] Optionally, the opening angle corresponding to the time when the first occlusal relationship of at least part of the sub-regions meets the third condition is obtained.

[0051] The maximum opening angle in the plurality of opening angles is taken as a target opening angle.

[0052] Based on the first rotation axis and the target opening angle, the three-dimensional dental arch model is opened.

[0053] Optionally, along the dental arch curve direction of the three-dimensional dental arch model, the target region is divided to form a plurality of sub-regions.

[0054] Optionally, based on the occlusal state of the three-dimensional dental arch model, a target region is determined, and the target region includes an anterior tooth region and / or a posterior tooth region.

[0055] Optionally, the three-dimensional dental arch model is in a closed state.

[0056] The embodiment of the present application provides a forming method of an appliance, comprising:

[0057] The design method of the digitalized jaw pad according to any one of the technical solutions above is used to obtain a target digitalized dental arch with a digitalized jaw pad.

[0058] An appliance with a jaw pad is generated.

[0059] The embodiment of the present application provides an appliance, which is obtained according to the forming method of the appliance as described above.

[0060] In a second aspect, embodiments of the present application provide a device for designing a digital jaw pad, comprising:

[0061] A first module for obtaining a three-dimensional dental arch model;

[0062] A second module for determining a first rotation axis of the three-dimensional dental arch model based on the registration relationship;

[0063] A third module for opening the three-dimensional dental arch model with the first rotation axis as the rotation axis;

[0064] A fourth module for generating a digital jaw pad based on the opened three-dimensional dental arch model.

[0065] In a third aspect, embodiments of the present application provide an electronic device, comprising a processor, a memory and a communication bus, the processor and the memory complete communication with each other through the communication bus;

[0066] The memory is used to store an application program;

[0067] The processor is used to implement the steps of the digital jaw pad design method as described in any one of the above technical solutions when executing the application program stored on the memory.

[0068] In a fourth aspect, embodiments of the present application provide a storage medium having an application program stored thereon, the application program being executed to implement the steps of the digital jaw pad design method as described in any one of the above technical solutions.

[0069] Compared with the prior art, the present application has the beneficial effects that: after the first rotation axis of the three-dimensional dental arch model is determined, the rotation process of the three-dimensional dental arch model can be simulated more accurately, the consistency between the movement of the three-dimensional dental arch model and the actual dental arch movement is improved, thereby improving the accuracy of the subsequent design scheme and the matching degree with the actual situation of the patient, greatly improving the patient experience, realizing personalized design of the treatment scheme, and having obvious advantages for complex cases, early treatment of children, etc.; the digital jaw pad is designed based on the determination of the first rotation axis of the three-dimensional dental arch model, and the design process of the digital jaw pad considers the rotation of the dental arch, which can greatly improve the precision and applicability of the digital jaw pad design.

[0070] In a fifth aspect, embodiments of the present application provide a method for generating a jaw pad model, comprising:

[0071] Obtaining a dental arch model;

[0072] Obtaining opening parameters of the dental arch model;

[0073] Adding the opening parameters to the dental arch model to open the dental arch model;

[0074] generating a jaw pad model based on the opened dental model.

[0075] Optionally, a lateral film is obtained, which corresponds to the same dental arch as the dental model.

[0076] Optionally, the upper and lower jaws in the lateral film are opened with a rotating point in the lateral film as a rotation point, and opening parameters are obtained, which are used as the opening parameters of the dental model.

[0077] Optionally, occlusal deviation of the dental model and the lateral film is obtained.

[0078] When the occlusal deviation is less than a preset deviation, the opening parameters of the lateral film are used as the opening parameters of the dental model.

[0079] Optionally, a dental model in a closed state and a lateral film in a closed state are obtained.

[0080] Optionally, the opening parameters include displacement and / or rotation.

[0081] Optionally, the upper and lower jaws in the lateral film are opened according to a preset opening height or a preset opening angle.

[0082] Optionally, the lower jaw is rotated with the rotating point in the lateral film as a rotation point until the distance between the upper and lower jaws in the height direction is equal to the preset opening height.

[0083] Optionally, a first reference part and a second reference part corresponding to each other are selected in the lateral film and the dental model, respectively.

[0084] The opening parameters of the first reference part in the opening process are obtained.

[0085] The opening parameters are added to the second reference part to open the dental model.

[0086] Optionally, a two-dimensional side view of the dental model is obtained, which is at the same angle of view as the lateral film.

[0087] A first reference part and a second reference part corresponding to each other are selected in the lateral film and the two-dimensional side view, respectively.

[0088] Optionally, N first coordinates of N first reference points of the first reference part are obtained, N being a positive integer.

[0089] The lateral film is opened so that the N first coordinates are updated to N second coordinates.

[0090] N opening parameters are obtained according to at least the N first coordinates and the N second coordinates.

[0091] Optionally, N second reference points of the second reference part are obtained, and the N second reference points correspond to the N first reference points one by one.

[0092] The N opening parameters are added to the N second reference points to open the dental model.

[0093] Optionally, the opening parameters of a first reference point are obtained according to at least the N first coordinates and the N second coordinates, wherein N>1, and the first reference point is an average of the N first reference points.

[0094] A second reference point corresponding to the first reference point is obtained in the dental model.

[0095] The opening parameters are added to the second reference point to open the dental model.

[0096] Optionally, the N first reference points are located at mandibular teeth of a lateral film.

[0097] Optionally, the opening parameters include at least one of a horizontal displacement amount of the first reference point in a horizontal coordinate direction, a vertical displacement amount of the first reference point in a vertical coordinate direction, and a rotation amount of the first reference point in a plane of the lateral film.

[0098] Optionally, the jaw pad model is adjusted to generate a plurality of jaw pad models corresponding to a plurality of correction steps.

[0099] The embodiment of the present application provides a forming method of a shell-shaped dental instrument, comprising:

[0100] The digital dental arch with the jaw pad model is obtained according to the forming method of the shell-shaped dental instrument.

[0101] The shell-shaped dental instrument with the jaw pad is generated.

[0102] The embodiment of the present application provides a shell-shaped dental instrument, which is obtained according to the forming method of the shell-shaped dental instrument.

[0103] In a sixth aspect, the embodiment of the present application provides a device for generating a jaw pad model, comprising:

[0104] A first module is configured to obtain a dental model.

[0105] A second module is configured to obtain opening parameters of the dental model.

[0106] A third module is configured to add the opening parameters to the dental model to open the dental model.

[0107] A fourth module is configured to generate a jaw pad model based on the opened dental model.

[0108] In a seventh aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory and a communication bus, the processor and the memory being capable of communicating with each other through the communication bus;

[0109] The memory is configured to store an application program.

[0110] The processor is configured to implement the steps of the jaw pad model generation method according to any one of the preceding technical solutions when executing the application program stored in the memory.

[0111] In an eighth aspect, an embodiment of the present application provides a storage medium having an application program stored thereon, the application program being capable of implementing the steps of the jaw pad model generation method according to any one of the preceding technical solutions when executed.

[0112] Compared with the prior art, the embodiment of the present application can simulate the opening process of the dental arch model more accurately based on the opening parameter, improve the consistency between the movement of the dental arch model and the movement of the actual dental arch, and thus improve the accuracy of the subsequent design scheme and the matching degree with the actual situation of the patient, greatly improve the patient experience, and realize personalized design of the treatment scheme, for example, for complex cases, early treatment of children, etc., which has obvious advantages; the embodiment generates the jaw pad model based on the opening parameter, which can greatly improve the precision and applicability of the jaw pad model design.

[0113] In a ninth aspect, an embodiment of the present application provides a jaw pad model determination method, which can be executed by a jaw pad model determination device. The jaw pad model determination device can be a terminal device or a module for a terminal device, or a server or a module for a server. The present application does not limit the execution subject of the method. The method comprises: obtaining first tooth model data and first jaw pad model data; the first tooth model is a tooth model corresponding to a first treatment step, and the first jaw pad model is a jaw pad model corresponding to the first tooth model in the first treatment step; determining a first position of a key point of a target tooth to which a jaw pad is to be added in the first treatment step according to the first tooth model data; the key point is located on the target tooth; the key point is used to indicate the position of the jaw pad to be added on the occlusal surface of the target tooth; determining a second position of the key point of the target tooth to which the jaw pad is to be added in a second treatment step according to second tooth model data; the second tooth model is a tooth model corresponding to the second treatment step; determining movement information of the key points according to the first positions of the key points and the second positions of the key points; and determining a second jaw pad model corresponding to the target tooth in the second treatment step according to at least one of the movement information of the key points, the first jaw pad model data and an occlusal relationship corresponding to the target tooth in the second treatment step.

[0114] The first jaw pad model is a jaw pad model determined in the first treatment step, the key points in the first treatment step and the key points in the second treatment step have a corresponding relationship, and the jaw pad height can be effectively determined according to the corresponding occlusion relationship of the target teeth in the second treatment step; therefore, at least one of the first jaw pad model data, the movement information of each key point in the first treatment step and the second treatment step, and the corresponding occlusion relationship of the target teeth in the second treatment step can be used to accurately and effectively adaptively generate the second jaw pad model.

[0115] In a possible implementation method, a target curve is determined according to a first position of a key point of the target tooth in the first treatment step; the target curve is located on the occlusal surface of the target tooth; the target tooth is at least two; a target surface is determined according to the target curve; the target surface is located in the target curve; the target surface is formed by filling a region enclosed by the target curve with a plurality of sub-surfaces; the first jaw pad model is determined according to the first jaw pad model; and the first jaw pad model data is obtained according to the first jaw pad model.

[0116] The above scheme can accurately and effectively determine the first jaw pad model.

[0117] In a possible implementation method, for any two adjacent key points of the target tooth in the first treatment step, a fitting curve between the adjacent key points is determined; the fitting curve is used to connect the adjacent key points; and the target curve is determined according to the fitting curve of each key point.

[0118] The above scheme can accurately and effectively determine the target curve.

[0119] In a possible implementation method, a first sub-surface is determined according to a point on the target curve; the first sub-surface includes at least three points; at least two points of the first sub-surface are located on the target curve; a second sub-surface is determined according to a point of the first sub-surface; the second sub-surface includes at least three points; at least two points in the second sub-surface are points on the target curve and / or points of the first sub-surface; the first sub-surface and the second sub-surface are both located inside the target curve; and the target surface is determined by each first sub-surface and each second sub-surface.

[0120] The above scheme can accurately and effectively determine the target surface.

[0121] In a possible implementation, the vertex coordinates of each subplane in the target surface of the first jaw pad model are updated according to the movement information of the key points, to obtain an intermediate target surface; and the second jaw pad model corresponding to the target teeth in the second treatment step is determined according to the intermediate target surface and the occlusion relationship of the target teeth in the second treatment step.

[0122] According to the movement information of the key points, the intermediate target surface corresponding to the second jaw pad model can be accurately and effectively determined; and according to the occlusion relationship of the target teeth in the second treatment step, the second jaw pad model can be accurately and effectively determined under the determination of the intermediate target surface.

[0123] In a possible implementation, the occlusion tooth having the occlusion relationship with the target teeth in the second treatment step is determined; the initial jaw pad height in the second treatment step is determined according to the occlusion surface of the occlusion tooth; and the second jaw pad model corresponding to the target teeth in the second treatment step is determined according to the intermediate target surface and the initial jaw pad height.

[0124] According to the above scheme, the initial jaw pad height can be simply and quickly determined, and then the second jaw pad model can be simply and quickly determined.

[0125] In a possible implementation, the movement direction of each vertex is determined according to the vertex coordinates of each subplane in the intermediate target surface and the adjacency relationship between the vertices; if the movement direction of any vertex is located in the range of the occlusion tooth, the initial jaw pad height corresponding to the vertex is updated to the height from the vertex to the corresponding occlusion position of the occlusion tooth; and the second jaw pad model corresponding to the target teeth in the second treatment step is determined according to the intermediate target surface and the updated initial jaw pad height.

[0126] According to the above scheme, the initial jaw pad height can be accurately and effectively updated, and then the second jaw pad model can be accurately and effectively determined according to the updated initial jaw pad height; and the initial jaw pad height is updated for each vertex of each subplane, the granularity is relatively fine, the second jaw pad model can better simulate the occlusion relationship of the occlusion tooth, and the use experience of a user can be improved.

[0127] In a possible implementation, if any vertex in the intermediate target surface is an edge point, then according to the adjacency relationship of the vertex, an adjacent vertex of the vertex is selected; a deviation direction between the vertex and the adjacent vertex is determined as a moving direction of the vertex; if any vertex in the intermediate target surface is a non-edge point, then according to a distance relationship between the vertex and an edge point, a first adjacent vertex and a second adjacent vertex are selected; the first adjacent vertex is a cheek-side edge adjacent vertex of the vertex; the second adjacent vertex is a tongue-side edge adjacent vertex of the vertex; an interpolation of a moving direction of the first adjacent vertex and a moving direction of the second adjacent vertex is determined as the moving direction of the vertex.

[0128] The above scheme can accurately and effectively determine the moving direction of the vertex, and further accurately and effectively determine whether the initial bite pad height needs to be updated.

[0129] In a possible implementation, if the curvature of any vertex of any subplane in the second bite pad model is an abnormal value, then according to the coordinates of the adjacent vertices of the vertex, the coordinates of the vertex are updated.

[0130] The above scheme can update the coordinates of the vertex with abnormal curvature, and further accurately and effectively determine the second bite pad model.

[0131] In a possible implementation, a vertex with a distance less than a first threshold to the vertex is selected as the adjacent vertex; and according to the mean value of the coordinates of the adjacent vertices, the coordinates of the vertex are updated.

[0132] The above scheme is that any neighbor point has a distance greater than the first threshold to the vertex, that is, the neighbor point is far away from the vertex, and the neighbor point has a small influence on the vertex; and because the neighbor point is far away from the vertex, the neighbor point can have large deviation data from the vertex, and if the neighbor point is used to update the coordinates of the vertex, the coordinates of the vertex can change greatly, causing the subplane of the second bite pad model to change greatly, and affecting the accuracy of constructing the second bite pad model.

[0133] In a possible implementation, the generated second bite pad model is displayed on the second tooth model.

[0134] The above scheme can help doctors and patients to intuitively feel the wearing effect of the second bite pad model on the second tooth model.

[0135] In a tenth aspect, an embodiment of the present application provides a jaw pad model determination device, comprising: an acquisition unit and a determination unit. The acquisition unit is configured to acquire first tooth model data and first jaw pad model data; the first tooth model is a tooth model corresponding to a first treatment step, and the first jaw pad model is a jaw pad model corresponding to the first tooth model in the first treatment step; the determination unit is configured to determine, according to the first tooth model data, a first position of a key point of a target tooth to which a jaw pad is to be added in the first treatment step; the key point is located on the target tooth; the key point is used to indicate a position of the jaw pad to be added on a bite surface of the target tooth; determine, according to second tooth model data, a second position of the key point of the target tooth to which the jaw pad is to be added in a second treatment step; the second tooth model is a tooth model corresponding to the second treatment step; determine movement information of the key points according to the first positions of the key points and the second positions of the key points; and determine, according to at least one of the movement information of the key points, the first jaw pad model data, and a bite relationship corresponding to the target tooth in the second treatment step, a second jaw pad model corresponding to the target tooth in the second treatment step.

[0136] In a possible implementation method, the determination unit is configured to determine a target curve according to the first position of the key point of the target tooth in the first treatment step; the target curve is located on a bite surface of the target tooth; the target tooth is at least two; determine a target surface according to the target curve; the target surface is located in the target curve; the target surface is formed by filling a region enclosed by the target curve with a plurality of sub-surfaces; and determine the first jaw pad model according to the target surface. The acquisition unit is configured to acquire the first jaw pad model data according to the first jaw pad model.

[0137] In a possible implementation method, the determination unit is configured to determine, for any two adjacent key points of the target tooth in the first treatment step, a fitting curve between the adjacent key points; the fitting curve is used to connect the adjacent key points; and determine the target curve according to the fitting curve of each key point.

[0138] In a possible implementation method, the determination unit is configured to determine a first sub-surface according to a point on the target curve; the first sub-surface includes at least three points; wherein at least two points of the first sub-surface are located on the target curve; determine a second sub-surface according to points of the first sub-surface; the second sub-surface includes at least three points; wherein at least two points in the second sub-surface are points on the target curve and / or points of the first sub-surface; the first sub-surface and the second sub-surface are both located inside the target curve; and determine the target surface through each first sub-surface and each second sub-surface.

[0139] In a possible implementation, the device further includes an updating unit, configured to update, according to the movement information of the key points, the vertex coordinates of each subplane in the target surface of the first jaw pad model to obtain an intermediate target surface; and a determining unit, configured to determine, according to the intermediate target surface and the occlusion relationship of the target teeth corresponding to the second treatment step, the second jaw pad model corresponding to the target teeth in the second treatment step.

[0140] In a possible implementation, the determining unit is configured to determine occlusion teeth having an occlusion relationship with the target teeth in the second treatment step; determine an initial jaw pad height in the second treatment step according to the occlusion surface of the occlusion teeth; and determine the second jaw pad model corresponding to the target teeth in the second treatment step according to the intermediate target surface and the initial jaw pad height.

[0141] In a possible implementation, the determining unit is configured to determine the movement direction of each vertex according to the vertex coordinates and the adjacency relationship between the vertices of each subplane in the intermediate target surface; the updating unit is configured to update the initial jaw pad height corresponding to any vertex to the height of the vertex to the corresponding occlusion position of the occlusion teeth if the movement direction of the vertex is located in the range of the occlusion teeth; and the determining unit is configured to determine the second jaw pad model corresponding to the target teeth in the second treatment step according to the intermediate target surface and the updated initial jaw pad height.

[0142] In a possible implementation, the determining unit is configured to select, according to the adjacency relationship, an adjacent vertex of any vertex in the intermediate target surface if the vertex is an edge point; determine the offset direction between the vertex and the adjacent vertex as the movement direction of the vertex; select a first adjacent vertex and a second adjacent vertex according to the distance relationship between the vertex and the edge point if the vertex is a non-edge point; the first adjacent vertex is a buccal edge adjacent vertex of the vertex; and the second adjacent vertex is a lingual edge adjacent vertex of the vertex; and determine the interpolation of the movement direction of the first adjacent vertex and the movement direction of the second adjacent vertex as the movement direction of the vertex.

[0143] In a possible implementation, the updating unit is configured to update the coordinates of any vertex of any subplane in the second jaw pad model according to the coordinates of the adjacent vertices of the vertex if the curvature of the vertex is an abnormal value.

[0144] In a possible implementation, the updating unit is configured to select a vertex as the adjacent vertex if the distance between the vertex and the selected vertex is less than a first threshold value; and update the coordinates of the vertex according to the mean value of the coordinates of the adjacent vertices.

[0145] In a possible implementation, the device further includes a display unit configured to display the generated second jaw pad model on the second dental model.

[0146] In an eleventh aspect, an embodiment of the present application further provides a computing device, including:

[0147] a memory configured to store program instructions;

[0148] a processor configured to invoke the program instructions stored in the memory, and execute any method of the ninth aspect according to the obtained program instructions.

[0149] In a twelfth aspect, an embodiment of the present application further provides a computer readable storage medium, which stores computer readable instructions, and when a computer reads and executes the computer readable instructions, any method of the ninth aspect is implemented.

[0150] In a thirteenth aspect, an embodiment of the present application provides a computer program product, which includes a computer program executable by a computer device, and when the program is executed on the computer device, the computer device executes any method of the ninth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0151] FIG. 1 is a step diagram of a design method of a digitalized jaw pad according to an embodiment of the present application;

[0152] FIG. 2 is a schematic diagram of the design method of the digitalized jaw pad according to an embodiment of the present application;

[0153] FIG. 3 is a schematic diagram of a three-dimensional dental model to which a digitalized jaw pad is added according to an embodiment of the present application;

[0154] FIG. 4 is a step diagram of a determination process of a first rotation axis according to an embodiment of the present application;

[0155] FIG. 5 is a schematic diagram of a three-dimensional dental model according to an embodiment of the present application;

[0156] FIG. 6 is a schematic diagram of an image picture according to an embodiment of the present application;

[0157] FIG. 7 is a step diagram of a first coordinate determination process of a first rotation axis according to an embodiment of the present application;

[0158] FIG. 8 is a step diagram of a first determination method of a position deviation between a three-dimensional dental model and an image picture according to an embodiment of the present application;

[0159] Figure 9 is a schematic diagram of the three-dimensional dental model of the first determination method in Figure 8;

[0160] Figure 10 is a schematic image of the first determination method in Figure 8;

[0161] Figure 11 is a flowchart illustrating the steps of the second method for determining the positional deviation between the three-dimensional dental model and the image image according to an embodiment of the present invention.

[0162] Figure 12 is a schematic diagram of a three-dimensional dental model of the second determination method in Figure 11;

[0163] Figure 13 is a schematic image of the second determination method in Figure 11;

[0164] Figure 14 is a flowchart illustrating the third method for determining the positional deviation between the three-dimensional dental model and the image in an embodiment of the present invention.

[0165] Figure 15 is a schematic diagram of a three-dimensional dental model of the third determination method in Figure 14;

[0166] Figure 16 is a schematic image of the second determination method in Figure 14;

[0167] Figure 17 is a flowchart illustrating the process of determining the first rotating shaft according to an embodiment of the present invention.

[0168] Figure 18 is a schematic diagram of the opening height according to an embodiment of the present invention;

[0169] Figure 19 is a schematic diagram of the opening process of the three-dimensional dental model according to an embodiment of the present invention;

[0170] Figures 20 and 21 are step diagrams illustrating the opening process of the three-dimensional dental model according to an embodiment of the present invention;

[0171] Figure 22 is a schematic diagram of the bottom contour of the digital jaw pad according to an embodiment of the present invention;

[0172] Figure 23 is a partial step diagram of the digital jaw pad design method according to an embodiment of the present invention;

[0173] Figure 24 is a step diagram of the molding method of the orthodontic appliance according to an embodiment of the present invention;

[0174] Figure 25 is a schematic diagram of an orthodontic appliance with a jaw pad according to an embodiment of the present invention;

[0175] Figure 26 is a schematic diagram of the device for designing a digital jaw pad according to an embodiment of the present invention;

[0176] Figure 27 is a flowchart illustrating the steps of the method for generating a jaw pad model according to an embodiment of the present invention;

[0177] Figure 28 is a schematic diagram of the method for generating the jaw pad model according to an embodiment of the present invention;

[0178] FIG. 29 is a schematic diagram of a dental arch model with a jaw pad model added according to an embodiment of the present application;

[0179] FIG. 30 is a flowchart of a method for obtaining an opening parameter according to an embodiment of the present application;

[0180] FIG. 31 is a schematic diagram of a lateral film according to an embodiment of the present application;

[0181] FIG. 32 is a flowchart of a method for obtaining and adding an opening parameter according to an embodiment of the present application;

[0182] FIG. 33 is a flowchart of a method for obtaining a first reference portion and a second reference portion according to an embodiment of the present application;

[0183] FIG. 34 is a two-dimensional lateral view of a dental arch model according to an embodiment of the present application;

[0184] FIGS. 35-39 are schematic diagrams of various methods for obtaining and adding an opening parameter according to embodiments of the present application;

[0185] FIG. 40 is a schematic diagram of a bottom contour of a jaw pad model according to an embodiment of the present application;

[0186] FIG. 41 is a flowchart of a method for forming a shell dental appliance according to an embodiment of the present application;

[0187] FIG. 42 is a schematic diagram of a shell dental appliance with a jaw pad according to an embodiment of the present application;

[0188] FIG. 43 is a schematic diagram of an apparatus for generating a jaw pad model according to an embodiment of the present application;

[0189] FIG. 44 is a flowchart of a method for determining a jaw pad model according to an embodiment of the present application;

[0190] FIG. 45 is a schematic diagram of a key point and a target curve of a dental model according to an embodiment of the present application;

[0191] FIG. 46 is a flowchart of a method for determining a first jaw pad model according to an embodiment of the present application;

[0192] FIG. 47 is a schematic diagram of a target surface of a jaw pad model according to an embodiment of the present application;

[0193] FIG. 48 is a top view of a first jaw pad model according to an embodiment of the present application;

[0194] FIG. 49 is a flowchart of a method for determining a jaw pad model according to an embodiment of the present application;

[0195] FIG. 50 is a flowchart of a method for determining a conversion matrix according to an embodiment of the present application;

[0196] FIG. 51 is a flowchart of a method for determining a jaw pad model according to an embodiment of the present application;

[0197] FIG. 52 is a flowchart of a method for determining a jaw pad model according to an embodiment of the present application;

[0198] FIG. 53 is a structural diagram of a jaw pad model according to an embodiment of the present application;

[0199] FIG. 54 is a structural diagram of a device for determining a jaw pad model according to an embodiment of the present application;

[0200] FIG. 55 is a structural diagram of a device for determining a jaw pad model according to an embodiment of the present application. DETAILED DESCRIPTION

[0201] The present application will be described in detail below with reference to specific embodiments shown in the drawings. However, these embodiments do not limit the present application, and any changes in structure, method, or function made by those of ordinary skill in the art based on these embodiments are included in the scope of the present application.

[0202] It should be noted that the term "comprising" or any other variant is intended to cover non-exclusive inclusion, so that processes, methods, articles, or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles, or devices. In addition, the terms "first", "second", "third", "fourth" and the like are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0203] In combination with FIGS. 1, 2, and 3, the present embodiment provides a design method for a digital jaw pad 300, the design method comprising the steps of:

[0204] Step S1: obtaining a three-dimensional dental model T.

[0205] The three-dimensional dental model T can be obtained by intraoral scanning, or by scanning a physical model (e.g., a plaster model) or an impression of the dental arch, but is not limited thereto. The three-dimensional dental model T can include upper and lower teeth that cooperate with each other.

[0206] Step S2: determining a first rotation axis Ro of the three-dimensional dental model T based on the registration relationship.

[0207] When the first rotation axis Ro of the three-dimensional dental model T is determined, the rotation process of the three-dimensional dental model T can be simulated more accurately, the consistency between the movement of the three-dimensional dental model T and the actual dental arch movement is improved, thereby improving the accuracy of the subsequent design scheme and the matching degree with the actual situation of the patient, greatly improving the patient experience, and realizing personalized design of the treatment scheme, for example, for complex cases, early treatment of children, etc.

[0208] Step S3: opening the three-dimensional dental model T with the first rotation axis Ro as the rotation axis.

[0209] Step S4: generating a digital jaw pad 300 based on the opened three-dimensional dental model T.

[0210] The embodiment designs the digital jaw pad 300 on the basis of determining the first rotation axis Ro of the three-dimensional dental model T, and the design process of the digital jaw pad 300 considers the rotation of the dental arch, which can greatly improve the accuracy and applicability of the design of the digital jaw pad 300.

[0211] Optionally, in combination with FIGS. 4, 5 and 6, the method for determining the first rotation axis Ro can include the following steps:

[0212] Step S21: obtaining an image picture 100, the image picture 100 corresponding to the same dental arch as the three-dimensional dental model T.

[0213] Optionally, the image picture 100 can be obtained by means of tomographic X-ray scanning (CAT scanning), digital tomographic X-ray scanning (CT), cone beam CT scanning (CBCT), nuclear magnetic resonance imaging (MRI), intraoral optical scanning, etc. The image picture 100 can reflect, for example, the relationship between the root bones and the relationship between the jaw bones, so as to obtain the dental arch rotation relationship in the image picture 100.

[0214] The image picture 100 can be, for example, a lateral film. The lateral film 100 is a lateral film of the head, including the upper jaw teeth, the lower jaw teeth, the jaw bone structure, the condyle, etc. The lateral film 100 reflects the overall structure and relative position of the upper and lower jaws. The doctor can mark some landmark points according to the lateral film 100 of the patient, and calculate some medical index information using these landmark points, so as to diagnose and develop a treatment scheme using these index information.

[0215] The "image picture 100 corresponds to the same dental arch as the three-dimensional dental model T" means that the image picture 100 and the three-dimensional dental model T correspond to the same patient's teeth at the same treatment stage, or the image picture 100 and the three-dimensional dental model T correspond to the same patient's uncorrected teeth.

[0216] Step S22: obtaining the registration relationship between the image picture 100 and the three-dimensional dental model T.

[0217] Optionally, assuming that the three-dimensional dental model T is located in a first coordinate system (i.e., an x1-y1-z1 coordinate system), and the image picture 100 is located in a second coordinate system, when the three-dimensional dental model T and the image picture 100 are registered, the landmark point in the image picture 100 in the first coordinate system can be mapped to the second coordinate system.

[0218] Step S23: determining the first rotation axis Ro based on the second rotation axis Co in the image picture 100 and the registration relationship.

[0219] Optionally, when the image picture 100 is a lateral film 100, the lateral film 100 is a two-dimensional view, and the condylar position in the lateral film 100 can be regarded as a second rotation point Co', and the second rotation axis Co is an axis passing through the second rotation point Co' and perpendicular to the plane on which the lateral film 100 is located, i.e., the second rotation point Co' is a point on the second rotation axis Co.

[0220] The condylar position plays a key role in the process of occlusion and movement of the upper and lower teeth, and when the three-dimensional dental model T and the lateral film 100 are registered, the second rotation axis Co in the second coordinate system can be mapped to the first coordinate system, and the mapping result is the first rotation axis Ro of the three-dimensional dental model T.

[0221] The embodiment determines the first rotation axis Ro in the three-dimensional dental model T by means of the second rotation axis Co in the image picture 100 which can be directly calibrated, so that the accuracy of determining the first rotation axis Ro can be improved. In other embodiments, the first rotation axis Ro can also be determined by other ways, such as measurement, simulation, etc.

[0222] Optionally, the registration relationship between the image picture 100 and the three-dimensional dental model T can be obtained based on multiple forms.

[0223] When the first condition is met, the registration relationship between the image picture 100 and the three-dimensional dental model T is obtained based on the full arch teeth.

[0224] Optionally, the first condition includes at least one of the following:

[0225] The occlusion deviation between the image picture 100 and the three-dimensional dental model T is less than a preset deviation;

[0226] The image picture 100 and the three-dimensional dental model T are both in a closed state.

[0227] The upper and lower teeth in the image picture 100 are in a first occlusion state, and the upper and lower teeth in the three-dimensional dental model T are in a second occlusion state. When the first condition is met, the deviation between the first occlusion state and the second occlusion state is small, and / or the first occlusion state and the second occlusion state are both in a closed state.

[0228] The "small deviation between the first occlusion state and the second occlusion state" refers to, for example, that the opening angles of the first occlusion state and the second occlusion state are small, or the first occlusion state and the second occlusion state belong to the same occlusion state (i.e., the opening angle difference is zero), or the first occlusion state and the second occlusion state are both closed states.

[0229] When the first condition is met, the relative position relationship of the upper and lower jaw teeth in the image picture 100 and the relative position relationship of the upper and lower jaw teeth in the three-dimensional dental model T are basically consistent, that is, the full jaw teeth in the image picture 100 and the full jaw teeth in the three-dimensional dental model T can be registered, and the full jaw registration can effectively improve the registration accuracy.

[0230] Optionally, the image picture 100 in the closed state and the three-dimensional dental model T can be used to realize full jaw registration.

[0231] When the patient visits the doctor for treatment, at least the dental information of the upper and lower jaws in the closed state will be left, and the image picture 100 and the three-dimensional dental model T can be directly obtained from the dental information, which can simplify the design process of the treatment scheme, but is not limited thereto.

[0232] When the second condition is met, the registration relationship between the image picture 100 and the three-dimensional dental model T is based on single jaw teeth.

[0233] Optionally, the second condition includes at least one of the following:

[0234] The occlusion deviation of the image picture 100 and the three-dimensional dental model T is not less than a preset deviation;

[0235] The three-dimensional dental model T or the image picture 100 is in an open state;

[0236] The three-dimensional dental model T or the image picture 100 is in a protrusive state.

[0237] The upper and lower jaw teeth in the image picture 100 are in a first occlusion state, and the upper and lower jaw teeth in the three-dimensional dental model T are in a second occlusion state. When the second condition is met, the deviation between the first occlusion state and the second occlusion state is large, and / or the first occlusion state or the second occlusion state is an open state, and / or the first occlusion state or the second occlusion state is a protrusive state.

[0238] The "large deviation between the first occlusion state and the second occlusion state" refers to, for example, that the first occlusion state is a closed state and the second occlusion state is an open state, or the opening angles of the first occlusion state and the second occlusion state are large.

[0239] When the first occlusion state or the second occlusion state is the open state, it is difficult to determine the difference between the first occlusion state and the second occlusion state, and when the first occlusion state or the second occlusion state is the lead state, the jaw position is inaccurate.

[0240] When the second condition is met, the relative positional relationship of the upper and lower jaw teeth in the image picture 100 is greatly different from the relative positional relationship of the upper and lower jaw teeth in the three-dimensional dental model T, or the difference is difficult to determine, or the jaw position is inaccurate, and the simultaneous registration of the upper and lower jaw teeth cannot be achieved, so the single jaw teeth in the image picture 100 and the corresponding single jaw teeth in the three-dimensional dental model T are selected to achieve registration.

[0241] For example, the upper jaw teeth in the image picture 100 and the upper jaw teeth in the three-dimensional dental model T are selected to achieve registration, or the lower jaw teeth in the image picture 100 and the lower jaw teeth in the three-dimensional dental model T are selected to achieve registration, which can be determined according to actual conditions.

[0242] Optionally, in combination with FIG. 7, the design method of the digital jaw pad 300 further includes the following steps:

[0243] Step S221: determining the positional deviation of the three-dimensional dental model T and the image picture 100.

[0244] Step S231: obtaining the second coordinate of the second rotation twist point Co' on the second rotation axis Co in the second coordinate system.

[0245] Step S232: determining the first coordinate of the first rotation twist point Ro' on the first rotation axis Ro in the first coordinate system according to the second coordinate and the positional deviation.

[0246] Optionally, the image picture 100 is located in the first coordinate system, and the three-dimensional dental model T is located in the second coordinate system. When the first coordinate of the first rotation twist point Ro' in the first coordinate system is to be determined according to the second coordinate of the second rotation twist point Co' in the second coordinate system, the positional deviation between the three-dimensional dental model T and the image picture 100 needs to be considered, that is, the second coordinate in the second coordinate system can be mapped to the first coordinate system on the basis of compensating the positional deviation, and the first coordinate obtained by the mapping is the first coordinate of the first rotation twist point Ro'. The first rotation axis Ro is an axis that passes through the first rotation twist point Ro' and extends along the buccal-lingual side of the three-dimensional dental model T, that is, the first rotation twist point Ro' is a point on the first rotation axis Ro.

[0247] The present embodiment can realize accurate coordinate conversion between different coordinate systems and improve the reliability of the determination result of the rotation axis.

[0248] Optionally, there are various methods for determining the positional deviation of the three-dimensional dental model T and the image picture 100. For example, the three-dimensional dental model T and the image picture 100 are both in a closed state.

[0249] In the first determination method, in combination with FIGS. 8 to 10, the method comprises the following steps:

[0250] Step S2211: Selecting two first reference points arranged separately at the three-dimensional dental model T.

[0251] Specifically, in the first coordinate system in which the three-dimensional dental model T is located, the first upper 6th molar endpoint U6, the first lower 6th molar endpoint L6, and the first central incisor endpoint U1 are selected.

[0252] The first upper 6th molar endpoint U6 can be a convex point of the upper 6th molar, the first lower 6th molar endpoint L6 can be a concave point of the lower 6th molar, or the first upper 6th molar endpoint U6 can be a concave point of the upper 6th molar, the first lower 6th molar endpoint L6 can be a convex point of the lower 6th molar, and the first central incisor endpoint U1 is the lower end point of the upper incisor, but the application is not limited thereto.

[0253] The first occlusal midpoint UL6 of the upper and lower molars is obtained according to the first upper 6th molar endpoint U6 and the first lower 6th molar endpoint L6, and the two first reference points are the first occlusal midpoint UL6 and the first central incisor endpoint U1, respectively.

[0254] The first occlusal midpoint UL6 and the first central incisor endpoint U1 are relatively obvious landmark points, which can improve the registration accuracy, but the application is not limited thereto.

[0255] Step S2212: Selecting two second reference points arranged separately at the image picture 100, and the two second reference points correspond to the two first reference points, respectively.

[0256] The two second reference points correspond to the two first reference points, respectively, which means that the second reference points correspond to the same dental position as the first reference points.

[0257] Specifically, in the second coordinate system in which the image picture 100 is located, the second upper 6th molar endpoint U6', the second lower 6th molar endpoint L6', and the second central incisor endpoint U1' are selected.

[0258] Similarly, the second occlusal midpoint UL6' of the upper and lower molars is obtained according to the second upper 6th molar endpoint U6' and the second lower 6th molar endpoint L6', and the two second reference points are the second occlusal midpoint UL6' and the second central incisor endpoint U1', respectively.

[0259] The first occlusal midpoint UL6 and the second occlusal midpoint UL6' both correspond to the occlusal region of the upper and lower molars, and the first central incisor endpoint U1 and the second central incisor endpoint U1' both correspond to the lower end point of the upper incisor.

[0260] Step S2213: determining the position deviation between the three-dimensional dental model T and the image picture 100 according to the first reference point and the second reference point.

[0261] Optionally, the first reference point and the second reference point have corresponding coordinates, and the position deviation can be directly determined according to the coordinate conversion relationship, and then the first coordinate of the first rotation winding point Ro' in the first coordinate system is determined according to the second coordinate of the second rotation winding point Co' in the second coordinate system and the coordinate conversion relationship. The determination of the coordinate conversion relationship and the first coordinate can be directly completed by a computer, for example.

[0262] In the second determination method, in combination with FIGS. 11-13, the steps include:

[0263] Step S2211': selecting a first reference line at the three-dimensional dental model T.

[0264] Specifically, in the first coordinate system in which the three-dimensional dental model T is located, a first reference line L1 is selected. Here, the first reference line L1 passes through the first occlusal midpoint UL6 and the first central incisor endpoint U1 as an example.

[0265] Step S2212': selecting a second reference line L2 at the image picture 100, the second reference line L2 corresponding to the first reference line L1.

[0266] Specifically, in the second coordinate system in which the image picture 100 is located, a second reference line L2 is selected. Here, the second reference line L2 passes through the second occlusal midpoint UL6' and the second central incisor endpoint U1' as an example, i.e., the second reference line L2 corresponds to the first reference line L1.

[0267] The first reference line L1 and the second reference line L2 are both used to define a jaw plane, which passes through the occlusal midpoints of the upper and lower molar teeth and the central incisor endpoints. The jaw plane can be used to achieve registration, and the accuracy of registration can be greatly improved, but this is not the only way. Other corresponding first reference lines L1 and second reference lines L2 can also be selected.

[0268] Step S2213': determining the position deviation between the three-dimensional dental model T and the image picture 100 according to the first reference line L1 and the second reference line L2.

[0269] Optionally, the first reference line L1 and the second reference line L2 are both straight lines, and the position deviation can be determined according to the registration of the two straight lines, and then the first coordinate of the first rotation winding point Ro' in the first coordinate system is determined according to the second coordinate of the second rotation winding point Co' in the second coordinate system and the registration data in the registration process of the two straight lines. The determination of the registration data in the registration process of the two straight lines and the first coordinate can be directly completed by a computer, for example.

[0270] In the third determination method, in combination with FIGS. 14-16, the steps include:

[0271] Step S2211”: Obtain a two-dimensional side view 200 of the three-dimensional dental model T, the two-dimensional side view 200 and the image picture 100 are at the same view angle.

[0272] Optionally, the two-dimensional side view 200 can be obtained by projecting the three-dimensional dental model T, but not limited thereto, for example, the two-dimensional side view 200 can be displayed by rotating the three-dimensional dental model T, or by clicking a specific button to display the two-dimensional side view 200 of the three-dimensional dental model T, etc.

[0273] The “same view angle” means that the two-dimensional side view 200 and the image picture 100 are at the same view angle, for example, the image picture 100 is obtained from the right side of the patient’s head, and the two-dimensional side view 200 displayed is the right side view of the three-dimensional dental model T.

[0274] Step S2212”: Determine the positional deviation between the two-dimensional side view 200 and the image picture 100, the positional deviation includes an angle deviation.

[0275] Optionally, the image picture 100 and the two-dimensional side view 200 are both planar views, and are at the same view angle, the dental arch contour for registration in the image picture 100 and the dental arch contour for registration in the two-dimensional side view 200 are consistent, and the dental arch in the image picture 100 and the dental arch in the two-dimensional side view 200 only have an in-plane angle deviation, and the angle deviation is the positional deviation between the two-dimensional side view 200 and the image picture 100.

[0276] One of the image picture 100 and the two-dimensional side view 200 can be fixed, and only the position of the other one is adjusted, for example, the image picture 100 is fixed, and the registration of the image picture 100 and the two-dimensional side view 200 is realized by adjusting the position of the two-dimensional side view 200 according to the angle deviation.

[0277] The third determination method can specifically include:

[0278] Step A1: Select a second reference line L2 in the image picture 100.

[0279] Specifically, in the x-y coordinate plane in which the image picture 100 is located, the second upper 6th molar endpoint U6’(d1, d2), the second lower 6th molar endpoint L6’(e1, e2), and the second central incisor endpoint U1’(g1, g2) are selected.

[0280] A second occlusal midpoint UL6' of the upper and lower molars is obtained according to the second upper maxillary 6th molar endpoint U6'(d1, d2) and the second lower maxillary 6th molar endpoint L6'(e1, e2), and the second reference line L2 is a line connecting the second occlusal midpoint UL6' of the upper and lower molars and the second central incisor endpoint U1' in the image 100.

[0281] Step A2: selecting a third reference line L3 in the two-dimensional side view 200, the third reference line L3 corresponding to the second reference line L2.

[0282] Specifically, in the x1-y1 coordinate plane in which the two-dimensional side view 200 is located, a third upper maxillary 6th molar endpoint U6"(K1, K2), a third lower maxillary 6th molar endpoint L6"(L1, L2), and a third central incisor endpoint U1"(g1, g2) are selected.

[0283] Similarly, a third occlusal midpoint UL6" of the upper and lower molars is obtained according to the third upper maxillary 6th molar endpoint U6"(K1, K2) and the third lower maxillary 6th molar endpoint L6"(L1, L2), and the third reference line L3 is a line connecting the third occlusal midpoint UL6" of the upper and lower molars and the third central incisor endpoint U1" in the two-dimensional side view 200.

[0284] Step A3: registering the second reference line L2 and the third reference line L3 to realize registration of the image 100 and the two-dimensional side view 200.

[0285] Optionally, step A3 can specifically include:

[0286] Step A31: obtaining a first included angle θ formed between the second reference line L2 and the second horizontal line P2 and facing a first direction.

[0287] The calculation formula of the first included angle θ is:

[0288] Step A32: obtaining a second included angle

[0289] The calculation formula of the second included angle

[0290] The first direction and the second direction are both mesial directions or both distal directions. Here, the first direction and the second direction are both mesial directions as an example, that is, the first included angle θ and the second included angle are both included angles facing the right side.

[0291] ​Step A33: calculating the difference value of the first included angle θ and the second included angle

[0292] Step A34: rotating the two-dimensional side view 200 in the plane in which it is located by the angle corresponding to the difference value to realize the registration of the image picture 100 and the two-dimensional side view 200.

[0293] The rotation direction of the two-dimensional side view 200 can be determined according to the positive and negative of the difference value , and here, the two-dimensional side view 200 is rotated clockwise in the x1-y1 coordinate plane as the positive value to realize the registration of the image picture 100 and the two-dimensional side view 200. The use of the difference value of the angle to realize the registration can greatly improve the registration accuracy.

[0294] Optionally, the first included angle θ, the second included angle and the corresponding angle of the difference value are all acute angles.

[0295] The included angle between the second reference line L2 and the second horizontal line P2 is small, and the initial placement position of the image picture 100 is close to horizontal.

[0296] The included angle between the third reference line L3 and the third horizontal line P3 is small, and the initial placement position of the two-dimensional side view 200 is close to horizontal, which can reduce the deviation between the initial placement positions of the image picture 100 and the two-dimensional side view 200, and facilitate the registration between the image picture 100 and the two-dimensional side view 200.

[0297] Optionally, in combination with FIG. 17, the determination process of the first rotation axis Ro includes:

[0298] Step S231': obtaining the second coordinates (f1, f2) of the second rotation twist point Co' on the second rotation axis Co of the image picture 100 in the second coordinate system and the third coordinates of the second target point, the second rotation twist point Co' and the second target point having a first positional relationship.

[0299] Optionally, taking the occlusal midpoint of the upper and lower molar as the second target point, i.e., the second target point is the second occlusal midpoint UL6' of the upper and lower molar in the image picture 100 as described above, and the third coordinates of the second target point UL6' are ((d1+e1) / 2, (d2+e2) / 2). The occlusal midpoint of the upper and lower molar has the advantages of obvious features and easy identification, but is not limited thereto, and the second target point can also be other points.

[0300] In the second coordinate system, the first positional relationship can mean that the distance between the second rotation twist point Co' and the second target point UL6' in the horizontal coordinate direction (i.e., the x direction) is ​​The distance between the second rotation twist point Co' and the second target point UL6' in the longitudinal coordinate direction (i.e., the y direction) is

[0301] Step S232': Obtain the fourth coordinate of the first target point of the three-dimensional dental model T in the first coordinate system, and the second target point corresponds to the same dental position as the first target point.

[0302] Optionally, taking the first target point in the two-dimensional side view 200 of the three-dimensional dental model T as an example, the first target point is the third occlusal midpoint UL6" of the upper and lower molar in the two-dimensional side view 200 as described above, and the fourth coordinate of the first target point UL6" is ((K1+L1) / 2,(K2+L2) / 2), but it is not limited thereto, and the first target point and the second target point can be other points corresponding to the same dental position.

[0303] Step S233': Update the fourth coordinate ((K1+L1) / 2,(K2+L2) / 2) to the fifth coordinate (M1,M2) according to the registration relationship.

[0304] Optionally, when the two-dimensional side view 200 is registered with the image picture 100, the fourth coordinate ((K1+L1) / 2,(K2+L2) / 2) is updated to the fifth coordinate (M1,M2).

[0305] Step S234': Determine the first coordinate (N1,N2) of the first rotation twist point Ro' of the first rotation axis Ro in the first coordinate system according to the first position relationship and the fifth coordinate (M1,M2).

[0306] Optionally, since the image picture 100 and the two-dimensional side view 200 have been registered, the first rotation twist point Ro' also has a first position relationship with the updated first target point UL6", and step S234' specifically includes:

[0307] According to the horizontal coordinate distance in the first position relationship and the horizontal coordinate of the fifth coordinate (M1,M2), the horizontal coordinate of the first coordinate (N1,N2) is determined, i.e., the following formula is satisfied:

[0308] The horizontal coordinate of the second coordinate (N1,N2)

[0309] According to the longitudinal coordinate distance in the first position relationship and the longitudinal coordinate of the fifth coordinate (M1,M2), the longitudinal coordinate of the first coordinate (N1,N2) is determined, i.e., the following formula is satisfied:

[0310] The longitudinal coordinate of the first coordinate (N1,N2)

[0311] Then, the first coordinates of the first rotation anchor Ro' of the two-dimensional side view 200 in the first coordinate system are obtained In this way, the accurate coordinate conversion between the second rotation anchor Co' and the first rotation anchor Ro' in different coordinate systems is realized.

[0312] Optionally, in combination with FIG. 18, the opening process of the three-dimensional dental arch model T further includes the following steps:

[0313] The three-dimensional dental arch model T is opened to an opening height H, and the opening height H is the vertical distance between the cusp of the first dental arch and the fitting straight line L defined by the second dental arch, and the fitting straight line L is fitted by the cusps of the second dental arch.

[0314] Optionally, the "cusp" is the tip of the tooth protrusion. Taking the first dental arch as the upper jaw teeth and the second dental arch as the lower jaw teeth as an example, the cusps of the 4th, 5th and 6th molars on the lower jaw teeth are selected and the fitting straight line L is fitted, and the cusp R1 of the 4th molar or the 5th molar on the upper jaw teeth is selected. The vertical distance between the cusp R1 and the fitting straight line L is the opening height H.

[0315] The three-dimensional dental arch model T can be opened according to the preset opening height H and around the first rotation axis Ro, or the three-dimensional dental arch model T is opened around the first rotation axis Ro to obtain different opening heights H.

[0316] Optionally, in combination with FIG. 19 and FIG. 20, the opening process of the three-dimensional dental arch model T further includes the following steps:

[0317] Step S31: The target region of the three-dimensional dental arch model T is divided into a plurality of sub-regions T1.

[0318] Optionally, the "target region of the three-dimensional dental arch model T" can refer to a region with problems such as crossbite and lockjaw, and step S31 specifically includes:

[0319] The target region is determined based on the occlusion state of the three-dimensional dental arch model T, and the target region includes the anterior tooth region and / or the posterior tooth region.

[0320] For example, when the posterior tooth region has a lockjaw problem, at least the posterior tooth region is taken as the target region, and when the anterior tooth region has a crossbite problem, at least the anterior tooth region is taken as the target region.

[0321] "Divided into a plurality of sub-regions T1" specifically can include dividing the target region along the dental arch curve direction of the three-dimensional dental arch model T to form a plurality of sub-regions T1.

[0322] The dashed cutting lines are shown in FIG. 19, and the target region is divided into a plurality of sub-regions T1 along the buccal-lingual direction, and the adjacent cutting lines have a first width along the dental arch curve direction.

[0323] Optionally, multiple first widths can be kept consistent to achieve uniform division of the target area, but this is not a limitation. The target area can also be divided unevenly according to other proportions as needed, or the target area can be divided along other directions.

[0324] Optionally, the target region of the three-dimensional dental model T in a closed state can be divided into multiple sub-regions T1, that is, the three-dimensional dental model T in a closed state can be selected as the segmentation object.

[0325] Step S32: Obtain the first reference point P located in the maxilla within at least a portion of sub-region T1. m and the second reference point Q located in the mandible m First reference point P m With the second reference point Q m They have a primary occlusal relationship.

[0326] Optionally, sub-region T1 is a three-dimensional block structure including maxillary and mandibular teeth, with the first reference point P. m It could be the lowest point of the maxilla, P. m The lowest point of the maxilla, P m It can be a local high point on the maxillary occlusal surface, but is not limited to this. The first reference point is P. m It could also be any other point on the upper teeth.

[0327] Second reference point Q m It could be the highest point of the mandible, Q. m Q, the highest point of the mandible m It can be a local high point on the occlusal surface of the mandible, but is not limited to this; the second reference point Q. m It could also be any other point on the lower teeth.

[0328] With the first reference point P m P is the lowest point of the maxilla. m And the second reference point Q m Q is the highest point of the mandible. m For example, the first occlusal relationship can refer to the lowest point P of the maxilla in the closed state. m Q, the highest point of the mandible m The relative positional relationship between them.

[0329] Step S33: Using the first rotation axis Ro as the rotation axis, open the three-dimensional dental model T until at least some sub-regions T1 have multiple first occlusal relationships that satisfy the third condition.

[0330] When the three-dimensional dental model T is opened with the first rotation axis Ro as the rotation axis, the lowest point P of the maxilla is... m Q, the highest point of the mandible mWhen the relative positional relationship between them changes, that is, the first occlusal relationship changes, and when multiple first occlusal relationships satisfy the third condition, it is defined as the three-dimensional occlusal model T opening to the target position.

[0331] Optionally, the third condition includes at least one of the following:

[0332] On the gingival occlusal plane, the highest point of the mandible, Q m Not exceeding the lowest point P of the maxilla m ;

[0333] On the gingival occlusal plane, the highest point of the mandible, Q m Beyond the lowest point of the maxilla P m The height is not greater than the preset value.

[0334] Q, the highest point of the mandible m Not exceeding the lowest point P of the maxilla m This refers to the highest point Q of the mandible within the corresponding subregion T1 in the gingival occlusal direction when the first occlusal relationship meets the third condition. m The height does not exceed the lowest point P of the maxilla. m The height of the sub-region T1 has resolved the overbite problem caused by issues such as reverse bite and locked bite, and the sub-region T1 has achieved open bite.

[0335] Optionally, Q can be applied at the highest point of the mandible. m The height is equal to the lowest point P of the maxilla. m The height is considered to satisfy the third condition for the first occlusal relationship at this point, or, at the highest point of the mandible, Q. m The height does not exceed the lowest point P of the maxilla. m When the height difference is within the preset range, the first occlusal relationship is considered to satisfy the third condition. When multiple first occlusal relationships satisfy the third condition, the full occlusal open bite of the three-dimensional dental model T is realized.

[0336] Q, the highest point of the lower jaw m Beyond the lowest point of the maxilla P m The height is not greater than the preset value, which reduces the overbite problem between the upper and lower teeth, but does not completely eliminate the overbite problem between the upper and lower teeth. The specific value can be determined according to the actual situation.

[0337] Optionally, referring to Figure 21, the opening process of the three-dimensional dental model T may include:

[0338] Step S331: Obtain the opening angle corresponding to the first engagement relationship of at least some sub-regions T1 satisfying the third condition.

[0339] Optionally, step S331 may specifically include:

[0340] determining whether the first occlusal relationship satisfies a third condition;

[0341] obtaining an opening angle corresponding to the first occlusal relationship of the sub-region T1 when the first occlusal relationship satisfies the third condition.

[0342] When the first occlusal relationship of the three-dimensional dental model T before opening satisfies the third condition, for example, the sub-region T1 of the highest point Q of the lower jaw in the closed state m does not exceed the lowest point P of the upper jaw m , the first occlusal relationship of the sub-region T1 always satisfies the third condition during the opening of the three-dimensional dental model T, so there is no need to consider the change of the first occlusal relationship of the sub-region T1, and only the sub-region T1 whose first occlusal relationship does not satisfy the third condition needs to be considered. Specifically, the opening angle of the three-dimensional dental model T corresponding to the sub-region T1 can be obtained when the height of the highest point Q of the lower jaw m does not exceed the height of the lowest point P of the upper jaw m , for example, the opening angle when the height of the highest point Q of the lower jaw m is equal to the height of the lowest point P of the upper jaw m .

[0343] Step S332: Taking the maximum opening angle in the plurality of opening angles as a target opening angle.

[0344] Step S333: Opening the three-dimensional dental model T based on the first rotation axis Ro and the target opening angle.

[0345] At least part of the sub-region T1 has a corresponding opening angle, and when the three-dimensional dental model T is opened at the maximum opening angle, the first occlusal relationship of the sub-region T1 can all satisfy the third condition, that is, the overall opening occlusion of the three-dimensional dental model T is realized.

[0346] Optionally, when the three-dimensional dental model T is opened with the first rotation axis Ro as the rotation axis, the three-dimensional dental model T can be opened by rotating the target opening angle with the axis extending along the z1 direction of the first rotation axis Ro as the rotation axis.

[0347] Optionally, in combination with FIG. 22, the bottom contour S of the digital jaw pad 300 on the occlusal surface of the upper or lower jaw can be further determined. The bottom contour S can be designed individually according to the shape of the outer contour S1 of the occlusal surface of each patient.

[0348] For example, the region of the bottom contour S corresponding to the interproximal space N has a tendency to shrink inward, that is, the bottom contour S forms a necked section at the interproximal space N. Since the width of the region that can provide support for the digital jaw pad 300 in the interproximal space N is relatively narrow, a relatively narrow necked section is needed to avoid the lack of tooth support below this part, so that the strength of the subsequently formed hollow structure jaw pad is higher, avoiding the hollow structure jaw pad from being bitten down.

[0349] Optionally, after the bottom contour S and the opening height H are determined, the corresponding digital jaw pad 300 can be formed.

[0350] Optionally, the generation process of the digital jaw pad 300, as shown in FIG. 23, specifically includes:

[0351] opening the three-dimensional dental arch model T to a target occlusion state with the first rotation axis Ro as the rotation axis;

[0352] adding the digital jaw pad 300 to at least the posterior region of the opened three-dimensional dental arch model T.

[0353] Optionally, taking the patient as a deep overbite case as an example, the “target occlusion state” refers to the occlusion state in which the deep overbite is resolved, but is not limited thereto.

[0354] The digital jaw pad 300 is mainly in the posterior region, and of course, the digital jaw pad 300 can also extend to part of the anterior region.

[0355] Optionally, the design method of the digital jaw pad 300 further includes: adjusting the digital jaw pad 300 to generate a plurality of digital jaw pads corresponding to a plurality of treatment steps.

[0356] Only the digital jaw pad corresponding to the initial treatment step can be obtained, and the digital jaw pads of other treatment steps can be adjusted according to the digital jaw pad of the initial treatment step, but are not limited thereto, the digital jaw pads of other treatment steps can also be obtained according to the design method of the digital jaw pad described above, or a plurality of digital jaw pads corresponding to a plurality of treatment steps can be designed continuously, and the like.

[0357] In combination with FIG. 24 and FIG. 25, the embodiment of the present application further provides a forming method of an aligner, including:

[0358] obtaining a target digital dental arch with the digital jaw pad 300 according to the design method of the digital jaw pad 300 described above;

[0359] generating an aligner 400 with the jaw pad 40.

[0360] Optionally, a physical model can be formed according to the target digital dental arch with the digital jaw pad 300 first, and then the aligner 400 with the jaw pad 40 is generated through a hot stamping film process.

[0361] Alternatively, the aligner 400 with the jaw pad 40 is directly generated by 3D printing according to the data of the target digital dental arch with the digital jaw pad 300.

[0362] In combination with FIG. 25, the embodiment of the present application further provides an aligner 400, which is obtained according to the forming method of the aligner described above, and the aligner 400 has the jaw pad 40.

[0363] Optionally, for each correction step, the embodiment can directly generate two correctors respectively corresponding to the upper and lower jaws, one of the two correctors has a jaw pad, and the other one does not have a jaw pad, or both of the two correctors have a jaw pad.

[0364] In combination with FIG. 26, the embodiment of the present application further provides a device 500 for designing the digital jaw pad 300, comprising:

[0365] The first module 50 is configured to acquire the three-dimensional dental arch model T.

[0366] The second module 51 is configured to determine the first rotation axis Ro of the three-dimensional dental arch model T based on the registration relationship.

[0367] The third module 52 is configured to open the three-dimensional dental arch model T with the first rotation axis Ro as the rotation axis.

[0368] The fourth module 53 is configured to generate the digital jaw pad 300 based on the opened three-dimensional dental arch model T.

[0369] The device 500 can also be configured based on the design method of the digital jaw pad in any of the foregoing technical solutions. Specifically, the relevant steps can be implemented in the same or different modules based on the association relationship between the steps.

[0370] The device or the modules and units thereof described above can be specifically implemented by a computer chip or an entity, or by a product with corresponding functions. When the device is described, although it is divided into multiple modules and described respectively, in other embodiments, the functions of the modules can also be implemented in the same or multiple software or hardware.

[0371] In summary, when the first rotation axis Ro of the three-dimensional dental arch model T is determined, the rotation process of the three-dimensional dental arch model T can be simulated more accurately, the consistency between the movement of the three-dimensional dental arch model T and the actual dental arch movement is improved, the accuracy of the subsequent design scheme and the matching degree with the actual situation of the patient are improved, the patient experience can be greatly improved, the personalized design of the correction scheme can be realized, and obvious advantages are achieved for complex cases, early correction of children, etc.

[0372] The present application designs the digital jaw pad 300 based on the determination of the first rotation axis Ro of the three-dimensional dental arch model T, and the design process of the digital jaw pad 300 considers the rotation of the dental arch, which can greatly improve the accuracy and applicability of the design of the digital jaw pad 300.

[0373] The present application determines the first rotation axis Ro in the three-dimensional dental arch model T by means of the second rotation axis Co in the image picture 100 which can be directly calibrated, which can improve the accuracy of the determination of the first rotation axis Ro.

[0374] In combination with FIGS. 27-29, the present embodiment provides a method for generating a jaw pad model 300, the method comprising the steps of:

[0375] Step S1: obtaining a dental arch model T.

[0376] Optionally, the dental arch model T is a three-dimensional digital model of the patient's dental arch, and the dental arch model T can be obtained by intraoral scanning, or by scanning a physical model (e.g., a plaster model) or an impression of the dental arch, but the present disclosure is not limited thereto, and the dental arch model T can include upper and lower teeth that cooperate with each other.

[0377] Step S2: obtaining an opening parameter of the dental arch model T.

[0378] Step S3: adding the opening parameter to the dental arch model T to open the dental arch model T.

[0379] Optionally, the "opening parameter" refers to a parameter that can simulate the opening process of the dental arch model T, and when the opening parameter is added to the dental arch model T, the upper and / or lower jaws are controlled to move to open the dental arch model T, and the movement control of the upper and / or lower jaws can be directly completed by a computer, for example.

[0380] Based on the opening parameter, the opening process of the dental arch model T can be simulated more accurately, improving the consistency between the movement of the dental arch model T and the movement of the actual dental arch, thereby improving the accuracy of the subsequent design scheme and the matching degree with the actual situation of the patient, greatly improving the patient experience, and achieving personalized design of the treatment scheme, for example, having obvious advantages for complex cases, early treatment of children, etc.

[0381] Step S4: generating a jaw pad model 300 based on the opened dental arch model T.

[0382] The present embodiment generates the jaw pad model 300 based on the opening parameter, which can greatly improve the accuracy and applicability of the design of the jaw pad model 300.

[0383] Optionally, in combination with FIGS. 30 and 31, the method for obtaining the opening parameter can comprise the following steps:

[0384] Step S21: obtaining a lateral film 100, the lateral film 100 corresponding to the same dental arch as the dental arch model T.

[0385] Optionally, the lateral film 100 can be obtained by a lateral film projection device, and the lateral film 100 is a lateral film of the skull, including upper and lower teeth, jaw structures, condylar processes, etc., and the lateral film 100 reflects the overall structure and relative position of the upper and lower jaws; a doctor can calibrate some landmark points according to the lateral film 100 of the patient, and calculate some medical index information using these landmark points, so as to diagnose and develop a treatment scheme using these index information.

[0386] The "same dentognathic system corresponding to the lateral film 100 and the dental model T" means that the lateral film 100 and the dental model T correspond to the same patient's teeth at the same treatment stage, or the lateral film 100 and the dental model T correspond to the same patient's uncorrected teeth.

[0387] Step S22: opening the upper and lower jaws in the lateral film 100 with the rotation point Co in the lateral film 100 as the rotation point, and obtaining the opening parameters, which are used as the opening parameters of the dental model T.

[0388] Optionally, the rotation point Co in the lateral film 100 is usually located at the condylar position of the lateral film 100, which plays a key role in the occlusion and movement of the upper and lower teeth. When the upper and lower jaws in the lateral film 100 are opened with the rotation point Co in the lateral film 100 as the rotation point, the actual opening process of the patient's upper and lower jaws can be simulated, but this is not limited thereto. The rotation point Co can also be other points, such as points adjacent to the condylar position.

[0389] During the opening process of the upper and lower jaws in the lateral film 100, the corresponding opening parameters can be obtained, such as the position changes of certain points or regions in the upper and lower jaws, and then the opening parameters are mapped to the dental model T, so as to simulate the opening process of the dental model T, and the opening process of the dental model T can be made closer to the actual opening process of the patient's upper and lower jaws with the help of the lateral film 100.

[0390] In this embodiment, the opening process of the upper and lower jaws in the lateral film 100 is simulated with the rotation point Co in the lateral film 100, and the opening parameters obtained in the simulation process are applied to the opening process of the dental model T, which can greatly improve the accuracy of the opening process of the dental model T. In other embodiments, the opening parameters can also be obtained by other methods, such as measurement, database, etc.

[0391] Optionally, in order to further confirm whether the opening parameters of the lateral film 100 are applicable to the dental model T, the generation method comprises:

[0392] Obtaining the occlusal deviation of the dental model T and the lateral film 100;

[0393] When the occlusal deviation is less than the preset deviation, the opening parameters of the lateral film 100 are used as the opening parameters of the dental model T.

[0394] The upper and lower jaw teeth in the lateral film 100 are in a first occlusion state, the upper and lower jaw teeth in the dental model T are in a second occlusion state, and the occlusion deviation is less than the preset deviation, for example, the opening angle of the first occlusion state and the second occlusion state is small, or the first occlusion state and the second occlusion state belong to the same occlusion state (i.e. the opening angle difference is zero), or the first occlusion state and the second occlusion state are both closed states.

[0395] When the occlusion deviation of the dental model T and the lateral film 100 is less than the preset deviation, the initial relative position relationship of the upper and lower jaw teeth in the lateral film 100 and the initial relative position relationship of the upper and lower jaw teeth in the dental model T are basically consistent, the opening process and the final opening state of the dental model T can be referred to the opening process and the final opening state of the lateral film 100, and the opening parameters of the lateral film 100 are applicable to the dental model T.

[0396] When the occlusion deviation of the dental model T and the lateral film 100 is not less than the preset deviation, the initial relative position relationship of the upper and lower jaw teeth in the lateral film 100 and the initial relative position relationship of the upper and lower jaw teeth in the dental model T are quite different, the opening process and the final opening state of the dental model T cannot be referred to the opening process and the final opening state of the lateral film 100, and the opening parameters of the lateral film 100 are not applicable to the dental model T.

[0397] Optionally, when the occlusion deviation of the dental model T and the lateral film 100 is not less than the preset deviation, the opening parameters of the lateral film 100 can also be made applicable to the dental model T by other means, for example, the initial opening parameters can be calculated from the occlusion deviation, and the initial opening parameters and the actual opening parameters are integrated and added to the dental model T.

[0398] Optionally, the dental model T in the closed state and the lateral film 100 in the closed state can be obtained, at this time, the opening parameters of the lateral film 100 are applicable to the dental model T.

[0399] When the patient visits for treatment, at least the dental information of the upper and lower jaws in the closed state will be left, which can be directly used to obtain the lateral film 100 and the dental model T, and the design process of the treatment plan can be simplified, but not limited thereto.

[0400] Optionally, in combination with FIG. 32, the opening parameter acquisition and addition method can include the following steps:

[0401] Step S21': selecting a first reference part and a second reference part corresponding to each other in the lateral film 100 and the dental model T.

[0402] Optionally, the first reference part can be one or more reference points, or one or more regions, etc., and the second reference part can also be one or more reference points, or one or more regions, etc.

[0403] "Corresponding to each other" means that the first reference part and the second reference part correspond to the same position of the dental arch, and the same position can be one or more reference points in the lateral film 100 and the dental arch model T, or one or more regions in the lateral film 100 and the dental arch model T, etc.

[0404] Step S22': obtaining the opening parameter of the first reference part in the opening process.

[0405] Optionally, the opening parameter includes a displacement amount and / or a rotation amount.

[0406] Suppose the lateral film 100 is located in an x-y coordinate plane, the translation amount includes the translation amount of the first reference part along the x direction and the translation amount of the first reference part along the y direction, and the rotation amount includes the clockwise or counterclockwise rotation amount of the first reference part in the x-y coordinate plane.

[0407] Optionally, the first reference part can be located in the lower jaw of the lateral film 100, and in the x-y coordinate plane, the upper jaw of the lateral film 100 is generally fixed, and the lower jaw is opened with the rotating point Co as the rotation point. The opening parameter is the change amount of the first reference part in the rotating process of the lower jaw, and the opening parameter can include the displacement amount of the first reference part in the x direction, the displacement amount in the y direction, and the rotation amount in the x-y coordinate plane, so as to improve the integrity of the opening parameter, but not limited thereto. The opening parameter can also include at least part of the displacement amount in the x direction, the displacement amount in the y direction, and the rotation amount in the x-y coordinate plane.

[0408] Step S31: adding the opening parameter to the second reference part to open the dental arch model T.

[0409] Optionally, the second reference part can be used as a reference to open the dental arch model T according to the opening parameter. Since the first reference part and the second reference part correspond to each other, the opening process of the lateral film 100 can be mapped to the opening process of the dental arch model T.

[0410] In this embodiment, the opening parameter of the first reference part in the lateral film 100 is mapped to the second reference part of the dental arch model T, and without obtaining the rotating point of the dental arch model T, the dental arch model T can be directly opened according to the second reference part and the opening parameter, and the rotating opening process of the dental arch model T can be simulated.

[0411] Optionally, the opening process of the lateral film 100 can include:

[0412] According to the preset opening height or the preset opening angle, the upper and lower jaws in the lateral film 100 are opened.

[0413] The preset opening height corresponds to, for example, the translation amount of the first reference part in the y direction during the opening process, and the preset opening angle corresponds to, for example, the rotation amount of the first reference part in the x-y coordinate plane during the opening process, that is, the opening process of the upper and lower jaws in the lateral film 100 can be controlled according to the preset parameters.

[0414] Optionally, the preset opening height can be determined according to the height of the required jaw pad model 300.

[0415] Optionally, when the lateral film 100 is in a closed state, the upper jaw of the lateral film 100 is fixed and the lower jaw is opened, the opening process of the lateral film 100 can include:

[0416] The lower jaw is rotated around the rotation point Co in the lateral film 100 as the rotation point until the distance between the upper and lower jaws in the height direction is equal to the preset opening height.

[0417] The height direction is the y direction, and the distance in the height direction is the distance between the first reference part and the upper jaw in the y direction, that is, the distance in the height direction is the translation amount of the first reference part in the y direction during the opening process, which can be directly used as the opening parameter.

[0418] During the rotation of the lower jaw, the translation amount of the first reference part in the y direction can be measured in real time, and when the translation amount reaches the preset opening height, the rotation is stopped, and at this time, the translation amount of the first reference part in the x direction, the translation amount in the y direction, and the rotation amount in the x-y coordinate plane are the opening parameters.

[0419] Optionally, in combination with FIGS. 33 and 34, the selection process of the first reference part and the second reference part can include the following steps:

[0420] Step S211': Obtain a two-dimensional side view 200 of the dental model T, and the two-dimensional side view 200 and the lateral film 100 are located at the same viewing angle.

[0421] Optionally, the two-dimensional side view 200 can be obtained by projecting the dental model T, but is not limited thereto, for example, the two-dimensional side view 200 can be displayed by rotating the dental model T, or the two-dimensional side view 200 of the dental model T can be displayed by clicking a specific button, etc., and the two-dimensional side view 200 is located in the x1-y1 coordinate plane.

[0422] The same viewing angle means that the viewing angle of the two-dimensional side view 200 is consistent with that of the lateral film 100, for example, the lateral film 100 is obtained from the right side of the patient's head, and the two-dimensional side view 200 displayed is the right side view of the dental model T.

[0423] Step S212': Select the first reference part and the second reference part corresponding to each other in the lateral film 100 and the two-dimensional side view 200, respectively.

[0424] Optionally, the side view film 100 and the two-dimensional side view 200 are both planar views, and the two are the same perspective, the dental arch profile of the side view film 100 is consistent with the dental arch profile of the two-dimensional side view 200, so as to facilitate selection of the first reference part and the second reference part corresponding to each other in the side view film 100 and the two-dimensional side view 200 respectively.

[0425] Optionally, the opening parameter acquisition and adding method has various implementation manners, and taking the dental arch model T and the side view film 100 both in the closed state as an example for description.

[0426] One possible implementation manner includes the following steps:

[0427] Step A1: Obtain N first coordinates of N first reference points of the first reference part, N being a positive integer, in combination with FIG. 35.

[0428] Optionally, the first reference part can include one or more first reference points, and taking N first reference points located at the mandibular teeth of the side view film 100 and N = 1 as an example, the first reference part includes one first reference point.

[0429] Specifically, in the x-y plane where the side view film 100 is located, the first upper 6th molar endpoint U6(d1, d2) and the first lower 6th molar endpoint L6(e1, e2) are selected.

[0430] The first upper 6th molar endpoint U6 can be a convex point of the upper 6th molar, and the first lower 6th molar endpoint L6 can be a concave point of the lower 6th molar, or the first upper 6th molar endpoint U6 can be a concave point of the upper 6th molar, and the first lower 6th molar endpoint L6 can be a convex point of the lower 6th molar, but not limited thereto.

[0431] The first occlusal midpoint UL6 of the upper and lower molars is obtained according to the first upper 6th molar endpoint U6 and the first lower 6th molar endpoint L6, the first reference point is the first occlusal midpoint UL6, and the first reference point UL6 is located at the occlusal surface where the first upper 6th molar and the first lower 6th molar intersect, that is, the first reference point UL6 can be regarded as being located at the mandibular teeth, and the first coordinates of the first reference point UL6 are ((d1+e1) / 2,(d2+e2) / 2), in order to simplify the calculation formula in the subsequent steps, the first coordinates of the first reference point UL6 are simplified to (h1, h2), that is, h1=(d1+e1) / 2, h2=(d2+e2) / 2.

[0432] Step A2: Open the side view film 100 so that the N first coordinates are updated to N second coordinates, in combination with FIG. 36.

[0433] Optionally, assuming that the preset opening height is δ, the lower jaw is opened around the rotating anchor point Co in the x-y coordinate plane, so that the first reference point UL6 is updated as a new first reference point UL6', and the y-direction offset amount generated by the change of the first reference point UL6 to the new first reference point UL6' is δ, assuming that the second coordinate of the new first reference point UL6' is (x, h2-δ).

[0434] Step A3: According to the N first coordinates and the N second coordinates, N opening parameters are obtained, as shown in FIG. 36 and FIG. 37.

[0435] Optionally, one first coordinate (h1, h2) and one second coordinate (x, h2-δ) are used to obtain the opening parameter.

[0436] Specifically, assuming that the first reference point UL6 rotates by a first angle θ around the rotating anchor point Co to obtain a new first reference point UL6', based on the fact that the first distance S1 between the first reference point UL6 and the rotating anchor point Co is equal to the second distance S2 between the new first reference point UL6' and the rotating anchor point Co, the following can be obtained:

[0437] Optionally, the first angle θ actually corresponds to the rotation amount of the first reference point UL6 itself when the first reference point UL6 changes to the new first reference point UL6', and the rotation amount of the first reference point UL6 itself is defined as a second angle β.

[0438] Specifically, the incisor end point U1 of the lower jaw is selected, and the first reference point UL6 and the incisor end point U1 form a first connecting line L1. After the lower jaw is opened, the first reference point UL6 changes to a new first reference point UL6', and the incisor end point U1 changes to a new incisor end point U1', and the new first reference point UL6' and the new incisor end point U1' form a second connecting line L2.

[0439] Assuming that the extensions of the first connecting line L1 and the second connecting line L2 intersect at point A, the included angle between the first connecting line L1 and the second connecting line L2 is the second angle β, the intersection point of the first connecting line L1 and the connecting line of the new first reference point UL6' and the rotating anchor point Co is point B, the rotating anchor point Co, the first reference point UL6, and the incisor end point U1 form a first triangle, the rotating anchor point Co, the new first reference point UL6', and the new incisor end point U1' form a second triangle, and the first triangle and the second triangle are two completely equal triangles, so it can be obtained that:

[0440] ∠Co,UL6,U1=∠Co,UL6’,U1’;

[0441] ∠Co,UL6,U1+∠Co,UL6,A=180°;

[0442] Co,UL6',U1'+ Co,UL6',A = 180°;

[0443] Co,UL6,A = Co,UL6',A;

[0444] Co,B,UL6 and A,B,UL6' are each other's opposite vertex angle;

[0445] Co,B,UL6 = A,B,UL6';

[0446] Co,UL6,A + Co,B,UL6 + θ = 180°;

[0447] Co,UL6',A + A,B,UL6' + β = 180°;

[0448] β = θ, that is, the second angle β is equal to the first angle θ, and the second angle β is the rotation amount of the first reference point UL6 itself when the first reference point UL6 changes to the new first reference point UL6'.

[0449] The opening parameters include at least one of the horizontal displacement amount of the first reference point UL6 in the horizontal coordinate direction (x direction), the vertical displacement amount in the vertical coordinate direction (y direction), and the rotation amount in the plane (x-y coordinate plane) of the lateral film 100. Here, the opening parameters include the horizontal displacement amount, the vertical displacement amount, and the rotation amount.

[0450] Specifically, when the first coordinate (h1, h2) of the first reference point UL6 changes to the second coordinate (x, h2-δ) of the new first reference point UL6', the obtained opening parameters include the displacement amount x-h1 in the x direction, the displacement amount δ in the y direction, and the rotation amount β of the first reference point UL6. The acquisition of the opening parameters can be directly completed by a computer.

[0451] Step A4: In combination with FIG. 38, N second reference points of the second reference part are obtained, and the N second reference points correspond to the N first reference points one by one.

[0452] Optionally, the second reference part also includes one second reference point.

[0453] Specifically, taking the two-dimensional side view 200 of the dental model T as an example, in the x1-y1 coordinate plane in which the two-dimensional side view 200 is located, the second upper 6th molar endpoint U6" and the second lower 6th molar endpoint L6" are selected, and the second reference point is the second occlusal midpoint UL6" of the upper and lower molars formed by the second upper 6th molar endpoint U6" and the second lower 6th molar endpoint L6".

[0454] Step A5: In combination with FIG. 39, N opening parameters are added to the N second reference points UL6" to open the dental model T.

[0455] Optionally, the opening parameter obtained in step A3 is added to the second reference point UL6" to open the dental model T.

[0456] In one possible implementation, N = 1, i.e., the first reference part includes one first reference point UL6, and the second reference part includes one second reference point UL6".

[0457] The mandible of the dental model T is rotated by the rotation amount β around the second reference point UL6" as the rotation center, then the mandible as a whole is moved downward by the displacement amount δ along the y1 direction, and then the mandible as a whole is moved leftward by the displacement amount x-h1 along the x1 direction, at this time, the opening of the dental model T is completed.

[0458] Optionally, the rotation of the mandible of the dental model T, the movement along the y1 direction, and the movement along the x1 direction are adjusted in sequence according to requirements, or the rotation of the mandible of the dental model T, the movement along the y1 direction, and the movement along the x1 direction are implemented synchronously, and the opening process of the dental model T can be completed directly by a computer, for example.

[0459] Optionally, the rotation amount β can be added by taking an axis passing through the second reference point UL6" as a rotation axis, for example, when taking the two-dimensional side view 200 of the dental model T as an example, the rotation axis is an axis passing through the second reference point UL6" and perpendicular to the x1-y1 coordinate plane, when the dental model T is not the two-dimensional side view 200, the rotation axis is an axis passing through the second reference point UL6" and extending along the buccal-lingual side.

[0460] For the convenience of description, in the following, the opening of the dental model T is described by taking the reference point (or the reference point) as an example, and the description based on the rotation axis can be referred to the description based on the reference point.

[0461] Optionally, when the dental model T is not the two-dimensional side view 200, the second occlusal midpoint of the upper and lower molar teeth can also be obtained on the dental model T, the second occlusal midpoint is taken as the second reference point, and the opening parameter is added to the second reference point to open the dental model T.

[0462] In one possible implementation, N > 1, i.e., the first reference part includes a plurality of first reference points, the plurality of first reference points can correspond to different mandibular teeth in the lateral film 100, the second reference part includes a plurality of second reference points, and the plurality of second reference points can correspond to different mandibular teeth in the dental model T.

[0463] Optionally, N opening parameters can be obtained according to the N first coordinates and the N second coordinates, and the N opening parameters are added to the N second reference points respectively to open the dental model T.

[0464] Optionally, the N opening parameters are at least partially different opening parameters, and when the N opening parameters are added to the N second reference points respectively, the plurality of mandibular teeth are actually opened and separated, and finally the opening of the entire mandible is realized.

[0465] In a possible implementation, N > 1, that is, the first reference part includes a plurality of first reference points, the plurality of first reference points can correspond to different mandibular teeth in the lateral film 100, and the second reference part includes a plurality of second reference points, the plurality of second reference points can correspond to different mandibular teeth in the dental model T.

[0466] Optionally, the above implementation can further include the following steps:

[0467] Step B1: obtaining an opening parameter of a first reference point according to at least N first coordinates and N second coordinates, wherein N > 1, and the first reference point is an average of the N first reference points.

[0468] Optionally, for example, the lateral film 100 includes two first reference points, that is, a first upper 6th molar endpoint U6 and a first lower 6th molar endpoint L6, and a first occlusal midpoint UL6 between the first upper 6th molar endpoint U6 and the first lower 6th molar endpoint L6 can be used as the first reference point, that is, the first reference point is an average of the two first reference points.

[0469] The first upper 6th molar endpoint U6 and the first lower 6th molar endpoint L6 include two first coordinates before the lateral film 100 is opened and two second coordinates after the lateral film 100 is opened, two opening parameters can be obtained according to the two first coordinates and the two second coordinates, and an average of the two opening parameters can obtain the opening parameter corresponding to the first reference point.

[0470] Optionally, the N first reference points are averaged to obtain the first reference point, and the N opening parameters are averaged to obtain the opening parameter corresponding to the first reference point, wherein the average can be a numerical average, or the average can be processed in combination with a weight, which can be determined according to actual conditions.

[0471] Step B2: obtaining a second reference point corresponding to the first reference point in the dental model T.

[0472] Optionally, the N second reference points can be obtained first, and the second reference point is an average of the N second reference points.

[0473] For example, the dental model T includes two second reference points, that is, a second upper 6th molar endpoint U6” and a second lower 6th molar endpoint L6”, and a second occlusal midpoint UL6” between the second upper 6th molar endpoint U6” and the second lower 6th molar endpoint L6” can be used as the second reference point, that is, the second reference point is an average of the two second reference points, but it is not limited thereto.

[0474] Step B3: adding opening parameters to the second reference point to open the dental model.

[0475] Optionally, the opening parameters corresponding to the first reference point can be added to the second reference point to open the dental model T.

[0476] The above implementation manner can be based on the plurality of first reference points, the plurality of second reference points and the plurality of opening parameters to perform averaging, and the first reference points, the second reference points and the opening parameters obtained by the averaging process are helpful to improve the accuracy of opening the dental model.

[0477] Optionally, the preset opening height δ can be defined according to the desired height of the jaw pad model 300, and the preset opening height δ is finally reflected in the opening process of the dental model T in the form of the displacement amount of the jaw pad model T in the y1 direction.

[0478] When the height of the jaw pad model 300 is determined, in combination with FIG. 40, the bottom contour S of the jaw pad model 300 on the occlusal surface of the upper teeth or the lower teeth can be further determined. The bottom contour S can be individually designed according to the shape of the outer contour S' of the occlusal surface of each patient.

[0479] For example, the bottom contour S has a tendency of inward contraction in the region corresponding to the interproximal space M, that is, the bottom contour S forms a necked section at the interproximal space M. Since the width of the region that can provide support for the jaw pad model 300 in the interproximal space M is relatively narrow, a relatively narrow necked section is needed to avoid the lack of tooth support below this part, so that the strength of the hollow structure jaw pad formed subsequently is relatively high, avoiding the hollow structure jaw pad from being bitten down.

[0480] Optionally, when the bottom contour S and the height of the jaw pad model 300 are determined, the corresponding jaw pad model 300 can be formed.

[0481] Optionally, the generation process of the jaw pad model 300 specifically includes:

[0482] At least the jaw pad model 300 is added to the posterior region of the opened dental model T.

[0483] Optionally, the jaw pad model 300 is mainly in the posterior region, and of course, the jaw pad model 300 can also extend to part of the anterior region.

[0484] Optionally, the generation method of the jaw pad model 300 further includes: adjusting the jaw pad model 300 to generate a plurality of jaw pad models corresponding to a plurality of correction steps.

[0485] The jaw pad model corresponding to the initial orthodontic step can be obtained only, and the jaw pad models of other orthodontic steps can be adjusted according to the jaw pad model of the initial orthodontic step, but the jaw pad models of other orthodontic steps can also be obtained according to the generation method of the jaw pad model, or a plurality of jaw pad models corresponding to a plurality of orthodontic steps can be designed in succession, and the like.

[0486] In combination with FIGS. 41 and 42, the present embodiment further provides a forming method of the shell-shaped dental appliance, comprising:

[0487] The digitalized dental arch with the jaw pad model 300 is obtained according to the generation method of the jaw pad model 300 as described above.

[0488] The shell-shaped dental appliance 400 with the jaw pad 40 is generated.

[0489] Optionally, the shell-shaped dental appliance 400 with the jaw pad 40 can be generated by forming a solid model according to the digitalized dental arch with the jaw pad model 300 and then performing a hot-pressing film process.

[0490] Alternatively, the shell-shaped dental appliance 400 with the jaw pad 40 can be generated by directly performing 3D printing according to the data of the digitalized dental arch with the jaw pad model 300.

[0491] In combination with FIG. 42, the present embodiment further provides a shell-shaped dental appliance 400, which is obtained according to the forming method of the shell-shaped dental appliance as described above, and the shell-shaped dental appliance 400 is provided with the jaw pad 40.

[0492] Optionally, for each orthodontic step, the present embodiment can directly generate two shell-shaped dental appliances respectively corresponding to the upper and lower dental arches, one of the two shell-shaped dental appliances is provided with the jaw pad, and the other one is not provided with the jaw pad, or both of the two shell-shaped dental appliances are provided with the jaw pad.

[0493] In combination with FIG. 43, the present embodiment further provides an apparatus 500 for generating the jaw pad model 300, comprising:

[0494] The first module 50 is configured to obtain the dental arch model T.

[0495] The second module 51 is configured to obtain the opening parameter of the dental arch model T.

[0496] The third module 52 is configured to add the opening parameter to the dental arch model T to open the dental arch model T.

[0497] The fourth module 53 is configured to generate the jaw pad model 300 based on the opened dental arch model T.

[0498] The device 500 can also be configured based on the jaw pad model generation method in any of the foregoing technical solutions. Specifically, the relevant steps can be implemented in the same or different modules based on the association between the steps.

[0499] The device or its modules and units described above can be implemented by a computer chip or entity, or by a product with corresponding functions. When describing the device, although it is divided into multiple modules and described separately, in other embodiments, the functions of the modules can be implemented in the same or multiple software or hardware.

[0500] In summary, based on the opening parameter, the opening process of the dental arch model T can be simulated more accurately, the consistency between the movement of the dental arch model T and the actual dental arch movement is improved, the accuracy of the subsequent design scheme and the matching degree with the actual situation of the patient are improved, the patient experience can be greatly improved, the personalized design of the treatment scheme is realized, and obvious advantages are achieved for complex cases, early treatment of children, etc.

[0501] The jaw pad model 300 is generated based on the opening parameter, which can greatly improve the precision and applicability of the jaw pad model 300 design.

[0502] FIG. 44 is a flowchart of a jaw pad model determination method provided by an embodiment of the application. The method can be executed by a jaw pad model determination device, which can be a terminal device or a module for a terminal device, or a server or a module for a server. The execution subject of the method is not limited in the application.

[0503] The method includes the following steps:

[0504] In step 101, first tooth model data and first jaw pad model data are obtained.

[0505] The first tooth model is a tooth model corresponding to a first treatment step, and the first jaw pad model is a jaw pad model corresponding to the first tooth model in the first treatment step.

[0506] When a patient undergoes tooth treatment, a doctor will set different treatment stages according to the tooth state of the patient, and each treatment stage includes at least one treatment step. The doctor collects the teeth of different treatment steps to obtain tooth models of different treatment steps; the doctor analyzes the tooth model of the current treatment step to determine the jaw pad model corresponding to the current treatment step. The first treatment step is any one of the plurality of treatment steps; the second treatment step is any one of the plurality of treatment steps; the first treatment step and the second treatment step are different treatment steps.

[0507] In a possible implementation, the first orthodontic step can be any orthodontic step of an actual orthodontic stage of the patient, any orthodontic step of a simulated orthodontic stage of the doctor, or any orthodontic step of an orthodontic stage corresponding to an orthodontic effect expected by the doctor. The application does not limit this.

[0508] In a possible implementation, the first tooth model is obtained by scanning the upper and lower teeth of the patient in the mouth or outside the mouth, or is obtained by scanning the teeth and jaw of the patient through oral and maxillofacial cone beam (CBCT), and is reconstructed by using three-dimensional software. The application does not limit the method for obtaining the first tooth model. The method for obtaining the second tooth model is similar to the method for obtaining the first tooth model, and details are not repeated here.

[0509] In a possible implementation, the jaw pad is a highly customized functional object, and its form is often customized according to the form of the teeth. According to the constraint condition, the pad embryo is generated on the basis of the processed tooth model; and the processed tooth model and the pad embryo are merged to obtain the target jaw pad model.

[0510] In step 102, a first position of a key point of a target tooth to which a jaw pad is to be added in the first orthodontic step is determined according to the first tooth model data.

[0511] The key point is located on the target tooth, and is used to indicate a position of the jaw pad to be added on an occlusal surface of the target tooth.

[0512] In a possible implementation, the key point of the target tooth is determined according to tooth position information of the target tooth to which the jaw pad is to be added.

[0513] Optionally, fixed key points are set for teeth of different tooth positions, for example, a key point is determined on a distal half of the occlusal surface of the first tooth, key points are determined on the entire occlusal surface of the second tooth and the third tooth, and a key point is determined on a proximal half of the occlusal surface of the fourth tooth.

[0514] In a possible implementation, the key point of the target tooth is determined according to a type of the target tooth. For example, if the target tooth is a premolar, the key point includes one or more of the following: a high point, two low points near the mesial and distal, and if the target tooth is a molar, the key point includes one or more of the following: two high points, two low points near the mesial and distal, and a point between the two high points.

[0515] In a possible implementation, the key point of the target tooth is determined according to adjacent teeth. For example, a midpoint of a connection point between the two adjacent teeth is taken as the key point.

[0516] Exemplarily, as shown in FIG. 45, where A1, A2, A3 and A4 are key points on the target tooth, the jaw pad to be added will also be located on the target tooth. Among them, the A1 key point is the protruding point in each tooth, the A2 key point is the recessed point in each tooth, the A3 key point is the connecting point between the adjacent teeth, and the A4 key point is the point between two A1 key points.

[0517] The method for determining the key points is not limited in the present application.

[0518] In step 103, the second positions of the key points of the target tooth of the jaw pad to be added in the second treatment step are determined according to the second tooth model data.

[0519] The second tooth model is the tooth model corresponding to the second treatment step.

[0520] In a possible implementation method, the key points of the target tooth of the second treatment step and the key points of the target tooth of the first treatment step have multiple key points of the same type.

[0521] Alternatively, the key points of the target tooth of the second treatment step and the key points of the target tooth of the first treatment step are of the same type. For example, the target tooth is a molar tooth, the type of the key points of the target tooth in the first treatment step is two high points and a point between the two high points, and then the type of the key points of the target tooth in the second treatment step is also two high points and a point between the two high points. However, since the target tooth may be displaced or rotated during the treatment, the positions of the key points of the target tooth in different treatment steps may change.

[0522] In step 104, the movement information of each key point is determined according to the first position of each key point and the second position of each key point.

[0523] In step 105, the second jaw pad model corresponding to the target tooth in the second treatment step is determined according to at least one of the movement information of each key point, the first jaw pad model data, and the occlusal relationship of the target tooth in the second treatment step.

[0524] In a possible implementation method, the movement information of each key point and the first jaw pad model data are used to determine the occlusal surface of the second jaw pad model.

[0525] In a possible implementation method, the occlusal relationship of the target tooth in the second treatment step is used to determine the height of the jaw pad of the second jaw pad model.

[0526] In a possible implementation, for any jaw pad model corresponding to a treatment step, a jaw pad model corresponding to a first treatment step is used as a basic jaw pad model; the first treatment step can be the first treatment step; of course, the first treatment step can also be another treatment step, which is not limited in the application. According to this scheme, only the vertexes of the subplane corresponding to the first treatment step and the adjacency relationship between the vertexes need to be stored, and therefore the storage space can be saved.

[0527] In another possible implementation, the first treatment step and the second treatment step are adjacent treatment steps; in this way, the tooth position information changes little between the first treatment step and the second treatment step, and the movement information of each key point is small; therefore, determining the jaw pad model corresponding to the second treatment step according to the jaw pad model corresponding to the first treatment step is not only accurate and effective, but also can improve the calculation efficiency. Of course, the first treatment step and the second treatment step can also be nonadjacent treatment steps, which is not limited in the application.

[0528] Optionally, the second treatment step is later than the first treatment step; of course, the second treatment step can also be earlier than the first treatment step, which is not limited in the application.

[0529] According to the above scheme, the first jaw pad model is the jaw pad model determined in the first treatment step, the key points in the first treatment step and the key points in the second treatment step have a corresponding relationship, and the jaw pad height can be effectively determined according to the occlusal relationship of the target tooth in the second treatment step; therefore, the second jaw pad model can be accurately and effectively self-adaptively generated according to the first jaw pad model data, the movement information of each key point in the first treatment step and the second treatment step, and the occlusal relationship of the target tooth in the second treatment step.

[0530] In an embodiment, a method for determining the first jaw pad model is shown in FIG. 46, including the following steps:

[0531] Step 301: determining a target curve according to the first position of the key point of the target tooth in the first treatment step.

[0532] The target curve is located on the occlusal surface of the target tooth; the target tooth is at least two.

[0533] In a possible implementation, for any two adjacent key points of the target tooth in the first treatment step, a fitting curve between the adjacent key points is determined; the fitting curve is used to connect the adjacent key points; and the target curve is determined according to the fitting curve of each key point. According to this scheme, the target curve can be accurately and effectively determined.

[0534] In one possible implementation, a cubic spline curve method is used to determine the fitting curve between the adjacent key points. Of course, a quadratic spline curve method or other methods can also be used to determine the fitting curve between the adjacent key points, which are not limited in the present application.

[0535] In one possible implementation, the adjacent target teeth form at most one target curve, and the target curve is a closed curve connecting any key points of the adjacent target teeth. For example, the curve connecting the key points in FIG. 45 is a target curve. Of course, the adjacent target teeth can also form multiple target curves.

[0536] In step 302, a target surface is determined according to the target curve.

[0537] The target surface is located in the target curve, and is formed by filling the area enclosed by the target curve with multiple sub-surfaces.

[0538] In one possible implementation, a first sub-surface is determined according to the points on the target curve. The first sub-surface includes at least three points, at least two of which are on the target curve, and the other points are fitted according to the points on the closed curve.

[0539] In one possible implementation, a second sub-surface is determined according to the points of the first sub-surface. The second sub-surface includes at least three points, at least two of which are on the target curve and / or the points of the first sub-surface. The first sub-surface and the second sub-surface are both located in the area enclosed by the target curve. The second sub-surface of the previous step is taken as the first sub-surface of the new step, and the above process is repeated to generate the second sub-surface of the new step. The target surface is determined by the first sub-surfaces and the second sub-surfaces. The first sub-surfaces and the second sub-surfaces form the target surface with ups and downs in the horizontal direction. For example, the target surface is shown in FIG. 47, in which any triangular surface corresponds to any sub-surface. This scheme can accurately and effectively determine the target surface.

[0540] In one possible implementation, the points on the target curve are sampled to obtain a first sample point set, and a first sub-surface is determined according to the first sample point set.

[0541] In step 303, the first jaw pad model is determined according to the target surface.

[0542] In a possible implementation, the target surface is vertically copied and translated to obtain a target bottom surface; a distance between the target bottom surface and the target surface is a difference between a highest point and a lowest point of a subplane of the target surface; or the distance between the target bottom surface and the target surface is a distance between a highest point of the target tooth and a gum of the target tooth. The distance between the target bottom surface and the target surface is not limited in the application.

[0543] In a possible implementation, the first jaw pad model is determined according to the target surface and the target bottom surface. The vertical surface between the target surface and the target bottom surface is filled by a plurality of subplanes.

[0544] In a possible implementation, the first jaw pad model data is obtained according to the first jaw pad model.

[0545] In a possible implementation, the first orthodontic step is a first orthodontic step, and the first jaw pad model is determined by a first position of each key point of the target tooth in the first orthodontic step.

[0546] In a possible implementation, a top view of the first jaw pad model is as shown in FIG. 48.

[0547] The above scheme can accurately and effectively determine the first jaw pad model.

[0548] In an embodiment, a method for determining a second jaw pad model corresponding to the target tooth in the second orthodontic step is as shown in FIG. 49, and the method includes the following steps.

[0549] In step 601, a vertex coordinate of each subplane in a target surface of the first jaw pad model is updated according to the movement information of each key point, to obtain an intermediate target surface.

[0550] In a possible implementation, a conversion matrix for converting the first position to the second position is determined according to a relative relationship between the first position of the key point of the target tooth in the first orthodontic step and the second position of the key point of the target tooth in the second orthodontic step; and the movement information of each key point is determined according to the conversion matrix.

[0551] In a possible implementation, a key point pair is determined according to the key point of the target tooth in the first orthodontic step and the key point of the target tooth in the second orthodontic step; and a conversion matrix is obtained by using a multi-harmonic thin-plate spline transformation on the key point pair. The conversion matrix indicates the movement information from the first position to the second position.

[0552] Exemplarily, the target tooth in the first orthodontic step includes a plurality of key points, respectively, key point P1, key point P2, key point P3, …, and key point Pn; the target tooth in the second orthodontic step also includes a plurality of key points of the same type, respectively, key point P1', key point P2', key point P3', …, and key point Pn'; wherein the key point P1 and the key point P1' are the same key point, except that due to the different orthodontic steps, the positions of the key point P1 and the key point P1' in the tooth model have changed; the key point P2 and the key point P2', …, the key point Pn and the key point Pn' are similar, and will not be described here.

[0553] The key point pairs are transformed by using a multi-harmonic thin-plate spline transformation to obtain a conversion matrix, as shown in FIG. 50.

[0554] In a possible implementation method, according to the conversion matrix, the vertex coordinates of each sub-plane of the target surface of the first jaw pad model are updated to obtain an intermediate target surface. Each sub-plane of the first jaw pad model includes each sub-plane of the target surface, each sub-plane of the target bottom surface, and each sub-plane of the vertical surface between the target surface and the target bottom surface.

[0555] In step 602, according to the intermediate target surface and the corresponding occlusion relationship of the target tooth in the second orthodontic step, a second jaw pad model corresponding to the target tooth in the second orthodontic step is determined.

[0556] The above scheme can accurately and effectively determine the second jaw pad model corresponding to the target surface, i.e., the intermediate target surface, according to the movement information of each key point. According to the occlusion relationship of the target tooth in the second orthodontic step, the second jaw pad model can be accurately and effectively determined under the determination of the intermediate target surface.

[0557] In an embodiment, the specific implementation process of the above step 602 is shown in FIG. 51, including the following steps:

[0558] In step 801, occlusion teeth having an occlusion relationship with the target tooth in the second orthodontic step are determined.

[0559] In a possible implementation method, if the target tooth is a lower jaw tooth, the corresponding occlusion tooth is located in the upper jaw; if the target tooth is an upper jaw tooth, the corresponding occlusion tooth is located in the lower jaw.

[0560] In step 802, an initial jaw pad height in the second orthodontic step is determined according to the occlusal surface of the occlusion tooth.

[0561] In a possible implementation, the initial jaw pad height in the second correction step is determined according to the distance between the occlusal surface of the occlusal tooth and the target tooth. For example, the initial jaw pad height in the second correction step is determined according to the shortest distance between the occlusal surface of the occlusal tooth and the target tooth; or the initial jaw pad height in the second correction step is determined according to the longest distance between the occlusal surface of the occlusal tooth and the target tooth; or the initial jaw pad height in the second correction step is determined according to the average distance between each occlusal surface of the occlusal tooth and the corresponding target tooth; or the initial jaw pad height in the second correction step is determined according to the distance between an arbitrary position near the occlusal surface of the occlusal tooth and the corresponding target tooth. The method for determining the initial jaw pad height is not limited in the present application.

[0562] In step 803, the second jaw pad model corresponding to the target tooth in the second correction step is determined according to the intermediate target surface and the initial jaw pad height.

[0563] The above scheme can achieve simple and fast determination of the initial jaw pad height, and further achieve simple and fast determination of the second jaw pad model.

[0564] In another embodiment, the initial jaw pad height needs to be updated, and the second jaw pad model corresponding to the target tooth in the second correction step is determined according to the updated initial jaw pad height. The method is shown in FIG. 52 and includes the following steps.

[0565] In step 901, the moving direction of each vertex is determined according to the vertex coordinates and the adjacency relationship between the vertices in each subplane of the intermediate target surface.

[0566] In a possible implementation, if any vertex in the intermediate target surface is an edge point, the adjacent vertex of the vertex is selected according to the adjacency relationship of the vertex; and the offset direction between the vertex and the adjacent vertex is determined as the moving direction of the vertex.

[0567] In a possible implementation, the adjacent vertex of the vertex is selected from the target bottom surface; and the offset direction between the vertex and the adjacent vertex is determined as the moving direction of the vertex.

[0568] In a possible implementation, if any vertex in the intermediate target surface is a non-edge point, first and second adjacent vertices are selected according to a distance relationship between the vertex and edge points; the first adjacent vertex is a buccal edge adjacent vertex of the vertex; the second adjacent vertex is a lingual edge adjacent vertex of the vertex; and an interpolation of a moving direction of the first adjacent vertex and a moving direction of the second adjacent vertex is determined as the moving direction of the vertex. Since the first and second adjacent vertices are both edge points, the moving directions of the edge points can be determined by the previous method, and therefore, the first and second directions can be accurately and effectively determined.

[0569] In a possible implementation, the distance between the first adjacent vertex and the vertex is less than a second threshold value, and the distance between the second adjacent vertex and the vertex is less than a third threshold value. The second threshold value and the third threshold value are not limited in the present application. For example, the first adjacent vertex is a buccal edge adjacent vertex closest to the vertex, and the second adjacent vertex is a lingual edge adjacent vertex closest to the vertex.

[0570] In a possible implementation, the moving direction of the vertex is determined by interpolating and fitting the first direction and the second direction according to weight information of the first direction and the second direction. For example, the mean of the first direction and the second direction is determined as the moving direction of the vertex.

[0571] In step 902, if the moving direction of any vertex is within the range of the occlusal teeth, the initial height of the jaw pad corresponding to the vertex is updated to the height of the vertex to the corresponding occlusal position of the occlusal teeth.

[0572] In a possible implementation, if the moving direction of any vertex is not within the range of the occlusal teeth, the initial height of the jaw pad corresponding to the vertex is kept unchanged. This scheme can accurately and effectively determine the moving direction of the vertex, and further accurately and effectively determine whether the initial height of the jaw pad needs to be updated.

[0573] In step 903, a second jaw pad model corresponding to the target teeth in the second treatment step is determined according to the intermediate target surface and the updated initial height of the jaw pad.

[0574] For example, the updated initial height of the jaw pad is shown in FIG. 53, where the diagonal area is the updated initial height of the jaw pad.

[0575] The above scheme can accurately and effectively update the initial jaw pad height, and then accurately and effectively determine the second jaw pad model according to the updated initial jaw pad height. The initial jaw pad height is updated for each vertex of each subplane, which has a fine granularity, can make the second jaw pad model better simulate the occlusion relationship of the occlusion teeth, and improve the user's use feeling.

[0576] In order to meet the process requirements of the jaw pad manufacturing, an inclined structure is usually generated on some side surfaces, which will adversely affect the subsequent calculation of the occlusal surface of the jaw pad and the occlusal teeth, and is prone to topological problems. Therefore, the present application distinguishes between the side surface and the occlusal surface of the jaw pad model when calculating the occlusion. For the side surface points (i.e. edge points) of the jaw pad model, the jaw pad model points are always moved on the side surface when calculating the occlusion. For the occlusal surface points (i.e. non-edge points), two schemes are implemented: scheme one is to still move vertically when calculating the occlusion, and after the movement is completed, the topography of the jaw pad model is checked, and when the topography problem is found, the topography repair is uniformly performed; scheme two is to calculate the maximum possible movement direction of the current point according to the neighbor points, and then force the point to move along the maximum possible movement direction, so as to avoid the occlusal surface points from penetrating out of the jaw pad model and causing topological relationship problems.

[0577] In one embodiment, due to the second orthodontic step compared with the first orthodontic step, the tooth position changes sharply, which may cause the subplane of the second jaw pad model to overlap, resulting in abnormal topological relationship; or due to the unreasonable calculation result of the movement direction, the points of the subplane produce unreasonable movement, causing abnormal topological relationship. In view of the feature that the abnormal topological relationship area has abnormal curvature, the present application smoothes the local area with abnormal curvature by checking the curvature of each vertex of the second jaw pad model, while keeping the neighbor relationship unchanged, which is equivalent to locally unfolding the folded part of the mesh of the second jaw pad model, thereby solving the topological relationship problem.

[0578] Optionally, after determining the second jaw pad model corresponding to the target tooth in the second orthodontic step, the method further comprises: if the curvature of any vertex of any subplane in the second jaw pad model is an abnormal value, updating the coordinates of the vertex according to the coordinates of the adjacent vertices of the vertex. Specifically, if the curvature of any vertex of any subplane in the second jaw pad model is an abnormal value, selecting the vertices with a distance less than a first threshold value from the vertex as the adjacent vertices; and updating the coordinates of the vertex according to the mean value of the coordinates of the adjacent vertices.

[0579] In one possible implementation method, selecting the vertices with a distance less than a first threshold value from the vertex as the adjacent vertices comprises: obtaining all neighbor points of the vertex, and calculating the distance between the vertex and each neighbor point; if the distance between the vertex and any neighbor point is less than the first threshold value, the neighbor point is selected as an adjacent vertex.

[0580] The above scheme, any neighbor point and the distance of the vertex is greater than the first threshold, that is, it means that the distance between the neighbor point and the vertex is far, and the influence of the neighbor point on the vertex is small; and since the neighbor point is far away from the vertex, the offset data between the neighbor point and the vertex is large, and if the neighbor point is used to update the coordinates of the vertex, the coordinates of the vertex may change greatly, resulting in a large change in the subplane of the second jaw pad model, affecting the accuracy of constructing the second jaw pad model.

[0581] The display system provided by the embodiment of the present application can display the combination model of the tooth model and the jaw pad model corresponding to any treatment step; specifically, the generated second jaw pad model is displayed on the second tooth model; and the first jaw pad model is displayed on the first tooth model. This scheme can help doctors and patients intuitively feel the wearing effect of the jaw pad model on the tooth model.

[0582] Of course, the tooth model corresponding to any treatment step and / or the jaw pad model can also be displayed in the display system; specifically, the second tooth model is displayed in the first interface of the display system, and the second jaw pad model is displayed in the second interface of the display system.

[0583] Optionally, the display system displays the tooth model and / or the jaw pad model corresponding to all treatment steps, and / or the combination model.

[0584] In a possible implementation method, the second jaw pad model is combined with the original tooth cover corresponding to the second treatment step to form a tooth cover with a jaw pad.

[0585] Based on the same technical concept, FIG. 54 exemplarily shows a jaw pad model determination apparatus 1100 provided by an embodiment of the present application. As shown in FIG. 54, the apparatus 1100 comprises an acquisition unit 1101 and a determination unit 1102. The acquisition unit 1101 is configured to acquire first tooth model data and first jaw pad model data; the first tooth model is a tooth model corresponding to a first treatment step, and the first jaw pad model is a jaw pad model corresponding to the first tooth model in the first treatment step. The determination unit 1102 is configured to determine, according to the first tooth model data, a first position of a key point of a target tooth to which a jaw pad is to be added in the first treatment step; the key point is located on the target tooth; the key point is used to indicate a position of the jaw pad to be added on a bite surface of the target tooth; determine, according to second tooth model data, a second position of the key point of the target tooth to which the jaw pad is to be added in a second treatment step; the second tooth model is a tooth model corresponding to the second treatment step; determine movement information of the key points according to the first positions of the key points and the second positions of the key points; and determine, according to at least one of the movement information of the key points, the first jaw pad model data, and a bite relationship corresponding to the target tooth in the second treatment step, a second jaw pad model corresponding to the target tooth in the second treatment step.

[0586] In a possible implementation method, the determination unit 1102 is configured to determine a target curve according to the first position of the key point of the target tooth in the first treatment step; the target curve is located on a bite surface of the target tooth; the target tooth is at least two; determine a target surface according to the target curve; the target surface is located in the target curve; the target surface is formed by filling a region enclosed by the target curve with a plurality of sub-surfaces; and determine the first jaw pad model according to the target surface. The acquisition unit is configured to acquire the first jaw pad model data according to the first jaw pad model.

[0587] In a possible implementation method, the determination unit 1102 is configured to, for any two adjacent key points of the target tooth in the first treatment step, determine a fitting curve between the adjacent key points; the fitting curve is used to connect the adjacent key points; and determine the target curve according to the fitting curves of the key points.

[0588] In a possible implementation, the determining unit 1102 is configured to determine a first subplane according to a point on the target curve; the first subplane includes at least three points; at least two points of the first subplane are on the target curve; determine a second subplane according to the points of the first subplane; the second subplane includes at least three points; at least two points in the second subplane are points on the target curve and / or points of the first subplane; the first subplane and the second subplane are both inside the target curve; and the target surface is determined by each first subplane and each second subplane.

[0589] In a possible implementation, the apparatus further includes an updating unit 1103 configured to update a vertex coordinate of each subplane in the target surface of the first jaw pad model according to the movement information of the key points, to obtain an intermediate target surface; and the determining unit 1102 is configured to determine a second jaw pad model corresponding to the target teeth in the second treatment step according to the intermediate target surface and the occlusion relationship of the target teeth in the second treatment step.

[0590] In a possible implementation, the determining unit 1102 is configured to determine an occlusion tooth having an occlusion relationship with the target teeth in the second treatment step; determine an initial jaw pad height in the second treatment step according to an occlusal surface of the occlusion tooth; and determine a second jaw pad model corresponding to the target teeth in the second treatment step according to the intermediate target surface and the initial jaw pad height.

[0591] In a possible implementation, the determining unit 1102 is configured to determine a movement direction of each vertex according to a vertex coordinate and an adjacency relationship between vertices of each subplane in the intermediate target surface; the updating unit 1103 is configured to update an initial jaw pad height corresponding to any vertex to a height from the vertex to a corresponding occlusion position of the occlusion tooth if the movement direction of the vertex is located in a range of the occlusion tooth; and the determining unit 1102 is configured to determine a second jaw pad model corresponding to the target teeth in the second treatment step according to the intermediate target surface and the updated initial jaw pad height.

[0592] In a possible implementation, the determining unit 1102 is configured to: if any vertex in the intermediate target surface is an edge point, select an adjacent vertex of the vertex according to an adjacency relationship of the vertex; determine a direction of offset between the vertex and the adjacent vertex as a moving direction of the vertex; if any vertex in the intermediate target surface is a non-edge point, select a first adjacent vertex and a second adjacent vertex according to a distance relationship between the vertex and the edge point; the first adjacent vertex is a cheek-side edge adjacent vertex of the vertex; the second adjacent vertex is a tongue-side edge adjacent vertex of the vertex; and determine an interpolation of a moving direction of the first adjacent vertex and a moving direction of the second adjacent vertex as the moving direction of the vertex.

[0593] In a possible implementation, the updating unit 1103 is configured to: if the curvature of any vertex of any subplane in the second jaw pad model is an abnormal value, update a coordinate of the vertex according to coordinates of adjacent vertices of the vertex.

[0594] In a possible implementation, the updating unit 1103 is configured to: select a vertex with a distance less than a first threshold to the vertex as the adjacent vertex; and update the coordinate of the vertex according to a mean value of coordinates of the adjacent vertices.

[0595] In a possible implementation, the apparatus further includes a display unit 1104 configured to display the generated second jaw pad model on the second tooth model.

[0596] Based on the same technical concept, an embodiment of the present application provides a jaw pad model determination apparatus 1200, which can be a computing device for example. As shown in FIG. 55, the jaw pad model determination apparatus 1200 includes at least one processor 1201 and a memory 1202 connected with the at least one processor. In the embodiment of the present application, the specific connection medium between the processor 1201 and the memory 1202 is not limited, and in FIG. 55, the processor 1201 and the memory 1202 are connected through a bus for example. The bus can be divided into an address bus, a data bus, a control bus and the like.

[0597] In the embodiment of the present application, the memory 1202 stores instructions executable by the at least one processor 1201, and the at least one processor 1201 can execute the jaw pad model determination method described above by executing the instructions stored in the memory 1202.

[0598] The processor 1201 is a control center of the jaw pad model determination apparatus 1200, can connect various parts of the computer device by using various interfaces and lines, and perform resource setting by running or executing instructions stored in the memory 1202 and calling data stored in the memory 1202. Optionally, the processor 1201 can include one or more determination units, and the processor 1201 can be integrated with an application processor and a modem processor. The application processor mainly processes an operating system, a user interface, an application program and the like, and the modem processor mainly processes wireless communication. It can be understood that the modem processor can also not be integrated into the processor 1201. In some embodiments, the processor 1201 and the memory 1202 can be implemented on the same chip, and in some embodiments, they can also be respectively implemented on independent chips.

[0599] The processor 1201 can be a general processor, for example, a central processing unit (CPU), a digital signal processor, an application specific integrated circuit (ASIC), a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as hardware processor execution or executed by a combination of hardware and software modules in the processor.

[0600] The memory 1202 is a non-volatile computer-readable storage medium, which can be used to store non-volatile software programs, non-volatile computer-executable programs and modules. The memory 1202 can include at least one type of storage medium, for example, can include flash memory, hard disk, multimedia card, card memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. The memory 1202 is any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but is not limited thereto. The memory 1202 in the embodiments of the present application can also be a circuit or any other device capable of realizing a storage function, used to store program instructions and / or data.

[0601] The storage medium provided by the embodiments of the present application can be specifically a computer-readable storage medium. The storage medium can be arranged in a computer and store an application program, at this time, the storage medium can be any available medium that the computer can access data, or can be a storage device such as a server, data center, etc. integrated with one or more available medium sets. The available medium can be a magnetic medium such as a floppy disk, a hard disk, a magnetic tape, etc., or an optical medium such as a DVD (Digital Video Disc, high-density digital video optical disc), etc., or a semiconductor medium such as an SSD (Solid State Disk).

[0602] The application program is executed to implement the steps of any technical solution of the design method of the digital jaw pad 300, or the generation method of the jaw pad model 300, or the determination method of the jaw pad model.

[0603] The embodiments of the present application provide an electronic device, which can be a computer, a mobile phone, a tablet computer, etc., and the present application does not limit the specific type of the electronic device.

[0604] The electronic device includes at least one processor, at least one memory and a communication bus. The at least one processor and the at least one memory complete the communication between each other through the communication bus.

[0605] The communication bus can include any number of buses and bridges, depending on the bus architecture supported by the computer. In some embodiments, the communication bus can be used to connect the processor and memory, in addition to connecting peripheral devices or other peripheral circuitry.

[0606] The memory is configured to store an application program.

[0607] The processor is configured to implement the steps of any of the technical solutions of the design method of the digital jaw pad 300, or the generation method of the jaw pad model 300, or the determination method of the jaw pad model, when executing the application program stored in the memory.

[0608] The embodiments of the present application provide a computer program product, which comprises a computer program executable by a computer device, and when the program is executed on the computer device, the computer device is enabled to perform the design method of the digital jaw pad 300, or the generation method of the jaw pad model 300, or the determination method of the jaw pad model, as listed in any of the above manners.

[0609] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer usable program code.

[0610] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0611] These computer program instructions can also be stored in a computer readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product comprising instruction means, which implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0612] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable devices to generate computer-implemented processes, so that the instructions executed on the computer or other programmable devices provide steps for implementing the functions specified in one or more flows in the flowchart and / or one or more blocks in the block diagram.

[0613] Obviously, various modifications and changes can be made to the present application without departing from the spirit and scope thereof. Accordingly, it is intended that all such modifications and changes be included within the scope of the application as long as the modified and changed application fall within the scope of the claims and their equivalents.

Claims

1. A method for designing a digital jaw pad, characterized in that, include: Obtain a three-dimensional dental model; The first rotation axis of the three-dimensional dental model is determined based on the registration relationship; Open the three-dimensional dental model using the first rotation axis as the rotation axis; A digital jaw pad is generated based on the opened 3D dental model.

2. The design method according to claim 1, characterized in that, The design method includes: Acquire an image, wherein the image corresponds to the same tooth in the three-dimensional dental model; Obtain the registration relationship between the image and the three-dimensional dental model; The first rotation axis is determined based on the second rotation axis in the image and the registration relationship.

3. The design method according to claim 2, characterized in that, The design method includes: When the first condition is met, the registration relationship is obtained based on the entire jaw of teeth; When the second condition is met, the registration relationship is obtained based on a single tooth. The first condition includes at least one of the following: The occlusal deviation between the image and the three-dimensional dental model is less than the preset deviation; Both the image and the three-dimensional dental model are in a closed state; The second condition includes at least one of the following: The occlusal deviation between the image and the three-dimensional dental model is not less than a preset deviation; The three-dimensional dental model or the image is in an open state; The three-dimensional dental model or the image is in a leading state.

4. The design method according to any one of claims 2 to 3, characterized in that, The design method includes: Determine the positional deviation between the three-dimensional dental model and the image; Obtain the second coordinates of the second pivot point on the second rotation axis in the second coordinate system; Based on the second coordinate and the position deviation, the first coordinate of the first rotating pivot point on the first rotating shaft in the first coordinate system is determined.

5. The design method according to claim 4, characterized in that, The design method includes: Obtain a two-dimensional side view of the three-dimensional dental model, wherein the two-dimensional side view and the image are located at the same viewpoint; Determine the positional deviation between the two-dimensional side view and the image image, wherein the positional deviation includes angular deviation.

6. The design method according to claim 4 or 5, characterized in that, The design method includes: At least two first reference points, separated by a single point, are selected at the location of the three-dimensional dental model; At least two second reference points are selected at the location of the image, and the two second reference points correspond to the two first reference points respectively. Based on the first reference point and the second reference point, the positional deviation between the three-dimensional dental model and the image is determined.

7. The design method according to claim 4 or 5, characterized in that, The design method includes: A first reference line is selected at the location of the three-dimensional dental model; A second reference line is selected at the image location, and the second reference line corresponds to the first reference line; The positional deviation between the three-dimensional dental model and the image is determined based on the first reference line and the second reference line.

8. The design method according to any one of claims 2-7, characterized in that, The design method includes: The second coordinates of the second rotating pivot point on the second rotating axis in the second coordinate system and the third coordinates of the second target point are obtained, and the second rotating pivot point and the second target point have a first positional relationship. Obtain the fourth coordinate of the first target point of the three-dimensional dental model in the first coordinate system, where the first target point and the second target point correspond to the same dental position; Update the fourth coordinate to the fifth coordinate based on the registration relationship; Based on the first positional relationship and the fifth coordinate, determine the first coordinate of the first rotating pivot point on the first rotating axis in the first coordinate system.

9. The design method according to claim 8, characterized in that, The design method includes at least one of the following: The horizontal coordinate of the first coordinate is determined based on the horizontal coordinate distance in the first positional relationship and the horizontal coordinate of the fifth coordinate. The ordinate of the first coordinate is determined based on the ordinate directional distance in the first positional relationship and the ordinate of the fifth coordinate.

10. The design method according to any one of claims 1-9, characterized in that, The design method includes: Open the three-dimensional dental model to the opening height, which is the vertical distance between the cusps of the first dental jaw and the fitted straight line defined by the second dental jaw, the fitted straight line being obtained by fitting multiple cusps of the second dental jaw.

11. The design method according to any one of claims 2-9, characterized in that, The image is a lateral view.

12. The design method according to any one of claims 1-11, characterized in that, The design method includes: The target region of the three-dimensional dental model is divided into multiple sub-regions; A first reference point located in the maxilla and a second reference point located in the mandible are obtained within at least a portion of the sub-region, and the first reference point and the second reference point have a first occlusal relationship; Using the first rotation axis as the rotation axis, open the three-dimensional dental model until multiple first occlusal relationships in at least some sub-regions satisfy the third condition, the third condition including at least one of the following: In the occlusal direction of the gingiva, the second reference point does not exceed the first reference point; In the occlusal direction of the gingiva, the height of the second reference point beyond the first reference point is no greater than a preset value.

13. The design method according to claim 12, characterized in that, The first reference point is the lowest point of the maxilla, and the second reference point is the highest point of the mandible.

14. The design method according to claim 12, characterized in that, The design method includes: Obtain the opening angle corresponding to the first engagement relationship of at least some sub-regions satisfying the third condition; The maximum opening angle among multiple opening angles is taken as the target opening angle; The three-dimensional dental model is opened based on the first rotation axis and the target opening angle.

15. The design method according to claim 12, characterized in that, The design method includes: The target region is divided into multiple sub-regions along the dental arch curve of the three-dimensional dental model.

16. The design method according to claim 12, characterized in that, The design method includes: The target region is determined based on the occlusal state of the three-dimensional dental model, and the target region includes the anterior tooth region and / or the posterior tooth region.

17. The design method according to claim 12, characterized in that, The three-dimensional dental model is in a closed state.

18. A method for molding an orthodontic appliance, characterized in that, include: The digital jaw pad design method according to any one of claims 1-17 obtains a target digital jaw with a digital jaw pad; Generate an orthodontic appliance with a jaw pad.

19. A method for generating a jaw pad model, characterized in that, include: Obtain a dental model; Obtain the opening parameters of the dental model; The opening parameters are added to the dental model to open the dental model; A jaw pad model is generated based on the opened jaw model.

20. The generation method according to claim 19, characterized in that, The generation method includes: Obtain a lateral radiograph, wherein the lateral radiograph corresponds to the same tooth in the dental model; The upper and lower jaws in the lateral view are opened using the pivot point in the lateral view as the rotation point, and the opening parameters are obtained. The opening parameters are used as the opening parameters of the dental model.

21. The generation method according to claim 20, characterized in that, The generation method includes: Obtain the occlusal deviation between the dental model and the lateral radiograph; When the occlusal deviation is less than the preset deviation, the opening parameters of the lateral radiograph are used as the opening parameters of the dental model.

22. The generation method according to claim 20 or 21, characterized in that, The generation method includes: Obtain a dental model in a closed state and a lateral radiograph in a closed state.

23. The generation method according to any one of claims 20-22, characterized in that, The opening parameters include displacement and / or rotation.

24. The generation method according to any one of claims 20-23, characterized in that, The generation method includes: The upper and lower jaws in the lateral view are opened according to a preset opening height or preset opening angle.

25. The generation method according to any one of claims 20-24, characterized in that, The generation method includes: Rotate the mandible using the pivot point in the lateral view as the pivot point until the distance between the upper and lower jaws in the height direction is equal to the preset opening height.

26. The generation method according to any one of claims 20-25, characterized in that, The generation method includes: A first reference portion and a second reference portion corresponding to each other are selected in the lateral radiograph and the dental model, respectively; Obtain the opening parameters of the first reference section during the opening process; The opening parameters are added to the second reference section to open the dental model.

27. The generation method according to claim 26, characterized in that, The generation method includes: Obtain a two-dimensional side view of the dental model, wherein the two-dimensional side view is at the same viewpoint as the lateral radiograph; A first reference portion and a second reference portion corresponding to each other are selected in the side view and the two-dimensional side view, respectively.

28. The generation method according to claim 26 or 27, characterized in that, The generation method includes: Obtain the N first coordinates of the N first reference points of the first reference part, where N is a positive integer; Open the side view panel to update the N first coordinates to N second coordinates; At least N opening parameters are obtained based on N first coordinates and N second coordinates.

29. The generation method according to claim 28, characterized in that, The generation method includes: Obtain N second reference points of the second reference unit, wherein each of the N second reference points corresponds one-to-one with the N first reference points; The dental model is opened by adding N opening parameters to N second reference points.

30. The generation method according to claim 28, characterized in that, The generation method includes: The opening parameters of the first reference point are obtained based on at least N first coordinates and N second coordinates, where N > 1, and the first reference point is the average of N first reference points; Obtain a second reference point corresponding to the first reference point in the dental model; The dental model is opened by adding the opening parameters to the second reference point.

31. The generation method according to any one of claims 28-30, characterized in that, The N first reference points are located at the mandibular teeth on the lateral radiograph.

32. The generation method according to any one of claims 28-31, characterized in that, The opening parameters include at least one of the following: the lateral displacement of the first reference point in the horizontal direction, the longitudinal displacement in the vertical direction, and the rotation in the plane where the side view is located.

33. The generation method according to any one of claims 19-32, characterized in that, The generation method includes: The jaw pad model is adjusted to generate multiple jaw pad models corresponding to multiple orthodontic steps.

34. A method for molding a shell-shaped dental instrument, characterized in that, include: The method for generating a jaw pad model according to any one of claims 19-33 obtains a digital jaw with a jaw pad model; Generate shell-shaped dental instruments with jaw pads.

35. A method for determining a jaw pad model, characterized in that, include: Acquire the first tooth model data and the first jaw pad model data; the first tooth model is the tooth model corresponding to the first orthodontic step, and the first jaw pad model is the jaw pad model corresponding to the first tooth model in the first orthodontic step. Based on the first tooth model data, the key point of the target tooth to which the occlusal pad is to be added is determined to be in the first position in the first orthodontic step; The key point is located on the target tooth; The key points are used to indicate the position of the occlusal pad to be added on the occlusal surface of the target tooth; Based on the data from the second tooth model, the key point of the target tooth to which the occlusal pad is to be added is determined to be in the second position in the second orthodontic step; The second tooth model is the tooth model corresponding to the second orthodontic step; Based on the first position and the second position of each key point, determine the movement information of each key point; Based on the movement information of each key point, the first occlusal pad model data, and at least one of the occlusal relationships of the target tooth in the second orthodontic step, the second occlusal pad model corresponding to the target tooth in the second orthodontic step is determined.

36. The method according to claim 35, characterized in that, The step of obtaining the first jaw pad model data includes: A target curve is determined based on the first position of the key point of the target tooth in the first orthodontic step; the target curve is located on the occlusal surface of the target tooth; there are at least two target teeth; A target surface is determined based on the target curve; the target surface is located within the target curve; the target surface is formed by filling the area enclosed by the target curve with multiple sub-planes. The first jaw pad model is determined based on the target surface; Based on the first jaw pad model, obtain the data of the first jaw pad model.

37. The method according to claim 36, characterized in that, The step of determining the target curve based on the first position of the key point of the target tooth in the first orthodontic step includes: For any two adjacent key points of the target tooth in the first orthodontic step, a fitting curve is determined between the adjacent key points; the fitting curve is used to connect the adjacent key points. The target curve is determined based on the fitted curves of each key point.

38. The method according to claim 36, characterized in that, Determining the target surface based on the target curve includes: A first sub-plane is determined based on points on the target curve; the first sub-plane includes at least three points; wherein at least two points of the first sub-plane are located on the target curve; A second subplane is determined based on the points of the first subplane; the second subplane includes at least three points; wherein at least two points in the second subplane are points on the target curve and / or points of the first subplane; both the first and second subplanes are located inside the target curve; The target surface is determined by each first subplane and each second subplane.

39. The method according to claim 36, characterized in that, Based on the movement information of each key point, the first occlusal pad model data, and the occlusal relationship of the target tooth in the second orthodontic step, the second occlusal pad model corresponding to the target tooth in the second orthodontic step is determined, including: Based on the movement information of each key point, update the vertex coordinates of each sub-plane in the target surface of the first jaw pad model to obtain the intermediate target surface; Based on the intermediate target surface and the occlusal relationship of the target tooth in the second orthodontic step, the second occlusal pad model corresponding to the target tooth in the second orthodontic step is determined.

40. The method according to claim 39, characterized in that, The step of determining the second occlusal pad model corresponding to the target tooth in the second orthodontic step based on the intermediate target surface and the occlusal relationship of the target tooth in the second orthodontic step includes: Identify the occlusal teeth that have an occlusal relationship with the target tooth in the second orthodontic step; The initial occlusal pad height in the second orthodontic step is determined based on the occlusal surfaces of the occlusal teeth. Based on the intermediate target surface and the initial occlusal pad height, the second occlusal pad model corresponding to the target tooth in the second orthodontic step is determined.

41. The method according to claim 40, characterized in that, The step of determining the second occlusal pad model corresponding to the target tooth in the second orthodontic step based on the intermediate target surface and the initial occlusal pad height includes: The direction of movement for each vertex is determined based on the vertex coordinates of each sub-plane in the intermediate target surface and the adjacency relationship between vertices. If the movement direction of any vertex is within the range of the occlusal teeth, then the initial occlusal pad height corresponding to the vertex is updated to the height from the vertex to the occlusal position corresponding to the occlusal teeth; Based on the intermediate target surface and the updated initial occlusal pad height, the second occlusal pad model corresponding to the target tooth in the second orthodontic step is determined.

42. The method according to claim 41, characterized in that, The step of determining the movement direction of each vertex based on the vertex coordinates of each sub-plane in the intermediate target surface and the adjacency relationships between vertices includes: If any vertex within the intermediate target surface is an edge point, then the adjacent vertex of the vertex is selected according to the adjacency relationship of the vertex. The offset direction between the vertex and its adjacent vertex is determined as the movement direction of the vertex; If any vertex within the intermediate target surface is not an edge point, then a first neighboring vertex and a second neighboring vertex are selected based on the distance relationship between the vertex and the edge point; the first neighboring vertex is the vertex adjacent to the cheek edge of the vertex; the second neighboring vertex is the vertex adjacent to the tongue edge of the vertex. The movement direction of the vertex is determined by interpolating the movement direction of the first neighboring vertex and the movement direction of the second neighboring vertex.

43. The method according to claim 41, characterized in that, After determining the second jaw pad model corresponding to the target tooth in the second orthodontic step, the procedure further includes: If the curvature of any vertex of any subplane in the second jaw pad model is an outlier, then the coordinates of the vertex are updated according to the coordinates of the vertex's adjacent vertices.

44. The method according to claim 43, characterized in that, Update the coordinates of the vertex based on the coordinates of its adjacent vertices, including: Vertices whose distance from the given vertex is less than a first threshold are selected as the adjacent vertices; Update the coordinates of the vertex based on the average coordinates of its neighboring vertices.

45. The method according to any one of claims 35 to 44, characterized in that, The method further includes: The generated second jaw pad model is shown on the second tooth model.

46. ​​An orthodontic appliance, characterized in that, The orthodontic appliance is obtained by the molding method of the orthodontic appliance according to claim 18.

47. A device for designing a digital jaw pad, characterized in that, include: The first module is used to obtain a three-dimensional dental model; The second module is used to determine the first rotation axis of the three-dimensional dental model based on the registration relationship; The third module is used to open the three-dimensional dental model with the first rotation axis as the rotation axis; The fourth module is used to generate digital jaw pads based on the opened 3D dental model.

48. An apparatus for generating a jaw pad model, characterized in that, include: The first module is used to obtain dental models; The second module is used to obtain the opening parameters of the dental model; The third module is used to add the opening parameters to the dental model to open the dental model; The fourth module is used to generate a jaw pad model based on the opened jaw model.

49. A shell-shaped dental instrument, characterized in that, The shell-shaped dental instrument The shell-shaped dental instrument is obtained by the molding method according to claim 34.

50. A device for determining a jaw pad model, characterized in that, Includes an acquisition unit and a determination unit: The acquisition unit is used to acquire first tooth model data and first jaw pad model data; the first tooth model is the tooth model corresponding to the first orthodontic step, and the first jaw pad model is the jaw pad model corresponding to the first tooth model in the first orthodontic step. The determining unit is used to determine, based on the first tooth model data, the key point of the target tooth to which the occlusal pad is to be added is located at the first position in the first orthodontic step. The key point is located on the target tooth; The key points are used to indicate the position of the occlusal pad to be added on the occlusal surface of the target tooth; Based on the second tooth model data, the key points of the target tooth to be fitted with the occlusal pad are determined to be in the second position in the second orthodontic step; the second tooth model is the tooth model corresponding to the second orthodontic step; based on the first position and the second position of each key point, the movement information of each key point is determined; based on the movement information of each key point, the first occlusal pad model data, and at least one of the occlusal relationship of the target tooth in the second orthodontic step, the second occlusal pad model corresponding to the target tooth in the second orthodontic step is determined.

51. A computing device, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the method as described in any one of claims 1 to 45 according to the obtained program instructions.

52. A computer-readable storage medium, characterized in that, Includes computer-readable instructions that, when read and executed by a computer, cause the method as described in any one of claims 1 to 45 to be implemented.

53. A computer program product, characterized in that, It includes a computer program executable by a computer device, which, when run on the computer device, causes the computer device to perform the steps of the method according to any one of claims 1 to 45.

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