Method and apparatus for generating molar occlusal surface curve

Abstract

Provided are a method and an apparatus for generating a molar occlusal surface curve, which are applied to the technical field of orthodontics. The method comprises: determining initial control points according to key identification points of at least some of molar and canine teeth of upper and lower jaws, the key identification points representing marker points of dental crown surfaces of at least some of the molar and canine teeth, and the initial control points being used for determining an initial molar occlusal surface curve (S101); adjusting positions of the initial control points according to first distance information between the molar teeth and the initial molar occlusal surface curve (S102); and generating, according to the adjusted control points, a molar occlusal surface curve conforming to a shape of a molar occlusal surface (S103). The molar occlusal surface curve conforming to the shape of the molar occlusal surface of a patient can be automatically and efficiently generated, assisting a dental professional in formulating an orthodontic treatment plan.

Description

Method and device for generating curve of molar occlusal surface

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese Patent Application No. 202411154650.1, filed on August 21, 2024, and entitled "Method and device for generating curve of molar occlusal surface", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of orthodontics, in particular to a method and device for generating a curve of molar occlusal surface. BACKGROUND

[0004] In the field of orthodontics, the curve of molar occlusal surface is the molar segment of the Curve of Spee, which is a key research and treatment object for understanding the normal function and mastication of teeth and optimizing according to the actual situation. The curve of molar occlusal surface describes the lateral alignment of the upper and lower teeth in the coronal plane, so it is crucial for orthodontic treatment and tooth alignment.

[0005] However, the current method requires a lot of manual intervention to generate the curve of molar occlusal surface, including manual measurement and analysis to determine the lateral alignment of teeth. These manual processes are not only time-consuming and labor-intensive, but also susceptible to the skill level of the operator, resulting in inconsistency and errors in the results. The traditional method is inefficient, and it takes hours or even days to generate the curve of molar occlusal surface, which not only delays the development of treatment plans, but also limits the timeliness of clinical decision-making. SUMMARY

[0006] The embodiments of the present application provide a method and device for generating a curve of molar occlusal surface, which automatically generates a curve of molar occlusal surface that conforms to the molar occlusal surface morphology based on at least part of the teeth in the upper and lower molars and canines of the user, to help dental professionals provide treatment plans for patients.

[0007] In a first aspect, the embodiments of the present application provide a method for generating a curve of molar occlusal surface, comprising:

[0008] determining an initial control point according to a key landmark point of at least part of the teeth in the upper and lower molars and canines, the key landmark point representing a landmark point of the crown surface of at least part of the teeth in the molars and canines; the initial control point is used to determine an initial curve of molar occlusal surface;

[0009] adjusting the position of the initial control point according to first distance information between the molars and the initial curve of molar occlusal surface;

[0010] generate a molar occlusal curve conforming to the molar occlusal surface morphology according to the adjusted control points.

[0011] By adjusting the positions of the initial control points according to the first distance information between the molars and the initial molar occlusal curve, the molar occlusal curve conforming to the molar occlusal surface morphology of the patient can be automatically and efficiently generated without tedious manual intervention, while the dependence on the quality of the dental data is minimized, thereby providing a reliable tool for dental professionals to generate the molar occlusal curve and helping the dental professionals to provide treatment plans for the patient to improve the alignment of the teeth and ensure oral health.

[0012] Optionally, the first initial control point is determined according to a distal point of a distal molar on the dental arch, and the distal point is determined according to a labial ridge on a coronal surface of the distal molar on the dental arch;

[0013] The second initial control point is determined according to a midpoint of the labial ridge on the coronal surface of the premolar on the upper and lower jaws;

[0014] The third initial control point is determined according to a cusp point on the coronal surface of the canine on the upper and lower jaws.

[0015] By determining the initial control points through the key identification points of at least part of the teeth in the molars and canines of the upper and lower jaws, the accuracy of the first, second and third initial control points can be ensured, and thus the generated molar occlusal curve is more in line with the characteristics of the teeth.

[0016] Optionally, the adjusting of the positions of the initial control points includes:

[0017] The positions of the initial control points are iteratively adjusted until the first distance information and the first distance information obtained last time satisfy an iteration end condition,

[0018] The molar occlusal curve conforming to the molar occlusal surface morphology is determined according to the initial control points conforming to the iteration end condition.

[0019] Optionally, the iteratively adjusting of the positions of the initial control points until the first distance information and the first distance information obtained last time satisfy an iteration end condition, and the determining of the molar occlusal curve conforming to the molar occlusal surface morphology according to the initial control points conforming to the iteration end condition includes:

[0020] The positions of the initial control points are iteratively adjusted until the first distance information and the first distance information obtained last time satisfy an iteration end condition;

[0021] connecting the first initial control point and the third initial control point, judging a positional relationship between the second initial control point and the connecting line; if the positional relationship satisfies an adjustment condition, adjusting the initial control points until the positional relationship satisfies an iteration end condition;

[0022] obtaining an optimized molar occlusal curve according to the initial control points satisfying the iteration end condition, the optimized molar occlusal curve being a molar occlusal curve conforming to a molar occlusal surface shape.

[0023] Through adjustment of the positional relationship between the second initial control point of the molar occlusal curve and the connecting line, a molar occlusal curve more conforming to the molar occlusal surface shape can be obtained.

[0024] Optionally, the iteration adjustment of the positions of the initial control points is performed until the first distance information and the first distance information obtained last time satisfy an iteration end condition, and a molar occlusal curve conforming to a molar occlusal surface shape is determined according to the initial control points satisfying the iteration end condition, including:

[0025] the iteration adjustment of the positions of the initial control points is performed until the first distance information and the first distance information obtained last time satisfy an iteration end condition;

[0026] when the mesial extension line of the optimized molar occlusal curve exceeds the incisor height window, the initial control points are adjusted until the mesial extension line passes through the incisor height window; the incisor height window is determined according to positions of incisors of the upper and lower jaws;

[0027] obtaining an optimized molar occlusal curve according to the initial control points, the optimized molar occlusal curve being a molar occlusal curve conforming to a mandibular dental arch shape of an oral cavity.

[0028] Through adjustment of the mesial extension line of the molar occlusal curve by introducing the incisor height window, a molar occlusal curve more conforming to the mandibular dental arch shape of the oral cavity can be obtained.

[0029] Optionally, the mesial extension line of the optimized molar occlusal curve exceeding the incisor height window is judged in the following manner:

[0030] when the abscissa of the mesial extension line of the optimized molar occlusal curve is the same as the abscissa of the midpoint of the incisal segment line segment of the incisors of the upper and lower jaws, obtaining the ordinate of the mesial extension line of the optimized molar occlusal curve;

[0031] judging the mesial extension line of the optimized molar occlusal curve exceeding the incisor height window according to the ordinate of the mesial extension line and the ordinate of the incisor height window.

[0032] The incisor height window is determined by the upper and lower incisors, and the mesial extension line of the molar occlusal curve is adjusted using the incisor height window, so that a molar occlusal curve more consistent with the shape of the mandibular dental arch of the oral cavity is obtained.

[0033] Optionally, the position of the initial control point is adjusted according to the first distance information between the molar and the initial molar occlusal curve, and a molar occlusal curve consistent with the molar occlusal surface shape is generated according to the adjusted control point, comprising:

[0034] In the first optimization stage, the position of the initial control point is iteratively adjusted according to the distance between each molar and the initial molar occlusal curve and the positional relationship between the second initial control point and the first initial control point and the third initial control point, until the optimized control point is obtained, which includes the first optimized control point, the second optimized control point and the third optimized control point, which meets the iteration end condition;

[0035] According to the optimized control point, an optimized molar occlusal curve is determined;

[0036] In the second optimization stage, the position of the optimized control point is iteratively adjusted according to the distance between each molar and the optimized molar occlusal curve, the positional relationship between the second optimized control point and the first initial control point and the third optimized control point, and the positional relationship between the optimized molar occlusal curve and the incisor height window, until the final control point is obtained, which meets the iteration end condition, and the incisor height window is determined according to the position of the upper and lower incisors;

[0037] According to the final control point, a molar occlusal curve is determined.

[0038] The first optimization stage can obtain more stable coordinate values of the optimized control point; the second optimization stage takes the optimization result of the first optimization stage as the initial value, limits the mesial direction trend of the optimized molar occlusal curve by adding the incisor height window, and weakens the weight of the malposed tooth to consider various factors, and thus a more optimal molar occlusal curve is obtained.

[0039] The method of the above embodiment enables dental professionals to quickly generate a molar occlusal curve according to the patient's teeth, and thus quickly make clinical decisions. This is very beneficial for emergency situations and rapid treatment of patients.

[0040] Optionally, if the distance between the molar and the optimized molar occlusal curve is greater than the distance threshold, the molar is a malposed tooth;

[0041] The distance weight between the non-maloccluded tooth and the optimized molar occlusal curve is greater than the distance weight between the maloccluded tooth and the optimized molar occlusal curve in the second optimization stage.

[0042] The influence of the maloccluded tooth on the optimized molar occlusal curve is reduced by reducing the distance weight of the maloccluded tooth.

[0043] In a second aspect, an embodiment of the present application provides a molar occlusal curve generation device, comprising:

[0044] An acquisition module is configured to determine initial control points according to key identification points of at least part of teeth in upper and lower molars and canines, wherein the key identification points represent landmark points of a crown surface of the at least part of teeth in the molars and the canines; and the initial control points are used to determine an initial molar occlusal curve.

[0045] An adjustment module is configured to adjust positions of the initial control points according to first distance information between the molars and the initial molar occlusal curve.

[0046] A processing module is configured to generate a molar occlusal curve conforming to a molar occlusal surface morphology according to the adjusted control points.

[0047] By adjusting the positions of the initial control points according to the first distance information between the molars and the initial molar occlusal curve, a molar occlusal curve conforming to a molar occlusal surface morphology of a patient can be automatically and efficiently generated without tedious manual intervention, and the dependence on tooth data quality is minimized, thereby providing a reliable tool for a dental professional to generate a molar occlusal curve and helping the dental professional to provide a treatment plan for the patient to improve tooth alignment and ensure oral health.

[0048] In a third aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the molar occlusal curve generation method in any of the first aspect.

[0049] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program executable by a computer device, and when the program is executed on the computer device, the computer device executes the molar occlusal curve generation method in any of the first aspect.

[0050] In a fifth aspect, an embodiment of the present application provides a computer program product, the computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions that, when executed by a computer device, cause the computer device to perform the steps of the method for generating a molar occlusal curve according to any of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0051] Fig. 1 is a flowchart of a method for generating a molar occlusal curve according to an embodiment of the present application;

[0052] Fig. 2A is a diagram of key identification points on a molar crown surface according to an embodiment of the present application;

[0053] Fig. 2B is a diagram of key identification points on a canine crown surface according to an embodiment of the present application;

[0054] Fig. 3 is a diagram of upper and lower teeth according to an embodiment of the present application;

[0055] Fig. 4 is a diagram of a molar occlusal curve according to an embodiment of the present application;

[0056] Fig. 5 is a diagram of a device for generating a molar occlusal curve according to an embodiment of the present application;

[0057] Fig. 6 is a diagram of a computing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application.

[0059] Fig. 1 is a flowchart of a method for generating a molar occlusal curve according to an embodiment of the present application, which specifically comprises the following steps, including:

[0060] In step S101, initial control points are determined according to key identification points of at least part of the teeth of the upper and lower molars and canines, the key identification points representing the marking points on the crown surface of the at least part of the teeth of the molars and canines; the initial control points are used to determine an initial molar occlusal curve.

[0061] Specifically, after obtaining the tooth model of the patient using an oral scanner or a silicon rubber model, the tooth grid model of each tooth is obtained by manual segmentation, and the key identification points of each tooth are obtained according to the tooth grid model. The key identification points represent the landmark points of at least part of the tooth crown surface of the molar and canine, as shown in the molar tooth crown surface key identification point diagram shown in FIG. 2A, and the canine tooth crown surface key identification point diagram shown in FIG. 2B. According to the key identification points of part of the teeth in the molars and canines on the upper jaw, lower jaw or upper and lower jaws of the patient, the initial control points are determined. The initial control points are processed to obtain the initial molar occlusal surface curve. Among them, an adult patient has a total of 32 teeth on the dental arch, as shown in the schematic diagram of the upper and lower jaw teeth shown in FIG. 3, which is divided into upper jaw teeth and lower jaw teeth. Taking the left dental arch as an example, the upper jaw and the lower jaw each have 1 central incisor (No. 1 tooth), 1 lateral incisor (No. 2 tooth), 1 canine (No. 3 tooth), 2 premolars (No. 4 and No. 5 teeth), and 3 molars (No. 6, No. 7 and No. 8 teeth). That is, the upper jaw and the lower jaw each have 8 teeth on one side of the dental arch. However, in this application, the third molar (wisdom tooth) is not considered, so the molars mentioned in this text refer to the two premolars (No. 4 and No. 5 teeth) and the two molars (No. 6 and No. 7 teeth) of the upper and lower jaws.

[0062] In step S102, the position of the initial control point is adjusted according to the first distance information between the molar and the initial molar occlusal surface curve.

[0063] Specifically, the distance between each molar and the initial molar occlusal surface curve can be evaluated using a first cost function, and the residual value of the first cost function can be used to evaluate the distance between each molar and the initial molar occlusal surface curve. The first distance information needs to be represented by the sum of the residual values of the eight first cost functions. The position of the initial control point is adjusted according to the first distance information to obtain the adjusted control point.

[0064] In step S103, the molar occlusal surface curve conforming to the molar occlusal surface morphology is generated according to the adjusted control point.

[0065] Specifically, only the first distance information between the molar and the initial molar occlusal surface curve is considered in step S102, so the molar occlusal surface curve generated according to the adjusted control point conforms to the molar occlusal surface morphology.

[0066] By adjusting the position of the initial control point according to the first distance information between the molar and the initial molar occlusal surface curve, the molar occlusal surface curve conforming to the molar occlusal surface morphology of the patient can be automatically and efficiently generated without tedious manual intervention, while minimizing the dependence on the quality of the tooth data. A reliable tool for generating molar occlusal surface curves is provided for dental professionals to help them provide treatment plans for patients to improve tooth alignment and ensure oral health.

[0067] In step S102, the position of the initial control point is iteratively adjusted until the first distance information meets the iteration end condition with the first distance information obtained last time, and the initial control point meeting the iteration end condition is used to determine the molar occlusal surface curve meeting the molar occlusal surface shape.

[0068] Specifically, if the distance between each molar and the initial molar occlusal surface curve is represented by a first cost function f(x), the first distance information F(x) needs to be represented by the sum of the residual values of eight first cost functions, and the expression is as follows Formula 1: F(x) = [f1(x), …, f8(x)] T ........ Formula 1

[0069] The iteration end condition can be that when the difference between the first distance information and the first distance information obtained last time is less than a set threshold, the initial control point meeting the iteration condition is obtained, and the initial control point meeting the iteration condition is used to generate the molar occlusal surface curve meeting the molar occlusal surface shape.

[0070] In the method, the initial control point is determined according to the key identification points of at least part of the molars and the canines of the upper and lower jaws, and includes at least one of the following: determining a first initial control point according to the distal points of the distal molars on the dental arch, the distal points being determined according to the labial ridges on the coronal surfaces of the distal molars on the dental arch; determining a second initial control point according to the midpoints of the labial ridges on the coronal surfaces of the premolars of the upper and lower jaws; and determining a third initial control point according to the cuspid points on the coronal surfaces of the canines of the upper and lower jaws.

[0071] Specifically, taking one side of the dental arch as an example, the determination process of the first initial control point is as follows: selecting two molars (7 teeth) on the upper and lower jaws in the distal direction on the dental arch, obtaining the labial ridges on the coronal surfaces of the two molars (7 teeth) on the upper and lower jaws, and averaging the coordinates of the two distal points of the two labial ridges to obtain the position of the first initial control point. The determination process of the second initial control point is as follows: selecting four premolars (4 and 5 teeth on the upper and lower jaws) on the upper and lower jaws on the dental arch, obtaining the labial ridges on the coronal surfaces of the four premolars (4 and 5 teeth on the upper and lower jaws), and averaging the coordinates of the midpoints of the four labial ridges to obtain the position of the second initial control point. The determination process of the third initial control point is as follows: selecting two canines on the upper and lower jaws on the dental arch, and averaging the coordinates of the cuspid points on the coronal surfaces of the two canines to obtain the position of the third initial control point.

[0072] Optionally, in the determination of the first, second and third initial control points, the first, second and third initial control points of the upper jaw can be obtained according to the key identification points on the crown surface of the teeth of the upper jaw, the first, second and third initial control points of the lower jaw can be obtained according to the key identification points on the crown surface of the teeth of the lower jaw, and the first, second and third initial control points can be obtained by averaging the first, second and third initial control points of the upper jaw and the first, second and third initial control points of the lower jaw.

[0073] The initial control points are determined by the key identification points of at least part of the teeth in the upper and lower molars and incisors, which can ensure the accuracy of the first, second and third initial control points, and further make the generated molar occlusal surface curve more in line with the characteristics of the teeth.

[0074] The four initial control points are set, the first initial control point is determined according to the key identification points on the crown surface of the two molars (7th tooth) of the upper and lower jaws, the second initial control point is determined according to the key identification points on the crown surface of the two premolars and two molars (5th and 6th teeth of the upper and lower jaws), the third initial control point is determined according to the key identification points on the crown surface of the two incisors and two premolars (3rd and 4th teeth of the upper and lower jaws), and the fourth initial control point is determined according to the key identification points on the crown surface of the two incisors (3rd tooth of the upper and lower jaws).

[0075] In some embodiments of determining the initial control points, the patient may have a condition of missing molars and incisors, and then the position information of the teeth near the missing teeth is used to calculate. As shown in FIG. 3, taking the acquisition of the first initial control point as an example, if the molar (7th tooth) in the upper jaw is missing, but the molar (7th tooth) in the lower jaw exists, the position information of the distal point of the labial ridge of the 6th tooth in the upper jaw after being translated in the distal direction by a molar width is used as the position information of the imaginary molar (7th tooth) in the upper jaw, and then the position information of the distal point of the distal point of the distal point of the labial ridge of the molar (7th tooth) in the lower jaw is combined to obtain the first initial control point. Taking the acquisition of the second initial control point as an example, if the premolar (4th tooth) in the upper jaw is missing, but another premolar (5th tooth) exists, and both of the premolars (4th and 5th teeth) in the lower jaw exist, the average of the 4th tooth in the upper jaw and the 4th tooth in the lower jaw is used, the average of the 4th tooth in the upper jaw and the 5th tooth in the lower jaw is used to obtain two average points, and the position information of the two average points is averaged to obtain the position information of the second initial control point. If the incisor is missing in the process of acquiring the third initial control point, the process of obtaining the position information of the third initial control point is the same as that of acquiring the first initial control point, which will not be described in detail here.

[0076] In a possible implementation, the process of adjusting the positions of the initial control points can include: iteratively adjusting the positions of the initial control points until the first distance information meets an iteration end condition with the first distance information obtained last time; connecting the first initial control point and the third initial control point, and judging the positional relationship between the second initial control point and the connecting line; if the positional relationship meets an adjustment condition, adjusting the initial control points until the positional relationship meets the iteration end condition; and obtaining an optimized molar occlusal curve according to the initial control points meeting the iteration end condition, the optimized molar occlusal curve being a molar occlusal curve meeting the molar occlusal surface morphology.

[0077] Optionally, the distance between each molar and the initial molar occlusal curve can be represented by a first cost function, the first distance information can be represented by a sum of residual values of eight first cost functions, the sum of residual values of the eight first cost functions being denoted as a first residual value, and the iteration end condition can be that a difference between the first distance information and the first distance information obtained last time is less than a set threshold value, the initial control points meeting the iteration condition are obtained, and a molar occlusal curve meeting the molar occlusal surface morphology is generated using the initial control points meeting the iteration condition.

[0078] Optionally, the bulging degree of the middle segment of the molar occlusal curve can be obtained by connecting the first initial control point and the third initial control point on the molar occlusal curve, and judging the positional relationship between the second initial control point and the connecting line. If the positional relationship is that the second initial control point is above the connecting line, it indicates that the molar occlusal curve is concave upward, i.e., the positional relationship meets the adjustment condition, and the first initial control point, the second initial control point and the third initial control point need to be adjusted until the positional relationship is that the second initial control point is below the connecting line. An optimized molar occlusal curve is obtained according to the adjusted first initial control point, the second initial control point and the third initial control point, the optimized molar occlusal curve being a molar occlusal curve meeting the molar occlusal surface morphology. If the positional relationship is that the second initial control point is below the connecting line, it indicates that the molar occlusal curve is concave downward, i.e., the positional relationship does not meet the adjustment condition, and the molar occlusal curve at this time meets the dental arch anatomical morphology, so the first initial control point, the second initial control point and the third initial control point do not need to be adjusted.

[0079] Optionally, the second initial control point and the line can be judged by using the second cost function, the distance between the second initial control point and the line can be evaluated by using the second residual value of the second cost function, and then the position relationship between the second initial control point and the line can be obtained. Normally, the curve of the occlusal surface of the molar should be a curve concave to the lower jaw, that is, the second initial control point is below the line, and the distance between the second initial control point and the line is negative. Therefore, the first initial control point, the second initial control point and the third initial control point of the curve of the occlusal surface of the molar do not need to be adjusted. When the distance between the second initial control point and the line is positive, that is, the second initial control point is above the line, it indicates that the curve of the occlusal surface of the molar is concave to the upper jaw, that is, the position relationship satisfies the adjustment condition, and the first initial control point, the second initial control point and the third initial control point of the curve of the occlusal surface of the molar need to be adjusted until the curve of the occlusal surface of the molar is concave to the lower jaw.

[0080] It should be noted that in the embodiment, the adjustment of the first initial control point, the second initial control point and the third initial control point by the first part and the second part is based on the comprehensive evaluation result of the first residual value under the first cost function and the second residual value of the second cost function.

[0081] In another possible embodiment, the process of adjusting the position of the initial control point includes two parts: iteratively adjusting the position of the initial control point until the first distance information and the first distance information obtained last time satisfy the iteration end condition; when the mesial extension line of the optimized curve of the occlusal surface of the molar exceeds the incisor height window, adjusting the initial control point until the mesial extension line passes through the incisor height window; the incisor height window is determined by the positions of the incisors of the upper and lower jaws; obtaining the optimized curve of the occlusal surface of the molar according to the initial control point, and the optimized curve of the occlusal surface of the molar is the curve of the occlusal surface of the molar conforming to the shape of the dental arch of the lower jaw.

[0082] Optionally, the distance between each molar and the initial curve of the occlusal surface of the molar can be represented by using the first cost function, the first distance information needs to be represented by using the sum of the residual values of the eight first cost functions, and the iteration end condition can be that when the difference between the first distance information and the first distance information obtained last time is less than a set threshold value, the initial control point that meets the iteration condition is obtained, and the initial control point that meets the iteration condition is used to generate the curve of the occlusal surface of the molar conforming to the shape of the molar.

[0083] Optionally, it is evaluated whether the mesial extension of the optimized molar occlusal curve passes through the incisor height window at the position of the incisors. If not, the initial control point needs to be adjusted so that it passes through the incisor height window. If it does, the initial control point does not need to be adjusted. The incisor height window is determined as follows: the midpoint of the incisal line segment of all incisors is calculated, the minimum and maximum values of the y coordinate of the midpoint of the incisal line segment of all incisors are found, and a margin value (1.0 mm) is subtracted from the minimum value to obtain ycmin, and a margin value (1.0 mm) is added to the maximum value to obtain ycmax, which are used as the range of the y coordinate of the incisor height window (from ycmin to ycmax). The x coordinate is obtained by averaging the x coordinates of the midpoint of the incisal line segment of all incisors (xc), thus obtaining the range of the x and y coordinates of the incisor height window.

[0084] When the x coordinate of the mesial extension of the optimized molar occlusal curve is the same as the x coordinate of the midpoint of the incisal line segment of the upper and lower incisors, the y coordinate of the mesial extension of the optimized molar occlusal curve is obtained. According to the y coordinate of the mesial extension and the y coordinate of the incisor height window, it is determined whether the mesial extension of the optimized molar occlusal curve exceeds the incisor window.

[0085] Optionally, the distance between the curve of the mesial segment of the optimized molar occlusal curve and the incisor height window can be evaluated using a third cost function. The logic of the third cost function is as follows: when the extension of the mesial segment of the optimized molar occlusal curve satisfies the x coordinate of the incisor position, it is determined whether the y of the optimized molar occlusal curve is within the height range of the incisor height window. The distance between the curve of the mesial segment of the optimized molar occlusal curve and the incisor height window is denoted as the third residual value. If the curve of the mesial segment of the optimized molar occlusal curve needs to be adjusted, the first initial control point, the second initial control point, and the third initial control point are adjusted based on the comprehensive evaluation results of the first residual value of the first cost function and the third residual value of the third cost function.

[0086] This can limit the extension trend of the mesial segment of the optimized molar occlusal curve within the reasonable height range of the incisors, preventing the curve of the mesial segment of the optimized molar occlusal curve from being excessively raised.

[0087] In another embodiment, the process of optimizing the initial molar occlusal curve can include at least one of the following two optimization stages:

[0088] In the first optimization stage, the positions of the initial control points are iteratively adjusted by the distances between the respective molar and the initial molar occlusal curve and the positional relationship between the second initial control point and the first initial control point and the third initial control point until the optimized control points are obtained, which include the first optimized control point, the second optimized control point and the third optimized control point; and the optimized molar occlusal curve is determined according to the optimized control points.

[0089] Alternatively, the optimized molar occlusal curve can also be achieved by other ways of optimizing the initial control points. For example, the first initial control point and the second initial control point can be adjusted according to the distances between the respective molars and the initial molar occlusal curve, and the first initial control point, the second initial control point and the third initial control point can be adjusted according to the positional relationship between the second initial control point and the first initial control point and the third initial control point. If the fourth initial control point exists, the way of optimizing the initial control points can be that the first initial control point, the second initial control point and the third initial control point can be adjusted according to the distances between the respective molars and the initial molar occlusal curve, and the first initial control point, the second initial control point, the third initial control point and the fourth initial control point can be adjusted according to the positional relationship between the second initial control point and the third initial control point and the first initial control point and the fourth initial control point. The way of determining the optimized molar occlusal curve according to the optimized control points can be any one of the following ways: cubic spline, b-spline and Bezier curve interpolation.

[0090] In the second optimization stage, the positions of the optimized control points are iteratively adjusted by the distances between the respective molars and the optimized molar occlusal curve, the positional relationship between the second optimized control point and the first initial control point and the third optimized control point, and the positional relationship between the optimized molar occlusal curve and the incisor height window until the final control points are obtained, which meet the iteration end condition, and the incisor height window is determined according to the positions of the upper and lower incisors; and the molar occlusal curve is determined according to the final control points.

[0091] The first optimization stage uses the first cost function to evaluate the distance between each molar and the initial molar occlusal curve, and obtains a first residual value including eight terms through the eight molars, uses the second residual value of the second cost function to evaluate the distance between the second initial control point and the connecting line, and optimizes the first initial control point, the second initial control point and the third initial control point according to the comprehensive result of the first residual value and the second residual value, to obtain the first optimized control point, the second optimized control point and the third optimized control point, and obtains the optimized molar occlusal curve according to the three optimized control points. In the second optimization stage, the first cost function is used to evaluate the distance between each molar and the initial molar occlusal curve, and a first residual value including eight terms is obtained through the eight molars, the second residual value of the second cost function is used to evaluate the distance between the second initial control point and the connecting line, and the third residual value of the third cost function is used to evaluate the distance between the curve of the mesial segment of the optimized molar occlusal curve and the incisor height window, and the position of the optimized control point is iteratively adjusted according to the comprehensive result of the first residual value, the second residual value and the third residual value to obtain the final control point, and the molar occlusal curve shown in FIG. 4 is obtained according to the final control point.

[0092] The first optimization stage can obtain more stable coordinate values of the optimized control point; the second optimization stage takes the optimization result of the first optimization stage as an initial value, simultaneously adds the incisor height window to limit the mesial direction trend of the optimized molar occlusal curve, and weakens the weight of the malpositioned tooth to comprehensively consider various factors, and thus obtains a more optimal molar occlusal curve.

[0093] The method of the above embodiment enables the dental professional to more quickly obtain the generated molar occlusal curve according to the teeth of the patient, and thus more quickly make clinical decisions. This is very beneficial for emergency situations and rapid treatment of patients.

[0094] In the above first optimization stage, if the distance between the molar and the optimized molar occlusal curve is greater than the distance threshold value, the molar is a malpositioned tooth; in the second optimization stage, the distance weight between the non-malpositioned tooth and the optimized molar occlusal curve is greater than the distance weight between the malpositioned tooth and the optimized molar occlusal curve.

[0095] Specifically, a distance threshold is set in the first optimization stage, for example, the distance threshold is 1.5 mm, if the distance between a molar and the optimized molar occlusal curve is greater than 1.5 mm, the molar is identified as a misaligned tooth, in the first optimization stage, the distance between each molar and the initial molar occlusal curve is evaluated by using the first cost function, the first residual value is the sum of eight residual values, and the weight of each item is set to 1. In the second optimization stage, according to the evaluation result of the first cost function in the first stage, the weight of the molar that does not meet the distance threshold and the misaligned tooth of the optimized molar occlusal curve is reduced to 0.5; the weight of the molar that meets the distance threshold and the non-misaligned tooth of the optimized molar occlusal curve is still set to 1. In this way, the influence of misaligned teeth on the comprehensive evaluation of the first residual value, the second residual value and the third residual value in the second optimization stage can be effectively reduced. That is, by reducing the distance weight of the misaligned tooth, the influence of the misaligned tooth on the optimized molar occlusal curve is reduced.

[0096] In addition, before each optimization iteration in the above-mentioned first optimization stage and second optimization stage, a cubic spline interpolation is used to calculate a cubic spline curve generated by the three control points, and all added first, second and third cost functions are evaluated on this curve. Before each iteration, the corresponding curve needs to be calculated using the cubic spline interpolation method. At the same time, for the calculation of the gradient, a numerical solution is used, that is, a small perturbation dx and dy is added to the x and y of the three control points on the initial molar occlusal curve and the optimized molar occlusal curve, the new curve obtained by the cubic spline interpolation when the control points are at the new positions (x+dx, y+dy) and (x-dx, y-dy) is calculated, and the cost function is evaluated on the new curve, thereby obtaining the numerical gradient of the control point (x, y) in the first optimization stage and the second optimization stage.

[0097] As shown in FIG. 5, an embodiment of the present application provides a molar occlusal curve generation device, comprising:

[0098] The acquisition module 501 is configured to determine initial control points according to key identification points of at least part of the molars and the canines of the upper and lower jaws, the key identification points representing landmark points of the crown surface of at least part of the molars and the canines; and the initial control points are used to determine an initial molar occlusal curve.

[0099] The adjustment module 502 is configured to adjust the positions of the initial control points according to first distance information between the molars and the initial molar occlusal curve.

[0100] The processing module 503 is configured to generate a molar occlusal curve conforming to the molar occlusal surface morphology according to the adjusted control points.

[0101] By adjusting the position of the initial control point according to the first distance information between the molar and the initial molar occlusal curve, the molar occlusal curve conforming to the molar occlusal surface morphology of the patient can be automatically and efficiently generated without tedious manual intervention, and the dependence on the quality of the tooth data is minimized, thereby providing a reliable tool for generating the molar occlusal curve for the dental professional to help the dental professional provide a treatment plan for the patient to improve the tooth alignment and ensure the oral health.

[0102] Optionally, the acquisition module 501 is specifically configured to:

[0103] The first initial control point is determined according to a distal point of the distal molar on the dental arch, and the distal point is determined according to a labial ridge on a coronal surface of the distal molar on the dental arch;

[0104] The second initial control point is determined according to a midpoint of the labial ridge on the coronal surface of the premolar on the upper and lower jaws;

[0105] The third initial control point is determined according to a cusp point on the coronal surface of the canine on the upper and lower jaws.

[0106] The initial control points are determined through the key identification points of at least part of the teeth in the upper and lower molars and canines, so that the accuracy of the first, second and third initial control points is ensured, and the molar occlusal curve generated is more in line with the tooth characteristics.

[0107] Optionally, the adjustment module 502 is specifically configured to:

[0108] The position of the initial control point is adjusted, and the molar occlusal curve conforming to the molar occlusal surface morphology is generated according to the adjusted control point, including:

[0109] The position of the initial control point is iteratively adjusted until the first distance information and the first distance information obtained last time satisfy an iteration end condition,

[0110] The molar occlusal curve conforming to the molar occlusal surface morphology is determined according to the initial control point conforming to the iteration end condition.

[0111] Optionally, the processing module 503 is specifically configured to:

[0112] The position of the initial control point is iteratively adjusted until the first distance information and the first distance information obtained last time satisfy an iteration end condition, and the molar occlusal curve conforming to the molar occlusal surface morphology is determined according to the initial control point conforming to the iteration end condition, including:

[0113] iteratively adjusting the position of the initial control point until the first distance information and the first distance information obtained last time satisfy an iteration end condition;

[0114] connecting the first initial control point and the third initial control point, judging a positional relationship between the second initial control point and the connecting line, and adjusting the initial control point until the positional relationship satisfies the iteration end condition if the positional relationship satisfies an adjustment condition;

[0115] obtaining an optimized molar occlusal curve according to the initial control point satisfying the iteration end condition, the optimized molar occlusal curve being a molar occlusal curve conforming to a molar occlusal surface shape.

[0116] Through the adjustment of the positional relationship between the second initial control point of the molar occlusal curve and the connecting line, a molar occlusal curve more conforming to the molar occlusal surface shape can be obtained.

[0117] Optionally, the processing module 503 is specifically configured to:

[0118] The iteratively adjusting the position of the initial control point until the first distance information and the first distance information obtained last time satisfy an iteration end condition, and determining a molar occlusal curve conforming to a molar occlusal surface shape according to the initial control point satisfying the iteration end condition, includes:

[0119] iteratively adjusting the position of the initial control point until the first distance information and the first distance information obtained last time satisfy an iteration end condition;

[0120] adjusting the initial control point until the mesial extension line of the optimized molar occlusal curve passes through the incisor height window when the mesial extension line of the optimized molar occlusal curve exceeds the incisor height window, the incisor height window being determined according to positions of incisors of the upper and lower jaws;

[0121] obtaining an optimized molar occlusal curve according to the initial control point, the optimized molar occlusal curve being a molar occlusal curve conforming to a mandibular dental arch shape of an oral cavity.

[0122] Through the adjustment of the mesial extension line of the molar occlusal curve by introducing the incisor height window, a molar occlusal curve more conforming to the mandibular dental arch shape of the oral cavity can be obtained.

[0123] Optionally, the processing module 503 is specifically configured to:

[0124] The mesial extension line of the optimized molar occlusal curve exceeding the incisor height window is judged in the following manner:

[0125] a vertical coordinate of the mesial extension line of the optimized molar occlusal curve is obtained when a horizontal coordinate of the mesial extension line of the optimized molar occlusal curve is equal to a horizontal coordinate of a midpoint of a tangent segment of the upper and lower incisors;

[0126] it is determined that the mesial extension line of the optimized molar occlusal curve exceeds the incisor height window according to the vertical coordinate of the mesial extension line and a vertical coordinate of the incisor height window.

[0127] The incisor height window is determined by the upper and lower incisors, and the mesial extension line of the molar occlusal curve is adjusted using the incisor height window, so that a molar occlusal curve that is more consistent with the shape of the mandibular dental arch of the oral cavity can be obtained.

[0128] Optionally, the processing module 503 is specifically configured to:

[0129] The position of the initial control point is adjusted according to the first distance information between the molar and the initial molar occlusal curve, and a molar occlusal curve that is consistent with the shape of the molar occlusion is generated according to the adjusted control point, including:

[0130] In the first optimization stage, the position of the initial control point is iteratively adjusted according to the distance between each molar and the initial molar occlusal curve and the positional relationship of the second initial control point and the first initial control point and the third initial control point, until an optimized control point that meets an iteration end condition is obtained, the optimized control point including a first optimized control point, a second optimized control point and a third optimized control point;

[0131] An optimized molar occlusal curve is determined according to the optimized control point;

[0132] In the second optimization stage, the position of the optimized control point is iteratively adjusted according to the distance between each molar and the optimized molar occlusal curve, the positional relationship of the second optimized control point and the first initial control point and the third optimized control point, and the positional relationship between the optimized molar occlusal curve and an incisor height window, until a final control point that meets an iteration end condition is obtained, the incisor height window being determined according to the positions of the upper and lower incisors;

[0133] A molar occlusal curve is determined according to the final control point.

[0134] The first optimization stage can obtain more stable coordinate values of the optimized control point; the second optimization stage takes the optimization result of the first optimization stage as an initial value, limits the mesial direction trend of the optimized molar occlusal curve by adding the incisor height window, and weakens the weight of the malposed tooth to consider multiple factors, and thus a more optimal molar occlusal curve is obtained.

[0135] The method of the above embodiments enables the dental professional to more quickly generate a molar occlusal curve from the patient's teeth, and thus more quickly make clinical decisions. This is very beneficial for emergency situations and rapid treatment of patients.

[0136] Optionally, the processing module 503 is specifically configured to:

[0137] If the distance between the molar and the optimized molar occlusal curve is greater than the distance threshold, the molar is a malpositioned tooth;

[0138] In the second optimization stage, the distance weight between the non-malpositioned tooth and the optimized molar occlusal curve is greater than the distance weight between the malpositioned tooth and the optimized molar occlusal curve.

[0139] The influence of the malpositioned tooth on the optimized molar occlusal curve is reduced by reducing the distance weight of the malpositioned tooth.

[0140] Based on the same technical concept, the embodiment of the present application provides a computer device, as shown in FIG. 6, which includes at least one processor 601 and a memory 602 connected with the at least one processor. In the embodiment of the present application, the specific connection medium between the processor 601 and the memory 602 is not limited, and in FIG. 6, the processor 601 and the memory 602 are connected through a bus as an example. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0141] In the embodiment of the present application, the memory 602 stores instructions executable by the at least one processor 601, and the at least one processor 601 can execute the steps of the above-mentioned molar occlusal curve generation method by executing the instructions stored in the memory 602.

[0142] The processor 601 is the control center of the computer device, and can connect various parts of the computer device through various interfaces and lines, and by running or executing the instructions stored in the memory 602 and calling the data stored in the memory 602, the molar occlusal curve can be quickly generated according to the user's tooth condition, and the required information can be provided for the dental professional. Optionally, the processor 601 can include one or more processing units, and the processor 601 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, the user interface and the application program, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 601. In some embodiments, the processor 601 and the memory 602 can be implemented on the same chip, and in some embodiments, they can also be implemented on separate chips respectively.

[0143] The processor 601 can be a general processor, such as 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 component, 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 combination with 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.

[0144] The memory 602 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 602 can include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card type 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 602 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 to this. The memory 602 in the embodiments of the present application can also be a circuit or any other device capable of realizing the storage function, used for storing program instructions and / or data.

[0145] Based on the same inventive concept, the embodiments of the present application provide a computer readable storage medium storing a computer program executable by a computer device, which, when the program is running on the computer device, causes the computer device to execute the steps of the molar occlusal surface curve generation method.

[0146] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a software embodiment, various software modules in accordance with embodiments of the present application are stored in a memory such as a computer memory or disk storage for use by, or in connection with, the software on the computer system. The software can provide for programs to be transferred to another computer readable medium (e.g., a removable medium, or a medium conveyed through a computer network) for use in a different system.

[0147] The present application is described in reference to the flow diagrams and / or block diagrams of the methods, apparatus (systems) and computer program products according to this application. It will be understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks.

[0148] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flow diagrams and / or block diagrams block or blocks.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks.

[0150] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A method of generating a curve of occlusion for a grinding tooth, characterized in that, The method comprises the following steps: determining initial control points according to key identification points of at least part of teeth in the upper and lower molars and canines, the key identification points representing the landmarks of the coronal surface of at least part of the teeth in the molars and the canines; the initial control points are used to determine an initial molar occlusal curve; adjusting the positions of the initial control points according to first distance information between the molars and the initial molar occlusal curve; generating a molar occlusal curve conforming to the molar occlusal morphology according to the adjusted control points.

2. The method of claim 1, wherein, The step of determining the initial control points according to the key identification points of at least part of teeth in the upper and lower molars and canines comprises at least one of the following steps: determining a first initial control point according to a distal point of a distal molar on the dental arch, the distal point being determined according to a labial ridge on the coronal surface of the distal molar in the upper and lower molars; determining a second initial control point according to a midpoint of a labial ridge on the coronal surface of a premolar in the upper and lower jaws; determining a third initial control point according to a cusp point on the coronal surface of a canine in the upper and lower jaws.

3. The method of claim 2, wherein, The step of adjusting the positions of the initial control points and generating a molar occlusal curve conforming to the molar occlusal morphology according to the adjusted control points comprises the following steps: iteratively adjusting the positions of the initial control points until the first distance information and the first distance information obtained last time satisfy an iteration end condition; determining a molar occlusal curve conforming to the molar occlusal morphology according to the initial control points satisfying the iteration end condition.

4. The method of claim 3, wherein, The step of iteratively adjusting the positions of the initial control points until the first distance information and the first distance information obtained last time satisfy an iteration end condition and determining a molar occlusal curve conforming to the molar occlusal morphology according to the initial control points satisfying the iteration end condition comprises the following steps: iteratively adjusting the positions of the initial control points until the first distance information and the first distance information obtained last time satisfy an iteration end condition; connecting the first initial control point and the third initial control point to determine the positional relationship between the second initial control point and the connecting line; if the positional relationship satisfies an adjustment condition, adjusting the initial control points until the positional relationship satisfies an iteration end condition; obtaining an optimized molar occlusal curve according to the initial control points satisfying the iteration end condition, the optimized molar occlusal curve being a molar occlusal curve conforming to the molar occlusal morphology.

5. The method of claim 3, wherein, The step of iteratively adjusting the positions of the initial control points until the first distance information and the first distance information obtained last time satisfy an iteration end condition and determining a molar occlusal curve conforming to the molar occlusal morphology according to the initial control points satisfying the iteration end condition comprises the following steps: iteratively adjusting the positions of the initial control points until the first distance information and the first distance information obtained last time satisfy an iteration end condition; when a mesial extension line of the optimized molar occlusal curve exceeds a height window of the incisors, adjusting the initial control points until the mesial extension line passes through the height window of the incisors, the height window of the incisors being determined according to the positions of the incisors in the upper and lower jaws. The optimization molar occlusal curve is obtained according to the initial control points.

6. The method of claim 5, wherein, The mesial extension line of the optimization molar occlusal curve is determined to exceed the incisor height window by the following method: When the abscissa of the mesial extension line of the optimization molar occlusal curve is equal to the abscissa of the midpoint of the incisor segment line of the upper and lower incisors, the ordinate of the mesial extension line of the optimization molar occlusal curve is obtained; The mesial extension line of the optimization molar occlusal curve is determined to exceed the incisor height window according to the ordinate of the mesial extension line and the ordinate of the incisor height window.

7. The method of claim 2, wherein, The position of the initial control point is adjusted according to the first distance information between the molar and the initial molar occlusal curve, and a molar occlusal curve conforming to the molar occlusal surface morphology is generated according to the adjusted control point, including: The position of the initial control point is iteratively adjusted according to the distance between at least one molar and the initial molar occlusal curve and the positional relationship between the second initial control point and the first initial control point and the third initial control point until the optimization control point conforming to the iteration end condition is obtained, and the optimization control point includes the first optimization control point, the second optimization control point and the third optimization control point; An optimization molar occlusal curve is determined according to the optimization control point, and the optimization molar occlusal curve is used to generate a molar occlusal curve conforming to the molar occlusal surface morphology.

8. The method of claim 2 or 6, wherein, The position of the initial control point is adjusted according to the first distance information between the molar and the initial molar occlusal curve, and a molar occlusal curve conforming to the molar occlusal surface morphology is generated according to the adjusted control point, including: The position of the optimization control point is iteratively adjusted according to the distance between each molar and the optimization molar occlusal curve, the positional relationship between the second optimization control point and the first initial control point and the third initial control point, and the positional relationship between the optimization molar occlusal curve and the incisor height window until the final control point conforming to the iteration end condition is obtained, and the incisor height window is determined according to the positions of the upper and lower incisors; the optimization molar occlusal curve is determined according to the optimized control point; A molar occlusal curve is determined according to the final control point.

9. The method of claim 7, wherein, Further comprising: If the distance between the molar and the optimization molar occlusal curve is greater than the distance threshold, the molar is a malpositioned tooth; In the second optimization stage, the distance weight between the non-malpositioned tooth and the optimization molar occlusal curve is greater than the distance weight between the malpositioned tooth and the optimization molar occlusal curve.

10. An apparatus for generating a curve of occlusion of a grinding tooth, characterized by Comprising: An acquisition module is configured to determine initial control points according to key identification points of at least part of teeth of molars and canines of the upper and lower jaws, and the key identification points represent mark points on the crown surface of the at least part of teeth of the molars and the canines; The initial control points are used to determine an initial molar occlusal curve; An adjustment module is configured to adjust the positions of the initial control points according to first distance information between the molars and the initial molar occlusal curve. The processing module is configured to generate a molar occlusal surface curve conforming to the molar occlusal surface shape according to the adjusted control points.

11. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the method in any one of claims 1-9 when executing the program.

12. A computer-readable storage medium, characterized in that, The computer program product comprises a computer program stored in a computer readable storage medium, and the computer program comprises program instructions, and the program instructions are executed by the computer device to enable the computer device to perform the steps of the method in any one of claims 1-9.

13. A computer program product, characterised in that, The computer program product comprises a computer program stored in a computer readable storage medium, and the computer program comprises program instructions, and the program instructions are executed by the computer device to enable the computer device to perform the steps of the method in any one of claims 1-9.

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