Method for generating orthodontic design scheme, electronic device, and storage medium

Abstract

Provided are a method for generating an orthodontic design scheme, an electronic device, and a storage medium, for improving the success rate of automatically generating orthodontic design schemes. The method comprises: an electronic device acquiring dentition information of a patient, such as initial position information and target position information (step 101); generating a first orthodontic design scheme on the basis of the dentition information and a preset scheme generation process, wherein the first orthodontic design scheme comprises procedures of N orthodontic steps (step 102); traversing the procedure of each orthodontic step, and recording position information corresponding to a tooth marked with a key position node in the procedure of a first orthodontic step (step 103); and adjusting the position of the tooth marked with the key position node in the procedure of the first orthodontic step according to the position information corresponding to the tooth marked with the key position node in the procedure of the first orthodontic step and orthodontic constraints, to give a second orthodontic design scheme (step 104). Thereby, the generation efficiency and success rate of automatically generating an orthodontic design scheme can be improved.

Description

Method for generating orthodontic design scheme, electronic device and storage medium

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202411396154.7, filed on September 30, 2024, and entitled "A method for generating orthodontic design scheme, electronic device and storage medium", the content of which is incorporated herein by reference in its entirety; the present application claims priority to the Chinese patent application No. 202411385948.3, filed on September 30, 2024, and entitled "A method for generating orthodontic design scheme, electronic device and storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] Embodiments of the present application relate to the field of orthodontics, and in particular to a method for generating orthodontic design scheme, electronic device and storage medium. BACKGROUND

[0004] In the field of orthodontics, the generation of orthodontic design scheme is mainly completed by manual work according to the requirements of medical documents with the aid of computer software. After the generation of orthodontic design scheme, whether the orthodontic design scheme meets the requirements of medical documents is mainly determined by manual work. The reliability of the orthodontic design scheme generated in this way depends on the experience of doctors or designers, and there is a lack of unified standards, which causes difficulties in designing orthodontic schemes. SUMMARY

[0005] The present application provides a method for generating orthodontic design scheme, electronic device and storage medium, which is used to improve the generation efficiency of orthodontic design scheme.

[0006] In a first aspect, the present application provides a method for generating an orthodontic design scheme, applied to an electronic device, the method comprising: obtaining tooth arrangement information of a patient, the tooth arrangement information comprising initial position information and target position information of the tooth arrangement of the patient; generating a first orthodontic design scheme based on the tooth arrangement information and a preset scheme generation process, the first orthodontic design scheme comprising a step-by-step scheme of N orthodontic steps for the tooth arrangement of the patient to change from the initial position information to the target position information; traversing each step-by-step scheme of the orthodontic steps in the first orthodontic design scheme, recording position information corresponding to teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step, the first orthodontic step being an orthodontic step in the first orthodontic design scheme in which teeth are marked with key position nodes; and adjusting the positions of the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step according to the position information corresponding to the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step and tooth orthodontic constraints, to obtain a second orthodontic design scheme.

[0007] In the above scheme, the electronic device generates a first orthodontic design scheme comprising a step-by-step scheme of N orthodontic steps for the tooth arrangement of the patient to change from the initial position information to the target position information based on the tooth arrangement information of the patient and a preset scheme generation process, traverses the step-by-step schemes of the N orthodontic steps, wherein the step-by-step scheme of the orthodontic step in which teeth are marked with key position nodes is referred to as the step-by-step scheme of the first orthodontic step, the electronic device records the position information corresponding to the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step, and then adjusts the positions of the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step according to the position information corresponding to the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step and tooth orthodontic constraints, thereby automatically generating a second orthodontic design scheme, which can improve the generation efficiency of the orthodontic design scheme, and adjusting the positions of the teeth marked with key position nodes according to the position information corresponding to the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step and tooth orthodontic constraints can improve the success rate of automatically generating the orthodontic design scheme.

[0008] In a possible implementation, adjusting the positions of the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step according to the position information corresponding to the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step and tooth orthodontic constraints to obtain a second orthodontic design scheme comprises: determining step-by-step schemes in the first orthodontic design scheme that do not satisfy tooth orthodontic constraints according to the position information corresponding to the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step and tooth orthodontic constraints; and optimizing the step-by-step schemes that do not satisfy tooth orthodontic constraints to obtain the second orthodontic design scheme by adjusting the positions of the teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step.

[0009] In a possible implementation, before the second orthodontic design scheme is obtained by optimizing the step-by-step scheme in the first orthodontic step that does not satisfy the tooth movement constraint, the scheme further includes:

[0010] In the first orthodontic design scheme, the key position node is added or deleted, and the step-by-step scheme of the orthodontic step in which the tooth mark of the key position node exists in the first orthodontic design scheme after the key position node is added or deleted is determined as the step-by-step scheme of the first orthodontic step.

[0011] In a possible implementation, the tooth movement constraint includes a penetration constraint of the tooth in the orthodontic process, the penetration constraint includes that mutual intrusion amounts between adjacent teeth in the orthodontic process are within a specified range, the mutual intrusion amount between the adjacent teeth is determined according to the shortest distance from a sampling point on a tooth surface of one of the adjacent teeth to a tooth surface of the other tooth, or according to the volume of an overlapping space formed according to an overlapping area between the adjacent teeth.

[0012] In a possible implementation, the tooth movement constraint includes a movement amount limit constraint of the tooth in the orthodontic process, the movement amount limit constraint includes that a movement amount of the tooth in a preset direction between any two adjacent orthodontic steps in the orthodontic process is less than a first threshold value corresponding to the preset direction, the movement amount in the preset direction includes a translation amount in a tangent direction of a dental arch, a translation amount in a normal direction of a position point on the dental arch, and a translation amount in a common perpendicular direction of the tangent direction, the normal direction, and three rotation scalar values.

[0013] In a possible implementation, the tooth movement constraint includes a reciprocating movement limit constraint of the tooth in the orthodontic process, the reciprocating movement limit constraint includes that any tooth in the orthodontic process keeps unidirectional movement.

[0014] In a possible implementation, the tooth movement constraint includes an oral aesthetics constraint of the tooth in the orthodontic process, the oral aesthetics constraint includes that a vertical step between any adjacent teeth in the orthodontic process is less than a second threshold value, and a labial-tongue step is less than a third threshold value, the vertical step is a height difference value of a vertical step feature point of the adjacent two teeth in an oral world coordinate system, and the labial-tongue step is a module length of a projection vector formed after the labial-tongue step feature point of the adjacent two teeth is projected onto a dental arch curve.

[0015] In a possible implementation, the tooth movement constraint includes a combined movement constraint of the tooth in the orthodontic process, the combined movement constraint includes an anchor limit constraint that a number of teeth moving in the same direction at the same time is less than a fourth threshold value, and a taboo movement constraint that a torsional movement speed of the tooth while elongating along a dental axis is less than a fifth threshold value.

[0016] In a possible implementation, the tooth orthodontic constraint includes an upper and lower jaw occlusion relationship constraint of the tooth in the orthodontic process, and the upper and lower jaw occlusion relationship constraint includes a coverage metric value between the upper dental arch and the lower dental arch being less than a sixth threshold value; the coverage metric value is determined according to a spatial distance between coverage feature points corresponding to a feature dental arch curve of the upper dental arch and a feature dental arch curve of the lower dental arch.

[0017] In a possible implementation, the tooth orthodontic constraint includes an attachment constraint and an enamel reduction constraint of the tooth in the orthodontic process, the attachment constraint includes a moving speed of the tooth to which the attachment is attached being less than a seventh threshold value, and the enamel reduction constraint includes a number of orthodontic steps between any two enamel reduction positions being less than an eighth threshold value.

[0018] In a possible implementation, the key position node includes any one of the following types: a single tooth node for marking a single tooth, a half jaw node for marking all teeth of a half jaw, and a temporary node for marking a single tooth or a half jaw tooth that needs to be optimized.

[0019] In a second aspect, an embodiment of the present application provides a method for generating an orthodontic design scheme, applied to an electronic device, and the method includes: obtaining a first orthodontic design scheme of a patient's teeth, the first orthodontic design scheme including a step-by-step scheme of N orthodontic steps for the patient's teeth to change from an initial position to a target position; performing rationality detection on the first orthodontic design scheme based on a first orthodontic constraint corresponding to a target constraint detection item, to obtain a rationality detection result, the first orthodontic constraint being used to limit a tooth feature parameter related to the target constraint detection item in a tooth orthodontic process to satisfy a constraint condition; if the rationality detection result indicates that the rationality detection is not passed, modifying the constraint condition in the first orthodontic constraint according to the rationality detection result, to obtain a second orthodontic constraint corresponding to the target constraint detection item; and optimizing the first orthodontic design scheme based on the second orthodontic constraint.

[0020] In the above scheme, the electronic device obtains a first orthodontic design scheme of a patient's teeth, performs rationality detection on the first orthodontic design scheme based on a first orthodontic constraint corresponding to a target constraint detection item, to obtain a rationality detection result, the first orthodontic constraint being used to limit a tooth feature parameter related to the target constraint detection item in a tooth orthodontic process to satisfy a constraint condition, and in a case where the first orthodontic design scheme does not pass the rationality detection, the constraint condition in the first orthodontic constraint is modified according to the rationality detection result, to obtain a second orthodontic constraint corresponding to the target constraint detection item, and then the electronic device optimizes the first orthodontic design scheme based on the second orthodontic constraint. Compared with a scheme of judging the rationality of an orthodontic design scheme by experience of a doctor or a designer, the present application can improve the generation efficiency of the orthodontic design scheme.

[0021] In a possible implementation, the target constraint detection item at least includes an adjacent tooth interference detection item, the first orthodontic constraint corresponding to the adjacent tooth interference detection item is used to limit the mutual intrusion amount between any adjacent teeth in the digital tooth model corresponding to each treatment step in the tooth treatment process to meet an intrusion amount condition; the first orthodontic design scheme is detected for rationality based on the first orthodontic constraint corresponding to the target constraint detection item, and a rationality detection result is obtained, including: based on the first orthodontic constraint corresponding to the adjacent tooth interference detection item, the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to each treatment step in the first orthodontic design scheme is determined; for each treatment step in the first orthodontic design scheme, it is detected whether the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to the treatment step meets the intrusion amount condition; if there is at least one group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first orthodontic design scheme, the mutual intrusion amount of which does not meet the intrusion amount condition, the rationality detection result includes the tooth information of the adjacent teeth that do not meet the intrusion amount condition and the number of the treatment step in which the adjacent teeth that do not meet the intrusion amount condition are located; or, if the mutual intrusion amount between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first orthodontic design scheme meets the intrusion amount condition, the rationality detection result includes the detection corresponding to the adjacent tooth interference detection item.

[0022] In a possible implementation, the target constraint detection item further includes a reexamination time rationality detection item, the first orthodontic constraint corresponding to the reexamination time rationality detection item is used to limit each reexamination time in the tooth treatment process to meet a reexamination period condition of a patient; the first orthodontic design scheme is detected for rationality based on the first orthodontic constraint corresponding to the target constraint detection item, and a rationality detection result is obtained, including: based on the first orthodontic constraint corresponding to the adjacent tooth interference detection item, it is detected whether each reexamination time in the first orthodontic design scheme meets the reexamination period condition of the patient; if there is a reexamination time in the first orthodontic scheme that does not meet the reexamination period condition of the patient, the rationality detection result further includes information of the reexamination time that does not meet the reexamination period condition of the patient; or, if each reexamination time in the first orthodontic design scheme meets the reexamination period condition of the patient, the rationality detection result further includes the detection corresponding to the reexamination time rationality detection item.

[0023] In a possible implementation, the target constraint detection item further includes an adjacent tooth gap detection item, the first orthodontic constraint corresponding to the adjacent tooth gap detection item is used to limit the gap between any adjacent teeth in the digital tooth model corresponding to each treatment step in the tooth treatment process to meet a gap condition; the rationality of the first orthodontic design scheme is detected based on the first orthodontic constraint corresponding to the target constraint detection item to obtain a rationality detection result, including: determining the gap between each group of adjacent teeth in the digital tooth model corresponding to each treatment step in the first orthodontic design scheme based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item; for each treatment step in the first orthodontic design scheme, detecting whether the gap between each group of adjacent teeth in the digital tooth model corresponding to the treatment step meets the gap condition; if there is at least one group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first orthodontic design scheme whose gap does not meet the gap condition, the rationality detection result further includes tooth information of the adjacent teeth that do not meet the gap condition and the number of the treatment step in which the adjacent teeth that do not meet the gap condition are located; or, if the gap between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first orthodontic design scheme all meet the gap condition, the rationality detection result further includes the detection corresponding to the adjacent tooth gap detection item.

[0024] In a possible implementation, the target constraint detection item further includes a medical rule requirement detection item, the first orthodontic constraint corresponding to the medical rule requirement detection item is used to limit the movement speed of the tooth with the attached accessory between any adjacent treatment steps in the tooth movement process to satisfy a speed condition, and is used to limit the number of treatment steps between any two enamel-removing positions in the tooth movement process to satisfy a step number condition; the first orthodontic design scheme is subjected to rationality detection based on the first orthodontic constraint corresponding to the target constraint detection item, to obtain a rationality detection result, including: determining, based on the first orthodontic constraint corresponding to the adjacent tooth interference detection item, whether the movement speed of the tooth with the attached accessory between any adjacent treatment steps in the first orthodontic design scheme satisfies the speed condition, and whether the number of treatment steps between any two enamel-removing positions in the first orthodontic design scheme satisfies the step number condition; if the movement speed of any tooth with the attached accessory between any adjacent treatment steps in the first orthodontic design scheme does not satisfy the speed condition, the rationality detection result further includes the information of the tooth with the attached accessory that does not satisfy the speed condition and the number of the adjacent treatment steps in which the tooth that does not satisfy the speed condition is located; or, if the number of treatment steps between any two enamel-removing positions in the first orthodontic design scheme does not satisfy the step number condition, the rationality detection result further includes the information of the tooth corresponding to the enamel-removing position that does not satisfy the step number condition and the number of the treatment step in which the enamel-removing position that does not satisfy the step number condition is located; or, if the movement speed of any tooth with the attached accessory between any adjacent treatment steps in the first orthodontic design scheme satisfies the speed condition, and the number of treatment steps between any two enamel-removing positions satisfies the step number condition, the rationality detection result further includes the detection corresponding to the medical rule requirement detection item.

[0025] In a possible implementation, the target constraint detection item further includes a tooth movement mode detection item, the first orthodontic constraint corresponding to the tooth movement mode detection item is used to limit the movement amount of each tooth in a preset direction between adjacent treatment steps in the tooth movement process to satisfy a movement amount condition corresponding to the preset direction; the first orthodontic design scheme is subjected to rationality detection based on the first orthodontic constraint corresponding to the target constraint detection item, to obtain a rationality detection result, including: determining, based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item, whether the movement amount of each tooth in the first orthodontic design scheme in a preset direction between any adjacent treatment steps satisfies a movement amount condition corresponding to the preset direction; if the movement amount of any tooth in the first orthodontic design scheme between any adjacent treatment steps does not satisfy the movement amount condition corresponding to the preset direction, the rationality detection result further includes the information of the tooth that does not satisfy the movement amount condition corresponding to the preset direction and the number of the adjacent treatment steps in which the tooth that does not satisfy the movement amount condition corresponding to the preset direction is located; or, if the movement amount of any tooth in the first orthodontic design scheme between any adjacent treatment steps satisfies the movement amount condition corresponding to the preset direction, the rationality detection result further includes the detection corresponding to the tooth movement mode detection item.

[0026] In a possible implementation manner, the target constraint detection item further includes an aesthetic constraint detection item, and the first treatment constraint corresponding to the aesthetic constraint detection item is used to limit that a height step between any adjacent teeth in the digital tooth model corresponding to each treatment step in the tooth treatment process satisfies a first step condition, and a lip-tongue step between any adjacent teeth satisfies a second step condition; the rationality detection result is obtained by performing rationality detection on the first treatment design scheme based on the first treatment constraint corresponding to the target constraint detection item, including: determining the height step and the lip-tongue step between each group of adjacent teeth in the digital tooth model corresponding to the treatment step based on the first treatment constraint corresponding to the aesthetic constraint detection item; if the height step between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme does not satisfy the first step condition, the rationality detection result further includes tooth information of the adjacent teeth that do not satisfy the first step condition and a number of the treatment step in which the adjacent teeth that do not satisfy the first step condition are located; or, if the lip-tongue step between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme does not satisfy the second step condition, the rationality detection result further includes tooth information of the adjacent teeth that do not satisfy the second step condition and a number of the treatment step in which the adjacent teeth that do not satisfy the second step condition are located; or, if the height step between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme all satisfy the first step condition, and the lip-tongue step between any group of adjacent teeth all satisfy the second step condition, the rationality detection result further includes passing the detection corresponding to the aesthetic constraint detection item.

[0027] In a possible implementation manner, if the rationality detection result indicates that the detection fails, the constraint condition in the first treatment constraint is modified according to the rationality detection result to obtain the second treatment constraint corresponding to the target constraint detection item, including: if the rationality detection result indicates that the detection fails, the constraint condition required to be satisfied by the tooth feature parameter related to the detection item that fails in the detection in the first treatment constraint is modified according to the tooth information and the number of the treatment step included in the detection item that fails in the detection in the rationality detection result, to obtain the second treatment constraint corresponding to the target constraint detection item.

[0028] In a possible implementation manner, the method further includes: if the rationality detection result indicates that the rationality detection passes, determining that the first treatment design scheme is a formal treatment design scheme.

[0029] In a third aspect, an embodiment of the present application provides a treatment design scheme generation apparatus, including:

[0030] The acquisition unit is configured to acquire tooth arrangement information of a patient, the tooth arrangement information including initial position information, target position information, and historical treatment information of the tooth arrangement of the patient.

[0031] The generating unit is configured to generate a first orthodontic design scheme based on the dentition information and a preset scheme, the first orthodontic design scheme including a step-by-step scheme of N orthodontic steps for the patient's dentition to change from initial position information to the target position information;

[0032] The traversing unit is configured to traverse the step-by-step scheme of each orthodontic step in the first orthodontic design scheme, and record position information corresponding to teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step, the first orthodontic step being an orthodontic step in the first orthodontic design scheme in which teeth are marked with key position nodes.

[0033] The adjusting unit is configured to adjust positions of teeth marked with key position nodes in the step-by-step scheme of the first orthodontic step according to the position information corresponding to the teeth marked with key position nodes and tooth orthodontic constraints, to obtain a second orthodontic design scheme.

[0034] In a fourth aspect, an embodiment of the present application provides a device for generating an orthodontic design scheme, including:

[0035] The obtaining unit is configured to obtain a first orthodontic design scheme of a patient's teeth, the first orthodontic design scheme including a step-by-step scheme of N orthodontic steps for the patient's teeth to change from an initial position to a target position.

[0036] The detecting unit is configured to perform rationality detection on the first orthodontic design scheme based on a first orthodontic constraint corresponding to a target constraint detection item, to obtain a rationality detection result, the first orthodontic constraint being used to limit a tooth feature parameter related to the target constraint detection item in a tooth orthodontic process to satisfy a constraint condition.

[0037] The modifying unit is configured to modify a constraint condition in the first orthodontic constraint according to the rationality detection result if the rationality detection result indicates that the rationality detection is failed, to obtain a second orthodontic constraint corresponding to the target constraint detection item.

[0038] The optimizing unit is configured to optimize the first orthodontic design scheme based on the second orthodontic constraint.

[0039] In a fifth aspect, an embodiment of the present application further provides an electronic device, which includes modules / units for performing the method steps in the above-mentioned first aspect and any possible implementation manner of the first aspect or the second aspect and any possible implementation manner of the second aspect. These modules / units can be implemented by hardware, or by hardware executing corresponding software.

[0040] In a sixth aspect, an electronic device is provided, which includes a processor and a memory. The memory stores program instructions. The processor executes the program instructions in the memory to implement the method steps in the first aspect and any possible implementation of the first aspect, or the second aspect and any possible implementation of the second aspect.

[0041] In a seventh aspect, a computer-readable storage medium is provided, which includes computer-executable instructions that, when executed on a computer, cause the computer to perform the method steps in the first aspect and any possible implementation of the first aspect, or the second aspect and any possible implementation of the second aspect.

[0042] In an eighth aspect, a computer program product is provided, which, when executed on an electronic device, causes the electronic device to perform the method steps in the first aspect and any possible implementation of the first aspect, or the second aspect and any possible implementation of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0043] FIG. 1 is a flowchart of a method for generating an orthodontic treatment plan according to an embodiment of the present application;

[0044] FIG. 2 is a diagram illustrating the calculation of vertical steps according to an embodiment of the present application;

[0045] FIG. 3 is a diagram illustrating the calculation of labial-lingual steps according to an embodiment of the present application;

[0046] FIG. 4 is a diagram illustrating the calculation of the overjet between the upper and lower dental arches according to an embodiment of the present application;

[0047] FIG. 5 is a flowchart of another method for generating an orthodontic treatment plan according to an embodiment of the present application;

[0048] FIG. 6 is a schematic diagram of an apparatus for generating an orthodontic treatment plan according to an embodiment of the present application;

[0049] FIG. 7 is a schematic diagram of an apparatus for generating an orthodontic treatment plan according to an embodiment of the present application;

[0050] FIG. 8 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purposes, technical solutions and advantages of the present application clearer, the following will further describe the present application with reference to the drawings. The specific implementation methods in the method embodiments can also be applied to the device embodiments or system embodiments. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more than two.

[0052] It should be noted that the term "and / or" in this article is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B together, and the existence of B alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects unless otherwise specified. And in the description of the embodiments of the present application, "first", "second", etc. are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying order.

[0053] The various embodiments disclosed in the present application can be applied to electronic devices with display functions. In some embodiments of the present application, the electronic device can be a device containing, for example, a mobile phone, a tablet computer, a notebook computer, a wearable device with wireless communication function (such as a smart watch or smart glasses, etc.), a vehicle-mounted device, etc. The electronic device contains a device capable of realizing data processing function (such as a processor, or an application processor, or an image processor, or other processors), and a device capable of displaying a user interface (such as a display screen). Exemplary embodiments of the electronic device include, but are not limited to, electronic devices running or other operating systems. The above-mentioned electronic device can also be, for example, a laptop computer (Laptop) with a touch-sensitive surface (such as a touch panel). It should also be understood that in some other embodiments of the present application, the above-mentioned electronic device can also be a desktop computer with a touch-sensitive surface (such as a touch panel).

[0054] FIG. 1 is a flow diagram of a method for generating an orthodontic design scheme according to an embodiment of the present application. The method for generating an orthodontic design scheme can be executed by an electronic device or a component inside the electronic device. For the sake of description, the following embodiments are described by taking the electronic device as an example. As shown in FIG. 1, the method for generating an orthodontic design scheme includes the following steps:

[0055] In step 101, the electronic device obtains the tooth arrangement information of the patient, which includes the initial position information and the target position information of the patient's tooth arrangement.

[0056] Optionally, the dentition information can further include historical treatment information, for example, the historical treatment information includes relevant information of a treatment process performed by the patient before the current treatment, including but not limited to: historical treatment plan, tooth information that has undergone position adjustment or direction adjustment during the treatment process, etc. The dentition information can further include other information, which is not limited in the present application.

[0057] In step 102, the electronic device generates a flow based on the dentition information and a preset plan, generates a first treatment design plan, and the first treatment design plan includes a step-by-step plan of N treatment steps for the patient's dentition to change from the initial position information to the target position information.

[0058] The preset plan generation flow is a flow generated by supporting the treatment design plan to follow a pre-designed process through customizing a half-jaw node. The half-jaw node is a label of the same type of node for all teeth of the half-jaw that needs to be optimized. The half-jaw can be the upper jaw or the lower jaw. For example, all teeth of the half-jaw are labeled as a gap opening node in a treatment step. For example, all teeth of the half-jaw are labeled as a segmented intrusion start node in a treatment step. For example, all teeth of the half-jaw are labeled as a segmented intrusion wait node in a treatment step. For example, all teeth of the half-jaw are labeled as a segmented intrusion end node in a treatment step. For example, all teeth of the half-jaw are labeled as a retraction post node in a treatment step.

[0059] In the embodiments of the present application, in addition to the half-jaw node that can be labeled on the tooth, a single tooth node can also be labeled. The single tooth node can be labeled for a single tooth, such as an anchor movement start node and an anchor movement end node. For example, for the upper right central incisor 1, an anchor movement start node is labeled for the central incisor 1 in the third treatment step, and an anchor movement end node is labeled for the central incisor 1 in the fifth treatment step. In order to facilitate subsequent optimization, some temporary nodes can also be temporarily added, which can be canceled in the subsequent optimization process. The temporary node can be labeled for a single tooth, multiple teeth, or half-jaw teeth. It should be understood that the above series of nodes can be collectively referred to as key position nodes, which can be defined according to medical rules, tooth physical movement, doctor's orthodontic experience, and other information, which is not limited in the present application.

[0060] It should be understood that the above-mentioned gap opening node, segmented intrusion start node, segmented intrusion wait node, segmented intrusion end node, retraction post node, etc. can be labeled for a single tooth, for multiple teeth, or for all teeth of a half-jaw. The anchor movement start node and the anchor movement end node can be labeled for a single tooth.

[0061] The preset scheme generation process can have multiple possible implementations, for example, by defining three semi-arch nodes of opening gap-segmented intrusion-retraction to implement a treatment design scheme generation process according to the following: first, open the overall gap, then segmentally lower the anterior teeth, and then reposition the overall teeth to the target position.

[0062] For another example, by defining the semi-arch nodes of molar area preparation of anchor-premolar area opening gap-anterior teeth repositioning-molar area individual tooth distal movement, a treatment design scheme generation process is implemented according to the following: first, make the molar area meet the anchor requirements, then open the gap in the premolar area, then reposition the anterior teeth, and then move the molar area to the target position.

[0063] For another example, by defining the semi-arch nodes of molar area distal movement opening gap-premolar area alignment-premolar area segmented intrusion-premolar area repositioning, a treatment design scheme generation process is implemented according to the following: first, distally move the molar area to open the gap, then align the premolar area, then segmentally lower the anterior teeth, and then reposition the anterior teeth to the target position.

[0064] For another example, by defining the semi-arch nodes of overall opening gap-premolar area segmented intrusion-premolar area repositioning-molar area individual tooth distal movement, a treatment design scheme generation process is implemented according to the following: first, open the overall gap, then segmentally lower the anterior teeth, then reposition the anterior teeth, and then move the molar area to the target position.

[0065] The above-mentioned preset scheme generation process can be automatically generated by an algorithm, or can be implemented according to the preferences of doctors or designers, and the present application does not limit this.

[0066] Step 103, the electronic device traverses the sub-step scheme of each treatment step in the first treatment design scheme, and records the position information of the teeth corresponding to the key position nodes in the sub-step scheme of the first treatment step.

[0067] In step 103, the first correction step is a correction step in the first correction design scheme in which there is a key position node marked on a tooth. The substep scheme of the first correction step can include one or more substep schemes of correction steps. Taking the case where the substep scheme of the first correction step includes multiple substep schemes of correction steps as an example, for example, the first correction design scheme includes 40 substep schemes of correction steps, in which the substep scheme of each of the 2nd to 5th correction steps includes a key position node marked on a tooth, the substep scheme of the 10th correction step includes a key position node marked on a tooth, the substep scheme of each of the 22nd to 29th correction steps includes a key position node marked on a tooth, and the 38th correction step includes a key position node marked on a tooth. Then, the first correction step in step 103 includes the 2nd to 5th correction steps, the 10th correction step, the 22nd to 29th correction steps, and the 38th correction step. Then, the position information of the tooth corresponding to the key position node marked in the substep scheme of each of the 2nd to 5th correction steps, the position information of the tooth corresponding to the key position node marked in the substep scheme of the 10th correction step, the position information of the tooth corresponding to the key position node marked in the substep scheme of each of the 22nd to 29th correction steps, and the position information of the tooth corresponding to the key position node marked in the substep scheme of the 38th correction step can be recorded.

[0068] For the substep scheme of any correction step in the first correction design scheme, the substep scheme of the correction step includes one or more key position nodes marked on a tooth. Then, it can be determined that the substep scheme of the correction step includes a key position node marked on a tooth. Taking the substep scheme of the 2nd correction step as an example, which includes 2 key position nodes marked on a tooth, the position information of the tooth corresponding to the 2 key position nodes is recorded, including but not limited to the position coordinates in the oral world coordinate system, the number of the tooth, and the type and name of the key position node. The name of the key position node includes but is not limited to any one of the following: an opening gap node, a segmented intrusion start node, a segmented intrusion waiting node, a segmented intrusion end node, and a retraction post node.

[0069] The key position node includes any one of the following types: a single tooth node for marking a single tooth, a half arch node for marking all teeth of a half arch, and a temporary node for marking a single tooth or a half arch tooth that needs to be optimized.

[0070] In step 104, the electronic device adjusts the positions of the teeth marked with the key position nodes in the substep scheme of the first correction step according to the position information of the teeth corresponding to the key position nodes marked in the substep scheme of the first correction step and the tooth correction constraints, to obtain a second correction design scheme.

[0071] In the embodiments of the present application, the teeth of the patient are represented by a watertight triangular mesh model in a geometric space, and a digital model of the entire oral cavity of the patient is formed by assembling all the teeth of the patient together to form a digital model environment of the entire oral cavity. In a qualified tooth correction scheme, the digital model of the teeth of the patient needs to meet the tooth correction constraints during the entire correction process. The tooth correction constraints are described below.

[0072] The tooth correction constraint is used to limit the tooth correction parameters of the teeth in the correction process to meet the preset constraint condition.

[0073] The constraint condition includes at least one of the following:

[0074] The mutual intrusion amount between adjacent teeth is within a specified range;

[0075] The movement amount of the teeth along a preset direction between two adjacent correction steps is less than a first threshold value corresponding to the preset direction;

[0076] The vertical step between adjacent teeth is less than a second threshold value, and the labial-lingual step between adjacent teeth is less than a third threshold value;

[0077] The number of teeth moving in the same direction at the same time is less than a fourth threshold value;

[0078] The torsional movement speed of the teeth along the dental axis while elongating is less than a fifth threshold value;

[0079] The coverage measure value between the maxillary dentition and the mandibular dentition is less than a sixth threshold value;

[0080] The movement speed of the tooth with the attached accessory between two adjacent correction steps is less than a seventh threshold value;

[0081] The number of correction steps between two adjacent enamel-removal positions is less than an eighth threshold value.

[0082] In the embodiments of the present application, the tooth correction constraint can include, but is not limited to, at least one or a combination of the following:

[0083] Embodiment A1, the penetration constraint of the teeth in the correction process, the penetration constraint includes that the mutual intrusion amount between adjacent teeth in the correction process is within a specified range, such as the mutual intrusion amount between any adjacent teeth is less than a certain threshold value.

[0084] In the same correction step, the mutual intrusion amount between two adjacent teeth can be determined by calculating the shortest distance from a sampling point on the surface of one tooth falling into the watertight adjacent tooth mesh to the surface of the adjacent tooth; or by determining the volume of the overlapping space formed by the overlapping region between the two overlapping teeth.

[0085] In some examples, the movement of the teeth is quantified as three translational directions and three rotational scalar values. The movement of the teeth in each of the three translational directions between two adjacent treatment steps is less than a threshold value corresponding to the translational direction.

[0086] In the process of tooth movement, the movement of the teeth from one position to another is a gradual process that requires a certain amount of time. The movement of any tooth between two adjacent treatment steps needs to meet certain restrictions.

[0087] In some examples, the movement of the teeth is quantified as three translational directions and three rotational scalar values. The movement of the teeth in each of the three translational directions between two adjacent treatment steps is less than a threshold value corresponding to the translational direction.

[0088] The movement in the three translational directions is: (1) the movement in the direction of the tangent to the dental arch, where the tangent to the dental arch can be the tangent direction obtained by selecting a point on the tooth that falls on the dental arch curve; (2) the movement in the normal direction of the tooth position point on the dental arch, where the tooth position point on the dental arch can be a position point selected on the tooth that falls on the dental arch curve, and the normal direction of the tooth position point on the dental arch can be the direction perpendicular to the tangent made at the tooth position point on the dental arch curve; (3) the movement in the direction perpendicular to the tangent to the dental arch and the normal direction.

[0089] The three rotational scalar values are obtained by multiplying the normalized rotation axis of the change in the orientation of the tooth between the two treatment steps by the rotation angle. For example, if the tooth rotates 10 degrees around the x-axis, and the three-dimensional coordinates of the tooth position before rotation are (1, 0, 0), then the three rotational scalar values are 20, 0, 0.

[0090] In some examples, the movement of the teeth is quantified as three translational directions and three rotational scalar values. The movement of the teeth in each of the three translational directions between two adjacent treatment steps is less than a threshold value corresponding to the translational direction.

[0091] In some examples, the movement of the teeth is quantified as three translational directions and three rotational scalar values. The movement of the teeth in each of the three translational directions between two adjacent treatment steps is less than a threshold value corresponding to the translational direction.

[0092] In some examples, the movement of the teeth is quantified as three translational directions and three rotational scalar values. The movement of the teeth in each of the three translational directions between two adjacent treatment steps is less than a threshold value corresponding to the translational direction.

[0093] The vertical step of the teeth can be determined by identifying the vertical step feature points on the adjacent teeth as shown in the schematic diagram of FIG. 2. The height difference d1 of the vertical step feature points of the two teeth in the oral world coordinate system is the size of the vertical step of the two adjacent teeth.

[0094] The labial-lingual step can be determined by identifying the dental arch curve of the local area of the two adjacent teeth and the labial-lingual step feature points of the two adjacent teeth as shown in the schematic diagram of FIG. 3. Then, the normal of the two projection points after projecting the respective feature points onto the dental arch curve is added and normalized as the normal of the step calculation. Then, the vector composed of the two feature points is projected on the normal, and the length d2 of the projection vector is the size of the labial-lingual step.

[0095] In the treatment process, the vertical step of the two adjacent teeth in the step-by-step scheme of any treatment step cannot be larger than the vertical step of the initial position, and the labial-lingual step of the two adjacent teeth in the step-by-step scheme of any treatment step cannot be larger than the vertical step of the initial position. Through the above oral aesthetic constraints, the arrangement of the teeth in the oral cavity can be guaranteed to change positively with the passage of time during the treatment.

[0096] Embodiment A5, the combined movement constraint in the treatment process of the teeth, the combined movement constraint includes the number of anchorage restrictions that move in the same direction at the same time is less than the fourth threshold, and the speed of the torsional movement of the teeth along the dental axis while elongating is less than the fifth threshold.

[0097] For example, the anchorage restriction is that the number of teeth moving to the left side of the oral cavity at the same time cannot exceed a specified value, and for example, the number of teeth pressing down on the alveolar bone at the same time cannot exceed a specified value.

[0098] For example, the forbidden movement constraint is to prevent the risk of tooth loosening during orthodontic treatment, and the torsional movement of the teeth along the dental axis while elongating must be limited to a certain speed to prevent damage to the gums.

[0099] Embodiment A6, the upper and lower occlusal relationship constraint in the treatment process of the teeth, the upper and lower occlusal relationship constraint includes the coverage between the upper and lower dental arches being less than the sixth threshold.

[0100] The coverage metric value between the upper dental arch and the lower dental arch can be calculated by a schematic diagram as shown in FIG. 4. First, the feature dental arch curve of the upper dental arch and the feature dental arch curve of the lower dental arch are calculated respectively, and then the corresponding coverage calculation feature points of the two feature dental arch curves are identified, that is, the corresponding feature points of the upper central incisors. The spatial distance d3 between the coverage calculation feature points corresponding to the two feature dental arch curves is calculated to represent the coverage metric in the current state. The relative occlusion relationship of the anterior dental arch during the treatment process is maintained by restricting the coverage metric from exceeding a given range.

[0101] In an embodiment A7, the attachment constraint and the enamel reduction constraint of the tooth during the treatment process. The attachment constraint includes that the movement speed of the tooth with the attached attachment is less than a seventh threshold value, and the enamel reduction constraint includes that the number of treatment steps between any two enamel reduction positions is less than an eighth threshold value.

[0102] In an embodiment A7, the attachment constraint and the enamel reduction constraint of the tooth during the treatment process. The attachment constraint includes that the movement speed of the tooth with the attached attachment is less than a seventh threshold value, and the enamel reduction constraint includes that the number of treatment steps between any two enamel reduction positions is less than an eighth threshold value.

[0103] Enamel reduction is a general term for obtaining a treatment gap operation by a destructive means in a clinic, and is usually arranged between two teeth. One enamel reduction position involves two adjacent teeth with enamel reduction arrangement. The gap constraint values before and after enamel reduction are different. The number of treatment steps between any two enamel reduction positions is less than an eighth threshold value, for example, the eighth threshold value is 10, and the number of treatment steps between any two enamel reduction positions during the tooth treatment process is less than 10.

[0104] Attachment and enamel reduction belong to clinical operations. The attachment and the enamel reduction are arranged at a time step in the treatment process. The patient's follow-up cycle is variable. For patients with different follow-up cycles, the clinical operation needs to be arranged at a time step that meets the patient's follow-up cycle. For example, the follow-up cycle is 10 steps, and the operations such as enamel reduction and attachment can only be arranged at a time step that is a multiple of 10.

[0105] It should be understood that the tooth treatment constraint in the step 104 described above can include any one of the embodiments A1 to A7 described above, or a combination of any multiple embodiments A1 to A7 described above, and the present application does not limit this.

[0106] In an embodiment of the present application, in a possible implementation, the step 104 described above can be implemented by the following processes S1 and S2:

[0107] In the process S1, the electronic device can determine, according to the position information of the teeth marked with the key position nodes and the tooth treatment constraint in the substep scheme of the first treatment step, a substep scheme that does not satisfy the tooth treatment constraint in the first treatment design scheme.

[0108] In the process S2, the substep scheme that does not satisfy the tooth treatment constraint is optimized to obtain a second treatment design scheme by adjusting the position of the teeth marked with the key position nodes in the substep scheme of the first treatment step.

[0109] In the process S2, the position of the teeth marked with the key position nodes in the substep scheme of the first treatment step can be adjusted, or the position of the teeth marked with the key position nodes in all the substep schemes of the first treatment step can be adjusted. The number of the substep schemes of the teeth whose positions are adjusted and the number of the teeth marked with the key position nodes whose positions are adjusted can be determined according to the actual situation of the dentition of the patient, and the present application does not limit this.

[0110] In another possible implementation, after the process S1 and before the process S2, the electronic device further performs a process S3, that is, adding or deleting the key position nodes in the first treatment design scheme, and determining the substep scheme of the treatment step in which the teeth marked with the key position nodes exist in the first treatment design scheme after the key position nodes are added or deleted as the substep scheme of the first treatment step. That is, the step 104 is implemented by the processes S1, S3 and S2 in sequence.

[0111] In the embodiments of the present application, the process S1 can have multiple implementations based on the tooth treatment constraint in the different implementations.

[0112] In the implementation B1, based on the penetration constraint of the teeth in the treatment process in the implementation A1, the electronic device can determine, according to the position information of the teeth marked with the key position nodes in the substep scheme of the first treatment step, whether the mutual intrusion amount between any adjacent teeth marked with the key position nodes in the substep scheme of each treatment step in the first treatment step is within a specified range, and determine the substep scheme in which the mutual intrusion amount between the adjacent teeth is not within the specified range as the substep scheme that does not satisfy the tooth treatment constraint.

[0113] In the embodiment B2, based on the constraint of the tooth movement amount in the orthodontic process in the above-mentioned embodiment A2, the electronic device can determine, according to the position information of the tooth corresponding to the key position node marked in the step-by-step scheme of the first orthodontic step, whether the movement amount of the tooth marked with the key position node between two adjacent orthodontic steps is less than the first threshold value, and determine the step-by-step scheme in which the movement amount of the tooth between the two adjacent orthodontic steps is not less than the first threshold value as the step-by-step scheme that does not satisfy the tooth orthodontic constraint.

[0114] In the embodiment B3, based on the constraint of the reciprocating movement of the tooth in the orthodontic process in the above-mentioned embodiment A3, the electronic device can determine, according to the position information of the tooth corresponding to the key position node marked in the step-by-step scheme of the first orthodontic step, whether the movement direction of the tooth marked with the key position node between the consecutive L orthodontic steps is consistent, and determine the step-by-step scheme in which the movement direction of the tooth marked with the key position node between any two orthodontic steps is inconsistent with the movement direction between other orthodontic steps as the step-by-step scheme that does not satisfy the tooth orthodontic constraint, where the value of L is an integer greater than 2.

[0115] In the embodiment B4, based on the oral aesthetic constraint of the tooth in the orthodontic process in the above-mentioned embodiment A4, the electronic device can determine, according to the position information of the tooth corresponding to the key position node marked in the step-by-step scheme of each orthodontic step in the first orthodontic step, whether the vertical step between the adjacent teeth marked with the key position node is less than the second threshold value and the labial-tongue step is less than the third threshold value, and determine the step-by-step scheme in which the vertical step between the adjacent teeth marked with the key position node is not less than the second threshold value or the labial-tongue step between the adjacent teeth is not less than the third threshold value as the step-by-step scheme that does not satisfy the tooth orthodontic constraint.

[0116] In the embodiment B5, based on the combined movement constraint of the tooth in the orthodontic process in the above-mentioned embodiment A5, the combined movement constraint includes the anchor restriction constraint that the number of teeth moving in the same direction at the same time is less than the fourth threshold value, and the forbidden movement constraint that the torsional movement speed of the tooth along the dental axis while elongating is less than the fifth threshold value; the electronic device can determine, according to the position information of the tooth corresponding to the key position node marked in the step-by-step scheme of the first orthodontic step, whether there is a tooth that does not satisfy the anchor restriction constraint or the forbidden movement constraint in the step-by-step scheme of each orthodontic step in the first orthodontic step; and determine the step-by-step scheme in which there is a tooth that does not satisfy the anchor restriction constraint or the forbidden movement constraint as the step-by-step scheme that does not satisfy the tooth orthodontic constraint.

[0117] In the embodiment B6, based on the jaw relationship constraint of the teeth in the orthodontic treatment in the above-mentioned embodiment A6, the jaw relationship constraint includes that the overjet between the upper dental arch and the lower dental arch is less than a sixth threshold value; the electronic device can determine, according to the position information of the teeth marked in the key position nodes in the step-by-step scheme of the first orthodontic step, whether the overjet between the upper dental arch and the lower dental arch in the step-by-step scheme of each orthodontic step in the first orthodontic step is less than the sixth threshold value, and determine the step-by-step scheme of the orthodontic step in which the overjet between the upper dental arch and the lower dental arch is not less than the sixth threshold value as the step-by-step scheme that does not satisfy the tooth orthodontic constraint.

[0118] In the embodiment B7, based on the tooth orthodontic constraint including the attachment constraint and the enamel reduction constraint of the teeth in the orthodontic treatment in the above-mentioned embodiment A7, the attachment constraint includes that the moving speed of the tooth to which the attachment is attached is less than a seventh threshold value, and the enamel reduction constraint includes that the number of orthodontic steps between any two enamel reduction positions is less than an eighth threshold value; the electronic device can determine, according to the position information of the teeth marked in the key position nodes in the step-by-step scheme of the first orthodontic step, whether the moving speed of the tooth to which the attachment is attached in the step-by-step scheme of each orthodontic step in the first orthodontic step is less than the seventh threshold value and whether the number of orthodontic steps between any two enamel reduction positions is less than the eighth threshold value, and determine the step-by-step scheme of the orthodontic step in which the moving speed of the tooth to which the attachment is attached is not less than the seventh threshold value and / or the number of orthodontic steps between any two enamel reduction positions is not less than the eighth threshold value as the step-by-step scheme that does not satisfy the tooth orthodontic constraint.

[0119] After the step-by-step scheme that does not satisfy the tooth orthodontic constraint is determined based on any of the above-mentioned embodiments, the step-by-step scheme that does not satisfy the tooth orthodontic constraint can be optimized by directly adjusting the position of the tooth marked in the key position node in the step-by-step scheme of each orthodontic step until the step-by-step scheme that satisfies the tooth orthodontic constraint or the step-by-step scheme that is close to the step-by-step scheme that satisfies the tooth orthodontic constraint is obtained, i.e., the second orthodontic design scheme is obtained. Alternatively, after the step-by-step scheme that does not satisfy the tooth orthodontic constraint is determined based on any of the above-mentioned embodiments, the key position node is first added or deleted in the first orthodontic design scheme, and the step-by-step scheme of the orthodontic step in which the tooth is marked in the key position node after the first orthodontic design scheme is added or deleted is determined as the step-by-step scheme of the first orthodontic step, and then the step-by-step scheme that does not satisfy the tooth orthodontic constraint is optimized by adjusting the position of the tooth marked in the key position node in the step-by-step scheme of each orthodontic step in the first orthodontic step until the step-by-step scheme that satisfies the tooth orthodontic constraint is obtained, i.e., the second orthodontic design scheme is obtained.

[0120] FIG. 5 is a flowchart of another method for generating an orthodontic design scheme according to an embodiment of the present application. The method can be executed by an electronic device or a component in the electronic device. For ease of description, the method is described below as being executed by an electronic device. As shown in FIG. 5, the method includes the following steps:

[0121] In step 501, the electronic device obtains a first orthodontic design scheme for the patient's teeth. The first orthodontic design scheme includes a step-by-step scheme for the patient's teeth to change from an initial position to a target position in N orthodontic steps.

[0122] The first orthodontic design scheme in step 501 can be an orthodontic design scheme generated manually by a doctor or a designer, or an orthodontic design scheme generated by an automatic algorithm on the electronic device. In this case, the automatic algorithm can be input with the patient's dentition information, and the present application does not limit the automatic algorithm.

[0123] In step 502, the electronic device performs rationality detection on the first orthodontic design scheme based on a first orthodontic constraint corresponding to a target constraint detection item, to obtain a rationality detection result. The first orthodontic constraint corresponding to the target constraint detection item is used to limit the tooth feature parameters related to the target constraint detection item in the tooth orthodontic process to satisfy a constraint condition.

[0124] In an embodiment of the present application, the target constraint detection item can include, but is not limited to, at least one or more of the following preset detection items: an adjacent tooth interference detection item; a re-visit timing rationality detection item; an adjacent tooth gap detection item; a medical rule requirement detection item; a tooth movement mode detection item; and an aesthetic constraint detection item.

[0125] The target constraint detection item includes different detection items, and the corresponding first orthodontic constraint is also different. The following will be described respectively.

[0126] In implementation A1, the target constraint detection item includes at least the adjacent tooth interference detection item. The tooth feature parameter related to the adjacent tooth interference detection item can be the mutual intrusion amount between any adjacent teeth. The first orthodontic constraint corresponding to the adjacent tooth interference detection item is used to limit the mutual intrusion amount between any adjacent teeth in the digital tooth model corresponding to each orthodontic step in the tooth orthodontic process to satisfy an intrusion amount condition. For example, the intrusion amount condition is that the intrusion amount between any adjacent teeth is less than a first threshold value. The specific value of the first threshold value can be set according to actual needs.

[0127] The patient's teeth are represented by a watertight triangular mesh model in a geometric space, and the digital model of the patient's entire oral cavity is formed by assembling all the patient's teeth together to form a digital model environment of the entire oral cavity, i.e., the digital tooth model of the present application.

[0128] In the digital tooth model corresponding to any of the orthodontic steps, the mutual intrusion amount between two adjacent teeth can be determined by calculating the shortest distance from a sampling point on the surface of one tooth falling within the watertight adjacent tooth grid to the surface of its adjacent tooth; or by determining the volume of the overlapping space formed by the overlapping region between the two overlapping teeth. If there is no overlapping region between the two adjacent teeth, the mutual intrusion amount between the two adjacent teeth is 0.

[0129] Based on this embodiment A1, the target constraint detection term at least includes the adjacent tooth interference detection term, and the rationality detection of the first orthodontic design scheme based on the first orthodontic constraint corresponding to the target constraint detection term in step 502 can be realized by the following way:

[0130] Based on the first orthodontic constraint corresponding to the adjacent tooth interference detection term, the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to each orthodontic step in the first orthodontic design scheme is determined. For example, the first orthodontic design scheme includes a step-by-step scheme corresponding to 40 orthodontic steps, so there are 40 digital tooth models corresponding to the orthodontic steps, including a digital tooth model corresponding to the first orthodontic step, a digital tooth model 2 corresponding to the second orthodontic step, …, and a digital tooth model corresponding to the 40th orthodontic step.

[0131] Taking the digital tooth model corresponding to the first orthodontic step as an example, for example, the upper jaw includes 14 teeth, such as numbered 1-14 from left to right, tooth 1 and tooth 2 are a group of adjacent teeth, tooth 2 and tooth 3 are a group of adjacent teeth, tooth 3 and tooth 4 are a group of adjacent teeth, tooth 4 and tooth 5 are a group of adjacent teeth, and so on. For the upper jaw, the mutual intrusion amount between 13 groups of adjacent teeth can be determined. Similarly, for example, the lower jaw also includes 14 teeth, so the mutual intrusion amount between 13 groups of adjacent teeth can also be determined for the lower jaw. Therefore, the digital tooth model corresponding to the first orthodontic step can determine the mutual intrusion amount between 26 groups of adjacent teeth.

[0132] Then, for each orthodontic step in the first orthodontic design scheme, it is detected whether the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to the orthodontic step meets the intrusion amount condition; if there is at least one group of adjacent teeth between which the mutual intrusion amount does not meet the intrusion amount condition in the digital tooth model corresponding to any of the orthodontic steps in the first orthodontic design scheme, the rationality detection result includes the tooth information of the adjacent teeth that do not meet the intrusion amount condition and the number of the orthodontic step in which the adjacent teeth that do not meet the intrusion amount condition are located. Taking the mutual intrusion amount between adjacent teeth being less than 0.01 as the intrusion amount condition, if the mutual intrusion amount between a group of adjacent teeth is greater than or equal to 0.01, it is not considered to meet the intrusion amount condition.

[0133] Taking the first correction step as an example, if there is a set of adjacent teeth in the digital tooth model corresponding to the first correction step, for example, the mutual intrusion amount between tooth 4 and tooth 5 is 0.02, then the rationality detection result includes the information of tooth 4 and tooth 5 which do not meet the intrusion amount condition, and the number of the first correction step. If there are multiple sets of adjacent teeth in the digital tooth model corresponding to the first correction step, and the mutual intrusion amount of each set of adjacent teeth is greater than or equal to 0.01, then the rationality detection result includes the tooth information of multiple sets of adjacent teeth which do not meet the intrusion amount condition, and the number of the first correction step in which each set of adjacent teeth does not meet the intrusion amount condition. The mutual intrusion amount detection between each set of adjacent teeth in other correction steps can refer to the related description of the first correction step, which will not be repeated here.

[0134] If the mutual intrusion amount between any set of adjacent teeth in the digital tooth model corresponding to any correction step in the first correction design scheme meets the intrusion amount condition, taking the intrusion amount condition that the mutual intrusion amount between adjacent teeth is less than 0.01 as an example, that is, the mutual intrusion amount between any adjacent teeth in the digital tooth model corresponding to the 40 correction steps meets the intrusion amount condition, that is, less than 0.01, then the rationality detection result includes the detection corresponding to the adjacent tooth interference detection item.

[0135] In an embodiment A2, the target constraint detection item further includes a recheck timing rationality detection item. The tooth feature parameter related to the adjacent tooth interference detection item can be a recheck timing. The first correction constraint corresponding to the recheck timing rationality detection item is used to limit each recheck timing in the tooth correction process to meet the patient's recheck period condition, where the recheck period condition is, for example, to recheck once every six correction steps.

[0136] Based on the embodiment A2, the target constraint detection item further includes a recheck timing rationality detection item, and the rationality detection of the first correction design scheme based on the first correction constraint corresponding to the target constraint detection item in the above step 502 to obtain the rationality detection result can be realized by the following manner: based on the first correction constraint corresponding to the adjacent tooth interference detection item, detecting whether each recheck timing in the first correction design scheme meets the patient's recheck period condition. If there is a recheck timing in the first correction scheme that does not meet the patient's recheck period condition, the rationality detection result further includes the information of the recheck timing which does not meet the patient's recheck period condition; or, if each recheck timing in the first correction design scheme meets the patient's recheck period condition, the rationality detection result further includes the detection corresponding to the recheck timing rationality detection item.

[0137] In an embodiment A3, the target constraint detection item further comprises an adjacent tooth gap detection item, and the tooth feature parameter associated with the adjacent tooth gap detection item can be a gap between any adjacent teeth. The first orthodontic constraint corresponding to the adjacent tooth gap detection item is used to limit the gap between any adjacent teeth in the digital tooth model corresponding to each of the treatment steps in the tooth movement process to satisfy a gap condition, where the gap condition can be, for example, that the gap between the adjacent teeth is less than a second threshold value, and the specific value of the second threshold value can be set according to actual needs.

[0138] Based on the embodiment A3, the target constraint detection item comprises the adjacent tooth gap detection item, and the rationality detection of the first orthodontic design scheme based on the first orthodontic constraint corresponding to the target constraint detection item in step 502 can be implemented in the following manner:

[0139] Based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item, the gaps between the groups of adjacent teeth in the digital tooth model corresponding to each of the treatment steps in the first orthodontic design scheme are determined. Taking the example of the first orthodontic design scheme comprising a 40-step scheme corresponding to 40 treatment steps, and the digital tooth model corresponding to each of the treatment steps comprising 28 teeth, for the digital tooth model corresponding to each of the 40 treatment steps, 26 groups of gaps between adjacent teeth can be determined.

[0140] Then, for each of the treatment steps in the first orthodontic design scheme, it is detected whether the gaps between the groups of adjacent teeth in the digital tooth model corresponding to the treatment step satisfy the gap condition. If there is at least one group of adjacent teeth in the digital tooth model corresponding to any of the treatment steps in the first orthodontic design scheme whose gap does not satisfy the gap condition, the rationality detection result further comprises the tooth information of the adjacent teeth that do not satisfy the gap condition and the number of the treatment step in which the adjacent teeth that do not satisfy the gap condition are located; or, if the gaps between any of the groups of adjacent teeth in the digital tooth model corresponding to any of the treatment steps in the first orthodontic design scheme all satisfy the gap condition, the rationality detection result further comprises the detection corresponding to the adjacent tooth gap detection item.

[0141] In an embodiment A4, the target constraint detection item further comprises a medical rule requirement detection item, and the tooth feature parameter associated with the medical rule requirement detection item can be the movement speed of the teeth between any adjacent treatment steps and the number of treatment steps between any two enamel-removal positions. The first orthodontic constraint corresponding to the medical rule requirement detection item is used to limit the movement speed of the teeth with the attached accessories between any adjacent treatment steps in the tooth movement process to satisfy a speed condition, and to limit the number of treatment steps between any two enamel-removal positions to satisfy a step number condition, where the speed condition can be, for example, that the tooth movement speed is within a specified speed range, and the step number condition can be, for example, that the interval between any two enamel-removal positions is greater than six treatment steps.

[0142] Based on the embodiment A4, the rationality detection of the first orthodontic design scheme based on the first orthodontic constraint corresponding to the target constraint detection item in the above step 502 can be realized by the following way:

[0143] Based on the first orthodontic constraint corresponding to the adjacent tooth interference detection item, it is determined whether the moving speed of the tooth with the attached accessory in the first orthodontic design scheme between any adjacent orthodontic steps satisfies the speed condition, and whether the number of orthodontic steps between any two enamel-removing positions in the first orthodontic design scheme satisfies the step number condition.

[0144] If there is any tooth with an attached accessory in the first orthodontic design scheme whose moving speed between any adjacent orthodontic steps does not satisfy the speed condition, that is, there is a tooth with an attached accessory whose moving speed between two adjacent orthodontic steps exceeds the speed range, the rationality detection result further includes the tooth information with an attached accessory that does not satisfy the speed condition and the number of adjacent orthodontic steps in which the tooth does not satisfy the speed condition; or, if there is any orthodontic step number between enamel-removing positions in the first orthodontic design scheme that does not satisfy the step number condition, that is, there is an orthodontic step number between enamel-removing positions that is less than six orthodontic steps, the rationality detection result further includes the tooth information corresponding to the enamel-removing position that does not satisfy the step number condition and the number of orthodontic steps in which the enamel-removing position does not satisfy the step number condition; or,

[0145] If any tooth with an attached accessory in the first orthodontic design scheme has a moving speed between any adjacent orthodontic steps that satisfies the speed condition, and any orthodontic step number between enamel-removing positions satisfies the step number condition, the rationality detection result further includes the detection corresponding to the medical rule requirement detection item.

[0146] Embodiment A5, the target constraint detection item further includes a tooth movement mode detection item. The first orthodontic constraint corresponding to the tooth movement mode detection item is used to limit the movement amount of each tooth in the orthodontic process between adjacent orthodontic steps in the preset direction to satisfy the movement amount condition corresponding to the preset direction.

[0147] Among them, the tooth feature parameters related to the tooth movement mode detection item can have multiple cases, which are described as follows:

[0148] Case one, the tooth feature parameters related to the tooth movement mode detection item can be the movement amount of the tooth in the preset direction.

[0149] In the tooth correction process, the movement of teeth from one position to another is a gradual process that requires a certain amount of time. The movement of any tooth in the preset direction between two adjacent correction steps needs to meet the preset direction corresponding movement condition, for example, the preset direction corresponding movement condition can be that the movement of the tooth in the preset direction is less than the third threshold value corresponding to the preset direction.

[0150] In some examples, the movement of the tooth is quantified as three directions of translation and three rotation scalar values, and the movement of each tooth in each direction between two adjacent correction steps should be less than the third threshold value corresponding to the corresponding direction. The third threshold values corresponding to different directions can be the same or different.

[0151] Among them, the movement of the three translation directions is: (1) the translation amount in the tangent direction of the dental arch, wherein the tangent direction of the dental arch can be the tangent direction after selecting a point on the dental arch curve on the tooth to make a tangent; (2) the translation amount in the normal direction of the dental arch position point on the tooth, wherein the dental arch position point on the tooth can be a position point selected on the tooth and falling on the dental arch curve, and the normal direction of the dental arch position point on the tooth can be the direction perpendicular to the tangent made at the dental arch position point on the dental arch curve; (3) the translation amount in the direction perpendicular to the tangent direction and the normal direction.

[0152] The three rotation scalar values are obtained by multiplying the normalized rotation axis of the change of the orientation of the tooth between the two correction steps by the rotation angle, for example, the tooth rotates 10 degrees around the x-axis, and the three-dimensional coordinates of the position of the tooth before rotation are (1, 0, 0), then the three rotation scalar values are 20, 0, 0.

[0153] Case two, the tooth feature parameters related to the tooth movement mode detection item also include the movement direction of the tooth, and the first correction constraint corresponding to the tooth movement mode detection item is used to limit the movement of each tooth in the preset direction during the tooth correction process. The direction condition, for example, is to maintain one-way movement.

[0154] During the correction process, the movement values of any tooth in the three translation directions and the rotation scalar values in the three rotation directions can only be unidirectional or unidirectional, and if it is not unidirectional or unidirectional, it means that the direction condition is not met.

[0155] In this case, the step 502 can be implemented in the following way: based on the first correction constraint corresponding to the tooth movement mode detection item, determine whether the movement values of each tooth in the three translation directions and the rotation scalar values in the three rotation directions in the first correction design scheme meet the direction condition.

[0156] If the movement value of any tooth in the first orthodontic design scheme in the three translation directions is not unidirectional change, the rationality detection result further includes tooth information of the movement value not satisfying unidirectional change and the number of the treatment step in which the tooth is located.

[0157] If the rotation scalar value of any tooth in the first orthodontic design scheme in the three rotation directions is not unidirectional change, the rationality detection result further includes tooth information of the rotation scalar value not satisfying unidirectional change and the number of the treatment step in which the tooth is located.

[0158] If the movement value of any tooth in the first orthodontic design scheme in the three translation directions is unidirectional change, and the rotation scalar value of any tooth in the three rotation directions is unidirectional change, the rationality detection result further includes detection corresponding to the tooth movement mode detection item.

[0159] In the embodiment of the application, by ensuring that the movement value of the tooth in the three translation directions and the rotation scalar value of the tooth in the three rotation directions are unidirectional change, the tooth is prevented from moving back and forth in a certain direction during the treatment process, so as to reduce the damage to the gums, alveolar bone and the like caused by the back and forth movement of the tooth during the treatment process.

[0160] In case three, the tooth feature parameters related to the tooth movement mode detection item further include the number of teeth moving in the same direction at the same time, and the torsional movement speed of the tooth along the dental axis while elongating. The first orthodontic constraint corresponding to the tooth movement mode detection item is used to limit the number of teeth moving in the same direction at the same time during the tooth treatment process to satisfy the number condition, and limit the torsional movement speed of the tooth along the dental axis while elongating to satisfy the speed condition.

[0161] In this case, the step 502 can be implemented in the following manner: based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item, it is determined whether the number of teeth moving in the same direction at the same time in the first orthodontic design scheme satisfies the number condition, and whether the torsional movement speed of the tooth along the dental axis while elongating satisfies the speed condition.

[0162] If the number of teeth moving in the same direction at the same time in the first orthodontic design scheme does not satisfy the number condition, the number of teeth moving to the left side of the oral cavity exceeds the number threshold set in the number condition, and for example, the number of teeth simultaneously pressed down to the alveolar bone exceeds the number threshold set in the number condition, the rationality detection result further includes tooth information not satisfying the number condition and the number of the treatment step in which the tooth is located.

[0163] If the speed condition is not met for any tooth in the first orthodontic design scheme, for example, the speed of the tooth in the elongation and the torsional movement along the tooth axis exceeds the speed threshold set in the speed condition, the rationality detection result further includes tooth information that does not meet the speed condition and the number of the treatment step in which the tooth that does not meet the speed condition is located.

[0164] If the number of teeth moving in the same direction in the first orthodontic design scheme meets the number condition, and the speed of the tooth in the elongation and the torsional movement along the tooth axis meets the speed condition, the rationality detection result further includes the detection corresponding to the tooth movement mode detection item.

[0165] Embodiment A6, the target constraint detection item further includes an aesthetic constraint detection item, and the tooth feature parameter related to the adjacent tooth interference detection item can include a vertical step between adjacent teeth and a labial-tongue step between adjacent teeth. The first orthodontic constraint corresponding to the aesthetic constraint detection item is used to limit the vertical step between any adjacent teeth in the digital tooth model corresponding to each treatment step in the tooth treatment process to meet a first step condition, and the labial-tongue step between any adjacent teeth to meet a second step condition.

[0166] The first step condition is, for example, that the vertical step between adjacent teeth is less than a fifth threshold, and the second step condition is, for example, that the labial-tongue step between adjacent teeth is less than a sixth threshold.

[0167] Wherein, the vertical step of the teeth can be obtained by identifying the vertical step feature points on the adjacent teeth in the schematic diagram as shown in FIG. 2, and the height difference d1 of the vertical step feature points of the two teeth in the oral world coordinate system is the size of the vertical step of the two adjacent teeth.

[0168] The labial-tongue step can be obtained by identifying the dental arch curve of the local area of the two adjacent teeth and the labial-tongue step feature points of the two adjacent teeth in the schematic diagram as shown in FIG. 3, then projecting the respective feature points onto the dental arch curve, taking the normal of the two projection points after normalization as the normal for step calculation, and then projecting the vector composed of the two feature points on the normal, the length d2 of the projection vector is the size of the labial-tongue step.

[0169] Based on embodiment A6, the rationality detection of the first orthodontic design scheme based on the first orthodontic constraint corresponding to the target constraint detection item in the above step 502 can be realized by the following method:

[0170] determine the high-low step and the lip-tongue step between each set of adjacent teeth in the digital tooth model corresponding to the orthodontic step based on the first orthodontic constraint corresponding to the appearance constraint detection item; if the high-low step between any set of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme does not satisfy the first step condition, the rationality detection result further includes the tooth information of the adjacent teeth that do not satisfy the first step condition and the number of the orthodontic step in which the adjacent teeth that do not satisfy the first step condition are located.

[0171] if the lip-tongue step between any set of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme does not satisfy the second step condition, the rationality detection result further includes the tooth information of the adjacent teeth that do not satisfy the second step condition and the number of the orthodontic step in which the adjacent teeth that do not satisfy the second step condition are located.

[0172] if the high-low step between any set of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme satisfies the first step condition and the lip-tongue step between any set of adjacent teeth satisfies the second step condition, the rationality detection result further includes the detection corresponding to the appearance constraint detection item.

[0173] The above embodiments A1 to A6 are described by taking an example in which the target constraint detection item includes one preset detection item. If the detection of the one preset detection item is passed, the rationality detection result indicates that the rationality detection is passed. If the detection of the one detection item is failed, the rationality detection result indicates that the rationality detection is failed.

[0174] In the embodiments of the present application, the target constraint detection item can also include multiple preset detection items. The first orthodontic constraint corresponding to the target constraint detection item is also a combination of the constraints corresponding to the multiple preset detection items. For example, the target constraint detection item includes the adjacent tooth interference detection item and the adjacent tooth gap detection item. The first orthodontic constraint corresponding to the target constraint detection item is used to limit the mutual intrusion amount between any adjacent teeth in the digital tooth model corresponding to each orthodontic step in the tooth orthodontic process to satisfy the intrusion amount condition, and is also used to limit the gap between any adjacent teeth in the digital tooth model corresponding to each orthodontic step in the tooth orthodontic process to satisfy the gap condition. Correspondingly, the step 502 can be implemented by combining the above embodiments A1 and A3 to perform the rationality detection on the first orthodontic design scheme based on the first orthodontic constraint corresponding to the target constraint detection item, and obtain the rationality detection result, as follows:

[0175] Firstly, based on the first orthodontic constraint corresponding to the adjacent tooth interference detection item, the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to each orthodontic step in the first orthodontic design scheme is determined; and based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item, the gap between each group of adjacent teeth in the digital tooth model corresponding to each orthodontic step in the first orthodontic design scheme is determined.

[0176] Then, for each orthodontic step in the first orthodontic design scheme, it is detected whether the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to the orthodontic step meets the intrusion amount condition, and whether the gap between each group of adjacent teeth meets the gap condition.

[0177] If there is at least one group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme whose mutual intrusion amount does not meet the intrusion amount condition, and the gap between any group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme all meet the gap condition, the rationality detection result includes the tooth information of the adjacent teeth that do not meet the intrusion amount condition and the number of the orthodontic step in which the adjacent teeth that do not meet the intrusion amount condition are located, and the detection corresponding to the adjacent tooth intrusion amount detection item.

[0178] If there is at least one group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme whose gap does not meet the gap condition, and the intrusion amount between any group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme all meet the intrusion amount condition, the rationality detection result further includes the tooth information of the adjacent teeth that do not meet the gap condition and the number of the orthodontic step in which the adjacent teeth that do not meet the gap condition are located, and the detection corresponding to the adjacent tooth intrusion amount detection item.

[0179] If the intrusion amount between any group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme all meet the intrusion amount condition, and the gap between any group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme all meet the gap condition, the rationality detection result further includes the detection corresponding to the adjacent tooth intrusion amount detection item, and the detection corresponding to the adjacent tooth gap detection item.

[0180] If the mutual intrusion amount between at least one set of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme does not satisfy the intrusion amount condition, and the gap between at least one set of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme does not satisfy the gap condition, the rationality detection result includes the tooth information of the adjacent teeth that do not satisfy the intrusion amount condition, the number of the treatment step in which the adjacent teeth that do not satisfy the intrusion amount condition are located, the tooth information of the adjacent teeth that do not satisfy the gap condition, and the number of the treatment step in which the adjacent teeth that do not satisfy the gap condition are located.

[0181] In the case where the target constraint detection item includes a combination of the plurality of preset detection items, reference can be made to the related implementation of the target constraint detection item including the adjacent tooth interference detection item and the adjacent tooth gap detection item, which will not be listed one by one here.

[0182] The target constraint detection item includes a plurality of preset detection items, and whether the rationality detection is passed can be determined according to the detection results of the plurality of preset detection items.

[0183] In an embodiment, whether the rationality detection is passed can be determined according to a default rationality detection strategy. The default rationality detection strategy is provided with an association relationship between the plurality of preset detection items and the rationality detection result. For example, the target constraint detection item includes the adjacent tooth interference detection item, the re-visit timing rationality detection item, the adjacent tooth gap detection item, the medical rule requirement detection item, the tooth movement mode detection item, and the aesthetic constraint detection item. For example, the default rationality detection strategy is that: if all of the six detection items, i.e., the adjacent tooth interference detection item, the re-visit timing rationality detection item, the adjacent tooth gap detection item, the medical rule requirement detection item, the tooth movement mode detection item, and the aesthetic constraint detection item, are detected to pass, it is determined that the rationality detection is passed; and if all of the six detection items are detected to fail, it is determined that the rationality detection is failed. It should be understood that the specific content of the default rationality detection strategy is not limited in the present application.

[0184] In another embodiment, the doctor or the designer can set the rationality detection strategy by himself / herself. For example, the doctor or the designer sets that: if all of the four detection items, i.e., the adjacent tooth interference detection item, the adjacent tooth gap detection item, the medical rule requirement detection item, and the tooth movement mode detection item, are detected to pass, it is determined that the rationality detection is passed; and if four target items in the six detection items are detected to fail, it is determined that the rationality detection is failed; and as long as the adjacent tooth interference detection item is detected to fail, it is determined that the rationality detection is failed. It should be understood that the specific content of the self-set rationality detection strategy is not limited in the present application.

[0185] The above target constraint detection item can also include a constraint detection item defined by the doctor or the designer.

[0186] In step 503, if the rationality detection result indicates that the rationality detection fails, the electronic device modifies the constraint condition in the first orthodontic constraint according to the rationality detection result to obtain a second orthodontic constraint corresponding to the target constraint detection item.

[0187] In a possible implementation, if the rationality detection result indicates that the detection fails, the constraint condition required to be satisfied by the tooth feature parameter related to the detection item that fails in the first orthodontic constraint is modified according to the tooth information corresponding to the detection item that fails in the rationality detection result and the number of the orthodontic step, to obtain a second orthodontic constraint corresponding to the target constraint detection item.

[0188] For example, the rationality detection result includes the tooth information of the adjacent teeth that do not satisfy the gap condition and the number of the orthodontic step in which the adjacent teeth do not satisfy the gap condition, for example, the gap between tooth 3 and tooth 4 in the fourth orthodontic step is 0.1 mm, and the gap condition is that the gap between adjacent teeth is less than 0.01 mm, then the gap condition required to be satisfied by the gap between the adjacent teeth of the adjacent teeth that fails in the adjacent tooth gap detection item in the first orthodontic constraint can be modified, for example, the gap condition is modified to that the gap between adjacent teeth is less than 0.02 mm.

[0189] In step 504, the electronic device optimizes the first orthodontic design scheme based on the second orthodontic constraint.

[0190] In an implementation, the electronic device can take the second orthodontic constraint and the first orthodontic design scheme as inputs of an automatic algorithm to regenerate a new orthodontic design scheme.

[0191] For example, the rationality detection result indicates that the rationality detection fails, and the rationality detection result includes the tooth information of the adjacent teeth that do not satisfy the gap condition and the number of the orthodontic step in which the adjacent teeth do not satisfy the gap condition, the electronic device can optimize the first orthodontic design scheme based on the second orthodontic constraint in the following manner: the electronic device traverses each step scheme in the first orthodontic design scheme, records the position information of each tooth marked with a key position node in each step scheme, and then adjusts the position information of each tooth marked with a key position node, or adds some temporary nodes in the step scheme of the orthodontic step in which the adjacent teeth do not satisfy the gap condition, and adjusts the position information of each tooth marked with a key position node, to adjust the gap between the adjacent teeth that do not satisfy the gap condition in the first orthodontic constraint, so that the gap between the adjacent teeth in the generated new orthodontic design scheme satisfies the gap condition in the second orthodontic constraint.

[0192] In another implementation, the available region and the unavailable region in the first orthodontic design scheme can be determined, and a new orthodontic design scheme is generated under the constraints of the step-by-step scheme corresponding to all the teeth in the available region and the constraint conditions in the second orthodontic constraint.

[0193] The available region can be all the teeth in the half-jaw dentition, or the teeth in a local region in the half-jaw dentition, for example, all the teeth in the anterior region of the half-jaw dentition, or for example, all the teeth in the posterior region of the half-jaw dentition. Taking all the teeth in the maxillary dentition as the available region as an example, the step-by-step scheme corresponding to the 40 orthodontic steps of all the teeth in the maxillary dentition is available, that is, the step-by-step scheme corresponding to the 40 orthodontic steps of the maxillary dentition of the patient passes the rationality detection; for example, taking all the teeth in the mandibular dentition as the unavailable region as an example, there is at least one step-by-step scheme that is unavailable in the step-by-step scheme corresponding to the 40 orthodontic steps of the mandibular dentition, that is, there is at least one step-by-step scheme that does not pass the rationality detection in the step-by-step scheme corresponding to the 40 orthodontic steps of the mandibular dentition of the patient.

[0194] After determining the unavailable region in the first orthodontic design scheme, optimization can be performed on the unavailable region in the first orthodontic design scheme, that is, a new orthodontic design scheme is generated for the mandibular dentition of the patient. Specifically, the step-by-step scheme corresponding to the 40 orthodontic steps of the mandibular dentition can be optimized under the constraints of the step-by-step scheme corresponding to the 40 orthodontic steps of the maxillary dentition and the constraint conditions in the second orthodontic constraint, thereby generating a new orthodontic design scheme.

[0195] In some other embodiments, if the rationality detection result indicates that the rationality detection is passed, the first orthodontic design scheme is determined as the formal orthodontic design scheme, that is, the first orthodontic design scheme is no longer optimized.

[0196] It should be understood that the method embodiments provided in FIG. 1 and the method embodiments provided in FIG. 5 can be combined for use, for example, after the second orthodontic design scheme is generated using the method embodiments provided in FIG. 1, the method embodiments provided in FIG. 5 can be used to perform rationality detection on the second orthodontic design scheme, and the specific implementation can refer to the method steps in FIG. 5, only the first orthodontic design scheme in the method steps in FIG. 5 needs to be replaced by the second orthodontic design scheme. Of course, after the optimized first orthodontic design scheme is generated using the method embodiments provided in FIG. 5, the method embodiments provided in FIG. 1 can be used to adjust the optimized first orthodontic design scheme, or the method embodiments provided in FIG. 1 and the method embodiments provided in FIG. 5 can be alternately used until a satisfactory orthodontic design scheme is obtained for the doctor or the designer.

[0197] In the embodiments provided in the present application, the method provided by the embodiments of the present application is introduced from the perspective of the electronic device as the execution subject. In order to implement each function in the method provided by the embodiments of the present application, the electronic device can include a hardware structure and / or a software module, and each function is implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a certain function in the above functions is implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application of the technical solution and the design constraint conditions.

[0198] Based on the same technical concept, the embodiments of the present application provide a generation device of a treatment design scheme. The generation device can be used to execute the method shown in FIG. 1. As shown in FIG. 6, the generation device 600 includes an acquisition unit 601, a generation unit 602, a traversal unit 603, and an adjustment unit 604, wherein:

[0199] The acquisition unit 601 is configured to acquire tooth arrangement information of a patient, the tooth arrangement information including initial position information and target position information of a tooth arrangement of the patient.

[0200] The generation unit 602 is configured to generate a first treatment design scheme based on the tooth arrangement information and a preset scheme generation process, the first treatment design scheme including a step-by-step scheme of N treatment steps for the tooth arrangement of the patient to change from the initial position information to the target position information.

[0201] The traversal unit 603 is configured to traverse the step-by-step scheme of each treatment step in the first treatment design scheme, and record position information corresponding to a tooth marked with a key position node in the step-by-step scheme of the first treatment step, the first treatment step being a treatment step in the first treatment design scheme in which a tooth is marked with a key position node.

[0202] The adjustment unit 604 is configured to adjust the position of the tooth marked with the key position node in the step-by-step scheme of the first treatment step according to the position information corresponding to the tooth marked with the key position node in the step-by-step scheme of the first treatment step and a tooth treatment constraint, to obtain a second treatment design scheme.

[0203] Optionally, the adjustment unit 604 is specifically configured to: determine a step-by-step scheme in the first treatment design scheme that does not satisfy the tooth treatment constraint according to the position information corresponding to the tooth marked with the key position node in the step-by-step scheme of the first treatment step and the tooth treatment constraint; and optimize the step-by-step scheme that does not satisfy the tooth treatment constraint to obtain the second treatment design scheme by adjusting the position of the tooth marked with the key position node in the step-by-step scheme of the first treatment step.

[0204] Optionally, the adjusting unit 604 is further configured to add or delete a key position node in the first orthodontic design scheme, and determine a step scheme of a step in which a tooth mark related to the key position node exists in the first orthodontic design scheme after the key position node is added or deleted as a step scheme of the first orthodontic step.

[0205] Optionally, the tooth movement constraint includes a penetration constraint of the tooth in the tooth movement process, and the penetration constraint includes that mutual intrusion amounts between adjacent teeth in the tooth movement process are within a specified range, and the mutual intrusion amount between the adjacent teeth is determined according to a shortest distance from a sampling point on a tooth surface of one of the adjacent teeth to a tooth surface of the other tooth, or according to a volume of an overlapping space formed according to an overlapping region between the adjacent teeth.

[0206] Optionally, the constraint condition includes at least one of the following:

[0207] The mutual intrusion amount between adjacent teeth is within a specified range;

[0208] A movement amount of the tooth along a preset direction between two adjacent orthodontic steps is less than a first threshold value corresponding to the preset direction;

[0209] A vertical step between adjacent teeth is less than a second threshold value, and a labial-lingual step between the adjacent teeth is less than a third threshold value;

[0210] A number of teeth moving in the same direction at the same time is less than a fourth threshold value;

[0211] A torsional movement speed of the tooth along a tooth axis while the tooth is elongated is less than a fifth threshold value;

[0212] An overjet value between the maxillary dentition and the mandibular dentition is less than a sixth threshold value;

[0213] A movement speed of a tooth to which an attachment is attached between two adjacent orthodontic steps is less than a seventh threshold value;

[0214] A number of orthodontic steps between two adjacent enamel-removal positions is less than an eighth threshold value.

[0215] Optionally, the tooth movement constraint includes a penetration constraint of the tooth in the tooth movement process, and the penetration constraint includes that mutual intrusion amounts between adjacent teeth in the tooth movement process are within a specified range, and the mutual intrusion amount between the adjacent teeth is determined according to a shortest distance from a sampling point on a tooth surface of one of the adjacent teeth to a tooth surface of the other tooth, or according to a volume of an overlapping space formed according to an overlapping region between the adjacent teeth.

[0216] Optionally, the tooth movement constraint includes a movement amount limit constraint of the tooth in the tooth movement process, and the movement amount limit constraint includes that a movement amount of the tooth along a preset direction between any two adjacent orthodontic steps in the tooth movement process is less than a first threshold value corresponding to the preset direction, and the movement amount of the preset direction includes a translation amount along a tangent direction of a dental arch, a translation amount along a normal direction of a position point on the dental arch, and a translation amount along a common perpendicular direction of the tangent direction and the normal direction and three rotation scalar values.

[0217] Optionally, the tooth movement constraint comprises a reciprocating movement constraint of the teeth during the orthodontic treatment, and the reciprocating movement constraint comprises a one-way movement constraint of any tooth during the orthodontic treatment.

[0218] Optionally, the tooth movement constraint comprises an oral aesthetics constraint of the teeth during the orthodontic treatment, and the oral aesthetics constraint comprises a vertical step between any adjacent teeth during the orthodontic treatment, the vertical step being less than a second threshold value, and a labial-lingual step between the adjacent teeth during the orthodontic treatment, the labial-lingual step being less than a third threshold value, the vertical step being a height difference between vertical step feature points of the two adjacent teeth in an oral world coordinate system, and the labial-lingual step being a modulus of a projection vector formed after projection of labial-lingual step feature points of the two adjacent teeth onto a dental arch curve.

[0219] Optionally, the tooth movement constraint comprises a combined movement constraint of the teeth during the orthodontic treatment, and the combined movement constraint comprises an anchor constraint of a number of teeth simultaneously moving in the same direction being less than a fourth threshold value, and a taboo movement constraint of a torsional movement speed of the teeth along a dental axis while elongating being less than a fifth threshold value.

[0220] Optionally, the tooth movement constraint comprises a max-mandible occlusion relationship constraint of the teeth during the orthodontic treatment, and the max-mandible occlusion relationship constraint comprises an overlap metric value between the maxillary dentition and the mandibular dentition being less than a sixth threshold value, the overlap metric value being determined according to a spatial distance between overlap feature points corresponding to a feature dental arch curve of the maxillary dentition and a feature dental arch curve of the mandibular dentition.

[0221] Optionally, the tooth movement constraint comprises an attachment constraint and an enamel-removal constraint of the teeth during the orthodontic treatment, the attachment constraint comprising a movement speed of a tooth with an attachment being less than a seventh threshold value, and the enamel-removal constraint comprising a number of treatment steps between any two enamel-removal positions being less than an eighth threshold value.

[0222] Optionally, the key position node comprises any one of the following types: a single tooth node for marking a single tooth, a half jaw node for marking all teeth of a half jaw, and a temporary node for marking a single tooth or a half jaw tooth that needs to be optimized.

[0223] Based on the same technical concept, an embodiment of the present application provides a generation device of an orthodontic design scheme, which can be used to execute the method shown in FIG. 5. As shown in FIG. 7, the generation device 700 comprises an acquisition unit 701, a detection unit 702, a modification unit 703, and an optimization unit 704, wherein:

[0224] The acquisition unit 701 is configured to acquire a first orthodontic design scheme of a patient's teeth, the first orthodontic design scheme comprising a step-by-step scheme of N treatment steps for the patient's teeth to change from an initial position to a target position;

[0225] The detection unit 702 is configured to perform rationality detection on the first orthodontic design scheme based on a first orthodontic constraint corresponding to the target constraint detection item, to obtain a rationality detection result, wherein the first orthodontic constraint is used to limit a tooth feature parameter related to the target constraint detection item in a tooth correction process to meet a constraint condition.

[0226] The modification unit 703 is configured to modify a constraint condition in the first orthodontic constraint according to the rationality detection result if the rationality detection result indicates that the rationality detection fails, to obtain a second orthodontic constraint corresponding to the target constraint detection item.

[0227] The optimization unit 704 is configured to optimize the first orthodontic design scheme based on the second orthodontic constraint.

[0228] In a possible implementation, the target constraint detection item at least includes an adjacent tooth interference detection item, and the first orthodontic constraint corresponding to the adjacent tooth interference detection item is used to limit a mutual intrusion amount between any adjacent teeth in a digital tooth model corresponding to each correction step in a tooth correction process to meet an intrusion amount condition. The detection unit 702 is specifically configured to: determine the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to each correction step in the first orthodontic design scheme based on the first orthodontic constraint corresponding to the adjacent tooth interference detection item; detect, for each correction step in the first orthodontic design scheme, whether the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to the correction step meets the intrusion amount condition; and if the mutual intrusion amount between at least one group of adjacent teeth in the digital tooth model corresponding to any correction step in the first orthodontic design scheme does not meet the intrusion amount condition, the rationality detection result includes tooth information of the adjacent teeth that do not meet the intrusion amount condition and a number of the correction step in which the adjacent teeth that do not meet the intrusion amount condition are located. Alternatively, if the mutual intrusion amount between any group of adjacent teeth in the digital tooth model corresponding to any correction step in the first orthodontic design scheme meets the intrusion amount condition, the rationality detection result includes passing of the detection corresponding to the adjacent tooth interference detection item.

[0229] In a possible implementation, the target constraint detection item further includes a re-visit timing rationality detection item, the first orthodontic constraint corresponding to the re-visit timing rationality detection item is used to limit each re-visit timing in the tooth orthodontic process to meet a re-visit period condition of the patient; and the detection unit 702 is specifically configured to: based on the first orthodontic constraint corresponding to the adjacent tooth interference detection item, detect whether each re-visit timing in the first orthodontic design scheme meets the re-visit period condition of the patient; if there is a re-visit timing in the first orthodontic design scheme that does not meet the re-visit period condition of the patient, the rationality detection result further includes information of the re-visit timing that does not meet the re-visit period condition of the patient; or if each re-visit timing in the first orthodontic design scheme meets the re-visit period condition of the patient, the rationality detection result further includes detection corresponding to the re-visit timing rationality detection item.

[0230] In a possible implementation, the target constraint detection item further includes an adjacent tooth gap detection item, the first orthodontic constraint corresponding to the adjacent tooth gap detection item is used to limit a gap between any adjacent teeth in the digital tooth model corresponding to each orthodontic step in the tooth orthodontic process to meet a gap condition; and the detection unit 702 is specifically configured to: based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item, determine the gap between each group of adjacent teeth in the digital tooth model corresponding to each orthodontic step in the first orthodontic design scheme; for each orthodontic step in the first orthodontic design scheme, detect whether the gap between each group of adjacent teeth in the digital tooth model corresponding to the orthodontic step meets the gap condition; if there is at least one group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme, the gap between which does not meet the gap condition, the rationality detection result further includes tooth information of the adjacent teeth that do not meet the gap condition and a number of the orthodontic step in which the adjacent teeth that do not meet the gap condition are located; or if the gap between any group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme all meet the gap condition, the rationality detection result further includes detection corresponding to the adjacent tooth gap detection item.

[0231] In a possible implementation, the target constraint detection item further includes a medical rule requirement detection item, the first orthodontic constraint corresponding to the medical rule requirement detection item is used to limit that a moving speed of a tooth with an attachment between any adjacent treatment steps in a tooth movement process satisfies a speed condition, and is used to limit that a number of treatment steps between any two enamel-removing positions in the tooth movement process satisfies a step number condition; the detection unit 702 is specifically configured to: determine, based on the first orthodontic constraint corresponding to the adjacent tooth interference detection item, whether the moving speed of the tooth with the attachment between any adjacent treatment steps in the first orthodontic design scheme satisfies the speed condition, and whether the number of treatment steps between any two enamel-removing positions in the first orthodontic design scheme satisfies the step number condition; if the moving speed of any tooth with the attachment between any adjacent treatment steps in the first orthodontic design scheme does not satisfy the speed condition, the rationality detection result further includes tooth information of the tooth with the attachment that does not satisfy the speed condition and numbering of the adjacent treatment steps in which the tooth that does not satisfy the speed condition is located; or, if the number of treatment steps between any two enamel-removing positions in the first orthodontic design scheme does not satisfy the step number condition, the rationality detection result further includes tooth information corresponding to the enamel-removing position that does not satisfy the step number condition and numbering of the treatment step in which the enamel-removing position that does not satisfy the step number condition is located; or, if the moving speed of any tooth with the attachment between any adjacent treatment steps in the first orthodontic design scheme satisfies the speed condition, and the number of treatment steps between any two enamel-removing positions satisfies the step number condition, the rationality detection result further includes detection corresponding to the medical rule requirement detection item.

[0232] In a possible implementation, the target constraint detection item further includes a tooth movement mode detection item, the first orthodontic constraint corresponding to the tooth movement mode detection item is used to limit that a movement amount of each tooth in a preset direction between adjacent treatment steps in a tooth movement process satisfies a movement amount condition corresponding to the preset direction; the detection unit 702 is specifically configured to: determine, based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item, whether the movement amount of each tooth in the first orthodontic design scheme in the preset direction between any adjacent treatment steps satisfies the movement amount condition corresponding to the preset direction; if the movement amount of any tooth in the first orthodontic design scheme between any adjacent treatment steps does not satisfy the movement amount condition corresponding to the preset direction, the rationality detection result further includes tooth information that does not satisfy the movement amount condition corresponding to the preset direction and numbering of the adjacent treatment steps in which the tooth that does not satisfy the movement amount condition corresponding to the preset direction is located; or, if the movement amount of any tooth in the first orthodontic design scheme between any adjacent treatment steps satisfies the movement amount condition corresponding to the preset direction, the rationality detection result further includes detection corresponding to the tooth movement mode detection item.

[0233] In a possible implementation, the target constraint detection item further includes an aesthetic constraint detection item, and the first treatment constraint corresponding to the aesthetic constraint detection item is used to limit that the height step between any adjacent teeth in the digital tooth model corresponding to each treatment step in the tooth treatment process satisfies a first step condition, and the labial-lingual step between any adjacent teeth satisfies a second step condition; the detection unit 702 is specifically configured to: based on the first treatment constraint corresponding to the aesthetic constraint detection item, determine the height step and the labial-lingual step between each group of adjacent teeth in the digital tooth model corresponding to each treatment step; if the height step between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme does not satisfy the first step condition, the rationality detection result further includes tooth information of the adjacent teeth that do not satisfy the first step condition and a number of the treatment step in which the adjacent teeth that do not satisfy the first step condition are located; or, if the labial-lingual step between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme does not satisfy the second step condition, the rationality detection result further includes tooth information of the adjacent teeth that do not satisfy the second step condition and a number of the treatment step in which the adjacent teeth that do not satisfy the second step condition are located; or, if the height step between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme satisfies the first step condition, and the labial-lingual step between any group of adjacent teeth satisfies the second step condition, the rationality detection result further includes passing the detection corresponding to the aesthetic constraint detection item.

[0234] In a possible implementation, the modification unit 703 is specifically configured to: if the rationality detection result indicates that the detection fails, modify a constraint condition required to be satisfied by a tooth feature parameter related to the detection item that fails the detection in the first treatment constraint according to the tooth information and the number of the treatment step included in the detection item that fails the detection in the rationality detection result, to obtain the second treatment constraint corresponding to the target constraint detection item.

[0235] In a possible implementation, the treatment design scheme generation apparatus further includes a determination unit configured to: if the rationality detection result indicates that the rationality detection passes, determine the first treatment design scheme as an official treatment design scheme. The determination unit is not shown in the treatment design scheme generation apparatus 700.

[0236] When the electronic device is implemented by using hardware, the hardware implementation of the electronic device can refer to FIG. 8 and related descriptions thereof.

[0237] Referring to FIG. 8, the electronic device includes a display screen 801, one or more processors 802, a memory 803, one or more application programs (not shown), and one or more computer programs 804, which can be connected through one or more communication buses 805. The one or more computer programs 804 are stored in the memory 803 and configured to be executed by the one or more processors 802, and the one or more computer programs 804 include instructions that can be used to execute the method in any of the above embodiments.

[0238] The embodiments of the present application further provide a computer storage medium, which stores computer instructions, and when the computer instructions run on an electronic device, the electronic device executes the related method steps to implement the method in the above embodiments.

[0239] The embodiments of the present application further provide a computer program product, which, when running on a computer, causes the computer to execute the related steps to implement the method in the above embodiments.

[0240] In addition, the embodiments of the present application also provide a device, which can be a chip, an analysis item or a module. The device can include a processor and a memory connected to each other. The memory is used to store computer execution instructions. When the device is running, the processor can execute the computer execution instructions stored in the memory to make the chip execute the smile simulation interaction method in the above method embodiments.

[0241] The electronic device, computer storage medium, computer program product or chip provided by the embodiments of the present application are all used to execute the corresponding methods provided above, so the beneficial effects they can achieve can refer to the beneficial effects in the corresponding methods provided above, which will not be repeated here.

[0242] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0243] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the division of the apparatus embodiments is merely an example, and for example, the division of the modules or units can be different, and for example, multiple units or components can be combined or integrated into another unit, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0244] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, i.e., may be located in one place, or may be distributed in multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0245] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can be physically present separately, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0246] If the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product in essence or the part of the prior art that makes a contribution or the whole or part of the technical solutions of the present application. The software product is stored in a storage medium, and includes a plurality of instructions for causing an apparatus (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the method of each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various storage media that can store program codes.

[0247] The above is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for generating a treatment plan, characterized in that, The method comprises the following steps: obtaining dentition information of a patient, the dentition information comprising initial position information and target position information of the patient's dentition; generating a first orthodontic design scheme based on the dentition information and a preset scheme, the first orthodontic design scheme comprising a step-by-step scheme of N orthodontic steps for the patient's dentition to change from the initial position information to the target position information; traversing the step-by-step scheme of each orthodontic step in the first orthodontic design scheme, and recording position information of a tooth corresponding to a key position node marked in the step-by-step scheme of a first orthodontic step, the first orthodontic step being an orthodontic step in the first orthodontic design scheme in which a tooth is marked with a key position node; adjusting the position of the tooth marked with the key position node in the step-by-step scheme of the first orthodontic step according to the position information of the tooth corresponding to the key position node marked in the step-by-step scheme of the first orthodontic step and a tooth orthodontic constraint, to obtain a second orthodontic design scheme.

2. The method of claim 1, wherein, The tooth orthodontic constraint is used to limit the tooth orthodontic parameters in the orthodontic process to satisfy a preset constraint condition.

3. The method of claim 2, wherein, The constraint condition comprises at least one of the following: a mutual intrusion amount between adjacent teeth is within a specified range; a movement amount of a tooth in a preset direction between two adjacent orthodontic steps is less than a first threshold value corresponding to the preset direction; a vertical step between adjacent teeth is less than a second threshold value, and a labial-lingual step between adjacent teeth is less than a third threshold value; a number of teeth moving in the same direction at the same time is less than a fourth threshold value; a torsional movement speed of a tooth along a tooth axis while the tooth is elongating is less than a fifth threshold value; an overjet amount between the maxillary dentition and the mandibular dentition is less than a sixth threshold value; a movement speed of a tooth with an attached accessory between two adjacent orthodontic steps is less than a seventh threshold value; a number of orthodontic steps between two adjacent enamel-removal positions is less than an eighth threshold value.

4. The method of claim 1, wherein, The tooth orthodontic constraint comprises a penetration constraint for limiting a mutual intrusion amount between adjacent teeth in the orthodontic process to be within a specified range, the mutual intrusion amount between the adjacent teeth being determined according to a shortest distance from a sampling point on a tooth surface of one of the adjacent teeth to a tooth surface of the other tooth, or according to a volume of an overlapping space formed by an overlapping region between the adjacent teeth.

5. The method of claim 1, wherein, The tooth orthodontic constraint comprises a movement amount limitation constraint for limiting a movement amount of a tooth between any two adjacent orthodontic steps in the orthodontic process to be less than a first threshold value corresponding to a preset direction, the movement amount in the preset direction comprising a translation amount in a tangent direction of a dental arch, a translation amount in a normal direction of a position point on the tooth in the dental arch, and a translation amount in a common perpendicular direction of the tangent direction and the normal direction and three rotation scalar values.

6. The method of claim 1, wherein, The tooth orthodontic constraint comprises a reciprocating movement limitation constraint for limiting any tooth to keep unidirectional movement in the orthodontic process.

7. The method of claim 1, wherein, The tooth correction constraint includes an oral cavity aesthetics constraint of teeth in a correction process, and the oral cavity aesthetics constraint is used to limit a height difference between any adjacent teeth in the correction process to be less than a second threshold value, and a lip-tongue direction step to be less than a third threshold value, the height difference being a height difference between height step feature points of two adjacent teeth in an oral cavity world coordinate system, and the lip-tongue direction step being a modulus of a projection vector formed after the lip-tongue direction step feature points of the two adjacent teeth are projected onto a dental arch curve.

8. The method of claim 1, wherein, The tooth correction constraint includes a combined movement constraint of teeth in the correction process, and the combined movement constraint is used to limit a number of teeth moving in the same direction to be less than a fourth threshold value, and a torsional movement speed of teeth along a dental axis while being elongated to be less than a fifth threshold value.

9. The method of claim 1, wherein, The tooth correction constraint includes a maxilla-mandible occlusion relationship constraint of teeth in the correction process, and the maxilla-mandible occlusion relationship constraint is used to limit a coverage metric value between a maxillary dentition and a mandibular dentition to be less than a sixth threshold value, and the coverage metric value being determined according to a spatial distance between coverage feature points corresponding to a feature dental arch curve of the maxillary dentition and a feature dental arch curve of the mandibular dentition.

10. The method of claim 1, wherein, The tooth correction constraint includes an attachment constraint and an enamel-removal constraint of teeth in the correction process, the attachment constraint is used to limit a movement speed of teeth with an attachment to be less than a seventh threshold value, and the enamel-removal constraint is used to limit a number of correction steps between any two enamel-removal positions to be less than an eighth threshold value.

11. The method of claim 1, wherein, The method further comprises the following steps: According to the position information of the teeth marked with the key position nodes in the first correction step and the tooth correction constraint, the first correction step is adjusted to obtain a second correction design scheme, including: According to the position information of the teeth marked with the key position nodes in the first correction step and the tooth correction constraint, the first correction design scheme is determined to be a first correction step that does not satisfy the tooth correction constraint; 12. The method of claim 11, wherein, The first correction step is adjusted to obtain a second correction design scheme that optimizes the first correction step that does not satisfy the tooth correction constraint. Before the first correction step is adjusted to obtain a second correction design scheme that optimizes the first correction step that does not satisfy the tooth correction constraint, the method further comprises the following steps:

13. The method of any one of claims 1-12, wherein, In the first correction design scheme, a key position node is added or deleted, and a first correction step that exists in the first correction design scheme after the key position node is added or deleted is determined as the first correction step. The key position node includes any one of the following types:

14. A method of generating a treatment plan, comprising: A single tooth node for marking a single tooth, a half jaw node for marking all teeth of a half jaw, and a temporary node for marking a single tooth or a half jaw tooth that needs to be optimized. The method further comprises the following steps: obtaining a first treatment design scheme of teeth of a patient, the first treatment design scheme including a step-by-step scheme of N treatment steps for the teeth of the patient to change from initial positions to target positions; performing rationality detection on the first treatment design scheme based on a first treatment constraint corresponding to a target constraint detection item, to obtain a rationality detection result, the first treatment constraint being used to limit a tooth feature parameter related to the target constraint detection item in a tooth treatment process to satisfy a constraint condition; if the rationality detection result indicates that the rationality detection is failed, modifying the constraint condition in the first treatment constraint according to the rationality detection result, to obtain a second treatment constraint corresponding to the target constraint detection item; optimizing the first treatment design scheme based on the second treatment constraint.

15. The method of claim 14, wherein, the target constraint detection item at least includes an adjacent tooth interference detection item, the first treatment constraint corresponding to the adjacent tooth interference detection item being used to limit a mutual intrusion amount between any adjacent teeth in a digital tooth model corresponding to each treatment step in a tooth treatment process to satisfy an intrusion amount condition; the performing of the rationality detection on the first treatment design scheme based on the first treatment constraint corresponding to the target constraint detection item to obtain the rationality detection result includes: determining the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to each treatment step in the first treatment design scheme based on the first treatment constraint corresponding to the adjacent tooth interference detection item; detecting whether the mutual intrusion amount between each group of adjacent teeth in the digital tooth model corresponding to each treatment step in the first treatment design scheme satisfies the intrusion amount condition; if the mutual intrusion amount between at least one group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme does not satisfy the intrusion amount condition, the rationality detection result includes tooth information of the adjacent teeth that do not satisfy the intrusion amount condition and a number of the treatment step in which the adjacent teeth that do not satisfy the intrusion amount condition are located; or if the mutual intrusion amount between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme all satisfy the intrusion amount condition, the rationality detection result includes a detection passing the adjacent tooth interference detection item.

16. The method of claim 15, wherein, the target constraint detection item further includes a re-visit time rationality detection item, the first treatment constraint corresponding to the re-visit time rationality detection item being used to limit each re-visit time in a tooth treatment process to satisfy a re-visit period condition of the patient; the performing of the rationality detection on the first treatment design scheme based on the first treatment constraint corresponding to the target constraint detection item to obtain the rationality detection result includes: detecting whether each re-visit time in the first treatment design scheme meets the re-visit period condition of the patient based on the first treatment constraint corresponding to the re-visit time rationality detection item; if there is a re-visit time in the first treatment scheme that does not meet the re-visit period condition of the patient, the rationality detection result further includes information of the re-visit time that does not satisfy the re-visit period condition of the patient; or If each recheck time in the first orthodontic design scheme meets the recheck period condition of the patient, the rationality detection result further includes detection corresponding to the recheck time rationality detection item.

17. The method of claim 15, wherein, The target constraint detection item further includes an adjacent tooth gap detection item, and a first orthodontic constraint corresponding to the adjacent tooth gap detection item is used to limit a gap between any adjacent teeth in a digital tooth model corresponding to each orthodontic step in a tooth orthodontic process to meet a gap condition. The first orthodontic design scheme is subjected to rationality detection based on the first orthodontic constraint corresponding to the target constraint detection item, and a rationality detection result is obtained, including: Based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item, gaps between each group of adjacent teeth in the digital tooth model corresponding to each orthodontic step in the first orthodontic design scheme are determined. For each orthodontic step in the first orthodontic design scheme, it is detected whether the gaps between each group of adjacent teeth in the digital tooth model corresponding to the orthodontic step meet the gap condition. If there is at least one group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme whose gap does not meet the gap condition, the rationality detection result further includes tooth information of the adjacent teeth that do not meet the gap condition and the number of the orthodontic step in which the adjacent teeth that do not meet the gap condition are located; or If the gaps between any group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme all meet the gap condition, the rationality detection result further includes detection corresponding to the adjacent tooth gap detection item.

18. The method of claim 15, wherein, The target constraint detection item further includes a medical rule requirement detection item, and a first orthodontic constraint corresponding to the medical rule requirement detection item is used to limit a moving speed of a tooth with an attachment between any adjacent orthodontic steps in a tooth orthodontic process to meet a speed condition, and to limit a number of orthodontic steps between any two enamel-removal positions to meet a step number condition; The first orthodontic design scheme is subjected to rationality detection based on the first orthodontic constraint corresponding to the target constraint detection item, and a rationality detection result is obtained, including: Based on the first orthodontic constraint corresponding to the adjacent tooth gap detection item, gaps between each group of adjacent teeth in the digital tooth model corresponding to each orthodontic step in the first orthodontic design scheme are determined. If there is at least one group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme whose gap does not meet the gap condition, the rationality detection result further includes tooth information of the adjacent teeth that do not meet the gap condition and the number of the orthodontic step in which the adjacent teeth that do not meet the gap condition are located; or If the gaps between any group of adjacent teeth in the digital tooth model corresponding to any orthodontic step in the first orthodontic design scheme all meet the gap condition, the rationality detection result further includes detection corresponding to the adjacent tooth gap detection item. if the number of treatment steps of any enamel-removing position interval in the first treatment design scheme does not satisfy the step number condition, the rationality detection result further includes tooth information corresponding to the enamel-removing position that does not satisfy the step number condition and the number of the treatment step in which the enamel-removing position is located; or, if the moving speed of any tooth with an attached accessory between any adjacent treatment steps in the first treatment design scheme satisfies the speed condition, and the number of treatment steps of any enamel-removing position interval satisfies the step number condition, the rationality detection result further includes detection corresponding to the medical rule requirement detection item.

19. The method of claim 15, wherein, The target constraint detection item further includes a tooth movement mode detection item, and the first treatment constraint corresponding to the tooth movement mode detection item is used to limit the movement amount of each tooth in a preset direction between adjacent treatment steps in the tooth treatment process to satisfy the movement amount condition corresponding to the preset direction. The first treatment design scheme is subjected to rationality detection based on the first treatment constraint corresponding to the target constraint detection item, and a rationality detection result is obtained, including: determining whether the movement amount of each tooth in a preset direction between any adjacent treatment steps in the first treatment design scheme satisfies the movement amount condition corresponding to the preset direction based on the first treatment constraint corresponding to the adjacent tooth gap detection item; if the movement amount of any tooth between any adjacent treatment steps in the first treatment design scheme does not satisfy the movement amount condition corresponding to the preset direction, the rationality detection result further includes tooth information of the tooth that does not satisfy the movement amount condition corresponding to the preset direction and the number of the adjacent treatment steps in which the tooth that does not satisfy the movement amount condition corresponding to the preset direction is located; or, if the movement amount of any tooth between any adjacent treatment steps in the first treatment design scheme satisfies the movement amount condition corresponding to the preset direction, the rationality detection result further includes detection corresponding to the tooth movement mode detection item.

20. The method of claim 15, wherein, The target constraint detection item further includes an aesthetic constraint detection item, and the first treatment constraint corresponding to the aesthetic constraint detection item is used to limit the height-to-depth step between any adjacent teeth in the digital tooth model corresponding to each treatment step in the tooth treatment process to satisfy a first step condition, and the labial-to-lingual step between any adjacent teeth to satisfy a second step condition. The first treatment design scheme is subjected to rationality detection based on the first treatment constraint corresponding to the target constraint detection item, and a rationality detection result is obtained, including: determining the height-to-depth step and the labial-to-lingual step between each group of adjacent teeth in the digital tooth model corresponding to the treatment step based on the first treatment constraint corresponding to the aesthetic constraint detection item; if there is a height-to-depth step between any group of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme that does not satisfy the first step condition, the rationality detection result further includes tooth information of the adjacent teeth that do not satisfy the first step condition and the number of the treatment step in which the adjacent teeth that do not satisfy the first step condition are located; or, If the lip-tongue step between any set of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme does not satisfy the second step condition, the rationality detection result further includes tooth information of the adjacent teeth that do not satisfy the second step condition and the number of the treatment step in which the adjacent teeth that do not satisfy the second step condition are located; or, If the high-low step between any set of adjacent teeth in the digital tooth model corresponding to any treatment step in the first treatment design scheme satisfies the first step condition, and the lip-tongue step between any set of adjacent teeth satisfies the second step condition, the rationality detection result further includes detection corresponding to the aesthetic degree constraint detection item.

21. The method of any one of claims 15-20, wherein, If the rationality detection result indicates that the detection fails, the constraint condition in the first treatment constraint is modified according to the rationality detection result to obtain a second treatment constraint corresponding to the target constraint detection item, including: If the rationality detection result indicates that the detection fails, the constraint condition required to be satisfied by the tooth feature parameter related to the detection item that fails in the first treatment constraint is modified according to the tooth information and the treatment step number corresponding to the detection item that fails in the rationality detection result to obtain a second treatment constraint corresponding to the target constraint detection item.

22. The method of any one of claims 15-20, wherein, The method further includes: If the rationality detection result indicates that the rationality detection passes, the first treatment design scheme is determined as an official treatment design scheme.

23. An electronic device, comprising: The electronic device includes a processor and a memory, and the memory stores program instructions; the processor executes the program instructions in the memory to realize the steps of the method in any one of claims 1 to 22.

24. A computer-readable storage medium, characterized in that, Computer executable instructions are included, when the computer executable instructions run on a computer, so that the computer executes the steps of the method in any one of claims 1 to 22.

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