CN116350367A - Orthodontic bracket placement systems and methods - Google Patents

Abstract

The invention provides an orthodontic bracket placement system and method, the system comprising: a hand tool for moving the orthodontic bracket, the hand tool being in a first pose relationship with the orthodontic bracket; a dental splint disposed at a marking position of the target jaw; a visual sensor for capturing a first visual position of the hand tool and a second visual position of the dental tray; the processing unit is used for determining a mapping three-dimensional position of the orthodontic bracket in the three-dimensional model based on the first visual position, the first pose relation, the second visual position and the marked three-dimensional position of the marked position in the three-dimensional model of the target jaw bone, and determining position error information of the orthodontic bracket based on the mapping three-dimensional position and an ideal position of the orthodontic bracket; and the display unit is used for displaying the mapped three-dimensional position and/or position error information of the orthodontic bracket. The system and the method provided by the invention realize digital orthodontic bracket placement prompt and improve the orthodontic bracket placement precision.

Description

Orthodontic bracket placement systems and methods

technical field

The invention relates to the technical field of medical devices, in particular to an orthodontic bracket placement system and method.

Background technique

The precise positioning of the brackets is the key to the success of orthodontic treatment. The bonding position of the orthodontic brackets directly affects the target position of the misaligned teeth. At present, the orthodontist determines the bonding position of the orthodontic bracket on the tooth mainly through the doctor's naked eye observation and his own experience to adjust.

However, by manually positioning the bonding position of the orthodontic bracket, even after bonding the bracket by a very experienced orthodontist, there is a gap between the bonding position and the ideal bonding position, which leads to orthodontic treatment. There may also be a large gap between the result and the ideal result. Therefore, manual positioning of the placement position of the orthodontic bracket not only depends on manual clinical experience, but also its positioning accuracy is usually not good.

Contents of the invention

The present invention provides an orthodontic bracket placement system and method, which are used to solve the defect in the prior art that the placement position of the orthodontic bracket is manually positioned and the positioning accuracy is not high.

The present invention provides an orthodontic bracket placement system, comprising:

a hand-held tool, the hand-held tool is used to move the orthodontic bracket, and the hand-held tool and the orthodontic bracket are in a fixed first pose relationship;

A dental tray, the dental tray is arranged on the marked position of the target jaw;

a vision sensor for capturing a first visual position of the hand tool and a second visual position of the tray;

A processing unit, the processing unit is connected to the visual sensor, and the processing unit is configured to be based on the first visual position, the first pose relationship, the second visual position, and the marker position in the The three-dimensional position of the mark in the three-dimensional model of the target jaw, determine the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model, and based on the mapped three-dimensional position and the ideal position of the orthodontic bracket, determine Position error information of the orthodontic bracket;

A display unit, the display unit is connected to the processing unit, and the display unit is used to display the mapped three-dimensional position and/or position error information of the orthodontic bracket.

According to an orthodontic bracket placement system provided by the present invention, the hand-held tool is provided with a first visual mark;

The vision sensor is specifically configured to capture the visual position of the first visual marker as the first visual position of the hand tool.

According to an orthodontic bracket placement system provided by the present invention, the hand-held tool is provided with a connection end, and the connection end is used for detachable connection with the orthodontic bracket in the first pose relationship.

According to an orthodontic bracket placement system provided by the present invention, the bracket is connected to the second visual mark;

The visual sensor is specifically used to capture the visual position of the second visual marker;

The processing unit is further configured to determine a second visual position of the dental tray based on the visual position of the second visual marker and a second pose relationship between the dental tray and the second visual marker.

According to an orthodontic bracket placement system provided by the present invention, the bracket is provided with a marking point at the marking position;

The vision sensor is also used to capture a third visual position of the calibration probe when probing the marking point;

The processing unit is further configured to determine the second pose relationship based on the third visual position and the visual position of the second visual mark.

According to an orthodontic bracket placement system provided by the present invention, the processing unit is specifically used for:

determining a relative position between the orthodontic bracket and the marked position based on the first visual position, the first pose relationship, and the second visual position;

determining a coordinate transformation relationship based on the second visual position and the three-dimensional position of the mark in the three-dimensional model of the target jaw;

Based on the coordinate transformation relationship, the three-dimensional position of the marker and the relative position, determine the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model, and based on the mapped three-dimensional position and the orthodontic bracket The ideal position of the orthodontic bracket is determined to determine the position error information of the orthodontic bracket.

The present invention also provides a method for placing orthodontic brackets, comprising:

Acquiring the first visual position of the hand tool and the second visual position of the dental tray, the hand tool is used to move the orthodontic bracket, and there is a fixed first position between the hand tool and the orthodontic bracket A posture relationship, the dental tray is set on the marked position of the target jaw;

determining the orthodontic bracket based on the first visual position, the first pose relationship, the second visual position, and a marked three-dimensional position of the marked position in the three-dimensional model of the target jaw mapping a three-dimensional position in the three-dimensional model, and determining position error information of the orthodontic bracket based on the mapped three-dimensional position and the ideal position of the orthodontic bracket;

Displaying the mapped three-dimensional position and/or position error information of the orthodontic bracket.

The orthodontic bracket placement system and method provided by the present invention determine the orthodontic bracket based on the first visual position, the first pose relationship, the second visual position, and the marked three-dimensional position of the marked position in the three-dimensional model of the target jaw The mapped three-dimensional position of the slot in the three-dimensional model, and based on the mapped three-dimensional position and the ideal position of the orthodontic bracket, the position error information of the orthodontic bracket is determined and displayed, and the digital orthodontic bracket placement prompt is realized, and the orthodontic bracket is improved. Accuracy of bracket placement.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is the structural representation of the orthodontic bracket placement system provided by the present invention;

Fig. 2 is a schematic diagram of registration provided by the present invention;

Fig. 3 is a schematic flow chart of the orthodontic bracket placement method provided by the present invention;

Fig. 4 is a schematic flowchart of a method for acquiring a second visual position provided by the present invention;

Fig. 5 is a schematic flowchart of a method for determining a three-dimensional position of a map provided by the present invention.

Reference signs:

110: visual sensor; 120: processing unit; 130: display unit;

001: hand tools; 002: orthodontic brackets; 003: dental trays;

004: first visual mark; 005: second visual mark; 006: marker point;

007: Calibrate the probe;

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that unless otherwise specified and limited, the terms "first", "second" and "third" are for the purpose of clearly explaining the numbering of product parts and do not represent any substantive gender distinction. "Up", "Down", "Left", "Right" and so on are only used to indicate the relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention according to specific situations.

It should be noted that, unless otherwise specified and limited, the term "connection" should be understood in a broad sense, for example, it may be a direct connection or an indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the invention in specific situations.

Fig. 1 is a schematic structural view of the orthodontic bracket placement system provided by the present invention, as shown in Fig. 1, the system includes:

A hand-held tool 001, the hand-held tool 001 is used to move the orthodontic bracket 002, and the hand-held tool 001 and the orthodontic bracket 002 are in a fixed first pose relationship;

Dental tray 003, the dental tray 003 is set on the marked position of the target jaw;

a visual sensor 110, configured to capture the first visual position of the hand tool 001 and the second visual position of the dental tray 003;

A processing unit 120, the processing unit 120 is connected to the visual sensor 110, and the processing unit 120 is configured to, based on the first visual position, the first pose relationship, the second visual position, and the The marked three-dimensional position of the marked position in the three-dimensional model of the target jaw, determining the mapped three-dimensional position of the orthodontic bracket 002 in the three-dimensional model, and based on the mapped three-dimensional position and the orthodontic bracket 002 ideal position, determine the position error information of the orthodontic bracket 002;

A display unit 130 , the display unit 130 is connected to the processing unit 120 , and the display unit 130 is configured to display the mapped three-dimensional position and/or position error information of the orthodontic bracket 002 .

Specifically, the hand-held tool 001 is a tool for moving and placing the orthodontic bracket 002 . When the hand-held tool 001 moves the orthodontic bracket 002, the relationship between the hand-held tool 001 and the orthodontic bracket 002 is in a fixed first pose relationship. For example, the connecting end of the hand-held tool 001 can be designed to be inserted into the orthodontic bracket The structure of the matching jack or groove on the slot 002 makes the position and posture of the hand tool 001 relatively fixed relative to the orthodontic bracket 002. When the hand tool 001 is inserted into the jack or groove of the orthodontic bracket 002 After entering the slot, there will be no up, down, left, and right movement between the hand tool 001 and the orthodontic bracket 002 , that is, there is a fixed first transformation relationship between the position and posture relationship between the hand tool 001 and the orthodontic bracket 002 . It can be understood that, when the posture relationship between the hand tool 001 and the orthodontic bracket 002 is fixed, the first visual position of the hand tool 001 can be passed between the hand tool 001 and the orthodontic bracket 002 The fixed first pose relationship is transformed to calculate the actual position of the orthodontic bracket 002 in the visual coordinate system.

The dental tray 003 is often used to firmly connect the visual markers with the patient's jaw, that is, the target jaw in the present invention, so that the visual sensor 110 can indirectly locate the preset marker of the target jaw by recognizing the visual markers The actual position of the position in the visual coordinate system.

The visual sensor 110 can be used to capture the first position information of the handheld tool 001 in the visual coordinate system, that is, the first visual position. In addition, it can also be used to capture the second position information of the dental tray 003 in the visual coordinate system, namely second visual position. Based on the realization of the visual position captured by the visual sensor 110, the position information of the hand tool 001 and the tray 003 can be acquired through the depth camera, or the visual marks connected to the hand tool 001 and the tray 003 can be captured to obtain the hand tool. The position information of 001 and dental tray 003 is not specifically limited in this embodiment of the present invention.

The visual sensor 110 may transmit the collected first visual position and the second visual position to the processing unit 120 . The processing unit 120 here may be a device with certain computing and analysis capabilities, as a data processing and computing center of the orthodontic bracket 002 placement system, such as a smart device such as a computer.

The processing unit 120 can calculate the actual position of the orthodontic bracket 002 in the visual coordinate system through the first visual position of the hand-held tool 001 and the fixed first pose relationship between the hand-held tool 001 and the orthodontic bracket 002 . The first pose relationship here can be pre-calculated. Next, the processing unit 120 can determine the mark of the target jaw where the orthodontic bracket 002 and the dental tray 003 are located through the actual position of the orthodontic bracket 002 in the visual coordinate system and the second visual position of the dental tray 003 Relative positions between positions. The three-dimensional position of the mark in the three-dimensional model of the target jaw is known, combined with the second visual position of the tray 003 and the three-dimensional position of the mark, the mapping relationship between the visual coordinate system and the three-dimensional coordinate system can be determined, so that the positive The relative position between the orthodontic bracket 002 and the marked position of the target jaw where the dental tray 003 is located, maps the orthodontic bracket 002 to a three-dimensional coordinate system, and obtains the mapped three-dimensional position of the orthodontic bracket 002 in the three-dimensional model . Finally, the processing unit 120 can calculate the position error of the orthodontic bracket 002 in the three-dimensional coordinate system through the mapped three-dimensional position of the orthodontic bracket 002 in the three-dimensional coordinate system and the preset ideal position of the orthodontic bracket 002 information. The position error information here may be the position error information of the orthodontic bracket 002 in the three-dimensional coordinate system, and it is displayed in the three-dimensional coordinate system. It can be understood that when the position error information of the orthodontic bracket 002 is smaller, the gap between the actual position of the orthodontic bracket 002 and the ideal position is smaller, that is, the actual position of the orthodontic bracket 002 on the patient's teeth is different from the ideal position. The higher the coincidence degree of the position.

Among them, the ideal position of the orthodontic bracket 002 can be imported into the orthodontic scheme design software by importing the 3D jaw bone model obtained by the intraoral scanning equipment, and the ideal position of the orthodontic bracket 002 can be designed through the orthodontic scheme design software .

Finally, the processing unit 120 may transmit the determined mapped three-dimensional position and/or position error information to the display unit 130 . Here, the display unit 130 may be a display device for connecting to the processing unit 120 . For example, the display unit 130 is used to display the mapped three-dimensional position and/or position error information of the orthodontic bracket 002 in the three-dimensional coordinate system, and for another example, the display unit 130 displays the position of the orthodontic bracket 002 in the visual coordinate system The error information guides medical personnel to place the orthodontic bracket 002, which is not specifically limited in this embodiment of the present invention.

The system provided by the embodiment of the present invention determines the position of the orthodontic bracket in the three-dimensional model based on the first visual position, the first pose relationship, the second visual position, and the marked three-dimensional position of the marked position in the three-dimensional model of the target jaw The mapped three-dimensional position, and based on the mapped three-dimensional position and the ideal position of the orthodontic bracket, determine the position error information of the orthodontic bracket and display it, realize the digital orthodontic bracket placement prompt, and improve the orthodontic bracket placement accuracy precision.

Based on the above-mentioned embodiment, the hand-held tool 001 is provided with a first visual mark 004;

The visual sensor 110 is specifically used to capture the visual position of the first visual mark 004 as the first visual position of the handheld tool 001 .

Here, the first visual mark 004 may include a plurality of visual marks, each of which is a reflective component such as a reflective ball or a reflective sheet, and the positions of at least three visual marks among the plurality of visual marks are not collinear. Specifically, the visual sensor 110 captures the spatial positions of at least three non-colinear reflective balls or reflective sheets disposed on the hand tool 001 , thereby determining the first visual position of the hand tool 001 .

In the system provided by the embodiment of the present invention, the hand-held tool 001 is provided with the first visual mark 004; the visual sensor 110 is specifically used to capture the spatial position of the first visual mark 004 to determine the first position information of the hand-held tool 001, Accurately acquire the first visual position of the handheld tool 001 at a lower cost.

Based on any of the above-mentioned embodiments, the hand tool 001 is provided with a connecting end, and the connecting end is used for detachably connecting with the orthodontic bracket 002 in the first pose relationship.

Here, the hand-held tool 001 is provided with a connecting end, which can be an end of the hand-held tool 001, such as the top of the hand-held tool 001, and the connecting end can be inserted into the socket or groove of the orthodontic bracket 002 to Realize the detachable connection with the orthodontic bracket 002 in a fixed first posture relationship. It can be understood that when the connecting end of the hand tool 001 is inserted into the jack or groove on the orthodontic bracket 002, the hand tool 001 cannot move up, down, left, or right in the jack or groove of the orthodontic bracket 002 Yes, it can move with the orthodontic bracket 002 as a whole in the first pose relationship. Generally speaking, the hand-held tool 001 can be connected with a single orthodontic bracket 002 to move the orthodontic bracket 002 on the teeth to be corrected. When the single orthodontic bracket 002 is moved to its ideal position by the hand-held tool 001 After that, the connecting end of the hand tool 001 can be disassembled from the orthodontic bracket 002.

Based on any of the above-mentioned embodiments, the dental tray 003 is connected with the second visual mark 005;

The visual sensor 110 is specifically used to capture the visual position of the second visual mark 005;

The processing unit 120 is further configured to determine the second position of the dental tray 003 based on the visual position of the second visual marker 005 and the second pose relationship between the dental tray 003 and the second visual marker 005. Two visual positions.

Specifically, in order to facilitate the positioning of the dental tray 003 , a second visual mark 005 may be provided to be connected to the dental tray 003 . The dental tray 003 here can be made by 3D printing based on the 3D model of the target jaw, and the inner surface of the dental tray 003 is consistent with the outer contour surface of the fitting part of the target jaw. Moreover, when the orthodontic bracket 002 needs to be placed, the dental tray 003 can be tightly fastened to the marked position of the target jaw dentition.

The second visual mark 005 connected to the dental tray 003 can include multiple visual marks, where the visual marks can be reflective components such as reflective balls or reflective sheets, and the positions of at least three visual marks in the multiple visual marks are different. collinear. The second visual mark 005 can be fixed on the dental tray 003 by means of plugging or the like, and protrude out of the patient's mouth. Thus, there is a definite relationship between the second visual mark 005 and the dental tray 003 and the patient's jaw, that is, the second pose relationship T.

The visual sensor 110 may capture the visual position of the second visual marker 005 and transmit the visual position of the second visual marker 005 to the processing unit 120 .

The processing unit 120 may calculate the second visual position of the dental tray 003 by applying the visual position of the second visual marker 005 based on the predetermined second pose relationship T between the dental tray 003 and the second visual marker 005, or is the visual location of the marked location on the target jaw. It can be understood that the second pose relationship T here may be obtained through pre-registration.

Based on any of the above-mentioned embodiments, FIG. 2 is a schematic diagram of registration provided by the present invention. As shown in FIG. 2 , the dental tray 003 is provided with a marking point 006 at the marking position;

The visual sensor 110 is also used to capture the third visual position of the calibration probe 007 when detecting the marking point 006;

The processing unit 120 is further configured to determine the second pose relationship based on the third visual position and the visual position of the second visual marker 005 .

Specifically, marking points 006 that can characterize the dentition features of the target jawbone at the marked position can be set on the dental tray 003 . The marking points 006 can be set as tapered holes, or can be set in other shapes, and the dental tray 003 and the marking points 006 on the dental tray 003 can be made by 3D printing equipment. It can be understood that the position of the marked point 006 on the dental tray 003 corresponds to the position information of the marked position on the three-dimensional model of the target jaw. Or it can be understood that the marked position of the target jaw can be reflected as the position of the multiple marked points 006 .

In order to obtain the second pose relationship, that is, to realize the configuration, the calibration probe 007 can be used to detect the marking point 006 on the dental tray 003, and the visual sensor 110 can be used to record the visual position of the calibration probe 007 when detecting the marking point 006, namely Tertiary visual position. It can be understood that the third visual position here reflects the position of the mark in the visual coordinate system, and the relationship between the third visual position and the visual position of the second visual mark 005, that is, the second pose relationship T, can be used to realize the position conversion of the second visual marker 005 to a marker position that can represent the target jaw.

Based on any of the above embodiments, during the actual placement of the orthodontic brackets, the processing unit is specifically used for:

determining a relative position between the orthodontic bracket and the marked position based on the first visual position, the first pose relationship, and the second visual position;

determining a coordinate transformation relationship based on the second visual position and the three-dimensional position of the mark in the three-dimensional model of the target jaw;

Based on the coordinate transformation relationship, the three-dimensional position of the marker and the relative position, determine the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model, and based on the mapped three-dimensional position and the orthodontic bracket The ideal position of the orthodontic bracket is determined to determine the position error information of the orthodontic bracket.

Specifically, after the processing unit acquires the first visual position and the first pose relationship, it can determine the position of the orthodontic bracket in the visual coordinate system, and by comparing the position of the orthodontic bracket in the visual coordinate system, position and the second visual position of the marked position to obtain the relative position between the orthodontic bracket and the marked position representing the target jaw, that is, to realize the actual position of the orthodontic bracket→the relative position based on the marked position of the target jaw The conversion of the position.

In addition, the processing unit may determine the coordinate conversion relationship from the visual coordinate system to the three-dimensional coordinate system according to the second visual position of the marked position and the marked three-dimensional position of the marked position in the three-dimensional model.

Based on this, the processing unit can apply the coordinate transformation relationship to convert the relative position between the orthodontic bracket and the marked position representing the target jaw in the visual coordinate system to the three-dimensional coordinate system, so as to obtain the three-dimensional coordinates of the orthodontic bracket. The three-dimensional position of the mapping under the system, so as to realize the conversion of the actual position of the orthodontic bracket → the relative position based on the marked position of the target jaw → the three-dimensional mapping position of the orthodontic bracket. Then compare the mapped 3D position with the ideal position of the pre-set orthodontic bracket on the 3D model to calculate the position error information.

It can be understood that, in the above process, the three-dimensional position of the mark in the three-dimensional model of the target jaw is determined and known, by collecting the visual position of the second visual mark connected to the dental tray, and applying the second The pose relationship T can obtain the second visual position of the marked position, and map the second visual position to the three-dimensional position of the marked to determine the coordinate transformation relationship between the visual coordinate system and the three-dimensional coordinate system.

Based on any of the above-mentioned embodiments, Fig. 3 is a schematic flow chart of the orthodontic bracket placement method provided by the present invention, as shown in Fig. 3, the method includes:

Step 310, acquire the first visual position of the hand-held tool, and acquire the second visual position of the dental tray, the hand-held tool is used to move the orthodontic bracket, and the distance between the hand-held tool and the orthodontic bracket is A fixed first pose relationship, the dental tray is set at the marked position of the target jaw.

Specifically, the handheld tool is a tool for moving and placing orthodontic brackets. When the hand-held tool moves the orthodontic bracket, the first pose relationship between the hand-held tool and the orthodontic bracket is fixed. For example, the connecting end of the hand-held tool can be designed to be inserted into the matching socket The structure of the hole or groove, so that the position and posture of the hand-held tool are fixed relative to the orthodontic bracket. After the hand-held tool is inserted into the socket or groove of the orthodontic bracket, the hand-held tool and the orthodontic bracket There is no up, down, left, or right movement between the slots, that is, there is a fixed first transformation relationship between the position and posture relationship between the hand tool and the orthodontic bracket. It can be understood that, when the pose relationship between the hand-held tool and the orthodontic bracket is fixed, the first visual position of the hand-held tool can be determined by the fixed first position between the hand-held tool and the orthodontic bracket. The relationship between posture and posture is transformed to calculate the actual position of the orthodontic bracket in the visual coordinate system.

Dental pallets are often used to firmly connect visual markers with the patient's jaw, that is, the target jaw in the present invention, so that the visual sensor can indirectly locate the preset marker position of the target jaw by recognizing the visual marker. The actual position in the visual coordinate system.

The visual sensor can be used to capture the first position information of the handheld tool in the visual coordinate system, that is, the first visual position. In addition, the visual sensor can also be used to capture the second position information of the dental tray in the visual coordinate system, that is, the second position information. Two visual positions. Thus, the first visual position of the hand tool and the second visual position of the dental tray can be obtained.

Step 320, based on the first visual position, the first pose relationship, the second visual position, and the marked three-dimensional position of the marked position in the three-dimensional model of the target jaw, determine the normal A mapped three-dimensional position of the orthodontic bracket in the three-dimensional model, and determining position error information of the orthodontic bracket based on the mapped three-dimensional position and the ideal position of the orthodontic bracket.

Step 330, displaying the mapped three-dimensional position and/or position error information of the orthodontic bracket.

Specifically, the actual position of the orthodontic bracket in the visual coordinate system can be calculated through the first visual position of the hand-held tool and the fixed first pose relationship between the hand-held tool and the orthodontic bracket. The first pose relationship here can be pre-calculated. In addition, the relative position between the orthodontic bracket and the marked position of the target jaw where the dental tray is located can be determined through the actual position of the orthodontic bracket in the visual coordinate system and the second visual position of the dental tray. The three-dimensional position of the mark in the three-dimensional model of the target jaw is known. Combining the second visual position of the tray and the three-dimensional position of the mark, the mapping relationship between the visual coordinate system and the three-dimensional coordinate system can be determined, so as to combine the orthodontic The relative position between the bracket and the marked position of the target jaw where the dental tray is located, the orthodontic bracket is mapped to the three-dimensional coordinate system, and the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model is obtained. Finally, the position error information of the orthodontic brackets in the three-dimensional coordinate system can be calculated through the mapped three-dimensional position of the orthodontic brackets in the three-dimensional coordinate system and the preset ideal position of the orthodontic brackets. The position error information here may be the position error information of the orthodontic bracket in the three-dimensional coordinate system, and is displayed in the three-dimensional coordinate system. It can be understood that when the position error information of the orthodontic bracket is smaller, the gap between the actual position of the orthodontic bracket and the ideal position is smaller, that is, the coincidence of the actual position of the orthodontic bracket on the patient's teeth and the ideal position The higher the degree.

After the above calculation is completed, the mapped three-dimensional position and/or position error information of the orthodontic bracket can be displayed to guide the medical staff to place the orthodontic bracket.

The method provided by the embodiment of the present invention determines the position of the orthodontic bracket in the three-dimensional model based on the first visual position, the first pose relationship, the second visual position, and the marked three-dimensional position of the marked position in the three-dimensional model of the target jaw The mapped three-dimensional position, and based on the mapped three-dimensional position and the ideal position of the orthodontic bracket, determine the position error information of the orthodontic bracket and display it, realize the digital orthodontic bracket placement prompt, and improve the orthodontic bracket placement accuracy precision.

Based on any of the above-mentioned embodiments, Fig. 4 is a schematic flowchart of the method for acquiring the second visual position provided by the present invention. As shown in Fig. 4, in step 310, the acquisition of the second visual position of the dental tray includes:

Step 311, acquiring the visual position of the second visual mark connected to the dental tray;

Step 312: Determine a second visual position of the dental tray based on the visual position of the second visual marker and a second pose relationship between the dental tray and the second visual marker.

Specifically, in order to facilitate the positioning of the dental tray, a second visual mark may be provided to be connected to the dental tray. In addition, registration is performed in advance to obtain a second pose relationship T between the dental tray and the second visual marker.

In practical applications, the visual position of the second visual mark can be captured by the visual sensor, and then based on the second pose relationship T, the visual position of the second visual mark can be used to calculate the second visual position of the dental tray, that is, the target jaw Visual location of the marked location on the bone.

Further, the second pose relationship can be determined based on the following steps:

obtaining a third visual position of the calibration probe when detecting the marking point on the dental tray;

The second pose relationship is determined based on the third visual position and the visual position of the second visual marker.

Specifically, marking points that can characterize the dentition features of the target jaw at the marked position can be set on the dental tray. The marking points can be set as tapered holes or other shapes, and the dental tray and the marking points on the dental tray can be made by 3D printing equipment. It can be understood that the position of the marked point on the dental tray corresponds to the position information of the marked position on the three-dimensional model of the target jaw. Or it can be understood that the marked position of the target jaw can be reflected as the position of multiple marked points.

In order to obtain the second pose relationship, that is, to realize the configuration, the calibration probe can be used to detect the marking points on the dental tray, and the visual sensor can record the visual position of the calibration probe when detecting the marking points, that is, the third visual position. It can be understood that the third visual position here reflects the position of the marker in the visual coordinate system, and the relationship between the third visual position and the visual position of the second visual marker is the second pose relationship T , can be used to realize the position conversion of the second visual marker to the marker position that can represent the target jaw.

Based on any of the above-mentioned embodiments, FIG. 5 is a schematic flowchart of a method for determining a three-dimensional mapping position provided by the present invention. As shown in FIG. 5 , in step 320, the first visual position, the first pose relationship, the second visual position, and the marked three-dimensional position of the marked position in the three-dimensional model of the target jaw, determining the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model, comprising:

Step 321 , based on the first visual position, the first pose relationship, and the second visual position, determine the relative position between the orthodontic bracket and the marked position.

Specifically, after obtaining the first visual position and the first pose relationship, the position of the orthodontic bracket in the visual coordinate system can be determined, and by comparing the position of the orthodontic bracket in the visual coordinate system with The second visual position of the marked position, to obtain the relative position between the orthodontic bracket and the marked position representing the target jaw, that is, to realize the actual position of the orthodontic bracket → the relative position based on the marked position of the target jaw convert.

Step 322: Determine a coordinate transformation relationship based on the second visual position and the three-dimensional position of the mark in the three-dimensional model of the target jaw.

Specifically, the coordinate conversion relationship from the visual coordinate system to the three-dimensional coordinate system may be determined according to the second visual position of the marker position and the marker three-dimensional position of the marker position in the three-dimensional model. It can be understood that, in the above process, the three-dimensional position of the mark in the three-dimensional model of the target jaw is determined and known, by collecting the visual position of the second visual mark connected to the dental tray, and applying the second The pose relationship T can obtain the second visual position of the marked position, and map the second visual position to the three-dimensional position of the marked to determine the coordinate transformation relationship between the visual coordinate system and the three-dimensional coordinate system.

Step 323: Determine the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model based on the coordinate transformation relationship, the three-dimensional position of the marker, and the relative position.

Specifically, the coordinate transformation relationship can be applied to convert the relative position between the orthodontic bracket in the visual coordinate system and the marked position representing the target jaw to the three-dimensional coordinate system, so as to obtain the orthodontic bracket in the three-dimensional coordinate system The mapped three-dimensional position of the orthodontic bracket, so as to realize the conversion of the actual position of the orthodontic bracket → the relative position based on the marked position of the target jaw → the three-dimensional mapped position of the orthodontic bracket.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. An orthodontic bracket placement system, characterized in that, comprising: a hand-held tool, the hand-held tool is used to move the orthodontic bracket, and the hand-held tool and the orthodontic bracket are in a fixed first pose relationship; A dental tray, the dental tray is arranged on the marked position of the target jaw; a vision sensor for capturing a first visual position of the hand tool and a second visual position of the tray; A processing unit, the processing unit is connected to the visual sensor, and the processing unit is configured to be based on the first visual position, the first pose relationship, the second visual position, and the marker position in the The three-dimensional position of the mark in the three-dimensional model of the target jaw, determine the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model, and based on the mapped three-dimensional position and the ideal position of the orthodontic bracket, determine Position error information of the orthodontic bracket; A display unit, the display unit is connected to the processing unit, and the display unit is used to display the mapped three-dimensional position and/or position error information of the orthodontic bracket. 2. The orthodontic bracket placement system according to claim 1, wherein the hand tool is provided with a first visual mark; The vision sensor is specifically configured to capture the visual position of the first visual marker as the first visual position of the hand tool. 3. The orthodontic bracket placement system according to claim 1, wherein the hand-held tool is provided with a connecting end, and the connecting end is used to be in the first posture relationship with the orthodontic bracket. Detachable connection. 4. The orthodontic bracket placement system according to claim 1, wherein the bracket is connected to a second visual marker; The visual sensor is specifically used to capture the visual position of the second visual marker; The processing unit is further configured to determine a second visual position of the dental tray based on the visual position of the second visual marker and a second pose relationship between the dental tray and the second visual marker. 5. The orthodontic bracket placement system according to claim 4, wherein the bracket is provided with a marking point at the marking position; The vision sensor is also used to capture a third visual position of the calibration probe when probing the marking point; The processing unit is further configured to determine the second pose relationship based on the third visual position and the visual position of the second visual marker. 6. The orthodontic bracket placement system according to any one of claims 1 to 5, wherein the processing unit is specifically used for: determining a relative position between the orthodontic bracket and the marked position based on the first visual position, the first pose relationship, and the second visual position; determining a coordinate transformation relationship based on the second visual position and the three-dimensional position of the mark in the three-dimensional model of the target jaw; Based on the coordinate transformation relationship, the three-dimensional position of the marker and the relative position, determine the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model, and based on the mapped three-dimensional position and the orthodontic bracket The ideal position of the orthodontic bracket is determined to determine the position error information of the orthodontic bracket. 7. A method for placing orthodontic brackets, comprising: Acquiring the first visual position of the hand tool and the second visual position of the dental tray, the hand tool is used to move the orthodontic bracket, and there is a fixed first position between the hand tool and the orthodontic bracket A posture relationship, the dental tray is set on the marked position of the target jaw; determining the orthodontic bracket based on the first visual position, the first pose relationship, the second visual position, and a marked three-dimensional position of the marked position in the three-dimensional model of the target jaw mapping a three-dimensional position in the three-dimensional model, and determining position error information of the orthodontic bracket based on the mapped three-dimensional position and the ideal position of the orthodontic bracket; Displaying the mapped three-dimensional position and/or position error information of the orthodontic bracket. 8. The method for placing orthodontic brackets according to claim 7, wherein the method is based on the first visual position, the first pose relationship, the second visual position, and the marked position Marking the three-dimensional position in the three-dimensional model of the target jaw, determining the mapped three-dimensional position of the orthodontic bracket in the three-dimensional model, comprising: determining a relative position between the orthodontic bracket and the marked position based on the first visual position, the first pose relationship, and the second visual position; determining a coordinate transformation relationship based on the second visual position and the three-dimensional position of the mark in the three-dimensional model of the target jaw; A mapped three-dimensional position of the orthodontic bracket in the three-dimensional model is determined based on the coordinate transformation relationship, the three-dimensional position of the marker, and the relative position. 9. The method for placing orthodontic brackets according to claim 7, wherein said acquiring the second visual position of the bracket comprises: obtaining a visual position of a second visual marker connected to the dental tray; The second visual position of the dental tray is determined based on the visual position of the second visual marker and a second pose relationship between the dental tray and the second visual marker. 10. The orthodontic bracket placement method according to claim 9, wherein the determining step of the second pose relationship comprises: obtaining a third visual position of the calibration probe when detecting the marking point on the dental tray; The second pose relationship is determined based on the third visual position and the visual position of the second visual marker.

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