CN-122005121-A - Navigation positioning method and system for tooth orthodontic bracket

CN122005121ACN 122005121 ACN122005121 ACN 122005121ACN-122005121-A

Abstract

The application provides a navigation positioning method and a system of a tooth orthodontic bracket, wherein the method comprises the steps of determining a tooth arrangement scheme according to the oral state and the orthodontic target of a user, and determining a first characteristic parameter set of the spatial position relation between the teeth of the user and the target position of the orthodontic bracket; the method comprises the steps of pre-pasting an orthodontic bracket on a user tooth, collecting real-time images of the orthodontic bracket and the user tooth by adopting a preset augmented reality device, determining a second characteristic parameter set of a spatial position relationship between the user tooth and the actual position of the orthodontic bracket, comparing the first characteristic parameter set and the second characteristic parameter set, determining a deviation distance and a deviation angle of the orthodontic bracket relative to a target position of the orthodontic bracket, and controlling the orthodontic bracket to move to the target position of the orthodontic bracket according to the deviation distance and the deviation angle. According to the application, the orthodontic bracket is subjected to real-time navigation and positioning by adopting the augmented reality technology, so that accurate operation guidance is provided for doctors, and the operation accuracy and efficiency are improved.

Inventors

WU QIAOJIAO
JIANG LINGYONG
XIE LE
ZHENG MEILI

Assignees

上海交通大学

Dates

Publication Date: 20260512
Application Date: 20260130

Claims (10)

1. A method of navigational positioning of a dental orthodontic bracket, comprising: determining a tooth arrangement scheme according to the oral state and the orthodontic target of the user; Determining a first set of characteristic parameters of a spatial positional relationship between the user's teeth and a target position of the orthodontic bracket according to the tooth arrangement scheme; Pre-adhering the orthodontic bracket to the teeth of the user, and acquiring real-time images of the orthodontic bracket and the teeth of the user by adopting a preset augmented reality device; determining a second set of characteristic parameters of a spatial positional relationship between the user's teeth and the actual position of the orthodontic bracket from real-time images of the orthodontic bracket and the user's teeth; determining a deviation distance and a deviation angle of the orthodontic bracket relative to a target position of the orthodontic bracket by comparing the first and second sets of characteristic parameters; And controlling the orthodontic bracket to move to the target position of the orthodontic bracket according to the deviation distance and the deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket.
2. The method of navigational positioning of dental orthodontic brackets of claim 1 wherein the tooth placement regimen includes a target position of the user's teeth, the orthodontic brackets that match the user's teeth, and a target position of the orthodontic brackets.
3. The method of claim 1, wherein determining a first set of characteristic parameters of a spatial positional relationship between the user's teeth and a target location of the orthodontic bracket according to the tooth placement scheme comprises: generating a three-dimensional digital model of the user's teeth and the orthodontic brackets according to the tooth arrangement scheme; And extracting spatial position information from the three-dimensional digital model of the user teeth and the orthodontic bracket, and determining relative spatial position parameters between the user teeth and the target positions of the orthodontic bracket as a first characteristic parameter set of the spatial position relationship between the user teeth and the target positions of the orthodontic bracket.
4. A method of navigational positioning of a dental orthodontic bracket according to claim 3, wherein said extracting spatial position information from a three-dimensional digital model of said user's teeth and said orthodontic bracket, determining a relative spatial position parameter between said user's teeth and a target position of said orthodontic bracket as a first set of characteristic parameters of a spatial positional relationship between said user's teeth and said target position of said orthodontic bracket, comprises: Dividing the three-dimensional digital model of the user teeth and the orthodontic brackets to determine a tooth grid model of each user tooth; sequentially extracting tooth characteristics and tooth contours of the tooth grid model of each user tooth, and determining the geometric characteristics of each user tooth; carrying out feature recognition on the tooth grid model of each user tooth by adopting a preset feature matching algorithm, and determining the geometric features of the orthodontic bracket; Determining a relative spatial position parameter between the user's teeth and a target position of the orthodontic bracket according to the geometric features of the user's teeth and the geometric features of the orthodontic bracket; A set of relative spatial position parameters between the user's teeth and a target position of the orthodontic bracket is taken as the first set of characteristic parameters.
5. The method of claim 4, wherein determining the relative spatial location parameter between the user's teeth and the target location of the orthodontic bracket based on the geometry of the user's teeth and the geometry of the orthodontic bracket comprises: Defining a local coordinate system on the three-dimensional digital model of the user teeth, wherein the local coordinate system takes a clinical crown central point as an origin, takes the clinical long axis direction of the three-dimensional digital model of the user teeth as a Z axis, takes the oral midline direction as a Y axis, and takes the direction pointing to the labial cheek side or the buccal side based on a right-hand rule as an X axis; Registering the three-dimensional digital model of the orthodontic bracket onto a crown of the three-dimensional digital model of the user's tooth; Defining a coordinate system of the orthodontic bracket on the registered three-dimensional digital model of the orthodontic bracket, wherein the coordinate system of the orthodontic bracket takes a substrate center or a groove center as an origin, takes a direction parallel to the groove as a Z axis, a near-far middle symmetry axis as a Y axis and a gingival margin as an X axis; And determining a homogeneous transformation matrix of the coordinate system of the orthodontic bracket relative to the local coordinate system of the three-dimensional digital model of the user tooth as a relative spatial position parameter between the user tooth and the target position of the orthodontic bracket according to the local coordinate system of the three-dimensional digital model of the user tooth and the coordinate system of the orthodontic bracket.
6. The method of claim 1, wherein determining a second set of characteristic parameters of a spatial positional relationship between the user's teeth and actual positions of the orthodontic brackets from real-time images of the orthodontic brackets and the user's teeth comprises: According to a preset operation node, performing key frame extraction processing on the real-time images of the orthodontic bracket and the teeth of the user, and determining a key frame image; And carrying out recognition processing on the key frame image by adopting a preset visual recognition algorithm, and determining a relative spatial position parameter between the teeth of the user and the actual positions of the orthodontic brackets as a second characteristic parameter set of the spatial position relation between the teeth of the user and the actual positions of the orthodontic brackets.
7. The method for navigating and positioning a dental orthodontic bracket according to claim 6, wherein the performing the recognition processing on the key frame image by using a preset visual recognition algorithm, determining a relative spatial position parameter between the user's teeth and the actual position of the orthodontic bracket as a second feature parameter set of the spatial position relationship between the user's teeth and the actual position of the orthodontic bracket, comprises: Preprocessing the key frame image, and determining the preprocessed key frame image, wherein the preprocessing comprises denoising operation, brightness adjustment operation and contrast adjustment operation; Performing edge detection on the preprocessed key frame image by adopting a preset edge detection algorithm, and determining an edge in the preprocessed key frame image; performing edge classification processing on the edges by adopting a preset edge classification model, and determining the edges of the teeth of the user; performing dental crown geometric feature extraction processing on the edge of the user's teeth, and determining the geometric feature parameters of the user's dental crowns, wherein the geometric feature parameters of the user's dental crowns comprise the length of the dental crowns and the width of the dental crowns; Extracting geometrical characteristics of the orthodontic bracket from the edge of the teeth of the user, and determining geometrical characteristic parameters of the orthodontic bracket, wherein the geometrical characteristic parameters of the orthodontic bracket comprise an outline of the orthodontic bracket and the edge of the orthodontic bracket; And determining a relative spatial position parameter between the teeth of the user and the actual positions of the orthodontic brackets according to the geometric characteristic parameters of the crowns of the user and the geometric characteristic parameters of the orthodontic brackets as a second characteristic parameter set of the spatial position relationship between the teeth of the user and the actual positions of the orthodontic brackets.
8. A navigational positioning system for a dental orthodontic bracket, comprising: the tooth arrangement scheme determining module is used for determining a tooth arrangement scheme according to the oral state and the orthodontic target of the user; A first feature parameter set determining module for determining a first feature parameter set of a spatial positional relationship between the user's teeth and a target position of the orthodontic bracket according to the tooth arrangement scheme; The augmented reality processing module is used for pre-pasting the orthodontic bracket on the teeth of the user and acquiring real-time images of the orthodontic bracket and the teeth of the user by adopting a preset augmented reality device; A second characteristic parameter set determining module for determining a second characteristic parameter set of a spatial positional relationship between the user's teeth and actual positions of the orthodontic brackets according to the real-time images of the orthodontic brackets and the user's teeth; A comparison module for comparing the first and second sets of characteristic parameters to determine a deviation distance and a deviation angle of the orthodontic bracket relative to a target position of the orthodontic bracket; And the navigation positioning module is used for controlling the orthodontic bracket to move to the target position of the orthodontic bracket according to the deviation distance and the deviation angle of the orthodontic bracket relative to the target position of the orthodontic bracket.
9. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method according to any of claims 1-7.
10. An electronic device, comprising: A memory having a computer program stored thereon; A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-7.

Description

Navigation positioning method and system for tooth orthodontic bracket Technical Field The application relates to the technical field of orthodontic treatment, in particular to a navigation and positioning method and system of a tooth orthodontic bracket. Background In orthodontic treatment, accurate bonding of brackets is a key link for ensuring orthodontic effect, and the position accuracy of the brackets directly influences force value transmission, movement track and final treatment effect of orthodontic treatment. However, the traditional bracket bonding operation method adopted in the current clinic still faces significant technical challenges, mainly depends on clinical experience, hand-eye coordination capability and visual judgment of doctors, and is difficult to realize high-precision positioning and pasting of the bracket on the tooth surface. Specifically, in the conventional operation, a doctor needs to manually determine the bracket position by observing the tooth morphology through naked eyes and referring to two-dimensional images (such as an X-ray film and a dental model), and the process is easily influenced by factors such as subjective judgment difference, visual error, hand micro-vibration and the like, so that the actual bonding position of the bracket deviates from an ideal position. The deviation not only can reduce the accuracy of orthodontic treatment and influence the expected effect of tooth movement, but also can cause discomfort such as gum injury and tooth sensitivity to patients due to uneven distribution of force values, and even increase potential risks such as tooth root absorption. In addition, the deviation of the bracket position can directly increase the adjustment difficulty in the subsequent correction process, prolong the treatment period, improve the re-diagnosis frequency and treatment cost of the patient, and further increase the pain and economic burden of the patient when the bracket is seriously adhered again. In the patent CN114052951B, a bracket accurate positioning method, device, system, terminal and medium based on image recognition is used for acquiring the image of the tooth to be corrected and separating the crown of the tooth to be corrected, identifying the tooth center point and the tooth long axis of the crown, fixing the region of interest based on the tooth center point and the tooth long axis, and performing transverse positioning, longitudinal positioning and axial inclination positioning on the orthodontic bracket based on the region of interest to realize the accurate positioning of the orthodontic bracket. The process is also easy to cause position deviation due to hand micro-vibration in the process of actually pasting the orthodontic bracket, and the accuracy of orthodontic treatment is reduced. Along with the deep of accurate medical ideas and the application of digital technology in the oral field, a technical scheme capable of breaking through the limitation of traditional operation is needed. The Augmented Reality (AR) technology is an emerging technology for realizing real-time fusion of virtual information and real scenes, and provides a brand new idea for solving the problem of accuracy of bracket bonding. AR equipment (such as Microsoft HoloLens) can acquire three-dimensional space data of teeth and brackets in the oral cavity in real time through components such as a depth camera and an infrared sensor, a virtual model is constructed after algorithm processing, and the virtual model is superimposed into the visual field of a doctor in precise space positioning, so that visual navigation guidance is formed. Compared with the traditional method, the application of the AR technology in orthodontic bracket bonding has the advantages that firstly, the relative position relation between the bracket and the tooth surface can be fed back in real time, the bracket position can be regulated quickly by a doctor through visual information such as virtual mark lines and deviation values, bonding precision and operation efficiency are improved greatly, secondly, ideal bonding coordinates of the bracket can be preset on the basis of a preoperative three-dimensional reconstruction model (such as CBCT (computed tomography) and intraoral scanning data), quantitative regulation basis is provided for the doctor through real-time comparison of deviation between the actual position and the ideal position, planned bonding is achieved, thirdly, positioning data of the whole operation process can be recorded and stored in real time, data support is provided for postoperative effect evaluation, treatment scheme optimization and clinical experience accumulation, and meanwhile, the visual effect of the AR technology is beneficial to clearly explaining an operation flow and expected effect to a patient by the doctor, and the treatment coordination degree and medical experience of the patient are improved. Therefore, the method for installing and navigating th