CN112972047A - Tooth preparation method, device and system for prepared tooth - Google Patents
Tooth preparation method, device and system for prepared tooth Download PDFInfo
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- CN112972047A CN112972047A CN202110167031.6A CN202110167031A CN112972047A CN 112972047 A CN112972047 A CN 112972047A CN 202110167031 A CN202110167031 A CN 202110167031A CN 112972047 A CN112972047 A CN 112972047A
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- 238000002360 preparation method Methods 0.000 title claims abstract description 149
- 238000000034 method Methods 0.000 claims abstract description 30
- 210000000214 mouth Anatomy 0.000 claims abstract description 23
- 238000010276 construction Methods 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910052573 porcelain Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003239 periodontal effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
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- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
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- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The preparation tooth preparation method comprises the steps of obtaining image data in an oral cavity, wherein the image data comprises position image data of a tooth to be implanted and tooth image data adjacent to the position of the tooth to be implanted, constructing a tooth preparation three-dimensional model according to the image data, determining tooth preparation amount according to the tooth preparation three-dimensional model, and preparing teeth according to the tooth preparation amount. According to the method and the device, the accurate tooth preparation amount can be determined only by acquiring the image data of the part of the position in the oral cavity, the tooth is prepared automatically according to the tooth preparation amount, and the tooth preparation process is more accurate.
Description
Technical Field
The application belongs to the technical field of medical instruments, and particularly relates to a tooth preparation method, device and system for a prepared tooth body.
Background
Aesthetic dental restorations are measures taken to modify the morphology of the tooth and/or periodontal tissue in an effort to maximize the aesthetic and functional coordination of the tooth, thereby optimizing the ultimate effect of the restoration. For the patient with the aesthetic zone restoration, the diagnosis wax model, namely the target restoration, needs to be designed and manufactured on the basis of the original tooth model of the patient through aesthetic analysis design. And then the dental body to be repaired is bonded with the ceramic crown restoration, so that the repaired dental body is consistent with the target restoration, and the beautiful effect is achieved. However, because the porcelain crown prosthesis has the limitation of minimum thickness and the restored tooth body has an unaesthetic convex part, before the porcelain crown prosthesis is bonded, the restored tooth body needs to be prepared, namely, the redundant part of the tooth body is ground; at this time, the tooth body to be restored is referred to as a prepared tooth body. Tooth preparation is one of the most basic operations in the department of dental restoration, and in order to preserve tooth tissues to the maximum extent and to abrade the tooth tissues as little as possible, the spatial position relationship between the prepared tooth form and the target restoration must be grasped. Generally, a uniform space gap with a certain size is required between the outer contour of the prepared tooth body and the outer contour of the target restoration body, and the judgment and the determination of the grinding amount of the tooth body tissue are directly related.
At present, an oral clinician often adopts a method of visually grinding and removing the prepared tooth quantity to prepare the tooth, the method has larger error and great dependence of the restoration effect on the experience of the clinician, and particularly, the situations of excessive tooth preparation (excessively ground tooth tissue) or insufficient preparation (measurement and preparation are needed) often occur in the restoration treatment for changing the tooth form.
Disclosure of Invention
In order to overcome the problem that the existing oral clinician often adopts a method of visually inspecting the tooth preparation amount to prepare the teeth at least to a certain extent, the application provides a tooth preparation method, a device and a system for preparing the tooth.
In a first aspect, the present application provides a method of preparing a tooth for preparing a tooth, comprising:
acquiring intra-oral image data, wherein the image data comprises position image data of a tooth to be implanted and tooth image data adjacent to the position of the tooth to be implanted;
constructing a tooth preparation three-dimensional model according to the image data;
determining the tooth preparation amount according to the tooth preparation three-dimensional model;
preparing teeth according to the tooth preparation amount.
Further, the acquiring intraoral image data includes:
a camera is arranged on the arm of the tooth preparation robot;
and acquiring intraoral image data through the camera.
Further, the preparing the teeth according to the tooth preparation amount comprises:
positioning the operation position of the arm of the tooth preparation robot;
and moving the arm of the tooth preparation robot to a positioning position, and controlling the arm of the tooth preparation robot to polish the prepared tooth body according to the tooth preparation amount.
Further, the method also comprises the following steps:
obtaining image data in the oral cavity secondarily through the camera;
determining whether a tooth preparation amount is reached according to the image data;
if yes, controlling the robot arm to retreat from the oral cavity.
Further, the method also comprises the following steps:
the oral cavity is cleaned and/or disinfected by the arm of the tooth preparation robot.
In a second aspect, the present application provides a dental preparation device for preparing a dental object, comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring intraoral image data, and the image data comprises to-be-implanted tooth position image data and tooth image data adjacent to the to-be-implanted tooth position;
the construction module is used for constructing a tooth preparation three-dimensional model according to the image data;
the determining module is used for determining the tooth preparation amount according to the tooth preparation three-dimensional model;
and the tooth preparation module is used for preparing teeth according to the tooth preparation amount.
Further, the method also comprises the following steps:
and the positioning module is used for positioning the operation position of the arm of the tooth preparation robot.
In a third aspect, the present application provides a dental preparation system for preparing a dental object, comprising:
the dental preparation device for preparing teeth, the robot arm and the camera according to the second aspect;
the tooth preparation device for the prepared tooth body is respectively connected with the robot arm and the camera;
the camera is arranged at the front end of the robot arm.
Further, the method also comprises the following steps:
and the position sensor is used for positioning the operation position of the robot arm.
Further, the method also comprises the following steps:
and the display is used for displaying the intraoral image data and/or the tooth preparation three-dimensional model.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the tooth preparation method, the device and the system for preparing the prepared tooth, provided by the embodiment of the invention, the oral cavity image data is obtained, the image data comprises the position image data of the tooth to be implanted and the tooth image data adjacent to the position of the tooth to be implanted, the tooth preparation three-dimensional model is constructed according to the image data, the tooth preparation amount is determined according to the tooth preparation three-dimensional model, the tooth preparation is carried out according to the tooth preparation amount, the accurate tooth preparation amount can be determined only by obtaining the image data of the partial position in the oral cavity, the tooth preparation is automatically carried out according to the tooth preparation amount, and the tooth preparation process is more accurate.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flow chart of a method for preparing a tooth for a dental preparation according to an embodiment of the present application.
Fig. 2 is a flow chart of a method for preparing a dental preparation for a dental body according to another embodiment of the present application.
Fig. 3 is a functional block diagram of a device for preparing a dental preparation according to an embodiment of the present application.
FIG. 4 is a functional block diagram of a dental preparation system for preparing teeth according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a flowchart of a method for preparing a tooth of a dental prosthesis according to an embodiment of the present application, as shown in fig. 1, the method for preparing a tooth of a dental prosthesis including:
s11: acquiring image data in the oral cavity, wherein the image data comprises image data of a position of a tooth to be implanted and image data of a tooth adjacent to the position of the tooth to be implanted;
in the traditional tooth preparation system, tooth body data in the whole oral cavity need to be acquired, but the image data of the position of the tooth to be implanted and the image data of the tooth body adjacent to the position of the tooth to be implanted only need to be acquired, and because the image data is reduced, the effective data is not reduced, the accuracy of constructing a tooth preparation three-dimensional model can be further ensured.
S12: constructing a tooth preparation three-dimensional model according to the image data;
s13: determining the tooth preparation amount according to the tooth preparation three-dimensional model;
s14: preparing teeth according to the tooth preparation amount.
At present, an oral clinician often adopts a method of visually grinding and removing the prepared tooth quantity to prepare the tooth, the method has larger error and great dependence of the restoration effect on the experience of the clinician, and particularly, the situations of excessive tooth preparation (excessively ground tooth tissue) or insufficient preparation (measurement and preparation are needed) often occur in the restoration treatment for changing the tooth form.
In the embodiment, by acquiring image data in the oral cavity, the image data comprises image data of a position of a tooth to be implanted and image data of the tooth adjacent to the position of the tooth to be implanted, a tooth preparation three-dimensional model is constructed according to the image data, a tooth preparation amount is determined according to the tooth preparation three-dimensional model, tooth preparation is performed according to the tooth preparation amount, accurate tooth preparation amount can be determined by acquiring only image data of partial positions in the oral cavity, and automatic tooth preparation is performed according to the tooth preparation amount, so that the tooth preparation process is more accurate.
Fig. 2 is a flowchart of a method for preparing a dental preparation according to another embodiment of the present application, as shown in fig. 2, the method for preparing a dental preparation includes:
s21: a camera is arranged on the arm of the tooth preparation robot;
s22: acquiring intraoral image data through a camera;
the image data comprises image data of the position of the tooth to be implanted and image data of the tooth adjacent to the position of the tooth to be implanted;
s23: constructing a tooth preparation three-dimensional model according to the image data;
s24: determining the tooth preparation amount according to the tooth preparation three-dimensional model;
the tooth preparation three-dimensional model includes but is not limited to information such as original size, grinding amount, grinding position and ground size of a prepared tooth body.
S25: preparing teeth according to the tooth preparation amount.
In some embodiments, preparing teeth according to a tooth preparation amount comprises:
s251: positioning the operation position of the arm of the tooth preparation robot;
s252: and moving the arm of the tooth preparation robot to a positioning position, and controlling the arm of the tooth preparation robot to polish the prepared tooth body according to the tooth preparation amount.
Further, the method also comprises the following steps:
s26: acquiring image data in the oral cavity secondarily through a camera;
s27: determining whether a tooth preparation amount is reached according to the image data;
in some embodiments, determining from the image data whether the reserve tooth volume is reached comprises:
and performing secondary modeling according to the secondarily acquired intraoral image data, acquiring a three-dimensional model of the prepared tooth body after polishing, and comparing the three-dimensional model of the prepared tooth body after polishing with the three-dimensional model of the prepared tooth body before polishing to determine whether the prepared tooth quantity is reached.
S28: if yes, controlling the robot arm to retreat from the oral cavity.
In some embodiments, further comprising:
after the tooth preparation quantity is determined to meet the requirement, the oral cavity is cleaned and/or disinfected by the tooth preparation robot arm before the control robot arm retreats from the oral cavity.
In the embodiment, the image data in the oral cavity is acquired by the camera for the second time, whether the tooth preparation amount is reached is determined according to the image data, whether the tooth preparation amount is reached can be determined again, and more accurate tooth preparation can be ensured.
An embodiment of the present invention provides a dental preparation apparatus for preparing a dental preparation, as shown in a functional configuration diagram of fig. 3, the dental preparation apparatus including:
an obtaining module 31, configured to obtain intraoral image data, where the image data includes image data of a position of a tooth to be implanted and image data of a tooth adjacent to the position of the tooth to be implanted;
the construction module 32 is used for constructing a tooth preparation three-dimensional model according to the image data;
the determining module 33 is used for determining the tooth preparation amount according to the tooth preparation three-dimensional model;
and a tooth preparation module 34 for preparing teeth according to the tooth preparation amount.
In some embodiments, further comprising:
and the positioning module 35 is used for positioning the operation position of the arm of the tooth preparation robot.
In the embodiment, image data in the oral cavity is acquired through the acquisition module, the image data comprises image data of a position of a tooth to be implanted and image data of a tooth adjacent to the position of the tooth to be implanted, the construction module constructs a tooth preparation three-dimensional model according to the image data, and the determination module determines the tooth preparation amount according to the tooth preparation three-dimensional model. The tooth preparation module is used for preparing teeth according to the tooth preparation amount, accurate tooth preparation amount can be determined only by acquiring image data of part of the position in the oral cavity, the teeth are prepared automatically according to the tooth preparation amount, and the tooth preparation process is more accurate.
An embodiment of the present invention provides a dental preparation system for preparing a dental prosthesis, as shown in fig. 4, which includes:
the preparatory teeth preparation device 41, the robot arm 42 and the camera 43 as described in the above embodiments;
the tooth preparation device 41 for the prepared tooth is respectively connected with the robot arm 42 and the camera 43;
the camera 43 is provided at the front end of the robot arm 42.
In some embodiments, further comprising:
and a position sensor 44 for positioning the working position of the robot arm 42.
And a display 45 for displaying the intraoral image data and/or the three-dimensional model of the prepared tooth.
In the embodiment, image data in the oral cavity is acquired through the camera arranged at the front end of the robot arm, the tooth preparation three-dimensional model of the prepared tooth body is constructed according to the image data, the tooth preparation amount is determined according to the tooth preparation three-dimensional model, the robot arm is controlled to prepare teeth according to the tooth preparation amount, accurate tooth preparation amount can be determined only by acquiring image data of partial positions in the oral cavity, automatic tooth preparation is performed according to the tooth preparation amount, and the tooth preparation process is more accurate.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional component mode. The integrated module, if implemented in the form of a software functional component and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
It should be noted that the present invention is not limited to the above-mentioned preferred embodiments, and those skilled in the art can obtain other products in various forms without departing from the spirit of the present invention, but any changes in shape or structure can be made within the scope of the present invention with the same or similar technical solutions as those of the present invention.
Claims (10)
1. A method of preparing a tooth for a dental preparation, comprising:
acquiring intra-oral image data, wherein the image data comprises position image data of a tooth to be implanted and tooth image data adjacent to the position of the tooth to be implanted;
constructing a tooth preparation three-dimensional model according to the image data;
determining the tooth preparation amount according to the tooth preparation three-dimensional model;
preparing teeth according to the tooth preparation amount.
2. The preparatory dental preparation method according to claim 1, wherein the acquiring intraoral image data comprises:
a camera is arranged on the arm of the tooth preparation robot;
and acquiring intraoral image data through the camera.
3. The method of preparing teeth according to claim 2, wherein said preparing teeth according to said amount of teeth comprises:
positioning the operation position of the arm of the tooth preparation robot;
and moving the arm of the tooth preparation robot to a positioning position, and controlling the arm of the tooth preparation robot to polish the prepared tooth body according to the tooth preparation amount.
4. The method of preparing a dental preparation of claim 2, further comprising:
obtaining image data in the oral cavity secondarily through the camera;
determining whether a tooth preparation amount is reached according to the image data;
if yes, controlling the robot arm to retreat from the oral cavity.
5. The method of preparing a dental preparation of claim 2, further comprising:
the oral cavity is cleaned and/or disinfected by the arm of the tooth preparation robot.
6. A dental preparation device for preparing a dental body, comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring intraoral image data, and the image data comprises to-be-implanted tooth position image data and tooth image data adjacent to the to-be-implanted tooth position;
the construction module is used for constructing a tooth preparation three-dimensional model according to the image data;
the determining module is used for determining the tooth preparation amount according to the tooth preparation three-dimensional model;
and the tooth preparation module is used for preparing teeth according to the tooth preparation amount.
7. The preparatory dental preparation device of claim 6, further comprising:
and the positioning module is used for positioning the operation position of the arm of the tooth preparation robot.
8. A dental preparation system for preparing a dental substance, comprising:
the preparatory dental preparation device, robotic arm and camera of claim 6 or 7;
the tooth preparation device for the prepared tooth body is respectively connected with the robot arm and the camera;
the camera is arranged at the front end of the robot arm.
9. The preparatory dental preparation system as claimed in claim 8, further comprising:
and the position sensor is used for positioning the operation position of the robot arm.
10. The preparatory dental preparation system as claimed in claim 8, further comprising:
and the display is used for displaying the intraoral image data and/or the tooth preparation three-dimensional model.
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| CN202110167031.6A CN112972047A (en) | 2021-02-05 | 2021-02-05 | Tooth preparation method, device and system for prepared tooth |
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| CN202110167031.6A CN112972047A (en) | 2021-02-05 | 2021-02-05 | Tooth preparation method, device and system for prepared tooth |
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