CN118395523B - Model processing method, device, equipment and storage medium - Google Patents
Model processing method, device, equipment and storage medium Download PDFInfo
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- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
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Abstract
The embodiment of the application discloses a model processing method, a device, equipment and a storage medium. The method comprises the following steps: acquiring an initial bracket-carrying dental mesh model comprising a dental mesh model and a plurality of bracket mesh models; performing gap removal processing on the plurality of bracket grid models by combining the corresponding tooth models based on the first coordinate axis to obtain a bracket gap removal grid model, wherein the direction of the first coordinate axis corresponds to the normal direction of the corresponding tooth contact surface; and carrying out Boolean fusion on the dental mesh model and the bracket clearance removal mesh model to obtain a target bracket-carrying dental mesh model, wherein the target bracket-carrying dental mesh model is used for printing, so that a user carries out bracket positioning verification based on the target bracket-carrying dental physical model obtained by printing. By implementing the method provided by the embodiment of the application, the falling risk of the bracket in the printed bracket dental physical model can be reduced, and a user can conveniently perform bracket positioning verification through the printed bracket dental physical model.
Description
Technical Field
The application relates to the technical field of intelligent stomatology, in particular to a model processing method, device, equipment and storage medium.
Background
In orthodontic treatment, brackets are often used for tooth correction, the brackets are bonded to the surfaces of teeth by adhesives, receive and fix archwires, transfer the correction force generated by the archwires to the teeth, and enable the teeth to be arranged and moved along the archwires, thereby achieving the purpose of tooth correction.
In orthodontic treatment, putting the bracket at a proper position for tooth correction is an important precondition for ensuring that orthodontic treatment achieves an ideal result, therefore, a doctor needs to accurately verify the position of the bracket before formally installing the bracket on the teeth of a patient, and in order to verify the position of the bracket better, the doctor proposes a printing requirement for printing a dental model with the bracket.
However, if the dental model with the bracket is directly printed, the bracket in the printed physical model is easily detached due to a certain gap between the bracket and the teeth due to the special structure of the bracket and the shape of the teeth, and the risk of detachment of the bracket is high.
Disclosure of Invention
In order to solve the above problems, embodiments of the present application provide a method, an apparatus, a device, and a storage medium for model processing.
In a first aspect, an embodiment of the present application provides a model processing method, which includes:
Acquiring an initial bracket tooth jaw grid model, wherein the initial bracket tooth jaw grid model comprises a tooth jaw grid model and a plurality of bracket grid models, and the bracket grid model is placed on the surface of the tooth model based on bracket mark frame shafts of each tooth model in the tooth jaw grid model;
Performing gap removal processing on a plurality of bracket grid models by combining corresponding tooth models based on first coordinate axes corresponding to the bracket standard frame axes respectively to obtain bracket gap removal grid models, wherein the first coordinate axes are coordinate axes of which the directions in the bracket standard frame axes correspond to the normal directions of tooth contact surfaces;
And carrying out Boolean fusion on the dental mesh model and the bracket clearance removing mesh model to obtain a target bracket dental mesh model, wherein the target bracket dental mesh model is used for printing.
In a second aspect, an embodiment of the present application further provides a model processing apparatus, including:
The first acquisition module is used for acquiring an initial bracket-bearing dental grid model, wherein the initial bracket-bearing dental grid model comprises a dental grid model and a plurality of bracket grid models, and the bracket grid models are placed on the surfaces of the dental models based on bracket standard frame shafts of all the dental models in the dental grid model;
The gap removing module is used for carrying out gap removing treatment on the plurality of bracket grid models by combining corresponding tooth models based on first coordinate axes corresponding to the bracket standard frame shafts respectively to obtain bracket gap removing grid models, wherein the first coordinate axes are coordinate axes of which the directions in the bracket standard frame shafts correspond to the normal directions of tooth contact surfaces;
and the fusion module is used for carrying out Boolean fusion on the dental mesh model and the bracket clearance removal mesh model to obtain a target bracket dental mesh model, wherein the target bracket dental mesh model is used for printing.
In a third aspect, an embodiment of the present application further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor implements the method when executing the computer program.
In a fourth aspect, embodiments of the present application also provide a computer readable storage medium storing a computer program comprising program instructions which, when executed by a processor, implement the above-described method.
The embodiment of the application provides a model processing method, device, equipment and storage medium. The method comprises the following steps: acquiring an initial bracket dental grid model, wherein the initial bracket dental grid model comprises a dental grid model and a plurality of bracket grid models, and the bracket grid models are placed on the surfaces of the dental models based on bracket standard frame shafts of all the dental models in the dental grid model; performing gap removal processing on the bracket grid models by combining the corresponding tooth models based on first coordinate axes corresponding to the bracket standard frame shafts respectively to obtain bracket gap removal grid models, wherein the first coordinate axes are coordinate axes of which the directions in the bracket standard frame shafts correspond to the normal directions of tooth contact surfaces; and carrying out Boolean fusion on the dental mesh model and the bracket clearance removal mesh model to obtain a target bracket-carrying dental mesh model, wherein the target bracket-carrying dental mesh model is used for printing, so that a user carries out bracket positioning verification based on the target bracket-carrying dental physical model obtained by printing. According to the embodiment of the application, the gap removing treatment is carried out on the bracket grid model before printing, so that the problem of falling of the bracket in the printed bracket-bearing dental physical model caused by the gap between the bracket and the teeth is solved, the falling risk of the bracket in the printed bracket-bearing dental physical model is reduced, and the bracket positioning verification is convenient for a user to carry out through the printed bracket-bearing dental physical model.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a model processing method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a bracket axle in a model processing method according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a model processing method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of gap filling in a model processing method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a grid grouping in a model processing method according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a target bracket dental mesh model in a model processing method according to an embodiment of the present application;
FIG. 7 is a flow chart of a model processing method according to another embodiment of the present application;
FIG. 8 is a schematic diagram of a narrow band dental model in a model processing method according to an embodiment of the present application;
FIG. 9 is another schematic diagram of a narrow band dental model in a model processing method according to an embodiment of the present application;
FIG. 10 is a schematic block diagram of a model processing apparatus provided in an embodiment of the present application;
fig. 11 is a schematic block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
The embodiment of the application provides a model processing method, device, equipment and storage medium.
The execution main body of the model processing method may be a model processing device provided by the embodiment of the present application, or an electronic device integrated with the model processing device, where the model processing device may be implemented in a hardware or software manner, and the electronic device may be a terminal device such as a smart phone, a tablet computer, a palm computer, or a notebook computer.
Fig. 1 is a flow chart of a model processing method according to an embodiment of the present application. As shown in fig. 1, the method includes the following steps S110 to S130.
S110, acquiring an initial bracket tooth jaw grid model, wherein the initial bracket tooth jaw grid model comprises a tooth jaw grid model and a plurality of bracket grid models.
The bracket grid model is placed on the surface of the tooth model based on bracket standard frame shafts of each tooth model in the tooth jaw grid model.
Specifically, the initial bracket-carrying dental mesh model is an initially generated bracket-carrying dental mesh model, and a certain gap exists between the bracket model and the tooth model in the initial bracket-carrying dental mesh model, wherein the gap is formed by the fact that space is reserved for an adhesive on one hand and the curvature of an indirect surface curved surface between the bracket and the tooth on the other hand.
Therefore, if the initial bracket jaw mesh model is directly printed, the risk of the bracket falling off in the printed physical model is very high, and therefore, the gap between the bracket and the tooth space in the initial bracket jaw mesh model is filled before the initial bracket jaw mesh model is printed.
In some embodiments, step S110 includes: when a printing instruction of an initial bracket tooth mesh model is acquired, the initial bracket tooth mesh model is acquired from a preset model database, wherein the model database can be a local database, a cloud database and the like, and the distance type of the model database is not limited.
At this time, after the initial bracket-bearing dental grid model is generated, the initial bracket-bearing dental grid model may be stored in a model database, and when the initial bracket-bearing dental grid model needs to be printed, the initial bracket-bearing dental grid model is extracted from the model database.
In some embodiments, the present application provides an initial bracket dental mesh model generated based on the steps of:
A. Acquiring a dental mesh model;
Specifically, the electronic device in the embodiment may scan the oral cavity of the patient through the three-dimensional scanning device to obtain the dental network model;
B. Generating bracket standard frame shafts corresponding to the tooth models in the tooth jaw grid model respectively.
In this embodiment, a bracket standard shaft corresponding to each tooth model may be generated based on a preset bracket standard shaft algorithm; or, in response to the interactive operation of the user, generating bracket frame shafts respectively corresponding to the tooth models.
Specifically, when a preset bracket mark shaft algorithm is used to generate bracket mark shafts corresponding to each tooth model respectively, tooth recognition processing is needed to be performed on the tooth jaw mesh model to obtain a plurality of tooth models in the tooth jaw mesh model, and tooth serial number labeling is performed on each tooth model, wherein in some embodiments, in the preset bracket mark shaft algorithm, different bracket mark shaft algorithms are provided for tooth models with different serial numbers, and personalized processing is performed on tooth models with different serial numbers.
When the bracket frame shafts corresponding to the tooth models respectively are generated based on the interactive operation of the user, the bracket frame shafts can be drawn based on the experience of the user.
Further, the electronic device may determine which tooth models need to be attached to the bracket based on a pre-designed correction scheme, or automatically determine which tooth models need to be attached to the bracket according to the shape of each tooth model, and at this time, only the bracket label frame axis needs to be generated for the tooth model needing to be attached to the bracket, that is, the bracket label frame axis corresponding to each tooth model needing to be attached to the bracket in the generating dental mesh model is generated.
In this embodiment, as shown in fig. 2, the bracket support shaft provided by the present application is composed of a first coordinate axis, a second coordinate axis and a third coordinate axis, wherein the first coordinate axis is a coordinate axis corresponding to a normal direction of a tooth contact surface in a direction of the bracket support shaft, the second coordinate axis is a coordinate axis corresponding to a tooth growth direction in the bracket support shaft, and the third coordinate axis is a coordinate axis corresponding to a middle-far direction in the bracket support shaft.
The coordinate center of the bracket mark frame shaft is a clinical coronal center (FA) point, the second coordinate shaft is a clinical coronal long Axis (THE CLINICAL Crow, FACC) line, and when the bracket is placed, the bracket center point is placed at the FA point, and the vertical mark line of the bracket coincides with the FACC line.
C. And adding a bracket grid model on the surface of the corresponding tooth model based on the bracket standard frame shaft to obtain an initial bracket tooth jaw grid model.
Specifically, after generating the bracket mark frame shaft of each tooth needing bracket pasting, a proper bracket grid model can be manually selected from a bracket model library based on the bracket mark frame shaft to drag and add to the corresponding tooth model surface; or automatically generating a corresponding bracket grid model on the surface of the tooth model based on the bracket mark frame shaft through a preset bracket generating algorithm.
The bracket generating algorithm can intelligently select an adaptive bracket grid model from a preset bracket model library, and adds the bracket grid model to a corresponding tooth model based on a bracket standard frame shaft; or the bracket generating algorithm can intelligently generate a corresponding bracket grid model according to the serial number and the tooth morphology of the corresponding tooth model, and the generated bracket grid model is added to the corresponding tooth model based on the bracket standard frame shaft.
In addition, the bracket corresponding to each tooth and the fixed position of the bracket on the tooth can be determined according to a pre-designed correction scheme, and the bracket standard shaft can be automatically determined according to the fixed position. The correction scheme is a design scheme for digitally designing each tooth in the mouth of a user to be bonded with the bracket, namely determining which tooth applies bonding to which bracket and which position of each bracket is bonded on the tooth, more specifically, selecting a proper bracket (such as proper brand type and different brand type bracket data) based on the correction scheme designed by a doctor, bonding the proper bracket on the tooth, and adjusting the position of the bracket, namely precisely bonding the bracket on the tooth.
When the bracket corresponding to each tooth and the fixed position of the bracket on the tooth are determined by using a pre-designed correction scheme, a dental grid model in a user's mouth can be obtained through three-dimensional scanning and displayed, a group of brackets can be selected to pre-design the displayed dental grid model, namely, the bracket design and bonding are carried out on each tooth of the dental grid model on a display interface, the bracket can be seen to be placed at a reasonable position on the tooth, so that the specific bracket corresponding to each tooth can be determined, and the mapping relation of the specific bracket corresponding to each tooth is stored, thereby obtaining the initial dental grid model with the bracket.
Specifically, according to a pre-designed correction scheme, a bracket corresponding to a tooth, such as a bracket a corresponding to a tooth 1, a bracket B corresponding to a tooth 2, etc., can be determined, the bracket a is adhered to the tooth 1 and the position of the bracket a is adjusted, and the bracket B is adhered to the tooth 2 and the position of the bracket B is adjusted.
The bracket grid model provided by the application keeps detailed information such as the hole position of the arch wire, is convenient for doctors to simulate the running direction of the arch wire based on the hole position of the arch wire on the model, and is convenient for further verification of the placement position and the bracket model of the bracket grid model.
S120, carrying out clearance removal processing on the plurality of bracket grid models based on the first coordinate axes respectively corresponding to the bracket standard frame shafts and combining the corresponding tooth models to obtain the bracket clearance removal grid model.
The first coordinate axis is a coordinate axis of which the direction in the bracket axis corresponds to the normal direction of the tooth contact surface.
In this embodiment, the plurality of bracket grid models are subjected to gap removal processing along the direction of the first coordinate axis of each bracket frame axis in combination with the corresponding tooth model, so as to obtain a bracket gap removal grid model.
The gap removing grid model of the bracket is obtained, the gap removing treatment is completed, and the removed gap comprises the undercut of the bracket and the gap between the bracket and the teeth, so that the bracket grid model in the target jaw grid model with the bracket obtained by subsequent fusion is more tightly connected with the corresponding tooth model.
The gap removing process includes a filling process and/or an extrusion process, and in this embodiment, the filling process may be performed on all of the bracket grid model, the extrusion process may be performed on all of the bracket grid model, or the filling process may be performed on part of the bracket grid model, or the extrusion process may be performed on part of the bracket grid model.
For example, the data of the undercut portion of the bracket side is extruded and the gap between the bracket and the tooth is filled.
In some embodiments, the gap surface can be determined based on the tooth model and the bracket grid model, and then the gap is formed by the determined gap surface, so that the gap removing process is completed; or simultaneously filling the bracket by combining the three-dimensional depth map and the symbol distance field to finish the clearance removing treatment.
The bracket filling process with the combined three-dimensional depth map and the symbol distance field is described in detail below:
specifically, in some embodiments, as shown in FIG. 3, the bracket grid model is subjected to a de-gapping process by steps S1201-S1205:
s1201, generating a three-dimensional depth map covering the bracket grid model according to each bracket grid model, wherein the three-dimensional depth map comprises a plurality of space lattices.
Specifically, the present embodiment generates, for each bracket grid model, a three-dimensional depth map that completely covers the bracket grid model, and the three-dimensional depth map includes a plurality of space cells that are located partially on the bracket grid model and partially outside the bracket grid model.
S1202, determining a symbol distance value from each space grid to the bracket grid model in the three-dimensional depth map.
Specifically, the embodiment generates a symbol distance field corresponding to the bracket grid model in the three-dimensional depth map, and obtains a symbol distance value of each space grid in the three-dimensional depth map through the symbol distance field, where the symbol distance value indicates the shortest distance from the space grid to the bracket grid model grid.
The symbol distance value may specifically be the shortest distance from the grid point or the grid center of the corresponding space grid to the grid of the bracket grid model.
And S1203, traversing the space grids from top to bottom based on the corresponding first coordinate axes, and determining whether the first traversed space grids are positioned in the bracket grid model according to the symbol distance values.
In this embodiment, the space grid is traversed from top to bottom in the three-dimensional depth map along the direction of the first coordinate axis (visual direction), and whether the first space grid is inside the bracket grid model is detected during the traversing process from top to bottom along the direction of the first coordinate axis.
Specifically, a symbol distance value of a first space grid currently traversed is obtained, and then whether the first space grid is inside the bracket grid model is determined according to the symbol distance value.
In this embodiment, each space grid in the three-dimensional depth map has a corresponding symbol distance value, and the position of the corresponding space grid on the bracket grid model grid can be determined through the symbol distance value.
For example, when the symbolic distance value is positive, the space grid is determined to be outside the bracket grid model, if negative, the space grid is determined to be inside the bracket grid model, and if zero, the space grid is determined to be on the grid of the bracket grid model.
In this embodiment, when it is detected that the sign distance value of the currently traversed first space grid is a negative value, it is determined that the first space grid is located inside the bracket grid model.
And S1204, if the first space grid is determined to be in the bracket grid model, filling a second space grid which is positioned below the first space grid and corresponds to the upper part of the tooth model, so as to obtain a target three-dimensional depth map.
In this embodiment, when it is determined that the first space grid is located inside the bracket grid model, filling processing is performed on the second space grid located below the first space grid and above the corresponding tooth model in the direction of the first coordinate axis, so as to obtain a target three-dimensional depth map, where the second space grid in the target three-dimensional depth map is subjected to filling processing.
If the traversed space grid is not inside the bracket grid model, continuing to traverse the next space grid, and determining the space grid which is traversed next as the first space grid.
In this embodiment, the filling process is required for the second space between the first space and the corresponding tooth model.
In some embodiments, the filling process is specifically performed by:
Determining each space grid below the first space grid and above the corresponding tooth model as a second space grid; and replacing the symbol distance value of each second space grid with the symbol distance value of the first space grid, and completing filling processing of the second space grid to obtain the target three-dimensional depth map.
In other embodiments, after the second space grid is determined, the sign distance values of the second space grid may be replaced by preset negative sign distance values, so as to obtain the target three-dimensional depth map.
S1205, performing zero equivalent surface extraction processing on the target three-dimensional depth map to obtain the bracket gap removal grid model.
In this embodiment, after the space grid in the initial three-dimensional depth map is filled to obtain the target three-dimensional depth map, the target three-dimensional depth map needs to be converted into the grid model, and the grid model obtained by conversion is the bracket gap removal grid model.
Specifically, a Moving Cube (MC) algorithm (an isosurface extraction algorithm) may be used to extract a zero isosurface, and convert the target three-dimensional depth map into a bracket gap-removing grid model.
As shown in fig. 4, fig. 4 is a schematic diagram of a gap filling principle provided by an embodiment of the present application, where each grid in the figure represents a space grid, and numerals in the space grid represent corresponding symbol distance values (for ease of understanding, "+1" is used in fig. 4 to represent symbol distance values of space grids located outside the bracket grid model, and "-1" is used to represent symbol distance values of space grids located in/on the bracket grid model).
In addition, since teeth of a patient requiring teeth correction are generally not regular, for example, a certain included angle is formed between two adjacent teeth, and even there is a case of partial overlapping, at this time, there may be a possibility that brackets on the surfaces of the teeth overlap in the same space, and if overlapping portions are not processed, the overlapping portions are repeatedly printed (printed twice at the same position) later, and a printing failure may occur.
In order to solve the problem and avoid printing failure, after the bracket clearance removing grid model is obtained, grids in the bracket clearance removing grid model are further divided into a plurality of mutually-disjoint grid groups, and then the dental grid model and the plurality of mutually-disjoint grid groups are respectively subjected to Boolean fusion when the dental grid model and the bracket clearance removing grid model are fused.
In some embodiments, the meshes in the bracket gap-removing mesh model are divided into multiple mutually disjoint mesh groups, specifically by:
Detecting whether an intersected grid set (such as a bracket grid model with collision) exists in the bracket clearance removal grid model, if the intersected first grid set and second grid set exist, determining an overlapped grid set between the first grid set and the second grid set, performing Boolean subtraction on the second grid set and the overlapped grid set, and removing the overlapped grid set from the second grid set, wherein the second grid set with the overlapped grid set removed is mutually disjoint with the first grid set.
Specifically, the present embodiment uses collision detection techniques, such as using an open source collision detection geometry library (Proximity Query Package, PQP) to detect whether intersecting grid sets exist in the bracket gap removal grid model.
For example, as shown in fig. 5, fig. 5 is a grid set of two intersecting grid sets, where the gray portions are overlapping portions.
S130, carrying out Boolean fusion on the dental mesh model and the bracket clearance removal mesh model to obtain a target bracket dental mesh model, wherein the target bracket dental mesh model is used for printing.
The user can perform bracket location verification based on the printed target bracket dental physical model.
In this embodiment, after the bracket gap removing mesh model is obtained, the dental jaw mesh model and the bracket gap removing mesh model are subjected to boolean fusion, so that the target bracket dental mesh model with the bracket gap removed can be obtained.
In some embodiments, the grids in the bracket clearance-removing grid model are divided into a plurality of mutually-disjoint grid groups, and each grid group can be subjected to Boolean fusion with the dental grid model at the same time, so that the fusion time is shortened, and the fusion efficiency is improved.
The target bracket jaw mesh model obtained in this embodiment is shown in fig. 6, in which the gap between the bracket and the tooth is filled, including the filling of the undercut of the bracket itself and the filling of the gap between the bracket and the tooth.
Further, after generating the target bracket jaw mesh model with the bracket and the tooth gap removed, printing the target bracket jaw mesh model to obtain a target bracket jaw physical model, and performing bracket positioning verification by a doctor based on the target bracket jaw physical model.
In summary, the embodiment of the application solves the problem of falling of the bracket in the printed bracket-bearing dental physical model caused by the gap between the bracket and the teeth by performing gap removal treatment on the bracket grid model before printing, reduces the falling risk of the bracket in the printed bracket-bearing dental physical model, and is convenient for a user to perform bracket positioning verification through the printed bracket-bearing dental physical model.
Fig. 7 is a schematic flow chart of another model processing method provided in an embodiment of the present disclosure, where, based on the above embodiment, in order to further verify the bracket positioning, a dental narrow-band model is generated based on a dental mesh model. As shown in fig. 7, the method includes steps S210 to S280:
S210, acquiring an initial bracket tooth jaw grid model, wherein the initial bracket tooth jaw grid model comprises a tooth jaw grid model and a plurality of bracket grid models.
S220, carrying out clearance removal processing on the plurality of bracket grid models based on the first coordinate axes respectively corresponding to the bracket standard frame shafts and combining the corresponding tooth models to obtain the bracket clearance removal grid model.
S230, carrying out Boolean fusion on the dental mesh model and the bracket clearance removal mesh model to obtain a target bracket dental mesh model, wherein the target bracket dental mesh model is used for printing.
Steps S210 to S230 in this embodiment are similar to steps S110 to S130 in the corresponding embodiment of fig. 1, and detailed descriptions thereof are omitted herein.
S240, constructing a second plane perpendicular to the first plane on a second coordinate axis and constructing a third plane perpendicular to the first plane on a third coordinate axis for each bracket frame axis.
The second coordinate axis is a coordinate axis of the bracket frame, the direction of which corresponds to the tooth growth direction, the third coordinate axis is a coordinate axis of the bracket frame, the direction of which corresponds to the near-far direction, and the first plane is a plane formed by the second coordinate axis and the third coordinate axis.
S250, acquiring intersecting lines of the second planes and the corresponding tooth models and intersecting lines of the third planes and the corresponding tooth models to obtain a plurality of intersecting lines.
Step S250 may be performed after the dental mesh model is acquired, and step S250 may be performed simultaneously with steps S210 to S230, or may be performed before or after steps S210 to S230.
In some embodiments, intersections of the second planes with the corresponding tooth models are obtained in response to user dental narrowband model generation instructions.
Specifically, when the user needs to view the dental narrow-band model of the dental mesh model, a dental narrow-band model generation instruction may be triggered in the electronic device, and after the electronic device obtains the dental narrow-band model generation instruction, step S250 is executed in response to the dental narrow-band model generation instruction of the user.
S260, extracting curves corresponding to the intersecting lines respectively based on the fourth coordinate axis of the tooth standard frame axis of each tooth model.
The fourth coordinate axis is a coordinate axis corresponding to the normal direction of the tooth contact surface in the tooth frame axis, and specifically, a curve segment visible in the intersecting line visual direction is extracted.
S270, constructing narrow bands corresponding to the curves respectively.
Specifically, for each curve, a narrow band of a preset width is generated based on the direction of the fourth coordinate axis.
Further, since the dental mesh model has a possibility that the visual directions (along the fourth coordinate axis direction) of the dental mesh models overlap, at this time, the extracted curves have a self-intersecting condition, and when the curves having the self-intersecting condition are subjected to narrow-band construction, the constructed narrow-band has an overlapping region, so that the narrow-band construction is wrong.
In order to solve the above problem of the narrow band construction error caused by the curve self-intersection, the present embodiment performs the following steps before constructing the narrow band:
determining whether a self-intersecting curve exists in the plurality of curves; if the self-intersecting curve exists, carrying out self-intersecting cutting treatment on the self-intersecting curve to obtain a cut curve;
Specifically, cutting the self-intersecting curve by a polygon intersection algorithm, and smoothing the cutting points to obtain a cut curve.
At this time, the narrow bands corresponding to the respective curves are constructed, including: and constructing narrow bands corresponding to the curves after cutting and the non-self-intersecting curves in the curves respectively.
Therefore, in this embodiment, before the narrowband is constructed, the curve self-intersecting detection is performed, and the self-intersecting cutting processing is performed on the self-intersecting curve obtained by the detection, so as to remove the line segment of the self-intersecting part, thereby avoiding the problem of the error in the narrowband construction caused by the self-intersecting of the curve.
S280, carrying out Boolean processing on the dental mesh model and the plurality of narrow bands to obtain a dental narrow band model.
Wherein the boolean process includes at least one of boolean fusion and boolean subtraction.
When the dental grid model and the plurality of narrow bands are subjected to Boolean fusion, the obtained dental narrow band model is shown in fig. 8, and a cutting band protruding out of a dental plane is formed in the dental grid model, so that a user can conveniently verify FACC lines and FA points (vertical cutting bands are FACC lines, and intersections of the horizontal cutting bands and the vertical cutting bands are FA points).
When the dental grid model and the plurality of narrow bands are subjected to Boolean reduction, the obtained dental narrow band model is shown in fig. 9, and a cutting band of a concave dental surface is formed in the dental grid model, so that a user can conveniently verify FACC lines and FA points.
Further, in order to improve the boolean processing efficiency of the dental mesh model and the plurality of narrow bands, after constructing the narrow bands corresponding to each curve, the method in this embodiment further includes: the plurality of narrow bands are divided into a plurality of mutually exclusive sets of narrow band groups.
At this time, the dental mesh model and the plurality of groups of narrow-band groups can be respectively subjected to Boolean processing to obtain the dental narrow-band model, and the plurality of narrow-band groups are simultaneously subjected to Boolean processing, so that the Boolean processing efficiency of the dental mesh model and the plurality of narrow-band groups is improved, and the generation efficiency of the dental narrow-band model is further improved.
In some embodiments, in order to facilitate the user to verify the FACC line and the FA points, the present embodiment further prints the dental narrow-band model after obtaining the dental narrow-band model, to obtain the dental narrow-band physical model.
In summary, the embodiment of the application solves the problem of falling of the bracket in the printed bracket-bearing dental physical model caused by the gap between the bracket and the teeth by performing gap removal treatment on the bracket grid model before printing, reduces the falling risk of the bracket in the printed bracket-bearing dental physical model, and is convenient for a user to perform bracket positioning verification through the printed bracket-bearing dental physical model; in addition, the dental narrow-band model generated by the embodiment can further verify FACC lines and FA points based on the cutting band on the model, and the FACC lines and the FA points in the dental narrow-band model generated by the embodiment protrude or are recessed into the tooth surface, so that the user can observe the FACC lines and the FA points more conveniently.
Fig. 10 is a schematic block diagram of a model processing apparatus provided in an embodiment of the present application. As shown in fig. 10, the present application also provides a model processing apparatus corresponding to the above model processing method. The model processing device comprises a module for executing the model processing method. Specifically, referring to fig. 10, the model processing apparatus 1000 includes:
A first obtaining module 1001, configured to obtain an initial bracket-bearing dental mesh model, where the initial bracket-bearing dental mesh model includes a dental mesh model and a plurality of bracket mesh models, and the bracket mesh model is placed on a surface of each tooth model based on bracket standard axes of the tooth models in the dental mesh model;
The gap removing module 1002 is configured to perform gap removing processing on the plurality of bracket grid models by combining corresponding tooth models based on first coordinate axes corresponding to the bracket frame axes, where the first coordinate axes are coordinate axes corresponding to a direction in the bracket frame axes and a normal direction of a tooth contact surface;
and the fusion module 1003 is used for carrying out Boolean fusion on the dental mesh model and the bracket clearance removal mesh model to obtain a target bracket dental mesh model, wherein the target bracket dental mesh model is used for printing.
In some embodiments, the desap module 1002 is specifically configured to:
Generating a three-dimensional depth map covering the bracket grid model for each bracket grid model, wherein the three-dimensional depth map comprises a plurality of space lattices;
determining a symbol distance value from each space grid in the three-dimensional depth map to the bracket grid model;
traversing the space grid from top to bottom based on the corresponding first coordinate axis, and determining whether the currently traversed first space grid is positioned in the bracket grid model according to the symbol distance value;
If the first space grid is determined to be positioned in the bracket grid model, filling a second space grid which is positioned below the first space grid and corresponds to the upper part of the tooth model, so as to obtain a target three-dimensional depth map;
and carrying out zero equivalent surface extraction processing on the target three-dimensional depth map to obtain the bracket clearance-removing grid model.
In some embodiments, the gap removal module 1002 is specifically configured to, when performing the step of filling the second space grid below the first space grid and above the corresponding tooth model to obtain the target three-dimensional depth map:
Determining each space grid below the first space grid and above the corresponding tooth model as the second space grid;
And replacing the symbol distance value of each second space grid with the symbol distance value of the first space grid, and completing filling processing of the second space grid to obtain the target three-dimensional depth map.
In some embodiments, the model processing apparatus 1000 further comprises:
The first dividing module is used for dividing grids in the bracket clearance removing grid model into a plurality of mutually disjoint grid groups;
at this time, the fusion module specifically 1003 is configured to:
And respectively carrying out Boolean fusion on the dental jaw grid model and a plurality of mutually-disjoint grid groups to obtain the target bracket dental jaw grid model.
In some embodiments, the model processing apparatus 1000 further comprises:
The first construction module is used for constructing a second plane perpendicular to a first plane on a second coordinate axis and constructing a third plane perpendicular to the first plane on a third coordinate axis for each bracket frame axis, wherein the second coordinate axis is a coordinate axis with the direction in the bracket frame axis corresponding to the tooth growth direction, the third coordinate axis is a coordinate axis with the direction in the bracket frame axis corresponding to the far-near direction, and the first plane is a plane formed by the second coordinate axis and the third coordinate axis;
the second acquisition module is used for acquiring intersecting lines of the second planes and the corresponding tooth models and intersecting lines of the third planes and the corresponding tooth models to obtain a plurality of intersecting lines;
the extraction module is used for extracting curves corresponding to the intersecting lines respectively based on fourth coordinate axes of the tooth standard frame shafts of the tooth models, wherein the fourth coordinate axes are coordinate axes corresponding to the normal direction of the tooth contact surface in the tooth standard frame shafts;
the second construction module is used for constructing narrow bands corresponding to the curves respectively;
and the Boolean processing module is used for carrying out Boolean processing on the dental jaw grid model and the narrow bands to obtain a dental jaw narrow band model, and the Boolean processing comprises at least one of Boolean fusion and Boolean subtraction.
In some embodiments, the model processing apparatus 1000 further comprises:
The determining module is used for determining whether a self-intersecting curve exists in the curves;
The cutting module is used for carrying out self-intersecting cutting treatment on the self-intersecting curve if the self-intersecting curve exists, so as to obtain a cut curve;
At this time, the second construction module is specifically configured to:
and constructing narrow bands corresponding to the curves after cutting and the non-self-intersecting curves in the curves respectively.
In some embodiments, the model processing apparatus 1000 further comprises:
The second segmentation module is used for dividing the plurality of narrow bands into a plurality of mutually disjoint narrow band groups;
At this time, the boolean processing module is specifically configured to:
and respectively carrying out Boolean processing on the dental jaw grid model and the plurality of groups of narrow bands to obtain the dental jaw narrow band model.
In some embodiments, the model processing apparatus 1000 further comprises:
The third acquisition module is used for acquiring the dental grid model;
the generating module is used for generating bracket standard frame shafts corresponding to the tooth models in the dental grid model respectively;
And the adding module is used for adding the bracket grid model on the corresponding tooth model surface based on the bracket standard frame shaft to obtain the initial bracket dental grid model.
In some embodiments, the generating module is specifically configured to:
generating bracket standard shafts corresponding to the tooth models respectively based on a preset bracket standard shaft algorithm; or alternatively, the first and second heat exchangers may be,
And responding to the interactive operation of the user, and generating the bracket standard frame shafts respectively corresponding to the tooth models.
In summary, the model processing device 1000 in the embodiment of the present application solves the problem of the shedding of the bracket in the printed dental model with bracket due to the gap between the bracket and the tooth, and reduces the shedding risk of the bracket in the printed dental model with bracket, thereby facilitating the user to perform the positioning verification of the bracket through the printed dental model with bracket.
It should be noted that, as those skilled in the art can clearly understand the specific implementation process of the above model processing device and each unit, reference may be made to the corresponding description in the foregoing method embodiments, and for convenience and brevity of description, details are not repeated herein.
The above model processing means may be implemented in the form of a computer program which is executable on an electronic device as shown in fig. 11.
Referring to fig. 11, fig. 11 is a schematic block diagram of an electronic device according to an embodiment of the present application. With reference to fig. 11, the electronic device 1100 includes a processor 1102, memory and a network interface 1105 connected through a system bus 1101, wherein the memory may include a non-volatile storage medium 1103 and an internal memory 1104.
The non-volatile storage medium 1103 may store an operating system 11031 and computer programs 11032. The computer program 11032 includes program instructions that, when executed, cause the processor 1102 to perform a model processing method.
The processor 1102 is operable to provide computing and control capabilities to support the operation of the overall electronic device 1100.
The internal memory 1104 provides an environment for the execution of a computer program 11032 in the non-volatile storage medium 1103, which computer program 11032, when executed by the processor 1102, causes the processor 1102 to perform a model processing method.
The network interface 1105 is used for network communication with other devices. It will be appreciated by those skilled in the art that the structure shown in fig. 11 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the electronic device 1100 to which the present inventive arrangements are applied, and that a particular electronic device 1100 may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
Wherein the processor 1102 is configured to execute the computer program 11032 stored in the memory to implement the following steps:
Acquiring an initial bracket tooth jaw grid model, wherein the initial bracket tooth jaw grid model comprises a tooth jaw grid model and a plurality of bracket grid models, and the bracket grid model is placed on the surface of the tooth model based on bracket mark frame shafts of each tooth model in the tooth jaw grid model;
Performing gap removal processing on a plurality of bracket grid models by combining corresponding tooth models based on first coordinate axes corresponding to the bracket standard frame axes respectively to obtain bracket gap removal grid models, wherein the first coordinate axes are coordinate axes of which the directions in the bracket standard frame axes correspond to the normal directions of tooth contact surfaces;
And carrying out Boolean fusion on the dental mesh model and the bracket clearance removing mesh model to obtain a target bracket dental mesh model, wherein the target bracket dental mesh model is used for printing.
It should be appreciated that in an embodiment of the application, the Processor 1102 may be a central processing unit (Central Processing Unit, CPU), the Processor 1102 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Those skilled in the art will appreciate that all or part of the flow in a method embodying the above described embodiments may be accomplished by computer programs instructing the relevant hardware. The computer program comprises program instructions, and the computer program can be stored in a storage medium, which is a computer readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present application also provides a storage medium. The storage medium may be a computer readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. The program instructions, when executed by the processor, cause the processor to perform the steps of:
Acquiring an initial bracket tooth jaw grid model, wherein the initial bracket tooth jaw grid model comprises a tooth jaw grid model and a plurality of bracket grid models, and the bracket grid model is placed on the surface of the tooth model based on bracket mark frame shafts of each tooth model in the tooth jaw grid model;
Performing gap removal processing on a plurality of bracket grid models by combining corresponding tooth models based on first coordinate axes corresponding to the bracket standard frame axes respectively to obtain bracket gap removal grid models, wherein the first coordinate axes are coordinate axes of which the directions in the bracket standard frame axes correspond to the normal directions of tooth contact surfaces;
And carrying out Boolean fusion on the dental mesh model and the bracket clearance removing mesh model to obtain a target bracket dental mesh model, wherein the target bracket dental mesh model is used for printing.
The storage medium may be a U-disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, or other various computer-readable storage media that can store program codes.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed.
The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the application can be combined, divided and deleted according to actual needs. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The integrated unit may be stored in a storage medium if implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing an electronic device (which may be a personal computer, a terminal, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (11)
1. A model processing method, comprising:
Acquiring an initial bracket tooth jaw grid model, wherein the initial bracket tooth jaw grid model comprises a tooth jaw grid model and a plurality of bracket grid models, and the bracket grid model is placed on the surface of the tooth model based on bracket mark frame shafts of each tooth model in the tooth jaw grid model;
Performing gap removal processing on a plurality of bracket grid models by combining corresponding tooth models based on first coordinate axes corresponding to the bracket standard frame axes respectively to obtain bracket gap removal grid models, wherein the first coordinate axes are coordinate axes of which the directions in the bracket standard frame axes correspond to the normal directions of tooth contact surfaces;
Performing Boolean fusion on the dental mesh model and the bracket gap removal mesh model to obtain a target bracket dental mesh model, wherein the target bracket dental mesh model is used for printing;
the method for removing gaps of the bracket grid model based on the first coordinate axes respectively corresponding to the bracket standard frame shafts and combining the corresponding tooth models comprises the following steps of:
Generating a three-dimensional depth map covering the bracket grid model for each bracket grid model, wherein the three-dimensional depth map comprises a plurality of space lattices;
determining a symbol distance value from each space grid in the three-dimensional depth map to the bracket grid model;
traversing the space grid from top to bottom based on the corresponding first coordinate axis, and determining whether the currently traversed first space grid is positioned in the bracket grid model according to the symbol distance value;
If the first space grid is determined to be positioned in the bracket grid model, filling a second space grid positioned below the first space grid and above the corresponding tooth model to obtain a target three-dimensional depth map, wherein the filling comprises the steps of replacing the symbol distance value of each second space grid with the symbol distance value of the first space grid or replacing the symbol distance value of each second space grid with a preset negative symbol distance value;
and carrying out zero equivalent surface extraction processing on the target three-dimensional depth map to obtain the bracket clearance-removing grid model.
2. The method of claim 1, wherein the filling the second space below the first space and above the corresponding tooth model to obtain the target three-dimensional depth map comprises:
Determining each space grid below the first space grid and above the corresponding tooth model as the second space grid;
And replacing the symbol distance value of each second space grid with the symbol distance value of the first space grid, and completing filling processing of the second space grid to obtain the target three-dimensional depth map.
3. The method according to claim 1, wherein after performing the gap removal processing on the plurality of bracket grid models based on the first coordinate axes respectively corresponding to the bracket frame axes and combining the corresponding tooth models to obtain the bracket gap removal grid model, the method comprises:
Dividing grids in the bracket clearance-removing grid model into a plurality of mutually-disjoint grid groups;
The method for carrying out Boolean fusion on the dental mesh model and the bracket clearance removal mesh model to obtain a target bracket dental mesh model comprises the following steps:
And respectively carrying out Boolean fusion on the dental jaw grid model and a plurality of mutually-disjoint grid groups to obtain the target bracket dental jaw grid model.
4. The method of claim 1, wherein after the obtaining the initial bracket dental mesh model, the method further comprises:
For each bracket frame shaft, a second plane perpendicular to a first plane is constructed on a second coordinate axis, and a third plane perpendicular to the first plane is constructed on a third coordinate axis, wherein the second coordinate axis is a coordinate axis with the direction corresponding to the tooth growth direction in the bracket frame shaft, the third coordinate axis is a coordinate axis with the direction corresponding to the far-near direction in the bracket frame shaft, and the first plane is a plane formed by the second coordinate axis and the third coordinate axis;
acquiring intersecting lines of the second planes and the corresponding tooth models and intersecting lines of the third planes and the corresponding tooth models to obtain a plurality of intersecting lines;
extracting curves corresponding to the intersecting lines respectively based on a fourth coordinate axis of a tooth standard frame shaft of each tooth model, wherein the fourth coordinate axis is a coordinate axis corresponding to the normal direction of the tooth contact surface in the tooth standard frame shaft;
constructing narrow bands corresponding to the curves respectively;
And carrying out Boolean processing on the dental jaw grid model and the plurality of narrow bands to obtain a dental jaw narrow band model, wherein the Boolean processing comprises at least one of Boolean fusion and Boolean subtraction.
5. The method of claim 4, wherein prior to said constructing each respective narrowband of said curves, said method further comprises:
Determining whether a self-intersecting curve exists in a plurality of curves;
if the self-intersecting curve exists, carrying out self-intersecting cutting treatment on the self-intersecting curve to obtain a cut curve;
Said constructing each of said curves respectively corresponding to a narrow band comprises:
and constructing narrow bands corresponding to the curves after cutting and the non-self-intersecting curves in the curves respectively.
6. The method of claim 4, wherein after said constructing each of said respective narrow bands of curves, said method further comprises:
Dividing a plurality of the narrow bands into a plurality of mutually disjoint narrow band groups;
the step of carrying out Boolean processing on the dental mesh model and a plurality of narrow bands to obtain a dental narrow band model comprises the following steps:
and respectively carrying out Boolean processing on the dental jaw grid model and the plurality of groups of narrow bands to obtain the dental jaw narrow band model.
7. The method according to any one of claims 1 to 6, wherein prior to the acquiring the initial bracket dental mesh model, the method further comprises:
acquiring the dental mesh model;
Generating bracket standard frame shafts corresponding to the tooth models in the dental grid model respectively;
and adding the bracket grid model on the corresponding tooth model surface based on the bracket standard frame shaft to obtain the initial bracket dental grid model.
8. The method of claim 7, wherein generating a bracket axis for each of the dental models in the dental grid model comprises:
generating bracket standard shafts corresponding to the tooth models respectively based on a preset bracket standard shaft algorithm; or alternatively, the first and second heat exchangers may be,
And responding to the interactive operation of the user, and generating the bracket standard frame shafts respectively corresponding to the tooth models.
9. A model processing apparatus, comprising:
The first acquisition module is used for acquiring an initial bracket-bearing dental grid model, wherein the initial bracket-bearing dental grid model comprises a dental grid model and a plurality of bracket grid models, and the bracket grid models are placed on the surfaces of the dental models based on bracket standard frame shafts of all the dental models in the dental grid model;
The gap removing module is used for carrying out gap removing treatment on the plurality of bracket grid models by combining corresponding tooth models based on first coordinate axes corresponding to the bracket standard frame shafts respectively to obtain bracket gap removing grid models, wherein the first coordinate axes are coordinate axes of which the directions in the bracket standard frame shafts correspond to the normal directions of tooth contact surfaces;
The fusion module is used for carrying out Boolean fusion on the dental mesh model and the bracket clearance removal mesh model to obtain a target dental mesh model with brackets, wherein the target dental mesh model with brackets is used for printing;
the gap removing module is specifically configured to:
Generating a three-dimensional depth map covering the bracket grid model for each bracket grid model, wherein the three-dimensional depth map comprises a plurality of space lattices; determining a symbol distance value from each space grid in the three-dimensional depth map to the bracket grid model; traversing the space grid from top to bottom based on the corresponding first coordinate axis, and determining whether the currently traversed first space grid is positioned in the bracket grid model according to the symbol distance value; if the first space grid is determined to be positioned in the bracket grid model, filling a second space grid positioned below the first space grid and above the corresponding tooth model to obtain a target three-dimensional depth map, wherein the filling comprises the steps of replacing the symbol distance value of each second space grid with the symbol distance value of the first space grid or replacing the symbol distance value of each second space grid with a preset negative symbol distance value; and carrying out zero equivalent surface extraction processing on the target three-dimensional depth map to obtain the bracket clearance-removing grid model.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the model processing method according to any of claims 1-8 when executing the computer program.
11. A storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the model processing method of any one of claims 1-8.
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| DE102013209735A1 (en) * | 2013-05-24 | 2014-11-27 | Dw Lingual Systems Gmbh | A method of making a patient-specific replacement bracket for orthodontic treatment and a bracket made by the method |
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| US11472118B2 (en) * | 2017-08-16 | 2022-10-18 | Gabaja Limited | System and method of manufacturing a mouth piece |
| US11696816B2 (en) * | 2020-06-25 | 2023-07-11 | Orthoselect, Llc | Orthodontics treatment systems and methods |
| CN114795530B (en) * | 2022-06-07 | 2024-01-16 | 奥世美医疗科技(江苏)有限公司 | Orthodontic auxiliary bonding guide plate |
| CN116442527A (en) * | 2023-03-22 | 2023-07-18 | 郑州大学 | Flexible 3D printing forming method and printing equipment based on 3D vision |
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| CN112932703A (en) * | 2021-02-05 | 2021-06-11 | 四川大学 | Orthodontic bracket bonding method utilizing mixed reality technology |
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