阅读说明：本技术 用于作为群体的牙齿移动的系统和方法 (System and method for tooth movement as a group ) 是由 文华峰 于 2016-09-26 设计创作，主要内容包括：本申请涉及用于作为群体的牙齿移动的系统和方法。系统包括多个牙齿模型,每个牙齿模型包括控制其移动的计算机代码。该系统还包括牙齿移动控制系统(TMCS),该牙齿移动控制系统具有执行牙科管理器模块的处理器并且具有存储每个牙齿模型的不同的牙齿移动计划的存储器。实际上,牙齿移动计划被存储在每个牙齿模型的存储器中(例如,用于每个牙齿模型的不同的牙齿移动计划)。然后,在牙齿移动操作期间,每个本地控制模块独立地控制牙齿模型以执行存储在牙齿模型的存储器中的牙齿移动计划。(The present application relates to systems and methods for tooth movement as a population. The system includes a plurality of tooth models, each tooth model including computer code controlling its movement. The system also includes a Tooth Movement Control System (TMCS) having a processor executing a dental manager module and having a memory storing a different tooth movement plan for each tooth model. In practice, the tooth movement plans are stored in the memory of each tooth model (e.g., a different tooth movement plan for each tooth model). Then, during the tooth movement operation, each local control module independently controls the tooth model to execute the tooth movement plan stored in the memory of the tooth model.)

1. A method of controlling tooth movement to correct malocclusions, comprising:

receiving a plurality of digital dental models of a subject having one or more malocclusions;

determining, by a tooth movement manager module, movement of each of the plurality of digital tooth models for correcting malocclusions;

providing communication between the plurality of digital dental models;

transmitting operational data from a computer system to the plurality of digital dental models to control movement of the plurality of digital dental models;

assigning, by the collision manager module, a three-dimensional range of influence having a predefined diameter assigned to each of the plurality of digital tooth models to define a safety envelope and set a proximity distance between each tooth model;

monitoring the actual state of each tooth of the subject; and

the actual state of each tooth is compared to the expected state of each tooth model by the tooth manager module.

2. The method of claim 1, further comprising adjusting movement of one or more teeth if a deviation is detected such that the movement of each of the one or more teeth is not constrained to a particular movement within a particular time period, and wherein the movement is based on a comparison of the actual state to the expected state.

3. The method of claim 1, wherein communicating operational data comprises designating at least one of the plurality of digital dental models as a master node in communication with the dental manager module.

4. The method of claim 3, further comprising transmitting tooth movement information from the master node to remaining ones of the plurality of digital tooth models.

5. The method of claim 4, wherein transmitting tooth movement information further comprises moving the plurality of digital tooth models synchronously.

6. The method of claim 1, wherein assigning ranges of influence further comprises monitoring collisions between tooth models.

7. The method of claim 6, wherein providing communication between the plurality of digital tooth models comprises communicating collision warnings to adjacent tooth models such that one or more of the plurality of digital tooth models changes their movement to avoid collisions.

8. The method of claim 1, wherein determining movement comprises allocating one or more waypoints between an initial waypoint to a target waypoint.

9. The method of claim 8, wherein comparing the actual state to the expected state comprises periodically comparing the actual state to the expected state at each of the one or more waypoints.

10. The method of claim 1, further comprising determining whether movement of one or more of the plurality of digital tooth models requires manual control.

11. A method of controlling tooth movement to correct malocclusions, comprising:

receiving a plurality of digital dental models of a subject having one or more malocclusions;

determining, by a tooth movement manager module, a movement plan for each of the plurality of digital tooth models for correcting malocclusions;

storing the movement plan for each of the plurality of digital tooth models in a computer system;

loading a separate tooth movement plan onto each of the plurality of digital tooth models;

assigning, by the collision manager module, a three-dimensional range of influence having a predefined diameter assigned to each of the plurality of digital tooth models to define a safety envelope and set a proximity distance between each tooth model;

monitoring the actual state of each tooth of the subject; and

the actual state of each tooth is compared to the expected state of each tooth model by the tooth manager module.

12. The method of claim 11, further comprising adjusting movement of one or more teeth if a deviation is detected such that the movement of each of the one or more teeth is not constrained to a particular movement within a particular time period, and wherein the movement is based on a comparison of the actual state to the expected state.

13. The method of claim 11, further comprising organizing the plurality of digital tooth models into a set of tooth models that work in concert for at least a portion of the movement plan.

14. The method of claim 11, further comprising providing an animation to show movement of one or more teeth.

15. The method of claim 11, wherein loading a separate tooth movement plan comprises each of the plurality of digital tooth models independently following a separate tooth movement plan.

16. The method of claim 11, wherein assigning ranges of influence further comprises monitoring collisions between tooth models.

17. The method of claim 16, further comprising communicating a collision warning to adjacent tooth models such that one or more of the plurality of digital tooth models changes their movement to avoid collision.

18. The method of claim 11, wherein determining a movement plan includes allocating one or more waypoints between an initial waypoint to a target waypoint.

19. The method of claim 18, wherein comparing the actual state to the expected state comprises periodically comparing the actual state to the expected state at each of the one or more waypoints.

20. The method of claim 11, further comprising determining whether movement of one or more of the plurality of digital tooth models requires manual control.

Technical Field

The present invention relates to methods and apparatus for computerized orthodontics. More particularly, the present invention relates to methods and apparatus for planning orthodontic treatment.

Background

Orthodontics is a specialty in dentistry that involves the study and treatment of malocclusions that may result from tooth irregularities, disproportionate facial skeletal relationships, or both. Orthodontics treat malocclusions by displacing teeth and controlling and modifying facial growth through bone reconstruction.

This is traditionally done by inducing bone remodeling using static mechanical forces, thereby enabling tooth movement. In this method, a mouthpiece (brache) having an archwire interface with brackets (brachkets) is secured to each tooth. As the teeth react to the pressure applied by the archwire by moving their positions, the wires are again tightened to apply additional pressure. This widely accepted method of treating malocclusions takes on average about twenty-four months to complete and is used to treat a variety of different types of clinical malocclusions. Treatment with braces is complicated by the fact that patients are uncomfortable and/or painful and orthodontic appliances are considered unsightly, all of which cause considerable resistance to use. In addition, treatment time cannot be shortened by increasing force, as too high a force causes root absorption and becomes more painful. The mean treatment time of twenty-four months is very long and further reduces use. In fact, some estimates indicate that less than half of the patients benefit from this treatment option for orthodontics.

Kesilin proposed a tooth positioning appliance in 1945 as a method to improve the final stage of orthodontic completion after removal of the braces (the band removal). The positioner is a one-piece flexible rubber appliance made on an ideal wax device for patients who have completed a basic treatment. Kesilin also predicts that some large tooth movement can be achieved with a series of positioners made from sequential tooth movement on the device as treatment progresses. However, this idea has not become practical until the advent of three-dimensional (3D) scanning and the use of computers by companies including Align Technologies and OrthoClear, clearligner and ClearCorrect, which provide greatly improved aesthetics because these devices are transparent.

However, with traditional fine-tuned models of individual teeth, the gum geometry is lost and the false gum is recreated, and is often re-modeled by a technician. Thus, the geometry of the gums may not be accurate initially, and the animation of the gums over time is more difficult to model due to the lack of a physical model. This inaccurate modeling results in mismatch of the resulting appliances, resulting in devices that are either too large or too small and thus causing patient discomfort.

Another problem is that some so-called mold treatments are not realistically possible without the real gum as a reference, leading to potential errors, for example tooth movement may occur in the incorrectly molded gum, however, tooth movement may actually move outside the patient's real gum.

Another problem with micro-and hole filling and creating separate tooth and gum models is that there is very little information that can define the true boundary of two teeth. Such a fine-tuning and filling model forces the boundary surfaces to be defined even if they are arbitrary.

Depending on the defined boundary surface, the movement may be restricted or relaxed, which means that some real life movement may be achieved; however, due to such inaccuracies, modeling software cannot model accurately because the models collide with each other. This can lead to true treatment results creating gaps between teeth and further requires eventual improvement, which increases costs and patient dissatisfaction. On the other hand, if the molded movement is relaxed, the software may implement a movement that is not physically possible in reality, which may cause the molded device to push the teeth toward each other without movement. This can also cause the plastic shell of the appliance to sometimes be stretched too much so that the shell exerts uncomfortable forces on the patient, which can be painful.

Another problem with micro-harmonic hole filling is the filling of geometric shapes like real teeth, for the underlying model, the underlying lines may be the molded boundary surfaces, such model looks like real teeth; however, such sharp boundaries create a deep undercut that once printed and thermoformed with a plastic housing, it is difficult to remove the plastic housing from the printing mold due to the deep undercut. To compensate for this, a ramp object is typically created to fill a V-groove (clevis), thereby adding inaccuracy and expense.

Another problem with micro-tuning and hole filling is that the model size is too large to communicate between the user and the manufacturer, thus requiring a reduction in the model size resulting in lost model details. These inaccuracies may mislead the professional, for example, a complete complex model may not show the gap between two adjacent teeth, however, a scaled down model may show the gap.

These 3D scans and computerized planning of treatments are cumbersome and time consuming. Accordingly, there is a need for an efficient and cost-effective procedure for planning orthodontic treatment of a patient.

Summary of The Invention

The following description provides control methods and systems for controlling two or more tooth models during synchronized tooth movement. As an exemplary use, the control methods and systems may be used to provide orthodontic treatment.

The system is provided for controlling tooth movement of a plurality of biological objects (tooth models). The system includes a plurality of tooth models, each tooth model including computer code controlling its movement. The system also includes a Tooth Movement Control System (TMCS) having a processor executing a dental manager module and having a memory storing a different tooth movement plan for each tooth model. In practice, the tooth movement plans are stored in the memory of each tooth model (e.g., a different tooth movement plan for each tooth model). Then, during the tooth movement operation, each local control module independently controls the tooth model to execute the tooth movement plan stored in the memory of the tooth model.

In some cases, the local control module of each tooth model is operative to periodically compare the current position of the tooth model to the tooth movement plan and modify the control of the tooth model based on the comparison. In these cases, modifying the control may include changing the tooth movement speed or selecting a new waypoint for the tooth model in the tooth movement plan as a target. In other cases, the local control of each tooth model may be operable to detect another tooth model within a safety envelope (safetyengvelope) about the tooth model and, in response, transmit a collision warning message to the detected tooth model to cause the detected tooth model to change its course to move out of the safety envelope. In some embodiments, the tooth models are teeth, and the local control module of each tooth model is operative to detect a tilt and a roll of the teeth, and to switch operation of the teeth to the safe operation mode when the tilt or roll exceeds a predefined maximum value.

The description also teaches a tooth movement control method. In this control method, the initial step may be to receive a tooth movement plan that is unique for each of the plurality of teeth. The next step may involve simultaneously manipulating the teeth to perform the tooth movement plan. The method also includes providing a communication channel between the pair of teeth, wherein the first tooth detects a second tooth in the predefined space adjacent to the first tooth. The method further includes using the first tooth to transmit a message to the second tooth through a communication channel between the first tooth and the second tooth to cause the second tooth to change position to avoid the collision.

In some embodiments of the method, the tooth movement plan may include a plurality of waypoints for each tooth. In such embodiments, the method may further comprise adjusting a tooth movement speed or course of one of the teeth based on a comparison of the current position to one of the course points during the operation of the teeth to perform the tooth movement plan. The tooth movement plan may also include an elapsed time period for each waypoint, and then the adjustment to the tooth movement speed or course may be performed when one of the teeth exceeds the elapsed time.

In some embodiments of the method, tooth movement is decomposed into different movement metrics, e.g., tooth movement can be decomposed into tilt, rotation about a long axis, body movement, and the like. Building artificial intelligence networks, typically neural networks, such networks with different neurons and weights can be adjusted, where the cases being treated are the learning set of such neural networks. By entering each case and adjusting the network weights to make the network more predictable to the treatment outcome, the designed movement can be run through the network when new cases occur and an ideal and more predictable movement design is achieved. The more training cases that are provided, the more robust network can be achieved.

In one embodiment, each tooth implements rules that are a group that meet one or more of the following goals or purposes:

1. abiding by six occlusion key points of anderuss;

2. root movement cannot exceed 0.5 mm per month;

3. conforms to a U or V shape;

4. opening and closing the teeth;

5. no interproximal reduction;

6. avoiding moving any implant teeth;

7. a subset of teeth that move together as a unit is defined.

The system allows the treatment professional tight control at each stage by allowing specific actions from one stage to the next. In one example, it is desirable in some settings to synchronize the movement and manipulation of the tooth model so that the tooth model operates in the orchestration dictated by the treatment professional, which is not possible through manual control of the tooth model's random and independent movement.

The present control method and/or system is ideal for moving multiple tooth models and providing synchronized tooth movement. Because it is desirable to avoid collisions and (at least in some applications) also avoid the occurrence of only random movements of the tooth model, such an approach would be non-clustering. Rather, it is desirable for a tooth model to react safely to changing environmental conditions, such as bone structure and soft tissue, during a set of tooth movements of the planned tooth model.

The invention also relates to the following aspects:

1) a method of controlling tooth movement to correct malocclusions, comprising:

receiving a plurality of digital dental models of a subject having one or more malocclusions;

determining, by a tooth movement manager module, movement of each of the plurality of digital tooth models for correcting malocclusions;

assigning, by a collision manager module, a range of influence on each of the plurality of digital tooth models to set a proximity distance between each tooth model;

monitoring the actual state of each tooth of the subject;

comparing, by the teeth manager module, the actual state of each tooth with the expected state of each tooth model; and is

If a deviation is detected, the movement of one or more teeth is adjusted based on a comparison of the actual state to the expected state.

2) The method of 1), wherein receiving a plurality of digital tooth models comprises scanning dentitions of the subject.

3) The method of 1), wherein determining movement comprises independently executing a tooth movement plan for each of the plurality of digital tooth models.

4) The method of 3), wherein independently performing comprises triggering activation of the tooth movement plan by the plurality of digital tooth models simultaneously.

5) The method of 1), wherein determining movement comprises allocating one or more waypoints between the initial waypoint to the target waypoint.

6) The method of 5), wherein comparing the actual state comprises periodically comparing the actual state to the expected state at each of the one or more waypoints.

7) The method of 6), wherein adjusting the movement comprises assigning a new waypoint to one or more of the plurality of digital tooth models if the deviation is detected.

8) The method of 1), wherein adjusting the movement comprises adjusting a speed or course of movement of the one or more teeth.

9) The method of 1), wherein adjusting the movement comprises adjusting based on a correlation of bone and soft tissue.

10) The method of 1), wherein assigning a range of influence comprises assigning a space of 1 to 3mm around each of the plurality of digital tooth models.

11) The method of 1), wherein assigning ranges of influence further comprises monitoring collisions between tooth models.

12) The method of 11), further comprising communicating a collision warning to adjacent tooth models such that one or more of the plurality of digital tooth models changes their movement to avoid a collision.

13) The method of 1), further comprising determining whether one or more of the plurality of digital tooth models requires a reboot.

14) The method of 1), further comprising fabricating a plurality of dental appliances.

15) The method of 14), wherein fabricating comprises fabricating by three-dimensional printing.