阅读说明：本技术 一种基于磁流体的牙齿正畸动态模拟方法与系统 (Tooth orthodontic dynamic simulation method and system based on magnetofluid ) 是由 仵健磊 于 2021-05-18 设计创作，主要内容包括：本发明公开了一种基于磁流体的牙齿正畸动态模拟方法与系统,具体涉及牙齿正畸领域,主要包括步骤：根据患者口腔的临床数据构建整体牙列模型,并通过力传感器连接整体牙列模型中待矫治牙齿模型的牙冠部分和牙根部分；通过定位导板引导整体牙列模型中各牙齿模型的牙根部分浸没于磁流体中；通过托槽将弓丝固定于整体牙列模型中各牙齿模型的牙冠部分的外表面；通过磁场发射器调节磁流体各方向上的流体状态模拟患者口腔生物结构特性；获取弓丝正畸时牙齿模型移动过程中力传感器的感应数据,并根据感应数据获取牙齿正畸方案。本发明通过磁流体模拟口腔的临床状态,避免了弓丝物理属性的性能受损,对于力传感器自身的热敏要求更低,提高了正畸准确率。(The invention discloses a magnetofluid-based tooth orthodontic dynamic simulation method and a magnetofluid-based tooth orthodontic dynamic simulation system, and particularly relates to the field of tooth orthodontics, and the method mainly comprises the following steps: constructing an integral dentition model according to clinical data of the oral cavity of a patient, and connecting a crown part and a root part of a tooth model to be corrected in the integral dentition model through a force sensor; guiding the root parts of all tooth models in the whole dentition model to be immersed in the magnetic fluid through the positioning guide plate; fixing the arch wire on the outer surface of the dental crown part of each tooth model in the integrated dentition model through a bracket; the fluid state in each direction of the magnetic fluid is regulated by a magnetic field emitter to simulate the biological structure characteristics of the oral cavity of a patient; and acquiring the sensing data of the force sensor in the moving process of the tooth model when the arch wire is used for orthodontics, and acquiring the orthodontics scheme according to the sensing data. According to the invention, the clinical state of the oral cavity is simulated by the magnetic fluid, the performance damage of the physical property of the arch wire is avoided, the requirement on the self heat sensitivity of the force sensor is lower, and the orthodontic accuracy is improved.)

1. A tooth orthodontic dynamic simulation method based on magnetofluid is characterized by comprising the following steps:

s1: constructing an integral dentition model according to clinical data of the oral cavity of a patient, and connecting a crown part and a root part of a tooth model to be corrected in the integral dentition model through a force sensor;

s2: guiding the root parts of all tooth models in the whole dentition model to be immersed in the magnetic fluid through the positioning guide plate;

s3: fixing the arch wire on the outer surface of the dental crown part of each tooth model in the integrated dentition model through a bracket;

s4: under the standard oral temperature, the fluid state of the magnetic fluid in each direction is regulated by a magnetic field emitter to simulate the biological structure characteristics of the oral cavity of a patient;

s5: and acquiring the sensing data of the force sensor in the moving process of the tooth model during orthodontics of the arch wire, and designing and optimizing the orthodontics scheme according to the sensing data.

2. A magnetofluid-based orthodontic dynamic simulation method of claim 1, wherein the positioning guide is designed according to the clinical crown shape of the patient and is fixed to the model of the whole dentition by a plurality of positioning pins.

3. The method for dynamic simulation of magnetic fluid-based orthodontic dynamic simulation according to claim 2, wherein in the step S2, the position of the crown part of each tooth model guided by the positioning guide plate is kept consistent with the clinical data.

4. The method according to claim 1, wherein the force sensor is located between the tooth crown part and the tooth root part and is not immersed in the magnetic fluid.

5. The method for dynamically simulating orthodontic magnetic fluid based on magnetic fluid according to claim 1, wherein the step S5, after obtaining the induction data, further comprises the steps of:

and converting the induction data into the actual moment size and the moment direction corresponding to the center of the dental crown of the tooth model through coordinate system conversion.

6. The method for dynamically simulating orthodontic magnetic fluid based on magnetic fluid according to claim 1, wherein in step S5, the orthodontic movement speed of the tooth model is in a preset proportional relationship with the actual speed of the tooth during orthodontic treatment.

7. A magnetic fluid-based dental orthodontic dynamic simulation system, comprising:

the whole dentition model consists of various tooth models constructed by clinical data of the oral cavity of a patient, wherein a dental crown part and a dental root part of the tooth model to be corrected are connected through a force sensor;

the positioning guide plate is used for guiding the tooth root parts of all the tooth models in the whole dentition model to be immersed in the magnetic fluid, and the positions of the tooth crown parts of all the guided tooth models are kept consistent with clinical data;

the arch wire is fixed on the outer surface of the dental crown part of each tooth model in the integral dentition model through the bracket and is used for providing orthodontic force for tooth orthodontics;

the magnetic field emitter is used for adjusting the fluid state in each direction of the magnetic fluid so as to simulate the biological structure characteristics of the oral cavity of a patient;

and the processing terminal is used for acquiring the induction data of the force sensor in the tooth model moving process during orthodontics of the arch wire and designing and optimizing an orthodontics scheme according to the induction data.

8. A magnetic fluid-based orthodontic dynamic simulation system of claim 7 further comprising a plurality of alignment pins for securing the whole dentition model to the alignment guide designed to conform to the patient's clinical crown morphology.

9. A magnetic fluid-based dental orthodontic dynamic simulation system of claim 7 wherein the force sensor is located intermediate the crown portion and the root portion, not immersed in the magnetic fluid.

10. The magnetic fluid-based tooth orthodontic dynamic simulation system according to claim 7, wherein the processing terminal further comprises a coordinate transformation unit for performing coordinate transformation on the induction data to transform the induction data into an actual moment and a moment direction corresponding to the center of the tooth crown of the tooth model.

Technical Field

The invention relates to the field of tooth orthodontics, in particular to a tooth orthodontics dynamic simulation system based on magnetic fluid.

Background

Orthodontic is to fix and correct appliances composed of an arch wire, a bracket and the like or invisible removable appliances such as a tooth socket and the like aiming at teeth arranged in malformation or malocclusion, applies three-dimensional correction force and moment to the teeth, adjusts the balance and coordination among facial bones, the teeth and maxillofacial muscles, improves the facial form, aligns dentition and improves chewing efficiency after correction for a period of time.

In orthodontics, either a fixed or straight wire appliance or a removable invisible appliance such as a brace, the movement of teeth is achieved by applying a continuous load to the teeth through deformation of an arch wire or brace. The three-dimensional orthodontic forces and moments provided by the appliance to the teeth will therefore determine the course and amount of movement of the teeth, and the forces and moments provided by the orthodontic system must first be known clearly to achieve accurate, as-needed movement of the teeth during orthodontic treatment. Furthermore, the force provided by the appliance changes in real time as the teeth move due to the change in position. Many of the undesirable tooth movements are due to the unclear knowledge and control of orthodontic forces. Incorrect forces and moments can cause excessive or insufficient tooth movement, and at the moment, the appliance needs to be adjusted according to actual conditions to apply or reduce force, so that the correction time is greatly prolonged, and meanwhile, periodontal tissues can be absorbed possibly, the risk of correction failure is increased, and great uncertainty is caused.

Based on the above problem, a current technical document has proposed to fix the tooth model through wax matrix simulation alveolus, then changes its hardness, resistance and viscosity through the mode of heating the wax matrix, and the arch wire self is based on the restoring force of deformation memory in the cooperation to the process is rescued to the tooth under the simulation clinical state, gathers its atress data, and then optimizes just abnormal scheme. However, the existing correction arch wire manufactured by utilizing the shape memory characteristic of the nickel-titanium wire has the characteristic of being converted into the original shape at 29-36 ℃, so the restoring force can be realized at a certain temperature (oral cavity temperature), and the deformation restoring effect is certainly influenced by overhigh temperature. The temperature of the wax film required for changing the hardness, resistance and viscosity of the wax film is very high, and can reach 40-60 ℃, and the environment temperature required for generating the temperature of the wax film is necessarily higher than the temperature of the wax film. The data obtained at the environment temperature cannot really simulate the orthodontic process at the oral cavity temperature, the obtained data result has larger errors, and meanwhile, the high-temperature environment can also influence the data detection of the corresponding sensor, and the data result is easy to deviate.

Disclosure of Invention

In order to simulate the most real oral environment and further obtain better orthodontic data, the invention provides a magnetofluid-based tooth orthodontic dynamic simulation method, which comprises the following steps of:

s1: constructing an integral dentition model according to clinical data of the oral cavity of a patient, and connecting a crown part and a root part of a tooth model to be corrected in the integral dentition model through a force sensor;

s2: guiding the root parts of all tooth models in the whole dentition model to be immersed in the magnetic fluid through the positioning guide plate;

s3: fixing the arch wire on the outer surface of the dental crown part of each tooth model in the integrated dentition model through a bracket;

s4: under the standard oral temperature, the fluid state of the magnetic fluid in each direction is regulated by a magnetic field emitter to simulate the biological structure characteristics of the oral cavity of a patient;

s5: and acquiring the sensing data of the force sensor in the moving process of the tooth model during orthodontics of the arch wire, and designing and optimizing the orthodontics scheme according to the sensing data.

Further, the positioning guide plate is designed according to the clinical dental crown shape of a patient and is fixed with the whole dentition model through a plurality of positioning pins.

Further, in step S2, the position of the crown portion of each tooth model guided by the positioning guide is kept consistent with the clinical data.

Further, the force sensor is located intermediate to both the crown portion and the root portion, not immersed in the magnetic fluid.

Further, in step S5, after the sensing data is acquired, the method further includes the steps of:

and converting the induction data into the actual moment size and the moment direction corresponding to the center of the dental crown of the tooth model through coordinate system conversion.

Further, in the step S5, the orthodontic movement speed of the tooth model is in a preset proportional relationship with the actual speed of the tooth during orthodontic treatment.

The invention also provides a magnetic fluid-based tooth orthodontic dynamic simulation system, which comprises:

the whole dentition model consists of various tooth models constructed by clinical data of the oral cavity of a patient, wherein a dental crown part and a dental root part of the tooth model to be corrected are connected through a force sensor;

the positioning guide plate is used for guiding the tooth root parts of all the tooth models in the whole dentition model to be immersed in the magnetic fluid, and the positions of the tooth crown parts of all the guided tooth models are kept consistent with clinical data;

the arch wire is fixed on the outer surface of the dental crown part of each tooth model in the integral dentition model through the bracket and is used for providing orthodontic force for tooth orthodontics;

the magnetic field emitter is used for adjusting the fluid state in each direction of the magnetic fluid so as to simulate the biological structure characteristics of the oral cavity of a patient;

and the processing terminal is used for acquiring the induction data of the force sensor in the tooth model moving process during orthodontics of the arch wire and designing and optimizing an orthodontics scheme according to the induction data.

And the positioning guide plate is designed to conform to the clinical dental crown shape of the patient.

Further, the force sensor is located intermediate to both the crown portion and the root portion, not immersed in the magnetic fluid.

Further, the processing terminal also comprises a coordinate conversion unit for performing coordinate conversion on the induction data to convert the induction data into the actual moment and the moment direction corresponding to the center of the dental crown of the tooth model.

Compared with the prior art, the invention at least has the following beneficial effects:

(1) according to the method and the system for dynamically simulating the tooth orthodontics based on the magnetofluid, the state of the magnetofluid is changed through the magnetic field generator to simulate the real situation of the oral cavity in a clinical state, so that the acquired data is the data of the patient in the most real oral cavity state, and the orthodontics accuracy is improved;

(2) the magnetic fluid is adopted to simulate the oral cavity state, the arch wire does not need to be placed in a high-temperature environment, the problem of performance damage caused by the change of physical properties due to the heating of the arch wire is avoided, and compensation calculation required for the performance damage is reduced;

(3) based on the guidance control of the magnetic fluid, the simulation of the gum state in a certain direction can be effectively simulated, so that the oral state of a patient can be simulated more truly, and more personalized orthodontic can be realized;

(4) based on data acquisition at the oral cavity temperature, the requirement on the self heat sensitivity of the sensor is lower, the equipment cost is reduced, and the cost required by orthodontics of a patient is indirectly reduced;

(5) the mode of model simulation is adopted to carry out orthodontic test, compared with direct clinical implementation, the postoperative risk is greatly reduced, and a better guarantee is provided for the oral health of a patient.

Drawings

FIG. 1 is a method step diagram of a magnetofluid-based method and system for dynamic simulation of orthodontic treatment;

FIG. 2 is a system configuration diagram of a magnetofluid-based tooth orthodontic dynamic simulation method and system;

FIG. 3 is a schematic view of magnetofluidic orthodontic treatment;

FIG. 4 is a schematic view of a positioning guide;

FIG. 5 is a schematic view of a whole dentition model;

FIG. 6 is a schematic view of a force sensor installation;

FIG. 7 is a view showing the tooth model to be corrected in disassembled and assembled;

description of reference numerals: 1-measuring base, 2-magnetic field emitter, 3-testing dental model, 31-dental base, 32-model of tooth to be corrected, 321-crown, 322-connecting rod, 323-force sensor, 324-root, 33-magnetofluid, 34-bracket, 35-arch wire, 4-magnetic field controller, 5-data line and 6-processing terminal.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

Example one

Considering some problems existing in the prior art in the orthodontic process, such as a measuring method of a measuring device based on a force sensor, which is claimed to be directly used for intraoral measurement, but is impossible to realize in practical clinical use due to the need of inserting a plug gasket between a bracket and a tooth, because the existing orthodontic appliances are designed into elements with standard sizes according to the sizes of human oral cavities, the insertion of redundant accessories is not allowed, otherwise, the comfort and the treatment effect of a patient wearing the appliances are influenced, the workload of a clinician is greatly increased, and the actual implementation cannot be realized; more importantly, the measured mechanical data are data after the appliance is worn, and cannot be used for designing an orthodontic treatment scheme before clinical implementation, and the measured mechanical data are incorrect, so that the orthodontic treatment scheme cannot be effectively modified.

For each patient, in order to make an accurate treatment scheme before orthodontic treatment is carried out and predict the orthodontic force and moment in three directions on the teeth of the patient, the appliance needs to design the treatment scheme according to the oral data of the patient, design and manufacture an individual oral model capable of simulating the teeth of the patient to move in the oral environment, dynamically measure the real orthodontic force and moment on the model, and transfer the scheme to the teeth of the patient under the support of some auxiliary navigation tools. Therefore, the personalized accurate orthodontic treatment needs the support of a special orthodontic force dynamic real-time detection device. Based on the above, as shown in fig. 1, the invention provides a magnetic fluid-based tooth orthodontic dynamic simulation method, which comprises the following steps:

s1: constructing an integral dentition model according to clinical data of the oral cavity of a patient, and connecting a crown part and a root part of a tooth model to be corrected in the integral dentition model through a force sensor;

s2: guiding the root parts of all tooth models in the whole dentition model to be immersed in the magnetic fluid through the positioning guide plate;

s3: fixing the arch wire on the outer surface of the dental crown part of each tooth model in the integrated dentition model through a bracket;

s4: under the standard oral cavity temperature, the fluid state in each direction of the magnetic fluid is regulated by a magnetic field emitter to simulate the biological structure characteristics of the oral cavity of a patient (obtained by clinical data of the oral cavity of the patient);

s5: and acquiring the sensing data of the force sensor in the tooth moving process during orthodontics of the arch wire, and designing and optimizing the orthodontics scheme according to the sensing data.

In order to ensure that the tooth models are combined into an integral dentition model and can keep consistent with the position, the angle and the high-low state of the dentition of a patient after being fixed, the positioning guide plate is a gum simulation model which is simulated and reconstructed according to the angle, the position and the depth of each tooth in the teeth according to the clinical data of the oral cavity of the patient. The whole dentition model and the positioning guide plate are fixed through the plurality of positioning pins, the number of the positioning pins is generally three in consideration of cost and structural stability, and the structure is stable under the condition of achieving the minimum cost by adopting a triangular positioning mode. The position of the crown portion of each tooth model after guidance by the positioning guide is consistent with clinical data.

Considering that the magnetofluid may influence the data acquisition of the sensor, the force sensor is positioned between the dental crown part and the dental root part, so that only the dental root part is ensured to be immersed in the magnetofluid, the force sensor is not immersed in the magnetofluid, and the interference of the magnetofluid on the force sensor is avoided to the greatest extent under the condition of ensuring the authenticity of data acquisition. And the force sensor, the dental crown and the dental root are rigidly connected and fixed through high-strength glue and a connecting rod.

After the whole dentition model and the positioning guide plate are prepared and fixed, the fixed whole dentition model is inserted into the magnetic fluid, and then the magnetic field is generated through the magnetic field emitter according to clinical data of the oral cavity of a patient, so that magnetic microparticles in the magnetic fluid generate directional motion, the viscous flow state of the magnetic fluid is changed, and accurate regulation and control of the hardness, resistance and viscosity of a gum under a simulation state are realized. Meanwhile, the viscous flow state of the magnetic fluid in a certain direction at the tooth model needing orthodontics can be changed by utilizing the directional movement of the magnetic fluid, so that the acquired simulation data is closer to the real oral state of the patient, and the personalized orthodontics treatment is realized.

And in the whole simulation test process, the whole model is at the standard oral cavity temperature, so that the arch wire is ensured to be capable of keeping the physical characteristics at the normal oral cavity temperature, meanwhile, the influence of high temperature on the force sensor is avoided, the experimental cost of the force sensor is reduced, and the cost required by orthodontics of a patient is indirectly reduced.

Since the force sensor is fixed to the crown and the root by the connecting rod, there is a certain mechanical structure difference with the real tooth, and therefore, in step S5, after acquiring the sensing data, the method further includes the steps of:

and converting the induction data into the actual moment size and the moment direction corresponding to the centroid of the tooth model through coordinate system conversion.

The measured values are converted to the center of the dental crown of the tooth model through a coordinate conversion relation to obtain the actual force and moment of the measured tooth. It should be noted that, in the test, the orthodontic movement speed of the tooth model and the actual speed of the tooth in the orthodontic correction process are in a preset proportional relationship, so that the finally obtained data are ensured to be in accordance with the movement data in the actual orthodontic correction process, and the oral cavity damage caused by excessive orthodontics or too fast orthodontics is avoided.

Example two

In order to better understand the technical content of the present invention, the present embodiment illustrates the present invention by means of a system structure, as shown in fig. 2, a magnetic fluid-based tooth orthodontic dynamic simulation system, comprising:

the whole dentition model consists of various tooth models constructed by clinical data of the oral cavity of a patient, wherein a dental crown part and a dental root part of the tooth model to be corrected are connected through a force sensor;

the positioning guide plate is used for guiding the tooth root parts of all the tooth models in the whole dentition model to be immersed in the magnetic fluid, and the positions of the tooth crown parts of all the guided tooth models are kept consistent with clinical data;

the arch wire is fixed on the outer surface of the dental crown part of each tooth model in the integral dentition model through the bracket and is used for providing orthodontic force for tooth orthodontics;

the magnetic field emitter is used for adjusting the fluid state in each direction of the magnetic fluid so as to simulate the biological structure characteristics of the oral cavity of a patient;

and the processing terminal is used for acquiring the induction data of the force sensor in the tooth model moving process during orthodontics of the arch wire and designing and optimizing an orthodontics scheme according to the induction data.

And the positioning guide plate is designed to conform to the clinical dental crown shape of the patient.

Further, the force sensor is located intermediate to both the crown portion and the root portion, not immersed in the magnetic fluid.

Further, the processing terminal also comprises a coordinate conversion unit for performing coordinate conversion on the induction data to convert the induction data into the actual moment and the moment direction corresponding to the center of the dental crown of the tooth model.

EXAMPLE III

The present embodiment describes the structure of the present invention by a concrete model, as shown in fig. 3, the present invention comprises a magnetic field emitter 2, a testing dental model 3 (fixed on the measuring base 1), a data line 5 and a processing terminal 6, wherein the processing terminal adjusts the magnetic field intensity and direction of the magnetic field emitter by sending data to the magnetic field controller 4. The test dentognathic model comprises an integral dentition model (as shown in figure 4) and a positioning guide plate (as shown in figure 5), wherein the integral dentition model and the positioning guide plate are fixed through three positioning pins 7.

Further, as shown in fig. 5, the test dental model comprises a dental base 31 and a tooth model 32 to be corrected, a bracket 34 is further arranged on the outer surface of each tooth model, each groove is connected with each tooth model through an arch wire 35, and the root part of the whole dentition model is immersed in the magnetic fluid 33.

Further, a force sensor 323 is arranged between the tooth crown 321 and the tooth root 324 of the tooth model to be corrected, and the force sensor is rigidly connected with the tooth crown and the tooth root through a connecting rod 322 by high-strength glue.

When the simulation test is needed, the clinical data of the oral cavity of the patient are led into the processing terminal, the processing terminal generates corresponding adjusting signals to the magnetic field controller according to the clinical data, and the magnetic field controller adjusts the magnetic field direction and the intensity of the magnetic field generator according to the adjusting signals, so that the tooth orthodontic data collection at the oral cavity temperature is realized. And then the processing terminal performs numerical value conversion on the induction data at the center of the dental crown, and designs and optimizes the personalized orthodontic scheme of the patient.

In conclusion, the magnetofluid-based tooth orthodontics dynamic simulation method and system provided by the invention can simulate the real situation of the oral clinical state by changing the state of the magnetofluid through the magnetic field generator, so that the obtained data is the data of the patient in the most real oral state, and the orthodontics accuracy is improved. Meanwhile, the magnetic fluid is adopted for simulating the oral cavity state, the high-temperature environment is not required to be arranged, the problem that the arch wire is damaged in performance due to the fact that physical properties are changed when the arch wire is heated is solved, and compensation calculation required for performance damage is reduced.

And based on the guidance control of the magnetic fluid, the simulation of the gum state in a certain direction can be effectively simulated, so that the oral state of a patient can be simulated more truly, and more personalized orthodontic can be realized.

Based on data acquisition under the oral cavity temperature, the requirement on the self heat sensitivity of the sensor is lower, the equipment cost is reduced, and the cost required by orthodontics of a patient is indirectly reduced. The mode of model simulation is adopted to carry out orthodontic test, compared with direct clinical implementation, the postoperative risk is greatly reduced, and a better guarantee is provided for the oral health of a patient.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

Moreover, descriptions of the present invention as relating to "first," "second," "a," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating a number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.