# US 10,945,811 B1 · Systems and methods for determining orthodontic treatments > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,945,811 B1 - Document ID: US10945811B1 - Status: Granted - Kind: B1 - Application number: 16/857,491 - Filed: 2020-04-24 - Granted: 2021-03-16 - Earliest claimed: 2019-12-04 - Assignees: Oxilio Ltd - Applicants: Oxilio Ltd - Inventors: Islam Khasanovich Raslambekov - Web page: https://patentgrep.com/patent/US10945811B1 ## CPC - A61C 7/002: {Orthodontic computer assisted systems} - A61C 9/004: {Means or methods for taking digitized impressions} - A61C 13/34: Making or working of models, e.g. preliminary castings, trial dentures; Dowel pins [4] - A61C 19/05: for determining occlusion - G06T 19/00: Manipulating three-dimensional [3D] models or images for computer graphics - G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts - A61C 7/08: Mouthpiece-type retainers {or positioners, e.g. for both the lower and upper arch (arch-shaped medicament applicators for teeth or gums A61C19/063; mouthguards for protecting the teeth of sportsmen A63B71/085)} - A61C 7/12: Brackets; Arch wires; Combinations thereof; Accessories therefor - A61C 2201/007: using shape memory effect - G06T 2210/21: Collision detection, intersection - G06T 2210/41: Medical - G06T 2210/56: Particle system, point based geometry or rendering - G06T 2219/2021: Shape modification - A61C: DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE (non-driven toothbrushes A46B; {tongue scrapers A61B17/24;} preparations for dentistry A61K6/00; preparations for cleaning the teeth or mouth A61K8/00, A61Q11/00) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A method of determining an orthodontic treatment comprising: obtaining a 3D model of a simulated position of upper and lower teeth following a simulated orthodontic treatment, the 3D model comprising a point cloud representation comprising a plurality of vector points; in a 3D grid having cells onto which the plurality of the vector points have been mapped, identifying cells containing vectors points representative of the upper teeth and applying a first mask to these cells; identifying cells containing vectors points representative of the lower teeth and applying a second mask to these cells; determining the simulated orthodontic treatment as the determined orthodontic treatment if the 3D grid does not include at least one cell which includes both the first mask and the second mask. ## Claims ### Claim 1 A method of determining an orthodontic treatment for a subject, the method executable by a processor, the method comprising: obtaining a 3D model of upper teeth of an upper archform and lower teeth of a lower archform of a subject, the 3D model representative of a simulated position of the upper teeth and the lower teeth following a simulated orthodontic treatment, the 3D model comprising a point cloud representation of the upper teeth and the lower teeth, the point cloud representation comprising a plurality of vector points representative of the upper teeth and the lower teeth; identifying whether there is collision between the upper teeth and the lower teeth in the simulated position by: in a 3D grid in a simulation space onto which the plurality of the vector points representative of the upper teeth and the lower teeth have been mapped, determining if there is at least one cell in the 3D grid which includes vector points representative of the lower teeth and the upper teeth; and selectively executing: if the 3D grid does not include at least one cell which includes vector points representative of the lower teeth and the upper teeth, determining that there is no collision between the upper teeth and the lower teeth, and determining the simulated orthodontic treatment as the determined orthodontic treatment, if there is at least one cell in the 3D grid which includes vector points representative of the lower teeth and the upper teeth, determining that there is collision between the upper teeth and the lower teeth, and adjusting the simulated orthodontic treatment. ### Claim 2 (depends on 1) The method of claim 1, further comprising transforming each vector point of the plurality of vector points into a vector sphere representative of the upper teeth and the lower teeth, the vector sphere comprising a sphere having a predetermined diameter and centered at each vector point. ### Claim 3 (depends on 1) The method of claim 1, wherein the obtaining the point cloud representation of the upper teeth and the lower teeth comprises obtaining a triangular mesh 3D model of the upper teeth and the lower teeth and converting the triangular mesh 3D model of the upper teeth and the lower teeth to the point cloud representation. ### Claim 4 (depends on 1) The method of claim 1, further comprising segmenting the 3D model of the upper teeth and the lower teeth to distinguish the upper teeth and the lower teeth. ### Claim 5 (depends on 1) The method of claim 1, further comprising iteratively updating the point cloud representation of the upper teeth and the lower teeth with an adjusted position of the upper teeth and the lower teeth following the adjusted simulated orthodontic treatment, and determining whether there is collision or not between the upper teeth and the lower teeth, until it is determined that there is no collision between the upper teeth and the lower teeth. ### Claim 6 (depends on 5) The method of claim 5, further comprising executing the adjusted simulation of the upper teeth and the lower teeth by adapting a simulated movement of at least one of: the upper teeth and the lower teeth from the simulated position to an adjusted simulated position. ### Claim 7 (depends on 6) The method of claim 6, wherein the adapted simulated movement is representative of a shorter distance of movement of the upper teeth and the lower teeth from one another to the adjusted simulated position. ### Claim 8 (depends on 1) The method of claim 1, further comprising obtaining the 3D model representative of the simulated position of the upper teeth and the lower teeth following the simulated orthodontic treatment by executing the simulation of the movement of the upper teeth and the lower teeth from an initial position to the simulated position. ### Claim 9 (depends on 1) The method of claim 1, further comprising detecting one or more of false positives and false negatives. ### Claim 10 (depends on 1) The method of claim 1, further comprising identifying a magnitude of collision of the upper teeth and the lower teeth, and adjusting the simulated position of the upper teeth and the lower teeth by an amount proportional to the identified magnitude of collision. ### Claim 11 (depends on 1) The method of claim 1, further comprising sending instructions to a display device operably connected to the processor to display the collision as a pictorial representation of the collision or as an alphanumerical representation of the collision. ### Claim 12 (depends on 1) The method of claim 1, further comprising designing the orthodontic appliance to administer the confirmed orthodontic treatment. ### Claim 13 (depends on 12) The method of claim 12, further comprising sending instructions to a manufacturing apparatus operably connected to the processor for making at least a component of the orthodontic appliance to administer the confirmed orthodontic treatment. ### Claim 14 (depends on 1) The method of claim 1, further comprising mapping the plurality of vector points representative of the upper teeth and the lower teeth onto the 3D grid of the simulation space. ### Claim 15 (depends on 1) The method of claim 1, further comprising segmenting the 3D model of one or both of the upper teeth and the lower teeth to distinguish individual teeth of one or both of the upper teeth and the lower teeth, and wherein the method comprises identifying whether there is collision between a given upper tooth of the upper teeth and a given lower tooth of the lower teeth by: identifying cells of the 3D grid containing vector points representative of the given upper tooth of the upper teeth; identifying cells of the 3D grid containing vectors points representative of the given lower tooth of the lower teeth; applying a first mask to the cells in the 3D grid which include vector points representative of the given upper tooth of the upper teeth; applying a second mask to the cells in the 3D grid which include vector points representative of the given lower tooth of the lower teeth; determining if there is at least one cell in the 3D grid which includes both the first mask and the second mask. ### Claim 16 (depends on 1) The method of claim 1, wherein the 3D model representative of a simulated position of the upper teeth and the lower teeth following a simulated orthodontic treatment includes a 3D model of an orthodontic appliance associated with one or both of the upper and the lower teeth, the 3D model representative of a simulated position of the orthodontic appliance relative to the one or both of the upper teeth and the lower teeth, the 3D model of the orthodontic appliance comprising a point cloud representation of the orthodontic appliance, the point cloud representation comprising a plurality of vector points representative of the orthodontic appliance; identifying whether there is collision between the orthodontic appliance and the one or both of the upper teeth and the lower teeth in the simulated position by: in a 3D grid in a simulation space onto which the plurality of the vector points representative of the upper teeth and the lower teeth have been mapped, identifying cells of the 3D grid containing vectors points representative of the one or both of the upper teeth and the lower teeth; identifying cells of the 3D grid containing vectors points representative of the orthodontic appliance; applying a first mask to the cells in the 3D grid which include vector points representative of the one or both of the upper teeth and the lower teeth; applying a second mask to the cells in the 3D grid which include vector points representative of the orthodontic appliance; determining if there is at least one cell in the 3D grid which includes both the first mask and the second mask. ### Claim 17 (depends on 1) The method of claim 1, wherein the 3D model representative of a simulated position of the upper teeth and the lower teeth following a simulated orthodontic treatment includes a 3D model of a first orthodontic appliance and a second orthodontic appliance associated with one or both of the upper and the lower teeth, the 3D model representative of a simulated position of the first orthodontic appliance and the second orthodontic appliance relative to the one or both of the upper teeth and the lower teeth, the 3D model of the first orthodontic appliance and the second orthodontic appliance comprising a point cloud representation of the first orthodontic appliance and the second orthodontic appliance, the point cloud representation comprising a plurality of vector points representative of the first orthodontic appliance and the second orthodontic appliance; identifying whether there is collision between the first orthodontic appliance and the second orthodontic appliance in the simulated position by: in a 3D grid in a simulation space onto which the plurality of the vector points representative of the upper teeth and the lower teeth have been mapped, determining if there is at least one cell in the 3D grid which includes vector points representative of the first orthodontic appliance and the second orthodontic appliance. ### Claim 18 (depends on 17) The method of claim 17, wherein determining if there is at least one cell in the 3D grid which includes vector points representative of the first orthodontic appliance and the second orthodontic appliance comprises: identifying cells of the 3D grid containing vectors points representative of the first orthodontic appliance; identifying cells of the 3D grid containing vectors points representative of the second orthodontic appliance; applying a first mask to the cells in the 3D grid which include vector points representative of the first orthodontic appliance; and applying a second mask to the cells in the 3D grid which include vector points representative of the second orthodontic appliance. ### Claim 19 (depends on 1) The method of claim 1, wherein determining if there is at least one cell in the 3D grid which includes vector points representative of the lower teeth and the upper teeth comprises: identifying cells of the 3D grid containing vectors points representative of the upper teeth; identifying cells of the 3D grid containing vectors points representative of the lower teeth; applying a first mask to the cells in the 3D grid which include vector points representative of the upper teeth; applying a second mask to the cells in the 3D grid which include vector points representative of the lower teeth; and determining if there is at least one cell in the 3D grid which includes both the first mask and the second mask. ### Claim 20 A system of determining an orthodontic treatment for a subject, the system comprising a processor of a computer system, the processor arranged to execute a method comprising: obtaining a 3D model of upper teeth of an upper archform and lower teeth of a lower archform of a subject, the 3D model representative of a simulated position of the upper teeth and the lower teeth following a simulated orthodontic treatment, the 3D model comprising a point cloud representation of the upper teeth and the lower teeth, the point cloud representation comprising a plurality of vector points representative of the upper teeth and the lower teeth; identifying whether there is collision between the upper teeth and the lower teeth in the simulated position by: in a 3D grid in a simulation space onto which the plurality of the vector points representative of the upper teeth and the lower teeth have been mapped, determining if there is at least one cell in the 3D grid which includes vector points representative of the lower teeth and the upper teeth; and selectively executing: if the 3D grid does not include at least one cell which includes vector points representative of the lower teeth and the upper teeth, determining that there is no collision between the upper teeth and the lower teeth, and determining the simulated orthodontic treatment as the determined orthodontic treatment, if there is at least one cell in the 3D grid which includes vector points representative of the lower teeth and the upper teeth, determining that there is collision between the upper teeth and the lower teeth, and adjusting the simulated orthodontic treatment.