KR101810038B1 - automatic dental preparation system - Google Patents

Abstract

In order to improve the promptness and accuracy of the tooth preparation process for prosthesis, the present invention provides a digital tooth preparation apparatus, which includes a target tooth image for a predetermined preparation target portion in the oral cavity of a subject and a plurality of three- A data storage unit for storing the prepared model library; A distance detection unit for detecting in real time a reference distance from a cutting end of the processing tool to the prep target part; A three-dimensional grating including a scanning unit for picking up an image; And a machining control unit for setting the prep data by matching the virtual prep model extracted from the digital prep model to the target tooth image and controlling the three-dimensional movement of the machining tool according to the set prep data, Device.

Description

Automatic dental preparation system

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dental prosthetic device, and more particularly, to a dental prosthetic device for improving the promptness and accuracy of a tooth preparation process for dental prosthesis.

Generally, prosthetics refers to restoring the function of teeth by reinforcing a partial defect of a tooth or a defect of a tooth itself, and includes a crown, a bridge, a resin, an inlay, Such as a fixed type, and a movable type such as a denture.

Here, the crown means that gold or ceramics are put on the tooth, and the bridge means connecting the artificial tooth to the middle of the tooth extracted from the adjacent tooth, and the resin, inlay, amalgam, .

At this time, a series of preparations for eliminating tooth enamel and dentin so as to prevent interference between natural tooth and prosthesis at the time of prosthesis such as crowns and bridges is called a prep preparation.

When the toothprape is completed, a temporary crown for protecting the target tooth is prepared through impression and bite taking and is bonded to the target tooth.

At the same time, the tooth model obtained through impression and occlusion is delivered to the specialized laboratories to manufacture the final prosthesis. When the final prosthesis is manufactured, the temporary crown is removed and finally bonded to the target tooth.

In this case, in order for the final prosthesis to be firmly coupled to the erased portion of the target tooth without interference with the surrounding teeth, and stably supported without damaging the target tooth, the amount of erosion to the target tooth is minimized, It is important to design the shape.

However, conventionally, since the state and form of erasure of the target tooth depend on the experience or proficiency of the practitioner, there is a problem that the final prosthesis is detached from the target tooth after bonding or the target tooth is damaged due to the chewing pressure applied to the final prosthesis there was.

Further, since the final prosthesis is manufactured after preprocessing of the target tooth, there is a problem that the subject must be aesthetically and functionally inconvenient due to the temporary crown used for several days to several weeks of manufacturing the final prosthesis.

Korean Patent Publication No. 10-2014-0127066

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a dental prosthetic device that improves promptness and accuracy of a tooth preparation process for prosthesis.

According to an aspect of the present invention, there is provided a digital prep model library including a plurality of three-dimensional outer shape information on a target tooth image and a standardized prep completion state in a mouth of a subject, A data storage unit; A distance detection unit for detecting in real time a reference distance from a cutting end of the processing tool to the prep target part; A three-dimensional grating including a scanning unit for picking up an image; And a machining control unit for setting the prep data by matching the virtual prep model extracted from the digital prep model to the target tooth image and controlling the three-dimensional movement of the machining tool according to the set prep data, The preparation model library includes a plurality of standard preparation models provided with three-dimensional outline information of a preparation completed state standardized so as to have a reference dimension condition as a selection item, Calculating a reference numerical condition of a standard machining area to extract the virtual prep model from the standard prep model, calculating actual space coordinates of the machining tool through the distance detector and the scan unit, Setting a movement limit area of the substantial space coordinates so that the three-dimensional And controlling the movement of the tooth.

The machining control unit calculates the substantial space coordinates according to the reference distance when matching the reference image and the target tooth image, compares the reference distance with a preset machining distance in real time, It is preferable to recalculate the substantial space coordinates upon detection of the distance.

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The digital prep model library further includes a plurality of dependent prep models subdivided to have three-dimensional outline information that is dependent on each standard prep model and distinguished from the dependent standard prep models, It is preferable that the standard prep model and the dependent preprepene model are firstly extracted according to the conditions and one of the plurality of the first extracted plurality of standard processing areas having the largest volume occupancy rate is extracted as the virtual prep model.

The processing control unit may further include a display unit for outputting the reference image in real time, wherein the machining control unit generates a pre-simulation image by virtually arranging a virtual machining tool corresponding to the machining tool in the image of the target tooth, It is preferable to control the three-dimensional movement of the virtual machining tool in accordance with the substantial space coordinates so that the reference image is outputted in comparison.

Through the above solution, the present invention provides the following effects.

First, standardized three-dimensional outer shape information is extracted from the digital prep model library based on the reference numerical condition of the target tooth image without complicated design process, and the target deletion shape of the target tooth is set. Therefore, A tooth preparation can be made.

Second, the real space coordinates of the machining tool are detected through the distance detecting unit and the scan unit, and the three-dimensional movement of the machining tool is controlled according to the matching of the preprep data and the real space coordinates set based on the virtual prep model, Since the cutting process is performed, the convenience and accuracy of the preprocess can be improved.

Third, since the design information of the final prosthesis can be obtained at the same time in the process of determining the erasure shape of the target tooth through the virtual prep model, the cumbersome process of preparing a separate impression after the preprocessing process can be eliminated, An underlying technique may be provided to immediately place the resulting final prosthesis.

Fourthly, the reference image and the prep simulation image are compared and outputted on one side and the other side of the display unit, and the virtual machining tool is moved in three dimensions corresponding to the machining tool, so that the actual preprocessing and the planned preprocessing Can be verified and verified.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing a tooth preparation automation apparatus according to an embodiment of the present invention; FIG.
FIG. 2 is a block diagram of a tooth preparation automation apparatus according to an embodiment of the present invention; FIG.
3 is a flowchart illustrating a method of controlling a tooth preparation automation apparatus according to an embodiment of the present invention.
4 is a diagram illustrating a digital prep model library in a method of controlling a tooth preparation automation apparatus according to an embodiment of the present invention.
FIGS. 5A, 5B, and 5C are diagrams illustrating a method of controlling a tooth preparation automation apparatus according to an embodiment of the present invention; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a tooth preparation automation apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a block diagram of a tooth preparation automation apparatus according to an embodiment of the present invention. FIG. 3 is a block diagram of a tooth preparation automation apparatus according to an embodiment of the present invention. FIG. 4 is a diagram illustrating a digital prep model library in a method of controlling a tooth preparation automation apparatus according to an embodiment of the present invention, and FIGS. 5A, 5B, and 5C are diagrams 5c is an exemplary view showing a control method of the tooth preparation automation apparatus according to an embodiment of the present invention.

1 to 5C, the tooth preparation automation apparatus 100 includes a data storage unit 10, a three-dimensional learning unit 40, and a machining control unit 20.

Here, the tooth preparation automation apparatus 100 refers to a device that cuts a pre-set prep target part through a three-dimensional movement of the processing tool 41 into a shape suitable for bonding a final restoration such as a crown.

Here, the preparation target portion is a portion required to complement or restore the chewing function through the final prosthesis in the oral cavity of the subject, and it is understood that it is meant to encompass adjacent portions such as a target tooth as a target of actual cutting and a surrounding gingival portion .

1 and 2, the data storage unit 10 is provided with a digital preprocessor 2 including a target tooth image 2 for the prep target and a plurality of three- The model library 11 is stored.

In detail, the target tooth image 2 refers to a three-dimensional image obtained through the imaging apparatus 1 such as a CT photographing apparatus and an oral scanner. At this time, the three-dimensional image may be provided as one of a CT shot image through a CT scan, an oral scan image through an oral scan, and an integrated image through matching of CT scan and oral scan image.

Here, the data storage unit 10 may directly store the target tooth image 2 acquired by directly capturing the prep target part, and may store the entire three-dimensional image including the inside of the mouth or a part of the mouth including the prep target part, May be stored.

In this case, when a three-dimensional image in which the whole or part of the oral cavity is imaged is stored in the data storage unit 10, the target tooth image 2 corresponding to the prep target object is extracted through the processing control unit 20, And may be stored in the storage unit 10.

The digital prep model library 11 may include a plurality of standard prep models 11a and a plurality of dependent prep models 11b depending on the standard prep models 11a.

Here, the digital prep model library 11 may be pre-set through a series of statistical processes and stored in the data storage unit 10.

In detail, the standard prep model 11a may be provided with three-dimensional outer shape information in a preprepared state standardized to have a standard dimension condition as a selection item.

In this case, the preparation completed state means that the cutting process is completed on the surface of the target tooth for bonding of the final prosthesis, and the target tooth in the preparation completed state has the same area of the upper end and the lower end so as to be inserted into the interior of the final prosthesis And is formed in a columnar shape or a conical shape with a smaller area of the upper end than the lower end.

For example, when a sample of three-dimensional external information about various preparation completions is collected, the collected sample is classified into sex, age, physique, etc., and a representative sample is extracted for each classification, .

The standard prep model 11a refers to the three-dimensional outer shape information of the prep target part standardized through the exemplified process, and the standard dimensional condition such as thickness (m), width (k), height (h) .

The dependent preprogram model 11b refers to three-dimensional outer shape information subdivided to have three-dimensional outer shape information that is dependent on the standard prep models 11a and distinguished from the standard prep model 11a.

For example, one standard prep model 11a is subjected to a plurality of dependent preprogram models 11b different in side slope ratio, sectional shape, top surface shape, and the like. That is, the digital prep model library 11 is preferably understood as a database for a plurality of standard prep models 11a and a plurality of dependent prep models 11b.

The three-dimensional work 40 preferably includes a machining tool 41, a distance detecting unit 43, a scan unit 44, and a tool driving unit 42.

In detail, the tool driving unit 42 may be a multiaxial machining apparatus precisely controlled in a predetermined first range corresponding to the inside of the mouth of the subject. That is, the tool driving unit 42 can precisely control the machining tool 41 mounted at one end with a transfer accuracy of 50 μm or more, and can transfer the machining tool 41 to the small-scale area corresponding to the inside of the mouth A small multi-axis machining apparatus.

The tool driving unit 42 is coupled to the extension jig arm 31 of the base support unit 30 so as to be extended to the second range exceeding the first range.

Here, the base support unit 30 refers to a support structure used for moving and fixing the three-dimensional work 40. The extension jig arm 31 is rotated by manual operation of the lower end and the upper end, Means a supporting means connected by a multi-step joint to maintain the rotation angle at the time of rotation.

In detail, the extension jig arm 31 has a lower end fixed to the base support unit 30, and the tool driving unit 42 is coupled to an upper end thereof. At this time, the tool driving unit 42 can be moved in three dimensions in the second range according to the rotation of the multi-step joint part.

That is, the tool driving unit 42 can be moved three-dimensionally in a wide range through the extended jig arm 31. When the tool driving unit 42 is disposed at a position adjacent to the inside of the mouth of the subject, 42 can precisely move the processing tool 41 in three dimensions.

Accordingly, since the three-dimensional movement range of the processing tool 41 can be reduced and limited to the oral cavity of the subject, the economical efficiency of the product can be improved by making the tool driving unit 42 compact.

The distance detecting unit 43 and the scan unit 44 may be provided on one side of the processing tool 41. The distance measuring unit 43 may be provided on the side of the processing tool 41, It is preferable that they are disposed adjacent to each other.

At this time, the tool driving unit 42 is controlled through the prep data 13 set by the machining control unit 20, and performs three-dimensional movement of the machining tool 41 in accordance with the area coordinates of the prep data 13 So that the preparation target portion, i.e., the target tooth can be cut.

The distance detecting unit 43 may be provided with a laser distance sensor or the like so as to detect a reference distance from the cutting end of the processing tool 41 to the target portion. So that the three-dimensional outer shape information of the prep target part can be captured as the reference image at the current position of the processing tool 41. [

The base support unit 30 may be provided with a display unit 32 for outputting an image of the scan unit 44. The display unit 32 may be provided with three- The preprocess image according to the movement can be output in real time.

3 to 4, the machining control unit 20 corresponds to the target tooth image 2 from the standard prep model 11a and the dependent prep model 11b of the digital prep model library 11, The virtual prep model 12 is extracted.

The machining control unit 20 sets up the prep data 13 by matching the extracted virtual prep model 12 so as to correspond to the target tooth image 2, The three-dimensional movement of the processing tool 41 can be controlled.

In detail, the tooth preparation automation apparatus 100 includes the acquisition of the target tooth image 2 (s10), the extraction of the virtual preparation model 12 and the virtual placement s20, the preparation of the preparation data 13 (s30) Dimensional movement control (s40) of the three-dimensional movement control.

At this time, extraction and virtual placement (s20) of the virtual prep model 12 and setting (s30) of the prep data 13 can be performed through the processing control unit 20.

5A and 5B, the machining control unit 20 sets the preparation reference plane p in the target tooth image 2, and the standard machining area 2a on the upper side of the preparation reference plane p, The virtual prep model 12 is extracted.

At this time, the preparation reference surface p is set to be spaced from the gum boundary line 3 indicated in the target tooth image 2 to a predetermined safety distance, It means a distance that can prevent damage to the gingival portion.

Of course, the gum boundary line 3 can be automatically set by an image algorithm using color and shade difference, or can be manually input and set.

The target tooth image 2 can be divided into the upper side standard machining area 2a and the lower side deviation base area 2b by the set prep reference plane p. In detail, the standard machining area 2a refers to the area where the actual cutting is performed, and the deviation base area 2b refers to the area adjacent to the gingival area where the cutting is not performed.

Since the deviation base area 2b is difficult to standardize as a part where various deviations exist for each subject, the three-dimensional outer shape information of the standard machining area 2a to be artificially cut is standardized, and the digital prep model library 11 ).

Then, the machining control unit 20 can extract the reference dimension conditions (m, k, h) based on the standard machining area 2a. For example, the height from the preparation surface p to the lowest point of the chewing surface of the target tooth image 2, the width k of the end surface 2c of the target tooth image 2 corresponding to the preparation surface p, ), Thickness (m), and the like can be extracted as reference dimension conditions.

At this time, one standard prep model 11a is selected from the digital prep model library 11 according to the reference dimension conditions (m, k, h) to be stored in the standard machining area 2a of the target tooth image 2 Can be extracted to the corresponding virtual prep model 12.

Since the reference dimension conditions (m, k, h) are extracted based on the reference surface p, which is the lowermost end face of the standard machining area 2a, The extracted virtual prep model 12 can satisfy the basic condition of the collimation light for insertion of the final prosthesis and the erasure rate for the target tooth can be minimized during the cutting process according to the virtual prep model 12. [

In addition, since the three-dimensional outer shape information of the preprepared state standardized through the digital prep model library 11 is provided in a database, a simple process of extracting some numerical selected items from the target tooth image 2 is performed, (12) can be extracted.

That is, since the target erasure shape of the target tooth is set as one of the standardized three-dimensional outer shape information according to the reference numerical condition, the complicated design process is omitted, and it is suitable for the combination of the final prosthesis with high accuracy irrespective of the proficiency of the operator, This minimized tooth preparation is possible.

At this time, the extracted virtual prep model 12 is virtually arranged along the upper surface of the work surface p, which is the lowermost stage of the standard machining area 2a, and is matched to the target tooth image 2.

Here, the fact that the virtual prep model 12 is matched to the target tooth image 2 means that the area of the virtual prep model 12 is not exposed to the outside of the standard machining area 2a, Quot; in the present invention.

At this time, in order to improve the promptness and accuracy of the matching process, a preparation reference point n such as an area center point is set on the end face 2c of the target tooth image 2, (n) and a layout reference point (s) for alignment are preliminarily set.

Of course, although the virtual prep model 12 can be extracted only by the reference dimension condition, it is more preferable to extract the virtual prep model 12 by adding a second filtering process using the volume occupancy rate together with the first filtering according to the reference dimension condition.

In detail, the machining control unit 20 can extract the standard preparation model 11a according to the reference dimension condition and the dependent preparation model 11b dependent thereon, as a preliminary preparation model.

That is, a plurality of three-dimensional outer shape information included in the digital prep model library 11 is firstly filtered according to the criterion dimension conditions and extracted as a preliminary prep model.

Then, the extracted preliminary preparation model is sequentially arranged in the standard processing region 2a of the target tooth image 2 so as to calculate the volume occupancy rate for the standard processing region 2a.

At this time, the preliminary prep model can be virtually arranged in the standard machining area 2a via the workpiece reference surface p and the workpiece reference point n, and the volume occupancy can be set in the standard machining area 2a, Means the ratio of the volume occupied by the model.

One of the extracted preprepene models, which is contained in the standard machining area 2a of the target tooth image 2 and has the largest volume occupation rate, can be selected as the virtual prep model 12.

The meaning that the preliminary prep model is contained in the standard machining area 2a means that there is no intersection between the area coordinates of the virtual preliminary preparation model and the outer surface coordinates of the standard machining area 2a desirable.

That is, when the preliminary prep model is virtually arranged in the target tooth image 2, the machining control unit 20 compares the area coordinates of the preliminary preparation model and the outer surface coordinates of the standard machining area 2a with each other , And a pre-prep model having an intersection with the outer surface coordinates of the standard machining area 2a is filtered.

Accordingly, a high-precision virtual prep model having an outer shape that can be formed through the cutting process of the target tooth and further reducing the erosion rate with respect to the target tooth can be extracted.

In addition, since detailed condition comparison is performed only for the preliminary prep model extracted from the plurality of three-dimensional outer shape information included in the digital prep model library through the first dimension filtering, the extraction of the virtual prep model The speed can be improved.

3 to 5C, when the extracted virtual prep model 12 is fictitiously arranged (s20), the machining control unit 20 extracts the virtual prep model 12 from the outer surface of the virtual placed virtual prep model 12, The area coordinates up to the outer surface of the tooth image 2 can be set to the prep data 13 (s30).

That is, when the overlapped area coordinates between the matched virtual prep model 12 and the target tooth image 2 are removed from the standard machining area 2a, the coordinates of the standard machining area 2a, Area coordinates may be set to the prep data 13. [

At this time, when the virtual prep model 12 is virtually arranged, the machining control section 20 sets design information on a final restoration such as a crown together with the setting of the preparation data 13. [ That is, the design information of the final prosthesis may be set so as to have an inner surface portion corresponding to the outer surface of the virtual arrangement model 12.

At this time, the outer surface portion of the final prosthesis may be set to correspond to the outer surface of the standard machining region 2a, but it is possible that the peripheral teeth adjacent to the preparation target portion, the tooth type of the preparation target portion, The height of the chewing surface of the tooth, and the like.

Since the design information of the final prosthesis can be obtained at the same time in the process of determining the shape of the target tooth for the installation of the final prosthesis, the cumbersome process of preparing a separate impression after the preprocessing process can be eliminated, An underlying technique capable of immediately placing the manufactured final prosthesis can be provided.

Meanwhile, the machining control unit 20 can control the three-dimensional movement of the machining tool 41 through the set prep data 13 (s40).

The machining control unit 20 controls the three-dimensional movement of the machining tool 41 so that the machining control unit 40 transmits the set preprogram 13 to the tool 42 as a control signal It is desirable to understand that it means to mean.

Accordingly, the three-dimensional dressing 40 is driven, and the prep target part can be automatically cut into a shape corresponding to the virtual prep model 12. [

As described above, the prep data 13, which is the target deletion shape of the target tooth, is quickly and accurately set through the reference dimension conditions of the digital prep model library 11 and the target tooth image 2, The dimensionality of the tooth 40 is controlled and the target tooth is automatically cut, so that the convenience and accuracy of the preparation process can be improved.

The machining control unit 20 calculates actual machining coordinates of the machining tool 41 through the distance detecting unit 43 and the scan unit 44 and calculates the actual machining coordinates of the machining tool 41 based on the coordinates of the outer surface of the virtual prepare model 12. [ It is preferable to set the movement limit area of the substantial space coordinates to control the three-dimensional movement of the processing tool 41. [

That is, the machining control unit 20 controls the three-dimensional movement of the machining tool 41 so that the actual space coordinates of the machining tool 41 and the outer surface coordinates of the virtual preparation model do not overlap each other.

In detail, when the reference image is acquired through the scan unit 44 at the current position of the processing tool 41, the reference image and the target tooth image 2 are matched to each other, The direction of the light source 41 can be calculated.

Here, the matching between the reference image and the target tooth image (2) is preferably based on an intersection coordinate area between the preparation surface (p) and the target tooth image (2).

In this case, the intersection coordinate area between the prep reference plane (p) and the target tooth image (2) means the upper edge of the deviation base area (2b).

That is, the deviation base area 2b is a portion where the cutting process is not performed at the time of cutting through the processing tool 41, and the same outer shape can be maintained from the start to the completion of the preparation process. Accordingly, the upper edge of the deviation base area 2b can be used as a reference for calculating the substantial spatial coordinates of the processing tool 41. [

When the reference distance detected through the distance detecting unit 43 is applied to the calculated direction of the processing tool 41, the actual space coordinates of the processing tool 41 based on the prep target part can be calculated .

At this time, the machining control unit 20 coordinates the prep data 13 with the substantial space coordinates of the machining tool 41. That is, the area coordinates of the prep data 13 are converted so as to correspond to the real space coordinate system of the processing tool 41 and transferred to the tool driving unit 42.

The actual space coordinates of the machining tool 41 are detected through the distance detecting unit 43 and the scan unit 44. The actual space coordinates of the machining tool 41 are detected through the distance detecting unit 43 and the scan unit 44, Since the dimensional movement is controlled and the target tooth is automatically cut, the convenience and accuracy of the preparation process can be improved.

When the prep data 13 is coordinate-matched, a movement limit area of the substantial spatial coordinates is set according to the outer surface coordinates of the virtual prep model 12, and the three-dimensional movement of the processing tool 41 is controlled.

That is, the three-dimensional movement of the machining tool 41 is controlled so that the actual space coordinates of the machining tool 41 do not overlap with the outer surface coordinates of the virtual preparation model.

Accordingly, the machining locus of the three-dimensional dressing 40 can be controlled so that the cutting edge of the machining tool 41 is not invaded into the inner region of the machining preparation model 12, The preprocessed portion cut according to the three-dimensional movement can be matched to the outer shape of the virtual prep model 12. [

When the preprocessing process is performed on the preprocessing unit through the three-dimensional movement of the processing tool 41, the reference distance is detected in real time, and the machining control unit 20 determines the reference distance as the machining distance Compare.

Here, the machining distance is a distance at which the cutting edge of the machining tool 41 can be cut by the target tooth of the preparation target portion. That is, the machining distance can be set at a minute interval in consideration of the machining vibration of the machining tool 41 from 0, which is the state in which the cutting end of the machining tool 41 and the prep target portion are in close contact.

If the reference distance exceeds the predetermined machining distance, the actual space coordinates are re-calculated, and the coordinate matching and subsequent processes of the prep data 13 may be repeated according to the re-calculated actual space coordinates. Accordingly, the preprocess can be stably performed even when the position of the oral cavity of the subject is changed.

Preferably, the machining control unit 20 generates a prep simulation image by virtually arranging a virtual machining tool corresponding to the machining tool 41 in the target tooth image 2 according to the substantial space coordinates.

Here, the virtual machining tool means three-dimensional outline information of a shape corresponding to the machining tool 41, and the pre-simulation image means an object tooth image to which the virtual machining tool is virtually arranged.

At this time, when the prep simulation image is generated, the reference image and the prep simulation image may be output to one side and the other side of the display unit 42, respectively.

Then, the machining control unit 20 controls the three-dimensional movement of the virtual machining tool to correspond to the substantial space coordinates. Accordingly, the actual preprocessing performed in the preprocessing part and the planned preprocessing can be easily compared and verified.

As described above, the present invention is not limited to the above-described embodiments, and variations and modifications may be made by those skilled in the art without departing from the scope of the present invention. And such modifications are within the scope of the present invention.

100: Automatic tooth cleaning apparatus 10: Data storage unit
20: machining control unit 30: base support unit
40: Three Dimensional Study

Claims (5)

A data storage unit for storing a digital prep model library including a plurality of three-dimensional outer shape information on a target tooth image for a predetermined preparation target portion in a mouth of a subject and a standardized preparation completion state;
A distance detection unit that detects a reference distance from a cutting end of the machining tool to the target portion in real time; a distance detection unit that detects a reference distance to the target portion A three-dimensional grating including a scanning unit for picking up an image; And
And a machining control unit for setting the prep data by matching the virtual prep model extracted from the digital prep model to the target tooth image and controlling the three-dimensional movement of the machining tool according to the set prep data,
Wherein the digital prep model library includes a plurality of standard prep models, which are provided as three-dimensional outline information of a prep finished state standardized to have a standard dimension condition as a selection item,
Wherein the machining control unit calculates a reference numerical condition of a standard machining area on the upper side of the target tooth image divided by the workpiece reference plane to extract the virtual preparation model from the standard preparation model, Wherein the three-dimensional movement of the processing tool is controlled by calculating a substantial space coordinate of the virtual space model and setting a movement limit region of the substantial space coordinate according to the outer coordinate of the virtual prep model. delete The method according to claim 1,
Wherein the machining control unit calculates the substantial space coordinates according to the reference distance when matching the reference image and the target tooth image,
Wherein the reference distance is compared with a predetermined machining distance in real time, and the actual space coordinate is re-calculated when a reference distance exceeding the machining distance is detected. The method according to claim 1,
The digital prep model library further comprises a plurality of dependent prep models subdivided to have three-dimensional outline information dependent on each standard prep model and distinguished from the dependent standard prep models,
The machining control unit firstly extracts the standard preparation model and the dependent preparation model according to the reference dimension condition and extracts one of the plurality of extracted primary extraction regions having the largest volume occupancy rate for the standard processing region as the virtual preparation model A feature of a tooth preparation automation device. The method of claim 3,
And a display unit for outputting the reference image in real time,
Wherein the machining control unit creates a prep simulation image by virtually arranging a virtual machining tool corresponding to the machining tool in the image of the target tooth,
Wherein the three-dimensional movement of the virtual processing tool is controlled according to the substantial space coordinates so that the pre-simulation image and the reference image are compared and output.

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