DE102015211166A1 - Method and device for registration of intraoral surface data relative to extraoral surface data - Google Patents

Abstract

The invention relates to an apparatus and method for registration of intraoral surface data (72) relative to extraoral surface data (71), wherein the intraoral surface data (72) and the extraoral surface data (71) are combined. When measuring the extraoral surface data (71), a measuring body (1) is recorded, wherein the measuring body (1) has an intraoral area (2) and an extraoral area (3) which, with the mouth closed (4), out of the mouth of a patient (5) protrudes. The measuring body (1) has a previously known and defined position and orientation relative to an upper jaw (6) and / or a lower jaw (7), wherein using this defined position and orientation of the measuring body (1), the position and orientation of the extraoral Surface data (71) relative to the intraoral surface data (72).

Description

Technical area

The invention relates to a method and apparatus for registration of intraoral surface data relative to extraoral surface data, combining the intraoral surface data and the extraoral surface data.

 State of the art

Several methods and devices for registration of intraoral surface data relative to extraoral surface data are disclosed in the prior art.

In a known method, the registration is carried out using three-dimensional X-ray data, wherein the position and orientation of the teeth are determined relative to the surface of the face.

A disadvantage of this method is that the inclusion of a three-dimensional radiograph is associated with a considerable radiation exposure. When carrying out a follow-up check, therefore, frequent surveying is not possible.

The object of the present invention is therefore to enable a method for the registration of intraoral Oberflä chendaten data relative to extraoral surface data, which has no radiation exposure.

Presentation of the invention

The invention relates to a method for registration of intraoral surface data relative to extraoral surface data, wherein the intraoral surface data and the extraoral surface data are combined. When measuring the extraoral surface data, a measuring body is taken, wherein the measuring body has an intraoral area and an extraoral area that protrudes from the mouth of a patient with his closed mouth. The measuring body has a previously known and defined position and orientation relative to an upper jaw and / or a lower jaw. Using this defined position and orientation of the measuring body, the position and orientation of the extraoral surface data is then determined relative to the intraoral surface data.

The extraoral surface data may include portions of the patient's face or even the entire face. The intraoral surface data may include an entire mandible, an entire maxilla, portions of the two jaws, or even edentulous jaws. A toothless jaw may include at least one implant. The measuring body can be shaped, for example, in the form of a rod, wherein the intraoral region of the measuring body is arranged with the mouth closed inside the mouth and the extraoral region of the measuring body is arranged outside the mouth when the mouth is closed. The position and orientation of the measuring body relative to the upper jaw and / or the lower jaw may be previously known or can be determined by means of an additional measurement. Subsequently, the registration of the intraoral surface data to the extraoral surface data takes place using the defined position and orientation of the measuring body relative to the upper jaw and / or the lower jaw.

An advantage of this method is that no additional X-rays are required to complete the registration.

Another advantage compared to the use of an X-ray is that in the X-ray, the soft tissue is not displayed sufficiently to perform an accurate registration. This can lead to registration errors and treatment errors.

Advantageously, the intraoral surface data can be measured by means of a hand-held dental camera, which can be based on a triangulation method or on a confocal measuring method.

 As a result, the tooth situation can be measured by means of the hand-held dental camera.

Advantageously, the intraoral surface data may include the entire upper jaw, the entire lower jaw, a partial region of the upper jaw and / or a partial region of the lower jaw.

As a result, only a partial area of a jaw or only a group of teeth can be measured by means of the dental camera. The extraoral surface data are obtained by means of an extraoral surface detection system. Such a surface detection system may be, for example, a multi-camera system consisting of a plurality of cameras simultaneously picking up the object, such as the patient's face, from different directions. The surface detection system may also consist of a single camera and an optional illumination unit, wherein by means of the individual camera the object from different directions is recorded and then the three-dimensional surface data are generated from the recorded images. When using the Mul tikamera system from multiple cameras, the lighting unit can be omitted. For example, the triangulation measurement method or the photogrammetry method can be used to determine the surface data.

The photogrammetric method is a measurement method and evaluation method of remote sensing in order to determine its three-dimensional shape from optical images of an object from different spatial directions. Thus, from the two-dimensional optical images of the individual cameras of the multi-camera system, a three-dimensional image of the object, such as the patient's face, is calculated.

 Advantageously, the extraoral surface data of at least a portion of a face may be measured by a surface detection system based on a photogrammetric method or a triangulation measurement method.

Advantageously, the extraoral region of the measuring body may have structures which allow a clear determination of the position and orientation of the measuring body based on the extraoral surface data.

The structures can be shaped as desired. The structures may be, for example, hemispherical, pyramidal or rectangular elevations or depressions.

Advantageously, the three-dimensional extraoral surface data and the three-dimensional intraoral surface data can be displayed by taking into account the determined position and orientation relative to one another by means of a display device.

Thereby, by means of the display device, such as a monitor, the extraoral surface data relative to the intraoral surface data is displayed. This allows the treating dentist better orientation and a better assessment in a history diagnostics.

Advantageously, the defined position and orientation of the measuring body relative to the upper jaw and / or the lower jaw can be determined by a drilling template is measured with the attached measuring body using a three-dimensional optical surveying method, wherein impressions of the teeth on the drilling template and the measuring body are detected ,

As a result, the measuring body is arranged directly on a drilling template, so that the position and orientation of the measuring body relative to the teeth can be determined.

Advantageously, the defined position and orientation of the measuring body relative to the upper jaw and / or the lower jaw can be determined by measuring a bite registration with the measuring body attached thereto using a three-dimensional optical surveying method, wherein impressions of the teeth on the bite registration and the measuring body are detected ,

As a result, the measuring body is arranged on a bite registration. A bite registration is an impression that is generated to document the functional anatomical positions of upper jaw to lower jaw when clenching. Several methods are known for producing a bite registration. The bite registration can also be made of a suitable material, such as wax, plaster or silicone. For this, the bite is first controlled without material. Thereafter, the respective material is placed between the two jaws and the patient is asked to bite together. After the material has hardened, the bite registration is taken, which has both impressions of the maxilla and the lower jaw. By measuring the Bissregistrates with the attached measuring body so the position and orientation is determined relative to the teeth and thus to the upper jaw and / or the lower jaw.

Advantageously, the defined position and orientation of the measuring body relative to the upper jaw and / or the lower jaw is determined by the measured by gluing on a particular tooth measuring body is measured using a three-dimensional optical surveying method and a registration recording is generated, wherein at least the respective tooth and the measuring body are registered in the registration recording.

As a result, the measuring body is glued directly to a tooth, such as an anterior tooth. For bonding a suitable material is used to easily remove the measuring body again.

Advantageously, the registration receptacle and the extraoral surface data may include a forehead area on a forehead of the patient, wherein the location and orientation of the forehead area relative to the measuring body in the registration receptacle and in the extraoral Oberflächenda th are used to improve the registration.

Thus, the forehead area is included in both the registration and the extraoral surface data, so that the registration of the extraoral surface data to the intraoral surface data based on the forehead area is enabled.

The invention relates to another alternative method of registering intraoral surface data relative to extraoral surface data without the use of a measuring body, combining the intraoral surface data and the extraoral surface data. In this case, a registration recording is additionally recorded at an open mouth of a patient, the position and orientation of at least one tooth of the patient relative to an extraoral surface area being determined on the basis of this registration recording. When measuring the extraoral surface data with the mouth closed, the extraoral surface area is also recorded, whereby the intraoral surface data relative to the extra oral surface data are registered based on the determined position and orientation of the extraoral surface area relative to at least one tooth.

The surface area may be a forehead area on the forehead of the patient.

In this alternative method, therefore, no measuring body is used. Instead, the registration is based on a stable extraoral surface area, such as a forehead area that does not change relative to the maxilla, since the skin layer above the forehead bone is relatively thin. The extraoral surface area can also be arranged in the region of the temples or the cheekbones.

The invention further relates to an apparatus for registering intraoral surface data relative to extraoral surface data, combining the intraoral surface data and the extraoral surface data. The device comprises a measuring body, where the measuring body has an intraoral area and an extraoral area which protrudes from the mouth of a patient when measuring the extraoral surface data with the mouth closed.

This device is suitable for carrying out the above-mentioned method. The measuring body thus makes it possible to register the intraoral surface data relative to the extraoral surface data.

Advantageously, the extraoral region of the measuring body may have structures which allow a clear determination of the position and orientation of the measuring body based on the extraoral surface data.

The structures on the measuring body can be, for example, hemispherical, pyramidal or rectangular elevations or depressions. In the case of hemispherical structures, at least three structures are required in order to carry out an unambiguous determination of the position and orientation of the measuring body.

Advantageously, the structures may be formed of at least three characteristic elevations or depressions, which are arranged on a flat portion of the extraoral region of the measuring body.

The arrangement of the structures on a flat portion of the measuring body allows easier determination of the position and orientation of the measuring body.

Advantageously, the measuring body can be arranged on a drilling template.

As a result, the measuring body is connected directly to the drilling template, wherein in the three-dimensional optical measurement, the impressions of the teeth in the drilling template and the measuring body are measured.

Advantageously, the measuring body can be arranged on a bite registration.

As a result, the measuring body is connected directly to the bite registration, wherein the impressions of the upper jaw at the bite registration and the measuring body are measured, so that the position of the measuring body relative to the teeth can be determined.

Brief description of the drawings

The invention will be explained with reference to the drawings. It shows that

1 a schematic representation to illustrate a method, the

2 the measurement of intraoral surface data by means of a handheld dental camera, the

3 the measurement of the drilling template with the attached measuring body by means of the hand-held dental camera, the

4 a further alternative of the device for registration, wherein the measuring body is attached to a bite registration, the

5 the measurement of the bite registration with the attached measuring body by means of the handheld dental camera, the

6 an alternative method for registration of intraoral surface data relative to extraoral surface data using a registration recording which

7 a display device that displays the extraoral surface data in superposition with the intraoral surface data.

embodiments

The 1 shows a schematic representation to illustrate a method for registration of intraoral surface data and extraoral surface data, wherein in the measurement of extraoral surface data, a measuring body 1 is recorded. The measuring body 1 has an intraoral area 2 and an extraoral area 3 on, with the mouth closed 4 a patient 5 protrudes. The measuring body 1 has a defined position and orientation relative to an upper jaw 6 and / or a lower jaw 7 of the patient 5 on. In the present case, the measuring body 1 on a drilling template 8th attached to the upper jaw 6 is arranged. The drilling template 8th with the attached measuring body 1 can be measured by means of a three-dimensional optical method, so that the position and orientation of the measuring body 1 relative to the teeth 9 of the upper jaw 6 can be determined. The extraoral surface data in the present case comprise at least a portion of a face 10 of the patient 5 , wherein the receiving area is indicated by the dashed lines. The measurement is carried out by means of a multi-camera system 11 consisting of several optical cameras 12 , where the multi-camera system 11 based on a photogrammetric method. Thus, several optical two-dimensional images of the object, such as the face 10 , from different spatial directions by means of the individual cameras 12 taken, followed by a three-dimensional model of the face 10 is calculated from the individual two-dimensional images. The extraoral surface data thus includes both the face 10 of the patient 5 as well as the extraoral area 3 of the measuring body 1 ,

The 2 shows that the intraoral surface data by means of a handheld dental camera 20 be measured manually, taking the dental camera 20 based on a triangulation method or on a confocal survey method. The intraoral surface data can be the teeth 9 of the entire upper jaw 6 , a part of the upper jaw 6 , the entire lower jaw 7 and / or a portion of the lower jaw 7 include. The measurement of intraoral surface data may be done before or after the measurement of extraoral surface data, as in 1 shown, done.

The 3 schematically shows in what way the drilling template 8th of the upper jaw 6 with the attached measuring body 1 by means of the hand-held dental camera 20 is measured manually. Thus, both the impressions 30 the teeth 9 of the upper jaw 6 as well as the measuring body 1 with the attached structures 31 measured. The structures 31 are as three hemispherical elevations on a flat section 32 of the measuring body 1 executed. The arrangement of the structures 31 on the level section 32 So allows a simple determination of the position and orientation of the measuring body 1 relative to the footprints 30 the teeth 9 of the upper jaw 6 , As a result, so the position and orientation of the measuring body 1 relative to the teeth 9 of the upper jaw 6 be determined. The measurement of the drilling template 8th with the attached measuring body 1 can be done before or after the measurement of the intraoral surface data or the extraoral surface data.

The 4 shows a further alternative of the device for registration, wherein the measuring body 1 with the attached structures 31 at a bite registration 40 is attached, which is shown in dashed lines. The bite registration 40 is due to the clenching of the upper jaw 6 and the lower jaw 7 of the patient 5 generated. The bite registration 40 can be made of a suitable material, such as wax, plaster or silicone.

The 5 shows that in 4 produced bite registration 40 with the impressions contained therein 30 the teeth 9 of the upper jaw 6 and the thereto by means of a rod-shaped connection 50 mounted measuring body 1 with the structures 31 , The bite registration with the attached measuring body 1 is by means of the dental camera 20 , as in 3 , measure the position and orientation of the measuring body 1 relative to the footprints 30 and thus relative to the teeth 9 of the upper jaw 6 to investigate.

The 6 shows a schematic representation to illustrate an alternative method for registration of intraoral surface data relative to extraoral surface data. This is compared to 1 no measuring body used. Instead, in addition to the measurement of the extraoral surface data, a registration recording is made 60 using the multi-camera system 11 consisting of the individual cameras 12 , as in 1 but with the mouth open 4 of the patient 5 carried out. At the same time, at least one tooth is recorded in the registration record 9 or more teeth of the upper jaw 6 as well as an extraoral surface area 61 detected. The extraoral surface area 61 is in this case a frontal area of the forehead 62 of the patient 5 is arranged. The forehead area 61 is particularly suitable because of the forehead area 61 relative to the upper jaw 6 hardly changes, as a flexible skin layer 63 over a forehead bone 64 is relatively thin. Using registration recording 60 So is the location and orientation of the teeth 9 of the upper jaw 6 relative to the forehead area 61 determined. When measuring the extraoral surface data of the entire face 10 of the patient 5 becomes the forehead area 61 also recorded so that the intraoral surface data of the upper jaw 6 to this forehead area 61 aligned and thus relative to the extraoral surface data can be registered.

The 7 shows a display device 70 like a monitor showing the extraoral surface data 71 of the face 10 of the patient 5 in overlay with the intraoral surface data 72 displays. The intraoral surface data include the entire upper jaw in the following case 6 , the entire lower jaw 7 as well as areas of the gums 73 around the teeth 9 , The arrangement of intraoral surface data 72 relative to the extraoral surface data 71 corresponds to the determined position and orientation according to the present registration procedure. The registration procedure can be done by means of a computer 74 taking place in the extraoral surface data 71 the measuring body 1 is sought and the determination of the location and registration of the measuring body relative to the teeth 9 automatically done. After performing the registration will be the measuring body 1 with the extraoral section 3 from the extraoral surface data 71 away. At the computer 74 are controls, like a keyboard 75 and a mouse 76 , connected to in the presented three-dimensional model of registered extraoral surface data 71 and the intraoral surface data 72 to navigate.

LIST OF REFERENCE NUMBERS

1

measuring body

2

intraoral area

3

extraoral area

4

mouth

5

patient

6

upper jaw

7

lower jaw

8th

drilling template

9

teeth

10

face

11

Multi-camera system

12

Optical cameras

20

dental camera

30

footprints

31

structures

32

Flat section

40

Bite Registration

50

rod-shaped connection

60

Registration recording

61

extraoral surface area / forehead area

62

forehead

63

Flexible skin layer

64

brow bone

70

display device

71

Extraoral surface data

72

Intraoral surface data

73

gums

74

computer

75

Tastaur

76

mouse

Claims (17)

Procedure for registration of intraoral surface data ( 72 ) relative to extraoral surface data ( 71 ), the intraoral surface data ( 72 ) and the extraoral surface data ( 71 ), characterized in that when measuring the extraoral surface data ( 71 ) a measuring body ( 1 ), the measuring body ( 1 ) an intraoral area ( 2 ) and an extraoral area ( 3 ) which, when the mouth is closed ( 4 ) from the mouth of a patient ( 5 protrudes), wherein the measuring body ( 1 ) a previously known and defined position and orientation relative to an upper jaw ( 6 ) and / or a lower jaw ( 7 ), wherein, using this defined position and orientation of the measuring body ( 1 ) the location and orientation of the extraoral surface data ( 71 ) relative to the intraoral surface data ( 72 ) is determined. Method according to claim 1, characterized in that the intraoral surface data ( 72 ) by means of a hand-held dental camera ( 20 ), which is based on a triangulation method or on a confocal surveying method. Method according to claim 1 or 2, characterized in that the intraoral surface data ( 72 ) the entire upper jaw ( 6 ), the entire lower jaw ( 7 ), a portion of the upper jaw ( 6 ) and / or a portion of the lower jaw ( 7 ). Method according to one of claims 1 to 3, characterized in that the extraoral surface data of at least a portion of a face are measured by means of a surface detection system based on a photogrammetric method or a triangulation measuring method. Method according to one of claims 1 to 4, characterized in that the extraoral area ( 3 ) of the measuring body ( 1 ) Structures ( 31 ), which provides a clear determination of the position and orientation of the measuring body ( 1 ) on the basis of the extraoral surface data ( 71 ) allow. Method according to one of claims 1 to 5, characterized in that the three-dimensional extraoral surface data ( 71 ) and the three-dimensional intraoral surface data ( 72 ) taking into account the position and orientation determined relative to one another by means of a display device ( 70 ) are displayed. Method according to one of claims 1 to 6, characterized in that the defined position and orientation of the measuring body ( 1 ) relative to the upper jaw ( 6 ) and / or to the lower jaw ( 7 ) is determined by a drilling template ( 8th ) with the measuring body attached thereto ( 1 ) is measured using a three-dimensional optical surveying method, whereby impressions ( 30 ) the teeth ( 9 ) on the drilling template ( 8th ) and the measuring body ( 1 ). Method according to one of claims 1 to 6, characterized in that the defined position and orientation of the measuring body ( 1 ) relative to the upper jaw ( 6 ) and / or to the lower jaw ( 7 ) is determined by a bite registration ( 40 ) with the measuring body attached thereto ( 1 ) is measured using a three-dimensional optical surveying method, whereby impressions ( 30 ) the teeth ( 9 ) at the bite registration ( 40 ) and the measuring body ( 1 ). Method according to one of claims 1 to 6, characterized in that the defined position and orientation of the measuring body ( 1 ) relative to the upper jaw ( 6 ) and / or to the lower jaw ( 7 ) by attaching to a specific tooth ( 9 ) attached measuring body ( 1 ) is measured using a three-dimensional optical surveying method and a registration recording ( 60 ) is generated, wherein at least the respective tooth ( 9 ) and the measuring body ( 1 ) in the registration record ( 60 ). Method according to claim 9, characterized in that the registration recording ( 60 ) and the extraoral surface data ( 71 ) a forehead area ( 61 ) on a forehead ( 62 ) of the patient ( 5 ), wherein the position and orientation of the forehead area ( 61 ) relative to the measuring body ( 1 ) in the registration record ( 60 ) and in the extraoral surface data to improve registration. Procedure for registration of intraoral surface data ( 72 ) relative to extraoral surface data ( 71 ), wherein the intraoral surface data and the extraoral surface data are combined, characterized in that additionally a registration recording ( 60 ) with an open mouth ( 4 ) of a patient ( 5 ), with reference to this registration record ( 60 ) the position and orientation of at least one tooth ( 9 ) of the patient ( 5 ) relative to an extraoral surface area ( 61 ), whereby in measuring the extraoral surface data ( 71 ) with the mouth closed ( 4 ) the extraoral surface area ( 61 ) is recorded, based on the determined location and orientation of the extraoral surface area ( 61 ) relative to at least one tooth ( 9 ) the intraoral surface data ( 72 ) relative to the extraoral surface data ( 71 ). Method according to claim 11, characterized in that the extraoral surface area ( 61 ) a forehead area ( 61 ) on the forehead ( 62 ) of the patient ( 5 ). Device for registration of intraoral surface data ( 72 ) relative to extraoral surface data ( 71 ), the intraoral surface data ( 72 ) and the extraoral surface data ( 71 ), characterized in that the device comprises a measuring body ( 1 ), wherein the measuring body ( 1 ) an intraoral area ( 2 ) and an extraoral area ( 3 ) used in the measurement of extraoral surface data ( 71 ) with the mouth closed ( 4 ) of a patient ( 5 protrudes). Device according to claim 13, characterized in that the extraoral area ( 3 ) of the measuring body ( 1 ) Structures ( 31 ), which provides a clear determination of the position and orientation of the measuring body ( 1 ) on the basis of the extraoral surface data ( 71 ) allow. Device according to claim 14, characterized in that the structures ( 31 ) are formed from at least three characteristic elevations or depressions which are located on a flat subregion ( 32 ) of the extraoral area ( 3 ) of the measuring body ( 1 ) are arranged. Device according to one of claims 13 to 15, characterized in that the measuring body ( 1 ) on a drilling template ( 8th ) is arranged. Device according to one of claims 13 to 15, characterized in that the measuring body ( 1 ) at a bite registration ( 40 ) is arranged.

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