CN101706971A - Automatic division method of dental crowns in dental models - Google Patents
Automatic division method of dental crowns in dental models Download PDFInfo
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- CN101706971A CN101706971A CN200910219206A CN200910219206A CN101706971A CN 101706971 A CN101706971 A CN 101706971A CN 200910219206 A CN200910219206 A CN 200910219206A CN 200910219206 A CN200910219206 A CN 200910219206A CN 101706971 A CN101706971 A CN 101706971A
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Abstract
The invention discloses an automatic division method of dental crowns in dental models. The automatic division method comprises the following steps: (1) acquiring a dental digital model according to a clinically acquired dental physical model, extracting data information and storing the acquired data in a PC, reconstructing a topological structure and realizing the display of the dental digital model; (2) picking up a triangular dough sheet on the surface of the dental digital model through the PC; and (3) dividing dental crowns and gums as well as dental crowns inside the dental digital model through the PC and a marked division method, namely determining the number of divided areas, initializing and running a stack and ensuring that all residual triangular dough sheets belong to corresponding division areas of gums after completing extended division of all corresponding division areas of dental crowns inside the dental digital model. The automatic division method has the advantages of novel and reasonable design, convenient realization, quick running speed, high precision of data processing and good division effects, capacity of realizing precise division among multiple complex structures, and wide application range.
Description
Technical field
The invention belongs to the tooth model technical field of image processing, especially relate to the automatic division method of corona in a kind of tooth model.
Background technology
In recent years, along with constantly improving and development of computer graphics and virtual reality emulation technology, computer science and infotech are integrated mutually and are interpenetrated with modern medicine and correlation technique thereof day by day.Simultaneously, along with computer hardware technique, image acquisition and treatment technology, three-dimensional digital imaging technique etc. in the develop rapidly of dentistry field ground, made computer technology become an important component part in dentistry education, clinical, scientific research and the capital construction.And Orthodontics is as a branch in dentistry field, growing and deformity that a variety of causes caused of main research tooth jaw, face, cranium three-dimensional structure, nowadays rescuing of dentognathic deformity is being faced with a digitized revolution, especially with more and more widely the application in mouth cavity orthodontic diagnosis, design, treatment and outcome prediction of three-dimensional digital imaging and measuring technique, make Orthodontics more and more develop, and development prospect is well arranged towards computerized direction.
Mouth disease is a kind of common multiple disease, and according to World Health Organization's statistics, wrong jaw abnormality has become one of three big mouth diseases (carious tooth, periodontosis and wrong jaw abnormality).At the incidence of disease of the wrong jaw abnormality of China up to 49%.Wrong jaw abnormality is formed by multiple factor acting in conjunction often.Usually, the cause of disease of wrong jaw abnormality is divided into environmental factor and inherent cause, and various factors has hindered the normal growth of skeleton buccale and muscle, thereby causes wrong jaw abnormality.Current, Orthodontics has been considered to a requisite pith in the oral health treatment.
This year, a kind of advanced technology, easy and simple to handle and result of use good, comfortable stealthy dental appliance has appearred on the market, it can carry out the three-dimensional data typing with oral cavity former or the gypsum formpiston that obtains by current advanced person's computed tomography scanning technology earlier, carries out the three-dimensional reconstruction of model; Digital model after the reconstruction can directly carry out rotation observation, the amplification in each orientation on computers to be dwindled, and can measure automatically measurement projects such as tooth, dental arch, basic bones; On the basis of this research, in conjunction with visualization of 3 d image processing and three-dimensional laser Rapid Prototyping technique, can simulate clinical move mode and the step of rescuing design and tooth, carry out rescuing of visualization of 3 d dentognathic deformity, and three-dimensional tooth model that each rescues the stage carried out three-dimensional laser forming fast, on the master mold that is shaped, make the stealthy appliance of transparent stamper in each stage again.Above-mentioned stealthy appliance is with respect to having occurred more than 100 year and at present mainly for the various conventional fixed appliances of clinical use, have no bracket, comfortable, transparent, attractive in appearance, can pluck, efficiently, characteristics such as health and patient's further consultation number of times be few, and can realize the prediction of three-dimensional visualization rectifying effect and cooperate carrying out complex treatment with the existing fixed appliance.Compare with the conventional fixed appliance, the stealthy appliance of no bracket has following advantage: 1) convenience attractive in appearance: appliance adopts transparent polymer material to make, and rescues the image that does not influence the patient in the process, conveniently plucks simultaneously and wears, and is little to the daily life influence; 2) safe and reliable: as to carry out strictness control by means of Computer-aided Design Technology to rescuing the power and the amount of rescuing in the appliance design process, guaranteed the security of rescuing; 3) time saving and energy saving: because appliance is worn simple and the amount of rescuing is definite in the process of appliance, doctor's running time, patient's further consultation time and further consultation time number average obviously reduces; 4) sanitation and hygiene: oral hygiene is easy to safeguard, has avoided the common appearance of rescuing complication such as gingivitis, tooth demineralization and variable color; 5) rescuing the result clearly predicts: by means of the application of Computer-aided Design Technology in appliance design, can rescue process and rescue the result rescuing to understand before carrying out and tell that the patient is whole, help the scheme of rescuing modification, determine that and the doctor exchanges with the patient; 6) be convenient to the tele-medicine resource sharing.
To sum up, the stealthy orthodontic system by corona and gum in the computer real-time simulation orthodontic process are cut apart is read into the patient's teeth model in the system, and shape, the parameters of tooth write down, preserves.And, simulate this patient's whole corrective therapy process on computers, write down the change in location of each stage tooth, stealthy rectifier according to these each different phases of design data, as long as the patient is according to designing program, put on different transparent rectifiers at different times, the tooth of maxilla or lower jaw is moved according to predetermined design, finally make tooth become neat.The patient can also just see virtual therapeutic process before treatment, understand correction result in advance.So both can allow the patient understand the corrective therapy effect in advance, make things convenient for doctor's operation, management again.Thisly obtain Diagnostic parameters automatically from dental imaging and treatment simulation, its action effect of simulation is a very attracting technology before treatment is used.In a word, above-mentioned stealthy orthodontic system mainly comprises four module: module one is the data importing to the tooth digital model; Module two is cutting apart of corona and gum; The neat assembling of module three teeth; The cartoon making that module four teeth move.Wherein, it is an important and crucial part that corona and gum are cut apart, its fundamental purpose extracts single corona exactly from gum, and realize separating between corona and the corona, the final purpose that realizes the single tooth of difference is carried out flexible operating, for postorder to tooth move, work such as arrangement and collision detection lay the foundation.
Summary of the invention
Technical matters to be solved by this invention is at above-mentioned deficiency of the prior art, the automatic division method of corona in a kind of tooth model is provided, it is novel in design rationally, realize convenient and travelling speed is fast, data processing precision is high, segmentation effect is good, can realize between a plurality of labyrinths accurately cut apart and applied widely.
For solving the problems of the technologies described above, the technical solution used in the present invention is: the automatic division method of corona in a kind of tooth model is characterized in that this method may further comprise the steps:
Step 1, obtain the patient's tooth digital model according to the clinical tooth jaw mock-up that obtains, its process is as follows:
101, extract data message: the employing scanning device obtains the three-dimensional model surface data of described tooth jaw mock-up, and the three-dimensional model surface data that is obtained is stored to PC;
102, reconstruct topological structure, its restructuring procedure is as follows:
1021, the three-dimensional model surface data being converted to stl file stores: utilize described PC that the three-dimensional model surface data is carried out analyzing and processing, and described three-dimensional model surface data is converted to the stl file of being made up of the unordered set of a plurality of tri patchs, afterwards described stl file is stored in the storer; Each triangle surface is by three apex coordinate (x in the described stl file
i, y
i, z
i) and one be used to indicate the normal vector { n that the three-dimensional model entity is included in which side of this triangle surface
1, n
2, n
3Represent;
1022, in reading in described stl file successively put down in writing the three-dimensional model surface data in, set up the topological structure of tooth digital model: utilize described PC to read successively to be stored to the described a plurality of triangle surfaces in the described storer, search and remove successively the repetition summit of being write down in the described stl file, set up a some table that comprises all triangle surface summits that does not repeat the summit, set up the face table that comprises all triangle surfaces simultaneously; Write down all in the described some table and do not repeat the apex coordinate on summit, the limit and the triangle surface at each place, summit, and all are not repeated the summit carry out serial number; Each triangle surface of record comprises the numbering of three summits in described some table in described the table, and all triangle surfaces are carried out serial number; Afterwards, according to the face table of setting up, set up a limit table that comprises all limits that does not repeat the limit, in the table of described limit two summits on each limit of record in a table numbering and write down each place, limit triangle surface in the face table numbering and this limit under the quantity of face; At last, utilize described PC that some table, face table and the limit table of being set up is stored in the described storer, promptly set up the topological structure of described tooth digital model by described some table, face table and limit table;
103, the tooth digital model shows alternately: read some table, face table and the limit table that is stored in the described storer by described PC, and call the true demonstration that the open pattern process module of OpenGL is realized described tooth digital model, realize various basic geometric operation simultaneously to described tooth digital model;
Step 2, by described PC and adopt the ray method of picking up that the triangle surface on described tooth digital model surface is picked up;
Step 3, by described PC and employing mark zone point-score to cutting apart between the corona in the described tooth digital model and gum and corona and the corona, its cutting procedure is as follows:
301, determine the cut zone number: the number of described cut zone is that the quantity of all coronas in the described tooth digital model is added a gum quantity sum, promptly gum and each corona correspondence is set up a cut zone; In definite cut zone number, for each cut zone defines an array respectively, in order to deposit all triangle surfaces in this cut zone;
302, pick up a triangle surface and the corresponding distinguishing mark that carries out respectively on pick-up method each corona in described tooth digital model described in the employing step 2, the triangle surface of crossing with each mark seed dough sheet of its place cut zone when cutting apart is expanded and is cut apart afterwards, for any cut zone m* in the described tooth digital model, its expansion cutting procedure is as follows:
3021, initialization storehouse: at first, define a storehouse stack; Secondly, determine distance threshold ε: described distance threshold ε=d*e, wherein d is the distance between the mark triangle surface, and e is that a product coefficient value and its are 0～1, and the seed dough sheet note of originally cutting apart among the regional m* is made f*; Afterwards, search the triangle surface adjacent and calculate spacing d between the adjacent triangle surface of seed dough sheet f* with each with seed dough sheet f*
i: work as d
iBe pressed into storehouse stack during＞ε and with the structure tlv triple of this adjacent triangle surface correspondence, be pressed into the adjacent triangle surface of storehouse stack and be designated as f
iOtherwise continue to calculate the spacing between other adjacent triangle surface and seed dough sheet f*, until finding d
iThe triangle surface f adjacent of＞ε with seed dough sheet f*
i, just finish the initialization of the definition storehouse stack of institute; Described structure tlv triple is＜f
i, m*, H (f*, f
i), f wherein
iRepresent triangle surface f
iNumbering, m* is that Vee formation shape dough sheet f is cut apart in lable number and its representative
iAffiliated cut zone, H (f*, f
i) represent triangle surface f
iWith the relative degree of crook between seed dough sheet f*;
3022, storehouse operation, its storehouse operational process may further comprise the steps:
1) is pressed into triangle surface f among the storehouse stack
iPop, with triangle surface f
iBe labeled as m* and the structure tlv triple that it is corresponding is added in the array of cut zone m* correspondence; Afterwards, search and triangle surface f
iAdjacent and unlabelled all triangle surfaces, and the structure tlv triple of the adjacent unmarked triangle surface correspondence that found out is pressed among the storehouse stack;
2) triangle surface that is pressed among the storehouse stack is popped, and judge whether the triangle surface of popping is labeled: when the triangle surface of popping is not labeled, it is labeled as m* and the structure tlv triple that it is corresponding is added in the array of cut zone m* correspondence, searches adjacent with this triangle surface of popping and unlabelled all triangle surfaces afterwards; And the structure tlv triple of the adjacent unmarked triangle surface correspondence that found out is pressed among the storehouse stack;
Otherwise when the triangle surface of popping had been labeled, then the triangle surface that this is popped was deleted from storehouse stack; Afterwards, return step 2); When being empty with storehouse stack inside, promptly finish the expansion cutting procedure of cut zone m* in the described tooth digital model, the triangle surface of all connections is m* by uniquely tagged all and belongs to a cut zone m*;
303, repeating step 302, in finishing described tooth digital model all coronas the expansion cutting procedure of corresponding cut zone;
304, finish all coronas in the described tooth digital model behind the expansion cutting procedure of corresponding cut zone, remaining all triangle surfaces then all belong to same cut zone and this cut zone is the gum corresponding divided areas, thereby described remaining all triangle surfaces are carried out same mark, just finish corona in the described tooth digital model and the whole cutting procedure between gum and corona and the corona.
When the method for picking up of the employing ray described in the above-mentioned steps two was picked up the triangle surface on described tooth digital model surface, its pick process was as follows:
201, through screen coordinate conversion obtain screen taps point the subpoint coordinate on described tooth digital model surface, be starting point and the ray L that crosses a vertical sensing screen of described subpoint structure afterwards with the viewpoint;
202, determine the direction vector Dir of described ray L: at first the three-dimensional coordinate that the click point coordinate is converted in the world coordinate system is a world coordinates, window coordinates are to the conversion of world coordinates simultaneously, determine the direction vector Dir of described ray L according to described ray L respectively and show, with the nearly cutting face of view body and the world coordinates of two intersection points between cutting face far away; Described demonstration is the view body that under the OpenGL environment described tooth digital model is shown with the view body;
203, described ray L is intersected judgement respectively with all triangle surfaces of being stored in the described stl file: specifically be according to formula (Dir) * len+ (V
2-V
1) * U+ (V
3-V
1) * V=originPoint-V
1(1) judge described ray L whether be judged triangle surface and intersect, when described ray L when being judged triangle surface and intersecting, calculate the barycentric coordinates (U of the two intersection point, V) and between this intersection point and viewpoint apart from T, originPoint represents that the initial point of ray L is the world coordinates of viewpoint in the formula, Dir is the direction vector of ray L, V
1, V
2And V
3Be respectively three apex coordinates that are extracted triangle surface, len is the mould of ray L: when calculating 0＜V＜1,0＜U＜1, len＞0,0＜U+V＜1 and [Dir, V according to formula (1)
2-V
1, V
3-V
1] ≠ 0 o'clock, described ray L and the triangle surface that is extracted intersect; Otherwise described ray L and the triangle surface that is extracted are non-intersect;
204, find out with described ray L and intersect and the triangle surface nearest: specifically be according to all intersection points and each the intersection point corresponding parameters T that intersect with described ray L that are calculated in the step 203 apart from viewpoint, find out the T value minimum promptly apart from the nearest intersection point of viewpoint as ray L be extracted the joining of triangle surface, and the barycentric coordinates of this joining that calculates according to step 203 find the numbering of its place triangle surface, triangle surface to described joining place carries out mark simultaneously, promptly finishes the pick process of a triangle surface.
During extraction data message described in the above-mentioned steps 101, the scanning device that is adopted is a laser scanning equipment, and adopts described laser scanning equipment utilization range of triangle principle that described tooth jaw mock-up is carried out repeatedly entire scan and obtains the three-dimensional model surface data.
During extraction data message described in the above-mentioned steps 101, the scanning device that is adopted is X ray computer tomoscanner CT, and adopt X-ray beam that described tooth neck mock-up aspect is scanned and obtain the respective layer surface information when scanning, just obtain corresponding faultage image after by PC described section information being handled again; Afterwards, obtain several faultage images of described tooth jaw mock-up successively in a certain direction and by fixed intervals, carry out just obtaining behind the 3 d reconstruction three-dimensional model surface data of entity at last.
During extraction data message described in the above-mentioned steps 101, the scanning device that is adopted is a laser scanning equipment, and makes the backup model of described tooth jaw mock-up before the scanning earlier; When scanning, adopt material successively to remove the method that combines with scanning successively, obtain 2 dimension image informations of described each aspect of tooth neck mock-up, and then reconstruct 3 dimension models of described tooth jaw mock-up again by 2 dimension image informations of described each aspect.
Described in the above-mentioned steps 1021 in the stl file The data binary code of storing represent.
The present invention compared with prior art has the following advantages:
1, novel in design, reasonable and realization convenience.
2, working time is short, travelling speed is fast and data processing precision is high.
3, segmentation effect is good, can realize accurately cutting apart between a plurality of labyrinths.
4, applied widely, can effectively be suitable for to other associated picture dividing processing field.
5, practical value height can promote the development of stealthy orthodontic system significantly.
In sum, the present invention is novel in design rationally, realize convenient and travelling speed is fast, data processing precision is high, segmentation effect is good, can realize between a plurality of labyrinths accurately cut apart and applied widely.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is a process flow diagram of the present invention.
Method flow diagram when Fig. 2 picks up the triangle surface on tooth digital model surface for the present invention.
Fig. 3 is the method flow diagram of the present invention to cutting apart between corona and gum and corona and the corona.
Embodiment
The automatic division method of corona in a kind of tooth model as shown in Figure 1 may further comprise the steps:
Step 1, obtain the patient's tooth digital model according to the clinical tooth jaw mock-up that obtains, its process is as follows:
101, extract data message: the employing scanning device obtains the three-dimensional model surface data of described tooth jaw mock-up, and the three-dimensional model surface data that is obtained is stored to PC.
During practical operation, can select for use multiple scanner uni data processing method to carry out data message and extract.For example, can adopt laser scanning equipment to scan, and utilize the range of triangle principle that described tooth jaw mock-up is carried out repeatedly entire scan and obtains the three-dimensional model surface data when scanning.Simultaneously, also can adopt laser scanning equipment and obtain data message, make the backup model of described tooth jaw mock-up before the scanning earlier by chromatography; When scanning, adopt material successively to remove the method that combines with scanning successively, obtain 2 dimension image informations of described each aspect of tooth jaw mock-up, and then reconstruct 3 dimension models of described tooth jaw mock-up again by 2 dimension image informations of described each aspect.In the practice, also can adopt X ray computer tomoscanner CT to scan, and adopt X-ray beam that described tooth jaw mock-up aspect is scanned and obtain the respective layer surface information when scanning, just obtain corresponding faultage image after by PC described section information being handled again; Afterwards, obtain several faultage images of described tooth jaw mock-up successively in a certain direction and by fixed intervals, carry out just obtaining behind the 3 d reconstruction three-dimensional model surface data of entity at last.
Above-mentioned first method sweep velocity is fast, single sweep operation precision height and technology maturation, but need repeatedly scan from different directions in the scanning process, and the scan-data registration can reduce model accuracy, and can't obtain root information, and the tooth data are imperfect.Second method can be measured the three-dimensional data of described tooth jaw mock-up fast and automatically, exactly, solved the difficult problem that adjacent teeth narrow gap structure is difficult to measure, and can obtain the partial data on tooth jaw surface, the digital model precision that reconstructs is higher, also be fit to simultaneously produce in batches, but data acquisition is destructive, thereby obtains the preceding backup that must make tooth jaw mock-up of data.The third method can be obtained complete surfaces externally and internally data under the situation of not destroying tooth jaw mock-up, but equipment cost height and precision are difficult for guaranteeing.In the present embodiment, adopt first method to extract data message.
102, reconstruct topological structure, its restructuring procedure is as follows:
1021, the three-dimensional model surface data being converted to stl file stores: utilize described PC that the three-dimensional model surface data is carried out analyzing and processing, and described three-dimensional model surface data is converted to the stl file of being made up of the unordered set of a plurality of tri patchs, afterwards described stl file is stored in the storer; Each triangle surface is by three apex coordinate (x in the described stl file
i, y
i, z
i) and one be used to indicate the normal vector { n that the three-dimensional model entity is included in which side of this triangle surface
1, n
2, n
3Represent.
Described stl file is that U.S. 3D System company has formulated an interface protocol STL (Stereo Lithography) file layout in 1988, stl file is that basic description unit comes the surface of approximate description three-dimensional model discretely with little triangle surface, is a kind of application form of three-dimensional model unit representation.It derives from rapid prototyping (Rapid Prototyping is called for short RP) field at first, and becomes the actual industrial standard in RP field rapidly; As data exchange standard form between CAD/CAM system and the RP system, it has greatly promoted the development of rapid prototyping technology.In the last few years, stl file various need that three-dimensional model describes such as fields such as finite element analysis, casting solidification simulation, medical image system, reverse engineerings in also all obtained concrete application.
To sum up, stl file carries out to CAD solid model or surface model that surface triangulation is discrete to be obtained, and is equivalent to come the former cad model of close approximation with a kind of full polyhedron that is made of little triangle surface.And turning to of the direction of the normal vector of each a triangle surface and Atria summit meets the right-hand rule.In the present embodiment, the The data binary code of storing is represented in the described stl file.
1022, in reading in described stl file successively put down in writing the three-dimensional model surface data in, set up the topological structure of tooth digital model: utilize PC to read triangle surface successively, search and remove successively the repetition summit of being write down in the described stl file, set up a unduplicated some table that comprises all triangle surface summits, set up the face table that comprises all triangle surfaces simultaneously; Write down all in the some table and do not repeat the apex coordinate on summit, the limit and the triangle surface at each place, summit, and all are not repeated the summit carry out serial number; Each triangle surface of record comprises three numberings of summit in a table in described the table, and all triangle surfaces are carried out serial number; Afterwards,, set up one and comprise all limits and unduplicated limit table according to the face table of setting up, in the table of limit two summits on each limit of record in a table numbering and write down each place, limit triangle surface in the face table numbering and this limit under the quantity of face; At last, utilize described PC that some table, face table and the limit table of being set up is stored in the described storer, promptly set up the topological structure of described tooth digital model by described some table, face table and limit table.
Because the stl file of being set up in the step 1021 is the unordered set of a plurality of triangle surfaces, only write down the summit and the method for tri patch and vow information, can not directly find the summit that annexation between described a plurality of triangle surface and triangle comprise and the information on limit by stl file, so just be not easy to search, STL formatted file data repeat a lot simultaneously, each summit is almost reused 6 times, there is a large amount of redundant informations, and waste storage space, the most important thing is to making troubles cutting apart of follow-up tooth and gum, thereby must carry out topological structure reconstruct stl file.
The data structure that the final topological structure of setting up comprises is divided into 3 classes: face (abbreviation of triangle surface), limit and summit, can find its 3 adjacent adjacent surfaces, 3 limits and 3 summits by any one face; Two summits can finding two faces under this limit and it to comprise by any limit; Can find many limits under it and a plurality of by point.
103, the tooth digital model shows alternately: read some table, face table and the limit table that is stored in the described storer by described PC, and call the true demonstration that the open pattern process module of OpenGL is realized described tooth digital model, realize the various basic geometric operation that described tooth digital model is implemented simultaneously.
The mutual demonstration of above-mentioned tooth digital model can realize under VC++6.0 and Windows2000 environment, in true demonstration tooth digital model, also can be rotated, translation, basic operation such as amplify, dwindle, so that each detail of complete understanding tooth digital model to the tooth digital model.
Step 2, by described PC and adopt the ray method of picking up that the triangle surface on described tooth digital model surface is picked up.
As shown in Figure 2, in the present embodiment, when the triangle surface on described tooth digital model surface was picked up, its pick process was as follows:
201, obtaining the subpoint coordinate of screen taps point on tooth digital model surface through screen coordinate conversion, is starting point and the ray L that crosses a vertical sensing screen of described subpoint structure afterwards with the viewpoint.
202, determine the direction vector Dir of described ray L: at first the three-dimensional coordinate that the click point coordinate is converted in the world coordinate system is a world coordinates, window coordinates are to the conversion of world coordinates simultaneously, determine the direction vector Dir of described ray L according to described ray L respectively and show, with the nearly cutting face of view body and the world coordinates of two intersection points between cutting face far away; Described demonstration is the view body that under the OpenGL environment described tooth digital model is shown with the view body.
203, described ray L is intersected judgement respectively with all triangle surfaces of being stored in the described stl file: specifically be according to formula (Dir) * len+ (V
2-V
1) * U+ (V
3-V
1) * V=originPoint-V
1(1) judge described ray L whether be judged triangle surface and intersect, when described ray L when being judged triangle surface and intersecting, calculate the barycentric coordinates (U of the two intersection point, V) and between this intersection point and viewpoint apart from T, originPoint represents that the initial point of ray L is the world coordinates of viewpoint in the formula, Dir is the direction vector of ray L, V
1, V
2And V
3Be respectively three apex coordinates that are extracted triangle surface, len is the mould of ray L: when calculating 0＜V＜1,0＜U＜1, len＞0,0＜U+V＜1 and [Dir, V according to formula (1)
2-V
1, V
3-V
1] ≠ 0 o'clock, described ray L and the triangle surface that is extracted intersect; Otherwise described ray L and the triangle surface that is extracted are non-intersect.
204, find out with described ray L and intersect and the triangle surface nearest: specifically be according to all intersection points and each the intersection point corresponding parameters T that intersect with described ray L that are calculated in the step 203 apart from viewpoint, find out the T value minimum promptly apart from the nearest intersection point of viewpoint as ray L be extracted the joining of triangle surface, and find the numbering of its place triangle surface according to the barycentric coordinates of this joining that calculates in the step 203, triangle surface to described joining place carries out mark simultaneously, promptly finishes the pick process of a triangle surface.
To sum up, in the present embodiment, the principle of work that adopts rays method to pick up triangle surface is: the screen coordinate that obtains click place earlier, and be this coordinate conversion described ray L for a light of injecting scene by viewpoint and click point by projection matrix and observation matrix, if this light is crossing with a certain triangle surface in the digital model, then can obtain the information of this crossing triangle surface.From the mathematics angle,, just possessed the condition of judging whether ray and any one triangular facet of space intersect as long as obtain the direction vector of described ray L and the eye point of ray.
Step 3, by described PC and employing mark zone point-score to cutting apart between the corona in the described tooth digital model and gum and corona and the corona, its cutting procedure is as follows:
301, determine the cut zone number: the number of cut zone is that the quantity of all coronas in the described tooth digital model is added a gum quantity sum, promptly gum and each corona correspondence is set up a cut zone; In definite cut zone number, for each cut zone defines an array respectively, in order to deposit all triangle surfaces in this cut zone;
302, pick up a triangle surface and the corresponding distinguishing mark that carries out respectively on pick-up method each corona in described tooth digital model described in the employing step 2, the triangle surface of crossing with each mark seed dough sheet of its place cut zone when cutting apart is expanded and is cut apart afterwards, for any cut zone m* in the described tooth digital model, its expansion cutting procedure is as follows:
3021, initialization storehouse: at first, define a storehouse stack; Secondly, determine distance threshold ε: at first, define a storehouse stack; Secondly, determine distance threshold ε: described distance threshold ε=d*e, wherein d is the distance between the mark triangle surface, e is that a product coefficient value and its are 0～1, e=0.45 in the present embodiment.Originally the seed dough sheet note of cutting apart among the regional m* is made f*; Afterwards, search the triangle surface adjacent and calculate spacing d between the adjacent triangle surface of seed dough sheet f* with each with seed dough sheet f*
i: work as d
iBe pressed into storehouse stack during＞ε and with the structure tlv triple of this adjacent triangle surface correspondence, be pressed into the adjacent triangle surface of storehouse stack and be designated as f
iOtherwise continue to calculate the spacing between other adjacent triangle surface and seed dough sheet f*, until finding d
iThe triangle surface f adjacent of＞ε with seed dough sheet f*
i, just finish the initialization of the definition storehouse stack of institute; Described structure tlv triple is＜f
i, m*, H (f*, f
i), f wherein
iRepresent triangle surface f
iNumbering, m* is that Vee formation shape dough sheet f is cut apart in lable number and its representative
iAffiliated cut zone, H (f*, f
i) represent triangle surface f
iWith the relative degree of crook between seed dough sheet f*;
3022, storehouse operation, its storehouse operational process may further comprise the steps:
1) is pressed into triangle surface f among the storehouse stack
iPop, with triangle surface f
iBe labeled as m* and the structure tlv triple that it is corresponding is added in the array of cut zone m* correspondence; Afterwards, search and triangle surface f
iAdjacent and unlabelled all triangle surfaces, and the structure tlv triple of the adjacent unmarked triangle surface correspondence that found out is pressed among the storehouse stack;
2) triangle surface that is pressed among the storehouse stack is popped, and judge whether the triangle surface of popping is labeled: when the triangle surface of popping is not labeled, it is labeled as m* and the structure tlv triple that it is corresponding is added in the array of cut zone m* correspondence, searches adjacent with this triangle surface of popping and unlabelled all triangle surfaces afterwards; And the structure tlv triple of the adjacent unmarked triangle surface correspondence that found out is pressed among the storehouse stack;
Otherwise when the triangle surface of popping had been labeled, then the triangle surface that this is popped was deleted from storehouse stack; Afterwards, return step 2); When being empty with storehouse stack inside, promptly finish the expansion cutting procedure of cut zone m* in the described tooth digital model, the triangle surface of all connections is m* by uniquely tagged all and belongs to a cut zone m*;
303, repeating step 302, in finishing described tooth digital model all coronas the expansion cutting procedure of corresponding cut zone;
304, finish all coronas in the tooth digital model behind the expansion cutting procedure of corresponding cut zone, remaining all triangle surfaces then all belong to same cut zone and this cut zone is the gum corresponding divided areas, thereby described remaining all triangle surfaces are carried out same mark, just finish corona in the described tooth digital model and the whole cutting procedure (seeing Fig. 3 for details) between gum and corona and the corona.
In a word, follow the minimal value principle when cutting apart between the corona in the described tooth digital model and gum and corona and the corona, thereby and carry out position and the scope that area extension is determined cut zone according to Fast Marching Watershed theory.Wherein, the minimum value principle is a kind of visual cognition principle that is proposed by Hoffman and Richards, and its core concept can roughly be expressed as follows: principal curvatures is negative minimizing border between their principal direction formation zone; Go to understand from angle intuitively, the point of principal curvatures big (tape symbol relatively) is positioned at more protruding position, and less point then is usually located at recess, and people are more prone to distinguish object according to recessed separatrix, rather than cut apart at the position of protruding.
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, everyly any simple modification that above embodiment did, change and equivalent structure changed, all still belong in the protection domain of technical solution of the present invention according to the technology of the present invention essence.
Claims (6)
1. the automatic division method of corona in the tooth model is characterized in that this method may further comprise the steps:
Step 1, obtain the patient's tooth digital model according to the clinical tooth jaw mock-up that obtains, its process is as follows:
101, extract data message: the employing scanning device obtains the three-dimensional model surface data of described tooth jaw mock-up, and the three-dimensional model surface data that is obtained is stored to PC;
102, reconstruct topological structure, its restructuring procedure is as follows:
1021, the three-dimensional model surface data being converted to stl file stores: utilize PC that the three-dimensional model surface data is carried out analyzing and processing, and the three-dimensional model surface data is converted to the stl file of being made up of the unordered set of a plurality of tri patchs, afterwards stl file is stored in the storer; Each triangle surface is by three apex coordinate (x in the stl file
i, y
i, z
i) and one be used to indicate the normal vector { n that the three-dimensional model entity is included in which side of this triangle surface
1, n
2, n
3Represent;
1022, in reading in described stl file successively put down in writing the three-dimensional model surface data in, set up the topological structure of tooth digital model: utilize PC to read triangle surface successively, search and remove successively the repetition summit of being write down in the described stl file, set up a unduplicated some table that comprises all triangle surface summits, set up the face table that comprises all triangle surfaces simultaneously; Write down all in the some table and do not repeat the apex coordinate on summit, the limit and the triangle surface at each place, summit, and all are not repeated the summit carry out serial number; Each triangle surface of record comprises three numberings of summit in a table in described the table, and all triangle surfaces are carried out serial number; Afterwards,, set up one and comprise all limits and unduplicated limit table according to the face table of setting up, in the table of limit two summits on each limit of record in a table numbering and write down each place, limit triangle surface in the face table numbering and this limit under the quantity of face; At last, utilize described PC that some table, face table and the limit table of being set up is stored in the described storer, promptly set up the topological structure of described tooth digital model by described some table, face table and limit table;
103, the tooth digital model shows alternately: read some table, face table and the limit table that is stored in the storer by described PC, and call the true demonstration that the open pattern process module of OpenGL is realized described tooth digital model, realize various basic geometric operation simultaneously to described tooth digital model;
Step 2, by described PC and adopt the ray method of picking up that the triangle surface on described tooth digital model surface is picked up;
Step 3, by described PC and employing mark zone point-score to cutting apart between the corona in the described tooth digital model and gum and corona and the corona, its cutting procedure is as follows:
301, determine the cut zone number: the number of described cut zone is that the quantity of all coronas in the tooth digital model is added a gum quantity sum, promptly gum and each corona correspondence is set up a cut zone; In definite cut zone number, for each cut zone defines an array respectively, in order to deposit all triangle surfaces in this cut zone;
302, pick up a triangle surface and the corresponding distinguishing mark that carries out respectively on pick-up method each corona in described tooth digital model described in the employing step 2, the triangle surface of crossing with each mark seed dough sheet of its place cut zone when cutting apart is expanded and is cut apart afterwards, for any cut zone m* in the described tooth digital model, its expansion cutting procedure is as follows:
3021, initialization storehouse: at first, define a storehouse stack; Secondly, determine distance threshold ε: described distance threshold ε=d*e, wherein d is the distance between the mark triangle surface, and e is that a product coefficient value and its are 0～1, and the seed dough sheet note of originally cutting apart among the regional m* is made f*; Afterwards, search the triangle surface adjacent and calculate spacing d between the adjacent triangle surface of seed dough sheet f* with each with seed dough sheet f*
i: work as d
iBe pressed into storehouse stack during＞ε and with the structure tlv triple of this adjacent triangle surface correspondence, be pressed into the adjacent triangle surface of storehouse stack and be designated as f
iOtherwise continue to calculate the spacing between other adjacent triangle surface and seed dough sheet f*, until finding d
iThe triangle surface f adjacent of＞ε with seed dough sheet f*
i, just finish the initialization of the definition storehouse stack of institute; Described structure tlv triple is＜f
i, m*, H (f*, f
i)＞, be f wherein
iRepresent triangle surface f
iNumbering, m* is that Vee formation shape dough sheet f is cut apart in lable number and its representative
iAffiliated cut zone, H (f*, f
i) represent triangle surface f
iWith the relative degree of crook between seed dough sheet f*;
3022, storehouse operation, its storehouse operational process may further comprise the steps:
1) is pressed into triangle surface f among the storehouse stack
iPop, with triangle surface f
iBe labeled as m* and the structure tlv triple that it is corresponding is added in the array of cut zone m* correspondence; Afterwards, search and triangle surface f
iAdjacent and unlabelled all triangle surfaces, and the structure tlv triple of the adjacent unmarked triangle surface correspondence that found out is pressed among the storehouse stack;
2) triangle surface that is pressed among the storehouse stack is popped, and judge whether the triangle surface of popping is labeled: when the triangle surface of popping is not labeled, it is labeled as m* and the structure tlv triple that it is corresponding is added in the array of cut zone m* correspondence, searches adjacent with this triangle surface of popping and unlabelled all triangle surfaces afterwards; And the structure tlv triple of the adjacent unmarked triangle surface correspondence that found out is pressed among the storehouse stack;
Otherwise when the triangle surface of popping had been labeled, then the triangle surface that this is popped was deleted from storehouse stack; Afterwards, return step 2); When being empty with storehouse stack inside, promptly finish the expansion cutting procedure of cut zone m* in the described tooth digital model, the triangle surface of all connections is m* by uniquely tagged all and belongs to a cut zone m*;
303, repeating step 302, in finishing described tooth digital model all coronas the expansion cutting procedure of corresponding cut zone;
304, finish all coronas in the described tooth digital model behind the expansion cutting procedure of corresponding cut zone, remaining all triangle surfaces then all belong to same cut zone and this cut zone is the gum corresponding divided areas, thereby described remaining all triangle surfaces are carried out same mark, just finish corona in the described tooth digital model and the whole cutting procedure between gum and corona and the corona.
2. according to the automatic division method of corona in the described a kind of tooth model of claim 1, it is characterized in that: when the method for picking up of the employing ray described in the step 2 was picked up the triangle surface on described tooth digital model surface, its pick process was as follows:
201, through screen coordinate conversion obtain screen taps point the subpoint coordinate on described tooth digital model surface, be starting point and the ray L that crosses a vertical sensing screen of described subpoint structure afterwards with the viewpoint;
202, determine the direction vector Dir of described ray L: at first the three-dimensional coordinate that the click point coordinate is converted in the world coordinate system is a world coordinates, window coordinates are to the conversion of world coordinates simultaneously, determine the direction vector Dir of described ray L according to described ray L respectively and show, with the nearly cutting face of view body and the world coordinates of two intersection points between cutting face far away; Described demonstration is the view body that under the OpenGL environment described tooth digital model is shown with the view body;
203, described ray L is intersected judgement respectively with all triangle surfaces of being stored in the described stl file: specifically be according to formula (Dir) * len+ (V
2-V
1) * U+ (V
3-V
1) * V=originPoint-V
1(1) judge described ray L whether be judged triangle surface and intersect, when described ray L when being judged triangle surface and intersecting, calculate the barycentric coordinates (U of the two intersection point, V) and between this intersection point and viewpoint apart from T, originPoint represents that the initial point of ray L is the world coordinates of viewpoint in the formula, Dir is the direction vector of ray L, V
1, V
2And V
3Be respectively three apex coordinates that are extracted triangle surface, len is the mould of ray L: when calculating 0＜V＜1,0＜U＜1, len＞0,0＜U+V＜1 and [Dir, V according to formula (1)
2-V
1, V
3-V
1] ≠ 0 o'clock, described ray L and the triangle surface that is extracted intersect; Otherwise described ray L and the triangle surface that is extracted are non-intersect;
204, find out with described ray L and intersect and the triangle surface nearest: specifically be according to all intersection points and each the intersection point corresponding parameters T that intersect with described ray L that are calculated in the step 203 apart from viewpoint, find out the T value minimum promptly apart from the nearest intersection point of viewpoint as ray L be extracted the joining of triangle surface, and find the numbering of its place triangle surface according to the barycentric coordinates of this joining that calculates in the step 203, triangle surface to described joining place carries out mark simultaneously, promptly finishes the pick process of a triangle surface.
3. according to the automatic division method of corona in claim 1 or the 2 described a kind of tooth models, it is characterized in that: during extraction data message described in the step 101, the scanning device that is adopted is a laser scanning equipment, and adopts described laser scanning equipment utilization range of triangle principle that described tooth jaw mock-up is carried out repeatedly entire scan and obtains the three-dimensional model surface data.
4. according to the automatic division method of corona in claim 1 or the 2 described a kind of tooth models, it is characterized in that: during extraction data message described in the step 101, the scanning device that is adopted is X ray computer tomoscanner CT, and adopt X-ray beam that described tooth jaw mock-up aspect is scanned and obtain the respective layer surface information when scanning, just obtain corresponding faultage image after by PC described section information being handled again; Afterwards, obtain several faultage images of described tooth jaw mock-up successively in a certain direction and by fixed intervals, carry out just obtaining behind the 3 d reconstruction three-dimensional model surface data of entity at last.
5. according to the automatic division method of corona in claim 1 or the 2 described a kind of tooth models, it is characterized in that: during extraction data message described in the step 101, the scanning device that is adopted is a laser scanning equipment, and makes the backup model of described tooth jaw mock-up before the scanning earlier; When scanning, adopt material successively to remove the method that combines with scanning successively, obtain 2 dimension image informations of described each aspect of tooth jaw mock-up, and then reconstruct 3 dimension models of described tooth jaw mock-up again by 2 dimension image informations of each aspect.
6. according to the automatic division method of corona in claim 1 or the 2 described a kind of tooth models, it is characterized in that: store the The data binary code described in the step 1021 in the stl file and represent.
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