CN102254317A - Method for automatically extracting dental arch curved surface in dental implantation navigation - Google Patents
Method for automatically extracting dental arch curved surface in dental implantation navigation Download PDFInfo
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Abstract
The invention discloses a method for automatically extracting a dental arch curved surface in dental implantation navigation. The method comprises the following steps of: (1) inputting two-dimensional (2D) teeth data; (2) generating a three-dimensional (3D) image; (3) segmenting teeth areas; (4) extracting a central point of a dental cavity; (5) obtaining a central line of the dental cavity, and extracting a control point on the central line of the dental cavity; and (6) interpolating and fitting the control point to generate the dental arch curved surface. The method has the advantages that: the three-dimensional distributional pattern of teeth is automatically detected and established by a computer technology, and the dental arch curved surface is automatically generated, so intuitive reference is provided for a doctor to perform dental implantation surgical planning and accurate treatment, and foundation is laid for improvement of surgical accuracy.
Description
Technical field
The present invention relates to a kind of Medical Image Processing and application, particularly a kind of extraction method of tooth plantation navigation dens in dente bow face.
Background technology
Computer technology, virtual reality technology medical imaging technology, image processing techniques and Robotics combine with operation, produced a brand-new technical field---and computer-assisted surgery (Computer-assisted Surgery, CAS).CAS is a kind of based on high speed processing and the control ability of computing machine to mass data information, for the surgeon provides support technically, makes operation safer, more accurately a new technology by the virtual operation environment.It is to utilize the preceding image information of the resulting patient's art of digital scanning technology (CT, MRI, C arm image etc.), be input to core---the powerful computer workstation of system by mediator (MO magneto-optic disk, CD-R CD, DAT tape, DICOM hospital network etc.), workstation goes out patient's three-dimensional model image by the high-speed computation processing reconstructed, plan (can set many surgical planning routes) and simulation process before operative doctor can utilize related software to carry out art on this image basis.
Dentistry plantation has become the agomphosis recovery technique of a maturation, 5 years success ratios reached 90% or more than.The successful key of performing the operation is suitable patient selection, scrutiny before the art and correct analysis, meticulous implant operation and recovery technique, Oral and Maxillofacial Surgery, dept. of radiology, the doctor's of reparation section close fit.Traditional tooth implant operation navigational system can provide jawbone form, bone density, important skeletal structure location information, in recent years, because the development of computer technology jaw medical skill, tooth implant operation navigational system not only has been confined to show the information of tooth, a lot of interactively functions have also been increased newly, the extraction of dental arch curve just provides necessary path planning for the tooth implant operation; The drafting of virtual apparatus makes simulation tooth implant operation become possibility; Calculate based on tooth and skeleton density, can reflect to digitizing the thickness of tooth, hardness, and neural position.
Summary of the invention
Technical matters to be solved by this invention is that a kind of method that can correctly extract dental arch curve according to 2D tooth data will be provided.
In order to solve above technical matters, the invention provides a kind of extraction method of tooth plantation navigation dens in dente bow face, the dental arch curve of human body is similar to quafric curve, and it extracts principle is that curve should be through the center of every tooth.At first utilize the method for image segmentation and rim detection to extract each tooth and calculate its density center then, tooth ecto-entad tissue density reduces gradually, showing as gray-scale value in the CT image reduces gradually, therefore, select the central point of tooth in can some pixels that the tooth gray scale is minimum in image, carry out interpolation and match according to these central points, promptly obtain required dental arch curve, comprise the steps:
⑴ tooth data input 2D(two dimension);
⑵ rebuild the 2D tooth data of input, produces the 3D(three-dimensional) image, choose the dental part image of required processing;
⑶ adopt all voxels outside the binarization method rejecting tooth packing density value scope, sets threshold segmentation and go out tooth regions;
Above-mentioned setting threshold segmentation goes out tooth regions, is meant to adopt the branch detection method to obtain independently dental tissue branch, finishes and cuts apart;
Order is positioned at that (z) some place voxel is that (x, y z), select the gray threshold set to be R to f, and then the bianry image of binaryzation gained meets following formula for x, y
Image after the binaryzation is 1 corresponding to the pixel value of prospect, is 0 corresponding to the pixel value of background.Image after binaryzation is cut apart has comprised dental tissue and the similar skeletal tissue of density;
⑷ adopt the chamfering algorithm to extract the central point in tooth hole;
The chamfering class of algorithms is not that the picture element at edge is removed still, but gives its value that apart from edge point far away more, the result who calculates is big more like a kind of range conversion method of corrosion.The template of using similar convolution kernel can be finished the range conversion of image to moving by twice scanning in image.Method for scanning is that first pass scans forward from left to right, carries out from top to bottom; Scan from right to left backward, carry out from top to bottom for second time.At each pixel place, the image pixel value addition that each pixel of template is corresponding with it, its minimum value is the value of giving this pixel.The value that the application's pixel is given is it to 3 times of the flute card distance on border, and the point of the value maximum that finds in each hole information is exactly the central point of tooth like this;
⑸ obtain tooth hole center line based on the center line extraction algorithm of distance map, extracts a series of reference mark on the center line of tooth hole;
Dijkstra path between the center line in tooth hole just can be defined as from the starting point to the end point.For the Dijkstra between making from the starting point to end point distance is exactly the center line in tooth hole, wish that the Dijkstra path approaches the Ya Dong center, if make the weights of fringe node bigger, the weights of Centroid are less, the center is just approached in the Dijkstra path naturally.Can establish node p to the bee-line at edge is
, when p was marginal point, the weights of node p were w (p)=1, otherwise w (p)=
Like this, node is the closer to the center, and then weights successively decrease, and carries out the center line that the Dijkstra path just can be regarded the tooth hole naturally as;
Above-mentionedly on the center line of tooth hole, extract a series of reference mark, be meant and adopt improved B spline algorithms, form new control point set by in the sub-range, increasing node, guarantee the reference mark at curve negotiating tooth center point place by new reference mark is carried out curve fitting.Common cubic B-spline definition is:
Wherein
Be the reference mark,
, node
,
By the reference mark after can being expanded at node of each interval adding
, its reference mark, Central Plains
With interpolation point
Relation as follows:
Can try to achieve the newly-increased reference mark of representing by a plurality of interpolation points in the former B batten of the substitution definition;
⑹ interpolation is carried out at the reference mark and match generates the dental arch curved surface.
Superior effect of the present invention is: the three-dimensional distributional pattern that detects and set up tooth by computer technology automatically, automatically generate the dental arch curved surface, for the doctor carries out the planning of tooth implant operation and accurately treat reference frame intuitively is provided, lay the foundation for improving the operation precision.
Description of drawings
Fig. 1 is a workflow diagram of the present invention.
Embodiment
See also shown in the accompanying drawing, the invention will be further described.
As shown in Figure 1, the invention provides a kind of extraction method of tooth plantation navigation dens in dente bow face, comprise the steps:
⑴ the tooth data of input 2D; The tooth data generally are the 2D data sequences of being obtained by technology such as CT or MRI.
⑵ be exactly that 3D discrete data matrix reads in the CT data in computing machine through the 3D volume data that the computerized three-dimensional reconstruction technology produces, and produces 3D rendering, chooses the dental part image of required processing.
⑶ tooth has simple shape with respect to most of other human tissue organ, advantages such as voxel densities is low and even, a new simple and quick dividing method has been proposed thus, adopt all voxels outside the binarization method rejecting tooth packing density value scope, set threshold segmentation and go out tooth regions;
Above-mentioned setting threshold segmentation goes out tooth regions, is meant to adopt the branch detection method to obtain independently dental tissue branch, finishes and cuts apart;
Order is positioned at that (z) some place voxel is that (x, y z), select the gray threshold set to be R to f, and then the bianry image of binaryzation gained meets following formula for x, y
Image after the binaryzation is 1 corresponding to the pixel value of prospect, is 0 corresponding to the pixel value of background.Binaryzation can make the low part of tooth central authorities' gray scale become black, thereby becomes the pothole in the tooth, is convenient to next step and carries out the mathematical morphology processing.Image after binaryzation is cut apart has comprised dental tissue and the similar skeletal tissue of density.
⑷ adopt the chamfering algorithm to extract the central point in tooth hole;
Mathematical morphology is a kind of non-linear filtering method, and its basic morphological operations is to expand and corrosion, also can expand to gray level image, and mathematical morphology is regarded image as set, and usually seeks and visits with structural elements.Structural element be one can translation and the size set littler on image than image.Operand in the two-value morphology is set, basic mathematical morphology computing is with structural element translation in image range, apply basic set operations such as intersecting and merging simultaneously, the effect of generation depends on the size of structural element, the character of content and computing.
If A and B are point set in the n dimension theorem in Euclid space, general A is an image collection, and B is a structural element.With structural element B to image collection A expand and erosion operation be defined as respectively:
Expand:
(4-1)
Corrosion:
(4-2)
Simple corrosion is a kind of process of eliminating object boundary point, and simple expansion is that all background dots that will contact with object merge to the process in this object.
The computing of corrosion after expansion earlier is called opening operation, and it has the elimination small objects, the effect of not obvious again its volume of change when very thin some place separation object and the border at level and smooth larger object.The process of elder generation's expansion post-etching is called closed operation, and he has said minuscule hole in the object of filling, connects the effect of approaching object, border that equally also can smooth object.Opening operation (Opening) and closed operation (Closing) are defined as follows:
Opening operation
Closed operation
Select suitable structural element B, carry out the closed operation of mathematical morphology and the hole in the binary image can be eliminated.Like this, two width of cloth images are carried out difference operation just can obtain hole information in the original image, thereby can extract the central point of tooth.
The application adopts the chamfering algorithm to seek the central point of hole, a kind of range conversion method of similar corrosion, but be not that the picture element at edge is removed, but give its value, apart from edge point far away more, the result who calculates is big more.The template of using similar convolution kernel can be finished the range conversion of image to moving by twice scanning in image.Method for scanning is that first pass scans forward from left to right, carries out from top to bottom; Scan from right to left backward, carry out from top to bottom for second time.At each pixel place, the image pixel value addition that each pixel of template is corresponding with it, its minimum value is the value of giving this pixel.The value that the application's pixel is given is it to 3 times of the flute card distance on border, and the point of the value maximum that finds in each hole information is exactly the central point of tooth like this.Described flute card distance is exactly that (x1 is y1) with (x2, y2) distance between for 2 points in the cartesian coordinate system.
⑸ obtain tooth hole center line based on the center line extraction algorithm of distance map, extracts a series of reference mark on the center line of tooth hole;
Dijkstra path between the center line in tooth hole just can be defined as from the starting point to the end point.For the Dijkstra between making from the starting point to end point distance is exactly the center line in tooth hole, wish that the Dijkstra path approaches the Ya Dong center, if make the weights of fringe node bigger, the weights of Centroid are less, the center is just approached in the Dijkstra path naturally.Can establish node p to the bee-line at edge is
, when p was marginal point, the weights of node p were w (p)=1, otherwise w (p)=
Like this, node is the closer to the center, and then weights successively decrease, and carries out the center line that the Dijkstra path just can be regarded the tooth hole naturally as;
Above-mentionedly on the center line of tooth hole, extract a series of reference mark, be meant and adopt improved B spline algorithms, form new control point set by in the sub-range, increasing node, guarantee the reference mark at curve negotiating tooth center point place by new reference mark is carried out curve fitting.Common cubic B-spline is defined as:
Wherein
Be the reference mark,
, node
,
By the reference mark after can being expanded at node of each interval adding
, its reference mark, Central Plains
With interpolation point
Relation as follows:
Can try to achieve the newly-increased reference mark of representing by a plurality of interpolation points in the former B batten of the substitution definition.
⑹ interpolation is carried out at the reference mark and match generates required dental arch curved surface.
Claims (4)
1. the extraction method of a tooth plantation navigation dens in dente bow face comprises the steps:
⑴ the tooth data of input 2D;
⑵ rebuild the 2D tooth data of input, produces 3D rendering;
⑶ adopt all voxels outside the binarization method rejecting tooth packing density value scope, sets threshold segmentation and go out tooth regions;
⑷ adopt the chamfering algorithm to extract the central point in tooth hole;
⑸ obtain tooth hole center line based on the center line extraction algorithm of distance map, extracts a series of reference mark on the center line of tooth hole;
⑹ interpolation is carried out at the reference mark and match generates the dental arch curved surface.
2. the extraction method of tooth plantation navigation dens in dente bow face according to claim 1, it is characterized in that: described setting threshold segmentation goes out tooth regions, is meant to adopt the branch detection method to obtain independently dental tissue branch.
3. the extraction method of tooth plantation navigation dens in dente bow face according to claim 1 is characterized in that:
Describedly on the center line of tooth hole, extract a series of reference mark, be meant and adopt improved B spline algorithms, form new control point set by in the sub-range, increasing node, guarantee the reference mark at curve negotiating tooth center point place by new reference mark is carried out curve fitting.
4. the extraction method of tooth plantation navigation dens in dente bow face according to claim 1, it is characterized in that: described employing binarization method is rejected all voxels outside the tooth packing density value scope, set threshold segmentation and go out tooth regions, above-mentioned setting threshold segmentation goes out tooth regions, be meant and adopt the branch detection method to obtain independently dental tissue branch, finish and cut apart;
Order be positioned at (x, y, z) some place voxel be f (x, y z), select the gray threshold set to be R, and then the bianry image of binaryzation gained is for meeting following formula:
Image after the binaryzation is 1 corresponding to the pixel value of prospect, is 0 corresponding to the pixel value of background; Image after binaryzation is cut apart has comprised dental tissue and the similar skeletal tissue of density.
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| EP3018461A1 (en) * | 2014-11-07 | 2016-05-11 | 3M Innovative Properties Company | A method of making a dental restoration |
| CN106023144A (en) * | 2016-05-06 | 2016-10-12 | 福建工程学院 | Femur segmenting method in tomographic image |
| CN105125303B (en) * | 2014-05-30 | 2016-11-30 | 财团法人金属工业研究发展中心 | Tooth body stereoscopic image method for building up |
| CN106204688A (en) * | 2016-07-21 | 2016-12-07 | 青岛兰信医学科技有限公司 | A kind of dental arch curve generates method |
| CN106373138A (en) * | 2016-08-30 | 2017-02-01 | 海纳医信（北京）软件科技有限责任公司 | Image processing method and device for extracting dental arch curve |
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| CN104299205A (en) * | 2013-07-19 | 2015-01-21 | 南京普爱射线影像设备有限公司 | X-ray image intensifier dental machine panorama generation method |
| CN105125303A (en) * | 2014-05-30 | 2015-12-09 | 财团法人金属工业研究发展中心 | Tooth stereoscopic image establishing method |
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| CN106373138A (en) * | 2016-08-30 | 2017-02-01 | 海纳医信（北京）软件科技有限责任公司 | Image processing method and device for extracting dental arch curve |
| CN106373138B (en) * | 2016-08-30 | 2019-07-02 | 海纳医信（北京）软件科技有限责任公司 | For extracting the image processing method and device of dental arch curve |
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| CN109727296B (en) * | 2018-12-27 | 2023-03-10 | 影为医疗科技(上海)有限公司 | Method, system, computer medium and equipment for curved surface projection display of root canal inner cavity |
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Application publication date: 20111123 |