CN104715099A - Method for designing virtual dental articulator for functionality occlusal plane of tooth crown and bridge - Google Patents
Method for designing virtual dental articulator for functionality occlusal plane of tooth crown and bridge Download PDFInfo
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Abstract
The invention relates to a method for designing a virtual dental articulator for the functionality occlusal plane of a tooth crown and bridge. The method includes the following steps that (1) the three-dimensional trail information of lower jaw feature movement during individual chewing movement is recorded by a lower jaw movement trail analyzer; (2) the working coordinate system of the lower jaw movement trail analyzer and a dentition three-dimensional scanning coordinate system are subjected to registration and fusion; (3) static intercuspal occlusion tooth crown and bridge prosthesis CAD data are established; (4) an automatic virtual occlusion detection and automatic tooth migration platform is established; (5) automatic detection for virtual occlusion is conducted; (6) automatic virtual tooth migration is carried out, so that the CAD data of the tooth crown and bridge with the functionality occlusal plane are established. According to the method, the individual chewing feature movement of each person is simulated, precise quantitative automatic virtual occlusion detection and automatic virtual tooth migration are achieved, repeated adjusting and grinding are avoided when a patient tries on the prosthesis, and therefore the precision and efficiency for making the prosthesis are greatly improved.
Description
Technical field
The present invention relates to a kind of tooth crown bridge prosthesis CAD, be specifically related to a kind of virtual articulator method for designing for tooth crown bridge working bite relation face.
Background technology
It is that a kind of clinical conventional dummy designs and produces servicing unit that tooth closes frame.It can the mandibular movement of simulating human, closes with tooth the individual demand that dummy that frame Computer Aided Design makes more easily meets patient.
Oral restoration CAD/CAM(Computer Aided Design/Computer Aided manufacturing, computer-aided design (CAD) and area of computer aided make) technology is that the dummy that a kind of automaticity is very high designs process technology, this type systematic is except having the high precision of industrial automation, high efficiency feature, in CAD software, be also integrated with knowledge and the clinical experience of a large amount of medical experts, can significantly improve the making quality of dummy at short notice, clinical practice is increasingly extensive.
Oral restoration CAD/CAM system common at present, when designing hat bridge occlusal surface form, only can apply static intercuspal position denture relation data, still can not apply dynamic functional occlusion, namely to protract, lateral occlusion data.The dissection complete crown causing designing and producing out, fixed bridge still need after wearing to adjust and reform noise spot, add doctor's clinical position amount, extend the consultation time of patient.
Close the computer virtual program of frame principle of work exploitation according to mechanical tooth, be called virtual articulator.When being preced with bridge occlusal surface CAD virtual design, if be aided with virtual full adjustable articulator program, can remove center in the CAD stage, protract and lateral occlusion move in contact point and noise spot morning, reduce clinically grinding difficulty.The correlative study of applying in oral restoration CAD/CAM technology about virtual articulator both at home and abroad can be divided into three phases.
First stage in the virtual simple articulator stage
With first set commercialization oral restoration CAD/CAM system Cerec1(Sirona company in the world in 1986, Germany) be the early stage oral restoration CAD/CAM system of representative, by scanning and applying the design that articulation registration carries out dummy occlusal surface form.The only simple opening and closing mouth motion of simulating human.Cannot quantitatively record and apply the occlusal contact condition relation under lower jaw FM state, its function class is similar to simple and mechanical tooth and closes frame.Apply the mouth mending material that this type of system makes, when position patient tries on clinically, often need repeatedly repeatedly to grind, add patient's physiology, psychological burden and clinical position amount.
The subordinate phase working bite relation record stage (virtual enhancement mode simple articulator)
There is scholar abroad in Cicero system (Elephant company, Holland) and Cerec3D(Sirona company, Germany) in system, domestic Lv Pei army, Wang Yong, Zou Bo, Liu Mingli etc. fix in the oral cavity that Peking University School of Stomatology is developed voluntarily and repair working bite relation record (Functional Generated Path in CAD/CAM system, FGP) technology is combined with leaf-comb cad technique, is single tooth tooth Full Crown design functionality occlusal surface form.When normal to jaw tooth anatomic form and upper lower jaw occluding relation, FGP can meet the requirement of leaf-comb CAD.And when to jaw tooth paramophia, have defect, occluding relation bad or need to carry out polydonita position and even full occlusion of dentition rebuild repair time, FGP can not provide enough design informations and degree of accuracy.
Phase III individual masticatory movement virtual phase
Korda β in 2002 etc. obtain tooth crowding with Mandibular kinesiograph, tentatively establish virtual articulator system.With this system simulation mandibular movement, detect natural dentistry and oral cavity fixed restoration CAD digital model occlusal contact condition relation; 2003, Faust couple
cAD/CAM system (Girrbach Dental company, Germany) in virtual articulator program set forth, input individual patients tooth crowding in this procedure, can the Individual Mandibular motion of simulated patient, and with subtraction mechanism removal oral cavity fixed restoration CAD digital model Occlusal interference point.
Domestic, Li Hong ripples in 2004 etc. obtain upper and lower jawbone three-dimensional data by three dimensional CT, denture data are obtained with spatial digitizer, by two parts Registration of Measuring Data, establish the three-dimensional digital model of denture, remporomandibular joint, after obtaining tooth crowding with Mandibular kinesiograph, realize the observation to denture relative position relation upper and lower in mandibular movement, contact point and remporomandibular joint; Three-dimensional coordinate measuring instrument such as Lu Er grand grade in 2005 obtains half adjustable mechanical tooth and closes frame protrusive movement track characteristic point, establish tooth and to close when shut die intends mandibular movement arbitrfary point protrusive movement track on artificial maxillary occlusion of dentition face, after develop again the algoritic module of simulation mandibular dentition protrusive movement.
Up to now, home and abroad there is no the virtual complete adjustable tooth that can be used for oral restoration CAD/CAM technology and closes frame.
Summary of the invention
The object of this invention is to provide a kind of virtual articulator method for designing for tooth crown bridge working bite relation face, by simulating everyone personalized masticatory properties motion, the virtual occlusion realizing accurate quantification detects automatically closes with automatic virtual tune tooth, repeatedly grind when avoiding patient to try dummy on, thus substantially increase precision and the efficiency of dummy making.
In order to achieve the above object, the present invention has following technical scheme:
A kind of virtual articulator method for designing for tooth crown bridge working bite relation face of the present invention, comprises the following steps:
1) by the three-dimensional track information of lower jaw characteristic kinematic during tooth crowding analyser recording individual masticatory movement;
2) tooth crowding analyser work coordinate system and denture 3-D scanning co-registration of coordinate systems used are merged;
3) static intercuspal occlusion tooth crown bridge prosthesis cad data is created;
4) virtual occlusion detects and the foundation of automatically adjusting tooth to close platform automatically;
5) virtual occlusion detects automatically;
6) automatic virtual tune tooth closes, and creates the tooth crown bridge cad data with working bite relation face.
Wherein, in described step 1), tooth crowding analyser is that the Arch bar splint that sensor is housed is fixed on mandibular anterior teeth district, signal receiver is fixed on subject's head, in mandibular movement process, sensor and mandibular dentition keep geo-stationary, by Computer Analysis signal, create three-dimensional tooth crowding.Described individual masticatory movement comprises: the motion of opening and closing mouth, mandibular protraction, lower jaw lateral movement and above three kinds of hybrid motion of moving.
Wherein, described step 2) refer to setting mark plane on Arch bar splint, require there is known quantity space relation between this mark plane and denture, and the quantitative description of spatial pose can be carried out by work coordinate system, with this mark plane for intermediary, realize accuracy registration and the fusion of tooth crowding analyser work coordinate system and denture 3-D scanning coordinate system.
Wherein, described step 3) carries out the extraction of Tooth preparation data and camber counter solution successively on Imageware11 software platform, and ideal dental crowns data are read in, and ideal dental crowns is located, axial plane, static anatomy occlusal surface personalization amendment, completes the primary design of crown bridge prosthesis.
Wherein, described step 4) take VC++2008 as development platform, automatically detect based on the virtual occlusion of developing under OpenGL figure display storehouse and close platform with automatically adjusting tooth, virtual occlusion automatically detects and automatically adjusts tooth to close platform to comprise interference and collision detection module and interference region adjusts tooth compound module automatically, these two module Guan Qiao that alternating action has designed in CAD in this platform, thus reach final dynamic occlusion " balance " state.
Interference and collision detection module: drive the mutual motion between lower jaw and the upper jaw by tooth crowding.In collision detection process, space motion path is sampled by the equal-sized rule of neighbor point displacement, as shown in Figure 3, in lower jaw and upper jaw relative movement, when mandibular movement is to sampling point position, utilize interference and collision detection technique to Guan Qiao and interference and collision detection is carried out to jaw tooth, if there is interference, closes to remove by adjusting tooth and interfere; Do not interfere, then continue relative motion.
Interference region adjusts tooth compound module automatically: after utilizing the complete interference region of interference and collision detection technique identification, utilizes the whole interference region of " seed " search technique identification (shown in Fig. 4).Described " seed " search technique is specially: behind the border of interference and collision detection technique identification interference region (shown in Fig. 4 (a)), find " seed " tri patch (shown in Fig. 4 (b)) in interference region, tri patch around iterative search " seed " tri patch, to interfere border for search border, until the tri patch searched no longer increases, Fig. 4 (c) is the pilot process of search, Fig. 4 (d) is the whole interference region obtained after having searched for, after identification completes, in interference region, local deformation technology is utilized to remove interference region.
Interfered the alternating action detecting and automatically adjust tooth to close with interference region by multiple impacts, the tune tooth finally completing Guan Qiao closes.
Wherein, in described step 5), first based on co-registration of coordinate systems used algorithm, realize the three-dimensional functional exercise of mandibular dentition relative to maxillary dentition, mainly comprise the motion of opening and closing mouth, mandibular protraction, lower jaw lateral movement and above three kinds of hybrid motion of moving, after completing the registration of relative coordinate system, the tooth crowding utilizing tooth crowding analyser to obtain automatically detects in the virtual occlusion of exploitation and closes the compound motion of platform being simulated lower jaw with automatically adjusting tooth, in mandibular movement process, application interference and collision detection module, real-time detection also feeds back CAD complete crown digital model and the interference situation to jaw tooth, setting detection threshold, the i.e. thickness of virtual occluding paper, at mandibular movement to automatically detecting dummy during a certain terminating point and to the data interferes between jaw tooth, the numerical value exported on the occasion of time represent and there occurs data interferes, representative occlusion early contact region or interference range, output numerical value represents when being zero that dummy is with contactless to jaw tooth, output data represent dummy and there is gap between jaw facies occlusalis dentis when being negative value, with multizone color gradient display dummy occlusal surface and to the spatial relation between jaw denture, interference and collision detection technique calculates the dummy occlusion early position of contact point, noise spot, distribution and interference region volume automatically.
Wherein, described step 6) automatically detects in virtual occlusion to close on platform with automatically adjusting tooth, application interference region adjusts tooth compound module automatically, utilize " seed " search technique identification and the position of brightness enhancing display " early contact region " or " interference range ", scope and the degree of depth, after operator confirms the tooth of needs " grinding ", interference region automatically adjust tooth compound module automatic decision interference values be whether " on the occasion of ", as on the occasion of, then virtual tune occlusal system calls joining cloud edit tool and carries out virtual tune tooth and close, and final creates the tooth crown bridge cad data with working bite relation face.
The invention has the advantages that:
By simulating everyone personalized masticatory properties motion, the virtual occlusion realizing accurate quantification detects automatically closes with automatic virtual tune tooth, repeatedly grinds, thus substantially increase precision and the efficiency of dummy making when avoiding patient to try dummy on.
Accompanying drawing explanation
Fig. 1 is the block diagram of workflow of the present invention;
Fig. 2 is that virtual occlusion automatically detects and closes platform technology route schematic diagram with automatically adjusting tooth;
Fig. 3-(1) is movement locus schematic diagram;
Fig. 3-(2) are sampling schematic diagram;
Fig. 4-a is the schematic diagram on the interference region border of " seed " search technique;
Fig. 4-b is the leg-of-mutton schematic diagram of selected seed of " seed " search technique;
Fig. 4-c is the schematic diagram of the feed search of " seed " search technique;
Fig. 4-d is the schematic diagram that the search of " seed " search technique completes.
In figure, 1, boundary edge; 2, seed triangle; L
1, first sampling section; L
2, second sampling section; L
n, n-th sampling section; L
1, L
2,-----L
nlength equal.
Embodiment
Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
See Fig. 1, a kind of virtual articulator method for designing for tooth crown bridge working bite relation face of the present invention, comprises the following steps:
1) by the three-dimensional track information of lower jaw characteristic kinematic during tooth crowding analyser recording individual masticatory movement;
2) tooth crowding analyser work coordinate system and denture 3-D scanning co-registration of coordinate systems used are merged;
3) static intercuspal occlusion tooth crown bridge prosthesis cad data is created;
4) virtual occlusion detects and the foundation of automatically adjusting tooth to close platform automatically;
5) virtual occlusion detects automatically;
6) automatic virtual tune tooth closes, and creates the tooth crown bridge cad data with working bite relation face.
In described step 1), tooth crowding analyser is that the Arch bar splint that sensor is housed is fixed on mandibular anterior teeth district, and signal receiver is fixed on subject's head.In mandibular movement process, sensor and mandibular dentition keep geo-stationary, by Computer Analysis signal, create three-dimensional tooth crowding.Described individual masticatory movement comprises: the motion of opening and closing mouth, mandibular protraction, lower jaw lateral movement and above three kinds of hybrid motion of moving.
Described step 2) refer to setting mark plane on Arch bar splint, require there is known quantity space relation between this mark plane and denture, and the quantitative description of spatial pose can be carried out by work coordinate system, with this mark plane for intermediary, realize accuracy registration and the fusion of tooth crowding analyser work coordinate system and denture 3-D scanning coordinate system.
Described step 3) carries out the extraction of Tooth preparation data and camber counter solution successively on Imageware11 software platform, and ideal dental crowns data are read in, and ideal dental crowns is located, and axial plane, static anatomy occlusal surface personalization amendment, completes the primary design of crown bridge prosthesis.
As shown in Figure 2:
Described step 4) take VC++2008 as development platform, automatically detects close platform with automatically adjusting tooth based on the virtual occlusion of developing under OpenGL figure display storehouse.Virtual occlusion automatically detects and automatically adjusts tooth to close platform to comprise interference and collision detection module and interference region adjusts tooth compound module automatically.These two module Guan Qiao that alternating action has designed in CAD in this platform, thus reach final dynamic occlusion " balance " state.
Interference and collision detection module: drive the mutual motion between lower jaw and the upper jaw by tooth crowding.In collision detection process, space motion path is sampled by the equal-sized rule of neighbor point displacement, as shown in Fig. 3-(1), Fig. 3-(2), in lower jaw and upper jaw relative movement, when mandibular movement is to sampling point position, utilize interference and collision detection technique to Guan Qiao and interference and collision detection is carried out to jaw tooth, if there is interference, closes to remove by adjusting tooth and interfere; Do not interfere, then continue relative motion.
Interference region adjusts tooth compound module automatically: after utilizing the complete interference region of interference and collision detection technique identification, utilizes the whole interference region of " seed " search technique identification (shown in Fig. 4-a to Fig. 4-d).Described " seed " search technique is specially: behind the border of interference and collision detection technique identification interference region (shown in Fig. 4-a), find " seed " tri patch (shown in Fig. 4-b) in interference region, tri patch around iterative search " seed " tri patch, to interfere border for search border, until the tri patch searched no longer increases, Fig. 4-c is the pilot process of search, Fig. 4-d is the whole interference region obtained after having searched for, after identification completes, in interference region, local deformation technology is utilized to remove interference region.
Interfered the alternating action detecting and automatically adjust tooth to close with interference region by multiple impacts, the tune tooth finally completing Guan Qiao closes.
In described step 5), first based on co-registration of coordinate systems used algorithm, realize the three-dimensional functional exercise of mandibular dentition relative to maxillary dentition, mainly comprise the motion of opening and closing mouth, mandibular protraction, lower jaw lateral movement and above three kinds of hybrid motion of moving; After completing the registration of relative coordinate system, the tooth crowding utilizing tooth crowding analyser to obtain automatically detects in the virtual occlusion of exploitation and closes the compound motion of platform being simulated lower jaw with automatically adjusting tooth.In mandibular movement process, application interference and collision detection module, detects in real time and feeds back CAD complete crown digital model and the interference situation to jaw tooth.Setting detection threshold (thickness of virtual occluding paper), at mandibular movement to automatically detecting dummy during a certain terminating point and to the data interferes between jaw tooth, the numerical value of output on the occasion of time represent and there occurs data interferes, representative occlusion contact region morning or interference range; Output numerical value represents when being zero that dummy is with contactless to jaw tooth; Output data represent dummy and there is gap between jaw facies occlusalis dentis when being negative value; With multizone color gradient display dummy occlusal surface and to the spatial relation between jaw denture, interference and collision detection technique calculates the dummy occlusion early position of contact point, noise spot, distribution and interference region volume automatically.
Described step 6) automatically detects in virtual occlusion to close on platform with automatically adjusting tooth, application interference region adjusts tooth compound module automatically, utilize " seed " search technique identification and the position of brightness enhancing display " early contact region " or " interference range ", scope and the degree of depth, after operator confirms the tooth of needs " grinding ", interference region automatically adjust tooth compound module automatic decision interference values be whether " on the occasion of ", as on the occasion of, then virtual tune occlusal system call joining cloud edit tool carry out virtual tune tooth close.Final establishment has the tooth crown bridge cad data in working bite relation face.
In the tooth crown bridge computer-aided design (CAD) stage, robotization can annotate dentistry and design and produce dentistry knowledge, theory and the clinical principle needed for the form of mouth mending material working bite relation face such as tooth crown bridge, the occlusal digitizing of practical function, the Automation Design, the virtual complete adjustable tooth that can be used for oral restoration CAD/CAM technology closes frame.
As mentioned above, just the present invention can be realized comparatively fully.The foregoing is only comparatively reasonably embodiment of the present invention, protection scope of the present invention includes but are not limited to: this, and any the including based on unsubstantiality sex change change in technical solution of the present invention of those skilled in the art the present invention includes within scope.
Claims (7)
1., for the virtual articulator method for designing in tooth crown bridge working bite relation face, it is characterized in that comprising the following steps:
1) by the three-dimensional track information of lower jaw characteristic kinematic during tooth crowding analyser recording individual masticatory movement;
2) tooth crowding analyser work coordinate system and denture 3-D scanning co-registration of coordinate systems used are merged;
3) static intercuspal occlusion tooth crown bridge prosthesis cad data is created;
4) virtual occlusion detects and the foundation of automatically adjusting tooth to close platform automatically;
5) virtual occlusion detects automatically;
6) automatic virtual tune tooth closes, and creates the tooth crown bridge cad data with working bite relation face.
2. a kind of virtual articulator method for designing for tooth crown bridge working bite relation face according to claim 1, it is characterized in that: in described step 1), tooth crowding analyser is that the Arch bar splint that sensor is housed is fixed on mandibular anterior teeth district, signal receiver is fixed on subject's head, in mandibular movement process, sensor and mandibular dentition keep geo-stationary, by Computer Analysis signal, create three-dimensional tooth crowding.
3. a kind of virtual articulator method for designing for tooth crown bridge working bite relation face according to claim 1, it is characterized in that: described step 2) refer to setting mark plane on Arch bar splint, require there is known quantity space relation between this mark plane and denture, and the quantitative description of spatial pose can be carried out by work coordinate system, with this mark plane for intermediary, realize accuracy registration and the fusion of tooth crowding analyser work coordinate system and denture 3-D scanning coordinate system.
4. a kind of virtual articulator method for designing for tooth crown bridge working bite relation face according to claim 1, it is characterized in that: described step 3) carries out the extraction of Tooth preparation data and camber counter solution successively on Imageware11 software platform, ideal dental crowns data are read in, ideal dental crowns is located, axial plane, static anatomy occlusal surface personalization amendment, completes the primary design of crown bridge prosthesis.
5. a kind of virtual articulator method for designing for tooth crown bridge working bite relation face according to claim 1, it is characterized in that: described step 4) take VC++2008 as development platform, automatically detect based on the virtual occlusion of developing under OpenGL figure display storehouse and close platform with automatically adjusting tooth, virtual occlusion automatically detects and automatically adjusts tooth to close platform to comprise interference and collision detection module and interference region adjusts tooth compound module automatically, these two module Guan Qiao that alternating action has designed in CAD in this platform, thus reach final dynamic occlusion " balance " state.
6. a kind of virtual articulator method for designing for tooth crown bridge working bite relation face according to claim 1, it is characterized in that: in described step 5), first based on co-registration of coordinate systems used algorithm, realize the three-dimensional functional exercise of mandibular dentition relative to maxillary dentition, mainly comprise the motion of opening and closing mouth, mandibular protraction, lower jaw lateral movement and above three kinds of hybrid motion of moving; After completing the registration of relative coordinate system, the tooth crowding utilizing tooth crowding analyser to obtain automatically detects in the virtual occlusion of exploitation and closes the compound motion of platform being simulated lower jaw with automatically adjusting tooth; In mandibular movement process; application interference and collision detection module; real-time detection also feeds back CAD complete crown digital model and the interference situation to jaw tooth; setting detection threshold; at mandibular movement to automatically detecting dummy during a certain terminating point and to the data interferes between jaw tooth; the numerical value exported on the occasion of time represent and there occurs data interferes, representative occlusion early contact region or interference range; Output numerical value represents when being zero that dummy is with contactless to jaw tooth; Output data represent dummy and there is gap between jaw facies occlusalis dentis when being negative value; With multizone color gradient display dummy occlusal surface and to the spatial relation between jaw denture, interference and collision detection technique calculates the dummy occlusion early position of contact point, noise spot, distribution and interference region volume automatically.
7. a kind of virtual articulator method for designing for tooth crown bridge working bite relation face according to claim 1, it is characterized in that: described step 6) automatically detects in virtual occlusion to close on platform with automatically adjusting tooth, application interference region adjusts tooth compound module automatically, utilize " seed " search technique identification and the position of brightness enhancing display " early contact region " or " interference range ", scope and the degree of depth, after operator confirms the tooth of needs " grinding ", interference region automatically adjust tooth compound module automatic decision interference values be whether " on the occasion of ", as on the occasion of, then virtual tune occlusal system call joining cloud edit tool carry out virtual tune tooth close, final establishment has the tooth crown bridge cad data in working bite relation face.
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| CN110678145B (en) * | 2017-05-17 | 2022-04-01 | 3M创新有限公司 | Automatic alignment and orientation of digital 3D arch pairs |
| CN110505853A (en) * | 2018-03-16 | 2019-11-26 | 考尔得泰欧莱博横滨株式会社 | Try the manufacturing method of part and artificial tooth on |
| CN112243366B (en) * | 2018-04-30 | 2022-11-04 | 株式会社Dds | Three-dimensional oral cavity model analysis method and prosthesis design method comprising same |
| CN112243366A (en) * | 2018-04-30 | 2021-01-19 | 株式会社Dds | Three-dimensional oral cavity model analysis method and prosthesis design method comprising same |
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| CN110328856A (en) * | 2019-07-19 | 2019-10-15 | 上海交通大学医学院附属第九人民医院 | A kind of digitlization occlusion board manufacturing method |
| CN110815493A (en) * | 2019-11-28 | 2020-02-21 | 四川大学 | Guide plate manufacturing method based on 3D model and used for anterior tooth restoration |
| CN111613332B (en) * | 2020-05-22 | 2022-10-04 | 中国人民解放军空军军医大学 | Method for evaluating occlusion meshing degree based on scanned image and finite element model |
| CN111613332A (en) * | 2020-05-22 | 2020-09-01 | 中国人民解放军空军军医大学 | Method for evaluating occlusion meshing degree based on scanned image and finite element model |
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| CN112155777A (en) * | 2020-09-04 | 2021-01-01 | 北京大学口腔医学院 | Bionic reconstruction method for space pose of tooth in occlusion function state |
| CN113096236A (en) * | 2021-03-23 | 2021-07-09 | 北京联袂义齿技术有限公司 | Virtual articulator design method for functional occlusal surface of tooth crown bridge |
| CN113096236B (en) * | 2021-03-23 | 2024-04-09 | 北京联袂义齿技术有限公司 | Virtual articulator design method for functional occlusal surface of dental crown bridge |
| CN113362955A (en) * | 2021-06-18 | 2021-09-07 | 北京联袂义齿技术有限公司 | Modeling and evaluating method for dental jaw movement locus |
| CN113362955B (en) * | 2021-06-18 | 2023-09-29 | 北京联袂义齿技术有限公司 | Modeling and evaluation method for dental motion trail |
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