CN105769353B - Automation row's tooth method and device - Google Patents
Automation row's tooth method and device Download PDFInfo
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- CN105769353B CN105769353B CN201610079390.5A CN201610079390A CN105769353B CN 105769353 B CN105769353 B CN 105769353B CN 201610079390 A CN201610079390 A CN 201610079390A CN 105769353 B CN105769353 B CN 105769353B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
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- G06F19/34—
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
- A61C2007/004—Automatic construction of a set of axes for a tooth or a plurality of teeth
Abstract
The invention discloses one kind automation row tooth method and device, be related to digitalized oral cavity correction medical field, solve automation row tooth accuracy it is low the problem of.The present invention main technical schemes be：Acquisition needs the denture three-dimensional data and cranium face jawbone three-dimensional data of correction；The selected characteristic point in the denture three-dimensional data and the cranium face jawbone three-dimensional data；Row's teeth plane and dental arch curve are built according to the characteristic point of the selection, row's teeth plane includes median sagittal plane, horizontal plane and row's tooth biteplane, and the dental arch curve includes the upper jaw and arranges tooth curve and lower jaw row's tooth curve；The tooth in the denture three-dimensional data is moved according to preset tooth position, to generate the correction denture of target, it is vertical to position between mandibular dentition in position, target to position, target upper and lower dentition that the preset tooth position includes target upper and lower dentition sagittal.Tooth is arranged present invention is mainly used for correction.
Description
Technical field
The present invention relates to digitalized oral cavity correction medical field, more particularly to a kind of automation row tooth method and device.
Background technology
Mouth disease is a kind of common multiple diseases.Counted according to the World Health Organization, malocclusion has become three
One of big mouth disease (carious tooth, periodontosis and malocclusion).Dentognathic deformity is to oral health, oral cavity function, maxillofacial bone bone
Development and appearance all have a great impact.Orthodontics has been considered as an essential weight in oral health treatment
Want part.Automation row's tooth refers to first with 3D digital imaging technologies and dimensional Modeling Technology, obtains accurate three-dimensional denture
Model image；Then using row's tooth rule in correction and by suitable algorithm to the tooth in three-dimensional dental arch model image
Automation row's tooth is carried out, so as to provide prediction for actual row's tooth scheme and assess.
At present, existing automation row's tooth does not account for root of the tooth during measurement analysis row's tooth, only passes through corona information
Automation row's tooth is carried out, and automation row's tooth is only carried out by corona and is likely to result in treatment being moved to bone with root of the tooth after treatment
Outside cortex, while failing by denture and upper mandibular, craniofacial skeleton and facial soft tissue organically associate with coordinating, therefore
The existing automation row tooth degree of accuracy is relatively low, it is considered to more unilateral.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of automation row tooth method and device, and main purpose is to improve automatic
Change the degree of accuracy of row's tooth.
To reach above-mentioned purpose, present invention generally provides following technical scheme：
On the one hand, the embodiments of the invention provide one kind automation row's tooth method, this method includes：
Acquisition needs the denture three-dimensional data and cranium face jawbone three-dimensional data of correction；
The selected characteristic point in the denture three-dimensional data and the cranium face jawbone three-dimensional data, the characteristic point is each tooth
Anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone of tooth；
Row's teeth plane and dental arch curve are built according to the characteristic point of the selection, row's teeth plane includes median sagittal
Face, horizontal plane and row's tooth biteplane, the dental arch curve include the upper jaw and arrange tooth curve and lower jaw row's tooth curve；
The tooth in the denture three-dimensional data is moved according to preset tooth position, to generate the correction tooth of target
Row, it is vertical to above and below position, target to position, target upper and lower dentition that the preset tooth position includes target upper and lower dentition sagittal
Position between jaw denture.
On the other hand, the embodiment of the present invention also provides a kind of automation row tooth device, and the device includes：
Acquiring unit, the denture three-dimensional data and cranium face jawbone three-dimensional data of correction are needed for obtaining；
Unit is chosen, for selected characteristic point, institute in the denture three-dimensional data and the cranium face jawbone three-dimensional data
State the anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone that characteristic point is each tooth；
Construction unit, for building row's teeth plane and dental arch curve, row's teeth plane according to the characteristic point of the selection
Including median sagittal plane, horizontal plane and row's tooth biteplane, the dental arch curve includes the upper jaw and arranges tooth curve and lower jaw row's tooth
Curve；
Mobile unit, for being moved according to preset tooth position to the tooth in the denture three-dimensional data, with life
Into the correction denture of target, it is vertical to position, target upper and lower dentition that the preset tooth position includes target upper and lower dentition sagittal
Position between mandibular dentition on to position, target.
By above-mentioned technical proposal, technical scheme provided in an embodiment of the present invention at least has following advantages：
The embodiments of the invention provide one kind automation row's tooth method and device, obtain needs the denture of correction three-dimensional first
Data and cranium face jawbone three-dimensional data, the then selected characteristic in the denture three-dimensional data and the cranium face jawbone three-dimensional data
Point, the characteristic point is the anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone of each tooth, according to the selection
Characteristic point builds row's teeth plane and dental arch curve, and it is flat that row's teeth plane includes median sagittal plane, horizontal plane and row's tooth occlusion
Face, the dental arch curve includes the upper jaw and arranges tooth curve and lower jaw row's tooth curve, finally according to preset tooth position to the denture
Tooth in three-dimensional data is moved, and to generate the correction denture of target, the preset tooth position includes lower tooth in target
Row sagittal is vertical to position between mandibular dentition in position, target to position, target upper and lower dentition.With only passing through corona information at present
Carry out automation row's tooth to compare, the embodiment of the present invention considers upper and lower dentition relative to cranium jaw during automation row's tooth
The sagittal of thin-skinned sclerous tissues vertically carries out automation row to position, upper and lower dentition to the information such as position between position and upper mandibular dentition
Tooth, so that tooth is arranged in the automation realized by the present invention more conforms to skeleton design feature, therefore passes through present invention implementation
Example can improve the degree of accuracy of automation row's tooth.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
Fig. 1 is a kind of automation row tooth method flow diagram provided in an embodiment of the present invention；
Fig. 2 is another automation row tooth method flow diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of composition frame chart of the row's of automation tooth device provided in an embodiment of the present invention；
Fig. 4 arranges the composition frame chart of tooth device for another automation provided in an embodiment of the present invention.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
To make the advantage of technical solution of the present invention clearer, the present invention is made specifically with reference to the accompanying drawings and examples
It is bright.
The embodiments of the invention provide one kind automation row's tooth method, as shown in figure 1, methods described includes：
101st, obtaining needs the denture three-dimensional data and cranium face jawbone three-dimensional data of correction.
, wherein it is desired to which the denture three-dimensional data of correction includes needing the tooth of correction, treat that the tooth of correction refers to one
Patient correction in need tooth.Before the orthodontic of patient, doctor will be according to the crowded state of the denture of patient, choosing
Correction solution is selected, judges whether to need extraction, determines that patient needs the tooth of correction.It should be noted that the dimension of denture three
According to including root data and corona data, that is, the root information for embodying the convex-concave information of dental surface and being wrapped in inside gum,
Tooth position and state can be reflected comprehensively.Denture three-dimensional data can pass through oral cavity scanning technique, computed tomography skill
The other technologies such as art are obtained, and the embodiment of the present invention is not specifically limited.
In embodiments of the present invention, it can judge and pull out to hinder the tooth corrected through doctor for denture three-dimensional data
Obtain afterwards, can also doctor be patient formulate correction solution before obtain, further according to determination correction solution pass through it is man-machine
Interactive mode, obtains the final tooth for treating correction, and the embodiment of the present invention is not specifically limited.
102nd, the selected characteristic point in the denture three-dimensional data and the cranium face jawbone three-dimensional data.
Wherein, the characteristic point is the anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone of each tooth.Tooth
The anatomic landmark point that includes but is not limited on cheek side cusp, tongue side cusp and den, cranium jawbone bone of sharp nest anatomic landmark point
Including but not limited to the socket of the eye point of left and right eye socket, the auriculare and prenasale of left and right external ear.
103rd, row's teeth plane and dental arch curve are built according to the characteristic point of the selection.
Wherein, row's teeth plane includes median sagittal plane, horizontal plane and row's tooth biteplane, the dental arch curve bag
Include upper jaw row's tooth curve and lower jaw row's tooth curve.In embodiments of the present invention, horizontal plane is defined by orbitomeatal plane, chooses double
The midpoint of side external auditory meatus upper limb point and bilateral infraorbital point formation horizontal plane, that is, reposition the overall pitch position of head, make
It is parallel with ground level.Median sagittal plane is to choose nasion, dentoid process of axis summit, is hit exactly with perpendicular build of horizontal plane
Sagittal plane, while being used as the reference position of denture center line during row's tooth.Row's tooth biteplane is then according to Cocas (Hua Zhengtou
Shadow measuring and analysis system, Chinaortho Cephalometric Analysis System, COCAS) in analytic approach to ideal
14.1 ° to 4.1 ° of the definition of biteplane and horizontal plane angle range of normal value, make row's tooth biteplane and horizontal plane into
9.1 ° of angle, and the plane of the point below cephalometry piece upper lip point at 2mm is crossed, wherein cephalometry piece is by median sagittal
Pencil-beam computed tomography (Cone beam Computed Tomography, the abbreviation CBCT) number of face interception craniofacial region
According to acquisition.
In embodiments of the present invention, dental arch curve chooses infradentale nearly middle contact point, both sides canine tooth cusp point, both sides
Cheek 5 arch of cusp determine control point during sixth-year molar is near, and control point fitting generation quartic polynomial is used as by the use of five points
Curve, the fourth-degree polynomial curve using close to two control points grinding one's teeth in sleep as curve starting point and ending point, i.e., with
The original arch of mandibular dental arch, which is defined, generates lower jaw row's tooth curve.The labial teeth control point adjust automatically of the curve is in arrow after fitting generation
On the intersection of shape face and projection plane, other 4 points are symmetrical so as to obtain symmetrical curve form respectively about sagittal plane, and with row
The closest uniform contact of tooth biteplane.The shape that upper jaw row's tooth curve arranges arch form also according to lower jaw carries out equivalent and put
Greatly, distance difference value is 2mm therebetween, that is, ensures 2mm covering relations between upper and lower dentition.
It should be noted that the form of dental arch curve can be using ellipse, catenary, quartic polynomial, Beta curves etc.
Models fitting is constituted, and specific using according to doctor, selection is used according to demand in real case, the embodiment of the present invention is not done
It is specific to limit.
104th, the tooth in the denture three-dimensional data is moved according to preset tooth position, to generate target just
Abnormal denture.
Wherein, the preset tooth position includes target upper and lower dentition sagittal to position, target upper and lower dentition vertically to position
Put, position between mandibular dentition in target.It should be noted that target upper and lower dentition sagittal is vertical to position, target upper and lower dentition
On to position, target between mandibular dentition position be self-defined standard upper and lower dentition sagittal to position, upper and lower dentition vertically to position
Put, position between upper mandibular dentition.
In embodiments of the present invention, setting from target upper and lower dentition sagittal to position：According to correction cephalometry to above and below
The definition of labial teeth ideal position angle value, chooses corresponding characteristic point and builds in a computer on the head shadow image of median sagittal plane
Lower labial teeth mandibular plane angle (L1/MP) and Upper Anterior Teeth axial rake (U1/FH), to movement before and after can carrying out on this plane,
It is finally reached the range of normal value (93.9 ° ± 6.2 °, 113.0 ° ± 6.3 °) of above-mentioned two angle, upper lower jaw row's tooth curve and labial teeth
Characteristic point binding drags its movable final upper mandibular dentition place ideal sagittal of determination to position.Upper and lower dentition is vertical to position
The setting put：All cheek cusps of mandibular teeth are set according to preferable occluding relation, and the bicuspid of the upper jaw the one or two, grind one's teeth in sleep near and far
Point is on lower jaw row's tooth curve, and maxillary central incisors and canine tooth point are located on upper jaw row's tooth curve, and lateral incisor is located at the upper jaw and arranges tooth
Above curve on 0.5mm drop shadow curve.
The setting of position relationship between upper mandibular dentition：By equal assessment ratio (Peer Assessment Rat-ing, abbreviation
PAR index) resolve into more intuitively characteristic point distance restraint：Space length, the horizontal range of occlusal surface projection, occlusal surface method
To the vertical range of projection, the distance with sagittal plane, the distance with dental arch curve.During row's tooth, pass through nearest Point matching
The method being oriented to power so that above-mentioned distance is tried one's best minimum.In practical implementations, different power are assigned respectively to above-mentioned distance
Weight so that each constraint obtains the satisfaction of different stage, such as the required distance of the nearly midpoint of incisor and sagittal plane is than adjacent backteeth
The nearly midpoint requirement close with the remote midpoint of the tooth is more strict.Tooth position is optimized by the way of iteration, every time
After optimization terminates, the tooth having arrived at compared with good position can be fixed, or is carried out after certain manual setting, then is carried out next time
Iteration optimization.In optimization process, space displacement, words are resolved into the movement of every tooth and inclined, near and far inclined and rotate
Basic transformation, obtains corresponding Parameters variation, the numeric reference moved as tooth.
The embodiments of the invention provide another automation row tooth method, as shown in Fig. 2 methods described includes：
201st, obtaining needs the denture three-dimensional data and cranium face jawbone three-dimensional data of correction.
, wherein it is desired to which the denture three-dimensional data of correction includes needing the tooth of correction, treat that the tooth of correction refers to one
Patient correction in need tooth.Before the orthodontic of patient, doctor will be according to the crowded state of the denture of patient, choosing
Correction solution is selected, judges whether to need extraction, determines that patient needs the tooth of correction.It should be noted that the dimension of denture three
According to including root data and corona data, the root information for embodying the convex-concave information of dental surface and being wrapped in inside gum, energy
Enough reflection tooth position and state comprehensively.Denture three-dimensional data can pass through oral cavity scanning technique, computed tomography
Obtained etc. other technologies, the embodiment of the present invention is not specifically limited.
In embodiments of the present invention, it can judge and pull out to hinder the tooth corrected through doctor for denture three-dimensional data
Obtain afterwards, can also doctor be patient formulate correction solution before obtain, further according to determination correction solution pass through it is man-machine
Interactive mode, obtains the final tooth for treating correction, and the embodiment of the present invention is not specifically limited.
202nd, the selected characteristic point in the denture three-dimensional data and the cranium face jawbone three-dimensional data.
Wherein, the characteristic point is the anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone of each tooth.Feature
Point is represents the Edge Feature Points of each teeth patterning profile, and the sharp nest anatomic landmark point of tooth includes but is not limited to cheek side point
Anatomic landmark point on point, tongue side cusp and den, cranium jawbone bone includes but is not limited to socket of the eye point, the left and right external ear of left and right eye socket
Auriculare and prenasale.
203rd, row's teeth plane and dental arch curve are built according to the characteristic point of the selection.
Wherein, row's teeth plane includes median sagittal plane, horizontal plane and row's tooth biteplane, the dental arch curve bag
Include upper jaw row's tooth curve and lower jaw row's tooth curve.
204th, bounding box is generated according to the crown root shape of each tooth in the denture three-dimensional data.
It should be noted that in order to carry out position definition to the tooth under space coordinates, and being capable of more preferable earth's surface
Show the form of this kind of irregularly shaped object of tooth crown root, simplify the inspection of the relation between the pseudo operation of follow-up row's tooth and tooth and tooth
Survey, simplification is described to tooth coordinate system by the concept of application bounding box.Wherein described bounding box can be AABB (axis
Aligned bounding box) bounding box, OBB bounding boxs (orientedbounding box) and encirclement ball (sphere)
Deng the embodiment of the present invention is not specifically limited.
Wherein, AABB bounding boxs are axial by bounding box of the XYZ direction of principal axis of global coordinate system, simple but compactness is poor, and
OBB bounding boxs consider the shape of object to determine bounding box axial direction, and compactness is good, can preferably embody the shape facility of object,
Therefore the embodiment of the present invention uses OBB bounding boxs.Pass through experiment, on the overall tooth model of the three-dimensional with root of the tooth, OBB bounding boxs
It preferably can aid in determining the cheek-tongue direction and middle-distant direction of tooth, computer software generates OBB according to tooth crown root shape
Bounding box cuboid, middle-distant direction and cheek-tongue direction of the two of which axially substantially with tooth obtained by automatic calculating coincide, profit
It is tooth long axile towards occlusal surface, all cheek-tongue direction axles by the most major axis of OBB bounding boxs with sagittal plane and the information of occlusal surface
(z-axis is held with the right hand, when four fingers of the right hand are turned to just from positive x-axis with pi/2 angle to right-handed coordinate system towards cheek side, is set up
During to y-axis, the sensing of thumb is exactly the forward direction of z-axis), operated for follow-up row's tooth.The process in need is weighed institute
The tooth of row has carried out the definition of coordinate system, simplify follow-up row's tooth operate and be easy to calculate adjacent teeth collision and
Gap.
205th, during being moved according to preset tooth position to the denture three-dimensional data, surrounded according to described
Box carries out collision detection to ensure mobile enforceability to the tooth in the denture three-dimensional data.
Wherein, the preset tooth position includes target upper and lower dentition sagittal to position, target upper and lower dentition vertically to position
Put, position between mandibular dentition in target.It should be noted that target upper and lower dentition sagittal is vertical to position, target upper and lower dentition
On to position, target between mandibular dentition position be self-defined standard upper and lower dentition sagittal to position, upper and lower dentition vertically to position
Put, position between upper mandibular dentition.
For the embodiment of the present invention, according to preset tooth position the denture three-dimensional data is moved including：According to
The characteristic point chosen on the median sagittal plane, builds lower labial teeth mandibular plane angle and Upper Anterior Teeth axial rake；According to the target
The setting of upper and lower dentition sagittal lower labial teeth mandibular plane angle and Upper Anterior Teeth axial rake angle into position, tooth is arranged by the upper jaw
Curve, the binding of lower jaw row's tooth curve respectively with labial teeth up and down, dragging tooth move forward and backward to ensure upper mandibular dentition in target
Sagittal on position；Wherein, the angular range of the lower labial teeth mandibular plane angle (L1/MP) is 87.7 to 100.1 degree, described
The angular range of Upper Anterior Teeth axial rake (U1/FH) is 106.7 to 119.3 degree.
The denture three-dimensional data, which is moved, according to preset tooth position also includes：According to the target upper and lower dentition
Vertically into position preferable occluding relation setting, by all cheek cusps of mandibular teeth, and the bicuspid of the upper jaw the one or two, grind one's teeth in sleep near
Remote midpoint is moved on the lower jaw row tooth curve, and maxillary central incisors and canine tooth point are moved on the upper jaw row tooth curve,
Lateral incisor is located at the upper jaw and arranged above tooth curve on 0.5mm drop shadow curve.
The denture three-dimensional data, which is moved, according to preset tooth position also includes：By equal assessment ratio PAR index
The tooth interdental space type for being decomposed into predetermined number is encoded, and generation automatization simulation arranges the constraints of tooth；By it is described about
Beam condition and power guidance algorithm are added to the correction characteristic point that iteration obtains each tooth with regard to being calculated near point ICP algorithm
Displacement of targets vector；Each tooth in the denture three-dimensional data is accordingly moved according to displacement of targets vector.Need
Illustrate, in order to preferably encode the row's tooth rule and the working experience of correction worker in correction, the present embodiment is used
A kind of advanced correction designation number PAR index, and be broken down into the tooth interdental space type progress of predetermined number in the world
Coding, generation automatization simulation arranges the constraints of tooth.PAR index is the standard that tooth dislocation is assessed, therefore according to PAR
The constraints of index generation automatization simulation row's tooth is more accurate.
Automation row's tooth is exactly to simulate the tooth rearrangement in dental arch model to obtain meeting the denture of correction rule
The process of model.And tooth rearranges the movement necessarily involved to tooth, and the movement of tooth is right typically by its
The mobile realization for the correction characteristic point answered, therefore it is the correction characteristic point for calculating tooth to calculate the motion vector of tooth movement
Motion vector.During the motion vector of orthodontic characteristic point it is by ICP algorithm during usual calculation automation simulation row's tooth
Realize, and to be the constraints and power guidance algorithm that will be obtained be added in ICP algorithm for this implementations, obtains improved ICP calculations
Method, then calculates the displacement of targets vector for obtaining the correction characteristic point of each tooth in dental arch model with improved ICP algorithm.
In embodiments of the present invention, it is described accordingly to be moved in the denture three-dimensional data according to displacement of targets vector
Each tooth after, methods described also includes：The correction characteristic point of tooth in the correction denture of the target judges
Whether the root of the tooth of each tooth in the correction denture of the target is located in groove bone line profile, and the groove bone line profile is basis
The plane parallel with the occlusal surface of dental arch model and the skull of teeth roots carry out cutting computing, the maximum close area extracted
The profile in domain；If the root of the tooth is not located in groove bone line profile, to the tooth in the new dental arch model of the correspondence root of the tooth
Carry out, around hat movement, obtaining final correction denture.It should be noted that if the determination result is YES, i.e., root of the tooth is located at groove bone line
In profile, then the corresponding tooth of root of the tooth need not be moved；If judged result is no, i.e., root of the tooth is not located at groove bone line profile
It is interior, then need to carry out the corresponding tooth of root of the tooth around hat movement.It is around hat mode specifically：Divided using the angle value of segmentation
Step is around hat movement, untill root of the tooth is located in groove bone line profile.When all roots of the tooth in new dental arch model are all located at groove
When in bone line profile, final dental arch model is obtained.
The embodiments of the invention provide one kind automation row tooth method, first obtain need correction denture three-dimensional data and
Cranium face jawbone three-dimensional data, then selected characteristic point, institute in the denture three-dimensional data and the cranium face jawbone three-dimensional data
The anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone that characteristic point is each tooth is stated, according to the characteristic point of the selection
The row's of structure teeth plane and dental arch curve, row's teeth plane include median sagittal plane, horizontal plane and row's tooth biteplane, described
Dental arch curve includes the upper jaw and arranges tooth curve and lower jaw row's tooth curve, finally according to preset tooth position to the denture three-dimensional data
In tooth move, to generate the correction denture of target, the preset tooth position include target upper and lower dentition sagittal to
Position, target upper and lower dentition are vertical to position between mandibular dentition in position, target.With only being carried out automatically by corona information at present
Change row's tooth to compare, the embodiment of the present invention is considered relative to above and below the thin-skinned sclerous tissues of cranium jaw during automation row's tooth
Denture sagittal vertically carries out automation row's tooth to position, upper and lower dentition to the information such as position between position and upper mandibular dentition, therefore
The degree of accuracy of automation row's tooth can be improved by the embodiment of the present invention.
Further, the embodiment of the present invention provides a kind of automation row tooth device, as shown in figure 3, described device includes：Obtain
Take unit 31, choose unit 32, construction unit 33, mobile unit 34.
Acquiring unit 31, the denture three-dimensional data and cranium face jawbone three-dimensional data of correction are needed for obtaining；
Unit 32 is chosen, for the selected characteristic point in the denture three-dimensional data and the cranium face jawbone three-dimensional data,
The characteristic point is the anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone of each tooth；
Construction unit 33, for building row's teeth plane and dental arch curve according to the characteristic point of the selection, row's tooth is put down
Face includes median sagittal plane, horizontal plane and row's tooth biteplane, and the dental arch curve includes the upper jaw and arranges tooth curve and lower jaw row
Tooth curve；
Mobile unit 34, for being moved according to preset tooth position to the tooth in the denture three-dimensional data, with
The correction denture of target is generated, the preset tooth position includes target upper and lower dentition sagittal and hung down to position, target upper and lower dentition
Directly to position between mandibular dentition in position, target.
It should be noted that its of each functional unit involved by a kind of row's of automation tooth device provided in an embodiment of the present invention
He accordingly describes, and may be referred to the correspondence description of method shown in Fig. 1, will not be repeated here.
Further, the embodiment of the present invention provides another automation row tooth device, as shown in figure 4, described device includes：
Acquiring unit 41, selection unit 42, construction unit 43, mobile unit 44.
Acquiring unit 41, the denture three-dimensional data and cranium face jawbone three-dimensional data of correction are needed for obtaining；
Unit 42 is chosen, for the selected characteristic point in the denture three-dimensional data and the cranium face jawbone three-dimensional data,
The characteristic point is the anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone of each tooth；
Construction unit 43, for building row's teeth plane and dental arch curve according to the characteristic point of the selection, row's tooth is put down
Face includes median sagittal plane, horizontal plane and row's tooth biteplane, and the dental arch curve includes the upper jaw and arranges tooth curve and lower jaw row
Tooth curve；
Mobile unit 44, for being moved according to preset tooth position to the tooth in the denture three-dimensional data, with
The correction denture of target is generated, the preset tooth position includes target upper and lower dentition sagittal and hung down to position, target upper and lower dentition
Directly to position between mandibular dentition in position, target.
For the embodiment of the present invention, the mobile unit 44 includes：
Module 441 is built, for according to the characteristic point chosen on the median sagittal plane, building lower labial teeth mandibular plane angle
And Upper Anterior Teeth axial rake (U1/FH) (L1/MP)；
Modules dragged 442, for according to the target upper and lower dentition sagittal into position lower labial teeth mandibular plane angle and
The setting of labial teeth axial rake angle, arranges tooth curve, lower jaw by the upper jaw and arranges the binding of tooth curve respectively with labial teeth up and down, drag
Dynamic tooth is movable to ensure sagittal of the upper mandibular dentition in target on position；Wherein, the lower labial teeth mandibular plane angle
(L1/MP) angular range is 87.7 to 100.1 degree, the angular range of the Upper Anterior Teeth axial rake (U1/FH) for 106.7 to
119.3 degree.
Mobile module 443, will for the setting according to the vertical occluding relation preferable into position of the target upper and lower dentition
All cheek cusps of mandibular teeth, and the bicuspid of the upper jaw the one or two, near and far point of grinding one's teeth in sleep are moved on the lower jaw row tooth curve,
Maxillary central incisors and canine tooth point are moved on the upper jaw row tooth curve, and lateral incisor is located above upper jaw row's tooth curve
On 0.5mm drop shadow curve.
Generation module 444, the tooth interdental space type for equal assessment ratio PAR index to be decomposed into predetermined number is carried out
Coding, generation automatization simulation arranges the constraints of tooth；
Computing module 445, falls into a trap for the constraints and power guidance algorithm to be added into iteration with regard near point ICP algorithm
Calculate the displacement of targets vector for the correction characteristic point for obtaining each tooth；
The mobile module 443, is additionally operable to accordingly move the denture three-dimensional data according to displacement of targets vector
In each tooth.
Judge module 446, for the correction characteristic point of the tooth in the correction denture according to the target, judges the mesh
Whether the root of the tooth of each tooth in target correction denture is located in groove bone line profile, and the groove bone line profile is basis and denture
The skull of the parallel plane of the occlusal surface of model and teeth roots carries out cutting computing, the wheel in the maximum close region extracted
It is wide；
The mobile module 443, is not located in groove bone line profile if being additionally operable to the root of the tooth, to the correspondence root of the tooth
Tooth in new dental arch model carries out, around hat movement, obtaining final correction denture.
Further, described device also includes：
Generation unit 45, bounding box is generated for the crown root shape according to each tooth in the denture three-dimensional data；
Detection unit 46, for during being moved according to preset tooth position to the denture three-dimensional data,
Carry out collision detection to the tooth in the denture three-dimensional data to ensure mobile enforceability according to the bounding box.
It should be noted that its of each functional unit involved by a kind of row's of automation tooth device provided in an embodiment of the present invention
He accordingly describes, and may be referred to the correspondence description of method shown in Fig. 2, will not be repeated here.
The embodiments of the invention provide one kind automation row tooth device, first obtain need correction denture three-dimensional data and
Cranium face jawbone three-dimensional data, then selected characteristic point, institute in the denture three-dimensional data and the cranium face jawbone three-dimensional data
The anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone that characteristic point is each tooth is stated, according to the characteristic point of the selection
The row's of structure teeth plane and dental arch curve, row's teeth plane include median sagittal plane, horizontal plane and row's tooth biteplane, described
Dental arch curve includes the upper jaw and arranges tooth curve and lower jaw row's tooth curve, finally according to preset tooth position to the denture three-dimensional data
In tooth move, to generate the correction denture of target, the preset tooth position include target upper and lower dentition sagittal to
Position, target upper and lower dentition are vertical to position between mandibular dentition in position, target.With only being carried out automatically by corona information at present
Change row's tooth to compare, the embodiment of the present invention considers hard group thin-skinned relative to cranium jaw of upper and lower dentition during automation row's tooth
The sagittal knitted vertically carries out automation row's tooth to position, upper and lower dentition to the information such as position between position and upper mandibular dentition, therefore
The degree of accuracy of automation row's tooth can be improved by the embodiment of the present invention.
Through the above description of the embodiments, it is apparent to those skilled in the art that the present invention can be borrowed
Software is helped to add the mode of required common hardware to realize, naturally it is also possible to which the former is more preferably by hardware, but in many cases
Embodiment.Understood based on such, the portion that technical scheme substantially contributes to prior art in other words
Dividing can be embodied in the form of software product, and the computer software product is stored in the storage medium that can be read, and such as be counted
The floppy disk of calculation machine, hard disk or CD etc., including some instructions to cause a computer equipment (can be personal computer,
Server, or the network equipment etc.) perform method described in each embodiment of the invention.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
The automation row tooth device includes processor and memory, above-mentioned acquiring unit, choose unit, construction unit,
Mobile unit, generation unit and detection unit etc. in memory, are stored in as program unit storage by computing device
Said procedure unit in memory realizes corresponding function.
Kernel is included in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can set one
Or more, the accuracy of automation row's tooth is improved by adjusting kernel parameter.
Memory potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/
Or the form, such as read-only storage (ROM) or flash memory (flash RAM) such as Nonvolatile memory, memory is deposited including at least one
Store up chip.
Present invention also provides a kind of computer program product, when being performed on data processing equipment, it is adapted for carrying out just
The program code of beginningization there are as below methods step：Acquisition needs the denture three-dimensional data and cranium face jawbone three-dimensional data of correction；
Selected characteristic point in the denture three-dimensional data and the cranium face jawbone three-dimensional data, the characteristic point is the sharp nest solution of each tooth
Cut open the anatomic landmark point on index point and cranium jawbone bone；Row's teeth plane and dental arch curve are built according to the characteristic point of the selection,
Row's teeth plane includes median sagittal plane, horizontal plane and row's tooth biteplane, and it is bent that the dental arch curve includes upper jaw row's tooth
Line and lower jaw row's tooth curve；The tooth in the denture three-dimensional data is moved according to preset tooth position, to generate mesh
Target correction denture, it is vertical to position to position, target upper and lower dentition that the preset tooth position includes target upper and lower dentition sagittal
Put, position between mandibular dentition in target.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the application can be used in one or more computers for wherein including computer usable program code
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is the flow with reference to method, equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and internal memory.
Memory potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/
Or the form, such as read-only storage (ROM) or flash memory (flash RAM) such as Nonvolatile memory.Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, the information that can be accessed by a computing device available for storage.Define, calculate according to herein
Machine computer-readable recording medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that process, method, commodity or equipment including a series of key elements are not only including those key elements, but also wrap
Include other key elements being not expressly set out, or also include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including key element
Also there is other identical element in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program product.
Therefore, the application can be using the embodiment in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Form.Deposited moreover, the application can use to can use in one or more computers for wherein including computer usable program code
The shape for the computer program product that storage media is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
Embodiments herein is these are only, the application is not limited to.To those skilled in the art,
The application can have various modifications and variations.All any modifications made within spirit herein and principle, equivalent substitution,
Improve etc., it should be included within the scope of claims hereof.
Claims (8)
1. one kind automation row's tooth method, it is characterised in that including：
Acquisition needs the denture three-dimensional data and cranium face jawbone three-dimensional data of correction；
The selected characteristic point in the denture three-dimensional data and the cranium face jawbone three-dimensional data, the characteristic point is each tooth
Anatomic landmark point on sharp nest anatomic landmark point and cranium jawbone bone；
Row's teeth plane and dental arch curve are built according to the characteristic point of the selection, row's teeth plane includes median sagittal plane, water
Average face and row's tooth biteplane, the dental arch curve include the upper jaw and arrange tooth curve and lower jaw row's tooth curve；
The tooth in the denture three-dimensional data is moved according to preset tooth position, to generate the correction denture of target,
It is vertical to lower jaw in position, target to position, target upper and lower dentition that the preset tooth position includes target upper and lower dentition sagittal
Position between denture；
It is described by preset tooth position the tooth in the denture three-dimensional data is moved including：
According to the characteristic point chosen on the median sagittal plane, lower labial teeth mandibular plane angle and Upper Anterior Teeth axial rake are built；
According to the setting of the target upper and lower dentition sagittal lower labial teeth mandibular plane angle and Upper Anterior Teeth axial rake angle into position,
Tooth curve, lower jaw are arranged by the upper jaw and arrange the binding of tooth curve respectively with labial teeth up and down, dragging tooth moves forward and backward to ensure
Upper mandibular dentition target sagittal on position；Wherein, the angular range of the lower labial teeth mandibular plane angle be 87.7 to
100.1 degree, the angular range of the Upper Anterior Teeth axial rake is 106.7 to 119.3 degree.
2. according to the method described in claim 1, it is characterised in that it is described by preset tooth position to the dimension of denture three
Tooth in move including：
According to the setting of the vertical occluding relation preferable into position of the target upper and lower dentition, by all cheek cusps of mandibular teeth,
And the bicuspid of the upper jaw the one or two, near and far point of grinding one's teeth in sleep are moved on the lower jaw row tooth curve, maxillary central incisors and canine tooth point
It is moved on the upper jaw row tooth curve, lateral incisor is located at the upper jaw and arranged above tooth curve on 0.5mm drop shadow curve.
3. according to the method described in claim 1, it is characterised in that it is described by preset tooth position to the dimension of denture three
Tooth in move including：
The tooth interdental space type that equal assessment ratio PAR index is decomposed into predetermined number is encoded, and generates automatization simulation
Arrange the constraints of tooth；
By the constraints and power guidance algorithm be added to iteration with regard near point ICP algorithm calculate obtain each tooth
The displacement of targets vector of correction characteristic point；
Each tooth in the denture three-dimensional data is accordingly moved according to displacement of targets vector.
4. method according to claim 3, it is characterised in that described that institute is accordingly moved according to displacement of targets vector
State after each tooth in denture three-dimensional data, methods described also includes：
According to the correction characteristic point of the correction denture Tooth of the target, each tooth in the correction denture of the target is judged
Whether the root of the tooth of tooth is located in groove bone line profile, and the groove bone line profile is according to the plane parallel with the occlusal surface of dental arch model
And the skull of teeth roots carries out cutting computing, the profile in the maximum close region extracted；
If the root of the tooth is not located in groove bone line profile, the tooth in the new dental arch model of the correspondence root of the tooth is carried out around
Hat movement, obtains final correction denture.
5. according to the method described in claim 1, it is characterised in that methods described also includes：
Bounding box is generated according to the crown root shape of each tooth in the denture three-dimensional data；
During being moved according to preset tooth position to the denture three-dimensional data, according to the bounding box to described
Tooth in denture three-dimensional data carries out collision detection to ensure mobile enforceability.
6. one kind automation row's tooth device, it is characterised in that including：
Acquiring unit, the denture three-dimensional data and cranium face jawbone three-dimensional data of correction are needed for obtaining；
Unit is chosen, for selected characteristic point, the spy in the denture three-dimensional data and the cranium face jawbone three-dimensional data
Levy a little as the anatomic landmark point on the sharp nest anatomic landmark point and cranium jawbone bone of each tooth；
Construction unit, for building row's teeth plane and dental arch curve according to the characteristic point of the selection, row's teeth plane includes
Median sagittal plane, horizontal plane and row's tooth biteplane, the dental arch curve include the upper jaw and arrange tooth curve and lower jaw row's tooth curve；
Mobile unit, for being moved according to preset tooth position to the tooth in the denture three-dimensional data, to generate mesh
Target correction denture, it is vertical to position to position, target upper and lower dentition that the preset tooth position includes target upper and lower dentition sagittal
Put, position between mandibular dentition in target；
The mobile unit includes：
Module is built, for according to the characteristic point chosen on the median sagittal plane, building lower labial teeth mandibular plane angle and going forward
Tooth axial rake；
It is modules dragged, for according to the target upper and lower dentition sagittal, into position, lower labial teeth mandibular plane angle and Upper Anterior Teeth axle to incline
The setting of angle angle, arranges tooth curve, lower jaw by the upper jaw and arranges before the binding of tooth curve respectively with labial teeth up and down, dragging tooth
Move to ensure sagittal of the upper mandibular dentition in target on position afterwards；Wherein, the angle model of the lower labial teeth mandibular plane angle
Enclose and spent for 87.7 to 100.1, the angular range of the Upper Anterior Teeth axial rake is 106.7 to 119.3 degree.
7. device according to claim 6, it is characterised in that the mobile unit also includes：
Mobile module, for the setting according to the vertical occluding relation preferable into position of the target upper and lower dentition, by lower jaw tooth
All cheek cusps of tooth, and the bicuspid of the upper jaw the one or two, near and far point of grinding one's teeth in sleep are moved on the lower jaw row tooth curve, in the upper jaw
Incisor and canine tooth point are moved on the upper jaw row tooth curve, and lateral incisor is located at the throwing that the upper jaw arranges 0.5mm above tooth curve
On shadow curve.
8. device according to claim 6, it is characterised in that the mobile unit also includes：
Generation module, the tooth interdental space type for equal assessment ratio PAR index to be decomposed into predetermined number is encoded, raw
The constraints of tooth is arranged into automatization simulation；
Computing module, is obtained for the constraints and power guidance algorithm to be added into iteration with regard to being calculated near point ICP algorithm
The displacement of targets vector of the correction characteristic point of each tooth；
The generation module, is additionally operable to accordingly move each in the denture three-dimensional data according to displacement of targets vector
Tooth.
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