CN106251284B - Medical image registration method based on facing - Google Patents
Medical image registration method based on facing Download PDFInfo
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- CN106251284B CN106251284B CN201610669284.2A CN201610669284A CN106251284B CN 106251284 B CN106251284 B CN 106251284B CN 201610669284 A CN201610669284 A CN 201610669284A CN 106251284 B CN106251284 B CN 106251284B
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- tooth
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000013499 data model Methods 0.000 claims abstract description 32
- 239000000463 material Substances 0.000 claims description 7
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010146 3D printing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000011112 process operation Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000036339 tooth positioning Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/14—Transformations for image registration, e.g. adjusting or mapping for alignment of images
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The present invention provides a kind of medical image registration method based on facing comprising following steps: S1, obtaining coordinate information of the positioning groove in the computer data model coordinate systems；Coordinate information where the locating apparatus of S2, acquisition positioning groove in dental handpiece in space coordinates；S3, the coordinate system of positioning groove is transformed under reference plate coordinate system；S4, based on coordinate information of the positioning groove in the positioning groove in the coordinate information and S3 in computer data model coordinate systems in reference plate coordinate system in step S1, space coordinates where the locating apparatus of dental handpiece are transformed into computer data model coordinate systems using registration method.The present invention is used for space coordinates and computer data model coordinate systems where uniform locator tool, makes that the data model of locating apparatus and tooth is accurate, is uniformly reflected as computer data model, realizes dental appliance to the high precision manipulation of tooth.
Description
Technical field
The present invention relates to medical image technical field more particularly to a kind of medical image registration methods based on facing.
Background technique
It is multidisciplinary that computer-asisted intra-operative navigation technology integrates medicine, computer technology, materialogy, machinery etc.
Crossing domain.Main application is related various processes of being performed the operation using computer graphics techniques simulative medicine, for example is performed the operation
Planning, surgical navigational, auxiliary therapy planning etc..
Although however, using computer-asisted intra-operative navigation technology can be used in auxiliary operation in navigator fix,
For dentistry field, there is also surgical instrument coordinates and the skimble-scamble problem of patients teeth coordinate.
Therefore, for above-mentioned difficult point, it is necessary to propose further solution.
Summary of the invention
The purpose of the present invention is to provide a kind of medical image registration methods based on facing, are deposited in the prior art with overcoming
Deficiency.
For achieving the above object, the present invention mentions a kind of medical image registration method based on facing comprising as follows
Step:
S1, the computer data model for establishing tooth make the facing matched with patient teeth, the surface of the facing
It is provided with positioning groove, by facing assembly on corresponding tooth, obtains positioning groove in the computer data model
Coordinate information in coordinate system；
S2, reference plate is fixed on human body tooth jaw or emulation tooth jaw, using the dental handpiece for being equipped with drill point, is obtained
Coordinate information where locating apparatus of the positioning groove in dental handpiece in space coordinates；
S3, according to space coordinates where reference plate and the transformational relation of navigator coordinate system and determining for dental handpiece
The transformational relation of space coordinates and navigator coordinate system where the instrument of position, is transformed into reference plate for the coordinate system of positioning groove and sits
Under mark system；
S4, based on positioning of the positioning groove in the coordinate information and S3 in computer data model coordinate systems in step S1
Coordinate information of the groove in reference plate coordinate system is turned space coordinates where the locating apparatus of dental handpiece using registration method
It changes in computer data model coordinate systems.
As the improvement of the medical image registration method of the invention based on facing, in the step S1, according to patient's tooth
The occlusion region feature of tooth makes the facing matched with patient teeth in such a way that mold manufactures.
As the improvement of the medical image registration method of the invention based on facing, in the step S1, the positioning is recessed
Slot is several, several positioning grooves are distributed on the selected position in facing surface.
As the improvement of the medical image registration method of the invention based on facing, in the step S1, the positioning is recessed
Slot is hemispherical.
As the improvement of the medical image registration method of the invention based on facing, in the step S1, the facing
Material is resin material.
As the improvement of the medical image registration method of the invention based on facing, the step S2 further include: reference plate
It immobilizes with tooth relative position, according to the relative positional relationship of reference plate and tooth, is first transformed into positioning groove coordinate
In reference plate coordinate system, later by registration method the coordinate registration of positioning groove in reference plate coordinate system to tooth computer number
According in model coordinate systems.
As the improvement of the medical image registration method of the invention based on facing, in the step S2, the drill point is
The front end of spherical drill point, the spherical shape drill point is spherical shape, and the diameter of the spherical shape drill point front end is straight with the hemispherical groove
Diameter is equal.
As the improvement of the medical image registration method of the invention based on facing, the step S2 is specifically included:
The end of spherical drill point is sequentially placed in fifty-fifty ball detents, and is overlapped drill point and positioning groove,
According to the positional relationship of drill point and dental handpiece, where obtaining locating apparatus of the positioning groove in dental handpiece in space coordinates
Coordinate information.
Compared with prior art, the beneficial effects of the present invention are: the medical image registration method of the invention based on facing
The present invention is used for space coordinates and computer data model coordinate systems where uniform locator tool, makes locating apparatus and tooth
Data model it is accurate, be uniformly reflected as computer data model, realize dental appliance to the high precision manipulation of tooth.
Medical image registration method based on facing of the invention is also equipped with following advantage: (1) using based on sphere center position
Registration method, registration accuracy is high；(2) auxiliary tool size is small, precise structure, and assembly precision is high, easy for assemble or unload；(3)3D
Printing technique can be every 20 teeth fast custom registration tools；(4) registration process operation is simple.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the method flow schematic diagram of the medical image registration method of the invention based on facing.
Specific embodiment
The present invention is described in detail for each embodiment shown in reference to the accompanying drawing, but it should be stated that, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiments made by function, method,
Or equivalent transformation or substitution in structure, all belong to the scope of protection of the present invention within.
Medical image registration method based on facing of the invention be used for uniform locator tool where space coordinates with
Coordinate system locating for tooth, makes that the data model of locating apparatus and tooth is accurate, is uniformly reflected as computer data model, realizes
High precision manipulation of the dental appliance to tooth.
As shown in Figure 1, the medical image registration method of the invention based on facing includes the following steps S1~S4:
S1, the computer data model for establishing tooth make the facing matched with patient teeth, the surface of the facing
It is provided with positioning groove, by facing assembly on corresponding tooth, obtains positioning groove in the computer data model
Coordinate information in coordinate system.
Wherein, the computer data model of tooth, coordinate of the positioning groove in computer data model coordinate systems are established
It is known.When making the facing matched with patient teeth, according to the occlusion region feature of patient teeth, the side manufactured by mold
Formula makes the facing matched with patient teeth.The facing of production has the mating surface completely the same with exterior of teeth, passes through
Facing can be closely installed on corresponding tooth by the mating surface.Preferably, the material of the facing is resin material.Using
The mode of 3D printing can be each tooth fast custom registration tools.
Further, the positioning groove is several, several positioning grooves are distributed in the selected position in facing surface
On.Preferably, the positioning groove is hemispherical, at this point, sitting where obtaining positioning groove opposed teeth and dental handpiece
When marking the coordinate information of system, the centre of sphere based on the hemispherical groove.
S2, reference plate is fixed on human body tooth jaw or emulation tooth jaw, using the dental handpiece for being equipped with drill point, is obtained
Coordinate information where locating apparatus of the positioning groove in dental handpiece in space coordinates.
Wherein, first when coordinate information where obtaining locating apparatus of the positioning groove in dental handpiece in space coordinates
First, reference plate is fixed on the intraoral tooth jaw of patient, then, using reference plate and the constant relationship in tooth relative position,
Determine tooth real-world coordinate system, i.e. the reference plate coordinate system coordinate system that is tooth material object.Reference plate referred to herein refers to, is fixed on
It emulates on tooth jaw or the tooth jaw of patient, is fixed with the relative positional relationship of tooth, can be identified in real time, be used to by optical guidance instrument
Track the locating apparatus of the spatial position of tooth.
Further, according to the relative positional relationship of positioning groove and tooth, positioning groove space where tooth is obtained
Coordinate information in coordinate system.It wherein, is to be mounted with computer in the tail portion of dental handpiece with the dental handpiece of locating apparatus
Vision guided navigation positioning device can be identified in real time during surgical navigational by optical guidance instrument, to realize tracking instrument
Spatial position.
In order to be matched with hemispherical positioning groove, the preferably spherical drill point of drill point.At this point, the spherical shape drill point
Front end is spherical shape, and the diameter of the spherical shape drill point front end is equal with the diameter of the hemispherical groove.
Based on the spherical drill point, the step S2 further include: the end of spherical drill point is sequentially placed in each hemispherical
In positioning groove, and it is overlapped drill point and positioning groove, according to the positional relationship of drill point and dental handpiece, obtains positioning groove and exist
Coordinate information where the locating apparatus of dental handpiece in space coordinates.
In addition, the step S2 further include: reference plate immobilizes with tooth relative position, according to reference plate and tooth
Positioning groove coordinate is first transformed into reference plate coordinate system by relative positional relationship, later by registration method reference plate coordinate
The coordinate registration of positioning groove is into tooth computer data model coordinate system in system.
S3, according to space coordinates where reference plate and the transformational relation of navigator coordinate system and determining for dental handpiece
The transformational relation of space coordinates and navigator coordinate system where the instrument of position, is transformed into reference plate for the coordinate system of positioning groove and sits
Under mark system.
Wherein, when positioning groove is hemispherical, sphere center position of the registration method based on the hemispherical positioning groove,
Have the advantages that registration accuracy is high.
The navigator is the chief component of computer-asisted intra-operative navigation system, is generally by two CCD cameras
Main optical system, graph and image processing module and data transmission module composition.During performing the operation progress, optical system is real-time
It is imaged to mark point is sensed on navigator fix instrument, graph and image processing module is calculated by the picture that optical system is shot
The three-dimensional space position coordinate of instrument, the three dimensional local information that data transmission module will acquire feed back to surgical navigational software out,
Carry out subsequent surgical simulation process.
S4, based on positioning of the positioning groove in the coordinate information and S3 in computer data model coordinate systems in step S1
Coordinate information of the groove in reference plate coordinate system is turned space coordinates where the locating apparatus of dental handpiece using registration method
It changes in computer data model coordinate systems.
Navigator obtains the location information of mobile phone locating apparatus in space, is transformed into computer data model coordinate systems
Afterwards, it transfers data in tooth-implanting operation navigation software, tooth data model and dentistry under software emulation the same coordinate system
Data in mobile phone model realizes the real-time simulation and navigation to surgical procedure in turn.
In conclusion the medical image registration method present invention of the invention based on facing is for where uniform locator tool
Space coordinates and computer data model coordinate systems, make that the data model of locating apparatus and tooth is accurate, uniformly reflects
For computer data model, realize dental appliance to the high precision manipulation of tooth.
Medical image registration method based on facing of the invention is also equipped with following advantage: (1) using based on sphere center position
Registration method, registration accuracy is high；(2) auxiliary tool size is small, precise structure, and assembly precision is high, easy for assemble or unload；(3)3D
Printing technique can be every 20 teeth fast custom registration tools；(4) registration process operation is simple.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (8)
1. a kind of medical image registration method based on facing, which is characterized in that the medical image registration method includes as follows
Step:
S1, the computer data model for establishing tooth make the facing matched with patient teeth, the surface setting of the facing
There is positioning groove, by facing assembly on corresponding tooth, obtains positioning groove in the computer data model coordinate
Coordinate information in system；
S2, reference plate is fixed on human body tooth jaw or emulation tooth jaw, using the dental handpiece for being equipped with drill point, obtains positioning
Coordinate information where locating apparatus of the groove in dental handpiece in space coordinates；
S3, according to space coordinates where reference plate and the transformational relation of navigator coordinate system and the locator of dental handpiece
The transformational relation of space coordinates and navigator coordinate system, is transformed into reference plate coordinate system for the coordinate system of positioning groove where tool
Under；
S4, based on positioning groove of the positioning groove in the coordinate information and S3 in computer data model coordinate systems in step S1
Space coordinates where the locating apparatus of dental handpiece are transformed by the coordinate information in reference plate coordinate system using registration method
In computer data model coordinate systems.
2. the medical image registration method according to claim 1 based on facing, which is characterized in that in the step S1,
According to the occlusion region feature of patient teeth, in such a way that mold manufactures, the facing matched with patient teeth is made.
3. the medical image registration method according to claim 1 based on facing, which is characterized in that in the step S1,
The positioning groove is several, several positioning grooves are distributed on the selected position in facing surface.
4. the medical image registration method according to claim 1 based on facing, which is characterized in that in the step S1,
The positioning groove is hemispherical.
5. the medical image registration method according to claim 1 based on facing, which is characterized in that in the step S1,
The material of the facing is resin material.
6. the medical image registration method according to claim 1 based on facing, which is characterized in that the step S2 is also wrapped
Include: reference plate immobilizes with tooth relative position, according to the relative positional relationship of reference plate and tooth, first sits positioning groove
Mark is transformed into reference plate coordinate system, later by registration method the coordinate registration of positioning groove in reference plate coordinate system to tooth
In computer data model coordinate systems.
7. the medical image registration method according to claim 4 based on facing, which is characterized in that in the step S2,
The drill point is spherical drill point, and the front end of the spherical shape drill point is spherical shape, the diameter and the hemisphere of the spherical shape drill point front end
The diameter of connected in star is equal.
8. the medical image registration method according to claim 7 based on facing, which is characterized in that the step S2 is specific
Include:
The end of spherical drill point is sequentially placed in fifty-fifty ball detents, and is overlapped drill point and positioning groove, according to
The positional relationship of drill point and dental handpiece, the seat where obtaining locating apparatus of the positioning groove in dental handpiece in space coordinates
Mark information.
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| CN201610669284.2A CN106251284B (en) | 2016-08-16 | 2016-08-16 | Medical image registration method based on facing |
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| CN201610669284.2A CN106251284B (en) | 2016-08-16 | 2016-08-16 | Medical image registration method based on facing |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433834A (en) * | 2018-04-09 | 2018-08-24 | 上海术凯机器人有限公司 | A kind of dentistry plantation drill point registration apparatus and method |
| CN108827151B (en) * | 2018-06-22 | 2020-05-19 | 北京大学口腔医学院 | Data registration method and data registration system |
| CN109567941B (en) * | 2018-10-31 | 2019-12-03 | 上海盼研机器人科技有限公司 | A kind of autoregistration mouthpiece device and system |
| CN109567942B (en) * | 2018-10-31 | 2020-04-14 | 上海盼研机器人科技有限公司 | Craniomaxillofacial surgical robot auxiliary system adopting artificial intelligence technology |
| CN110101472B (en) * | 2019-04-20 | 2021-02-12 | 北京大学口腔医学院 | Method for improving accuracy of facial scan image and dentition scan image registration |
| CN114617636B (en) * | 2022-05-11 | 2022-09-02 | 杭州键嘉机器人有限公司 | Method for determining conversion relation between oral cavity U-shaped groove clamp and medical image coordinate system |
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| CN103648396A (en) * | 2011-05-04 | 2014-03-19 | 李泰炅 | Marker for image information registration |
| CN105662618A (en) * | 2014-12-05 | 2016-06-15 | 堤欧股份有限公司 | Method for manufacturing surgical guide and crown, abutment in mouth for dental implant |
| CN105030350A (en) * | 2015-04-27 | 2015-11-11 | 苏州光影口腔医疗科技有限公司 | Tooth implantation quick moulding system and tooth implantation quick moulding method based on 3D printing |
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Inventor after: Chen Yun Inventor after: Bian Zhuan Inventor after: Wang Zongbao Inventor after: Luo Zhe Inventor after: Luo Maisheng Inventor after: Xiao Xinjian Inventor after: Lu Shuguang Inventor before: Chen Yun Inventor before: Wang Zongbao Inventor before: Luo Zhe Inventor before: Luo Maisheng Inventor before: Xiao Xinjian Inventor before: Lu Shuguang |
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Application publication date: 20161221 Assignee: SUZHOU DIKAIER MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Bian Zhuan Contract record no.: X2020320010034 Denomination of invention: Medical image registration method based on dental socket Granted publication date: 20190820 License type: Exclusive License Record date: 20201211 |
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