CN106806030A - A kind of crown root threedimensional model fusion method - Google Patents
A kind of crown root threedimensional model fusion method Download PDFInfo
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Abstract
The present invention relates to a kind of crown root threedimensional model fusion method, there are following steps：Dentition impression or tooth jaw plaster cast are produced, optical scanner obtains 3-dimensional digital dental arch model；Extracted by Maxillary region cone beam CT scan data and rebuild the 3-dimensional digital dental arch model for possessing complete root information；Based on ICP algorithm, position registration is carried out to the 3-dimensional digital dental arch model that optical scanner and CBCT rebuild according to corona common region；Set up | tooth is closed | the model coordinate systems of plane；Method by extracting hat gum boundary line and quantify biasing, projection, creates crown root boundary line；Segmentation is carried out based on hat gum and crown root boundary line to the dental arch model that optical scanner and CBCT rebuild respectively to cut out；The integral fusion of three-dimensional corona, root data is completed based on continual curvature algorithm.The present invention realizes optical scanner corona data and is merged with the natural transition of CBCT reconstruction root datas, from the crown root three-dimensional fusion model for obtaining more approaching to reality tooth.
Description
Technical field
The present invention relates to a kind of crown root threedimensional model fusion method, and in particular to one kind is based on curvature
The crown root threedimensional model fusion method of continuation algorithm.
Background technology
With the development of dentistry digitizing technique, number stamp technology and Medical Imaging Technology
The diagnosis and analysis of mouth disease are applied to more and more widely, wherein with conical beam CT
(Cone bean computed tomography, CBCT) technology, dentognathic model scanning skill
Art, intraoral scanning technique application report are more.CT/CBCT class medical image layer scanning technologies
Can obtain that patient's mouthful Maxillary region is soft, sclerous tissues three-dimensional data, be reconstruction patients root of the tooth,
The unique data of jawbone threedimensional model obtains channel, and data precision is about under its big visual field
100-200μm.Number stamp technology is mainly optical scanning technique, including dentognathic model scanning
Technology and intraoral scanning technique, using also relatively broad, main flow can reach 5-10 μm of three-dimensional
Modeling accuracy, can obtain high-resolution three-dimensional corona fine anatomic structure feature (point, nest,
Ditch, ridge etc.), it is that mouth cavity orthodontic, orthognathic surgery, oral restoration Applied Digital software are carried out
It is virtual to adjust | tooth is closed | and numeral is built | tooth is closed |, and then realize digitized therapeutic scheme design and
Surgical guide design provides necessary data basis.The current development trend of clinical oral be by
3-dimensional image data and optical scan data are combined, and play the two each advantage, carry out comprehensive
The diagnostic analysis and operation designing of conjunction.Particularly optical scanner corona data and CBCT root datas
Registration with merge aspect, be mouth cavity orthodontic and orthognathous field focus of attention in recent years, digitize
In orthodontic technology with root of the tooth diagnosis row tooth and digitlization orthognathous in bite guide design all with
This technology is closely related.
Domestic and foreign scholars to the reorganizing research of optical scanner corona data and CBCT root datas, greatly
Be only to realize hat, the coincidence of the registration of root three-dimensional data, i.e. threedimensional model, superposition more, is folded
Exist between layer model a large amount of according to redundancy.The conventional research on crown root data fusion exists certain
The hat gum of degree come of age single data segmentation effect it is not good, fusion rear portion point anatomic structure information loss,
Had differences with real anatomy form, the deficiency such as transition is unnatural at model merging.The present invention is visited
A kind of new hat of rope, root three-dimensional data fusion method, realize optical scanner corona model and CBCT
The natural transition fusion of root model is rebuild, from obtaining more approaching to reality tooth (corona and tooth
Root) physiology anatomic form crown root three-dimensional fusion model.
The content of the invention
(1) technical problem to be solved
Melt it is an object of the invention to provide a kind of crown root threedimensional model based on continual curvature algorithm
Conjunction method, realizes that the natural transition that optical scanner corona model rebuilds root model with CBCT is merged,
From obtaining more approaching to reality tooth from obtaining more approaching to reality tooth (including corona and root of the tooth
Physiology anatomic form) crown root three-dimensional fusion model.
(2) technical scheme
A kind of crown root three-dimensional data fusion method of the invention, comprises the following steps：
A kind of crown root threedimensional model fusion method, comprises the following steps：
1) dentition impression or tooth jaw plaster cast are produced, optical scanner obtains 3-dimensional digital denture
Model；
2) extracted by Maxillary region CBCT scan datas and rebuild three dimensions with complete root information
Word dental arch model；
3) based on ICP algorithm, according to corona common region to step 1) obtain 3-dimensional digital
Dental arch model and step 2) obtain 3-dimensional digital dental arch model carry out position registration；
4) set up and be based on | tooth is closed | the model coordinate systems of plane；
5) by extracting hat gum boundary line, and quantitative biasing, the method for projection are taken, is created
Crown root boundary line；
6) based on hat gum and crown root boundary line respectively to step 1) obtain 3-dimensional digital denture mould
Type and step 2) the 3-dimensional digital dental arch model that obtains carries out segmentation and cuts out；
7) the natural mistake of corona and root model after being realized to cutting out based on continual curvature algorithm
Suture is crossed, the integral fusion of three-dimensional crown root data is completed.
Wherein, step 3) described in position registration be：Gum and corona are carried to optical scanner
The three-dimensional dental arch model of information, the three-dimensional tooth with root of the tooth and corona information rebuild with CBCT
Row model carries out overall coordinate transform, crown region is overlapped, so that two model entirety positions
Put relation and produce association, realize the aligned in position of corona superposition.
Wherein, step 7) described in continual curvature algorithm be based on the continuous triangle of second dervative
Grid model reparation sutures algorithm, can realize transition between the corona through cutting out and root of the tooth threedimensional model
Natural shifting shape suture with form, realizes the integration of the three-dimensional crown root data based on continual curvature
Fusion.
(3) beneficial effect
The advantage of the invention is that：Realize optical scanner corona data and rebuild root of the tooth with CBCT
The natural transition fusion of data, from obtaining approaching to reality tooth (including the physiology of corona and root of the tooth
Anatomic form) crown root three-dimensional fusion model.The pioneering crown root threedimensional model fusion side of the present invention
Method can quickly, in batches realize the crown root threedimensional model of 28 teeth of half mouthful of 14 tooth or full mouth
Fusion, it carries out crown root intermediate zone by suturing algorithm based on the continuous continual curvature of second dervative
The natural shifting shape construction method of form, is capable of achieving the crown root three approached the most with physiology anatomic form
Dimension syncretizing effect.
Brief description of the drawings
Fig. 1 is the schematic diagram of the gap band that the present invention is preced with, root model exists after cutting out respectively；
Fig. 2 is based on the schematic diagram of the crown root three-dimensional fusion model lip side of continual curvature transition suture；
Fig. 3 is based on the schematic diagram of the crown root three-dimensional fusion model tongue side of continual curvature transition suture.
Specific embodiment
Following examples are used to illustrate the present invention, but are not limited to the scope of the present invention.
A kind of crown root threedimensional model fusion method, comprises the following steps：
1) dentition impression or tooth jaw plaster cast are produced, optical scanner obtains 3-dimensional digital denture
Model；
2) extracted by Maxillary region CBCT scan datas and rebuild three dimensions with complete root information
Word dental arch model；
3) based on ICP algorithm, according to corona common region to step 1) obtain 3-dimensional digital
Dental arch model and step 2) obtain 3-dimensional digital dental arch model carry out position registration；
4) set up and be based on | tooth is closed | the model coordinate systems of plane；
5) by extracting hat gum boundary line, and quantitative biasing, the method for projection are taken, is created
Crown root boundary line；
6) based on hat gum and crown root boundary line respectively to step 1) obtain 3-dimensional digital denture mould
Type and step 2) the 3-dimensional digital dental arch model that obtains carries out segmentation and cuts out；
7) the natural mistake of corona and root model after being realized to cutting out based on continual curvature algorithm
Suture is crossed, the integral fusion of three-dimensional crown root data is completed.
The step 3) described in position registration be：Optical scanner is believed with gum and corona
The three-dimensional dental arch model of breath, the three-dimensional denture with root of the tooth and corona information rebuild with CBCT
Model carries out overall coordinate transform, crown region is overlapped, so that two model integral positions
Relation produces association, realizes the aligned in position of corona superposition.
The step 7) described in continual curvature algorithm be based on the continuous triangulation network of second dervative
Lattice model reparation sutures algorithm, can realize intermediate zone between the corona through cutting out and root of the tooth threedimensional model
The natural shifting shape suture of form, realizes that the integration of the three-dimensional crown root data based on continual curvature is melted
Close.
A kind of crown root threedimensional model fusion method of the invention, including step in detail below：
A die) is produced, plaster cast processed is turned over, SmartOptics (Germany) tooth jaw mould is used
Type scanner scanning lower jaw plaster cast obtains 3-dimensional digital dental arch model, output STL forms
Three-dimensional data, is named as model A；The use of NewTomVGi (Italy) conical beam CT is trouble
Person shoots big visual field orthodontic diagnosis digitized video, after the completion of shooting, with the body of 0.125mm point
Resolution rebuilds data, exports DICOM format body layer data；
B DICOM format body layer data) is imported into Mimics17.0 (Belgium) software, should
Increased with software Threshold segmentation, region, the function of masking-out editor, set the threshold of 2000-4100
Value scope interacts modification, extracts 14 mandibular dentitions three for possessing complete root information
Dimension module, dental arch model exports as the three-dimensional modeling data of STL forms, is named as Model B；
C model A and Model B together) are imported into Geomagic Studio 2012 (U.S.)
In software, the common region of two model upper tooth crown moieties is selected, entered automatically by software I CP algorithms
Row Optimum Matching, completes the position registration of model A and Model B；Calculate the two denture region
Registration error is 0.21 ± 0.23mm, and registration is relatively preferable, and assessment can carry out data and melt
Close；
D) in the softwares of Geomagic Studio 2012, on model A mandibular dentition models,
By picking up the nearly middle tongue side corner cut point of lower-left central incisor and the nearly middle cheek sharp apex of bilateral first molar,
3 points of foundation | tooth is closed | plane；Tongue side corner cut point is origin of coordinates O during central incisor is near, bilateral the
One grind one's teeth in sleep it is near in cheek sharp apex line direction be X-direction, | tooth is closed | perpendicular to X-axis in plane
Direction be Y direction, cross O points perpendicular to the direction of XOY plane be Z-direction, Z axis
Positive direction is | tooth is closed | to setting up model coordinate systems；X-axis, Y-axis are the axle parallel to ground
Line direction, Z axis are the axis direction perpendicular to ground；
E) in the softwares of Geomagic Studio 2012, use " creating border from batten "
Function, describes every hat gum boundary line of tooth and forms each independent successively on model A
The gum edge line of closed loop curve, optical scan data corona lip buccal side and tongue side is clearly easily picked up, adjacent
When gum rim circle of adjoiner is picked up between tooth it is appropriate along dental surface be partial to Z axis positive direction 1mm with
Intersection is produced between avoiding each closed loop curve, boundary line A is named as；By boundary line A along coordinate system
Z axis negative direction (root side) bias 1mm, are sought in Model B using " curve projection " function
Looking for the mode of the nearest subpoint of drop shadow curve (boundary line A) sampled point carries out curve projection,
So as to create the projected boundary line B in Model B, the crown root line of demarcation that as present invention is created；
F) in the softwares of Geomagic Studio 2012, with boundary line A as line of demarcation, choosing
Take and on case-deleted models A along the data below Z axis negative direction hat gum line of demarcation, only retain high score
The corona data of resolution, with boundary line B as line of demarcation, choose and on case-deleted models B along Z axis
Corona data more than positive direction crown root boundary line, only retain CBCT root datas；
G) in the softwares of Geomagic Studio 2012, it is segmented cut out after model A teeth
There is a white space band between hat and Model B root data, in use " filling perforation " function
" curvature bridging " and " curvature filling perforation " function automatic sewing gap band, realizes gap band both sides
Data second dervative continuously moves shape transition, so as to complete the one of three-dimensional corona, root data
Change fusion.
ICP algorithm：Iteration closest approach (Iterative Closest Point, ICP) algorithm.
The invention will be further described below.
1st, the fusion method of crown root threedimensional model
The key data source of root of the tooth three-dimensional modeling is oral cavity CBCT, it is contemplated that correction, orthognathous
The need for full denture and jawbone field range, the optimal body layer that main flow equipment can reach is differentiated
Rate is about 100~200 μm, and the corona data being imaged under this resolution ratio are more coarse, fine solution
Cut open structure to lose mostly, it is impossible to meet the design of clinical oral bite analysis, appliance and guide plate
Demand.Optical scanning technique (including dentognathic model scanning technique and intraoral scanning technique etc.) is still
It is so the main flow acquisition modes of clinical oral high accuracy tooth jaw (mainly corona) mathematical model,
Precision can reach 5 μm, can make up the not good enough problem of CBCT data corona precision, the two number
According to fusion be that clinic needs to be also development trend.But the precision of CBCT and optical scanner with point
Resolution difference is larger, and how the two model accomplishes that the linking of nature transition is crown root data fusion
Technological difficulties.
Research in the past rests on hat, single data weight mostly for the report that crown root three-dimensional data is integrated
Folded and registration degree, until American scholar Enciso in 2003 etc. is by CBCT jawbones and tooth
Root model is integrated with optical scanner dental arch model and mandibular movement model three, is realized virtual
Mandibular movement is analyzed, and its crown root data realizes integral fusion, but specific method is reported；
Italian scholar Macchi in 2006 etc. is removed to optical scanner dental arch model using Plane Crop
Most of gum data, and single tooth position individual segmentation is carried out to remaining corona and gingival model, often
It is individual be partitioned into the corresponding CBCT root models (having removed corona) of corona model are carried out
Merge, so as to be sequentially completed the crown root data fusion of full denture.The software operation of the method is relative
Complexity, and the corona and gum data separating of optical scanner be not thorough, causes the list of final fusion
There is some difference with actual teeth anatomic form for dental cast.Week in 2010 is brilliant to be waited, 2011
High first-class, Tang Min in 2012 etc. and Guo Hong inscriptions in 2013 etc. are reported by customized respectively
Reference planes (having three highly minimum gingival margin lines of gum in denture to build) are matched somebody with somebody to position
Optical scanner and CBCT dental arch models carry out segmentation and cut out after standard, retain optics die crown portion
Divided data and CBCT root of the tooth partial datas, and the two data for retaining is merged into completion hat
Single data is merged.This process simplify software operating process, full denture crown root, hat are completed in batches
Gum data cut out segmentation, are easy to the clinician to operate, but still suffer from hat gum and separate not thoroughly,
Fused data form is dissected with actual teeth and had differences, and crown root juncture area form forfeiture etc. is no
Foot.Therefore, come of age gum data dividing method present invention employs a kind of new crown root, that is, passed through
Gum edge line on interactively pick-up optical scanner dentognathic model, Accurate Segmentation corona, gum data,
Again curve is integral biased and projection by way of obtain glaze cementum imitated on CBCT dental arch models
The crown root line of demarcation of boundary's profile, so as to realize bionical batch crown root segmentation.It is of the invention and then right
Corona, the root of the tooth discrete model of rear separate sources are cut out in segmentation, by continuous based on second dervative
Continual curvature suture algorithm carry out intermediate zone form it is natural shifting shape structure, it is achieved thereby that with
The crown root three-dimensional fusion effect that physiology anatomic form is approached the most.
2nd, the clinical practice of crown root Fusion Model
Digitizing technique is more and more deep in the application of orthodontic field, and totally digitilized correction is
Development trend, wherein, diagnosis row's tooth is the basis of orthodontic treatment.The traditional plaster cast of correction
Diagnosis row tooth is just gradually by numeral row's tooth substitution, but the number stamp based on only corona information
Carry out numeral row's tooth, inevitable bone cracking, the risk of fenestration.Number with root information
Word denture+jawbone model, is to digitize the ideal model that orthodontic diagnosis arrange tooth.By high accuracy
The crown root Fusion Model of corona information and root information, the diagnostic design of orthodontist can be abundant
Asked with anatomic form, root of the tooth and alveolar bone relation, occlusal contact condition relation etc. in view of root of the tooth direction
Topic.Crown root Fusion Model is alternatively invisible orthotic device without bracket design and Customized lingual appliance
Design provides safely and reliably numerical diagnostic design.
In oral cavity orthognathic surgery field, crown root Fusion Model can be used for the operation plan of digital orthognathous
Design, integrates the crown root Fusion Model of root of the tooth, jawbone and high accuracy corona occlusal surface information, is
Design and produce the basis of orthognatic surgery bite guide；Crown root Fusion Model is in tooth-planting field master
To be used as the design of numeral plantation guide plate, CBCT roots of the tooth, jawbone information are used for implant operation side
The design of case, accurate corona information can provide the accurate in place of plantation guide plate.Additionally, crown root
Fusion Model will be expected to have more applications on periodontal, tooth body endodontic procedure from now on.
| tooth is closed | and (occlusion) is also referred to as occlusion, refers to the Static Contact between upper and lower dentition
Relation.
As described above, just more can sufficiently realize the present invention.The foregoing is only of the invention
Relatively reasonable embodiment, protection scope of the present invention includes but is not limited to this, ability
The technical staff in domain is any to be included based on unsubstantiality denaturation change in technical solution of the present invention
Within the scope of the present invention includes.
Claims (3)
1. a kind of crown root threedimensional model fusion method, it is characterised in that comprise the following steps：
1) dentition impression or tooth jaw plaster cast are produced, optical scanner obtains 3-dimensional digital denture
Model；
2) extracted by Maxillary region CBCT scan datas and rebuild three dimensions with complete root information
Word dental arch model；
3) based on ICP algorithm, according to corona common region to step 1) obtain 3-dimensional digital
Dental arch model and step 2) obtain 3-dimensional digital dental arch model carry out position registration；
4) set up and be based on | tooth is closed | the model coordinate systems of plane；
5) by extracting hat gum boundary line, and quantitative biasing, the method for projection are taken, is created
Crown root boundary line；
6) based on hat gum and crown root boundary line respectively to step 1) obtain 3-dimensional digital denture mould
Type and step 2) the 3-dimensional digital dental arch model that obtains carries out segmentation and cuts out；
7) the natural mistake of corona and root model after being realized to cutting out based on continual curvature algorithm
Suture is crossed, the integral fusion of three-dimensional crown root data is completed.
2. a kind of crown root threedimensional model fusion method as claimed in claim 1, its feature exists
In：Step 3) described in position registration be：To optical scanner with gum and corona information
Three-dimensional dental arch model, the three-dimensional dental arch model with root of the tooth and corona information rebuild with CBCT
Overall coordinate transform is carried out, crown region is overlapped, so that two model integral position relations
Association is produced, the aligned in position of corona superposition is realized.
3. a kind of crown root threedimensional model fusion method as claimed in claim 1, its feature exists
In：Step 7) described in continual curvature algorithm be based on the continuous triangle gridding mould of second dervative
Type reparation sutures algorithm, can realize intermediate zone form between the corona through cutting out and root of the tooth threedimensional model
It is natural shifting shape suture, realize based on continual curvature three-dimensional crown root data integral fusion.
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| CN111214299A (en) * | 2020-02-10 | 2020-06-02 | 北京大学口腔医学院 | Manufacturing method of orthodontic micro-screw guide plate and orthodontic micro-screw guide plate |
| CN112833813A (en) * | 2020-12-30 | 2021-05-25 | 北京大学口腔医学院 | Uninterrupted scanning method for three-dimensional scanning in multi-tooth-position mouth |
| WO2022174747A1 (en) * | 2021-02-18 | 2022-08-25 | 无锡时代天使医疗器械科技有限公司 | Method for segmenting computed tomography image of teeth |
| CN114028013A (en) * | 2021-06-02 | 2022-02-11 | 上海博恩登特科技有限公司 | Oral impression and imaging method thereof |
| CN113995539A (en) * | 2021-10-25 | 2022-02-01 | 北京大学口腔医院 | Method and system for constructing breast crown physiological database |
| WO2023143461A1 (en) * | 2022-01-25 | 2023-08-03 | 上海时代天使医疗器械有限公司 | Method for generating three-dimensional digital dental model |
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