CN106806030B - 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 methods, there is following steps：Dentition impression or tooth jaw plaster cast are produced, optical scanner obtains 3-dimensional digital dental arch model；The 3-dimensional digital dental arch model for possessing complete root information is rebuild by the extraction of Maxillary region cone beam CT scan data；Based on ICP algorithm, the 3-dimensional digital dental arch model rebuild to optical scanner and CBCT according to corona common region carries out position registration；Establish | tooth closes | the model coordinate systems of plane；The method be preced with gum boundary line by extraction and quantify biasing, projection creates crown root boundary line；It is split and is cut out based on the dental arch model that hat gum and crown root boundary line respectively rebuild optical scanner and CBCT；Integral fusion based on the three-dimensional corona of continual curvature algorithm completion, root data.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 methods, and in particular to a kind of crown root based on continual curvature algorithm
Threedimensional model fusion method.
Background technology
With the development of dentistry digitizing technique, number stamp technology and Medical Imaging Technology are by more and more widely
Applied to the diagnosis and analysis of mouth disease, wherein with conical beam CT (Cone bean computed tomography, CBCT)
Technology, dentognathic model scanning technique, scanning technique application report is more in mouth.CT/CBCT class medical image layer scanning technologies
It can obtain that patient's mouthful Maxillary region is soft, three-dimensional datas of sclerous tissues, be unique number of reconstruction patients root of the tooth, jawbone threedimensional model
According to acquisition channel, data precision is about 100-200 μm under the big visual field.Number stamp technology is mainly optical scanning technique, packet
Scanning technique in dentognathic model scanning technique and mouth is included, application is also relatively broad, and mainstream can reach 5-10 μm of three-dimensional modeling essence
Degree can obtain high-resolution three-dimensional corona fine anatomic structure feature (point, nest, ditch, ridge etc.), for mouth cavity orthodontic, orthognathous outside
Section, oral restoration application Digitization Software virtually adjust | and tooth closes | and number is built | tooth closes |, and then realize digitized treatment
Conceptual design and surgical guide design provide necessary data basis.The current development trend of clinical oral is by three-dimensional shadow
It is combined as learning data and optical scan data, plays the respective advantage of the two, carry out comprehensive diagnostic analysis and operation designing.It is special
Be not optical scanner corona data is registrated and merges aspect with CBCT root datas, is mouth cavity orthodontic and orthognathous field are closed in recent years
The focus of note, digitize orthodontic technology in root of the tooth diagnosis row tooth and digitize orthognathous in bite guide design all with this
Technology is closely related.
Domestic and foreign scholars are only to realize mostly to the reorganizing research of optical scanner corona data and CBCT root datas
The registration of hat, root three-dimensional data, the i.e. coincidence of threedimensional model are superimposed, and are existed largely according to redundancy between lamination model.In the past about hat
Single data fusion research exist a degree of hat gum come of age single data segmentation effect it is bad, merge rear portion divide anatomic form
The deficiencies of information is lost and real anatomy form has differences, transition is unnatural at model merging.The present invention explores a kind of new
Hat, root three-dimensional data fusion method realize that optical scanner corona model and the natural transition of CBCT reconstruction root models merge, from
Obtain the crown root three-dimensional fusion model of more approaching to reality tooth (corona and root of the tooth) physiology anatomic form.
Invention content
(1) technical problems to be solved
The crown root threedimensional model fusion method based on continual curvature algorithm that the object of the present invention is to provide a kind of realizing optics
The natural transition of scanning corona model and CBCT reconstruction root model is merged, from more approaching to reality tooth is obtained from obtaining more
The crown root three-dimensional fusion model of approaching to reality tooth (the physiology anatomic form for including corona and root of the tooth).
(2) technical solution
A kind of crown root three-dimensional data fusion method of the present invention, includes the following steps：
A kind of crown root threedimensional model fusion method, includes the following steps：
1) dentition impression or tooth jaw plaster cast are produced, optical scanner obtains 3-dimensional digital dental arch model；
2) the 3-dimensional digital dental arch model with complete root information is rebuild by the extraction of Maxillary region CBCT scan datas；
3) ICP algorithm, the 3-dimensional digital dental arch model obtained to step 1) according to corona common region and step 2) are based on
The 3-dimensional digital dental arch model of acquisition carries out position registration；
4) establish and be based on | tooth closes | the model coordinate systems of plane；
5) method be preced with gum boundary line by extraction, and take quantitative biasing, projection, creates crown root boundary line；
6) hat gum and crown root boundary line is based on respectively to obtain the 3-dimensional digital dental arch model and step 2) of step 1) acquisition
3-dimensional digital dental arch model be split and cut out；
7) it realizes that the natural transition to corona and root model after cutting out sutures based on continual curvature algorithm, completes three-dimensional
The integral fusion of crown root data.
Wherein, position registration described in step 3) is：The three-dimensional denture mould of gum and corona information is carried to optical scanner
Type carries out whole coordinate transform with the three-dimensional dental arch model with root of the tooth and corona information that CBCT is rebuild, makes crown region weight
It closes, to make two model integral position relationships generate association, realizes the aligned in position of corona superposition.
Wherein, continual curvature algorithm described in step 7) is based on the continuous triangle grid model reparation suture of second dervative
Algorithm can realize the natural shifting shape suture of intermediate zone form between the corona through cutting out and root of the tooth threedimensional model, realize and be based on curvature
The integral fusion of continuous three-dimensional crown root data.
(3) advantageous effect
The advantage of the invention is that：It realizes optical scanner corona data and the natural transition of CBCT reconstruction root datas is melted
It closes, from the crown root three-dimensional fusion model for obtaining approaching to reality tooth (the physiology anatomic form for including corona and root of the tooth).The present invention
Pioneering crown root threedimensional model fusion method can realize that the crown root of 28 teeth of half mouthful of 14 tooth or full mouth is three-dimensional quickly, in batches
Model Fusion, by suturing the natural shifting shape that algorithm carries out crown root intermediate zone form based on the continuous continual curvature of second dervative
Construction method is, it can be achieved that the crown root three-dimensional fusion effect approached the most with physiology anatomic form.
Description of the drawings
Fig. 1 is that present invention hat, root model cut out the schematic diagram of rear existing gap band respectively；
The schematic diagram for the crown root three-dimensional fusion model lip side that Fig. 2 is sutured based on continual curvature transition；
The schematic diagram for the crown root three-dimensional fusion model tongue side that Fig. 3 is sutured based on continual curvature transition.
Specific implementation mode
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
A kind of crown root threedimensional model fusion method, includes the following steps：
1) dentition impression or tooth jaw plaster cast are produced, optical scanner obtains 3-dimensional digital dental arch model；
2) the 3-dimensional digital dental arch model with complete root information is rebuild by the extraction of Maxillary region CBCT scan datas；
3) ICP algorithm, the 3-dimensional digital dental arch model obtained to step 1) according to corona common region and step 2) are based on
The 3-dimensional digital dental arch model of acquisition carries out position registration；
4) establish and be based on | tooth closes | the model coordinate systems of plane；
5) method be preced with gum boundary line by extraction, and take quantitative biasing, projection, creates crown root boundary line；
6) hat gum and crown root boundary line is based on respectively to obtain the 3-dimensional digital dental arch model and step 2) of step 1) acquisition
3-dimensional digital dental arch model be split and cut out；
7) it realizes that the natural transition to corona and root model after cutting out sutures based on continual curvature algorithm, completes three-dimensional
The integral fusion of crown root data.
Position registration is described in the step 3)：The three-dimensional denture mould of gum and corona information is carried to optical scanner
Type carries out whole coordinate transform with the three-dimensional dental arch model with root of the tooth and corona information that CBCT is rebuild, makes crown region weight
It closes, to make two model integral position relationships generate association, realizes the aligned in position of corona superposition.
Continual curvature algorithm described in the step 7) is based on the continuous triangle grid model reparation suture of second dervative
Algorithm can realize the natural shifting shape suture of intermediate zone form between the corona through cutting out and root of the tooth threedimensional model, realize and be based on curvature
The integral fusion of continuous three-dimensional crown root data.
A kind of crown root threedimensional model fusion method of the present invention, including step in detail below：
A stamp) is produced, plaster cast processed is turned over, uses SmartOptics (Germany) dentognathic model scanner scanning lower jaw stone
Cream model obtains 3-dimensional digital dental arch model, exports the three-dimensional data of STL formats, is named as model A；Use NewTomVGi (meanings
Big profit) conical beam CT is the big visual field orthodontic diagnosis digitized video of patient, after the completion of shooting, differentiated with the body of 0.125mm
Rate rebuilds data, exports DICOM format body layer data；
B DICOM format body layer data) is imported into Mimics17.0 (Belgium) software, application software Threshold segmentation, region
Increase, the function of masking-out editor, the threshold range for setting 2000-4100 interacts modification, extracts 14 and possess complete tooth
The mandibular dentition threedimensional model of root information, dental arch model export as the three-dimensional modeling data of STL formats, are named as Model B；
C it) will import in Geomagic Studio 2012 (U.S.) software, selected on two models together with model A and Model B
The common region of corona part carries out Optimum Matching by software I CP algorithms, completes the position registration of model A and Model B automatically；
The registration error for calculating the two denture region is 0.21 ± 0.23mm, and registration is relatively preferable, and assessment can carry out data fusion；
D it) in 2012 softwares of Geomagic Studio, on model A mandibular dentition models, is cut by picking up in lower-left
The closely middle tongue side corner cut point of tooth and the closely middle cheek sharp apex of bilateral first molar, 3 points of foundation | tooth closes | plane；The closely middle tongue side of central incisor
Corner cut point is coordinate origin O, and the closely middle cheek sharp apex line direction of bilateral first molar is X-direction, | tooth closes | and it is vertical in plane
It is Y direction in the direction of X-axis, it is Z-direction to cross O points perpendicular to the direction of XOY plane, and Z axis positive direction is | tooth closes | to building
Vertical model coordinate systems；X-axis, Y-axis are to be parallel to the axis direction on ground, and Z axis is the axis direction perpendicular to ground；
E) in 2012 softwares of Geomagic Studio, " creating boundary from batten " function is used, on model A successively
Describe the hat gum boundary line of every tooth and forms separate closed loop curve, optical scan data corona lip buccal side and tongue side
Gum edge line clearly easily pick up, be suitably biased to Z axis positive direction 1mm along dental surface when the gum rim circle pickup of adjoiner between adjacent teeth
To avoid intersection is generated between each closed loop curve, it is named as boundary line A；Boundary line A is biased along coordinate system Z axis negative direction (root side)
1mm, using " curve projection " function to find the side of the nearest subpoint of drop shadow curve (boundary line A) sampled point in Model B
Formula carries out curve projection, to create the projected boundary line B in Model B, the crown root line of demarcation that as present invention creates；
F) in 2012 softwares of Geomagic Studio, using boundary line A as line of demarcation, simultaneously case-deleted models A upper edges Z is chosen
Axis negative direction is preced with gum line of demarcation data below, only retains high-resolution corona data, using boundary line B as line of demarcation, chooses
And corona data more than case-deleted models B upper edge Z axis positive direction crown roots boundary line, only retain CBCT root datas；
G) in 2012 softwares of Geomagic Studio, it is segmented cut out after model A coronas and Model B root data
Between there are a white space band, use " curvature bridging " and " curvature filling perforation " the function automatic sewing gap in " filling perforation " function
Band realizes that two side data second dervative of gap band continuously moves shape transition, to complete the integration of three-dimensional corona, root data
Fusion.
ICP algorithm：Iteration closest approach (Iterative Closest Point, ICP) algorithm.
The invention will be further described below.
1, 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 regard full denture and jawbone
The needs of wild range, the optimal body layer resolution ratio that mainstream equipment can reach is about 100~200 μm, is imaged under this resolution ratio
Corona data are more coarse, and fine anatomic structure is lost mostly, cannot be satisfied clinical oral bite analysis, appliance and guide plate and set
The demand of meter.Optical scanning technique (including scanning technique etc. in dentognathic model scanning technique and mouth) is still that clinical oral is high-precision
The mainstream acquisition modes of tooth jaw (mainly corona) mathematical model are spent, precision can reach 5 μm, can make up CBCT data corona essence
Not good enough problem is spent, the fusion of the two data is that clinic needs to be also development trend.But CBCT and the precision of optical scanner with point
Resolution difference is larger, and how the two model accomplishes that the linking of nature transition is the technological difficulties of crown root data fusion.
Previous research rests on hat mostly for the report that crown root three-dimensional data is integrated, single data is overlapped and the journey of registration
Degree, until American scholar Enciso in 2003 etc. is by CBCT jawbones and root model and optical scanner dental arch model and mandibular movement
Model three integrates, and realizes virtual mandibular movement analysis, crown root data realize integral fusion, but specific method is not
It reports；Italian scholar Macchi in 2006 etc. removes most of gum number to optical scanner dental arch model using Plane Crop
According to, and single tooth position individual segmentation is carried out to remaining corona and gingival model, be each partitioned into corona model is corresponding
CBCT root models (having removed corona) merge, to be sequentially completed the crown root data fusion of full denture.This method it is soft
Part operation is relative complex, and the corona of optical scanner and gum data separating are not thorough, cause the single dental cast finally merged with
There is some difference for actual teeth anatomic form.All brilliant equal, 2011 high first-class, Tang Min in 2012 in 2010 etc. and Guo in 2013
Macro inscription etc. reports respectively (has three gingival margin line structures that gum height is minimum in denture by customized reference planes
Build) optical scanner after position registration and CBCT dental arch models are split and are cut out, retain optics die corona partial data and
CBCT root of the tooth partial datas, and the data that the two retains are merged and complete crown root data fusion.This process simplify softwares
Operating process, completes full denture crown root, hat gum data cut out segmentation in batches, is operated convenient for clinician, but there are still be preced with gum
The deficiencies of separation is not thorough, and fused data form has differences with actual teeth dissection, and crown root juncture area form is lost.Cause
This, comes of age gum data dividing method present invention employs a kind of new crown root, that is, passes through interactively pick-up optical scanner dentognathic model
On gum edge line, Accurate Segmentation corona, gum data, then curve it is integral biased and projection by way of obtain CBCT denture moulds
The crown root line of demarcation that enamelo-cemental junction profile is imitated in type, to realize bionical batch crown root segmentation.The present invention is in turn to segmentation
Corona, the root of the tooth discrete model for cutting out rear separate sources suture algorithm progress by being based on the continuous continual curvature of second dervative
The natural shifting shape of intermediate zone form is built, to realize the crown root three-dimensional fusion effect approached the most with physiology anatomic form.
2, the clinical application 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 diagnosis row tooth of correction is just gradually replaced by number row's tooth, however
Number stamp based on only corona information carries out number row's tooth, inevitable bone cracking, fenestration risk.Believe with root of the tooth
The digital dentition of breath+jawbone model is the ideal model for digitizing orthodontic diagnosis row's tooth.By high-precision corona information and root of the tooth
The crown root Fusion Model of information, the diagnostic design of orthodontist can fully take into account root of the tooth direction and anatomic form, root of the tooth with
The problems such as alveolar bone relationship, occlusal contact condition relationship.Crown root Fusion Model is alternatively invisible orthotic device without bracket design and personalization
The design of lingual orthodontics device provides safely and reliably numerical diagnostic design scheme.
In oral cavity orthognathic surgery field, the operation plan that crown root Fusion Model can be used for digital orthognathous designs, integration root of the tooth,
The crown root Fusion Model of jawbone and high-precision corona occlusal surface information, is the basis for designing and producing orthognatic surgery bite guide；Hat
Root Fusion Model is mainly used as the design of number plantation guide plate in tooth-planting field, and CBCT roots of the tooth, jawbone information are for planting
The design of operation plan, accurate corona information can provide the accurate in place of plantation guide plate.In addition, crown root Fusion Model from now on will
It is expected to there are more applications on periodontal, tooth body endodontic procedure.
| tooth closes | and (occlusion) is also referred to as engaged, and refers to the Static Contact relationship between upper and lower dentition.
As described above, the present invention more can be realized adequately.The foregoing is merely the relatively reasonable implementations of the present invention
Example, protection scope of the present invention include but is not limited to this, and those skilled in the art is any to be based on the technology of the present invention side
Unsubstantiality denaturation change is included within the scope of the present invention includes in case.
Claims (2)
1. a kind of crown root threedimensional model fusion method, it is characterised in that include the following steps：
1) dentition impression or tooth jaw plaster cast are produced, optical scanner obtains 3-dimensional digital dental arch model；
2) the 3-dimensional digital dental arch model with complete root information is rebuild by the extraction of Maxillary region CBCT scan datas；
3) ICP algorithm, the 3-dimensional digital dental arch model obtained to step 1) according to corona common region and step 2) acquisition are based on
3-dimensional digital dental arch model carry out position registration；
4) establish and be based on | tooth closes | the model coordinate systems of plane；
5) method be preced with gum boundary line by extraction, and take quantitative biasing, projection, creates crown root boundary line；
6) the three of 3-dimensional digital dental arch model and step 2) acquisition that hat gum and crown root boundary line respectively obtain step 1) are based on
Dimension word dental arch model, which is split, to be cut out；
7) it realizes that the natural transition to corona and root model after cutting out sutures based on continual curvature algorithm, completes three-dimensional crown root
The integral fusion of data；
Continual curvature algorithm described in step 7) is to suture algorithm based on the continuous triangle grid model reparation of second dervative, can be real
Now the natural shifting shape of intermediate zone form sutures between the corona through cutting out and root of the tooth threedimensional model, realizes the three-dimensional based on continual curvature
The integral fusion of crown root data.
2. a kind of crown root threedimensional model fusion method as described in claim 1, it is characterised in that：Match position described in step 3)
Standard is：The three-dimensional dental arch model that gum and corona information are carried to optical scanner is believed with what CBCT was rebuild with root of the tooth and corona
The three-dimensional dental arch model of breath carries out whole coordinate transform, and crown region is made to overlap, to make two model integral position relationship productions
Raw association, realizes the aligned in position of corona superposition.
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