CN106875432A - Remporomandibular joint moves method for reconstructing and system - Google Patents
Remporomandibular joint moves method for reconstructing and system Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0007—Image acquisition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30036—Dental; Teeth
Abstract
The present invention provides a kind of remporomandibular joint motion method for reconstructing and system, by gathering the image sequence that photographer is opened and closed the mark locus of points of mouth mandibular movement；Determination to all mark point three-dimensional coordinates on intraoral fixation mark device in every two field picture, obtains mark point movement locus in space, the CBCT images of the CBCT images of fixation mark device and collection photographer in collection port；The mark point of the CBCT images of intraoral fixation mark device and video camera are shot the mark point for obtaining carries out registering, the transformation matrix of acquisition mark point motion；Rigid body translation is carried out to the CBCT images of photographer using transformation matrix, the CBCT image sequences of photographer are obtained, and obtains the motion image of temporomandibular joint.The present invention is obtained in that the condyle of mandible of human body remporomandibular joint and the real motion situation of facies articularis fossae mandibularis, can be used for the auxiliary diagnosis of temporomandibular joint disease, the dynamic analysis of joint motions, increase the means of remporomandibular joint diagnosis, auxiliary improves the accuracy and efficiency of diagnosis, improves the quality and efficiency of medical treatment.
Description
Technical field
Belong to medical science photovoltaic applications field the present invention relates to a kind of remporomandibular joint motion method for reconstructing and system.
Background technology
In recent years, with the development of image technique, and clinical assistant diagnosis equipment continuous renewal, based on optical skill
Appearance, innovation and the popularization of art equipment, for the development of clinical medicine level particularly oral cavity face amount medical science provides favourable bar
Part.
It is main for the analysis of remporomandibular joint at this stage to have based on radiographic viewing techniques and traced a little based on face
The means such as the dynamic motion trajectory analysis of tracking technique.Radiographic viewing techniques can only analyze articular surface and the joint of inactive state
It is prominent, and joint disease is often a dynamic process for complexity, the factor that can be analyzed by static images is very limited.It is based on
Although the analysis means of facial trace can provide dynamic information, because can be influenceed by surface soft tissue, can not
It is accurate to characterize joint motion conditions in itself.And it is also existing for directly reconstructing out the truth of the dynamic motion in joint
Into device and system realize, can carry out approximate analysis using some external 3 d modeling softwares individually, and joint now
The diagnosis of disease also relies on these not perfect information and speculates that remporomandibular joint really moves feelings by the experience of doctor
Condition and then carry out the diagnosis and treatment of disease.
The content of the invention
Therefore, for the deficiency of technology today, the present invention proposes a kind of remporomandibular joint motion method for reconstructing and system,
The reconstruction of remporomandibular joint real motion situation can not only be realized, is the Image-aided diagnosis of joint disease, there is provided stronger
Iconography means, allow doctor intuitively to observe the real motion conditions of patient articular, improve the accuracy of clinical diagnosis and treatment, drop
The difficulty of low diagnosis, also with strong applicability, the low advantage of acquisition cost.And its motion result rebuild is with higher
The free degree.
Technical solution of the invention is：
A kind of remporomandibular joint moves method for reconstructing, comprises the following steps：
S1, the intraoral fixation mark device for making the person of being taken, including upper denture retainer, mandibular dentition retainer, extension
Arm and mark point, allow the person of being taken to wear the intraoral fixation mark device, by intraoral fixation mark device along tooth when wearing
Press-in, the mark point for being fixed on denture retainer is Mu1、Mu2、Mu3、Mu4、Mu5, it is fixed on the mark of mandibular dentition retainer
Note point is Md1、Md2、Md3、Md4、Md5；
S2, demarcated using Zhang Zhengyou camera marking methods in binocular vision technology, and obtained the ginseng of camera group
Number；The camera lens line of centres is X-axis, parallel to the ground, Y-axis perpendicular to ground, Z axis perpendicular to X-axis and Y-axis, set up with
Two midpoints of video camera are the three-dimensional system of coordinate of world coordinates origin；
S3, allow the person of being taken just to the origin of coordinates stand, make the person of being taken face in camera A it is common with camera B
Shooting area, allow the person of being taken in accordance with diagnosis or testing requirement do joint motions, using optical pickup collection be taken
The image sequence of person；
The CT shadows of S4, the respectively intraoral fixation mark device of the upper jaw of the collection person of being taken and the intraoral fixation mark device of lower jaw
As data, the CT image datas of the person's of being taken remporomandibular joint are collected；
S5, using image processing algorithm extract mark point M in t in camera A and camera B acquired images
Coordinate ml(ul, vl) and mr(ur, vr), and parameter each mark point t of calculating of camera is combined accordingly in world coordinate system
In space coordinates Mt(x, y, z), for each two field picture of motion video sequence repeat the operation obtain mark point M in this when
Space coordinates-time matrix the MT of section；
S6, the space coordinates M for being utilized respectively the above-listed mark point group of tu1(t)、Mu2(t)、Mu3(t)、Mu4(t)、Mu5
The space coordinates M of the mark point group of (t) and lower jawd1(t)、Md2(t)、Md3(t)、Md4(t)、Md5T () collects with reference to step S4
Intraoral fixation mark device CT image datas, the upper denture retainer of intraoral fixation mark device for being identified is determined respectively
With mandibular dentition retainer in the spatial positional information of t；
S7, the CT image datas that the person of being taken is processed using image processing algorithm, are partitioned into the upper and lower jaw of the person of being taken
Bone；And by segmentation after upper mandibular portions in denture information carried out with the denture retainer part of intraoral fixation mark device
Registration, is converted to the motion of upper and lower jawbone, so as to obtain the motion conditions of remporomandibular joint by the motion of retainer.
Further, step S1 is comprised the following steps：
The upper denture retainer of S11, respectively making, mandibular dentition retainer；
S12, at upper lower jaw transparent holder is from left side canine tooth to the nearly bead in right side canine tooth lip side determine equidistant 5 respectively
Individual site is simultaneously marked with mark, and site is ground using the straight machine diamond dust car stylus printer of dentistry low speed, makes rough surface；
S13,10 adjutages for being about 5mm are bent using diameter 0.7mm stainless steel round wire, 10 are made using crystal mud
The spherical mark point of diameter about 2.5mm；
S14, fixed by one end perpendicular contact retainer labial surface site of adjutage and with light-cured resin, other end insertion
Spherical mark point.
Further, step S5 is comprised the following steps：
S51, operating personnel click mark point M component drawings pictures in the result images that camera A and camera B is gathered manually
Arbitrfary point S in regionl、Sr；
S52, respectively with Sl、SrFor seed point uses region growing algorithm to the image-region of mark point component；
The barycenter P of the results area after region increases in S53, respectively acquisition camera acquisition imagel(ul,vl)、Pr(ur,
vr) as marker assemblies central point respectively in camera acquisition image coordinate Ml(ul,vl)、Mr(ur,vr)；
S54, the center point coordinate m using the mark point component in different cameras collection imagel(ul,vl)、mr(ur,
vr), join with reference to outside the interior participation of video camera, using binocular vision theoretical calculation current markers point component M in world coordinate system
Space coordinates M (x, y, z)；
S55, repeated for each two field picture of motion video sequence the operation obtain mark point M in the moment space sit
Mark-time matrix MT；Operation as above is done to each mark point respectively, the space coordinates-time square of each mark point is obtained respectively
Battle array MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2, MTd3, MTd4, MTd5。
Further, step S6 comprises the following steps：
S61, according to matrixing formula, the space coordinate conversion for first calculating binocular vision to CBCT images
In the middle of coordinate system, this step is needed to space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2, MTd3, MTd4, MTd5's
The space coordinates of the first frame carries out matrixing according to the mark point in the middle of CBCT images, is calculated transformation matrix
MCamer2CT, mCamera2CT are exactly coordinate system transformation matrix；
S62, coordinate system transformation matrix is obtained, then by space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2,
MTd3, MTd4, MTd5The space coordinates of each frame is multiplied by mCaera2CT transformation matrixs, all of space coordinates is mapped to CBCT
In the middle of the coordinate system of image；
S63, according to matrixing formula same in step, by space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5,
MTd1, MTd2, MTd3, MTd4, MTd5Each frame space coordinates all calculates transformation matrix with the first frame, obtains transformation matrix sequence, this
Individual transformation matrix sequence just delivers the movable information of jaw displacements, and coordinate transform is carried out to CBCT voxels for next step.
Further, step S7 comprises the following steps：
The segmentation of S71, image：CT data to the person of being taken use Threshold Segmentation Algorithm, are partitioned into the bone of the person of being taken
Information, is respectively adopted seed fill algorithm and is partitioned into maxilla and mandibular to upper and lower jawbone region in the result of Threshold segmentation；
S72, image registration：Denture in denture information in the CT data of the person of being taken and intraoral fixation mark device is protected
Holder part carries out registration using the Rigid Registration method of distinguished point based, the transformation matrix sequence TM obtained using step S6i
Rigid body translation is carried out to CT images, the CT images of each moment positions of maxilla and mandible are obtained, the one group of CT image frame for finally giving
Sequence composition CT image dynamic videos.
Described in a kind of use any of the above-described remporomandibular joint move method for reconstructing system, including mark point detection mould
Module is rebuild in block, video acquisition module, image processing module and motion,
The detection module of mark point, allows the person of being taken to wear the intraoral fixation mark device, by intraoral fixed mark when wearing
Note device is pressed into along tooth, and the mark point for being fixed on denture retainer is Mu1、Mu2、Mu3、Mu4、Mu5It is fixed on lower tooth
The mark point of row retainer is Md1、Md2、Md3、Md4、Md5；
Video acquisition module, is camera A and camera B using two video cameras, using in binocular vision technology just
Friendly camera marking method is demarcated, and obtains the parameter of camera group；Set up by the world of two midpoints of video camera and sit
The three-dimensional system of coordinate of origin is marked, allows the person of being taken just to be stood to the origin of coordinates, make the person's of being taken face in camera A and shooting
Head B common shooting area, allows the person of being taken to do joint motions in accordance with diagnosis or testing requirement, is gathered using optical pickup
The image sequence of the person of being taken；The intraoral fixation mark device of the upper jaw of the collection person of being taken and the intraoral fixation mark of lower jaw respectively is filled
The CT image datas put, collect the CT image datas of the person's of being taken remporomandibular joint；
Image processing module, mark point m is extracted using image processing algorithmtIn t in camera A and camera B institutes
Coordinate m in the image of collectionl(ul, vl) and mr(ur, vr), and parameter each mark point t of calculating of camera is combined accordingly
Space coordinates m in world coordinate systemt(x, y, z), repeats the operation and obtains for each two field picture of motion video sequence
Mark point mtIn the space coordinates-time matrix MT of the period；It is utilized respectively the space coordinates M of the above-listed mark point group of tu1
(t)、Mu2(t)、Mu3(t)、Mu4(t)、Mu5The space coordinates M of the mark point group of (t) and lower jawd1(t)、Md2(t)、Md3(t)、Md4
(t)、Md5T () combines the CT image datas of the intraoral fixation mark device for collecting, the intraoral fixed mark for being identified is determined respectively
Remember the upper denture retainer and mandibular dentition retainer of device in the spatial positional information of t；
Module is rebuild in motion, and the CT image datas of the person of being taken are processed using image processing algorithm, is partitioned into the person of being taken
Upper and lower jawbone；And by segmentation after upper mandibular portions in the denture of denture information and intraoral fixation mark device keep
Device part carries out registration, and the motion of retainer is converted into the motion of upper and lower jawbone, so as to obtain the motion feelings of remporomandibular joint
Condition.
The beneficial effects of the invention are as follows：
First, this kind of remporomandibular joint motion reconstructing system, is obtained in that the condyle of mandible and temporo of human body remporomandibular joint
The real motion situation of facies articularis ossium, can be used for the auxiliary diagnosis of temporomandibular joint disease, and the dynamic analysis of joint motions increases
The means of remporomandibular joint diagnosis, auxiliary improves the accuracy and efficiency of diagnosis, improves the quality and efficiency of medical treatment.
2nd, the device moved compared to remporomandibular joint before, the method is more direct, can combine the scanning of CBCT
Result obtains prominent and articular fossa the motion conditions of complete articular condyle, and in motion both any times locus and angle
The complete movable informations such as degree, rather than the movement locus trace of simple low latitudes.
3rd, in the method, head movement is freer, reduces interference of the apparatus to subject motion, obtains truer
Motion conditions, reduce diagnosis in error message interference probability.
4th, the prominent hodoscope of existing condyle, is limited due to being designed by device, and the record of the rotation information dashed forward for condyle is simultaneously
Not exclusively, its rotational motion information can not be really reflected completely, this point will also be obtained greatly in the methods of the invention
Improve and solve.Because combining CBCT, the method directly calculates prominent and fossa glenoid the real motion situation of condyle, no longer passes through
The methods such as palpation are speculated, so can greatly improve prominent and fossa glenoid real motion the accuracy rate of condyle.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the remporomandibular joint motion method for reconstructing of the embodiment of the present invention
Fig. 2 is the structural representation of optical pickup in the embodiment of the present invention.
Fig. 3 is the structural representation of intraoral fixation mark device in the embodiment of the present invention.
Fig. 4 is that the person of being taken wears intraoral fixation mark schematic device in the embodiment of the present invention.
Fig. 5 is the side schematic view that the person of being taken wears intraoral fixation mark device in the embodiment of the present invention.
Fig. 6 is that the person of being taken wears the upper jaw of intraoral fixation mark device, the schematic diagram of lower jaw in the embodiment of the present invention.
Fig. 7 is current markers point component m in the embodiment of the present inventiontIn the space coordinates m of world coordinate systemt(x's, y, z) says
Express intention.
Fig. 8 is the signal of the image sequence for being acquired the person of being taken in the embodiment of the present invention using optical pickup
Figure.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
A kind of remporomandibular joint moves method for reconstructing, comprises the following steps：Video camera is demarcated；By the person's of being taken
Head is completely disposed inside shooting area, and intraoral fixation mark device is worn in photographer mouthful, collection photographer's opening and closing
The image sequence of the mark locus of points of mouth mandibular movement；Using image processing algorithm, realize to intraoral fixed mark in every two field picture
The determination of all mark point three-dimensional coordinates on note device, obtains fixation mark in mark point movement locus collection port in space
The CBCT images of device, and collect the CBCT images of photographer；By the mark point of the CBCT images of intraoral fixation mark device
The mark point for obtaining is shot with video camera carries out registering, the transformation matrix of acquisition mark point motion；The change obtained using back
Matrix is changed, the CBCT images to photographer carry out rigid body translation, obtain the CBCT image sequences of photographer, and finally obtain under temporo
The motion image of jaw.
A kind of remporomandibular joint moves method for reconstructing, and such as Fig. 1 specifically includes following steps：
S1, the intraoral fixation mark device for making the person of being taken, including upper denture retainer, mandibular dentition retainer, extension
Arm and mark point, its structural representation are as shown in Figure 3.And allow the person of being taken to wear the intraoral fixation mark device, will when wearing
Intraoral fixation mark device is pressed into along tooth, and its schematic diagram after wearing is as shown in figure 4, be fixed on denture retainer
Mark point be Mu1, Mu2, Mu3, Mu4, Mu5The mark point for being fixed on mandibular dentition retainer is Md1, Md2, Md3, Md4, Md5。
Step S1 is specially：
The upper denture retainer of S11, respectively making, mandibular dentition retainer；
S12, at upper lower jaw transparent holder is from left side canine tooth to the nearly bead in right side canine tooth lip side determine equidistant 5 respectively
Individual site is simultaneously marked with mark, and site is ground using the straight machine diamond dust car stylus printer of dentistry low speed, makes rough surface；
S13,10 adjutages for being about 5mm are bent using diameter 0.7mm stainless steel round wire, 10 are made using crystal mud
The spherical mark point of diameter about 2.5mm；
S14, fixed by one end perpendicular contact retainer labial surface site of adjutage and with light-cured resin, other end insertion
Spherical mark point.
S2, demarcated using Zhang Zhengyou camera marking methods in binocular vision technology, and obtained the ginseng of camera group
Number；The camera lens line of centres is X-axis, parallel to the ground, Y-axis perpendicular to ground, Z axis perpendicular to X-axis and Y-axis, set up with
Two midpoints of video camera are the three-dimensional system of coordinate of world coordinates origin, and its coordinate explanatory diagram is as shown in Figure 5.
S3, allow the person of being taken just to the origin of coordinates stand, make the person of being taken face in camera A it is common with camera B
Shooting area, allow the person of being taken in accordance with diagnosis or testing requirement do joint motions, using optical pickup collection be taken
The image sequence of person, collection situation schematic diagram such as Fig. 6.
The CT shadows of S4, the respectively intraoral fixation mark device of the upper jaw of the collection person of being taken and the intraoral fixation mark device of lower jaw
As data, the CT image datas of the person's of being taken remporomandibular joint are collected.
S5, extract mark point m using image processing algorithmtIn t in camera A and camera B acquired images
In coordinate ml(ul, vl) and mr(ur, vr), and parameter each mark point t of calculating of camera is combined accordingly in world coordinates
Space coordinates m in systemt(x, y, z), repeats the operation and obtains mark point m for each two field picture of motion video sequencetIn this
The space coordinates of period-time matrix MT.
Step S5 specifically includes following steps：
S51, operating personnel click mark point M component drawings pictures in the result images that camera A and camera B is gathered manually
Arbitrfary point S in regionl, Sr。
S52, respectively with Sl, SrFor seed point uses region growing algorithm to the image-region of mark point component.
The barycenter P of the results area after region increases in S53, respectively acquisition camera acquisition imagel(ul,vl), Pr(ur,
vr) as marker assemblies central point respectively in camera acquisition image coordinate Ml(ul,vl), Mr(ur,vr)。
S54, the center point coordinate m using the mark point component in different cameras collection imagel(ul,vl), mr(ur,
vr), join with reference to outside the interior participation of video camera, using binocular vision theoretical calculation current markers point component M in world coordinate system
Space coordinates M (x, y, z), such as Fig. 7.
S55, repeated for each two field picture of motion video sequence the operation obtain mark point M in the moment space sit
Mark-time matrix MT；Operation as above is done to each mark point respectively, the space coordinates-time square of each mark point is obtained respectively
Battle array MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2, MTd3, MTd4, MTd5。
Step S5 the mark point of CBCT filming images and video camera are shot three coordinates of mark point for obtaining carry out it is registering,
The transformation matrix TM of the mark point group and benchmark group after the first frame is calculated, and finally obtains transformation matrix sequence TMi, here it is
The transformation matrix sequence of rigid body translation is done in final step to photographer's CBCT images.
S6, the space coordinates M for being utilized respectively the above-listed mark point group of tu1(t), Mu2(t), Mu3(t), Mu4(t), Mu5
The space coordinates M of the mark point group of (t) and lower jawd1(t), Md2(t), Md3(t), Md4(t), Md5T () combination is collected intraoral
The CT image datas of fixation mark device, determine the upper denture retainer and lower tooth of intraoral fixation mark device for being identified respectively
Row retainer is in the spatial positional information of t.
Step S6 specifically includes following step：
S61, according to matrixing formula, the space coordinate conversion for first calculating binocular vision to CBCT images
In the middle of coordinate system, this step is needed to space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2, MTd3, MTd4, MTd5's
The space coordinates of the first frame carries out matrixing according to the mark point in the middle of CBCT images, is calculated transformation matrix
mCamer2CT.MCamera2CT is exactly coordinate system transformation matrix.
S62, coordinate system transformation matrix is obtained, then by space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2,
MTd3, MTd4, MTd5The space coordinates of each frame is multiplied by mCaera2CT transformation matrixs, all of space coordinates is mapped to CBCT
In the middle of the coordinate system of image.
S63, according to matrixing formula same in the first step, by space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5,
MTd1, MTd2, MTd3, MTd4, MTd5Each frame space coordinates all calculates transformation matrix with the first frame, obtains transformation matrix sequence TMi,
This transformation matrix sequence just delivers the movable information of jaw displacements, and coordinate change is carried out to CBCT voxels for next step
Change.
S7, using Threshold Segmentation Algorithm extract CBCT images in bone tissue region it is extracted again result using region increase
Algorithm process long, is partitioned into the upper and lower jawbone of the person of being taken respectively；And by segmentation after upper mandibular portions in denture information
Carried out with the denture retainer part of intraoral fixation mark device registering, the motion of retainer is converted into the fortune of upper and lower jawbone
It is dynamic, so as to obtain the motion conditions of remporomandibular joint.
Step S7 specifically includes following step：
The segmentation of S71, image：CT data to the person of being taken use Threshold Segmentation Algorithm, are partitioned into the bone of the person of being taken
Information, is respectively adopted seed fill algorithm and is partitioned into maxilla and mandibular to upper and lower jawbone region in the result of Threshold segmentation；
S72, image registration：Denture in denture information in the CT data of the person of being taken and intraoral fixation mark device is protected
Holder part carries out registration using the Rigid Registration method of distinguished point based, in step s 6 TMiTransformation matrix sequence TMiTo CT
Image carries out rigid body translation, can obtain the CT images of each moment positions of maxilla and mandible, the one group of CT image frame for finally giving
Sequence composition CT image dynamic videos.
Step S72 does rigid body translation to photographer CBCT, and a threshold value is selected first, extracts the statement in CBCT influences
The voxel of jawbone, the three-dimensional coordinate to these voxels recalculates position by transformation matrix, just obtains a secondary new CBCT
Image, repeats such treatment, can obtain one group of CBCT image sequence by transformation matrix sequence, the final motion for obtaining jawbone
Image.
Embodiment gives a kind of remporomandibular joint motion reconstructing system, by intraoral fixation mark device, optically detecting
The motion of device and joint CT images to remporomandibular joint carries out 4D reconstructions.
Described in a kind of use any of the above-described remporomandibular joint move method for reconstructing system, including mark point detection mould
Module is rebuild in block, video acquisition module, image processing module and motion,
The detection module of mark point, allows the person of being taken to wear the intraoral fixation mark device, by intraoral fixed mark when wearing
Note device is pressed into along tooth, and the mark point for being fixed on denture retainer is Mu1、Mu2、Mu3、Mu4、Mu5It is fixed on lower tooth
The mark point of row retainer is Md1、Md2、Md3、Md4、Md5；
Video acquisition module, is camera A and camera B using two video cameras, using in binocular vision technology just
Friendly camera marking method is demarcated, and obtains the parameter of camera group；Set up by the world of two midpoints of video camera and sit
The three-dimensional system of coordinate of origin is marked, allows the person of being taken just to be stood to the origin of coordinates, make the person's of being taken face in camera A and shooting
Head B common shooting area, allows the person of being taken to do joint motions in accordance with diagnosis or testing requirement, is gathered using optical pickup
The image sequence of the person of being taken；The intraoral fixation mark device of the upper jaw of the collection person of being taken and the intraoral fixation mark of lower jaw respectively is filled
The CT image datas put, collect the CT image datas of the person's of being taken remporomandibular joint；
Image processing module, extracts mark point M and is adopted with camera B in camera A in t using image processing algorithm
Coordinate m in the image of collectionl(ul, vl) and mr(ur, vr), and parameter each mark point t of calculating of combination camera exists accordingly
Space coordinates M in world coordinate systemt(x, y, z), repeats the operation and is marked for each two field picture of motion video sequence
Point M is in the space coordinates-time matrix MT of the period for note；It is utilized respectively the space coordinates M of the above-listed mark point group of tu1
(t)、Mu2(t)、Mu3(t)、Mu4(t)、Mu5The space coordinates M of the mark point group of (t) and lower jawd1(t)、Md2(t)、Md3(t)、Md4
(t)、Md5T () combines the CT image datas of the intraoral fixation mark device for collecting, the intraoral fixed mark for being identified is determined respectively
Remember the upper denture retainer and mandibular dentition retainer of device in the spatial positional information of t；
Module is rebuild in motion, and the CT image datas of the person of being taken are processed using image processing algorithm, is partitioned into the person of being taken
Upper and lower jawbone；And by segmentation after upper mandibular portions in the denture of denture information and intraoral fixation mark device keep
Device part carries out registration, and the motion of retainer is converted into the motion of upper and lower jawbone, so as to obtain the motion feelings of remporomandibular joint
Condition.
In this kind of system of remporomandibular joint motion method for reconstructing, optical pickup is camera including two video cameras
A and camera B and its fixed support.Its structural representation as shown in Fig. 2 camera is fixed by support, and its position,
The distance between acquisition angles, camera can be all adjusted by support.
Intraoral fixation mark device, including intraoral retainer, adjutage and the part of mark point three.Mark point passes through adjutage
It is fixed on intraoral retainer, one end of adjutage is fixed on admittedly intraoral retainer by light-cured resin, and the other end is fixed
Mark point.Wherein described adjutage is that stainless steel material is made, and length is 5mm.Described mark point is that plastic material is made
It is spherical, its radius be 0.2mm.The upper jaw fixes 5 mark points, and lower jaw fixes 5 mark points.Its structural representation such as Fig. 3 institutes
Show.It should be noted that the material of above-mentioned adjutage can be changed to other materials, stainless steel is not limited to.Signal after subject wears
Figure is as shown in Figure 4.
Finally it should be noted that the above fact is merely illustrative of the technical solution of the present invention rather than to present invention protection model
The limitation enclosed, although being elaborated to the present invention with reference to preferred embodiment, one of ordinary skill in the art should manage
Solution, technical scheme can be modified or equivalent, without deviating from technical solution of the present invention essence and
Scope.
Claims (6)
1. a kind of remporomandibular joint moves method for reconstructing, it is characterised in that：Comprise the following steps：
S1, make the person of being taken intraoral fixation mark device, including upper denture retainer, mandibular dentition retainer, adjutage and
Mark point, allows the person of being taken to wear the intraoral fixation mark device, and intraoral fixation mark device is pressed into along tooth when wearing
, the mark point for being fixed on denture retainer is Mu1、Mu2、Mu3、Mu4、Mu5, it is fixed on the mark point of mandibular dentition retainer
It is Md1、Md2、Md3、Md4、Md5；
S2, demarcated using Zhang Zhengyou camera marking methods in binocular vision technology, and obtained the parameter of camera group；Take the photograph
The camera lens line of centres is X-axis, parallel to the ground, and Y-axis is taken the photograph perpendicular to X-axis and Y-axis, foundation perpendicular to ground, Z axis with two
The midpoint of camera is the three-dimensional system of coordinate of world coordinates origin；
S3, allow the person of being taken just to be stood to the origin of coordinates, make the person's of being taken face in camera A and camera B common bat
Region is taken the photograph, allows the person of being taken to do joint motions in accordance with diagnosis or testing requirement, using the optical pickup collection person's of being taken
Image sequence；
The CT image numbers of S4, the respectively intraoral fixation mark device of the upper jaw of the collection person of being taken and the intraoral fixation mark device of lower jaw
According to the CT image datas of the collection person's of being taken remporomandibular joint；
S5, the seat using image processing algorithm extraction mark point M in t in camera A and camera B acquired images
Mark ml(ul, vl) and mr(ur, vr), and the parameter of combination camera calculates each mark point t in world coordinate system accordingly
Space coordinates Mt(x, y, z), repeats the operation and obtains mark point M in the period for each two field picture of motion video sequence
Space coordinates-time matrix MT；
S6, the space coordinates M for being utilized respectively the above-listed mark point group of tu1(t)、Mu2(t)、Mu3(t)、Mu4(t)、Mu5(t) with
The space coordinates M of the mark point group of lower jawd1(t)、Md2(t)、Md3(t)、Md4(t)、Md5(t) with reference to step S4 collect it is intraoral
The CT image datas of fixation mark device, determine the upper denture retainer and lower tooth of intraoral fixation mark device for being identified respectively
Row retainer is in the spatial positional information of t；
S7, the CT image datas that the person of being taken is processed using image processing algorithm, are partitioned into the upper and lower jawbone of the person of being taken；And
The denture information in upper mandibular portions after by segmentation carried out with the denture retainer part of intraoral fixation mark device it is registering,
The motion of retainer is converted into the motion of upper and lower jawbone, so as to obtain the motion conditions of remporomandibular joint.
2. remporomandibular joint as claimed in claim 1 moves method for reconstructing, it is characterised in that step S1 is comprised the following steps：
The upper denture retainer of S11, respectively making, mandibular dentition retainer；
S12, at upper lower jaw transparent holder is from left side canine tooth to the nearly bead in right side canine tooth lip side determine 5 equidistant positions respectively
Mark mark is put and used, site is ground using the straight machine diamond dust car stylus printer of dentistry low speed, make rough surface；
S13,10 adjutages for being about 5mm are bent using diameter 0.7mm stainless steel round wire, 10 diameters are made using crystal mud
The spherical mark point of about 2.5mm；
S14, fixed by one end perpendicular contact retainer labial surface site of adjutage and with light-cured resin, other end insertion is spherical
Mark point.
3. remporomandibular joint as claimed in claim 1 moves method for reconstructing, it is characterised in that step S5 is comprised the following steps：
S51, operating personnel click mark point M component image-regions in the result images that camera A and camera B is gathered manually
In arbitrfary point Sl、Sr；
S52, respectively with Sl、SrFor seed point uses region growing algorithm to the image-region of mark point component；
The barycenter P of the results area after region increases in S53, respectively acquisition camera acquisition imagel(ul,vl)、Pr(ur,vr) make
For marker assemblies central point respectively in camera acquisition image coordinate Ml(ul,vl)、Mr(ur,vr)；
S54, the center point coordinate m using the mark point component in different cameras collection imagel(ul,vl)、mr(ur,vr), knot
Close and join outside the interior participation of video camera, sat in the space of world coordinate system using binocular vision theoretical calculation current markers point component M
Mark M (x, y, z)；
S55, repeated for each two field picture of motion video sequence the operation obtain mark point M in the moment space coordinates-
Time matrix MT；Operation as above is done to each mark point respectively, the space coordinates-time matrix of each mark point is obtained respectively
MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2, MTd3, MTd4, MTd5。
4. remporomandibular joint as claimed in claim 1 moves method for reconstructing, it is characterised in that step S6 includes following step
Suddenly：
S61, according to matrixing formula, coordinate of the space coordinate conversion for first calculating binocular vision to CBCT images
In the middle of system, this step is needed to space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2, MTd3, MTd4, MTd5First
The space coordinates of frame carries out matrixing according to the mark point in the middle of CBCT images, is calculated transformation matrix mCamer2CT,
MCamera2CT is exactly coordinate system transformation matrix；
S62, coordinate system transformation matrix is obtained, then by space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5, MTd1, MTd2, MTd3,
MTd4, MTd5The space coordinates of each frame is multiplied by mCaera2CT transformation matrixs, all of space coordinates is mapped to CBCT images
Coordinate system in the middle of；
S63, according to matrixing formula same in step, by space coordinates group MTu1, MTu2, MTu3, MTu4, MTu5, MTd1,
MTd2, MTd3, MTd4, MTd5Each frame space coordinates all calculates transformation matrix with the first frame, obtains transformation matrix sequence, this change
The movable information that matrix sequence just delivers jaw displacements is changed, coordinate transform is carried out to CBCT voxels for next step.
5. remporomandibular joint as claimed in claim 1 moves method for reconstructing, it is characterised in that step S7 includes following step
Suddenly：
The segmentation of S71, image：CT data to the person of being taken use Threshold Segmentation Algorithm, are partitioned into the bone information of the person of being taken,
Seed fill algorithm is respectively adopted to upper and lower jawbone region in the result of Threshold segmentation and is partitioned into maxilla and mandibular；
S72, image registration：To denture retainer in the denture information in the CT data of the person of being taken and intraoral fixation mark device
Part carries out registration using the Rigid Registration method of distinguished point based, the transformation matrix sequence TM obtained using step S6iTo CT
Image carries out rigid body translation, obtains the CT images of each moment positions of maxilla and mandible, the one group of CT image frame sequence for finally giving
Constitute CT image dynamic videos.
6. the system that remporomandibular joint described in a kind of use claim any one of 1-5 moves method for reconstructing, it is characterised in that：Bag
Module is rebuild in detection module, video acquisition module, image processing module and the motion for including mark point,
The detection module of mark point, allows the person of being taken to wear the intraoral fixation mark device, fills intraoral fixation mark when wearing
Put and be pressed into along tooth, the mark point for being fixed on denture retainer is Mu1、Mu2、Mu3、Mu4、Mu5It is fixed on mandibular dentition guarantor
The mark point of holder is Md1、Md2、Md3、Md4、Md5；
Video acquisition module, is camera A and camera B using two video cameras, is taken the photograph using Zhang Zhengyou in binocular vision technology
Camera calibration method is demarcated, and obtains the parameter of camera group；Set up former by world coordinates of two midpoints of video camera
The three-dimensional system of coordinate of point, allows the person of being taken just to be stood to the origin of coordinates, makes the person's of being taken face in camera A and camera B
Common shooting area, allows the person of being taken to do joint motions in accordance with diagnosis or testing requirement, and quilt is gathered using optical pickup
The image sequence of photographer；The intraoral fixation mark device of the upper jaw and the intraoral fixation mark device of lower jaw of the person of being taken are gathered respectively
CT image datas, collect the person's of being taken remporomandibular joint CT image datas；
Image processing module, extracts what mark point M was gathered in t in camera A and camera B using image processing algorithm
Coordinate m in imagel(ul, vl) and mr(ur, vr), and parameter each mark point t of calculating of camera is combined accordingly in the world
Space coordinates M in coordinate systemt(x, y, z), repeats the operation and obtains mark point M for each two field picture of motion video sequence
In the space coordinates-time matrix MT of the period；It is utilized respectively the space coordinates M of the above-listed mark point group of tu1(t)、Mu2
(t)、Mu3(t)、Mu4(t)、Mu5The space coordinates M of the mark point group of (t) and lower jawd1(t)、Md2(t)、Md3(t)、Md4(t)、Md5
T () combines the CT image datas of the intraoral fixation mark device for collecting, the intraoral fixation mark device for being identified is determined respectively
Upper denture retainer and mandibular dentition retainer in the spatial positional information of t；
Motion rebuild module, using image processing algorithm process the person of being taken CT image datas, be partitioned into the person of being taken it is upper,
Mandibular；And by segmentation after upper mandibular portions in denture information and intraoral fixation mark device denture retainer part
Registration is carried out, the motion of retainer the motion of upper and lower jawbone is converted into, so as to obtain the motion conditions of remporomandibular joint.
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