CN108986111B - Three-dimensional dental model segmentation method for computer-aided invisible orthodontics - Google Patents
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Abstract
The invention relates to a three-dimensional dental model segmentation method for computer-aided invisible orthodontics, which comprises the following steps of 1, reading a triangular mesh dental model; step 2, simplifying the model; step 3, marking tooth seed points and dentognathic seed points; step 4, setting a threshold value, and forming a tooth contour line through the set characteristic region and diffusion operation; step 5, repeating the step 4 until the diffusion of all the tooth seed points is finished; step 6, carrying out tooth side bridging; step 7, obtaining a hole grid model; and 8: and integrating the step 4 and the step 7 to obtain a final single tooth model. The interactive operation is less and simple, and even if a certain error exists, the tooth segmentation result is not greatly influenced. The automatic recovery of the tooth shape is realized by bridging and repairing the interdental holes, so that a single tooth with a side surface shape is separated, the boundary of the divided tooth is clear and accurate, and the later-stage further treatment is facilitated.
Description
Technical Field
The invention relates to tooth segmentation of invisible orthodontics, in particular to a three-dimensional dental model segmentation method for computer-aided invisible orthodontics.
Background
Oral disease is a common multiple disease. According to the statistics of the world health organization, malocclusion has become one of three major oral diseases (dental caries, periodontitis and malocclusion). The incidence rate of malocclusion in China is up to 40%. Orthodontics has been currently considered an essential part of oral health care treatment. At the end of the nineties of the last century, a brand new orthodontic technology has been internationally developed: provided is a bracket-free invisible correction technology. The technology is a product of latest computer graphic image processing, auxiliary design technology and rapid prototyping technology applied to the field of orthodontic treatment, and an elastic orthodontic device with a certain difference with the jaw shape is worn on a treated tooth column, and the elastic orthodontic device can generate force for moving teeth to the constrained position and finally move the teeth by a certain amount, thereby achieving the aim of 'invisible' tooth correction.
The invisible orthodontic appliance is customized according to the tooth condition of a patient, and the computer-assisted invisible orthodontic system is used for simulating an orthodontic and designing scheme, and comprises the work of diagnosis analysis, tooth arrangement scheme, correction result prediction, appliance making and the like of orthodontic correction. The method comprises the steps of firstly obtaining a tooth jaw triangular mesh model of a person to be corrected through a three-dimensional scanner, then observing and measuring tooth jaw data, carrying out interference measurement, tooth segmentation, tooth movement, automatic tooth arrangement, making a correction scheme and other links in a computer-assisted invisible orthodontic system, carrying out primary diagnosis by a dentist, guiding accessory installation, predicting the wearing effect of the later-stage correction appliance and other correction steps, and wearing the tongue side invisible appliance to achieve the effect of correcting teeth by a patient according to the instruction of the dentist. The computer-assisted invisible orthodontic system improves the efficiency of tooth correction, and the correction result is accurate and beautiful.
In a computer-aided invisible orthodontic system, tooth segmentation is a key technology of the system, single tooth needs to be separated in tooth root generation, tooth measurement, tooth movement, automatic tooth arrangement and other functions, and smooth tooth gear profiles are favorable for generation and display of tooth roots and gums. The tooth segmentation is mainly to calculate the bottom contour line of the tooth through an algorithm and segment the crown (tooth) in the triangular mesh dental model through the contour line.
In a computer-aided invisible orthodontic system, tooth segmentation is an important functional module, and the technical difficulty of tooth segmentation is to rapidly calculate smooth and accurate tooth gear profile by using an algorithm. Most of the existing triangular mesh segmentation algorithms are proposed aiming at specific fields and models, and no algorithm can obtain better segmentation results on all models. Among many triangular mesh model segmentation algorithms, there are few mesh segmentation methods specifically directed to the dental model. In the current stage, the tooth correction system is mainly used for segmenting teeth on the basis of user interaction, a contour line of each tooth is obtained in an interactive mode of manual drawing or a tooth gear contour line is calculated by using an algorithm, for example, in the prior art, the study of a tooth segmentation method in a virtual tooth correction system is disclosed in the ' university of western ' technology ' of Lihui in 2016, and for the situation that watershed is excessively segmented, the situation is shown in fig. 1; the segmentation result needs to be manually intervened again, the work of a doctor is increased invisibly, and the segmented tooth boundary line is rough, as shown in fig. 2, and the correction requirements of the tooth root and the gum at the later stage cannot be met.
Disclosure of Invention
Aiming at the problem that the three-dimensional dental model in the prior art can be used for directly segmenting teeth without processing an interdental fusion area, the invention provides the three-dimensional dental model segmentation method for computer-aided invisible orthodontics, which is simple and accurate, can automatically repair the side surface, requires few interactive operations during tooth segmentation and has high segmentation efficiency.
The invention is realized by the following technical scheme:
a three-dimensional dental model segmentation method for computer-aided invisible orthodontics comprises the following steps,
step 1, reading and visually displaying a triangular mesh dental model;
step 2, simplifying the triangular mesh dental model;
step 3, marking tooth seed points at the central position of each tooth, and marking tooth jaw seed points at any gum position;
step 4, setting a threshold value, starting outward diffusion from any tooth seed point triangular patch, and searching a triangular patch f adjacent to the triangular patch f where the current tooth seed point is locatediAnd calculating the adjacent triangular patch fiThe curvature deviation value from the triangular patch f is set to be accessed by setting the triangular patch with the deviation value within the threshold rangeAdding the characteristic region into the current region range until diffusion is finished, forming a tooth model by using triangular patches in the region range, and taking a closed line formed by a triangular edge where a vertex of the outermost layer of the tooth model is located as a tooth gear profile line;
step 5, repeating the step 4, and performing diffusion of the triangular surface patches on the remaining tooth seed points until the diffusion of all the tooth seed points is finished;
step 6, bridging the tooth side surfaces with data loss between two adjacent teeth according to the acquired tooth gear profile;
step 7, repairing the hole by adopting a minimum included angle method, and refining and smoothing the repaired area to obtain a hole grid model;
and 8: and (4) integrating the tooth model in the step (4) and the hole grid model in the step (7) to obtain a final single tooth model.
Preferably, the specific step of reading and visually displaying the triangular mesh dental model in step 1 is that the stl file dental model obtained by the three-dimensional scanning device is imported into the computer, and is visually displayed through the computer graphic image visualization platform vtk, so that the triangular mesh dental model is displayed, and the model can be interactively operated.
Preferably, in step 2, redundant vertexes and triangular patches are removed by an edge collapse method to complete simplification of the triangular mesh dental model.
Preferably, when bridging the side surfaces of the teeth in the step 6, judging whether a data missing phenomenon exists between 2 adjacent teeth, if so, respectively selecting bridging points on the side surfaces with missing tooth gear profile data, and connecting the bridging points to build the curved surface grid.
Further, when bridging the tooth side surfaces in the step 6, firstly determining all the tooth side surfaces needing bridging according to the following steps;
6.1, calculating the number of control points on the ith and (i + 1) th adjacent tooth gear profiles;
step 6.2, sequentially calculating the distance from the ith tooth profile control point to the (i + 1) th tooth profile control point from the tooth crown to the tooth root direction, wherein the control point index of the ith tooth profile corresponding to the distance smaller than the horizontal critical value is a bridging point;
step 6.3, reversely calculating the distance from the (i + 1) th tooth profile control point to the (i) th tooth profile control point, wherein the control point index of the (i) th tooth profile corresponding to the distance smaller than the horizontal critical value is another bridging point;
step 6.4, forming holes by surrounding two bridging points and the tooth contour lines above, judging the fall of the highest point of the hole and the two bridging points, if the fall is smaller than a vertical critical value, not filling the holes, otherwise, filling the holes, and if the corresponding side of the ith tooth has data loss, bridging at the two bridging points;
and 6.5, repeating the steps 6.1-6.4 to complete bridging of all the tooth sides with data loss.
Further, bridging is performed according to the following steps:
two bridging points, holePoint0 and holePoint1, extending down to the lower bridging points, holePoint0 'and holePoint1', respectively; the lower bridging point, the holePoint0 'and the holePoint1', have fall greater than vertical critical value respectively with the highest point of the hole, calculate the lengths of the holePoint0-holePoint0 'and the holePoint1-holePoint1' and divide each into a plurality of side control points, connect the bridging point, the holePoint, the Point0 and the Point1, to form an upper bridging line, connect the Point, the Point0 'and the Point1', to form a lower bridging line, and form a triangular patch according to the side control points and the upper and lower control points generated on the upper and lower bridging lines, namely the curved surface mesh after bridging.
Further, the specific steps for establishing the hole grid model in step 7 are as follows,
step 7.1, determining a boundary triangle according to the relationship among points, edges and triangles in the bridged curved surface mesh, and extracting hole boundaries from the boundary triangle;
step 7.2, sequentially filling triangles according to the sequence of the included angles of the hole areas from small to large until the repairing is complete;
step 7.3, linearly subdividing the newly added triangles to be filled into a plurality of new surface patches to obtain a repaired hole area model;
and 7.4, smoothing the repaired hole area model to obtain a hole grid model.
Compared with the prior art, the invention has the following beneficial technical effects:
the method of the invention adopts the seed points selected from the center of the single tooth, utilizes the regional diffusion to rapidly finish the automatic tooth segmentation, has less interactive operation and simple interactive operation, and has no great influence on the tooth segmentation result even if certain errors exist. And the problem that the side shape of the single tooth model obtained after the teeth are cut off is lost, the automatic recovery of the tooth shape is realized by bridging and repairing the interdental holes, so that the single tooth with the side shape is separated, the cut-off tooth boundary is clear and accurate, and the later-stage further treatment is facilitated.
Furthermore, the triangular mesh dental model can be simplified based on the quadratic measurement error through the edge collapse method, and the number of redundant vertexes and patches is greatly reduced on the basis of retaining the detailed information of the dental model, so that the tooth segmentation algorithm is quickly realized.
Drawings
FIG. 1 is a schematic representation of a prior art over-segmented tooth gear profile.
FIG. 2 is a schematic representation of a prior art over-roughened tooth gear profile.
FIG. 3 is a flow chart of a tooth segmentation method according to an embodiment of the present invention.
FIG. 4 is a visualized dental model as described in the examples of the present invention.
FIG. 5a is a triangular mesh dental model before simplification described in the examples of the present invention.
FIG. 5b is a simplified triangular mesh dental model according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating the selection of seed points according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of the curvature-based region segmentation in the example of the present invention.
Fig. 8 is a representation of a tooth gear profile obtained after segmentation of the regions according to the example of the invention.
FIG. 9a is a schematic view of the data missing from the adjacent flanks in an example of the present invention.
Fig. 9b is a schematic diagram of the bypass in the absence of data from the adjacent flanks in an example of the present invention.
FIG. 10 is a schematic diagram of the filling of cavities in the case of missing data from the adjacent flanks in accordance with the example of the present invention.
Fig. 11 shows the result of the single tooth segmentation according to the example of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
The invention discloses a three-dimensional dental model segmentation method for computer-aided invisible orthodontics, which is a tooth segmentation algorithm based on region growth. Extracting tooth contour lines according to the curvature information and screening characteristic areas by adopting a seed diffusion method; bridging and repairing the interdental holes to realize automatic recovery of tooth shape; and extracting an interdental contour line and taking the extracted interdental contour line as a tooth boundary line to separate out a single tooth. Not only can accurately separate a single tooth with a side face shape, but also avoids interactive operation during modeling of the tooth shape.
As shown in fig. 3, it includes: reading and visually displaying the triangular mesh dental model; simplifying the triangular mesh dental model; marking tooth seed points at the central position of each tooth, and marking tooth jaw seed points at any gum position; setting a threshold value, starting to diffuse outwards from any tooth seed point triangular patch, and searching a triangular patch f adjacent to the triangular patch f where the current tooth seed point is locatediAnd calculating the adjacent triangular patch fiSetting the triangular patch with the curvature deviation value of the triangular patch f within the threshold range as visited, adding the visited triangular patch as a characteristic region into the current region range, and taking a closed line formed by the triangular edge where the vertex of the outermost layer is located as a tooth gear profile line until diffusion is finished; bridging the tooth side surfaces with data loss between two adjacent teeth according to the acquired tooth gear profile; repairing the hole by minimum included angle method, refining and smoothing the repaired area to obtain a sheetA tooth model.
The specific algorithm flow is detailed as follows:
step 1: and reading in and visually displaying the triangular mesh dental model. As shown in fig. 4, the stl file dental model is imported, which can be obtained by a three-dimensional scanning device. Visualized in a computer through a computer graphic image visualization platform vtk, and displaying the triangular mesh dental model; the user can use the mouse to perform interactive operations on the model, such as zooming, translating, rotating, selecting points and the like.
Step 2: the dental model is simplified. The data volume of the triangular mesh dental model described in the stl file format is large, as shown in fig. 5 a; in order to obtain the model processing result quickly, redundant vertexes and triangular patches are removed by an edge collapse method, and model simplification is realized on the basis of ensuring the detail information of the model surface, as shown in fig. 5 b. The edge collapse method used in the preferred embodiment is implemented by calling vtk a library function, that is, the filter generates an isosurface, and it is necessary to set targetreduction user reduction attribute quantity in the filter. Typically set to 60%, i.e. preserving 40% of the triangular patches and the number of vertices of the original model.
And step 3: as shown in fig. 6, firstly, a tooth seed point is selected at the center of each tooth, and the tooth jaw seed points are marked at any gum position for more accurate division of the tooth contour line.
And 4, step 4: setting an experiment threshold epsilon, starting outward diffusion from any tooth seed point triangular patch, and searching a triangular patch f adjacent to the triangular patch f where the current tooth seed point is locatediAnd calculating the adjacent triangular patch fiAnd setting the triangular patch with the curvature deviation value within the range of the experimental threshold epsilon as the visited triangular patch, adding the visited triangular patch as a characteristic region into the current region range until the diffusion is finished, forming a tooth model by using the triangular patches within the region range, and using a closed line formed by a triangular edge where the vertex of the outermost layer of the tooth model is located as a tooth contour line.
And 5: and repeating the step 4, and performing diffusion of the triangular patch on the remaining tooth seed points until all the tooth seed points are diffused, so as to obtain the curvature-based region segmentation of each tooth as shown in fig. 7 and the tooth contour line as shown in fig. 8.
Step 6: firstly, judging whether a data missing phenomenon exists between 2 adjacent teeth, if so, as shown in fig. 9a, respectively selecting 2 points on the side surface of the tooth gear profile data missing, and building a curved surface mesh with a set width as a bridging point, as shown in fig. 9 b.
Judging whether bridging is carried out: firstly, calculating the number of control points on the profile of 2 adjacent tooth gears; then sequentially calculating the distance from the ith tooth profile control point to the (i + 1) th tooth profile control point from the tooth crown to the tooth root direction, wherein the first control point index of the ith tooth profile corresponding to the distance smaller than the horizontal critical value is a bridging point, then reversely calculating the distance from the (i + 1) th tooth profile control point to the ith tooth profile control point, and the first control point index of the ith tooth profile corresponding to the distance smaller than the horizontal critical value is another bridging point; and (3) forming holes by surrounding two bridging points and the tooth contour lines, searching the highest point of the hole, judging the fall between the highest point of the hole and the two bridging points, if the fall is smaller than a vertical critical value, not filling the holes, otherwise, filling the holes, and if the fall is smaller than the vertical critical value, missing data on the corresponding side surface of the ith tooth, and bridging at the two bridging points. And repeating the steps to complete bridging of all the tooth sides with data loss.
The bridging method comprises the following steps: respectively recording the two bridging points as a holePoint0 and a holePoint1, respectively extending downwards to a lower bridging point, namely a holePoint0 'and a holePoint1', respectively, calculating the lengths of the holePoint0-holePoint0 'and the holePoint1-holePoint1', respectively dividing the lengths of the holePoint0 'and the holePoint1' and the highest point of the hole into 10 side control points, storing the side control points, connecting the bridging points, namely the holePoint0 and the holePoint1 to form an upper bridging line, connecting the lower bridging point, namely the holePoint0 'and the holePoint1' to form a lower bridging line, and forming a triangular surface mesh after the triangular patch is bridged according to the side control points and the upper and lower control points generated on the upper and lower bridging lines.
And 7: determining a boundary triangle according to the relationship among points, edges and triangles in the bridged curved surface mesh, extracting hole boundaries by the boundary triangle, sequentially filling triangles in a control according to the sequence of the included angles of the hole regions from small to large until the hole regions are completely repaired, then linearly subdividing the newly added triangles after filling, and refining into a plurality of new surface patches to obtain a repaired hole region model; and finally, smoothing the repaired hole area model to obtain a hole grid model, as shown in fig. 10, wherein a closed curve indicated by B is a hole boundary line, and a part a in the closed curve is the hole grid model. The relationship between points, edges and triangles in a surface mesh is as follows: the triangulated mesh consists of a series of points and triangles connecting the points. If a point is the vertex of a triangle, the triangle is said to be the triangle adjacent to the point. Two points in the mesh are said to be neighbors if the line segment connecting the two points is an edge of a triangle. Typically one edge connecting two triangles. If an edge connects only one triangle, the edge is called a boundary edge. Points on the boundary edge are referred to as boundary points. A triangle having one or two boundary points is called a boundary triangle. The closed line formed by the boundary triangle edge is used as the extracted hole boundary.
And 8: and (5) integrating the tooth model in the step (4) and the hole grid model in the step (7) to obtain a final single tooth model, as shown in fig. 11.
Claims (5)
1. A three-dimensional dental model segmentation method for computer-aided invisible orthodontics is characterized by comprising the following steps,
step 1, reading and visually displaying a triangular mesh dental model;
step 2, simplifying the triangular mesh dental model;
step 3, marking tooth seed points at the central position of each tooth, and marking tooth jaw seed points at any gum position;
step 4, setting a threshold value, starting outward diffusion from any tooth seed point triangular patch, and searching a triangular patch f adjacent to the triangular patch f where the current tooth seed point is locatediAnd calculating the adjacent triangular patch fiSetting the triangular patch with the curvature deviation value of the triangular patch f within the threshold range as the accessed triangular patch, adding the accessed triangular patch as a characteristic region into the current region range until the diffusion is finished, forming a tooth model by the triangular patch within the region range, and taking a closed line formed by a triangular edge where the vertex of the outermost layer of the tooth model is located as a tooth gear profile line;
step 5, repeating the step 4, and performing diffusion of the triangular surface patches on the remaining tooth seed points until the diffusion of all the tooth seed points is finished;
step 6, bridging the tooth side surfaces with data loss between two adjacent teeth according to the acquired tooth profile, judging whether the data loss phenomenon exists between 2 adjacent teeth, if so, respectively selecting bridging points on the tooth side surfaces with data loss of the tooth profile, and connecting the bridging points to build a curved surface grid;
determining all tooth sides needing bridging according to the following steps;
6.1, calculating the number of control points on the ith and (i + 1) th adjacent tooth gear profiles;
step 6.2, sequentially calculating the distance from the ith tooth profile control point to the (i + 1) th tooth profile control point from the tooth crown to the tooth root direction, wherein the control point index of the ith tooth profile corresponding to the distance smaller than the horizontal critical value is a bridging point;
step 6.3, reversely calculating the distance from the (i + 1) th tooth profile control point to the (i) th tooth profile control point, wherein the control point index of the (i) th tooth profile corresponding to the distance smaller than the horizontal critical value is another bridging point;
step 6.4, forming holes by surrounding two bridging points and the tooth contour lines above, judging the fall of the highest point of the hole and the two bridging points, if the fall is smaller than a vertical critical value, not filling the holes, otherwise, filling the holes, and if the corresponding side of the ith tooth has data loss, bridging at the two bridging points;
step 6.5, repeating the steps 6.1-6.4 to complete bridging of all tooth sides with data loss;
step 7, repairing the hole by adopting a minimum included angle method, and refining and smoothing the repaired area to obtain a hole grid model;
and 8: and (4) integrating the tooth model in the step (4) and the hole grid model in the step (7) to obtain a final single tooth model.
2. The method for segmenting the three-dimensional dental model for computer-aided invisible orthodontics according to claim 1, wherein the step of reading in and visually displaying the triangular mesh dental model in step 1 comprises the steps of importing the stl file dental model obtained by a three-dimensional scanning device into a computer, visually displaying the stl file dental model through a computer graphic image visualization platform vtk, displaying the triangular mesh dental model, and performing interactive operation on the model.
3. The method for segmenting the three-dimensional dental model for computer-aided invisible orthodontics according to claim 1, wherein in the step 2, the simplification of the triangular mesh dental model is completed by removing redundant vertexes and triangular patches through an edge collapse method.
4. The method for segmenting the three-dimensional dental model for computer-aided invisible orthodontics according to claim 1, wherein the bridging is performed according to the following steps:
two bridging points, holePoint0 and holePoint1, extending down to the lower bridging points, holePoint0 'and holePoint1', respectively; the lower bridging point, the holePoint0 'and the holePoint1', have fall greater than vertical critical value respectively with the highest point of the hole, calculate the lengths of the holePoint0-holePoint0 'and the holePoint1-holePoint1' and divide each into a plurality of side control points, connect the bridging point, the holePoint, the Point0 and the Point1, to form an upper bridging line, connect the Point, the Point0 'and the Point1', to form a lower bridging line, and form a triangular patch according to the side control points and the upper and lower control points generated on the upper and lower bridging lines, namely the curved surface mesh after bridging.
5. The method for segmenting the three-dimensional dental model for computer-aided invisible orthodontics according to claim 4, wherein the specific steps for establishing the hole mesh model in step 7 are as follows,
step 7.1, determining a boundary triangle according to the relationship among points, edges and triangles in the bridged curved surface mesh, and extracting hole boundaries from the boundary triangle;
step 7.2, sequentially filling triangles according to the sequence of the included angles of the hole areas from small to large until the repairing is complete;
step 7.3, linearly subdividing the newly added triangles to be filled into a plurality of new surface patches to obtain a repaired hole area model;
and 7.4, smoothing the repaired hole area model to obtain a hole grid model.
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| CN111275710B (en) * | 2019-12-06 | 2024-02-27 | 正雅齿科科技(上海)有限公司 | Dental model segmentation method and device |
| CN111700698B (en) * | 2020-05-14 | 2022-07-08 | 先临三维科技股份有限公司 | Dental scanning method, apparatus, system and computer readable storage medium |
| CN111968146B (en) * | 2020-07-14 | 2023-05-23 | 电子科技大学 | Three-dimensional dental mesh model segmentation method |
| CN114897924B (en) * | 2022-04-24 | 2023-10-17 | 雅客智慧（北京）科技有限公司 | Tooth model segmentation method and device |
| WO2024082284A1 (en) * | 2022-10-21 | 2024-04-25 | 深圳先进技术研究院 | Orthodontic automatic tooth arrangement method and system based on mesh feature deep learning |
| CN116168185B (en) * | 2022-12-02 | 2024-07-05 | 广州黑格智造信息科技有限公司 | Three-dimensional tooth model segmentation method and device |
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