CN109727296B - Method, system, computer medium and equipment for curved surface projection display of root canal inner cavity - Google Patents
Method, system, computer medium and equipment for curved surface projection display of root canal inner cavity Download PDFInfo
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Abstract
The invention provides a curved surface projection display method, a system, a computer medium and equipment for a root canal inner cavity, wherein the method comprises the following steps: acquiring a CT medical image of a root canal inner cavity, intercepting a cross-sectional view of a target tooth from the CT medical image of the root canal inner cavity, and selecting root canal center mark points of the target tooth from an interlayer in the cross-sectional view of the target tooth to form a point set; fitting a root canal curve on the cross-sectional view of the target tooth through spline interpolation by using the formed point set; combining the root canal curve with the coronal orientation or the sagittal orientation of the target tooth to establish a root canal curve passing through the root canal curve, wherein the width of the curve is equal to the width of the coronal orientation or the sagittal orientation; mapping the CT medical image of the root canal lumen to the root canal curved surface to produce a curved view that facilitates viewing the root canal lumen. The invention can visually display the root canal form, so that doctors can clearly observe the focus area, the planning is more in line with individuation, and the failure rate of the operation is reduced.
Description
Technical Field
The invention belongs to the technical field of medical image processing, relates to a display method and a display system, and particularly relates to a curved surface projection display method and system of a root canal inner cavity, a computer medium and equipment.
Background
Root canal therapy (root canal therapy) is a commonly used effective treatment for endodontic and periapical diseases (clinical observation of pain between diagnosis and treatment in disposable root canal therapy). The principle of endodontics is to remove most of the infectious material in the root canal by mechanical and chemical means and to prevent the occurrence of periapical lesions or to promote the healing of already occurring periapical lesions by filling the root canal, closing the crown (application of ultrasound technology in endodontics). But at present, the failure cases of root canal therapy still exist in clinic, and the main reasons are root canal underfill and root canal omission (CBCT is applied to judge the failure reasons of root canal therapy). The CBCT imaging precision is high, the focus can be observed three-dimensionally, and the imaging method has obvious advantages in difficult root canal therapy compared with an X-ray apical plate (application analysis of CBCT in difficult root canal therapy). Can provide a powerful reference basis for determining the etiology and play a key role in the formulation of a later treatment scheme.
Therefore, how to provide a method, a system, a computer medium and a device for displaying a curved projection of a root canal inner cavity to solve the problems that the prior art cannot provide a strong reference basis for determining the cause of disease, so that a doctor cannot clearly observe a focus area, the failure rate of an operation is increased, and the like, has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a method, a system, a computer medium, and a device for displaying a curved projection of a root canal lumen, which are used to solve the problem that a doctor cannot clearly observe a lesion area and the failure rate of an operation is increased due to the fact that the prior art cannot provide a strong reference basis for determining the cause of disease.
In order to achieve the above and other related objects, the present invention provides a method for displaying a curved projection of a root canal lumen, comprising: acquiring a CT medical image of the root canal inner cavity, intercepting a cross-sectional view of a target tooth from the CT medical image of the root canal inner cavity, and selecting root canal center mark points of the target tooth in the cross-sectional view of the target tooth by an interlayer to form a point set; fitting a root canal curve for establishing a curved surface for observing a root canal inner cavity on the cross-sectional view of the target tooth through spline interpolation by using the formed point set; combining the root canal curve with the coronal orientation or the sagittal orientation of the target tooth to establish a root canal curve passing through the root canal curve, wherein the width of the curve is equal to the width of the coronal orientation or the sagittal orientation; mapping a CT medical image of the root canal lumen to the root canal curved surface to produce a curved view that facilitates viewing the root canal lumen.
In one embodiment of the present invention, root canal center landmark points of the target tooth are selected at intervals of at least one layer of pixels in the cross-sectional view of the target tooth.
In an embodiment of the present invention, the step of fitting a root canal curve for establishing a curved surface for observing a root canal lumen on the cross-sectional view of the target tooth by spline interpolation using the constructed point set includes: sorting the coordinates of all root canal center mark points in the point set from high to low; interpolating a plurality of points between the two root canal center mark points; and carrying out spline interpolation fitting on the point set inserted with the points according to a first preset fitting mode so as to fit a root canal curve.
In an embodiment of the present invention, the step of combining the root canal curve with the coronal or sagittal orientation of the target tooth to create a root canal curve passing through the root canal curve, the root canal curve having a width equal to the width of the coronal or sagittal orientation comprises: adding the coordinates of all points on the root canal curve, and dividing the added coordinates by the number of the root canal center mark points to obtain a reference point; translating the reference point by half of the width of the CT medical image along the orthogonal direction vector of the coronal direction or the sagittal direction and the opposite direction of the vector to obtain a first side point and a second side point; respectively determining a first plane, a second plane and a third plane through the reference point, the first side point, the second side point and the orthogonal direction vector of the coronal direction or the sagittal direction; respectively projecting the root canal curve to the first plane, the second plane and the third plane to obtain a first projection curve, a second projection curve and a third projection curve; interpolating a curve at every other pixel pitch along a vector in the orthogonal direction in the coronal direction or the sagittal direction in the middle of the first projection curve, the second projection curve and the third projection curve according to the pixel pitch in the coronal direction or the sagittal direction, wherein points on all the curves form a curved surface point set; selecting four points which can form a rectangle with the smallest area from the curve point set; selecting three points which can form a triangular patch with the minimum area from the 4 points; the root canal curved surface is formed by the formed minimum triangular patch.
In an embodiment of the invention, the points on all the curves are fitted into the curved surface point set by the second preset fitting manner.
In an embodiment of the present invention, the step of mapping the CT medical image of the root canal lumen to the root canal curved surface to generate a curved surface view for observing the root canal lumen includes: collecting the pixel value of each pixel point on the CT medical image of the root canal inner cavity; and mapping the pixel points with the same pixel values as the pixel points on the root canal curved surface in the collected pixel points to the root canal curved surface.
In another aspect, the present invention provides a curved projection display system for a root canal lumen, comprising: the acquisition module is used for acquiring a CT medical image of the root canal inner cavity, intercepting a cross-sectional view of a target tooth from the CT medical image of the root canal inner cavity, and selecting root canal center mark points of the target tooth from an interlayer in the cross-sectional view of the target tooth to form a point set; the first establishing module is used for fitting a root canal curve for establishing a curved surface for observing a root canal inner cavity on the cross sectional view of the target tooth through spline interpolation by utilizing the formed point set; a second establishing module for combining the root canal curve with the coronal or sagittal orientation of the target tooth to establish a root canal curve passing through the root canal curve, the width of the curve being equal to the width of the coronal or sagittal orientation; a mapping module for mapping a CT medical image of a root canal lumen to the root canal curved surface to produce a curved view that facilitates viewing the root canal lumen.
In an embodiment of the invention, the curved projection display system of the root canal lumen further includes: and the display module is used for displaying the curved surface view of the root canal inner cavity.
A further aspect of the present invention provides a computer medium having a computer program stored thereon, which when executed by a processor, implements the curved projection display method of the root canal lumen.
A final aspect of the invention provides an apparatus, comprising: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory so as to enable the equipment to execute the curved surface projection display method of the root canal inner cavity.
As described above, the method, system, computer medium and apparatus for projection display of curved surface of root canal lumen according to the present invention have the following advantages:
the curved surface projection display method, the system, the computer medium and the equipment of the root canal inner cavity establish a curved surface passing through the root canal path by manually fitting the root canal path, project corresponding pixels in CBCT on the curved surface, visually display the root canal form, enable doctors to clearly observe a focus area, enable planning to be more in line with individuation and reduce failure rate of operation.
Drawings
Fig. 1 is a schematic flow chart illustrating a curved projection display method of a root canal lumen according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of S12 in the method for displaying a curved projection of a root canal lumen according to the present invention.
Fig. 3 is a schematic flow chart of S13 in the method for displaying a curved projection of a root canal lumen according to the present invention.
Fig. 4 is a schematic structural diagram of a curved projection display system of a root canal lumen according to an embodiment of the present invention.
Description of the element reference numerals
| 4 | Curved surface projection display system of root canal |
| 40 | |
| 41 | First establishing |
| 42 | Second establishing |
| 43 | |
| 44 | Display module |
| S11～S15 | Step (ii) of |
| S121～S123 | Step (ii) of |
| S131～S138 | Step (ii) of |
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Example one
The embodiment provides a curved surface projection display method of a root canal inner cavity, which comprises the following steps:
acquiring a CT medical image of a root canal inner cavity, intercepting a cross-sectional view of a target tooth from the CT medical image of the root canal inner cavity, and selecting root canal center mark points of the target tooth from an interlayer in the cross-sectional view of the target tooth to form a point set;
fitting a root canal curve for establishing a curved surface for observing a root canal inner cavity on the cross-sectional view of the target tooth through spline interpolation by using the formed point set;
combining the root canal curve with the coronal or sagittal orientation of the target tooth to create a root canal curve passing through the root canal curve, the width of the curve being equal to the width of the coronal or sagittal orientation;
mapping a CT medical image of the root canal lumen to the root canal curved surface to produce a curved view that facilitates viewing the root canal lumen.
The method for displaying the curved projection of the root canal lumen according to the present embodiment will be described in detail with reference to the drawings. Please refer to fig. 1, which is a flowchart illustrating a curved surface projection display method of a root canal lumen in an embodiment. As shown in fig. 1, the method for displaying the curved projection of the root canal inner cavity specifically includes the following steps:
s11, acquiring a CT medical image of the inner cavity of the root canal, intercepting a cross-sectional view of the target tooth from the CT medical image of the inner cavity of the root canal, and selecting a root canal center mark point P of the target tooth from an interlayer in the cross-sectional view of the target tooth to form a point set S 0 。
Specifically, root canal center mark points P of a target are selected at intervals of at least one layer of pixels in a cross-sectional view of the target tooth to form a point set S 0 ，S 0 ＝{P i I =0,1,2.. N }, i being the number of root canal center mark points.
S12, using the constructed point set S 0 At the target toothAnd fitting a root canal curve for establishing a curved surface for observing the root canal inner cavity on the cross section view through spline interpolation.
Please refer to fig. 2, which is a flowchart of S12. As shown in fig. 2, the S12 includes the following steps:
s121, collecting the points S 0 All root canal center mark points P in i Is ordered from high to low. In the present embodiment, the distance between two adjacent root canal center landmark points is D, and the minimum pixel pitch of the CT medical image is S.
And S122, interpolating a plurality of points between the two root canal center mark points. The number of interpolated points n = D/S.
S123, according to a first preset fitting mode, spline interpolation fitting is carried out on the point set inserted with the points so as to fit a root canal curve S 0 . In this embodiment, the root canal curve S 0 Referred to as bezier curves.
The first preset fitting manner is as follows:
wherein, P i Marking point for the ith root canal center, B i,n (u i ) N-degree Bernstein polynomial, u represents tangent normal vector at each root canal center mark point on the curve, u i Represents the tangent normal vector at the ith root canal center mark point on the curve.
S13, making the root canal curve S 0 In combination with the coronal or sagittal orientation of the target tooth, a root canal curve is created that passes through the root canal curve, the width of the curve being equal to the width of the coronal or sagittal plane.
Please refer to fig. 3, which shows a flowchart of S13. As shown in fig. 3, the S13 includes the following steps:
s131, bending the root canal to obtain a root canal curve S 0 Adding the coordinates of all the points, and dividing the added coordinates by the number of the central mark points of the root canal to obtain a reference point P 0 。
S132, reference point P 0 Orthogonal direction vector along coronal or sagittal direction
And translating half of the width W of the CT medical image in the opposite direction of the vector to obtain a first side point P 1 And a second side point P 2 ；
S133 passing through the reference point P 0 First side point P 1 And a second side point P 2 And the vector of the coronal or sagittal directions
Respectively determining a first plane SP 0 Second plane SP 1 And a third plane SP 2 ；
S134, making the root canal curve S 0 Respectively projected to the first plane SP 0 Said second plane SP 1 And the third plane SP 2 To obtain a first projection curve S 1 Second projection curve S 2 The third projection curve S 3 ；
S135, according to the pixel pitch in the coronal direction or the sagittal direction (for example, the pixel pitch in the X direction or the pixel pitch in the Y direction), the first projection curve S 1 The second projection curve S 2 The third projection curve S 3 Along the coronal or sagittal orthogonal direction
Interpolating a curve every other pixel interval, and forming a curved surface point set S by points on all curves 5 . In this embodiment, all the points on the curve are fitted into the curved surface point set S by the second preset fitting manner 5 。
The second preset fitting manner is as follows:
wherein, P i Marking point for the ith root canal center, B i,n (u i ) N-degree Bernstein polynomial, u represents tangent normal vector at each root canal center mark point on the curve, u represents i Represents the tangent normal vector at the ith root canal center landmark point on the curve, t represents the orthogonal direction vector in the coronal or sagittal direction, m represents the total number of lines generated by K along the t direction, represents the lines generated by translation along the t direction, and j represents each line.
S136, collecting the curved surface points S 5 Four points are chosen that can form the smallest area rectangle. In the present embodiment, the four points are selected from top to bottom and from left to right, and the four vertices are denoted as D 1 ，D 2 ，D 3 ，D 4 。
S137, from 4 points D 1 ，D 2 ，D 3 ，D 4 Three points are selected that form the smallest area triangular patch.
For example, D 1 D 2 D 4 ，D 1 D 3 D 4 The two smallest triangular patches are formed by joining.
S138, collecting the curved surface points S 5 All the points form the root canal curved surface according to the rule of connecting to form a minimum triangular surface patch.
And S14, mapping the CT medical image of the root canal inner cavity to the root canal curved surface so as to generate a curved surface view for conveniently observing the root canal inner cavity.
Specifically, the S14 includes:
collecting the pixel value of each pixel point on the CT medical image of the root canal inner cavity;
and mapping the pixel points with the same pixel values as the pixel points on the root canal curved surface in the collected pixel points to the root canal curved surface.
And S15, displaying a curved surface view of the root canal inner cavity.
The present embodiment also provides a computer medium (also referred to as a computer-readable storage medium) having a computer program stored thereon, which when executed by a processor, implements the curved projection display method of the root canal lumen.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
According to the curved surface projection display method of the root canal inner cavity, the root canal path is manually fitted, a curved surface passing through the root canal path is established, corresponding pixels in CBCT are projected on the curved surface, the root canal form is visually displayed, a doctor can clearly observe a focus area, planning is more in line with individuation, and the failure rate of operation is reduced.
Example two
The embodiment provides a curved surface projection display system of root canal inner chamber, includes:
the acquisition module is used for acquiring a CT medical image of the root canal inner cavity, intercepting a cross-sectional view of a target tooth from the CT medical image of the root canal inner cavity, and selecting root canal center mark points of the target tooth from an interlayer in the cross-sectional view of the target tooth to form a point set;
the first establishing module is used for fitting a root canal curve for establishing a curved surface for observing a root canal inner cavity on the cross-sectional view of the target tooth through spline interpolation by utilizing the formed point set;
a second establishing module for combining the root canal curve with the coronal or sagittal orientation of the target tooth to establish a root canal curve passing through the root canal curve, the width of the curve being equal to the width of the coronal or sagittal orientation;
a mapping module for mapping a CT medical image of a root canal lumen to the root canal curved surface to generate a curved view for viewing the root canal lumen.
The curved projection display system for root canal lumen provided in the present embodiment will be described in detail with reference to the drawings. Please refer to fig. 4, which is a schematic structural diagram of a curved projection display system of a root canal lumen in an embodiment. As shown in fig. 4, the curved projection display system 4 for root canal lumen includes: an obtaining module 40, a first establishing module 41, a second establishing module 42, a mapping module 43 and a display module 44.
The acquisition module 40 is configured to acquire a CT medical image of the root canal lumen, intercept a cross-sectional view of the target tooth from the CT medical image of the root canal lumen, and select a root canal center mark point P of the target tooth in the cross-sectional view of the target tooth through an interlayer to form a point set S 0 。
Specifically, the obtaining module 40 is configured to select root canal center mark points P of a target ring at intervals of at least one layer of pixels in a cross-sectional view of the target tooth to form a point set S 0 ，S 0 ＝{P i I =0,1,2.. N }, i being the number of root canal center mark points.
A first establishing module 41 coupled to the acquiring module 40 is used for utilizing the constructed point set S 0 And fitting a root canal curve for establishing a curved surface for observing the root canal inner cavity on the cross-sectional view of the target tooth through spline interpolation.
In particular, the first establishing module 41 is configured to establish the set of points S 0 All root canal center mark points P in i The coordinates of (1) are sorted from high to low; interpolating a plurality of points between two root canal center mark points; according to a first preset fitting mode, carrying out spline interpolation fitting on the point set inserted with a plurality of points to fit out a root canal curve S 0 。
In the present embodiment, the distance between two adjacent root canal center landmark points is D, and the minimum pixel pitch of the CT medical image is S.
The number of interpolated points n = D/S.
The root canal curve S 0 Referred to as bezier curves.
The first preset fitting manner is as follows:
wherein, P i Marking point for the ith root canal center, B i,n (u i ) N-degree Bernstein polynomial, u represents tangent normal vector at each root canal center mark point on the curve, u i Represents the tangent normal vector at the mark point of the ith root canal center on the curve.
A second creating module 42 coupled to the first creating module 41 for creating the root canal curve S 0 In combination with the coronal or sagittal orientation of the target tooth, a root canal curve is created that passes through the root canal curve, the width of the curve being equal to the width of the coronal or sagittal plane.
In particular, the second creation module 42 is used to create the root canal curve S 0 Adding the coordinates of all the points, and dividing the sum by the number of the mark points at the center of the root canal to obtain a reference point P 0 (ii) a Reference point P 0 Orthogonal direction vector along coronal or sagittal direction
And translating half of the width W of the CT medical image in the opposite direction of the vector to obtain a first side point P 1 And a second side point P 2 (ii) a Passing through reference point P 0 First side point P 1 And a second side point P 2 And the vector of the coronal or sagittal directions
Respectively determining a first plane SP 0 Second plane SP 1 And a third plane SP 2 (ii) a Curve S of the root canal 0 Respectively projected to the first plane SP 0 Said second plane SP 1 And the third plane SP 2 To obtain a first projection curve S 1 Second projection curve S 2 The third projection curve S 3 (ii) a According to the pixel pitch in the coronal or sagittal direction (e.g., the pixel pitch in the X-direction or the pixel pitch in the Y-direction), the first projection curve S 1 The second projection curve S 2 The third projection curve S 3 Is orthogonal direction vector along coronal or sagittal direction
Interpolating a curve every other pixel interval, and forming a curved surface point set S by points on all curves 5 (ii) a Collecting the curved surface points S 5 Four points are chosen that can form the smallest area rectangle. In the present embodiment, the four points are selected from top to bottom and from left to right, and the four vertices are denoted as D 1 ，D 2 ，D 3 ，D 4 (ii) a From 4 points D 1 ，D 2 ，D 3 ，D 4 Selecting three points capable of forming a triangular patch with the minimum area; will S 5 And all the points form the root canal curved surface by the formed minimum triangular surface patch according to the rule of connecting the minimum triangular surface patches.
For example, D 1 D 2 D 4 ，D 1 D 3 D 4 The two smallest triangular patches are formed by joining.
In this embodiment, all the points on the curve are fitted to the curved surface point set S by the second preset fitting manner 5 。
The second preset fitting manner is as follows:
wherein, P i Marking point for the ith root canal center, B i,n (u i ) N-degree Bernstein polynomial, u represents tangent normal vector at each root canal center mark point on the curve, u represents i Represents a tangent normal vector at the ith root canal center mark point on the curve, t represents an orthogonal direction vector in the coronal or sagittal direction, m represents the total number of lines generated by K along the t direction, represents the lines generated by translation along the t direction, and j represents each line.
A mapping module 43, coupled to the acquisition module 40 and the second creation module 42, is used to map the CT medical image of the root canal lumen to the root canal curve to generate a curved view for viewing the root canal lumen.
Specifically, the mapping module 43 is configured to acquire a pixel value of each pixel point on a CT medical image of the root canal lumen; and mapping the pixel points with the same pixel values as the pixel points on the root canal curved surface in the collected pixel points to the root canal curved surface.
A display module 44 coupled to the mapping module 43 is used to display a curved view of the root canal lumen.
It should be noted that the division of the modules of the above system is only a logical division, and all or part of the actual implementation may be integrated into one physical entity or may be physically separated. And the modules can be realized in a form that all software is called by the processing element, or in a form that all the modules are realized in a form that all the modules are called by the processing element, or in a form that part of the modules are called by the hardware. For example: the x module can be a separately established processing element, and can also be integrated in a certain chip of the system. In addition, the x-module may be stored in the memory of the system in the form of program codes, and may be called by one of the processing elements of the system to execute the functions of the x-module. The other modules are implemented similarly. All or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software. These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors (DSPs), one or more Field Programmable Gate Arrays (FPGAs), and the like. When a module is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. These modules may be integrated together and implemented in the form of a System-on-a-chip (SOC).
EXAMPLE III
The present embodiment provides an apparatus, comprising: a processor, memory, transceiver, communication interface, or/and system bus; the memory is used for storing computer programs, the communication interface is used for communicating with other equipment, and the processor and the transceiver are used for operating the computer programs so as to enable the equipment to execute the steps of the curved surface projection display method of the upper pipe cavity.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
The protection scope of the method for displaying the curved surface projection of the root canal lumen according to the present invention is not limited to the execution sequence of the steps listed in the embodiment, and all the solutions obtained by adding, subtracting, and replacing the steps in the prior art according to the principles of the present invention are included in the protection scope of the present invention.
The invention also provides a curved surface projection display system of the root canal inner cavity, which can realize the curved surface projection display method of the root canal inner cavity, but the device for realizing the curved surface projection display method of the root canal inner cavity of the invention includes but is not limited to the structure of the curved surface projection display system of the root canal inner cavity listed in the embodiment, and all the structural modifications and replacements in the prior art made according to the principle of the invention are included in the protection scope of the invention.
In summary, the curved surface projection display method, system, computer medium and apparatus of the root canal lumen according to the present invention establishes a curved surface passing through the root canal path by manually fitting the root canal path, projects the corresponding pixels in the CBCT onto the curved surface, visually displays the root canal morphology, enables the doctor to clearly observe the focal region, makes the planning more in line with individuation, and reduces the failure rate of the operation. The invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (9)
1. A curved surface projection display method of a root canal inner cavity is characterized by comprising the following steps:
acquiring a CT medical image of the root canal inner cavity, intercepting a cross-sectional view of a target tooth from the CT medical image of the root canal inner cavity, and selecting root canal center mark points of the target tooth in the cross-sectional view of the target tooth by an interlayer to form a point set;
fitting a root canal curve for establishing a curved surface for observing a root canal inner cavity on the cross-sectional view of the target tooth through spline interpolation by using the formed point set;
combining the root canal curve with the coronal orientation or the sagittal orientation of the target tooth to establish a root canal curve passing through the root canal curve, wherein the width of the curve is equal to the width of the coronal orientation or the sagittal orientation;
mapping a CT medical image of a root canal lumen to the root canal curve to generate a curved view for viewing the root canal lumen;
combining the root canal curve with the coronal or sagittal orientation of the target tooth to create a root canal curve passing through the root canal curve, the step of forming the root canal curve with a width equal to the width of the coronal or sagittal orientation comprising:
adding the coordinates of all points on the root canal curve, and dividing the added coordinates by the number of the root canal center mark points to obtain a reference point;
translating the reference point by half of the width of the CT medical image along the orthogonal direction vector of the coronal direction or the sagittal direction and the opposite direction of the vector to obtain a first side point and a second side point;
respectively determining a first plane, a second plane and a third plane through the reference point, the first side point, the second side point and the orthogonal direction vector of the coronal direction or the sagittal direction;
respectively projecting the root canal curve to the first plane, the second plane and the third plane to obtain a first projection curve, a second projection curve and a third projection curve;
interpolating a curve at every other pixel pitch along a vector in the orthogonal direction in the coronal direction or the sagittal direction in the middle of the first projection curve, the second projection curve and the third projection curve according to the pixel pitch in the coronal direction or the sagittal direction, wherein points on all the curves form a curved surface point set;
selecting four points which can form a rectangle with the smallest area from the curve point set;
selecting three points which can form a triangular patch with the minimum area from the 4 points;
the root canal curved surface is formed by the formed minimum triangular patch.
2. The method for curved projection display of root canal lumen according to claim 1, wherein the root canal center landmark point of the target tooth is selected every at least one layer of pixel intervals in the cross-sectional view of the target tooth.
3. The method for projection display of a curved surface of a root canal cavity according to claim 1, wherein the step of fitting a root canal curve for establishing a curved surface for observing the root canal cavity by spline interpolation on a cross-sectional view of the target tooth using the constructed point set comprises:
sorting the coordinates of all root canal center mark points in the point set from high to low;
interpolating a plurality of points between two root canal center mark points;
and performing spline interpolation fitting on the point set inserted with the points according to a first preset fitting mode to fit a root canal curve.
4. The method for curved projection display of root canal lumen according to claim 1, wherein the points on all curves are fitted to the set of curved points by a second preset fitting manner.
5. The method according to claim 1, wherein said step of mapping the CT medical image of the root canal lumen to the root canal curve to generate a curved view for viewing the root canal lumen comprises:
collecting the pixel value of each pixel point on the CT medical image of the root canal inner cavity;
and mapping the pixel points with the same pixel values as the pixel points on the root canal curved surface in the collected pixel points to the root canal curved surface.
6. A curved projection display system for root canal lumens, comprising:
the acquisition module is used for acquiring a CT medical image of the root canal inner cavity, intercepting a cross-sectional view of a target tooth from the CT medical image of the root canal inner cavity, and selecting root canal center mark points of the target tooth from an interlayer in the cross-sectional view of the target tooth to form a point set;
the first establishing module is used for fitting a root canal curve for establishing a curved surface for observing a root canal inner cavity on the cross sectional view of the target tooth through spline interpolation by utilizing the formed point set;
the second establishing module is used for combining the root canal curve with the coronal direction or the sagittal direction of the target tooth and establishing a root canal curved surface passing through the root canal curve, and the width of the curved surface is equal to that of the coronal plane or the sagittal plane;
a mapping module for mapping a CT medical image of a root canal lumen to the root canal curve to generate a curved view for viewing the root canal lumen;
combining the root canal curve with the coronal or sagittal orientation of the target tooth to create a root canal curve passing through the root canal curve, the step of forming the root canal curve with a width equal to the width of the coronal or sagittal orientation comprising:
adding the coordinates of all points on the root canal curve, and dividing the added coordinates by the number of the root canal center mark points to obtain a reference point;
translating the datum point by half of the width of the CT medical image along the orthogonal direction vector of the coronal direction or the sagittal direction and the opposite direction of the vector to obtain a first side point and a second side point;
respectively determining a first plane, a second plane and a third plane through the reference point, the first side point, the second side point and the orthogonal direction vector of the coronal direction or the sagittal direction;
respectively projecting the root canal curve to the first plane, the second plane and the third plane to obtain a first projection curve, a second projection curve and a third projection curve;
interpolating a curve at every other pixel pitch along a vector in the orthogonal direction in the coronal direction or the sagittal direction in the middle of the first projection curve, the second projection curve and the third projection curve according to the pixel pitch in the coronal direction or the sagittal direction, wherein points on all the curves form a curved surface point set;
selecting four points which can form a rectangle with the minimum area from the curve point set;
selecting three points which can form a triangular patch with the minimum area from the 4 points;
the root canal curved surface is formed by the formed minimum triangular patch.
7. The root canal intracavity curved projection display system of claim 6, wherein said root canal intracavity curved projection display system further comprises:
and the display module is used for displaying a curved surface view of the root canal inner cavity.
8. A computer medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the method for curved projection display of root canal lumen according to any one of claims 1 to 5.
9. An apparatus, comprising: a processor and a memory;
the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory to cause the equipment to execute the curved surface projection display method of the root canal inner cavity according to any one of claims 1 to 5.
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