CN110236673A - Design method and device before a kind of bilateral jaw defect Reconstruction based on database - Google Patents
Design method and device before a kind of bilateral jaw defect Reconstruction based on database Download PDFInfo
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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Abstract
The application discloses design method and device before a kind of bilateral jaw defect Reconstruction based on three-dimensional configuration database, the method and device are based on presetting database, select the healthy head received the most with head to be repaired as reference from the presetting database, the a wide range of jaw defect part of reconstruction of bilateral, so that a wide range of jaw defect of bilateral for lacking strong side control can also reconstruct suitable mandibular shapes and repair volume morphing.
Description
Technical field
The application belongs to medical image generation and application field, in particular to a kind of bilateral based on three-dimensional configuration database
Design method and device before a wide range of jaw defect Reconstruction.
Background technique
Jawbone is the bone for constituting oral cavity, including maxilla and mandibular, and lower section is mainly by upper mandibular conduct in face
Bone bracket.Jaw defect generally refers to the tissue defect of the upper mandibular due to caused by disease or injury etc., and jaw defect is usually
Lead to serious physiognomy defect and dysfunction, jaw defect deformity directly results in the great dysfunction of patient and psychology hinders
Hinder, therefore, jaw defect deformity and its reconstruction be always Oral and Maxillofacial Surgery research hotspot.
In recent years, digitlization surgical technic has been increasingly used in various types of reconstruction of jaw operations, digitlization
Surgical technic can provide the threedimensional model of visual pattern, obtain accurate three-dimensional visible diagnostic message, digitize surgical technic
Auxiliary make reconstruction operations it is more personalized, fining.Specifically, it can be designed in the preoperative using digitlization surgical technic perfect
Operation plan simultaneously simulates operation implementation, to find design defect, improves operation plan in time, helps to reduce operation concurrently
Disease；It being accurately positioned in art using airmanship or guide plate/template-directed, guidance operation is implemented, operation precision and safety are improved,
To achieve the purpose that accurately to repair, better clinical effectiveness is obtained.The reconstruction of jaw art carried out using digitlization surgical technic,
It is postoperative can not only Exact recovery cranium jaw face shape, can more reach the target of functional reconstruction.
It, can be by being carried out to side data to defect for unilateral organ defect since Maxillary region organ is in symmetry more
It rebuilds, to guarantee facial bilateral symmetric property.The design of conventional image method is using strong side as template, using the jawbone of strong side symmetrically to trouble
Side, restores the jawbone shape being destroyed, and the reconstruction for jawbone shape provides foundation.
However for a wide range of defect of bilateral across middle line area, design is then difficult more, is good for side as mould without mirror image
Plate, it is difficult to the form of jawbone and position after accurate determining reconstruction, it is difficult to the length and angle of careful design bone graft.For across
The a wide range of defect of the bilateral in middle line area, traditional digital design are only capable of restoring jawbone shape by the rough design of doctors experience estimation
State；Or model is obtained using the artificial drafting of threedimensional model；Again or standard skull model is used, certain artificially repair
Change, model is obtained by the method for the three-dimension objects form editor such as scaling, rotation, local deformation, restores the anatomic form of jawbone；
Carry out reconstruction Design again or by the face data of the close relative of patient.
For estimating method, although can be by the methods of measurement, for a wide range of defect patient, residual fraction jawbone
Also there is certain displacement mostly, no mandibular shapes that restore referring under the conditions of do not have evaluation criterion, therefore artificial design result is different,
It is difficult to mutually compare and evaluate.If designer's experience is not enriched, often result in that bone graft position is bad, patient face type aesthetic measure
It is low, meshing functionss are bad, face that patient can only regret receive changes, the final result of long-term dentures repai difficulty.
For drawing the method for obtaining model using the artificial of threedimensional model, time-consuming, is still unavoidable from doctor's design
Greatest differences between person.
For the method using standard skull model, although there is certain template as reference, design is more fast, comparable
Property it is strong, weaken designer's subjective impact.However, this method takes a long time, and single referring to template, do not have personalized special
Sign is higher using the ability and aesthetics design fundamental importance of software to designer.
Summary of the invention
The application provides design method before a kind of bilateral jaw defect Reconstruction based on three-dimensional configuration database, the side
Method is based on presetting database, selects the healthy head received the most with head to be repaired as ginseng from the presetting database
It examines, a wide range of jaw defect part of reconstruction of bilateral, so that lacking a wide range of jaw defect of bilateral of strong side control can also rebuild
Volume morphing and position are suitably planted out.
The application's is designed to provide the following aspects:
In a first aspect, the application provides design method before a kind of bilateral jaw defect Reconstruction based on database, it is described
Method includes: to obtain skull model to be repaired and presetting database；Searched targets standard skull model in the preset database；Root
Defect model is generated according to the skull model to be repaired；It is generated according to the target criteria skull model and the defect model
Personalized reference template；According to the terminal denture form of the personalized excision extension referring to described in stencil design；According to described
Personalized form and position referring to template, terminal denture form Design plantation body position and donor bone donor bone.
With reference to first aspect, in a kind of achievable mode, the standard head of searched targets in the preset database
Model includes: to retrieve candidate criteria skull model in the preset database；According to preset rules, from the candidate criteria head
Screen target criteria skull model.
Wherein, the candidate criteria skull model of retrieval in the preset database includes: to extract three-dimensional feature letter to be repaired
Breath, the three-dimensional feature information to be repaired is the three-dimensional feature information extracted in the skull model to be repaired；Obtain normalizing
Change default three-dimensional feature information and normalize complex information to be repaired, the default three-dimensional feature information of normalization is default three-dimensional feature
Information normalized and obtain, normalization three-dimensional feature information to be repaired is three-dimensional feature information normalized to be repaired
And it obtains；Described preset successively is calculated according to default three-dimensional feature information and the normalization three-dimensional feature information to be repaired of normalizing
The similarity of each health skull model and the head to be repaired in database；Obtain candidate criteria skull model, the time
The standard skull model is selected to be and several highest healthy skull models of the head similarity to be repaired.
With reference to first aspect, described that defect is generated according to the skull model to be repaired in a kind of achievable mode
Model includes: that range to be repaired is determined on the skull model to be repaired；It is generated according to the range to be repaired of head to be repaired
Head defect model to be repaired.
With reference to first aspect, in a kind of achievable mode, personalized reference is synthesized according to the target criteria head
Template includes: by the jawbone three-dimensional configuration figure of the jawbone three-dimensional configuration image of target criteria skull model and skull model to be repaired
As being overlapped；Body Model is repaired according to the head defect model to be repaired and the design of target criteria skull model；It is repaired according to described
Complex model and head defect model to be repaired generate personalized referring to template.
Wherein, according to the reparation body Model and head defect model to be repaired generate it is personalized referring to template include:
It is determined on the corresponding position of the target criteria skull model and repairs body Model；Dummy mould is modified according to the range to be repaired
Type；Finishing post-prosthesis model is merged with the head defect model to be repaired.
With reference to first aspect, in a kind of achievable mode, according to described personalized referring to template, terminal denture shape
After the form and position of state design plantation body position and donor bone donor bone, the method also includes: according to the plantation body position
And the form and Position Design guide plate of donor bone donor bone；And/or after making the head defect model to be repaired, jawbone reparation respectively
The physical model of model and guide plate.
With reference to first aspect, in a kind of achievable mode, the head defect model to be repaired, jaw are being made respectively
After Bone Defect Repari after the physical model of model and guide plate, the method also includes: by the head defect model to be repaired, jaw
Model Design Navigation parameter after Bone Defect Repari；The navigational parameter is imported into navigator in art.
Wherein, the navigational parameter includes navigation registration point, osteotomy mark, dummy mark, donor bone donor bone with regard to bit flag, kind
At least one of denture mark after implant mark and reparation.
The application also provides a kind of bilateral jaw defect reconstruction Design device based on cranium jaw face data library, the dress
Setting includes: information acquisition unit, for obtaining the three-dimensional configuration image and presetting database of head to be repaired；Model index list
Member, for searched targets standard skull model in the preset database；Defect model generation unit, for according to it is described to
It repairs skull model and generates defect model；Personalized template generation unit, for being synthesized according to the target criteria skull model
Personalized reference template；Denture form Design unit, according to the terminal of the personalized excision extension referring to described in stencil design
Denture form；Planting body design cell, for according to described personalized referring to template, terminal denture form Design plantation body position
And form and the position of donor bone donor bone.
The application also provides a kind of program of bilateral jaw defect reconstruction Design based on cranium jaw face data library, described
Program is for executing the application first aspect the method.
The application also provides a kind of hardware medium, is stored on the hardware medium aforementioned double based on cranium jaw face data library
Side jaw defect rebuilds the program of Design, and can execute described program on a processor.
The application is directed to the demand of a wide range of cranium maxillofacial defeet reparation of bilateral, relies on cranium Maxillary region bone three-dimensional configuration number
The retrieval of cranium jaw face three-dimensional configuration is carried out according to library, obtains the solution of cranium jaw face prosthesis Design of digital to establish, from
And obtain effect that is efficiently quick, reducing experience dependence, personalized prosthesis design.
Traditional design scheme maxillofacial defeet a wide range of for bilateral since there is no healthy side form, therefore, it is impossible into
Quick, the accurate and personalized digitlization Design method of row, compared with traditional scheme, scheme provided by the present application being capable of benefit
A kind of reparation morphological template of personalization is provided with digitizing technique, doctor is allow to realize bone graft (fibula/ilium in the preoperative
Bone) virtual Position Design, it can be by the data importing digital software of patient donor site, and according to the range of jaw defect and position
It sets, the length and angle of each section of bone graft of careful design make it meet bone graft on three-dimensional position in shape and function reparation
On needs.
Scheme provided by the present application also has the advantages that
1. the application is by the repair of jaw defect body personalized template established based on three-dimensional configuration database and drawing work
Tool (such as CAD software), 3D printing surgical template technology and surgical navigation systems combine, and realize a wide range of jawbone
The full digitized solution of defect patient's jawbone reparation；
2. scheme provided by the present application is based on cranio-maxillofacial three-dimensional database, bone graft obtained by design has form essence
Really, advantage really, overcomes traditional scheme to need to rely on doctors experience in no reference form, and donor bone donor bone position is undesirable
The shortcomings that；
3. scheme provided by the present application carries out cranium jaw region feature using software during extracting cranium jaw region feature excellent
Change, and design whole process using picture guiding, quick and precisely extracts characteristic point convenient for doctor, reduce the artificial of feature point extraction
Error；
4. entire personalized template acquisition process is quick, there is the donor bone donor bone position adjustment of reference template quicker, shorten
The Design time.
Detailed description of the invention
Fig. 1 shows design method before the bilateral jaw defect Reconstruction provided herein based on three-dimensional configuration database
Flow chart；
Fig. 2 shows a kind of program interfaces of semi-automatic labelling standard feature index point used in the present embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
The application described below.
Before the technical solution explanation to the embodiment of the present application, the technology scene of the embodiment of the present application is done briefly first
Explanation.
The morphological feature of people's craniofacial region is sufficiently complex, although proprietary craniofacial region has apparent common feature,
Everyone cranium has obviously personal characteristics again, and dehisce, the functions such as vision and chewing need with craniofacial region
Property feature is adapted and can normally play.Since the diseases such as wound, tumour, inflammation can lead to facial bone tissue, soft tissue
A wide range of defect, rebuild repairing effect and depend on to former organized Morphological And Anatomical analysis, the form Design of donor, donor
Survival condition (blood supply), functional analysis and design for aesthetic.
Due to not only needing doctor and professional person fixed the understanding of complicated cranlofacial 3-D structure and craniofacial deformity
Property, positioning observation, accurately described with greater need for quantification.In traditional scheme, for a wide range of defect of cranium Maxillary region bilateral, lead to
Often doctor is needed by virtue of experience to formulate operation designing template, since the experience of each doctor and the emphasis of consideration are different, completely
It will increase the uncertainty of operation risk and prognosis by the scheme of doctors experience.
The application is applied to medical image generation and application field, in particular to the bilateral jawbone of three-dimensional configuration database lacks
Damage is rebuild, by calculating the similarity of head to be repaired and healthy skull model, retrieved from presetting database with it is to be repaired
The most like healthy head of head, and using the three-dimensional configuration of the most like healthy head as reference, make head to be repaired
Operation designing template, thus more relevantly restore a wide range of normal anatomic form of defect patient of bilateral, reduce postoperative patient
The deformity and dysfunction of cranium Maxillary region.
Method provided in this embodiment is related in three-dimensional configuration image and presetting database to head to be repaired healthy
The three-dimensional configuration image of the three-dimensional configuration image processing of skull model, the head to be repaired can pass through CT (Computed
Tomography, CT scan), it can also be obtained with the acquisition of other three-dimensional configuration image modalities, such as
Three-dimensional reconstruction is carried out based on the data such as Magnetic resonance imaging and is obtained, similarly, the three-dimensional configuration shadow of the health skull model
Is acquired as can be by three-dimensional configuration image modalities, can also carry out three-dimensional reconstruction based on CT data and
?.
In the present embodiment, the CT data can be acquired by CT equipment obtained by, it should be noted that for same
It for one patient, may be different using the different collected CT data of CT equipment, different patients use identical CT equipment
Collected CT data are different, and same patient uses the collected CT data possibility of same CT equipment is identical may also be different.
In the present embodiment, the skull model that the healthy skull model does not instead of artificially design, the cranium collected
The head data of jaw face function normal population, cranium jaw face function normal population refer to that at least a part of cranium jaw face function is
Normally, some cranium jaw face function is allowed to have defect, but these defects do not interfere function normal segments as operation
Design template.For example, the patient suffers from parotid tumor, but the socket of the eye wall bone of the patient, jawbone etc. are normal, then these normal portions
The corresponding function in position is also all normal, then the patient may be to be considered normal population.
The application provides design method before a kind of bilateral jaw defect Reconstruction based on three-dimensional configuration database, the side
The executing subject of method can be the terminal including display, and the form of the terminal includes being not limited to computer or mobile phone.
Fig. 2 is design method before the bilateral jaw defect Reconstruction provided herein based on three-dimensional configuration database
Flow chart, as shown in Fig. 2, method provided by the present application includes step S101 to step S106, specifically:
S101 obtains skull model to be repaired and presetting database.
In the present embodiment, the skull model to be repaired can be existing according to the CT data of patient or nuclear magnetic data etc.
Any one head image simulation of technology is rebuild, any one utilization in the prior art can be used in specific method for reconstructing
The method for generating three-dimensional configuration is rebuild in the simulation of planar medical image.
In the present embodiment, the presetting database can pre-establish before obtaining skull model to be repaired.
In a kind of achievable mode, establishing the presetting database may include step S111 to step S115, tool
Body:
S111 obtains healthy head image data.
In the present embodiment, the healthy head image data can be any one plane obtained using the prior art
Image data, such as CT data, nuclear magnetic data etc..
For the feature of Different Plane image data respectively, rebuilds in treatment process and can make specifically carrying out three-dimensional configuration
Reconstruction processing is carried out with conventional method in that art.For simplicity, the present embodiment is illustrated with CT data instance.
The timebase of acquired CT data can be canthomeatal line, be also possible to listen open wiring, since canthomeatal line is CT scan
In be therefore the most commonly used basic timebase is illustrated by taking canthomeatal line as an example in the present embodiment.
For the healthy skull model CT data to be included, CT data collected should not have apparent shortage of data,
Scan slice thickness is less than or equal to 2mm, causes model accuracy obtained by rebuilding too low to avoid since Scan slice thickness is blocked up, further
The extraction error for leading to subsequent characteristics point is more than 2mm, and the format of CT data can be Dicom reference format.
In the present embodiment, the healthy skull model CT data usually require that data are complete, and scanning range includes from socket of the eye
Under chin, intercuspal position；Timebase is canthomeatal line, substantially indifference relation of grinding one's teeth in sleep, and covering is normal, and bilateral is substantially right
Claim；Without the visible history of operation of CT；There can be soft tissue tag or anomaly exist, but without sclerotin involvement, fracture and bony defect.
The CT data of any one following situation are excluded in the present embodiment:
(1), there is the artifact that can not be repaired in CT data serious defect and other influences are rebuild and the selection of important symbol point
Situation；
(2) diseases such as severe bone sex deviation, dysplasia and bone tissue tumour；
(3) soft tissue tumors involve sclerotin, and sclerotin, which has destruction or is pressurized, to be changed；
(4) deciduous dentition and mixed dentition children.
For example, a CT data for the present embodiment are according to following gain of parameter:
16 row's spiral CTs (Siemens, Germany), scanning voltage 120kV, sweep current > 200mA, matrix 512 ×
512, Scan slice thickness 1.25mm.
The CT data obtained under the above parameters are complete, and scanning range includes the intercuspal position from socket of the eye under chin；Scanning
Baseline is canthomeatal line, substantially indifference relation of grinding one's teeth in sleep, and covers normal, bilateral almost symmetry；Without the visible history of operation of CT.
S112 generates the three-dimensional configuration image of the health skull model according to the healthy skull model CT data.
In the present embodiment, acquired CT data can be transmitted to processing using network transmission or using other way
Device, the CT data are stored in memory using general Dicom reference format, using default window width, default window position and pre-
If defining threshold value, based on the CT data, three-dimensional cranio-maxillofacial tissue is rebuild, to generate the three-dimensional configuration of healthy head
The three-dimensional configuration image of image, the health skull model can be exported with stl formatted file and is stored in memory.
In the present embodiment, can using in the prior art any one based on CT data carry out three-dimensional reconstruction method come
Three-dimensional cranio-maxillofacial tissue is rebuild, it is alternatively possible to rebuild three-dimensional cranio-maxillofacial tissue using the method based on surface rendering.
In the present embodiment, the default window width is the window width suitable for observing head cranio-maxillofacial form, such as 500Hu,
The default window position is the window position suitable for observing cranio-maxillofacial lesion situation, such as+100Hu, define threshold value can for 226~
3071Hu。
Window setting technique is a kind of display technology in CT examination to the normal tissue or lesion of observing different densities, including window
Wide and window position.Since various institutional frameworks or lesion have different CT values, it is intended to show a certain institutional framework details
When, window width and the window position for being suitble to observe the tissue or lesion should be selected, to obtain best image.Wherein, window width is CT image
The CT value range of upper display, tissue and lesion within the scope of this CT value are shown with different analog gray scales, and CT value is higher than this
The upper limit of range, is shown with Bai Ying, if CT value is lower than the lower limit of the range, is shown with shadow.Window width increases, CT image
Shown in CT value range increase, show that the institutional framework with different densities increases, but the gray scale difference between each structure
Reduce, reduces window width, the institutional framework of display tool different densities is reduced, but the gray scale difference between each tissue increases.And window
Position is the center of window, and same window width, due to window position difference, the extreme position up and down of included CT value range is different, example
Such as, window width is all 100H, and when window position is 0H, corresponding CT value range is -50H~+50H, if window position is+35H,
Corresponding CT value range is -15H~+85H.
In the present embodiment, window width uses 500Hu, window position use+100Hu, defines threshold value and then may be used using 226~3071Hu
The best image for obtaining cranio-maxillofacial, skull model three-dimensional configuration image obtained by being rebuild based on this CT data can satisfy
The demand of comparative analysis.
S113, the selection standard feature mark poiX in the three-dimensional configuration image of each healthy skull model.
In the present embodiment, the standard feature index point refers to extracts from the three-dimensional configuration image of healthy skull model
Feature mark poiX, the feature mark poiX may include cranium index point, upper jaw index point and lower jaw index point etc., wherein
Cranium index point may include nasion (nose frontal suture First Point on median sagittal plane), left and right nose volume point (frontal process of the maxilla and nose
The intersection point of frontal suture), sella turcica (sella turcica central point) and basion (anterior margin of foramen magnum midpoint) etc.；The upper jaw index point can be with
Including nasospinale (spina nasalis anterior tip), upper tooth socket seat point (on median sagittal plane between spina nasalis anterior and upper margo alveolaris bone it is most recessed
Point), upper margo alveolaris point (upper First Point of the alveolus sky on median sagittal plane) and upper incisor (cut in going up on median sagittal plane
The First Point of incisal border of tooth) etc.；The lower jaw index point may include that (the upper and lower central incisor incisxal edge of median sagittal plane is most for lower incisor
Preceding point), the lower first molar point in left and right (lower first molar closely in cheek point), (lower alveolar process is on median sagittal plane for lower tooth slot point
First Point) and lower cogging seat (median sagittal plane up and down before margo alveolaris and chin between bone most concave point) etc..
In the present embodiment, the standard feature index point, which can be, utilizes any one automatic label mould in the prior art
Block automatic identification and is marked in the three-dimensional configuration image of the healthy skull model, or operator is described strong
Hand labeled on the three-dimensional configuration image of health skull model is also possible to operator and interacts with a computer realization semi-automatic labelling.
Wherein, the semi-automatic labelling can be by following Scene realization, when operator is in the three-dimensional configuration image of healthy head
When standard feature index point, it is nasion that computer system, which prompts first standard feature index point, and prompts the standard feature
The position of index point is nose frontal suture First Point on median sagittal plane, and operator can search out the standard feature mark according to the prompt
Will point, in turn, human-computer interaction marks all standard feature index points in the manner described above.Applicants have discovered that passing through behaviour
Author interact with a computer the standard feature index point that semi-automatic labelling obtains can either avoid the pure mechanicalness marked automatically and
Caused error also can be improved the working efficiency and accuracy rate of operator.
For example, as shown in Fig. 2, be a kind of program interface of semi-automatic labelling standard feature index point, it can using the program
The three-dimensional configuration image of healthy head is clearly displayed with multi-angle, and gives special angle natural lighting, imitates Three-dimensional Display
Fruit is remarkably reinforced, and feature mark poiX can be accurately positioned in order to observe in all angles with freely dragging, rotation zoomed image,
Also, described program presets the sequence of extraction of standard feature index point, to user with picture and text prompt, convenient for fast
Speed accurately extracts characteristic point.
S114, obtains the characteristic information of each standard feature index point, and the characteristic information includes: standard feature index point
Coordinate, normal line are away from, standard angle and standard proportional parameter.
In the present embodiment, standard feature index point is indicated in the three-dimensional configuration image of the healthy skull model
Afterwards, the corresponding characteristic information of each standard feature index point is extracted, for the similarity for calculating head and the health head to be repaired
Basis is provided.
In one implementation, the standard feature index point coordinate is that the position of each standard feature index point is sat
Mark.
The normal line away from the cranium line-spacing, pars orbitalis line-spacing, linea mandibularis for the healthy skull model away from, upper jaw line-spacing and
High line-spacing in face etc., wherein the cranium line-spacing specifically includes preceding basal length, rear basal length and full basal length, the pars orbitalis line-spacing
Specifically include spacing on the outside of the socket of the eye of left and right, spacing, left and right socket of the eye height and left and right socket of the eye width on the inside of the socket of the eye of left and right；The linea mandibularis is away from specific
It is long including Mandibular width, left and right ramus of mandible height, left and right ramus of mandible height and left and right mandibular body；The upper jaw line-spacing specifically wraps
Include: wide above, cheekbone width, middle face be wide, upper jaw width, the upper jaw are long and upper tooth groove height；The high line-spacing in face specifically includes: preceding
Face is high, upper front is high, lower front is high and high below.
The standard angle is the angle of each structure in the three-dimensional configuration image of the healthy skull model, such as in cranium
The cranial base angle of measurement, the left and right angle of mandible etc. measured at upper mandibular.
The standard proportional parameter is the ratio of each line-spacing of healthy skull model, for example, front-back height ratio, it is preceding below
High ratio, lower jaw width and socket of the eye width ratio wider than, lower jaw width and cheekbone face with front height, lower jaw width and condyle prominent width ratio, cheekbone
The wide width ratio etc. of dashing forward with condyle of the ratio and cheekbone face that face is wide and socket of the eye is wide.
In a kind of achievable mode, the standard feature index point coordinate, normal line are away from, standard angle and standard ratio
Example parameter can be calculated according to the characteristic point of extraction by software module and be obtained.
S115 generates presetting database, the presetting database packet according to the characteristic information of each standard feature index point
Multiple healthy skull model characteristic informations are included, each health skull model characteristic information includes the corresponding institute of the health skull model
There is the characteristic information of standard feature point.
In the present embodiment, all standards of the three-dimensional configuration image of each healthy skull model and the health head are special
The corresponding standard feature information of sign index point is respectively formed corresponding relationship, forms the number including multiple healthy skull model characteristic informations
According to library, as presetting database.
In the present embodiment, feature mark poiX is also extracted for the skull model to be repaired of acquisition, extracts head to be repaired
The method of aspect of model index point is similar with the method for extracting healthy skull model standard feature index point, difference be only that for
Jaw defect genius loci index point carries out skipping processing, not extracts feature mark poiX.
S102, in the preset database searched targets standard skull model.
In the present embodiment, the standard of the searched targets in the preset database skull model can specifically include:
S121 retrieves candidate criteria skull model in the preset database.
In the present embodiment, specifically, the candidate criteria skull model of retrieval in the preset database may include:
S1211, extracts three-dimensional feature information to be repaired, and the three-dimensional feature information to be repaired is in the head to be repaired
The three-dimensional feature information extracted in model.
The extraction three-dimensional feature information to be repaired can specifically include:
Multiple feature mark poiXs are indicated on the three-dimensional configuration image of the head to be repaired；
Obtain the corresponding characteristic information of each feature mark poiX, the characteristic information include feature mark poiX coordinate, line-spacing,
Angle and scale parameter.
In the present embodiment, the realization of multiple feature mark poiXs is indicated on the three-dimensional configuration image of the head to be repaired
Mode can refer to step S113, and details are not described herein.
In the present embodiment, the implementation for obtaining the corresponding characteristic information of each feature mark poiX is specifically referred to walk
Rapid S114, details are not described herein.
S1212 is obtained and is normalized default three-dimensional feature information and normalization complex information to be repaired, the default three-dimensional of normalization
Characteristic information is to preset three-dimensional feature information normalized and obtain, and the normalization three-dimensional feature information to be repaired is to be repaired
Three-dimensional feature information normalized and obtain.
In the present embodiment, described to normalize line-spacing, angle, the ratio that default three-dimensional feature information includes healthy skull model
Example parameter and normalization characteristic index point coordinate etc., similarly, the normalization three-dimensional feature information to be repaired includes to be repaired
Line-spacing, angle, scale parameter and normalization characteristic index point coordinate of skull model etc., wherein normalization characteristic index point is sat
Coordinate of the feature mark poiX for being designated as marking in original image after normalized.And line-spacing, angle and ratio ginseng
The respective value of generation of the skull model in initial three-dimensional morphological image can be used in the parameters such as number, to avoid due to returning
One changes error caused by processing, and these errors are difficult to avoid that during normalization.
In the present embodiment, as coordinate system (the referred to hereinafter as former coordinate where the three-dimensional configuration image of healthy skull model
System) it is related with head position when CT shooting baseline and shooting, therefore, the three-dimensional configuration image and human body mark of each health skull model
Quasi- dissection orientation is variant, coordinate difference and subsequent similarity-rough set for convenience of feature mark poiX between more different skulls
It needs, the present embodiment is that the skull model (including healthy skull model and head to be repaired) establishes unified coordinate system, i.e.,
(Regularize) processing is normalized, the three-dimensional configuration image of all skull models is being recorded in normalizing after normalized
Change in database.
In the present embodiment, FH-S-N coordinate system is defined as normalized coordinates system.The FH-S-N coordinate system refers to two
The datum plane FH plane (orbitomeatal plane) in cephalometrics is tieed up, is made with the plane that socket of the eye lower edge midpoint and bilateral ear point are constituted
For XOY plane, the normal that sella turcica makees XOY plane is crossed, for Z axis, the intersection point of Z axis and XOY plane is origin O, crosses Z axis and nose
Root point obtains XOZ plane, and the intersection of XOY and XOZ plane is X-axis, and in XOY plane, crossing origin perpendicular to the straight line of X-axis is Y-axis,
To obtain FH-S-N coordinate system.
All the points on the three-dimensional configuration image of skull model are transformed under FH-S-N coordinate system, unitization FH-S-N coordinate
Unit vector is obtained along the vector of X-direction in systemSimilarly available unit vector along the y axisAlong Z axis
The unit vector in directionAnd WithConstitute a unit orthogonal basis under FH-S-N coordinate system.
S1213 is successively counted according to default three-dimensional feature information and the normalization three-dimensional feature information to be repaired of normalizing
Calculate the similarity of each health skull model and the head to be repaired in the presetting database.
In the present embodiment, characteristic point minimum distance method can be used to calculate skull model to be repaired and healthy head mould
The similarity in three-dimensional configuration of type.
Specifically, the feature mark poiX that can define skull model to be repaired is Pi(xi,yi,zi), define presetting database
In any healthy skull model feature mark poiX corresponding with skull model to be repaired be P 'i(x′i,y′i,z′i), first will
Skull model to be repaired and healthy skull model are unified with preceding method to FH-S-N coordinate system, and under FH-S-N coordinate system
Calculate Euclid between skull model to be repaired and each healthy any one three-dimensional feature index point of skull model away from
From Ei, the Euclidean distance EiIt (1) can be calculated according to the following formula:
In the present embodiment, the similarity function F of skull model to be repaired and healthy skull model is defined as between two heads
The mean value of all character pair point Euclidean distances (2) can be calculated according to the following formula:
F=∑ Ei/n (2)
Wherein, i=1,2,3 ... n
It by formula (2) it is found that F value is bigger, indicates that the similarity of two skull models is smaller, conversely, F value is smaller, indicates both ends
The similarity of cranium model is bigger.
S1214, obtains candidate criteria skull model, and the candidate criteria skull model is similar to the head to be repaired
Spend several highest healthy skull models.
Since the structure of cranium Maxillary region is extremely complex, the highest several heads of similarity that are calculated by preceding method
Similarity may be only several after difference decimal point, that is, it is therefore, simple to rely on almost without difference from similarity data
Similarity can may also have some and unmatched problem of patient's concrete condition to choose operation designing template, therefore, at this
In embodiment, several highest healthy skull models of selection similarity first are as candidate skull model, for example, can choose
3 candidate skull models.
S122 screens target criteria skull model according to preset rules from the candidate criteria head.
In the present embodiment, the rule that the preset rules can be arranged for the experience by doctor, or its
It is suitable for choosing the rule of target criteria skull model, for example, reverse engineering software, such as Geomagic can be used to provide
Chromatography comparison method screen with the maximum candidate skull model of skull model similarity to be repaired as target criteria head mould
Type.
In the present embodiment, it is screened and skull model similarity to be repaired using the chromatography comparison method that Geomagic is provided
Maximum candidate's skull model can be sketched as following steps:
By the three dimensional surface renderings data of candidate skull model and the three dimensional surface renderings data of skull model to be repaired
It is loaded into reverse engineering software, such as Geomagic etc. respectively；
Skull model more to be repaired and each time are analyzed using the chromatography comparison method that the reverse engineering software carries
Select the similarity degree of skull model, that is, degree of agreement, then selection one and the head to be repaired from the candidate skull model
A most like skull model of cranium model.
In the present embodiment, selection one is most like with the skull model to be repaired from the candidate skull model
One skull model can be completely according to the chromatography comparison method of reverse engineering software offer as a result, or main basis
The similarity of position to be repaired and healthy head corresponding position selects.
In the present embodiment, the target criteria skull model only one.
S103 generates defect model according to the skull model to be repaired.
In the present embodiment, described to include: according to the skull model generation defect model to be repaired
S131 determines range to be repaired on the skull model to be repaired.
In the present embodiment, it can be enclosed on the skull model to be repaired according to position to be repaired either lesions position
Fixed range to be repaired.
In the present embodiment, drawing a circle to approve the range to be repaired can carry out according to the needs of reparation.
S132 generates head defect model to be repaired according to the range to be repaired of head to be repaired.
In the present embodiment, during drawing a circle to approve range to be repaired on the head to be repaired, while in target criteria
Also a candidate restoration range corresponding with range to be repaired, the range to be repaired and time are correspondingly drawn a circle to approve out on skull model
Repair coverage is selected to generate simultaneously, specifically, the range to be repaired can be any amount on the head to be repaired
Arbitrary point formed enclosed region.
In the present embodiment, range and candidate restoration range to be repaired is determined using the method, it can be quickly in mesh
It is drawn a circle to approve out on mark standard health head and the most similar candidate restoration range of range to be repaired.
In the present embodiment, the skull model to be repaired for removing the range to be repaired is defect model to be repaired.
S104 is generated personalized referring to mould according to the target criteria skull model and the defect model to be repaired
Plate.
In the present embodiment, it is specifically included according to target criteria head synthesis personalization referring to template:
S141, by the jawbone three-dimensional shaped of the jawbone three-dimensional configuration image of target criteria skull model and skull model to be repaired
State picture registration.
In the present embodiment, on the basis of the upper jaw or lower jaw, by the three-dimensional configuration image of target criteria skull model with to
The three-dimensional configuration picture registration of skull model is repaired, so that skull model to be repaired and each characteristic indication of target criteria health head
Point on three-dimensional configuration image as much as possible be overlapped with it is corresponding, thus increase designed by dummy on head to be repaired in
Precision and relevance grade.
S142 repairs body Model according to the head defect model to be repaired and the design of target criteria skull model.
In the present embodiment, the candidate restoration range drawn a circle to approve on the target criteria health skull model, can pass through
The preset function of software crawls out in modular form, for convenient for statement, below by the module crawled out referred to as to
With repairing model, the stand-by repair module can be embedded in the area to be repaired of skull model to be repaired.
Since skull model to be repaired and target criteria health skull model are there are inevitable difference, this result in
It being embedded in behind the area to be repaired of skull model with repair module, edge junction, which is likely that there are, misfits place, therefore,
Stand-by repair module can be modified, so that being formed on stand-by repair module and the skull model to be repaired to be repaired
Edges of regions junction coincide.
S143 is generated personalized referring to template according to the reparation body Model and head defect model to be repaired.
In the present embodiment, described that personalized reference is generated according to the reparation body Model and head defect model to be repaired
Template can specifically include:
It is determined on the corresponding position of the target criteria skull model according to the range to be repaired and repairs body Model；
Body Model is repaired in finishing；
Finishing post-prosthesis model is connect to form a model with the head defect model to be repaired.
It in the present embodiment, can be in head mould to be repaired after the stand-by repair module is embedded in skull model to be repaired
Boundary line is left in type, forms insertion trace, and therefore, the present embodiment can use surface-edit technology, by stand-by repair module
It is attached with skull model to be repaired, forms the surface grids data for linking up unified, and resulting surface grids data will be merged and made
To be personalized referring to template.
In the present embodiment, since step 104 is to draw a circle to approve range to be repaired by the Chosen Point of limited quantity, because
This, the stand-by repair module drawn a circle to approve can be relatively rough, and range delineation to be repaired is also likely to be present not accurate problem, wherein
Chosen Point is to be selected in step 104 for drawing a circle to approve the point of range to be repaired.
Therefore, personalization obtained by step 101 to step 104 is considered Preliminary design template referring to template, this
Embodiment can further determine that accurate range to be repaired on the basis of personalization is referring to template.
In addition, using there is denture in the personalized reference template of target criteria health skull model design, and use it
The surgical template missing denture design of its scheme acquisition, therefore, the present embodiment selection is based on personalized reference template into one
Volume morphing is repaired in step design.
In the present embodiment, since in silent situation, upper mandibular is mutually twisted, therefore, head to be repaired obtained by reconstruction
There are overlapping parts on image for the upper mandibular of cranium model, and therefore, the present embodiment is by skull model to be repaired according to upper lower jaw
Bone is divided into two independent submodels, thus avoid when drawing a circle to approve area to be repaired by incoherent up/down jawbone draw a circle to approve to
In area to be repaired.
Determine that jawbone excision extension, the jawbone cut off model respectively on individual maxilla image and mandibular image
It is exactly determined according to lesions position for enclosing.
In the present embodiment, during determining jawbone excision extension, personalized referring to accurate simultaneously true in template
Make dummy range.
S105, according to the terminal denture form of the personalized excision extension referring to described in stencil design.
It in the present embodiment, can be according to the personalized terminal denture shape referring in template acquisition jawbone excision extension
State, and the terminal denture form is embedded in jawbone excision extension, it is adjusted further according to the denture on the jawbone volume edges
Terminal denture form.
S106, according to the personalized shape referring to template, terminal denture form Design plantation body position and donor bone donor bone
State and position.
In the present embodiment, after the completion of terminal denture designs, according further to personalized referring to template and design
Obtained by terminal denture form further modify form and the position of planting body and donor bone donor bone, lacked to complete bilateral large area
Damage the design of cranium jawbone reparation.
Applicants have discovered that operation designing is carried out to bilateral large defect cranium jawbone using method provided by the present application,
Design time greatly shortens, and by original 4-5 hour, can foreshorten to 1-2 hours, moreover, method foundation provided by the present application
Healthy population three-dimensional configuration big data and computer carry out Precise spraying, so that complexity as a wide range of jaw defect of bilateral
Case becomes standardization, evidence by traditional operation designing for being completely dependent on doctors experience, nonstandardized technique, while also guaranteeing
Personal characteristics and functional characteristic.The matching degree for designing and obtaining dummy and area to be repaired is higher, is obtained using design
Dummy repairs bilateral large defect, and the postoperative aesthetic measure of patient and functional rehabilitation are had a conventional method and greatly mentioned
Height,
In the present embodiment, after step 106, the method can also include: according to the plantation body position and
The form and Position Design guide plate of donor bone donor bone；And/or model after the head defect model to be repaired, jawbone reparation is made respectively
And the physical model of guide plate.
In the present embodiment, the guide plate is a kind of virtual image formed by computer simulation, in actual repair mistake
Cheng Zhong can produce the identical physical entity of form, for assisting planting body, donor bone donor bone performing the operation according to the guide plate
Realization in practice.
In the present embodiment, guide plate can use any one available guide plate in the prior art, such as: jawbone osteotomy is led
The four class guide plates such as plate, donor bone donor bone osteotomy guide plate, bone guide plate in place, plantation guide plate, or merge wherein several guide plates.
In the present embodiment, the guide plate entity can be obtained by way of 3D printing, and guide plate entity may include jaw
Model and art centering guide etc. after bone defect model, jawbone are repaired.
In the present embodiment, after step 106, the method can also include: by the head defect mould to be repaired
Model Design Navigation parameter after type, jawbone are repaired；The navigational parameter is imported into navigator in art.
Wherein, the navigational parameter includes navigation registration point, osteotomy mark, dummy mark, donor bone donor bone with regard to bit flag, kind
At least one of denture mark after implant mark and reparation.
In the present embodiment, the model for generating navigational parameter includes jaw defect model and jawbone after generating osteotomy
Model after reparation after the model is imported navigation design software, utilizes navigation design software design key fixed position, export
Navigate file navigator into art.
In the present embodiment, air navigation aid used and navigator can be using any one air navigation aids in the prior art
And matched navigator.
The application also provides a kind of bilateral jaw defect reconstruction Design dress based on cranium jaw face three-dimensional configuration database
It sets, described device includes: information acquisition unit, for obtaining the three-dimensional configuration image and presetting database of head to be repaired；Mould
Type retrieval unit, for searched targets standard skull model in the preset database；Defect model generation unit, for according to institute
It states the skull model to be repaired and generates defect model；Personalized template generation unit, for according to the target criteria head
Model synthesis is personalized referring to template；Denture form Design unit cuts off model according to the personalization referring to described in stencil design
The terminal denture form enclosed；Planting body design cell, for according to described personalized referring to template, terminal denture form Design kind
The form and position of implant position and donor bone donor bone.
In the present embodiment, the mode of its function of the function of each unit and realization is as described in the method for front, herein not
It repeats again.
The application also provides a kind of program of bilateral jaw defect reconstruction Design based on cranium jaw face data library, described
Program is for executing the application first aspect the method.
The application also provides a kind of hardware medium, is stored on the hardware medium aforementioned double based on cranium jaw face data library
Side jaw defect rebuilds the program of Design, and can execute described program on a processor.
Combine detailed description and exemplary example that the application is described in detail above, but these explanations are simultaneously
It should not be understood as the limitation to the application.It will be appreciated by those skilled in the art that without departing from the application spirit and scope,
A variety of equivalent substitution, modification or improvements can be carried out to technical scheme and embodiments thereof, these each fall within the application
In the range of.The protection scope of the application is determined by the appended claims.
Claims (10)
1. design method before a kind of bilateral jaw defect Reconstruction based on database, which is characterized in that the described method includes:
Obtain skull model to be repaired and presetting database；
Searched targets standard skull model in the preset database；
Defect model is generated according to the skull model to be repaired；
It is generated according to the target criteria skull model and the defect model personalized referring to template；According to the personalization
The terminal denture form of the excision extension referring to described in stencil design；
According to personalized form and the position referring to template, terminal denture form Design plantation body position and donor bone donor bone.
2. the method according to claim 1, wherein the standard of the searched targets in the preset database head mould
Type includes:
Candidate criteria skull model is retrieved in the preset database；
According to preset rules, target criteria skull model is screened from the candidate criteria skull model.
3. method according to claim 1 or 2, which is characterized in that described to retrieve candidate criteria head in the preset database
Cranium model includes:
Three-dimensional feature information to be repaired is extracted, the three-dimensional feature information to be repaired is to extract in the skull model to be repaired
Three-dimensional feature information；
Acquisition normalizes default three-dimensional feature information and normalizes complex information to be repaired, and the default three-dimensional feature information of normalization is
It presets three-dimensional feature information normalized and obtains, the normalization three-dimensional feature information to be repaired is three-dimensional feature to be repaired letter
It ceases normalized and obtains；
Described preset successively is calculated according to default three-dimensional feature information and the normalization three-dimensional feature information to be repaired of normalizing
The similarity of each health skull model and the head to be repaired in database；
Candidate criteria skull model is obtained, if the candidate criteria skull model is highest with the head similarity to be repaired
Dry healthy skull model.
4. method according to any one of claims 1 to 3, which is characterized in that described according to the skull model to be repaired
Generating defect model includes:
Range to be repaired is determined on the skull model to be repaired；
Head defect model to be repaired is generated according to the range to be repaired of head to be repaired.
5. method according to any one of claims 1 to 4, which is characterized in that according to the target criteria head and lack
Damage model generates personalization referring to template
By the jawbone three-dimensional configuration image weight of the jawbone three-dimensional configuration image of target criteria skull model and skull model to be repaired
It closes；
Body Model is repaired according to the head defect model to be repaired and the design of target criteria skull model；
It is generated according to the reparation body Model and head defect model to be repaired personalized referring to template.
6. method according to any one of claims 1 to 5, which is characterized in that according to the reparation body Model with it is to be repaired
Head defect model generates personalization referring to template
It is determined on the corresponding position of the target criteria skull model and repairs body Model；
Body Model is repaired according to the range finishing to be repaired；
Finishing post-prosthesis model is merged with the head defect model to be repaired.
7. method according to any one of claims 1 to 6, which is characterized in that according to described personalized referring to template, end
After the form and position of last denture form Design plantation body position and donor bone donor bone, the method also includes:
According to the plantation body position and the form and Position Design guide plate of donor bone donor bone；And/or
Make respectively the head defect model to be repaired, jawbone repair after the physical model of model and guide plate.
8. method according to any one of claims 1 to 7, which is characterized in that lacked making the head to be repaired respectively
After damage model, jawbone are repaired after the physical model of model and guide plate, the method also includes:
Model Design Navigation parameter after the head defect model to be repaired, jawbone are repaired；
The navigational parameter is imported into navigator in art.
9. according to the method described in claim 8, it is characterized in that, the navigational parameter include navigation registration point, osteotomy mark,
Dummy mark, donor bone donor bone at least one of denture mark with regard to bit flag, planting body mark and after repairing.
10. a kind of bilateral jaw defect based on cranium jaw face data library rebuilds Design device, which is characterized in that described device
Include:
Information acquisition unit, for obtaining the three-dimensional configuration image and presetting database of head to be repaired；
Model index unit, for searched targets standard skull model in the preset database；Defect model generation unit, is used for
Defect model is generated according to the skull model to be repaired；
Personalized template generation unit, it is personalized for being synthesized according to the target criteria skull model and the defect model
Referring to template；
Denture form Design unit, according to the terminal denture form of the personalized excision extension referring to described in stencil design；
Planting body design cell, for according to it is described it is personalized referring to template, terminal denture form Design plantation body position and
The form of donor bone donor bone and position.
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