CN110811653A - Method for measuring tooth three-dimensional movement in orthodontic process - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000008569 process Effects 0.000 title claims abstract description 13
- 239000011159 matrix material Substances 0.000 claims abstract description 36
- 238000011282 treatment Methods 0.000 claims abstract description 32
- 230000009466 transformation Effects 0.000 claims abstract description 23
- 238000007408 cone-beam computed tomography Methods 0.000 claims abstract description 15
- 238000013519 translation Methods 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 210000004513 dentition Anatomy 0.000 claims abstract description 7
- 230000036346 tooth eruption Effects 0.000 claims abstract description 7
- 238000004458 analytical method Methods 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 2
- 238000002203 pretreatment Methods 0.000 claims 1
- 230000001131 transforming effect Effects 0.000 claims 1
- 238000011221 initial treatment Methods 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 4
- 230000005855 radiation Effects 0.000 description 3
- 210000003464 cuspid Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004195 gingiva Anatomy 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 210000000332 tooth crown Anatomy 0.000 description 1
- 238000011426 transformation method Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/501—Clinical applications involving diagnosis of head, e.g. neuroimaging, craniography
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5217—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data extracting a diagnostic or physiological parameter from medical diagnostic data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
Abstract
The invention discloses a method for measuring tooth three-dimensional movement in an orthodontic process, which is characterized in that a CBCT tooth model and an intraoral scanning model at the initial treatment are superposed to construct a complete tooth model; matching and overlapping the intraoral scanning model after a period of treatment with the model at the initial moment, and comparing; isolating a single tooth for analysis, and constructing a local three-dimensional coordinate system of the target tooth; three reference points are marked at the positions of the dental crown supporting grooves on the front and back intraoral models respectively, a space transformation matrix is calculated according to the coordinates of the reference points, and then the three-dimensional translation and rotation motion of the teeth are calculated, so that the three-dimensional tooth movement is obtained. The same method analyzes all teeth and obtains the displacement of the entire dentition. The model is continuously collected for a plurality of times of intraoral scanning of the patient, and the continuous complete dentition three-dimensional displacement in the orthodontic process can be measured.
Description
Technical Field
The invention relates to a technology for monitoring and measuring three-dimensional space movement of orthodontic teeth, and belongs to the technical field of orthodontic treatment detection.
Background
Orthodontic treatment is the adjustment of the coordination of the dentition itself, the dentition and the jaw bone by means of an orthodontic device. The ultimate goal is to achieve balance, stability and aesthetics of the oromandibular system.
In the orthodontic process, the position and the movement condition of the teeth of a patient can be detected and controlled in time, and the orthodontic treatment method has great significance for determining and adjusting the treatment scheme. While the morphology of the entire tooth location is often not well reflected by viewing only the visible crown portion. Therefore, prior to orthodontic treatment, physicians often perform CBCT scans of the patient to visualize the position of the teeth (including the root of the tooth). Since CBCT scanning has radiation to the patient and the patient needs to receive as little radiation as possible during the treatment, the partial motion of the teeth during the orthodontic procedure is usually measured clinically by using a ruler, cephalogram measurement and other methods. However, the movement of the tooth in three-dimensional space involves a complex process of rotation and translation. These simple measurement methods do not completely reflect the tooth movement, and in some complicated cases, such as embedded teeth and abnormal tooth movement, the doctor may still need to understand the tooth displacement and position by means of CBCT scanning of the patient during the operation to make and adjust the treatment measures in the next stage.
To date, no convenient method for measuring the three-dimensional space movement of teeth is proposed and applied to orthodontic clinics, so as to detect the tooth movement and reduce the need of CBCT scanning in operation.
Disclosure of Invention
The invention aims to solve the problems, provides a method for measuring and evaluating the complex three-dimensional movement of teeth in the clinical orthodontic treatment process, has simple and convenient digital operation, does not need a patient to bear additional radiation, and solves the problems that the displacement of the teeth (including tooth roots) cannot be mastered in time in the traditional orthodontic treatment process, the tooth movement is evaluated by excessively depending on the position of an observed tooth crown and the experience of a doctor, and the like.
In order to solve the above problems, the present invention provides a method for measuring three-dimensional movement of teeth in orthodontic process, comprising the steps of:
(1) superimposing the intraoral scan model of treatment initiation (T0) and the CBCT dental model;
(2) matching and superposing the intraoral scanning model after a period of treatment (T1) and the model at the initial moment;
(3) analyzing the single tooth, and establishing a local three-dimensional coordinate system for the target tooth on the obtained complete tooth model;
(4) marking three corresponding reference points of the target dental crown on the front model and the rear model respectively, and calculating a space transformation matrix of the target tooth position before and after the treatment at the stage according to the coordinates of the reference points;
(5) calculating the three-dimensional translation amount and the rotation angle of the tooth according to the transformation matrix;
(6) repeatedly analyzing each tooth to obtain displacement information of the complete dentition at the T1 moment;
(7) and continuously acquiring intraoral scanning models of the patient at different moments in the orthodontic process for analysis, and finally obtaining the displacement change information of all teeth of the patient in the whole treatment period.
As an improvement of the invention, the specific method of the step (1) is as follows: respectively preprocessing the intraoral scanning model and the CT tooth model, and matching and overlapping the preprocessed intraoral scanning model and the preprocessed CBCT tooth model.
As a modification of the present invention, the specific method in step (2) is to acquire the characteristics of the jaw and the third palatine fold of the anterior and posterior intraoral scan models, respectively, and to register the jaw and the third palatine fold with reference to each other.
As an improvement of the invention, the specific method of the step (3) is as follows: a local three-dimensional coordinate system of a single tooth is established by taking the central position of the tooth impedance as a coordinate origin, the mesial-distal direction as an X axis, the lingual-labial direction as a Y axis and the central axis of the tooth as a Z axis.
As an improvement of the present invention, the method for marking three corresponding reference points of the target crown on the anterior-posterior model in the step (4) marks three reference points on the initial model is as follows: and matching and marking the reference points on the initial model to the corresponding positions of the subsequent model to obtain three reference points on the second model.
As an improvement of the invention, in the step (4), a space transformation matrix TraM of the tooth body transformed from the position before the treatment to the position after the treatment for a period of time is solved by using a method of three-dimensional space coordinate system transformation in space geometry, as shown in the following formula
As a modification of the present invention, in step (5), the tooth three-dimensional translation amount and rotation angle are calculated, including extracting a translation vector from the spatial transformation matrix and calculating a rotation angle from the spatial transformation matrix; the translation vector is X, Y and Z, and the three terms respectively represent the translation distances of the impedance center of the tooth along the X-axis direction, the Y-axis direction and the Z-axis direction;
the rotation angle is calculated from the space transformation matrix, and the rotation angle comprises the steps of extracting a rotation matrix from the space transformation matrix and converting the rotation matrix into Euler angles according to a ZYX rotation sequence;
extracting a rotation matrix from the space transformation matrix, wherein the rotation matrix is formed by extracting three-dimensional matrix elements;
converting the rotation matrix into Euler angles in ZYX rotation order, comprising: according to the formula
Calculating the rotation angle around the X-axisAccording to the formula
Calculating a rotation angle ω about the Y-axis; according to the formula theta-atan 2 (r)21,r11) The rotation angle θ about the Z-axis is calculated.
Has the advantages that:
through the digital processing of the three-dimensional image, the three-dimensional movement of teeth (including tooth roots) in the orthodontic process is detected and measured in time, the mastering of orthodontic effects by clinicians and the adjustment of a later treatment scheme can be assisted, and the requirements of CBCT scanning in an operation can be effectively reduced.
Drawings
FIG. 1 is a flow chart of a method of monitoring and measuring tooth movement.
FIG. 2 is a front view of a CBCT dental model at T0.
Fig. 3 is a front view of the intraoral scan model at T0.
FIG. 4 is a schematic overlay of the intraoral scan model and CBCT dental model at T0.
Fig. 5 is a schematic diagram showing the comparison of the T0 model and the intraoral scan model at T1.
Fig. 6 is a schematic diagram of a local three-dimensional coordinate system of the patient's upper right cuspid teeth.
Fig. 7 is a schematic illustration of three reference points of the crown at the time of the marker T0.
Detailed Description
Illustrating according to what is contained in the claims
Example 1:
a method of measuring three-dimensional movement of teeth during orthodontic procedures, as shown in fig. 1, comprising the steps of:
(1) performing CBCT oral cavity scanning and intraoral laser scanning on the patient at the initial time of orthodontic treatment (T0), and reconstructing a CBCT tooth model (figure 2) and an intraoral scanning model (figure 3) of the patient; and (3) introducing the tooth model and the oral model into reverse software Geomagic, and performing segmentation, hole filling and smooth finishing to remove unnecessary structures such as gingiva, lips or cheeks.
The trimming aims to: the reconstructed model may have defects of concave-convex, noise point and the like, and the surface of the digital model is more real and smooth after the reconstruction.
(2) And the tooth model and the intraoral scan model are superimposed with the crown portion of each tooth as a reference, as shown in fig. 4.
(3) After the patient is treated in one stage, or when a doctor wants to pay attention to the current tooth displacement and tooth (including tooth root) shape of the patient, setting the time as T1, carrying out intraoral scanning on the patient, and obtaining an intraoral scanning model at the time; the intraoral model after a period of treatment is superimposed in registration with the initial intraoral model, with reference to the models at the jaw and third palatal fold, as shown in fig. 5.
(4) Respectively carrying out displacement analysis on the single tooth, taking the upper right cuspid as an example, as shown in fig. 6, taking the empirical tooth impedance center position as the origin of coordinates, the mesial-distal direction as the X axis, the lingual-labial direction as the Y axis, and the central axis of the tooth as the Z axis to establish a local three-dimensional coordinate system of the single tooth for describing tooth movement.
The tooth movement in the coordinate system can be expressed as
The corresponding physical and clinical meanings of each item are shown in table 1.
(5) And selecting three characteristic points as reference points on a bracket of a target tooth of the initial intraoral model, as shown in fig. 7, after the target dental crown is separately segmented, registering the segmented target dental crown with the target dental crown of the intraoral model after a period of treatment, and acquiring the positions of the three reference points of the target dental crown.
(6) And calculating a space transformation matrix of the positions of the target teeth before and after the treatment at the stage by using a three-dimensional space coordinate system transformation method in space geometry according to the coordinates of six reference points before and after the treatment, wherein the space transformation matrix is shown in the following formula.
The front three-dimensional matrix of the transformation matrix is a rotation matrix, and the fourth column is a translation vector.
(7) And calculating the tooth displacement according to the space transformation matrix.
The following formula is used to extract the movement terms (X, Y, Z) from the translation vector, and the following formula can be used to calculate the rotation terms from the rotation matrix
(X Y Z)＝(txtytz)
θ＝atan2(r21,r11)
(8) And repeating the steps 4-7, measuring all teeth of the patient and obtaining the displacement information of the whole dentition at the time T1.
(9) And repeating the steps 3-8, continuously collecting the intraoral scanning model of the patient in the treatment process for analysis, and finally obtaining all tooth displacement change information in the whole treatment period of the patient.
Claims (7)
1. A method of measuring three-dimensional movement of teeth during orthodontic procedures, comprising the steps of:
(1) superposing the intraoral scanning model of the treatment initial T0 and the CBCT tooth model;
(2) matching and superposing the intraoral scanning model of T1 after a period of treatment and the model at the initial moment;
(3) analyzing the single tooth, and establishing a local three-dimensional coordinate system for the target tooth on the obtained complete tooth model;
(4) marking three corresponding reference points of the target dental crown on the front model and the rear model respectively, and calculating a space transformation matrix of the target tooth position before and after the treatment at the stage according to the coordinates of the reference points;
(5) calculating the three-dimensional translation amount and the rotation angle of the tooth according to the transformation matrix;
(6) repeatedly analyzing each tooth to obtain displacement information of the complete dentition at the T1 moment;
(7) and continuously acquiring intraoral scanning models of the patient at different moments in the orthodontic process for analysis, and finally obtaining the displacement change information of all teeth of the patient in the whole treatment period.
2. The method for measuring the three-dimensional movement of teeth in orthodontic treatment according to claim 1, wherein the specific method in the step (1) is as follows: and respectively preprocessing the intraoral scanning model and the CBCT tooth model, and matching and overlapping the preprocessed intraoral scanning model and the preprocessed CBCT tooth model.
3. The method of claim 1, wherein the step (2) comprises obtaining the characteristics of the jaw and the third palatal fold of the anterior and posterior intraoral scan models, respectively, and registering the jaw and the third palatal fold with reference thereto.
4. The method for measuring the three-dimensional movement of teeth in orthodontic treatment according to claim 1, wherein the specific method in the step (3) is as follows: a local three-dimensional coordinate system of a single tooth is established by taking the central position of the tooth impedance as a coordinate origin, the mesial-distal direction as an X axis, the lingual-labial direction as a Y axis and the central axis of the tooth as a Z axis.
5. The method of claim 1, wherein the step (4) of marking three corresponding reference points of the target crown on the anterior-posterior model marks three reference points on the initial model by: and matching and marking the reference points on the initial model to the corresponding positions of the subsequent model to obtain three reference points on the second model.
6. The method of claim 1, wherein the transformation of the three-dimensional space coordinate system in the space geometry is used in step (4) to solve a spatial transformation matrix TraM for transforming the tooth from the pre-treatment position to the post-treatment position over time, as shown in
7. The method for measuring three-dimensional tooth movement in orthodontic treatment according to claim 1, wherein in the step (5), the three-dimensional tooth translation amount and the rotation angle are calculated, including extracting a translation vector from a spatial transformation matrix and calculating the rotation angle from the spatial transformation matrix; the translation vector is X, Y and Z, and the three terms respectively represent the translation distances of the impedance center of the tooth along the X-axis direction, the Y-axis direction and the Z-axis direction;
the rotation angle is calculated from the space transformation matrix, and the rotation angle comprises the steps of extracting a rotation matrix from the space transformation matrix and converting the rotation matrix into Euler angles according to a ZYX rotation sequence;
extracting a rotation matrix from the space transformation matrix, wherein the rotation matrix is formed by extracting three-dimensional matrix elements;
converting the rotation matrix into Euler angles in ZYX rotation order, comprising: according to the formula
Calculating the rotation angle around the X-axis
According to the formula
Calculating a rotation angle ω about the Y-axis; according to the formula theta-atan 2 (r)21,r11) The rotation angle θ about the Z-axis is calculated.
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Application publication date: 20200221 |