CN112932703A - Orthodontic bracket bonding method utilizing mixed reality technology - Google Patents
Orthodontic bracket bonding method utilizing mixed reality technology Download PDFInfo
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- CN112932703A CN112932703A CN202110158291.7A CN202110158291A CN112932703A CN 112932703 A CN112932703 A CN 112932703A CN 202110158291 A CN202110158291 A CN 202110158291A CN 112932703 A CN112932703 A CN 112932703A
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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
- A61C7/12—Brackets; Arch wires; Combinations thereof; Accessories therefor
- A61C7/14—Brackets; Fixing brackets to teeth
- A61C7/16—Brackets; Fixing brackets to teeth specially adapted to be cemented to teeth
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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
- A61C7/002—Orthodontic computer assisted systems
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Abstract
The invention relates to an orthodontic bracket bonding method using a mixed reality technology, which comprises the following steps: s1, collecting data, and establishing a three-dimensional digital dental model with complete arrangement relation of crowns and roots and occlusion information; s2, carrying out virtual bracket bonding on the three-dimensional digital dental model established in the S1, and outputting the three-dimensional digital dental model with the virtual bonding bracket; s3, importing the three-dimensional digital dental model with the virtual bonding bracket into a mixed reality head-mounted display; s4, registering the three-dimensional virtual image of the three-dimensional digital dental model with the intraoral reality by using software and optical tracking equipment and using a tracking registration technology; and S5, positioning the real bracket according to the virtual bonding bracket, and completing bracket bonding. The invention guides real bracket bonding by using the bracket virtual image through the mixed reality technology, so that the positioning scheme has accuracy and convenience.
Description
Technical Field
The invention relates to the technical field of orthodontics, in particular to an orthodontic bracket bonding method using a mixed reality technology.
Background
For the fixed orthodontic correction technology, bracket bonding is one of the most important clinical steps, and the accuracy directly influences the correction efficiency and the final effect.
Currently, bracket positioning methods include a clinical crown center method, a height method, an edge ridge method, and the like. The current orthodontic bonding technology is mainly divided into a direct bonding technology and an indirect bonding technology. The former is most commonly used, a doctor directly positions and sticks a bracket in the mouth by visual inspection or using a bracket positioner and a positioning watch, but the visual field is limited, the accuracy is limited, and the like; the latter is made by positioning brackets on a digital or plaster model and then transferring the brackets to the intraoral dental crowns for bonding by means of a transfer tray.
Compared with the direct bonding technology, the indirect bonding technology has higher precision, but the bracket operation bonded by the method needs to manufacture a personalized transfer device, and the operation flow is complicated. Manufacturing errors still exist in the transfer tray, and the tray has the interferences of soft tissues, bonding material thickness, limited positioning space of the back of the dentition or the patient's mouth opening degree, uneven pressure of the tray and the like when being positioned.
Mixed Reality (MR) technology is an emerging technology that has emerged in recent years, and can mix digitized information with a real environment to generate a new visual environment containing both physical entities and virtual information, thereby realizing virtual and real seamless interfacing and real-time information interaction, and essentially combining Augmented Reality (AR) and Virtual Reality (VR). Compared with the traditional augmented reality, the mixed reality can be superposed and projected to a real scene through head-mounted equipment such as a HoloLens space station, and accurate navigation is realized.
In the field of oral medicine, the MR technology is applied to oral, maxillofacial, head and neck tumor operations, oral implant operations and the like in an exploratory manner, the advantages of accuracy, safety, minimally invasive operation, shortened operation time and the like are preliminarily shown, but the MR technology is not applied in the field of orthodontics. The display of the three-dimensional virtual model may be accomplished by a head mounted three-dimensional display (HMD), an in-situ perspective fusion display system, and the like.
The registration tracking technology in the three-dimensional environment is the core of the application of the mixed reality technology to surgical navigation. Currently, clinically used registration methods can be classified into a landmark point-based patient-image registration method and a marker-free patient-image registration method. The former can be realized by an artificial marker or the like, and the latter can be realized by a three-dimensional surface matching method or the like.
Disclosure of Invention
The invention provides an orthodontic bracket bonding method using a mixed reality technology to solve the technical problems.
The invention is realized by the following technical scheme:
a method for bonding orthodontic brackets by using mixed reality technology comprises the following steps:
s1, collecting data, and establishing a three-dimensional digital dental model with complete arrangement relation of crowns and roots and occlusion information;
s2, carrying out virtual bracket bonding on the three-dimensional digital dental model established in the S1, and outputting the three-dimensional digital dental model with the virtual bonding bracket;
s3, importing the three-dimensional digital dental model with the virtual bonding bracket into a mixed reality head-mounted display;
s4, registering the three-dimensional virtual image of the three-dimensional digital dental model with the intraoral reality by using software and optical tracking equipment and using a tracking registration technology;
and S5, positioning the real bracket according to the virtual bonding bracket on the three-dimensional virtual image, and then completing the bonding of the real bracket.
Preferably, the S1 obtains information of tooth root, tooth crown and occlusion through cone beam CT and intraoral three-dimensional scan, and establishes a three-dimensional digital dental model including arrangement relationship of tooth crown and tooth root and occlusion information by combining with engineering software.
Wherein the trace registration technique used in S4 is a signature marker based trace registration technique, the S4 further comprising signature placement;
the identification map placement comprises the steps of:
a, manufacturing an occlusal plate with ideal occlusion relation of jaw positions of a patient by using silicon rubber, wherein the occlusal plate leaves sufficient space for bonding a bracket;
b, fixedly connecting an identification map marker on the occlusal splint, wherein the identification map marker can be identified by MR software;
c, performing conventional dentition oral scanning, and collecting the information of the occlusal splint with the identification chart markers;
the S4 includes: the patient wears the bite plate with the identification chart marker, and the identification chart marker represents the area to be registered; the mixed reality head-mounted display senses a camera shooting scene, collects characteristic points on a marker of an identification chart, identifies world coordinate information, calculates six-degree-of-freedom position attitude information between the camera and the real scene through matching relations between point pairs, and obtains a matrix conversion relation among a world coordinate system, a camera coordinate system, a virtual model coordinate system and a two-dimensional display coordinate system, so that a three-dimensional virtual image of a three-dimensional digital dental model is overlapped with an oral entity dentition of a patient.
Alternatively, the tracking registration technique used in S4 is a tracking registration technique based on an unmarked point cloud model or a tracking registration technique based on an interactive gesture.
Further, HoloLens is used as a mixed reality head mounted display.
Compared with the prior art, the invention has the following beneficial effects:
1, accurate positioning: according to the invention, the digital tooth-jaw model is generated through oral scanning, and the tooth root image is integrated, so that the error caused by the traditional model taking process is avoided, and the information of the complete tooth crown and the tooth root can be displayed; the anatomical morphology of the teeth is measured and calculated through computer software, and the virtual positioning of the bracket is automatically completed, so that the positioning scheme has accuracy and convenience; meanwhile, the MR technology is used for replacing a clinical visual inspection operation method based on experience, other auxiliary bonding devices do not need to be additionally manufactured, the three-dimensional virtual image is directly overlapped at the correct position of the dentition in the mouth of the patient, so that the accurate bracket positioning position generated by computer software can be directly transferred and matched to the corresponding position of the dentition in the mouth of the patient, and the intuitive and convenient bracket positioning bonding is realized.
2, the operation is simple and convenient, and the technical sensitivity of the bracket bonding operation is reduced: by using the MR technology, the three-dimensional virtual digital image can be directly overlapped at the same position in the mouth of the patient, so that bonding position navigation is provided for doctors, the technical sensitivity of the bracket bonding technology is reduced, low-age doctors can accurately position the bracket, and the reduction of the tooth moving efficiency and effect caused by positioning errors is avoided. Meanwhile, the technology is simple and convenient to operate, an additional double-layer transfer tray and other 3D printing auxiliary positioning devices of an indirect bonding technology are not needed, time and financial consumption of operation of a laboratory and a technician are avoided, and operation steps and time beside a chair are also reduced.
3, the invention can overcome the defects of the traditional indirect bonding tray: although the traditional indirect bonding using the transfer tray has high precision, manufacturing errors still exist, and the tray has interference of soft tissue, bonding material thickness, positioning space behind dentition or limited patient opening degree and the like when being positioned; although improved auxiliary devices are continuously disclosed, the problems of inaccurate positioning of the device, difficulty in removing the auxiliary devices after the bonding is finished and the like still exist; and the invention is generated using augmented reality techniques.
4, convenience and intuition: the invention realizes the direct and accurate overlapping of the digital dental model for virtual bracket positioning and the actual conditions in the mouth of the patient, and the position of the virtual model can move according to the body position of the patient and the movement of the head-mounted equipment by utilizing the registration tracking technology, thereby avoiding the complexity and the error of repeated manual overlapping; meanwhile, the use of head-wearing equipment such as HoloLens and the like enables an operator not to refer to an additional computer plane, and the problem of hand-eye coordination caused by continuously switching the visual field is avoided.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not used as limitations of the present invention.
Example 1
The method for bonding the orthodontic bracket by the mixed reality technology disclosed by the embodiment comprises the following steps of:
1, collecting data and establishing a digital dental model.
1.1, scanning the mouth of a patient by using an intraoral scanner, performing preliminary treatment by using software (such as 3Shape TRIOS, Copenhagen and Denmark), automatically removing noise, filling a cavity, fitting and matching occlusal points of an upper jaw and a lower jaw, and converting the occlusal points into a three-dimensional digital dental model which has a meshing relation with a real dentition ratio of 1:1 in the mouth of the patient;
1.2, the patient receives an imaging examination before treatment, and a full dentition cone beam CT is shot to obtain the intraoral tissue and three-dimensional tooth root image data of the patient;
1.3, importing data obtained by cone beam CT scanning into the three-dimensional digital dental model obtained in the step 1.1 of the patient in a DICOM standard format by utilizing a computer technology, integrating, and generating the three-dimensional digital dental model with complete arrangement relation of crowns and roots and occlusion information after registration construction.
2, completing the virtual bracket bonding and generating the digital dental model with accurate bracket positioning.
2.1, measuring and calculating the clinical dental crown anatomical data of a tooth body in 3Shape ortho analyzer software, determining the accurate position of the bracket on the tooth surface according to the indexes such as the clinical crown center, the marginal ridge, the height and the like, and realizing the fitting of the virtual bracket center and the central point of the bonding position of the tooth surface.
2.2, automatically analyzing by software to generate a virtual bracket positioning scheme.
Taking the crown center approach as an example: the physician applies orthodontic analysis software (e.g., 3Shape Ortho Analyzer 2015) in conjunction with oral scan software that measures tooth anatomy data, determines anatomical points, determines crown clinical crown long axis, clinical crown center point; and fitting the bracket and the tooth correspondingly based on the center of the clinical crown according to a bracket application data program provided by a manufacturer, and properly adjusting to complete the virtual bracket bonding.
And 2.3, outputting the dental model with the accurate bracket positioning.
And resetting the tooth with the virtual positioning bracket into a three-dimensional original malposed model of the patient with the tooth root information, and outputting the model.
If the bracket is designed according to the personalized bracket, the specific steps of the step 2.2 are as follows:
2.21, digitally separating each tooth by using digital tooth arrangement software, determining an anatomical point, determining a long axis of a clinical crown of the dental crown and a central point of the clinical crown, and performing three-direction movement, rotation and the like on the tooth on a computer, wherein the motion performance of the tooth meets the requirement of simulating tooth arrangement. Arranging teeth according to six standard of normal occlusion according to the biological aesthetic concept, and paying attention to the parallelism of tooth roots at the same time, and finally achieving correct static occlusion;
2.22, fitting the bracket and the corresponding tooth based on the center of a clinical crown by using virtual bracket positioning software according to a bracket application data program provided by a manufacturer, and carrying out proper fine adjustment to meet the straightening principle of the arch wire;
2.23, resetting the dentition in the software to be the original malocclusion model, wherein the tooth is provided with the positioned bracket and outputting.
And 3, importing the digital dental model with the virtual bonding bracket into the mixed reality head-mounted display.
In the embodiment, the HoloLens is selected as the mixed reality head-mounted display. Of course, other types of mixed reality head mounted displays may be used, such as those available from sony, Virtual Research, Cybermind, silicon microdisplay, loving, epresen, carl zeiss, and the like.
HoloLens hardware:
microsoft HoloLens is an augmented reality Head Mounted Device (HMD) based on Windows10, and is also a completely independent head mounted computer. The system has Bluetooth and Wi-Fi connection functions, is powered by a holographic processing unit HPU, has 2GB RAM and 64GB solid storage, and is also provided with an inertial measurement unit, four environment sensing cameras, mixed reality capture, four microphones, an ambient light sensor and two high-definition displays capable of automatically calibrating the pupil distance.
The 3D camera and the environment sensing camera are mainly used for recognizing gestures of a user, extracting characteristic information in a recognized object, mapping surrounding space environment and transmitting the information to the Holographic Processor (HPU) to determine the position of the 3D camera and the environment sensing camera. The inertial measurement unit can then determine the acceleration and angular velocity of the user's head in real time. And finally, the HPU combines the information provided by the inertial measurement unit and the camera to evaluate the user posture in real time, outputs the image to the holographic display, and finally projects the virtual model in a space environment.
HoloLens software:
the embodiment uses the development version of HoloLens, and the operating system is Windows 10.
The software has the main functions of importing and displaying the digital dental model in HoloLens and providing a three-dimensional registration method for displaying the virtual model and the real organ in an overlapping manner.
And 4, registering and calibrating by using software (such as MR software) and optical tracking equipment and using a tracking registration technology to ensure that the virtual image accurately corresponds to the intraoral reality.
Currently common registration techniques include recognition graph marker-based registration techniques, label-free registration techniques, interactive gesture-based registration techniques, and the like.
In the embodiment, a tracking registration technology based on a label-free point cloud model is adopted for registration and calibration. The specific method comprises the following steps:
the registration technology based on the point cloud model is a label-free registration technology based on the model, markers do not need to be placed in a real environment, and the problem of tracking registration failure in a texture-lacking environment in the label-free technology based on natural features is solved. The method comprises the steps of picking up or recovering reconstructed environment point clouds on a dentition entity of a patient in modes of a video camera, an RGB-D camera and the like, simultaneously extracting model point clouds on a virtual dentition three-dimensional model with bracket positioning, then registering the two groups of point clouds, and calculating an optimal space change matrix. The HoloLens mixed reality system can register the environmental point cloud and the model point cloud by using an iterative point (ICP) algorithm, acquire a camera pose matrix in real time and finish tracking registration. Specifically, the technique can be further divided into two stages of coarse matching and precise registration.
In another embodiment, a registration technique based on an interactive gesture may also be employed, and the specific method is as follows:
the 3D camera and the context sensitive camera of HoloLens can recognize the gestures of the physician. During registration, specific gestures are recognized in the visual field range of the HoloLens, interaction is carried out with the virtual model, and the position of the virtual model under the world coordinate system is moved to be aligned with the real model, so that a conversion matrix from the virtual model coordinate system to the camera coordinate system is determined, and the three-dimensional virtual model and the real model are displayed in a superposition mode.
And 5, bonding a bracket.
After an operator wears the HoloLens, the three-dimensional digital dental model with the virtual bracket can be directly overlapped in an operation area to be used as bracket positioning guide, and the operator can directly position the real bracket according to the virtual bracket on the three-dimensional virtual image of the three-dimensional digital dental model, etch, wash, dry, coat adhesive and position the bracket, remove the redundant adhesive and complete the bonding of the bracket.
Example 2
The method for bonding the orthodontic bracket by the mixed reality technology disclosed by the embodiment comprises the following steps of:
1, collecting data and establishing a digital dental model.
1.1 recognition map placement:
1.11, manufacturing an occlusal plate with ideal occlusion relation of jaw positions of a patient by using silicon rubber, wherein the occlusal plate leaves sufficient space for bonding a bracket;
1.12, fixedly connecting an identification map marker on the occlusal plate, wherein the identification map marker can be identified by MR software;
1.13, carrying out conventional dentition oral scanning by using an intraoral scanner, and collecting occlusal splint information with the identification map markers together for registration of the identification map in the step 4;
scanning the mouth of a patient, performing early-stage processing by using software (such as 3Shape TRIOS, Copenhagen and Denmark), automatically removing noise, filling a cavity, fitting and matching occlusal points of the upper jaw and the lower jaw, and converting the occlusal points into a three-dimensional digital dental model which has an occlusion relation with the real dentition ratio of 1:1 in the mouth of the patient;
1.2, the patient receives an imaging examination before treatment, and a full dentition cone beam CT is shot to obtain the intraoral tissue and three-dimensional tooth root image data of the patient;
1.3, importing data obtained by cone beam CT scanning into the three-dimensional digital dental model obtained in the step 1.1 of the patient in a DICOM standard format by utilizing a computer technology, integrating, and generating the three-dimensional digital dental model with complete arrangement relation of crowns and roots and occlusion information after registration construction.
And 2, completing virtual bracket positioning to generate a digital dental model with accurate bracket positioning.
3, importing the digital dental model with the virtual bonding bracket into a HoloLens mixed reality head-mounted display.
And 4, registering and calibrating by using MR software and optical tracking equipment and using a tracking registration technology based on the identification map markers, so that the virtual image accurately corresponds to the intraoral reality. The method comprises the following specific steps:
the three-dimensional registration process is completed by a recognition technology based on a recognition graph, and the technology can be realized by a Vuforia plug-in.
Before the start of the adhesion, the patient re-wears the bite plate with the identification pattern representing the area to be registered. The method comprises the steps of utilizing an SLAM algorithm, sensing a scene by a Hololens environment sensing camera, collecting characteristic points on an identification picture, identifying world coordinate information, calculating six-degree-of-freedom position attitude information between the camera and a real scene through a matching relationship between point pairs, and obtaining a matrix conversion relationship among a world coordinate system, a Hololens camera coordinate system, a virtual model coordinate system and a two-dimensional display coordinate system, so that a virtual digital dental model is directly and accurately overlapped with an oral entity dentition of a patient, and the initial corresponding relationship of the coordinate system cannot be influenced by the movement of the body position of the patient or the head-mounted display.
And 5, bonding a bracket.
After an operator wears the HoloLens, the three-dimensional digital dental model with the virtual bracket can be directly overlapped in an operation area to be used as bracket positioning guide, and the operator can directly position the real bracket according to the virtual bracket on the three-dimensional virtual image of the three-dimensional digital dental model, etch, wash, dry, coat adhesive and position the bracket, remove the redundant adhesive and complete the bonding of the bracket.
The invention can also be applied to doctor-patient communication, the training of the young doctors in repair and the like.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. The orthodontic bracket bonding method by using the mixed reality technology is characterized by comprising the following steps of: the method comprises the following steps:
s1, collecting data, and establishing a three-dimensional digital dental model with complete arrangement relation of crowns and roots and occlusion information;
s2, carrying out virtual bracket bonding on the three-dimensional digital dental model established in the S1, and outputting the three-dimensional digital dental model with the virtual bonding bracket;
s3, importing the three-dimensional digital dental model with the virtual bonding bracket into a mixed reality head-mounted display;
s4, registering the three-dimensional virtual image of the three-dimensional digital dental model with the intraoral reality by using software and optical tracking equipment and using a tracking registration technology;
and S5, positioning the real bracket according to the virtual bonding bracket on the three-dimensional virtual image, and then completing the bonding of the real bracket.
2. The method for bonding orthodontic brackets by using mixed reality technology as claimed in claim 1, wherein: and S1, obtaining information of tooth roots, tooth crowns and occlusion through cone beam CT and intraoral three-dimensional scanning, and establishing a three-dimensional digital tooth jaw model containing the arrangement relation of the tooth crowns and the tooth roots and the occlusion information by combining engineering software.
3. The method for bonding orthodontic brackets by using mixed reality technology as claimed in claim 1, wherein: the tracking registration technology used in S4 is a tracking registration technology based on the identification map markers;
the S4 is preceded by an identification map arrangement comprising the steps of:
a, manufacturing an occlusal plate with ideal occlusion relation of jaw positions of a patient by using silicon rubber, wherein the occlusal plate leaves sufficient space for bonding a bracket;
b, fixedly connecting an identification map marker on the occlusal splint, wherein the identification map marker can be identified by software;
c, performing conventional dentition oral scanning, and collecting the information of the occlusal splint with the identification chart markers;
the S4 includes: the patient wears the bite plate with the identification chart marker, and the identification chart marker represents the area to be registered; the mixed reality head-mounted display senses a camera shooting scene, collects characteristic points on a marker of an identification chart, identifies world coordinate information, calculates six-degree-of-freedom position attitude information between the camera and the real scene through matching relations between point pairs, and obtains a matrix conversion relation among a world coordinate system, a camera coordinate system, a virtual model coordinate system and a two-dimensional display coordinate system, so that a three-dimensional virtual image of a three-dimensional digital dental model is overlapped with an oral entity dentition of a patient.
4. The method for bonding orthodontic brackets by using mixed reality technology as claimed in claim 1, wherein: the tracking registration technique used in S4 is a tracking registration technique based on a marker-free point cloud model.
5. The method for bonding orthodontic brackets by using mixed reality technology as claimed in claim 1, wherein: the trace registration technique used in S4 is an interactive gesture-based trace registration technique.
6. The method for bonding orthodontic brackets by mixed reality technology as claimed in claim 1, 2, 3, 4 or 5, wherein: such as using HoloLens as a mixed reality head mounted display.
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