CN118411318B - Automatic interproximal restoration method of three-dimensional tooth model - Google Patents
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Abstract
The invention discloses an automatic interproximal restoration method of a three-dimensional tooth model, which comprises the steps of determining a central restoration area and a transition restoration area according to the boundary of a segmented dental crown model, calculating the maximum deformation upper limit of each vertex of the tooth model, directly adopting the maximum deformation upper limit to carry out expansion deformation on the central restoration area, carrying out transition on the transition restoration area, ensuring the overall smoothness of teeth and achieving the purpose of shape optimization. The invention utilizes the computer to complete the interproximal restoration of the teeth fully automatically, realizes the removal of gaps between the interproximal teeth, ensures the smooth surface of the teeth, and provides accurate digital basis for the digital orthodontic proposal in the later period.
Description
Technical Field
The invention relates to an image processing technology, in particular to an automatic interproximal restoration method of a three-dimensional tooth model by using a graphics technology.
Background
In the prior art, when an oral hospital treats the tooth problem, CBCT is used for scanning a tooth model to obtain real data of a user, and then a treatment scheme is provided according to the tooth condition of the user or 3D printing teeth are used for planting. To solve the problem of the patient, the dental model needs to be edited and reproduced after being obtained, such as data of the size and position of the implant teeth, and the size of the dental socket required for orthodontic, etc.
However, the existing oral scanning technology is still imperfect, and uneven boundary of results obtained by a tooth segmentation algorithm based on deep learning can occur; this results in gaps between the tooth models after the root is closed, and the accurate fitting is not possible, which is not the case. In the field of stomatology requiring precision and strictness, a tooth model with gaps can influence the observation of a user, and errors can be generated in post-construction of virtual gingiva and other operations, so that the model with gaps must be naturally repaired, and gaps are eliminated under the condition of ensuring the topological structure of the model so as to ensure the correctness of observation and diagnosis.
Disclosure of Invention
The invention aims to provide a method for automatically repairing a three-dimensional tooth model in an interproximal way based on the trend of digitalization of dentist treatment.
In order to achieve the purpose of the invention, the following technical scheme is adopted:
An automatic interproximal restoration method of a three-dimensional tooth model is characterized by comprising the following implementation steps:
s1, inputting a tooth segmentation model, firstly calculating boundary contours of each tooth in the segmentation model, calculating accurate critical part contours according to the vertex distances of two adjacent tooth contours, and then uniformly sampling key points on the accurate critical part contours;
S2, using a B spline curve, fitting a smooth arc line according to the key points, wherein the fitting line is not closed at the moment, and fitting the rest part by using a Bezier curve according to the distances from the centers of the two end points and the two end points of the smooth arc line to the bottom of the arc line to generate a closed fitting line;
S3, according to the fitting line, intersecting and projecting the rays and triangular patches on teeth on two sides, finding out corresponding patches, and obtaining a neighborhood closed ring corresponding to the two teeth;
S4, taking the closed circular ring obtained in the step S3 as a boundary line, and filling seeds inwards, wherein the filled dough sheet is used as a central restoration area for expansion restoration; calculating a peripheral transition repair area outwards by adopting an ellipse-like structure;
S5, calculating a deformation weight of the transition repair area according to the boundary obtained in the step S3; calculating the maximum deformation upper limit of each vertex of the central repair area and the transition repair area, wherein the central repair area is directly deformed according to the maximum deformation upper limit without a weight; the deformation of the transition repair area is limited by the weight;
S6, performing interproximal restoration expansion operation, and performing smooth treatment on the restoration area after expansion to obtain a restored three-dimensional tooth model.
Further, the step S1 specifically includes:
s11, inputting a segmentation model of teeth;
S12, using the half data structure characteristic of OpenMesh, finding out edge points of the segmentation model of each tooth, namely contour points of the segmentation model, traversing the contour points, and considering a rough adjacent part if the distance between the contour points and the contour points of adjacent teeth is smaller than a specific distance threshold value; according to the multiple fitting experiments, the rough adjacent part taking 0.7mm as a distance threshold is most reasonably divided;
S13, traversing points of the rough abutting part, and considering the points as boundaries of the contour of the accurate abutting part if the distance between the points and the contour points of the adjacent teeth is smaller than a more accurate distance threshold value and a plurality of continuous points are smaller than the threshold value; setting the threshold value to be 0.2mm after repeated experiments, and setting a plurality of continuous points meeting the threshold value to be 5, wherein the calculation of the accurate adjacent parts is optimal;
S14, merging the adjacent teeth into an average curve according to the two accurate adjacent partial contours;
S15, uniformly sampling key points on the average curve; in order to ensure the running speed of the program and the fitting quality of the smooth arc line of S2, the number of the points sampled on the average curve cannot be too large or too small, and a conclusion is obtained after a plurality of experiments: the effect of uniformly sampling 11 keypoints on the line is optimal.
Further, in the step S5, the calculation formula of the deformation weight of the transition repair area is as follows:
Wherein the method comprises the steps of As a set of center repair area points,For a certain point in the current transition repair zone,Is thatThe corresponding weight value is used for the weight,Is the ring inner diameter set of the transition repair area ring.
Further, the step S6 specifically includes:
S61, performing inter-adjacent repair expansion operation; traversing the vertexes of the central restoration area and the transition restoration area, and moving the vertexes to the opposite adjacent teeth according to the weight, the area category and the deformation upper limit;
S62, carrying out proper smooth treatment on the central repair area and the transition repair area and the periphery of the central repair area; specifically, the position of each vertex is updated to be the average value of the positions of the adjacent vertices and the weighted average of the original positions of the adjacent vertices; the smoothing times have influence on the repairing effect, and the transition area is smoothed for 10 times and the central area is smoothed for 2 times finally, so that the repaired three-dimensional tooth model is obtained.
The technical conception of the invention is as follows: under the condition of ensuring that the original structure of the tooth is unchanged, a central restoration area and a transition restoration area are determined according to the boundary of the divided dental crown model, the maximum deformation upper limit of each vertex of the tooth model is calculated, the gap is eliminated by directly adopting the maximum deformation upper limit in the central restoration area, the transition restoration area is transited, the whole smoothness of the tooth is ensured, and the purpose of optimizing the shape is achieved.
The invention has the advantages that: the interproximal restoration of the teeth is completed fully automatically by using a computer, so that gaps between the interproximal teeth are removed, the smooth surface of the teeth is ensured, and an accurate digital basis is provided for a digital orthodontic scheme in a later period.
Drawings
FIG. 1 is an overall logic architecture of the inter-neighbor repair phase.
FIG. 2 is a precise contiguous portion profile obtained using a segmentation model profile.
Fig. 3 is the final fit required to project to both sides of the tooth.
Fig. 4 is an interproximal repair area edge patch prior to unexpanded.
Fig. 5 is an expanded interproximal repair area edge patch.
FIG. 6 is a central repair area filled from the edges of the repair area.
Fig. 7 is a transition repair zone that expands outwardly from a central repair zone.
Fig. 8 is a view of a tooth gap prior to interproximal restoration.
Fig. 9 is an interproximal condition of the tooth after interproximal restoration.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings: the general thought of interproximal restoration is to acquire an expansion fitting line, calculate an expansion projection area, perform an expansion algorithm, obtain a fitting line of the interproximal area of the teeth by inputting a tooth model and an original segmentation model, then project to obtain a central restoration area, expand outwards to obtain a transition restoration area, calculate an expansion distance, and deform for restoration.
FIG. 1 is an overall logic architecture of the inter-neighbor repair phase, described in detail below.
S1, determining key points: inputting a tooth segmentation model, firstly calculating boundary contours of each tooth in the segmentation model, calculating accurate critical part contours according to the vertex distances of two adjacent tooth contours, and then uniformly sampling key points on the accurate critical part contours;
S2, fitting a curve: using a B spline curve to fit a smooth arc line according to the key points, wherein the fit line is not closed at the moment, and using a Bezier curve to fit the rest part according to the distances from the centers of the two end points and the two end points of the smooth arc line to the bottom of the arc line so as to generate a closed fit line;
S3, projecting to obtain a boundary of the central repair area: according to the S2 closed fitting line, intersecting and projecting the rays and triangular patches on teeth on two sides, finding out corresponding patches, and obtaining a neighborhood closed ring corresponding to the two teeth;
S4, taking the closed circular ring obtained in the step S3 as a boundary line, and filling seeds inwards, wherein the filled dough sheet is used as a central restoration area for expansion restoration; calculating a peripheral transition repair area outwards by adopting an ellipse-like structure;
S5, calculating a deformation weight of the transition repair area according to the boundary obtained in the step S3; calculating the maximum deformation upper limit of each vertex of the central repair area and the transition repair area, wherein the central repair area is directly deformed according to the maximum deformation upper limit without a weight; the deformation of the transition repair area is limited by the weight;
s6, performing interproximal restoration expansion operation, and performing smooth treatment on the restoration area after expansion to obtain a restored three-dimensional tooth model, wherein restoration is completed.
The closed fitted line is a tool for determining the repair area, and its lower body contour is a four-time spline. Calculating the contour of the model to be segmented, finding out edge points of the segmented model of each tooth, namely contour points of the segmented model by utilizing the half data structure characteristic of OpenMesh, traversing the contour points, and regarding each point as a rough adjacent part if the distance between each point and the contour of the adjacent tooth is smaller than a threshold value of 0.7 mm; then, continuing to traverse the rough abutment, if less than 0.2mm from the adjacent contour and the first five points are all less than 0.2mm, this point is considered the boundary of the precisely abutting portion contour. After the contours of two precisely abutting portions between adjacent teeth, they are combined into an average curve and stored in the left tooth as shown in fig. 2. After being combined into an arc line, 11 key points are uniformly sampled on the line and used for fitting in the next step.
After the key points are obtained, a smooth four-time spline curve is fitted by using a B spline curve; the other half was then fitted with a Bezier curve at both ends of the curve, and a smooth closed-loop fitted line was drawn, as shown in FIG. 3 as a white line. And taking a point on the fitting line at intervals of 0.05mm as a starting point of projection of the fitting line to teeth on two sides, wherein the fitting line is a precondition of acquisition of a next repair area and is a precursor of the boundary of the central repair area.
The direction of the connecting line of the central points of the two teeth is used as the projection direction, the vertex on the fitting line is used for finding the corresponding projection point on the tooth surface sheet, the sheet is stored, and after the fitting line is traversed, a circular ring-shaped sheet set exists on the tooth surface, as shown in the gray area of fig. 4. However, in order to meet the requirement of the next seed filling, the set of torus plates must be closed, if the situation of fig. 4 is that the gap exists, the seed filling will obtain the whole teeth of the dough plates, at this time, the adjacent dough plates of each dough plate need to be added into the set of torus plates together after the weight of the adjacent dough plates is removed, if the dough plates still remain to be closed, that is, all the dough plates of the teeth are obtained after the seed filling, the adjacent dough plates of each dough plate in the set of torus plates are continuously added, the operation is repeated, the number of the sets of torus plates will be larger and larger until the torus has no gap, and the seed filling result is not all the dough plates of the teeth as in fig. 5.
After the patch integration work is closed, a patch (dark patch at the center of the circular ring in fig. 5) penetrated by the connecting line of the central points of two teeth is taken as a starting point, and a seed filling algorithm is performed, so that a gray area in the circular ring in fig. 6 is taken as a central restoration area for interproximal restoration. Next, a circle of transition restoration area is needed to be calculated at the periphery of the central restoration area, the whole transition restoration area is annular, an ellipse-like structure is adopted to calculate the transition area according to the physiological structure of teeth, as shown in fig. 7, the inner diameter of the ring at the position close to the dental crown is minimum, the distance from the point at the position to the core point of the central restoration area is 1/5, the inner diameter of the ring at the position away from the dental crown is maximum, and the distance from the point at the position to the core point of the central restoration area is 1/3. This design can reduce the abrupt feel of the expansion restoration as the center restoration and transition restoration are entirely closer to the crown and farther from the root. The preparation for interproximal restoration has been calculated and the next step is that the apexes in the restoration area begin to move closer to the teeth in the opposite abutment, thereby achieving the purpose of restoring the gaps of the teeth, hereinafter referred to as "bulge deformation".
The upper limit of expansion deformation of each vertex of the central restoration area and the transitional restoration area is half of the distance projected to adjacent teeth in the direction of the connecting line of the central points of the two teeth. After calculating the expansion deformation upper limit, the vertex of the transition repair area needs to be provided with the deformation weight. The calculation formula of the deformation weight is as follows:
Wherein the method comprises the steps of As a set of center repair area points,For a certain point in the current transition repair zone,Is thatThe corresponding weight value is used for the weight,Is the ring inner diameter set of the transition repair area ring.
The deformation weight is the nearest distance from the point to the edge of the transition repair area, and accounts for the specific gravity of the thickest thickness of the ring of the transition repair area, and the thickest thickness of the ring of the transition repair area is shown as x marked in fig. 7, so that the deformation is more natural; the larger the deformation weight, the closer the deformation distance of the point is to the deformation upper limit. The degree of deformation of the central repair area is relatively greater, and thus the deformation weight is not calculated.
Then, traversing the vertexes of the two large restoration areas, and moving the vertexes to the opposite adjacent teeth according to the weight, the area type and the deformation upper limit; however, the boundary smoothing effect of the restoration area after the process is poor, and a relatively good interproximal restoration effect can be obtained after proper smoothing of the restoration area and the periphery thereof is required, wherein fig. 8 in the attached drawings is a screenshot of an adjacent tooth before interproximal restoration, and fig. 9 is a screenshot of an adjacent tooth after interproximal restoration. Wherein, the smooth basic thinking is that the position of each vertex is updated to be the average value of the positions of the adjacent vertices and the weighted average of the original positions of the adjacent vertices; the smooth times have influence on the restoration effect, and the transition area is restored for 10 times and the central area is restored for 2 times finally, so that the final restored three-dimensional tooth model is obtained.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, and the scope of protection of the present invention and equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.
Claims (5)
1. An automatic interproximal restoration method of a three-dimensional tooth model is characterized by comprising the following implementation steps:
s1, inputting a tooth segmentation model, firstly calculating boundary contours of each tooth in the segmentation model, calculating accurate critical part contours according to the vertex distances of two adjacent tooth contours, and then uniformly sampling key points on the accurate critical part contours;
S2, using a B spline curve, fitting a smooth arc line according to the key points, wherein the fitting line is not closed at the moment, and fitting the rest part by using a Bezier curve according to the distances from the centers of the two end points and the two end points of the smooth arc line to the bottom of the arc line to generate a closed fitting line;
s3, according to the closed fitting line of the S2, intersecting and projecting the rays and triangular patches on teeth on two sides, and finding out corresponding patches to obtain a neighborhood closed ring corresponding to the two teeth;
S4, taking the closed circular ring obtained in the step S3 as a boundary line, and filling seeds inwards, wherein the filled dough sheet is used as a central restoration area for expansion restoration; calculating a peripheral transition repair area outwards by adopting an ellipse-like structure;
S5, calculating a deformation weight of the transition repair area according to the boundary obtained in the step S3; calculating the maximum deformation upper limit of each vertex of the central repair area and the transition repair area, wherein the central repair area is directly deformed according to the maximum deformation upper limit without a weight; the deformation of the transition repair area is limited by the weight;
S6, performing interproximal restoration expansion operation, and performing smooth treatment on a restoration area after expansion to obtain a restored three-dimensional tooth model;
the calculation formula of the deformation weight of the transition repair area in the step S5 is as follows:
Wherein As a set of center repair area points,For a certain point in the current transition repair zone,Is thatThe corresponding weight value is used for the weight,The ring inner diameter set of the transition repair area ring is set;
The step S6 specifically comprises the following steps:
S61, performing inter-adjacent repair expansion operation; traversing the vertexes of the central restoration area and the transition restoration area, and moving the vertexes to the opposite adjacent teeth according to the weight, the area category and the deformation upper limit;
S62, carrying out proper smooth treatment on the central repair area and the transition repair area and the periphery of the central repair area; specifically, the position of each vertex is updated to be the average value of the positions of the adjacent vertices and the weighted average of the original positions of the adjacent vertices; the smoothing times have influence on the repairing effect, and the transition area is smoothed for 10 times and the central area is smoothed for 2 times finally, so that the repaired three-dimensional tooth model is obtained.
2. The method for automatic interproximal restoration of a three-dimensional dental model according to claim 1, wherein step S1 is specifically:
s11, inputting a segmentation model of teeth;
s12, using the half data structure characteristic of OpenMesh, finding edge points of the segmentation model of each tooth, namely contour points of the segmentation model, traversing the contour points, and considering the contour points as rough adjacent parts if the distance between the contour points and the contour points of adjacent teeth is smaller than a specific distance threshold;
S13, traversing points of the rough abutting part, and considering the points as boundaries of the contour of the accurate abutting part if the distance between the points and the contour points of the adjacent teeth is smaller than a more accurate distance threshold value and a plurality of continuous points are smaller than the threshold value;
S14, merging the adjacent teeth into an average curve according to the two accurate adjacent partial contours;
and S15, uniformly sampling key points on the average curve.
3. The method for automatic interproximal restoration of a three-dimensional dental model according to claim 2, wherein the threshold distance for the division of the rough abutment portions in step S12 is 0.7mm.
4. The method for automatic interproximal restoration of a three-dimensional dental model according to claim 2, wherein the distance threshold for the division of the precisely contiguous portions in step S13 is 0.2mm and the number of consecutive points is 5.
5. The method according to claim 2, wherein the number of uniformly sampled key points in step S15 is 11.
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