JP2019097851A - Dental surgery support system and program - Google Patents

Abstract

To provide a dental surgery support system and program which allow an operator to perform proper dental surgery.SOLUTION: A storage part 10 stores before-cutting three-dimensional shape data 10A of a tooth T related to dental surgery. A detection part 11 detects information related to an orientation and size of a tooth T viewed from an operator D who performs dental surgery. A projection image generation part 12 identifies an apparent three-dimensional shape of the tooth T viewed from the operator D on the basis of the before-cutting three-dimensional shape data 10A of the tooth T stored in the storage part 10 and information related to the orientation and size of the tooth T detected by the detection part 11, and generates a projection image I including information for supporting the operator D according to the three-dimensional shape. A projection part 13 projects a projection image I generated by the projection image generation part 12 to the tooth T.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a dental surgery support system and program.

  Handpieces used for cutting teeth (in a broad sense, including grinding or grinding) are one of the basic therapeutic devices essential to the clinic. Until now, improvements have been made to the handpiece in terms of its output and durability, and it has come to have high cutting performance (see, for example, Patent Document 1).

JP, 2017-176229, A

  However, the handpiece is what the dentist (operator) holds by hand. Therefore, the problem remains that the finish of the teeth cut by the handpiece largely depends on the skill of the operator. This does not change even if a dental CAD / CAM (Computer Aided Design / Computer Aided Manufacture) system is used. The dental CAD / CAM system is used to design and manufacture restorations and prostheses to be mounted in the oral cavity, and does not support the operation of the operator using a handpiece.

  Currently, companies that manufacture and sell dental CAD / CAM systems provide data on how to cut teeth with a handpiece. However, the present condition is that the operator judges by visual observation whether it is overcutting or not enough.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a dental surgery support system and program that allow an operator to perform appropriate dental surgery.

In order to achieve the above object, a dental surgery support system according to a first aspect of the present invention is:
A storage unit for storing information on a three-dimensional shape of a part related to dental surgery;
A detection unit for detecting information on the direction and size of the site as seen from the operator performing dental surgery;
Apparent three-dimensional appearance of the part viewed from the operator based on the information on the three-dimensional shape of the part stored in the storage unit and the information on the direction and size of the part detected by the detection unit A projection image generation unit that specifies a shape and generates a projection image including information for assisting the operator according to the three-dimensional shape;
A projection unit that projects the projection image generated by the projection image generation unit onto the part;
Equipped with

In this case, a plurality of cameras for imaging the parts viewed from the operator in a mutually parallax state;
A projector for projecting the projected image;
Equipped with
The camera and the projector are
It is attached to a mounting tool attached to the head of the operator, or incorporated into a microscope used by the operator to observe the site.
You may do it.

The information on the three-dimensional shape of the part stored in the storage unit includes positional information of at least three markers that can be distinguished from each other without changing the positional relationship with the area to be cut in the part.
The detection unit is
Detecting current position information of at least three markers viewed from the operator as information on the direction and size of the portion viewed from the operator;
The projected image generation unit
Apparent three-dimensional shape of the portion seen by the operator based on position information of at least three markers stored in the storage unit and current position information of at least three markers detected by the detection unit To identify
Generating a projection image including information for assisting the operator based on the three-dimensional shape of the identified part;
You may do it.

The detection unit is
As information on the direction and size of the part, current position information of feature points of at least three of the parts whose position relationship with the area to be cut in the part does not change is detected.
The projected image generation unit
The portion of the portion viewed by the operator based on position information of feature points of at least three of the portions stored in the storage unit and current position information of at least three feature points detected by the detection unit Identify the apparent three-dimensional shape,
Generating a projection image including information for assisting the operator based on the three-dimensional shape of the identified part;
You may do it.

The post-cutting data generation unit is configured to generate information on the three-dimensional shape of the post-operative region based on the information on the three-dimensional shape of the region stored in the storage unit;
The storage unit is
Storing information on the three-dimensional shape of the post-operative site;
The projected image generation unit
Based on the information on the three-dimensional shape of the post-operative site stored in the storage unit, an image is generated as the projection image that distinguishes a portion to be cut from the site and a non-cut portion.
You may do it.

The projected image generation unit
An index relating to the posture or position of the surgical instrument with respect to the site is generated as the projection image.
You may do it.

The program according to the second aspect of the present invention is
Computer,
A storage unit for storing information on the three-dimensional shape of a part related to dental surgery,
A detection unit for detecting information on the direction and size of the site as seen from the operator performing dental surgery;
Apparent three-dimensional appearance of the part viewed from the operator based on the information on the three-dimensional shape of the part stored in the storage unit and the information on the direction and size of the part detected by the detection unit A projection image generation unit that specifies a shape and generates a projection image including information for assisting the operator according to the three-dimensional shape;
A projection unit that projects the projection image generated by the projection image generation unit onto the part;
Act as

  According to the present invention, a projection image including information for assisting an operator is projected to a site relevant to dental surgery. In this way, the dental surgery can be performed while looking at the information to be supported without the operator turning his or her eyes from the site. As a result, the operator can perform appropriate dental surgery.

1 is a perspective view of a dental surgery support system according to a first embodiment of the present invention. It is a block diagram which shows the hardware constitutions of the information processing apparatus of FIG. It is a perspective view which shows the three-dimensional shape of the tooth before cutting, and the three-dimensional shape of the tooth after cutting. It is a figure which shows the positional relationship of an operator and a tooth. It is a schematic diagram which shows the relationship between the imaging visual field of the camera of the left, and the imaging visual field of the camera of the right. It is a figure which shows an example of three feature points of a tooth. It is a figure which shows an example of the projection image projected on a tooth. It is a flowchart of the information processing apparatus of FIG. It is a figure which shows the structure of the optical system of the microscope of the dental surgery assistance system which concerns on Embodiment 2 of this invention. It is a figure which shows the modification 1 of the microscope of FIG. It is a figure which shows the modification 2 of the microscope of FIG. It is a figure which shows the modification of a projection image. It is a schematic diagram which shows the case where the direction and magnitude | size of a tooth are detected using a marker.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

Embodiment 1
First, the first embodiment of the present invention will be described.

  As shown in FIG. 1, in the dental surgery support system 1 according to the present embodiment, a dentist (hereinafter referred to as “operator”) D is a patient's tooth T (a target of surgery) as a site related to surgery. Is used, for example, when cutting with a hand piece 2. The operator D wears the glasses 3 as a mounting tool on the head H and operates the hand piece 2 to cut while looking at the teeth T. Here, the site related to the operation may be the tooth T to be subjected to the operation, or may be a surrounding area including the tooth T.

  Two glasses 4 and a projector 5 are attached to the glasses 3. The camera 4 images an area (here, the tooth T and its surrounding area) which is beyond the line of sight of the operator D. The cameras 4 are respectively provided at both ends of the glasses 3 and have parallax, so that three-dimensional positional information on the tooth T and its surrounding area can be obtained from the imaging results of the two cameras 4.

  The projector 5 is provided at a central portion of the glasses 3 and projects a projection image I including information for assisting the operator D on the teeth T. As a result, the operator D can cut the tooth T using the handpiece 2 while looking at the projected image I projected on the tooth T. As a result, the teeth T are accurately cut, and appropriate dental surgery is realized.

  The dental surgery support system 1 includes an information processing device 6 that generates a projection image I to be projected by the projector 5 based on the imaging result of the camera 4. The information processing device 6 is a computer operated by a program.

  As shown in FIG. 2, the information processing apparatus 6 includes an internal bus 20, a control unit 21, a main storage unit 22, an external storage unit 23, and a communication unit 24 as a hardware configuration. The main storage unit 22, the external storage unit 23 and the communication unit 24 are all connected to the control unit 21 via the internal bus 20.

  The control unit 21 is configured of a CPU (Central Processing Unit) or the like. Each component of the information processing apparatus 6 is realized by the CPU executing the program 29 stored in the external storage unit 23 and loaded in the main storage unit 22.

  The main storage unit 22 is configured by a RAM (Random-Access Memory) or the like. The program 29 stored in the external storage unit 23 is loaded into the main storage unit 22. Besides, the main storage unit 22 is used as a work area (temporary storage area of data) of the control unit 21.

  The external storage unit 23 is configured from a non-volatile memory such as a flash memory, a hard disk, a DVD (Digital Versatile Disc), and a Blu-ray (registered trademark) Disc. In the external storage unit 23, a program 29 to be executed by the control unit 21 is stored in advance. Further, the external storage unit 23 supplies data used in executing the program 29 to the control unit 21 according to the instruction of the control unit 21 and stores the data supplied from the control unit 21.

  The communication unit 24 is configured of a serial interface or a parallel interface. The communication unit 24 is connected to the camera 4 and the projector 5 via a communication network, and receives image data from the camera 4 and sends video data of the projected image I to the projector 5.

  The various components of the information processing apparatus 6 exert their functions by executing the program 29 using the control unit 21, the main storage unit 22, the external storage unit 23, the communication unit 24, and the like as hardware resources.

  Returning to FIG. 1, the information processing apparatus 6 includes a storage unit 10, a detection unit 11, a projection image generation unit 12, and a projection unit 13 as functional elements realized by execution of the program 29.

  The storage unit 10 stores pre-cutting three-dimensional shape data 10A indicating the three-dimensional shape of the tooth T to be subjected to dental surgery before cutting. The three-dimensional shape data 10A before cutting is measured in advance using the intraoral scanner 7.

  Further, the storage unit 10 stores post-cutting three-dimensional shape data 10B indicating the three-dimensional shape after the teeth T, that is, after the cutting. The three-dimensional shape data after cutting 10B is data indicating the three-dimensional shape of the tooth after the operation by the operator D, and the dental CAD / CAM system 8 as a data generation unit after cutting is stored in the storage unit 10 It is generated based on the three-dimensional shape data 10A before cutting. After generation, the three-dimensional shape data 10B after cutting is stored in the storage unit 10.

  When the three-dimensional shape data before cutting 10A and the three-dimensional shape data after cutting 10B are visually displayed, for example, it becomes as shown in FIG. In FIG. 3, the three-dimensional shape data 10A before cutting is indicated by a solid line, and the three-dimensional shape data 10B after cutting is indicated by a dotted line. The operator D uses the handpiece 2 to cut the teeth T from the shape shown by the three-dimensional shape data 10A before cutting into the shape shown by the three-dimensional shape data 10B after cutting. Therefore, the solid line part excluding the dotted line part is the part to be cut, and the dotted line part is the part not to be cut.

  The detection unit 11 detects information on how the tooth T looks as viewed from the operator D who performs dental surgery, that is, the direction and size of the tooth T as viewed from the operator D. When one or both of the operator D and the patient move, the positional relationship between the operator D and the tooth T changes as shown in FIG. When the positional relationship between the operator D and the tooth T changes, the way of seeing the tooth T viewed from the operator D becomes different. In order to project an accurate projection image I on the tooth T, the detection unit 11 detects information on the direction and size of the tooth T as viewed from the operator D who performs dental surgery.

  Here, since the entire three-dimensional shape of the tooth T is known, if the direction and size of the tooth T viewed from the operator D are known, the apparent three-dimensional shape of the tooth T viewed from the operator D is specified be able to. In order to identify this apparent three-dimensional shape, two cameras 4 are attached to the glasses 3.

  In FIG. 5, an imaging field of view 4L of the left camera 4 and an imaging field of view 4R of the right camera 4 are shown. As shown in FIG. 5, it is assumed that three points P1, P2 and P3 having different positions are included in the imaging field 4L of the left camera 4 and the imaging field 4R of the right camera 4. The positions within the imaging field of view 4L and the imaging field of view 4R differ at points P1, P2, and P3 due to the parallax of the left and right cameras 4. This indicates that the position information of each of the points P1, P2 and P3 seen from the operator D can be detected based on the points P1, P2 and P3 in the imaging data of the left and right cameras 4.

  Therefore, the detection unit 11 receives the respective imaging data from each camera 4 and, based on the received imaging result, as shown in FIG. The position information of the feature points P1, P2 and P3 is detected. The positional information of at least three feature points P1, P2, and P3 is information on the direction and size of the tooth T viewed from the operator D. The feature points P1 to P3 need to be set outside the area to be cut. Also, if the tooth T to be cut is an upper jaw tooth, the hard tissue (tooth or bone) or implant of the upper jaw should be such that the feature points P1 to P3 do not change their positional relationship with the region to be cut in the tooth T For example, if the teeth of the lower jaw need to be set in the hard tissue or implant of the lower jaw. In FIG. 6, the feature point P1 is set in the area where the tooth T is not cut.

  The projected image generation unit 12 includes three-dimensional shape data 10A of the tooth T stored in the storage unit 10 before cutting, and information on the direction and size of the tooth T viewed from the operator D detected by the detection unit 11 Based on the above, the apparent three-dimensional shape of the tooth T seen from the operator D is specified. More specifically, the projection image generation unit 12 includes position information of feature points of at least three teeth T stored in the storage unit 10 and current position information of at least three feature points detected by the detection unit 11. And identify the apparent three-dimensional shape of the tooth T seen by the operator D.

  Furthermore, the projection image generation unit 12 generates a projection image I including information for assisting the operator D according to the specified three-dimensional shape, based on the three-dimensional shape of the tooth T viewed from the operator D. Specifically, based on the information on the three-dimensional shape of the postoperative tooth T stored in the storage unit 10, the projected image generation unit 12 cuts a portion of the tooth T as a projected image I and a portion that is not cut. Generate an image that distinguishes Here, when the operator D sees the back side of the tooth T, that is, the invisible part from the projected image I, the operator D can easily see the image.

  The projection unit 13 projects the projection image I generated by the projection image generation unit 12 on the tooth T. In the present embodiment, as shown in FIG. 7, the contour of the three-dimensional shape of the tooth T after cutting is projected as a projected image I. This contour is a boundary between the portion to be cut by the handpiece 2 and the area not to be cut, and is thus information for assisting the operator D.

  Next, the flow of processing of the dental surgery support system 1 according to the present embodiment will be described. As shown in FIG. 8, first, the three-dimensional shape of the tooth T read by the intraoral scanner 7 is measured (step S1; three-dimensional measurement step). The three-dimensional shape of the measured tooth T is stored in the storage unit 10 as three-dimensional shape data 10A before cutting.

  Subsequently, the dental CAD / CAM system 8 reads the before-cutting three-dimensional shape data 10A of the tooth T stored in the storage unit 10, and generates the after-cutting three-dimensional shape data 10B (step S2; post-cutting data) Generation step). The generated three-dimensional shape data after cutting 10 B is stored in the storage unit 10.

  Thereafter, repetitive processing is performed by the detection unit 11, the projection image generation unit 12, and the projection unit 13. The cycle is, for example, several ms. That is, as shown in FIG. 8, in the information processing apparatus 6, the detection unit 11 detects information on the direction and size of the tooth T viewed from the operator D who performs dental surgery in each cycle (step S3 Detection step), based on the three-dimensional shape data of the tooth T stored in the storage unit 10 by the projection image generation unit 12 and information on the direction and size of the tooth T detected by the detection unit 11; The apparent three-dimensional shape of the tooth T seen from D is specified, and a projection image I including information for assisting the operator D is generated according to the specified three-dimensional shape (step S4; projection image generation step), projection The projection image I is projected onto the tooth T by the unit 13 (step S5; projection step).

  In this manner, the three-dimensional shape according to the direction and size of the tooth T, the direction and the size as seen from the operator D is always detected, and the projection image I according to the detected three-dimensional shape is the tooth T Projected to While the projected image I is being projected, cutting of the teeth T by the handpiece 2 by the operator D is performed. This cutting is performed with the aid of the projection image I, for example, so as not to cut the place which should not be cut and so as not to be left uncut.

  In the present embodiment, the storage unit 10 is realized by the main storage unit 22 and the external storage unit 23. The detection unit 11 is realized by the control unit 21, the main storage unit 22, and the communication unit 24. The projection image generation unit 12 is realized by the control unit 21 and the main storage unit 22. Furthermore, the projection unit 13 is realized by the control unit 21, the main storage unit 22, and the communication unit 24.

  As described above in detail, according to the present embodiment, the projection image I including the information for supporting the operator D is projected onto the tooth T to be subjected to the dental surgery. In this way, the dental surgery can be performed while the operator D looks at the information to support without turning his / her eyes off the teeth T. As a result, the operator D can perform appropriate dental surgery.

  In addition, although the site | part relevant to dental surgery was made into the tooth T in this Embodiment, this invention is not limited to this. The plurality of teeth T, and the region around the teeth T may be a part related to dental surgery.

Second Embodiment
Next, a second embodiment of the present invention will be described.

  In the above embodiment, the camera 4 and the projector 5 are attached to the mounting tool, but in the dental surgery support system according to the present embodiment, the microscope 30 used by the operator D to observe the teeth T during surgery Except that the camera and the projector are incorporated in 9), it is the same as the first embodiment.

  The configuration of the microscope 30 will be described. As shown in FIG. 9, the microscope 30 is provided with a magnifying observation optical system 30L for the left eye and a magnifying observation optical system 30R for the right eye. In the magnifying observation optical systems 30L and 30R, the objective lens 31, the imaging lenses 33L and 33R, the half mirrors 32L and 32R, and the cameras 34L and 34R are arranged in order from the side closer to the operation site (tooth T).

  Illumination light from the illumination device 40 is applied to the teeth T. Although one side oblique illumination is illustrated as the illuminating device 40 in FIG. 9, two or more illuminating devices 40 may be provided. In addition, the illumination device 40 may be provided inside the microscope 30, and may be coaxial epi-illumination as well as the side oblique illumination. Although the lighting device 40 may be a halogen lamp or a fluorescent lamp, it is desirable to use an LED because it has advantages such as low heat generation, long life, and low power consumption.

  The image of the tooth T illuminated by the illumination device 40 passes from the objective lens 31 through the imaging lenses 33L and 33R and the half mirrors 32L and 32R, and is electronically imaged by the respective cameras 34L and 34R.

  Images captured by the cameras 34L and 34R are displayed on monitors 35L and 35R electrically connected to the cameras 34L and 34R, respectively. The monitors 35L and 35R are mounted inside the pair of eyepiece tubes 36L and 36R, and the dentist looks in the eyepiece tubes 36L and 36R so that the image of the tooth T can be viewed stereoscopically.

  In the present embodiment, the cameras 34L and 34R correspond to the left and right cameras 4 according to the first embodiment. The imaging data captured by the cameras 34L and 34R are sent to the detection unit 11 of the information processing device 6. The detection unit 11, the projection image generation unit 12, and the projection unit 13 perform the same processing as that of the first embodiment and cause the projectors 37L and 37R to project the projection image I.

  Further, in the present embodiment, the projectors 37L and 37R correspond to the projector 5 according to the first embodiment. The light projected from the projectors 37L and 37R is reflected by the half mirrors 32L and 32R, and reaches the tooth T through the imaging lenses 33L and 33R and the objective lens 31. Thereby, the projection image I transmitted from the projection unit 13 of the information processing device 6 is projected on the tooth T. In practice, parallax occurs between the image projected by the projector 37L and the image projected by the projector 37R. Therefore, the image projected by the projector 37L and the image projected by the projector 37R are alternately projected, and the imaging timings of the cameras 34L, 34R are synchronized with the projection timings of the projectors 37L, 37R. In this way, the projection image I projected by the projector 37L is imaged only by the camera 34L, and the projection image I projected by the projector 37R is imaged only by the camera 34R, as described above. It is possible to solve the problem of various parallaxes. In this case, as the projection image I, it is necessary to prepare one for the right eye and one for the left eye in consideration of parallax.

  The internal configuration of the microscope 30 is not limited to that described above, and can be modified as shown in FIG. 10, for example. In the microscope 30, the operator D does not look at the imaging results of the cameras 34L and 34R, but the imaging lenses 33L and 33R, the half mirrors 32L and 32R, and the eyepiece lenses 35L 'and 35R of the eyepiece tubes 36L and 36R. Observe the teeth T directly through '. In this configuration, the left and right cameras 34L 'and 34R' pick up the teeth T with the light reflected by the half mirrors 32L and 32R. The imaging data imaged by the cameras 34 L ′ and 34 R ′ are sent to the detection unit 11 of the information processing device 6. The detection unit 11, the projection image generation unit 12, and the projection unit 13 perform the same processing as that of the first embodiment and cause the projector 37 to project the projection image I. The light emitted from the projector 37 is reflected by the half mirror 32, passes through the projection lens 33 and the objective lens 31, and reaches the tooth T. Thereby, the projected image I forms an image on the tooth T.

  In FIG. 10, the cameras 34L 'and 34R' may be provided outside the microscope 30. In addition, the half mirror 32 and the projector 37 may be provided between the objective lens 31 and the tooth T. In this case, the projection lens 33 is unnecessary. In this case, the half mirror 32 and the projector 37 may be provided inside the microscope 30 or may be provided outside the microscope 30.

  The internal configuration of the microscope 30 can be further modified as shown in FIG. For example, as shown in FIG. 11, in the microscope 30, the operator D does not look at the imaging results of the cameras 34L and 34R, but the eyepieces of the imaging lenses 33L and 33R and the eyepiece tubes 36L and 36R. The teeth T are directly observed through 35L 'and 35R'. Half mirrors 39L and 39R, liquid crystal shutters 38L and 38R, and half mirrors 32L and 32R are provided between the imaging lenses 33L and 33R and the eyepieces 35L 'and 35R'. In this case, the left and right cameras 34L 'and 34R' pick up the teeth T with the light reflected by the half mirrors 32L and 32R. The imaging data imaged by the cameras 34 L ′ and 34 R ′ are sent to the detection unit 11 of the information processing device 6. The detection unit 11, the projection image generation unit 12, and the projection unit 13 perform the same processing as that of the first embodiment. The microscope 30 includes left and right projectors 37L and 37R. The light from the left and right projectors 37L and 37R is reflected by the half mirrors 39L and 39R, passes through the imaging lenses 33L and 33R and the objective lens 31, and reaches the tooth T. Thus, the projected image I is formed on the teeth T.

  In practice, parallax occurs between the image projected by the projector 37L and the image projected by the projector 37R. Therefore, by alternately projecting the image projected by the projector 37L and the image projected by the projector 37R, and synchronizing the opening / closing timing of the liquid crystal shutters 38L, 38R with the projection timing of the projectors 37L, 37R, the parallax problem is caused. It can be eliminated.

  The liquid crystal shutters 38L and 38R may be disposed between the half mirrors 32L and 32R and the eyepieces 35L 'and 35R'. However, in this case, it is necessary to synchronize the cameras 34L 'and 34R' with the projectors 37L and 37R.

  In each of the above-described embodiments, as in the outline of the three-dimensional shape of the tooth T after cutting, an image that distinguishes a portion to be cut in the tooth T and a portion not to be cut is projected as the projection image I. Such an image may be an image obtained by color-coding another portion to be cut and a portion not to be cut, or an image having high brightness only in the portion to be cut or only the portion not to be cut.

  In addition, the projected image generation unit 12 may generate an index related to the posture of the surgical instrument with respect to the tooth T as the projected image I. As shown in FIG. 12, a line segment indicating an ideal posture of the handpiece 2 may be projected as a projection image I. For example, when it is an appropriate posture that the tool 2A as a surgical tool of the handpiece 2 is in the vertical direction, an image of the vertical line may be projected as a projected image I on the tooth T. In this way, for example, the right side of the tooth T seen from the operator D (or the operator D looks at the operator D while keeping the handpiece 2 in an appropriate posture (while keeping the rotation axis of the tool 2A along the vertical line) It is possible to cut the left side), that is, the left and right sides in the drawing. When the tool 2A is to be inclined, a diagonal line may be projected. Since this projection image I is also projected onto the handpiece 2, the shift between the handpiece 2 and the line segment of the projection image I can be made to easily coincide. Further, an index related to the position of the handpiece 2 may be displayed as the projected image I. For example, it is possible to display a projection image I which can be distinguished from the other places only at the place where the tool 2A of the handpiece 2 should be located.

  As described above, various pieces of information can be considered as the information for supporting the operator D, which is indicated by the projection image I. For example, if there is a desired order of cutting places of the teeth T, the projected image I may be projected to the place where it is desirable to cut next. In addition, when the three-dimensional internal structure of the tooth T is clarified, the internal structure may be projected to the tooth T. Further, not only the area to be cut but also an image of the surrounding (for example, the contour of a resident tooth) may be included in the projected image I. In this way, it becomes easier for the operator D to visually confirm that the projection image I is not projected in a shifted manner (the operator D is more likely to notice when the projected image I is shifted).

  In each of the above-described embodiments, information related to the appearance of the tooth T is detected based on positional information of at least three feature points of the tooth T, but the present invention is not limited to this. For example, as shown in FIG. 13, at least three markers M1 to M3 which are known in advance without changing their positional relationship with the tooth T and which are not on straight lines and which can be distinguished from each other are arranged. It is assumed that T and markers M1 to M3 are arranged. The three-dimensional shape data 10A before cutting of the portion stored in the storage unit 10 includes positional information of at least three markers M1 to M3. It is desirable that the positions of the markers M1 to M3 be as far apart as possible. However, it is desirable to avoid placing markers M1 to M3 having a volume on the occlusal surface of the teeth (surface on which the upper and lower teeth engage). The markers M1 to M3 need to be arranged outside the area to be cut. Also for the markers M1 to M3, if the tooth T to be cut is an upper jaw tooth, the hard tissue of the upper jaw, if it is a lower jaw tooth, so that the positional relationship between them and the region to be cut in the tooth T does not change. It needs to be placed on hard tissue (tooth, implant, bone etc). In FIG. 13, the marker M3 is disposed in the non-cut area of the tooth T.

  In this case, the detection unit 11 detects current position information of at least three markers M1 to M3 as information on the direction and size of the part including the tooth T as viewed from the operator D. Then, based on the positional information on at least three markers M1 to M3 stored in the storage unit 10 and the current positional information on at least three markers M1 to M3 detected by the detection unit 11, the projection image generation unit 12 , Identify the apparent three-dimensional shape of the site seen by the operator D. Then, the projection image generation unit 12 may generate the projection image I including information for assisting the operator D based on the specified three-dimensional shape.

  In the above embodiments, the two cameras detect the three-dimensional shape of the site such as the tooth T, but three or more cameras detect the three-dimensional shape of the site such as the tooth T You may

  In each of the above-described embodiments, the information on the direction and size of the tooth T viewed from the operator D is detected based on at least three feature points of the site such as the tooth T, but the present invention It is not limited. A schematic three-dimensional shape of a portion such as a tooth T as viewed from the operator D is determined, and matching between three-dimensional shapes is performed to detect information on the direction and size of the tooth T viewed from the operator D. You may do so.

  In addition, according to each of the above-described embodiments, the detection unit 11 may detect a change in the three-dimensional shape of the portion such as the tooth T during cutting. For example, in this case, the projected image I can be generated in accordance with the three-dimensional shape of the portion such as the tooth T which changes during cutting.

  The method of detecting the three-dimensional shape of the part is also not limited to that described above. For example, the projection image I supporting the operator D is projected, and the operator D stops for a short time that can not be detected, and at that time, the pattern for position measurement is projected on the projector at the site related to dental surgery, Alternatively, pattern images are captured by a plurality of cameras. Then, the three-dimensional shape may be measured based on the imaging data.

  The dental surgery support system 1 according to each of the above embodiments can be applied to bridge surgery and implant surgery. In these cases, for example, projection of a projected image I of a three-dimensional shape after cutting is performed with the two abutment teeth (base teeth) of the bridge of one tooth intermediate defect as a site related to dental surgery, It is possible to project a projected image I corresponding to a hole that is opened to fill the body.

  In addition, the hardware configuration and the software configuration of the information processing device 6 are an example, and can be arbitrarily changed and corrected.

  The central portion of the information processing apparatus 6 configured of the control unit 21, the main storage unit 22, the external storage unit 23, the communication unit 24, the internal bus 20, etc. It can be realized using a system. For example, by storing and distributing a computer program for executing the above operation in a computer readable recording medium (flexible disc, CD-ROM, DVD-ROM, etc.), and installing the computer program, You may comprise the information processing apparatus 6 which performs said process. Alternatively, the computer program may be stored in a storage device of a server device on a communication network such as the Internet, and the information processing device 6 may be configured by a normal computer system downloading or the like.

  In the case where the function of the information processing device 6 is realized by sharing the OS (operating system) and the application program, or by cooperation between the OS and the application program, etc. It is also good.

  It is also possible to superimpose a computer program on a carrier wave and distribute it via a communication network. For example, the computer program may be uploaded to a server on a communication network, and the computer program may be distributed via the network. Then, the computer program may be activated and executed in the same manner as other application programs under the control of the OS so that the above-described processing can be executed.

  The present invention is capable of various embodiments and modifications without departing from the broad spirit and scope of the present invention. In addition, the embodiment described above is for explaining the present invention, and does not limit the scope of the present invention. That is, the scope of the present invention is indicated not by the embodiments but by the claims. And, various modifications applied within the scope of the claims and the meaning of the invention are considered to be within the scope of the present invention.

  The present invention can be used for dental surgery support and dental education.

  1 dental surgery support system, 2 handpiece, 2A tool, 3 glasses, 4 cameras, 4L, 4R imaging field of view, 5 projectors, 6 information processor, 7 intraoral scanner, 8 dental CAD / CAM system, 10 storage unit, 10A Three-dimensional shape data before cutting, 10B Three-dimensional shape data after cutting, 11 Detection unit, 12 Projection image generation unit, 13 Projection unit, 20 Internal bus, 21 Control unit, 22 Main storage unit, 23 External storage unit, 24 Communication , 29 programs, 30 microscopes, 30L, 30R magnification observation optical system, 31 objective lenses, 32, 32L, 32R half mirrors, 33 projection lenses, 33L, 33R imaging lenses, 34L, 34R, 34L ', 34R' cameras , 35L, 35R monitor, 35L ', 35R' eyepiece, 36L, 36R Eyeglass tube, 37, 37L, 37R projector, 38L, 38R liquid crystal shutter, 39L, 39R half mirror, 40 illuminator, D dentist (operator), I projection image, H head, T site (tooth)

Claims (7)

A storage unit for storing information on a three-dimensional shape of a part related to dental surgery;
A detection unit for detecting information on the direction and size of the site as seen from the operator performing dental surgery;
Apparent three-dimensional appearance of the part viewed from the operator based on the information on the three-dimensional shape of the part stored in the storage unit and the information on the direction and size of the part detected by the detection unit A projection image generation unit that specifies a shape and generates a projection image including information for assisting the operator according to the three-dimensional shape;
A projection unit that projects the projection image generated by the projection image generation unit onto the part;
Surgery support system equipped with A plurality of cameras for imaging the regions viewed from the operator in a mutually parallax state;
A projector for projecting the projected image;
Equipped with
The camera and the projector are
It is attached to a mounting tool attached to the head of the operator, or incorporated into a microscope used by the operator to observe the site.
The dental surgery support system according to claim 1. The information on the three-dimensional shape of the part stored in the storage unit includes positional information of at least three markers that can be distinguished from each other without changing the positional relationship with the area to be cut in the part.
The detection unit is
Detecting current position information of at least three markers viewed from the operator as information on the direction and size of the portion viewed from the operator;
The projected image generation unit
Apparent three-dimensional shape of the portion seen by the operator based on position information of at least three markers stored in the storage unit and current position information of at least three markers detected by the detection unit To identify
Generating a projection image including information for assisting the operator based on the three-dimensional shape of the identified part;
The dental surgery support system according to claim 1 or 2. The detection unit is
As information on the direction and size of the part, current position information of feature points of at least three of the parts whose position relationship with the area to be cut in the part does not change is detected.
The projected image generation unit
The portion of the portion viewed by the operator based on position information of feature points of at least three of the portions stored in the storage unit and current position information of at least three feature points detected by the detection unit Identify the apparent three-dimensional shape,
Generating a projection image including information for assisting the operator based on the three-dimensional shape of the identified part;
The dental surgery support system according to any one of claims 1 to 3. The post-cutting data generation unit is configured to generate information on the three-dimensional shape of the post-operative region based on the information on the three-dimensional shape of the region stored in the storage unit;
The storage unit is
Storing information on the three-dimensional shape of the post-operative site;
The projected image generation unit
Based on the information on the three-dimensional shape of the post-operative site stored in the storage unit, an image is generated as the projection image that distinguishes a portion to be cut from the site and a non-cut portion.
The dental surgery support system according to any one of claims 1 to 4. The projected image generation unit
An index relating to the posture or position of the surgical instrument with respect to the site is generated as the projection image.
The dental surgery support system according to any one of claims 1 to 4. Computer,
A storage unit for storing information on the three-dimensional shape of a part related to dental surgery,
A detection unit for detecting information on the direction and size of the site as seen from the operator performing dental surgery;
Apparent three-dimensional appearance of the part viewed from the operator based on the information on the three-dimensional shape of the part stored in the storage unit and the information on the direction and size of the part detected by the detection unit A projection image generation unit that specifies a shape and generates a projection image including information for assisting the operator according to the three-dimensional shape;
A projection unit that projects the projection image generated by the projection image generation unit onto the part;
A program to function as

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