KR101166169B1 - Accessory Device of 3D Scanner and Method for taking Oromaxillofacial Image and - Google Patents

Abstract

The present invention relates to an apparatus and a method for acquiring a three-dimensional image of a patient including a head and a neck, and more particularly, to a system and method for acquiring a three- The auxiliary device of the three-dimensional image acquiring device capable of automatically matching using the connected intraoral material in position relation, maximizing the accuracy of the acquired image, and easily synchronizing the coordinate system of the image coordinate system and the treatment device, and Dimensional image acquisition method.
The auxiliary device of the three-dimensional image acquiring device of the present invention is an auxiliary device for acquiring a three-dimensional image including the head and the neck of a patient, comprising: a tray capable of accommodating intraoral tissues contained in the head and the neck; And the connecting member connects the tray in a predetermined positional relationship in the coordinate system of the apparatus for acquiring the three-dimensional image.
The auxiliary device of the three-dimensional image acquiring device of the present invention can easily and precisely match heterogeneous images and can easily synchronize with the other devices to be used.

Description

[0001] The present invention relates to a three-dimensional image acquiring method and a three-dimensional image acquiring method,

The present invention relates to a supplementary device installed in an apparatus for acquiring an image including a cranial portion of the craniofacial surface, and more particularly, to a method of acquiring image information necessary for brain tumor removal and implantation, Dimensional image acquiring device for coordinate synchronization with a device for performing an operation of a lesion shown in FIG. 1, a device for processing an implant in an oral implant, and the like.

The craniofacial area is a tissue part of the human body that is subjected to various procedures such as brain tumor removal and implant surgery. The 3D stereoscopic image of the head and neck is acquired for the above procedure, and the location of the lesion and the implant are diagnosed and used for the procedure.

In the case of brain tumor removal, three-dimensional images of the craniofacial area of the patient are obtained, and then the lesion on the acquired image is removed using a three-dimensional gamma-irradiation control device such as a gamma knife. Dimensional coordinate of the head and the position of the head and neck of the patient.

The synchronization of these coordinates is essential for image-based diagnosis and the procedure using it. Since the device for acquiring and diagnosing images of the head and neck and the device for performing the image-based diagnosis are usually provided separately, The position must be matched to the treatment device. The mutual synchronization of these coordinates can be achieved by matching the coordinate axis direction of the three-dimensional coordinate system with the coordinate origin through the coordinate conversion relationship, or operating them in a substantially coincided state, and is a core part of the gamma knife operation method.

However, in order to perform such a procedure, the patient must be equipped with an annular restraining portion that surrounds the toe portion fixed to the bony portion for coordinate synchronization and position fixation, so that the procedure is very troublesome or the patient can not fix the annular restraining portion, There has been a problem in suffering.

In addition, in the case of implant surgery or orthokeratology and plastic surgery, it is worn and operated in the oral cavity. In order to improve the attachment accuracy of the implant, it is better to use direct data such as patient's CT data, It is advantageous to make use of the data of the model imitating the organization.

In the case of the digital articulator, in order to accurately analyze the three-dimensional CT image and the occlusal relationship for acquiring the position information of the mandibular canthus which is the axis of motion for the analysis of the occlusal motion, It is desirable to match the scanned image or the shape of the intraoral tissue pulled up.

For this purpose, there is a need to precisely match an image containing internal tissue information of a patient such as a scan image for oral tissue and a three-dimensional CT image or an MRI image. Conventionally, the image matching marker is used as a reference point The images have been operated by matching or using a fixture in addition to the oral cavity of the patient.

However, there is a disadvantage that the image matching based on these markers must be operated separately from the software, the markers must be applied separately, and when the image information of the markers is distorted, the matching accuracy is lowered.

In addition, the method using the external fixation mechanism has suffered from the drawbacks of suffering pain and inconvenience by fastening the fixing screw to the head of the patient.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a three-dimensional image acquiring apparatus and a method for acquiring various types of images used for diagnosis in a procedure based on an image, The present invention provides a three-dimensional image acquiring device that can automatically match a plurality of images, maximize the precision of acquired images, and easily synchronize coordinate systems such as an image coordinate system and a surgical device.

The auxiliary device of the three-dimensional image acquiring device according to the present invention is an auxiliary device for acquiring a three-dimensional image including the head and the facial part of a patient, comprising: a tray capable of accommodating intraoral tissues contained in the cranial and upper parts of the cranium; And a connection member for connecting the tray to the apparatus for acquiring the three-dimensional image, wherein the connection member connects the tray in a predetermined positional relationship in a coordinate system of the apparatus for acquiring the three-dimensional image.

Further, the connecting member may further include a flow portion capable of linearly or rotationally moving.

The connecting member may further include a fixing unit fixing the changed position due to the linear or rotational flow of the flow unit.

Further, the connection member may further include a flow sensing sensor unit for sensing a change amount of the linear or rotational flow of the flow unit.

Further, the tray and the connecting member are integrally formed.

The connecting member may further include a first end portion for connection with the tray, and the first end portion may have a polygonal shape, a regular polygonal shape, a circular shape, or a straight shape Like projections or grooves.

The connecting member may further include a first end portion for connection with the tray, wherein the first end portion includes an engaging plate including at least three protrusions or grooves for engaging with the tray.

The connecting member may further include a second end for coupling with a device having a coordinate system synchronized with the coordinate system of the 3D image acquisition device.

In addition, the synchronized coordinate system is characterized in that the reference points of the coordinate system in each device are substantially the same.

In addition, the synchronized coordinate system is characterized in that the reference point in each device is in a coordinate conversion relationship of parallel movement or rotational movement.

According to another aspect of the present invention, there is provided a method for acquiring a three-dimensional image including a head and a neck of a patient, the method comprising: acquiring a three-dimensional image including the craniofacial region of the patient, Acquiring an image of the impression information scanned; And merging the 3D image with the scan image for the impression information. In the acquiring step, the 3D image and the scan image of the impression model are transmitted to the image acquiring device by using a tray .

The impression information mentioned above can be obtained through an impression model created by impression, or can be obtained by scanning impression materials impression.

The tray may be connected to each of the image capturing devices through a connecting member including a flow unit capable of linear or rotational motion.

The step of acquiring the image may include sensing a flow amount of the flow unit through a flow sensor unit; And correcting the coordinate value of the acquired image according to the sensed flow amount.

According to the present invention, the three-dimensional image including the anatomical information of the head and neck of the patient and the scan image of the impression information about the intraoral tissue can be automatically matched.

In addition, it is possible to synchronize easily with the coordinate system of the surgical instrument mechanism during the operation of the lesion in the obtained three-dimensional image.

In addition, there is an effect that a high-precision image combined with an image of the alveolar bone, the maxillofacial region, etc. in the head and neck of the patient and the image of the dental structure in the oral cavity can be easily obtained.

In addition, there is an effect that the placement position based on the image obtained in the implant procedure can be easily synchronized with the processing device such as a stance.

1 is a schematic perspective view of an auxiliary device of a three-dimensional image acquisition device according to an embodiment of the present invention,
FIG. 2 is a diagram illustrating a coordinate correction process and a synchronized coordinate system in an image by an auxiliary device of the three-dimensional image acquisition device of the present invention,
FIGS. 3 and 4 are schematic perspective views showing an example of a first end portion of a coupling with another device having a coordinate system synchronized with the auxiliary device of the three-dimensional image acquisition device of the present invention,
FIG. 5 is a flowchart illustrating a three-dimensional image acquisition method including a head and a neck according to an embodiment of the present invention,
6 is a flowchart illustrating a coordinate synchronization method for an image-based machining apparatus according to an exemplary embodiment of the present invention,
7 is a view illustrating a process of installing an impression model on a synchronization plate according to an example of a synchronization plate and a coordinate synchronization method according to the present invention,
8 is a view showing another example of the synchronization plate according to the present invention, which is different from that of FIG.

Hereinafter, an auxiliary device and a method for acquiring a three-dimensional image including the head and the neck will be described in detail with reference to the drawings.

1 is a schematic perspective view of an auxiliary device of a three-dimensional image acquisition device according to an embodiment of the present invention.

The auxiliary device of the three-dimensional image acquiring device according to an embodiment of the present invention may be inserted into the oral cavity to make contact with the teeth, or the upper and / or lower incisors of the patient may be manufactured to produce the same gypsum model as the upper and / A tray 100 including a connection part 120 for connection between the insertion member 110 and the connection member 200 to which the impression is to be filled, And a connecting member (200) for connecting with the apparatus (300). The three-dimensional image acquiring device 300 is a device for acquiring a three-dimensional image including a craniofacial image of the head and neck, for example, a CT device, an MRI device, and the like.

The connection member 200 includes a first end 220 coupled to the tray 100 and a second end 230 coupled to the third image acquisition device 300. The second end 230 And a flow sensor unit 240 for sensing a linear and / or rotational flow amount of the flow unit.

The tray 100 is connected to the image capturing apparatus 300 through a connecting member 200 in a predetermined predetermined positional relationship in a configuration in which the tray 100 is in contact with teeth in the oral cavity. The tray includes an intraoral insertion portion 110 for contact with the teeth, and the intraoral insertion portion 110 is coupled to the connection member 200 through the connection portion 120. [

The insertion portion 110 of the oral cavity is preferably formed in a U shape so as to fit the arch in the oral cavity. The material of the lower surface of the insertion portion 110 in the oral cavity can be durable against shear stress and vertical stress It is preferable to use a material having a certain size. The impression material may also be accommodated to obtain the impression of the patient's maxilla and / or mandible. This is to be used in the case of making a patient's impression model in order to obtain a high-resolution image of the processing and dental structure of a procedure aids such as a stent during the operation of an implant.

The cross-section of the intraoral insertion portion 110 is also preferably formed to have a U shape or a semicircular shape for accommodating the maxilla and / or mandible and to cover both the patient's teeth and the gum.

The connection part 120 is provided at one side of the insertion part 110 in the oral cavity and functions to connect the connection member 200 and the tray. The connection portion 120 and the first end portion 220 may have a complementary shape and may have a circular shape including a polygonal shape, an elliptical shape, or a string, for accurate coupling between the tray 100 and the connection member 200. Of course, the present invention is not limited to the above-described shape, and any shape may be used as long as the connection portion 120 and the first end portion 220 are formed in such a shape that no clearance can be formed after the coupling, Also, the second end portion 230 is formed in a shape complementary to the coupling portion 310 of the 3D image acquisition device 300, and is formed in such a shape that it can not be flowed after the coupling and is not broken.

The connection member 200 has a structure in which the tray 100 is coupled to the three-dimensional image acquisition device 300 in a predetermined predetermined positional relation. The predetermined positional relationship is a relationship between the image It means that the position of the tray 100 can be expressed by a coordinate value in the coordinate system C0. That is, when the tray 100 is connected to the three-dimensional image acquiring device 300 through the connecting member 200, the position of the tray 100 in the C0 is determined based on the design value of the connecting member 200, So that it can be set in the image acquisition apparatus 300.

As mentioned above, in the case of the implant surgery or the malformed and plastic surgery, it is common to wear a procedure induction complex in the oral cavity. In the case of the CT data, the accuracy of the image data for the gingiva and the teeth is poor. It is advantageous to use the data of the model that mimics the patient's oral tissues rather than to use the direct data such as the patient's CT data.

For this purpose, it is necessary to make a model of the upper and / or lower mandible impression of the patient, acquire a scan image of the impression model, and then match the CT image to the head and neck. Traditionally, CT images and scan images were matched. However, the above matching process has a limitation in matching with high precision and has a disadvantage that it requires a matching process, which is cumbersome.

The present invention solves this problem, and the tray 100 is connected to the three-dimensional image acquiring device 300 through the connecting member 200 so as to have a predetermined positional relationship. Therefore, the patient first mounts the tray 100 on the oral cavity The image of the head and neck and the scan image of the impression model can be automatically matched only by acquiring the images of the head and the neck in the state where the image is captured and the impression model is generated and then the scanned image is obtained again in the tray 100 . In other words, since the tray 100 is coupled with the predetermined positional relationship through the connecting member 200, the two images are captured in the same coordinate system, and the unnecessary parts are removed from the two images. There is no need to go through a separate process to match the images.

In addition, although a separate apparatus can be obtained for the image of the head and neck and the scan image for the pull-up model, the position of the tray 100 can be set in each apparatus based on the design value of the connecting member 200, ) Or the tray 100 combined with the connecting member 200 may be installed in the respective apparatuses, and then the two images may be automatically matched with each other.

The connecting member 200 may further include a flow portion 210 capable of linear and / or rotational flow. A flow sensing part 240 for sensing the amount of linear and / or rotational flow of the connection member 200 is mounted on the fluid 210 to sense the flow amounts A, B, C, and D of the linear and / And outputs the image to a device for acquiring an image, so that a change in the position of the tray 100 due to respiration or unconscious flow of the patient can be accurately reflected on the acquired image. A flow indicator may be displayed on the flow unit 210 to automatically check the flow rate as well as the automatic flow detection through the flow sensor unit 240. In the case of manually checking the flow rate, the configuration of the connecting member 200 is simplified, but there is a disadvantage that the acquired image must be corrected by checking the flow rate one by one.

The process of detecting the flow amount and correcting the position with respect to the image will be described in more detail with reference to FIG. 2. Referring to FIG. 2, based on the design value of the connection member 200, Is set as described above. The position setting of the tray 100 may vary depending on the situation. For example, in FIG. 1, a specific portion of the tray 100 is set as a reference point R (x0, y0, z0) at C0. When there is flow in the patient, the flow sensing sensor unit 240 senses the flow amounts A, B, C, and D of the connection member 200, outputs the flow amount to the image acquisition device 300, ) Converts the reference point R to R1 (x1, y1, z1) by calculating the coordinate conversion value? D by the flow of the patient. Such correction by flow can occur not only by patient flow but also when images are taken from separate apparatuses, and also functions to correct position due to flow during movement.

The acquired images are used for various purposes. The obtained images can be used to diagnose the location of the lesion in the head and neck or to determine the placement position in the implant. In this case, the coordinate system of the three-dimensional image acquiring device 300 and the operation device are synchronized in advance, and the tray 100 is rotated in the same direction, And / or the coupling member 200 to each device, it is possible to ensure the precision of the subsequent process of processing and processing the result in the image. That is, the coordinate system C0 of the three-dimensional image capturing apparatus 300 and the coordinate system C2 of the surgical apparatus or the processing apparatus can be configured with synchronized coordinate systems. If each coordinate system is a coordinate system of the same system, , R2) are substantially the same or are in a coordinate transformation relationship that can be equalized by rotational movement or translation. More specifically, the position of the coupling portion 410 coupled with the coupling member 200 may be substantially the same in the coordinate system of each device, or may be in a coordinate conversion relationship that can be the same by rotational movement or parallel movement. Since the tray 100 has a predetermined positional relationship with the coupling member 200, the coupling member 200 coupled to the tray 100 is coupled to the coupling portion 410 of the processing device 400, The result of the image can be processed and processed by merely joining the distal end portion 230 or coupling the first end portion 120 of the tray to the connecting portion 420 of the connecting member 200 provided in the processing apparatus 400 as shown in FIG. It is possible to secure the accuracy of the subsequent process.

It is also possible to provide a reference part for synchronizing with the machining device 400 at the lower end of the pulling model and directly connect to a synchronization plate provided in the machining device 400 to ensure the accuracy of machining.

1 shows a structure in which the connecting member 200 and the tray 100 are separated from each other. However, even if the connecting member 200 and the tray 100 are integrally formed, coordinate synchronization with the apparatus for automatic matching and subsequent processing Of course.

5 is a flowchart illustrating a method of acquiring a three-dimensional image including a head and a neck according to an embodiment of the present invention. Referring to FIG. 5, a 3D image acquisition method according to an embodiment of the present invention will be described, but a duplicate description will be omitted.

First, a three-dimensional image including the head and the neck of a patient using the same acquisition device or a patient using a separate device, and a scan image of an impression model in which the patient's upper and / or lower mandible is pulled up are acquired (S100) The 3D image and the scan image of the pull-up model are merged through a tray set in a predetermined positional relationship with the image acquiring device through the connecting member 200 (S110). The position of the lesion is diagnosed Or after determining the placement positions of the implants, a connecting member 200 or a tray 100 to which the tray 100 is coupled, or a pulling model in which a reference shape is formed, And ensuring the precision of the subsequent process such as processing.

6 is a flowchart illustrating a coordinate synchronization method for an image-based machining apparatus according to an embodiment of the present invention.

The coordinate synchronization method according to an embodiment of the present invention between the coordinate system in the image and the apparatus in which the image is utilized will be described in detail in the subsequent process using the matched image described above with reference to FIG.

The coordinate synchronization method according to the present invention includes the steps of acquiring an image (S200) as described with reference to FIG. 5, merging the images (S210), and applying a synchronization plate 900 installed in the image- And installing the model 800 (S220).

According to the coordinate synchronization method of the present invention, it is possible to perform a subsequent process in which the above-described matched image is utilized, that is, a procedure device for performing a procedure for performing a lesion diagnosed in an image, a processing device for processing a stent according to the placement position of the implant determined in the image, Coordinate synchronization can be achieved by merely installing the result of the diagnosis in the synchronization plate 900 or the result of the placement position simulation in the synchronization plate 900 without synchronization of the coordinates.

7 or 8, a protruding or depressed reference portion 810 is provided at a lower portion of the pulling model 800, and a fixing portion 910 Is provided on the upper portion of the synchronization plate 900 provided in the image-based processing apparatus. The image-based machining apparatus is processed on the basis of coordinate data and the like, and the reference point of the coordinate system serving as a basis of machining in the machining apparatus can be set in advance, so that a specific position can be set as a reference point in advance in the synchronization plate 900. The center of the synchronization plate 900 may be set as a reference point or the center of gravity of the figure formed by the center points of the plurality of fixing portions 910 formed on the synchronization plate 900 may be set as a reference point, It is preferable to define the reference point in advance for precise synchronization of coordinates.

When the specific position of the synchronization plate 900 is set as a reference point as described above, the fixing portion 910 of the synchronization plate 900 is complementarily engaged with the reference shape portion 810 provided below the pulling-up model 800, It is possible to represent the position of the pulling model in the coordinate system of the processing apparatus through the complementary combination of the synchronization plate 900 and the pulling model 800. [ That is, if the manufacture of the pulling-up model 800 is performed on the synchronization plate 900, the position set as the reference point of the synchronization plate 900 can be expressed in the coordinate system of the scan image of the pulling- The coordinate value of the reference point of the machining apparatus and the reference point of the machining apparatus can be known. Therefore, if the coordinate value of the scan image is converted by reflecting the difference, the diagnosis result and the placement position in the image can be accurately and accurately transmitted to the processing apparatus.

According to the coordinate synchronization method of the present invention, coordinate system synchronization between a coordinate system of a three-dimensional image and a processing apparatus based on the three-dimensional image can be achieved by merely installing an impression model 800 on a synchronization plate 900 without a separate synchronization process Since the coupling of the synchronization plate 900 with the reference plate 810 and the fixing part 910 is accurately performed, the synchronization accuracy can be remarkably improved.

Tray: 100 In-Oral Insertion: 110
Connection part: 120, 420 Connection part: 200
Flow section: 210 First end section: 220
Second end portion: 230 Flow sensor portion: 240
Image acquiring device: 300 coupling part: 310, 410
Processing equipment: 400

Claims (20)

delete delete delete delete delete delete delete delete delete delete delete delete delete A method for matching a three-dimensional image including a head and a neck part of a patient and a scan image for an intraoral impression model of the patient,
Acquiring a three-dimensional image including anatomical image information of the head and neck portion of the patient and a scan image of an impression model containing intraoral impression information of the patient using a tray connected to each image acquiring device in a predetermined positional relationship; And
And merging the three-dimensional image and the scan image for the impression model, wherein the tray is connected to the respective image acquisition device through a connection member including a flow part capable of linear or rotational movement,
Wherein the acquiring of the image comprises:
Detecting a flow amount of the flow portion through a flow sensor portion; And
And correcting the coordinate value of the obtained image according to the sensed flow amount.
delete delete 15. The method of claim 14,
And installing the impression model on an image-based processing apparatus provided with a synchronizing plate provided with a reference shape portion below the impression model and a fixing portion to be engaged with the reference shape portion,
Wherein the positions at which the synchronization plates are installed in the image acquiring device and the image-based processing device correspond to each other or are in a preset coordinate conversion relationship,
Wherein the reference shape and the fixation part are in a shape that can not be rotated when engaged.
18. The method of claim 17,
Wherein the reference shape portion is formed in a shape protruding or recessed from a lower surface of the pulling model and has a shape complementary to the fixed portion.
19. The method of claim 18,
Wherein a protruded or depressed shape of the reference shape portion is formed by a plurality of three or more shapes and the cross section is a regular polygon tangent to a circle or an arc or a circle shape including a string, Matching method.
19. The method of claim 18,
Wherein the cross-section of the reference shape includes at least one of a polygonal shape, an elliptical shape, and a circular arc shape including a string.

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