WO2020098515A1 - 牙列运动轨迹指示器及示踪方法 - Google Patents

牙列运动轨迹指示器及示踪方法 Download PDF

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Publication number
WO2020098515A1
WO2020098515A1 PCT/CN2019/115171 CN2019115171W WO2020098515A1 WO 2020098515 A1 WO2020098515 A1 WO 2020098515A1 CN 2019115171 W CN2019115171 W CN 2019115171W WO 2020098515 A1 WO2020098515 A1 WO 2020098515A1
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Prior art keywords
dentition
mark
coding
round
marker
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PCT/CN2019/115171
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English (en)
French (fr)
Inventor
谢理哲
胡轶宁
李维维
李铭伟
王浩
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南京凝动数字科技有限公司
谢理哲
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Priority to US17/043,727 priority Critical patent/US11844662B2/en
Publication of WO2020098515A1 publication Critical patent/WO2020098515A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/04—Measuring instruments specially adapted for dentistry
    • A61C19/05—Measuring instruments specially adapted for dentistry for determining occlusion
    • A61C19/052—Measuring instruments specially adapted for dentistry for determining occlusion with tracing appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C13/00—Dental prostheses; Making same
    • A61C13/08—Artificial teeth; Making same
    • A61C13/097—Artificial teeth; Making same characterised by occlusal profiles, i.e. chewing contact surfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/04—Measuring instruments specially adapted for dentistry
    • A61C19/045—Measuring instruments specially adapted for dentistry for recording mandibular movement, e.g. face bows
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C2201/00—Material properties
    • A61C2201/002—Material properties using colour effect, e.g. for identification purposes

Definitions

  • the invention relates to a dentition movement track indicator and a tracing method.
  • Dentist movement is closely related to the healthy coordination of the function and structure of the oral and maxillofacial system. Analyzing and observing dentition movement is an important basis for stomatological diagnosis, implant restoration planning, orthodontic treatment planning, and surgical effect evaluation.
  • the analysis of dentition movement at this stage mainly depends on the clinical examination of the physician, the model of the dentition in the patient's mouth, and various imaging data of the dentition of the patient in a stationary state.
  • the clinical examination due to the occlusion of the soft tissue of the lips, it is difficult to clearly expose the movement of the dentition to the doctor's field of vision.
  • dentition movement is a complex dynamic process. It is difficult to display the patient's dentition movement intuitively and accurately through the doctor's clinical examination and the model of the patient's dentition in the mouth, and the image analysis at rest cannot show continuous dentition. Movement track. Therefore, the clinical examination of the trajectory of the dentition is still very unintuitive. Doctors often need to rely on clinical diagnosis and treatment experience and the remodeled model of the dentition, and combine multiple dentition image data at rest to speculate the true trajectory of the dentition. , Its accuracy is difficult to be guaranteed.
  • the existing Chinese patent application CN201710139518.7 discloses a temporomandibular joint motion reconstruction method and system, which uses a polished retainer to fix the round wire.
  • the contact area of the two is limited and it is easy to fall off; the wear is kept in the mouth
  • the holder and the holder cover the occlusal surface of the upper and lower jaw dentition, so that the upper and lower jaw dentition cannot be directly occluded, there is a certain vertical distance (the thickness of the material of the holder), and the movement of the dentition cannot be accurately displayed.
  • the object of the present invention is to provide a dentition movement trajectory indicator and a tracing method, which can trace the dentition movement trajectory in the oral cavity outside the mouth, overcome the defect that the dentition movement trajectory cannot be directly observed, and solve the prior art There is a problem that the movement of the dentition cannot be accurately displayed.
  • a dentition movement trajectory indicator includes an intraoral fixed component and an external oral motion indication component,
  • the intraoral fixation component includes the lower dentition base, the left retention wire, the right retention wire and the positioning wire.
  • the lower dentition base is located on the tongue side of the lower dentition and extends from the mandibular incisor to the left and right sides, respectively The farthest of the last tooth is close to the tongue mucosa.
  • the left retention wire and the right retention wire are symmetrically distributed.
  • the left retention wire and the right retention wire are respectively from the left and right dentition base.
  • the left retention wire and the right retention wire extend from the distal part of the mandibular second molar to the mesial area of the buccal neck indentation of the mandibular first molar;
  • the end of the positioning wire is from the lower tooth Extending in the column base, extending from the adjacent gap between the canine on one side and the first premolar to the lip surface of the canine on one side, and continuing to the middle region of the lip surface of the anterior teeth to the other side In the adjacent space of the first premolar, the positioning wire continues to extend and is embedded in the lower dentition base;
  • the extra-oral motion marking component includes a connecting rod, an arc-shaped rod, an indicating plate, and a number of thin cuboid rods.
  • a pair of connecting rods of equal length extend from the fangs on both sides of the mandible to the mouth corner.
  • One end of the connecting rod is connected to the positioning wire to connect
  • the other end of the rod is connected with an arc-shaped rod, and the arc-shaped rod is provided with a plurality of first nut holes, and a first screw is provided on the side of the thin cuboid rod.
  • the first screw of the thin cuboid rod is in one-to-one correspondence with the first nut hole.
  • the other side of the rod is provided with a second screw, and the indicator plate is provided with a second nut hole, and the second screw of the cuboid thin rod is engaged with the second nut hole.
  • the arc-shaped rod is formed by bending a rectangular parallelepiped with a square cross-sectional area, and the arc-shaped rod is convexly arranged away from the connecting rod.
  • first screw and the second screw are respectively disposed on two sides of the rectangular parallelepiped opposite or adjacent to each other.
  • the indicator board is provided with coded markers.
  • the indicator board is made of square lightweight material, and the coded markers are made by color printing.
  • the coding marker is provided with a coding mark.
  • the coding mark adopts a coding mark with black as the background and white as the foreground color.
  • the coding mark includes a square mark, a round large round mark, a round small round mark and a circular ring mark.
  • the object adopts a square shape, and a square mark, a round large round mark, a round small round mark and a circular ring mark are respectively provided at the four corners of the coding marker.
  • Step 1 The positioning of the coding marker, according to the black background of the coding mark and the characteristics of the square mark, locate the position of the coding marker;
  • Step 2 A square marking pattern with a white foreground color in the positioning code marking
  • Step 3 Align the coding markers according to the position of the white square marking pattern, and divide the area where the round large round mark, round small round mark, and circular ring mark are located into three coding areas according to the position of the square mark. That is, area 1, area 2, area 3;
  • Step 4 Encode based on the round large round mark, round small round mark and round ring mark.
  • the large round mark code is 01
  • the small round mark code is 10
  • the round ring mark code is 11, and the coding area is not coded
  • the code is 00 for graphics; detect the coding graphics in each coding area of the coding marker;
  • Step 5 Based on the decoding of the coding area, each coding mark is decoded in the order of the coding area; the binary code is obtained after the initial decoding, and the decimal code is further calculated from the binary code. After decoding, the serial number of the coding mark is obtained. Markers match.
  • the position of the sub-pixel center point of the coded marker is fitted to the trajectory of the dentition; wherein, the position of the sub-pixel center point of the coded marker is obtained, specifically:
  • the center position of the mark is preliminarily determined according to the outline of the code marker.
  • the code marker uses a square with a black background, and the center position of the code marker is calculated according to the positions of its four corner points;
  • the intersection of the two small squares in the center of the coding marker forms a checkerboard corner.
  • the pixel points around the center of the marker determined in the previous step are further searched for the sub-pixel position of the checkerboard corner. , That is, the position of the center point of the subpixel of the coding marker.
  • the intraoral fixed component is manufactured by the following steps:
  • S1 select the tray, and use the alginate impression material to make the upper and lower jaw dentition female model of the research object, and the muscle function needs to be modified during the process;
  • a method for tracing dentition movement trajectories After the patient wears any of the dentition movement trajectory indicators described above, an optical acquisition device is used to collect the opening and closing movement of the patient, that is, slowly open to the maximum, and slowly close and close the mouth To ensure the relaxation of the lip muscles; combined with optical tracking technology to obtain the position of the center point of the sub-pixel of the coding mark, and the position of the center point of the sub-pixel of the coding mark is fitted to the trajectory of the dentition.
  • the optical collection device adopts a single camera, a dual camera or a multi-camera, a single camera collects a two-dimensional trajectory of dentition movement, and a dual-camera or multi-camera collection combines a stereo vision technology to obtain a three-dimensional trajectory of dentition movement.
  • This kind of dentition movement trajectory indicator and tracing method adopts an intra-oral fixation component that does not need to be glued, relying on the lower dentition base to contact with the natural undercut in the mouth, the contact area is large, and the lower dentition base
  • the left retention wire and the right retention wire are fixed on the dentition, which is not easy to loose and fall off, and has good stability.
  • This kind of dentition movement trajectory indicator and tracing method adopts an individual fixed component that is suitable for the individual dentition and does not cover the occlusal surface of the upper and lower jaw dentition. Therefore, when collecting dentition movements, the occlusal surfaces of the upper and lower dentitions can directly contact, and there is no vertical gap between the upper and lower dentitions, which accurately transfers the movement process of the dentitions and does not affect the tracing of the movement trajectory.
  • the lower dentition base is used to increase the retention force, covering the dentition with a smaller area, which can reduce the foreign body sensation of the patient, improve comfort, and ensure the dentition movement collection. Accuracy and stability.
  • the left retention wire and the right retention wire are used to wrap the tooth body to increase the retention force, and there is no need to adhere the retention device on the tooth surface. There is no need to remove the bonding material after the column movement is collected, which is non-invasive to the tooth body.
  • FIG. 1 is a schematic structural diagram of a dentition movement track indicator according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a dentition movement track indicator of an embodiment
  • FIG. 3 is a schematic structural diagram of an encoding marker and an encoding mark in an embodiment
  • FIG. 4 is an explanatory diagram of positioning of coding marks in an embodiment
  • FIG. 6 is a schematic view of the structure of a thin cuboid rod and the first screw and the second screw in the embodiment
  • FIG. 7 is a schematic diagram of a decoding process of an encoding mark in an embodiment
  • 1-left retention wire 2-right retention wire, 3-positioning wire, 4-first premolar, 5-cuspid, 6-first molar, 7-second molar, 8-connection Rod, 9-arc rod, 10-first nut hole, 11-coded marker, 12-rectangular thin rod, 13-first screw, 14-second screw, 15-lower dentition, 16-arc ⁇ ⁇ Shaped groove.
  • a dentition movement trajectory indicator as shown in Figs. 1 and 2, includes an intraoral fixed component and an external oral motion indication component.
  • the intraoral fixation assembly includes a lower dentition base 15, a left retention wire 1, a right retention wire 2 and a positioning wire 3.
  • the lower dentition base 15 is located on the tongue side of the lower dentition and extends from the mandibular incisors To the far side of the last tooth on the left and right sides and close to the tongue mucosa, the left retention wire 1 and the right retention wire 2 are symmetrically distributed, the left retention wire 1 and the right retention wire 2 Respectively extending from the left and right ends of the lower dentition base 15, the left retention wire 1 and the right retention wire 2 extend from the adjacent gap between the first mandibular molar 6 and the second molar 7 to the first mandibular molar 6 respectively
  • the mesial region of the buccal neck is mesial; one end of the positioning wire 3 extends from the lower dentition 15 and extends from the adjacent gap between the first premolar 4 on one side and the canine 5 to the canine on one side 4's
  • the extra-oral motion marking component includes a connecting rod 8, an arc-shaped rod 9, an indicating plate and a number of thin cuboid rods 12, and a pair of connecting rods 8 of equal length are extended toward the mouth corner at the positions of the fangs 4 on both sides of the mandible.
  • the connecting rod 8 On the positioning wire 3, the other end of the connecting rod 8 is connected with an arc-shaped rod 9, and the arc-shaped rod 9 is provided with a plurality of first nut holes 10, preferably eight, as shown in FIG.
  • the side of the rectangular parallelepiped rod 12 is provided with a first Screw 13
  • the first screw 13 of the cuboid thin rod 12 is in one-to-one correspondence with the first nut hole 10
  • the other side of the cuboid thin rod 12 is provided with a second screw 14
  • the indicator plate is provided with a second nut hole
  • the cuboid thin rod The second screw 14 of 12 is engaged with the second nut hole.
  • This kind of dentition movement trajectory indicator adopts an intra-oral fixation component that does not require bonding. It depends on the lower dentition base 15 to contact with the natural undercut in the mouth, the contact area is large, and the left dentition base 15 is fixed on the left side The steel wire 1, the right holding wire 2 is fixed on the dentition, is not easy to loose and fall off, and has good stability.
  • the left retention wire 1 extends from the left end of the lower dentition base 15, and the left retention wire 1 extends from the distal part of the left mandibular second molar 7 to the ipsilateral mandibular first molar 6 buccal side Proximal to the concave area of the neck;
  • the right retention wire 2 extends from the right end of the lower dentition base 15, the right retention wire 2 extends from the distal part of the right mandibular second molar 7 to the ipsilateral mandibular first
  • One molar 6 is mesial in the concave area of the buccal neck.
  • the undercut area is the area below the line of the most protruding point on the tooth surface.
  • the left retention wire 1 and the right retention wire 2 may not be connected to both ends of the positioning wire 3, and the left retention wire 1 and the right retention wire 2 and the positioning wire 3 may be bent separately , Which makes the production more convenient, does not interfere with each other during installation, and can save the amount of wire.
  • the lower retention wire 1 and the right retention wire 2 and the positioning wire 3 can be realized by the lower dentition base 15 made of embedded materials Positioning.
  • This kind of dentition movement trajectory indicator adopts an individual fixed component that adapts to the individual dentition and does not cover the occlusal surface of the upper and lower jaw dentition. Therefore, when collecting dentition movements, the occlusal surfaces of the upper and lower dentitions can directly contact, and there is no vertical gap between the upper and lower dentitions, which accurately transfers the movement process of the dentitions and does not affect the tracing of the movement trajectory.
  • the arc-shaped rod 9 is formed by bending a rectangular parallelepiped with a square cross-sectional area, and the arc-shaped rod 9 is disposed convexly away from the connecting rod 8.
  • the indicator board is also provided, and the indicator board is provided with a second nut hole, and the cuboid thin rod 12 is engaged with the second nut hole.
  • the indicator board is provided with coded markers 11.
  • the indicator board is square, and the coded marker 11 is made of lightweight material.
  • the coding marker 11 is provided with coding marks.
  • the coding marks use black as the background and white as the foreground color.
  • the coding marks include a square mark, a round large round mark, a round small round mark and a circular ring mark.
  • the coding marker 11 adopts a square shape, and a square mark, a round large round mark, a round small round mark, and a circular ring mark are provided at the four corners of the coding marker 11, respectively.
  • Step 1 The positioning of the coding marker 11 is based on the black background of the coding marker and the characteristics of the square marker.
  • Step 2 A square marking pattern with a white foreground color in the positioning code marking
  • Step 3 Align the coding marker 11 according to the position of the white square mark pattern, and divide the area where the round large round mark, round small round mark, and circular ring mark are located into three coding areas according to the position of the square mark As shown in Figure 3, the right side of the square mark is area 1, the diagonal position of the square mark, that is, the mark pattern in the lower right corner of the marker is area 2, and the area below the square mark is area 3;
  • Step 4 Encode based on the round large round mark, round small round mark and round ring mark.
  • the large round mark code is 01
  • the small round mark code is 10
  • the round ring mark code is 11, and the coding area is not coded
  • the pattern is coded as 00; the coding pattern is detected in each coding area of the coding marker 11;
  • Step 5 Based on the decoding of the coding area, each coding mark is decoded in the order of the coding area; the binary code is obtained after the initial decoding, and the decimal code is further calculated from the binary code. After decoding, the serial number of the coding mark is obtained. Markers match.
  • the position of the sub-pixel center point of the coded marker is fitted to the trajectory of the dentition; wherein, the position of the sub-pixel center point of the coded marker 11 is obtained, specifically:
  • the center position of the mark is preliminarily determined according to the outline of the code marker 11.
  • the code marker 11 uses a square with a black background, and the center position of the code marker is calculated according to the positions of its four corner points;
  • the pixel points around the center of the marker initially determined in the previous step further search the subdivision of the checkerboard corner.
  • the pixel position is the position of the sub-pixel center of the coding marker 11.
  • the intraoral fixed component is manufactured by the following steps:
  • S1 select the tray, and use the alginate impression material to make the upper and lower jaw dentition female model of the research object, and the muscle function needs to be modified during the process;
  • the lower dentition base 15 adopts a U shape, so that the lower dentition base 15 reduces interference with the tongue during use, improves the comfort during use, and can adopt the U shape through the lower dentition base 15 , While ensuring the stability and stability of the overall structure, saving materials.
  • the side of the lower dentition base 15 that fits the teeth is respectively provided with an arc-shaped groove 16 for fitting with the teeth. By providing the arc-shaped groove 16, the lower dentition base 15 is closely adhered to the tongue side of each tooth To achieve good positioning.
  • the length of the arc-shaped rod 9 is preferably 15 cm, which is formed by bending a cuboid.
  • the cross-sectional area of the cuboid is square, and the side length is about 3 to 4 mm.
  • Eight nut holes are evenly distributed on the arc-shaped rod 9.
  • the length of the cuboid rod 12 is preferably 3 cm, the cross-sectional area is square, and the side length is preferably 3 mm.
  • the two ends of the cuboid rod 12 are provided with nuts respectively. The nut at both ends is at right angles to the cuboid rod 12.
  • the cuboid rod 12 passes The nut hole is connected with the arc rod 9.
  • the area of the indicator board is preferably 2 cm ⁇ 2 cm.
  • the center of the back of the indicator board is provided with a nut hole to connect with the thin cuboid bar 12.
  • the front of the indicator board is relatively flat, which is convenient for pasting the coding marker 11.
  • a method for tracing dentition movement trajectories After the patient wears any of the dentition movement trajectory indicators described above, an optical acquisition device is used to collect the opening and closing movement of the patient, that is, slowly open to the maximum, and slowly close and close the mouth. To ensure the relaxation of lip muscles; combined with optical tracking technology to obtain the movement track of the center point of the logo pattern.
  • the optical acquisition device uses a single camera, dual cameras or multiple cameras.
  • the single camera acquires the two-dimensional trajectory of the dentition movement
  • the dual camera or multi-camera acquisition combines the stereo vision technology to obtain the three-dimensional trajectory of the dentition movement.
  • the lower dentition base 15 is used to increase the retention force, covering the dentition with a smaller area, which can reduce the foreign body sensation of the patient, improve comfort, and ensure the accuracy of dentition movement collection Sex and stability.
  • the left retention wire and the right retention wire are used to increase the retention force, and there is no need to bond the retention device on the tooth surface, which is convenient to remove and wear. There is no need to remove the bonding material, which is non-invasive to the tooth body.
  • the embodiment can combine the dentition movement indicating device with an optical collection device, which can acquire the dentition movement trajectory on a two-dimensional plane with a single camera, and can acquire the dentition movement trajectory in a three-dimensional space with a dual camera or a multi-camera.
  • the embodiment can combine a dentition movement trajectory with an intra-oral dentition scan to establish a digital dentition movement system including dentitions, which is helpful for a doctor to visually observe a patient's dentition movement trajectory and assist in the diagnosis of oral-related diseases.

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Abstract

一种牙列运动轨迹指示器及示踪方法，该装置包括口内固定组件和口外运动标示组件，口内固定组件包括下牙列基托（15）、左侧固位钢丝（1）、右侧固位钢丝（2）与定位钢丝（3），下牙列基托（15）设于下牙列的舌侧并分别由下颌切牙延伸至左右两侧的最后一颗牙的远中并紧贴舌侧粘膜，左侧固位钢丝（1）、右侧固位钢丝（2）呈左右对称分布；口外运动标示组件包括连接杆（8）、弧形杆（9）、指示板和若干直方体细棒（12）。该牙列运动轨迹指示器，采用了与个体牙列情况相适应的、个性化的，不覆盖上下颌牙列咬合面的口内固定组件。因此，采集牙列运动时，上下牙列的咬合面可直接接触，上下牙列之间无垂直间隙，准确转移了牙列的运动过程，不影响运动轨迹的描记。

Description

牙列运动轨迹指示器及示踪方法 技术领域
本发明涉及一种牙列运动轨迹指示器及示踪方法。
背景技术
牙列运动与口腔颌面部系统功能和结构的健康协调密切相关。分析和观测牙列运动是进行口腔医学诊断、种植修复规划、正畸治疗方案制定以及外科手术效果评估的重要依据。
然而，现阶段对于牙列运动的分析，主要依靠医师的临床检查、患者口内牙列的翻制模型和静止状态下患者牙列的各种影像资料。在临床检查中，由于唇部软组织的遮挡，使牙列的运动难以清晰地暴露于医生的视野中。同时，牙列运动是一个复杂的动态过程，通过医师的临床检查与患者口内牙列的翻制模型难以直观准确地显示患者的牙列运动，且静止状态下的影像分析也无法显示牙列连续的运动轨迹。因此，临床上对于牙列运动轨迹的检查仍旧很不直观，医生常常需要凭借临床诊疗经验与牙列的翻制模型，并结合多张静止状态下的牙列影像资料推测牙列的真实运动轨迹，其准确性难以得到保障。
现有的中国专利申请CN201710139518.7公开了一种颞下颌关节运动重建方法及系统，利用的是打磨后的保持器来粘固圆丝，两者接触面积有限，易脱落；口内佩戴的是保持器，保持器覆盖了上下颌牙列咬合面，使上下颌牙列无法直接咬合，存在一定垂直距离(保持器的材料厚度)，无法精确地显示牙列的运动。
因此，设计出一种能够结合光学设备跟踪牙列运动轨迹的指示装置尤为重要。
发明内容
本发明的目的在于提供一种牙列运动轨迹指示器及示踪方法，其能够将口腔内牙列运动轨迹示踪于口外，克服了牙列运动轨迹无法直接观察的缺陷，解决现有技术中存在的无法精确地显示牙列的运动的问题。
本发明的技术解决方案是：
一种牙列运动轨迹指示器，包括口内固定组件和口外运动标示组件，
口内固定组件包括下牙列基托、左侧固位钢丝、右侧固位钢丝与定位钢丝，下牙列基托设于下牙列的舌侧并分别由下颌切牙延伸至左右两侧的最后一颗牙的远中并紧贴舌侧粘膜，左侧固位钢丝、右侧固位钢丝呈左右对称分布，左侧固 位钢丝、右侧固位钢丝分别自下牙列基托的左右两端伸出，左侧固位钢丝、右侧固位钢丝分别由下颌第二磨牙的远中延伸至下颌第一磨牙的颊侧颈部倒凹区域的近中；定位钢丝的一端自下牙列基托内伸出，由一侧的尖牙与第一前磨牙的邻间隙延伸至一侧尖牙唇面，并紧贴前牙唇面的中间区域继续延伸至另一侧的尖牙与第一前磨牙的邻间隙，定位钢丝继续延伸并包埋于下牙列基托内；
口外运动标示组件包括连接杆、弧形杆、指示板和若干直方体细棒，在下颌两侧尖牙位置向口角延伸出一对等长的连接杆，连接杆的一端连接在定位钢丝上，连接杆的另一端连接弧形杆，弧形杆设有若干第一螺母孔，直方体细棒的侧面设有第一螺杆，直方体细棒的第一螺杆与第一螺母孔一一对应衔接，直方体细棒的另一侧面设有第二螺杆，指示板设有第二螺母孔，直方体细棒的第二螺杆与第二螺母孔衔接。
进一步地，弧形杆采用截面积为正方形的直方体弯曲而成，弧形杆采用凸向远离连接杆的方向设置。
进一步地，第一螺杆与第二螺杆分别设于直方体细棒相对或相邻的两个侧面。
进一步地，指示板设有编码标志物。
进一步地，指示板采用方形轻质材料制成，编码标志物经彩色打印制成。
进一步地，编码标志物设有编码标记，编码标记采用黑色为背景、白色为前景色的编码标记，编码标记包括正方形标记、圆形大圆标记、圆形小圆标记和圆环状标记，编码标志物采用方形，正方形标记、圆形大圆标记、圆形小圆标记和圆环状标记分别设于编码标志物的四个角。
进一步地，编码标记的解码过程具体步骤如下：
步骤1、编码标志物的定位，根据编码标记的黑色背景与正方形标记的特征定位编码标志物的位置；
步骤2、定位编码标记内具有白色前景色的正方形标记图案；
步骤3、根据白色正方形标记图案的位置对编码标志物进行正位，并根据正方形标记的位置将圆形大圆标记、圆形小圆标记、圆环状标记所在区域分别划分为3个编码区域，即区域1、区域2、区域3；
步骤4、基于圆形大圆标记、圆形小圆标记和圆环状标记进行编码，大圆形标记编码为01，小圆形标记编码为10，圆环状标记编码为11，编码区域没有编 码图形时编码为00；在编码标志物的各编码区域检测编码图形；
步骤5、基于编码区域的解码，按照编码区域的顺序对每一个编码标记进行解码；初步解码后为二进制码，进一步由二进制码计算得出十进制码，解码后获取编码标记的序号，适用于多标记点匹配。
进一步地，结合光学跟踪技术获取编码标志物的亚像素中心点位置，由亚像素中心点位置拟合牙列的运动轨迹；其中，获取编码标志物的亚像素中心点位置，具体为：
根据编码标志物的轮廓初步确定标志中心位置，编码标志物采用黑色背景的正方形，根据其四个角点位置计算编码标志物的中心位置；
编码标志物中心设有两个小正方形，编码标志物中心的两个小正方形交点处形成一棋盘角点，在上一步骤初步确定的标志中心位置周围像素点进一步搜索棋盘角点的亚像素位置，即为编码标志物的亚像素中心点位置。
进一步地，口内固定组件采用以下步骤制作：
S1、选择托盘，用藻酸盐印模材料制取研究对象的上下颌牙列阴模，过程中需配合肌功能修整；
S2、用超硬石膏灌制上下颌牙列的阳模，从而获得患者的口内牙列情况，以便弯制示踪装置的口内固定组件；
S3、用钢丝弯制出所需形态的钢丝，分别得到左侧固位钢丝、右侧固位钢丝与定位钢丝，并于左侧固位钢丝、右侧固位钢丝与定位钢丝与牙齿接触的部位用蜡固位；
S4、涂布分离剂，于定位钢丝与模型间填塞塑料，待塑料固化后抛光，去除飞边及咬合高点，得到下牙列基托。
一种牙列运动轨迹示踪方法，在患者戴用上述任一项所述牙列运动轨迹指示器后，利用光学采集设备采集患者的开闭口运动，即缓慢开口到最大，并缓慢闭口，闭口时保证唇部肌肉的放松；结合光学跟踪技术获取编码标记的亚像素中心点位置，由获取的编码标记的亚像素中心点位置拟合牙列的运动轨迹。
进一步地，光学采集设备采用单摄像头、双摄像头或多摄像头，单摄像头采集获取牙列运动的二维轨迹，双摄像头或多摄像头采集结合立体视觉技术获取牙列运动的三维轨迹。
本发明的有益效果是：
一、该种牙列运动轨迹指示器及示踪方法，采用了无需粘接的口内固定组件，依靠下牙列基托与口内天然倒凹接触，接触面积大，且下牙列基托上的左侧固位钢丝、右侧固位钢丝固位于牙列上，不易松动脱落，稳定性良好。
二、该种牙列运动轨迹指示器及示踪方法，采用了与个体牙列情况相适应的、个性化的，不覆盖上下颌牙列咬合面的口内固定组件。因此，采集牙列运动时，上下牙列的咬合面可直接接触，上下牙列之间无垂直间隙，准确转移了牙列的运动过程，不影响运动轨迹的描记。
三、本发明在口内固定组件创新设计中，采用了下牙列基托增加固位力，覆盖牙列的面积较小，可以减小患者的异物感，提高舒适度，保证牙列运动采集的准确性与稳定性。
四、本发明在口内固定组件创新设计中，采用了左侧固位钢丝、右侧固位钢丝包绕牙体增加固位力，无需在牙面上粘结固位装置，摘戴方便，牙列运动采集后无需磨除粘结材料，对牙体无创。
附图说明
图1是本发明实施例牙列运动轨迹指示器的结构示意图；
图2是实施例牙列运动轨迹指示器的立体结构示意图；
图3是实施例中编码标志物与编码标记的结构示意图；
图4是实施例中编码标记定位的说明示意图；
图5是实施例中编码示例的说明示意图；
图6是实施例中直方体细棒与第一螺杆、第二螺杆的结构示意图；
图7是实施例中编码标记的解码流程示意图；
其中：1-左侧固位钢丝，2-右侧固位钢丝，3-定位钢丝，4-第一前磨牙，5-尖牙，6-第一磨牙，7-第二磨牙，8-连接杆，9-弧形杆，10-第一螺母孔，11-编码标志物，12-直方体细棒，13-第一螺杆，14-第二螺杆，15-下牙列基托，16-弧形凹槽。
具体实施方式
下面结合附图详细说明本发明的优选实施例。
实施例
一种牙列运动轨迹指示器，如图1和图2，包括口内固定组件和口外运动标示组件。
口内固定组件包括下牙列基托15、左侧固位钢丝1、右侧固位钢丝2与定位钢丝3，下牙列基托15设于下牙列的舌侧并分别由下颌切牙延伸至左右两侧的最后一颗牙的远中并紧贴舌侧粘膜，左侧固位钢丝1、右侧固位钢丝2呈左右对称分布，左侧固位钢丝1、右侧固位钢丝2分别自下牙列基托15的左右两端伸出，左侧固位钢丝1、右侧固位钢丝2分别由下颌第一磨牙6与第二磨牙7的邻间隙延伸至下颌第一磨牙6的颊侧颈部倒凹区域的近中；定位钢丝3的一端自下牙列基托15内伸出，由一侧的第一前磨牙4与尖牙5的邻间隙延伸至一侧尖牙4的的唇面，并紧贴前牙唇面的中间区域继续延伸至另一侧的第一前磨牙4与尖牙5的邻间隙，定位钢丝3继续延伸并包埋于下牙列基托15内。
口外运动标示组件包括连接杆8、弧形杆9、指示板和若干直方体细棒12，在下颌两侧尖牙4位置向口角延伸出一对等长的连接杆8，连接杆8的一端连接在定位钢丝3上，连接杆8的另一端连接弧形杆9，弧形杆9设有若干第一螺母孔10，优选为8个，如图6，直方体细棒12的侧面设有第一螺杆13，直方体细棒12的第一螺杆13与第一螺母孔10一一对应衔接，直方体细棒12的另一侧面设有第二螺杆14，指示板设有第二螺母孔，直方体细棒12的第二螺杆14与第二螺母孔衔接。
该种牙列运动轨迹指示器，采用了无需粘接的口内固定组件，依靠下牙列基托15与口内天然倒凹接触，接触面积大，且下牙列基托15上的左侧固位钢丝1、右侧固位钢丝2固位于牙列上，不易松动脱落，稳定性良好。
如图2，左侧固位钢丝1自下牙列基托15的左端伸出，左侧固位钢丝1由左侧下颌第二磨牙7的远中延伸至同侧下颌第一磨牙6颊侧颈部倒凹区域的近中；右侧固位钢丝2自下牙列基托15的右端伸出，右侧固位钢丝2由右侧下颌第二磨牙7的远中延伸至同侧下颌第一磨牙6颊侧颈部倒凹区域的近中。其中，倒凹区域为牙齿表面最突出点连线以下的区域。
实施例中，左侧固位钢丝1与右侧固位钢丝2可以不和定位钢丝3两端连接，能够实现左侧固位钢丝1与右侧固位钢丝2、定位钢丝3的分别弯制，使得制作更便捷，安装时相互不干涉，且能够节省钢丝用量，可以通过包埋材料制成的下 牙列基托15实现左侧固位钢丝1与右侧固位钢丝2、定位钢丝3的定位。
该种牙列运动轨迹指示器，采用了与个体牙列情况相适应的、个性化的，不覆盖上下颌牙列咬合面的口内固定组件。因此，采集牙列运动时，上下牙列的咬合面可直接接触，上下牙列之间无垂直间隙，准确转移了牙列的运动过程，不影响运动轨迹的描记。
实施例中，弧形杆9采用截面积为正方形的直方体弯曲而成，弧形杆9采用凸向远离连接杆8的方向设置。还包括指示板，指示板设有第二螺母孔，直方体细棒12与第二螺母孔衔接。指示板设有编码标志物11。指示板采用方形，编码标志物11采用轻质材料制成。
如图3，编码标志物11设有编码标记，编码标记采用黑色为背景、白色为前景色的编码标记，编码标记包括正方形标记、圆形大圆标记、圆形小圆标记和圆环状标记，编码标志物11采用方形，正方形标记、圆形大圆标记、圆形小圆标记和圆环状标记分别设于编码标志物11的四个角。
该种牙列运动轨迹指示器中，如图4和图5、图7，编码标记的解码过程具体步骤如下：
步骤1、编码标志物11的定位，根据编码标记的黑色背景与正方形标记的特征定位编码标志物11的位置；
步骤2、定位编码标记内具有白色前景色的正方形标记图案；
步骤3、根据白色正方形标记图案的位置对编码标志物11进行正位，并根据正方形标记的位置将圆形大圆标记、圆形小圆标记、圆环状标记所在区域分别划分为3个编码区域，如图3，正方形标记的右边为区域1，正方形标记的对角线位置即标记物右下角的标记图案为区域2，正方形标记的的下方为区域3；
步骤4、基于圆形大圆标记、圆形小圆标记和圆环状标记进行编码，大圆形标记编码为01，小圆形标记编码为10，圆环状标记编码为11，编码区域没有编码图案时编码为00；在编码标志物11的各编码区域检测编码图形；
步骤5、基于编码区域的解码，按照编码区域的顺序对每一个编码标记进行解码；初步解码后为二进制码，进一步由二进制码计算得出十进制码，解码后获取编码标记的序号，适用于多标记点匹配。
进一步地，结合光学跟踪技术获取编码标志物的亚像素中心点位置，由亚像 素中心点位置拟合牙列的运动轨迹；其中，获取编码标志物11的亚像素中心点位置，具体为：
根据编码标志物11的轮廓初步确定标志中心位置，编码标志物11采用黑色背景的正方形，根据其四个角点位置计算编码标志物的中心位置；
编码标志物11中心设有两个小正方形，编码标志物11中心的两个小正方形交点处形成一棋盘角点，在上一步骤初步确定的标志中心位置周围像素点进一步搜索棋盘角点的亚像素位置，即为编码标志物11的亚像素中心点位置。
实施例中，口内固定组件采用以下步骤制作：
S1、选择托盘，用藻酸盐印模材料制取研究对象的上下颌牙列阴模，过程中需配合肌功能修整；
S2、用超硬石膏灌制上下颌牙列的阳模，从而获得患者的口内牙列情况，以便弯制示踪装置的口内固定组件；
S3、用钢丝弯制出所需形态的钢丝，分别得到左侧固位钢丝1、右侧固位钢丝2与定位钢丝3，并于左侧固位钢丝1、右侧固位钢丝2与定位钢丝3与牙齿接触的部位用蜡固位；
S4、涂布分离剂，于定位钢丝3与模型间填塞塑料，待塑料固化后抛光，去除飞边及咬合高点，得到下牙列基托15。
实施例中，下牙列基托15采用U形，从而使得下牙列基托15在使用时减少对舌头的干涉，提高使用时的舒适度，并能够通过下牙列基托15采用U形，在保证整体结构固定稳定的同时，节省使用材料。且下牙列基托15的贴合牙齿侧分别设有用于与牙齿贴合的弧形凹槽16，通过设置弧形凹槽16使得下牙列基托15与各牙齿的舌侧实现紧密贴合，实现良好的定位。
实施例中，弧形杆9的长度优选为15cm，由直方体弯曲而成，直方体的截面积为正方形，边长约3～4mm，在弧形杆9上均匀分布8个螺母孔。直方体细棒12的长度优选为3cm，截面积为正方形，边长优选为3mm，直方体细棒12的两端分别设有螺母，双向末端的螺母与直方体细棒12呈直角，直方体细棒12通过螺母孔与弧形杆9衔接。
指示板面积优选为2cm×2cm，指示板的背部中心处带有螺母孔与直方体细棒12连接，指示板前部较为平整，方便黏贴编码标志物11。
一种牙列运动轨迹示踪方法，在患者戴用上述任一项所述牙列运动轨迹指示器后，利用光学采集设备采集患者的开闭口运动，即缓慢开口到最大，并缓慢闭口，闭口时保证唇部肌肉的放松；结合光学跟踪技术获取标志图案中心点的移动轨迹。
光学采集设备采用单摄像头、双摄像头或多摄像头，单摄像头采集获取牙列运动的二维轨迹，双摄像头或多摄像头采集结合立体视觉技术获取牙列运动的三维轨迹。
实施例在口内固定组件创新设计中，采用了下牙列基托15增加固位力，覆盖牙列的面积较小，可以减小患者的异物感，提高舒适度，保证牙列运动采集的准确性与稳定性。
实施例本发明在口内固定组件创新设计中，采用了左侧固位钢丝、右侧固位钢丝增加固位力，无需在牙面上粘结固位装置，摘戴方便，牙列运动采集后无需磨除粘结材料，对牙体无创。
实施例能够将牙列运动指示装置结合光学采集设备，其结合单摄像头能够获取二维平面上的牙列运动轨迹，结合双摄像头或多摄像头能够获取三维空间中牙列的运动轨迹。
实施例能够将牙列运动轨迹结合口内牙列扫描建立包含牙列的数字化牙列运动系统，有利于医师直观观察患者的牙列运动轨迹，辅助口腔相关疾病的诊断。

Claims (11)

  1. 一种牙列运动轨迹指示器，其特征在于：包括口内固定组件和口外运动标示组件，
    口内固定组件包括下牙列基托、左侧固位钢丝、右侧固位钢丝与定位钢丝，下牙列基托设于下牙列的舌侧并分别由下颌切牙延伸至左右两侧的最后一颗牙的远中并紧贴舌侧粘膜，左侧固位钢丝、右侧固位钢丝呈左右对称分布，左侧固位钢丝、右侧固位钢丝分别自下牙列基托的左右两端伸出，左侧固位钢丝、右侧固位钢丝分别由下颌第二磨牙的远中延伸至下颌第一磨牙的颊侧颈部倒凹区域的近中；定位钢丝的一端自下牙列基托内伸出，由一侧的尖牙与第一前磨牙的邻间隙延伸至一侧尖牙唇面，并紧贴前牙唇面的中间区域继续延伸至另一侧的尖牙与第一前磨牙的邻间隙，定位钢丝继续延伸并包埋于下牙列基托内；
    口外运动标示组件包括连接杆、弧形杆、指示板和若干直方体细棒，在下颌两侧尖牙位置向口角延伸出一对等长的连接杆，连接杆的一端连接在定位钢丝上，连接杆的另一端连接弧形杆，弧形杆设有若干第一螺母孔，直方体细棒的侧面设有第一螺杆，直方体细棒的第一螺杆与第一螺母孔一一对应衔接，直方体细棒的另一侧面设有第二螺杆，指示板设有第二螺母孔，直方体细棒的第二螺杆与第二螺母孔衔接。
  2. 如权利要求1所述的牙列运动轨迹指示器，其特征在于：弧形杆采用截面积为正方形的直方体弯曲而成，弧形杆采用凸向远离连接杆的方向设置。
  3. 如权利要求1所述的牙列运动轨迹指示器，其特征在于：第一螺杆与第二螺杆分别设于直方体细棒相对或相邻的两个侧面。
  4. 如权利要求3所述的牙列运动轨迹指示器，其特征在于：指示板设有编码标志物。
  5. 如权利要求4所述的牙列运动轨迹指示器，其特征在于：指示板采用方形轻质材料制成，编码标志物经彩色打印制成。
  6. 如权利要求5所述的牙列运动轨迹指示器，其特征在于：编码标志物设有编码标记，编码标记采用黑色为背景、白色为前景色的编码标记，编码标记包括正方形标记、圆形大圆标记、圆形小圆标记和圆环状标记，编码标志物采用方形，正方形标记、圆形大圆标记、圆形小圆标记和圆环状标记分别设于编码标志物的四个角。
  7. 如权利要求1所述的牙列运动轨迹指示器，其特征在于：编码标记的解码过程具体步骤如下：
    步骤1、编码标志物的定位，根据编码标记的黑色背景与正方形标记的特征定位编码标志物的位置；
    步骤2、定位编码标记内具有白色前景色的正方形标记图案；
    步骤3、根据白色正方形标记图案的位置对编码标志物进行正位，并根据正方形标记的位置将圆形大圆标记、圆形小圆标记、圆环状标记所在区域分别划分为3个编码区域，即区域1、区域2、区域3；
    步骤4、基于圆形大圆标记、圆形小圆标记和圆环状标记进行编码，大圆形标记编码为01，小圆形标记编码为10，圆环状标记编码为11，编码区域没有编码图形时编码为00；在编码标志物的各编码区域检测编码图形；
    步骤5、基于编码区域的解码，按照编码区域的顺序对每一个编码标记进行解码；初步解码后为二进制码，进一步由二进制码计算得出十进制码，解码后获取编码标记的序号，适用于多标记点匹配。
  8. 如权利要求7所述的牙列运动轨迹指示器，其特征在于：结合光学跟踪技术获取编码标志物的亚像素中心点位置，由亚像素中心点位置拟合牙列的运动轨迹；其中，获取编码标志物的亚像素中心点位置，具体为：
    根据编码标志物的轮廓初步确定标志中心位置，编码标志物采用黑色背景的正方形，根据其四个角点位置计算编码标志物的中心位置；
    编码标志物中心设有两个小正方形，编码标志物中心的两个小正方形交点处形成一棋盘角点，在上一步骤初步确定的标志中心位置周围像素点进一步搜索棋盘角点的亚像素位置，即为编码标志物的亚像素中心点位置。
  9. 如权利要求1所述的牙列运动轨迹指示器，其特征在于：口内固定组件采用以下步骤制作：
    S1、选择托盘，用藻酸盐印模材料制取研究对象的上下颌牙列阴模，过程中需配合肌功能修整；
    S2、用超硬石膏灌制上下颌牙列的阳模，从而获得患者的口内牙列情况，以便弯制示踪装置的口内固定组件；
    S3、用钢丝弯制出所需形态的钢丝，分别得到左侧固位钢丝、右侧固位钢丝 与定位钢丝，并于左侧固位钢丝、右侧固位钢丝与定位钢丝与牙齿接触的部位用蜡固位；
    S4、涂布分离剂，于定位钢丝与模型间填塞塑料，待塑料固化后抛光，去除飞边及咬合高点，得到下牙列基托。
  10. 一种牙列运动轨迹示踪方法，其特征在于：在患者戴用权利要求1-9任一项所述牙列运动轨迹指示器后，利用光学采集设备采集患者的开闭口运动，即缓慢开口到最大，并缓慢闭口，闭口时保证唇部肌肉的放松；结合光学跟踪技术获取编码标记的亚像素中心点位置，由获取的编码标记的亚像素中心点位置拟合牙列的运动轨迹。
  11. 如权利要求10所述的牙列运动轨迹示踪方法，其特征在于：光学采集设备采用单摄像头、双摄像头或多摄像头，单摄像头采集获取牙列运动的二维轨迹，双摄像头或多摄像头采集结合立体视觉技术获取牙列运动的三维轨迹。
PCT/CN2019/115171 2018-11-14 2019-11-02 牙列运动轨迹指示器及示踪方法 WO2020098515A1 (zh)

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