WO2021150008A1

WO2021150008A1 - Method of registering two analogous three-dimensional images on display screen

Info

Publication number: WO2021150008A1
Application number: PCT/KR2021/000767
Authority: WO
Inventors: 이태경
Original assignee: 이태경; 임종환
Priority date: 2020-01-22
Filing date: 2021-01-20
Publication date: 2021-07-29
Also published as: KR20210094732A; KR102407177B1

Abstract

The disclosed invention relates to a method of registering two analogous three-dimensional images by using two-dimensional section information, the method comprising the steps of: in a state in which an original shape image and a registration image for an original shape are pre-registered, designating, with respect to three reference objects on the registration image, reference points (A, PR, and PL) on three-dimensional boundaries thereof, respectively, generating a reference section including all of the three reference points, and displaying an original shape reference section of the original shape image, a registration reference section of the registration image, and the reference points, which are shown on the reference section; and generating, on the reference section, a reference arc line passing through the reference points, generating an arc line curved surface which is perpendicular to the reference section along the reference arc line, and displaying an original shape arc line curved surface of the original shape image, a registration arc line curved surface of the registration image, and the reference points, which are shown on the arc line curved surface.

Description

How to register two 3D similar images on a display screen

The present invention relates to a method of registering two 3D similar images, and relates to a method for precisely matching two 3D similar images displayed on a display screen based on at least two 2D cross-sectional images in three dimensions. will be.

Registration, that is, three-dimensionally accurate alignment of two similar images including parts having substantially the same three-dimensional shape on a computer program, is often required in engineering procedures. For example, it is a case where it is necessary to match a 3D scanning image of a certain prototype with a 3D scanning image of a replica imitating the original on a computer program. Alternatively, for a certain prototype, it is also necessary to match the images obtained using different types of scanning methods. In brief, this can be expressed as matching the scanning images obtained from different viewpoints or using different methods and devices for a single prototype, and can be divided into circular images and matched images.

The present invention will describe a method of matching two 3D similar images on a display screen, taking as an example precision-guided implant surgery that can perform dental implant surgery precisely.

A dental implant is a treatment for restoring teeth lost due to an accident, disease, or the like, and refers to a dental procedure for restoring artificial teeth of the same or similar shape as existing teeth in place of the lost teeth. Briefly describing dental implants, it can be said that dental implants are prosthetic procedures in which, after perforating the alveolar bone where the missing teeth were located, a fixture that is the basis of the artificial tooth is placed in the alveolar bone, and an abutment (abutment) and an artificial crown are placed on the fixture.

In particular, it is not an exaggeration to say that the success or failure of dental implant surgery depends on how properly the fixture is placed in the alveolar bone. That is, the fixture is firmly planted in the alveolar bone as planned, and then good bone fusion is induced on the surface of the fixture so that it can exert a binding force similar to that of natural teeth, which forms the basis of the implant and receives most of the load during mastication. Since the fixture is firmly fixed to the alveolar bone, it is possible to guarantee the function as an artificial tooth for a long time.

Incomplete fixation of the fixture mainly occurs when the space between the fixture and the alveolar bone is wide. If this space is wide, the inflamed tissue or soft tissue grows faster than the alveolar bone cells, so the soft tissue or inflammation before bone fusion is achieved by the growth of bone cells. Tissues or microorganisms first attach and grow on the surface of the fixture, and eventually the implant may fall out or inevitably be removed, and even reoperation may not be possible. Considering the high cost of implant surgery, it is very important to firmly plant the fixture in the alveolar bone.

Recently, as a method for accurately and firmly implanting a fixture in the alveolar bone, the proportion of precision guided surgery (guided surgery) is gradually increasing. Precision guided surgery is a surgical method that guides alveolar bone perforation exactly as planned by using a guide template similar to a removable mouthpiece in the patient's mouth. The guide template has a guide bushing that guides the direction of the drilling drill and limits the drilling depth. It is key to accurately place the three-dimensional position of the guide bushing in the guide template according to the surgical plan.

However, the surgical plan is established based on the patient's 3D CT image because it is necessary to select the fixture to be biologically safely positioned in the anatomical tissue such as the neural tube or maxillary sinus adjacent to the alveolar bone and to have sufficient thickness of the surrounding alveolar bone. . On the other hand, to produce a guide template by reflecting the surgical plan established on the 3D CT image, an image obtained by scanning an impression model of the oral cavity (made with a plaster impression or 3D print, etc.) or directly scanning the oral cavity is used. In this process, it is necessary to match the 3D CT image of the patient with the impression model imitating the patient's mouth or the image obtained by 3D scanning the patient's mouth. That is, there is a need to transplant the surgical plan established on the patient's 3D CT image into a 3D scanning image (hereinafter referred to as an impression image) of the patient's mouth or impression model.

As a method of registering a 3D CT image (circular image in the present invention) and a 3D impression image (registered image in the present invention) of a patient, the applicant assigns three or more reference points corresponding to each other to the two images. A method for accurately matching two images was developed using In addition, an ICP algorithm that matches the three-dimensional surface shape is used.

No matter which method is used, the initial matching state, although there is a difference in accuracy according to each method described above, may not be perfect for all cases in each method, so the operator needs to check the registration state, and in some cases Therefore, it is necessary for the operator to correct the registration state to some extent to increase the registration accuracy. However, accurately matching two 3D images is quite complicated and difficult because it has to be performed while controlling 6 movements of translation and rotation about 3 axes on a 2D screen.

When the operator directly performs the task of matching these two boss images, if the efficiency is low, the amount of work increases and mental fatigue increases, or in some cases, it is a method of determining and performing a relative positional change to match the boss image. Even if tasks are automated, the efficiency varies depending on the interface environment, so it is desirable to prepare an appropriate interface environment to efficiently perform these tasks.

An object of the present invention is to provide an interface environment that can efficiently match two 3D similar images on a 2D screen of a display.

The present invention relates to a method of registering two three-dimensional similar images using two-dimensional cross-sectional information. In a state in which a circular image and a registered image for the original are pre-registered, the three reference objects on the registered image are For each reference point (A, PR, PL) is designated on the three-dimensional boundary, a reference cross-section including all three reference points is generated, and the circular reference cross-section of the circular image displayed on the reference cross-section is displaying a matching reference cross-section of the matched image and the reference point; And generating a reference arc line passing through the reference point in the reference section, generating an arc curve perpendicular to the reference section along the reference arc line, the circular arc curve surface of the circular image displayed on the arc curve surface and the registration image Including the step of displaying the matching arc curve surface and the reference point.

here, According to an embodiment of the present invention, the preliminary registration of the circular image and the registered image comprises designating at least three or more preliminary points corresponding to each other for each of the circular image and the registered image, and the preliminary point of the circular image. The circular preliminary coordinate system is generated from the preliminary coordinate system, and the registration preliminary coordinate system is generated from the preliminary point of the registration image, and the circular image and the registered image are preliminarily prepared by bringing the circular preliminary coordinate system and the axes corresponding to the respective origins of the preliminary registration coordinate system close to each other. it could be matching.

And, in the present invention, when the registration reference cross-section or the reference point is translated in the reference cross-section, the registered image is translated with respect to the circular image in response thereto, and displaying it on the reference cross-section and the curved surface ; and selecting any one of the reference points in the reference cross-section to generate a Z rotation axis perpendicular to the reference cross-section while passing through the reference cross-section, and to translate the matching reference cross-section or other reference points other than the selected reference point. The method further includes the step of rotating the registered image with respect to the circular image about the Z axis of rotation, and displaying it on the reference cross-section and the curved surface.

In addition, the present invention, when moving up and down the matched arc curve surface or the reference point in the arc curve surface, the registered image with respect to the circular image is translated in a direction perpendicular to the reference cross-section, it is the reference cross-section and the arc line displaying on a curved surface; and selecting any two of the reference points on the arc curve surface to generate an XY rotation axis passing them, and when the matched arc curve surface or the remaining unselected reference points are moved up and down, the registered image is It rotates about the XY axis of rotation, and further comprises the step of displaying it on the reference cross-section and the curved surface.

And, the reference point may be newly designated along the mesio-distal direction on the curved surface of the arc line.

In addition, the reference point may be newly designated freely in the X and Y directions on the reference cross-section.

Then, an auxiliary reference cross-section spaced apart along a direction perpendicular to the reference cross-section is additionally generated, a projection reference point projected on the auxiliary reference cross-section is generated, and translational movement and rotation of the registered image also on the auxiliary reference cross-section are performed. can be done

Furthermore, it is also possible to additionally create an auxiliary reference arc and an auxiliary curved surface spaced apart in a direction perpendicular to the reference arc, and in this case, an auxiliary reference point in which the reference point is projected in an orthogonal projection with respect to the auxiliary curved surface is generated, and the auxiliary reference point is generated. Translation and rotation of the registered image may be performed using a reference point.

And, when any one of the reference points is designated on the arc curve and moved in the vertical direction (direction perpendicular to the reference section), the other two reference points that are not designated as the axis of rotation, the designated reference point is the arc curve It moves along, and accordingly, the reference section, the reference arc line, and the arc curve surface may be newly created.

The present invention shows two cross-sectional information that can intuitively and clearly grasp the overall information of a three-dimensional image, while performing three-way translation and three-axis rotation to adjust the relative positional relationship in three dimensions, each of two independent cross-sections. By performing in , it is possible to easily and efficiently check the registration state through the optimized and minimized cross section, and furthermore, to provide an interface environment that can more efficiently register two 3D images through the optimized and minimized movement. There is an advantage.

1 is a diagram illustrating a state in which at least three preliminary points corresponding to each other are designated for each of a circular image and a registered image;

2 is a diagram illustrating a state in which three reference points are designated on a registered image.

3 is a view showing an image in which a circular reference cross-section, a matching reference cross-section, and a reference point are displayed together on the reference cross-section;

4 is a view showing a panoramic image in which a circular arc curve surface, a matched arc line curve surface, and a reference point appear together on the arc curve surface.

5 is a view showing a state in which three reference points are newly designated on a reference section;

6 is a view showing translational movement and rotation of the matching reference cross-section on the reference cross-section;

7 is a view showing the rotation along the axis of rotation XY on the curved surface of the arc three-dimensionally.

8 is a view showing a reference cross-section and an auxiliary reference cross-section together.

Figure 9 is a view showing an arc curve surface and an auxiliary arc curve surface together.

10 is a view showing a changed reference cross-section and a changed reference arc by newly designating one reference point on the arc curve surface;

Here, the reference numerals included in the drawings are as follows, and the same reference numerals are used for the same components throughout the detailed description of the invention.

10: circular image 20: registered image

30: reserve point A, PR, PL: reference point

100: reference section 101: change reference section

Ac, PRc, PLc,: change reference point 110: circular reference section

120: registration reference section Z-Axis: Z rotation axis

130: auxiliary reference section Ap, PRp, PLp: projection reference point

200: Hoseongok-myeon 210, 210': Reference line

211: change reference arc 220: circular arc curved surface

230: registration arc curve surface XY-Axis: XY rotation axis

240: auxiliary arc surface As, PRs, PLs: auxiliary reference point

242: auxiliary reference line

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but another component is between each component. It will be understood that may also be interposed and indirectly "connected", "coupled" or "connected".

The method of registering two three-dimensional similar images according to the present invention using two-dimensional cross-sectional information is a circular image 10 and a matching image 20 for a circle (for example, an image of a replica modeled after a circle) In this pre-matched state It consists of a process of precisely matching a pair of 3D images through two 2D cross-sectional images including reference points (A, PR, PL) set by the user or automatically set by the program.

The process of performing the preliminary registration may be performed through various methods. In the present invention, one method of performing the preliminary registration will be described by taking the most mathematically basic method as an example. For preliminary matching, At least three or more preliminary points 30 corresponding to each other are designated for each of the circular image 10 and the registered image 20 . 1 shows a view (screen) showing a state in which three preliminary points 30 corresponding to each other are designated for each of the circular image 10 and the registered image 20 . In the drawing, the circular image 10 on the left is a CT image of the patient's oral cavity, and the registered image 20 on the right is a 3D scanning image of the oral impression model of the patient. When three or more preliminary points 30 corresponding to each other are designated for each image, the circular image 10 and the registered image 20 may be preliminarily registered based on these preliminary points 30 .

Three or more preliminary points 30 are designated for the same or similar feature points. If three preliminary points 30 are designated, it is necessary to separately designate the direction (the three preliminary points coincide in two cases in three dimensions). possible). The simplest is to position the circular image 10 and the matched image 20 on the screen so that they face the same direction, and then match them without inversion.

Here, the "feature point" refers to a point that can be specified by its location as one case in view of the morphological features in each image. For example, although it is difficult to accurately specify two straight lines or a point on a circumference corresponding to each other, the vertex of a triangular pyramid can be uniquely and accurately specified, so that it can be used as a feature point. Taking an intraoral image of a patient as an example, a feature point of a marker, a feature point of a tooth, a feature point of a gingiva, or a feature point of a prosthesis may be designated as the preliminary point 30 . A marker refers to a mark installed in the patient's mouth to use as a reference, and the feature points of the gingiva or teeth are morphologically distinguishable from the surrounding area, and feature points can be extracted from artificial objects such as prostheses already installed in the mouth. can

Preliminary registration may be performed by matching or proximate to three or more corresponding preliminary points 30 specified in each of the circular image 10 and the registration image 20, or a preliminary specified in the circular image 10 A circular preliminary coordinate system is generated from the point 30, and a registration preliminary coordinate system is generated from the preliminary point 30 designated in the registration image 20, and the axes corresponding to the origins of these circular preliminary coordinate systems and the matching preliminary coordinate system coincide with each other. This can be done by approaching.

When the preliminary registration process of matching the corresponding preliminary points 30 is completed, reference points (A, PR, PL) on the three-dimensional boundary for three reference objects arbitrarily designated in the registration image 20 in the preliminary registration state specify each. FIG. 2 shows that three reference points A, PR, and PL are designated on the registered image 20 .

Here, the three reference points (A, PR, PL) can be arbitrarily designated, but for accurate registration, the area of the triangle connecting the three reference points (A, PR, PL) should be as large as possible, and the standard to be matched It is preferable to be located at the boundary where That is, if the three reference points (A, PR, PL) are biased on either side of the registration image 20, the overall registration accuracy is reduced by focusing on one side during translation or rotation of the cross-sectional image during the registration process to be described later. It can be difficult to guarantee above a certain level.

And, if the axis of rotation acting as the center of rotation for registration does not lie on the boundary that is the reference of the registration image 20, there is a phenomenon in which the boundary is closely aligned through rotation, and there is a phenomenon in which the portion is rather far away. will occur However, these standards are standards compiled for precise and effective registration, and even when the reference points (A, PR, PL) are initially designated on the boundary (outer boundary) of the registration image 20, the registration state can be easily In order to observe clearly, the reference points A, PR, and PL may be changed later to a place other than the boundary of the registered image 20 . This feature is used when the registration image 20 is an image in which it is difficult to determine a clear external boundary, such as CT or MRI, to determine the registration or to confirm the registration state, or to newly designate a reference for relative position movement for registration. effective.

When three reference points A, PR, and PL are designated on the registered image 20 , the reference cross-section 100 including all three reference points A, PR, and PL may be generated. And, when the reference cross-section 100 is determined, the circular reference cross-section 110 of the circular image 10 displayed on the reference cross-section 100, the registration reference cross-section 120 of the registration image 20, and the reference point ( A, PR, PL) can be displayed together. 3 shows the circular reference cross-section 110, the matching reference cross-section 120, and reference points A, PR, and PL on the reference cross-section 100. As shown in FIG. The two-dimensional cross-section information in the reference cross-section 100 is the first cross-sectional image used for three-dimensional registration in the present invention.

Next, for the three reference points (A, PR, PL), one curve passing through them, that is, the reference arc line 210 can be generated. The reference arc line 210 is generated by curve fitting to pass through all three reference points A, PR, and PL, and the reference arc line 210 is also on the reference cross-section 100 . And, when the reference arc line 210 is created, it is possible to create an arc curve surface 200 perpendicular to the reference section 100 along the reference arc line 210, and the circular image 10 displayed on the arc curve surface 200. The circular arc curve 220 and the matched arc curve 230 of the matched image 20, and the reference points A, PR, and PL can be displayed together. When this arc curve 200 is unfolded in two dimensions, as shown in FIG. 4 , the circular arc curve 220, the matched arc curve 230, and the reference points A, PR, PL appear together to obtain a panoramic image, and this arc curve The two-dimensional cross-sectional information in (200) becomes the second cross-sectional image used for three-dimensional registration in the present invention.

When two cross-sectional information about the pre-registered circular image 10 and the registered image 20 are obtained through the above process, three-dimensional image registration is performed through the following process. The registration process in each cross-sectional information is designed to reflect both the degrees of freedom of three-dimensional translation and three-axis rotation in three dimensions.

First, the registration process in the reference cross-section 100 will be described. When the registration reference cross-section 120 or the reference points (A, PR, PL) are translated in the reference cross-section 100 (for example, the registration reference cross-section or the reference point is translated while clicking on the screen), this Correspondingly, the registered image 20 is translated with respect to the circular image 10 . As such, when the position of the registration reference cross-section 120 is changed in the reference cross-section 100, the change in this positional relationship is reflected as a relative positional relationship between the circular image 10 and the registration image 20 as it is in the reference cross-section ( 100) and the arc curve 200 are reflected and displayed. If the reference cross-section 100 is referred to as an XY plane, translation of the matching reference cross-section 120 corresponds to two-way translation along the XY axis.

In addition, when any one of the three reference points A, PR, and PL is selected in the reference cross-section 100 , a Z rotation axis perpendicular to the reference cross-section 100 can be generated while passing through it. When a reference point other than the registration reference cross-section 120 or the selected reference point is translated while the Z rotation axis is generated, the registration image 20 is rotated about the Z rotation axis with respect to the circular image 10 and , the change in the positional relationship due to this rotation is also reflected in the reference section 100 and the arc curve 200 . The rotation of the matching reference cross-section 120 corresponds to one-axis rotation along the Z rotation axis. Accordingly, the registration operation in the reference cross-section 100 implements translational movement of two degrees of freedom and rotation of one degree of freedom (see FIG. 6 ).

Next, the registration process on the arc curve 200 is utilized as cross-sectional information responsible for the translational movement of the remaining 1 degree of freedom and the rotation of 2 degrees of freedom.

In the arc curve 200 (panoramic image for the arc curve), the registered arc curve 230 or the reference points (A, PR, PL) can be moved up and down, which is the registered image 20 for the circular image 10. The translation is reflected in the direction perpendicular to the reference cross-section 100 and the result is displayed. That is, the vertical movement in the arc curve 200 corresponds to a one-way translation movement along the Z axis.

And, select any two of the three reference points (A, PR, PL) on the arc curve 200 and pass them through the XY rotation axis (the name of the rotation axis, and does not mean the X-axis or Y-axis on the coordinate system) In the state in which the XY rotation axis is generated, the operation of moving the registration arc curve 230 or the remaining unselected reference points up and down is the registration image 20 with respect to the circular image 10, the XY rotation axis It can be reflected as a rotation around This rotational change is also reflected and displayed on the reference section 100 and the arc curve 200, and a combination (A) of two reference points selected to make an XY rotation axis among three reference points (A, PR, PL) -PR, A-PL, PR-PL) to proceed with rotation, this corresponds to rotation with two degrees of freedom along three XY rotation axes (see FIG. 7).

As such, the present invention separates and provides the pre-registered position information of two three-dimensional images as two types of cross-sectional information on the reference cross-section 100 and the arc curve 200, and the registered image 20 The three-dimensional positional relationship formed with respect to the circular image 10 was configured to reflect and change all three-way translation and three-axis rotation in only two cross-sectional information, and thus the matched overall aspect can be easily and efficiently grasped. There is a characteristic. That is, the present invention can provide an interface environment in which the registration state can be easily and efficiently grasped through the optimized and minimized cross section, and furthermore, the two 3D images can be more efficiently registered through the optimized and minimized movement. has the advantage of being

Here, in the present invention, in order to reduce the computational burden of transforming two-dimensional cross-sectional information (translational and rotational translation), the translated and rotated images consist of selecting the matched image 20 with a small amount of data. Furthermore, in order to further reduce the data amount of the registered image 20, a more simplified embodiment is also shown by displaying the registered image 20 as an outline. Since matching two 3D images on the interface screen entails overlapping images, either image can be processed as translucent, but even if the registration image 20 is extremely simplified to display only the outline, the image registration process is not no problem

The method of registering two 3D similar images of the present invention having the above configuration using 2D cross-sectional information may further include several additional methods for more efficient image registration.

For example, the reference points A, PR, and PL designated on the registered image 20 may be newly designated along the mesiodistal direction on the arc curve 200 . Since the reference points (A, PR, PL) play the role of the center of the rotation movement, in particular, for more accurate registration (for example, when the feature points to be used for registration in the vicinity of the reference point are blurred or absent), the reference points (A, PR) , PL) may need to be moved or changed.

In addition, in the embodiment of the present invention, when a tooth is used as a reference, the position of the reference object in the circular image 10 and the position of the reference object in the registered image 20 are relatively matched when the tooth root is melted. It is necessary to change the position of the reference points (A, PR, PL) because they are not similar enough to be used for 200), there is an advantage that the internal state of the circular image 10 can be easily grasped as a whole. In other words, since the reference points (A, PR, PL) are changed along the arc curve 200 in this change, there is no change in the reference section 100 and the arc curve 200 itself. In addition, when the reference points (A, PR, PL) are newly designated on the arc curve 200 , the reference points (A, PR, PL) are initially designated in the registered image 20 , so the three-dimensionality of the registered image 20 . It is natural to move in conjunction with the newly designated direction and movement distance within the enemy area.

Furthermore, it may be necessary to create a new arc curve 200 . To this end, the reference points A, PR, and PL are newly designated freely in the X and Y directions on the reference cross-section 100 . 5 is a view showing a state in which three reference points (A, PR, PL) are newly designated on the reference cross-section 100. The original black reference line 210 is replaced with a red reference line 210'. has been designated As such, when the reference points (A, PR, PL) are newly designated, the reference arc line 210 ′ passing through it is also changed, and as a result, the arc curve surface 200 is also changed. At this time, when the reference points A, PR, and PL are newly designated on the reference cross-section 100 , the reference points A, PR, and PL are initially designated in the registered image 20 , so the three-dimensionality of the registered image 20 . It is also natural to move in conjunction with the newly designated direction and movement distance within the enemy area.

And, as shown in FIG. 8 , an auxiliary reference cross-section 130 spaced apart along a direction perpendicular to the reference cross-section 100 may be additionally generated. The auxiliary reference cross-section 130 allows the registration state to be checked while variously observing the overlapping aspects of the registered image 20 and the circular image 10 along the depth direction of the Z-axis. Then, the reference points A, PR, PL are projected (orthogonal) to the auxiliary reference cross-section 130 to generate projection reference points Ap, PRp, and PLp, and on the auxiliary reference cross-section 130, the same as described above Translation and rotation of the registered image 20 may be performed.

Furthermore, as shown in FIG. 9 , an auxiliary reference arc line 242 spaced apart in a direction perpendicular (orthogonal) to the reference arc line 210 may be additionally generated to generate an auxiliary arc line curved surface 240 therefrom, in this case the auxiliary Reference points (A, PR, PL) are orthographically projected to the reference arc line 242 or the auxiliary arc curve 240 to generate auxiliary reference points (As, PRs, PLs), and auxiliary reference points (As, PRs, PLs) may be used to translate and rotate the registered image 20 . The auxiliary arcuate curved surface 240 allows the panoramic image shown in FIG. 4 to be observed along the depth direction, and also, similar to the auxiliary reference cross-section 130, translational movement (Z-axis direction movement) of the registered image 20 thereon ) and auxiliary reference points (As, PRs, PLs) may be used to perform rotation to update the XY rotation axis.

And, as shown in FIG. 10, for example, the reference point A among the reference points A, PR, PL on the reference cross-section 100 is moved along the arc curve 200 in the direction perpendicular to the reference cross-section 100 and changed. The reference point Ac can be specified, and accordingly, the reference cross-section 100 can be newly designated as the changed reference cross-section 101, and the reference arc line 210 can be newly designated as the changed reference arc line 211. there is. According to the newly designated changed reference arc 211, it is obvious that the arc curve 200 can also be newly designated as the changed arc curve, but in order to increase the understanding of the drawing, the changed arc curve is omitted in FIG. In addition to the modified reference point Ac described above, the remaining reference points PR and PL may also be changed to become the modified reference points PRc and PLc, so it is not separately indicated on the drawing.

As described above, it shows the overall positional relationship between the three-dimensional images as the minimum number of two two-dimensional cross-sectional images, while simultaneously reflecting the change in the positional relationship in one cross-section for all cross-sectional images, thereby reducing the overall three-dimensional change. It is an advantage of the present invention to provide an interface environment that can be intuitively and easily and efficiently identified, and that can more accurately and efficiently match two 3D images by allowing moving or changing a reference point.

However, the above description is merely illustrative of the technical idea of the present invention, and various modifications and variations are possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. . Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments.

The present invention can be usefully used to accurately and efficiently match two 3D images.

Claims

In a state in which the circular image and the registered image for the original are pre-registered, reference points (A, PR, PL) are respectively designated on the three-dimensional boundary for three reference objects on the registered image, and the three generating a reference cross-section including all reference points, and displaying a circular reference cross-section of the circular image displayed on the reference cross-section, a registration reference cross-section of the registered image, and the reference point; and

A reference arc line passing through the reference point is generated in the reference section, an arc curve surface perpendicular to the reference section is generated along the reference arc line, and the circular arc curve surface of the circular image displayed on the arc curve surface and the registration image displaying the matched arc curve and the reference point;

A method of registering two 3D similar images including a 2D cross-section information.
The method according to claim 1,

In the preliminary registration of the circular image and the registered image, at least three or more preliminary points corresponding to each other are designated for each of the circular image and the registered image, and the circular image and the registered image are pre-registered based on the preliminary points. A method of matching two three-dimensional similar images using two-dimensional cross-sectional information, characterized in that.
3. The method according to claim 2,

A circular preliminary coordinate system is generated from the preliminary point of the circular image, a registration preliminary coordinate system is generated from the preliminary point of the registered image, and an axis corresponding to each origin of the circular preliminary coordinate system and the matching preliminary coordinate system is brought close to the circular image and A method of registering two three-dimensional similar images using two-dimensional cross-sectional information, characterized in that the registered images are preliminarily registered.
The method according to claim 1,

In the reference cross-section, when the registration reference cross-section or the reference point is translated, the registered image is translated with respect to the circular image in response thereto, and displaying it on the reference cross-section and the curved surface; and

When any one of the reference points is selected in the reference cross-section and passed through, a Z rotation axis perpendicular to the reference cross-section is generated, and the matching reference cross-section or a reference point other than the selected reference point is translated. Rotating the matched image with respect to the image about the Z axis of rotation, and displaying it on the reference cross-section and the curved surface;

A method of matching two three-dimensional similar images using two-dimensional cross-sectional information, characterized in that it further comprises.
5. The method according to claim 1 or 4,

When moving up and down the matched arc curve or the reference point in the arc curve, the registered image is translated in a direction perpendicular to the reference section with respect to the circular image, and displaying it on the reference section and the arc curve; and

Select any two of the reference points on the arc curve to generate an XY rotation axis passing through them, and when the matched arc curve or the remaining unselected reference points are moved up and down, the registered image is the same for the circular image. rotating about the XY axis of rotation, and displaying it on the reference cross-section and the curved surface;

A method of matching two three-dimensional similar images using two-dimensional cross-sectional information, characterized in that it further comprises.
The method according to claim 1,

The reference point is a method of matching two three-dimensional similar images using two-dimensional cross-sectional information, characterized in that it can be newly designated along the mesio-distal direction on the arc curve surface.
The method according to claim 1,

The method of matching two 3D similar images using 2D cross-sectional information, characterized in that the reference point can be newly designated freely in X and Y directions on the reference cross-section.
The method according to claim 1,

An auxiliary reference cross-section spaced apart along a direction perpendicular to the reference cross-section is additionally created, a projection reference point projected on the auxiliary reference cross-section is generated, and translation and rotation of the registered image are performed even on the auxiliary reference cross-section. A method of registering two three-dimensional similar images using two-dimensional cross-sectional information, characterized in that possible.
The method according to claim 1,

A method of matching two three-dimensional similar images using two-dimensional cross-sectional information, characterized in that it is possible to additionally create an auxiliary reference arc and an auxiliary arc curved surface spaced apart in a direction perpendicular to the reference arc.
10. The method of claim 9,

Two three-dimensional similar images, characterized in that an auxiliary reference point is generated in which the reference point is projected in an orthogonal projection with respect to the auxiliary arcuate surface, and translation and rotation of the registered image can be performed using the auxiliary reference point. A method of registration using two-dimensional cross-sectional information.
The method according to claim 1,

With respect to the arc curve, any two of the reference points are used as the axis of rotation, and the remaining reference points are moved vertically along the arc curve to be newly designated as a change reference point, and accordingly, the change reference section and the change reference arc line and change A method of matching two three-dimensional similar images using two-dimensional cross-sectional information, characterized in that an arc curve can be newly created.