WO2022158804A1 - 컴퓨터 단층촬영 영상을 활용한 3차원 구강 스캔 데이터 정합 장치 및 방법 - Google Patents
컴퓨터 단층촬영 영상을 활용한 3차원 구강 스캔 데이터 정합 장치 및 방법 Download PDFInfo
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- 238000002591 computed tomography Methods 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims description 29
- 238000012937 correction Methods 0.000 claims abstract description 6
- 238000013519 translation Methods 0.000 claims description 22
- 239000011159 matrix material Substances 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 5
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000003325 tomography Methods 0.000 claims 1
- 238000011084 recovery Methods 0.000 abstract 2
- 210000000214 mouth Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 239000007943 implant Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000332 tooth crown Anatomy 0.000 description 1
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Definitions
- the present invention relates to a three-dimensional oral scan data matching device and method.
- 3D computed tomography As the digital dentistry market expands, in the dental field including orthodontics and implants, 3-dimensional (3D) computed tomography (CT) images and The utility of 3D oral scan data is high.
- the scan data has the advantage of having higher tooth crown precision than the CT image, and the CT image has the advantage that root information can be known, so the two images are often used together.
- the CT image is a reconstructed image of the entire tooth, geometric distortion does not occur
- the oral scan data is a reconstructed image obtained by registering several pieces of data obtained by taking the entire oral cavity locally. distortion occurs. This creates a geometric difference between the two images.
- the three-dimensional intraoral scan data is generated by matching point clouds included in a plurality of frames generated by locally scanning each part of the oral cavity with a scanner into one in a three-dimensional coordinate system.
- it is necessary to calculate the relative position of the point cloud generated for each frame by obtaining the relative rotation and movement amount of the scan camera.
- the error between the frame pairs is small, but the errors for several frames are accumulated and geometric distortion occurs in the restored oral model.
- Patent Document 1 Korean Patent No. 10-1911327
- An object of the present invention is to provide a three-dimensional intraoral scan data matching method and apparatus for reducing geometric distortion of a scan model.
- a three-dimensional intraoral scan data matching method comprises: generating a depth map of a CT frame from a computed tomography (CT) image using information on one scan frame of the scan data; determining depth map coordinate difference information between the depth map of the CT frame and the depth map of the scan frame; modifying the depth map of the scan frame based on the depth map coordinate difference information; and reconstructing a three-dimensional intraoral scan model based on the modified depth map of the scan frame.
- CT computed tomography
- the depth map coordinate difference information includes a depth map rotation matrix indicating a degree of rotation between the depth map of the CT frame and the depth map of the scan frame, and a parallel movement between the depth map of the CT frame and the depth map of the scan frame. It may include a depth map translation vector indicating the degree of .
- the depth map rotation matrix and the depth map translation vector may minimize a sum of a difference between the depth map of the CT frame and the depth map of the scan frame.
- the three-dimensional intraoral scan data matching method may include: determining image coordinate difference information between the scan data and the CT image; and matching the coordinate system of the scan data and the CT image based on the information on the image coordinate difference.
- the image coordinate difference information may include an image rotation matrix indicating a degree of rotation between the scan data and the CT image and an image translation vector indicating a degree of translation between the scan data and the CT image.
- the image rotation matrix and the image translation vector may minimize a sum of a difference between the scan data and the CT image.
- the three-dimensional intraoral scan data matching method includes: acquiring the scan data of the patient's mouth through an oral scanner; and acquiring a CT image of the patient's mouth through a CT device.
- the three-dimensional intraoral scan model may be reconstructed by merging point clouds for the modified depth map of a plurality of frames of the scan data in three dimensions and averaging the common parts.
- the information on the scan frame may include information on a camera position and direction of the scan frame.
- the size of the depth map of the CT frame may be the same as the size of the depth map of the scan frame.
- the method may be performed when the instructions of the computer program are executed.
- the 3D intraoral scan data matching apparatus is a CT image depth for generating a depth map of a CT frame from a computed tomography (CT) image by using information on one scan frame of the scan data.
- map generator a depth map coordinate difference information determining unit that determines depth map coordinate difference information between the depth map of the CT frame and the depth map of the scan frame; a depth map correction unit configured to modify a depth map of the scan frame based on the depth map coordinate difference information; and an oral scan model restoration unit for reconstructing a three-dimensional oral scan model based on the modified depth map of the scan frame.
- the depth map coordinate difference information includes a depth map rotation matrix indicating a degree of rotation between the depth map of the CT frame and the depth map of the scan frame, and a parallel movement between the depth map of the CT frame and the depth map of the scan frame. It may include a depth map translation vector indicating the degree of .
- the depth map rotation matrix and the depth map translation vector may minimize a sum of a difference between the depth map of the CT frame and the depth map of the scan frame.
- the three-dimensional intraoral scan data matching apparatus may be included in the intraoral scanner.
- the three-dimensional intraoral scan data matching apparatus may be included in a computed tomography (CT) apparatus.
- CT computed tomography
- FIG. 2 is a block diagram of a three-dimensional intraoral scan data matching apparatus according to an embodiment of the present invention.
- FIG. 3 is a flowchart showing the operation of the three-dimensional intraoral scan data matching apparatus according to an embodiment of the present invention.
- FIG. 4 is a view showing the operation process of the three-dimensional oral scan data matching device according to an embodiment of the present invention through an oral image.
- FIG. 5 shows an actual frame depth map and a CT image depth map according to an embodiment of the present invention.
- the following describes a three-dimensional intraoral scan data matching device according to an embodiment of the present invention with reference to FIG. 2 .
- FIG. 2 is a block diagram of a three-dimensional intraoral scan data matching apparatus according to an embodiment of the present invention.
- the three-dimensional intraoral scan data matching apparatus 100 includes a scan data acquisition unit 110 , a CT image acquisition unit 120 , an image coordinate difference information determining unit 130 , and a coordinate matching unit 140 . ), a CT image depth map generator 150 , a depth map coordinate difference information determiner 160 , a depth map corrector 170 , and an oral scan model restorer 180 .
- Figure 3 is a flowchart showing the operation of the three-dimensional oral scan data matching device according to an embodiment of the present invention
- Figure 4 is showing the operation process of the three-dimensional oral scan data matching device according to an embodiment of the present invention through an oral image It is a drawing.
- the scan data acquisition unit 110 acquires the scan data of the patient's mouth through the oral scanner 10 (S101).
- the scan data may include a plurality of scan frames.
- the scan frame is acquired through a scanner, it is also referred to as an actual frame.
- the CT image acquisition unit 120 acquires a CT image of the patient's mouth through the CT device 20 ( S103 ).
- the image coordinate difference information determining unit 130 determines information about the coordinate difference between the scan data and the CT image (S105).
- Information on the coordinate difference between the scan data and the CT image can be determined through an Iterative Closest Point (ICP) algorithm as shown in Equation 1, and a rotation matrix that minimizes error E(R,t) It may include (R) and a translation vector (t).
- the error E(R,t) represents the sum of the difference between the point values determined by the rotation matrix (R) and the translation vector (t), where the difference between the point values is the point value of the scan data and the point value of the CT image. represents the difference in
- N S represents the total number of points in the scan data
- N C represents the total number of points in the CT image.
- i denotes the position of a point in the scan data
- s i denotes the value of the point in position i in the scan data
- j denotes the position of a point in the CT image
- c j denotes the position of the point in position j in the CT image.
- represents a value. represents the weight, and has a value of 1 when the distance between s i and c j is the closest, and has a value of 0 otherwise.
- the coordinate matching unit 140 matches the coordinate systems of the scan data and the CT image by matching the scan data and the CT image based on the information on the coordinate difference between the scan data and the CT image ( S107 ).
- the CT image depth map generator 150 generates a depth map of the plurality of CT frames from the CT image by using the camera position and direction of each of the plurality of frames obtained in the process of restoring the scan data ( S109 ).
- the size of the depth map of the CT image may be the same as the size of a real frame depth map of the scan data.
- FIG. 5 shows an actual frame depth map and a CT image depth map according to an embodiment of the present invention.
- a scan frame depth map 503 may be generated from a scan frame 501 .
- a CT frame depth map 507 may be generated from the CT frame 505 corresponding to the scan frame 501 based on the camera position and direction of the scan frame 501 . Meanwhile, when the scan frame 501 and the CT frame 505 are matched, a frame 509 corresponding to the scan camera direction D n may be generated.
- the difference in the position and direction of the CT frame depth map and the actual frame depth map means that there is an error in the camera position and direction of each scan frame obtained in the scan data restoration process. Therefore, the embodiment of the present invention corrects the difference in position and direction between the depth map of the CT image and the actual frame depth map by using ICP.
- the depth map coordinate difference information determiner 160 determines information on the coordinate difference between the depth map of the CT image and the depth map of the actual frame ( S111 ).
- Information on the coordinate difference between the depth map of the CT image and the depth map of the actual frame can be determined through the Iterative Closest Point (ICP) algorithm as shown in Equation 2, and the nth actual frame that minimizes the error E n It may include a rotation matrix (R n ) and a translation vector (t n ) for .
- the error E n represents the sum of the difference between the point values determined by the rotation matrix (R n ) and the translation vector (t n ), where the difference between the point values is the point value of the depth map of the actual frame and the depth of the CT frame. It represents the difference in the point values of the map.
- the depth map of the nth real frame represents the depth map of the nth CT image, denotes the total number of pixels in the depth map of the nth real frame, denotes the total number of pixels in the depth map of the nth CT frame.
- the depth value of one point in the CT image depth map denotes the depth value of one point of the scan data depth map.
- the weight Wow It has a value of 1 when the distance between them is closest, and a value of 0 otherwise.
- the depth map correction unit 170 corrects the depth map of the actual frame based on the depth map coordinate difference information (S113).
- the actual frame depth map correction unit 160 as shown in Equation 3, based on the rotation matrix (R n ) and the translation vector (t n ), the depth map ( ) to generate a modified depth map (D n s' ).
- the oral scan model restoration unit 180 restores the three-dimensional oral scan model by merging the point clouds for the corrected depth map of the actual frame in three dimensions and averaging the common parts (S115).
- the three-dimensional intraoral scan data matching apparatus may be included as a module in a CT device or an intraoral scanner, or may be implemented as software using CT data and/or intraoral scanner data.
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Abstract
Description
Claims (16)
- 3차원 구강 스캔 데이터 정합 방법에 있어서,스캔 데이터의 한 스캔 프레임의 정보를 이용하여 컴퓨터 단층촬영(Computed Tomography, CT) 영상으로부터 CT 프레임의 깊이 맵을 생성하는 단계;상기 CT 프레임의 깊이 맵과 상기 스캔 프레임의 깊이 맵 사이의 깊이 맵 좌표 차이 정보를 결정하는 단계;상기 깊이 맵 좌표 차이 정보에 기초하여 상기 스캔 프레임의 깊이 맵을 수정하는 단계; 및상기 스캔 프레임의 수정된 깊이 맵에 기초하여 3차원 구강 스캔 모델을 복원하는 단계를 포함하는3차원 구강 스캔 데이터 정합 방법.
- 제1항에 있어서,상기 깊이 맵 좌표 차이 정보는상기 CT 프레임의 깊이 맵과 상기 스캔 프레임의 깊이 맵 사이의 회전 정도를 나타내는 깊이 맵 회전 행렬과상기 CT 프레임의 깊이 맵과 상기 스캔 프레임의 깊이 맵 사이의 평행이동의 정도를 나타내는 깊이 맵 평행이동 벡터를 포함하는3차원 구강 스캔 데이터 정합 방법.
- 제2항에 있어서,상기 깊이 맵 회전 행렬과 상기 깊이 맵 평행이동 벡터는 상기 CT 프레임의 깊이 맵과 상기 스캔 프레임의 깊이 맵 사이의 차이의 합을 최소화시키는3차원 구강 스캔 데이터 정합 방법.
- 제1항에 있어서,상기 스캔 데이터와 상기 CT 영상 사이의 영상 좌표 차이 정보를 결정하는 단계; 및상기 영상 좌표 차이에 대한 정보에 기초하여 상기 스캔 데이터와 상기 CT 영상의 좌표계를 일치시키는 단계를 더 포함하는3차원 구강 스캔 데이터 정합 방법.
- 제4항에 있어서,상기 영상 좌표 차이 정보는상기 스캔 데이터와 상기 CT 영상 사이의 회전 정도를 나타내는 영상 회전 행렬과상기 스캔 데이터와 상기 CT 영상 사이의 평행이동의 정도를 나타내는 영상 평행이동 벡터를 포함하는3차원 구강 스캔 데이터 정합 방법.
- 제5항에 있어서,상기 영상 회전 행렬과 상기 영상 평행이동 벡터는 상기 스캔 데이터와 상기 CT 영상 사이의 차이의 합을 최소화시키는3차원 구강 스캔 데이터 정합 방법.
- 제1항에 있어서,구강 스캐너를 통해 환자 구강의 상기 스캔 데이터를 획득하는 단계; 및CT 장비를 통해 환자 구강의 CT 영상을 획득하는 단계를 더 포함하는3차원 구강 스캔 데이터 정합 방법.
- 제1항에 있어서,상기 3차원 구강 스캔 모델은 상기 스캔 데이터의 복수의 프레임의 수정된 깊이 맵에 대한 포인트 클라우드를 3차원에서 합치고 공통부분을 평균화함으로써 복원되는3차원 구강 스캔 데이터 정합 방법.
- 제1항에 있어서,상기 스캔 프레임의 정보는 상기 스캔 프레임의 카메라 위치와 방향에 대한 정보를 포함하는3차원 구강 스캔 데이터 정합 방법.
- 제1항에 있어서,상기 CT 프레임의 깊이 맵의 크기는 상기 스캔 프레임의 깊이 맵의 크기와 동일한3차원 구강 스캔 데이터 정합 방법.
- 3차원 구강 스캔 데이터 정합 장치에 있어서,스캔 데이터의 한 스캔 프레임의 정보를 이용하여 컴퓨터 단층촬영(Computed Tomography, CT) 영상으로부터 CT 프레임의 깊이 맵을 생성하는 CT 영상 깊이 맵 생성부;상기 CT 프레임의 깊이 맵과 상기 스캔 프레임의 깊이 맵 사이의 깊이 맵 좌표 차이 정보를 결정하는 깊이 맵 좌표 차이 정보 결정부;상기 깊이 맵 좌표 차이 정보에 기초하여 상기 스캔 프레임의 깊이 맵을 수정하는 깊이 맵 수정부; 및상기 스캔 프레임의 수정된 깊이 맵에 기초하여 3차원 구강 스캔 모델을 복원하는 구강 스캔 모델 복원부를 포함하는3차원 구강 스캔 데이터 정합 장치.
- 제11항에 있어서,상기 깊이 맵 좌표 차이 정보는상기 CT 프레임의 깊이 맵과 상기 스캔 프레임의 깊이 맵 사이의 회전 정도를 나타내는 깊이 맵 회전 행렬과상기 CT 프레임의 깊이 맵과 상기 스캔 프레임의 깊이 맵 사이의 평행이동의 정도를 나타내는 깊이 맵 평행이동 벡터를 포함하는3차원 구강 스캔 데이터 정합 장치.
- 제12항에 있어서,상기 깊이 맵 회전 행렬과 상기 깊이 맵 평행이동 벡터는 상기 CT 프레임의 깊이 맵과 상기 스캔 프레임의 깊이 맵 사이의 차이의 합을 최소화시키는3차원 구강 스캔 데이터 정합 장치.
- 제11항 내지 제13항 중 어느 한 항에 의한 3차원 구강 스캔 데이터 정합 장치를 포함하는 구강 스캐너.
- 제11항 내지 제13항 중 어느 한 항에 의한 3차원 구강 스캔 데이터 정합 장치를 포함하는 컴퓨터 단층촬영(Computed Tomography, CT) 장치.
- 컴퓨터 판독 가능 매체에 저장되어 있는 컴퓨터 프로그램에 있어서,상기 컴퓨터 프로그램의 명령이 실행될 경우, 제1항 내지 제10항 중 어느 한 항에 따른 방법이 수행되는,것을 특징으로 하는 컴퓨터 판독 가능 매체에 저장되어 있는 컴퓨터 프로그램.
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