CN114668538A - Digital jaw frame and construction method for three-dimensional modular cranio-maxillary medical imaging - Google Patents
Digital jaw frame and construction method for three-dimensional modular cranio-maxillary medical imaging Download PDFInfo
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Abstract
本发明提供一种三维模块化颅颌骨医学影像的数字颌型
架及构建方法,基于受试者的颅颌面部影像构建颞下颌关节及口颌部数字化仿真物理模型,结合上下牙列数据和下颌运动数据获得数字颌型架,该方案真实还原受试者在当下三维空间内的颅颌面器官位置,结合下颌运动特征数据,仿真设计得到更加符合受试者的个性化特征的数字颌型架。The present invention provides a digital jaw shape of a three-dimensional modular cranio-maxillary medical image
Based on the cranio-maxillofacial images of the subjects, the digital simulation physical model of the temporomandibular joint and the mouth and jaw is constructed, and the digital jaw shape is obtained by combining the upper and lower dentition data and the mandibular movement data. This scheme truly restores the position of the craniomaxillofacial organs of the subject in the current three-dimensional space. Combined with the data of the mandibular movement characteristics, the simulation design can obtain a digital jaw shape that is more in line with the individual characteristics of the subject. shelf.Description
技术领域technical field
本发明涉及架领域,特别涉及一种三维模块化颅颌骨医学影像的数字颌型架及构建方法。The present invention relates to The field of frame, in particular, relates to a three-dimensional modular cranio-maxillary medical imaging digital jaw shape frame and method of construction.
背景技术Background technique
人体的咀嚼系统,由下颌骨和颅颌面骨两部分组成,下颌骨和颅颌面骨是可以相对运动,下颌运动靠双侧联动的颞下颌关节控制。在颞下颌关节中,下颌髁突和颞骨关节表面是不等面关节连接,关节囊间隙约束,髁突的体积显著小于关节凹,由于这样的结构,下颌骨允许六个自由度的运动,因此下颌移动可以以一个或多个为轴旋转,目前,临床医学把髁点、下颌切点,以及三维观测面定义为下颌运动的常用标志点,依据下颌运动轨迹测量分析下颌的整体运动并用于口腔治疗领域。The masticatory system of the human body is composed of two parts: the mandible and the craniomaxillofacial bone. The mandible and the craniomaxillofacial bone can move relative to each other, and the movement of the mandible is controlled by the bilaterally linked temporomandibular joint. In the temporomandibular joint, the mandibular condyle and the articular surface of the temporal bone are unequally articulated, the joint capsule space is constrained, and the volume of the condyle is significantly smaller than the articular fovea. Because of this structure, the mandible allows six degrees of freedom of movement, so The mandibular movement can be rotated around one or more axes. At present, clinical medicine defines the condyle point, mandibular tangent point, and three-dimensional observation surface as the common landmarks for mandibular movement. therapeutic area.
下颌是在三维空间中作六个自由度的运动,为测量下颌整体运动状况需要同时测量其髁点、下颌切点,以及三维观测面相对于参考坐标系的空间位移,由此建立矩阵方程,并推算下颌上任意点在同一时间的位移情况,若仅是对一个或两个标志点进行观测,则记录到的轨迹在基准平面上投影图不能表达运动中的旋转成分,也不能用于准确地计算其他点同时发生的运动。也就是说,最科学的观测下颌运动的方法是:记录下颌在空间六自由度的运动,并且应该与该个体影像学的结果共同分析。The mandible moves with six degrees of freedom in three-dimensional space. In order to measure the overall motion of the mandible, it is necessary to measure the condyle point, mandibular tangent point, and the spatial displacement of the three-dimensional observation surface relative to the reference coordinate system. To estimate the displacement of any point on the mandible at the same time, if only one or two marker points are observed, the projected image of the recorded trajectory on the reference plane cannot express the rotational component of the motion, nor can it be used to accurately measure the movement. Calculate the simultaneous motion of other points. That is to say, the most scientific way to observe the mandibular movement is to record the movement of the mandible in space with six degrees of freedom, which should be analyzed together with the imaging results of the individual.
架可在不同程度上实现对下颌运动的模拟,也就是架的应用不仅方便技师检查所制作的口腔修复体是否与患者个体的下颌功优活动相协调,减少临床医师椅旁操作时间,还能辅助医师诊断咬合的问题,记录上、下颌位置关系及咬合接触情况,在活动义齿,固定义齿以及正畸、正颌、颞下颌关节治疗设计中发挥着重要作用。目前架主要分为:不可调节架、半可调节架、全可调节架和数字架,然而这些架各自存在各自的技术缺陷。 The frame can simulate the movement of the mandible to varying degrees, that is, The application of the frame not only facilitates the technician to check whether the dental prosthesis is coordinated with the individual mandibular function of the patient, reduces the clinician's chairside operation time, but also assists the physician in diagnosing occlusal problems, recording the positional relationship between the upper and lower jaws and the occlusion. Contact situation plays an important role in removable dentures, fixed dentures, and orthodontic, orthognathic, and temporomandibular joint treatment design. Currently The frame is mainly divided into: non-adjustable rack, semi-adjustable Rack, fully adjustable Shelves and figures racks, however these Each frame has its own technical defects.
不可调架只能模拟下颌的开闭运动,无法再现下颌多样的运动过程;多向运动式架的各个运动参数的设定值是不可调整的,无法实现个性化以及针对性高的下颌运动的模拟,其内设定的髁导和切导与个体的实际髁道和切道存在差异,模拟的下颌运动也存在误差。半可调节架的非工作侧侧方髁导斜度可以采用15°的平均值,也可以通过侧方咬合记录转移至架上,而工作侧髁球多采用锁定原地转动,其转动角度受非工作侧髁导制约,与个体的实际颞下颌关节运动存在差异。全可调节架的上下颌体间的铰链轴松散,操作时易出现髁盒升起,髁导板与髁球脱离接触而影响模拟的准确性。Not adjustable The frame can only simulate the opening and closing movement of the mandible, and cannot reproduce the various movement processes of the mandible; The setting value of each motion parameter of the frame cannot be adjusted, and it is impossible to achieve personalized and highly targeted mandibular movement simulation. There is also an error in the simulated jaw movement. semi-adjustable The inclination of the lateral condyle guide on the non-working side of the frame can be taken as an average of 15°, or it can be transferred to the lateral occlusal record. The condyle ball on the working side is mostly locked and rotated in situ, and its rotation angle is restricted by the guide of the non-working side condyle, which is different from the actual temporomandibular joint movement of the individual. Fully adjustable The hinge axis between the upper and lower jaws of the frame is loose, the condyle box is prone to rise during operation, and the condyle guide plate is out of contact with the condyle ball, which affects the accuracy of the simulation.
数字架指的是采用3D扫描等技术手段,结合医学影像成像处理技术以及计算机辅助设计、逆向工程和网络化等技术,以虚拟的颌位变化取代架机械装置模拟的颌位变化,并利用计算机的计算能力和图像处理功能,再现和分析咬合运动。该技术有2种实现方式:number The frame refers to the use of 3D scanning and other technical means, combined with medical image imaging processing technology and computer-aided design, reverse engineering and network technology, to replace the virtual jaw position change The jaw position changes were simulated by the frame mechanism, and the occlusal movement was reproduced and analyzed by using the computing power and image processing function of the computer. There are 2 ways to implement this technology:
传统的架功能数字化再现:根据传统架的参数逆向设计对应的虚拟架,首先采用常规模型面弓转移上传统架并扫描导入患者上下牙列及颌位关系信息,在系统中输入架的参数而得到数字架,这种方式仅是简单地复制全可调节架的机械参数,然而其对应的全可调节架的参数一旦错误的话对应生成的数字架也是错误的,无法很好地仿真颞下颌关节的生理特征。traditional Digital reproduction of shelf functions: according to tradition The parametric reverse design of the rack corresponds to the virtual frame, first using a conventional model facebow transfer onto a conventional Scan and import the patient's upper and lower dentition and jaw position relationship information, and input it in the system the parameters of the rack to get the number rack, this way simply replicates the fully adjustable The mechanical parameters of the rack, but its corresponding fully adjustable If the parameters of the rack are wrong, the corresponding generated numbers The frame is also wrong and cannot simulate the physiological characteristics of the temporomandibular joint well.
虚拟架:通过特殊牙合叉支架将口内扫描的上下颌牙列数据、CT内的颌骨数据以及下颌运动数据进行匹配,利用软件计算模拟下颌骨的实时运动情况。当设计软件完成修复体牙合面形态初步设计后,导入下颌运动轨迹数据,设计去除牙合面形态在该运动路径上的干扰点,实现虚拟架的功能。此技术虽然整合了上颌在颅骨内的位置,也获得了下颌在肌肉运动中的轨迹数据,但是欠缺颞下颌关节各部位结构的形态数据,所以此状态下模拟出来的牙合面轨迹干扰点未必真实反映的是颞下颌关节稳定结构下的咬合治疗方案。virtual Frame: Match the upper and lower dentition data scanned in the mouth, the jaw data in CT and the mandibular movement data through the special bite fork bracket, and use the software to calculate and simulate the real-time movement of the mandible. When the design software completes the preliminary design of the occlusal surface shape of the restoration, import the mandibular motion trajectory data, design and remove the interference points of the occlusal surface shape on the motion path, and realize virtual shelf function. Although this technology integrates the position of the maxilla in the skull, and also obtains the trajectory data of the mandible during muscle movement, it lacks the morphological data of the structure of each part of the temporomandibular joint, so the simulated occlusal surface trajectory interference points in this state may not necessarily be It truly reflects the occlusal treatment plan under the stable structure of the temporomandibular joint.
另外,以上的数字架均是获取牙合数据后通过转移关系,利用架及个体的下颌运动的特征在体外分析咬合关系,对口颌系统病变作一定的分析诊断及判断治疗效果;但临床上实际测量髁道斜度、切道斜度需要繁复的操作和技术,使用过程会占用较多的时间,架的各个可调节部件的参数需要人为设定,因此不同的操作人员经验不一样还会产生人为上的参数差异,影响后续的治疗效果。In addition, the above figures The frame is obtained by transferring the occlusal data and using the transfer relationship. The occlusal relationship is analyzed in vitro based on the characteristics of the frame and individual mandibular movement, and a certain analysis and diagnosis of the oral and maxillomandibular system lesions are made and the treatment effect is judged; The process will take a lot of time, The parameters of each adjustable part of the frame need to be set manually, so different operators have different experiences, and there will be artificial parameter differences, which will affect the subsequent treatment effect.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种三维模块化颅颌骨医学影像的数字颌型架及构建方法,真实还原受试者在当下三维空间内的颅颌面器官位置,结合下颌运动特征数据,仿真设计得到更加符合受试者的个性化特征的数字颌型架。The purpose of the present invention is to provide a digital jaw shape of a three-dimensional modular cranio-maxillary medical image The frame and construction method can truly restore the position of the craniomaxillofacial organs of the subject in the current three-dimensional space. Combined with the data of the mandibular movement characteristics, the simulation design can obtain a digital jaw shape that is more in line with the individual characteristics of the subject. shelf.
为实现以上目的,本技术方案提供一种三维模块化颅颌骨医学影像的数字颌型架的构建方法,包括以下步骤:In order to achieve the above purpose, the technical solution provides a digital jaw shape of a three-dimensional modular cranio-maxillary medical image. The construction method of the rack includes the following steps:
获取受试者开口位置的开口颅颌面部影像以及闭口位置的闭口颅颌面部影像;Obtain the open cranio-maxillofacial image of the subject's opening position and the closed-mouth cranio-maxillofacial image of the subject's closed mouth;
将所述开口颅颌面部影像输入到咀嚼器官识别模型中分割获取开口咀嚼器官数据,将所述闭口颅颌面部影像输入到咀嚼器官识别模型中分割获取闭口咀嚼器官数据;Inputting the open cranial and maxillofacial images into the masticatory organ recognition model to obtain open masticatory organ data, and inputting the closed cranial and maxillofacial images into the masticatory organ identification model for segmentation to obtain closed masticatory organ data;
基于所述开口咀嚼器官数据和/或所述闭口咀嚼器官数据获取咀嚼器官形态数据;基于所述开口咀嚼器官数据和所述闭口咀嚼器官数据的差值获取咀嚼器官运动数据以及咀嚼器官位置变化数据;基于所述咀嚼器官形态数据、所述咀嚼器官运动数据和所述咀嚼器官位置变化数据构建颞下颌关节及口颌部数字化仿真物理模型;扫描受试者口腔获取上下牙列数据和下颌运动数据,累计所述上下牙列数据和所述下颌运动数据至所述颞下颌关节及口颌部数字化仿真物理模型中,得到数字颌型架。The morphological data of the masticatory organ is acquired based on the data of the open masticatory organ and/or the data of the closed masticatory organ; the movement data of the masticatory organ and the position change data of the masticatory organ are acquired based on the difference between the data of the open masticatory organ and the data of the closed masticatory organ ;Construct a digital simulation physical model of temporomandibular joint and mouth and jaw based on the morphological data of the masticatory organ, the movement data of the masticatory organ and the position change data of the masticatory organ; Scan the oral cavity of the subject to obtain the upper and lower dentition data and the mandibular movement data , accumulating the upper and lower dentition data and the mandibular movement data into the digital simulation physical model of the temporomandibular joint and the mouth and jaw to obtain a digital jaw shape shelf.
本方案提供一种数字颌型架,基于上述三维模块化颅颌骨医学影像的数字颌型架的构建方法构建得到。This solution provides a digital jaw type frame, digital jaw shape based on the above-mentioned 3D modular cranio-maxillary medical images The frame construction method is constructed.
本方案提供一种三维模块化颅颌骨医学影像的数字颌型架的构建装置,包括:This scheme provides a three-dimensional modular cranio-maxillary medical imaging digital jaw shape Rack construction means, including:
影像获取单元,用于获取受试者开口位置的开口颅颌面部影像以及闭口位置的闭口颅颌面部影像;an image acquisition unit, used for acquiring an open cranio-maxillofacial image of the subject's opening position and a closed-mouth cranio-maxillofacial image of the closed mouth position;
数据识别单元,用于将所述开口颅颌面部影像输入到咀嚼器官识别模型中分割获取开口咀嚼器官数据,将所述闭口颅颌面部影像输入到咀嚼器官识别模型中分割获取闭口咀嚼器官数据;The data identification unit is used for inputting the open cranial and maxillofacial images into the masticatory organ identification model to segment to obtain open masticatory organ data, and inputting the closed cranial and maxillofacial images into the masticatory organ identification model for segmentation to obtain closed masticatory organs data;
颞下颌关节及口颌部数字化仿真物理模型构建单元,用于基于所述开口咀嚼器官数据和/或所述闭口咀嚼器官数据获取咀嚼器官形态数据;基于所述开口咀嚼器官数据和所述闭口咀嚼器官数据的差值获取咀嚼器官运动数据以及咀嚼器官位置变化数据;基于所述咀嚼器官形态数据、所述咀嚼器官运动数据和所述咀嚼器官位置变化数据构建颞下颌关节及口颌部数字化仿真物理模型;A unit for constructing a digital simulation physical model of the temporomandibular joint and the mouth and jaw, for obtaining the morphological data of the masticatory organ based on the data of the open masticatory organ and/or the data of the closed masticatory organ; based on the data of the open masticatory organ and the closed masticatory organ The difference value of the organ data obtains the movement data of the masticatory organ and the position change data of the masticatory organ; based on the morphological data of the masticatory organ, the movement data of the masticatory organ and the position change data of the masticatory organ, the digital simulation physics of the temporomandibular joint and the mouth and jaw is constructed Model;
数字颌型架构建单元,用于扫描受试者口腔获取上下牙列数据和下颌运动数据,累计所述上下牙列数据和所述下颌运动数据至所述颞下颌关节及口颌部数字化仿真物理模型中,得到数字颌型架。digital jaw a frame construction unit for scanning the oral cavity of the subject to obtain upper and lower dentition data and mandibular movement data, and accumulating the upper and lower dentition data and the mandibular movement data into the digital simulation physical model of the temporomandibular joint and the mouth and jaw, get digital jaw shelf.
相较现有技术,本技术方案具有以下特点和有益效果:基于受试者的个体生理结构角度设计针对该受试者的个性化颌型数字架系统,直接针对受试者本人的咀嚼器官结构读取模态数据,构建还原受试者本人在当前三维空间内的颅颌骨器官位置,结合下颌运动的个体特征数据进行仿真设计获取咀嚼器官之间的相关力学边界条件,求解更接近真实的本体数值的结构物理仿真数据;由于本方案的数字颌型架更加符合受试者本人的真实情况,故在本方案的数字颌型架上设计制作的修复体,对某些口颌系统疾病如牙合创伤、咀嚼肌痊孪、肌筋膜疼痛、颞下颌关节功能紊乱、全口重建等的预防和治疗更具有临床的实用意义。Compared with the prior art, the technical solution has the following features and beneficial effects: designing a personalized jaw-shaped digit for the subject based on the subject's individual physiological structure angle The frame system directly reads the modal data of the subject's own masticatory organ structure, constructs and restores the subject's own cranio-maxillary organ position in the current three-dimensional space, and carries out a simulation design combined with the individual characteristic data of the mandibular movement to obtain the masticatory organ. The related mechanical boundary conditions between them can solve the structural physical simulation data that is closer to the real body value; due to the digital jaw shape of this scheme The frame is more in line with the real situation of the subject himself, so the digital jaw type in this scheme The prosthesis designed and manufactured on the shelf has more clinical practical significance for the prevention and treatment of certain oral and maxillomandibular system diseases such as occlusal trauma, masticatory muscle recovery, myofascial pain, temporomandibular joint dysfunction, full mouth reconstruction, etc. .
附图说明Description of drawings
图1是根据本方案的一种种三维模块化颅颌骨医学影像的数字颌型架的构建方法的流程图。Figure 1 is a digital jaw shape of a kind of three-dimensional modular cranio-maxillomandibular medical image according to this scheme A flow chart of the method of constructing the rack.
图2是本方案得到的数字颌型架的示意图。Figure 2 is the digital jaw shape obtained by this scheme Schematic diagram of the rack.
图3是根据本方案的一种种三维模块化颅颌骨医学影像的数字颌型架的构建装置的结构示意图。Figure 3 is a digital jaw shape of a kind of three-dimensional modular cranio-maxillary medical image according to this scheme Schematic diagram of the structure of the frame construction device.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art fall within the protection scope of the present invention.
本领域技术人员应理解的是,在本发明的揭露中,术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系,其仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此上述术语不能理解为对本发明的限制。It should be understood by those skilled in the art that in the disclosure of the present invention, the terms "portrait", "horizontal", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, etc. is based on the orientation or positional relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus the above terms should not be construed as limiting the invention.
可以理解的是,术语“一”应理解为“至少一”或“一个或多个”,即在一个实施例中,一个元件的数量可以为一个,而在另外的实施例中,该元件的数量可以为多个,术语“一”不能理解为对数量的限制。It should be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be one. The number may be plural, and the term "one" should not be understood as a limitation on the number.
本方案提供一种三维模块化颅颌骨医学影像的数字颌型架及构建方法,解决了传统架无法模拟个性化的真实下颌运动的问题。传统的机械架的基本构造和功能是建立在对下颌运动规律了解的基础上,利用机械装置模拟人体咀嚼器官的结构和功能,进而在体外完成对受试者的口腔咬合关系的分析,但是传统的机械架的各个调节参数是人为基于获取的口腔数据设定的,其和真实数据存在较大的偏差;不仅如此,临床上实际测量髁道斜度、切道斜度需要繁复的操作和技术,也会耗费极大的人力和物力;现有技术的数字架欠缺下颌关节各个关节部位的形态数据,然而不同受试者的关节部位的形态和位置会对下颌运动的运动方式产生或大或小的影响,数字架忽略了这部分重要的形态数据将会导致模拟出来的牙合面轨迹干扰点和真实情况存在偏差,进而结果的准确性。This scheme provides a three-dimensional modular cranio-maxillary medical imaging digital jaw shape frame and construction method, solving the traditional The frame cannot simulate the problem of personalized real jaw movement. traditional machinery The basic structure and function of the frame are based on the understanding of the law of mandibular movement. The mechanical device is used to simulate the structure and function of the human masticatory organ, and then the analysis of the oral occlusal relationship of the subject is completed in vitro. The various adjustment parameters of the frame are artificially set based on the acquired oral data, and there is a large deviation from the real data; not only that, the actual measurement of the condylar inclination and the incisional incision incline requires complicated operations and techniques, and also It will consume a lot of manpower and material resources; the figures of the existing technology The frame lacks the morphological data of each joint part of the mandibular joint. However, the shape and position of the joint parts of different subjects will have a greater or lesser impact on the movement mode of the mandibular movement. If the frame ignores this part of the important morphological data, the simulated occlusal surface trajectory interference points will deviate from the real situation, and thus the accuracy of the results.
为实现以上目的,如图1所示,本方案提供一种三维模块化颅颌骨医学影像的数字颌型架的构建方法,包括以下步骤:In order to achieve the above purpose, as shown in Figure 1, this solution provides a digital jaw shape of a three-dimensional modular cranio-maxillary medical image. The construction method of the rack includes the following steps:
获取受试者开口位置的开口颅颌面部影像以及闭口位置的闭口颅颌面部影像;Obtain the open cranio-maxillofacial image of the subject's opening position and the closed-mouth cranio-maxillofacial image of the subject's closed mouth;
将所述开口颅颌面部影像输入到咀嚼器官识别模型中分割获取开口咀嚼器官数据,将所述闭口颅颌面部影像输入到咀嚼器官识别模型中分割获取闭口咀嚼器官数据;Inputting the open cranial and maxillofacial images into the masticatory organ recognition model to obtain open masticatory organ data, and inputting the closed cranial and maxillofacial images into the masticatory organ identification model for segmentation to obtain closed masticatory organ data;
基于所述开口咀嚼器官数据和/或所述闭口咀嚼器官数据获取咀嚼器官形态数据;基于所述开口咀嚼器官数据和所述闭口咀嚼器官数据的差值获取咀嚼器官运动数据以及咀嚼器官位置变化数据;基于所述咀嚼器官形态数据、所述咀嚼器官运动数据和所述咀嚼器官位置变化数据构建颞下颌关节及口颌部数字化仿真物理模型;The morphological data of the masticatory organ is acquired based on the data of the open masticatory organ and/or the data of the closed masticatory organ; the movement data of the masticatory organ and the position change data of the masticatory organ are acquired based on the difference between the data of the open masticatory organ and the data of the closed masticatory organ ; Construct a digital simulation physical model of temporomandibular joint and mouth and jaw based on the morphological data of the masticatory organ, the movement data of the masticatory organ and the position change data of the masticatory organ;
扫描受试者口腔获取上下牙列数据和下颌运动数据,累计所述上下牙列数据和所述下颌运动数据至所述颞下颌关节及口颌部数字化仿真物理模型中,得到数字颌型架。Scan the subject's oral cavity to obtain upper and lower dentition data and mandibular motion data, and accumulate the upper and lower dentition data and the mandibular motion data into the digital simulation physical model of the temporomandibular joint and the mouth and jaw to obtain a digital jaw shape shelf.
本方案基于对颅颌医学影像的分析获取针对每个受试者的个性化的咀嚼器官三维数据,所述咀嚼器官三维数据包括咀嚼器官形态数据、咀嚼器官运动数据和咀嚼器官位置变化数据,基于这些数据可以真实的还原患者本人当下三维空间内的颅颌面器官位置。This scheme obtains personalized three-dimensional data of masticatory organs for each subject based on the analysis of cranio-maxillomandibular medical images. The three-dimensional data of masticatory organs includes masticatory organ morphological data, masticatory organ motion data and masticatory organ position change data. These data can truly restore the position of the craniomaxillofacial organs in the current three-dimensional space of the patient.
具体的,开口位置指的是:受试者状态张开口腔时的口腔位置;对应的,闭口位置指的是受试者自然状态闭上口腔的口腔位置。本方案同时获取分别对应两种状态的开口颅颌面部影像和闭口颅颌面部影像,可更为准确地获取咀嚼器官在不同状态的形态变化,得到更为贴切受试者的仿真数据;另外可基于开口颅颌面部影像和闭口颅颌面部影像的差异推算受试者在开闭口过程中的下颌运动真实情况。Specifically, the opening position refers to the position of the mouth when the subject opens the mouth; correspondingly, the closed position refers to the position of the mouth where the subject closes the mouth in the natural state. This scheme simultaneously acquires open cranio-maxillofacial images and closed cranio-maxillofacial images corresponding to two states, which can more accurately acquire the morphological changes of the masticatory organs in different states, and obtain more appropriate simulation data for subjects; In addition, based on the difference between the open-mouth cranio-maxillofacial image and the closed-mouth cranio-maxillofacial image, the real situation of the mandibular movement of the subject during the opening and closing process can be estimated.
所述开口颅颌面部影像和所述闭口颅颌面部影像为DICOM格式文件,可以来源于MCI(核磁共振影像)也可以是CBCT(锥形CT)。The open cranial and maxillofacial images and the closed cranial and maxillofacial images are files in DICOM format, which may be derived from MCI (magnetic resonance imaging) or CBCT (cone CT).
对DICOM格式文件的所述开口颅颌面部影像和所述闭口颅颌面部影像进行读取,读取DICOM格式文件为现有技术手段,DICOM格式读取是对文件中的数据进行解码,解码过程在类CDicomParser中实现,其中主要对DICOM的数据流按照规范进行解码操作。类CDicomDataElement中定义了DICOM规范中的数据元素。容器类CDicomDataset为其他应用提供数据集,类CDicomFile提供了DICOM文件的流读取功能。为方便DICOM文件的显示,提供类CDicomImage将DICOM转换为图像编码数据。The described open cranial and maxillofacial images and the described closed cranial and maxillofacial images of the DICOM format file are read, reading the DICOM format file is a prior art means, and the DICOM format reading is to decode the data in the file, The decoding process is implemented in the class CDicomParser, which mainly decodes the DICOM data stream according to the specification. The data elements in the DICOM specification are defined in the class CDicomDataElement. The container class CDicomDataset provides data sets for other applications, and the class CDicomFile provides the stream reading function of DICOM files. In order to facilitate the display of DICOM files, the class CDicomImage is provided to convert DICOM to image encoding data.
在“将所述开口颅颌面部影像输入到咀嚼器官识别模型中分割获取开口咀嚼器官数据,将所述闭口颅颌面部影像输入到咀嚼器官识别模型中分割获取闭口咀嚼器官数据”步骤中,可将所述开口颅颌面部影像和所述闭口颅颌面部影像输入同一咀嚼器官识别模型中进行识别。所述咀嚼器官识别模型为经训练得到的可分割咀嚼器官的深度学习模型。In the step of "input the open cranial and maxillofacial images into the masticatory organ recognition model to segment to obtain open masticatory organ data, and input the closed cranial and maxillofacial images into the masticatory organ identification model to segment and obtain closed masticatory organ data" , the open-mouth cranio-maxillofacial image and the closed-mouth cranio-maxillofacial image can be input into the same chewing organ recognition model for recognition. The chewing organ recognition model is a deep learning model of a segmentable masticatory organ obtained by training.
所述开口咀嚼器官数据和所述闭口咀嚼器官数据对应的咀嚼器官为:颅骨、上颌牙列、颞下颌关节、下颌骨和下颌牙列,其中颞下颌关节包括关节窝、关节腔、关节结节、关节囊、关节盘、髁突、外耳道。所述咀嚼器官数据为此类咀嚼器官的分割数据,具体为咀嚼器官的形态、体积、位置和物理截面积等。The masticatory organs corresponding to the open masticatory organ data and the closed masticatory organ data are: skull, maxillary dentition, temporomandibular joint, mandible and mandibular dentition, wherein the temporomandibular joint includes joint socket, joint cavity, joint nodule , joint capsule, joint disc, condyle, external auditory canal. The masticatory organ data is segmentation data of such masticatory organs, specifically the shape, volume, location, and physical cross-sectional area of the masticatory organ.
本方案的咀嚼器官识别模型采用基于区域生长和融合的混合图像分割算法获取咀嚼器官数据。混合图像分割算法包括但不仅限于“基于阈值分割法”、“基于变形边界方法”、“区域生长方法”。由于不同咀嚼器官在医学图像中具有不同的灰度值,而且结构之间逐渐过渡,无明显的灰度突变,故本方案可利用图像分割算法分割识别咀嚼器官,具体的,本方案选择在区域生长算法基础上,应用图像局部特征计算生长参数,实现自适应区域生长以分割得到准确的咀嚼器官数据。The masticatory organ recognition model of this scheme uses a hybrid image segmentation algorithm based on region growth and fusion to obtain masticatory organ data. Hybrid image segmentation algorithms include, but are not limited to, "threshold-based segmentation method", "deformation boundary-based method", and "region growing method". Since different masticatory organs have different gray values in medical images, and the structures gradually transition without obvious grayscale mutation, this scheme can use image segmentation algorithm to segment and identify masticatory organs. Based on the growth algorithm, the local features of the image are used to calculate the growth parameters, and the adaptive region growth is realized to obtain accurate chewing organ data.
具体的,“将所述开口颅颌面部影像输入到咀嚼器官识别模型中分割获取开口咀嚼器官数据,将所述闭口颅颌面部影像输入到咀嚼器官识别模型中分割获取闭口咀嚼器官数据”包括步骤:分割并识别所述开口颅颌面部影像内的咀嚼器官的开口咀嚼器官数据;分割并识别所述闭口颅颌面部影像内的咀嚼器官的闭口咀嚼器官数据。Specifically, "input the open cranio-maxillofacial image into the masticatory organ recognition model to segment to obtain open masticatory organ data, and input the closed-mouth cranio-maxillofacial image into the masticatory organ identification model to segment to obtain closed-mouth masticatory organ data" The method includes the steps of: segmenting and identifying the open chewing organ data of the masticatory organs in the open cranio-maxillofacial image; segmenting and identifying the closed-mouth masticating organ data of the masticating organs in the closed cranio-maxillofacial image.
另外,由于所述开口颅颌面部影像和所述闭口颅颌面部影像中经常混有噪音和失真,故在将所述闭口颅颌面部影像和所述开口颅颌面部影像输入到咀嚼器官识别模型之前还需要对其进行噪音去除和图像特征增强。In addition, since noise and distortion are often mixed in the open cranial and maxillofacial images and the closed craniomaxillofacial images, the closed craniomaxillofacial images and the open craniomaxillofacial images are input into the Noise removal and image feature enhancement are also required before the chewing organ recognition model.
另外,分割得到的开口咀嚼器官数据和闭口咀嚼器官数据还需要进行形态后处理。形态后处理的手段包括但不限于:“腐蚀(Erosion)”、“膨胀(Dilation)”、“开运算(Open)”、“闭运算(Close)”等,最后利用图像处理形态学中的“闭”(Close)运算操作对生成的区域图像进行修整,去除其中的细缝和细小的空洞,达到最佳的效果。In addition, morphological post-processing is required for the open-mouthed masticatory organ data and closed-mouthed masticatory organ data obtained by segmentation. Morphological post-processing methods include but are not limited to: "Erosion", "Dilation", "Open", "Close", etc. The "Close" operation trims the generated area image to remove the fine seams and small holes to achieve the best effect.
在获取了分割得到开口咀嚼器官数据和闭口咀嚼器官数据之后,可综合所述开口咀嚼器官数据和所述闭口咀嚼器官数据中对应同一咀嚼器官的器官数据以获取咀嚼器官形态数据。所述咀嚼器官形态数据包括咀嚼器官的形态、体积、物理截面积,且由于本方案是获取开口位置和闭口位置两个位置的咀嚼器官数据,故本方案综合得到的咀嚼器官形态数据可真实地反映受试者在不同开闭口位置的咀嚼器官数据。具体的,咀嚼器官的上下颌牙列、牙齿形态及位置通过口腔光学数字扫描技术获取三维信息数据。After obtaining the open chewing organ data and the closed masticatory organ data obtained by segmentation, the open masticatory organ data and the organ data corresponding to the same masticatory organ in the closed masticatory organ data can be integrated to obtain the masticatory organ shape data. The morphological data of the chewing organ includes the shape, volume and physical cross-sectional area of the chewing organ, and since this scheme obtains the data of the chewing organ at the opening position and the closed mouth position, the morphological data of the masticatory organ obtained comprehensively in this scheme can be truly It reflects the data of the masticatory organs of the subjects at different opening and closing positions. Specifically, the three-dimensional information data of the upper and lower jaw dentition, tooth shape and position of the masticatory organ are obtained through the oral optical digital scanning technology.
另外,本方案还可基于所述开口咀嚼器官数据和所述闭口咀嚼器官数据的差值获取特定咀嚼器官的咀嚼器官运动数据和咀嚼器官位置变化数据。所述咀嚼器官运动数据表示该咀嚼器官在开闭口位置变化过程中的运动情况,所述咀嚼器官位置变化数据表示该咀嚼器官在开闭口位置变化过程中的在三维空间内的位置变化情况。具体的,利用光学传感系统,将信号源固定在受试者的下颌,接收器固定在受试者的头颅,当受试者的两侧髁突运动时,信号源发出连续信号,接收器接收到信号后通过转换器将信号转换为三维运动轨迹数据。In addition, the present solution can also acquire the masticatory movement data and masticatory position change data of a specific masticatory organ based on the difference between the open masticatory organ data and the closed masticatory organ data. The chewing organ motion data represents the movement of the masticatory organ during the position change of the opening and closing mouth, and the masticatory organ position change data represents the position change of the masticatory organ in the three-dimensional space during the opening and closing position change process. Specifically, using an optical sensing system, the signal source is fixed on the subject's jaw, and the receiver is fixed on the subject's head. When the subject's condyles on both sides move, the signal source sends out continuous signals, and the receiver After receiving the signal, the converter converts the signal into three-dimensional motion trajectory data.
综合所述咀嚼器官形态数据、所述咀嚼器官运动数据和所述咀嚼器官位置变化数据构建的颞下颌关节及口颌部数字化仿真物理模型,可真实地反应受试者的颞下颌关节及口颌仿真情况。进而本方案可通过对颞下颌关节及口颌部数字化仿真物理模型的仿真运算,得到关节盘病变信息、关节腔病变信息、髁突的病变信息,还能更真实地确定髁突间距、髁道、髁导角度、盘髁关系等传统架通过体外模拟或假设才能获得的数据。The digital simulation physical model of temporomandibular joint and mouth and jaw constructed by combining the morphological data of the chewing organs, the movement data of the chewing organs and the position change data of the chewing organs can truly reflect the temporomandibular joint and the mouth and jaw of the subjects. Simulation situation. Furthermore, this scheme can obtain the information of articular disc lesions, joint cavity lesions and condyle lesions through the simulation operation of the digital simulation physical model of temporomandibular joint and oral and maxillomandibular joint, and can also determine the condylar distance and condyle tract more realistically. , condyle guide angle, disc condyle relationship and other traditional Data that can only be obtained by in vitro simulations or hypotheses.
具体的仿真运算如下所示:The specific simulation operation is as follows:
通过光学描记仪获得的下颌运动轨迹数据输入至颞下颌关节及口颌部数字化仿真物理模型,计算出咀嚼肌在咀嚼周期内的长度、对称、快慢等变化,并进一步计算关节盘在髁突运动中的形态、位置、空间、限制等变化,以及髁突、上下牙列及牙齿在口颌运动中的三维动态、各种角度、形态变化、干扰等。The mandibular movement trajectory data obtained by the optical tracer is input into the digital simulation physical model of the temporomandibular joint and the mouth and jaw, and the length, symmetry, speed and other changes of the masticatory muscles during the chewing cycle are calculated, and the movement of the joint disc in the condyle is further calculated. Changes in shape, position, space, and restriction in the anatomy, as well as the three-dimensional dynamics, various angles, morphological changes, interference, etc.
受试者的上下牙列数据包括上下牙的形态以及位置等数据,其可通过口腔扫描仪获得,一般而言获取的上下牙列数据为STL格式。本方案累加所述上下牙列数据和上述步骤得到的颞下颌关节及口颌部数字化仿真物理模型,可替代传统架通过面弓转移来的上下牙列位置的方式。具体的,把从医学影像中通过分割算法获得的颞下颌关节及口颌部数字化仿真物理模型的上下牙列模型与口腔扫描仪获得的上下牙列模型(STL数据格式)进行同位标记法叠加配准,替代传统架通过面弓转移来的上下牙列位置。The upper and lower dentition data of the subject includes data such as the shape and position of the upper and lower teeth, which can be obtained by an oral scanner. Generally speaking, the upper and lower dentition data obtained are in STL format. This scheme accumulates the data of the upper and lower dentition and the digital simulation physical model of the temporomandibular joint and the mouth and jaw obtained by the above steps, which can replace the traditional The way the frame is transferred to the upper and lower dentition position through the facebow. Specifically, the upper and lower dentition models of the temporomandibular joint and the digital simulation physical model of the mouth and jaw obtained from the medical images by the segmentation algorithm and the upper and lower dentition models (STL data format) obtained by the oral scanner are superimposed and matched by the isotopic labeling method. standard, instead of traditional The upper and lower dentition positions transferred by the frame through the facebow.
另外,受试者的下颌运动数据通过光学描记仪获得的两侧髁突和下牙列在X/Y/Z轴所构成的三维空间内生成的运动数据,用XML格式导入。相同的,本方案累加所述下颌运动数据和上述步骤得到的颞下颌关节及口颌部数字化仿真物理模型,结合所述上下牙列数据进而得到仿真数字颌型架。本方案得到的仿真数字颌型架如图2所示。In addition, the mandibular motion data of the subjects were generated in the three-dimensional space formed by the X/Y/Z axes of the bilateral condyles and the lower dentition obtained by optical tracing, and imported in XML format. In the same way, this scheme accumulates the mandibular motion data and the digital simulation physical model of the temporomandibular joint and the mouth and jaw obtained in the above steps, and combines the upper and lower dentition data to obtain a simulated digital jaw shape. shelf. The simulated digital jaw shape obtained by this scheme The rack is shown in Figure 2.
因为髁点(两侧髁突)、下颌切点等,以及三维观测面定义为下颌运动的常用标志点。因此我们通过医学图像获得精确地髁点(包括髁突在内的整个颞下颌关节三维结构)。再通过口扫数据与医学图像中的上下颌牙列三维建模重叠配准(相当于把口扫精确地牙齿形态完整还原至个体颅颌骨三维空间内)得到下颌切点及ICP位置(上下牙列尖窝关系接触位置)。最后载入XML格式的下颌运动轨迹(因为是咀嚼肌控制下颌骨运动,又称为:下颌肌肉运动轨迹)对上述颞下颌关节组织和上下牙列在同一三维空间内做生理仿真动态运算。Because the condyle point (condylar process on both sides), mandibular tangent point, etc., and the three-dimensional observation plane are defined as common landmark points for mandibular movement. Therefore, we obtained the precise condyle point (three-dimensional structure of the entire temporomandibular joint including the condyle) through medical images. Then, the mandibular tangent point and the ICP position (upper and lower) are obtained by overlapping registration between the oral scan data and the 3D modeling of the upper and lower jaw dentition in the medical image (equivalent to completely restoring the accurate tooth morphology of the oral scan to the three-dimensional space of the individual skull and jaw). dentate fossa relationship contact position). Finally, load the mandibular movement trajectory in XML format (because it is the masticatory muscle that controls the movement of the mandible, also known as the movement trajectory of the mandibular muscle) to perform physiological simulation dynamic calculations on the above-mentioned temporomandibular joint tissue and the upper and lower dentition in the same three-dimensional space.
本方案获取的仿真数字颌型架可以非常精确地获得与个体的下颌开闭口运动(铰链轴hinge axis)、下颌侧方运动时的迅即侧移幅度和侧方髁导的角度、中切牙切导角度、尖牙和组牙的(牵伸,后退,左,右)运动轨迹及牙合干扰……等效的可视化运算结果。能大大地提升临床医生诊断,以及帮助技师制作出更符合临床医生治疗需求的修复体。The simulated digital jaw obtained by this program The frame can accurately obtain the mandibular opening and closing movement (hinge axis) of the individual, the immediate lateral movement amplitude of the mandibular lateral movement, the angle of the lateral condyle guide, the incisor guide angle of the central incisor, the canine and the set of teeth. (Draft, Retract, Left, Right) motion trajectory and occlusal interference... Equivalent visual operation results. It can greatly improve the diagnosis of clinicians and help technicians to produce restorations that are more in line with the treatment needs of clinicians.
在一些实施例中,本方案提供一种三维模块化颅颌骨医学影像的数字颌型架的构建装置,包括:In some embodiments, the present solution provides a digital jaw model of a three-dimensional modular cranio-maxillary medical image Rack construction means, including:
影像获取单元301,用于获取受试者开口位置的开口颅颌面部影像以及闭口位置的闭口颅颌面部影像;An
数据识别单元302,用于将所述开口颅颌面部影像输入到咀嚼器官识别模型中分割获取开口咀嚼器官数据,将所述闭口颅颌面部影像输入到咀嚼器官识别模型中分割获取闭口咀嚼器官数据;The
颞下颌关节及口颌部数字化仿真物理模型构建单元303,用于基于所述开口咀嚼器官数据和/或所述闭口咀嚼器官数据获取咀嚼器官形态数据;基于所述开口咀嚼器官数据和所述闭口咀嚼器官数据的差值获取咀嚼器官运动数据以及咀嚼器官位置变化数据;基于所述咀嚼器官形态数据、所述咀嚼器官运动数据和所述咀嚼器官位置变化数据构建颞下颌关节及口颌部数字化仿真物理模型;The temporomandibular joint and the oral and jaw digital simulation physical
数字颌型架构建单元304,用于扫描受试者口腔获取上下牙列数据和下颌运动数据,累计所述上下牙列数据和所述下颌运动数据至所述颞下颌关节及口颌部数字化仿真物理模型中,得到数字颌型架。digital jaw The
本发明不局限于上述最佳实施方式,任何人在本发明的启示下都可得出其他各种形式的产品,但不论在其形状或结构上作任何变化,凡是具有与本申请相同或相近似的技术方案,均落在本发明的保护范围之内。The present invention is not limited to the above-mentioned best embodiment, and anyone can obtain other various forms of products under the inspiration of the present invention, but no matter if any changes are made in its shape or structure, all products with the same or similar characteristics as those of the present application can be obtained. Similar technical solutions all fall within the protection scope of the present invention.
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