CN117392149A - Three-dimensional dental mesh model segmentation and boundary optimization method and related device - Google Patents
Three-dimensional dental mesh model segmentation and boundary optimization method and related device Download PDFInfo
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- 210000004763 bicuspid Anatomy 0.000 description 4
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Abstract
The invention discloses a three-dimensional dental mesh model segmentation and boundary optimization method and a related device, wherein the method comprises the following steps: step 1, acquiring a three-dimensional dental mesh model, and respectively selecting seed points of each tooth based on the three-dimensional dental mesh model; step 2, performing region growing operation according to the curvature threshold value based on the selected seed points to generate an initial region of each tooth; step 3, optimizing and growing the obtained boundary of each tooth initial area by using a boundary optimization algorithm based on the fusion characteristics and the curvature; and 4, carrying out automatic smoothing operation on the concave and convex phenomena existing in the tooth optimized region after the boundary optimization growth, and finally obtaining a tooth segmentation result from the three-dimensional dental mesh model. According to the tooth model segmentation and boundary optimization method, the segmentation precision can be effectively improved through boundary optimization growth, the problem of under segmentation in tooth region growth segmentation is solved, manual participation can be reduced, and the tooth model segmentation efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of three-dimensional medical image processing, and relates to a three-dimensional dental mesh model segmentation and boundary optimization method and a related device.
Background
Tooth deformity is a common oral disease with a high prevalence of about 50%. In clinical orthodontic diagnosis and treatment, a three-dimensional dental mesh model is generally adopted to truly reflect the three-dimensional anatomical structure of a patient and the shape and position distribution of teeth, and a doctor is assisted to design a high-efficiency and accurate tooth correction scheme by extracting, moving and rearranging single teeth in the three-dimensional dental mesh model.
The conventional virtual orthodontic system mainly relies on an area growth algorithm to divide teeth, and due to the fact that curvature distribution of a tooth model is complex, the algorithm is usually under-divided at the junction of teeth and gingiva, accurate division can be completed only by manually sketching a gum line and other operations to determine a tooth area, complexity of a tooth model division process is increased, and the method is too much dependent on manual experience, and is high in labor cost, long in time consumption and low in efficiency.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a three-dimensional dental mesh model segmentation and boundary optimization method and a related device.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a method for segmenting and optimizing boundaries of a three-dimensional dental mesh model, comprising the steps of:
selecting seed points of each tooth according to the three-dimensional dental grid model;
according to the seed points, carrying out region growing treatment by using a curvature threshold value to obtain initial regions of all teeth;
performing boundary optimization growth on the initial region by using a boundary optimization algorithm based on fusion characteristics and curvature to obtain a tooth optimization region, and generating concave and convex boundaries;
and carrying out smoothing treatment on concave and convex boundaries of the tooth optimization area to obtain a tooth segmentation result.
In a second aspect, the present invention provides a three-dimensional dental mesh model segmentation and boundary optimization system, comprising:
the seed point selecting module is used for selecting the seed point of each tooth according to the three-dimensional dental grid model;
the area growth module is used for carrying out area growth treatment by utilizing a curvature threshold value according to the seed points to obtain an initial area of each tooth;
the boundary optimization module is used for carrying out boundary optimization growth on the initial area by using a boundary optimization algorithm based on fusion characteristics and curvature to obtain a tooth optimization area, and generating concave and convex boundaries;
and the smoothing processing module is used for carrying out smoothing processing on the concave and convex boundaries of the tooth optimization area to obtain a tooth segmentation result.
In a third aspect, the invention provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the computer program.
In a fourth aspect, the present invention provides a computer readable storage medium storing a computer program which when executed by a processor performs the steps of a method as described above.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the optimization mode of the under-segmented area after the area growth is improved, the tooth area is not required to be determined by manually sketching gum lines and other operations to finely segment the segmented model, the boundary surface piece of the tooth after the area growth is subjected to boundary surface piece growth based on fusion characteristics and curvature, and then the boundary is automatically smoothed, so that the tooth segmentation is realized, the workload of manual participation is reduced, the tooth model segmentation process is simpler and more direct, and the tooth model segmentation efficiency and accuracy are improved.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of the system of the present invention.
Fig. 3 is a flowchart of a method for dividing and optimizing a three-dimensional dental mesh model according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a three-dimensional dental mesh model region growing result according to an embodiment of the present invention.
Fig. 5 is a schematic diagram showing the growth results of incisors and cuspids in the three-dimensional dental mesh model according to the embodiment of the present invention.
Fig. 6 is a schematic diagram showing the growth results of premolars and molar regions on the left side of a three-dimensional dental mesh model according to an embodiment of the present invention.
Fig. 7 is a schematic view showing the growth results of premolars and molar regions on the right side of a three-dimensional dental mesh model according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of the incisor and cuspid boundary optimization result of the three-dimensional dental mesh model according to the embodiment of the present invention.
Fig. 9 is a schematic diagram of the optimized result of premolars and molar boundaries on the left side of a three-dimensional dental mesh model according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of the optimized result of premolars and molar boundaries on the right side of a three-dimensional dental mesh model according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "upper," "lower," "horizontal," "inner," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the term "horizontal" if present does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1, the embodiment of the invention discloses a three-dimensional dental mesh model segmentation and boundary optimization method, which comprises the following steps:
s1, selecting seed points of each tooth according to a three-dimensional dental grid model;
s2, carrying out region growing treatment by utilizing a curvature threshold according to the seed points to obtain initial regions of all teeth;
s3, carrying out boundary optimization growth on the initial region by using a boundary optimization algorithm based on fusion characteristics and curvature to obtain a tooth optimization region, and generating concave and convex boundaries;
s4, smoothing the concave and convex boundaries of the tooth optimization area to obtain a tooth segmentation result.
In a possible embodiment of the present invention, the three-dimensional dental mesh model is a three-dimensional curved surface model of a tooth.
In a possible embodiment of the present invention, the performing the region growing process according to the seed point using the curvature threshold value to obtain an initial region of each tooth includes:
step 2.1, calculating curvature difference values among vertexes of all triangular patches taking the seed points as vertexes, and judging whether the triangular patches belong to the current tooth area according to the relation between the result and a curvature threshold value;
and 2.2, taking the other two vertexes of the triangular surface patch newly classified into the current tooth as new seed points, repeating the step 2.1 until no new triangular surface patch is classified into the current tooth, and stopping the growth of the area of the tooth.
In a possible embodiment of the invention, all teeth in a three-dimensional dental mesh model are grown simultaneously during the region growing process.
In a possible embodiment of the present invention, the boundary optimization growth is performed on the initial area by using a boundary optimization algorithm based on fusion characteristics and curvature to obtain a tooth optimization area, and generating concave and convex boundaries includes:
step 3.1, calculating a fusion characteristic t of the current boundary triangular patch, and classifying the current boundary triangular patch into a corresponding tooth area when the fusion characteristic is smaller than a set threshold value; the fusion characteristics t are as follows:
t＝μ×||n||
wherein, n is the module of the normal vector of the current triangular patch, μ is the area coefficient of the current boundary triangular patch, and the area coefficient μ is as follows:
wherein s is 0 Is the area of the current boundary triangular patch, s i The area of the co-edge triangular surface piece of the boundary surface piece is i, and the number of the co-edge triangular surface pieces is i;
and 3.2, calculating a curvature difference value between the triangular patches with the same edges for the triangular patches newly classified into the boundary of the current tooth, wherein the triangular patches with the same edges, the curvature of which is smaller than that of the triangular patches with the same edges of the current boundary, become new boundaries, and repeating the step 3.1 until no new triangular patches with the same edges are generated, so that the boundary optimization of the tooth is finished.
In a possible embodiment of the present invention, the fusion feature t includes a flatness feature of the current boundary triangular patch, and an area variation feature of the peripheral triangular patch is fused.
In a possible embodiment of the present invention, the smoothing the concave and convex boundaries of the optimized tooth region to obtain a tooth segmentation result includes:
step 4.1, repairing teeth at the gingival boundary, and marking the triangular face piece as a tooth type if the triangular face piece is concave and is not marked with the triangular face piece;
and 4.2, deleting the teeth at the gingival boundary, and marking the triangular face piece as the gingival type if the triangular face piece is a convex unlabeled triangular face piece.
As shown in fig. 2, an embodiment of the present invention provides a three-dimensional dental mesh model segmentation and boundary optimization system, including:
the seed point selecting module is used for selecting the seed point of each tooth according to the three-dimensional dental grid model;
the area growth module is used for carrying out area growth treatment by utilizing a curvature threshold value according to the seed points to obtain an initial area of each tooth;
the boundary optimization module is used for carrying out boundary optimization growth on the initial area by using a boundary optimization algorithm based on fusion characteristics and curvature to obtain a tooth optimization area, and generating concave and convex boundaries;
and the smoothing processing module is used for carrying out smoothing processing on the concave and convex boundaries of the tooth optimization area to obtain a tooth segmentation result.
Examples:
fig. 3 is a flow chart of a three-dimensional dental mesh model segmentation and boundary optimization method provided by the invention, which comprises the following steps 1 to 5.
Step 1, acquiring a three-dimensional dental mesh model, and respectively selecting seed points of each tooth based on the three-dimensional dental mesh model.
It can be understood that oral scanning is a digital operation commonly used in dentistry, and the method is mainly aimed at a triangular mesh model of a common three-dimensional dental jaw by taking a model of teeth in the oral cavity of a patient to obtain a three-dimensional curved surface model.
Step 2, based on the seed points, performing region growing operation according to a curvature threshold value to obtain initial regions of each tooth;
and 2.1, calculating curvature difference values among vertexes of all triangular patches taking the seed point as the vertex, and judging whether the triangular patches belong to the current tooth area according to the relation between the result and the curvature threshold value.
And 2.2, taking the other two vertexes of the triangular surface patch newly classified into the current tooth as new seed points, repeating the step 2.1 until no new surface patch is classified into the current tooth, and stopping the growth of the area of the tooth. In the whole region growing process, all teeth in a three-dimensional dental grid model are synchronously grown, and the final region growing result is shown in fig. 5 to 7, because the region growing algorithm stops growing when a low-curvature triangular patch appears, the problem of under-segmentation of the region growing algorithm, namely the situation of fuzzy separation of the boundary between the teeth and the gingiva, occurs.
And 3, carrying out boundary optimization growth on the initial area of the tooth obtained in the step 2 by using a boundary optimization algorithm based on the fusion characteristics and the curvature.
And 3.1, calculating the fusion characteristic of the current boundary triangular patch, and classifying the current boundary triangular patch into a corresponding tooth area when the fusion characteristic is smaller than a set threshold value. The calculation formula of the fusion characteristic t is as follows:
t＝μ×||n||
wherein, n is the module of the normal vector of the current triangular patch, mu is the area coefficient of the current boundary triangular patch, and the calculation formula is as follows:
wherein s is 0 Is the area of the current boundary triangular patch, s i Is the edgeArea of the co-sided triangular face piece of the interface piece. The fusion characteristic t not only comprises the flatness characteristic of the current boundary triangular patch, but also fuses the area change characteristic of the peripheral triangular patch, and the accuracy of judging the type of the boundary triangular patch is improved.
And 3.2, calculating a curvature difference value between the triangular patches with the same edges for the triangular patches newly classified into the boundary of the current tooth, wherein the triangular patches with the same edges, the curvature of which is smaller than that of the triangular patches with the same edges of the current boundary, become new boundaries, and repeating the step 3.1 until no new triangular patches with the same edges are generated, so that the boundary optimization of the tooth is finished. Typically the curvature of the triangular patch at the tooth and gum boundary will be a local minimum, so if the current patch curvature is locally minimum, it can be classified as a boundary range. The results of the final boundary growth are shown in fig. 8 to 10.
And 4, performing automatic smoothing operation on the tooth optimization region based on the concave and convex boundaries of the tooth optimization region generated in the step 3.
And 4.1, repairing the teeth at the gingival boundary, and marking the triangular face piece as the tooth type if the triangular face piece is concave and is not marked with the triangular face piece.
And 4.2, deleting the teeth at the gingival boundary, and marking the triangular face piece as the gingival type if the triangular face piece is a convex unlabeled triangular face piece.
And step 5, based on the area contained by each tooth, obtaining a tooth segmentation result from the three-dimensional dental grid model, so that the three-dimensional dental grid model is rapidly and accurately segmented, and the follow-up re-segmentation by using manual participation methods such as a sketching method and the like is avoided.
The embodiment of the invention provides computer equipment. The computer device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. The steps of the various method embodiments described above are implemented when the processor executes the computer program. Alternatively, the processor may implement the functions of the modules/units in the above-described device embodiments when executing the computer program.
The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to accomplish the present invention.
The computer equipment can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The computer device may include, but is not limited to, a processor, a memory.
The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like.
The memory may be used to store the computer program and/or modules, and the processor may implement various functions of the computer device by running or executing the computer program and/or modules stored in the memory, and invoking data stored in the memory.
The modules/units integrated with the computer device may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as stand alone products. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The three-dimensional dental mesh model segmentation and boundary optimization method is characterized by comprising the following steps of:
selecting seed points of each tooth according to the three-dimensional dental grid model;
according to the seed points, carrying out region growing treatment by using a curvature threshold value to obtain initial regions of all teeth;
performing boundary optimization growth on the initial region by using a boundary optimization algorithm based on fusion characteristics and curvature to obtain a tooth optimization region, and generating concave and convex boundaries;
and carrying out smoothing treatment on concave and convex boundaries of the tooth optimization area to obtain a tooth segmentation result.
2. The method for three-dimensional dental mesh model segmentation and boundary optimization according to claim 1, wherein the three-dimensional dental mesh model is a three-dimensional curved surface model of teeth.
3. The method for three-dimensional dental mesh model segmentation and boundary optimization according to claim 1, wherein the performing region growing process by using curvature threshold according to the seed points to obtain an initial region of each tooth comprises:
step 2.1, calculating curvature difference values among vertexes of all triangular patches taking the seed points as vertexes, and judging whether the triangular patches belong to the current tooth area according to the relation between the result and a curvature threshold value;
and 2.2, taking the other two vertexes of the triangular surface patch newly classified into the current tooth as new seed points, repeating the step 2.1 until no new triangular surface patch is classified into the current tooth, and stopping the growth of the area of the tooth.
4. A method of three-dimensional dental mesh model segmentation and boundary optimization according to claim 3, wherein all teeth in a three-dimensional dental mesh model are simultaneously grown during the region growing process.
5. The method for three-dimensional dental mesh model segmentation and boundary optimization according to claim 1, wherein the boundary optimization growth of the initial region using a boundary optimization algorithm based on fusion features and curvature to obtain a tooth optimization region, generating concave and convex boundaries, comprises:
step 3.1, calculating a fusion characteristic t of the current boundary triangular patch, and classifying the current boundary triangular patch into a corresponding tooth area when the fusion characteristic is smaller than a set threshold value; the fusion characteristics t are as follows:
t＝μ×||n||
wherein, n is the module of the normal vector of the current triangular patch, μ is the area coefficient of the current boundary triangular patch, and the area coefficient μ is as follows:
wherein s is 0 Is the area of the current boundary triangular patch, s i The area of the co-edge triangular surface piece of the boundary surface piece is i, and the number of the co-edge triangular surface pieces is i;
and 3.2, calculating a curvature difference value between the triangular patches with the same edges for the triangular patches newly classified into the boundary of the current tooth, wherein the triangular patches with the same edges, the curvature of which is smaller than that of the triangular patches with the same edges of the current boundary, become new boundaries, and repeating the step 3.1 until no new triangular patches with the same edges are generated, so that the boundary optimization of the tooth is finished.
6. The method for segmenting and optimizing the boundary of a three-dimensional dental mesh model according to claim 5, wherein the fusion feature t comprises a flatness feature of a current boundary triangular patch and an area change feature of a peripheral triangular patch.
7. The method for three-dimensional dental mesh model segmentation and boundary optimization according to claim 1, wherein the smoothing of the concave and convex boundaries of the tooth optimization region to obtain the tooth segmentation result comprises:
step 4.1, repairing teeth at the gingival boundary, and marking the triangular face piece as a tooth type if the triangular face piece is concave and is not marked with the triangular face piece;
and 4.2, deleting the teeth at the gingival boundary, and marking the triangular face piece as the gingival type if the triangular face piece is a convex unlabeled triangular face piece.
8. A three-dimensional dental mesh model segmentation and boundary optimization system, comprising:
the seed point selecting module is used for selecting the seed point of each tooth according to the three-dimensional dental grid model;
the area growth module is used for carrying out area growth treatment by utilizing a curvature threshold value according to the seed points to obtain an initial area of each tooth;
the boundary optimization module is used for carrying out boundary optimization growth on the initial area by using a boundary optimization algorithm based on fusion characteristics and curvature to obtain a tooth optimization area, and generating concave and convex boundaries;
and the smoothing processing module is used for carrying out smoothing processing on the concave and convex boundaries of the tooth optimization area to obtain a tooth segmentation result.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-7 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1-7.
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