WO2016003257A2 - Tooth model generation method for dental procedure simulation - Google Patents

Tooth model generation method for dental procedure simulation Download PDF

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WO2016003257A2
WO2016003257A2 PCT/KR2015/006975 KR2015006975W WO2016003257A2 WO 2016003257 A2 WO2016003257 A2 WO 2016003257A2 KR 2015006975 W KR2015006975 W KR 2015006975W WO 2016003257 A2 WO2016003257 A2 WO 2016003257A2
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model
tooth
generating
head image
volume
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PCT/KR2015/006975
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French (fr)
Korean (ko)
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WO2016003257A3 (en
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지헌주
임용현
조헌제
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주식회사 인스바이오
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/51—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for dentistry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/04—Measuring instruments specially adapted for dentistry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions

Definitions

  • the present invention relates to a method for generating a tooth model for performing a simulation in a dental procedure, and more particularly, to generate a 3D head image based on the head tomographic image data, and to create a 3D marker point on the 3D oral surface model and the 3D head image.
  • Apply the matching process extract each tooth from the matched 3D oral surface model to obtain a 3D tooth crown model, and extract each tooth region by applying a technique of extracting the region of interest from the 3D head image
  • a 3D tooth model is generated by synchronizing the coordinate system of the 3D tooth crown model and the 3D tooth volume model.
  • the present invention relates to a method for generating a tooth model for dental procedure simulation, which reflects and provides in real time the deformation of the tooth and oral structure by orthodontics.
  • the tooth model used for the existing simulation or simulation is a 3D stone model generated by scanning a plaster model that is modeled after the patient's oral cavity with a 3D scanner, or an intraoral 3D scanner (3D Intra). Scanning the inside of the patient's mouth using -oral-scanner to generate a 3D Stone Model, then separate each tooth to create a 3D Tooth Crown Model. I've used to do it.
  • the 3D Tooth Crown Model created by this method has a disadvantage in that it is impossible to check information necessary for diagnosis such as root position, direction, and length information, and requires expensive scanning equipment. There was a disadvantage.
  • a method of obtaining a head tomography image of a patient using CT (computed tomography), and generating a tooth model by segmenting the boundary of a tooth part from each tomography image and combining them into one is used. Since X-rays are radiated to the human body, X-ray doses above a certain intensity cannot be used to obtain low resolution data. Therefore, errors occur and the time required for boundary segmentation to generate a tooth model is also long. There was a downside.
  • the present invention was devised to solve such a problem, and there is no diagnostic information such as the existing root, but the error rate is due to the limitation of data using a dental model generated based on a precise gypsum model and the existing X-ray image of the human body. It aims to create a new tooth model by taking advantage of the tooth model generation method that maintains the diagnostic information.
  • the 3D dental crown model can be extracted by generating a 3D oral surface model that can extract the precise crown portion of the entire tooth without any additional cost or equipment, and a relatively simple 3D tooth volume model having diagnostic information can be obtained.
  • the purpose of the present invention is to provide a 3D dental model that is generated based on them and is similar to the real one and has diagnostic information.
  • an object of the present invention is to provide accurate and precise information by minimizing an error with actual internal oral data with respect to the position, direction, and length of the root of the patient.
  • a 3D head image is generated by combining a head tomography image (Dicom series) obtained by various methods such as CT, MRI or ultrasound diagnosis, and a plaster model.
  • DIcom series head tomography image
  • the 3D oral surface model obtains oral tomographic image data (DICOM series) by using tomography imaging equipment based on a plaster model or a concave model obtained from a patient's mouth, and segmentation and reconstruction thereof. ) Or 3D scan the gypsum model or the engraved model, or 3D scan the oral cavity of the patient directly.
  • DICOM series oral tomographic image data
  • the 3D oral surface model matched to the 3D head image in the third step may be applied to the 3D oral surface model by applying movement and rotation to fit the cover point of the 3D oral surface model to the cover point of the 3D head image.
  • the oral surface model may be registered on the 3D head image and positioned on the same coordinate axis.
  • the 3D tooth volume model may be generated by extracting only a region of interest, and setting a region of a desired portion to delete or initialize data outside the region.
  • the 3D tooth model may synchronize the coordinate system of the 3D tooth crown model and the 3D tooth volume model so that the entire tooth may move as one even if any part of the 3D tooth model is selected.
  • the 3D tooth volume model extracted from the 3D head image is automatically or manually generated based on an arbitrary axis constituting the 3D tooth volume model, and then the part outside the generated contour is deleted or
  • the distinction between 3D tooth volume and other parts can be clearly expressed.
  • the present invention there is no diagnostic information such as the existing root, but a tooth model generated based on a precise gypsum model, and a tooth model that maintains the diagnostic information, although an error rate is generated due to data limitations using conventional X-ray imaging of the human body. Taking advantage of the generation method is effective to create a new type of tooth model.
  • the 3D dental crown model can be extracted by generating a 3D oral surface model that can extract the precise crown portion of the entire tooth without any additional cost or equipment, and a relatively simple 3D tooth volume model having diagnostic information can be obtained. It is effective to provide a 3D tooth model that can be generated based on them, which is similar to the real one, retains diagnostic information, and performs simulation in dental procedures to reflect this in real time.
  • FIG. 1 is a diagram illustrating a process of generating a 3D oral surface model based on tomography of a plaster model using tomography equipment such as CT.
  • FIG. 2 illustrates a process of generating a 3D oral surface model based on a 3D scanner or an intraoral 3D scanner.
  • FIG. 3 is a view showing a marker point for registration with a 3D head image on the 3D oral surface model generated by FIG. 1 or 2;
  • FIG. 3 is a view showing a marker point for registration with a 3D head image on the 3D oral surface model generated by FIG. 1 or 2;
  • FIG. 4 is a diagram showing a marker point for registration with a 3D oral surface model on a 3D head image.
  • FIG. 5 illustrates that a 3D oral surface model (3D Stone Model) is matched to a 3D head image by performing 3D mark point-based registration on a 3D oral surface model and a 3D head image on which a marker point is displayed.
  • 3D oral surface model (3D Stone Model)
  • FIG. 6 is a view illustrating a process of generating a 3D tooth volume model
  • FIG. 7 illustrates generating a 3D tooth model by synchronizing a coordinate system of a 3D tooth crown model extracted from a 3D oral surface model matched to a 3D head image and a 3D tooth volume model extracted from a 3D head image.
  • FIG. 8 is a flowchart illustrating a method of generating a 3D tooth model for a simulation of a dental procedure.
  • a process for manufacturing a 3D tooth model using a plaster model has been described.
  • it refers to the process of generating a 3D tooth model using a model generated through a negative model that mimics the mouth of the patient.
  • the method of collecting data for generating the 3D tooth model is not limited thereto, and various modifications may be made, such as using a device or software for obtaining an image or a model from specific data or a model.
  • FIG. 1 is a diagram showing a process of generating a 3D oral surface model (3D stone model) based on the tomography using a tomography equipment, such as CT.
  • FIG. 2 is a diagram illustrating a process of generating a 3D stone model based on a 3D scanner or an intra-oral 3D scanner.
  • FIG. 3 is a diagram illustrating 3D Surface Landmarks displaying registration points for registration with a 3D Head Image on a 3D Stone Model generated by FIG. 1 or 2. .
  • oral tomography image data may be obtained by various methods such as CT (computed tomography) or MRI (magnetic resonance imaging) DICOM series) can be obtained.
  • CT computed tomography
  • MRI magnetic resonance imaging
  • the reason for CT imaging based on the plaster model that is modeled after the patient's mouth or the mouth model that is modeled after the patient's mouth is additional equipment such as a 3D scanner or an intra-oral 3D scanner. Indirect acquisition of 3D Stone Models with a single device at no additional cost.
  • data with low resolution which is one of the problems of the existing tooth model generation method based on X-rays, are based on the premise that X-rays are used in the human body. It is not a problem for CT-based because high resolution images can be obtained and based on this, accurate segmentation can be performed quickly.
  • MRI-based image capture has the advantage that you can examine the body structure at high resolution in detail even when the human body is taken directly If it takes a long time to acquire an image and there is metal in the tooth area (e.g. if a screw is implanted in the gum with an implant, etc. or if it is fixed with an iron core due to jawbone surgery, etc.) Since there is a problem in that it can be covered using the indirect photographing method of taking a plaster model or modeled intaglio model that is modeled after the patient's mouth.
  • the 3D oral surface model (3D Stone Model, 3D oral surface) is processed through segmentation and reconstruction of the oral tomographic image data (DICOM series) obtained by CT or MRI imaging on the plaster model or the negative model.
  • CAD model 3D oral surface model
  • segmentation refers to an operation of selecting a desired area by forming a boundary line.
  • the oral tomographic image data (DICOM series) is only an image stacked in layers, and thus there is no boundary.
  • the operation is performed to add a boundary to a part where the medium in which the air layer is in contact with the air is changed, so that the separation is easy, and such work corresponds to segmentation. That is, it means that the user classifies a portion to be used as data among images acquired from CT and MRI images, such as a crown portion of a tooth, a gum and a root of a tooth.
  • a 3D oral surface model is generated by reconstructing the 3D oral image using a technique such as a marching cube algorism based on segmented information.
  • the 3D stone model obtained through this process is a directional 3D CAD model composed of points, lines, and faces, and has a CAD model-based application process such as creating a new model or performing a simulation. It is possible.
  • the 3D oral surface model (3D Stone Model) obtained through the process of FIG. 1 or 2 may be marked (10, 3D Surface Landmrks) as shown in FIG. 3. Marking points may be displayed on the central incisor, the molar tooth, and the like. This is to obtain a 3D oral surface model (Transformed 3D Stone Model) matched to a 3D head image through 3D landmark-based registration. As a detailed description thereof will be described later.
  • FIG. 4 is a view illustrating marking marks 20 for 3D volume landmarks on a 3D head image.
  • FIG. 5 illustrates a 3D head image (3D Landmark-Transform) of a 3D stone surface model (3D Stone Model) and a 3D head image (3D head image) having a marker point (10, 20).
  • 3D Head Image is a view showing a 3D oral surface model (3D Stone Model) is matched.
  • head tomographic image data (DICOM series) is obtained from equipment such as CT, MRI, Ultrasonic diagnostics, and the like.
  • the head tomography image data (DICOM series) is not limited thereto and may be obtained by various methods such as PET (poisitron emission tomography).
  • a 3D head image having a volume is generated by combining the acquired tomographic image data DICOM series.
  • the mark point 20 is displayed (3D Volume Landmarks) at a position corresponding to the mark point 10 displayed on the above-described 3D oral surface model (3D Stone Model), using these mark points (10, 20) Perform registration. That is, to rotate and translate the mark point 10 displayed on the 3D stone model to the mark point 20 displayed on the 3D head image with a minimum error.
  • the transformation process is applied to the 3D oral surface model in the same manner, and as a result, the 3D oral surface model is matched to the 3D head image. This process is called 3D marker point-based registration (coordinate alignment using 3D marker point, 3D Landmark-Transform).
  • FIG. 6 is a diagram illustrating a process of generating a 3D tooth volume model 40.
  • FIG. 7 illustrates a 3D tooth volume model (30, 3D Tooth Crown Model) extracted from a 3D stone surface model (3D Stone Model) matched to a 3D head image, and a 3D tooth volume model extracted from a 3D head image (Head 3D Volume).
  • 40, 3D Tooth Volume Model is a view showing the synchronization of the coordinate system to generate a 3D tooth model.
  • a process of selecting only a region of interest in a 3D head image generated from the above process (50) (VOI, Volume of Interest) and a 3D image masking process are performed.
  • An individual 3D tooth volume model (40, 3D Tooth Volume Model) is obtained.
  • the 3D image masking process may generate a contour by a manual method or a command input such as performing a contour drawing (contour drawing) based on an arbitrary axis constituting the 3D tooth volume model.
  • the contour is generated in an automatic manner such as, the outer portion of the generated contour is deleted or initialized to clearly express the division between the selected portion and the other portion.
  • the 3D tooth crown model (30, 3D Tooth Crown Model) refers to the crown of the patient's mouth that can be observed with the naked eye except the roots and gums of the teeth, contour drawing using a mouse (contour)
  • the crown portion of the entire tooth in the oral cavity can be extracted automatically or simply by drawing, such as drawing.
  • a 3D tooth crown model (30, 3D Tooth Crown Model) and a 3D head image (3D Head Image) extracted from a 3D Stone Model matched to a 3D Head Image
  • the 3D tooth model is generated by synchronizing the coordinate system of the 3D tooth volume model 40 including the tooth root extracted from the tooth root.
  • the upper left molar 3D tooth crown model (30, 3D Tooth Crown Model) is extracted from the 3D stone model matched to the 3D head image, and the root portion corresponding thereto.
  • a 3D tooth volume model (40, 3D Tooth Volume Model) extracted from a 3D head image including 3 is obtained, and a coordinate system of two models is synchronized to generate a 3D tooth model.
  • 3D Tooth Volume Model 3D Tooth Volume Model
  • the generated 3D tooth models are already matched because they are generated based on the 3D head image and the 3D oral surface model (3D Stone Model) matched through the above-described process. Is generated. Since the coordinate system of the 3D Tooth Crown Model and the 3D Tooth Volume Model, which constitute the 3D Tooth Model, is synchronized, the 3D Tooth Model is synchronized. 3D Tooth Crown Model and 3D Tooth Volume Model are similar to the actual teeth that move as one, so it can be used to simulate the orthodontic simulation. Can be used.
  • FIG. 8 is a flowchart illustrating a method of generating a 3D tooth model for a simulation of a dental procedure.
  • 3D oral surface model (3D Stone Model) can be obtained by 3D scan of gypsum model or by inserting and scanning intra-oral 3D scanner into oral cavity.
  • mark points (10, 3D Surface Landmarks) are prepared on the 3D Stone Model obtained above to prepare data.
  • a 3D head image is generated by combining the tomographic image data (DICOM series) photographed using CT, MRI, and the like.
  • the marker points on the 3D head image (3D Head Image) corresponding to the marker points 10 displayed on the 3D stone surface model (3D Stone Model) are displayed (20, 3D Volume Landmarks) to prepare data.
  • 3D landmark-based registration using 3D landmark-based mark point 10 of 3D Stone Model is performed based on the mark point 20 of the 3D Head Image.
  • 3D oral surface model registered on the 3D head image.
  • the 3D head image A 3D tooth volume model (40, 3D Tooth Volume Model) including a tooth root (root) is generated from the 3D Head Image.
  • the 3D tooth crown model 30 obtains a 3D tooth volume model 40 and a 3D tooth volume model to synchronize the coordinate systems of the two models, thereby generating a 3D tooth model.
  • the generated 3D tooth models are already matched because they are generated based on the 3D head image and the matched 3D oral surface model (3D stone model) through the above-described process. It is created.
  • the 3D Tooth Model Since the coordinate system of the 3D Tooth Crown Model and the 3D Tooth Volume Model, which constitute the 3D Tooth Model, is synchronized, the 3D Tooth Model is synchronized. You can get a 3D Tooth Model that is similar to the actual tooth where the 3D Tooth Crown Model and the 3D Tooth Volume Model move as one. .

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Abstract

The present invention relates to a tooth model generation method for performing simulation in a dental procedure. More specifically, the present invention is a technique for generating a 3D tooth model by generating a 3D head image on the basis of head CT image data, applying a matching process using 3D landmarks to a 3D mouth surface model and a 3D head image, obtaining a 3D tooth crown model by extracting each tooth from the matched 3D mouth surface model, generating a 3D tooth volume model by extracting each tooth region by applying a technique for extracting a region of interest from the 3D head image, and then synchronizing the coordinate system of the 3D tooth crown model and 3D tooth volume model. That is to say, the present invention relates to a tooth model generation method for dental procedure simulation in which a 3D mouth surface model and a 3D head image on the basis of a 3D tooth crown model and a 3D tooth volume model are matched and thus the 3D tooth crown model and the 3D tooth volume model are in the matched state, and which, by synchronizing these two models to use the same coordinate system to make the two into one 3D tooth model, reflects in real time a change in the teeth and mouth structure due to orthodontic treatment. The present invention may: generate a new type of tooth model by taking only merits from a conventional tooth model which is generated on the basis of a precise stone model without diagnosis information such as roots of teeth, and from a conventional tooth model generation method in which an error occurs due to limited data using X-ray photography of a human body but diagnosis information is maintained; provide a 3D tooth model which, by extracting a 3D tooth crown model by generating a 3D mouth surface model in which the precise crown part of all teeth can be extracted without additional costs or equipment in an easier way than a conventional way, and by comparatively simply generating a 3D tooth volume model which contains diagnosis information, is formed on the basis of these models and thus is similar to an actual tooth, contains diagnosis information, and reflects in real time simulation which is performed in dental procedure; and provide correct and precise information related to the location, direction, length, etc. of the roots of teeth in the mouth of a patient by minimizing a difference from actual intra-oral data.

Description

치과 시술 시뮬레이션을 위한 치아모델 생성 방법Tooth Model Generation Method for Dental Simulation
본 발명은 치과 시술에서 시뮬레이션을 수행하기 위한 치아모델 생성 방법에 관한 것으로서, 더욱 상세하게는 두부 단층 이미지 데이터를 기반으로 3D 두부영상을 생성하며, 3D 구강표면 모델과 3D 두부영상에 3D 표지점을 이용한 정합의 과정을 적용하고, 상기 정합된 3D 구강표면 모델로부터 각각의 치아를 추출하여 3D 치아 크라운 모델을 획득하며, 상기 3D 두부영상으로부터 관심 영역을 추출하는 기법을 적용하여 각각의 치아 영역을 추출하여 3D 치아볼륨 모델을 생성한 후, 3D 치아 크라운 모델과 3D 치아볼륨 모델의 좌표계를 동기화시킴으로써 3D 치아모델을 생성하는 것에 관한 기술이다. 즉, 3D 치아 크라운 모델과 3D 치아볼륨 모델의 기반 데이터인 3D 구강표면 모델과 3D 두부영상이 정합되어 있으므로, 3D 치아 크라운 모델과 3D 치아볼륨 모델은 정합이 이루어진 상태이고, 이 둘을 하나의 3D 치아 모델로 하기 위해 동일 좌표계를 사용하도록 동기화시킴으로써, 치아 교정에 의한 치아 및 구강 구조의 변형을 실시간으로 반영하여 제공하는, 치과 시술 시뮬레이션을 위한 치아모델 생성 방법에 관한 것이다.The present invention relates to a method for generating a tooth model for performing a simulation in a dental procedure, and more particularly, to generate a 3D head image based on the head tomographic image data, and to create a 3D marker point on the 3D oral surface model and the 3D head image. Apply the matching process, extract each tooth from the matched 3D oral surface model to obtain a 3D tooth crown model, and extract each tooth region by applying a technique of extracting the region of interest from the 3D head image After the 3D tooth volume model is generated, a 3D tooth model is generated by synchronizing the coordinate system of the 3D tooth crown model and the 3D tooth volume model. That is, since the 3D oral surface model and the 3D head image, which are the base data of the 3D tooth crown model and the 3D tooth volume model, are matched, the 3D tooth crown model and the 3D tooth volume model are matched, By synchronizing to use the same coordinate system to make a tooth model, the present invention relates to a method for generating a tooth model for dental procedure simulation, which reflects and provides in real time the deformation of the tooth and oral structure by orthodontics.
기존 모의시술이나 시뮬레이션에 사용되는 치아모델은 환자의 구강을 본떠 생성한 석고모형을 3D 스캐너(3D Scanner)로 스캐닝하여 3D 구강표면 모델(3D Stone Model)을 생성하거나, 구강내 3D 스캐너(3D Intra-oral-scanner)를 이용하여 환자의 구강 내부를 스캐닝하여 3D 구강표면 모델(3D Stone Model)을 생성한 후, 이를 각각의 치아별로 분리하여 각각의 3D 치아 크라운 모델(3D Tooth Crown Model)을 생성하는 방식을 사용해 왔다. 하지만 이 방법으로 생성한 3D 치아 크라운 모델(3D Tooth Crown Model)은 치근(齒根)의 위치, 방향 및 길이 정보와 같은 진단에 필요한 정보를 확인할 수 없다는 단점이 있으며, 별도로 고가의 스캐닝 장비가 필요하다는 단점이 있었다.The tooth model used for the existing simulation or simulation is a 3D stone model generated by scanning a plaster model that is modeled after the patient's oral cavity with a 3D scanner, or an intraoral 3D scanner (3D Intra). Scanning the inside of the patient's mouth using -oral-scanner to generate a 3D Stone Model, then separate each tooth to create a 3D Tooth Crown Model. I've used to do it. However, the 3D Tooth Crown Model created by this method has a disadvantage in that it is impossible to check information necessary for diagnosis such as root position, direction, and length information, and requires expensive scanning equipment. There was a disadvantage.
이를 해결하고자 CT(computed tomography, 컴퓨터 단층 촬영)를 사용하여 환자의 두부 단층 이미지들을 얻고, 이 각각의 단층 이미지에서 치아부분의 경계를 구분(Segmentation)하여 하나로 취합해 치아모델을 생성하는 방법이 사용되었지만, 이는 인체에 X선을 쐬게 되므로 일정 강도 이상의 X선량을 사용할 수 없어 낮은 해상도의 데이터를 얻게 되기 때문에, 치아 모델을 생성하기 위한 경계 구분 작업(Segmentation)에 있어 오차가 발생하고 소요되는 시간 또한 길다는 단점이 있었다.In order to solve this problem, a method of obtaining a head tomography image of a patient using CT (computed tomography), and generating a tooth model by segmenting the boundary of a tooth part from each tomography image and combining them into one is used. Since X-rays are radiated to the human body, X-ray doses above a certain intensity cannot be used to obtain low resolution data. Therefore, errors occur and the time required for boundary segmentation to generate a tooth model is also long. There was a downside.
반면, 위에서 설명한 3D 구강표면 모델(3D Stone Model)을 이용해 생성한 3D 치아 크라운 모델(3D Tooth Crown Model)에 치근이 없다는 문제점을 해결하기 위해, 사용자의 입력을 받아 치근을 임의로 생성해 가시화하는 방법이 사용되었지만, 이 또한 오차가 심할 뿐더러 진단에는 사용이 부적절 하였다.On the other hand, in order to solve the problem that there is no root in the 3D Tooth Crown Model created using the 3D Stone Model described above, a method of randomly generating and visualizing the root by receiving a user's input Although this was used, this too was error and was not suitable for diagnosis.
본 발명은 이와 같은 문제점을 해결하기 위하여 창안된 것으로서, 기존의 치근 등의 진단 정보가 없지만 정밀한 석고모형 등을 기반으로 생성한 치아모델과 기존의 인체의 X선 촬영을 이용한 데이터 한계로 인해 오차율이 생기지만 진단 정보를 유지하는 치아모델 생성 방식의 장점만을 취해 새로운 방식의 치아모델을 생성하는 것을 목적으로 한다.The present invention was devised to solve such a problem, and there is no diagnostic information such as the existing root, but the error rate is due to the limitation of data using a dental model generated based on a precise gypsum model and the existing X-ray image of the human body. It aims to create a new tooth model by taking advantage of the tooth model generation method that maintains the diagnostic information.
또한, 종래보다 손쉬운 방법으로 추가적인 비용이나 장비 없이도 정밀한 치아 전체의 크라운 부분을 추출할 수 있는 3D 구강표면 모델을 생성하여 3D 치아 크라운 모델을 추출하고, 비교적 간단하게 진단 정보를 보유한 3D 치아볼륨 모델을 생성하여 이들을 기반으로 형성되어 실제와 유사하며 진단 정보를 보유한 3D 치아모델을 제공하는 것을 그 목적으로 한다.In addition, the 3D dental crown model can be extracted by generating a 3D oral surface model that can extract the precise crown portion of the entire tooth without any additional cost or equipment, and a relatively simple 3D tooth volume model having diagnostic information can be obtained. The purpose of the present invention is to provide a 3D dental model that is generated based on them and is similar to the real one and has diagnostic information.
또한, 치과 시술에 있어서 시뮬레이션을 수행하여 이를 실시간으로 반영할 수 있는 3D 치아모델을 제공하는 것을 목적으로 한다.In addition, it is an object of the present invention to provide a 3D dental model that can be reflected in real time by performing a simulation in the dental procedure.
또, 환자 구강 내 치근(齒根)의 위치, 방향 및 길이 등과 관련하여 실제 구강 내부 데이터와의 오차를 최소화하여 정확하고 정밀한 정보를 제공하는 것을 목적으로 한다.In addition, an object of the present invention is to provide accurate and precise information by minimizing an error with actual internal oral data with respect to the position, direction, and length of the root of the patient.
이와 같은 목적을 달성하기 위하여 본 발명에 따른 치과 시술 시뮬레이션을 위한 치아모델 생성 방법의 일측면에 따르면, According to one aspect of the method for generating a dental model for the simulation of the dental procedure according to the present invention to achieve the above object,
치과 시술 시뮬레이션을 위한 모의 시술에 사용되는 치아모델의 생성 방법으로서, CT, MRI 또는 초음파 진단과 같은 다양한 방법에 의해 획득한 두부 단층 이미지(Dicom series)가 조합되어 3D 두부영상이 생성되고, 석고모형과 3D 스캐너가 이용된 생성, 인트라 오랄 스캐너가 이용된 생성 또는 석고모형과 CT가 이용되어 영역화, 재구축단계를 거쳐 3D 구강표면 모델이 생성되는 제 1단계; 상기 생성된 3D 구강표면 모델 및 상기 3D 두부영상에 표지점을 표시하는 제 2단계; 상기 표지점이 표시된 3D 구강표면 모델 및 3D 두부영상에 3D 표지점 기반의 정합을 수행하여 3D 두부영상에 3D 구강표면 모델을 정합하는 제 3단계; 상기 획득된, 3D 두부영상에 정합된 3D 구강표면 모델로부터 하나 이상의 3D 치아 크라운 모델을 추출하고, 상기 3D 두부영상으로부터 상기 추출된 치아 크라운에 대응하는 하나 이상의 3D 치아볼륨 모델을 추출하는 제 4단계; 및 상기 추출된 하나 이상의 3D 치아 크라운 모델과 이에 대응하여 추출된 하나 이상의 3D 치아볼륨 모델의 좌표계를 동기화하여 3D 치아모델을 생성하는 제 5단계; 를 포함한다.As a method of generating a dental model used for a simulation for dental simulation, a 3D head image is generated by combining a head tomography image (Dicom series) obtained by various methods such as CT, MRI or ultrasound diagnosis, and a plaster model. And a first step of generating a 3D oral surface model by using a 3D scanner, a generation using an intraoral scanner, or a gypsum model and a CT using a region and a reconstruction step; A second step of displaying a cover point on the generated 3D oral surface model and the 3D head image; A third step of matching the 3D oral surface model to the 3D head image by performing 3D mark point-based registration on the 3D oral surface model and the 3D head image on which the mark point is displayed; A fourth step of extracting at least one 3D tooth crown model from the acquired 3D oral surface model matched to the 3D head image, and extracting at least one 3D tooth volume model corresponding to the extracted tooth crown from the 3D head image ; And generating a 3D tooth model by synchronizing the coordinate system of the extracted one or more 3D tooth crown models and the corresponding one or more extracted 3D tooth volume models; It includes.
상기 3D 구강표면 모델은, 환자의 구강으로부터 획득된 석고모형 또는 음각모형을 기반으로 단층 이미지 촬영 장비를 이용하여 구강 단층 이미지 데이터(DICOM series)를 획득하고, 이를 영역화(segmentation) 및 재구성(reconstruction)하거나 상기 석고모형 또는 음각모형을 3D 스캔하거나, 환자의 구강내를 3D 스캔하여 직접 획득할 수 있다.The 3D oral surface model obtains oral tomographic image data (DICOM series) by using tomography imaging equipment based on a plaster model or a concave model obtained from a patient's mouth, and segmentation and reconstruction thereof. ) Or 3D scan the gypsum model or the engraved model, or 3D scan the oral cavity of the patient directly.
상기 제 3단계 중 상기 3D 두부영상에 정합된 3D 구강표면 모델은, 상기 3D 두부영상의 표지점에 상기 3D 구강표면 모델의 표지점을 맞추기 위한 이동, 회전을 3D 구강표면 모델에 적용시킴으로써, 3D 구강표면 모델이 3D 두부영상에 정합(registration)되어 동일한 좌표축 상에 위치될 수 있다.The 3D oral surface model matched to the 3D head image in the third step may be applied to the 3D oral surface model by applying movement and rotation to fit the cover point of the 3D oral surface model to the cover point of the 3D head image. The oral surface model may be registered on the 3D head image and positioned on the same coordinate axis.
상기 제 4단계 중 상기 3D 치아볼륨 모델은, 관심 영역만을 추출(Volume Of Interest)하고, 이에 원하는 부분의 영역을 설정하여 영역 밖의 데이터를 삭제 또는 초기화하는 과정을 거쳐 생성될 수 있다.In the fourth step, the 3D tooth volume model may be generated by extracting only a region of interest, and setting a region of a desired portion to delete or initialize data outside the region.
상기 제 5단계 중 상기 3D 치아모델은, 상기 3D 치아 크라운 모델과 상기 3D 치아볼륨 모델의 좌표계를 동기화함으로써 상기 3D 치아모델 중 어느 부분이 선택되더라도 치아 전체가 하나로써 움직이게 될 수 있다.In the fifth step, the 3D tooth model may synchronize the coordinate system of the 3D tooth crown model and the 3D tooth volume model so that the entire tooth may move as one even if any part of the 3D tooth model is selected.
상기 제 4단계 중 3D 두부영상으로부터 추출된 3D 치아볼륨 모델은, 상기 3D 치아볼륨 모델을 구성하는 임의의 축을 기준으로 자동 또는 수동으로 윤곽을 생성한 후, 상기 생성된 윤곽 외부의 부분을 삭제 또는 초기화하는 방식을 이용하여 3D 치아볼륨과 그 외의 부분과의 구분을 명확히 표현할 수 있다.In the fourth step, the 3D tooth volume model extracted from the 3D head image is automatically or manually generated based on an arbitrary axis constituting the 3D tooth volume model, and then the part outside the generated contour is deleted or By using the initialization method, the distinction between 3D tooth volume and other parts can be clearly expressed.
본 발명에 의하면, 기존의 치근 등의 진단 정보가 없지만 정밀한 석고모형 등을 기반으로 생성한 치아모델과 기존의 인체의 X선 촬영을 이용한 데이터 한계로 인해 오차율이 생기지만 진단 정보를 유지하는 치아모델 생성 방식의 장점만을 취해 새로운 방식의 치아모델을 생성하는 효과가 있다.According to the present invention, there is no diagnostic information such as the existing root, but a tooth model generated based on a precise gypsum model, and a tooth model that maintains the diagnostic information, although an error rate is generated due to data limitations using conventional X-ray imaging of the human body. Taking advantage of the generation method is effective to create a new type of tooth model.
또한, 종래보다 손쉬운 방법으로 추가적인 비용이나 장비 없이도 정밀한 치아 전체의 크라운 부분을 추출할 수 있는 3D 구강표면 모델을 생성하여 3D 치아 크라운 모델을 추출하고, 비교적 간단하게 진단 정보를 보유한 3D 치아볼륨 모델을 생성하여, 이들을 기반으로 형성되어 실제와 유사하며 진단 정보를 보유할 뿐만 아니라 치과 시술에 있어서 시뮬레이션을 수행하여 이를 실시간으로 반영할 수 있는 3D 치아모델을 제공하는 효과가 있다.In addition, the 3D dental crown model can be extracted by generating a 3D oral surface model that can extract the precise crown portion of the entire tooth without any additional cost or equipment, and a relatively simple 3D tooth volume model having diagnostic information can be obtained. It is effective to provide a 3D tooth model that can be generated based on them, which is similar to the real one, retains diagnostic information, and performs simulation in dental procedures to reflect this in real time.
또, 환자 구강 내 치근의 위치, 방향 및 길이 등과 관련하여 실제 구강 내부 데이터와의 오차를 최소화하여 정확하고 정밀한 정보를 제공하는 효과가 있다.In addition, there is an effect of providing accurate and precise information by minimizing an error with the actual internal oral data with respect to the position, direction and length of the root in the patient's mouth.
도 1은 석고모형을 CT 등의 단층촬영 장비를 이용하여 단층촬영하고, 이를 기반으로 3D 구강표면 모델을 생성하는 과정을 도시한 도면1 is a diagram illustrating a process of generating a 3D oral surface model based on tomography of a plaster model using tomography equipment such as CT.
도 2는 3D 스캐너 또는 구강내 3D 스캐너를 기반으로 3D 구강표면 모델을 생성하는 과정을 도시한 도면FIG. 2 illustrates a process of generating a 3D oral surface model based on a 3D scanner or an intraoral 3D scanner.
도 3은 도 1 또는 도 2에 의해 생성된 3D 구강표면 모델에 3D 두부영상과의 정합을 위한 표지점을 표시한 것을 도시한 도면FIG. 3 is a view showing a marker point for registration with a 3D head image on the 3D oral surface model generated by FIG. 1 or 2; FIG.
도 4는 3D 두부영상에 3D 구강표면 모델과의 정합을 위한 표지점을 표시하는 것을 도시한 도면FIG. 4 is a diagram showing a marker point for registration with a 3D oral surface model on a 3D head image.
도 5는 표지점이 표시된 3D 구강표면 모델 및 3D 두부영상을 3D 표지점 기반의 정합을 수행하여 3D 두부영상(3D Head Image)에 3D 구강표면 모델(3D Stone Model)이 정합된 것을 도시한 도면FIG. 5 illustrates that a 3D oral surface model (3D Stone Model) is matched to a 3D head image by performing 3D mark point-based registration on a 3D oral surface model and a 3D head image on which a marker point is displayed.
도 6은 3D 치아볼륨 모델을 생성하는 과정을 도시한 도면6 is a view illustrating a process of generating a 3D tooth volume model
도 7은 3D 두부영상에 정합된 3D 구강표면 모델로부터 추출된 3D 치아 크라운 모델 및 3D 두부영상으로부터 추출된 3D 치아볼륨 모델의 좌표계를 동기화시켜 3D 치아모델을 생성하는 것을 도시한 도면FIG. 7 illustrates generating a 3D tooth model by synchronizing a coordinate system of a 3D tooth crown model extracted from a 3D oral surface model matched to a 3D head image and a 3D tooth volume model extracted from a 3D head image.
도 8은 치과 시술 시뮬레이션을 위한 3D 치아모델 생성 방법을 순서도로 표시한 도면8 is a flowchart illustrating a method of generating a 3D tooth model for a simulation of a dental procedure.
이하 첨부된 도면을 참조로 본 발명의 바람직한 실시예를 상세히 설명하기로 한다. 이에 앞서, 본 명세서 및 청구범위에 사용된 용어나 단어는 통상적이거나 사전적인 의미로 한정해서 해석되어서는 아니되며, 발명자는 그 자신의 발명을 가장 최선의 방법으로 설명하기 위해 용어의 개념을 적절하게 정의할 수 있다는 원칙에 입각하여 본 발명의 기술적 사상에 부합하는 의미와 개념으로 해석되어야만 한다. 따라서, 본 명세서에 기재된 실시예와 도면에 도시된 구성은 본 발명의 가장 바람직한 일 실시예에 불과할 뿐이고 본 발명의 기술적 사상을 모두 대변하는 것은 아니므로, 본 출원시점에 있어서 이들을 대체할 수 있는 다양한 균등물과 변형예들이 있을 수 있음을 이해하여야 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.
본 발명에서는 석고모형을 이용하여 3D 치아모델을 제조하는 과정에 대해서 설명하고 있다. 또한, 도면에 도시되지는 않았지만, 환자의 구강을 본뜬 음각모형을 통하여 생성된 모델을 이용하여 3D 치아모델을 생성하는 과정에 대해서도 언급하고 있다. 그러나 3D 치아모델 생성을 위한 데이터의 수집 방법으로는 이에 한정되지 아니하고, 특정 데이터 또는 모델로부터 이미지 또는 모델을 얻을 수 있는 장치나 소프트웨어를 이용하는 방법 등 다양하게 변경이 가능하다.In the present invention, a process for manufacturing a 3D tooth model using a plaster model has been described. In addition, although not shown in the drawings, it refers to the process of generating a 3D tooth model using a model generated through a negative model that mimics the mouth of the patient. However, the method of collecting data for generating the 3D tooth model is not limited thereto, and various modifications may be made, such as using a device or software for obtaining an image or a model from specific data or a model.
도 1은 석고모형을 CT등의 단층촬영 장비를 이용하여 단층촬영하고, 이를 기반으로 3D 구강표면 모델(3D Stone Model)을 생성하는 과정을 도시한 도면이다. 도 2는 3D 스캐너(3D Scanner) 또는 구강내 3D 스캐너(Intra-Oral 3D Scanner)를 기반으로 3D 구강표면 모델(3D Stone Model)을 생성하는 과정을 도시한 도면이다. 도 3은 도 1 또는 도 2에 의해 생성된 3D 구강표면 모델(3D Stone Model)에 3D 두부영상(3D Head Image)과의 정합을 위한 표지점을 표시(3D Surface Landmarks)한 것을 도시한 도면이다.1 is a diagram showing a process of generating a 3D oral surface model (3D stone model) based on the tomography using a tomography equipment, such as CT. FIG. 2 is a diagram illustrating a process of generating a 3D stone model based on a 3D scanner or an intra-oral 3D scanner. FIG. 3 is a diagram illustrating 3D Surface Landmarks displaying registration points for registration with a 3D Head Image on a 3D Stone Model generated by FIG. 1 or 2. .
환자의 구강을 본떠 제작한 석고모형 또는 환자의 구강을 본뜬 음각모형을 이용하여 CT(computed tomography, 컴퓨터 단층 촬영) 또는 MRI(magnetic resonance imaging, 자기공명영상) 촬영 등 다양한 방법으로 구강 단층 이미지 데이터(DICOM series)를 획득할 수 있다.Using a plaster model that is modeled after the patient's mouth or an intaglio model that is modeled after the patient's mouth, oral tomography image data may be obtained by various methods such as CT (computed tomography) or MRI (magnetic resonance imaging) DICOM series) can be obtained.
이때, 환자의 구강을 본떠 제작한 석고모형 또는 환자의 구강을 본뜬 음각모형을 기반으로 CT 촬영을 하는 이유는 3D 스캐너(3D scanner) 또는 구강내 3D 스캐너(Intra-Oral 3D Scanner) 등의 추가 장비와 추가 비용 없이 단일 장비로 3D 구강표면 모델(3D Stone Model)을 간접적으로 획득하기 위함이다. 또한, 기존 X선을 이용한 치아모델 생성방법의 문제 중 하나인 낮은 해상도를 갖는 데이터는 인체에 X선을 사용한다는 전제를 바탕으로 하는데, 석고모형은 강한 X선 사용이 허용되는 물체이므로 CT를 이용한 높은 해상도의 이미지를 얻어낼 수 있어 이를 기반으로 빠른 시간 내에 정확한 경계구분 작업(segmetation)이 가능하기 때문에 CT를 기반으로 하는 데에 문제가 되지 않는다.At this time, the reason for CT imaging based on the plaster model that is modeled after the patient's mouth or the mouth model that is modeled after the patient's mouth is additional equipment such as a 3D scanner or an intra-oral 3D scanner. Indirect acquisition of 3D Stone Models with a single device at no additional cost. In addition, data with low resolution, which is one of the problems of the existing tooth model generation method based on X-rays, are based on the premise that X-rays are used in the human body. It is not a problem for CT-based because high resolution images can be obtained and based on this, accurate segmentation can be performed quickly.
반면, 기존의 X선을 이용한 치아모델 생성 방법의 낮은 해상도 문제를 해결하기 위한 방법 중 MRI를 사용한 이미지 촬영의 경우, 인체를 직접 촬영한 경우에도 높은 해상도로 신체 구조를 자세히 살필 수 있다는 장점이 있으나, 이미지를 얻기 위해서 오랜 시간이 걸리고 치아 부위에 금속이 존재(예컨대, 임플란트 등으로 나사가 잇몸에 심겨 있는 경우나 턱뼈 수술 등으로 인하여 철심 등으로 고정된 경우 등)한다면, 이로 인해 촬영 부위의 일부를 가릴 수 있다는 문제점이 있기 때문에 환자의 구강을 본떠 제작한 석고모형 또는 본뜬 음각모형을 촬영하는 간접촬영 방법을 사용한다.On the other hand, among the methods for solving the low resolution problem of the conventional tooth model generation method using the X-ray, MRI-based image capture has the advantage that you can examine the body structure at high resolution in detail even when the human body is taken directly If it takes a long time to acquire an image and there is metal in the tooth area (e.g. if a screw is implanted in the gum with an implant, etc. or if it is fixed with an iron core due to jawbone surgery, etc.) Since there is a problem in that it can be covered using the indirect photographing method of taking a plaster model or modeled intaglio model that is modeled after the patient's mouth.
여기서, 석고모형 또는 음각모형에 CT, MRI 촬영 등으로 획득된 구강 단층 이미지 데이터(DICOM series)를 영역화 및 재구성하는 과정(segmentation and reconstruction)을 통해 3D 구강표면 모델(3D Stone Model, 3D 구강표면 CAD 모델)을 획득한다.Here, the 3D oral surface model (3D Stone Model, 3D oral surface) is processed through segmentation and reconstruction of the oral tomographic image data (DICOM series) obtained by CT or MRI imaging on the plaster model or the negative model. CAD model).
이때, 영역화(segmentation)는 경계선을 형성하여 원하는 영역을 선택하는 작업을 의미하는데, 일 예로 구강 단층 이미지 데이터(DICOM series)는 이미지를 층층으로 쌓은 것에 불과하여 경계 구분이 없으므로, 예컨대 석고모형 표면과 공기층이 맞닿는 매질이 변하는 부분 등에 경계를 부가하여 구분이 용이하도록 하는 작업을 수행하며, 그러한 작업이 영역화(segmentation)에 해당한다. 즉, 치아의 크라운 부분, 잇몸, 치아 뿌리 등 CT, MRI 영상으로부터 획득한 영상 중 사용자가 데이터로서 사용할 부분을 구분하는 것을 의미한다. 이후, 영역화(segmentation)된 정보를 기반으로 3D 구강 영상에 마칭큐브 알고리즘(Marching cube algorism) 등의 기법을 이용하여 재구성(reconstruction)함으로써, 3D 구강표면 모델(3D Stone Model)을 생성한다.In this case, segmentation refers to an operation of selecting a desired area by forming a boundary line. For example, the oral tomographic image data (DICOM series) is only an image stacked in layers, and thus there is no boundary. The operation is performed to add a boundary to a part where the medium in which the air layer is in contact with the air is changed, so that the separation is easy, and such work corresponds to segmentation. That is, it means that the user classifies a portion to be used as data among images acquired from CT and MRI images, such as a crown portion of a tooth, a gum and a root of a tooth. Subsequently, a 3D oral surface model is generated by reconstructing the 3D oral image using a technique such as a marching cube algorism based on segmented information.
이러한 과정을 통하여 획득된 3D 구강표면 모델(3D Stone Model)은 점, 선 및 면으로 구성되며 방향성을 가지는 3D CAD 모델로서, 새로운 모델을 제작하거나 시뮬레이션을 수행하는 것과 같은 CAD 모델 기반의 응용 프로세스가 가능하다.The 3D stone model obtained through this process is a directional 3D CAD model composed of points, lines, and faces, and has a CAD model-based application process such as creating a new model or performing a simulation. It is possible.
이후, 도 1 또는 도 2의 과정을 통하여 획득된 3D 구강표면 모델(3D Stone Model)에, 도 3에 도시된 바와 같이 표지점을 표시(10, 3D Surface Landmrks)하게 되는데, 일 예로 양쪽 전치, 중절치, 대구치 등에 각각 표지점을 표시할 수 있다. 이는, 이후에 진행할 3D 표지점 기반의 정합(3D landmark-transform)을 통해 3D 두부영상(3D Head Image)에 정합된 3D 구강표면 모델을(변환된 3D CAD 모델(Transformed 3D Stone Model))획득하려는 것으로서, 이에 대한 상세한 설명은 후술한다.Subsequently, the 3D oral surface model (3D Stone Model) obtained through the process of FIG. 1 or 2 may be marked (10, 3D Surface Landmrks) as shown in FIG. 3. Marking points may be displayed on the central incisor, the molar tooth, and the like. This is to obtain a 3D oral surface model (Transformed 3D Stone Model) matched to a 3D head image through 3D landmark-based registration. As a detailed description thereof will be described later.
도 4는 3D 두부영상(3D Head Image)에 3D 구강표면 모델(3D Stone Model)과의 정합을 위한 표지점을 표시(20, 3D Volume Landmarks)하는 것을 도시한 도면이다. 도 5는 표지점이 표시(10, 20)된 3D 구강표면 모델(3D Stone Model) 및 3D 두부영상(3D Head Image)을 3D 표지점 기반의 정합(3D Landmark-Transform)을 수행하여 3D 두부영상(3D Head Image)에 3D 구강표면 모델(3D Stone Model)이 정합된 것을 도시한 도면이다. 이하, 도 4 내지 도 5를 참조하여 3D 표지점 기반의 정합(3D 표지점을 이용한 좌표정렬)과정을 설명한다.FIG. 4 is a view illustrating marking marks 20 for 3D volume landmarks on a 3D head image. FIG. 5 illustrates a 3D head image (3D Landmark-Transform) of a 3D stone surface model (3D Stone Model) and a 3D head image (3D head image) having a marker point (10, 20). 3D Head Image) is a view showing a 3D oral surface model (3D Stone Model) is matched. Hereinafter, a matching process based on 3D marker points (coordinate alignment using 3D marker points) will be described with reference to FIGS. 4 to 5.
도 4를 참조하면, CT, MRI, Ultrasonic diagnostics(초음파 진단) 등의 장비로부터 두부 단층 이미지 데이터(DICOM series)를 획득한다. 다만, 두부 단층 이미지 데이터(DICOM series)는 이에 한정되지 아니하고 PET(poisitron emission tomography, 양전자 단층 촬영) 등 다양한 방법으로 얻을 수 있다.Referring to FIG. 4, head tomographic image data (DICOM series) is obtained from equipment such as CT, MRI, Ultrasonic diagnostics, and the like. However, the head tomography image data (DICOM series) is not limited thereto and may be obtained by various methods such as PET (poisitron emission tomography).
이후, 획득된 두부 단층 이미지 데이터(DICOM series)들을 조합하여 부피(volume)를 가진 3D 두부영상(3D Head Image)을 생성한다.Subsequently, a 3D head image having a volume is generated by combining the acquired tomographic image data DICOM series.
이때, 전술한 3D 구강표면 모델(3D Stone Model)에 표시한 표지점(10)과 대응되는 위치에 표지점(20)을 표시(3D Volume Landmarks)하고, 이러한 표지점(10, 20)을 이용한 정합(registration)을 수행한다. 즉, 3D 두부영상(3D Head Image)에 표시된 표지점(20)에 3D 구강표면 모델(3D Stone Model)에 표시된 표지점(10)을 최소한의 오차로 맞추기 위한 회전(rotate), 이동(translate) 하는 변환 과정을 3D 구강표면 모델에 동일하게 적용시켜 결과적으로 3D 구강표면 모델이 3D 두부영상에 정합된다. 이러한 과정을 3D 표지점 기반의 정합(3D 표지점을 이용한 좌표정렬, 3D Landmark-Transform)이라고 한다.At this time, the mark point 20 is displayed (3D Volume Landmarks) at a position corresponding to the mark point 10 displayed on the above-described 3D oral surface model (3D Stone Model), using these mark points (10, 20) Perform registration. That is, to rotate and translate the mark point 10 displayed on the 3D stone model to the mark point 20 displayed on the 3D head image with a minimum error. The transformation process is applied to the 3D oral surface model in the same manner, and as a result, the 3D oral surface model is matched to the 3D head image. This process is called 3D marker point-based registration (coordinate alignment using 3D marker point, 3D Landmark-Transform).
도 6은 3D 치아볼륨 모델(40, 3D Tooth Volume Model)을 생성하는 과정을 도시한 도면이다. 도 7은 3D 두부영상에 정합된 3D 구강표면 모델(3D Stone Model)로부터 추출된 3D 치아 크라운 모델(30, 3D Tooth Crown Model) 및 3D 두부영상(Head 3D Volume)으로부터 추출된 3D 치아볼륨 모델(40, 3D Tooth Volume Model)의 좌표계를 동기화시켜 3D 치아모델을 생성하는 것을 도시한 도면이다.FIG. 6 is a diagram illustrating a process of generating a 3D tooth volume model 40. FIG. 7 illustrates a 3D tooth volume model (30, 3D Tooth Crown Model) extracted from a 3D stone surface model (3D Stone Model) matched to a 3D head image, and a 3D tooth volume model extracted from a 3D head image (Head 3D Volume). 40, 3D Tooth Volume Model) is a view showing the synchronization of the coordinate system to generate a 3D tooth model.
도 6을 참조하면, 전술한 과정으로부터 생성된 3D 두부영상(3D Head Image)에 관심 영역만을 선택하는 과정(50)(VOI, Volume of Interest)과 3D 이미지 마스킹(3D Image masking) 과정을 거쳐 치아 개개별 3D 치아볼륨 모델(40, 3D Tooth Volume Model)을 획득한다. 여기서 3D 이미지 마스킹 과정이란, 상기 3D 치아볼륨 모델(3D Tooth Volume Model)을 구성하는 임의의 축을 기준으로 컨투어 드로잉(contour drawing, 윤곽선 그리기)을 수행하는 것과 같은 수동방식 또는 명령어 입력에 의하여 윤곽을 생성하는 등의 자동방식으로 윤곽선을 생성한 후, 상기 생성된 윤곽 외부의 부분을 삭제 또는 초기화하여 선택부분과 그 외의 부분과의 구분을 명확히 표현하는 것을 의미한다.Referring to FIG. 6, a process of selecting only a region of interest in a 3D head image generated from the above process (50) (VOI, Volume of Interest) and a 3D image masking process are performed. An individual 3D tooth volume model (40, 3D Tooth Volume Model) is obtained. Here, the 3D image masking process may generate a contour by a manual method or a command input such as performing a contour drawing (contour drawing) based on an arbitrary axis constituting the 3D tooth volume model. After the contour is generated in an automatic manner such as, the outer portion of the generated contour is deleted or initialized to clearly express the division between the selected portion and the other portion.
도 6 및 도 7을 참조하면, 3D 두부영상(3D Head Image)에 정합된 3D 구강표면 모델(3D Stone Model)로부터 치아의 크라운 부분만을 추출하여 3D 치아 크라운 모델(30, 3D Tooth Crown Model)을 생성(Tooth-crown carving and Create Tooth-Crown surface)한다. 여기서 3D 치아 크라운 모델(30, 3D Tooth Crown Model)은 환자의 구강에서 치아 중 뿌리와 잇몸을 제외하고 육안으로 관찰할 수 있는 부분인 치관(齒冠)을 의미하는데, 마우스를 이용한 컨투어 드로잉(contour drawing, 윤곽선 그리기)과 같이 간단한 조작(carving) 또는 자동으로 구강 내 전체 치아의 크라운 부분을 추출할 수 있다.6 and 7, only the crown portion of the tooth is extracted from the 3D stone model matched to the 3D head image to obtain the 3D tooth crown model 30. Tooth-crown carving and Create Tooth-Crown surface. Here, the 3D tooth crown model (30, 3D Tooth Crown Model) refers to the crown of the patient's mouth that can be observed with the naked eye except the roots and gums of the teeth, contour drawing using a mouse (contour) The crown portion of the entire tooth in the oral cavity can be extracted automatically or simply by drawing, such as drawing.
이후에는 치아 각각에 대하여, 3D 두부영상(3D Head Image)에 정합된 3D 구강표면 모델(3D Stone Model)로부터 추출된 3D 치아 크라운 모델(30, 3D Tooth Crown Model)과 3D 두부영상(3D Head Image)으로부터 추출된 치아 뿌리(치근(齒根))를 포함한 3D 치아볼륨 모델(40, 3D Tooth Volume Model)의 좌표계를 동기화하여 3D 치아모델(3D Tooth Model)을 생성한다.Thereafter, for each tooth, a 3D tooth crown model (30, 3D Tooth Crown Model) and a 3D head image (3D Head Image) extracted from a 3D Stone Model matched to a 3D Head Image The 3D tooth model is generated by synchronizing the coordinate system of the 3D tooth volume model 40 including the tooth root extracted from the tooth root.
예를 들어, 3D 두부영상(3D Head Image)에 정합된 3D 구강표면 모델(3D Stone Model)로부터 윗부분의 좌측 어금니 3D 치아 크라운 모델(30, 3D Tooth Crown Model)을 추출하고, 이에 대응하는 뿌리 부분을 포함한 3D 두부영상(3D Head Image)으로부터 추출한 3D 치아볼륨 모델(40, 3D Tooth Volume Model)을 획득하여 두 가지 모델의 좌표계를 동기화하여 3D 치아모델(3D Tooth Model)을 생성한다. 이와 같이, 얻어진 3D 치아 크라운 모델(30, 3D Tooth Crown Model) 및 3D 치아볼륨 모델(40, 3D Tooth Volume Model) 각각에 대하여, 이들의 좌표계를 동기화하는 과정을 반복하여 3D 치아모델(3D Tooth Model)을 다수 개 획득한다.For example, the upper left molar 3D tooth crown model (30, 3D Tooth Crown Model) is extracted from the 3D stone model matched to the 3D head image, and the root portion corresponding thereto. A 3D tooth volume model (40, 3D Tooth Volume Model) extracted from a 3D head image including 3 is obtained, and a coordinate system of two models is synchronized to generate a 3D tooth model. In this way, for each of the obtained 3D tooth crown model (30, 3D Tooth Crown Model) and 3D tooth volume model (40, 3D Tooth Volume Model), by repeating the process of synchronizing their coordinate system 3D tooth model (3D Tooth Model) Acquire multiple).
이때 생성된 3D 치아모델(3D Tooth Model)들은 전술한 과정을 통해 3D 두부영상(3D Head Image)과 그에 정합된 3D 구강표면 모델(3D Stone Model)을 기반으로 생성되기 때문에, 이미 정합되어 있는 상태로 생성이 된다. 전술한 과정을 통해 3D 치아모델(3D Tooth Model)을 이루는 3D 치아 크라운 모델(3D Tooth Crown Model)과 3D 치아볼륨 모델(3D Tooth Volume Model)의 좌표계가 동기화 되어있으므로, 3D 치아모델(3D Tooth Model)의 어느 부분을 움직이더라도 3D 치아 크라운 모델(3D Tooth Crown Model)과 3D 치아볼륨 모델(3D Tooth Volume Model)이 하나로써 움직이게 되는 실제 치아와 유사한 모습을 띄므로, 치아교정 시뮬레이션을 위한 모의시술에 이용될 수 있다.The generated 3D tooth models are already matched because they are generated based on the 3D head image and the 3D oral surface model (3D Stone Model) matched through the above-described process. Is generated. Since the coordinate system of the 3D Tooth Crown Model and the 3D Tooth Volume Model, which constitute the 3D Tooth Model, is synchronized, the 3D Tooth Model is synchronized. 3D Tooth Crown Model and 3D Tooth Volume Model are similar to the actual teeth that move as one, so it can be used to simulate the orthodontic simulation. Can be used.
도 8은 치과 시술 시뮬레이션을 위한 3D 치아모델(3D Tooth Model) 생성 방법을 순서도로 표시한 도면이다.8 is a flowchart illustrating a method of generating a 3D tooth model for a simulation of a dental procedure.
첫째, 환자의 구강으로부터 얻은 석고모형 또는 환자의 구강을 본뜬 음각모형을 CT, MRI 등으로 촬영하고, 이로써 획득된 구강 단층 이미지 데이터(DICOM series)를 영역화 및 재구성(segmentation and reconstruction)의 과정을 거치는 방법 또는 석고모형을 3D 스캔(3D Scan)하거나 구강내 3D 스캐너(Intra-Oral 3D Scanner)를 구강에 삽입하고 스캔하는 방법을 통해 3D 구강표면 모델(3D Stone Model)을 얻을 수 있다.First, the plaster model obtained from the oral cavity of the patient or the negative model imitating the oral cavity of the patient is photographed by CT, MRI, etc., and the process of segmentation and reconstruction of the obtained oral tomographic image data (DICOM series) is performed. 3D oral surface model (3D Stone Model) can be obtained by 3D scan of gypsum model or by inserting and scanning intra-oral 3D scanner into oral cavity.
둘째, 앞에서 얻은 3D 구강표면 모델(3D Stone Model)에 표지점을 표시(10, 3D Surface Landmarks)하여 데이터를 준비한다. Second, mark points (10, 3D Surface Landmarks) are prepared on the 3D Stone Model obtained above to prepare data.
셋째, CT, MRI 등을 이용하여 촬영된 두부 단층 이미지 데이터(DICOM series)들을 조합하여 3D 두부영상(3D Head Image)을 생성한다.Third, a 3D head image is generated by combining the tomographic image data (DICOM series) photographed using CT, MRI, and the like.
넷째, 3D 구강표면 모델(3D Stone Model)에 표시된 표지점(10)에 대응할 3D 두부영상(3D Head Image)상 표지점을 표시(20, 3D Volume Landmarks)하여 데이터를 준비한다.Fourth, the marker points on the 3D head image (3D Head Image) corresponding to the marker points 10 displayed on the 3D stone surface model (3D Stone Model) are displayed (20, 3D Volume Landmarks) to prepare data.
다섯째, 3D 두부영상(3D Head Image)의 표지점(20)을 기반으로 3D 구강표면 모델(3D Stone Model)의 표지점(10)을 이용한 3D 표지점 기반의 정합(3D Landmark-Transform)을 수행하여 3D 두부영상에 정합(registration)된 3D 구강표면 모델을 얻는다.Fifth, 3D landmark-based registration using 3D landmark-based mark point 10 of 3D Stone Model is performed based on the mark point 20 of the 3D Head Image. 3D oral surface model registered on the 3D head image.
여섯째, 3D 두부영상(3D Head Image)에 정합된 3D 구강표면 모델(3D Stone Model)로부터 치아의 크라운 부분만을 추출하여 3D 치아 크라운 모델(30, 3D Tooth Crown Model)을 생성하고, 상기 3D 두부영상(3D Head Image)으로부터 치아 뿌리(치근(齒根))를 포함하는 3D 치아볼륨 모델(40, 3D Tooth Volume Model)을 생성한다. 이후, 상기 3D 치아 크라운 모델(30, 3D Tooth Crown Model) 3D 치아볼륨 모델(40, 3D Tooth Volume Model)을 획득하여 두 모델의 좌표계를 동기화함으로써, 3D 치아모델(3D Tooth Model)을 생성한다.Sixth, to extract only the crown portion of the tooth from the 3D stone surface (3D Stone Model) matched to the 3D head image (3D Head Image) to generate a 3D tooth crown model (30, 3D Tooth Crown Model), the 3D head image A 3D tooth volume model (40, 3D Tooth Volume Model) including a tooth root (root) is generated from the 3D Head Image. Thereafter, the 3D tooth crown model 30 obtains a 3D tooth volume model 40 and a 3D tooth volume model to synchronize the coordinate systems of the two models, thereby generating a 3D tooth model.
이와 같이, 얻어진 3D 치아 크라운 모델(30, 3D Tooth Crown Model) 및 3D 치아볼륨 모델(40, 3D Tooth Volume Model) 각각에 대하여, 이들의 좌표계를 동기화하는 과정을 반복하여 3D 치아모델(3D Tooth Model)을 다수 개 획득한다.In this way, for each of the obtained 3D tooth crown model (30, 3D Tooth Crown Model) and 3D tooth volume model (40, 3D Tooth Volume Model), by repeating the process of synchronizing their coordinate system 3D tooth model (3D Tooth Model) Acquire multiple).
이때 생성된 3D 치아모델(3D Tooth Model)들은 전술한 과정을 통해 3D 두부영상(3D Head Image)과 그에 정합된 3D 구강표면 모델(3D Stone Model)을 기반으로 생성되기 때문에 이미 정합되어 있는 상태로 생성이 된다.The generated 3D tooth models are already matched because they are generated based on the 3D head image and the matched 3D oral surface model (3D stone model) through the above-described process. It is created.
전술한 과정을 통해 3D 치아모델(3D Tooth Model)을 이루는 3D 치아 크라운 모델(3D Tooth Crown Model)과 3D 치아볼륨 모델(3D Tooth Volume Model)의 좌표계가 동기화 되어있으므로, 3D 치아모델(3D Tooth Model)의 어느 부분을 움직이더라도 3D 치아 크라운 모델(3D Tooth Crown Model)과 3D 치아볼륨 모델(3D Tooth Volume Model)이 하나로써 움직이게 되는 실제 치아와 유사한 3D 치아모델(3D Tooth Model)을 얻을 수 있게 된다.Since the coordinate system of the 3D Tooth Crown Model and the 3D Tooth Volume Model, which constitute the 3D Tooth Model, is synchronized, the 3D Tooth Model is synchronized. You can get a 3D Tooth Model that is similar to the actual tooth where the 3D Tooth Crown Model and the 3D Tooth Volume Model move as one. .
이상과 같이, 본 발명은 비록 한정된 실시예와 도면에 의해 설명되었으나, 본 발명은 이것에 의해 한정되지 않으며 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 본 발명의 기술사상과 아래에 기재될 특허청구범위의 균등범위 내에서 다양한 수정 및 변형이 가능함은 물론이다.As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

Claims (6)

  1. 치과 시술 시뮬레이션을 위한 모의 시술에 사용되는 치아모델의 생성 방법으로서,As a method of generating a tooth model used in a simulation for dental simulation,
    CT, MRI 또는 초음파 진단과 같은 다양한 방법에 의해 획득한 두부 단층 이미지(DICOM series)가 조합되어 3D 두부영상이 생성되고, 석고모형과 3D 스캐너가 이용된 생성, 인트라 오랄 스캐너가 이용된 생성 또는 석고모형과 CT가 이용되어 영역화, 재구축단계를 거쳐 3D 구강표면 모델이 생성되는 제 1단계;3D head images are generated by combining the head tomographic images (DICOM series) obtained by various methods such as CT, MRI or ultrasound diagnosis, and using gypsum model and 3D scanner, generation using intra oral scanner or gypsum A first step of generating a 3D oral surface model through a region and reconstruction using a model and a CT;
    상기 생성된 3D 구강표면 모델 및 상기 3D 두부영상에 표지점을 표시하는 제 2단계;A second step of displaying a cover point on the generated 3D oral surface model and the 3D head image;
    상기 표지점이 표시된 3D 구강표면 모델 및 3D 두부영상에 3D 표지점 기반의 정합을 수행하여 3D 두부영상에 3D 구강표면 모델을 정합하는 제 3단계;A third step of matching the 3D oral surface model to the 3D head image by performing 3D mark point-based registration on the 3D oral surface model and the 3D head image on which the mark point is displayed;
    상기 획득된, 3D 두부영상에 정합된 3D 구강표면 모델로부터 하나 이상의 3D 치아 크라운 모델을 추출하고, 상기 3D 두부영상으로부터 상기 추출된 치아 크라운에 대응하는 하나 이상의 3D 치아볼륨 모델을 추출하는 제 4단계; 및A fourth step of extracting at least one 3D tooth crown model from the acquired 3D oral surface model matched to the 3D head image, and extracting at least one 3D tooth volume model corresponding to the extracted tooth crown from the 3D head image ; And
    상기 추출된 하나 이상의 3D 치아 크라운 모델과 이에 대응하여 추출된 하나 이상의 3D 치아볼륨 모델의 좌표계를 동기화하여 3D 치아모델을 생성하는 제 5단계;A fifth step of generating a 3D tooth model by synchronizing the coordinate system of the extracted one or more 3D tooth crown models with one or more extracted 3D tooth volume models;
    를 포함하는 것을 특징으로 하는 치과 시술 시뮬레이션을 위한 치아모델 생성 방법.Tooth model generation method for a dental surgery simulation comprising a.
  2. 청구항 1에 있어서,The method according to claim 1,
    상기 3D 구강표면 모델은,The 3D oral surface model,
    환자의 구강으로부터 획득된 석고모형 또는 환자의 구강을 본뜬 음각모형을 기반으로 단층 이미지 촬영 장비를 이용하여 구강 단층 이미지 데이터(DICOM series)를 획득하고, 이를 영역화(segmentation) 및 재구성(reconstruction)하여 생성하거나, 상기 석고모형 또는 음각모형을 3D 스캔하여 생성, 또는 환자의 구강내를 3D 스캔하여 직접 생성하는 것을 특징으로 하는 치과 시술 시뮬레이션을 위한 치아모델 생성 방법.Based on the gypsum model obtained from the patient's mouth or the negative model imitating the patient's mouth, oral tomography image data (DICOM series) is obtained using tomography imaging equipment, and segmented and reconstructed. A method of generating a dental model for a dental procedure simulation, comprising: generating or generating the plaster model or the engraved model by 3D scanning, or directly generating the 3D scan of the oral cavity of a patient.
  3. 청구항 1에 있어서,The method according to claim 1,
    상기 제 3단계 중 상기 3D 두부영상에 정합된 3D 구강표면 모델은,The 3D oral surface model matched to the 3D head image of the third step,
    상기 3D 두부영상의 표지점에 상기 3D 구강표면 모델의 표지점을 맞추기 위한 이동, 회전을 3D 구강표면 모델에 적용시킴으로써 3D 구강표면 모델이 3D 두부영상에 정합(registration)되어 동일한 좌표축 상에 위치되는 것을 특징으로 하는 치과 시술 시뮬레이션을 위한 치아모델 생성 방법.The 3D oral surface model is registered on the 3D head image by applying movement and rotation to fit the cover point of the 3D oral surface model to the cover point of the 3D head image to the 3D oral surface model to be positioned on the same coordinate axis. Tooth model generation method for the dental treatment simulation, characterized in that.
  4. 청구항 1에 있어서,The method according to claim 1,
    상기 제 4단계 중 상기 3D 치아볼륨 모델은,The 3D tooth volume model of the fourth step,
    관심 영역만을 추출(Volume Of Interest)하고 이에 원하는 부분의 영역을 설정하여 영역 밖의 데이터를 삭제 또는 초기화하는 과정을 거쳐 생성되는 것을 특징으로 하는 치과 시술 시뮬레이션을 위한 치아모델 생성 방법.Extracting only the region of interest (Volume Of Interest) and by setting the region of the desired portion to delete or initialize the data outside the region generated by the tooth model for generating a dental model for simulation.
  5. 청구항 3에 있어서,The method according to claim 3,
    상기 제 5단계 중 상기 3D 치아모델은,The 3D tooth model of the fifth step,
    상기 3D 치아 크라운 모델과 상기 3D 치아볼륨 모델의 좌표계를 동기화함으로써By synchronizing the coordinate system of the 3D tooth crown model and the 3D tooth volume model
    상기 3D 치아모델 중 어느 부분이 선택되더라도 치아 전체가 하나로써 움직이게 되는 것을 특징으로 하는 치과 시술 시뮬레이션을 위한 치아모델 생성 방법.The tooth model generation method for the dental procedure simulation, characterized in that the entire tooth is moved as one, even if any portion of the 3D tooth model is selected.
  6. 청구항 1에 있어서,The method according to claim 1,
    상기 제 4단계 중 3D 두부영상으로부터 추출된 3D 치아볼륨 모델은,The 3D tooth volume model extracted from the 3D head image of the fourth step,
    상기 3D 치아볼륨 모델을 구성하는 임의의 축을 기준으로 자동 또는 수동으로 윤곽을 생성한 후,After generating the contour automatically or manually based on any axis constituting the 3D tooth volume model,
    상기 생성된 윤곽 외부의 부분을 삭제 또는 초기화하는 방식을 이용하여 3D 치아볼륨과 그 외의 부분과의 구분을 명확히 표현하는 것을 특징으로 하는 치과 시술 시뮬레이션을 위한 치아모델 생성 방법.A method of generating a dental model for a dental procedure simulation, characterized in that the distinction between 3D tooth volume and other parts is clearly expressed using a method of deleting or initializing the generated part outside the contour.
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