WO2018076897A1 - Tooth root-based method and device for digitized tooth arrangement - Google Patents

Tooth root-based method and device for digitized tooth arrangement Download PDF

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Publication number
WO2018076897A1
WO2018076897A1 PCT/CN2017/097658 CN2017097658W WO2018076897A1 WO 2018076897 A1 WO2018076897 A1 WO 2018076897A1 CN 2017097658 W CN2017097658 W CN 2017097658W WO 2018076897 A1 WO2018076897 A1 WO 2018076897A1
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dimensional model
root
alveolar bone
crown
dimensional
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PCT/CN2017/097658
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French (fr)
Chinese (zh)
Inventor
陈云
卢曙光
罗哲
朱成广
温小礼
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苏州迪凯尔医疗科技有限公司
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Priority claimed from CN201610956929.0A external-priority patent/CN106344186A/en
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Publication of WO2018076897A1 publication Critical patent/WO2018076897A1/en

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    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis

Definitions

  • the invention relates to orthodontic technology, in particular to a dental root-based digital tooth discharging method and device.
  • the existing orthodontic teeth are basically based on the patient's crown scan data, or using a direct intraoral scan, or using a scan of the patient's turned plaster model, and then digitally sorting the teeth based on the crown data.
  • the above method has a fundamental defect: the position of the crown and the root are changing during the tooth removal process, and the above method only simulates the position change process of the crown, which has great hidden dangers. For example, it is very likely that during the process of moving the crown, there is no concern about the movement of the root.
  • the root is moved to an inappropriate position, such as the cortical bone close to the alveolar bone, resulting in the absorption of the root tip, and more serious may cause the root to move out of the alveolar bone, resulting in bone initiation and cracking.
  • the present invention provides a root-based digital tooth discharging method comprising the following steps:
  • the three-dimensional model of the root and the three-dimensional model of the alveolar bone is used for tooth arrangement.
  • the method further includes:
  • a minimum safe distance between the root and the alveolar bone is preset.
  • the three-dimensional model of the crown, the root and the alveolar bone according to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone includes:
  • the three-dimensional model of each of the crown, the root and the alveolar bone is further arranged to include:
  • the tooth row is stopped and/or restarted when the minimum distance is less than or equal to the minimum safety distance.
  • the minimum distance between the three-dimensional model of acquiring the root and the three-dimensional model of the alveolar bone comprises:
  • a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone is obtained in real time in the row of teeth.
  • the method further comprises:
  • a relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone is displayed in real time in the row of teeth.
  • the row of teeth comprises: translating or rotating a three-dimensional model of the crown and/or a three-dimensional model of the root.
  • the three-dimensional model for obtaining the crown, the root and the alveolar bone in the oral cavity comprises:
  • image scan data of the oral cavity wherein the image scan data comprises three-dimensional lattice data or a continuous two-dimensional projection data sequence;
  • a three-dimensional model of each of the crown, the root and the alveolar bone in the oral cavity is obtained through a three-dimensional modeling process.
  • the image scan data is a cone beam projection computer reconstructed tomographic image data.
  • the three-dimensional model of each of the crown, the root and the alveolar bone is used for the tooth arrangement comprising:
  • the three-dimensional model of the root and the three-dimensional model of the crown are arranged as a whole.
  • An embodiment of the present invention further provides a dental root-based digital dental dislocation device, comprising:
  • a model acquisition module configured to acquire a three-dimensional model of each of the crown, the root, and the alveolar bone in the oral cavity; as well as
  • the tooth arrangement module is configured to perform tooth arrangement by using a three-dimensional model of the crown, the root and the alveolar bone according to a relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone.
  • the device further comprises:
  • a preset module configured to preset a minimum safety distance between the root and the alveolar bone before the row of teeth is performed by the dental module.
  • the dental module comprises:
  • a distance acquisition unit configured to acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone
  • the processing unit is configured to return, when the minimum distance is less than or equal to the minimum safety distance, prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal.
  • the processing unit is further configured to stop and/or restart the tooth row when the minimum distance is less than or equal to the minimum safety distance.
  • the acquiring unit is further configured to acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in the teeth in real time.
  • the device further comprises:
  • a display module configured to display a relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in real time in the row of teeth.
  • teeth arranged by the dental module comprise: translating or rotating a three-dimensional model of the crown and/or a three-dimensional model of the root.
  • the model obtaining module includes:
  • a data acquisition unit configured to acquire image scan data of the oral cavity, wherein the image scan data includes three-dimensional lattice data or a continuous two-dimensional projection data sequence;
  • the three-dimensional modeling unit is configured to acquire a three-dimensional model of each of the crown, the root and the alveolar bone in the oral cavity through the three-dimensional modeling process according to the image scanning data.
  • the image scan data is a cone beam projection computer reconstructed tomographic image data.
  • the dental dislocation module is further configured to: arrange the three-dimensional model of the root and the three-dimensional model of the crown as a whole.
  • a three-dimensional model of the root, crown and alveolar bone in the patient's mouth is obtained, and the root, crown and alveolar bone are used in the subsequent use.
  • the three-dimensional model in addition to the relative positional relationship between the three-dimensional models of different crowns, it is necessary to pay attention to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone. Effectively avoid the absorption of the apex caused by the cortical bone which is too close to the alveolar bone during the subsequent orthodontic treatment, and the bone initiation and bone cracking caused by the root removal of the alveolar bone.
  • FIG. 1 is a schematic flow chart of a method for digitizing a tooth based on a root according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart showing the arrangement of teeth in a dental root-based digital tooth discharging method according to an embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of a dental root-based digital tooth discharging method according to another embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a dental root-based digital dental dislocation device according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a dental root-based digital dental dislocation device according to another embodiment of the present invention.
  • FIG. 1 is a schematic flow chart of a method for digitizing a tooth based on a root according to an embodiment of the present invention. As shown in Figure 1, the method includes:
  • Step 101 Obtain a three-dimensional model of each of the crown, root and alveolar bone in the oral cavity.
  • the three-dimensional model of the crown, root and alveolar bone in the oral cavity can be obtained through a three-dimensional modeling process.
  • the image scanning data of the oral cavity may be acquired by image scanning technology, and the image scanning data may include three-dimensional lattice data or a continuous two-dimensional projection data sequence.
  • the surface mesh data is generated by the computer algorithm according to the three-dimensional lattice data, or the gap portion between the two-dimensional projection data sequences in the image scan data is completed by using computer simulation technology to form a complete three-dimensional model of the oral cavity, thereby obtaining A three-dimensional model of the crown, root and alveolar bone in the oral cavity.
  • Step 102 According to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, The three-dimensional model of the crown, root and alveolar bone is used for tooth arrangement.
  • the tooth arrangement refers to the process of simulating the effect of the final correction target by adjusting the position and angle of the three-dimensional model of the crown and/or the root.
  • the subsequent orthodontic treatment process is based on the result of the tooth arrangement of the teeth, so the teeth are arranged.
  • the quality of the results directly affects the therapeutic effect of the subsequent orthodontic treatment.
  • the specific adjustment of the teeth may include translating or rotating the three-dimensional model of the crown and/or the three-dimensional model of the root.
  • the teeth may include only a three-dimensional model of the crown or a three-dimensional model of the gum, or may include a three-dimensional model of the crown and a three-dimensional model of the gum.
  • the three-dimensional model of the root and the three-dimensional model of the crown may be used as a whole to perform the tooth-discharging process. That is, the three-dimensional model of the root and the three-dimensional model of the crown are spliced into a holistic model (for example, using a graphic splicing technique), and the dentition process is completed by translating or rotating the holistic model. In this way, during the tooth-discharging process, the final target of the correction can be judged by observing the position of the crown, and the cortical bone whose root is too close to the alveolar bone can be avoided.
  • a holistic model for example, using a graphic splicing technique
  • the minimum safe distance between the root and the alveolar bone can be preset before the tooth is arranged.
  • the following steps may be further included in the three-dimensional model of the crown, the root and the alveolar bone:
  • Step 201 Acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone.
  • the minimum distance is used to characterize the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in the current state, and is compared with a preset minimum safe distance in a subsequent process.
  • Step 202 When the minimum distance is less than or equal to the minimum safety distance, returning prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal.
  • the minimum distance when the minimum distance is less than or equal to the preset minimum safety distance, it indicates that the three-dimensional model of the root in the current state is too close to the three-dimensional model of the alveolar bone, if the subsequent orthodontic treatment process is performed according to the current tooth arrangement result. If it is, it is likely to cause problems such as apical absorption, bone initiation and bone cracking. Therefore, it is necessary to return a prompt message to indicate that the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone has exceeded the normal range.
  • the minimum distance when the minimum distance is less than or equal to the preset At the minimum safe distance, the teeth can be stopped and/or restarted immediately to avoid the potential for orthodontic treatment according to the current dental results.
  • the minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone can be obtained in real time during the tooth-discharging process, so that the minimum distance is less than or equal to the preset minimum safe distance.
  • the acquisition of the minimum distance may be performed after each tooth discharge is completed.
  • the timing of acquiring the minimum distance of the present invention is not limited.
  • the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone can be displayed in real time during the tooth arrangement, for example, the three-dimensional model of the root can be displayed in real time through a graphical display manner.
  • the relative positional relationship with the three-dimensional model of the alveolar bone so that the medical staff can more intuitively observe the relative position between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, which helps the medical staff to make more accurate Judging, improving the user experience.
  • the step of real-time display may not be included, which is not limited by the present invention.
  • the preset minimum safety distance may be set by the medical staff according to the actual condition of the teeth in the patient's mouth to ensure that a reasonable distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone is correct, and the present invention
  • the specific size of the preset minimum safety distance is not limited.
  • FIG. 3 is a schematic flow chart of a method for digitizing a tooth based on a root according to another embodiment of the present invention.
  • the root-based digital tooth-discharging method includes:
  • the image scan data of the oral cavity obtained in the embodiment of the present invention is oral CBCT data
  • the CBCT is an abbreviation of Cone beam CT, that is, a cone beam projection computer reconstructed tomographic image data.
  • the CBCT device is a cone beam projection computer recombination tomography device, and the principle is that the X-ray generator makes a circular digital projection around the projection body with a lower amount of radiation. Then, a plurality of two-dimensional projection data obtained in the "intersection" after multiple digital projections around the projection body are "recombined” in the computer to obtain the ordered stacked data of the two-dimensional projection data.
  • the ordered stacked data composed of two-dimensional projection data does not constitute a complete three-dimensional model.
  • oral CBCT data can also be described as three-dimensional lattice data.
  • the gap portion of the two-dimensional projection data is completed by a three-dimensional modeling process to form a complete three-dimensional model.
  • the oral CBCT data is described as three-dimensional lattice data
  • the surface mesh data is generated from the three-dimensional lattice data by a computer algorithm to complete the three-dimensional modeling process.
  • the step S2 and the step S3 may further include: setting a minimum safety distance between the root and the alveolar bone.
  • setting the minimum safety distance it is advantageous for the root and the socket The minimum distance between the bones is tested to determine if it meets safety standards.
  • the image scanning data used to establish the three-dimensional model of the alveolar bone, the root and the crown can also adopt other forms of image scanning data other than CBCT, according to different forms affecting the scanning data, and subsequent three-dimensional modeling.
  • the process can also be adjusted accordingly.
  • the specific form of the image scanning data and the specific manner of the three-dimensional modeling process are not limited by the present invention.
  • the root and the crown, the tooth and the root are integrally arranged, and the minimum safety distance between the alveolar bone and the root can be set before the tooth is arranged.
  • the overall tooth arrangement includes: an overall translation or rotation of the crown and the root.
  • the step S3 further includes: comparing the minimum distance between the root and the alveolar bone in real time during the overall tooth arrangement of the crown and the root. The relationship between the size of the minimum safety distance, if the minimum distance is less than the minimum safety distance, prompting the user, and the user can perform the overall tooth removal again. In this way, it can be ensured that the minimum distance between the root and the alveolar bone meets the safety standard.
  • the orthodontic treatment includes invisible or non-invisible correction.
  • the present invention further provides a root-based digital tooth arrangement device, comprising: an oral CBCT data acquisition module, a model acquisition module, an overall dental module, a graphic display module, orthodontic treatment Module.
  • the oral CBCT data acquisition module is configured to acquire patient oral CBCT data;
  • the model acquisition module is configured to perform three-dimensional modeling on the alveolar bone, the root and the crown respectively according to the obtained CBCT data;
  • the module is configured to perform overall tooth arrangement on the crown and the root according to the obtained three-dimensional model of the alveolar bone, the root and the crown;
  • the graphical display module is used to view the root and alveolar bone of each tooth after the tooth is completed. a minimum distance between the root and the minimum distance between the root and alveolar bone;
  • the orthodontic treatment module for outputting the result of the tooth arrangement and graphically displaying the result for the doctor to the patient Perform orthodontic treatment.
  • the digital dental dislocation device further includes: a reminding module, configured to compare the distance between the actual alveolar bone and the root after the tooth arrangement according to a minimum safety distance between the alveolar bone and the root set by the user, if the distance Less than the minimum safe distance, the user is graphically prompted.
  • a reminding module configured to compare the distance between the actual alveolar bone and the root after the tooth arrangement according to a minimum safety distance between the alveolar bone and the root set by the user, if the distance Less than the minimum safe distance, the user is graphically prompted.
  • the root-based digital tooth-discharging device models the patient's root, crown, and alveolar bone through a three-dimensional model, and can pay attention to it during the digital tooth-discharging process.
  • Positional relationship between the root and alveolar bone and can set the outermost surface of the root and alveolar bone A small distance, the minimum safe distance between the root and the alveolar bone of the alveolar bone is fully realized during the tooth removal process, and the occurrence of the removal of the alveolar bone from the root is avoided.
  • FIG. 4 is a schematic structural diagram of a dental root-based digital dental dislocation device according to an embodiment of the present invention. As shown in FIG. 4, the root-based digital dental dislocation device 40 includes:
  • a model acquisition module 41 configured to acquire a three-dimensional model of each of a crown, a root, and an alveolar bone in the oral cavity;
  • the teeth module 42 is configured to perform tooth arrangement using a three-dimensional model of the crown, the root and the alveolar bone according to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone.
  • the root-based digital dental dislocation device 40 further includes: a preset module 43 configured to preset the root and alveolar bone before the teeth module 42 performs the tooth arrangement The minimum safe distance between.
  • the dental module 42 includes:
  • the distance acquisition unit 421 is configured to acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone;
  • the processing unit 422 is configured to return prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal when the minimum distance is less than or equal to the minimum safe distance.
  • the processing unit 422 is further configured to stop and/or restart the teeth when the minimum distance is less than or equal to the minimum safety distance.
  • the acquiring unit is further configured to: acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in real time in the teeth.
  • the root-based digital dental dislocation device 40 further includes: a display module 44 configured to display a three-dimensional model of the root and a three-dimensional model of the alveolar bone in real time in the teeth The relative positional relationship between them.
  • the teeth performed by the teeth module 42 include: translation or rotation of a three-dimensional model of the crown and/or a three-dimensional model of the root.
  • the model obtaining module 41 includes:
  • the data acquisition unit 411 is configured to acquire image scan data of the oral cavity, wherein the image scan data includes three-dimensional lattice data or a continuous two-dimensional projection data sequence;
  • the three-dimensional modeling unit 412 is configured to acquire a three-dimensional model of each of the crown, the root and the alveolar bone in the oral cavity by a three-dimensional modeling process according to the image scan data.
  • the image scan data is a cone beam projection computer reconstructed tomographic image data.
  • the teeth module 42 is further configured to: arrange the three-dimensional model of the root and the three-dimensional model of the crown as a whole. Specifically, the three-dimensional model of the root and the three-dimensional model of the crown are first spliced into a single model (for example, using a graphic splicing technique), and then the dentition process is completed by translating or rotating the holistic model. In this way, when performing the tooth arrangement process, it is possible to observe the crown The position to determine the final target effect, but also to avoid the cortical bone too close to the alveolar bone.
  • each of the modules or units described in the root-based digital dental disposition device 40 provided by the above embodiments corresponds to one of the aforementioned method steps.
  • the operations, features, and advantages described in the foregoing method steps are equally applicable to the root-based digital dental dislocation device 40 and the corresponding modules and units included therein, and the repeated content will not be described herein.
  • the teachings of the present invention may also be embodied as a computer program product of a computer readable storage medium, comprising computer program code which, when executed by a processor, enables a processor to be implemented in accordance with a method of an embodiment of the present invention A root-based digital toothing method of embodiments herein.
  • the computer storage medium can be any tangible medium such as a floppy disk, CD-ROM, DVD, hard drive, or even network media.
  • an implementation form of the embodiments of the present invention described above may be a computer program product
  • the method or apparatus of the embodiments of the present invention may be implemented in software, hardware, or a combination of software and hardware.
  • the hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated design hardware.
  • a suitable instruction execution system such as a microprocessor or dedicated design hardware.
  • processor control code such as a carrier medium such as a magnetic disk, CD or DVD-ROM, such as a read only memory.
  • Such code is provided on a programmable memory (firmware) or on a data carrier such as an optical or electronic signal carrier.
  • the method and apparatus of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., also It can be implemented by software executed by various types of processors, or by a combination of the above-described hardware circuits and software such as firmware.
  • modules or units of the root-based digitizing device 40 are mentioned in the detailed description above, such divisions are merely exemplary and not mandatory.
  • the features and functions of the two or more modules/units described above may be implemented in one module/unit, and conversely, the features and functions of one module/unit described above.
  • the function can be further divided into multiple modules/units.
  • some of the modules/units described above may be omitted in certain application scenarios.

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Abstract

A method and device for tooth root-based digitized tooth arrangement, capable of solving the problem wherein existing tooth arrangements are incapable of effectively preventing absorption of a root apex caused by a tooth root being too close to a cortical bone of an alveolar bone, as well as the problem of bone opening and bone cracking caused by the tooth root being removed from the alveolar bone. The tooth root-based method for digitized tooth arrangement comprises the following steps: obtaining a three-dimensional model for each of a tooth crown, a tooth root and an alveolar bone in an oral cavity (101); and according to a relative positional relationship between the three-dimensional model of the tooth root and the three-dimensional model of the alveolar bone, performing tooth arrangement by using the respective three-dimensional models of the tooth crown, the tooth root and the alveolar bone (102).

Description

基于牙根的数字化排牙方法及装置Dental root-based digital tooth discharging method and device 技术领域Technical field
本发明涉及牙齿正畸技术，具体涉及一种基于牙根的数字化排牙方法及装置。The invention relates to orthodontic technology, in particular to a dental root-based digital tooth discharging method and device.
发明背景Background of the invention
目前，现有的正畸排牙基本都是基于患者牙冠扫描数据，或使用直接口内扫描，或使用患者翻的石膏模型的扫描，再根据牙冠数据进行数字化排牙。然而，上述方法在根本上有一个缺陷：在排牙过程中，牙冠和牙根的位置都在发生改变，而上述方法只是模拟了牙冠的位置变化过程，这就存在很大的隐患。比如，很可能在移动牙冠的过程中，没有关注牙根的移动情况。从而，在实际情况中，牙根移动到不合适的位置，比如贴近牙槽骨的皮质骨，导致根尖的吸收，更严重的可能导致牙根移出牙槽骨，导致骨开创、开裂。At present, the existing orthodontic teeth are basically based on the patient's crown scan data, or using a direct intraoral scan, or using a scan of the patient's turned plaster model, and then digitally sorting the teeth based on the crown data. However, the above method has a fundamental defect: the position of the crown and the root are changing during the tooth removal process, and the above method only simulates the position change process of the crown, which has great hidden dangers. For example, it is very likely that during the process of moving the crown, there is no concern about the movement of the root. Therefore, in the actual situation, the root is moved to an inappropriate position, such as the cortical bone close to the alveolar bone, resulting in the absorption of the root tip, and more serious may cause the root to move out of the alveolar bone, resulting in bone initiation and cracking.
因此，针对上述问题，有必要提出进一步的解决方案。Therefore, in order to solve the above problems, it is necessary to propose a further solution.
发明内容Summary of the invention
本发明的目的在于提供一种基于牙根的数字化排牙方法及装置，以克服现有技术中存在的不足。It is an object of the present invention to provide a dental root-based digital dental dislocation method and apparatus that overcomes the deficiencies of the prior art.
为实现上述发明目的，本发明提供一种基于牙根的数字化排牙方法，其包括如下步骤：In order to achieve the above object, the present invention provides a root-based digital tooth discharging method comprising the following steps:
获取口腔中的牙冠、牙根以及牙槽骨各自的三维模型；以及Obtaining a three-dimensional model of the crown, root and alveolar bone in the oral cavity;
根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙。According to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, the three-dimensional model of the crown, the root and the alveolar bone is used for tooth arrangement.
其中，在所述根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙之前，所述方法进一步包括：Wherein, according to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, before the teeth are dissected by using the three-dimensional model of the crown, the root and the alveolar bone, The method further includes:
预设所述牙根与所述牙槽骨之间的最小安全距离。A minimum safe distance between the root and the alveolar bone is preset.
其中，所述根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙包括： The three-dimensional model of the crown, the root and the alveolar bone according to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone includes:
获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离；以及Obtaining a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone;
当所述最小距离小于等于所述最小安全距离时，返回提示所述牙根的三维模型与所述牙槽骨的三维模型的相对位置异常的提示信息。When the minimum distance is less than or equal to the minimum safety distance, returning prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal.
其中，所述根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙进一步包括：Wherein, according to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, the three-dimensional model of each of the crown, the root and the alveolar bone is further arranged to include:
当所述最小距离小于等于所述最小安全距离时，停止和/或重启所述排牙。The tooth row is stopped and/or restarted when the minimum distance is less than or equal to the minimum safety distance.
其中，所述获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离包括：Wherein the minimum distance between the three-dimensional model of acquiring the root and the three-dimensional model of the alveolar bone comprises:
在所述排牙中实时获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离。A minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone is obtained in real time in the row of teeth.
其中，所述方法进一步包括：Wherein, the method further comprises:
在所述排牙中实时显示所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系。A relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone is displayed in real time in the row of teeth.
其中，所述排牙包括：对所述牙冠的三维模型和/或所述牙根的三维模型进行平移或旋转。Wherein the row of teeth comprises: translating or rotating a three-dimensional model of the crown and/or a three-dimensional model of the root.
其中，所述获取口腔中牙冠、牙根以及牙槽骨各自的三维模型包括：Wherein, the three-dimensional model for obtaining the crown, the root and the alveolar bone in the oral cavity comprises:
获取所述口腔的影像扫描数据，其中所述影像扫描数据包括三维的点阵数据或连续的二维投影数据序列；以及Obtaining image scan data of the oral cavity, wherein the image scan data comprises three-dimensional lattice data or a continuous two-dimensional projection data sequence;
根据所述影像扫描数据，通过三维建模过程获取所述口腔中的牙冠、牙根以及牙槽骨各自的三维模型。According to the image scan data, a three-dimensional model of each of the crown, the root and the alveolar bone in the oral cavity is obtained through a three-dimensional modeling process.
其中，所述影像扫描数据为锥形束投照计算机重组断层影像数据。The image scan data is a cone beam projection computer reconstructed tomographic image data.
其中，所述利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙包括：Wherein, the three-dimensional model of each of the crown, the root and the alveolar bone is used for the tooth arrangement comprising:
将所述牙根的三维模型和所述牙冠的三维模型作为一个整体进行排牙。The three-dimensional model of the root and the three-dimensional model of the crown are arranged as a whole.
本发明一实施例还提供一种基于牙根的数字化排牙装置，包括：An embodiment of the present invention further provides a dental root-based digital dental dislocation device, comprising:
模型获取模块，配置为获取口腔中牙冠、牙根以及牙槽骨各自的三维模型； 以及a model acquisition module configured to acquire a three-dimensional model of each of the crown, the root, and the alveolar bone in the oral cavity; as well as
排牙模块，配置为根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙。The tooth arrangement module is configured to perform tooth arrangement by using a three-dimensional model of the crown, the root and the alveolar bone according to a relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone.
其中，所述装置进一步包括：Wherein, the device further comprises:
预设模块，配置为在所述排牙模块进行所述排牙之前，预设所述牙根与所述牙槽骨之间的最小安全距离。And a preset module configured to preset a minimum safety distance between the root and the alveolar bone before the row of teeth is performed by the dental module.
其中，所述排牙模块包括：Wherein the dental module comprises:
距离获取单元，配置为获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离；以及a distance acquisition unit configured to acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone;
处理单元，配置为当所述最小距离小于等于所述最小安全距离时，返回提示所述牙根的三维模型与所述牙槽骨的三维模型的相对位置异常的提示信息。The processing unit is configured to return, when the minimum distance is less than or equal to the minimum safety distance, prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal.
其中，所述处理单元进一步配置为：当所述最小距离小于等于所述最小安全距离时，停止和/或重启所述排牙。The processing unit is further configured to stop and/or restart the tooth row when the minimum distance is less than or equal to the minimum safety distance.
其中，所述获取单元进一步配置为：在所述排牙中实时获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离。The acquiring unit is further configured to acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in the teeth in real time.
其中，所述装置进一步包括：Wherein, the device further comprises:
显示模块，配置为在所述排牙中实时显示所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系。And a display module configured to display a relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in real time in the row of teeth.
其中，所述排牙模块所执行的所述排牙包括：对所述牙冠的三维模型和/或所述牙根的三维模型进行平移或旋转。Wherein the teeth arranged by the dental module comprise: translating or rotating a three-dimensional model of the crown and/or a three-dimensional model of the root.
其中，所述模型获取模块包括：The model obtaining module includes:
数据获取单元，配置为获取所述口腔的影像扫描数据，其中所述影像扫描数据包括三维的点阵数据或连续的二维投影数据序列；以及a data acquisition unit configured to acquire image scan data of the oral cavity, wherein the image scan data includes three-dimensional lattice data or a continuous two-dimensional projection data sequence;
三维建模单元，配置为根据所述影像扫描数据，通过三维建模过程获取所述口腔中的牙冠、牙根以及牙槽骨各自的三维模型。The three-dimensional modeling unit is configured to acquire a three-dimensional model of each of the crown, the root and the alveolar bone in the oral cavity through the three-dimensional modeling process according to the image scanning data.
其中，所述影像扫描数据为锥形束投照计算机重组断层影像数据。 The image scan data is a cone beam projection computer reconstructed tomographic image data.
其中，所述排牙模块进一步配置为：将所述牙根的三维模型和所述牙冠的三维模型作为一个整体进行排牙。Wherein, the dental dislocation module is further configured to: arrange the three-dimensional model of the root and the three-dimensional model of the crown as a whole.
通过采用本发明实施例所提供的基于牙根的数字化排牙方法和装置，获取了患者口腔中的牙根、牙冠、牙槽骨各自的三维模型，并在后续利用牙根、牙冠、牙槽骨的三维模型进行的排牙中，除了要根据不同牙冠的三维模型之间的相对位置关系进行排牙，还要关注牙根的三维模型和牙槽骨的三维模型之间的相对位置关系，可有效地避免后续正畸矫治过程中因牙根过于贴近牙槽骨的皮质骨而导致的根尖的吸收，以及因牙根移出牙槽骨而导致的骨开创和骨开裂。By using the root-based digital tooth-discharging method and device provided by the embodiments of the present invention, a three-dimensional model of the root, crown and alveolar bone in the patient's mouth is obtained, and the root, crown and alveolar bone are used in the subsequent use. In the three-dimensional model, in addition to the relative positional relationship between the three-dimensional models of different crowns, it is necessary to pay attention to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone. Effectively avoid the absorption of the apex caused by the cortical bone which is too close to the alveolar bone during the subsequent orthodontic treatment, and the bone initiation and bone cracking caused by the root removal of the alveolar bone.
附图简要说明BRIEF DESCRIPTION OF THE DRAWINGS
图1所示为本发明一实施例提供的一种基于牙根的数字化排牙方法的流程示意图。FIG. 1 is a schematic flow chart of a method for digitizing a tooth based on a root according to an embodiment of the present invention.
图2所示为本发明一实施例提供的一种基于牙根的数字化排牙方法中排牙的具体流程示意图。FIG. 2 is a schematic flow chart showing the arrangement of teeth in a dental root-based digital tooth discharging method according to an embodiment of the present invention.
图3为本发明另一实施例提供的一种基于牙根的数字化排牙方法流程示意图。FIG. 3 is a schematic flow chart of a dental root-based digital tooth discharging method according to another embodiment of the present invention.
图4所示为本发明一实施例提供的一种基于牙根的数字化排牙装置的结构示意图。FIG. 4 is a schematic structural diagram of a dental root-based digital dental dislocation device according to an embodiment of the present invention.
图5所示为本发明另一实施例提供的一种基于牙根的数字化排牙装置的结构示意图。FIG. 5 is a schematic structural diagram of a dental root-based digital dental dislocation device according to another embodiment of the present invention.
实施本发明的方式Mode for carrying out the invention
为使本发明的目的、技术手段和优点更加清楚明白，以下结合附图对本发明作进一步详细说明。In order to make the objects, technical means and advantages of the present invention more comprehensible, the present invention will be further described in detail below with reference to the accompanying drawings.
图1所示为本发明一实施例提供的一种基于牙根的数字化排牙方法的流程示意图。如图1所示，该方法包括：FIG. 1 is a schematic flow chart of a method for digitizing a tooth based on a root according to an embodiment of the present invention. As shown in Figure 1, the method includes:
步骤101：获取口腔中牙冠、牙根以及牙槽骨各自的三维模型。Step 101: Obtain a three-dimensional model of each of the crown, root and alveolar bone in the oral cavity.
口腔中牙冠、牙根以及牙槽骨各自的三维模型可通过三维建模过程获取。具体而言，可以是先通过影像扫描技术获取口腔的影像扫描数据，该影像扫描数据可包括三维的点阵数据或连续的二维投影数据序列。通过计算机算法根据三维的点阵数据生成表面网格数据，或利用计算机模拟技术完整该影像扫描数据中二维投影数据序列之间的间隙部分，以形成口腔的完整三维模型，由此便获取了口腔中的牙冠、牙根以及牙槽骨各自的三维模型。The three-dimensional model of the crown, root and alveolar bone in the oral cavity can be obtained through a three-dimensional modeling process. Specifically, the image scanning data of the oral cavity may be acquired by image scanning technology, and the image scanning data may include three-dimensional lattice data or a continuous two-dimensional projection data sequence. The surface mesh data is generated by the computer algorithm according to the three-dimensional lattice data, or the gap portion between the two-dimensional projection data sequences in the image scan data is completed by using computer simulation technology to form a complete three-dimensional model of the oral cavity, thereby obtaining A three-dimensional model of the crown, root and alveolar bone in the oral cavity.
步骤102：根据牙根的三维模型与牙槽骨的三维模型之间的相对位置关系， 利用牙冠、牙根以及牙槽骨各自的三维模型进行排牙。Step 102: According to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, The three-dimensional model of the crown, root and alveolar bone is used for tooth arrangement.
排牙指的是通过调整牙冠和/或牙根的三维模型的位置和角度以模拟最终的矫治目标效果的过程，后续的正畸矫治过程就是根据排牙的排牙结果进行的，因此排牙结果的好坏直接影响着后续正畸矫治过程的治疗效果。在本发明一实施例中，排牙的具体调整方式可包括对牙冠的三维模型和/或牙根的三维模型进行平移或旋转。但应当理解，根据患者牙齿的实际情况，排牙可仅包括对牙冠的三维模型或牙龈的三维模型的单独调整，也可包括对牙冠的三维模型和牙龈的三维模型同时进行的调整，但在排牙中要注意牙根的三维模型与牙槽骨的三维模型之间的相对位置关系，以避免牙根的三维模型过于贴近牙槽骨的三维模型。本发明对排牙的具体调整方式并不做限定。The tooth arrangement refers to the process of simulating the effect of the final correction target by adjusting the position and angle of the three-dimensional model of the crown and/or the root. The subsequent orthodontic treatment process is based on the result of the tooth arrangement of the teeth, so the teeth are arranged. The quality of the results directly affects the therapeutic effect of the subsequent orthodontic treatment. In an embodiment of the invention, the specific adjustment of the teeth may include translating or rotating the three-dimensional model of the crown and/or the three-dimensional model of the root. However, it should be understood that, depending on the actual condition of the patient's teeth, the teeth may include only a three-dimensional model of the crown or a three-dimensional model of the gum, or may include a three-dimensional model of the crown and a three-dimensional model of the gum. However, in the row of teeth, attention should be paid to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, so as to avoid the three-dimensional model of the root being too close to the three-dimensional model of the alveolar bone. The specific adjustment manner of the teeth in the present invention is not limited.
在本发明一实施例中，当利用牙冠、牙根以及牙槽骨各自的三维模型进行排牙时，可以是将牙根的三维模型和牙冠的三维模型作为一个整体进行排牙过程。即，将牙根的三维模型和牙冠的三维模型拼接成一个整体模型(例如，利用图形拼接技术)，通过平移或旋转该整体模型以完成排牙过程。这样在进行排牙过程时，既可以通过观察牙冠的位置来判断最终的矫治目标效果，同时也可以避免牙根过于贴近牙槽骨的皮质骨。In an embodiment of the present invention, when the three-dimensional model of the crown, the root and the alveolar bone is used for the tooth arrangement, the three-dimensional model of the root and the three-dimensional model of the crown may be used as a whole to perform the tooth-discharging process. That is, the three-dimensional model of the root and the three-dimensional model of the crown are spliced into a holistic model (for example, using a graphic splicing technique), and the dentition process is completed by translating or rotating the holistic model. In this way, during the tooth-discharging process, the final target of the correction can be judged by observing the position of the crown, and the cortical bone whose root is too close to the alveolar bone can be avoided.
由此可见，通过采用本发明实施例所提供的基于牙根的数字化排牙方法，获取了患者口腔中的牙根、牙冠、牙槽骨各自的三维模型，并在后续的利用牙根、牙冠、牙槽骨的三维模型所进行的排牙中，除了要根据不同牙冠的三维模型之间的相对位置关系进行排牙，还要关注牙根和牙槽骨之间的相对位置关系，可有效地避免后续正畸矫治过程中因牙根过于贴近牙槽骨的皮质骨而导致的根尖的吸收，以及因牙根移出牙槽骨而导致的骨开创和骨开裂。It can be seen that by using the root-based digital tooth-discharging method provided by the embodiment of the present invention, a three-dimensional model of the root, the crown and the alveolar bone in the patient's mouth is obtained, and the roots, crowns, In the three-dimensional model of alveolar bone, in addition to the relative positional relationship between the three-dimensional models of different crowns, it is necessary to pay attention to the relative positional relationship between the root and alveolar bone, which can effectively Avoid the absorption of the apex caused by the cortical bone that is too close to the alveolar bone during the subsequent orthodontic treatment, and the bone initiation and bone cracking caused by the root removal of the alveolar bone.
在发明一实施例中，为了能够更精确的预防牙根过于贴近牙槽骨的皮质骨，可在进行排牙之前，预设牙根与牙槽骨之间的最小安全距离。这样如图2所示，在利用牙冠、牙根以及牙槽骨各自的三维模型进行排牙时可进一步包括如下步骤：In an embodiment of the invention, in order to more accurately prevent the cortical bone from being too close to the alveolar bone, the minimum safe distance between the root and the alveolar bone can be preset before the tooth is arranged. Thus, as shown in FIG. 2, the following steps may be further included in the three-dimensional model of the crown, the root and the alveolar bone:
步骤201：获取牙根的三维模型与牙槽骨的三维模型之间的最小距离。Step 201: Acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone.
该最小距离用于表征当前状态下牙根的三维模型与牙槽骨的三维模型之间的相对位置关系，并在后续的过程中与预设的最小安全距离进行比较。The minimum distance is used to characterize the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in the current state, and is compared with a preset minimum safe distance in a subsequent process.
步骤202：当最小距离小于等于最小安全距离时，返回提示牙根的三维模型与牙槽骨的三维模型的相对位置异常的提示信息。Step 202: When the minimum distance is less than or equal to the minimum safety distance, returning prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal.
具体而言，当该最小距离小于等于预设的最小安全距离时，说明当前状态下牙根的三维模型已经过于贴近牙槽骨的三维模型，如果按照当前的排牙结果进行后续的正畸矫治过程的话，则很有可能引起根尖的吸收、骨开创和骨开裂等问题。因此需要返回一个提示信息以提示牙根的三维模型与牙槽骨的三维模型的相对位置关系已经超出了正常范围。在一进一步实施例中，当该最小距离小于等于预设 的最小安全距离时，可马上停止和/或重启排牙，以避免按照当前排牙结果进行正畸矫治所带来隐患。Specifically, when the minimum distance is less than or equal to the preset minimum safety distance, it indicates that the three-dimensional model of the root in the current state is too close to the three-dimensional model of the alveolar bone, if the subsequent orthodontic treatment process is performed according to the current tooth arrangement result. If it is, it is likely to cause problems such as apical absorption, bone initiation and bone cracking. Therefore, it is necessary to return a prompt message to indicate that the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone has exceeded the normal range. In a further embodiment, when the minimum distance is less than or equal to the preset At the minimum safe distance, the teeth can be stopped and/or restarted immediately to avoid the potential for orthodontic treatment according to the current dental results.
在本发明一实施例中，可以是在进行排牙的过程中实时获取牙根的三维模型与牙槽骨的三维模型之间的最小距离，这样一旦发现该最小距离小于等于预设的最小安全距离即可马上返回提示信息，以及时避免按照当前排牙结果进行正畸矫治所带来隐患，可更快的重启排牙过程以提高效率。但应当理解，该最小距离的获取也可以是在每次排牙完毕后再进行，本发明对该最小距离的获取时机并不做限定。In an embodiment of the present invention, the minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone can be obtained in real time during the tooth-discharging process, so that the minimum distance is less than or equal to the preset minimum safe distance. You can return to the prompt immediately, avoiding the hidden dangers of orthodontic treatment according to the current dental results, and restart the dental excavation process to improve efficiency. However, it should be understood that the acquisition of the minimum distance may be performed after each tooth discharge is completed. The timing of acquiring the minimum distance of the present invention is not limited.
在本发明一实施例中，还可以在排牙的过程中实时显示牙根的三维模型与牙槽骨的三维模型之间的相对位置关系，例如可通过图形化显示的方式实时显示牙根的三维模型与牙槽骨的三维模型之间的相对位置关系，这样医护人员可更加直观的观察到牙根的三维模型与牙槽骨的三维模型之间的相对位置，有助于医护人员更准确的做出判断，提高了用户体验。然而应当理解，在本发明一实施例中，也可以并不包括该实时显示的步骤，本发明对此不做限定。In an embodiment of the present invention, the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone can be displayed in real time during the tooth arrangement, for example, the three-dimensional model of the root can be displayed in real time through a graphical display manner. The relative positional relationship with the three-dimensional model of the alveolar bone, so that the medical staff can more intuitively observe the relative position between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, which helps the medical staff to make more accurate Judging, improving the user experience. However, it should be understood that, in an embodiment of the present invention, the step of real-time display may not be included, which is not limited by the present invention.
应当理解，该预设的最小安全距离可由医护人员根据患者口腔中牙齿的实际情况而设置，以保证牙根的三维模型与牙槽骨的三维模型之间保持合理的距离为准，本发明对该预设的最小安全距离的具体大小不做限定。It should be understood that the preset minimum safety distance may be set by the medical staff according to the actual condition of the teeth in the patient's mouth to ensure that a reasonable distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone is correct, and the present invention The specific size of the preset minimum safety distance is not limited.
图3为本发明另一实施例提供的一种基于牙根的数字化排牙方法的流程示意图。如图3所示，该基于牙根的数字化排牙方法包括：FIG. 3 is a schematic flow chart of a method for digitizing a tooth based on a root according to another embodiment of the present invention. As shown in FIG. 3, the root-based digital tooth-discharging method includes:
S1、获取患者口腔CBCT数据。S1. Obtain CBCT data of the patient's mouth.
本发明实施例中所获取的口腔的影像扫描数据为口腔CBCT数据，所述CBCT为Cone beam CT的简称，即锥形束投照计算机重组断层影像数据。具体地，所述CBCT设备为一种锥形束投照计算机重组断层影像设备，其原理是X线发生器以较低的射线量围绕投照体做环形数字式投照。然后，将围绕投照体多次数字投照后“交集”中所获得的多个二维投影数据，在计算机中“重组”后进而获得这些二维投影数据的有序堆积数据。但由于受数字式投招次数的限制，该由二维投影数据构成的有序堆积数据还并不能构成完整的三维模型。在本发明一实施例中，口腔CBCT数据还可以描述为三维的点阵数据。The image scan data of the oral cavity obtained in the embodiment of the present invention is oral CBCT data, and the CBCT is an abbreviation of Cone beam CT, that is, a cone beam projection computer reconstructed tomographic image data. Specifically, the CBCT device is a cone beam projection computer recombination tomography device, and the principle is that the X-ray generator makes a circular digital projection around the projection body with a lower amount of radiation. Then, a plurality of two-dimensional projection data obtained in the "intersection" after multiple digital projections around the projection body are "recombined" in the computer to obtain the ordered stacked data of the two-dimensional projection data. However, due to the limitation of the number of digital voting, the ordered stacked data composed of two-dimensional projection data does not constitute a complete three-dimensional model. In an embodiment of the invention, oral CBCT data can also be described as three-dimensional lattice data.
S2、根据获得的CBCT数据，对牙槽骨、牙根、牙冠分别进行三维建模。S2, according to the obtained CBCT data, three-dimensional modeling of the alveolar bone, the root and the crown respectively.
如前所述，当通过CBCT设备所获取的CBCT数据描述为二维投影数据的有序堆积数据时，要通过三维建模过程来完整这些二维投影数据的间隙部分，以形成完整的三维模型。当口腔CBCT数据描述为三维的点阵数据时，就要通过计算机算法根据三维的点阵数据生成表面网格数据，以完成三维建模过程。As described above, when the CBCT data acquired by the CBCT device is described as ordered stacked data of two-dimensional projection data, the gap portion of the two-dimensional projection data is completed by a three-dimensional modeling process to form a complete three-dimensional model. . When the oral CBCT data is described as three-dimensional lattice data, the surface mesh data is generated from the three-dimensional lattice data by a computer algorithm to complete the three-dimensional modeling process.
在本发明一实施例中，所述步骤S2和步骤S3之间还可包括：设定牙根、牙槽骨之间的最小安全距离。通过设置该最小安全距离，有利于对所述牙根、牙槽 骨之间的最小距离进行检测，以判断其是否符合安全标准。In an embodiment of the invention, the step S2 and the step S3 may further include: setting a minimum safety distance between the root and the alveolar bone. By setting the minimum safety distance, it is advantageous for the root and the socket The minimum distance between the bones is tested to determine if it meets safety standards.
应当理解，用于建立牙槽骨、牙根、牙冠各自的三维模型的影像扫描数据也可以采用除CBCT之外的其他形式的影像扫描数据，根据影响扫描数据的不同形式，后续的三维建模过程也可进行相应调整。本发明对该影像扫描数据的具体形式以及三维建模过程的具体方式并不做限定。It should be understood that the image scanning data used to establish the three-dimensional model of the alveolar bone, the root and the crown can also adopt other forms of image scanning data other than CBCT, according to different forms affecting the scanning data, and subsequent three-dimensional modeling. The process can also be adjusted accordingly. The specific form of the image scanning data and the specific manner of the three-dimensional modeling process are not limited by the present invention.
S3、根据获得的牙槽骨、牙根、牙冠的三维模型，对牙冠和牙根进行整体排牙，排牙前可以设置牙槽骨和牙根之间的最小安全距离。S3. According to the obtained three-dimensional model of the alveolar bone, the root and the crown, the tooth and the root are integrally arranged, and the minimum safety distance between the alveolar bone and the root can be set before the tooth is arranged.
通过所述步骤S3，充分考虑了排牙过程中牙冠和牙根的位置关系，避免单独考虑牙冠位置变化所带来的弊端。其中，进行整体排牙时包括：对牙冠和牙根进行整体平移或旋转。Through the step S3, the positional relationship between the crown and the root during the tooth-discharging process is fully considered, and the disadvantages caused by the change of the crown position are avoided. Among them, the overall tooth arrangement includes: an overall translation or rotation of the crown and the root.
此外，当设定牙根、牙槽骨之间的最小安全距离时，所述步骤S3还包括：对牙冠和牙根进行整体排牙过程中，实时对比牙根和牙槽骨之间的最小距离与最小安全距离的大小关系，如所述最小距离小于所述最小安全距离，则对用户进行提示，用户可重新进行整体排牙。如此，能够保证所述牙根、牙槽骨之间的最小距离时刻符合安全标准。In addition, when setting the minimum safety distance between the root and the alveolar bone, the step S3 further includes: comparing the minimum distance between the root and the alveolar bone in real time during the overall tooth arrangement of the crown and the root. The relationship between the size of the minimum safety distance, if the minimum distance is less than the minimum safety distance, prompting the user, and the user can perform the overall tooth removal again. In this way, it can be ensured that the minimum distance between the root and the alveolar bone meets the safety standard.
S4、排牙完成后，查看各牙齿的牙根和牙槽骨之间的最小距离，并对所述牙根和牙槽骨之间的最小距离进行图形化显示。S4. After the teeth are completed, the minimum distance between the root of the teeth and the alveolar bone is viewed, and the minimum distance between the root and the alveolar bone is graphically displayed.
S5、将排牙结果及图形化显示结果输出，供医生对患者进行正畸矫治。S5. Output the result of the dental discharge and the graphical display result for the orthodontic treatment of the patient.
其中，所述正畸矫治包括隐形矫治或者非隐形矫治。Wherein, the orthodontic treatment includes invisible or non-invisible correction.
基于如上所述的数字化排牙方法，本发明还提供一种基于牙根的数字化排牙装置，其包括：口腔CBCT数据获取模块、模型获取模块、整体排牙模块、图形化显示模块、正畸矫治模块。Based on the digital tooth arrangement method as described above, the present invention further provides a root-based digital tooth arrangement device, comprising: an oral CBCT data acquisition module, a model acquisition module, an overall dental module, a graphic display module, orthodontic treatment Module.
其中，所述口腔CBCT数据获取模块用于获取患者口腔CBCT数据；所述模型获取模块用于根据获得的CBCT数据，对牙槽骨、牙根、牙冠分别进行三维建模；所述整体排牙模块用于根据获得的牙槽骨、牙根、牙冠的三维模型，对牙冠和牙根进行整体排牙；所述图形化显示模块用于排牙完成后，查看各牙齿的牙根和牙槽骨之间的最小距离，并对所述牙根和牙槽骨之间的最小距离进行图形化显示；所述正畸矫治模块，其用于输出排牙结果及图形化显示结果，以供医生对患者进行正畸矫治。The oral CBCT data acquisition module is configured to acquire patient oral CBCT data; the model acquisition module is configured to perform three-dimensional modeling on the alveolar bone, the root and the crown respectively according to the obtained CBCT data; The module is configured to perform overall tooth arrangement on the crown and the root according to the obtained three-dimensional model of the alveolar bone, the root and the crown; the graphical display module is used to view the root and alveolar bone of each tooth after the tooth is completed. a minimum distance between the root and the minimum distance between the root and alveolar bone; the orthodontic treatment module for outputting the result of the tooth arrangement and graphically displaying the result for the doctor to the patient Perform orthodontic treatment.
此外，所述数字化排牙装置还包括：提醒模块，其用于根据用户设置的牙槽骨和牙根之间的最小安全距离，比较排牙后实际的牙槽骨和牙根的距离，如果该距离小于最小安全距离，则对用户进行图形化提示。In addition, the digital dental dislocation device further includes: a reminding module, configured to compare the distance between the actual alveolar bone and the root after the tooth arrangement according to a minimum safety distance between the alveolar bone and the root set by the user, if the distance Less than the minimum safe distance, the user is graphically prompted.
综上所述，本发明的实施例所提供的基于牙根的数字化排牙装置，将患者的牙根、牙冠、牙槽骨通过三维模型进行建模，在进行数字化排牙过程中，时刻能够关注到牙根和牙槽骨之间的位置关系，并且可以设置牙根和牙槽骨外表面的最 小距离，在排牙过程中完全实现牙根和牙槽骨的皮质骨最小安全距离，避免了牙根移出牙槽骨的发生。In summary, the root-based digital tooth-discharging device provided by the embodiment of the present invention models the patient's root, crown, and alveolar bone through a three-dimensional model, and can pay attention to it during the digital tooth-discharging process. Positional relationship between the root and alveolar bone, and can set the outermost surface of the root and alveolar bone A small distance, the minimum safe distance between the root and the alveolar bone of the alveolar bone is fully realized during the tooth removal process, and the occurrence of the removal of the alveolar bone from the root is avoided.
图4所示为本发明一实施例提供的一种基于牙根的数字化排牙装置的结构示意图。如图4所示，该基于牙根的数字化排牙装置40包括：FIG. 4 is a schematic structural diagram of a dental root-based digital dental dislocation device according to an embodiment of the present invention. As shown in FIG. 4, the root-based digital dental dislocation device 40 includes:
模型获取模块41，配置为获取口腔中牙冠、牙根以及牙槽骨各自的三维模型；以及a model acquisition module 41 configured to acquire a three-dimensional model of each of a crown, a root, and an alveolar bone in the oral cavity;
排牙模块42，配置为根据牙根的三维模型与牙槽骨的三维模型之间的相对位置关系，利用牙冠、牙根以及牙槽骨各自的三维模型进行排牙。The teeth module 42 is configured to perform tooth arrangement using a three-dimensional model of the crown, the root and the alveolar bone according to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone.
在本发明一实施例中，如图5所示，该基于牙根的数字化排牙装置40进一步包括：预设模块43，配置为在排牙模块42进行排牙之前，预设牙根与牙槽骨之间的最小安全距离。In an embodiment of the present invention, as shown in FIG. 5, the root-based digital dental dislocation device 40 further includes: a preset module 43 configured to preset the root and alveolar bone before the teeth module 42 performs the tooth arrangement The minimum safe distance between.
在本发明一实施例中，如图5所示，排牙模块42包括：In an embodiment of the invention, as shown in FIG. 5, the dental module 42 includes:
距离获取单元421，配置为获取牙根的三维模型与牙槽骨的三维模型之间的最小距离；以及The distance acquisition unit 421 is configured to acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone;
处理单元422，配置为当最小距离小于等于最小安全距离时，返回提示牙根的三维模型与牙槽骨的三维模型的相对位置异常的提示信息。The processing unit 422 is configured to return prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal when the minimum distance is less than or equal to the minimum safe distance.
在本发明一实施例中，处理单元422进一步配置为：当最小距离小于等于最小安全距离时，停止和/或重启排牙。In an embodiment of the invention, the processing unit 422 is further configured to stop and/or restart the teeth when the minimum distance is less than or equal to the minimum safety distance.
在本发明一实施例中，如图5所示，获取单元进一步配置为：在排牙中实时获取牙根的三维模型与牙槽骨的三维模型之间的最小距离。In an embodiment of the invention, as shown in FIG. 5, the acquiring unit is further configured to: acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in real time in the teeth.
在本发明一实施例中，如图5所示，该基于牙根的数字化排牙装置40装置进一步包括：显示模块44，配置为在排牙中实时显示牙根的三维模型与牙槽骨的三维模型之间的相对位置关系。In an embodiment of the present invention, as shown in FIG. 5, the root-based digital dental dislocation device 40 further includes: a display module 44 configured to display a three-dimensional model of the root and a three-dimensional model of the alveolar bone in real time in the teeth The relative positional relationship between them.
在本发明一实施例中，排牙模块42所执行的排牙包括：对牙冠的三维模型和/或牙根的三维模型进行平移或旋转。In an embodiment of the invention, the teeth performed by the teeth module 42 include: translation or rotation of a three-dimensional model of the crown and/or a three-dimensional model of the root.
在本发明一实施例中，如图5所示，模型获取模块41包括：In an embodiment of the present invention, as shown in FIG. 5, the model obtaining module 41 includes:
数据获取单元411，配置为获取所述口腔的影像扫描数据，其中所述影像扫描数据包括三维的点阵数据或连续的二维投影数据序列；以及The data acquisition unit 411 is configured to acquire image scan data of the oral cavity, wherein the image scan data includes three-dimensional lattice data or a continuous two-dimensional projection data sequence;
三维建模单元412，配置为根据所述影像扫描数据，通过三维建模过程获取所述口腔中的牙冠、牙根以及牙槽骨各自的三维模型。The three-dimensional modeling unit 412 is configured to acquire a three-dimensional model of each of the crown, the root and the alveolar bone in the oral cavity by a three-dimensional modeling process according to the image scan data.
在本发明一实施例中，影像扫描数据为锥形束投照计算机重组断层影像数据。In an embodiment of the invention, the image scan data is a cone beam projection computer reconstructed tomographic image data.
在本发明一实施例中，排牙模块42进一步配置为：将牙根的三维模型和牙冠的三维模型作为一个整体进行排牙。具体而言，可以是先将牙根的三维模型和牙冠的三维模型拼接成一个整体模型(例如，利用图形拼接技术)，然后通过平移或旋转该整体模型以完成排牙过程。这样在进行排牙过程时，既可以通过观察牙冠 的位置来判断最终的矫治目标效果，同时也可以避免牙根过于贴近牙槽骨的皮质骨。In an embodiment of the invention, the teeth module 42 is further configured to: arrange the three-dimensional model of the root and the three-dimensional model of the crown as a whole. Specifically, the three-dimensional model of the root and the three-dimensional model of the crown are first spliced into a single model (for example, using a graphic splicing technique), and then the dentition process is completed by translating or rotating the holistic model. In this way, when performing the tooth arrangement process, it is possible to observe the crown The position to determine the final target effect, but also to avoid the cortical bone too close to the alveolar bone.
应当理解，上述实施例所提供的基于牙根的数字化排牙装置40中记载的每个模块或单元都与前述的一个方法步骤相对应。由此，前述的方法步骤描述的操作、特征以及有益效果同样适用于该基于牙根的数字化排牙装置40及其中所包含的对应的模块和单元，重复的内容在此不再赘述。It should be understood that each of the modules or units described in the root-based digital dental disposition device 40 provided by the above embodiments corresponds to one of the aforementioned method steps. Thus, the operations, features, and advantages described in the foregoing method steps are equally applicable to the root-based digital dental dislocation device 40 and the corresponding modules and units included therein, and the repeated content will not be described herein.
本发明的教导还可以实现为一种计算机可读存储介质的计算机程序产品，包括计算机程序代码，当计算机程序代码由处理器执行时，其使得处理器能够按照本发明实施方式的方法来实现如本文实施方式的基于牙根的数字化排牙方法。计算机存储介质可以为任何有形媒介，例如软盘、CD-ROM、DVD、硬盘驱动器、甚至网络介质等。The teachings of the present invention may also be embodied as a computer program product of a computer readable storage medium, comprising computer program code which, when executed by a processor, enables a processor to be implemented in accordance with a method of an embodiment of the present invention A root-based digital toothing method of embodiments herein. The computer storage medium can be any tangible medium such as a floppy disk, CD-ROM, DVD, hard drive, or even network media.
应当理解，虽然以上描述了本发明实施方式的一种实现形式可以是计算机程序产品，但是本发明的实施方式的方法或装置可以被依软件、硬件、或者软件和硬件的结合来实现。硬件部分可以利用专用逻辑来实现；软件部分可以存储在存储器中，由适当的指令执行***，例如微处理器或者专用设计硬件来执行。本领域的普通技术人员可以理解上述的方法和设备可以使用计算机可执行指令和/或包含在处理器控制代码中来实现，例如在诸如磁盘、CD或DVD-ROM的载体介质、诸如只读存储器(固件)的可编程的存储器或者诸如光学或电子信号载体的数据载体上提供了这样的代码。本发明的方法和装置可以由诸如超大规模集成电路或门阵列、诸如逻辑芯片、晶体管等的半导体、或者诸如现场可编程门阵列、可编程逻辑设备等的可编程硬件设备的硬件电路实现，也可以用由各种类型的处理器执行的软件实现，也可以由上述硬件电路和软件的结合例如固件来实现。It should be understood that although an implementation form of the embodiments of the present invention described above may be a computer program product, the method or apparatus of the embodiments of the present invention may be implemented in software, hardware, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated design hardware. One of ordinary skill in the art will appreciate that the methods and apparatus described above can be implemented using computer-executable instructions and/or embodied in processor control code, such as a carrier medium such as a magnetic disk, CD or DVD-ROM, such as a read only memory. Such code is provided on a programmable memory (firmware) or on a data carrier such as an optical or electronic signal carrier. The method and apparatus of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., also It can be implemented by software executed by various types of processors, or by a combination of the above-described hardware circuits and software such as firmware.
应当理解，尽管在上文的详细描述中提及了该基于牙根的数字化排牙装置40的若干模块或单元，但是这种划分仅仅是示例性而非强制性的。实际上，根据本发明的示例性实施方式，上文描述的两个或更多模块/单元的特征和功能可以在一个模块/单元中实现，反之，上文描述的一个模块/单元的特征和功能可以进一步划分为由多个模块/单元来实现。此外，上文描述的某些模块/单元在某些应用场景下可被省略。It should be understood that although several modules or units of the root-based digitizing device 40 are mentioned in the detailed description above, such divisions are merely exemplary and not mandatory. In fact, according to an exemplary embodiment of the present invention, the features and functions of the two or more modules/units described above may be implemented in one module/unit, and conversely, the features and functions of one module/unit described above. The function can be further divided into multiple modules/units. Moreover, some of the modules/units described above may be omitted in certain application scenarios.
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It is apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the invention is defined by the appended claims instead All changes in the meaning and scope of equivalent elements are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方 式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although the description is described in terms of embodiments, not every embodiment The formula contains only one independent technical solution, and the description of the specification is merely for the sake of clarity, and the technical solutions in the embodiments may be combined as appropriate, and the technical solutions in the respective embodiments may be combined as appropriate to form a person skilled in the art. Other embodiments that can be understood.
以上仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。 The above are only the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims (20)

  1. 一种基于牙根的数字化排牙方法，其特征在于，包括：A dental root-based digital tooth discharging method, comprising:
    获取口腔中牙冠、牙根以及牙槽骨各自的三维模型；以及Obtaining a three-dimensional model of the crown, root and alveolar bone in the oral cavity;
    根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙。According to the relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone, the three-dimensional model of the crown, the root and the alveolar bone is used for tooth arrangement.
  2. 根据权利要求1所述的方法，其特征在于，在所述根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙之前，进一步包括：The method according to claim 1, wherein said crown, root and alveolar bone are utilized in said relative positional relationship between said three-dimensional model of said root and said three-dimensional model of alveolar bone Before the respective 3D models are arranged, further include:
    预设所述牙根与所述牙槽骨之间的最小安全距离。A minimum safe distance between the root and the alveolar bone is preset.
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙包括：The method according to claim 2, wherein said crown, root and alveolar bone are respectively used according to a relative positional relationship between said three-dimensional model of said root and said three-dimensional model of alveolar bone The three-dimensional model for performing the teeth includes:
    获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离；以及Obtaining a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone;
    当所述最小距离小于等于所述最小安全距离时，返回提示所述牙根的三维模型与所述牙槽骨的三维模型的相对位置异常的提示信息。When the minimum distance is less than or equal to the minimum safety distance, returning prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal.
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙进一步包括：The method according to claim 3, wherein said respective crown, root and alveolar bone are utilized according to a relative positional relationship between said three-dimensional model of said root and said three-dimensional model of alveolar bone The three-dimensional model for performing tooth removal further includes:
    当所述最小距离小于等于所述最小安全距离时，停止和/或重启所述排牙。The tooth row is stopped and/or restarted when the minimum distance is less than or equal to the minimum safety distance.
  5. 根据权利要求3所述的方法，其特征在于，所述获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离包括：The method according to claim 3, wherein the obtaining a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone comprises:
    在所述排牙中实时获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离。A minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone is obtained in real time in the row of teeth.
  6. 根据权利要求1至5中任一所述的方法，其特征在于，进一步包括：The method according to any one of claims 1 to 5, further comprising:
    在所述排牙中实时显示所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系。 A relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone is displayed in real time in the row of teeth.
  7. 根据权利要求1至5中任一所述的方法，其特征在于，所述排牙包括：对所述牙冠的三维模型和/或所述牙根的三维模型进行平移或旋转。The method according to any one of claims 1 to 5, wherein the tooth arrangement comprises: translating or rotating a three-dimensional model of the crown and/or a three-dimensional model of the root.
  8. 根据权利要求1至5中任一所述的方法，其特征在于，所述获取口腔中牙冠、牙根以及牙槽骨各自的三维模型包括：The method according to any one of claims 1 to 5, wherein the obtaining a three-dimensional model of each of the crown, root and alveolar bone in the oral cavity comprises:
    获取所述口腔的影像扫描数据，其中所述影像扫描数据包括三维的点阵数据或连续的二维投影数据序列；以及Obtaining image scan data of the oral cavity, wherein the image scan data comprises three-dimensional lattice data or a continuous two-dimensional projection data sequence;
    根据所述影像扫描数据，通过三维建模过程获取所述口腔中的牙冠、牙根以及牙槽骨各自的三维模型。According to the image scan data, a three-dimensional model of each of the crown, the root and the alveolar bone in the oral cavity is obtained through a three-dimensional modeling process.
  9. 根据权利要求8所述的方法，其特征在于，所述影像扫描数据为锥形束投照计算机重组断层影像数据。The method according to claim 8, wherein the image scan data is a cone beam projection computer reconstructed tomographic image data.
  10. 根据权利要求1至5中任一所述的方法，其特征在于，所述利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙包括：The method according to any one of claims 1 to 5, wherein said performing a tooth displacement using a three-dimensional model of each of said crown, root and alveolar bone comprises:
    将所述牙根的三维模型和所述牙冠的三维模型作为一个整体进行排牙。The three-dimensional model of the root and the three-dimensional model of the crown are arranged as a whole.
  11. 一种基于牙根的数字化排牙装置，其特征在于，包括：A dental root-based digital dental dislocation device, comprising:
    模型获取模块，配置为获取口腔中牙冠、牙根以及牙槽骨各自的三维模型；以及a model acquisition module configured to obtain a three-dimensional model of each of the crown, root, and alveolar bone in the oral cavity;
    排牙模块，配置为根据所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系，利用所述牙冠、牙根以及牙槽骨各自的三维模型进行排牙。The tooth arrangement module is configured to perform tooth arrangement by using a three-dimensional model of the crown, the root and the alveolar bone according to a relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone.
  12. 根据权利要求11所述的装置，其特征在于，进一步包括：The device according to claim 11, further comprising:
    预设模块，配置为在所述排牙模块进行所述排牙之前，预设所述牙根与所述牙槽骨之间的最小安全距离。And a preset module configured to preset a minimum safety distance between the root and the alveolar bone before the row of teeth is performed by the dental module.
  13. 根据权利要求12所述的装置，其特征在于，所述排牙模块包括：The device according to claim 12, wherein the dental module comprises:
    距离获取单元，配置为获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离；以及a distance acquisition unit configured to acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone;
    处理单元，配置为当所述最小距离小于等于所述最小安全距离时，返回提示所述牙根的三维模型与所述牙槽骨的三维模型的相对位置异常的提示信息。 The processing unit is configured to return, when the minimum distance is less than or equal to the minimum safety distance, prompt information indicating that the relative position of the three-dimensional model of the root and the three-dimensional model of the alveolar bone is abnormal.
  14. 根据权利要求13所述的装置，其特征在于，所述处理单元进一步配置为：当所述最小距离小于等于所述最小安全距离时，停止和/或重启所述排牙。The apparatus of claim 13, wherein the processing unit is further configured to stop and/or restart the teeth when the minimum distance is less than or equal to the minimum safe distance.
  15. 根据权利要求13所述的装置，其特征在于，所述获取单元进一步配置为：在所述排牙中实时获取所述牙根的三维模型与所述牙槽骨的三维模型之间的最小距离。The apparatus according to claim 13, wherein the acquisition unit is further configured to acquire a minimum distance between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in the teeth in real time.
  16. 根据权利要求11至15中任一所述的装置，其特征在于，进一步包括：The apparatus according to any one of claims 11 to 15, further comprising:
    显示模块，配置为在所述排牙中实时显示所述牙根的三维模型与所述牙槽骨的三维模型之间的相对位置关系。And a display module configured to display a relative positional relationship between the three-dimensional model of the root and the three-dimensional model of the alveolar bone in real time in the row of teeth.
  17. 根据权利要求11至15中任一所述的装置，其特征在于，所述排牙模块所执行的所述排牙包括：对所述牙冠的三维模型和/或所述牙根的三维模型进行平移或旋转。The device according to any one of claims 11 to 15, wherein the teeth arranged by the dental module comprise: a three-dimensional model of the crown and/or a three-dimensional model of the root Pan or rotate.
  18. 根据权利要求11至15中任一所述的装置，其特征在于，所述模型获取模块包括：The apparatus according to any one of claims 11 to 15, wherein the model acquisition module comprises:
    数据获取单元，配置为获取所述口腔的影像扫描数据，其中所述影像扫描数据包括三维的点阵数据或连续的二维投影数据序列；以及a data acquisition unit configured to acquire image scan data of the oral cavity, wherein the image scan data includes three-dimensional lattice data or a continuous two-dimensional projection data sequence;
    三维建模单元，配置为根据所述影像扫描数据，通过三维建模过程获取所述口腔中的牙冠、牙根以及牙槽骨各自的三维模型。The three-dimensional modeling unit is configured to acquire a three-dimensional model of each of the crown, the root and the alveolar bone in the oral cavity through the three-dimensional modeling process according to the image scanning data.
  19. 根据权利要求18所述的装置，其特征在于，所述影像扫描数据为锥形束投照计算机重组断层影像数据。The apparatus according to claim 18, wherein said image scan data is a cone beam projection computer reconstructed tomographic image data.
  20. 根据权利要求11至15中任一所述的装置，其特征在于，所述排牙模块进一步配置为：将所述牙根的三维模型和所述牙冠的三维模型作为一个整体进行排牙。 The device according to any one of claims 11 to 15, wherein the dental dislocation module is further configured to perform a tooth arrangement of the three-dimensional model of the root and the three-dimensional model of the crown as a whole.
PCT/CN2017/097658 2016-10-27 2017-08-16 Tooth root-based method and device for digitized tooth arrangement WO2018076897A1 (en)

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CN201710069091.8A CN107997835A (en) 2016-10-27 2017-02-08 Digitlization row's tooth method and device based on root of the tooth
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