CN104392492A - Computer interaction type method for segmenting single tooth crown from three-dimensional jaw model - Google Patents
Computer interaction type method for segmenting single tooth crown from three-dimensional jaw model Download PDFInfo
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- CN104392492A CN104392492A CN201410680473.0A CN201410680473A CN104392492A CN 104392492 A CN104392492 A CN 104392492A CN 201410680473 A CN201410680473 A CN 201410680473A CN 104392492 A CN104392492 A CN 104392492A
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Abstract
The invention discloses a computer interaction type method for segmenting a single tooth crown from a three-dimensional jaw model. The method includes the steps: reading and visually displaying the three-dimensional jaw grid model; detecting anatomic characteristic points and an occlusion plane of upper teeth of a jaw in the three-dimensional jaw grid model; assigning constraint points of harmonic fields of the three-dimensional jaw grid model; calculating the harmonic fields according to constraint conditions to obtain a tooth crown segmenting border line; performing grid cutting according to the obtained tooth crown segmenting border line to obtain a tooth crown model. By the method, a tooth segmenting border can be accurately obtained, the method is simple to use, and a user interactively determines two border points on a visual view of the jaw model for a single tooth to be separated, so that the tooth crown grid model of the tooth can be accurately obtained. The method has important significance for dental orthodontics, virtual jaw surgery simulation and the like.
Description
Technical field
The present invention relates to a kind of computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat.
Background technology
Along with the development of 3D acquisition technique, tooth jaw three-dimensional model is widely used in dentistry association area at present, as dentistry, medical jurisprudence, anthropology and archaeology etc.Dentognathic model is carried out splitting, the process such as classification is part indispensable in the dentistry virtual reality applications such as treatment plan formulation, virtual operation.
Grid automatic division method at present for corona is difficult to obtain model accurately, and robustness is not strong.Although interactive segmentation method can utilize the priori of people, fully demonstrate the operation intention of user, but current method generally all needs user to specify several frontier points along the corona cut-off rule of anticipation, and this operation loaded down with trivial details, consuming time does not obviously meet intelligentized mark.Method in the past or need a large amount of manual interaction to determine border, time and effort consuming, or can not get corona segmentation result, poor robustness accurately.Therefore, accurate and intelligentized from the tooth jaw grid model comprising complicated corona marginal information, accurately isolate all corona models be a challenging problem.
Summary of the invention
Technical matters to be solved by this invention is, for above-mentioned the deficiencies in the prior art, provides a kind of computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat, comprises the following steps:
1) to read in and visual display tooth jaw three-dimensional grid model;
2) anatomical features point and the biteplane of described tooth jaw three-dimensional grid model dens in dente jaw upper teeth is detected;
3) obligatory point of tooth jaw three-dimensional grid model mediation field is specified;
4) calculate mediation field according to obligatory point, obtain corona segmentation side boundary line;
5) carry out mesh segmentation according to the corona segmentation side boundary line obtained, obtain corona model.
Described step 2) in, utilize the curvature information on summit on described tooth jaw three-dimensional grid model and dividing ridge method to obtain the anatomical features point of tooth jaw upper teeth, utilize described anatomical features point determination biteplane.
Described step 3) in, be target corona specify 1 to be arranged in respectively obligatory point that nearly teeth space place and 1 are arranged in far teeth space place.
Described step 4) in, the computation process of mediation field is: establish in tooth jaw three-dimensional grid model and have m node, n obligatory point, solves A Φ=b, and the solution obtained is the mediation field value of each vertex correspondence of tooth jaw three-dimensional grid model; Wherein,
L
ijthe Laplacian Matrix on m × m rank,
(i, j) ∈ E, 0≤i, j≤m-1, E are the set on limit in tooth jaw three-dimensional grid model;
if v
ior v
jplace is concave point, v
ifor the coordinate figure at tooth jaw three-dimensional grid model i point place,
represent tooth jaw three-dimensional grid model average side length, Θ is constant;
Element c in C
r,p=1, all the other are 0,0≤p≤m-1, p are the sequence number of r obligatory point in tooth jaw three-dimensional grid model, r=0,1 ... n-1; W=1000;
Wherein
Value ∈ { 0,0.5, the 1} of each element in b'.
Described step 4) in, the process obtaining corona segmentation side boundary line is: from described mediation field, extract the alternatively boundary line set of some isoline, choose a highest boundary candidate ring of scoring as corona corona segmentation side boundary line.
A described n obligatory point comprises described step 2) the anatomy special medical treatment point, the step 3 that obtain) two obligatory points of specifying and a series of around and do not belong to the obligatory point B of target corona; The defining method of described obligatory point B is as follows: find the subpoint of all anatomical features point on described biteplane, finds to be positioned on described biteplane and through the straight line of described subpoint; With the normal of biteplane for track, by described straight line towards tooth jaw bottom translation one segment distance, described distance is set as 2/3 times from corona cusp to tooth jaw bottom vertical distance; Obtain the intersection point of straight line and dentognathic model, the set of described intersection point is B.
Described step 4) in, after obtaining described corona segmentation side boundary line, optimize described corona segmentation side boundary line, optimizing process is as follows: in corona segmentation side boundary line, each point calculates a scalar field, each corresponding scalar value is the dot product of the closely mean unit normal vector of tongue side point in unit normal vector and the B of this point, from the concept of dot product, the codomain of this scalar field is [-1,1]; Choose the threshold value being greater than 0 and thresholding is carried out to this scalar field, described corona segmentation side boundary line is divided into nearly lip side and nearly tongue side two parts, gives up nearly tongue side part, retain nearly lip side boundary line part; Then, the plane of pressing close to the nearly tongue side surface of tooth jaw constructs line transect, described plane is determined, using this line transect as new corona boundary line, nearly tongue side by 1 of tongue side near in 2 end points in retained nearly lip side boundary line and B; Finally, described nearly lip side boundary line segment boundary line and described corona boundary line, nearly tongue side are newly combined, becomes the complete corona segmentation side boundary line after optimization.
Compared with prior art, the beneficial effect that the present invention has is: the present invention only needs a small amount of user interactions, and just can obtain the corona model with exact boundry information, robustness is good, saves time, simple to operate, and it is convenient to realize; Use method disclosed by the invention, can accurately obtain tooth partitioning boundary, and use simple: for the single tooth tooth for being separated, generally only needing user at determination 2 frontier points of the visualization view interactive of dentognathic model, just accurately can obtain the corona grid model of this tooth.The present invention is for orthodontic, and tooth jaw virtual surgery simulation etc. has great significance.
Accompanying drawing explanation
Fig. 1 is that the present invention is separated the process flow diagram of corona from upper jaw grid model;
Fig. 2 is the anatomical features point schematic diagram of each tooth on tooth jaw used in the present invention;
Fig. 3 calculates the schematic diagram that mediation place needs obligatory point;
Fig. 4 is the schematic diagram calculating gained mediation field result and isoline thereof;
Fig. 5 A is the corona segmentation side boundary line schematic diagram needing to optimize;
Fig. 5 B for the nearly lip side boundary line that retains after separation and construct nearly tongue side boundary line rely on the schematic diagram of plane;
Fig. 5 C is the schematic diagram in the corona segmentation side boundary line after optimizing, and which includes the nearly tongue side boundary line of neotectonics;
Fig. 5 D, for carry out mesh segmentation according to corona segmentation side boundary line, finally isolates the result of single tooth hat.
Embodiment
Details are as follows for the specific embodiment of the present invention:
As shown in Figure 1, the method being separated corona from upper jaw grid model interactive of the present invention, comprises step: 1 reads in and visual display tooth jaw three-dimensional grid model; 2 automatic anatomical features point and the biteplanes detecting tooth jaw upper teeth; 3 specify the obligatory point of grid model mediation field by user; 4 calculate mediation field according to obligatory point, obtain corona segmentation side boundary line; 5 if necessary, optimizes this boundary line; 6 carry out mesh segmentation according to the boundary line obtained, and obtain corona model.
1. read in and visual display tooth jaw three-dimensional grid model
From model file, be loaded into tooth jaw general network lattice model data, this grid model can be obtained by three-dimensional acquisition equipment (as scanner), also can rebuild from the medical science sequence of pictures such as CBCT and obtain.In a computer by after multi-purpose computer graphics Visualization Platform (such as OpenGL) visual display, user can use the equipment such as mouse, keyboard to carry out interactive operation (such as convergent-divergent, rotation, translation, reconnaissance etc.) to this model.
2. automatically detect anatomical features point and the tooth jaw plane of maxillary teeth
Utilize curvature information and the related algorithm (such as watershed algorithm) on summit on grid model, the anatomical features dot information on corona can be obtained smoothly.The such as incisor shown in Fig. 2 A cut 4 cusps on grinding one's teeth in sleep shown in 2 cusps on 2 end points on ridge, 1 cusp (cusp) on the canine tooth shown in Fig. 2 B, the premolar teeth shown in Fig. 2 C (the tip of the tongue, cheek point) and Fig. 2 D (cheek point in far away, far away in the tip of the tongue, near in the tip of the tongue, near in cheek point).
After determining unique point, biteplane also just can be decided thereupon.The present invention adopts general definition, namely the abutment points of two incisors, left side first molar near in the tip of the tongue and right side first molar near in the tip of the tongue 3 determine this biteplane.
3. user specifies the obligatory point of grid model mediation field
Under the interactive environment designed by the present invention, the visualization view that user can use mouse, keyboard freely chooses (by rotation, translation, convergent-divergent) suitable dentognathic model, and in selected view, choose arbitrarily the summit on grid model and obtain its coordinate.In the present invention, user is needed to be that target corona specifies 2 obligatory points laying respectively at nearly neutralization middle teeth space place far away.Tooth shown in Fig. 3 is the visualization view of frist premolar on the left of certain lower jaw, and the bead 1. identified wherein illustrates the user meeting application claims and specifies obligatory point.
4. calculate mediation field according to obligatory point, obtain corona segmentation side boundary line
In the present invention, we are converted into the mediation field on computing grid surface by finding segmentation side Boundary and choose its certain isoline problem and solve.
Solve surface mesh mediation field and mathematically namely solve Poisson equation △ Φ=0 (△ represents discrete Laplace operator).Use least square method can solve this Poisson equation, now full scale equation is converted into the form of A Φ=b,
Wherein L is Laplacian Matrix, if there be m node in grid, then L is m × m rank matrixes, for 0≤i, j≤m-1,
Wherein, E is the set on limit in tooth jaw three-dimensional grid model; ω is the weights of Laplace operator, for be in harmonious proportion field be distributed with important impact.Here we adopt
if v
ior v
jplace is concave point
Catch and represent partitioning boundary ground grid surface indentation region, wherein v
ifor the coordinate figure at i point place,
represent average edge lengths, Θ is a very little constant (such as 0.001).
C and b' is matrix and the vector of constraint condition in representative mediation field respectively.If the grid of m node there be n obligatory point, then C and b' can be expressed as follows:
W is a very large coefficient, and value is 1000 here.For i-th (i=0,1 ... n-1) individual obligatory point, its sequence number is within a grid p (0≤p≤m-1), then the element c in C
ip=1, all the other are 0.Element b in b'
ivalue ∈ { 0,0.5,1}, i.e. b
ivalue be 0,0.5 or 1, corresponding to the value of i-th obligatory point.Utilize the kit solved with Large Scale Sparse matrix of coefficients linear equation A Φ=b to obtain non trivial solution, be the mediation field value of each vertex correspondence.
In order to utilize mediation field to be separated corona, 2 obligatory points of specifying except user (are designated as U, the b of its correspondence
ivalue is 0.5) beyond, remaining obligatory point can by system automatic acquisition.The unique point that they are respectively on the corona determined in step 2 (is designated as F, corresponding b
ivalue is 1), and a series of around and the obligatory point not belonging to target corona (is designated as B, corresponding b
ivalue is 0).For Fig. 3, wherein 2. and 3. identified bead represent F and B respectively.
We adopt following method to determine, and the point in B:B determined by the common factor of a series of straight line and tooth jaw grid model.Respectively through the subpoint of each point in F on biteplane time these straight lines are initialized, and be positioned on biteplane.Then, we along the normal of biteplane as track, by them respectively towards tooth jaw bottom translation one segment distance.This segment distance length we be generally set as from corona cusp to tooth jaw bottom vertical distance 2/3 times.
For mediation field specifies constraint condition can solve linear equation A Φ=b later, obtain the mediation field scalar value that each node on grid is corresponding.We use some the isoline alternatively boundary line set extracted from this mediation field.Fig. 4 illustrates the mediation field of certain target corona under specifying constraint and isoline thereof.Finally, we adopt the mode of scoring to choose the partitioning boundary of a Boundary Loop best in boundary candidate line as corona.
5. if necessary, optimize the border of gained in 4
If target corona nearly tongue lateral boundaries not obvious (as shown in Figure 5), then need to carry out necessary optimization to the boundary line described in 4.First, we are that on boundary line, each point calculates a scalar field.In described scalar field, each corresponding scalar value is the dot product of the closely mean unit normal vector of tongue side point in unit normal vector and the B of this point, and from the concept of dot product, the codomain of this scalar field is [-1,1]; Choose certain threshold value being greater than 0 and thresholding is carried out to this scalar field, just boundary line can be divided into nearly lip side and nearly tongue side two parts, we abandon nearly tongue side part, retain the boundary line part (such as Fig. 5 B is relative to Fig. 5 A, its curved portion retained) of all the other nearly lip sides.Then, we construct line transect (such as Fig. 5 C is relative to Fig. 5 B, its curved portion of adding) on the specific plane pressing close to the nearly tongue side surface of tooth jaw, using this line transect as new corona boundary line, nearly tongue side.This plane is by 1 of tongue side near in 2 end points in retained nearly lip side boundary line and B unique determination (such as Fig. 5 B is relative to Fig. 5 A, its plane of adding).Finally, both sides (i.e. nearly tongue side and the nearly lip side) boundary line front 2 steps obtained combines, and becomes the complete corona segmentation side boundary line after optimization.
6. carry out mesh segmentation according to the boundary line obtained, obtain corona model
After obtaining satisfied corona segmentation side boundary line, we use the method for mesh segmentation to be separated from tooth jaw by target corona.Concrete grammar is the distance of each point on computation bound line to contiguous grid vertex.Utilize this local distance field, even if segmentation side boundary line can not fit in (the batten boundary line, nearly tongue side of such as neotectonics) on tooth jaw surface mesh completely, mesh segmentation also can carry out smoothly.Fig. 5 D shows the corona model after according to boundary line cutting.
Claims (7)
1., from a computer interactive formula method for tooth jaw three-dimensional model segmentation single tooth hat, it is characterized in that, comprise the following steps:
1) to read in and visual display tooth jaw three-dimensional grid model;
2) anatomical features point and the biteplane of described tooth jaw three-dimensional grid model dens in dente jaw upper teeth is detected;
3) obligatory point of tooth jaw three-dimensional grid model mediation field is specified;
4) calculate mediation field according to obligatory point, obtain corona segmentation side boundary line;
5) carry out mesh segmentation according to the corona segmentation side boundary line obtained, obtain corona model.
2. the computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat according to claim 1, it is characterized in that, described step 2) in, utilize the curvature information on summit on described tooth jaw three-dimensional grid model and dividing ridge method to obtain the anatomical features point of tooth jaw upper teeth, utilize described anatomical features point determination biteplane.
3. the computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat according to claim 2, is characterized in that, described step 3) in, be target corona specify 1 to be arranged in respectively obligatory point that nearly teeth space place and 1 are arranged in far teeth space place.
4. the computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat according to claim 3, it is characterized in that, described step 4) in, the computation process of mediation field is: establish in tooth jaw three-dimensional grid model and have m node, n obligatory point, solve A Φ=b, the solution obtained is the mediation field value of each vertex correspondence of tooth jaw three-dimensional grid model; Wherein,
L
ijthe Laplacian Matrix on m × m rank,
(i, j) ∈ E, 0≤i, j≤m-1, E are the set on limit in tooth jaw three-dimensional grid model;
if v
ior v
jplace is concave point, v
ifor the coordinate figure at tooth jaw three-dimensional grid model i point place,
represent tooth jaw three-dimensional grid model average side length, Θ is constant;
Element c in C
r,p=1, all the other are 0,0≤p≤m-1, p are the sequence number of r obligatory point in tooth jaw three-dimensional grid model, r=0,1 ... n-1; W=1000;
Wherein
Value ∈ { 0,0.5, the 1} of each element in b'.
5. the computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat according to claim 4, it is characterized in that, described step 4) in, the process obtaining corona segmentation side boundary line is: from described mediation field, extract the alternatively boundary line set of some isoline, choose a highest boundary candidate ring of scoring as corona corona segmentation side boundary line.
6. the computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat according to claim 4 or 5, it is characterized in that, a described n obligatory point comprises described step 2) the anatomy special medical treatment point, the step 3 that obtain) two obligatory points of specifying and a series of around and do not belong to the obligatory point B of target corona; The defining method of described obligatory point B is as follows: find the subpoint of all anatomical features point on described biteplane, finds to be positioned on described biteplane and through the straight line of described subpoint; With the normal of biteplane for track, by described straight line towards tooth jaw bottom translation one segment distance, described distance is set as 2/3 times from corona cusp to tooth jaw bottom vertical distance; Obtain the intersection point of described straight line and tooth jaw three-dimensional grid model, the set of described intersection point is B.
7. the computer interactive formula method from tooth jaw three-dimensional model segmentation single tooth hat according to claim 6, it is characterized in that, described step 4) in, after obtaining described corona segmentation side boundary line, optimize described corona segmentation side boundary line, optimizing process is as follows: in corona segmentation side boundary line, each point calculates a scalar field, each corresponding scalar value is the dot product of the closely mean unit normal vector of tongue side point in unit normal vector and the B of this point, from the concept of dot product, the codomain of this scalar field is [-1,1]; Choose the threshold value being greater than 0 and thresholding is carried out to this scalar field, described corona segmentation side boundary line is divided into nearly lip side and nearly tongue side two parts, gives up nearly tongue side part, retain nearly lip side boundary line part; Then, the plane of pressing close to the nearly tongue side surface of tooth jaw constructs line transect, described plane is determined, using this line transect as new corona boundary line, nearly tongue side by 1 of tongue side near in 2 end points in retained nearly lip side boundary line and B; Finally, described nearly lip side boundary line segment boundary line and described corona boundary line, nearly tongue side are newly combined, becomes the complete corona segmentation side boundary line after optimization.
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| CN109146867B (en) * | 2018-08-24 | 2021-11-19 | 四川智动木牛智能科技有限公司 | Oral cavity curved surface CT image biological feature extraction and matching method and device |
| CN109598703A (en) * | 2018-11-19 | 2019-04-09 | 影为医疗科技(上海)有限公司 | Processing method, system, computer readable storage medium and the equipment of dental imaging |
| CN109993751A (en) * | 2019-03-11 | 2019-07-09 | 常熟理工学院 | The semi-automatic Precise Segmentation of tooth jaw of reconciliation scalar field is perceived based on recess |
| CN115619773A (en) * | 2022-11-21 | 2023-01-17 | 山东大学 | Three-dimensional tooth multi-mode data registration method and system |
| CN117455934A (en) * | 2023-12-22 | 2024-01-26 | 中南大学 | Method for enhancing and segmenting abnormal lesion area of oral cavity CT |
| CN117455934B (en) * | 2023-12-22 | 2024-03-12 | 中南大学 | Method for enhancing and segmenting abnormal lesion area of oral cavity CT |
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