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Publication numberCN105769353 A
Publication typeApplication
Application numberCN 201610079390
Publication date20 Jul 2016
Filing date4 Feb 2016
Priority date4 Feb 2016
Publication number201610079390.5, CN 105769353 A, CN 105769353A, CN 201610079390, CN-A-105769353, CN105769353 A, CN105769353A, CN201610079390, CN201610079390.5
Inventors周彦恒, 李晶
Applicant北京正齐口腔医疗技术有限公司
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Automatic tooth arrangement method and device
CN 105769353 A
Abstract
The invention discloses an automatic tooth arrangement method and an automatic tooth arrangement device, relating to the medical field of digital orthodontics, and solving the problem that the automatic tooth arrangement is poor in accuracy. The main technical scheme is as follows: the automatic tooth arrangement method comprises the following steps: acquiring three-dimensional data of dentition needing orthodontics and three-dimensional data of craniofacial jaw bone; selecting feature points on the three-dimensional data of the dentition and the three-dimensional data of the craniofacial jaw bone; constructing tooth arrangement planes and dental arch curves according to the selected feature points, wherein the tooth arrangement planes comprise a median sagittal plane, a horizontal plane and a tooth arrangement occlusal plane, and the dental arch curves comprise an upper jaw tooth arrangement curve and a lower jaw tooth arrangement curve; moving teeth in the three-dimensional data of the dentition according to the preset tooth positions, so that a target dentition after orthodontics is formed, and the preset tooth positions comprise the target upper and lower dentition sagittal position, the target upper and lower dentition vertical position, and the target upper jaw and lower jaw among-dentition position. The automatic tooth arrangement method and the automatic tooth arrangement device are mainly used for the tooth arrangement in the orthodontics.
Claims(10)  translated from Chinese
1.一种自动化排牙方法,其特征在于,包括: 获取需要正畸的牙列三维数据及颅面颂骨三维数据; 在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点; 根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线; 根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 1. An automated teeth arrangement method, comprising: acquiring three-dimensional data dentition and craniofacial orthodontic mandible of three-dimensional data; selecting dentition on said three-dimensional data and the three-dimensional data maxilla craniofacial feature point, the feature point for the tip of the tooth socket and anatomical landmarks anatomical landmarks on the skull bone Chung; constructed row of teeth and dental arch plane curve according to the selected feature points, the median sagittal plane comprises a row of teeth shaped surface, a horizontal plane and the discharge occlusal plane, said arch comprises a curved row of teeth of the maxillary and mandibular teeth arrangement graph curve; dentition move the tooth in three-dimensional data according to a preset tooth positions, to generate target orthodontic dentition, including the preset target position of the upper and lower dentition tooth sagittal position, the target position of the upper and lower dentition to the vertical, the target between the upper and lower dentition Chung position.
2.根据权利要求1所述的方法,其特征在于,所述通过预置牙齿位置对所述牙列三维数据中的牙齿进行移动包括: 根据所述正中矢状面上选取的特征点,构建下前牙下颂平面角(L1/MP)和上前牙轴倾角(UlMl); 根据所述目标上下牙列矢状向位置中下前牙下颂平面角和上前牙轴倾角角度的设定,通过所述上颂排牙曲线、下颂排牙曲线分别与上下前牙的绑定,拖动牙齿前后移动以确保上下颂牙列在目标的矢状向位置上;其中,所述下前牙下颂平面角(L1/MP)的角度范围为87.7至100.1度,所述上前牙轴倾角(UlMl)的角度范围为106.7至119.3度。 2. The method according to claim 1, wherein said moving comprises teeth in the dentition three-dimensional data by presetting the position of the teeth: The selected feature points to the sagittal plane, constructed the lower front teeth Chung plane angle (L1 / MP) and the upper front teeth tilt axis (UlMl); dentition vertical sagittal plane angle submandibular anterior teeth and lower anterior teeth pitch angle to the axial position based on the target provided given by the curve of the maxillary teeth arrangement, the mandibular tooth row curves bound the upper and lower front teeth, to ensure that the teeth move back and forth up and down drag in the sagittal Chung dentition to a position on the object; wherein the lower Chung lower front teeth plane angle (L1 / MP) angular range from 87.7 to 100.1 degrees, the front teeth tilt axis (UlMl) angular range of 106.7 to 119.3 degrees.
3.根据权利要求1所述的方法,其特征在于,所述通过预置牙齿位置对所述牙列三维数据中的牙齿进行移动包括: 根据所述目标上下牙列垂直向位置中理想咬合关系的设定,将下颂牙齿所有颊尖点,及上颂第一二双尖牙、磨牙近远中点均移动到所述下颂排牙曲线上,上颂中切牙及尖牙点移动到所述上颂排牙曲线上,侧切牙位于所述上颂排牙曲线上方0.5mm的投影曲线之上。 Preset the dentition tooth positions in the three-dimensional data comprises moving the teeth 3. The method according to claim 1, characterized by the: occlusion based on the target position to a vertical up and down over the dentition setting, all the mandibular buccal cusp teeth, two pairs of the first and the maxillary canine, molars distal to the midpoint of the moving average mandibular teeth on the discharge curve, the maxillary central incisors and canines point movement to the maxillary teeth row on the curve, the maxillary lateral incisor located above the row of teeth 0.5mm projection curve upward curve.
4.根据权利要求1所述的方法,其特征在于,所述通过预置牙齿位置对所述牙列三维数据中的牙齿进行移动包括: 将同等评估率PAR指数分解为预设数量的牙齿间距离类型进行编码,生成自动化模拟排牙的约束条件; 将所述约束条件和力导向算法加入到迭代就近点ICP算法中计算得到所述每个牙齿的正畸特征点的目标位移向量; 根据所述目标位移向量对应地移动所述牙列三维数据中的每个牙齿。 4. The method according to claim 1, wherein said preset position of the teeth by moving the dentition comprising teeth in the three-dimensional data: ratio between the PAR evaluation index equal to a preset number of teeth decomposed from encoding type, automatic constraint condition generation of the analog row of teeth; power constraints and the guide nearest point iterative algorithm is added to the ICP algorithm is a target displacement vector calculated in the feature point of each orthodontic tooth; in accordance with the moving said target displacement vectors corresponding to said three-dimensional data of each of the dentition tooth.
5.根据权利要求4所述的方法,其特征在于,所述根据所述目标位移向量对应地移动所述牙列三维数据中的每个牙齿之后,所述方法还包括: 根据所述目标的正畸牙列中牙齿的正畸特征点,判断所述目标的正畸牙列中的每个牙齿的牙根是否位于槽骨线轮廓内,所述槽骨线轮廓是根据与牙列模型的咬合面平行的平面以及牙齿根部的头骨进行切割运算,提取到的最大闭合区域的轮廓; 若所述牙根不位于槽骨线轮廓内,则对对应所述牙根的新的牙列模型中的牙齿进行绕冠移动,获得最终的正畸牙列。 5. After the method according to claim 4, wherein said movement of said dentition three-dimensional data corresponding to each tooth in accordance with the target displacement vector, the method further comprising: based on said target orthodontic tooth dentition orthodontic feature points, and determines the target dentition orthodontic tooth root of each groove is located within the bone contour lines, contour lines of said bone engaging groove is in accordance with the dentition model the maximum contour of the closed area, and a plane parallel to the surface of the tooth root of the skull cutting operation, the extracted; if the root is not located within the alveolar bone contour line, the new root of the dentition model corresponding to the teeth in move around the crown, final orthodontic dentition.
6.根据权利要求1所述的方法,其特征在于,所述方法还包括: 根据所述牙列三维数据中每个牙齿的冠根形状生成包围盒; 在根据预置牙齿位置对所述牙列三维数据进行移动的过程中,根据所述包围盒对所述牙列三维数据中的牙齿进行碰撞检测以保证移动的可执行性。 6. The method according to claim 1, wherein said method further comprises: generating a bounding box according to the dentition in the crown-shaped three-dimensional data of each tooth; in accordance with the preset position of the teeth of the dental process column move in three-dimensional data, according to the bounding box of the three-dimensional data dentition tooth collision detection to ensure that the movement of the executable.
7.—种自动化排牙装置,其特征在于,包括: 获取单元,用于获取需要正畸的牙列三维数据及颅面颂骨三维数据; 选取单元,用于在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点; 构建单元,用于根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线; 移动单元,用于根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 7.- species automated teeth arrangement means, characterized by comprising: an acquisition unit configured to acquire three-dimensional data dentition orthodontic craniofacial mandible and three-dimensional data; selecting means for the three-dimensional data and dentition selecting the three-dimensional data on the mandible craniofacial feature points, the feature point for the tip of the tooth socket and anatomical landmarks anatomical landmarks on the skeletal cranial Chung points; constructing unit, for constructing according to the selected feature point arrangement and dental arch plane curve, a plane including the row of teeth sagittal plane, horizontal plane and the discharge occlusal plane, said curve comprises a maxillary arch curves row of teeth and teeth arrangement submandibular curve; mobile unit, according to preset tooth positions to move the teeth in the dentition three-dimensional data to generate dentition orthodontic object, the preset target position includes the upper and lower dentition tooth sagittal position, the target vertical position of the vertical dentition, Ode between the upper and lower dentition target position.
8.根据权利要求7所述的装置,其特征在于,所述移动单元包括: 构建模块,用于根据所述正中矢状面上选取的特征点,构建下前牙下颂平面角(L1/MP)和上前牙轴倾角(ui/ra); 拖动模块,用于根据所述目标上下牙列矢状向位置中下前牙下颂平面角和上前牙轴倾角角度的设定,通过所述上颂排牙曲线、下颂排牙曲线分别与上下前牙的绑定,拖动牙齿前后移动以确保上下颂牙列在目标的矢状向位置上;其中,所述下前牙下颂平面角(L1/MP)的角度范围为87.7至100.1度,所述上前牙轴倾角(UlMl)的角度范围为106.7至119.3度。 8. The apparatus according to claim 7, wherein, said mobile unit comprising: a constructing module, according to the selected feature points to the sagittal plane, constructing the lower front teeth Chung plane angle (L1 / MP) anterior teeth and axis angle (ui / ra); dragging means for the upper and lower dentition anterior sagittal plane angle submandibular and lower front tooth axis inclination angle is set to position according to the target, the maxillary tooth arrangement by curves, curves mandibular row of teeth and anterior teeth binding, to ensure that the teeth move back and forth up and down drag in the sagittal Chung dentition to a position on the object; wherein the lower front teeth mandibular plane angle (L1 / MP) angular range from 87.7 to 100.1 degrees, the front teeth tilt axis (UlMl) angular range of 106.7 to 119.3 degrees.
9.根据权利要求7所述的装置,其特征在于,所述移动单元还包括: 移动模块,用于根据所述目标上下牙列垂直向位置中理想咬合关系的设定,将下颂牙齿所有颊尖点,及上颂第一二双尖牙、磨牙近远中点均移动到所述下颂排牙曲线上,上颂中切牙及尖牙点移动到所述上颂排牙曲线上,侧切牙位于所述上颂排牙曲线上方0.5mm的投影曲线之上。 9. The apparatus according to claim 7, characterized in that said mobile unit further comprises: moving means for setting a vertical direction over the upper and lower dentition occlusion position, all of the mandibular teeth according to the target buccal cusp, and two pairs of the first maxillary canine, molars are moved far to the midpoint of the mandibular tooth row curves central incisor and the maxillary canine point is moved to the upper row of teeth of the maxillary curve , the maxillary lateral incisor located above the row of teeth 0.5mm projection curve upward curve.
10.根据权利要求7所述的装置,其特征在于,所述移动单元还包括: 生成模块,用于将同等评估率PAR指数分解为预设数量的牙齿间距离类型进行编码,生成自动化模拟排牙的约束条件; 计算模块,用于将所述约束条件和力导向算法加入到迭代就近点ICP算法中计算得到所述每个牙齿的正畸特征点的目标位移向量; 所述生成模块,还用于根据所述目标位移向量对应地移动所述牙列三维数据中的每个牙齿。 10. The apparatus according to claim 7, characterized in that said mobile unit further comprises: a generating module, the same evaluation index for decomposing rate PAR is the distance between the type of a preset number of teeth is encoded to generate an analog automatic discharge constraint teeth; calculating module, configured to guide the power constraints and the nearest point of the iterative algorithm is added to the ICP algorithm calculated target displacement vector of each feature point orthodontic tooth; the generating module is further the three-dimensional data for each of the dentition tooth movement vector corresponding to the target displacement according to.
Description  translated from Chinese
自动化排牙方法及装置 Method and apparatus for automated teeth arrangement

技术领域 FIELD

[0001]本发明涉及数字化口腔正畸医疗领域,尤其涉及一种自动化排牙方法及装置。 [0001] The present invention relates to digital medical orthodontics, and more particularly, to a method and apparatus for automated teeth arrangement.

背景技术 Background technique

[0002] 口腔疾病是一种常见的多发性疾病。 [0002] Oral disease is a common multiple diseases. 据世界卫生组织统计,错颂畸形已经成为三大口腔疾病(龋齿、牙周病和错颂畸形)之一。 According to World Health Organization statistics, the wrong song has become one of malformations (dental caries, periodontal disease and wrong song deformity) Three oral diseases. 牙颂畸形对口腔健康、口腔功能、颂面骨骼的发育及外貌都有很大的影响。 Impact on oral health, oral function, bone development and Chung surface appearance of the teeth have a great song deformity. 口腔正畸学已被认为是口腔保健治疗中的一个必不可少的重要部分。 Orthodontics has been recognized as an important part of oral health treatment an essential. 自动化排牙是指首先利用3D数字成像技术与三维建模技术,得到精确的三维牙列模型图像;然后利用正畸学中的排牙规则并通过合适的算法对三维牙列模型图像中的牙齿进行自动化排牙,从而为实际的排牙方案提供预测和评估。 Automated teeth arrangement means that the use of first digital 3D imaging technology and three-dimensional modeling technology to obtain accurate three-dimensional model image dentition; then using the row of teeth in orthodontics rules and by a suitable algorithm dental dentition model image of automated teeth arrangement, thereby providing a prediction and assessment of the actual tooth arrangement scheme.

[0003]目前,现有的自动化排牙在测量分析排牙过程中没有考虑牙根,仅通过牙冠信息进行自动化排牙,而仅通过牙冠进行自动化排牙有可能导致治疗中与治疗后牙根移动至骨皮质外,同时未能将牙列与上下颂骨、颅面骨骼及面部软组织进行有机的关联与协调,因此现有的自动化排牙准确度较低,考虑较为片面。 [0003] Currently, existing automated row of teeth in the tooth row analysis process of the measurement is not considered root, only the row of teeth by means of automated information crowns, only automated teeth arrangement may lead to treatment and after treatment by root crown to move the outer cortical bone, while failure to dentition organic coordination associated with the upper and lower mandible, craniofacial bones and soft facial tissue, and therefore the lower row of teeth existing automation accuracy, considering the more one-sided.

发明内容 SUMMARY

[0004]有鉴于此,本发明实施例提供一种自动化排牙方法及装置,主要目的是提高自动化排牙的准确度。 [0004] In view of this, embodiments provide a method and apparatus for automated teeth arrangement according to the present invention, the main purpose is to improve the accuracy of automated teeth row.

[0005]为达到上述目的,本发明主要提供如下技术方案: [0005] To achieve the above object, the present invention provide the following technical solutions:

[0006] —方面,本发明实施例提供了一种自动化排牙方法,该方法包括: [0006] - aspect, embodiments of the present invention provides an automated teeth arrangement, the method comprising:

[0007]获取需要正畸的牙列三维数据及颅面颂骨三维数据; [0007] dentition orthodontic acquired three-dimensional data and three-dimensional data craniofacial mandible;

[0008]在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点; [0008] The selected feature points on the three-dimensional data of the dentition and the craniofacial maxilla three-dimensional data, the feature point of each tooth tip socket and anatomical landmarks anatomical landmarks on the skull bone Chung;

[0009]根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线; [0009] Construction of teeth arrangement arch plane and curve according to the selected feature points, said row of teeth comprises a planar sagittal plane, horizontal plane and the discharge occlusal plane, said curve comprises a maxillary arch curves tooth arrangement and mandibular tooth row curves;

[0010]根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0010] carried out according to a preset position of the teeth in the dentition tooth movement three-dimensional data to generate dentition orthodontic object, the preset target position includes the upper and lower dentition tooth sagittal position, the target vertical dentition to the vertical position, the target position of the upper and lower dentition between song.

[0011 ]另一方面,本发明实施例还提供一种自动化排牙装置,该装置包括: [0011] On the other hand, embodiments of the present invention further provides an automated teeth arrangement means, the apparatus comprising:

[0012]获取单元,用于获取需要正畸的牙列三维数据及颅面颂骨三维数据; [0012] acquiring unit, for acquiring three-dimensional data dentition and craniofacial orthodontic mandible of three-dimensional data;

[0013]选取单元,用于在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点; [0013] a selecting unit, configured to the dentition on said three-dimensional data and three-dimensional data craniofacial maxilla selected feature points, the feature point for the tip of the tooth socket and anatomical landmarks anatomical landmarks on the skull bone Chung point;

[0014]构建单元,用于根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线; [0014] The construction unit for constructing row of teeth and dental arch plane curve according to the selected feature points, said row of teeth comprises a planar sagittal plane, horizontal plane and the discharge occlusal plane, said curve comprises an upper arch Chung row of teeth and the mandibular tooth arrangement graph curve;

[0015]移动单元,用于根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0015] The moving unit for moving the teeth in the dentition three-dimensional data according to a preset tooth positions to generate dentition orthodontic object, the preset position of the teeth comprising certain vertical position dentition sagittal , the upper and lower dentition perpendicular to the target position, the target inter-Chung vertical position dentition.

[0016]借由上述技术方案,本发明实施例提供的技术方案至少具有下列优点: [0016] by means of the above technical solutions, embodiments of the present invention provide a technical solution with at least the following advantages:

[0017]本发明实施例提供了一种自动化排牙方法及装置,首先获取需要正畸的牙列三维数据及颅面颂骨三维数据,然后在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点,根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线,最后根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0017] Example teeth arrangement provides an automated method and apparatus first acquires the three-dimensional data dentition and craniofacial mandible orthodontic three-dimensional data, and in the present invention, the three-dimensional data and said dentition Chung craniofacial bone three-dimensional data on the selected feature points, the feature point for the tip of the tooth socket and anatomical landmarks anatomical landmarks on the skull bone Chung, constructed row of teeth and dental arch plane curve according to the selected feature points, the discharge dental plane including the central sagittal plane, horizontal plane and the discharge occlusal plane, said curve comprises a maxillary arch curves row of teeth and teeth arrangement submandibular curve, the final position of the teeth of the tooth according to a preset three-dimensional data of the dentition moves to generate dentition orthodontic object, the preset target position includes the upper and lower dentition tooth sagittal position, the vertical position of the target, the target inter-Chung dentition vertical position perpendicular to the dentition. 与目前仅通过牙冠信息进行自动化排牙相比,本发明实施例在自动化排牙过程中,综合考虑上下牙列相对于颅颂面软硬组织的矢状向位置、上下牙列垂直向位置及上下颂牙列间位置等信息进行自动化排牙,从而通过本发明实现的自动化排牙更加符合人体骨骼结构特点,因此通过本发明实施例可以提高自动化排牙的准确度。 Compared with current automated teeth arrangement only by a crown information, embodiments of the invention in an automated teeth arrangement process, considering the upper and lower dentition to a position with respect to the sagittal plane cranial Chung hard and soft tissues, the vertical position of the upper and lower dentition and automated location and other information between the upper and lower row of teeth dentition song, which is more in line with human skeletal structural features of the present invention to achieve automation row of teeth, and therefore the embodiments of the present invention can improve the accuracy of automated teeth arrangement.

附图说明 BRIEF DESCRIPTION

[0018]为了更清楚地说明本发明实施例中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其它的附图。 [0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings briefly described embodiments or the prior art needed to be used in describing the embodiments. Apparently, the drawings described below are merely Some embodiments of the present invention, those of ordinary skill in the art is concerned, without creative efforts, can derive from these drawings other drawings.

[0019]图1为本发明实施例提供的一种自动化排牙方法流程图; [0019] FIG 1 according to an embodiment of an automated teeth arrangement flowchart of a method of the present invention;

[0020]图2为本发明实施例提供的另一种自动化排牙方法流程图; [0020] Figure 2 provides a flowchart of another method for automated teeth arrangement embodiment of the present invention;

[0021]图3为本发明实施例提供的一种自动化排牙装置的组成框图; [0021] FIG. 3 provides block diagram of an automated embodiment of the apparatus of the row of teeth embodiment of the present invention;

[0022]图4为本发明实施例提供的另一种自动化排牙装置的组成框图。 [0022] Figure 4 block diagram of another row of teeth automation apparatus according to an embodiment of the present invention.

具体实施方式 detailed description

[0023]下面将参照附图更详细地描述本公开的示例性实施例。 [0023] The following exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. 虽然附图中显示了本公开的示例性实施例,然而应当理解,可以以各种形式实现本公开而不应被这里阐述的实施例所限制。 While the exemplary embodiment shows an exemplary embodiment of the present disclosure in the drawings, it should be understood that the present disclosure may be implemented embodiments and should not be set forth herein to limit in various forms. 相反,提供这些实施例是为了能够更透彻地理解本公开,并且能够将本公开的范围完整的传达给本领域的技术人员。 Rather, these embodiments are able to more thorough understanding of the present disclosure, and the scope of the present disclosure can be completely conveying to those skilled in the art.

[0024]为使本发明技术方案的优点更加清楚,下面结合附图和实施例对本发明作详细说明。 [0024] The advantage of the solution that the present invention clearer, the accompanying drawings and embodiments of the present invention is described in detail in conjunction.

[0025]本发明实施例提供了 一种自动化排牙方法,如图1所示,所述方法包括: [0025] The embodiments of the present invention provides a method of automated teeth arrangement shown in Figure 1, the method comprising:

[0026] 101、获取需要正畸的牙列三维数据及颅面颂骨三维数据。 [0026] 101, and acquires three-dimensional data dentition craniofacial orthodontic mandible of three-dimensional data.

[0027]其中,需要正畸的牙列三维数据包括所有待正畸的牙齿,待正畸的牙齿是指一个患者所有需要矫正的牙齿。 [0027] wherein the dentition orthodontic tooth to be three-dimensional data includes all orthodontics, orthodontic tooth is meant to be a need to correct all patients teeth. 在患者的牙齿矫正之前,医生要根据患者的牙列的拥挤状况,选择矫正方案,判断是否需要拔牙,确定患者所有待正畸的牙齿。 Before orthodontic patients, doctors according to the congestion status of the patient's dentition, select the correctional plan, determine the need tooth extraction, the patient is determined to be all dental orthodontics. 需要说明的是,牙列三维数据包括牙根数据与牙冠数据,即体现牙齿表面的凸凹信息和包裹在牙龈内部的牙根信息,能够全面反映牙齿位置与状态。 Incidentally, the three-dimensional data includes a root dentition data with crown data, i.e., information embodied punch root surfaces of the teeth and packages information within the gums, teeth able to reflect the location and status. 牙列三维数据可以通过口腔扫描技术、计算机断层扫描技术等其他技术获取,本发明实施例不做具体限定。 Dentition three-dimensional data can be obtained by other techniques mouth scanning, computed tomography technology, embodiments of the present invention is not specifically limited.

[0028]在本发明实施例中,对于牙列三维数据可以在经医生判断并拔除妨碍矫正的牙齿之后获取,也可以在医生为患者制定矫正方案之前获取,再根据确定的矫正方案通过人机交互的方式,获取最终待正畸的牙齿,本发明实施例不做具体限定。 After obtaining [0028] In an embodiment of the present invention, based on three-dimensional data for the dentition and impede the removal of the tooth in the surgeon correction may be corrected before the development of access programs for patients in physicians, then according to the determined correction scheme through the human interacts obtain orthodontic tooth to be eventually, embodiments of the present invention is not specifically limited.

[0029] 102、在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点。 [0029] 102, the selected feature points in the three-dimensional data of the dentition and the craniofacial maxilla three-dimensional data.

[0030]其中,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点。 [0030] wherein each of the feature points is the tip of the tooth socket and anatomical landmarks anatomical landmarks on the skull bone song. 牙齿的尖窝解剖标志点包括但不限于颊侧尖点、舌侧尖点以及窝点,颅颂骨骼上的解剖标志点包括但不限于左右眼眶的眶点、左右外耳的耳点以及鼻尖点。 Tooth tip socket anatomical landmarks including, but not limited to, the buccal cusp lingual cusp and dens, anatomical landmarks on the skull Song bone include but are not limited to, the left and right orbital point of the orbit around the outer ear ear point and nose point.

[0031] 103、根据所述选取的特征点构建排牙平面和牙弓曲线。 [0031] 103, constructed row of teeth and dental arch plane curve according to the selected feature points.

[0032]其中,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线。 [0032] wherein the tooth arrangement comprises a planar sagittal plane, horizontal plane and the discharge occlusal plane, said curve comprises a maxillary arch curves row of teeth and tooth arrangement submandibular curve. 在本发明实施例中,水平平面是以眶耳平面为准,选取双侧外耳道上缘点的中点与双侧眶下点形成水平平面,即重新定位头颅整体的俯仰位置,使之与地平面平行。 In an embodiment of the present invention, the Frankfort horizontal plane is subject plane, select a point on the midpoint of bilateral external auditory canal of bilateral infraorbital edge points forming a horizontal plane, i.e. the entire head repositioning tilt position, so that the ground parallel to the plane. 正中矢状面是选取鼻根点、枢椎齿状突顶点,与水平平面相垂直构建正中矢状面,同时作为排牙时牙列中线的参考位置。 Sagittal plane is selected nasion, odontoid process vertex, perpendicular to the horizontal plane constructed sagittal plane, while the row of teeth as the reference position dentition midline. 所述排牙咬合平面则是根据Cocas(华正头影测量分析系统,Chinaortho Cephalometric Analysis System,COCAS)分析法中对理想咬合平面与水平平面夹角正常值范围的定义14.1至4.1,使排牙咬合平面与水平平面成9.1的夹角,并过头影测量片上唇点以下2mm处的点的平面,其中头影测量片是由正中矢状面截取烦面部的锥形束计算机断层扫描(Cone beam Computed Tomography,简称CBCTgjf据获得的。 The occlusion plane is row according Cocas (Huazheng cephalometric analysis system, Chinaortho Cephalometric Analysis System, COCAS) of the assay over the occlusal plane and plane angle defined levels of the normal range 14.1 to 4.1 , so that row occlusal plane with the horizontal plane an angle of 9.1 and measuring the shadow point too far plane sheet 2mm or less at the point of the upper lip, wherein the sheet is a cephalometric sagittal plane taken cone-beam computed tomography tired face (Cone beam Computed Tomography, referred CBCTgjf according to obtained.

[0033]在本发明实施例中,牙弓曲线选取下颂中切牙近中接触点、两侧尖牙牙尖点、两侧第一恒磨牙近中颊尖点5个弓形确定控制点,利用五个点作为控制点拟合生成四次多项式曲线,该四次多项式曲线以靠近磨牙的两个控制点分别作为曲线的起始点和终止点,即以下颂牙弓原始弓形为准生成下颂排牙曲线。 [0033] In an embodiment of the present invention, the central incisor arch curves were taken near the point of contact in the mandibular, canine cusp points on both sides, both sides of the first permanent molars buccal cusp arcuate five control points determined by five points as control points generated quartic polynomial curve fitting, two of the quartic polynomial curve control points are as close to the teeth start and end points of the curve, i.e., the original song arcuate arch discharge, whichever generating mandibular tooth curve. 拟合生成后该曲线的前牙控制点自动调整在矢状面和投影平面的交线上,其它四点分别关于矢状面对称从而获得对称曲线形态,并与排牙咬合平面距离最近均匀接触。 After fitting the anterior generating control points of the curve automatically adjust the line of intersection of the sagittal and the projection plane, on the other four points were weighed so as to obtain the sagittal face symmetrical curve shape, and engages with the row of teeth from the plane nearest uniformly contact. 上颂排牙曲线同样依照下颂排牙弓形的形状进行等量放大,二者之间距离差异值为2mm,即保证上下牙列之间2mm覆盖关系。 The maxillary tooth row curves for the same equal-magnification mandibular teeth arrangement in accordance with the arcuate shape, the distance is 2mm difference therebetween, i.e., to ensure that the relationship between the upper and lower dentition cover 2mm.

[0034]需要说明的是,牙弓曲线的形态可采用椭圆线、垂曲线、四次多项式、Beta曲线等模型拟合构成,具体的使用根据医生在实际案例中根据需求选取使用,本发明实施例不做具体限定。 [0034] Incidentally, the arch form may be employed for elliptical curve, a catenary, quartic polynomial, Beta curve fitting model configuration, using the selected specific use case according to the actual needs of physicians, embodiments of the present invention embodiment is not particularly limited.

[0035] 104、根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列。 [0035] 104, according to a preset position of the teeth to move the teeth in the dentition three-dimensional data to generate a target of orthodontic dentition.

[0036]其中,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0036] wherein said preset target tooth positions including upper and lower dentition sagittal position, the target position of the upper and lower dentition to the vertical, the target between the upper and lower dentition Chung position. 需要说明的是,目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置是自定义标准的上下牙列矢状向位置、上下牙列垂直向位置、上下颂牙列间位置。 Incidentally, the upper and lower dentition sagittal target position, the target vertical position of the upper and lower dentition, among the target vertical position dentition Chung custom criteria dentition sagittal vertical position, the upper and lower dentition to the vertical position, vertical Ode position between the dentition.

[0037]在本发明实施例中,目标上下牙列矢状向位置的设定:根据正畸头影测量对上下前牙理想位置角度值的定义,在计算机中正中矢状面的头影图像上选取相应的特征点构建下前牙下颂平面角(L1/MP)和上前牙轴倾角(U1/FH),使其能在该平面上进行前后向移动,最终达到上述两角度的正常值范围(93.9 6.2,113.0 6.3),上下颂排牙曲线与前牙特征点绑定拖动其前后移动最终确定上下颂牙列所在理想矢状向位置。 [0037] In an embodiment of the present invention, the upper and lower dentition sagittal target position setting: definition of the position angle value over the front teeth of the upper and lower orthodontic cephalometric, the cephalometric image in sagittal plane CKS computer Construction of the corresponding feature point selected at the lower front teeth Chung plane angle (L1 / MP) and the upper front teeth tilt axis (U1 / FH), it can be performed before and after the movement on the plane, and ultimately achieve the above-described two normal angle range (93.9 6.2 , 113.0 6.3 ), the upper and lower row of teeth song feature point curve with the front teeth before and after the dragging movement binding finalized located over the upper and lower dentition Chung sagittal position. 上下牙列垂直向位置的设定:根据理想咬合关系设定下颂牙齿所有颊尖点,及上颂第一二双尖牙、磨牙近远中点均在下颂排牙曲线上,上颂中切牙及尖牙点位于上颂排牙曲线上,侧切牙位于上颂排牙曲线上方0.5mm的投影曲线之上。 Upper and lower dentition to set the vertical position: set according to the mandibular occlusal over all teeth buccal cusp, and two pairs of the first maxillary canine, molars distal midpoint average mandibular teeth row on the curve, in the maxillary incisors and canines of the maxillary discharge point located on the curve teeth, lateral incisor projection located above the discharge curve of the maxillary teeth 0.5mm above the curve.

[0038] 上下颂牙列间位置关系的设定:将同等评估率(Peer Assessment Rat-1ng,简称PAR指数)分解成更加直观的特征点距离约束:空间距离,咬合面投影的水平距离,咬合面法向投影的垂直距离,与矢状面的距离,与牙弓曲线的距离。 [0038] setting the positional relationship between the upper and lower dentition Chung: The same evaluation rating (Peer Assessment Rat-1ng, referred PAR index) into a more intuitive feature point distance constraint: distance, horizontal distance occlusal plane of the projection, engaging the vertical distance from the surface normal of the projection, the distance from the sagittal plane, the curve of the dental arch. 在排牙过程中,通过最近点匹配和力导向的方法,使得上述距离尽量最小。 In the row of teeth process by the nearest point matching method and the force of the guide, the distance that the smallest possible. 在实际实现中,对上述距离分别赋予不同的权重,使得各约束得到不同级别的满足,比如切牙近中点与矢状面的距离要求比相邻后牙的近中点与该牙的远中点相近的要求更为严格。 In a practical implementation, the above distances are given different weights, so that each of the different levels of constraints are satisfied, such as from near the midpoint of incisors in the sagittal plane than the required near the midpoint of the distal teeth adjacent tooth midpoint similar requirements more stringent. 采用迭代的方式对牙齿位置进行优化,每次优化结束后,可以固定已经到达较好位置的牙齿,或者进行一定手工调整后,再进行下一次迭代优化。 With iterative fashion to optimize the position of the teeth, the end of each optimization, can be fixed better tooth position has been reached, or a certain manual adjustment, the further iteration of the optimization. 在优化过程中,将每颗牙齿的移动分解成空间位移、唇舌倾、近远中倾及旋转等基本变换,得到相应的参数变化,作为牙齿移动的数值参考。 In the optimization process, the movement of each tooth is decomposed into spatial displacement, tilting tongue, near and far poured basic transformation and rotation, to give the corresponding parameters, as the value of the reference tooth movement.

[0039 ]本发明实施例提供了另一种自动化排牙方法,如图2所示,所述方法包括: [0039] Example embodiments of the present invention provides another method for automated teeth arrangement, as shown in Figure 2, the method comprising:

[0040] 201、获取需要正畸的牙列三维数据及颅面颂骨三维数据。 [0040] 201, and three-dimensional data acquiring dentition craniofacial orthodontic mandible of three-dimensional data.

[0041 ]其中,需要正畸的牙列三维数据包括所有待正畸的牙齿,待正畸的牙齿是指一个患者所有需要矫正的牙齿。 [0041] wherein the dentition orthodontic tooth to be three-dimensional data includes all orthodontics, orthodontic tooth is meant to be a need to correct all patients teeth. 在患者的牙齿矫正之前,医生要根据患者的牙列的拥挤状况,选择矫正方案,判断是否需要拔牙,确定患者所有待正畸的牙齿。 Before orthodontic patients, doctors according to the congestion status of the patient's dentition, select the correctional plan, determine the need tooth extraction, the patient is determined to be all dental orthodontics. 需要说明的是,牙列三维数据包括牙根数据与牙冠数据,体现牙齿表面的凸凹信息和包裹在牙龈内部的牙根信息,能够全面反映牙齿位置与状态。 Incidentally, the three-dimensional data includes a root dentition data with crown data, information, and reflects the convex-concave surface of the tooth root wrapping information within the gums, teeth able to reflect the location and status. 牙列三维数据可以通过口腔扫描技术、计算机断层扫描技术等其他技术获取,本发明实施例不做具体限定。 Dentition three-dimensional data can be obtained by other techniques mouth scanning, computed tomography technology, embodiments of the present invention is not specifically limited.

[0042]在本发明实施例中,对于牙列三维数据可以在经医生判断并拔除妨碍矫正的牙齿之后获取,也可以在医生为患者制定矫正方案之前获取,再根据确定的矫正方案通过人机交互的方式,获取最终待正畸的牙齿,本发明实施例不做具体限定。 After obtaining [0042] In an embodiment of the present invention, based on three-dimensional data for the dentition and impede the removal of the tooth in the surgeon correction may be corrected before the development of access programs for patients in physicians, then according to the determined correction scheme through the human interacts obtain orthodontic tooth to be eventually, embodiments of the present invention is not specifically limited.

[0043] 202、在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点。 [0043] 202, the selected feature points in the three-dimensional data of the dentition and the craniofacial maxilla three-dimensional data.

[0044]其中,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点。 [0044] wherein each of the feature points is the tip of the tooth socket and anatomical landmarks anatomical landmarks on the skull bone song. 特征点为表示每个牙齿形状轮廓的边缘特征点,牙齿的尖窝解剖标志点包括但不限于颊侧尖点、舌侧尖点以及窝点,烦颂骨骼上的解剖标志点包括但不限于左右眼眶的眶点、左右外耳的耳点以及鼻尖点。 Feature point is a feature point of each tooth edge shape of the profile, the tip of the tooth socket anatomical landmarks including, but not limited to, the buccal cusp lingual cusp and dens, anatomical landmarks on the bones annoying song including but not limited to about orbital point of the orbit, around the outer ear and ear nose point points.

[0045] 203、根据所述选取的特征点构建排牙平面和牙弓曲线。 [0045] 203, constructed row of teeth and dental arch plane curve according to the selected feature points.

[0046]其中,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线。 [0046] wherein the tooth arrangement comprises a planar sagittal plane, horizontal plane and the discharge occlusal plane, said curve comprises a maxillary arch curves row of teeth and tooth arrangement submandibular curve.

[0047] 204、根据所述牙列三维数据中每个牙齿的冠根形状生成包围盒。 [0047] 204, the bounding box generated three-dimensional data according to the dentition in the crown shape of the root of each tooth.

[0048]需要说明的是,为了能够对空间坐标系下的牙齿进行位置定义,且能够更好地表示牙齿冠根这类不规则物体的形态,简化后续排牙的虚拟操作和牙与牙之间的关系的检测,通过应用包围盒的概念对牙齿坐标系进行描述简化。 [0048] Incidentally, in order to define the position of the teeth in the space coordinate system, and to better represent the tooth crown and root morphology such irregular objects, simplifying the subsequent operations virtual row of teeth and the teeth and tooth examine the relationship between, the teeth will be described simplified by application of the concept coordinates of the bounding box. 其中所述包围盒可以为AABB(axisaligned bounding box)包围盒、OBB包围盒(orientedbounding box)以及包围球(sphere)等,本发明实施例不做具体限定。 Wherein the bounding box may be AABB (axisaligned bounding box) bounding box, the bounding box OBB (orientedbounding box) and surrounds the ball (Sphere) and the like, embodiments of the present invention is not specifically limited.

[0049]其中,AABB包围盒以整体坐标系的XYZ轴方向为包围盒轴向,简单但紧密性差,而OBB包围盒考虑物体的形状来确定包围盒轴向,紧密性好,能更好的体现物体的形状特征,因此本发明实施例采用OBB包围盒。 [0049] wherein, in the AABB bounding boxes XYZ axis coordinate system for the entire axial bounding box, but the simple difference tightness, considering the shape of the object OBB bounding box bounding box to determine the axial direction, good tightness, better reflect the shape characteristics of the object, thus bounding box OBB embodiments employ the present invention. 通过实验,在带牙根的三维整体牙齿模型上,OBB包围盒能够较好地辅助确定出牙齿的颊舌向和近远中向,计算机软件根据牙齿冠根形状生成OBB包围盒长方体,自动计算所得的其中两个轴向基本上与牙齿的近远中向和颊舌向吻合,利用矢状面及咬合面的信息,将OBB包围盒的最长轴即牙体长轴朝向咬合面,所有的颊舌向轴向朝向颊侧,建立右手坐标系(以右手握住z轴,当右手的四指从正向X轴以V2角度转向正向y轴时,大拇指的指向就是z轴的正向),用于后续的排牙操作。 By experiment, the whole three-dimensional model with the root of the tooth, OBB bounding boxes can be determined to better assist buccolingual and mesiodistal tooth of the computer software in accordance with the bounding box rectangular parallelepiped shape tooth crown and root generation OBB, automatically calculated and wherein two substantially axial teeth mesiodistally and buccolingual anastomosis, using information and sagittal occlusal surface, i.e., the longest axis of the OBB surround the tooth long axis toward the cartridge occlusal surface, all buccal and lingual side in the axial direction toward the buccal established right-handed coordinate system (right hand holding the z-axis, when the right hand four fingers from the positive X-axis steering angle V2 in the positive y-axis, z-axis thumb points in the positive to), the row of teeth for subsequent operations. 该过程将所有需要进行重排的牙齿进行了坐标系的定义,简化了后续的排牙操作并便于计算相邻牙齿的碰撞与间隙。 This process would require a rearrangement of all teeth is defined coordinate system, simplifying the subsequent operations and to facilitate the calculation row of teeth collide with the gap adjacent teeth.

[0050] 205、在根据预置牙齿位置对所述牙列三维数据进行移动的过程中,根据所述包围盒对所述牙列三维数据中的牙齿进行碰撞检测以保证移动的可执行性。 [0050] 205, in the process of moving the three-dimensional data according to a preset dentition tooth position, according to the bounding box of the three-dimensional data dentition tooth collision detection to ensure the enforceability of movement.

[0051]其中,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0051] wherein said preset target tooth positions including upper and lower dentition sagittal position, the target position of the upper and lower dentition to the vertical, the target between the upper and lower dentition Chung position. 需要说明的是,目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置是自定义标准的上下牙列矢状向位置、上下牙列垂直向位置、上下颂牙列间位置。 Incidentally, the upper and lower dentition sagittal target position, the target vertical position of the upper and lower dentition, among the target vertical position dentition Chung custom criteria dentition sagittal vertical position, the upper and lower dentition to the vertical position, vertical Ode position between the dentition.

[0052]对于本发明实施例,根据预置牙齿位置对所述牙列三维数据进行移动包括:根据所述正中矢状面上选取的特征点,构建下前牙下颂平面角和上前牙轴倾角;根据所述目标上下牙列矢状向位置中下前牙下颂平面角和上前牙轴倾角角度的设定,通过所述上颂排牙曲线、下颂排牙曲线分别与上下前牙的绑定,拖动牙齿前后移动以确保上下颂牙列在目标的矢状向位置上;其中,所述下前牙下颂平面角(L1/MP)的角度范围为87.7至100.1度,所述上前牙轴倾角(U1/H0的角度范围为106.7至119.3度。 [0052] For the embodiment of the invention, according to a preset position of the teeth comprising a moving three-dimensional data of the dentition: The selected feature points to the sagittal plane, constructing the lower front teeth and anterior teeth plane angle Chung axis cant; according to the target position to the upper and lower dentition in the sagittal mandibular front teeth and the front plane angle setting angle of inclination of the tooth axis, by the row of teeth of the maxillary curve, the mandibular tooth row and vertical curves binding front teeth, tooth movement back and forth to ensure that the vertical drag Chung dentition in the sagittal location of the target; wherein the lower front teeth of the mandibular plane angle (L1 / MP) angular range from 87.7 to 100.1 degrees the anterior teeth axis inclination (angle range U1 / H0 is 106.7 to 119.3 degrees.

[0053]根据预置牙齿位置对所述牙列三维数据进行移动还包括:根据所述目标上下牙列垂直向位置中理想咬合关系的设定,将下颂牙齿所有颊尖点,及上颂第一二双尖牙、磨牙近远中点均移动到所述下颂排牙曲线上,上颂中切牙及尖牙点移动到所述上颂排牙曲线上,侧切牙位于所述上颂排牙曲线上方0.5mm的投影曲线之上。 [0053] further comprises moving the three-dimensional data according to a preset dentition tooth positions: upper and lower dentition engagement perpendicular to the target position based on the relationship between the ideal set, all the mandibular buccal cusp teeth, the maxillary and Twenty bicuspid, molars distal to the midpoint of the moving average mandibular tooth row curves central incisor and the maxillary canine point is moved to the upper row of teeth of the maxillary curve, located on the lateral incisor Chung 0.5mm above the row of teeth projected curve on a graph.

[0054]根据预置牙齿位置对所述牙列三维数据进行移动还包括:将同等评估率PAR指数分解为预设数量的牙齿间距离类型进行编码,生成自动化模拟排牙的约束条件;将所述约束条件和力导向算法加入到迭代就近点ICP算法中计算得到所述每个牙齿的正畸特征点的目标位移向量;根据所述目标位移向量对应地移动所述牙列三维数据中的每个牙齿。 [0054] further comprises moving the three-dimensional data according to a preset dentition tooth positions: Evaluation of the same between the PAR index decomposition type from a preset number of teeth is encoded to generate an analog automatic constraint rows of teeth; The said power constraints and the nearest guide point iterative algorithm is added to the ICP algorithm calculated target displacement vector of each feature point orthodontic tooth; the target displacement vectors corresponding to movement of the dentition according to each of the three-dimensional data a tooth. 需要说明的是,为了更好的编码正畸学中的排牙规则与正畸工作者的工作经验,本实施例使用国际上一种先进的正畸标准指数PAR指数,并将其分解为预设数量的牙齿间距离类型进行编码,生成自动化模拟排牙的约束条件。 Incidentally, in order to better experience the coding row of teeth in orthodontics rules orthodontic workers, the present embodiment uses an advanced international standard orthodontic index PAR index, and it is pre-decomposed provided between the number of teeth from the type of encoding to generate a constraint condition automated simulation posterior. PAR指数是牙齿错位评估的一个标准,因此根据PAR指数生成自动化模拟排牙的约束条件更加准确。 PAR index is a standard assessment of tooth misalignment, thus generating simulated constraint automated teeth arrangement according to the PAR index more accurately.

[0055]自动化排牙就是模拟将牙列模型中的牙齿重新排列以得到符合正畸规则的牙列模型的过程。 [0055] Automation row of teeth is to simulate the dentition model tooth rearranged in the process model conforms to give dentition orthodontic of rules. 而牙齿的重新排列必然涉及到对牙齿的移动,而牙齿的移动通常是通过其对应的正畸特征点的移动实现的,因此计算牙齿移动的位移向量即计算牙齿的正畸特征点的位移向量。 Rearranged teeth necessarily involves movement of the teeth, the teeth are generally moved by moving the corresponding feature point orthodontic implemented, the calculation of tooth movement displacement vector calculated displacement vectors i.e. feature points orthodontic tooth . 通常计算自动化模拟排牙过程中牙齿正畸特征点的位移向量时是通过ICP算法实现的,而本实施是将得到的约束条件和力导向算法加入到ICP算法中,得到改进的ICP算法,然后用改进的ICP算法计算得到牙列模型中每个牙齿的正畸特征点的目标位移向量。 Calculating the displacement vector normal automated simulation process orthodontic tooth arrangement of the feature point is achieved by the ICP algorithm, while the present embodiment the constraint is obtained and added to the ICP algorithm force directed algorithm, improved ICP algorithm, and improved ICP algorithm to obtain a target displacement vector dentition orthodontic model feature points in each tooth.

[0056]在本发明实施例中,所述根据所述目标位移向量对应地移动所述牙列三维数据中的每个牙齿之后,所述方法还包括:根据所述目标的正畸牙列中的牙齿的正畸特征点判断所述目标的正畸牙列中的每个牙齿的牙根是否位于槽骨线轮廓内,所述槽骨线轮廓是根据与牙列模型的咬合面平行的平面以及牙齿根部的头骨进行切割运算,提取到的最大闭合区域的轮廓;若所述牙根不位于槽骨线轮廓内,则对对应所述牙根的新的牙列模型中的牙齿进行绕冠移动,获得最终的正畸牙列。 After [0056] In an embodiment of the present invention, the movement of the dentition of three-dimensional data corresponding to each tooth based on the target displacement vector, the method further comprising: the target of the dentition orthodontic orthodontic tooth root of each tooth dentition orthodontic characterized in that the object point is located in the contour line groove bone, bone contour line of the groove is a plane parallel to the occlusal plane of the dentition model and the maximum contour of the tooth root region of the closed skull cutting operation, the extracted; if the root is not located within the alveolar bone contour line, the new root of the dentition model corresponding to the teeth of the crown moved around to give the final orthodontic dentition. 需要说明的是,若判断结果为是,即牙根位于槽骨线轮廓内,则不需要对牙根对应的牙齿进行移动;若判断结果为否,即牙根不位于槽骨线轮廓内,则需要对牙根对应的牙齿进行绕冠移动。 Incidentally, if the judgment result is YES, i.e. the root is located within the bone line profile groove, corresponding to the root of the tooth does not need to be moved; if the judging result is NO, i.e. the root is not located within the alveolar bone contour line, it is necessary to root corresponding to the teeth move around the crown. 具体的绕冠方式为:采用分段的角度值进行分步绕冠移动,直到牙根位于槽骨线轮廓内为止。 Specific way around the crown: The value of the angle segment is stepwise moved around the crown until the tooth root located in the alveolar bone until the line profile. 当新的牙列模型中的所有的牙根都位于槽骨线轮廓内时,获得最终的牙列模型。 When all the new root dentition model of bone are located within the slot line profile to obtain a final model of the dentition.

[0057]本发明实施例提供了一种自动化排牙方法,首先获取需要正畸的牙列三维数据及颅面颂骨三维数据,然后在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点,根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线,最后根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0057] The embodiments of the present invention provides a method of automated teeth arrangement, the first three-dimensional data acquiring dentition and craniofacial mandible orthodontic three-dimensional data and then three-dimensional data of the dentition and the three-dimensional craniofacial maxilla select data feature points, the feature point for the tip of the tooth socket and anatomical landmarks anatomical landmarks on the skull bone Chung, constructed row of teeth and dental arch plane curve according to the selected feature points, the row of teeth plane including midsagittal plane, a horizontal plane and the discharge occlusal plane, said arch comprises a curved row of teeth of the maxillary and mandibular teeth arrangement profile curve, and finally moved in the three-dimensional data of the dentition teeth tooth positions according to the preset to generate dentition orthodontic object, the preset target position includes the upper and lower dentition tooth sagittal position, the vertical position of the target, the target inter-Chung dentition vertical position perpendicular to the dentition. 与目前仅通过牙冠信息进行自动化排牙相比,本发明实施例在自动化排牙过程中,综合考虑相对于颅颂面软硬组织的上下牙列矢状向位置、上下牙列垂直向位置及上下颂牙列间位置等信息进行自动化排牙,因此通过本发明实施例可以提高自动化排牙的准确度。 Compared with current automated teeth arrangement only by a crown information, embodiments of the invention in an automated teeth arrangement process, considering the upper and lower dentition Chung skull surface with respect to hard and soft tissues sagittal position, the vertical position of the upper and lower dentition and automated location and other information between the upper and lower row of teeth dentition Chung, therefore the embodiments of the present invention can improve the accuracy of automated teeth arrangement.

[0058]进一步地,本发明实施例提供一种自动化排牙装置,如图3所示,所述装置包括:获取单元31、选取单元32、构建单元33、移动单元34。 [0058] Further, embodiments of the present invention to provide an automated teeth arrangement means shown in FIG. 3, the apparatus comprising: an acquisition unit 31, selecting unit 32, a construction unit 33, the mobile unit 34.

[0059]获取单元31,用于获取需要正畸的牙列三维数据及颅面颂骨三维数据; [0059] The acquisition unit 31 for acquiring three-dimensional data dentition and craniofacial orthodontic mandible of three-dimensional data;

[0060]选取单元32,用于在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点; [0060] The selecting unit 32 for selecting feature points on the three-dimensional data of the dentition and the craniofacial maxilla three-dimensional data, the feature point of each tooth tip of the socket on the anatomical landmarks anatomical cranial bones and Chung landmarks;

[0061]构建单元33,用于根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线; [0061] The construction unit 33, a feature point based on said selected planar row of teeth and dental arch construct curve, said row of teeth comprises planar sagittal plane, horizontal plane and the discharge plane of occlusion, the arch curve comprises the maxillary and mandibular teeth arrangement row of teeth profile curve;

[0062]移动单元34,用于根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0062] The moving unit 34 for moving the teeth in the dentition three-dimensional data according to a preset tooth positions to generate dentition orthodontic object, including the preset target position of the teeth to the upper and lower dentition sagittal position, the target vertical position of the upper and lower dentition, among the target vertical position Chung dentition.

[0063]需要说明的是,本发明实施例提供的一种自动化排牙装置所涉及各功能单元的其他相应描述,可以参考图1所示方法的对应描述,在此不再赘述。 [0063] Incidentally, an automated embodiment of the present invention provides apparatus other row of teeth of each functional unit corresponding description relates, may refer to the corresponding description of a method shown in FIG. 1, which will not be repeated herein.

[0064]进一步地,本发明实施例提供另一种自动化排牙装置,如图4所示,所述装置包括:获取单元41、选取单元42、构建单元43、移动单元44。 [0064] Further, another embodiment of the present invention provides an automated teeth arrangement means 4, said apparatus comprising: an acquisition unit 41, selecting unit 42, the construction unit 43, the mobile unit 44.

[0065]获取单元41,用于获取需要正畸的牙列三维数据及颅面颂骨三维数据; [0065] The obtaining unit 41, configured to obtain three-dimensional data dentition and craniofacial orthodontic mandible of three-dimensional data;

[0066]选取单元42,用于在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点; [0066] The selecting unit 42, a three-dimensional data on the dentition and the craniofacial maxilla three-dimensional data selected feature points, the feature point for the tooth tip and socket on the anatomical landmarks anatomical cranial bones and Chung landmarks;

[0067]构建单元43,用于根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线; [0067] The construction unit 43, a feature point based on said selected planar row of teeth and dental arch construct curve, said row of teeth comprises planar sagittal plane, horizontal plane and the discharge plane of occlusion, the arch curve comprises the maxillary and mandibular teeth arrangement row of teeth profile curve;

[0068]移动单元44,用于根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0068] The moving unit 44 for moving the teeth in the dentition three-dimensional data according to a preset tooth positions to generate dentition orthodontic object, including the preset target position of the teeth to the upper and lower dentition sagittal position, the target vertical position of the upper and lower dentition, among the target vertical position Chung dentition.

[0069]对于本发明实施例,所述移动单元44包括: [0069] For the embodiment of the invention, the moving unit 44 comprises:

[0070]构建模块441,用于根据所述正中矢状面上选取的特征点,构建下前牙下颂平面角(L1/MP)和上前牙轴倾角(ui/ra); [0070] Building module 441, according to the median sagittal plane and the selected feature points, constructing the lower front teeth Chung plane angle (L1 / MP) and anterior teeth shaft angle (ui / ra);

[0071 ]拖动模块442,用于根据所述目标上下牙列矢状向位置中下前牙下颂平面角和上前牙轴倾角角度的设定,通过所述上颂排牙曲线、下颂排牙曲线分别与上下前牙的绑定,拖动牙齿前后移动以确保上下颂牙列在目标的矢状向位置上;其中,所述下前牙下颂平面角(L1/MP)的角度范围为87.7至100.1度,所述上前牙轴倾角(U1/FH)的角度范围为106.7至119.3 度。 [0071] Drag module 442, the upper and lower dentition to the sagittal plane angle submandibular anterior teeth and lower front tooth axis inclination angle is set to position according to the target through the row of teeth of the maxillary curve, the Chung row of teeth and anterior teeth curves binding, to ensure that the teeth move back and forth up and down drag in the sagittal Chung dentition to a position on the object; wherein the lower front teeth Chung lower plane angle (L1 / MP) of angular range from 87.7 to 100.1 degrees, the front teeth tilt axis (U1 / FH) angular range of 106.7 to 119.3 degrees.

[0072]移动模块443,用于根据所述目标上下牙列垂直向位置中理想咬合关系的设定,将下颂牙齿所有颊尖点,及上颂第一二双尖牙、磨牙近远中点均移动到所述下颂排牙曲线上,上颂中切牙及尖牙点移动到所述上颂排牙曲线上,侧切牙位于所述上颂排牙曲线上方 [0072] The mobile module 443, perpendicular to the upper and lower dentition engagement position according to the target to the ideal set of relations, all the mandibular buccal cusp teeth, two pairs of the first and the maxillary canine, molars distal points move to the mandibular teeth row on the curve, the tooth profile of the upper row of the maxillary central incisor and canine point to the upper row of teeth of the maxillary curve, located maxillary lateral incisor

0.5mm的投影曲线之上。 0.5mm above the projection curve.

[0073]生成模块444,用于将同等评估率PAR指数分解为预设数量的牙齿间距离类型进行编码,生成自动化模拟排牙的约束条件; [0073] The generating module 444, configured to evaluate the same ratio between the PAR index decomposition type from a preset number of teeth is encoded to generate an analog automatic constraint rows of teeth;

[0074]计算模块445,用于将所述约束条件和力导向算法加入到迭代就近点ICP算法中计算得到所述每个牙齿的正畸特征点的目标位移向量; [0074] The calculation module 445, and the constraint condition for the algorithm added to the object-oriented force displacement vector iteration nearest point ICP algorithm orthodontic calculated in the feature point of each tooth;

[0075]所述移动模块443,还用于根据所述目标位移向量对应地移动所述牙列三维数据中的每个牙齿。 The [0075] mobile module 443 is further configured to the dentition of three-dimensional data of said each tooth movement vector corresponding to the target displacement according to.

[0076]判断模块446,用于根据所述目标的正畸牙列中的牙齿的正畸特征点,判断所述目标的正畸牙列中的每个牙齿的牙根是否位于槽骨线轮廓内,所述槽骨线轮廓是根据与牙列模型的咬合面平行的平面以及牙齿根部的头骨进行切割运算,提取到的最大闭合区域的轮廓; [0076] The determining module 446, according to the dentition orthodontic orthodontic target feature point in the teeth, determines the target dentition orthodontic tooth root of each groove is located within the bone contour line , the profile contour of the alveolar bone is cut line calculation based on the occlusal surface of the skull and dentition model and a plane parallel to the root of the tooth, to extract the maximum closed area;

[0077]所述移动模块443,还用于若所述牙根不位于槽骨线轮廓内,则对对应所述牙根的新的牙列模型中的牙齿进行绕冠移动,获得最终的正畸牙列。 The [0077] mobile module 443 is further configured to, if the root is not located within the alveolar bone contour line, the new root of the dentition model corresponding to the teeth of the crown moves around, the final orthodontic tooth column.

[0078] 进一步地,所述装置还包括: [0078] Preferably, said apparatus further comprising:

[0079]生成单元45,用于根据所述牙列三维数据中每个牙齿的冠根形状生成包围盒; [0079] generating unit 45 for generating a bounding box according to the dentition in the crown-shaped three-dimensional data of each tooth;

[0080]检测单元46,用于在根据预置牙齿位置对所述牙列三维数据进行移动的过程中,根据所述包围盒对所述牙列三维数据中的牙齿进行碰撞检测以保证移动的可执行性。 [0080] The detection unit 46, the process for moving the three-dimensional data according to a preset dentition tooth position, according to the bounding box of the three-dimensional data of the dentition the teeth to ensure that the movement of the collision detection enforceability.

[0081]需要说明的是,本发明实施例提供的一种自动化排牙装置所涉及各功能单元的其他相应描述,可以参考图2所示方法的对应描述,在此不再赘述。 [0081] Incidentally, an automated embodiment of the present invention provides apparatus other row of teeth of each functional unit corresponding description relates to the corresponding methods described with reference to Figure 2 may be shown, not described herein again.

[0082]本发明实施例提供了一种自动化排牙装置,首先获取需要正畸的牙列三维数据及颅面颂骨三维数据,然后在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点,根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线,最后根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0082] The three-dimensional data of the mandible dentition of a three-dimensional embodiment provides an automated teeth arrangement means dentition orthodontic first acquired three-dimensional data and three-dimensional data craniofacial mandible, in the present invention and then the craniofacial select data feature points, the feature point for the tip of the tooth socket and anatomical landmarks anatomical landmarks on the skull bone Chung, constructed row of teeth and dental arch plane curve according to the selected feature points, the row of teeth plane including midsagittal plane, a horizontal plane and the discharge occlusal plane, said arch comprises a curved row of teeth of the maxillary and mandibular teeth arrangement profile curve, and finally moved in the three-dimensional data of the dentition teeth tooth positions according to the preset to generate dentition orthodontic object, the preset target position includes the upper and lower dentition tooth sagittal position, the vertical position of the target, the target inter-Chung dentition vertical position perpendicular to the dentition. 与目前仅通过牙冠信息进行自动化排牙相比,本发明实施例在自动化排牙过程中,综合考虑上下牙列相对于颅颂面软硬组织的矢状向位置、上下牙列垂直向位置及上下颂牙列间位置等信息进行自动化排牙,因此通过本发明实施例可以提高自动化排牙的准确度。 Compared with current automated teeth arrangement only by a crown information, embodiments of the invention in an automated teeth arrangement process, considering the upper and lower dentition to a position with respect to the sagittal plane cranial Chung hard and soft tissues, the vertical position of the upper and lower dentition and automated location and other information between the upper and lower row of teeth dentition Chung, therefore the embodiments of the present invention can improve the accuracy of automated teeth arrangement.

[0083]通过以上的实施方式的描述,所属领域的技术人员可以清楚地了解到本发明可借助软件加必需的通用硬件的方式来实现,当然也可以通过硬件,但很多情况下前者是更佳的实施方式。 [0083] By the above described embodiments, those skilled in the art may clearly understand that the present invention may be implemented by software plus necessary universal hardware implemented, also be implemented by hardware, but the former is preferred in many cases embodiments. 基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品存储在可读取的存储介质中,如计算机的软盘,硬盘或光盘等,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例所述的方法。 Based on such understanding, the technical solutions of the present invention in essence or the part contributing to the prior art may be embodied in a software product out, in the storage medium may be readable, such as a floppy disk of the computer software product is stored and the like, a hard disk or optical disk, and include several instructions that enable a computer device (may be a personal computer, a server, or network device) to execute the methods according to embodiments of the present invention.

[0084]以上所述,仅为本发明的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本发明的保护范围之内。 [0084] The above are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, any skilled in the art in the art within the technical scope of the present invention is disclosed, variations may readily occur or Alternatively, it shall fall within the protection scope of the present invention. 因此,本发明的保护范围应以所述权利要求的保护范围为准。 Accordingly, the scope of the present invention should be defined by the scope of the claims.

[0085]所述自动化排牙装置包括处理器和存储器,上述获取单元、选取单元、构建单元、移动单元、生成单元和检测单元等均作为程序单元存储在存储器中,由处理器执行存储在存储器中的上述程序单元来实现相应的功能。 [0085] The automated teeth arrangement means includes a processor and a memory, the obtaining unit, a selection unit, a construction unit, a mobile unit, a generating unit and the detection unit as a program etc. stored in the memory unit, stored in a memory by a processor executing the above-described program means to implement the corresponding function.

[0086]处理器中包含内核,由内核去存储器中调取相应的程序单元。 [0086] processor core included from kernel memory to the transfer of a respective program element. 内核可以设置一个或以上,通过调整内核参数来提高自动化排牙的精确度。 One or more cores may be provided to improve the accuracy of automated teeth arrange by adjusting kernel parameters.

[0087]存储器可能包括计算机可读介质中的非永久性存储器,随机存取存储器(RAM)和/或非易失性内存等形式,如只读存储器(ROM)或闪存(flash RAM),存储器包括至少一个存储芯片。 [0087] The memory may include a computer-readable medium volatile memory, a random access memory (RAM) and / or other forms of nonvolatile memory, such as read only memory (ROM) or flash memory (flash RAM), a memory comprising at least one memory chip.

[0088]本申请还提供了一种计算机程序产品,当在数据处理设备上执行时,适于执行初始化有如下方法步骤的程序代码:获取需要正畸的牙列三维数据及颅面颂骨三维数据;在所述牙列三维数据和所述颅面颂骨三维数据上选取特征点,所述特征点为各牙齿的尖窝解剖标志点和颅颂骨骼上的解剖标志点;根据所述选取的特征点构建排牙平面和牙弓曲线,所述排牙平面包括正中矢状面、水平平面及排牙咬合平面,所述牙弓曲线包括上颂排牙曲线和下颂排牙曲线;根据预置牙齿位置对所述牙列三维数据中的牙齿进行移动,以生成目标的正畸牙列,所述预置牙齿位置包括目标上下牙列矢状向位置、目标上下牙列垂直向位置、目标上下颂牙列间位置。 [0088] The present application further provides a computer program product, when executed on a data processing device, is adapted to execute program code to initialize the following method steps: acquiring three-dimensional data of three-dimensional orthodontic mandible dentition and craniofacial transactions; selecting feature points on the three-dimensional data of the dentition and the craniofacial maxilla three-dimensional data, the feature point of each tooth tip socket and anatomical landmarks anatomical landmarks on the skull bone Chung; according to the selected Construction of feature points and teeth arrangement arch curve plane, said row of teeth comprises a planar sagittal plane, horizontal plane and the discharge occlusal plane, said curve comprises a maxillary arch curves row of teeth and teeth arrangement submandibular curve; the preset tooth positions to move the teeth in the dentition three-dimensional data to generate dentition orthodontic object, the preset target position includes the upper and lower dentition tooth sagittal position, the target vertical position of the vertical dentition, Ode between the upper and lower dentition target position.

[0089]本领域内的技术人员应明白,本申请的实施例可提供为方法、系统、或计算机程序产品。 [0089] skilled in the art should understand that the embodiments of the present disclosure may provide a method, system, or computer program product. 因此,本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。 Accordingly, the present disclosure may be of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in conjunction with the form of software and hardware aspects. 而且,本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。 Further, the present application may take the form of a computer program product embodied in one or more of which comprises a computer usable storage medium having computer-usable program code (including but not limited to, disk storage, CD-ROM, optical memory, etc.).

[0090]本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。 [0090] The present application is a method according to an embodiment of the present application, a flowchart of a computer program product and apparatus (systems) and / or described with reference to block diagrams. 应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。 It should be understood and implemented by computer program instructions and block, and the flowchart / or block diagrams each process and / or flowchart illustrations and / or block diagrams of processes and / or blocks. 可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。 These computer program instructions may be provided to a processor a general purpose computer, special purpose computer, embedded processor or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus generating in a device for implementing the flow chart or more flows and / or block diagram block or blocks in a specified functions.

[0091]这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。 [0091] These computer program instructions may also be stored in a computer can direct a computer or other programmable data processing apparatus to function in a particular manner readable memory produce an article of manufacture such that the storage instruction means comprises a memory in the computer-readable instructions the instruction means implemented in a flowchart or more flows and / or block diagram block or blocks in a specified function.

[0092]这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。 [0092] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps on the computer or other programmable apparatus to produce a computer implemented so that the computer or other programmable apparatus execute instructions to provide processes for implementing a process or flows and / or block diagram block or blocks a function specified step.

[0093] 在一个典型的配置中,计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。 [0093] In a typical configuration, computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0094]存储器可能包括计算机可读介质中的非永久性存储器,随机存取存储器(RAM)和/或非易失性内存等形式,如只读存储器(ROM)或闪存(flash RAM)。 [0094] The memory may include a computer-readable medium volatile memory, a random access memory (RAM) and / or other forms of nonvolatile memory, such as read only memory (ROM) or flash memory (flash RAM). 存储器是计算机可读介质的示例。 Storage are examples of computer-readable media.

[0095]计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。 [0095] Computer-readable media includes both permanent and non-permanent, removable and non-removable media may be accomplished by any method or technology for storing information. 信息可以是计算机可读指令、数据结构、程序的模块或其他数据。 Information may be computer-readable instructions, data modules, or other data structures, program. 计算机的存储介质的例子包括,但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带,磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质,可用于存储可以被计算设备访问的信息。 Examples of computer-storage media include, but are not limited to, phase change memory (the PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, CD-ROM read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, or magnetic disk storage or other magnetic storage devices, any other non-transmission medium, may be used to store information can be accessed by computing device. 按照本文中的界定,计算机可读介质不包括暂存电脑可读媒体(transitory media),如调制的数据信号和载波。 As defined herein, computer-readable media does not include temporary computer-readable medium (transitory media), and a modulated data signal such as a carrier.

[0096]还需要说明的是,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、商品或者设备所固有的要素。 [0096] It is further noted that the term "comprising", "containing" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, goods or equipment not include only those elements, but also includes other elements not explicitly listed, or further includes elements of the process, method, article, or device inherent. 在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。 Without more constraints, by the wording "include a ......" defining element does not exclude the existence of additional identical elements in the process include the elements, method, article, or apparatus.

[0097]本领域技术人员应明白,本申请的实施例可提供为方法、系统或计算机程序产品。 [0097] Those skilled in the art will appreciate, embodiments of the present disclosure may provide a method, system, or computer program product. 因此,本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。 Accordingly, the present disclosure may be entirely hardware embodiment, an entirely software embodiment or an embodiment in conjunction with the form of software and hardware aspects. 而且,本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。 Further, the present application may take the form of a computer program product embodied in one or more of which comprises a computer usable storage medium having computer-usable program code (including but not limited to, disk storage, CD-ROM, optical memory, etc.).

[0098]以上仅为本申请的实施例而已,并不用于限制本申请。 [0098] The above is merely an embodiment of the present disclosure, but not intended to limit the present application. 对于本领域技术人员来说,本申请可以有各种更改和变化。 For skilled in the art, the present application may have various modifications and changes. 凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等,均应包含在本申请的权利要求范围之内。 Any modifications made within the spirit and principle of the present application, equivalent substitutions, improvements, etc., should be included within the scope of the claims of the present application.

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Classifications
International ClassificationG06F19/00, A61C7/00
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