CN110853023A - High-frequency ultrasonic scanning method and system for dental impression - Google Patents
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Abstract
一种牙印模高频超声扫描方法，包括以下步骤：1)将牙印模放入纯净水中；2)利用基于高频超声的牙印模扫描系统，对牙印模中的牙齿及牙周组织进行逐面扫描；3)利用超声图像分割和重建技术将目标牙区段分割重建。一种用于牙印模高频超声扫描方法的扫描系统，所述扫描系统为附有位置传感器及单振元超声探头或固定于机械手的单振元超声探头。本发明提供了一种兼顾牙印模扫描图像特征的准确与高效识别的基于高频超声扫描方法及系统，实现了在牙齿印模获取和牙体制备检查过程中的交互式操作更加简单高效。
A high-frequency ultrasonic scanning method for dental impressions, comprising the following steps: 1) placing the dental impressions in pure water; 2) using a dental impression scanning system based on high-frequency ultrasound to scan teeth and periodontals in the dental impressions The tissue is scanned surface by surface; 3) The target tooth segment is segmented and reconstructed using ultrasonic image segmentation and reconstruction technology. A scanning system for a high-frequency ultrasonic scanning method for dental impressions, the scanning system is a single-vibration ultrasonic probe with a position sensor and a single-vibration-element ultrasonic probe or a single-vibration-element ultrasonic probe fixed on a manipulator. The invention provides a high-frequency ultrasonic scanning method and system that takes into account the accurate and efficient identification of dental impression scanning image features, and realizes simpler and more efficient interactive operations in the process of dental impression acquisition and dental preparation inspection.
Description
技术领域technical field
本发明属于医疗检测和医疗器械领域，涉及一种基于牙印模高频超声扫描方法及系统。The invention belongs to the fields of medical detection and medical instruments, and relates to a high-frequency ultrasonic scanning method and system based on dental impressions.
背景技术Background technique
计算机辅助设计自20世纪80年代初问世以来，已成为口腔医学关注的热点。口腔医学临床常用的石膏牙印模型具有复杂的表面结构,对其形态的观察与测量分析涉及口腔医学多个领域,直接关系到对口腔疾病的诊断、治疗方案制定及对治疗效果的分析评价。为了提高测量的精度,增加测量内容,有关专家一直在试图从模型中获取更多、更丰富的信息。Since its advent in the early 1980s, computer-aided design has become a hot spot in stomatology. The gypsum dental impression model commonly used in clinical dentistry has a complex surface structure, and the observation and measurement analysis of its morphology involves many fields of stomatology, and is directly related to the diagnosis of oral diseases, the formulation of treatment plans, and the analysis and evaluation of treatment effects. In order to improve the measurement accuracy and increase the measurement content, experts have been trying to obtain more and richer information from the model.
国内外学者自60年代以来即开始探讨使用近景摄影测量,摩尔条纹等方法获取牙印模型的三维数据，但是由于牙印模型的复杂表面形态,使得各种方案的效果均不尽人意，有的测量时间长,有的测量盲区大,有的数据处理复杂，从而口腔医学对印模扫描的需求日益剧增。最早问世的口腔数字化印模扫描仪为模型扫描仪，属于静态扫描仪，即模型放置在扫描仪中央，过程无需人为干预，即可获得数字化模型。经过长期口腔修复的临床应用，模型扫描仪获取的数字化印模精度符合临床要求，但存在口内制取弹性印模及翻制石膏模型的步骤，不能做到完全数字化，且使用不便，给患者造成不适感，精度很难保证，步骤非常繁琐，操作时间长,机械运动部件的叠加易造成系统误差。现在的光学数字印模系统一般由扫描探头和系统主机构成，扫描探头用来完成数据获取，系统主机用来完成数学计算与交互控制。由于牙齿修复手术是一项很复杂的技术，其中涉及很多交互操作，例如，牙体制作，印模获取，备体制作，咬合验证等等。而其中牙体制作非常关键，牙体的侧壁厚度、内部结构等等对于牙齿修复的成功至关重要，现在牙体制作很多是靠经验，现在也有一些光学数字印模系统提供了牙体制备效果检查的工具，但是整个过程做操非常不便。由于牙齿光学数字印模获取和牙体合格性检查需要很多交互式的操作，所以医生必须同时关注扫描探头的扫描位置，用户和系统主机屏幕，以便顺利开展工作。这大大增加了医生的工作负担，也延长了病患者的治疗时间。为进一步提高印模精度及颠覆传统的印模制取方法，利用高频超声扫描牙印模成为时代的选择。Since the 1960s, scholars at home and abroad have been discussing the use of close-range photogrammetry, Moiré fringe and other methods to obtain 3D data of the tooth print model. However, due to the complex surface morphology of the tooth print model, the effects of various schemes are not satisfactory. The measurement time is long, some measurement blind spots are large, and some data processing is complicated, so the demand for impression scanning in stomatology is increasing day by day. The earliest digital oral impression scanners are model scanners, which are static scanners, that is, the model is placed in the center of the scanner, and the digital model can be obtained without human intervention during the process. After long-term clinical application of oral prosthodontics, the accuracy of the digital impression obtained by the model scanner meets the clinical requirements, but there are steps to make an elastic impression in the mouth and remake a plaster model, which cannot be completely digitalized, and it is inconvenient to use, causing serious problems to patients. Discomfort, accuracy is difficult to guarantee, the steps are very cumbersome, the operation time is long, and the superposition of mechanical moving parts can easily cause system errors. The current optical digital impression system is generally composed of a scanning probe and a system host. The scanning probe is used to complete data acquisition, and the system host is used to complete mathematical calculation and interactive control. Because dental restoration surgery is a very complex technique, it involves many interactive operations, such as tooth preparation, impression taking, preparation preparation, occlusal verification and so on. Among them, the production of tooth body is very important. The thickness of the side wall and the internal structure of the tooth body are very important for the success of dental restoration. Nowadays, the production of tooth body is mostly based on experience. Now there are also some optical digital impression systems that provide tooth preparation. A tool for effect checking, but the whole process is very inconvenient. Because dental optical digital impression taking and dental conformity inspection require many interactive operations, the doctor must pay attention to the scanning position of the scanning probe, the user and the system host screen at the same time in order to carry out the work smoothly. This greatly increases the workload of doctors and prolongs the treatment time of patients. In order to further improve the impression accuracy and subvert the traditional impression making method, the use of high-frequency ultrasound to scan dental impressions has become the choice of the times.
发明内容SUMMARY OF THE INVENTION
为了克服已有技术在牙印模扫描上的问题，本发明提供了一种兼顾牙印模扫描图像特征的准确与高效识别的基于高频超声扫描方法及系统，通过高频超声的牙印模扫描装置对牙印模的牙齿进行逐面扫描，来获得牙齿数据，之后利用超声图像分割、重建等技术将目标牙区段分割重建。In order to overcome the problems in the scanning of dental impressions in the prior art, the present invention provides a high-frequency ultrasonic scanning method and system that takes into account the accurate and efficient identification of the image characteristics of dental impressions. The scanning device scans the teeth of the dental impression surface by surface to obtain tooth data, and then uses ultrasonic image segmentation, reconstruction and other technologies to segment and reconstruct the target tooth segment.
本发明解决其技术问题所采用的技术方案是：The technical scheme adopted by the present invention to solve its technical problems is:
一种牙印模高频超声扫描方法，所述方法包括以下步骤：A dental impression high-frequency ultrasonic scanning method, the method comprises the following steps:
1)将牙印模放入纯净水中；1) Put the dental impression into pure water;
2)利用基于高频超声的牙印模扫描系统，对牙印模中的牙齿及牙周组织进行逐面扫描；2) Using a dental impression scanning system based on high-frequency ultrasound to scan the teeth and periodontal tissues in the dental impression surface by surface;
3)利用超声图像分割和重建技术将目标牙区段分割重建。3) Segmentation and reconstruction of the target tooth segment using ultrasound image segmentation and reconstruction technology.
进一步，所述步骤1)中，所述纯净水包括但不限于去离子水。Further, in the step 1), the pure water includes but is not limited to deionized water.
所述步骤2)中，所述扫描系统通过高频超声扫描方法以及位置传感器，获得牙齿印模的三维数据。In the step 2), the scanning system obtains the three-dimensional data of the dental impression through a high-frequency ultrasonic scanning method and a position sensor.
所述步骤1)中，将牙齿印模放入纯净水(包括但不限于去离子水)中，是为了进行超声扫描，在水中的高频超声波能大幅度的提高扫描精准度，减少外界的干扰。In the step 1), the dental impression is put into pure water (including but not limited to deionized water), in order to perform ultrasonic scanning, the high-frequency ultrasonic energy in the water can greatly improve the scanning accuracy and reduce external noise. interference.
再进一步，所述步骤1)中，牙印模是指通过硅橡胶(包括但不限于硅橡胶)在患者口腔内进行取模而得到的牙齿印模。Still further, in the step 1), the dental impression refers to a dental impression obtained by taking an impression of silicone rubber (including but not limited to silicone rubber) in the oral cavity of a patient.
所述步骤2)中，所述牙齿及牙周组织是指牙冠、牙颈及牙根外牙槽骨外表面，牙印模扫描系统是指附有位置传感器及单振元超声探头或固定于机械手的单振元超声探头。In the step 2), the teeth and periodontal tissue refer to the outer surface of the tooth crown, the tooth neck and the alveolar bone outside the tooth root, and the dental impression scanning system refers to a position sensor and a single-vibration ultrasonic probe attached or fixed to the tooth. The single-element ultrasound probe of the manipulator.
再进一步，所述步骤2)中，逐面扫描是指将高频超声牙印模扫描装置沿着牙齿横向扫描，获得牙冠、牙颈及牙根外牙槽骨外表面数据。Still further, in the step 2), the surface-by-surface scanning refers to scanning the high-frequency ultrasonic dental impression scanning device laterally along the teeth to obtain the outer surface data of the crown, the neck, and the alveolar bone outside the root.
所述步骤3)中，利用超声图像分割和重建技术是指应用信号和图像处理算法来重建高分辨率超声图像并提取每帧中的牙齿信息，组合并平滑所有边缘以渲染牙齿的三维表面图像。In the step 3), using ultrasonic image segmentation and reconstruction technology refers to applying signal and image processing algorithms to reconstruct high-resolution ultrasonic images and extract tooth information in each frame, combining and smoothing all edges to render a three-dimensional surface image of the tooth. .
一种用于牙印模高频超声扫描方法的扫描系统，所述扫描系统为附有位置传感器及单振元超声探头或固定于机械手的单振元超声探头。A scanning system for a high-frequency ultrasonic scanning method for dental impressions, the scanning system is a single-vibration ultrasonic probe with a position sensor and a single-vibration-element ultrasonic probe or a single-vibration-element ultrasonic probe fixed on a manipulator.
本发明的有益效果主要表现在：1，实现了在牙齿印模获取和牙体制备检查过程中的交互式操作更加简单高效。2，实现对牙齿印模的快速精准识别，并基于其确定特征数据生成牙印模数字图像，便于牙体的制备。3，不需要直接接触牙齿，减少患者不适，减少医生负担，加快患者的治疗进程。The beneficial effects of the present invention are mainly manifested in: 1. The interactive operation in the process of obtaining the dental impression and the preparation and inspection of the dental body is realized to be simpler and more efficient. 2. Realize the fast and accurate identification of the dental impression, and generate a digital image of the dental impression based on the determined characteristic data, which is convenient for the preparation of the tooth. 3. There is no need to directly contact the teeth, reducing the discomfort of patients, reducing the burden on doctors, and speeding up the treatment process of patients.
应用本发明所提供的基于高频超声牙印模扫描方法，将极大推动当今口腔医学中牙齿修复手术的发展和应用。有利于发挥高频超声扫描无污染、实时、无损伤、高精度的优点，解决如今牙齿印模制作上的误差大、耗时长等缺点。减少普遍采用的牙模材料消耗及由于牙模制作中的口腔环境因素导致的制作失败可能，消除当今主流牙片获取的辐射损害，实现对口腔牙齿及牙周组织的准确呈现。The application of the high-frequency ultrasonic-based dental impression scanning method provided by the present invention will greatly promote the development and application of dental restoration surgery in today's stomatology. It is beneficial to give full play to the advantages of high-frequency ultrasonic scanning without pollution, real-time, non-damage and high precision, and solve the shortcomings of large errors and long time-consuming in today's dental impression making. Reduce the consumption of commonly used dental mold materials and the possibility of production failure due to oral environmental factors in dental mold production, eliminate radiation damage obtained by today's mainstream dental tablets, and achieve accurate presentation of oral teeth and periodontal tissues.
附图说明Description of drawings
图1是基于高频超声牙印模扫描方法流程图。Figure 1 is a flow chart of a method for scanning dental impressions based on high frequency ultrasound.
图2是基于高频超声牙印模扫描方法的实现系统示意图，其中，1为医用超声扫描仪，2为水槽及介质，3为超声探头和定位器。Fig. 2 is a schematic diagram of an implementation system based on a high-frequency ultrasonic dental impression scanning method, wherein 1 is a medical ultrasonic scanner, 2 is a water tank and a medium, and 3 is an ultrasonic probe and a locator.
图3是基于高频超声牙印模扫描系统的示意图，其中，(a)为主视图，(b)为侧视图。Fig. 3 is a schematic diagram of a dental impression scanning system based on high frequency ultrasound, wherein (a) is a front view and (b) is a side view.
具体实施方式Detailed ways
下面结合附图对本发明作进一步描述。The present invention will be further described below in conjunction with the accompanying drawings.
参照图1～图3，一种牙印模高频超声扫描方法，所述方法包括以下步骤：1 to 3, a high-frequency ultrasonic scanning method for dental impressions, the method includes the following steps:
1)将牙印模放入纯净水中；1) Put the dental impression into pure water;
2)利用基于高频超声的牙印模扫描系统，对牙印模中的牙齿及牙周组织进行逐面扫描；2) Using a dental impression scanning system based on high-frequency ultrasound to scan the teeth and periodontal tissues in the dental impression surface by surface;
3)利用超声图像分割和重建技术将目标牙区段分割重建。3) Segmentation and reconstruction of the target tooth segment using ultrasound image segmentation and reconstruction technology.
进一步，所述步骤1)中，所述纯净水包括但不限于去离子水。Further, in the step 1), the pure water includes but is not limited to deionized water.
所述步骤2)中，所述扫描系统通过高频超声扫描方法以及位置传感器，获得牙齿印模的三维数据。In the step 2), the scanning system obtains the three-dimensional data of the dental impression through a high-frequency ultrasonic scanning method and a position sensor.
所述步骤1)中，将牙齿印模放入纯净水(包括但不限于去离子水)中，是为了进行超声扫描，在水中的高频超声波能大幅度的提高扫描精准度，减少外界的干扰。In the step 1), the dental impression is put into pure water (including but not limited to deionized water), in order to perform ultrasonic scanning, the high-frequency ultrasonic energy in the water can greatly improve the scanning accuracy and reduce external noise. interference.
再进一步，所述步骤1)中，牙印模是指通过硅橡胶(包括但不限于硅橡胶)在患者口腔内进行取模而得到的牙齿印模。Still further, in the step 1), the dental impression refers to a dental impression obtained by taking an impression of silicone rubber (including but not limited to silicone rubber) in the oral cavity of a patient.
所述步骤2)中，所述牙齿及牙周组织是指牙冠、牙颈及牙根外牙槽骨外表面，牙印模扫描系统是指附有位置传感器及单振元超声探头或固定于机械手的单振元超声探头。In the step 2), the teeth and periodontal tissue refer to the outer surface of the tooth crown, the tooth neck and the alveolar bone outside the tooth root, and the dental impression scanning system refers to a position sensor and a single-vibration ultrasonic probe attached or fixed to the tooth. The single-element ultrasound probe of the manipulator.
再进一步，所述步骤2)中，逐面扫描是指将高频超声牙印模扫描装置沿着牙齿横向扫描，获得牙冠、牙颈及牙根外牙槽骨外表面数据。Still further, in the step 2), the surface-by-surface scanning refers to scanning the high-frequency ultrasonic dental impression scanning device laterally along the teeth to obtain the outer surface data of the crown, the neck, and the alveolar bone outside the root.
所述步骤3)中，利用超声图像分割和重建技术是指应用信号和图像处理算法来重建高分辨率超声图像并提取每帧中的牙齿信息，组合并平滑所有边缘以渲染牙齿的三维表面图像。In the step 3), using ultrasonic image segmentation and reconstruction technology refers to applying signal and image processing algorithms to reconstruct high-resolution ultrasonic images and extract tooth information in each frame, combining and smoothing all edges to render a three-dimensional surface image of the tooth. .
一种用于牙印模高频超声扫描方法的扫描系统，所述扫描系统为附有位置传感器及单振元超声探头或固定于机械手的单振元超声探头。A scanning system for a high-frequency ultrasonic scanning method for dental impressions, the scanning system is a single-vibration ultrasonic probe with a position sensor and a single-vibration-element ultrasonic probe or a single-vibration-element ultrasonic probe fixed on a manipulator.
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