CN114052951B - Bracket accurate positioning method, device, system, terminal and medium based on image recognition - Google Patents
Bracket accurate positioning method, device, system, terminal and medium based on image recognition Download PDFInfo
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- 238000004422 calculation algorithm Methods 0.000 claims description 27
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/002—Orthodontic computer assisted systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C7/00—Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
- A61C7/12—Brackets; Arch wires; Combinations thereof; Accessories therefor
- A61C7/14—Brackets; Fixing brackets to teeth
- A61C7/146—Positioning or placement of brackets; Tools therefor
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Abstract
The application provides an intelligent bracket accurate positioning method, device, system, terminal and medium based on image recognition, and the method, device, system and terminal acquire images of teeth to be corrected; identifying and separating crowns of the teeth to be straightened from the images of the teeth to be straightened; identifying a dental center point and a dental long axis of the crown; defining a region of interest according to the identified tooth center point and tooth long axis, and enabling the tooth center to coincide with the center of the region of interest; and based on the region of interest, performing transverse positioning, longitudinal positioning and axial inclination positioning on an orthodontic bracket for correcting teeth, and outputting positioning information. Based on the image recognition technology, the real-time accurate positioning of the orthodontic bracket is realized by respectively performing transverse positioning, longitudinal positioning, axial inclination positioning and the like on the orthodontic bracket. According to the technical scheme provided by the invention, zero error of bracket positioning can be realized, and the bracket positioning is realized by artificial intelligence through self-learning, so that long-time training of related personnel is not needed, the positioning efficiency and precision are improved, and the cost is reduced.
Description
Technical Field
The application relates to the technical field of orthodontic treatment, in particular to a bracket accurate positioning method, device, system, terminal and medium based on image recognition.
Background
Orthodontic refers to the correction of teeth, the removal of teeth and deformities, and the central problem of orthodontic is the precise positioning of the height of the bracket. At present, the more common bracket height positioning methods are as follows: clinical coronal center approach, height positioning meter approach, edge ridge leveling approach.
The clinical crown center method is that values of the axial inclination angle, the torque angle and the crown pitch which are preformed by the straight wire appliance are measured at the center height of the clinical crown, so that the preformed sequence bracket appliance generally requires bonding the bracket at the center of the clinical crown. He considers the FA points of the teeth in the same dentition as the normal dentition to lie in the same plane (Andrews plane) and can be positioned relatively easily and quickly. However, the clinical coronal center approach has the following drawbacks: firstly, many teeth have difficulty in determining clinical coronal center points; secondly, if the patient is positioned completely according to the central point of the clinical crown, the purpose of correcting the straight wire without bending is difficult to achieve.
The height positioning method refers to that the bracket attachment position of individual teeth in the same dentition deviates from the FA point, the Andrews plane is unstable, and a relatively stable HOL plane (a plane formed by connecting the centers of the clinical crowns of the first molar on both sides and the midpoint of the connecting line of the clinical crowns of the intermediate incisors on both sides) is proposed to assist the clinician in positioning. When the correction is completed, the center point of the bracket groove of each tooth of the same dentition should fall on the HOL plane. However, the altitude localization method has the following drawbacks: firstly, individual crown length and facial convexity differences are not considered; second, after correction, the edge ridge relationship is poor (premolars, molar).
The edge ridge leveling method refers to a method of determining the position of a bracket by the difference between the edge ridge line of a tooth and the clinical crown center line, and is called an edge ridge leveling method. However, the edge ridge flush method has the following drawbacks: although the edge ridge approach has more consideration for occlusion of the posterior teeth, it is not possible to coordinate the width of the dental arch with occlusion of the anterior teeth, and thus has a great limitation in clinic.
In summary, any of the above methods for achieving bracket positioning can produce positioning errors, and require long training, even so errors are unavoidable, and personalized adjustments and integration of the clinical experience of the physician are required.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present application is to provide a bracket accurate positioning method, device, system, terminal and medium based on image recognition, which are used for solving the technical problems that in the prior art, no matter which method is adopted to realize bracket positioning, positioning errors are generated, long training is required, even if errors are still unavoidable, and personalized adjustment and integration of clinical experience of doctors are required.
To achieve the above and other related objects, a first aspect of the present application provides a bracket accurate positioning method based on image recognition, including: collecting an image of teeth to be straightened; identifying and separating crowns of the teeth to be straightened from the images of the teeth to be straightened; identifying a dental center point and a dental long axis of the crown; defining a region of interest according to the identified tooth center point and tooth long axis, and enabling the tooth center to coincide with the center of the region of interest; and based on the region of interest, performing transverse positioning, longitudinal positioning and axial inclination positioning on an orthodontic bracket for correcting teeth, and outputting positioning information.
In some embodiments of the first aspect of the present application, the identifying and separating the crown of the tooth to be straightened from the image of the tooth to be straightened includes: and extracting color characteristic information of the target object to perform threshold judgment based on a color characteristic target recognition algorithm, and dividing the crown part according to a threshold judgment result.
In some embodiments of the first aspect of the present application, the identifying the dental center point and the dental long axis of the crown comprises: converting the acquired dental crown image into a gray image through brightness calculation, extracting edge contours in the image and obtaining a corresponding region shape; performing ellipse fitting on the edge contour of the area shape, and detecting a boundary curve by utilizing half transformation to obtain ellipse characteristic parameters; the ellipse characteristic parameters include an ellipse major axis parameter as a major axis of the tooth and an ellipse center point coordinate parameter as a center point of the tooth.
In some embodiments of the first aspect of the present application, the means for laterally positioning the orthodontic bracket includes: the transverse positioning is performed by judging whether the left and right spacing between the orthodontic bracket and the edge of the tooth body is consistent.
In some embodiments of the first aspect of the present application, the means for longitudinally positioning the orthodontic bracket includes: judging whether the current analysis object is front teeth or rear teeth; if the tooth is the front tooth, the longitudinal positioning is carried out by judging whether the height between the center point of the tooth body and the incisor edge of the tooth accords with a height threshold value; if the tooth is a rear tooth, the height of the orthodontic bracket is judged to be consistent with the height of the orthodontic bracket on the adjacent tooth for longitudinal positioning.
In some embodiments of the first aspect of the present application, the means for axial tilt positioning of the orthodontic bracket includes: the axis tilt positioning is performed by determining whether the center line of the orthodontic bracket is parallel or coincident with the long axis of the tooth.
To achieve the above and other related objects, a second aspect of the present application provides a bracket precise positioning device based on image recognition, including: the image acquisition module is used for acquiring the image of the teeth to be corrected; an image separation module for identifying and separating crowns of the teeth to be straightened from the images of the teeth to be straightened; the image recognition module is used for recognizing a tooth center point and a tooth long axis of the dental crown; the image delineating module is used for delineating an interested region according to the identified tooth center point and the tooth long axis, and enabling the tooth center to coincide with the center of the interested region; and the bracket positioning module is used for carrying out transverse positioning, longitudinal positioning and axial inclination positioning on the orthodontic bracket for correcting teeth based on the region of interest and outputting positioning information.
To achieve the above and other related objects, a third aspect of the present application provides an image recognition-based bracket precise positioning system, including: the bracket positioning unit is used for acquiring images of teeth to be corrected; identifying and separating crowns of the teeth to be straightened from the images of the teeth to be straightened; identifying a dental center point and a dental long axis of the crown; defining a region of interest according to the identified tooth center point and tooth long axis, and enabling the tooth center to coincide with the center of the region of interest; based on the region of interest, transversely positioning, longitudinally positioning and axially tilt positioning orthodontic brackets for correcting teeth; and the information output unit is in communication connection with the bracket positioning unit and is used for receiving the positioning information of the orthodontic bracket and transmitting the positioning information outwards in an image and/or voice mode.
To achieve the above and other related objects, a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the bracket precise positioning method based on image recognition.
To achieve the above and other related objects, a fifth aspect of the present application provides a bracket positioning terminal, including: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory so that the terminal can execute the bracket accurate positioning method based on image recognition.
As described above, the bracket accurate positioning method, device, system, terminal and medium based on image recognition have the following beneficial effects: based on the image recognition technology, the accurate positioning of the orthodontic bracket is realized by respectively performing transverse positioning, longitudinal positioning, axial inclination positioning and the like on the orthodontic bracket. According to the technical scheme provided by the invention, zero error of bracket positioning can be realized, and the bracket positioning is realized by artificial intelligence through self-learning, so that long-time training of related personnel is not needed, the positioning efficiency and precision are improved, and the cost is reduced.
Drawings
Fig. 1 is a flow chart of a bracket accurate positioning method based on image recognition in an embodiment of the application.
Fig. 2 is a schematic view of teeth to be straightened in an embodiment of the present application.
Fig. 3A is a schematic view of a transverse positioning of an orthodontic bracket in an embodiment of the present application.
Fig. 3B is a schematic view of the longitudinal positioning of orthodontic brackets in an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a bracket precise positioning system based on image recognition in an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a bracket precise positioning device based on image recognition in an embodiment of the present application.
Fig. 6 is a schematic structural view of a bracket positioning terminal according to an embodiment of the present application.
Detailed Description
Other advantages and effects of the present application will become apparent to those skilled in the art from the present disclosure, when the following description of the embodiments is taken in conjunction with the accompanying drawings. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It is noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "upper," and the like, may be used herein to facilitate a description of one element or feature as illustrated in the figures as being related to another element or feature.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," "held," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, operations, elements, components, items, categories, and/or groups. It will be further understood that the terms "or" and/or "as used herein are to be interpreted as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C). An exception to this definition will occur only when a combination of elements, functions or operations are in some way inherently mutually exclusive.
In order to solve the problems of the existing bracket positioning method, for example, a plurality of teeth in a clinical crown center method are difficult to determine a clinical crown center point, and the purpose of correcting the straight wire without bending is difficult to realize if the teeth are positioned completely according to the clinical crown center point; the height positioning method does not take into account individual crown length and facial convexity differences and shows poor edge ridge relationship after correction (premolars, molars); the edge ridge leveling method cannot coordinate the width of the dental arch and occlusion of the anterior teeth, and thus is also very limited clinically. No matter which method is adopted to realize the bracket positioning, positioning errors are generated, long-time training is required, errors are unavoidable even so, and the clinical experience of doctors is required to be adjusted and integrated individually.
In view of the above, the invention provides a bracket accurate positioning method, a bracket accurate positioning system, a bracket accurate positioning terminal and a bracket storage medium based on image recognition, which have a manual interaction function and a continuous growth function, can effectively separate out single dental crowns, identify FA points and dental long axes, extract a region of interest (ROI), and further realize accurate bracket positioning. In order to make the objects, technical solutions and advantages of the present invention more apparent, further detailed description of the technical solutions in the embodiments of the present invention will be given by the following examples with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flow chart of a bracket accurate positioning method based on image recognition according to an embodiment of the invention. It should be noted that the bracket precise positioning method based on image recognition in the present embodiment may be applied to various hardware devices, for example, to a controller, such as a ARM (Advanced RISC Machines) controller, a FPGA (Field Programmable Gate Array) controller, a SoC (System on Chip) controller, a DSP (Digital Signal Processing) controller, or a MCU (Micorcontroller Unit) controller. The method can also be applied to computer equipment, such as personal computers, such as desktop computers, notebook computers, tablet computers, smart phones, smart bracelets, smart watches, smart helmets, smart televisions, personal digital assistants (Personal Digital Assistant, PDA for short) and the like. The method is also applicable to servers which can be arranged on one or more entity servers according to various factors such as functions, loads and the like, and can also be formed by distributed or centralized server clusters. The bracket accurate positioning method mainly comprises the following steps S11 to S15.
Step S11: an image of the tooth to be straightened is acquired.
In particular, an image of the tooth to be straightened may be acquired with an image acquisition unit. The image acquisition unit can be a camera module, and the camera module comprises a camera device, a storage device and a processing device; the image pickup apparatus includes, but is not limited to: cameras, video cameras, imaging modules integrated with an optical system or a CCD chip, imaging modules integrated with an optical system and a CMOS chip, and the like.
Step S12: identifying and separating the crown of the tooth to be straightened from the image of the tooth to be straightened. It should be understood that a crown refers to a portion of a tooth body exposed in the mouth and covered with enamel as an outer layer, and also serves as a chewing function.
In some examples, identifying and separating crowns of the teeth to be straightened from an image of the teeth to be straightened may be accomplished based on an image recognition algorithm. Since there is a difference in the colors of gums and crowns in an image (generally, gums are reddish and tooth portions are whitened), crowns in an image can be identified and separated by a target identification algorithm based on color characteristics. For example, the recognition of the color characteristics of the object in the image can be realized through the Python interface of OpenCV, and the threshold judgment and segmentation can be performed by extracting the color characteristic information of the target object.
It should be appreciated that the target recognition algorithm includes, but is not limited to: image segmentation algorithms, image classification algorithms, object detection algorithms, etc. The image segmentation algorithm is a technology and a process for finding out an area where a target is located from an image, dividing the image into a plurality of specific areas with unique properties, and providing the specific target, and examples of common image segmentation algorithms include: a threshold-based segmentation algorithm, a cluster-based segmentation algorithm, an edge-based segmentation algorithm (e.g., canny operator, sobel operator, isopic Sobel operator, roberts operator, prewitt operator, laplacian operator, etc. edge detection algorithm), a region-growth-based segmentation algorithm, or a graph-based segmentation algorithm, etc. The image classification algorithm is an algorithm for judging the object category in the image, and can classify the image by finding proper features and then utilizing the proper classification algorithm through the features; common features are gray histogram based features, morphology based features, texture based features, LBP features, SIFT features, or the like; common classification algorithms such as random forest algorithm, adBoost algorithm, SVM algorithm, etc. The target detection algorithm is an algorithm for integrating the segmentation and the recognition of the target into a whole based on the image segmentation of the geometric and statistical characteristics of the target, positioning the target and determining the position and the size of the target; common target detection algorithms include, but are not limited to: the embodiment is not limited to the target detection algorithm (e.g., R-CNN, fast R-CNN, FPN, etc.), the single target detection algorithm (e.g., SSD algorithm, YOLO algorithm, etc.), etc. based on the candidate region.
Step S13: a tooth center point and a tooth major axis of the crown are identified.
In some examples, the process of identifying the dental center point of the crown specifically includes: converting the acquired dental crown image into a gray image through brightness calculation, extracting edge contours in the image and obtaining a corresponding region shape; performing ellipse fitting on the edge contour of the area shape, detecting a boundary curve by utilizing half transformation, and obtaining various parameters such as a major axis, a minor axis, a center point and the like of the ellipse; the central point of the fitting ellipse is the tooth center point of the dental crown, and the long axis is the pressing long axis. It should be noted that there are various methods for determining the geometric center of the target object, which are merely examples and not limiting the scope of the present invention, and in fact, any algorithm for determining the geometric center and the longitudinal axis in the prior art can be applied to the technical solution of the present embodiment.
Taking a certain tooth to be straightened as an example in fig. 2, the position of the center point 21 of the tooth body can be identified by the above-mentioned image processing method. After the center point 21 of the tooth is determined, the geometric axis that runs longitudinally through the tooth and through the center point of the tooth is the long axis 22 of the tooth.
Step S14: and defining a region of interest according to the identified tooth center point and the tooth long axis, and enabling the tooth center to coincide with the center of the region of interest. For example, in fig. 2, a region of interest 23 is defined, the center of the region of interest 23 coinciding with the dental center point 21.
It should be understood that the region of interest is also called ROI (region of interest), and is a region to be processed is outlined from the processed image in a box, circle, ellipse or irregular polygon manner in the machine vision and image processing, and various operators and functions are commonly used on the machine vision software such as Halcon, openCV, matlab to obtain the region of interest and process the image in the next step.
Step S15: and based on the region of interest, performing transverse positioning, longitudinal positioning and axial inclination positioning on an orthodontic bracket for correcting teeth, and outputting positioning information. Hereinafter, the lateral positioning, the longitudinal positioning, and the shaft inclination positioning will be further explained with reference to fig. 3A to 3B, respectively.
In fig. 3A, an orthodontic bracket 31 is attached to a tooth 32 to be straightened, and the lateral positioning is performed by judging whether or not the left and right pitches of the orthodontic bracket 31 and the edge of the tooth body coincide. For example, if the left pitch of the orthodontic bracket 31 is greater than the right pitch, the orthodontic bracket 31 is moved in the direction of arrow A1 to achieve the lateral positioning of the orthodontic bracket 31; similarly, if the right pitch of the orthodontic bracket 31 is greater than the left pitch, the orthodontic bracket 31 is moved in the direction of arrow A2 to achieve the lateral positioning of the orthodontic bracket 31.
In fig. 3B, the orthodontic bracket 31 is attached to the tooth 32 to be corrected, and when the orthodontic bracket 31 is positioned longitudinally, it is necessary to further analyze whether the current analysis object is the front teeth or the rear teeth. Generally, anterior teeth are fingertip teeth, central incisors, side incisors, and posterior teeth include premolars and molars. In the case of the anterior tooth, the longitudinal positioning is performed by determining the height H between the tooth center point 33 and the tooth incisors 34. For example, if the height H is smaller than the preset height threshold, the orthodontic bracket 31 is moved along the arrow B1 to achieve the longitudinal positioning of the orthodontic bracket 31; similarly, if the height H is greater than the preset height threshold, the orthodontic bracket 31 is moved in the direction of arrow B2 to achieve longitudinal positioning of the orthodontic bracket 31. In the case of the posterior teeth, the longitudinal positioning is performed by determining whether the height of the orthodontic bracket 31 corresponds to the height of the bracket on the adjacent tooth.
The orthodontic bracket 31 is attached to the tooth 32 to be straightened, and the axial inclination positioning is performed by judging whether or not the center line of the orthodontic bracket 31 and the long axis of the tooth are parallel or coincident. For example, if the center line of the orthodontic bracket 31 is not parallel to or coincident with the long axis of the tooth, the orthodontic bracket 31 is rotated counterclockwise or clockwise to perform the axial tilt positioning.
Fig. 4 is a schematic structural diagram of a bracket precise positioning system based on image recognition according to an embodiment of the present invention. The bracket accurate positioning system of the present embodiment includes a bracket positioning unit 41 and an information output unit 42. The bracket positioning unit 41 is used for acquiring an image of teeth to be straightened; identifying and separating crowns of the teeth to be straightened from the images of the teeth to be straightened; identifying a dental center point and a dental long axis of the crown; defining a region of interest according to the identified tooth center point and tooth long axis, and enabling the tooth center to coincide with the center of the region of interest; based on the region of interest, orthodontic brackets for orthodontic teeth are positioned laterally, longitudinally, and at an inclination. An information output unit 42 establishes a communication connection with the bracket positioning unit for receiving positioning information of the orthodontic bracket and for transmitting the positioning information outwardly in the form of images and/or speech.
It should be noted that the bracket positioning unit 41 may be a computer device, such as a desktop computer, a notebook computer, a tablet computer, a smart phone, a smart bracelet, a smart watch, a smart helmet, a smart television, a personal digital assistant (Personal Digital Assistant, abbreviated as PDA), or may be a server. The information output unit 42 includes an image module 421 and a voice module 422, the image module 421 displaying a positional relationship between the orthodontic bracket and the crown to a user in the form of an image; the voice module 422 displays the positional relationship between the orthodontic bracket and the crown to the user in the form of voice broadcasting (e.g., broadcasting voice information such as "2 mm from center of tooth").
Fig. 5 is a schematic structural diagram of a bracket precise positioning device based on image recognition according to an embodiment of the present invention. The bracket accurate positioning device 500 based on image recognition in this embodiment includes an image acquisition module 501, an image separation module 502, an image recognition module 503, an image circumscribing module 504, and a bracket positioning module 505.
The image acquisition module 501 is used for acquiring an image of teeth to be straightened; the image separation module 502 is used for identifying and separating the crown of the tooth to be corrected from the image of the tooth to be corrected; the image recognition module 503 is used for recognizing the tooth center point and the tooth long axis of the dental crown; the image delineating module 504 is configured to delineate a region of interest according to the identified dental center point and dental long axis, and to make the dental center coincide with the center of the region of interest; the bracket positioning module 505 is used for performing lateral positioning, longitudinal positioning and axial inclination positioning on an orthodontic bracket for correcting teeth based on the region of interest, and outputting positioning information.
It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, the image recognition module may be a processing element which is set up separately, may be implemented in a chip of the above apparatus, or may be stored in a memory of the above apparatus in the form of a program code, and the functions of the above image recognition module may be called and executed by a processing element of the above apparatus. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.
For example, the modules above may be one or more integrated circuits configured to implement the methods above, such as: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more microprocessors (digital signal processor, abbreviated as DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), or the like. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Referring to fig. 6, a schematic structural diagram of a bracket positioning terminal according to an embodiment of the present invention is shown. Bracket positioning terminal that this example provided includes: a processor 61, a memory 62, a communicator 63; the memory 62 is connected to the processor 61 and the communicator 63 through a system bus and performs communication with each other, the memory 62 is used for storing a computer program, the communicator 63 is used for communicating with other devices, and the processor 61 is used for running the computer program to enable the electronic terminal to execute the steps of the bracket precise positioning method based on image recognition as above.
The system bus mentioned above may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The system bus may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The communication interface is used to enable communication between the database access apparatus and other devices (e.g., clients, read-write libraries, and read-only libraries). The memory may comprise random access memory (Random Access Memory, RAM) and may also comprise non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the bracket accurate positioning method based on image recognition.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by computer program related hardware. The aforementioned computer program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
In the embodiments provided herein, the computer-readable storage medium may include read-only memory, random-access memory, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, U-disk, removable hard disk, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. In addition, any connection is properly termed a computer-readable medium. For example, if the instructions are transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. It should be understood, however, that computer-readable and data storage media do not include connections, carrier waves, signals, or other transitory media, but are intended to be directed to non-transitory, tangible storage media. Disk and disc, as used herein, includes Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.
In summary, the present application provides a method, a device, a system, a terminal and a medium for precisely positioning a bracket based on image recognition. According to the technical scheme provided by the invention, zero error of bracket positioning can be realized, and the bracket positioning is realized by artificial intelligence through self-learning, so that long-time training of related personnel is not needed, the positioning efficiency and precision are improved, and the cost is reduced. Therefore, the method effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles of the present application and their effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those of ordinary skill in the art without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications and variations which may be accomplished by persons skilled in the art without departing from the spirit and technical spirit of the disclosure be covered by the claims of this application.
Claims (9)
1. The bracket accurate positioning method based on image recognition is characterized by comprising the following steps of:
collecting an image of a tooth to be straightened, the tooth to be straightened comprising front teeth and rear teeth;
identifying and separating crowns of the teeth to be straightened from the images of the teeth to be straightened;
identifying a dental center point and a dental long axis of the crown, the process comprising: converting the acquired dental crown image into a gray image through brightness calculation, extracting edge contours in the image and obtaining a corresponding region shape; performing ellipse fitting on the edge contour of the area shape, and detecting a boundary curve to obtain ellipse characteristic parameters; the ellipse characteristic parameters comprise ellipse major axis parameters serving as tooth major axes and ellipse center point coordinate parameters serving as tooth center points;
defining a region of interest according to the identified tooth center point and tooth long axis, and enabling the tooth center to coincide with the center of the region of interest;
based on the region of interest, performing transverse positioning, longitudinal positioning and axial inclination positioning on an orthodontic bracket for correcting teeth, and outputting positioning information; wherein, the mode of carrying out vertical positioning to the orthodontic bracket includes: judging whether the current analysis object is the front tooth or the rear tooth; if the front tooth is the front tooth, longitudinal positioning is carried out by judging whether the height between the center point of the tooth body and the incisor edge of the tooth accords with a height threshold value; if the tooth is the rear tooth, the height of the orthodontic bracket is judged to be consistent with the height of the orthodontic bracket on the adjacent tooth for longitudinal positioning.
2. The method for precisely positioning a bracket based on image recognition according to claim 1, wherein the step of recognizing and separating the crown of the tooth to be straightened from the image of the tooth to be straightened comprises the steps of: and extracting color characteristic information of the target object to perform threshold judgment based on a color characteristic target recognition algorithm, and dividing the crown part according to a threshold judgment result.
3. The method for precisely positioning brackets based on image recognition according to claim 1, wherein the process of detecting the boundary curve to obtain the elliptical characteristic parameters comprises: and detecting the boundary curve by utilizing the half transformation to obtain the elliptic characteristic parameters.
4. The method for precisely positioning brackets based on image recognition according to claim 1, wherein the means for laterally positioning the orthodontic brackets comprises: the transverse positioning is performed by judging whether the left and right spacing between the orthodontic bracket and the edge of the tooth body is consistent.
5. The method for precisely positioning brackets based on image recognition according to claim 1, wherein the means for positioning the orthodontic brackets at an axial inclination comprises: the axis tilt positioning is performed by determining whether the center line of the orthodontic bracket is parallel or coincident with the long axis of the tooth.
6. Bracket accurate positioning device based on image recognition, its characterized in that includes:
the image acquisition module is used for acquiring images of teeth to be corrected, wherein the teeth to be corrected comprise front teeth and rear teeth;
an image separation module for identifying and separating crowns of the teeth to be straightened from the images of the teeth to be straightened;
the image recognition module is used for recognizing the tooth center point and the tooth long axis of the dental crown, and the process comprises the following steps: converting the acquired dental crown image into a gray image through brightness calculation, extracting edge contours in the image and obtaining a corresponding region shape; performing ellipse fitting on the edge contour of the area shape, and detecting a boundary curve to obtain ellipse characteristic parameters; the ellipse characteristic parameters comprise ellipse major axis parameters serving as tooth major axes and ellipse center point coordinate parameters serving as tooth center points;
the image delineating module is used for delineating an interested region according to the identified tooth center point and the tooth long axis, and enabling the tooth center to coincide with the center of the interested region;
the bracket positioning module is used for carrying out transverse positioning, longitudinal positioning and axial inclination positioning on an orthodontic bracket for correcting teeth based on the region of interest and outputting positioning information; wherein, the mode of carrying out vertical positioning to the orthodontic bracket includes: judging whether the current analysis object is the front tooth or the rear tooth; if the front tooth is the front tooth, longitudinal positioning is carried out by judging whether the height between the center point of the tooth body and the incisor edge of the tooth accords with a height threshold value; if the tooth is the rear tooth, the height of the orthodontic bracket is judged to be consistent with the height of the orthodontic bracket on the adjacent tooth for longitudinal positioning.
7. Bracket accurate positioning system based on image recognition, characterized by comprising:
the bracket positioning unit is used for acquiring images of teeth to be corrected, wherein the teeth to be corrected comprise front teeth and rear teeth; identifying and separating crowns of the teeth to be straightened from the images of the teeth to be straightened; identifying a dental center point and a dental long axis of the crown, the process comprising: converting the acquired dental crown image into a gray image through brightness calculation, extracting edge contours in the image and obtaining a corresponding region shape; performing ellipse fitting on the edge contour of the area shape, and detecting a boundary curve to obtain ellipse characteristic parameters; the ellipse characteristic parameters comprise ellipse major axis parameters serving as tooth major axes and ellipse center point coordinate parameters serving as tooth center points; defining a region of interest according to the identified tooth center point and tooth long axis, and enabling the tooth center to coincide with the center of the region of interest; based on the region of interest, transversely positioning, longitudinally positioning and axially tilt positioning orthodontic brackets for correcting teeth; wherein, the mode of carrying out vertical positioning to the orthodontic bracket includes: judging whether the current analysis object is the front tooth or the rear tooth; if the front tooth is the front tooth, longitudinal positioning is carried out by judging whether the height between the center point of the tooth body and the incisor edge of the tooth accords with a height threshold value; if the tooth is the rear tooth, the height of the orthodontic bracket is judged to be consistent with the height of the orthodontic bracket on the adjacent tooth so as to perform longitudinal positioning;
and the information output unit is in communication connection with the bracket positioning unit and is used for receiving the positioning information of the orthodontic bracket and transmitting the positioning information outwards in an image and/or voice mode.
8. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the image recognition based bracket precise positioning method of any of claims 1 to 5.
9. A bracket positioning terminal, comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory, so that the terminal performs the bracket precise positioning method based on image recognition according to any one of claims 1 to 5.
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| WO2024164229A1 (en) * | 2023-02-09 | 2024-08-15 | 深圳先进技术研究院 | Image-based real-time tooth movement amount measurement method |
| CN116138905A (en) * | 2023-03-07 | 2023-05-23 | 山东大学 | A robot-assisted orthodontic bracket bonding method and bonding system |
| CN117414219A (en) * | 2023-09-28 | 2024-01-19 | 先临三维科技股份有限公司 | Bracket placement method, device, equipment and storage medium |
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