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    • 专利摘要:
    The invention relates to a method for modeling the mandibular kinematics of a patient, comprising: - the acquisition of at least one stereoscopic image of the patient's face by means of a stereoscopic camera, - the construction, from said stereoscopic image, of a three-dimensional surface model of the patient's face, - the identification of characteristic elements of the patient's face on said stereoscopic image or on said three-dimensional surface model of the patient's face, - from said characteristic elements, the determination of on said stereoscopic image, respectively said three-dimensional surface model of the patient's face, points, axes and reference planes of the patient's face, - obtaining a three-dimensional model of the maxillary dental arch and a three-dimensional model of the mandibular dental arch of the patient, - the registration of the three-dimensional models of the dental arches with respect to to the reference planes of the three-dimensional surface model of the patient, - the recording of the mandibular kinematics of the patient, - the application of said registered mandibular kinematics to the three-dimensional models of the recalibrated dental arches, to animate said three-dimensional models.
    公开号:FR3027205A1
    申请号:FR1460071
    申请日:2014-10-20
    公开日:2016-04-22
    发明作者:Maxime Jaisson
    申请人:MODJAW；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to a method for modeling the mandibular kinematics of a patient, as well as to a system for implementing said method. BACKGROUND OF THE INVENTION When the dental organ is degraded, the role of the dentist is to restore it. During a major disrepair, this restoration uses prosthetic devices replacing all or part of one or more teeth. This can not be done without taking into consideration dental occlusion which is the way in which interdental and inter-arch contacts are organized. In this context, the management of interdental contacts is a therapeutic imperative. There are also other situations in which the management of dental contacts is a therapeutic imperative. For example, when the teeth are in the ectopic position, orthodontic treatment is undertaken to move the teeth through an appliance. The pattern and distribution of occlusal contacts change and rules must be followed in this case to avoid harming the patient. In other cases, when disorders of the joint or of muscle contraction are diagnosed and are related to occlusion, the dental surgeon 25 may, by the design of an occlusal splint, mitigate or even correct these dysfunctions. By extension, the occlusion provides the interface between the two maxillae. Their confrontation is possible thanks to a mobile bone: the mandible (lower jaw). The quality of this occlusion is essential and must provide 3 essential functions 30 (centering, wedging, guidance) of the same mandible to preserve the surrounding structures (articulation, muscles ...). The motility of the mandible is due to a joint, the temporomandibular joint (TMJ) and a setting in motion by the contraction of the masticatory muscles. At any time, the dental surgeon is concerned with the preservation of the health of these components but also with his recovery when pathologies are objectified (such as myalgia, arthropathy). In this case, the dental surgeon can, by means of a rehabilitation of the occlusion, have a retroactive effect on the pathologies of the manducatory apparatus. The construction or reconstruction of the occlusion is influenced by certain determinants, which are patient-related data that influence occlusal anatomy. These determinants are important to understand in certain situations because the prosthetic craftsman, by mastering them, is inspired by them to model the occlusal surface of the teeth. The determinants of occlusion are the factors that influence occlusion. These factors are divided into two groups: fixed determinants and determinants that can be modified by remodeling or repositioning teeth. The modifiable determinants are: - the shape of the teeth (height of the cusps, depth of the pits ...) - the position of the teeth, - the vertical dimension, - the occlusal curves. The fixed determinants are: (1) the vertical and horizontal positioning of the arches with respect to the posterior determinant, (2) the condylar spacing (3) the anteroposterior positioning of the arches with respect to the articular posterior determinant, (4) the posterior articular determinant , which is defined by: - the condylar slope - the Bennett angle - the initial movement of Bennett. These fixed and modifiable determinants are interdependent on each other. The modifiable determinants are those on which the dental surgeon concentrates his diagnosis and his rehabilitation work. To perfect the diagnosis and thus ensure optimal rehabilitation for the patient, a study of fixed determinants and interdependencies between fixed and modifiable determinants is necessary. For this purpose, there exist on the market tools called articulators that more or less simulate the physiology of the manducatory apparatus. These articulators are available on the market in mechanical or digital form. These simulators reproduce a mandibular kinematics allowing the fixed determinants to be taken into account in the diagnostic analysis. These simulators are parameterized using approximations of the fixed determinants 2, 3 and 4. The anatomy of the temporomandibular joint is simulated by the addition of angular values schematizing the paths of the mandibular condyle in space. . This is parameterized mechanically at the condylar boxes of the simulator. However, because of their design and mode of operation, simulators are a source of error. Moreover, they only allow a rough mastery of determinants, at the cost of tedious programming and expensive handling at the dental office. In addition, the mandibular kinematics recreated from these simulators is only an approximate reproduction of the actual mandibular movements. A direct consequence is the outsourcing of this critical task for the prosthetist as a guarantee of a reliable, comfortable and durable prosthetic treatment. Document VVO 2013/030511 discloses a method of designing a dental appliance which implements a recording of the mandibular kinematics of the patient. This method firstly comprises either obtaining a volume image of the facial mass by a CT scan technique, or determining the reference planes of the facial mass by locating points of interest on the patient's face. In addition, three-dimensional models of the dental arches of the patient are obtained. Said models, positioned relative to each other during their creation, are recaled with the volume image of the face or predetermined reference planes. The recording of the mandibular kinematics is implemented by equipping the patient with a marker fixed on the patient's forehead and markers fixed directly on the teeth of the mandibular arch or on the mandible through a support. , and by locating and recording the movements of said markers by means of a camera during mandibular movements of the patient. However obtaining elements to position models of the dental arches relative to each other remains to improve. In fact, CT involves exposing the patient to X-rays and seeking to minimize the patient's exposure to such rays.
    [0002] With regard to the alternative solution of determining the reference planes of the facial mass, it requires a certain number of manipulations of the practitioner to point out the different points of interest. BRIEF DESCRIPTION OF THE INVENTION An object of the invention is to propose a method for modeling the mandibular kinematics of a patient that ensures control of the fixed determinants in order to control their characteristics and their effects on the modifiable determinants. to be easier to implement than the known methods.
    [0003] As will be seen in detail below, this method includes, among other things, a true recording of the mandibular kinematics which, once modeled by means of software, makes it possible to animate the digital models of the dental arches of the patient. Consideration of determinants is therefore simple and intuitive.
    [0004] In addition, the information provided by the software and hardware aspects of the invention is much more exhaustive and is a real representation of the morphological and morphodynamic data of the patient. The process offers the advantage of being done in real time in the practitioner's office, thus ensuring a complete and customized study of the patient.
    [0005] Among the available information, we find the position of the dental arches in space with respect to the joints and the facial mass. His interest is to study (in case of occlusal analysis) and reconstruct the occlusal curves. These curves, the SPEE curve and the VVILSON curve describe the intra-arcade organization. In a simplified way, these curves correspond to the way in which the occlusal surfaces of the teeth are oriented, their cusps and incisal edges in space. This brings to our attention the possibilities of force distribution and inter-archival encounter. The result is an analysis of the individual shape of each tooth, its own anatomy, the depth of the furrows, the cusp height, its own position relative to other neighboring and antagonistic teeth.
    [0006] According to the invention, there is provided a method of modeling the mandibular kinematics of a patient, comprising: - the acquisition of at least one stereoscopic image of the patient's face by means of a stereoscopic camera, - the construction from said stereoscopic image, a three-dimensional surface model of the patient's face, - identifying characteristic elements of the patient's face on said stereoscopic image or on said three-dimensional surface model of the patient's face, - from said characteristic elements, the determination, on said stereoscopic image, respectively said three-dimensional surface model of the patient's face, points, axes and reference planes of the patient's face, - obtaining a three-dimensional model of the maxillary dental arch and of a three-dimensional model of the mandibular dental arch of the patient, - the registration of the three-dimensional models of the arca dentures relative to the reference planes of the three-dimensional surface model of the patient, - the recording of the mandibular kinematics of the patient, - the application of said registered mandibular kinematics to the three-dimensional models of dental arches recaled, to animate said three-dimensional models.
    [0007] According to one embodiment, the stereoscopic image of the patient's face is a color image and a texture based on said image is applied to the three-dimensional surface model. According to another embodiment, the stereoscopic image of the patient's face is a black-and-white image of the patient's face and, after the construction of the three-dimensional surface model from said image, a color image of the face of the patient is imaged. patient and applying a texture to said model from said imported color image. Advantageously, the method comprises displaying in real time, on a screen, a video image of the patient's face acquired by the stereoscopic camera and reference axes and planes of the face of said patient. According to one embodiment, the step of resetting the three-dimensional models of the dental arches relative to the reference planes of the patient comprises: the generation of a plurality of points on the dental arches in the three-dimensional surface model of the face; pointing said points in the mouth of the patient by means of a pointer bearing markers detectable by the stereoscopic camera, - the marking of said markers by the stereoscopic camera during the pointing of each point and the determination of each point in the reference frame of the camera, 20 - the mapping of points between the camera repository and the three-dimensional areal model. Alternatively, the step of resetting the three-dimensional models of the dental arches with the three-dimensional surface model of the face comprises: obtaining a stereoscopic image of the patient's face on which at least three teeth of the dental arch appear; maxillary patient, - the detection of said teeth by a method of facial recognition, - the matching of said teeth on the three-dimensional surface model of the patient and on the model of the maxillary dental arch. Optionally, the method further comprises constructing a three-dimensional model of the bone structure of the patient's face. Said construction can be performed from a CT scan image of the patient's head. Alternatively, said construction is made from an ultrasound image of the bones of the mandible and maxilla. Alternatively, said construction is performed by a "BONE IVIORPHING" technique from the three-dimensional surface model of the patient's face. Particularly advantageously, in order to record the mandibular kinematics of the patient, a set of markers detectable by the stereoscopic camera is fixed on the patient's head.
    [0008] According to one embodiment, the stereoscopic camera comprises infra-red emitters and / or a structured light projector. Another object relates to a system for modeling the mandibular kinematics of a patient, comprising: - a processor, - a memory coupled to the processor, - a display screen coupled to the processor for displaying data calculated by the processor, - a stereoscopic camera coupled to the processor for providing stereoscopic images of the patient's face, - a set of markers detectable by the stereoscopic camera, comprising a device for fixing said set to the patient's head, such as a helmet.
    [0009] BRIEF DESCRIPTION OF THE DRAWINGS Other features and advantages of the invention will emerge from the detailed description which follows, with reference to the appended drawings in which: FIG. 1 is a schematic diagram of a stereoscopic acquisition, FIG. is a schematic diagram in top view of the sensor / lens / object assembly during a stereoscopic acquisition, - FIGS. 3A and 3B show part of the points, axes and reference planes represented on a 3D model of the face Figure 4 illustrates the placement of contours of the characteristic elements of the face (nose, mouth, ears, eyes) on the 3D surface model of the patient's face, - Figure 5 presents the principle of determining the condylar point on the patient's face. the 3D surface model of the patient's face; FIGS. 6A and 6B illustrate the principle of pointing allowing the registration of the dental arches with the 3D model of the patient's face; Figure 7 illustrates the principle of facial recognition of teeth, - Figure 8 illustrates the principle of the recording of the mandibular kinematics of the patient, Figure 9 is a view of the display screen, - Figures 10A and 10B illustrate the principle of localization of the right condylar point by a kinematic study.
    [0010] DETAILED DESCRIPTION OF THE INVENTION The method for modeling the mandibular kinematics of a patient mainly comprises the following steps: 3D surface modeling of the face by acquisition by means of a stereoscopic camera and reconstruction, the reconstruction being able to be performed according to different embodiments, in particular: - stereoscopic reconstruction, derived from photogrammetry, - reconstruction from structured light projected onto the face using a video projector, 10 - modeling from a projected laser beam on the face of the patient, - placement of the points, axes and reference planes of the face, implementing a method of facial recognition; positioning of the dental arches with respect to these planes, said planes being associated or not with the 3D surface model of the face (determination of the fixed determinants 1 and 3); - recording and study of mandibular kinematics (determination of determinant 4); - possibly, incorporation of bone structures. This method is implemented by computer. The system for carrying out the method comprises: a stereoscopic camera, possibly equipped with an infrared emitter, a video projector or a laser projector; a set of markers detectable by the stereoscopic camera, comprising a device for fixing said assembly to the patient's head (for example, this assembly is in the form of a helmet intended to be fixed on the patient's forehead), a computer coupled to the camera, comprising a processor for operating the image processing and modeling algorithms mentioned below, a memory for recording the images acquired and the models used, a display screen to enable the practitioner to visualize the different steps implemented during the process. 3D modeling of the patient's face Case 1: stereoscopic acquisition This modeling uses a stereoscopic camera to acquire an image of the patient's face. Through computer processing of the stereoscopic image, a three-dimensional reconstruction of the patient's face is achieved. On the other hand, if the stereoscopic camera is in color, the 3D model can be textured automatically. If the camera is in black and white, the texture can be obtained through a color photograph imported in a second time at the software level.
    [0011] Correlation points are chosen between the image and the model to then place the photograph on the model by distributing the colorimetric information. In order to retranscribe human vision, a stereoscopic camera uses two sensors and two lenses to simulate the eyes. The reconstruction software then looks in both images for the object being looked at to calculate the angles of convergence. The stereoscopic camera used is a pre-calibrated camera. The rectification process consists in placing each pixel of the image in its theoretical place, thus making it possible to compensate for the misalignment of the sensors as well as the different effects and distortions of the optics. The new position of each pixel is obtained by calibrating the camera when the camera is in focus. The calibration consists in presenting to both cameras images with horizontal and vertical lines that are perfectly identifiable. The software looks for lines and line intersections in each image pair. It then moves each pixel of each image so that the intersections of points are as aligned as possible and correspond line by line between the left camera and the right camera. This calculation is automated by the calibration software. FIG. 1 illustrates two sensors 100, 101 supposed to be perfect, perfectly aligned, in a plane looking at an object 0 through objectives 200, 201 perfect. The distance d which separates the object 0 on the two images corresponds to the angle of human convergence. We can also calculate the distance Zc between the sensors 100, 101 and the object 0 by the following calculation: BB f Zc = cl with: - B: the inter-orbital distance, - f: the focal length, and - L and R the respective position of the object in each image. We call (Xi, Yi) the position of the object in the image on the left, and (Xc, Yc, Zc) the position of the object in the left camera plane. Figure 2 is a top view of the sensor assembly 100 / lens 200 / object O.
    [0012] We can write: We can therefore calculate Xc as a function of Xi, Zc and f: * Zc Xc Similarly, Yc is expressed as follows: 2`c Yc = The position (Xc, Yc, Zc) of the object 0 is therefore entirely known.
    [0013] To calculate a depth map, it is then necessary to identify which pixel of the image of right corresponds to which pixel of the image of left. For this, there are several methods. The simplest method is to search for each image on the left which pixel of the image on the right has the same value. In order to limit the error, the algorithm takes into account not only the pixel itself but also the eight pixels around it. This method is called the sum of absolute differences (SAD). This method is conventionally used to find a pattern in an image. Its main disadvantage is its great sensitivity to variations in brightness. If, for example, the image on the left is brighter than the image on the right, it will be difficult to find pixels with exactly the same value. This solution is however very widespread because simple to put in place. It is recommended for controlled interior lighting. An alternative is to transform the image so as to keep only light variations from one pixel to another and no longer the actual value. The classically used algorithm is called the Census transform. It allows to obtain two identical images even if they were not taken with exactly the same light conditions. It is then necessary to look for each pixel of the image of left which pixel of the image of right has the same value. This algorithm is called the calculation of the Hamming distance. Once you have identified which pixel in the left image corresponds to which pixel in the right image, you can create the depth map. An image is thus created whose value of each pixel corresponds to the distance in number of pixels between the pixel on the left and its correspondent in the image on the right. In this case and for the present invention, it is possible to perform stereoscopic acquisitions of the face and to recover a surface mesh. An automatic registration algorithm is used to associate the meshes between them insofar as the acquisitions were made according to different angles of view (face, profile, 3/4 ...). This mesh forms the 3D model of the patient's face that is used in the rest of the process. To facilitate registration, the stereoscopic camera can be equipped with additional electronic components such as gyroscopes accelerometers inertial sensors. In the case where the camera is moved around the patient's face, motion information is provided to the software to determine the angle of view relative to the original image and thus facilitate the association of the surfaces with each other. Case 2: by structured light projection For this purpose, a series of luminous patterns (lines, squares, rounds, ...) are projected onto the subject's face by means of a video projector, creating distorted images of these patterns on the subject. the patient's face. Depending on the distance to the surface, the patterns take different shapes due to the offset positioning of the projector and the stereoscopic camera. Then software comes to deduce the shape of the face according to the set of deformed surfaces which it has and the distance between the points composing this pattern. Case 3: by projection and laser scanning For this purpose, several laser bands are projected with a scan on the subject's face which are also seen by the objectives of the stereoscopic camera to locate each point. Depending on the distance to a surface, the point appears at a different place in the field of view of the different lenses. This technique is called triangulation because every point of the laser bands, the lens and the laser emitter form a triangle. The length of one side of said triangle, namely the distance between the objective and the laser emitter is known. The angle of the side of the laser transmitter is also known. The angle of the lens side can be determined by looking at the location of the laser dot in the field of view of the camera. These three data determine the shape and dimensions of the triangle and give the position of each point of the laser bands.
    [0014] Determination of face reference planes by facial recognition In order to place the points, axes and reference planes of the face, we use automatic detection algorithms applied to the previously determined 3D model or to an image (black and white or color) of the patient's face. The reference points have the advantage of characterizing the morphology of the patient's face in order to guide the diagnosis and provide architectural references for the modeling and implementation of the treatment. With reference to FIGS. 3A and 3B, the reference points are as follows: 1. Ectocanthion: lateral angle of the eye, where the eyelids meet. 2. Tragion: highest point of the tragus of the ear in the sagittal plane 2 '. Summit of the angle of the tragus. 3. Condylar point or emergence of the hinge axis (one right, one left); as indicated below, several definitions of this point are possible. 4. Chin: the lowest point of the cutaneous chin. 5. Nasal point: at the base of the nose, the highest point and the furthest point of the nasolabial notch 6. Wing of the nose: point of junction between the wing of the nose and the upper lip (a right, a left) 7. Infra-Orbital Point: the most sloping point of the lower rim of the orbit (a right, a left) 8. Nasion of the skin: point of the nasal trellis; in the sagittal plane, it is, on the cutaneous profile, the furthest point of the fronto-nasal notch. 9. Pupillary point: Point located in the center of the pupil (a right, a left). This list is not exhaustive and can be enriched by the user.
    [0015] All of these points can be placed on the representation of the patient's face in different ways that are described below. These points are gathered to generate the plans and axes of reference, namely: A. Axio-orbital plane: Plan passing through the condylar point and the infra-orbital plane B. Plan to camp: Plan passing through the tragion and the point sub nasal C. Wing plan of the nose tragedy. Other planes and reference axes, not referenced in FIGS. 3A and 3B are: the median sagittal plane passing through the nasion, the sub nasal point and the point equidistant from the condylar points; the bicondylar axis: passing axis; by the left condylar point and the right condylar point - the bi-pupillary axis: axis passing through the right and left pupillary points. All of these points are placed either on the patient's 3D surface model if it was built beforehand, or on a stereoscopic image of the patient's face in black and white or in color, the construction of the 3D model of the face of the patient being performed next. Three embodiments are described below. Case 1: from the 3D acquisition of the patient's face This embodiment uses a 3D surface modeling of the patient's face obtained by means of the stereoscopic reconstruction method described above.
    [0016] On the obtained 3D surface model, one can plaster and deform a model gathering the outlines of the different characteristic elements of the face to encompass the eyes, the mouth, the ears and the nose. The deformation is done regardless of the orientation of the model in space (face, profile, etc.).
    [0017] These contours Cl, 02, 03, 04, 05, 06 are not necessarily displayed as in Figure 4, but they are in any case associated with the mesh to facilitate the detection of reference points. The positioning of the points, axes and reference planes is then applied by the software to the 3D surface model, using the location of the characteristic elements of the face. Case 2: from black-and-white images The stereoscopic camera has two lenses that can provide black-and-white images. First there is the photo or video shooting of the face.
    [0018] Then the software analyzes different aspects of this image to highlight the individual characteristics of the face for which it is programmed (the eyes, the position of the nose, the shape of the chin, the ear ...). The reference points described above are then placed using these marks. The stereoscopic process then determines the position of each point in space. This process uses several techniques including the so-called Eigenface. At first, the image of the face is decomposed by the software in several images using shades of gray. Each of these images then highlights a particular characteristic. It is associated with this technique the technique of the analysis of the characteristics adding to each of the images the position and the distance between the points being based on the analysis of the variations of luminosity of the anatomical elements of the face (nose, eye, ear, mouth). This analysis is done for example face, profile and 3/4. A deformable model is applied to the different images. Case 3: from color images The same process as in case 2 can be applied to color images. The software breaks down color images into shades of gray. This is the case when color cameras are used.
    [0019] The use of the distribution of RGB (red green blue) color pixels makes it possible to refine the application of the deformable model on the image and this in the three planes of the space allowed by stereoscopy. Once the plans, axes, and reference points found and validated, their position is then fixed in the reference of the helmet attached to the patient's head.
    [0020] Determination of the condylar point The condylar point 3 can not be obtained directly because it does not correspond to a characteristic element visible on an image or a model of the face. The situation in the space of this point can be done on the 3D model of the face obtained by 3D reconstruction or on the 2D images resulting from the objectives of the stereoscopic camera, from the other reference points determined in advance. As illustrated in FIG. 5, the positioning of the condylar point 3 depends on the situation of two other points: the ectocanthion 1 and the vertex 2 'of the tragus angle. By convention, the condylar point 3 is located 10 mm in front and 5 mm at the bottom of the line connecting the vertex of the tragus angle to the ectocanthion.
    [0021] Another method for determining the condylar point, using the mandibular kinematics, will be described below. Association of augmented reality Optionally, once the calculation made by the software to place the points and the characteristic elements, these can be displayed in real time on the screen thanks to the video of the stereoscopic camera. The patient's face is displayed on the screen with reference planes and axes, without having to place the headset on the patient.
    [0022] Determination of the positioning of the dental arches with respect to the facial and bicondylar axis This technique replaces the use of the mechanical tool called facebow.
    [0023] The objective is to digitally reproduce the true positioning of the patient's arches relative to the bone mass. The method therefore consists in using the various technologies mentioned above in order to place the digitized maxillary and mandibular models with respect to the planes and reference points characterizing the facial mass. Orientation and position of the models of the dental arches are thus obtained. Two embodiments for positioning the dental arches are described below. Case 1: pointing points on the dental arch of the patient The points to be searched are randomly placed on the 3D model of the dental arches, whether the arch is partially toothed, it has prepared teeth or implant abutments or that the arch is toothless (see Figure 6A, where we see four points P1, P2, P3 and P4 on the model Mi of the mandibular arch). A pointer with markers detectable by the stereoscopic camera is used. In this step, the practitioner makes sure to precisely place the tip of the pointer in the mouth of the patient on the mandibular arch Di in the same places as on the virtual model (see Figure 6B). FIG. 6B illustrates an embodiment of the hardware means of the modeling system. Said system comprises a stereoscopic camera 1000 having two objectives 1001, 1002. Optionally, the camera 1000 further comprises infrared light emitters 1003 arranged for example around the lenses 1000, 1001. Optionally, the camera 1000 comprises a video projector 1004 for projecting structured light or a laser transmitter for projecting laser bands on the patient's face for the modeling described above.
    [0024] The system further comprises a front helmet 2000 to be placed on the head T of the patient. This headset supports a plurality of markers 2001 visible by the stereoscopic camera 1000. When the camera is provided with the infrared emitters 1003, the markers 2001 are advantageously made of a reflective material, the infrared light then serving to increase the visibility of the markers 2001 by the camera 1000. Naturally, the shape of the helmet and the number of markers are illustrated in FIG. 6B only as an indication and the person skilled in the art will be able to choose another support and another arrangement of the markers without departing from the scope of the present invention. In addition, any marker technology visible to the camera can be employed, including diodes, black and white or colored sights or spheres, pellets or other reflective objects. For the embodiment of positioning the dental arches on the 3D model of the patient's face by pointing, the system further comprises a pointer 3000 bearing markers 3001 visible by the stereoscopic camera 1000. When the camera is provided with infrared transmitters 1003 the markers 3001 are advantageously made of a reflective material, the infrared light then serving to increase the visibility of the markers 3001 by the camera 1000. Naturally, the shape of the pointer and the number of markers are only illustrated in FIG. indicative and the skilled person may choose another form of pointer and another arrangement of markers without departing from the scope of the present invention. In addition, any marker technology visible to the camera can be employed, including diodes, black and white or colored sights or spheres, pellets or other reflective objects.
    [0025] In use, the markers 3001 of the pointer 3000 are identified by the camera 1000. As soon as the practitioner has positioned the tip 3002 of the pointer on a target point, he performs an action to record the position of the end 3002 of the pointer in space. This action can be for example a foot pressure on a foot control, a finger pressure on a switch, or a masking markers by the hand of the practitioner (non-exhaustive list). For each of these actions, the position of the targeted points is seen by the stereoscopic camera. When the point points selected on the 3D model have been located on the dental arch Di and validated with the pointer, the 3D model takes its place relative to the repository.
    [0026] Beforehand the dental arches have been scanned in a known and reproducible meshing occlusion relation. The tool used is an intraoral optical impression camera. One arch is scanned then the other, as well as a vestibular impression (on the side) of the teeth in meshing to know the position of one arch relative to the other. This operation is known in itself and does not as such part of the invention. Another method would be to use a table scanner. This one scans the plaster models resulting from physicochemical imprints one after the other then in position of meshing. The invention can indeed be implemented with any 3D model of the dental arches generated by the techniques available on the market. Thanks to the previous operation which made it possible to know the situation of the planes and reference axis, the position of the maxilla with respect to the reference plane is then deduced. In the same way, the 3D model of the maxillary follows the movements of the head by application of augmented reality or through the use of the frontal helmet mentioned above.
    [0027] Case 2: Detection of the Teeth by Facial Recognition As illustrated in FIGS. 7A and 7B, the stereoscopic camera can visualize, if the access to the teeth is authorized by spacers, or during a forced smile, the positioning of the arch. upper dental (view from the top left of Figure 7A, showing the teeth of the maxillary arch Ds). Once the depth map obtained for the maxillary teeth visible or when the characteristic lines of the teeth have been raised by facial recognition (view of the middle left of Figure 7A), it is possible to associate on the 3D model of the face or on the video image, the 3D model of this same arcade obtained by optical scanner (view from the bottom left of Figure 7A, showing the 3D Ms model of the maxillary arch) .. The registration is done either automatically from the Characteristic points of the teeth thanks to a geometric analysis by recording of salient points, corners, contours, transition lines, etc. (right view of Figure 7A). The 3D model is then integrated and deformed thanks to a matrix of transformation to be recalibrated on the image of the face or on its modeling. It can be done manually by applying the registration points P1 to P5 on the image or the 3D model of the face as well as on the 3D model of the dental arch (see Figure 7B). Once the position of the 3D model is found and validated, it is then frozen by the augmented reality technique or by the application of the frontal helmet placed on the patient's head. As are the plans, axes, and reference points. Recording and study of the mandibular kinematics As illustrated in Figure 8, the patient's mandible is fitted with an arch 4000 fixed to the teeth bearing markers detectable by a camera.
    [0028] The patient is also equipped with the 2000 front-end helmet mentioned above, and carrying markers 2001 detectable by said camera. Preferably, in this step, the stereoscopic camera 1000 used in the previous steps of the method is used. However, it remains possible to use any other type of camera on the market, provided to equip the arch fixed on the mandible markers detectable by said camera. Recording kinematics The static position of the mandibular model with respect to the maxillary (R 1M, intermaxillary relationship) was previously recorded in the mouth by an intraoral optical camera or at the table scanner in the laboratory. We must now know how the mandible moves in space. The principle is the same as before. Markers are placed only on the mandibular teeth.
    [0029] Here the tracker is composed of diodes followed by the camera. But it can be black and white patterns or colors or spheres, pellets or other reflective objects. The displacement of the markers of the mandible is followed by the camera 1000 and that compared to markers 2001 of the forehead. A rigid transformation makes it possible to deduce the movement of the 3D mandibular arch model from the 3D maxillary model. The camera tracks the markers placed on the 2000 frontal reference frame and that of the integral markers of the moving mandibular arch. Fixing markers is done through the arch 4000 or a gutter.
    [0030] The model of the maxillary arch and the reference planes are associated with the animation of the moving mandible. In the software it is possible to display or hide each of these elements. The study of contacts in dynamics is carried out with the same tools as for the study in static. In this case we obtain information on the distribution of inter-arcade conflicts in time and space. Figure 9 is a view of the display screen showing examples of visualizations obtained. The left part shows the Ms model of the maxillary arch and the model Mi of the mandibular arch with respect to the reference planes of the patient's face. In the right hand side, the area displays the left condyle movement plot in the sagittal plane, the b area displays the right condyle movement plot in the sagittal plane, and the c area shows the dental movement plot in the sagittal plane. frontal plane. Localization of the condylar point by kinematic study Ideally, the condylar point should correspond to a point in the condylar head that remains motionless during the pure rotational movements of the mandible. This pure rotation is found at the mouth opening in the first 15 to 20 millimeters and in laterality movements at the level of the pivoting condyles, that is to say located on the side of the displacement of the mandible. Since a point is at least an intersection of two lines, two axes of rotation corresponding to the mouth opening and the right and left lateral movements must be determined. We start from the physical law describing the displacement of a solid body in space: the displacement of a rigid body between two points can be described as a rotation about an axis and a translation along this axis .
    [0031] In the method implemented in the present invention, it is first sought to place the axis of rotation corresponding to the opening-closing movement. This axis around which the mandibular movement occurs can be determined mathematically. For this purpose, three points are first chosen on the model of the lower dental arch and create a reference coordinate system. The axis of rotation is found by automatically solving by an algorithm the transformation matrix representing the displacement of these three points between the closed mouth position and the open mouth between 15 and 20 mm. To locate the axis of rotation and solve the transformation matrix, it is assumed that the mandible performs a pure rotational movement. Otherwise, there is an infinite number of axes of rotation each with a different translation vector. The calculation is the same by acquiring the laterality motion and solving the transformation matrix representing the displacement of three points placed on the mandibular model between the closed mouth position and the extreme laterality position. Figures 10A and 10B illustrate this principle of location of the condylar point, respectively in a front view and a side view of the mandible. We are interested in these figures at the right condylar point 3, which is at the intersection of the two axes of rotation: - the axis of rotation R1 which is determined a closing opening movement of 20 mm amplitude 20mm ( double arrow 01), - the axis of rotation R2 which is obtained by a right lateral movement (double arrow L2).
    [0032] Protocol once the patient is equipped with motion capture system - Ask the patient to open and close the mouth with a degree of amplitude of 15-20mm repeatedly. To perform this movement, the patient can be guided by the dentist who comes to grasp the chin and guide these movements. - Ask the patient to shift the chin as far as possible to the right side and repeat this movement. - Ask the patient to shift the chin as far as possible to the left side and repeat this movement. The software displays the right condylar point which corresponds to the intersection between the right-hand rotation axis in the right-hand side with the axis of rotation of the closing opening.
    [0033] The software displays the left condylar point which corresponds to the intersection between the left left axis of rotation and the axis of rotation of the closing opening. Incorporation of bone structures The 3D model of bone structures is not necessary in the process of placing the dental arches in space and in relation to the facial mass. However, the integration of this model can be interesting for some applications, in particular: 1) to refine the diagnostic examination during the study of kinematics 2) to make the study of the kinematics more user-friendly and intuitive 3) for obtain bone volume information and tooth root ratio with orthodontic treatment and plan this same treatment 4) to obtain available bone volume information to anticipate dental implant placement 5) to plan maxillofacial surgery by displacement of the bone structures according to the predetermined planes and reference axis. Three methods are possible: The first is, from an X-ray CT scan, to make a 3D reconstruction of the bone volume with the possibility, if necessary, to individualize the roots. The DICOM file obtained after the examination is then processed by computer, thanks to an algorithm derived from the marching cubes algorithm. The goal is to extract after thresholding the corresponding volume of interest. Here the volumes to be reconstructed have a density corresponding to the dental tissue or the bone tissue.
    [0034] Special care is also taken in the temporomandibular joint to separate the bone of the mandible from the temporal bone. In the software, its choice makes these determined parameters, it is possible to automatically obtain a 3D surface rendering of the different structures. A registration is necessary and can be done from the teeth which are visible at the same time on the tomodensitometric examination but also on the 3D models of the dental arches resulting from optical scanning. This technique is preferred in applications 3) and 4) but is applicable for all situations. A second method is based on the connection of a portable ultrasound machine to the computer to perform a 3D ultrasound of the maxillary bones (mandible and maxillary). Ultrasound is based on the emission and reflection of ultrasonic waves as well as on the acoustic impedance of a medium, ie the capacity of a living tissue to propagate or not an ultrasonic wave (resistance to the spread). So, it is by modulating the intensity of these ultrasonic waves that we will have information on the presence in a given place of a given tissue. Acoustic impedance is known for each tissue of the human body it is possible to target the bone and obtain, through the emission of ultrasound of a suitable power and in several directions the volume of the bone and d to undertake its 3D computer reconstruction. 3D models of dental arches from optical scanning are then superimposed by registration on the 3D model obtained by ultrasound, based on the shape of the teeth visible on both exams.
    [0035] The two maxillary and mandibular bones are individualized and attached to their corresponding arches which then allows them to apply the movements from the motion capture. The third method is the reverse method of dermoplasty or facial reconstruction. It is recalled that the method of dermoplasty is used by anthropologists or the scientific police to draw a portrait of a deceased person. It consists in affixing a volume of determined material on a dry skull to reconstruct the volume of the face, these thicknesses of materials corresponding to the layer of the different masticating and skin-forming muscles as well as to the fat and the dermis, and which are relatively 10 constant in hominids. The process used in the invention is the inverse process, called "BONE MORPHING". It consists in deducing from the 3D surface model of the patient's face the underlying bone volume. The mandibular bone is then fused to its corresponding dental arch and set in motion. This method is more particularly indicated for applications 1) and 2). Applications By making it possible to integrate the various determinants of occlusion, the method as described above makes possible optimal management of the therapeutic in many clinical situations, including the clinical assessments and treatments developed above. Occlusal analysis Occlusal analysis is the study of the distribution of teeth on the dental arches, the way in which the teeth of the two arches mesh with each other in static and also in dynamics. For this purpose, it is therefore necessary to have specific references to each patient. In this case, the information to be obtained is a characteristic plan of the face to deduce the correct positioning and the correct orientation of the anterior and posterior teeth within the face, to locate the ideal occlusal plane thanks to an occlusal cap deduced from the computer. . It is also necessary to quantify and qualify the dental contacts in static and dynamic (chewing, propulsion, laterality) as well as motility of the temporomandibular joint. The acquisition and reproduction of the movement of the individual that are required for this purpose are allowed by a recording directly on the patient. Gutter / Interocclusal Orthosis A gutter is a device, usually made of hard material, temporarily attached to the maxillary or mandibular arch and intended to reversibly modify the intermaxillary ratios. In this case the acquisition of movement is important to master. The comparison between the displacement of the ATIVI and the dental arches will make it possible to choose numerically the best inter-maxillary relation (positioning of the mandibular arch with respect to the maxillary arch). Dental prosthesis This involves restoring or replacing teeth thanks to fixation in the mouth of prosthetic devices. The organization (placement) of the various restorations will be guided with respect to the occlusal occlusal plane deduced by computer. The occlusal morphology, the upper part of the tooth, is designed to integrate into the mandibular kinematics of the patient. The acquisition of movement is important to master. The acquisition of the 3D model of the face is also useful for the esthetic arrangement of the teeth in the former sector. Dentofacial orthopedics / Orthodontics This is the correction of the bad jaw positions (ODF: dentofacial orthopedics) or teeth (orthodontics) to optimize the occlusion (dental meshing), as well as the development of the bases bones for a functional and aesthetic purpose. This is done with fixed or removable devices. Before the digital conception of the orthodontic appliance, the result can be planned thanks to a simulation of the dental displacements within the bone bases. The positioning and orientation of the arches in relation to the facial mass are sought, the quality of the dental mesh in static and dynamics before during and after treatment recorded. 3D reconstruction of maxillary bone and root volume from X-ray CT scan is also useful in anticipating positioning at the end of root treatment with each other and with the surrounding bone available. The aesthetic project of orthodontic treatment is implemented by obtaining the digital 3D face of the patient.
    [0036] Maxillofacial Surgery In cases of severe dysmorphosis, it is sometimes necessary to use a maxillofacial surgery procedure to complete the orthodontic treatment. The maxillary and / or mandibular displacements are then performed according to a registered mandibulo-cranial relation and preserved according to a reference plane (the axio-orbital plane close to the Frankfurt plane). Finally, it goes without saying that the examples that we have just given are only particular illustrations in no way limiting as to the fields of application of the invention.
    [0037] REFERENCES VVO 2013/030511
    权利要求:
    Claims (14)
    [0001]
    REVENDICATIONS1. A method for modeling the mandibular kinematics of a patient, comprising: - acquiring at least one stereoscopic image of the patient's face by means of a stereoscopic camera (1000), - the construction, from said stereoscopic image , a three-dimensional surface model of the patient's face, - the identification of characteristic elements of the patient's face on said stereoscopic image or on said three-dimensional surface model of the patient's face, - on the basis of said characteristic elements, the determination, on said stereoscopic image, respectively said three-dimensional surface model of the patient's face, of points, axes and reference planes of the patient's face, - obtaining a three-dimensional model (Ms) of the maxillary dental arch and a model three-dimensional (Mi) of the mandibular dental arch of the patient, - the registration of the three-dimensional models of the dental arches with respect to the reference years (A, B, C) of the patient's three-dimensional surface model, - the recording of the mandibular kinematics of the patient, - the application of said registered mandibular kinematics to the three-dimensional models of the recalibrated dental arches, to animate said models. three-dimensional (Ms, Mi).
    [0002]
    2. A method according to claim 1, characterized in that the stereoscopic image of the patient's face is a color image and that a texture based on said image is applied to the three-dimensional surface model.
    [0003]
    3. A method according to claim 1, characterized in that the stereoscopic image of the patient's face is a black-and-white image of the patient's face and that after the construction of the three-dimensional surface model from said image, importing a color image of the patient's face and applying a texture to said model from said imported color image.
    [0004]
    4. Method according to one of claims 1 to 3, characterized in that it comprises the display in real time, on a screen, a video image of the patient's face acquired by the stereoscopic camera and axes and reference planes of the face of said patient.-
    [0005]
    5. Method according to one of claims 1 to 4, characterized in that the step of resetting the three-dimensional models of the dental arches relative to the reference planes of the patient comprises: - the generation of a plurality of points (P1- P4) on the dental arches in the three-dimensional surface model of the face, - the pointing of said points in the patient's mouth by means of a pointer (3000) bearing markers (3001) detectable by the stereoscopic camera (1000), - the locating said markers by the stereoscopic camera during the pointing of each point and the determination of each point in the repository of the camera, - the mapping of the points between the repository of the camera and the three-dimensional surface model.
    [0006]
    6. Method according to one of claims 1 to 4, characterized in that the step of resetting the three-dimensional models of the dental arches with the three-dimensional surface model of the face comprises: - obtaining a stereoscopic image of the face of the patient on which appear at least three teeth of the maxillary dental arch of the patient, - the detection of said teeth by a method of facial recognition, - the matching of said teeth on the three-dimensional surface model of the patient and on the model of the patient. maxillary dental arch.
    [0007]
    7. Method according to one of claims 1 to 6, characterized in that it further comprises the construction of a three-dimensional model of the bone structure of the patient's face. 25
    [0008]
    8. Method according to claim 7, characterized in that said construction is carried out from a tomodensitometric image of the patient's head.
    [0009]
    9. Method according to claim 7, characterized in that said construction is carried out from an echographic image of the bones of the mandible and maxilla.
    [0010]
    10. Method according to one of claims 1 to 5, characterized in that said construction is performed by a "BONE MORPHING" technique from the three-dimensional surface model of the patient's face. 35
    [0011]
    11. Method according to one of claims 1 to 5, characterized in that to record the mandibular kinematics of the patient is fixed on the head of the patient a set of markers (2001) detectable by the stereoscopic camera (1000).
    [0012]
    12. Method according to one of claims 1 to 11, wherein emits infra-red light to the patient's face by means of infra-red emitters (1003) arranged on the stereoscopic camera.
    [0013]
    13. Method according to one of claims 1 to 12, wherein is projected on the patient's face of the structured light by means of a projector (1004) arranged on the stereoscopic camera.
    [0014]
    14. A model for modeling the mandibular kinematics of a patient for carrying out the method according to one of claims 1 to 13, comprising: a processor, a memory coupled to the processor, a coupled display screen. to the processor for displaying data calculated by the processor, - a stereoscopic camera (1000) coupled to the processor for providing stereoscopic images of the patient's face, - a set of markers (2001) detectable by the stereoscopic camera, comprising a fixing device said assembly to the patient's head, such as a helmet (2000).
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    同族专利:
    公开号 | 公开日
    EP3209204A1|2017-08-30|
    HK1243298A1|2018-07-13|
    FR3027205B1|2020-07-17|
    US20170312064A1|2017-11-02|
    WO2016062962A1|2016-04-28|
    US10265149B2|2019-04-23|
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1460071A|FR3027205B1|2014-10-20|2014-10-20|METHOD AND SYSTEM FOR MODELING THE MANDIBULAR KINEMATICS OF A PATIENT|
    FR1460071|2014-10-20|FR1460071A| FR3027205B1|2014-10-20|2014-10-20|METHOD AND SYSTEM FOR MODELING THE MANDIBULAR KINEMATICS OF A PATIENT|
    US15/520,409| US10265149B2|2014-10-20|2015-10-20|Method and system for modeling the mandibular kinematics of a patient|
    PCT/FR2015/052816| WO2016062962A1|2014-10-20|2015-10-20|Method and system for modeling the mandibular kinematics of a patient|
    EP15791329.4A| EP3209204A1|2014-10-20|2015-10-20|Method and system for modeling the mandibular kinematics of a patient|
    HK18102744.5A| HK1243298A1|2014-10-20|2018-02-26|Method and system for modeling the mandibular kinematics of a patient|
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