• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for determining a map of contacts and / or distances between the teeth of the maxillary arch and the mandibular arch of an individual, characterized in that it comprises the following steps: obtaining the mandibular kinematics recorded on the individual, - obtaining surface meshes of the maxillary arch and the mandibular arch and the registration of said meshes relative to each other, - the creation of a reduced mesh of at least one of said arches, comprising selecting, in the mesh of said arcade, meshes whose nodes are located at a distance less than 1 cm from the mesh of the opposing arcade, - the creation, for each mesh of said reduced mesh, of a bounding box comprising a plurality of voxels surrounding said mesh, - from the mandibular kinematics, computing a network of contacts comprising, for each voxel of the bounding box, a information on the existence of a contact between said voxel and a mesh node of the opposing arch during a relative movement of the mandibular arch vis-à-vis the maxillary arch.
    公开号:FR3034000A1
    申请号:FR1552508
    申请日:2015-03-25
    公开日:2016-09-30
    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 determining a map of the contacts and / or the distances between the distances between the maximum and the MANDIBULAR ARCADES OF AN INDIVIDUAL FIELD OF THE INVENTION. the teeth of the maxillary arch and the mandibular arch of an individual.
    [0002] BACKGROUND OF THE INVENTION Recording the mandibular kinematics of an individual has led to significant progress in the design of dental appliances. Indeed, this recording makes it possible to animate three-dimensional models of the dental arches and to visualize in particular the meshing of the teeth. This numerical simulation makes it possible to dispense with the mechanical articulators used traditionally. WO 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.
    [0003] 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.
    [0004] The mandibular kinematics thus recorded can be applied to the three-dimensional models of the arches to obtain a numerical simulation of the relative displacement of the two arches. A criterion of interest to the practitioner in charge of designing a dental appliance is the configuration of the interdental contacts.
    [0005] It would therefore be desirable to be able to use the recorded mandibular kinematics to obtain a map of interdental contacts or distances between the teeth of the two arches.
    [0006] However, the determination of these maps requires a significant calculation time because of the size of the digital models to be manipulated. BRIEF DESCRIPTION OF THE INVENTION An object of the present invention is to establish a map of the contacts and / or distances between the teeth of the two arches in a limited calculation time. According to the invention, there is provided a method for determining a map of the contacts and / or distances between the teeth of the maxillary arch and the mandibular arch of an individual, characterized in that it comprises the following steps: the obtaining of the mandibular kinematics recorded on the individual, the obtaining of surface meshes of the maxillary arch and the mandibular arch and the registration of said meshes with respect to the other, - creating a reduced mesh of at least one of said arches, comprising selecting, in the mesh of said arcade, meshes whose nodes are located at a distance of less than 1 cm from the mesh of the arcade antagonist, - the creation, for each mesh of said reduced mesh, of a bounding box comprising a plurality of voxels surrounding said mesh, - from the mandibular kinematics, the calculation of a network of the contacts 20 comprising, for each voxel of the bounding box, information on the existence of a contact between said voxel and a node of the mesh of the opposing arch during a relative movement of the mandibular arch vis-à-vis the arcade maxillary. According to one embodiment of the invention, the method further comprises: for each node of said reduced mesh, the determination, from the network of the contacts, of the existence or not of a contact between said node and a mesh node of the antagonistic arcade, - the application of a color representative of the existence of a contact at each mesh comprising a node for which a contact has been detected, and - the display of said color on each respective mesh of the mesh of the arch, 30 so as to form a map of the contacts between the teeth of the two arches. According to one embodiment, the mandibular kinematics is applied to animate the meshes of the arches and in that the display of the color is updated during this animation. According to one embodiment, when updating the display, the previous display is temporarily stored and gradually attenuated. According to one embodiment of the invention, the method further comprises: for each node of said reduced mesh, the determination, from the network of the contacts, of the distance between said node and a mesh node of the arcade antagonist, 3034000 3 - the application of a color representative of said distance to each mesh comprising said node, and - the display of said color on each respective mesh of the mesh of the arcade, so as to form a distance map between the teeth of the two arches.
    [0007] Particularly advantageously, the reduced mesh is partitioned into a k-d tree. According to one embodiment, a reduced mesh is created for each of the two arches. According to one embodiment of the invention, the limit envelope of the displacements of an arcade with respect to the opposing arcade is determined by implementing the following steps: starting from the mesh of one of said arcades a volume structure adapted to encompass all the positions of said yoke relative to the opposing yoke during the mandibular kinematics is created, and for each position of the yoke and for each voxel of said structure is determined. the distance between the center of said voxel and each node of the mesh of the opposing arcade, - it is determined whether each voxel is inside or outside the mesh of the opposing arcade and the voxels which are located within said mesh, said voxels translating a contact between the arches, - accumulates said contacts for all positions, - one builds, from said stored voxels, a surface representing the envel oppe limit displacements of the teeth, - one displays, on said surface, a map of the contacts and / or a map of the distances 25 between the teeth of the two arches. Particularly advantageously, in order to record the mandibular kinematics, the patient is fitted with a marker fixed on the patient's forehead and markers fixed directly on the teeth of the mandibular arch or on the mandible via a support. , and the movements of said markers are recorded and recorded by means of a camera during mandibular movements of the patient. The invention also relates to the use of the method described above for designing a dental prosthesis to be implanted on an arch of the individual, comprising: - obtaining a first mesh of said arch, - from said first mesh the implementation of the method for generating a mapping of the contacts and / or the distances between the teeth of the mandibular and maxillary arches; - the adjustment of a model of the prosthesis so as to optimize the contacts and / or distances obtained when the model of the prosthesis is integrated with said first mesh.
    [0008] Next, the design of the prosthesis may comprise: - obtaining a second mesh of the arch having teeth prepared to receive said prosthesis, - application of the mandibular kinematics to the second mesh, 5 - the design of the final prosthesis so as to respect the contacts and / or distances obtained with the adjustment made on the first mesh. The invention also relates to a computer program product comprising a set of instructions which, once loaded on a computer, allow the implementation of the method as described above.
    [0009] Said product may be on any computer medium, such as a memory or a CD-ROM. BRIEF DESCRIPTION OF THE DRAWINGS Other features and advantages of the invention will be apparent from the following detailed description with reference to the accompanying drawings, in which: FIG. 1 is a block diagram illustrating the recording of the mandibular kinematics, FIG. 2 illustrates a display screen of a map of the contacts, FIG. 3 illustrates a display screen of a distance map, FIG. 4 illustrates a FGP and the model of the corresponding arcade. - Figure 5 illustrates a display screen of a distance map on a FGP. DETAILED DESCRIPTION OF THE INVENTION Obtaining meshes of the maxillary arch and the mandibular arch 25 Prior to the implementation of the method, the dental arches were scanned in a known and reproducible meshing occlusion relation. A tool that can be used for this purpose 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 per se and does not as such form part of the invention. Another method may 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.
    [0010] The result of these scans is a surface mesh of the maxillary arch and the mandibular arch. Each mesh is defined in an orthonormal frame of the scanner.
    [0011] 3034000 5 Recording the mandibular kinematics The purpose of the recording of the mandibular kinematics is to know how the mandible moves in space, and to use this kinematics to animate three-dimensional models of the dental arches in order to 5 guide the design of a dental prosthesis or other correction device (orthodontic appliance, gutter, ...). One embodiment of this recording, as well as the registration of the dental arches relative to reference planes or axes of the patient has already been described in the document WO 2013/030511 and can be implemented in the present invention. however, the invention is not limited to the techniques described in this document. In general, 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 by the patient. intermediate of a support, and by locating and recording the movements of said markers by means of a camera during mandibular movements of the patient. Figure 1 is a block diagram illustrating the registration of the mandibular kinematics. An arch 4000 attached to the teeth bearing markers detectable by a camera 1000 is placed on the mandible of the patient. Alternatively, a gutter (not shown) may be used. The patient is also also equipped with a 2000 frontal helmet bearing markers 2001 detectable by said camera 1000. In the example shown, the camera 1000 is a stereoscopic camera comprising two objectives 1001, 1002.
    [0012] However, it is possible to use any other type of camera on the market, provided to equip the headphones and the arch fixed on the mandible markers detectable by said camera. These markers can be 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 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.
    [0013] 3034000 6 Creating a simplified mesh of an arcade Since calculations require a large graphic resource, the three-dimensional arcade models are resized to allow the process to be implemented on most computers.
    [0014] For this purpose, in the three-dimensional model of an arcade, which consists of a surface mesh, only the meshes whose nodes (vertices) are located at a distance less than 1 cm from the antagonistic arch are retained. The other meshes will not be taken into account in the calculation. This reduced mesh is obtained at least for the arcade on which it is desired to display the contact card and / or the distance card. However, it is also possible to create this reduced mesh for the opposing arcade, especially if it is desired to display the contact cards and / or distances on the models of the two arches. Then, a pre-calculation step is implemented in the background from the reduced (or simplified) mesh mentioned above. Some values are invariant, such as the distance between the meshes of the two arches. An algorithm for calculating the distance between a point and a three-dimensional mesh (for example a triangle, although the shape of the meshes may be different) is applied and stored in memory in order to subsequently virtually materialize the contact zones. Next, a bounding box according to the English terminology is associated with each mesh of the simplified mesh. Said box is composed of several volume elements, also called "voxels". For each voxel of the bounding box, the software detects whether or not there is contact, that is to say if the nodes of the mesh of the opposing arcade are likely to come into confrontation with these voxels. This arrangement or network of contacts is referred to as the Anglo-Saxon "contact 25 grid". K-d tree According to an advantageous embodiment, the network of contacts is partitioned spatially in the form of a k-d tree (or "k-d tree" according to the English terminology). This arrangement allows for an optimized spatial subdivision of the space, which speeds up the processing of the data. Mapping of contacts The contact card is intended to inform the practitioner about the existence or not of a contact between the two arches, without distance information. The sensitivity can be adjusted at will. Typically, a contact sensitivity of between -200 pm and + 200 pm may be retained. According to one embodiment, the contact card can be displayed statically on the mesh of one of the arches. For this purpose, a color representative of the existence of a contact is applied to each mesh containing a node for which a contact has been detected, and said color is displayed on each respective mesh of the mesh of the arcade. . According to another embodiment, the contact card can be displayed dynamically, that is to say that the mandibular kinematics is applied to animate the meshes of the arches and the display of the arches is updated. color during this animation. Advantageously, this display can be associated with a "shooting star" type effect by allowing tracking of the contact trace on the arcade concerned. For this purpose, the display of the contact zones for the previous position is temporarily retained.
    [0015] This effect is obtained by calculating the color area to be displayed according to the age of the last contact. Optionally, progressively attenuates the trace of the contact. Figure 2 illustrates an example of such a map of contacts displayed on the mesh of an arcade. Distance Mapping 15 The distance map is intended to provide the practitioner with information on the distance between the two arches by means of a color code. This color code also indicates the proximity of a contact. To this end, when approaching a contact between the two meshes, the mesh color of the mesh in question is different from the color applied when the two meshes touch each other.
    [0016] To construct the distance map, the software processes all the nodes of the arcade concerned so as to determine, for each of said nodes, the nodes of the nearest antagonist arc. Advantageously, the k-d tree mentioned above is used for this purpose. From the nodes thus determined, it is possible to determine which meshes touch the mesh of the opposing arch.
    [0017] The color code is then deduced for each node of the mesh, as a function of the distance calculated by the algorithm. Figure 3 shows a polychrome distance map showing the proximity of the dental contacts. Determination of the limit envelope of the displacements of an arcade with respect to the antagonistic arcade This envelope is also designated by the acronym FGP, of the Anglo-Saxon term "Functionally Generated Path". This surface materializes the limit envelope of dental displacements in space. This surface is especially used in computer-aided design of dental prostheses to ensure that their shape integrates into the movement of opposing teeth without difficulty or discomfort. This envelope can be calculated for either the mandibular arch or the maxillary arch, provided that only the mandibular arch is mobile. For 3034000 8 calculate the maxillary FGP, we consider that the mandible is motionless and we transpose the movement to the maxillary arch. To determine the FGP, one adapts to the arch of which one wants to obtain the FGP a volume structure assimilable to a box containing the complete arch. The mark obtained during the scanning of the arcade antagonist to that of the FGP is advantageously chosen for orthonormal reference. The volume structure must therefore be of sufficient size to contain the different positions of the arcade that will constitute the FGP. This structure is positioned in the scanner mark of the opposing arch.
    [0018] Next, for each voxel of the volume structure, the distance between the center of said voxel and a mesh of the mesh of the opposing arcade is calculated. This calculation makes it possible to determine if there is or not a contact, for all the positions of the arcade and for each mesh of the mesh of the antagonistic arcade. Normal to each mesh of the antagonistic arcade mesh makes it possible to determine whether the voxel is inside or outside the mesh. We then keep in memory the voxels lying inside, that is to say the voxels translating a contact between the two arches. We thus obtain a volume structure cumulating all the contacts, for all the positions. The application of the "marching cubes" algorithm makes it possible to construct, from stored voxels, the surface of the FGP. Figure 4 illustrates the FGP thus determined (in transparency) and the underlying model of the corresponding arcade. As with arcade meshes, a distance map or contact map can be displayed with respect to the opposing arcade on the surface of the FGP. Figure 5 thus illustrates a display of the distance map between the FGP and the mesh of the maxillary arch. Design of a dental prosthesis To design a dental prosthesis, it is possible to validate the contacts between the models of archways bearing the restored teeth with temporary prostheses (or models of arches carrying the unprepared teeth), then of replace these first 30 models by second models including the teeth prepared to receive the final prostheses. This validation may optionally include successive adjustment steps. Indeed, it is possible to correlate, to the extent that there are enough points of association between two meshes, the first and second 3D models of the arches between them. One of the methods used is to click and position landmarks on both meshes at recognizable areas. Automatic recognition can refine the correlation.
    [0019] 3034000 9 Once the new model is associated, the mandibular kinematics recorded for the first model is associated with the second to animate it in the same way. The interest is to control and validate the movements as well as performing prosthetic restorations integrated into the chewing movements of the patient 5 when the practitioner estimates at the provisional prostheses stage that the kinematics is correct and functional. The second model can be a model integrating the prepared teeth ready to receive the final prostheses of all types. Export of data All the data obtained during the implementation of the method can be stored and exported to computer-aided design software. These data may include the position of the arches relative to each other, the reference planes, the occlusal cap, the anatomical points, the bicondylar axis and the FGP. The design of dental prostheses, orthotics or occlusal gutters takes these data into account to guide the design. On the other hand, the elements provided by the software can be manufactured using a 3D printer. The position of the models relative to each other can be maintained through an occluder. Interchangeable FGP models can be mounted on this same occlusor, which allows the prosthetist to manually modify the design to adjust the occlusion. It thus has information on the way in which the arcade opposes the work model, without using an articulator. REFERENCES 25 VVO 2013/030511
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. Method for determining a map of the contacts and / or the distances between the teeth of the maxillary arch and the mandibular arch of an individual, characterized in that it comprises the following steps: - obtaining the mandibular kinematics recorded on the individual, - obtaining surface meshes of the maxillary arch and the mandibular arch and the registration of said meshes relative to each other, - the creation of a reduced mesh of at least one of said arches, comprising selecting, in the mesh of said arcade, meshes whose nodes are located at a distance less than 1 cm from the meshing of the opposing arch, the creation, for each mesh of said reduced mesh, of a bounding box comprising a plurality of voxels surrounding said mesh, - from the mandibular kinematics, computing a network of contacts comprising, for each voxel of the bounding box, information about the existence contact between said voxel and a node of the mesh of the opposing arch during a relative movement of the mandibular arch vis-à-vis the maxillary arch.
    [0002]
    2. Method according to claim 1, characterized in that it comprises: for each node of said reduced mesh, the determination, from the network of contacts, of the existence or not of a contact between said node and a node mesh of the antagonistic arcade, - the application of a color representative of the existence of a contact at each mesh comprising a node for which contact has been detected, and - the display of said color on each mesh respective mesh of the arcade, so as to form a map of the contacts between the teeth of the two arches.
    [0003]
    3. Method according to claim 2, characterized in that the mandibular kinematics is applied to animate the meshes of the arches and in that the display of the color is updated during this animation.
    [0004]
    4. Method according to claim 3, characterized in that during the updating of the display, the previous display is temporarily stored and gradually attenuated. 3034000 11
    [0005]
    5. Method according to one of claims 1 or 2, characterized in that it comprises: - for each node of said reduced mesh, the determination, from the network of contacts, the distance between said node and a mesh node of the antagonistic arcade, 5 - the application of a color representative of said distance to each mesh comprising said node, and - the display of said color on each respective mesh of the mesh of the arch, so as to form a map of the distances between the teeth of the two arches. 10
    [0006]
    6. Method according to one of claims 1 to 3, characterized in that the reduced mesh is partitioned in the form of a k-d tree.
    [0007]
    7. Method according to one of claims 1 to 6, characterized in that one creates a reduced mesh for each of the two arches. 15
    [0008]
    8. Method according to one of claims 1 to 6, wherein: - from the mesh of one of said arcades, creates a volume structure adapted to encompass all of the positions of said arcade relative to the arcade antagonist during the mandibular kinematics, 20 - for each position of the arcade and for each voxel of said structure, the distance between the center of said voxel and each node of the mesh of the opposing arcade is determined, - it is determined whether each voxel is located inside or outside the mesh of the antagonistic arcade and the voxels which are located inside said mesh are stored, said voxels translating a contact between the arches; for all the positions, - is constructed from said stored voxels, a surface representing the limit envelope of tooth movements, - is displayed on said surface, a contact card and / or a distance map 30 between the teeth of the two arches.
    [0009]
    9. Method according to one of claims 1 to 8, wherein, to record the mandibular kinematics, the patient is equipped with a marker attached to the patient's forehead and markers attached directly to the teeth of the mandibular arch or on the mandible by means of a support, and the movements of said markers are recorded and recorded by means of a camera during mandibular movements of the patient. 3034000 12
    [0010]
    10. Use of the method according to one of claims 1 to 8 for designing a dental prosthesis to be implanted on an arch of the individual, characterized in that it comprises: - obtaining a first mesh of said arch, 5 - from said first mesh, the implementation of the method for generating a mapping of the contacts and / or distances between the teeth of the mandibular and maxillary arches, - the adjustment of a model of the prosthesis so as to optimize the contacts and / or distances obtained when the model of the prosthesis is integrated with said first mesh. 10
    [0011]
    11. Use according to claim 10, characterized in that it further comprises: - obtaining a second mesh of the arch having teeth prepared to receive said prosthesis, 15 - replacing the first mesh by the second mesh, - the application of the mandibular kinematics to the second mesh, - the design of the final prosthesis so as to respect the contacts and / or distances obtained with the adjustment made on the first mesh. 20
    [0012]
    12. Computer program product comprising a set of instructions which, when loaded on a computer, allow the implementation of the method according to one of claims 1 to 8.
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    同族专利:
    公开号 | 公开日
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    WO2016151263A1|2016-09-29|
    FR3034000B1|2021-09-24|
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    US20180104036A1|2018-04-19|
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    法律状态:
    2016-03-15| PLFP| Fee payment|Year of fee payment: 2 |
    2016-09-30| PLSC| Publication of the preliminary search report|Effective date: 20160930 |
    2017-06-27| PLFP| Fee payment|Year of fee payment: 3 |
    2018-03-27| PLFP| Fee payment|Year of fee payment: 4 |
    2020-03-10| PLFP| Fee payment|Year of fee payment: 6 |
    2021-03-09| PLFP| Fee payment|Year of fee payment: 7 |
    2022-02-11| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1552508A|FR3034000B1|2015-03-25|2015-03-25|METHOD OF DETERMINING A MAP OF CONTACTS AND / OR DISTANCES BETWEEN THE MAXILLARY AND MANDIBULAR ARCADES OF AN INDIVIDUAL|FR1552508A| FR3034000B1|2015-03-25|2015-03-25|METHOD OF DETERMINING A MAP OF CONTACTS AND / OR DISTANCES BETWEEN THE MAXILLARY AND MANDIBULAR ARCADES OF AN INDIVIDUAL|
    EP16718416.7A| EP3273905B1|2015-03-25|2016-03-25|Method for determining a map of the contacts and/or distances between the maxillary and mandibular arches of a patient|
    PCT/FR2016/050676| WO2016151263A1|2015-03-25|2016-03-25|Method for determining a map of the contacts and/or distances between the maxillary and mandibular arches of a patient|
    US15/560,707| US10582992B2|2015-03-25|2016-03-25|Method for determining a mapping of the contacts and/or distances between the maxillary and mandibular arches of a patient|
    DK16718416.7T| DK3273905T3|2015-03-25|2016-03-25|Method for determining a mapping of contacts and / or distances between the upper jaw arch and the lower jaw arch of a person|
    HK18109725.3A| HK1250324A1|2015-03-25|2018-07-26|Method for determining a map of the contacts and/or distances between the maxillary and mandibular arches of a patient|
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