Mandibular motion capturing system, capturing method, and simulation method
阅读说明：本技术 下颌运动捕捉系统、捕捉方法以及模拟方法 (Mandibular motion capturing system, capturing method, and simulation method ) 是由 王利峰 沈晨 刘洪澎 孙贝 于 2021-01-26 设计创作，主要内容包括：本发明提供一种下颌运动捕捉系统、捕捉方法以及模拟方法,其中下颌运动捕捉系统包括下牙列视觉标记装置、上牙列视觉标记装置、视觉探针和视觉定位仪,下牙列视觉标记装置包括柔性贴合片和第一视觉标记件,柔性贴合片的一侧能够粘附于患者的下牙列的外表面,柔性贴合片的另一侧连接于第一视觉标记件；上牙列视觉标记装置包括标记支撑件以及安装于标记支撑件上的第二视觉标记件,标记支撑件能够附接于患者的上牙列或者与上牙列静止连接的颅面部；视觉探针的末端安装有第三视觉标记件。该下颌运动捕捉系统提高了下颌运动的捕捉及记录的准确性,同时提升了操作的便利性,还减少了患者受到的辐射剂量。(The invention provides a lower jaw motion capturing system, a capturing method and a simulation method, wherein the lower jaw motion capturing system comprises a lower dentition visual marking device, an upper dentition visual marking device, a visual probe and a visual positioning instrument, the lower dentition visual marking device comprises a flexible laminating sheet and a first visual marking piece, one side of the flexible laminating sheet can be adhered to the outer surface of the lower dentition of a patient, and the other side of the flexible laminating sheet is connected with the first visual marking piece; the upper dentition visual marker device includes a marker support attachable to the upper dentition of the patient or to the craniofacial region to which the upper dentition is statically connected, and a second visual marker mounted on the marker support; the end of the vision probe is mounted with a third vision marker. The mandibular movement capturing system improves the accuracy of capturing and recording mandibular movement, improves the convenience of operation, and reduces the radiation dose to the patient.)
1. A mandibular movement capturing system is characterized by comprising a lower dentition visual marking device, an upper dentition visual marking device, a visual probe and a visual positioning instrument, wherein the lower dentition visual marking device comprises a flexible attachment piece and a first visual marking piece, one side of the flexible attachment piece can be adhered to the outer surface of the lower dentition of a patient, and the other side of the flexible attachment piece is connected to the first visual marking piece; the upper dentition visual marker device includes a marker support attachable to the patient's upper dentition or a craniofacial portion in stationary connection with the upper dentition, and a second visual marker mounted on the marker support; and a third visual marker is installed at the tail end of the visual probe, and the first visual marker, the second visual marker and the third visual marker are all positioned in the image acquisition range of the visual positioning instrument.
2. The mandibular motion capture system of claim 1, wherein the marker support is a head mounted device that is wearable on the craniofacial area of the patient.
3. The mandibular motion capture system of claim 2, wherein the head mounted device includes a rigid support and a slack adjustment mechanism connected to secure the rigid support to the forehead portion of the patient, the second visual marker being secured to the rigid support.
4. The mandibular motion capture system of claim 2, wherein the head mounted device includes a support frame with a nose pad, the support frame being attachable to the ear of the patient, the second visual marker being secured to the support frame.
5. The mandibular motion capture system of claim 1, further comprising an dentition guide that can be telescoped over an upper end of the lower dentition and/or over a lower end of the upper dentition; the dental array guide plate is provided with a plurality of positioning grooves matched with the tips of the vision probes.
6. The mandibular motion capture system of any one of claims 1 to 5, further comprising a mandibular motion simulator comprising a static maxillary platform having upper dentition model mounting locations on a side thereof facing the dynamic mandibular platform and a dynamic mandibular platform having lower dentition model mounting locations on a side thereof facing the static maxillary platform; the six-degree-of-freedom driving device is arranged on one side, away from the upper jaw static platform, of the lower jaw dynamic platform.
7. A mandibular motion capture method, comprising:
acquiring an upper dentition intraoral scanning model and a lower dentition intraoral scanning model of a patient;
adhering a lower dentition visual marker device to an outer surface of a patient's lower dentition, and an upper dentition visual marker device to the patient's upper dentition or to a craniofacial portion in stationary connection with the upper dentition;
a user holds a vision probe to sequentially touch a plurality of first anatomical landmark points on the lower dentition of the patient, the coordinates of the first anatomical landmark points under a coordinate system of a vision positioning instrument and the coordinates of the first anatomical landmark points under a coordinate system of a lower dentition intraoral scanning model are obtained, and the coordinates of the first anatomical landmark points under the coordinate system of the vision positioning instrument and the corresponding coordinates of the first anatomical landmark points under the coordinate system of the lower dentition intraoral scanning model are registered one by one, so that the lower dentition intraoral scanning model is matched to the actual spatial position of the lower dentition of the patient;
a user holds a vision probe to sequentially touch a plurality of second anatomical landmark points on the upper dentition of the patient, the coordinates of the second anatomical landmark points under the coordinate system of a vision positioning instrument and the coordinates of the second anatomical landmark points under the coordinate system of the upper dentition intraoral scanning model are obtained, and the coordinates of the second anatomical landmark points under the coordinate system of the vision positioning instrument and the coordinates of the corresponding second anatomical landmark points under the coordinate system of the upper dentition intraoral scanning model are registered one by one, so that the upper dentition intraoral scanning model is matched to the actual spatial position of the upper dentition of the patient;
and acquiring the positions and postures of the lower dentition visual marking device and the upper dentition visual marking device under a coordinate system of a visual positioning instrument when the patient carries out mandibular movement, and updating the positions and postures of the lower dentition intraoral scanning model and the upper dentition intraoral scanning model.
8. The method of mandibular motion capture according to claim 7, wherein the matching the intraoral scan model of the lower dentition to the actual spatial location of the patient's lower dentition further comprises:
a user holds a vision probe to sequentially touch a plurality of first anatomical landmark points on the lower dentition of the patient, and obtains the coordinates of the first anatomical landmark points in the coordinate system of the visual positioning instrument and the position and the posture of the lower dentition visual marking device in the coordinate system of the visual positioning instrument at the same moment;
converting the coordinates of the first anatomical landmark point in a coordinate system of a visual positioning instrument into the coordinates of the lower dentition visual marking device based on a coordinate conversion relation;
acquiring coordinates of the first anatomical landmark points in a coordinate system of the lower dentition intraoral scanning model, and performing one-to-one registration on the coordinates of the first anatomical landmark points in the coordinate system of the lower dentition visual marking device and the corresponding coordinates of the first anatomical landmark points in the coordinate system of the lower dentition intraoral scanning model to match the lower dentition intraoral scanning model to an actual spatial position of the lower dentition of the patient;
said matching said intraoral scan model of the upper dentition to the actual spatial location of the upper dentition of the patient further comprises:
a user holds a vision probe to sequentially touch a plurality of second anatomical landmark points on the upper dentition of the patient, and obtains the coordinates of the second anatomical landmark points under the coordinate system of the visual positioning instrument and the position and the posture of the upper dentition visual marking device under the coordinate system of the visual positioning instrument at the same moment;
converting the coordinates of the second anatomical landmark points in the coordinate system of the visual positioning instrument into the coordinates of the upper dentition visual marking device based on the coordinate conversion relationship;
and acquiring coordinates of the second anatomical landmark points in a coordinate system of the upper dentition intraoral scanning model, and performing one-to-one registration on the coordinates of the second anatomical landmark points in the coordinate system of the upper dentition visual marking device and the corresponding coordinates of the second anatomical landmark points in the coordinate system of the upper dentition intraoral scanning model to match the upper dentition intraoral scanning model to the actual spatial position of the upper dentition of the patient.
9. The mandibular motion capture method of claim 8, wherein the updating the position and pose of the intraoral scan model of the lower dentition further comprises:
calculating the relative position and posture relation between the first anatomical landmark point and the lower dentition visual marking device based on the coordinate of the first anatomical landmark point in the coordinate system of the visual positioning instrument and the position and posture of the lower dentition visual marking device in the coordinate system of the visual positioning instrument at the same moment;
updating the position and the posture of the lower dentition intraoral scanning model based on the relative position and posture relation between the first anatomical landmark point and the lower dentition visual marking device and the position and the posture of the lower dentition visual marking device under the coordinate system of a visual positioning instrument during lower jaw movement;
the updating the position and the posture of the intraoral scan model of the upper dentition further comprises:
calculating the relative position and posture relation between the second anatomical landmark point and the upper dentition visual marking device based on the coordinate of the second anatomical landmark point in the coordinate system of the visual positioning instrument and the position and posture of the upper dentition visual marking device in the coordinate system of the visual positioning instrument at the same moment;
and updating the position and the posture of the intraoral scanning model of the upper dentition based on the relative position and posture relation between the second anatomical landmark point and the visual marking device of the upper dentition and the position and the posture of the visual marking device of the upper dentition under the coordinate system of the visual positioning instrument during the lower jaw movement.
10. A mandibular motion capture method, comprising:
acquiring an upper dentition intraoral scanning model and a lower dentition intraoral scanning model of a patient and a relative position relation between external curved surfaces of the upper dentition and the lower dentition in an occlusion state;
adhering a lower dentition visual marker device to an outer surface of a patient's lower dentition, and an upper dentition visual marker device to the patient's upper dentition or to a craniofacial portion in stationary connection with the upper dentition;
a user holds a vision probe to sequentially touch a plurality of first anatomical landmark points on the lower dentition of the patient, the coordinates of the first anatomical landmark points under a coordinate system of a vision positioning instrument and the coordinates of the first anatomical landmark points under a coordinate system of a lower dentition intraoral scanning model are obtained, and the coordinates of the first anatomical landmark points under the coordinate system of the vision positioning instrument and the corresponding coordinates of the first anatomical landmark points under the coordinate system of the lower dentition intraoral scanning model are registered one by one, so that the lower dentition intraoral scanning model is matched to the actual spatial position of the lower dentition of the patient;
acquiring the position and the posture of a lower dentition visual marking device and an upper dentition visual marking device of the patient in an occlusion state under a coordinate system of a visual positioning instrument, and calculating the relative position and posture relation of the lower dentition visual marking device and the upper dentition visual marking device; matching the intraoral scan model of the upper dentition to the actual spatial position of the upper dentition of the patient based on the relative positional relationship between the outer curved surfaces of the upper and lower dentitions in the occlusal state and the relative positional and posture relationship of the visual marking device of the lower dentition and the visual marking device of the upper dentition;
and acquiring the positions and postures of the lower dentition visual marking device and the upper dentition visual marking device under a coordinate system of a visual positioning instrument when the patient carries out mandibular movement, and updating the positions and postures of the lower dentition intraoral scanning model and the upper dentition intraoral scanning model.
11. The mandibular motion capturing method of claim 10, further comprising, prior to the acquiring the relative positional relationship between the outer curved surfaces of the upper and lower dentitions in the bite state:
biting the upper and lower dentitions of the patient together and gripping impression material;
before the acquiring the position and the posture of the lower dentition visual marker device and the upper dentition visual marker device of the patient in the occlusion state in the coordinate system of the visual positioning instrument, the method further comprises the following steps:
placing the solidified impression material between the patient's upper and lower dentitions and causing the patient's upper and lower dentitions to re-bite together.
12. A mandibular motion simulation method comprising the mandibular motion capturing method according to any one of claims 7 to 11, further comprising:
manufacturing an upper dentition physical model and a lower dentition physical model based on the upper dentition intraoral scanning model and the lower dentition intraoral scanning model;
calculating a relative position and pose of a lower dentition intraoral scan model relative to an upper dentition intraoral scan model based on the position and pose of the lower dentition intraoral scan model and the upper dentition intraoral scan model of a patient over an acquisition time period;
fixing the upper dentition physical model on the lower side of the upper jaw static platform, and fixing the lower dentition physical model on the upper side of the lower jaw dynamic platform;
and controlling the operation amount of a six-degree-of-freedom driving device arranged on the lower side of the lower jaw moving platform based on the relative position and posture of the lower dentition intraoral scanning model relative to the upper dentition intraoral scanning model so as to adjust the position and posture of the lower jaw moving platform.
Technical Field
The invention relates to the technical field of medical instruments, in particular to a mandibular motion capturing system, a capturing method and a simulation method.
Background
The lower jaw movement is a complex and fine space three-dimensional movement generated by relevant muscles of a human body, can execute and complete various functions of a jaw system, and can reflect the relationship among the muscles of the jaw system, temporomandibular joints and occlusion. The expression form, the motion type, the displacement and other characteristics of the mandibular motion can reflect the physiological and pathological states of the oromandibular system, and can also be used for comparative analysis before and after disease treatment. Therefore, dynamic analysis of mandibular movement has long been a key tool in the repair of temporomandibular joint disease, bite disease, and loss of dentition defects.
The research means of the mandible movement track is continuously improved along with the technical development, and the research means is extended from an anatomical method and an imaging method to the most common tracing instrument mode in clinic at present. However, some common mandibular motion recorders are complicated to use and require the patient to take a Cone beam CT (Cone beam CT for CBCT) which increases the patient exposure.
Disclosure of Invention
The invention provides a mandible movement capturing system, a capturing method and a simulation method, which are used for overcoming the defects that a mandible movement recorder in the prior art is complex in use method and large in radiation quantity to a patient, and improving the convenience of mandible movement capturing.
The invention provides a lower jaw movement capturing system which comprises a lower dentition visual marking device, an upper dentition visual marking device, a visual probe and a visual positioning instrument, wherein the lower dentition visual marking device comprises a flexible laminating sheet and a first visual marking piece, one side of the flexible laminating sheet can be adhered to the outer surface of a lower dentition of a patient, and the other side of the flexible laminating sheet is connected to the first visual marking piece; the upper dentition visual marker device includes a marker support attachable to the patient's upper dentition or a craniofacial portion in stationary connection with the upper dentition, and a second visual marker mounted on the marker support; and a third visual marker is installed at the tail end of the visual probe, and the first visual marker, the second visual marker and the third visual marker are all positioned in the image acquisition range of the visual positioning instrument.
According to the mandibular motion capture system provided by the present invention, the marker support is a head mounted device that can be worn on the craniofacial area of the patient.
According to the mandibular motion capture system provided by the present invention, the head mounted device includes a rigid support and a slack adjustment mechanism coupled to the rigid support, the slack adjustment mechanism being capable of securing the rigid support to the forehead portion of the patient, the second visual marker being affixed to the rigid support.
According to the mandibular motion capture system provided by the present invention, the head mounted device includes a support frame having a nose pad, the support frame being adapted to be attached to the ear of the patient, the second visual marker being fixedly attached to the support frame.
The lower jaw motion capture system further comprises a dentition guide plate, wherein the dentition guide plate can be sleeved at the upper end of the lower dentition and/or the lower end of the upper dentition; the dental array guide plate is provided with a plurality of positioning grooves matched with the tips of the vision probes.
The lower jaw motion capture system further comprises a lower jaw motion simulation device, wherein the lower jaw motion simulation device comprises a static upper jaw platform, a dynamic lower jaw platform and a six-degree-of-freedom driving device, an upper dentition model installation position is arranged on one side, facing the dynamic lower jaw platform, of the static upper jaw platform, and a lower dentition model installation position is arranged on one side, facing the static upper jaw platform, of the dynamic lower jaw platform; the six-degree-of-freedom driving device is arranged on one side, away from the upper jaw static platform, of the lower jaw dynamic platform.
The invention also provides a mandibular motion capture method comprising:
acquiring an upper dentition intraoral scanning model and a lower dentition intraoral scanning model of a patient;
adhering a lower dentition visual marker device to an outer surface of a patient's lower dentition, and an upper dentition visual marker device to the patient's upper dentition or to a craniofacial portion in stationary connection with the upper dentition;
a user holds a vision probe to sequentially touch a plurality of first anatomical landmark points on the lower dentition of the patient, the coordinates of the first anatomical landmark points under a coordinate system of a vision positioning instrument and the coordinates of the first anatomical landmark points under a coordinate system of a lower dentition intraoral scanning model are obtained, and the coordinates of the first anatomical landmark points under the coordinate system of the vision positioning instrument and the corresponding coordinates of the first anatomical landmark points under the coordinate system of the lower dentition intraoral scanning model are registered one by one, so that the lower dentition intraoral scanning model is matched to the actual spatial position of the lower dentition of the patient;
a user holds a vision probe to sequentially touch a plurality of second anatomical landmark points on the upper dentition of the patient, the coordinates of the second anatomical landmark points under the coordinate system of a vision positioning instrument and the coordinates of the second anatomical landmark points under the coordinate system of the upper dentition intraoral scanning model are obtained, and the coordinates of the second anatomical landmark points under the coordinate system of the vision positioning instrument and the coordinates of the corresponding second anatomical landmark points under the coordinate system of the upper dentition intraoral scanning model are registered one by one, so that the upper dentition intraoral scanning model is matched to the actual spatial position of the upper dentition of the patient;
and acquiring the positions and postures of the lower dentition visual marking device and the upper dentition visual marking device under a coordinate system of a visual positioning instrument when the patient carries out mandibular movement, and updating the positions and postures of the lower dentition intraoral scanning model and the upper dentition intraoral scanning model.
According to the mandibular motion capture method provided by the present invention, the matching of the intraoral scan model of the lower dentition to the actual spatial position of the patient's lower dentition further comprises:
a user holds a vision probe to sequentially touch a plurality of first anatomical landmark points on the lower dentition of the patient, and obtains the coordinates of the first anatomical landmark points in the coordinate system of the visual positioning instrument and the position and the posture of the lower dentition visual marking device in the coordinate system of the visual positioning instrument at the same moment;
converting the coordinates of the first anatomical landmark point in a coordinate system of a visual positioning instrument into the coordinates of the lower dentition visual marking device based on a coordinate conversion relation;
acquiring coordinates of the first anatomical landmark points in a coordinate system of the lower dentition intraoral scanning model, and performing one-to-one registration on the coordinates of the first anatomical landmark points in the coordinate system of the lower dentition visual marking device and the corresponding coordinates of the first anatomical landmark points in the coordinate system of the lower dentition intraoral scanning model to match the lower dentition intraoral scanning model to an actual spatial position of the lower dentition of the patient;
said matching said intraoral scan model of the upper dentition to the actual spatial location of the upper dentition of the patient further comprises:
a user holds a vision probe to sequentially touch a plurality of second anatomical landmark points on the upper dentition of the patient, and obtains the coordinates of the second anatomical landmark points under the coordinate system of the visual positioning instrument and the position and the posture of the upper dentition visual marking device under the coordinate system of the visual positioning instrument at the same moment;
converting the coordinates of the second anatomical landmark points in the coordinate system of the visual positioning instrument into the coordinates of the upper dentition visual marking device based on the coordinate conversion relationship;
and acquiring coordinates of the second anatomical landmark points in a coordinate system of the upper dentition intraoral scanning model, and performing one-to-one registration on the coordinates of the second anatomical landmark points in the coordinate system of the upper dentition visual marking device and the corresponding coordinates of the second anatomical landmark points in the coordinate system of the upper dentition intraoral scanning model to match the upper dentition intraoral scanning model to the actual spatial position of the upper dentition of the patient.
According to the mandibular motion capture method provided by the present invention, the updating the position and posture of the scan model in the lower dentition further comprises:
calculating the relative position and posture relation between the first anatomical landmark point and the lower dentition visual marking device based on the coordinate of the first anatomical landmark point in the coordinate system of the visual positioning instrument and the position and posture of the lower dentition visual marking device in the coordinate system of the visual positioning instrument at the same moment;
updating the position and the posture of the lower dentition intraoral scanning model based on the relative position and posture relation between the first anatomical landmark point and the lower dentition visual marking device and the position and the posture of the lower dentition visual marking device under the coordinate system of a visual positioning instrument during lower jaw movement;
the updating the position of the scan model within the upper dentition, further comprising:
calculating the relative position and posture relation between the second anatomical landmark point and the upper dentition visual marking device based on the coordinate of the second anatomical landmark point in the coordinate system of the visual positioning instrument and the position and posture of the upper dentition visual marking device in the coordinate system of the visual positioning instrument at the same moment;
and updating the position and the posture of the intraoral scanning model of the upper dentition based on the relative position and posture relation between the second anatomical landmark point and the visual marking device of the upper dentition and the position and the posture of the visual marking device of the upper dentition under the coordinate system of the visual positioning instrument during the lower jaw movement.
The present invention also provides another mandibular motion capture method comprising:
acquiring an upper dentition intraoral scanning model and a lower dentition intraoral scanning model of a patient and a relative position relation between external curved surfaces of the upper dentition and the lower dentition in an occlusion state;
adhering a lower dentition visual marker device to an outer surface of a patient's lower dentition, and an upper dentition visual marker device to the patient's upper dentition or to a craniofacial portion in stationary connection with the upper dentition;
a user holds a vision probe to sequentially touch a plurality of first anatomical landmark points on the lower dentition of the patient, the coordinates of the first anatomical landmark points under a coordinate system of a vision positioning instrument and the coordinates of the first anatomical landmark points under a coordinate system of a lower dentition intraoral scanning model are obtained, and the coordinates of the first anatomical landmark points under the coordinate system of the vision positioning instrument and the corresponding coordinates of the first anatomical landmark points under the coordinate system of the lower dentition intraoral scanning model are registered one by one, so that the lower dentition intraoral scanning model is matched to the actual spatial position of the lower dentition of the patient;
acquiring the position and the posture of a lower dentition visual marking device and an upper dentition visual marking device of the patient in an occlusion state under a coordinate system of a visual positioning instrument, and calculating the relative position and posture relation of the lower dentition visual marking device and the upper dentition visual marking device; matching the intraoral scan model of the upper dentition to the actual spatial position of the upper dentition of the patient based on the relative positional relationship between the outer curved surfaces of the upper and lower dentitions in the occlusal state and the relative positional and posture relationship of the visual marking device of the lower dentition and the visual marking device of the upper dentition;
and acquiring the positions and postures of the lower dentition visual marking device and the upper dentition visual marking device under a coordinate system of a visual positioning instrument when the patient carries out mandibular movement, and updating the positions and postures of the lower dentition intraoral scanning model and the upper dentition intraoral scanning model.
According to the mandibular movement capturing method provided by the present invention, before the acquiring the relative positional relationship between the outer curved surfaces of the upper dentition and the lower dentition in the occlusal state, the method further includes:
biting the upper and lower dentitions of the patient together and gripping impression material;
before the acquiring the position and the posture of the lower dentition visual marker device and the upper dentition visual marker device of the patient in the occlusion state in the coordinate system of the visual positioning instrument, the method further comprises the following steps:
placing the solidified impression material between the patient's upper and lower dentitions and causing the patient's upper and lower dentitions to re-bite together.
The invention also provides a mandible movement simulation method, which comprises the mandible movement capturing method, and further comprises the following steps:
manufacturing an upper dentition physical model and a lower dentition physical model based on the upper dentition intraoral scanning model and the lower dentition intraoral scanning model;
calculating a relative position and pose of a lower dentition intraoral scan model relative to an upper dentition intraoral scan model based on the position and pose of the lower dentition intraoral scan model and the upper dentition intraoral scan model of a patient over an acquisition time period;
fixing the upper dentition physical model on the lower side of the upper jaw static platform, and fixing the lower dentition physical model on the upper side of the lower jaw dynamic platform;
and controlling the operation amount of a six-degree-of-freedom driving device arranged on the lower side of the lower jaw moving platform based on the relative position and posture of the lower dentition intraoral scanning model relative to the upper dentition intraoral scanning model so as to adjust the position and posture of the lower jaw moving platform.
The invention provides a lower jaw motion capturing system, a capturing method and a simulation method, wherein the lower jaw motion capturing system adheres a first visual marker to the lower dentition of a patient through a flexible attaching sheet, so that the first visual marker can indirectly reflect the spatial position and the posture of the lower dentition of the patient, similarly, a second visual marker is attached to the upper dentition of the patient or the craniofacial part statically connected with the upper dentition through a marker support part, so that the spatial position and the posture of the upper dentition of the patient can be indirectly reflected by the second visual marker, and the spatial positions and the postures of the first visual marker and the second visual marker are detected in real time through a visual positioning instrument, so that the relative motion of the upper jaw and the lower jaw of the patient can be captured; meanwhile, the system also utilizes the visual probe to match the scanning models in the upper and lower dentition mouths in the virtual image with the corresponding actual anatomical positions, so that the relative movement of the upper and lower jaws can be displayed in the form of the virtual image, and the system is used for guiding a user to complete various measurements, analyses and other subsequent operations. The mandibular movement capturing system improves the accuracy of capturing and recording mandibular movement, improves the convenience of operation, and reduces the radiation dose to the patient.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of the mandibular motion capture system provided by the present invention;
FIG. 2 is a schematic view of the installation of the lower dentition visual marking unit provided by the present invention;
FIG. 3 is a schematic view of a dental alignment plate and vision probe provided by the present invention in use;
fig. 4 is a schematic structural diagram of a mandibular movement simulation apparatus provided by the present invention;
fig. 5 is a schematic flow chart of a mandibular motion capture method provided by the present invention;
FIG. 6 is a schematic illustration of the steps provided by the present invention to match an intraoral scan model of the lower dentition to the actual spatial position of the patient's lower dentition;
fig. 7 is a second schematic flow chart of the mandibular motion capture method provided by the present invention;
FIG. 8 is a schematic representation of the steps provided by the present invention for biting together the upper and lower dentitions of a patient and biting the impression material;
fig. 9 is a schematic flow chart of a mandible movement simulation method provided by the invention;
FIG. 10 is a schematic diagram of the steps provided by the present invention for making a lower dentition physical model.
Reference numerals:
1. a lower dentition visual marking device; 11. A first visual marker;
12. a flexible adhesive sheet; 121. An open slot; 13. A linker;
14. a dentition guide plate; 2. An upper dentition visual marking device;
21. a second visual marker; 3. A vision probe;
31. a third visual marker; 4. A visual locator; 41. A display screen;
51. a maxillary static platform; 52. A lower jaw moving platform;
53. a six degree of freedom drive;
6. a lower dentition physical model; 7. An upper dentition physical model;
8. intraoral scanning of the lower dentition model; 81. A first anatomical landmark point;
9. intraoral scanning of the model of the upper dentition; 10. An impression material.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "first", "second" and "third" are used for the sake of clarity in describing the numbering of the components of the product and do not represent any substantial difference, unless explicitly stated or limited otherwise. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
It is to be understood that, unless otherwise expressly specified or limited, the term "coupled" is used broadly, and may, for example, refer to directly coupled devices or indirectly coupled devices through intervening media. Specific meanings of the above terms in the embodiments of the invention will be understood to those of ordinary skill in the art in specific cases.
As shown in fig. 1 and 2, a mandibular movement capturing system according to an embodiment of the present invention includes a lower dentition visual marking device 1, an upper dentition visual marking device 2, a vision probe 3, and a vision positioning instrument 4, where the lower dentition visual marking device 1 includes a flexible adhesive sheet 12 and a first visual marking member 11, one side of the flexible adhesive sheet 12 can be adhered to an outer surface of a lower dentition of a patient, and the other side of the flexible adhesive sheet 12 is connected to the first visual marking member 11. The upper dentition visual marker 2 includes a marker support attachable to the patient's upper dentition or craniofacial portion in stationary connection with the upper dentition, and a second visual marker 21 mounted on the marker support. The third visual marker 31 is mounted at the end of the vision probe 3, and the first visual marker 11, the second visual marker 21 and the third visual marker 31 are all located within the image capturing range of the vision positioner 4.
Specifically, the flexible adhesive sheet 12 of the lower dentition visual marking device 1 may be made of an aluminum alloy or other material with good plastic deformation performance, the flexible adhesive sheet 12 may be pre-bent according to a pre-fabricated lower dentition physical model of the patient before use, and then the flexible adhesive sheet 12 is adhered to the outer surface of the teeth of the lower dentition by using an oral cavity-dedicated adhesive material. The specific sticking position can be close to the root of the teeth of the lower dentition, so that the influence on the occlusion relation of the upper and lower teeth is avoided. The first visual marker 11 is connected to the outer side surface of the flexible attachment sheet 12 and can extend out of the oral cavity of the patient, so that the image signal can be collected by the visual locator 4.
The visual upper dentition marking device 2 is attached to the patient's upper dentition or the craniofacial area to which the upper dentition is statically attached by a marking support member which may also be attached to the patient's upper dentition using a flexible attachment sheet 12 or may be attached to the upper dentition using a dentition guide. In addition, because the upper dentition is fixedly connected with the skull of a human body, the marking support piece can be fixed on the craniofacial part of the patient, for example, the marking support piece can adopt head-mounted equipment, the patient only needs to wear the head-mounted equipment during detection, the whole use is convenient and quick, and the marking support piece can be repeatedly used. The movement of the head of the patient can be captured by acquiring the image information of the second visual marker 21 by the visual alignment apparatus 4, thereby indirectly reflecting the movement of the upper dentition.
The vision probe 3 is a rod-shaped structure, the middle part of the vision probe 3 is provided with a holding part for a user to grasp, the tail end of the vision probe 3 is provided with a third vision mark piece 31 so as to be convenient for the vision locator 4 to collect image signals, and the top end of the vision probe 3 is provided with a needle point part. The visual probe 3 can be calibrated before use, and then when in actual use, the user moves the visual probe 3, and the tip of the probe is used for contacting a preset point to be measured, so as to obtain the spatial position information of the point to be measured in the coordinate system of the visual positioning instrument 4. For example, preset mark points on the patient's lower dentition may be contacted by the vision probe 3, and since these preset mark points are also located at the same position on the intraoral scan model of the lower dentition in the virtual image, the actual position of the lower dentition may be registered with the intraoral scan model of the lower dentition in the virtual image, and then the mandibular movement may be displayed in the form of the virtual image for guiding the user to perform various measurements, analyses and other subsequent operations.
In the mandibular movement capturing system provided in this embodiment, the first visual marker 11 is adhered to the lower dentition of the patient by the flexible adhesive sheet 12, so that the first visual marker 11 can indirectly reflect the spatial position and posture of the lower dentition of the patient, and similarly, the second visual marker 21 is attached to the upper dentition of the patient or the craniofacial part statically connected to the upper dentition by the mark support, so that the second visual marker 21 can indirectly reflect the spatial position and posture of the upper dentition of the patient, and the spatial positions and postures of the first visual marker 11 and the second visual marker 21 are detected in real time by the visual positioning instrument 4, so that the relative movement of the upper and lower jaws of the patient can be captured; meanwhile, the system also utilizes the visual probe 3 to match the scanning models in the upper and lower dentition mouths in the virtual image with the corresponding actual anatomical positions, so that the relative movement of the upper and lower jaws can be displayed in the form of the virtual image, and the system is used for guiding a user to complete various measurement, analysis and other subsequent operations. The mandibular movement capturing system improves the accuracy of capturing and recording mandibular movement, improves the convenience of operation, and reduces the radiation dose to the patient.
Further, as shown in fig. 2, in the embodiment of the present invention, the flexible attachment sheet 12 is provided with a plurality of open slots 121 at intervals in the length direction. Specifically, the open slot 121 is an oblong hole, and the oral-specific adhesive material may be coated at the open slot 121 or other suitable position of the flexible attachment sheet 12. The opening groove 121 can enhance the flexibility of the flexible attachment piece 12, and simultaneously avoid the flexible attachment piece 12 from generating wrinkles when being bent and attached to the lower dentition of a patient, which affects the firmness of the attachment.
Further, as shown in fig. 1, in an embodiment of the present invention, the marker support is a head-mounted device that can be worn on the craniofacial area of the patient. In one particular embodiment, the head-mounted apparatus includes a rigid support and a slack adjustment mechanism coupled to secure the rigid support to the forehead portion of the patient, the second visual marker 21 being secured to the rigid support. Specifically, the rigid support may be an arc-shaped strip having a certain rigidity, which may be attached to the forehead of the patient. The both ends of rigid support link together through the tight regulation mechanism, form an annular structure, adjust the internal diameter of annular structure through adjusting tight regulation mechanism, and then realize that the elasticity between rigid support and the patient's forehead is adjusted, make things convenient for the patient to wear to take off wear-type equipment. The elastic band or the telescopic band with the elastic knob or the buckle can be adopted for adjusting the tightness adjusting mechanism, two overlapped belt bodies can be further adopted, the two belt bodies are connected through a gear rack mechanism or a ratchet wheel and pawl mechanism at the overlapped part, and then the length of the overlapped part of the two belt bodies can be adjusted, so that the tightness can be adjusted. In addition, the tightness adjusting mechanism can also adopt other structures as long as the tightness adjustment can be realized, and the tightness adjusting mechanism is not limited here.
In another specific embodiment, the head-mounted apparatus may further comprise a support frame provided with a nose pad, the support frame being capable of being hung on the ear of the patient, and the second visual marker 21 being fixedly connected to the support frame. The head-mounted equipment in the embodiment adopts a structure similar to glasses, when a patient wears the head-mounted equipment, the nose support is placed on the nose bridge, and meanwhile, the two ends of the support frame are hung on the ears. In addition, the head-mounted device may also be in the form of a hat, a headband, an earphone, etc., and is not limited herein.
Further, as shown in fig. 1, in the embodiment of the present invention, each of the first visual marker 11, the second visual marker 21 and the third visual marker 31 includes a plurality of marker locations, and each marker location is mounted with a light reflecting member such as a light reflecting ball or a light reflecting sheet. The positions of at least three of the plurality of marker bits are not collinear. By arranging at least three non-collinear light-reflecting balls or light-reflecting sheets, the visual locator 4 can detect the spatial positions and postures of the first visual marker 11, the second visual marker 21 and the third visual marker 31 in real time, so as to indirectly reflect the spatial positions and postures of the lower jaw, the upper jaw and the visual probe.
Further, as shown in fig. 3, in the present embodiment, the mandibular motion capture system further comprises an dentition guide 14, the dentition guide 14 being capable of engaging the upper end of the lower dentition and/or the lower end of the upper dentition. The dental guide 14 is provided with a plurality of positioning grooves adapted to the tip of the vision probe 3. Specifically, as an example, it is explained that the dentition guide 14 is installed in the following dentition, the dentition guide 14 may be designed on the basis of an intraoral scan model of the following dentition, an inner surface of the dentition guide 14 is closely attached to the following dentition, and a plurality of positioning grooves are formed at a to-be-measured mark point of the dentition guide 14 (e.g., a point having an obvious feature such as a cusp end point) and may be a tapered groove having a shape consistent with that of the tip of the vision probe 3, so that the vision probe 3 may accurately make point contact with the to-be-measured mark point. The dentition guide plate 14 can be manufactured by adopting a 3D printing mode, and is buckled on the upper half part of the lower dentition of a patient when in use, so that the flexible attaching sheet 12 is not interfered. By arranging the dentition guide 14, registration errors caused by the fact that the user has insufficient experience and cannot accurately touch the preset mark points to be measured on the teeth of the patient can be avoided.
Further, as shown in fig. 1 and 2, the lower dentition visual marking device 1 further includes a connecting body 13, one end of the connecting body 13 is connected to the flexible attaching sheet 12, and the other end of the connecting body 13 extends in a direction away from the lower dentition and is connected to the first visual marking member 11. Specifically, one end of the connecting body 13 close to the flexible attachment piece 12 has a certain radian, so that the connecting body 13 can conveniently extend out of the mouth of the patient. The connection between the connector 13 and the first visual marker 11 and the flexible adhesive sheet 12 can be formed by plugging, bonding or integral connection.
Further, as shown in fig. 1, the visual locator 4 is also connected with a display screen 41. The relative upper and lower jaw movements of the patient may be presented to the user in the form of virtual images via the display screen 41 for guiding the user through various measurements, analyses and other follow-up operations.
On the basis of the above embodiment, as shown in fig. 4, the mandibular motion capturing system further comprises a mandibular motion simulator, the mandibular motion simulator comprises a static maxillary platform 51, a dynamic mandibular platform 52 and a six-degree-of-freedom driving device 53, and an upper dentition model installation position is provided on the side of the static maxillary platform 51 facing the dynamic mandibular platform 52 for installing the upper dentition physical model 7; one side of the lower jaw moving platform 52 facing the upper jaw static platform 51 is provided with a lower dentition model installation position for installing the lower dentition real model 6. The six-degree-of-freedom driving device 53 is mounted on one side, away from the maxillary static platform 51, of the mandibular moving platform 52, the six-degree-of-freedom driving device 53 can comprise six electric push rods, two universal hinges are respectively arranged at two ends of each electric push rod to be connected with the mandibular moving platform 52 and the base plate, and the movement of the mandibular moving platform 52 in six spatial degrees of freedom is completed by controlling the telescopic movement of the six electric push rods, so that the position and the posture of the lower dentition model relative to the upper dentition model can be dynamically adjusted. The mandible model is moved to perform physical simulation by taking the immobile maxilla as a reference datum, so that a foundation can be provided for subsequent diagnosis and research.
As shown in fig. 5, the present invention also provides a mandibular motion capture method comprising:
step S110: an intraoral scan model 9 of the upper dentition and an intraoral scan model 8 of the lower dentition of the patient are acquired.
Specifically, the intraoral scanning instrument is used for scanning the upper and lower dentitions of the patient respectively, and an intraoral scanning model 9 of the upper dentition and an intraoral scanning model 8 of the lower dentition of the patient are obtained. The intraoral scan model of the upper dentition 9 and the intraoral scan model of the lower dentition 8 may then be further finished, such as filling holes, smoothing, deleting unwanted triangular faces, etc. The intraoral scanner is an instrument manufactured based on an optical principle, collects three-dimensional data point clouds on the surface of teeth at a single position by using a three-dimensional imaging method, and then continuously superposes the three-dimensional data collected at different positions in the moving process of an intraoral camera to finally form a complete three-dimensional data model. Compared to conventional CBCT, intraoral scanners do not have radiation problems.
Step S120: the lower dentition visual marker 1 is adhered to the outer surface of the patient's lower dentition, and the upper dentition visual marker 2 is attached to the patient's upper dentition or the craniofacial area to which the upper dentition is statically attached.
Step S130: the actual position of the patient's lower dentition is registered with the lower dentition intraoral scan model 8. As shown in fig. 1 and 6, the user holds the vision probe 3 and sequentially touches a plurality of first anatomical landmark points 81 on the lower dentition of the patient, obtains coordinates of the first anatomical landmark points 81 in the coordinate system of the vision positioning instrument and coordinates of the first anatomical landmark points 81 in the coordinate system of the intraoral scan model 8 of the lower dentition, and performs one-to-one registration on the coordinates of the first anatomical landmark points 81 in the coordinate system of the vision positioning instrument 4 and the corresponding coordinates of the first anatomical landmark points 81 in the coordinate system of the intraoral scan model 8 of the lower dentition, so as to match the intraoral scan model 8 of the lower dentition to the actual spatial position of the lower dentition of the patient.
Specifically, the first anatomical landmark point 81 may be a point having a distinct feature such as a tooth cusp point. The coordinate of the first plurality of anatomical landmark points 81 obtained by direct measurement by the vision probe 3 in the coordinate system of the vision positioner 4 is denoted as PV1、PV2、…PVnThe coordinate of the corresponding first anatomical landmark point 81 in the coordinate system of the intraoral scan model of the lower dentition 8 is denoted Ps1、Ps2、…Psn。
Since the mandibular dentition position of the patient may change during the acquisition process, in order to obtain a fixed relative position relationship, the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual alignment instrument 4 may be transformed to be represented by the first anatomical landmark point 81 in the coordinate system of the dental visual marking apparatus 1, which includes the following specific steps:
when the vision probe 3 touches the first anatomical landmark point 81, the position and the posture of the lower dentition vision marking device 1 under the coordinate system of the vision positioner 4 at the current moment are obtained, and the homogeneous matrix is used for obtaining the position and the posture of the lower dentition vision marking device 1 under the coordinate system of the vision positioner 4And (4) showing.
Since the position relationship of the first anatomical landmark point 81 with respect to the lower dentition visual marking device 1 is fixed, the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual positioning instrument 4 can be converted to the coordinates of the first anatomical landmark point 81 in the coordinate system of the lower dentition visual marking device 1 based on the coordinate conversion relationship, wherein the conversion formula isThe coordinates of the first anatomical landmark point 81 in the coordinate system of the lower dentition visual marking device 1 are denoted as PM1、PM2、…PMn。
As shown in FIG. 6, a first anatomical landmark point 81 (coordinate P) in the actual spatial position of the patient is identifiedM1、PM2、…PMn) A first anatomical landmark point 81 (coordinate P) corresponding to the intraoral scan model 8 of the lower dentitions1、Ps2、…Psn) The one-to-one correspondence of the two sets of points is registered, which in turn allows the intraoral scan model 8 of the lower dentition to be matched to the actual spatial position of the patient's lower dentition. Specifically, the optimal transformation can be calculated for the two sets of point sets in one-to-one correspondence by using a Singular Value Decomposition (SVD) method, and a spatial transformation relationship (including a rotation and translation relationship) between the two point sets is obtained, that is, the two corresponding point sets can be matched together by rotation and translation.
Step S140: the actual position of the patient's upper dentition is registered with the intraoral scan model 9 of the upper dentition. The user holds the vision probe 3 and sequentially touches a plurality of second anatomical landmark points on the upper dentition of the patient, the coordinates of the second anatomical landmark points in the coordinate system of the vision positioner 4 and the coordinates of the second anatomical landmark points in the coordinate system of the upper dentition intraoral scanning model 9 are obtained, the coordinates of the second anatomical landmark points in the coordinate system of the vision positioner 4 and the coordinates of the corresponding second anatomical landmark points in the coordinate system of the upper dentition intraoral scanning model 9 are registered one by one, and the upper dentition intraoral scanning model 9 is matched to the actual spatial position of the upper dentition of the patient. Step S140 is similar to step S130, and is not described herein again.
Step S150: and acquiring the positions and postures of the lower dentition visual marking device 1 and the upper dentition visual marking device 2 under the coordinate system of the visual positioning instrument 4 when the patient carries out mandibular movement, and updating the positions and postures of the lower dentition intraoral scanning model 8 and the upper dentition intraoral scanning model 9.
Specifically, the position and the posture of the lower dentition intraoral scan model 8 are updated for the example, and the position and the posture of the upper dentition intraoral scan model 9 are updated similarly, and are not described again. The method comprises the following specific steps:
based on the coordinates of the first anatomical landmark point 81 in the coordinate system of the visual alignment instrument 4 and the position and posture of the lower dentition visual marking device 1 in the coordinate system of the visual alignment instrument 4 at the same time, the relative position and posture relationship between the first anatomical landmark point 81 and the lower dentition visual marking device 1 is calculated. Due to the first anatomical landmark point 81 (coordinate P)M1、PM2、…PMn) The position and attitude with respect to the coordinate system in which the lower dentition visual marking device 1 is located is fixed and can be described by a transformation matrix T.
Based on the relative position and posture relation T between the first anatomical marking point 81 and the lower dentition visual marking device 1 and the position and posture of the lower dentition visual marking device 1 in the coordinate system of the visual positioning instrument 4 during the mandibular movementUpdating the position of the scanning model in the following dentition mouth, wherein the updated position is as follows: t is′＝TM·T。
As shown in fig. 7 and 8, the present invention also provides another mandibular motion capture method comprising:
step S210: the relative positional relationship between the external curved surfaces of the upper dentition and the lower dentition in the occlusal state is obtained by the intraoral scan model 9 of the upper dentition, the intraoral scan model 8 of the lower dentition of the patient.
Specifically, similarly to step S110, the intraoral scanning instrument may be used to scan the upper and lower dentitions of the patient in the patient open mouth state, respectively, and acquire the intraoral scanning model 9 of the upper dentition and the intraoral scanning model 8 of the lower dentition of the patient. The intraoral scan model of the upper dentition 9 and the intraoral scan model of the lower dentition 8 may then be further finished, such as filling holes, smoothing, deleting unwanted triangular faces, etc. Then, the upper dentition and the lower dentition of the patient are engaged together and bite the impression material 10, and the impression material 10 is a material used when taking a negative oral cavity mold, and the material is rich in elasticity, good in fluidity and plasticity, and stable in physical properties after being solidified. After occlusion is stable (i.e., after the impression material 10 is solidified), the intraoral scanning instrument is used again to scan the curved surface of the middle part of the upper dentition and the lower dentition, and the relative position relationship between the outer curved surfaces of the upper dentition and the lower dentition in the occlusion state can be obtained. More specifically, in order to secure stable biting relationship, one impression material 10 may be bitten on each side of the dentition.
Step S220: the lower dentition visual marker 1 is adhered to the outer surface of the patient's lower dentition, and the upper dentition visual marker 2 is attached to the patient's upper dentition or the craniofacial area to which the upper dentition is statically attached.
Step S230: the user holds the vision probe 3 and sequentially touches a plurality of first anatomical landmark points 81 on the lower dentition of the patient, the coordinates of the first anatomical landmark points 81 in the coordinate system of the visual positioning instrument 4 and the coordinates of the first anatomical landmark points 81 in the coordinate system of the intraoral scanning model 8 of the lower dentition are obtained, and the coordinates of the first anatomical landmark points 81 in the coordinate system of the visual positioning instrument 4 and the coordinates of the corresponding first anatomical landmark points 81 in the coordinate system of the intraoral scanning model 8 of the lower dentition are registered one by one, so that the intraoral scanning model 8 of the lower dentition is matched to the actual spatial position of the lower dentition of the patient. Step S230 is the same as step S130, and is not described herein again.
Step S240: acquiring the positions and postures of a lower dentition visual marking device 1 and an upper dentition visual marking device 2 of a patient in an occlusion state in a coordinate system of a visual positioning instrument 4, and calculating the relative position and posture relation between the lower dentition visual marking device 1 and the upper dentition visual marking device 2; the intraoral scan model 9 of the upper dentition is matched to the actual spatial position of the upper dentition of the patient based on the relative positional relationship between the outer curved surfaces of the upper and lower dentitions in the occlusal state and the relative positional and posture relationship of the visual marking device 1 of the lower dentition and the visual marking device 2 of the upper dentition.
Specifically, the patient is allowed to bite once again, and in order to ensure that the relative positional relationship recorded in step S210 is consistent when the upper and lower dentitions are bitten, the solidified impression material 10 may be plugged on both sides of the dentition to restrict the relative movement of the upper and lower dentitions, so as to ensure that the two biting states are consistent. And then, acquiring the positions and postures of the lower dentition visual marking device 1 and the upper dentition visual marking device 2 in the occlusion state through the visual positioning instrument 4, and calculating the relative position and posture relation between the lower dentition visual marking device 1 and the upper dentition visual marking device 2. Since the lower dentition intraoral scan model 8 has been matched to the actual spatial position of the patient 'S lower dentition in step S230, the upper dentition intraoral scan model 9 can be matched to the actual spatial position of the patient' S upper dentition based on the relative positional relationship between the outer curved surfaces of the upper and lower dentitions in the occlusal state and the relative positional and posture relationship of the lower dentition visual marking device 1 and the upper dentition visual marking device 2.
Step S250: and acquiring the positions and postures of the lower dentition visual marking device 1 and the upper dentition visual marking device 2 under the coordinate system of the visual positioning instrument 4 when the patient carries out mandibular movement, and updating the positions and postures of the lower dentition intraoral scanning model 8 and the upper dentition intraoral scanning model 9. Step S250 is the same as step S150, and is not described herein again.
As shown in fig. 9 and 10, the present invention further provides a mandibular motion simulation method including the mandibular motion capturing method as described above, further including:
step S310: an upper dentition physical model 7 and a lower dentition physical model 6 are created based on the upper dentition intraoral scan model 9 and the lower dentition intraoral scan model 8.
Specifically, as shown in fig. 10, taking the production of the lower dentition physical model 6 as an example, the border of the scan model 8 in the lower dentition mouth is projected downward (or in a predetermined direction), an abutment including a dental model is generated (as shown in the right drawing in fig. 10), and finally the lower dentition physical model 6 is processed and produced by 3D printing or the like.
Step S320: the relative position and posture of the lower dentition intraoral scan model 8 with respect to the upper dentition intraoral scan model 9 is calculated based on the position and posture of the lower dentition intraoral scan model 8 and the upper dentition intraoral scan model 9 of the patient over the acquisition time period.
Step S330: as shown in fig. 4, the upper dentition physical model 7 is fixed to the lower side of the maxillary static platform 51, and the lower dentition physical model 6 is fixed to the upper side of the mandibular dynamic platform 52.
Step S340: the operation amount of the six-degree-of-freedom driving device 53 mounted on the lower side of the mandibular moving platform 52 is controlled based on the relative position and posture of the lower intraoral scan model 8 with respect to the upper intraoral scan model 9 to adjust the position and posture of the mandibular moving platform 52. The mandible dentition model is moved to perform real object simulation by taking the maxilla dentition as a reference datum (static and motionless), thereby providing a foundation for subsequent diagnosis and research.
On the basis of the above embodiment, the mandibular motion capture system further comprises an electronic device comprising: the system comprises a processor (processor), a communication Interface (communication Interface), a memory (memory) and a communication bus, wherein the processor, the communication Interface and the memory are communicated with each other through the communication bus. The processor may invoke logic instructions in the memory to perform the steps of the mandibular motion capture method in any of the embodiments described above.
Specifically, the electronic device performs data communication with the intraoral scanning instrument and the visual positioning instrument 4 through a communication interface to obtain an upper dentition intraoral scanning model 9 and a lower dentition intraoral scanning model 8 of the patient; when the user holds the vision probe 3 and sequentially touches a plurality of first anatomical landmark points 81 on the lower dentition of the patient, acquiring coordinates of the first anatomical landmark points 81 in a coordinate system of the vision positioning instrument and coordinates of the first anatomical landmark points 81 in a coordinate system of the intraoral scanning model 8 of the lower dentition, and registering the coordinates of the first anatomical landmark points 81 in the coordinate system of the vision positioning instrument 4 and the corresponding coordinates of the first anatomical landmark points 81 in the coordinate system of the intraoral scanning model 8 of the lower dentition one by one so as to match the intraoral scanning model 8 of the lower dentition to the actual spatial position of the lower dentition of the patient; when the user holds the vision probe 3 and sequentially touches a plurality of second anatomical landmark points on the upper dentition of the patient, acquiring coordinates of the second anatomical landmark points in the coordinate system of the vision positioning instrument 4 and coordinates of the second anatomical landmark points in the coordinate system of the upper dentition intraoral scanning model 9, and performing one-to-one registration on the coordinates of the second anatomical landmark points in the coordinate system of the vision positioning instrument 4 and the coordinates of the corresponding second anatomical landmark points in the coordinate system of the upper dentition intraoral scanning model 9 so as to match the upper dentition intraoral scanning model 9 to the actual spatial position of the upper dentition of the patient; next, the position and posture of the lower dentition visual marking device 1 and the upper dentition visual marking device 2 in the coordinate system of the visual positioning instrument 4 when the patient performs the mandibular movement are acquired, and the position and posture of the lower dentition intraoral scan model 8 and the upper dentition intraoral scan model 9 are updated. The visual alignment apparatus 4 can display the positions of the lower intraoral scan model 8 and the upper intraoral scan model 9 in real time through the display screen 41 and dynamically update them.
Or, the electronic device performs data communication with the intraoral scanning instrument and the visual positioning instrument 4 through the communication interface to obtain the relative position relationship between the upper dentition intraoral scanning model 9 and the lower dentition intraoral scanning model 8 of the patient and the external curved surfaces of the upper dentition and the lower dentition in the occlusion state; when the user holds the vision probe 3 and sequentially touches a plurality of first anatomical landmark points 81 on the lower dentition of the patient, acquiring coordinates of the first anatomical landmark points 81 in a coordinate system of the vision positioning instrument and coordinates of the first anatomical landmark points 81 in a coordinate system of the intraoral scanning model 8 of the lower dentition, and registering the coordinates of the first anatomical landmark points 81 in the coordinate system of the vision positioning instrument 4 and the corresponding coordinates of the first anatomical landmark points 81 in the coordinate system of the intraoral scanning model 8 of the lower dentition one by one so as to match the intraoral scanning model 8 of the lower dentition to the actual spatial position of the lower dentition of the patient; when the patient is in the occlusion state, acquiring the position and the posture of the lower dentition visual marking device 1 and the upper dentition visual marking device 2 under the coordinate system of the visual positioning instrument 4, calculating the relative position and posture relation of the lower dentition visual marking device 1 and the upper dentition visual marking device 2, and matching the intraoral scanning model 9 of the upper dentition to the actual spatial position of the upper dentition of the patient based on the relative position relation between the external curved surfaces of the upper dentition and the lower dentition in the occlusion state and the relative position and posture relation of the lower dentition visual marking device 1 and the upper dentition visual marking device 2; next, the position and posture of the lower dentition visual marking device 1 and the upper dentition visual marking device 2 in the coordinate system of the visual positioning instrument 4 when the patient performs the mandibular movement are acquired, and the position and posture of the lower dentition intraoral scan model 8 and the upper dentition intraoral scan model 9 are updated. The visual alignment apparatus 4 can display the positions of the lower intraoral scan model 8 and the upper intraoral scan model 9 in real time through the display screen 41 and dynamically update them.
Further, the electronic device may be in data communication with a mandibular motion simulator via the communication interface, the mandibular motion simulator may calculate the relative position and posture of the lower intraoral scan model 8 with respect to the upper intraoral scan model 9 based on the position and posture of the lower intraoral scan model 8 and the upper intraoral scan model 9 of the patient over the acquisition time period; then, based on the relative position and posture of the lower dentition intraoral scan model 8 with respect to the upper dentition intraoral scan model 9, the operation amount of the six-degree-of-freedom driving device 53 attached to the lower side of the lower mandible platform 52 is controlled to adjust the position and posture of the lower mandible platform 52, and the lower dentition model is moved to perform the physical simulation with the upper dentition as a reference (stationary).
As can be seen from the above embodiments, the present invention provides a mandibular motion capturing system, a capturing method and a simulation method, wherein the mandibular motion capturing system adheres the first visual marker 11 to the lower dentition of a patient via the flexible adhesive sheet 12, so that the first visual marker 11 can indirectly reflect the spatial position and posture of the lower dentition of the patient, and similarly, the second visual marker 21 is attached to the upper dentition of the patient or the craniofacial portion statically connected to the upper dentition via the mark support, so that the second visual marker 21 can indirectly reflect the spatial position and posture of the upper dentition of the patient, and then the spatial positions and postures of the first visual marker 11 and the second visual marker 21 are detected in real time via the visual aligner 4, so that the relative motions of the upper and lower jaws of the patient can be captured; meanwhile, the system also utilizes the visual probe 3 to match the scanning models in the upper and lower dentition mouths in the virtual image with the corresponding actual anatomical positions, so that the relative movement of the upper and lower jaws can be displayed in the form of the virtual image, and the system is used for guiding a user to complete various measurement, analysis and other subsequent operations. The mandibular movement capturing system improves the accuracy of capturing and recording mandibular movement, improves the convenience of operation, reduces the radiation dose to the patient and can simulate the relative movement of the upper and lower jaws in a real object dynamic manner.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.