CN103494653A - Method for digitally measuring dental jaw growth and development laws - Google Patents
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Abstract
Description
Translated fromChinesethe
技术领域technical field
本发明涉及计算机辅助口腔正畸治疗技术领域，特别是一种牙颌生长发育规律的数字化测量方法。The invention relates to the technical field of computer-aided orthodontic treatment, in particular to a digital measurement method for the growth and development law of teeth and jaws.
背景技术Background technique
牙颌的生长发育是口腔正畸学的重要理论基础之一。牙颌模型能够客观而完整地记录牙齿、齿槽骨、牙弓等的形态大小、病变、牙齿的排列、（牙合）曲线高低以及上下颌之间的关系等等，是研究儿童牙颌生长发育的重要方法。另外，不同种族、地域和性别的人群之间的牙颌形态结构具有各自的特点和规律，相关研究复杂多样。随着科技的进步，牙颌生长发育的探索研究由横断面观察转为长期的纵向研究，信息采集从传统二维发展为立体三维，再加上计算机技术日新月异的发展，各种功能软件的开发使用，一方面能够深入细致地观察颌骨的生长变化，另一方面通过对牙弓的测量可以了解儿童在不同年龄阶段的生长趋势，指导咬（牙合）诱导治疗的时机及治疗后的美观、功能、稳定性等等，并总结出正常人的生长发育规律，以帮助正畸医生临床上分析错（牙合）形成的因素、机理，并辅助进行诊断、治疗方案的设计以及治疗预后的评估。The growth and development of the jaw is one of the important theoretical foundations of orthodontics. Dental models can objectively and completely record the shape and size of teeth, alveolar bone, dental arch, etc., lesions, tooth arrangement, (occlusal) curve height, and the relationship between the upper and lower jaws, etc. important method of development. In addition, the morphological structure of teeth and jaws among people of different races, regions, and genders has its own characteristics and rules, and the related research is complex and diverse. With the advancement of science and technology, the exploration and research on the growth and development of teeth and jaws has changed from cross-sectional observation to long-term longitudinal research, information collection has developed from traditional two-dimensional to three-dimensional three-dimensional, coupled with the rapid development of computer technology, the development of various functional software Using it, on the one hand, it is possible to observe the growth changes of the jaw bone in depth and meticulously. On the other hand, through the measurement of the dental arch, it is possible to understand the growth trend of children at different ages, and guide the timing of bite (occlusal) induction treatment and the appearance after treatment. , function, stability, etc., and summarize the growth and development rules of normal people to help orthodontists analyze the factors and mechanisms of malocclusion (occlusion) clinically, and assist in diagnosis, design of treatment plans, and prognosis of treatment Evaluate.
正畸矫治效果主要受治疗方式和颅颌面部生长发育的影响。其中正畸医生一般比较了解与掌控正畸治疗对矫治效果的影响与作用，但却容易忽视或比较难以预测面部的生长变化，特别是单一个体，其生长时机、生长量以及生长方向对矫治效果和预后的影响。临床上的预测有一定的局限性，但仍需根据个体的颅颌面型结构特征以及此颅颌面型的生长变化平均值对其简单预测，理解其生长趋势对正畸的可能作用，设计治疗方案，把握矫治时机与正畸治疗时间，同时在正畸治疗过程中注意观察患者的生长变化，及时调整治疗计划及方案。充分挖掘其生长潜能，良好的生长可以有助于上下颌骨矢状关系的矫治，反之，则会增加矫治的难度。另外，根据患者的颅颌面型结构特征及生长阶段采用不同的保持方式。The effect of orthodontic treatment is mainly affected by the treatment method and the growth and development of the craniofacial region. Among them, orthodontists generally understand and control the influence and function of orthodontic treatment on the orthodontic effect, but it is easy to ignore or difficult to predict the growth changes of the face, especially for a single individual. and prognostic impact. Clinical prediction has certain limitations, but it is still necessary to make simple predictions based on the individual craniofacial structure characteristics and the average growth change of the craniofacial type, understand the possible role of its growth trend in orthodontics, and design Treatment plan, grasp the timing of correction and orthodontic treatment time, and at the same time pay attention to the growth and changes of the patient during the orthodontic treatment process, and adjust the treatment plan and plan in time. Fully tap its growth potential, good growth can help the correction of the sagittal relationship between the mandible and mandible, on the contrary, it will increase the difficulty of correction. In addition, different maintenance methods are adopted according to the patient's craniomaxillofacial structure characteristics and growth stage.
牙颌模型的测量主要有接触式测量和非接触式测量两种。接触式测量主要是通过各种测量仪器对牙颌模型进行直接接触测量，又分为手工接触测量和针触机械测量。手工测量是一种传统的测量方法，目前仍然被广泛使用，主要工具为：直尺、分规、游标卡尺和万能角度尺，它是一种二维测量方法，有着耗资少，适用于临床个别模型测量的优点，但由于使用工具坚硬，因而必须灌制硬石膏，同时需要大量的空间储存模型，此法操作费时费力，精度不高，不能测量弧线、曲面或任意平面间的夹角，无法对牙颌复杂几何形态作出全面、精确的定量描述和分析，难以对牙颌的复杂几何形态给出全面的描述与分析，重复性低。There are mainly two types of measurement of dental models: contact measurement and non-contact measurement. Contact measurement mainly uses various measuring instruments to directly contact the dental model, and is divided into manual contact measurement and needle contact mechanical measurement. Manual measurement is a traditional measurement method, which is still widely used. The main tools are: ruler, divider, vernier caliper and universal angle ruler. It is a two-dimensional measurement method with low cost and suitable for individual clinical models. The advantages of measurement, but because the tools used are hard, anhydrite must be poured, and a large amount of space is required to store the model. This method is time-consuming and laborious, and the accuracy is not high. It cannot measure the angle between arcs, curved surfaces or any planes. It is difficult to give a comprehensive description and analysis of the complex geometric shape of the jaw, and the repeatability is low.
针触机械测量是通过钢性的测量探头直接与被测模型表面接触并记录测量头所在测量点的X、Y、Z三维坐标，计算机通过传感器控制测量头以一定的步长，一定的行距进行自动测量并记录，根据各测量点的三维坐标利用计算机图形图像功能重建出牙颌模型。三维测量仪测量较手工测量更为准确，从三维角度反映模型特征，计算简便，减少了测量者的工作量，但测量探头可能无法达到测量盲区而造成的测量误差且需要的设备技术较复杂昂贵。Needle touch mechanical measurement is to directly contact the surface of the measured model through a rigid measuring probe and record the X, Y, Z three-dimensional coordinates of the measuring point where the measuring head is located. The computer controls the measuring head with a certain step length and a certain line spacing through the sensor. Automatically measure and record, and reconstruct the jaw model according to the three-dimensional coordinates of each measurement point using computer graphics and image functions. Three-dimensional measuring instrument measurement is more accurate than manual measurement. It reflects the characteristics of the model from a three-dimensional perspective. The calculation is simple and reduces the workload of the measurer. However, the measurement probe may not be able to reach the measurement blind area, resulting in measurement errors and the required equipment technology is more complex and expensive. .
非接触式测量是经过光学仪器和计算机软件重建出牙颌模型三维图像，其细微结构清晰可辨，不仅可任意旋转或平移以供观察和测量模型表面的各个部位，还可完成任意点的三维坐标提取，空间任意两点距离、任意角度、弧长和曲面面积等项的测量分析，使手工测量无法涉及的指标成为可能，而且方便、直观，数字化信息可存储于计算机内，有利于模型资料的保存和管理。Non-contact measurement is to reconstruct the three-dimensional image of the dental model through optical instruments and computer software. Coordinate extraction, measurement and analysis of the distance between any two points in space, any angle, arc length and surface area, etc., make it possible for indicators that cannot be involved in manual measurement, and it is convenient and intuitive. Digital information can be stored in the computer, which is beneficial to model data preservation and management.
在颅颌生长发育的研究中，由丹麦皇家医学院 
现阶段大多数研究是按照个别正常（牙合）的标准，针对某一地区筛选出不同年龄段正常（牙合）的牙颌石膏模型作为研究对象进行测定，进而研究牙颌生长发育的规律。此方法在利用不同个体、不同年龄的牙颌模型的各项数据进行纵向研究时，默认不同个体间是无差异的，仅根据正常（牙合）的标准选择单一个体，即认为所有样本是同质的，变化是均匀的且生长顺序是一致的，所有选择样本完全按照正常（牙合）规律生长。这种方法只有在大量样本的实验中才具有统计学意义，若样本有限或个体间本身差异较大，所测量数据不能够真实反应牙颌的生长发育情况。At this stage, most of the research is based on individual normal (occlusal) standards, screening out normal (occlusal) dental plaster models of different age groups in a certain area as the research object for measurement, and then studying the law of dental jaw growth and development. In this method, when using the data of different individuals and jaw models of different ages for longitudinal research, there is no difference between different individuals by default, and only a single individual is selected according to the normal (occlusal) standard, that is, all samples are considered to be the same. Qualitatively, the changes are uniform and the growth sequence is consistent, and all selected samples grow completely according to the normal (occlusal) law. This method has statistical significance only in experiments with a large number of samples. If the samples are limited or there are large differences among individuals, the measured data cannot truly reflect the growth and development of the jaw.
发明内容Contents of the invention
本发明的目的在于提供一种牙颌生长发育规律的数字化测量方法，该方法测量准确度高，测量结果稳定可靠，且测量过程简单易行。The purpose of the present invention is to provide a digital measurement method for the growth and development of teeth and jaws, the method has high measurement accuracy, stable and reliable measurement results, and the measurement process is simple and easy.
为实现上述目的，本发明的技术方案是：一种牙颌生长发育规律的数字化测量方法，连续跟踪并定期获取同一儿童群体的牙颌模型，从中筛选出正常（牙合）的牙颌模型，利用牙颌腭皱襞中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点位置关系配准同一个体不同生长发育阶段的牙颌模型，分别以前一阶段牙颌模型的牙弓曲线为基准测量下一阶段颌骨的变化量数据，最后进行统计分析确定该地区正常牙颌生长发育规律。In order to achieve the above purpose, the technical solution of the present invention is: a digital measurement method for the growth and development of teeth and jaws, which continuously tracks and regularly acquires the teeth and jaws models of the same group of children, and selects normal (occlusal) teeth and jaws models from them. Using the three-point position relationship between the midpoint of the central incisor papilla, the midpoint of the left first palatine fold, and the midpoint of the right first palatine fold, the dental models of the same individual at different growth and development stages were registered. The dental arch curve of the model is used as a benchmark to measure the change data of the jaw in the next stage, and finally statistical analysis is carried out to determine the normal growth and development of the jaw in this area.
进一步的，所述牙颌生长发育规律的数字化测量方法，按以下步骤进行：Further, the digital measurement method of the jaw growth and development law is carried out according to the following steps:
（1）从儿童乳牙期开始，连续跟踪同一儿童群体并每年获取其牙颌模型，按正常（牙合）的标准严格筛选出若干正常（牙合）个体，获得同一个体不同年份的牙颌模型；(1) Starting from the deciduous period of children, continuously track the same group of children and obtain their dental models every year, strictly select a number of normal (occlusal) individuals according to the normal (occlusal) standard, and obtain dental models of the same individual in different years ;
（2）按常规方法获得正常（牙合）个体的牙颌物理模型，通过数字光栅方法获取牙颌数字化模型；(2) Obtain the physical model of the teeth and jaws of normal (occlusion) individuals according to the conventional method, and obtain the digital model of the teeth and jaws through the digital raster method;
（3）对所述牙颌数字化模型进行处理和重构，获得牙颌三维模型；(3) Process and reconstruct the digital model of the jaw to obtain a three-dimensional model of the jaw;
（4）依据同一个体不同生长发育阶段的牙颌三维模型，利用3-matic正向设计软件，根据牙颌腭皱襞中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点相对位置稳定的原理进行配准，在同一坐标系下建立同一个体不同年份牙颌模型的相对位置关系；(4) Based on the three-dimensional models of the teeth and jaws at different growth and development stages of the same individual, using 3-matic forward design software, according to the midpoint of the central incisor papilla in the maxillofacial and palatal folds, the midpoint of the left first palatal fold, and the right first palatal fold The principle of relative position stability of the three midpoints is used for registration, and the relative position relationship of the dental models of the same individual in different years is established under the same coordinate system;
（5）根据曲率分析结果标记出上颌模型左右两颗中切牙、侧切牙、尖牙、第一前磨牙、第二前磨牙、第一磨牙处的参考点，建立各阶段牙颌模型的（牙合）平面；(5) According to the results of curvature analysis, mark the reference points of the left and right central incisors, lateral incisors, canines, first premolars, second premolars, and first molars of the maxillary model, and establish the jaw models of each stage ( occlusal) plane;
（6）将以上各参考点投影到（牙合）平面，建立牙弓曲线，根据牙弓曲线的位置测量相应数据，各项测量均以前一阶段牙颌模型为基准；(6) Project the above reference points to the (occlusal) plane, establish the dental arch curve, and measure the corresponding data according to the position of the dental arch curve. All measurements are based on the dental model of the previous stage;
（7）对各项数据进行统计分析，确定该地区正常牙颌生长发育规律。(7) Statistical analysis was carried out on various data to determine the growth and development law of normal teeth and jaws in this area.
进一步的，步骤（3）中，对所述牙颌数字化模型进行处理和重构，获得牙颌三维模型，包括如下步骤：Further, in step (3), the digital model of the jaw is processed and reconstructed to obtain a three-dimensional model of the jaw, including the following steps:
3.1 数据采集及配准：通过三维扫描仪获取牙颌模型表面离散点的几何坐标数据，从多个视角对牙颌模型进行数据采集，再通过多视数据配准技术对各个视角获得的数据进行坐标统一；3.1 Data collection and registration: The geometric coordinate data of discrete points on the surface of the dental model are obtained by a 3D scanner, and the data of the dental model is collected from multiple perspectives. Unified coordinates;
3.2 数据预处理：对配准后的点云数据进行预处理，包括去除杂点、去除噪声点、数据插补、数据平滑、数据精简、数据分割等，以保证后续曲面重构的质量；3.2 Data preprocessing: Preprocessing the registered point cloud data, including removing noise points, removing noise points, data interpolation, data smoothing, data reduction, data segmentation, etc., to ensure the quality of subsequent surface reconstruction;
3.3 曲面结构特征重构：利用预处理后的点云数据，通过差值或拟合构建三维模型以逼近牙颌原型；3.3 Surface structural feature reconstruction: use the preprocessed point cloud data to construct a 3D model through difference or fitting to approximate the dental prototype;
3.4 模型修正：对获得的三维模型中存在的少量细小的孔洞进行填补，并进行修整、光顺等处理，获得完整的牙颌三维数字化模型。3.4 Model correction: fill in a small number of small holes in the obtained 3D model, and perform trimming and smoothing to obtain a complete 3D digital model of the jaw.
进一步的，所述牙颌模型选取的是同一个体在不同生长发育阶段的模型，以消除不同个体间的差异，保证同一样本是同质的，生长发育变化是均匀的且生长顺序是一致的。Further, the jaw model is selected from the same individual at different growth and development stages, so as to eliminate the differences among different individuals and ensure that the same sample is homogeneous, the growth and development changes are uniform, and the growth sequence is consistent.
进一步的，同一个体不同生长发育阶段的牙颌模型的配准是以牙颌腭皱襞中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点相对位置稳定的原理为基础。Furthermore, the registration of the dental and maxillary models at different growth and development stages of the same individual is based on the relative positions of the midpoint of the central incisor papilla of the maxillofacial fold, the midpoint of the left first palatal fold, and the midpoint of the right first palatal fold. principle-based.
进一步的，所述牙颌模型生长规律相关数据的测量是在3-matic正向设计软件中所建立的牙弓曲面上进行，各项测量均以前一次模型为基准。Further, the measurement of data related to the growth law of the jaw model is carried out on the curved surface of the dental arch established in the 3-matic forward design software, and all measurements are based on the previous model.
相较于现有技术，本发明具有如下优点：Compared with the prior art, the present invention has the following advantages:
1）从乳牙期儿童开始跟踪，在乳牙期之后的替牙期，预防性矫治及阻断性矫治是正畸治疗的重要部分，它可以阻断替牙期儿童错（牙合）畸形的进一步发展，并且引导（牙合）、颌、面的正常生长，减少错（牙合）畸形对儿童心理造成的不良影响，为恒牙期的（牙合）建立提供基础和便利。因此对替牙期的研究具有重要的临床参考和指导意义。1) Follow up children in the primary dentition period. Preventive orthodontics and interruptive orthodontics are an important part of orthodontic treatment in the replacement dentition period after the deciduous dentition period. Development, and guide the normal growth of (occlusal), jaw, and face, reduce the negative impact of malocclusion (occlusal) on children's psychology, and provide the basis and convenience for the establishment of permanent dentition (occlusal). Therefore, the research on the replacement dentition period has important clinical reference and guiding significance.
2）根据同一个体不同生长发育阶段的牙颌模型为基础进行相关数据测量，以消除不同个体间的差异，保证数据真实可靠。2) Based on the jaw model of the same individual at different growth and development stages, relevant data measurement is carried out to eliminate the differences between different individuals and ensure the authenticity and reliability of the data.
3）在同一个体不同生长发育阶段牙颌模型坐标统一上，根据上颌腭皱襞中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点相对位置稳定的原理进行配准，该方法简单易行，可靠度高。3) On the unification of the coordinates of the dental and jaw models at different growth and development stages of the same individual, the relative positions of the midpoint of the papilla of the central incisor in the maxillary palatine fold, the midpoint of the left first palatine fold, and the midpoint of the right first palatine fold are relatively stable. Registration, the method is simple and easy, and has high reliability.
4）该牙颌生长发育规律的测量方法既能通过同一时期正常（牙合）群体均值比较后判断同一年龄组的牙颌结构特征进行横向调查，又能通过一个或几个年龄组的样本在不同的发展阶段的牙颌结构进行纵向比较，反映个体牙颌骨的生长趋势，评估牙—牙槽位置和软硬组织的生长变化，分析错（牙合）畸形形成的机制、部位和程度。4) The method of measuring the growth and development of teeth and jaws can not only judge the structure characteristics of teeth and jaws in the same age group by comparing the mean values of normal (occlusion) groups in the same period for horizontal investigation, but also can use samples from one or several age groups in the same period. Longitudinal comparison of dental and jaw structures at different development stages reflects the growth trend of individual dental and jaw bones, evaluates tooth-alveolar position and growth changes of soft and hard tissues, and analyzes the mechanism, location and degree of malocclusion (occlusal) deformity.
5）以三角面片曲面网格模型保存牙颌模型原始数据，并在3-matic软件中实现各项数据精确测量，将牙颌模型原始数据储存在计算机内，利于模型资料的保存、调用和管理，避免牙颌石膏模型由于长期存放导致的变形和磨损。同时，在3-matic软件中不仅可任意旋转或平移以供观察和测量牙颌模型表面的各个部位，还可完成任意点的三维坐标提取，空间任意两点距离、任意角度、弧长和曲面面积等项的测量分析，实现稳定、快速、精确的测量。5) Save the original data of the dental model with the triangular surface mesh model, and realize accurate measurement of various data in the 3-matic software, and store the original data of the dental model in the computer, which is convenient for the preservation, recall and retrieval of model data. Management to avoid deformation and wear of dental plaster models due to long-term storage. At the same time, in the 3-matic software, not only can any rotation or translation be used for observation and measurement of various parts of the surface of the dental model, but also the extraction of three-dimensional coordinates of any point, the distance between any two points in space, any angle, arc length and curved surface Measurement and analysis of area and other items to achieve stable, fast and accurate measurement.
附图说明Description of drawings
图1是本发明实施例的流程图。Fig. 1 is a flowchart of an embodiment of the present invention.
图2是本发明实施例中牙颌模型重叠三角形示意图。Fig. 2 is a schematic diagram of overlapping triangles of the jaw model in the embodiment of the present invention.
图3是本发明实施例中各年份牙颌模型配准示意图。Fig. 3 is a schematic diagram of the registration of dental and jaw models in various years in the embodiment of the present invention.
图4是本发明实施例中牙颌模型上参考点选取示意图。Fig. 4 is a schematic diagram of selection of reference points on the jaw model in the embodiment of the present invention.
图5是本发明实施例中牙颌模型牙弓曲线对比示意图。Fig. 5 is a schematic diagram showing the comparison of dental arch curves of the jaw model in the embodiment of the present invention.
具体实施方式Detailed ways
本发明牙颌生长发育规律的数字化测量方法，连续跟踪并定期获取同一儿童群体的牙颌模型，从中筛选出正常（牙合）的牙颌模型，利用牙颌腭皱襞中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点位置关系配准同一个体不同生长发育阶段的牙颌模型，分别以前一阶段牙颌模型的牙弓曲线为基准测量下一阶段颌骨的变化量数据，最后进行统计分析确定该地区正常牙颌生长发育规律。这里需要说明的是，上述（牙合）表示一个字，由“牙”和“合”组成，左边是“牙”，右边是“合”，是口腔医学中特有的一个文字，由于无法通过输入法输出，因此，借鉴该领域参考文献中的一般写法，采用（牙合）表示该字。The digital measurement method for the growth and development of the teeth and jaws of the present invention continuously tracks and regularly acquires the teeth and jaws models of the same group of children, from which the normal (occlusal) teeth and jaws models are screened out, and the midpoint of the central incisor papilla, The three-point relationship between the midpoint of the left first palatal fold and the midpoint of the right first palatal fold is registered to the dental model of the same individual at different growth and development stages, and the dental arch curve of the previous stage dental model is used as the reference to measure the jaw model of the next stage. Finally, statistical analysis was carried out to determine the normal growth and development of teeth and jaws in this area. What needs to be explained here is that the above-mentioned (occlusion) means a word, which is composed of "tooth" and "he", with "tooth" on the left and "he" on the right. Therefore, the general writing in the references in this field is used for reference, and (occlusal) is used to represent the word.
具体的，如图1所示，本发明牙颌生长发育规律的数字化测量方法，按以下步骤进行：Specifically, as shown in Figure 1, the digital measurement method of the jaw growth and development law of the present invention is carried out according to the following steps:
（1）从儿童乳牙期开始，连续跟踪同一儿童群体并每年获取其牙颌模型，按正常（牙合）的标准严格筛选出若干正常（牙合）个体，获得同一个体不同年份的牙颌模型；(1) Starting from the deciduous period of children, continuously track the same group of children and obtain their dental models every year, strictly select a number of normal (occlusal) individuals according to the normal (occlusal) standard, and obtain dental models of the same individual in different years ;
（2）由牙科医生按常规方法（即用藻酸盐填充口内，获得牙槽的阴模，再用石膏填充阴模）获得正常（牙合）个体的牙颌物理模型，通过数字光栅方法获取牙颌数字化模型；，通过数字光栅方法获取牙颌数字化模型，其基本原理是：把编码结构的光栅投影到石膏实体模型的表面，光栅条纹会随着实体表面的高度起伏发生弯曲和变形，经物体表面反射产生的变形光栅条纹包含了物体的表面形状信息，然后借助两个高分辨率CCD相机根据双目视觉原理，从两个不同角度同步摄取变形的光栅条纹，之后对不同方向的变形光栅进行分析即可获得物体的三维外形点云数据；(2) The physical model of normal (occlusal) individuals is obtained by the dentist according to the conventional method (that is, filling the mouth with alginate, obtaining the female model of the alveolar, and then filling the female model with plaster), which is obtained by digital raster method The digital model of teeth and jaws; the digital model of teeth and jaws is obtained through the digital grating method. The basic principle is: the grating of the coding structure is projected onto the surface of the plaster solid model, and the grating stripes will bend and deform with the height of the solid surface. The deformed grating stripes generated by the surface reflection of the object contain the surface shape information of the object, and then use two high-resolution CCD cameras to capture the deformed grating stripes synchronously from two different angles according to the principle of binocular vision, and then analyze the deformed grating stripes in different directions The three-dimensional shape point cloud data of the object can be obtained through analysis;
（3）对所述牙颌数字化模型进行处理和重构，获得牙颌三维模型，包括如下步骤：(3) Process and reconstruct the digital model of the jaw to obtain a three-dimensional model of the jaw, including the following steps:
3.1 数据采集及配准：通过三维扫描仪获取牙颌模型表面离散点的几何坐标数据，从多个视角对模型进行数据采集，再通过多视数据配准技术对各个视角获得的数据进行坐标统一；3.1 Data acquisition and registration: Obtain the geometric coordinate data of discrete points on the surface of the dental model through a 3D scanner, collect data on the model from multiple perspectives, and then unify the coordinates of the data obtained from each perspective through multi-view data registration technology ;
3.2 数据预处理：通过上述方法获得石膏模型表面数据即点云数据，由于设备的固有缺陷、测量方法、零件表面的影响，采集到的数据中会有坏点即噪声点，可能使该点及其周围的曲面片偏离原曲面，所以应对获取的配准后的整体点云数据进行预处理。预处理工作包括：去除杂点、去除噪声点、数据插补、数据平滑、数据精简、数据分割等，以保证后续曲面重构的质量；3.2 Data preprocessing: The surface data of the plaster model is obtained through the above method, that is, the point cloud data. Due to the inherent defects of the equipment, the measurement method, and the influence of the surface of the part, there will be bad points in the collected data, that is, noise points, which may cause the point and The surrounding surface patches deviate from the original surface, so preprocessing should be performed on the obtained registered point cloud data. Preprocessing work includes: removing noise points, removing noise points, data interpolation, data smoothing, data reduction, data segmentation, etc., to ensure the quality of subsequent surface reconstruction;
3.3 曲面结构特征重构：结构特征重构是利用牙颌表面的点云数据，通过差值或拟合构建一个近似模型来逼近牙颌原型。一种曲面重建方法是先将数据点通过插值或逼近拟合成曲线，再利用造型工具将曲线构件成曲面；另一种方法则是直接对测量数据点进行曲面片拟合，再经过对曲面片的过渡、拼接、裁剪等操作完成结构特征模型的构建；3.3 Surface structural feature reconstruction: Structural feature reconstruction uses the point cloud data of the dental surface to construct an approximate model through difference or fitting to approximate the dental prototype. One surface reconstruction method is to firstly fit the data points into a curve through interpolation or approximation, and then use the modeling tool to construct the curve into a surface; the other method is to directly perform surface patch fitting on the measured data points, and then through the surface The transition, splicing, cutting and other operations of the slices complete the construction of the structural feature model;
3.4 模型修正：曲面结构特征重构获得的三维模型存在少量细小的孔洞，必须对孔洞进行填补，再进行修整、光顺等处理，获得完整的牙颌石膏三维数字化模型；3.4 Model correction: There are a small number of small holes in the 3D model obtained by reconstructing the surface structural features, which must be filled, and then trimmed and smoothed to obtain a complete 3D digital model of dental and jaw plaster;
（4）依据同一个体不同生长发育阶段的牙颌三维模型，利用3-matic正向设计软件，根据牙颌腭皱襞中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点相对位置稳定的原理进行配准，在同一坐标系下建立同一个体不同年份牙颌模型的相对位置关系；(4) Based on the three-dimensional models of the teeth and jaws at different growth and development stages of the same individual, using 3-matic forward design software, according to the midpoint of the central incisor papilla in the maxillofacial and palatal folds, the midpoint of the left first palatal fold, and the right first palatal fold The principle of relative position stability of the three midpoints is used for registration, and the relative position relationship of the dental models of the same individual in different years is established under the same coordinate system;
（5）根据曲率分析结果标记出上颌模型左右两颗中切牙、侧切牙、尖牙、第一前磨牙、第二前磨牙、第一磨牙处的参考点，建立各阶段牙颌模型的（牙合）平面；(5) According to the results of curvature analysis, mark the reference points of the left and right central incisors, lateral incisors, canines, first premolars, second premolars, and first molars of the maxillary model, and establish the jaw models of each stage ( occlusal) plane;
（6）将以上各参考点投影到（牙合）平面，建立牙弓曲线，根据牙弓曲线的位置测量相应数据，各项测量均以前一阶段牙颌模型为基准；(6) Project the above reference points to the (occlusal) plane, establish the dental arch curve, and measure the corresponding data according to the position of the dental arch curve. All measurements are based on the dental model of the previous stage;
（7）对各项数据进行统计分析，探讨各项数据指标的内在联系，确定该地区正常牙颌生长发育规律。(7) Perform statistical analysis on various data, explore the internal relationship of various data indicators, and determine the normal growth and development of jaws in this area.
所述牙颌模型选取的是同一个体在不同生长发育阶段的模型，以消除不同个体间的差异，保证同一样本是同质的，生长发育变化是均匀的且生长顺序是一致的。The tooth and jaw models are selected from the same individual at different growth and development stages to eliminate the differences between different individuals and ensure that the same sample is homogeneous, the growth and development changes are uniform, and the growth sequence is consistent.
同一个体不同生长发育阶段的牙颌模型的配准是以牙颌腭皱襞中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点相对位置稳定的原理为基础。The registration of dental models of the same individual at different growth and development stages is based on the principle that the relative positions of the midpoint of the central incisor papilla, the midpoint of the left first palatine fold, and the midpoint of the right first palatine fold are relatively stable. .
所述牙颌模型生长规律相关数据的测量是在3-matic正向设计软件中所建立的牙弓曲面上进行，各项测量均以前一次模型为基准。The measurement of the data related to the growth law of the jaw model is carried out on the curved surface of the dental arch established in the 3-matic forward design software, and all measurements are based on the previous model.
下面结合具体实施例对本发明作进一步说明。The present invention will be further described below in conjunction with specific examples.
在本实施例中，本发明牙颌生长发育规律的数字化测量方法，按以下步骤进行：In the present embodiment, the digital measurement method of the jaw growth and development law of the present invention is carried out according to the following steps:
（1）跟踪乳牙期儿童群体，详细记录姓名、年龄、性别等信息。乳牙期之后的替牙期(6-12岁)是牙（牙合）与颌骨发育的快速期，也是牙、颌面发育的关键时期。在此期间，牙齿和颜面都不断发育，从第一颗恒牙的萌出到混合牙列的形成，再到恒牙列建立咬（牙合）关系，牙颌以及牙弓都需经历复杂的变化过程。在这个过程中，建立正常的咬（牙合）关系，不仅与牙齿的正常发育、正常萌出及正常到位有关，还有赖于牙槽骨、颌骨以及整个面、颅的正常发育，同时也受遗传、代谢、营养、内分泌及外围环境等诸多因素的影响，所以牙（牙合）发育是机体及其外界环境诸多因素共同影响的一个复杂过程。以上诸多因素均可对牙及牙弓的生长发育造成影响，从而易导致错（牙合）畸形的发生。在替牙期，预防性矫治及阻断性矫治是正畸治疗的重要部分，它可以阻断替牙期儿童错（牙合）畸形的进一步发展，并且引导（牙合）、颌、面的正常生长，减少错（牙合）畸形对儿童心理造成的不良影响，为恒牙期的牙颌的建立提供基础和便利。判断替牙期咬（牙合）关系不仅要从形态及功能上进行观察和分析，而且要对颌骨、牙弓等生长发育特征有深入的理解，因此本发明从替牙期开始研究具有重要的临床参考和指导意义。(1) Follow up the group of children with deciduous teeth, and record the name, age, gender and other information in detail. The replacement dentition period (6-12 years old) after the deciduous period is a rapid period for the development of teeth (occlusal) and jaws, and also a critical period for the development of teeth and maxillofacial. During this period, the teeth and the face are constantly developing, from the eruption of the first permanent tooth to the formation of the mixed dentition, and then to the establishment of the occlusal (occlusal) relationship of the permanent dentition, the jaw and the dental arch have to undergo complex changes process. In this process, the establishment of a normal occlusal relationship is not only related to the normal development, normal eruption and normal positioning of the teeth, but also depends on the normal development of the alveolar bone, jaw bone, and the entire face and skull. Influenced by many factors such as heredity, metabolism, nutrition, endocrine and peripheral environment, dentition (occlusion) development is a complex process jointly affected by many factors in the body and its external environment. Many of the above factors can affect the growth and development of teeth and dental arches, which can easily lead to the occurrence of malocclusion. Preventive orthodontics and blocking orthodontics are an important part of orthodontic treatment during the replacement dentition period. It can block the further development of malocclusion (occlusion) in children during the replacement dentition period, and guide the development of (occlusion), jaw, and face. Normal growth, reduce the negative impact of malocclusion (occlusion) on children's psychology, and provide the foundation and convenience for the establishment of permanent teeth. Judging the occlusion (occlusal) relationship in the replacement dentition requires not only observing and analyzing the shape and function, but also having a deep understanding of the growth and development characteristics of the jaw, dental arch, etc. Clinical reference and guiding significance.
（2）筛选正常（牙合）个体并翻制牙颌石膏模型。正常（牙合）选择标准为：颜面对称，无畸形，正侧面外形协调，无明显前突或后缩，唇功能良好、混合牙列且牙列完整、第一磨牙及尖牙为中性关系、覆（牙合）覆盖正常、上下颌中线对齐，牙齿排列基本整齐，无拥挤和间隙，无正畸治疗史、牙体完整，没有大面积的修复，无严重的牙齿近远中和面磨耗，无锥形牙，融合牙等牙齿形态和数目的异常。对每个正常（牙合）合个体选取大小合适的托盘，用藻酸盐印模材料制取上下颌印模，正常（牙合）牙颌模型的制作标准为：牙列完整，准确、清晰，无气泡、包括牙、牙弓、基骨、移行皱襞、唇系带等部分、整齐，美观并能反映出患者的（牙合）情况，最后对模型进行边缘修整，模型底座与平面平行形成标准的正畸记存模型并编号保存。(2) Screen normal (occlusal) individuals and make plaster models of the teeth and jaws. Normal (occlusal) selection criteria are: facial symmetry, no deformity, coordinated front and side profile, no obvious protrusion or retraction, good lip function, mixed dentition and complete dentition, neutral relationship between first molars and canines , overbite (occlusal) coverage is normal, the midline of the upper and lower jaws is aligned, the teeth are arranged basically neatly, no crowding and gaps, no history of orthodontic treatment, complete teeth, no large-scale repairs, and no serious near-distal and surface wear of teeth , No tapered teeth, fused teeth and other abnormalities in the shape and number of teeth. For each normal (occlusal) individual, select a tray of appropriate size, and use alginate impression material to make an impression of the upper and lower jaws. The standard for making a normal (occlusal) dental model is: the dentition is complete, accurate and clear , no air bubbles, including teeth, dental arch, base bone, transitional folds, lip frenulum and other parts, neat, beautiful and can reflect the patient's (occlusal) condition, and finally the edge of the model is trimmed, and the model base is formed parallel to the plane The standard orthodontic model is recorded and numbered.
（3）三维数据采集。利用高精度三维数字光栅方法扫描得到石膏模型表面的点云数据，使用逆向工程软件处理扫描得到的点云数据，经过网格化后得到三维网格模型，由于在测量中不可避免的遇到噪声、扫描盲区等缺陷，需要对得到的模型进行光顺、修补等处理，最终得到比较理想的三维数字模型。具体包括以下四个步骤：通过三维扫描仪获取牙颌模型表面离散点的几何坐标数据，从多个视角对模型进行数据采集，再通过多视数据配准技术对各个视角获得的数据进行坐标统一；通过上述方法获得石膏模型表面数据即点云数据，由于设备的固有缺陷、测量方法、零件表面的影响，采集到的数据中会有坏点即噪声点，可能使该点及其周围的曲面片偏离原曲面，所以应对获取的配准后的整体点云数据进行预处理。预处理工作包括：去除杂点、去除噪声点、数据插补、数据平滑、数据精简、数据分割等，以保证后续曲面重构的质量；对经过数据处理的整体点云数据进行曲面重构，利用牙颌表面的点云数据，通过差值或拟合构建一个近似模型来逼近牙颌原型，再经过对曲面片的过渡、拼接、裁剪等操作完成结构特征模型的构建；曲面结构特征重构获得的三维模型存在少量细小的孔洞，必须对孔洞进行填补，再进行修整、光顺等处理，获得完整的牙颌石膏三维数字化模型。(3) Three-dimensional data acquisition. The point cloud data on the surface of the plaster model is scanned by high-precision three-dimensional digital raster method, and the scanned point cloud data is processed by reverse engineering software, and the three-dimensional mesh model is obtained after gridding. Due to the inevitable noise encountered in the measurement , scanning blind spots and other defects, it is necessary to smooth and repair the obtained model, and finally obtain an ideal 3D digital model. It specifically includes the following four steps: obtain the geometric coordinate data of discrete points on the surface of the dental model through a 3D scanner, collect data on the model from multiple perspectives, and then unify the coordinates of the data obtained from each perspective through multi-view data registration technology ; Obtain the surface data of the plaster model through the above method, that is, the point cloud data. Due to the inherent defects of the equipment, the measurement method, and the influence of the part surface, there will be bad points in the collected data, that is, noise points, which may make the point and the surrounding surface The slice deviates from the original surface, so the obtained registered point cloud data should be preprocessed. Preprocessing work includes: removing noise points, removing noise points, data interpolation, data smoothing, data reduction, data segmentation, etc., to ensure the quality of subsequent surface reconstruction; surface reconstruction of the overall point cloud data after data processing, Using the point cloud data on the surface of the jaw, construct an approximate model through difference or fitting to approximate the prototype of the jaw, and then complete the construction of the structural feature model through operations such as transition, splicing, and cutting of the curved surface; reconstruct the structural features of the curved surface There are a small number of small holes in the obtained 3D model, which must be filled, trimmed, and smoothed to obtain a complete 3D digital model of dental and jaw plaster.
（4）同一个体不同年份模型的配准。数字化三维上颌模型的重叠依赖于稳定的解剖参考部位，腭皱襞是上颌特有的解剖结构，前人的大量研究提示腭皱璧，尤其是第三腭皱襞，在生长发育和正畸治疗过程中矢状方向和垂直方向上的位置变化很小，可以认为是稳定的。以上颌模型腭皱襞中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点相对位置稳定的原理进行数据配准，实现坐标系下同一个体不同生长阶段牙颌模型相对位置关系的统一。首先在牙颌模型上进行曲率分析，根据曲率分析的结果分别在牙颌腭皱襞中切牙乳头处、左第一腭皱襞处、右第一腭皱襞处三点确定曲率较大的点作为中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点，分别连接中切牙乳头中点、左第一腭皱襞中点、右第一腭皱襞中点三点构造投影三角形，将上述三角形区域投影到牙颌模型中，如图2所示，建立与牙颌模型相对应的重叠三角形区域。同理，构建出其余不同年龄阶段牙颌模型的重叠区域，分别以上一年模型的重叠区域为基准进行全局配准，最后得到不同年龄阶段各模型的配准总图，如图3。(4) Registration of models of the same individual in different years. The overlapping of the digital 3D maxillary model depends on a stable anatomical reference position. The palatal folds are a unique anatomical structure of the maxilla. A large number of previous studies have suggested that the palatal folds, especially the third palatal folds, have a sagittal shape during growth and development and orthodontic treatment. The position changes in the orientation and vertical directions are small and can be considered stable. Based on the principle of stable relative positions of the midpoint of the papilla of the central incisor papilla of the palatine fold, the midpoint of the left first palatine fold, and the midpoint of the right first palatine fold of the maxillary model, the data registration is carried out to realize the different growth stages of the teeth of the same individual under the coordinate system Unification of the relative positional relationship of the model. Firstly, the curvature analysis was performed on the jaw model, and according to the results of the curvature analysis, three points with larger curvature were determined at the central incisor papilla, the left first palatal fold, and the right first palatal fold as the middle point. The midpoint of the incisor papilla, the midpoint of the left first palatal fold, and the midpoint of the right first palatal fold are respectively connected to the midpoint of the central incisor papilla, the midpoint of the left first palatine fold, and the midpoint of the right first palatal fold. Triangle, project the above triangular area into the jaw model, as shown in Fig. 2, establish an overlapping triangle area corresponding to the jaw model. In the same way, the overlapping areas of other dental and jaw models of different age stages were constructed, and global registration was performed based on the overlapping area of the previous year's model, and finally the general registration map of each model at different age stages was obtained, as shown in Figure 3.
（5）选取模型参考点并建立各模型合平面。对各牙颌模型进行曲率分析，其中乳牙阶段的三维牙颌模型上根据曲率分析的结果交互选取10个参考点：左右中切牙切缘中点分别为第1、2点，左右侧切牙切缘中点分别为第3、4点，左右尖牙牙尖分别为第5、6点，左右第一前磨牙颊侧尖点分别为第7、8点，左右第二前磨牙颊侧尖点分别为第9、10点。在恒牙阶段的三维牙颌模型上交互选取12个参考点：左右中切牙切缘中点分别为第1、2点，左右侧切牙切缘中点分别为第3、4点，左右尖牙牙尖分别为第5、6点，左右第一前磨牙颊侧尖点分别为第7、8点，左右第二前磨牙颊侧尖点分别为第9、10点，左右第一磨牙颊沟中点分别为第11、12点，参考点选取后再以趋势面分析方法确定各模型牙弓曲面，如图4。(5) Select model reference points and establish joint planes for each model. Curvature analysis was performed on each dental model, and 10 reference points were interactively selected on the three-dimensional dental model of the deciduous stage according to the results of the curvature analysis: the midpoints of the incisal margins of the left and right central incisors were the first and second points respectively, and the left and right lateral incisors The midpoints of the margin are the 3rd and 4th points respectively, the cusps of the left and right canines are respectively the 5th and 6th points, the buccal cusps of the left and right first premolars are respectively the 7th and 8th points, and the buccal cusps of the left and right second premolars are respectively For
（6）投影获得牙弓曲线。将自身三维模型上选中的10个或12个参考点映射到自身模型的牙弓曲面上，并在该二维平面上用多项式拟合映射点得到牙弓曲线，同理，再将自身三维模型上选中的10个或12个参考点映射到上一模型的牙弓曲线面上，拟合映射点得到该牙弓曲面的第二条牙弓曲线，如图5。(6) Project to obtain the dental arch curve. Map the selected 10 or 12 reference points on the self-3D model to the curved surface of the dental arch of the self-model, and use polynomial fitting on the two-dimensional plane to obtain the dental arch curve. Similarly, the self-3D model The 10 or 12 reference points selected above are mapped to the curved surface of the dental arch of the previous model, and the second dental arch curve of the curved surface of the dental arch is obtained by fitting the mapped points, as shown in Figure 5.
（7）测量记录并统计分析。在上述牙弓曲面上，分别测量以下数据：在牙颌模型自身属性上需测量牙弓宽度和牙弓长度，其中牙弓宽度包括牙弓前段宽度和牙弓后段宽度，牙弓前段宽度即上颌两侧尖牙牙尖间的距离，牙弓后段宽度即上颌两侧第一磨牙颊沟中点间距离；牙弓长度包括牙弓前段长度和牙弓后段长度，牙弓前段长度即以上颌两侧尖牙牙尖间连线为底线，由中切牙近中接触点向底线所作垂线的距离，牙弓后段长度即以上颌两侧第一磨牙颊沟中点间连线为底线，由中切牙近中接触点向底线所作垂线的距离，其中中切牙近中接触点可根据左右中切牙切缘中点确定，牙弓长度的测量可先由中切牙近中接触点和左右两侧第一磨牙颊沟中点三点确定出该平面，并在此平面上作出相应的垂线并测量其长度；在牙颌模型相邻年份的对比测量上，需测量以下12组数据：上颌模型左右中切牙切缘中点分别相对于上一模型中切牙相应位置点间的距离、左右侧切牙切缘中点分别相对于上一模型中侧牙相应位置点间的距离、左右尖牙牙尖分别相对于上一模型中尖牙相应位置点间的距离、左右第一、二前磨牙颊侧尖点分别相对于上一模型中前磨牙相应位置点间的距离、左右第一磨牙颊沟中点分别相对于上一模型第一磨牙相应位置点间的距离。上述距离中若第一磨牙没萌出则无需测量相应数据。重复本步骤，测量出同一个体不同生长发育阶段各模型的相应数据。重复步骤（2）～（7）针对每个个体进行上述方法的测量，得到牙颌生长发育变化的原始数据资料，最后进行统计分析总结出该地区正常人牙颌生长发育的规律。(7) Measurement records and statistical analysis. On the curved surface of the above-mentioned dental arch, the following data are measured respectively: the width and length of the dental arch need to be measured on the properties of the dental jaw model itself, where the width of the dental arch includes the width of the front section of the dental arch and the width of the back section of the dental arch, and the width of the front section of the dental arch is The distance between the cusps of the canines on both sides of the upper jaw, the width of the posterior segment of the dental arch is the distance between the midpoints of the buccal grooves of the first molars on both sides of the upper jaw; the length of the dental arch includes the length of the front segment of the dental arch and the length of the rear segment of the dental arch, and the length of the front segment of the dental arch is above The base line is the line between the cusps of the canines on both sides of the jaw, the distance from the vertical line drawn from the mesial contact point of the central incisor to the base line, and the length of the posterior segment of the dental arch is the base line between the midpoints of the buccal grooves of the first molars on both sides of the maxilla , the distance of the vertical line drawn from the mesial contact point of the central incisors to the bottom line. The contact point and the midpoint of the buccal sulcus of the first molar on the left and right sides determine the plane, draw a corresponding vertical line on this plane and measure its length; in the comparative measurement of the adjacent years of the dental model, the following measurements are required 12 sets of data: the distance between the midpoints of the left and right central incisors of the maxillary model and the corresponding positions of the central incisors in the previous model, the distance between the midpoints of the left and right lateral incisors and the corresponding positions of the lateral teeth in the previous model The distance between the cusps of the left and right canines and the corresponding points of the canines in the previous model, the distance between the buccal cusps of the left and right first and second premolars respectively relative to the corresponding points of the premolars in the previous model, The distance between the midpoints of the buccal grooves of the left and right first molars and the corresponding points of the first molars of the previous model. If the first molars have not erupted in the above distance, there is no need to measure the corresponding data. Repeat this step to measure the corresponding data of each model at different growth and development stages of the same individual. Repeat steps (2) to (7) to measure the above method for each individual to obtain the original data on the growth and development of the teeth and jaws, and finally perform statistical analysis to summarize the growth and development rules of the teeth and jaws of normal people in this area.
以上是本发明的较佳实施例，凡依本发明技术方案所作的改变，所产生的功能作用未超出本发明技术方案的范围时，均属于本发明的保护范围。The above are the preferred embodiments of the present invention, and all changes made according to the technical solution of the present invention, when the functional effect produced does not exceed the scope of the technical solution of the present invention, all belong to the protection scope of the present invention.
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