WO2016137191A1

WO2016137191A1 - Method for simulating mandibular movement, device for same and recording medium for recording same

Info

Publication number: WO2016137191A1
Application number: PCT/KR2016/001738
Authority: WO
Inventors: 양일형; 여인성; 김남국; 박무용; 이성윤; 한병희
Original assignee: 오스템임플란트 주식회사; 서울대학교산학협력단; 울산대학교 산학협력단
Priority date: 2015-02-23
Filing date: 2016-02-23
Publication date: 2016-09-01

Abstract

The present invention relates to a method for simulating mandibular movement, a device for the same, and a recording medium for recording the same, and according to the method for simulating mandibular movement, of the present invention, a simulation is directly executed in a medical image of a person to be diagnosed, so as to exclude an approximation of mandibular movement through an articulator according to the prior art, and thus there is an effect of enabling mandibular movement to be simulated more realistically. In addition, according to the present invention, customized mandibular movement, in which states of various patients, including specific clinical cases are reflected, can be simulated.

Description

Mandibular motion simulation method, apparatus therefor, and recording medium recording the same

The present invention relates to a mandibular motion simulation method, an apparatus therefor, and a recording medium recording the same, and more particularly, to a mandibular motion simulation method for reproducing a mandible motion virtually on a computer, an apparatus for the same, and a recording medium recording the same. It is about.

In the medical field performing treatments for teeth and jaw, including various restoration treatments such as dentures and crowns and orthodontic surgery, the mandibular exercise is simulated to establish a treatment plan suitable for the individual condition of the patient.

Simulation of the mandibular movement as described above is done through the articulator. Articulators are classified into non-regulatory articulators, semi-regulatory articulators, and pre-regulatory articulators according to the simulated ability of the mandibular movement.But basically, the mandibular movement is performed within the range of the border movement. Based on the simulation, the mandibular motion is simulated by inputting a plurality of angle values to the articulator to determine the characteristics of the marginal motion.

For accurate diagnosis and treatment, it is important to simulate the mandibular movement as closely as possible to reality, and researches to improve the accuracy have been continued. However, as the simulation of the mandibular movement is performed through the articulator, the above studies result in finding the angle values for adjusting the articulator to match the actual mandibular movement as much as possible.

However, the mandibular movement is complicated by the complex relationship between the maxillary joint, teeth, masticatory muscles, and so on. In contrast, the articulator simplifies the mandibular movement with several variables to simulate the mandibular movement, and there is an inherent limitation in simulating the actual mandibular movement.

In addition, the mechanical mechanism of the articulator makes it difficult to reproduce all the complex and diverse movements of the mandibular, so that the simulation is performed only for the marginal movement corresponding to the maximum movement area of the mandible. Information about the mandibular movement in Esau can not be reflected, there is a problem that can not simulate the overall mandibular movement.

On the other hand, since the mandible movement is defined universally based on the representative variable values, there is a problem that is difficult to apply to patients in unusual cases. For example, if the jaw joint is normal on one side but the other side is abnormal, the marginal motion cannot come out symmetrically, so it is impossible to define the mandibular movement with several variable values input to the articulator.

As described above, if the problems caused by performing the simulation using the articulator can be fundamentally solved, it is expected that the applicable clinical case can be widened and a simulation more suited to reality can be performed.

The present invention is proposed to solve the problems of the prior art that there is a limit in the simulation of the mandibular movement and the applicable clinical case by simulating the mandibular movement using the articulator, the mandibular for various subjects, including the unusual case It is an object of the present invention to provide a mandibular motion simulation method capable of simulating motion and improving its accuracy, a device therefor, and a recording medium recording the same.

The above object is to store a mandibular movement model for defining a correlation between the anatomical characteristics and the mandibular movement characteristics according to an aspect of the present invention; Extracting the anatomical characteristics related to the movement characteristics of the mandible from the medical image of the subject; Estimating the mandibular motion of the subject from the extracted anatomical characteristics and the mandibular motion model; And changing the position of the mandible in the medical image of the subject according to the estimated mandible motion, thereby performing the simulation.

On the other hand, the above object can also be achieved by a computer readable recording medium having recorded thereon a program for executing the mandibular motion simulation method described above.

In addition, the above object is a mandible exercise model storage unit for storing a mandible exercise model for defining a correlation between the anatomical characteristics and the mandibular movement characteristics according to another aspect of the present invention; A feature extraction unit for extracting the anatomical characteristics related to the motion characteristics of the mandible from a medical image of a subject; A mandibular motion estimation unit for estimating the mandibular motion of the subject from the extracted anatomical characteristics and the mandibular motion model; And it can also be achieved by the mandibular motion simulation apparatus including a simulation performing unit for performing a simulation by changing the position of the mandible in the medical image of the subject according to the estimated mandibular motion.

In this case, the mandible movement model storage unit may store the mandatory movement model including a detailed model corresponding to at least one kind of movement of the opening and closing movement, the forward movement, the rear movement, the lateral movement, and the limit movement.

The simulation execution unit may store a simulation scenario according to at least one of a simulation execution purpose, a treatment type, a treatment location, a state of a subject, and an exercise type, and perform a simulation based on a selected scenario among the simulation scenarios. Can be done.

On the other hand, as a module that is activated when the mandible motion model applicable to the medical image does not exist, the motion tracking unit for tracking the position of the marker fixed to the mandible's mandible further comprises a motion tracking unit, the simulation The performing unit may perform simulation by reflecting the movement of the mandible according to the exercise tracking unit in the medical image.

The display apparatus may further include a display unit configured to provide a simulation video in which the position of the mandible of the medical image is continuously changed according to a preset simulation scenario.

As described above, according to the present invention, by eliminating the approximation of the movement through the articulator, there is an effect that can simulate the mandibular movement more closely.

In addition, according to the present invention, it is possible to simulate a tailored mandibular movement that reflects the state of various subjects, including specific clinical cases.

1 is a block diagram of a mandible motion simulation apparatus according to an embodiment of the present invention; And

2 is a flow chart of the mandible movement simulation method according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, in the following description and the accompanying drawings, detailed descriptions of well-known functions or configurations that may obscure the subject matter of the present invention will be omitted. In addition, it should be noted that like elements are denoted by the same reference numerals as much as possible throughout the drawings.

The terms or words used in the specification and claims described below should not be construed as being limited to ordinary or dictionary meanings, and the inventors are appropriate as concepts of terms for explaining their own invention in the best way. It should be interpreted as meanings and concepts in accordance with the technical spirit of the present invention based on the principle that it can be defined. Therefore, the embodiments described in the present specification and the configuration shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all of the technical ideas of the present invention, and various alternatives may be substituted at the time of the present application. It should be understood that there may be equivalents and variations.

The mandibular motion simulation apparatus according to the present invention performs mandibular motion simulation necessary for establishing various treatment plans for teeth and jaw, including restoration treatment or orthodontic surgery by dentures, crowns, and the like.

1 is a block diagram of a mandible motion simulation apparatus according to an embodiment of the present invention. Referring to FIG. 1, the mandible motion simulation apparatus 100 according to the embodiment of the present invention includes a mandible motion model storage unit 10, a feature extractor 20, a mandible motion estimation unit 30, and a simulation performing unit 40. ), A display unit 50, and an exercise tracker 60.

The mandible motion model storage unit 10 stores a mandible motion model that defines the correlation between the anatomical characteristics and the motion characteristics of the mandible determined by the stomach characteristics. The mandibular movement model can be defined as a function of mandibular movement according to anatomical characteristics, where anatomical characteristics are related factors of mandibular movement that can be observed through various medical images including CT (Computed Tomography) images, It covers a variety of anatomical factors that have been shown to be associated with mandibular movement, including the shape, size, condition, angle, distance between structures, and length of structures such as teeth, bones, and neuromuscular tissues.

The mandibular motion model provides information on the mandibular motion distance, direction of motion, angle of motion, and motion path on two or three dimensions of the multi plane such as horizontal plane, sagittal plane, and coronal plane. Including it can be implemented in the form of a probabilistic model as well as a deterministic model.

On the other hand, the mandibular movement model can be divided into a plurality of detailed models corresponding to the type of mandibular movement. For example, the mandibular movement can be divided into rotational movement around the axis where confined confinement is limited and sliding motion in which the transition of the condensation occurs, and the opening and closing movement of the mandible opening and closing according to the exercise function, and the mandible forward The moving forward movement, the rear movement of the lower jaw to move backwards, and the lateral movement of the lower jaw to the left and right, etc. can be divided into each detailed model corresponding to this type of movement.

The feature extractor 20 extracts anatomical features by analyzing medical images of the subject obtained through the imaging apparatus. Here, the extracted anatomical characteristic is an anatomical characteristic applied to the mandibular motion model, and means specific information such as the position, size, shape, distance between structures, state, and angle information of the corresponding anatomical structure. On the other hand, the medical image is a two-dimensional, three-dimensional head and neck images of the upper and lower jaw taken to extract anatomical characteristics, including CT image, X-ray image, etc., is not limited to a specific type of image.

In order to extract anatomical features, the feature extractor 20 has various image processing algorithms for recognizing and processing related anatomical structures in a medical image.

The mandibular motion estimation unit 30 estimates the mandible motion of the subject by applying anatomical characteristics extracted from the medical image to the mandibular motion model. The mandible motion estimation unit 30 may store various interpolation algorithms for interpolating mandatory motion data in two and / or three dimensions, and estimate the mandible motion using the interpolation algorithm.

The simulation performing unit 40 performs the simulation by changing the position of the mandible in the medical image of the subject based on the mandibular motion estimated by the mandibular motion estimation unit 30. The simulation performer 40 segments the mandible from the medical image, and continuously measures the position of the mandible relative to the maxilla according to the estimated mandibular motion, for example, the estimated mandatory distance, direction of motion, angle of motion, and motion path. Change and perform simulation based on medical image.

Meanwhile, the simulation execution unit 40 may prepare simulation scenarios corresponding to various situations, respectively, and select a suitable scenario among them to perform the simulation. For example, the scenario may vary depending on whether the simulation is used for denture design or orthognathic surgery, and the movement of mandibular movement required for partial denture design and overall denture design for dentition Therefore, scenarios reflecting this can be set.

As such, the simulation execution unit 40 determines a specific scenario required for various situations, such as the purpose of performing the simulation, the type of treatment, the location of the treatment, the condition of the subject, such as the childish / intangible or not, and the type of exercise. It can be implemented to automatically perform the simulation of the mandible movement by selecting the appropriate scenario for the situation. Unlike this, the simulation may be performed according to a scenario according to a user input through a user interface (not shown).

The display unit 50 displays a video in which the position of the mandible in the medical image is continuously changed from the position of the maxilla through the mandibular motion simulation based on the medical image of the subject. In this case, the display unit 50 may provide not only a 3D image but also a video for observing a simulation in various views, including a 2D image of a cross section such as a sagittal plane, a horizontal plane, and a coronal plane. have.

As such, the mandible movement simulation apparatus 100 according to the embodiment of the present invention does not include a mechanical mechanism such as a conventional articulator when simulating the mandibular movement, and is performed based on a medical image to accurately correct the mandible of the subject. You can simulate exercise. On the other hand, since the simulation is performed on the medical image based on the mandibular movement model, it is not necessary to separately record the movements of the subjects, thereby achieving convenience.

However, as a result of analyzing the medical image, there may be a case that does not meet the mandible model. For example, there may be a case where a model prepared in advance cannot be applied, such as an instrument-type subject, a defective subject, or a subject outside the normal scope.

In order to prepare for such a situation, the mandible movement simulation apparatus 100 according to an embodiment of the present invention further includes an exercise tracking unit 60. As described above, the motion tracking unit 60 is a module that is activated when there is no applicable mandibular motion model, and is automatically activated according to an image analysis result through the feature extraction unit 20 or through a user interface. Activated by user command.

The motion tracker 60 tracks the movement of the marker moving together with the mandible from the scan data acquired through face scanning for various mandibular movements induced by the subject while the marker is fixed to the mandible's mandible. . In this case, the marker is fixed to at least one of the lower jaw so that it can be tracked during face scanning and is attached in a form exposed to the outside. For example, in the case of a dental dental subject, the marker exposed to the outside may be utilized to be fixed to the lower teeth and exposed to the outside.

The motion tracker 60 acquires a medical image and a face scan image of the subject photographed at a predetermined reference position with the marker fixed, and matches the medical image and the face scan image based on the marker position, thereby initial markers. Know your location and initial position.

Subsequently, the mandibular movement of the medical image is identified by comparing the position of the tracked marker with the initial marker position in the face scan image acquired for the mandibular movement such as lateral movement, opening and closing movement, and forward / rear movement. In this case, the mandibular movement can be determined by comprehensively considering the change of the facial line and the position of the marker which are identified through the medical image as the mandible moves.

The simulation performer 40 performs the simulation by changing the position of the mandible in the medical image according to the mandible movement detected by the motion tracker 60 in the above manner.

The simulation result through the simulation performing unit 40 is reflected in establishing a treatment plan such as an angle, a shape, and a position of a crown to be repaired in consideration with an anatomical structure identified through a medical image.

2 is a flow chart of the mandible movement simulation method according to an embodiment of the present invention. Hereinafter, referring to FIG. 2, the organic operation of the mandible motion simulation apparatus 100 described above will be described.

First, the construction of a database storing a mandibular movement model that defines a correlation between anatomical characteristics and mandibular movement characteristics is premised (S10). The mandibular movement model may be subdivided according to the type of exercise and anatomical characteristics. For reference, the mandibular movement model is modeled based on various experimental data obtained by tracking the movement of the marker in the face scan image for various mandibular movements induced in the state where the marker is fixed to the mandible as in the motion tracking unit 60. Can be.

The mandibular movement model is used to simulate the mandibular movement of the subject as described below. Looking at the above process, first, an anatomical characteristic is extracted from the medical image of the subject (S20). Anatomical characteristics are information corresponding to the variables of the mandibular motion model, and various anatomical factors related to mandibular motion such as shape, angle, size, condition, distance between structures, length, etc. of the structure of the jaw joint, teeth, bone, and neuromuscular tissue The factors may correspond to this as described above.

Subsequently, the extracted anatomical characteristics are applied to the mandibular motion model to estimate the mandibular motion of the subject (S30, S40). In this case, when the mandibular exercise model is divided into a plurality of or a plurality of detailed models, a suitable model may be selected and applied based on a predetermined model setting criteria according to the extracted anatomical characteristics.

On the other hand, if there is no mandibular model applied to the anatomical characteristics extracted as an unusual case such as a bad defect or a musical instrument type, it is impossible to estimate the mandibular motion through the mandibular model, which is attached to the mandible's mandible. Tracking the marker to determine the movement of the mandible proceeds (S50).

Simulation is performed by changing the position of the mandible in the medical image of the subject according to the mandibular movement derived from the mandibular motion model or tracking of the marker attached to the mandible (S60, S70). The simulation is performed according to a user's input or a pre-stored simulation scenario, and the simulation process may be provided to the user through a video in which the position of the mandible of the medical image is continuously changed relative to the maxilla. In this case, the user's usability may be improved by providing a tool for additional functions such as adjusting an angle of a provided screen, selecting a view, and expanding / reducing the screen.

On the other hand, the mandibular movement and the mandibular movement simulation information identified by the tracking of the marker attached to the mandible do not exist in the existing stored mandibular model, so it is newly reflected in the mandibular model and updated for the model. Can be (S80). In addition, it is possible to implement a more accurate mandibular motion estimation algorithm by continuously updating the mandibular motion model using newly collected data through different paths.

The mandibular motion simulation through the above-described steps may be associated with treatment planning steps such as determining the restoration position, shape, and restoration angle of the crown.

As described above, according to the mandibular motion simulation apparatus 100 and the method according to the present invention, by manipulating the approximation of the motion through the analog or digital articulator, the mandible motion can be simulated more realistically, Custom mandibular movements that reflect the status of various subjects, including clinical cases, can be used to support more successful treatment planning than with articulators.

On the other hand, the mandibular motion simulation method according to an embodiment of the present invention can be implemented as a program that can be executed in a computer can be implemented in various recording media such as magnetic storage media, optical reading media, digital storage media.

Implementations of the various techniques described herein may be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or in combinations of them. Implementations may be implemented for processing by, or to control the operation of, a data processing device, eg, a programmable processor, a computer, or multiple computers, a computer program product, ie an information carrier, for example a machine readable storage. It can be implemented as a device (computer readable medium) or as a computer program tangibly embodied in a radio signal. Computer programs, such as the computer program (s) described above, may be written in any form of programming language, including compiled or interpreted languages, and may be written as standalone programs or in modules, components, subroutines, or computing environments. It can be deployed in any form, including as other units suitable for use. The computer program can be deployed to be processed on one computer or multiple computers at one site or distributed across multiple sites and interconnected by a communication network.

Processors suitable for the processing of a computer program include, by way of example, both general purpose and special purpose microprocessors, and any one or more processors of any kind of digital computer. In general, a processor will receive instructions and data from a read only memory or a random access memory or both. Elements of a computer may include at least one processor that executes instructions and one or more memory devices that store instructions and data. In general, a computer may include one or more mass storage devices that store data, such as magnetic, magneto-optical disks, or optical disks, or receive data from, transmit data to, or both. It may be combined to be. Information carriers suitable for embodying computer program instructions and data include, for example, semiconductor memory devices, for example, magnetic media such as hard disks, floppy disks, and magnetic tape, compact disk read only memory. ), Optical media such as DVD (Digital Video Disk), magneto-optical media such as floppy disk, ROM (Read Only Memory), RAM , Random Access Memory, Flash Memory, Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), and the like. The processor and memory may be supplemented by or included by special purpose logic circuitry.

Although the specification includes numerous specific implementation details, these should not be construed as limiting to any invention or the scope of the claims, but rather as a description of features that may be specific to a particular embodiment of a particular invention. It must be understood. Certain features that are described in this specification in the context of separate embodiments may be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable subcombination. Furthermore, while the features may operate in a particular combination and may be initially depicted as so claimed, one or more features from the claimed combination may in some cases be excluded from the combination, the claimed combination being a subcombination Or a combination of subcombinations.

Likewise, although the operations are depicted in the drawings in a specific order, it should not be understood that such operations must be performed in the specific order or sequential order shown in order to obtain desirable results or that all illustrated operations must be performed. In certain cases, multitasking and parallel processing may be advantageous. Moreover, the separation of the various device components of the above-described embodiments should not be understood as requiring such separation in all embodiments, and the described program components and devices will generally be integrated together into a single software product or packaged into multiple software products. It should be understood that it can.

On the other hand, the embodiments of the present invention disclosed in the specification and drawings are merely presented specific examples for clarity and are not intended to limit the scope of the present invention. It is apparent to those skilled in the art that other modifications based on the technical idea of the present invention can be carried out in addition to the embodiments disclosed herein.

Claims

Storing a mandibular locomotor model defining a correlation between anatomical and mandibular locomotor characteristics;

Extracting the anatomical characteristics related to the movement characteristics of the mandible from the medical image of the subject;

Estimating the mandibular motion of the subject from the extracted anatomical characteristics and the mandibular motion model; And

Mandibular movement simulation method comprising the step of performing a simulation by changing the position of the mandible in the medical image of the subject according to the estimated mandibular movement.
A computer-readable recording medium having recorded thereon a program for executing the mandibular motion simulation method according to claim 1.
A mandibular movement model storage unit for storing a mandibular movement model defining a correlation between anatomical characteristics and mandibular movement characteristics;

A feature extraction unit for extracting the anatomical characteristics related to the motion characteristics of the mandible from a medical image of a subject;

A mandibular motion estimation unit for estimating the mandibular motion of the subject from the extracted anatomical characteristics and the mandibular motion model; And

A mandibular motion simulation apparatus including a simulation performing unit for performing a simulation by changing the position of the mandible in the medical image of the subject according to the estimated mandibular motion.
The method of claim 3,

The mandible movement model storage unit,

A mandibular motion simulation apparatus for storing the mandibular motion model including a detailed model corresponding to at least one of the movement of the opening and closing movement, forward movement, rear movement, lateral movement, and limit movement.
The method of claim 3,

The simulation execution unit,

And a simulation scenario according to at least one of the purpose of the simulation, the type of treatment, the location of the treatment, the state of the subject, and the type of exercise, and perform the simulation based on the selected scenario among the simulation scenarios.
The method of claim 3,

The module is activated when the mandible motion model applicable to the medical image does not exist, and further includes a motion tracking unit for tracking the position of the marker fixed to the mandible's mandible to identify the mandible movement.

The simulation performing unit is a mandible movement simulation device for performing a simulation by reflecting the movement of the mandible according to the motion tracking unit in the medical image.
The method of claim 3,

The mandibular motion simulation apparatus further comprising a display unit for providing a simulation video that continuously changes the position of the mandible of the medical image according to a preset simulation scenario.