Data processing apparatus, data processing method, and computer-readable recording medium

Abstract

This invention provides dentists with a technology that enables them to precisely control the movement of individual teeth, and includes a data processing device, a data processing method, and a computer-readable recording medium. It is a data processing device (100) that processes three-dimensional data of teeth. The data processing device (100) comprises: an input unit for inputting three-dimensional data of a portion of the head's bone and multiple teeth captured by an X-ray CT imaging device (200); a data processing unit for performing data processing based on the three-dimensional data input to the input unit; and an output unit for outputting the three-dimensional data processed by the data processing unit to an external device. The three-dimensional data also includes positional information, segmenting a portion of the head's bone and multiple teeth. The data processing unit compares three-dimensional data from different imaging periods based on a reference set at least in a portion of the head's bone.

Description

Technical Field

[0001] This disclosure relates to data processing apparatus, data processing methods, and computer-readable recording media. Background Technology

[0002] In orthodontic treatment, for example, braces with archwire interfaces are fitted to each tooth, and pressure is applied to each tooth via the archwire. By applying pressure to each tooth via the archwire, the teeth are moved to the desired position, thus performing orthodontic correction. Japanese Patent Application Publication No. 2020-503919 discloses a system for planning the selection and placement of orthodontic components based on a digital model of the dentition including each tooth.

[0003] Japanese Patent Application Publication No. 2020-503919 describes using a digital model obtained by scanning a patient's dentition to determine a treatment plan for positioning one or more teeth in the patient's dentition to the desired position. Specifically, the dentist compares the treatment plan with the patient's actual tooth movement to determine if they are correlated. However, while Japanese Patent Application Publication No. 2020-503919 uses comparison with a digital model to determine tooth movement, it does not specifically disclose how much the position of each tooth changes before and after orthodontic treatment. Summary of the Invention

[0004] This disclosure was made to solve such a problem and aims to provide a technique that enables dentists to control the movement of individual teeth with high precision.

[0005] The data processing apparatus disclosed herein is a data processing apparatus for processing three-dimensional data of teeth. The data processing apparatus includes: an input unit that receives three-dimensional data of a portion of the head's bone and multiple teeth captured by an imaging device; a data processing unit that performs data processing based on the three-dimensional data input to the input unit; and an output unit that outputs the three-dimensional data processed by the data processing unit to an external device. The three-dimensional data also includes positional information, and at least a portion of the head's bone and multiple teeth are segmented. The data processing unit compares three-dimensional data from different imaging periods based on a reference set at least in a portion of the head's bone.

[0006] The data processing method disclosed herein is a method for processing three-dimensional data of teeth. The data processing method includes the following steps: inputting three-dimensional data of a portion of the head's bone and multiple teeth captured by an imaging device; comparing the three-dimensional data from different imaging periods based on a reference set at least in a portion of the head's bone; and outputting the compared three-dimensional data to an external device. The three-dimensional data also includes positional information, and at least a portion of the head's bone and multiple teeth are segmented.

[0007] The computer-readable recording medium disclosed herein is a computer-readable recording medium storing a program executed by a data processing device that processes three-dimensional data of teeth. When the program is executed by a processor, the following steps are performed: inputting three-dimensional data of a portion of the head's bone and multiple teeth captured by an imaging device; comparing the three-dimensional data from different imaging periods based on a reference set at least in a portion of the head's bone; and outputting the compared three-dimensional data to an external device. The three-dimensional data also includes positional information, segmenting at least a portion of the head's bone and multiple teeth.

[0008] The above and other objects, features, aspects and advantages of the present invention will become clear in the following detailed description of the invention as understood in conjunction with the accompanying drawings. Attached Figure Description

[0009] Figure 1 This is a schematic diagram illustrating an application example of the data processing apparatus involved in Embodiment 1.

[0010] Figure 2 This is a schematic diagram showing the hardware structure of the data processing device involved in Embodiment 1.

[0011] Figure 3 This is a flowchart illustrating an example of data processing performed in the data processing apparatus according to Embodiment 1.

[0012] Figure 4A This is a diagram illustrating an example of three-dimensional data processed by the data processing apparatus according to Embodiment 1.

[0013] Figure 4B This is a diagram illustrating an example of three-dimensional data processed by the data processing apparatus according to Embodiment 1.

[0014] Figure 5 This is a diagram illustrating an example of overlaid image data generated by the data processing apparatus according to Embodiment 1.

[0015] Figure 6A This is a diagram showing an example of animation data (side view) generated by the data processing apparatus according to Embodiment 1.

[0016] Figure 6B This is a diagram showing an example of animation data (side view) generated by the data processing apparatus according to Embodiment 1.

[0017] Figure 7A This is a diagram showing an example of animation data (maxillary side) generated by the data processing device according to Embodiment 1.

[0018] Figure 7B This is a diagram showing an example of animation data (maxillary side) generated by the data processing device according to Embodiment 1.

[0019] Figure 8A This is a diagram showing an example of animation data (mandibular side) generated by the data processing device according to Embodiment 1.

[0020] Figure 8B This is a diagram showing an example of animation data (mandibular side) generated by the data processing device according to Embodiment 1.

[0021] Figure 9 This is a diagram illustrating an example of three-dimensional data processed by the data processing apparatus according to Embodiment 2.

[0022] Figure 10 This is a diagram used to illustrate the positional data of the teeth calculated by the data processing device according to Embodiment 2.

[0023] Figure 11 This is a flowchart illustrating an example of data processing performed in the data processing apparatus according to Embodiment 2.

[0024] Figure 12 This is a diagram showing an example of the comparison results processed in the data processing apparatus according to Embodiment 2.

[0025] Figure 13 This is a diagram showing an example of data on the engagement contact position processed in the data processing apparatus according to Embodiment 3.

[0026] Figure 14 This is a diagram showing another example of data on the engagement contact position processed in the data processing apparatus according to Embodiment 3. Detailed Implementation

[0027] The embodiments of this disclosure will be described in detail with reference to the accompanying drawings. Furthermore, the same or equivalent parts in the drawings are labeled with the same reference numerals and their descriptions are not repeated.

[0028] (Implementation Method 1)

[0029] Reference Figure 1 as well as Figure 2 An example of an inspection system that uses the data processing apparatus described in Embodiment 1 will be explained. Figure 1 This is a schematic diagram illustrating an application example of the data processing apparatus 100 according to Embodiment 1. Figure 2This is a schematic diagram showing the hardware structure of the data processing apparatus 100 according to Embodiment 1.

[0030] like Figure 1 As shown, user 1 can obtain data (hereinafter also referred to as "3D data") containing a three-dimensional image of the teeth of subject 2 through the examination system 10. Furthermore, "user" can be any person (user) using the examination system 10, such as a dentist performing surgery, a dental assistant, a dental university professor or student, a dental technician, a manufacturer's technician, or a manufacturing plant operator. "Subject" can also be any person who becomes the subject of the examination system 10, such as a patient at a dental hospital or a subject of an experiment at a dental university.

[0031] The examination system 10 according to Embodiment 1 includes an X-ray CT imaging device 200, a data processing device 100, and a display 300. The X-ray CT imaging device 200 performs X-ray CT imaging as follows: it irradiates a subject 2 with X-rays, collects projection data, reconstructs the obtained projection data on a computer, and generates a CT (Computerized Tomography) image. Specifically, with the subject 2 positioned between an X-ray generator and an X-ray detector, the X-ray CT imaging device 200 irradiates a cone-shaped X-ray beam from the X-ray generator towards the subject 2 while rotating the X-ray generator and the X-ray detector around the subject 2. Furthermore, the X-ray CT imaging device 200 collects the detection results (projection data) of the X-rays detected by the X-ray detector, generates X-ray imaging information based on the collected X-ray detection results (projection data), and reconstructs three-dimensional data. The three-dimensional data includes at least a portion of the maxilla and mandible of the subject 2 and multiple teeth.

[0032] For example, in order to perform orthodontic treatment on subject 2, user 1 can observe the position of each tooth before and after the orthodontic treatment by using an X-ray CT imaging device 200 to obtain three-dimensional data including the teeth. In particular, by performing orthodontic treatment, user 1 can quantitatively grasp the changes in the position of each tooth, thereby making it easier to plan and formulate treatment plans such as adjusting orthodontic components.

[0033] However, dental orthodontics causes relative changes in the position of each tooth, which in turn causes relative changes in the shape of the gums. Therefore, even if we know the changes in the position of each tooth by simply comparing three-dimensional data before and after dental orthodontics, we cannot accurately quantify the amount of movement of each tooth.

[0034] Therefore, the data processing apparatus 100 according to Embodiment 1 sets a reference on the maxilla or mandible by using three-dimensional data that segments at least a portion of the maxilla and mandible and multiple teeth, and performs data processing based on this reference to compare three-dimensional data (including two-dimensional images generated based on the three-dimensional data) from different shooting periods. Furthermore, the segmentation of at least a portion of the maxilla and mandible and multiple teeth can be performed automatically as preprocessing by the data processing apparatus 100, or manually by the user 1, etc. Moreover, the segmentation of multiple teeth can be done in a way that allows identification of each tooth, or the teeth can be segmented collectively into predetermined units. Here, the reference can be a bone that does not change during the shooting period (e.g., before and after correction), and can be a part of the head. The part of the head includes at least one of the mandible, maxilla, nasal bone, zygomatic bone, nasal cavity, frontal bone, temporal bone, and temporal fossa.

[0035] like Figure 2 As shown, the data processing device 100 includes a CPU (Central Processing Unit) 101, a memory 102, an input unit (input circuit) 103, an output unit (output circuit) 104, a storage unit 110, a communication controller 112, and an optical driver 114 as the main hardware components. These components are connected via a processor bus 120.

[0036] CPU 101 can read programs stored in memory 110 (for example, an OS (Operating System) and data processing programs), expand them in memory 102, and execute them. Various programs read from memory 110 are executed in CPU 101. Specifically, the data processing program performs predetermined data processing on the three-dimensional data input to input unit 103, and calculates the movement of each tooth by comparing three-dimensional data (including two-dimensional images generated based on the three-dimensional data) from different shooting periods based on a reference set on the maxilla or mandible, or displays the changes in three-dimensional data before and after orthodontic treatment in an animation. The CPU 101 executing the program corresponds to the data processing unit (data processing circuit) of the data processing device 100.

[0037] Memory 102 provides a storage area for temporarily storing program code, working memory, etc., when CPU 101 executes a program. Memory 102 is composed of volatile memory devices such as DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory).

[0038] The input unit 103 includes an input interface that connects to the X-ray CT imaging device 200 and receives three-dimensional data from the X-ray CT imaging device 200. Furthermore, the input unit 103 is connected to... Figure 1 The keyboard 501 and mouse 502 shown are input devices that can accept information selected by user 1.

[0039] The output unit 104 is an interface for connecting to an external device, and is connected to a display 300, which is an example of an external device. The output unit 104 may also include a GPU (Graphics Processing Unit) for generating images for display on the display 300. The display 300 is, for example, a liquid crystal display (LCD) or an organic light-emitting diode (ELD) display.

[0040] In addition to storing the operating system for implementing basic functions, the storage device 110 also stores programs for providing functions as a data processing device 100. Furthermore, the storage device 110 stores input three-dimensional data and the results of data processing operations (e.g., the amount of movement of each tooth, animation data showing changes in three-dimensional data before and after orthodontic treatment). The storage device 110 is, for example, a non-volatile memory device such as a hard disk or an SSD (Solid State Drive).

[0041] The communication controller 112 transmits and receives data with devices and server devices configured within the dental hospital via a network. The communication controller 112 can be compatible with any communication method, such as Ethernet, Wireless LAN (Local Area Network), or Bluetooth. Furthermore, when outputting the results of data processing performed by the CPU 101 to external devices such as server devices, the communication controller 112 also functions as an output unit (output circuit) that outputs the three-dimensional data processed by the data processing unit to external devices.

[0042] The data processing device 100 may also have an optical drive 114, which reads the program stored therein from a recording medium 114a (e.g., an optical recording medium such as a DVD (Digital Versatile Disc)) that non-temporarily stores a computer-readable program and installs it into the storage device 110.

[0043] Programs executed by the data processing device 100 can be installed via a computer-readable recording medium 114a, or they can be installed by downloading from a server device on a network. Furthermore, the functions provided by the data processing device 100 in the embodiments are sometimes implemented using a portion of a module provided by the OS.

[0044] [Data Processing]

[0045] Next, a flowchart will be used to illustrate the data processing for the three-dimensional data from different shooting periods performed by the data processing device 100. Figure 3 This is a flowchart illustrating an example of data processing performed in the data processing apparatus 100 according to Embodiment 1.

[0046] First, the data processing device 100 acquires three-dimensional data from different imaging periods (step S11). If three-dimensional data cannot be acquired (no in step S11), the data processing device 100 returns the processing to step S11, maintaining the state of acquiring three-dimensional data. Specifically, the data processing device 100 acquires three-dimensional data (first three-dimensional data) before the subject 2's orthodontic treatment and three-dimensional data (second three-dimensional data) after the orthodontic treatment from the storage 110 storing three-dimensional data captured by the X-ray CT imaging device 200. Furthermore, for the sake of simplicity, the following description illustrates an example of processing two three-dimensional data before and after orthodontic treatment using the data processing device 100, but it is not limited to this; multiple three-dimensional data captured during orthodontic treatment can also be processed using the data processing device 100. Moreover, the second three-dimensional data only needs to be three-dimensional data from a period newer than the first three-dimensional data; it is not limited to three-dimensional data after the completion of orthodontic treatment, but can also be three-dimensional data from during the orthodontic treatment process.

[0047] The three-dimensional data obtained in step S11 includes at least a portion of the maxilla and mandible and multiple teeth. Figure 4A , Figure 4B This is a diagram showing an example of three-dimensional data processed by the data processing apparatus 100 according to Embodiment 1. Figure 4A The three-dimensional data G1 shown is the three-dimensional data of the object 2 viewed from the front. In the three-dimensional data G1, multiple positional information is segmented according to each part, specifically, there are corresponding identification data for the maxilla 2a, mandible 2b and multiple teeth to distinguish them. Figure 4A In the diagram, cross-sectional lines are marked on the maxilla 2a, mandible 2b, and several teeth to illustrate the segmentation. Additionally, Figure 4AThe middle part includes not only the maxilla 2a, but also other bones such as the nasal bone and frontal bone. However, it is sufficient to segment and distinguish each tooth, the mandible 2b, and at least the bones including the maxilla 2a except for each tooth and the mandible 2b.

[0048] Figure 4B This is a two-dimensional image G2 of the bone containing the teeth of the subject 2, generated based on three-dimensional data and viewed from a side viewpoint. Furthermore, the imaging data captured by the X-ray CT imaging device 200 is voxel data (three-dimensional data) representing XYZ space, and a two-dimensional image viewed from any viewpoint can be generated and displayed based on this three-dimensional data. In addition, the user can select any viewpoint, etc., to generate and display two-dimensional images viewed from various viewpoints based on the three-dimensional data. In other words, the data processing device 100 can process three-dimensional data as material to generate a two-dimensional image viewed from a desired viewpoint direction.

[0049] When comparing two-dimensional images generated from three-dimensional data before and after orthodontic treatment, even if the relative changes in the position of each tooth can be known simply by comparison, it is impossible to quantitatively determine the amount of movement of each tooth with high precision. Therefore, in the data processing device 100, a reference is set relative to the maxilla 2a or mandible 2b, whose position does not change even after orthodontic treatment. Based on this reference, the two-dimensional images before and after orthodontic treatment are compared to quantitatively determine the position of each tooth. In the two-dimensional image G2, Figure 4B The reference datum S shown is located at a characteristic portion of mandible 2b. Additionally, Figure 4B In order to make it easier to observe the position of the reference S, the section lines of the maxilla 2a and mandible 2b are omitted.

[0050] The reference S is not limited to being located on the mandible 2b; it can also be located on the maxilla 2a, or separately on both the maxilla 2a and the mandible 2b. Furthermore, the reference S is not limited to being located on a portion of the maxilla 2a or the mandible 2b; it can also be the entire maxilla 2a or the mandible 2b. When the reference S is located on both the maxilla 2a and the mandible 2b, the data processing device 100 compares two-dimensional images for each tooth on the maxillary 2a side based on the reference S (first reference) located on the maxilla 2a side, and compares two-dimensional images for each tooth on the mandible 2b side based on the reference S (second reference) located on the mandible 2b side.

[0051] When three-dimensional data can be acquired (as in step S11), the data processing device 100 performs reference alignment processing on the acquired three-dimensional data (step S12). In the reference alignment processing, the data processing device 100 generates two two-dimensional images from the same viewpoint for two different three-dimensional data acquired in step S11, based on the different shooting periods. The data processing device 100 determines a reference S in either the mandible 2b or the maxilla 2a from the two generated two-dimensional images, and performs reference alignment on the two two-dimensional images based on the determined reference S. Alternatively, the determination of reference S can be performed automatically by a program. For example, if reference S is set to the jaw portion of the mandible 2b, since the human jaw has a constant shape, it can be determined through pattern matching. Furthermore, the determination of reference S can also involve user operation. For example, the user can set any region of the maxilla 2a or mandible 2b in the two two-dimensional images as reference S through operation. Also, it is possible that reference S is not determined, and the segmented bones such as the mandible 2b and maxilla 2a themselves are used as references. Before and after correction, the shape of the bone other than the teeth hardly changes. Therefore, the bone other than the teeth in two two-dimensional images can also be determined by pattern matching and used as a reference for benchmark alignment processing.

[0052] Next, the data processing device 100 compares the two two-dimensional images aligned based on the reference S of the mandible 2b in step S11 and calculates the movement of each tooth (step S13). Specifically, the data processing device 100 aligns the two-dimensional image before and after orthodontic treatment using the reference S, compares the positions of each tooth, and calculates the changed movement of each tooth. The data processing device 100 can calculate the changed movement of each tooth, for example, by calculating the difference between the two-dimensional image before and after orthodontic treatment. In particular, when the position information of multiple teeth is segmented, the data processing device 100 can accurately grasp the movement of each tooth by calculating the difference in position before and after orthodontic treatment for each segmented tooth. Here, the movement of each tooth can be the average of the movement of each tooth's voxel data (three-dimensional data), or it can be the movement of the center of the voxel data (three-dimensional data) of the center point of each tooth.

[0053] Next, the data processing device 100 generates image data that overlays two-dimensional images taken at different times (step S14). Specifically, the data processing device 100 aligns and overlays the two-dimensional image before orthodontic treatment with the two-dimensional image after orthodontic treatment using a reference S, generating image data showing the position before orthodontic treatment with dashed lines. Figure 5This diagram illustrates an example of overlaid image data G3 generated by the data processing apparatus 100 according to Embodiment 1. Image data G3 is image data viewed from the side of the subject 2, and is image data of a two-dimensional image before orthodontic treatment superimposed on a reference S relative to a two-dimensional image after orthodontic treatment. Through image data G3, the changes in teeth T1 before orthodontic treatment to teeth T2 after orthodontic treatment can be easily grasped. Furthermore, by adjusting the positions of the two-dimensional images before and after orthodontic treatment according to reference S, it is possible to... Figure 5 The distance between teeth T1 and T2 shown is calculated as the amount of tooth movement d.

[0054] Next, the data processing device 100 generates animation data of two-dimensional images from different shooting periods (step S15). Specifically, when the data processing device 100 acquires multiple two-dimensional images from before to after orthodontic treatment, it aligns the reference S of each two-dimensional image and displays them continuously at predetermined time intervals to generate animation data. Alternatively, if only two two-dimensional images before and after orthodontic treatment are acquired, the data processing device 100 can supplement them by creating a two-dimensional image between the two images to generate animation data.

[0055] In addition to the X-ray CT imaging device 200, the three-dimensional data of the teeth of subject 2 can also be acquired by a three-dimensional scanner. A three-dimensional scanner is a device that captures three-dimensional data containing teeth using a built-in three-dimensional camera. However, the three-dimensional data captured by the three-dimensional scanner does not include at least a portion of the maxilla and mandible; therefore, it is impossible to compare the three-dimensional data before and after orthodontic treatment using the aforementioned reference S. However, in orthodontic treatment, there is a method where anchor screws are embedded in the jawbone, and the teeth are moved using these anchor screws as fulcrums. Therefore, when anchor screws are embedded in the jawbone, the same processing as described above is performed on the three-dimensional data acquired by the three-dimensional scanner, using the anchor screws as reference S, and the data processing device 100 can calculate the amount of movement of each tooth in step S13. Furthermore, the data processing device 100 can generate overlaid image data and animation data based on the two-dimensional images of the teeth before and after orthodontic treatment, generated from the same arbitrary viewpoint and generated from the three-dimensional data captured by the three-dimensional scanner.

[0056] This shows an example of animation data generated using 3D data captured by a 3D scanner. Figure 6A , Figure 6B This is a diagram showing an example of animation data (side view) generated by the data processing apparatus 100 according to Embodiment 1. Figure 7A , Figure 7BThis is a diagram showing an example of animation data (maxillary side) generated by the data processing device 100 according to Embodiment 1. Figure 8A , Figure 8B This is a diagram showing an example of animation data (mandibular side) generated by the data processing device 100 according to Embodiment 1.

[0057] Figure 6A The two-dimensional image D1 shown is a frame of animation data that displays a two-dimensional image of the bone containing the teeth of the subject 2 in the case of a subject 2 being treated for orthodontic purposes, viewed from a side viewpoint. Figure 6B The two-dimensional image D2 shown is a frame of animation data that constitutes a two-dimensional image of the bone containing the teeth of subject 2, showing a subject 2 after orthodontic treatment viewed from a side viewpoint. In the animation data, the transition occurs from two-dimensional image D1 to two-dimensional image D2. In two-dimensional image D2, the tooth T1 before orthodontic treatment is represented by a dashed line and is displayed superimposed on the tooth T2 after orthodontic treatment.

[0058] Figure 7A The two-dimensional image D3 shown is a frame of animation data that constitutes a two-dimensional image of the bone containing the teeth of the subject 2, showing the maxillary side of the subject 2 as viewed from the viewpoint before orthodontic treatment. Figure 7B The 2D image D4 shown is a frame of animation data that constitutes a 2D image of the bone containing the teeth of subject 2, showing the maxillary side of subject 2 as viewed from a viewpoint after orthodontic treatment. In the animation data, the transition occurs from 2D image D3 to 2D image D4. In 2D image D4, the tooth T1 before orthodontic treatment is represented by a dashed line and is displayed overlaid on the tooth T2 after orthodontic treatment.

[0059] Figure 8A The two-dimensional image D5 shown is a frame of animation data that constitutes a two-dimensional image of the bone containing the teeth of the subject 2, showing the mandibular side of the subject 2 as viewed from the viewpoint before dental orthodontic treatment. Figure 8B The 2D image D6 shown is a frame of animation data that constitutes a 2D image of the bone containing the teeth of subject 2, showing the mandibular side of subject 2 as viewed from a viewpoint after orthodontic treatment. In the animation data, the transition occurs from 2D image D5 to 2D image D6. In 2D image D6, the tooth T1 before orthodontic treatment is represented by a dashed line and is displayed overlaid on the tooth T2 after orthodontic treatment.

[0060] return Figure 3The data processing device 100 outputs the movement amount of each tooth calculated in step S14, the image data generated in step S15, and the animation data generated in step S16 to the display 300, which is an external device (step S16). The display 300 displays the image data output by the data processing device 100 on the display screen. While the data processing device 100 calculates the movement amount of each tooth in step S14, generates image data in step S15, and generates animation data in step S16, it may also perform at least one of steps S14 to S16 and output the processing results to the display 300. Furthermore, the data processing device 100 may also output the processing results of steps S14 to S16 to an external device other than the display 300 (e.g., a server device).

[0061] (Implementation Method 2)

[0062] In the data processing apparatus 100 according to Embodiment 1, two-dimensional images of multiple three-dimensional data from different shooting periods are compared based on a reference S. Furthermore, by digitizing the position (position data) of each tooth based on the reference S, which maintains its position before and after orthodontic treatment, the position of each tooth during orthodontic treatment can be managed with high precision. In Embodiment 2, the processing of the data processing apparatus that digitizes the position of each tooth based on the reference will be described. Additionally, the structures of the inspection system and data processing apparatus in Embodiment 2 are the same as those of the inspection system 10 and data processing apparatus 100 according to Embodiment 1; therefore, the same reference numerals are used to describe the same structures without repeating detailed descriptions.

[0063] Figure 9 This is a diagram illustrating an example of three-dimensional data processed by the data processing apparatus according to Embodiment 2. Figure 9 The two-dimensional image G4 shown is generated based on three-dimensional data and is a two-dimensional image of the bone containing the teeth of subject 2, viewed from a frontal viewpoint. In the two-dimensional image G4, multiple positional information segments are used for each part; specifically, identification data is used to distinguish each segment relative to the maxilla 2a, mandible 2b, and multiple teeth. In the two-dimensional image G4, a reference Sa is set for the maxilla 2a, whose position does not change during orthodontic treatment, and a reference Sb is set for the mandible 2b. Furthermore, Figure 9 In order to make it easier to observe the positions of reference points Sa and Sb, the section lines of maxilla 2a and mandible 2b are omitted.

[0064] The data processing device 100 calculates positional data for each tooth on the maxillary side 2a based on a reference Sa (first reference) set on the maxillary side 2a, and calculates positional data for each tooth on the mandibular side 2b based on a reference Sb (second reference) set on the mandibular side 2b. Alternatively, the data processing device 100 may set a reference on either the maxillary side 2a or the mandibular side 2b, and calculate positional data for each tooth on both sides based on the reference.

[0065] Figure 10 This is a diagram used to illustrate the positional data of the teeth calculated by the data processing device 100 according to Embodiment 2. Figure 10 In this example, positional data is calculated based on reference Sb for each tooth on the 2b side of the mandible, but the same applies to calculating positional data based on reference Sa for each tooth on the 2a side of the maxilla.

[0066] The tooth position data includes the tooth's positional information and the angle information of the tooth axis. Specifically, the positional information of tooth T3 is calculated using the coordinates (x, y, z) of the centroid position M of tooth T3 relative to the reference Sb. Furthermore, calculating the positional information of tooth T3 based on the centroid position M is one example; it can also be calculated based on other feature positions. Moreover, the positional information of tooth T3 can be calculated for each tooth not based on a single position, but based on multiple positions.

[0067] The angular information of tooth T3 is calculated as the angles (θx, θy, θz) formed by the tooth axis P relative to the x, y, and z axes of the reference Sb. By defining tooth T3 using coordinates (x, y, z) and angles (θx, θy, θz), the position of tooth T3 within the oral cavity can be uniquely determined. Furthermore, the tooth axis P can be determined based on a definition known in the dental field. Additionally, tooth position data can also be defined using forms other than coordinates (x, y, z) and angles (θx, θy, θz).

[0068] Next, a flowchart will be used to illustrate the process of managing the position of each tooth during orthodontic treatment using tooth position data. Figure 11 This is a flowchart illustrating an example of data processing performed in the data processing apparatus 100 according to Embodiment 2.

[0069] First, the data processing device 100 determines whether a setting registration for an initial dental orthodontic treatment is required (step S101). Specifically, if user 1 inputs information such as "setting registration for an initial dental orthodontic treatment" via keyboard 501, the data processing device 100 determines that a setting registration for an initial dental orthodontic treatment is required. If a setting registration for an initial dental orthodontic treatment is required (as in step S101), the data processing device 100 acquires three-dimensional data of the teeth of the subject 2 before undergoing dental orthodontic treatment from the X-ray CT imaging device 200 (step S102).

[0070] If 3D data cannot be acquired (No in step S102), the data processing device 100 returns to step S102, maintaining the state of acquiring 3D data. If 3D data can be acquired (Yes in step S102), the data processing device 100 performs segmentation processing on at least a portion of the maxilla and mandible and multiple teeth based on the acquired 3D data (step S103). Furthermore, if the 3D data acquired from the X-ray CT imaging device 200 has already been segmented, or if 3D data segmented using other software can be acquired, the data processing device 100 may skip step S103.

[0071] Next, the data processing device 100 processes the 3D data based on... Figure 9 The reference Sa set on the maxilla 2a is used to calculate the position data of each tooth on the maxilla 2a side (step S104). Specifically, the data processing device 100 calculates the coordinates (x, y, z) and angles (θx, θy, θz) for each tooth on the maxilla 2a side.

[0072] Next, the data processing device 100 is based on Figure 9 The reference Sb set on the mandible 2b is used to calculate the position data of each tooth on the mandibular side of the mandible 2b using three-dimensional data (step S105). Specifically, the data processing device 100 calculates the coordinates (x, y, z) and angles (θx, θy, θz) for each tooth on the mandibular side of the mandible 2b.

[0073] The data processing device 100 saves the position data of each tooth calculated in steps S104 and S105 to the storage device 110 (step S106). Thus, by acquiring the position data of each tooth before orthodontic treatment, the data processing device 100 can easily grasp the treatment process during orthodontic treatment.

[0074] Without registering the initial orthodontic treatment settings (No in step S101), the data processing device 100 reads the past position data of the subject 2 from the storage 110 (step S107). The past position data includes the position data of each tooth registered during the initial treatment and the position data of each tooth acquired during subsequent treatments. The data processing device 100 acquires new three-dimensional data including the teeth of the subject 2 who has undergone orthodontic treatment from the X-ray CT imaging device 200 (step S108).

[0075] If new 3D data cannot be acquired (No in step S108), the data processing device 100 returns to step S108, maintaining the state of acquiring 3D data. If new 3D data can be acquired (Yes in step S108), the data processing device 100 performs segmentation of at least a portion of the maxilla and mandible and multiple teeth based on the acquired new 3D data (step S109). Furthermore, if the 3D data acquired from the X-ray CT imaging device 200 has already been segmented, or if 3D data segmented using other software can be acquired, the data processing device 100 may skip step S109.

[0076] Next, the data processing device 100 is based on Figure 9 The reference Sa set on the maxilla 2a is used to calculate the position data of each tooth on the maxilla 2a side using new three-dimensional data (step S110). Specifically, the data processing device 100 calculates the coordinates (x, y, z) and angles (θx, θy, θz) for each tooth on the maxilla 2a side.

[0077] Next, the data processing device 100 processes the new 3D data based on... Figure 9 The reference Sb set on the mandible 2b is used to calculate the position data of each tooth on the side of the mandible 2b (step S111). Specifically, the data processing device 100 calculates the coordinates (x, y, z) and angles (θx, θy, θz) for each tooth on the side of the mandible 2b.

[0078] The data processing device 100 compares the position data of each tooth calculated in steps S110 and S111 with past position data and outputs the comparison result (step S112). Specifically, the data processing device 100 outputs the comparison result to the display 300 as image data that can be displayed on the display 300.

[0079] Figure 12 This is a diagram showing an example of a comparison result processed by the data processing apparatus 100 according to Embodiment 2. Figure 12The comparison results shown include image data E1, which is generated and displayed as a two-dimensional image from any viewpoint based on the three-dimensional data of subject 2 before orthodontic treatment; image data E2, which is generated and displayed as a two-dimensional image from any viewpoint based on the three-dimensional data of subject 2 after orthodontic treatment; and image data E3, which displays the positional data of each tooth of subject 2.

[0080] Image data E1 is three-dimensional data of subject 2 taken on August 20, 2021, and includes CT images viewed from the front, CT images viewed from the left and right sides, and images of the dental arch. Image data E2 is three-dimensional data of subject 2 taken on August 25, 2021, and includes CT images viewed from the front, CT images viewed from the left and right sides, and images of the dental arch.

[0081] Image data E3 can switch between displaying the position data of each tooth based on the 3D data of subject 2 taken on August 20, 2021, and the position data of each tooth based on the 3D data of subject 2 taken on August 25, 2021. If user 1 clicks the "Front" button displayed on the monitor 300 using mouse 502, the position data of each tooth based on the 3D data taken on August 20, 2021 will be displayed on image data E3. Similarly, if user 1 clicks the "Back" button displayed on the monitor 300 using mouse 502, the position data of each tooth based on the 3D data taken on August 25, 2021 will be displayed on image data E3. Furthermore, the position data displayed on image data E3 includes the coordinates (x, y, z) and angles (θx, θy, θz) of each tooth.

[0082] Furthermore, if user 1 clicks the "Movement Amount" button displayed on the monitor 300 using mouse 502, the data processing device 100 calculates the difference between the position data of each tooth based on the three-dimensional data of "August 20, 2021" and the position data of each tooth based on the three-dimensional data of "August 25, 2021", calculates the movement amount of each tooth, and displays it on the monitor 300.

[0083] return Figure 11Step S113 is the process performed when user 1 clicks the "Movement Amount" button displayed on the monitor 300 using mouse 502. The data processing device 100 calculates the movement amount of each tooth by calculating the difference between the position data of each tooth based on the new 3D data and the position data of each tooth based on the past 3D data. Furthermore, even if user 1 does not click the "Movement Amount" button displayed on the monitor 300 using mouse 502, the data processing device 100 can still calculate the movement amount of each tooth by calculating the difference between the position data of each tooth based on the new 3D data and the position data of each tooth based on the past 3D data. Additionally, teeth of different colors can be displayed on the monitor according to their different movement amounts. In other words, teeth of a color corresponding to their movement amount are displayed on the monitor. To explain in more detail, the color of each tooth is displayed on the monitor according to its different movement amount. For example, teeth that have experienced a first movement amount (e.g., 1 mm) or more but less than a second movement amount (e.g., 2 mm) through orthodontic treatment are displayed in blue on the monitor. Teeth that have moved more than the second movement but less than the third movement (e.g., 3 mm) are displayed in yellow on the screen. Teeth that have moved more than the third movement are displayed in red on the screen. The first, second, and third movements are in the relationship of first movement < second movement < third movement. Furthermore, the movement variation can be set in more subtle ways (e.g., in 0.1 mm increments, in 0.5 mm increments). A color gradient can also be used based on the movement amount.

[0084] The data processing device 100 stores the position data of each tooth calculated in steps S110 and S111 in the storage device 110 (step S114). The data processing device 100 may also store the amount of tooth movement calculated in step S113 in the storage device 110. In this way, the data processing device 100 obtains the position data of each tooth of the subject 2 before and after orthodontic treatment, thus making it easy to plan and formulate a treatment plan for orthodontic treatment and to accurately control the movement of each tooth caused by the treatment.

[0085] (Implementation Method 3)

[0086] The data processing device 100 can acquire not only the positional data of each tooth before and after orthodontic treatment, but also the data on the occlusal contact position. During orthodontic treatment, the position of each tooth changes; therefore, it is desirable to consider the occlusal contact position when planning and formulating a treatment plan.

[0087] The occlusal contact position is determined based on three-dimensional data captured by an X-ray CT imaging device 200, three-dimensional data captured by a three-dimensional scanner, and jaw movement data related to the position of the moving jaw. The method for determining the occlusal contact position can be any method known in the field of dentistry.

[0088] The data processing device 100 uses the occlusal contact position as a point to determine and acquires data on the occlusal contact position of each tooth. Figure 13 This is a diagram showing an example of data on the engagement contact position processed by the data processing device according to Embodiment 3. Figure 13 In this method, the occlusal contact position in each tooth T4 is determined as multiple point data C1. The positional information of each point data C1 can also be calculated based on the references Sa and Sb described in Implementation Method 2.

[0089] The data processing device 100 stores the point data C1 of the determined occlusal contact position in the storage device 110. By storing the point data C1 in the storage device 110, the data processing device 100 can compare how the occlusal contact position changes before and after orthodontic treatment.

[0090] Data on the occlusal contact position is not limited to Figure 13 The situation determined as point data C1, as shown, can also be determined as pressure distribution by including information on the pressure generated on the teeth by occlusal contact. Figure 14 This is a diagram showing another example of data on the engagement contact position processed by the data processing device according to Embodiment 3. Figure 14 In the study, the occlusal contact positions of each tooth (T5) on the maxillary side are defined as multiple region data (C2), and the occlusal contact positions of each tooth (T6) on the mandibular side are defined as multiple region data (C3). Region data C2 and C3 can also be denoted by intensity to represent the pressure exerted on the teeth by the occlusal contact. Specifically, denser region data C2 and C3 indicate higher pressure exerted on the teeth by the occlusal contact compared to lighter region data C2.

[0091] (Other variations)

[0092] (a) In embodiments 1 to 3, such as Figure 4A , Figure 4B As shown, the three-dimensional data includes data used to determine the three-dimensional shape of the maxilla, mandible, and multiple teeth of subject 2. Specifically, the three-dimensional data includes the three-dimensional positional information (coordinates of each axis in the longitudinal, lateral, and height directions) of the maxilla, mandible, and multiple teeth. Furthermore, in the three-dimensional data, the positional information is segmented using recognition data (e.g., color information) according to the type of maxilla, mandible, and multiple teeth.

[0093] (b) In embodiments 1 to 3, color information is used as identification data when segmenting the three-dimensional data, but other identification information may also be used as identification data. For example, at least one of patterns, text, numbers, and symbols may also be used as identification data.

[0094] (c) In the three-dimensional scanners described in embodiments 1 to 3, in addition to obtaining the three-dimensional shape structure using the focusing method, the scanners may also be configured to obtain the three-dimensional shape using techniques such as confocal method, triangulation method, white interferometry, stereo method, photogrammetry, SLAM (Simultaneous Localization and Mapping), and optical coherence tomography (OCT).

[0095] (d) In embodiments 1 to 3, an examination system 10 connected to a data processing device 100 and an X-ray CT imaging device 200 was described. However, the data processing device 100 is not limited to this; it may be a structure in which the data processing device 100 is mounted on the X-ray CT imaging device 200, or a structure in which the data processing device 100 is connected to the X-ray CT imaging device 200 via a network. Furthermore, the data processing device 100 may also be provided in the form of a cloud service, where multiple X-ray CT imaging devices 200 are connected via a network.

[0096] (e) In the aforementioned embodiment 1, it was explained that a two-dimensional image was generated from the same arbitrary viewpoint for three-dimensional data from different shooting periods, and compared based on reference S. However, it is also possible not to generate a two-dimensional image, but to directly compare three-dimensional data from different shooting periods based on reference S.

[0097] Embodiments of the present invention have been described, but it should be considered that all aspects of the embodiments disclosed herein are illustrative and not restrictive. The scope of the invention is set forth in the claims and is intended to include all modifications equivalent to or within the scope of the claims.

Claims

1. A data processing device for processing three-dimensional data of teeth, characterized in that, have: The input unit receives three-dimensional data captured by the imaging device, which includes a row of teeth and a portion of the head. The data processing unit performs data processing based on the three-dimensional data input to the input unit; as well as The output unit outputs the three-dimensional data processed by the data processing unit to an external device. The bones of the head include at least one of the mandible, maxilla, nasal bone, zygomatic bone, nasal cavity, frontal bone, temporal bone, and temporal fossa. The three-dimensional data also includes location information, segmenting a portion of the head's bones and the multiple teeth. The data processing unit performs alignment based on a reference bone at least located in a part of the head included in the three-dimensional data captured at different times before and after the tooth treatment, and compares the positions of the teeth in the three-dimensional data captured at different times before and after the tooth treatment.

2. The data processing apparatus according to claim 1, characterized in that, The three-dimensional data from different shooting periods includes first-dimensional data and second-dimensional data from a shooting period newer than the first-dimensional data. The data processing unit calculates the difference between the first three-dimensional data and the second three-dimensional data.

3. The data processing apparatus according to claim 2, characterized in that, The data processing unit calculates the difference between each of the segmented teeth.

4. The data processing apparatus according to claim 3, characterized in that, The data processing unit determines the movement amount of each of the multiple teeth based on the differences calculated from the three-dimensional data at different shooting periods, and displays the different colors of the multiple teeth on the display according to the different movement amounts.

5. The data processing apparatus according to claim 1, characterized in that, The three-dimensional data from different shooting periods includes first-dimensional data and second-dimensional data from a shooting period newer than the first-dimensional data. The data processing unit generates data that overlays the first three-dimensional data on the second three-dimensional data, based on a reference of at least a portion of the bone in the head.

6. The data processing apparatus according to claim 5, characterized in that, The overlapping data are first two-dimensional data generated from the first three-dimensional data and second two-dimensional data generated from the second three-dimensional data, both observed from the same viewpoint.

7. The data processing apparatus according to claim 5, characterized in that, The data processing unit generates data that animates the changes from the first three-dimensional data to the second three-dimensional data.

8. The data processing apparatus according to claim 1, characterized in that, A first reference is established in the maxilla, and a second reference is established in the mandible. The data processing unit compares the three-dimensional data for each of the plurality of teeth on the maxillary side based on the first reference, and compares the three-dimensional data for each of the plurality of teeth on the mandibular side based on the second reference.

9. The data processing apparatus according to claim 8, characterized in that, The data processing unit calculates the position data of each of the plurality of teeth on the maxillary side based on the first reference, and calculates the position data of each of the plurality of teeth on the mandibular side based on the second reference.

10. The data processing apparatus according to claim 9, characterized in that, The tooth position data includes the tooth's position information and the angle information of the tooth axis.

11. The data processing apparatus according to any one of claims 1 to 7, characterized in that, The data processing unit calculates the occlusal contact position of each of the multiple teeth based on the three-dimensional data.

12. A data processing method for processing three-dimensional data of teeth, characterized in that, It includes the following steps: The input consists of three-dimensional data captured by an imaging device, including a row of teeth and a portion of the skull. Alignment is performed based on the reference of at least a part of the bone contained in the three-dimensional data at different imaging periods before and after the treatment of the teeth, so as to compare the positions of the teeth contained in the three-dimensional data at different imaging periods before and after the treatment of the teeth. as well as The compared three-dimensional data is output to an external device. The bones of the head include at least one of the mandible, maxilla, nasal bone, zygomatic bone, nasal cavity, frontal bone, temporal bone, and temporal fossa. The three-dimensional data also includes location information, segmenting at least a portion of the bone of the head and the plurality of teeth.

13. A computer-readable recording medium, comprising a program executed by a data processing device that processes three-dimensional data of teeth, characterized in that, When the program is executed by the processor, the following steps are performed: Input the three-dimensional data, captured by the imaging device, which includes a row of teeth and a portion of the bone of the head; Alignment is performed based on the reference of at least a part of the bone contained in the three-dimensional data at different imaging periods before and after the treatment of the teeth, so as to compare the positions of the teeth contained in the three-dimensional data at different imaging periods before and after the treatment of the teeth. as well as The compared three-dimensional data is output to an external device. The bones of the head include at least one of the mandible, maxilla, nasal bone, zygomatic bone, nasal cavity, frontal bone, temporal bone, and temporal fossa. The three-dimensional data also includes location information, segmenting at least a portion of the bone in the head and the plurality of teeth.

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