Method and system for generating a model of a virtual extraction procedure for a target extraction object of a patient

Abstract

The present invention relates to a method and system for generating a model of a virtual extraction process for a target extraction object of a patient. The target extraction object includes an object in the patient's anatomical structure, and the method includes: receiving a first dataset of labeled surface scan segments, each surface scan segment including a 3D surface model of the corresponding object identified and segmented from the surface scan data; receiving a second dataset of labeled volume density scan segments, each volume density scan segment including a 3D volume density model of a boundary surface of the corresponding object identified and segmented from the volume density scan data; cross-arranging the labeled surface scan segments from the first dataset with respect to the labeled volume density scan segments from the second dataset in a common 3D coordinate system; receiving an identification of the target extraction object; identifying a 3D volume density model and a 3D surface model associated with the volume density scan segment label corresponding to the identified target extraction object; and generating a third dataset.

Description

Technical Field

[0001] The present invention relates to a method and system for generating a model of a virtual extraction procedure for a target extraction object of a patient. Background Art

[0002] Digital software tools used for anatomical treatment planning and / or prosthetic restoration design rely on accurate scan data of the anatomical object of interest in conjunction with adjacent anatomical structures (e.g., bones, tissues, nerve bundles, organs, and other anatomical structures / objects / features) and other artificial structures in natural and artificially placed anatomical structures (e.g., surgical implants, abutments, other anchoring systems, artificial analogs of natural structures).

[0003] In digital dentistry, scanned data of anatomical structures is typically determined optically or radiographically. Optical scanners are widely available and economical for performing three-dimensional measurements directly from intraoral surface structures or from extraoral impressions of oral surface structures. Surface data is typically represented by a surface mesh consisting of triangular elements, which is typically stored and exchanged between systems in STL or similar surface definition formats.

[0004] Radiological scanners such as digital volume tomographs (DVT) or computer tomographs (CT) use X-rays to generate volumetric datasets of anatomical structures. Surface representations can also be determined from these datasets by applying thresholding methods, where the intensity values ​​(measured in Hounsfield units) of individual scan elements (voxels) are analyzed to determine whether they exceed or fall below a certain threshold. Radiologically dense structures such as teeth (hereinafter referred to as "volume density" structures or objects) can be identified in this manner, and the boundary surfaces of the identified volume density scan structures can be modeled as triangulated surface data (e.g., triangular surface meshes) and again saved and exchanged between systems in an STL or similar surface definition format.

[0005] The calculations are more complex with MR scan data, where contour analysis methods are preferably applied, which work based on the gradients of adjacent scan elements. However, even in these cases, volumetric structures or objects such as gums, gums, and other tissues (primarily soft tissue) can be identified and their boundary surfaces modeled as triangulated surface data for further processing.

[0006] By means of the described analysis method, triangulated surface data of desired surfaces (e.g., visible surfaces or boundary surfaces, e.g., inter-object surfaces or other invisible surfaces between anatomical objects and / or structures in the scan data) can be obtained for all modalities (imaging devices). In the context of the present invention, volume density scan data can include, for example, all of the aforementioned data types (regardless of how they were obtained), but also other algorithmically and / or interactively determined structures (e.g., preparation lines, segmentation lines, and anatomical landmarks as well as our desired contact points during a virtual extraction procedure), a virtual dental restoration procedure, a virtual prosthesis design and placement procedure, etc.

[0007] Optical surface scan data are often preferred for the estimation or calculation of virtual dental restorations due to the high accuracy that can be achieved without exposing the patient to high levels of radiation dose.

[0008] In the context of the present invention, the term dental restoration comprises every type of object that can be used to treat dental aesthetics and / or defects. Examples are inlays, onlays, partial crowns, crowns, telescopic crowns, bridges, veneers, implant abutments, partial prostheses and prostheses. Furthermore, in the context of the present invention, tooth replacement parts are also included in the term dental restoration for the sake of simplicity. The term virtual dental restoration (hereinafter more simply referred to as dental restoration) is to be understood as comprising a suitable electronic representation of a dental restoration, i.e. a digital three-dimensional representation (preferably a surface representation) of such a dental restoration with sufficient accuracy. For example, in order to manufacture a dental restoration, a CAD / CAM data set of the corresponding virtual dental restoration can be forwarded to a manufacturing machine.

[0009] When treating dental defects, the teeth are usually prepared, i.e. caries, old filling material or defective tooth parts are removed. What remains of each tooth is the remaining tooth structure, the surface of which is divided into a prepared part (cavity) and an unprepared part. The boundary line between the unprepared tooth surface and the prepared tooth surface is called the preparation line. In addition to the preparation line, which is only present in prepared teeth, each tooth also has at least one segmentation line, which separates the tooth from extra-tooth structures such as the gums and / or bones and / or adjacent teeth. As can be seen from these definitions, segmentation lines and / or preparation lines delimit the unprepared tooth surface. In the context of the present invention, these boundary lines can be placed in the scan data mainly in an interactive manner by using a graphical user interface, whereby an algorithm based on surface curvature analysis of the scan data is usually used in their determination with the assistance of algorithms.

[0010] Due to the complex structure of the scan data and the multiple functional-aesthetic criteria that must be met—adjustment of opposing dentitions, possible consideration of jaw movement, adjustment of adjacent teeth considering contact points, adjustment of preparation lines for optimal marginal fit, compliance with minimum material strength for satisfactory mechanical stability, consideration of the desired tooth shape in the anterior region, etc.—the process of designing a custom dental restoration, even with the aid of interactive computer-aided design tools, requires a person with both knowledge and experience in dental restoration design and training in the use of such tools.

[0011] To increase the complexity of designing custom prostheses, prostheses are often designed to replace anatomical objects that have been removed from the existing oral environment. For example, a designer may be tasked with designing a temporary or permanent prosthesis to be placed on an abutment attached to an implant placed in the socket of an extracted object. Designers can achieve greater precision by basing the prosthesis design on the patient's actual anatomical contours in the remaining socket where the extracted object was previously placed. Therefore, after the anatomical object is extracted, the area must typically be optically rescanned before the surface model is sent to the designer.

[0012] There is an increasing demand for greater immediacy in dental treatment. In particular, new methods are being sought to shorten pre-planning of dental treatments, particularly for procedures that may be completed in one or fewer visits than in the past.

[0013] In situations where an anatomical object is oriented for extraction, methods are being sought to pre-plan the design of a prosthesis so that the prosthesis can be prepared to be immediately installed in place of the extracted anatomical object in the patient's mouth. For example, it may be desirable to pre-plan the placement of an implant and pre-plan the design of a temporary abutment so that the implant can be placed and the customized temporary abutment installed immediately after the tooth is extracted (i.e., during the same visit). It is also desirable to design and manufacture the abutment, for example, by additive or subtractive manufacturing (e.g., 3D printing or milling), respectively, and install it in the patient's mouth within the same visit to accommodate the immediate situation as much as possible.

[0014] Ideally, a prosthesis should be designed to fit and conform to the contours of the socket formed by the extracted anatomy. However, modern prosthesis design tools, such as CAD / CAM systems, only accept surface data (represented as a 3D triangle mesh, typically in STL format), thus missing any information about underlying structures, such as bone or other internal structures and contours. Therefore, prosthesis design tools do not have information about the socket contours of the extracted anatomy available, but designers typically estimate the socket contours of the extracted anatomy when designing the prosthesis to fit its position.

[0015] This may result in the prosthesis being improperly designed or misplaced when placed in the patient's mouth, leading to patient discomfort or other treatment-related problems. Summary of the Invention

[0016] It is an object of the present invention to alleviate at least some of the disadvantages of known dental restoration or prosthesis design and placement procedures. In particular, it is an object of the present invention to provide methods and systems that facilitate improved pre-planning of dental restoration or prosthetic procedures using CAD / CAM tools.

[0017] This object is achieved by a computer-implemented method for automatically generating a three-dimensional model for use in virtual plucking of a target plucking object of a patient according to independent claim 1 and a system for automatically generating a three-dimensional model for use in virtual plucking of a target plucking object of a patient according to independent claim 14.

[0018] Dependent claims 2 to 13 represent embodiments of the present invention.

[0019] According to the present invention, a computer-implemented method automatically generates, via one or more computer processors, a three-dimensional model for use in virtual extraction of a patient's target extraction object, the target extraction object including an object within the patient's anatomy. The method is based on a surface scan of an anatomical region of the patient's oral cavity, the anatomical region including at least the target extraction object, and a volume density scan of the same or similar anatomical region.

[0020] The method comprises:

[0021] A first dataset of labeled surface scan segments is received, each surface scan segment including a three-dimensional (3D) surface model of a corresponding object identified and segmented from surface scan data of the surface scan, and each surface scan segment having an associated label identifying the surface scan segment.

[0022] A second data set of labeled volume density scan segments is received, each volume density scan segment comprising a three-dimensional (3D) volume density model of a boundary surface of a corresponding object identified and segmented from volume density scan data of the volume density scan, and each volume density scan segment having an associated label identifying the volume density scan segment.

[0023] The identification and segmentation of objects in the surface scan data of a surface scan and / or the volume density scan data of a volume density scan can be based on or assisted by automatic data analysis, for example, by analysis by a suitably trained neural network that is able to distinguish anatomical objects and structures from one another in the surface scan data and / or the volume density scan data.

[0024] In an embodiment, the associated label of each surface scan segment and / or each volume density scan segment identifies the corresponding surface scan segment and the corresponding volume density scan segment as corresponding to a tooth, a portion of a tooth, a prosthetic tooth, a portion of gum tissue, a portion of bone, an implant, or other object or structure present in the patient's mouth and / or anatomical region.

[0025] In the present invention, labeled surface scan segments from a first dataset are interleaved with labeled volume density scan segments from a second dataset in a common 3D coordinate system. In an embodiment, the interleaving can be achieved by using corresponding labeled surface scan segments and volume density scan segments. Alternatively, or in addition, the interleaving can be achieved by identifying surface scan segments and volume density scan segments of similar shape and volume.

[0026] In an embodiment, the cross arrangement may include scaling, translation, and rotation transformations applied to the surface scan segments and / or volume density scan segments to achieve the best possible registration of the surface scan segments and the volume density scan segments in a common 3D coordinate system. In an embodiment, if necessary, cross arrangement parameters such as scaling, translation, and / or rotation transformation parameters for up to three spatial dimensions may be stored and used for the purpose of "superimposing" the individually maintained marked surface scan segments and the marked volume density scan segments or portions thereof during the following process.

[0027] In an embodiment, the cross-arrangement includes generating a fifth dataset of labeled segments, each segment comprising a combined three-dimensional (3D) model representing the anatomical object, wherein the combined three-dimensional (3D) model includes labeled segments of both the labeled surface scan segments and the labeled volume density scan segments. However, in some applications, portions of the labeled surface scan segments and / or the labeled volume density scan segments may be removed from the combined three-dimensional (3D) model representing the anatomical object.

[0028] For the purposes of the following disclosure, when determining the portion jointly represented in the identified 3D volume density model and the identified 3D surface model, the determination may be based on an operation of cross-arranging labeled surface scan segments from a first data set and labeled volume density scan segments from a second data set, whereby an association between the labeled surface scan segments from the first data set and the labeled volume density scan segments from the second data set may be established, and the association information may be stored in a volatile or non-volatile storage component. Alternatively, determining the portion jointly represented in the identified 3D volume density model and the identified 3D surface model may also be determined in a separate operation of establishing an association between the corresponding labeled surface scan segments from the first data set and the volume density scan segments from the second data set, and optionally, storing the association information in a volatile or non-volatile storage component.

[0029] In the present invention, one or more computer processors receive a target extraction object. This includes receiving a selection of a target extraction object, which may be selected manually or assisted by a suitably trained neural network capable of identifying objects that may be target extractions, such as damaged or modified objects, anatomical locations or orientations of objects, or unhealthy objects in surface scan data and / or volume density scan data.

[0030] In an embodiment, the target extraction object is a tooth or a part of a tooth, for example, a root of a tooth.

[0031] In the present invention, a 3D volume density model associated with a volume density scan segment tag and a 3D surface model associated with a surface scan segment tag corresponding to the identified target plucking object are identified.

[0032] The method of the present invention may include generating a third dataset comprising a model comprising a 3D model of the socket equivalent to the identified 3D volume density model minus a portion of the identified 3D volume density model jointly represented in the identified 3D surface model. In an embodiment, the 3D model of the socket (the socket model) comprises a three-dimensional model of a patient's tooth socket in which the target extraction object is located.

[0033] For the purposes of the present invention, it is assumed that the 3D model of the tank substantially corresponds to the portion of the identified 3D volume density model.

[0034] In an embodiment, the 3D model of the socket is generated by determining portions of the recognized 3D volume density model that are not jointly represented in the recognized 3D surface model. This means that, in the case where the target extraction object is a tooth, the socket model is derived by determining those portions of the recognized 3D volume density model that are not jointly represented in the recognized 3D surface model, which typically include at least a portion of the tooth root.

[0035] In an alternative embodiment, a 3D model of the groove is generated by determining a portion of the identified 3D volume density model that is jointly represented in the identified 3D surface model, and determining a difference between the determined jointly represented portion and the 3D volume density model by removing the determined jointly represented portion from the 3D volume density model.

[0036] In an embodiment, the determined portion of the identified 3D volume density model is stored in a computer readable data storage component, which may be a volatile or non-volatile storage component including a network storage component.

[0037] The method of the present invention may further include generating a third dataset comprising a model including at least a portion of the identified 3D volume density model jointly represented in the identified 3D surface model and / or at least a portion of the identified 3D surface model jointly represented in the identified 3D volume density model. Thus, the third dataset will include a representation of at least a portion of a visible portion of the target extraction object (e.g., a crown or prosthesis of a tooth).

[0038] The method of the present invention may further include generating a third dataset comprising a model comprising at least a portion of the identified 3D volume density model minus a portion of the identified 3D volume density model jointly represented in the identified 3D surface model. Thus, the third dataset will include a representation of at least a portion of the non-visible portion of the target extraction object (e.g., a tooth root, an implant, and / or an abutment).

[0039] The method of the present invention may further comprise generating a third dataset comprising a model comprising at least a subset of the first dataset minus portions of the identified 3D surface model jointly represented in the identified 3D volume density model.

[0040] In an embodiment, the method may include generating a fourth dataset by removing portions of the identified 3D surface model jointly represented in the identified 3D volume density model from a copy of at least a subset of the first dataset. Thus, the third dataset will include a representation of a visible portion of at least a portion of the patient's oral cavity without the visible portion of the target extraction object defined by the identified 3D surface model.

[0041] Thus, the third dataset generated by the present invention includes a representation of at least a portion of the patient's anatomical region, including or excluding a representation of the target extraction object. This helps improve pre-planning of dental restoration or prosthetic procedures using CAD / CAM tools used by prosthesis designers and can improve the fit and alignment of the prosthesis within the patient's mouth. Furthermore, the information provided in the third dataset is useful for improving prosthesis design so that it can be ready for immediate installation in place, potentially by placing an implant, installing a customized temporary or permanent abutment, and placing a prosthesis, replacing the extracted anatomical object in the patient's mouth, during a single visit.

[0042] In an embodiment, the method includes determining a boundary of the identified 3D surface model and generating a cutting line from the determined boundary. This may include smoothing, straightening or averaging the identified 3D surface model boundary. It may also include determining an intersection curve between a surface definition of the identified 3D surface model and a boundary surface of the 3D volume density model. The cutting line so defined is then projected onto the identified 3D volume density model and can be used to generate a sixth dataset comprising: the identified 3D surface model and / or the identified 3D volume density model located on one side of the cutting line that substantially includes all portions of the identified 3D volume density model jointly represented in the identified 3D surface model. Thus, the sixth dataset may include: a representation of at least a portion of the visible portion of the target extraction object in the patient with an improved boundary that substantially represents a dividing line between a visible portion of the target extraction object and an invisible portion thereof.

[0043] In an embodiment, the method further comprises: when a gap exists in a surface defined by the dataset or model, respectively, enhancing any one of the first dataset, the second dataset, the third dataset, the fourth dataset, the fifth dataset, and / or the sixth dataset, or the identified 3D surface model and / or the identified 3D volume density model, thereby filling the gap with the generated surface information. The generated surface information can be generated by interpolating the boundaries of the gap and / or based at least in part on standard anatomical modeling, which can be determined by a suitably trained neural network capable of generating corresponding portions of anatomical objects and structures. Thus, the generated surface information can provide a stable and continuous progression of existing surface information in the dataset or model, respectively, and in the best case, represent a realistic representation of the surface or boundary surface of the patient's anatomical objects or structures at locations where the dataset or model is incomplete.

[0044] In an embodiment, the method includes storing any one of the third data set, the fourth data set, the fifth data set, the sixth data set, and / or the seventh data set, and / or a merged or interleaved version thereof, in a computer-readable data storage component, which may be a volatile or non-volatile storage component including a network storage component. The information may be stored in a data exchange format or a surface definition format (e.g., STL) for import into and use by a CAD / CAM system during the design of the prosthesis.

[0045] The present invention also relates to a system for automatically generating a three-dimensional model for use in virtual extraction of a target extraction object of a patient, wherein the system comprises one or more computer processing units configured to load and execute computer-readable instructions, which, when executing the computer-readable instructions, are configured to implement the method of the present invention and the embodiments thereof described herein.

[0046] In an embodiment of the system of the present invention, the system includes an imaging application and an electronic display device to display at least any one or more of the first dataset, the second dataset, the third dataset, the fourth dataset, the fifth dataset, the sixth dataset and / or the seventh dataset, and / or a merged or cross-arranged version thereof, or a graphical representation of the identified 3D surface model and / or the identified 3D volume density model to a user for viewing and modification.

[0047] The imaging application, together with the electronic display device, is configured to automatically update the display of the graphical representation of the first dataset, the second dataset, the third dataset, the fourth dataset, the fifth dataset, the sixth dataset and / or the seventh dataset, and / or merged or cross-arranged versions thereof, or the identified 3D surface model, and / or the identified 3D volume density model whenever the datasets and / or the graphical representation of the models are updated and information is added or deleted.

[0048] In addition to displaying the first, second, third, fourth, fifth, sixth and / or seventh datasets, and / or merged or cross-arranged versions thereof, or a graphical representation of the identified 3D surface model and / or the identified 3D volume density model, the imaging application also provides display controls responsive to user input to modify the display of the first, second, third, fourth, fifth, sixth and / or seventh datasets, and / or merged or cross-arranged versions thereof, or the graphical representation of the identified 3D surface model and / or the identified 3D volume density model, for example, to enable modification of the viewing angle, rotation or pitch of the displayed information.

[0049] Further with respect to the display control, the imaging application further provides a selection control that, upon activation, enables a user to select at least one object graphically represented on the display. Upon receiving a selection operation by a user of the imaging application using the selection control, the imaging application can highlight the marked surface scan image segment and / or volume density scan image segment in the graphical representation of the first dataset, the second dataset, the third dataset, the fourth dataset, the fifth dataset, the sixth dataset, and / or the seventh dataset, and / or a merged or interleaved version thereof, or the identified 3D surface model and / or the identified 3D volume density model, corresponding to the user selection on the electronic display device.

[0050] The imaging application further provides a virtual plucking control which, upon activation, for each graphically represented object selected by the user using the selection control, is executable to remove the graphical representation of the target plucking object from the graphical representation displayed on the electronic display device and supplement it with the graphical representation of the slot model.

[0051] The present invention also relates to a computer-readable medium comprising computer-readable instructions that, when executed by one or more computer processing units, configure the one or more computer processing units to implement at least one component of a system for automatically generating a three-dimensional model for use in virtual extraction of a target extraction object of a patient.

[0052] The present invention also relates to a computer program embodying computer-readable instructions that, when executed by one or more computer processing units, are configured to implement at least one component of a system for automatically generating a three-dimensional model for use in virtual extraction of a target extraction object of a patient.

[0053] The present invention also relates to the use of the third, fourth, fifth, sixth and / or seventh data sets and / or merged or cross-arranged versions thereof in a virtual extraction procedure of a target extraction object of a patient.

[0054] The present invention further relates to the use of the third, fourth, fifth, sixth, and / or seventh datasets, and / or merged or interleaved versions thereof, in a prosthesis design CAD / CAM software tool to generate a prosthesis design that anatomically represents the patient's target removal object. Such use can be performed before and / or during a patient visit to perform the actual removal procedure for the target removal object, preferably within a single visit.

[0055] These uses enable the reduction of the number of patient visits from multiple to just one by providing the ability to accurately pre-plan the extraction process and design and manufacture an anatomically correct prosthesis and, as the case may be, an abutment before or during extraction. Installation of the abutment / prosthesis can be performed in situ and immediately after the extraction of the target extraction object from the patient's anatomy.

[0056] The present invention provides devices, systems, graphical user interfaces, computer tools, methods and processes for generating, displaying, exporting / saving and using anatomically accurate virtual 3D models of anatomical cavities or sockets (hereinafter referred to as "slots") configured to appropriately position an object (e.g., a tooth or implant) in the oral cavity of a mammal (a human or other animal, hereinafter referred to as a "patient").

[0057] The virtual 3D model used in the disclosure is a three-dimensional digital representation of a physical object (or tank). A virtual 3D model is typically represented as a point cloud or a triangle (or other polygonal) mesh, as is known and used in the field of computer graphics. The virtual 3D model of the tank (or simply "tank model") implemented according to the described embodiments is a virtual 3D model that accurately represents the anatomical structure of the actual tank of the patient in which the object of interest is placed, and is determined and generated based on each of a surface scan of an anatomical region (e.g., oral cavity) and a volume density scan of the anatomical region of the patient's anatomy.

[0058] In both surface scans and volume density scans, the scanned anatomical region includes at least an object placed in an actual socket. In certain use cases, the purpose behind generating a socket model is to use an actual object placed in the patient's actual socket as an extraction target (hereinafter, a "target extraction object"). For example, the object may include a tooth to be extracted (hereinafter, a "target extraction tooth") or an implant (hereinafter, a "target extraction implant").

[0059] Obtaining a patient-specific virtual socket model and deriving corresponding insights therefrom can improve patient treatment planning, particularly diagnosing and planning treatments related to the patient's anatomy. For example, it can improve dental treatment planning (including planning for treatments involving tooth extraction, implant placement, abutments, and / or prostheses (e.g., artificial crowns)). It can further improve treatment workflow by reducing the number of steps and patient visits required to design anatomically accurate prostheses (e.g., temporary healing abutments or permanent abutments).

[0060] Each socket model generated as described herein substantially conforms to the contour of the outer surface of an actual object placed in the patient's anatomy. For example, a socket model according to an embodiment of the present invention is generated to conform to the contour of an actual tooth root of a patient based on volume density scan data (e.g., from a CBCT scan) of the anatomical region of interest (including the tooth of interest).

[0061] The present invention will be further described by the following detailed description in conjunction with the accompanying drawings.In the following detailed description, like reference numerals refer to like elements unless otherwise specified.

[0062] Although the following detailed description describes certain embodiments of the present invention in greater detail, it should be noted that features described only in the context of one of the embodiments are intended to also be used in the context of or in combination with any other embodiment of the invention, regardless of whether described in the detailed description, unless such combination of features would result in a meaningless result. The following detailed description is in no way intended to limit the invention to the specific embodiments and combinations of features in the specific embodiments; rather, the invention is limited and defined only by the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In the attached figure:

[0064] Figure 1 shows a flow chart outlining a first aspect of a method according to an embodiment of the present invention;

[0065] Figure 2 An architectural diagram showing a system according to an embodiment of the present invention;

[0066] Figures 3A to 3N An exemplary embodiment of the present invention of a method for generating a slot model according to the present invention is shown;

[0067] Figure 4 showing a flow chart outlining a second aspect of a method according to an embodiment of the present invention;

[0068] 5A to 5D A first exemplary graphical user interface embodiment of various aspects of the present invention is depicted;

[0069] Figure 6 showing a flow chart outlining a third aspect of a method according to an embodiment of the present invention;

[0070] Figures 7A to 7J A second exemplary graphical user interface embodiment depicting various aspects of the present invention;

[0071] Figure 8 showing a flow chart outlining a fourth aspect of a method according to an embodiment of the present invention;

[0072] 9A to 9T A second exemplary graphical user interface implementation of various aspects of the present invention is depicted. DETAILED DESCRIPTION

[0073] One aspect of the present invention is to generate a virtual three-dimensional socket model that sufficiently accurately models an anatomical socket for an object in an anatomical region positioned in the oral region of a patient. Embodiments include methods for generating such a socket model.

[0074] Figure 1 Is a computer device (e.g. Figure 2 Flowchart of method 100 performed in a system 200 of a computer program product for generating a 3D socket model accurately representing the anatomical structure of an actual socket in a patient's anatomy where an object of interest (e.g., a tooth) is positioned. Method 100 includes step 101 of receiving a surface scan and a volume density scan of an anatomical region of the patient's mouth (both stored in scan data 220 of system 200), wherein the scanned anatomical region includes at least a target object, in this example, in the form of at least a portion of an actual object positioned in an actual socket in the patient.

[0075] Method 100 further includes step 102, which receives a first dataset of labeled surface scan segments and a second dataset of labeled volume density scan segments (both stored in segment data 222) comprising individual segments corresponding to identified objects and / or features via image recognition and segmentation processing in the surface scan and volume density scan of the anatomical region of interest. Steps 101 and 102 can occur outside of the execution of application 215a, for example, via remote service 212.

[0076] For example, the surface scan data 220 may be generated by a remote surface scanning service 240. The surface scanning service 240 may perform any one or any combination of the following: collect the surface scan data collected from a surface scanner (e.g., an optical scanner or a camera), convert the surface scan data into a three-dimensional model that can be accessed and read by the processor 201 of the system 200, manipulate or convert it into another format, if necessary, prepare it for display on the electronic display 209, and save it in a computer-readable file that can be received by the system 200 and stored in a reserved local memory for the scan data 220.

[0077] As another example of a remote service, volume density scan data 220 can be generated by a remote volume density scan service 240. Volume density scan service 240 can perform any one or any combination of the following: collect volume density scan data collected from a volumetric density scanner (using a volume scanning device such as a cone-beam computer tomography (CBCT) scanner), convert the volume density scan data into a three-dimensional model that can be accessed and read by processor 201 of system 200, manipulate or convert it into another format, if necessary, prepare it for display on electronic display 209, and save it in a computer-readable file that can be received by system 200 and stored in a reserved local memory for use with scan data 220.

[0078] Another remote service 212 may include a segmentation service 244. The segmentation service receives scan data (surface (IOS) or volume density (CBCT or CT) scan data) and segments the received scan image including the anatomical region of interest into various identified objects using image processing, extraction, and classification, and associates a classification label with each segment. The segmentation service 244 can provide the segments in the form of individual virtual 3D segment models, wherein each individual virtual 3D segment model (also referred to herein as a "segment model") is a digital 3D representation of an actual anatomical part or feature of the patient's anatomical structure. In an embodiment, the segmentation service 244 provides each segment as an individual digital 3D model, preferably (but not limited to) in STL format as a triangle mesh or point cloud.

[0079] Each remote service 212 returns data to the system 200 via the network adapter, where the data is stored in the appropriate mass storage 206 (either scan data 220 or segment data 222 ).

[0080] Either or both of steps 101 and 102 may be performed outside of the execution of application 215a (e.g., by another process or application stored in local memory 204) and executed by the local processor 201 of system 200. In other embodiments, either or both of steps 101 and 102 may be performed alternately or as an integrated execution process within application 215a.

[0081] Because the received surface scan segments and volume density scan segments are typically acquired using different modalities (and therefore different (usually independent) scanning machines / devices), the scan data produced by each scanning modality is collected and stored according to a 3D coordinate system inherent to the specific scanning machine / device that collected the data. In these cases, it becomes important to align the resulting scan data from each scanner into a common 3D coordinate system so that the same objects from each scan match up and appear to occupy the same space (as they should, since they all represent the same object).

[0082] The (marked) surface scan segments and the (marked) volume density scan segments are cross-arranged into a common 3D coordinate system (step 103). The result of the cross-arrangement into the common 3D coordinate system is that for each pair of surface scan segments and volume density scan segments corresponding to the same patient object in the scanned anatomical region of interest, there should be one or more "matching" corresponding points in the 3D space of the common 3D coordinate system (i.e., the points of each segment in the segment pair should substantially or completely overlap). These matching points correspond to corresponding points of the actual object / feature of the patient's actual anatomical structure. Matching points will only exist in areas of the patient's anatomical structure that can be captured by a specific scanning method.

[0083] Therefore, since the surface scan data 220 only includes surface visible image data and the volume scan data 220 includes surface and subsurface image data, point matching can only be performed for points of the volume density scan segments corresponding to surface visible points of the scanned object (because the surface scan segments do not contain subsurface data points). It will be noted that although ideally, the points of the corresponding (or jointly represented) pairs of each surface scan segment and the associated volume density scan segment should be completely matched in the common 3D coordinate system, due to the accuracy differences between the scanning modes and the differences in the resolution and generation accuracy of the 3D scan segment models generated for each scanning method, these points can only be "substantially matched", that is, coincide within a range of error.

[0084] Nevertheless, the cross arrangement should result in the surface scan segments corresponding to (or jointly representing) the scanned object occupying approximately the same space in the 3D coordinate system as the area of ​​the associated object represented by the corresponding volume density scan segment.

[0085] At step 104, a selection indicating one or more target extraction objects is received.

[0086] The method further includes step 106 of generating, for each target extraction object, a 3D model of a well that conforms to the outer surface boundary of the portion of the target extraction object placed within the actual well of the patient. This involves identifying a 3D volume density model associated with the volume density scan segment label corresponding to the identified target extraction object, and identifying a 3D surface model associated with the surface scan segment label corresponding to the identified target extraction object, and then generating a 3D well model for each corresponding target extraction object based on the corresponding (or jointly represented) identified surface scan segment model and identified volume density scan segment model.

[0087] In an embodiment, step 106 is implemented by steps 106a and 106b, wherein step 106a determines a portion of the joint representation of the identified volume density model that does not occupy substantially the same 3D space as the identified surface model, and step 106b sets the portion determined in step 106a as the 3D model of the slot. In step 107, the generated slot model can then be saved in a file and / or exported to a save file for later use or distribution.

[0088] refer to Figure 2 , method 100 is performed in a computer system 200 and includes computer-readable instructions stored in a computer-readable memory 202 that, when executed by a computer processor 201, perform the steps of the method. In an embodiment, the method is implemented within a computer-executed application 215a (or "tool") as computer-executable instructions stored in the memory 202 of the system 200, or can be accessed via a remote service through a network adapter 211 supported by a device of the system 200.

[0089] Application 215a includes computer-readable instructions that, when executed by a local or remote computer processor (not shown, but executing service 112), perform the steps of method 100. Application 215a can be run in conjunction with electronic display 209. In an embodiment, application 215a includes a graphical user interface (GUI) that is displayed and presented on electronic display 209.

[0090] The GUI may include a 3D model view pane for displaying a three-dimensional model of an anatomical region of interest of a patient. The model displayed in the view pane is based on a surface scan and a volume density scan of the patient region of interest. The GUI includes various user controls to allow a user to instruct the application to perform various operations, such as, but not limited to: selecting and loading a scan record of a patient, selecting and manipulating a display view, selecting content for display in the GUI, selecting an object of interest and / or an identifier of an object of interest that may be included in the patient's scan data, selecting and viewing identifiers, descriptions, and images of implants, prostheses, materials, etc., relevant to planning dental treatment for the patient, and the like.

[0091] One or more such controls include an object selection tool that allows a user to select an object present in the patient scan data as a target extraction object. One or more such controls include a socket model generation tool that generates a separate 3D model of a socket in which the target extraction object is to be positioned. Alternatively, or in addition, one or more such controls include a virtual tooth extraction tool that, when activated by a user, operates to extract the selected object from the region of interest.

[0092] Alternatively, or in addition, one or more such controls include an extraction tool that generates a dataset comprising a model of at least a portion of the exposed object (e.g., a dental crown) based on at least a portion of the identified 3D volume density model jointly represented in the identified 3D surface model and / or at least a portion of the identified 3D surface model jointly represented in the identified 3D volume density model.

[0093] Alternatively, or in addition, one or more such controls include another extraction tool that generates a dataset including a model of at least a portion of a hidden object (e.g., a root of a tooth) based on at least a portion of the identified 3D volume density model minus portions of the identified 3D volume density model jointly represented in the identified 3D surface model.

[0094] Alternatively, or in addition, one or more such controls include means for generating a model wherein the dataset includes at least a subset of the surface scan minus portions of the identified 3D surface model jointly represented in the identified 3D volume density model.

[0095] Figures 3A to 3NAn exemplary embodiment according to one aspect of the present invention is shown, in which a three-dimensional socket model is generated from three-dimensional surface scan segments associated with an object (a 3D surface model of the corresponding object identified and segmented from surface scan data of the surface scan) and volume density scan segments (a 3D volume density model of the boundary surface of the corresponding object identified and segmented from volume density scan data of the volume density scan). In the illustrated embodiment, the object is a tooth, and the generated socket model is a tooth socket, which corresponds to the outer shape of the portion of the tooth located below the gum line, i.e., the root of the tooth.

[0096] Figure 3A An example of a three-dimensional surface boundary model 1a generated based on a volume density scan is shown. The individual structures in the model 1a correspond to the actual structures of the patient's oral condition. As shown, the 3D surface boundary model 1a embodies the anatomical structure representation of the patient's actual gum tissue 2, bone 3 and teeth (labeled as 11, 12, 13, 14, 15, 16 and 17 according to the International Dental Association (Federation Dentair Internationale, FDI) symbols (a tooth numbering system commonly used in the dental industry)) and other individual teeth (unlabeled). In an embodiment, the surface boundary model 1a is generated from a 3D volume structure represented in a volume density scan and extracted by image recognition and segmentation techniques (e.g., thresholding the intensity values ​​of individual scanning elements in a radiograph stack (measured in Hounsfield units)). In an embodiment, the surface boundary model 1a includes a point cloud, a triangle or other polygonal mesh or other 3D digital model.

[0097] Figure 3B Shown based on Figure 3A An example of a 3D surface model 1b generated from a surface scan of the same anatomical region. Individual structures in model 1b correspond to the actual structures of the patient's oral condition. As shown, 3D surface model 1b embodies the anatomical structure of the patient's actual gum tissue 2 and teeth (labeled 11, 12, 13, 14, 15, 16, and 17 according to FDI notation). Because bone in the patient's mouth lies beneath the gums and tooth surfaces, skeletal information is typically absent from surface scan model 1b.

[0098] Because the surface scan and the volume density scan were obtained by scanning the same oral region of interest, both Model 1a and Model 1b include corresponding model anatomical structures representing certain identical anatomical structures of the patient, such as teeth 11, 12, 13, 14, 15, 16, and 17, and gums 2. Model 1b includes a point cloud, a triangular or other polygonal mesh, or other 3D digital model generated from the 3D surface structure represented in the surface scan.

[0099] like Figure 3A and Figure 3B As mentioned, both the volume density scan model 1a and the surface scan model 1b are surface models of the (usually identical) anatomical region. The 3D surface models 1a and 1b do not include a representation of the internal anatomical structure. This means that neither model contains information about the socket or other structures beneath the visible outer surface of the object in the model. In the illustrative example, if the object is a tooth, this means that the anatomical structure of the socket in which the tooth is located cannot be determined because the socket is not represented in the 3D volume density scan model ( Figure 3A ) or 3D surface scan model ( Figure 3B ) are not visible in either.

[0100] exist Figure 3A Model 1a and Figure 3B In model 1b, only the crown portion of the tooth is modeled; neither scan includes the root or the anatomy of the socket in which the tooth resides. While surface detail is helpful when planning dental treatment, surgical procedures, and prostheses for patients, the lack of subsurface information about the patient's anatomy beneath the visible surface of the mouth in models 1a and 1b can hinder accurate planning and design.

[0101] To facilitate accurate generation of the 3D tank model, in an embodiment, each of the corresponding volume density scan data and surface scan data that generate the corresponding 3D surface models 1a and 1b is submitted to a segmentation application. The segmentation application can be a remote service 244, or it can be a local application (stored in local memory 204 and executed by one or more processors 201). The segmentation processor processes each of the received surface scan data and volume density scan data to automatically identify (via image recognition functions) and extract and classify (via segmentation functions) the individual identified objects into labeled categories or classes.

[0102] For example, in an embodiment where the objects are teeth in a patient's mouth, a segmentation processor receives each of the intraoral surface scan data and the CBCT or other volume density scan data, and processes each scan data set to identify and label the identified objects as the individual identified teeth, gums, bones, and possibly other objects (e.g., fillings, implants, etc.) identified in the received scan data. The segmentation processor labels the identified objects with corresponding object type labels associated with the object type (or category) of the identified objects.

[0103] For example, the segmentation processor may identify an object in the 3D model or scan data that corresponds to tooth type 16 and assign the identified object an object type label of "16" (or any unique label that classifies the identified object as a unique object type corresponding to the patient's actual tooth 16). The segmentation processor identifies and classifies (i.e., "labels") the identified data segments in the scan data into a plurality of individual segments corresponding to the various identified object types.

[0104] Preferably, a single segment includes a 3D surface model representing the actual scanned object (e.g., a scanned tooth, a portion of the gums, a bone, an implant, etc.). In an embodiment, each segment corresponds to a single object in the patient's mouth and is labeled with an associated label. Each segment contains an independent 3D model, represented as a three-dimensional triangle (or other polygonal) mesh.

[0105] refer to Figure 3C The segmentation processor can identify representations of individual teeth 11, 12, 13, 14, 15, 16, and 17 in a volume density scan of a patient, and can segment the representation of each identified tooth 11, 12, 13, 14, 15, 16, and 17, the gingiva 2, and any of the bone 3 into respective independent segments 11a, 12a, 13a, 14a, 15a, 16a, 17a, 2a, and 3a that collectively form a segmented volume density scan surface model 10a. Each segment is converted into an independent surface mesh, e.g., a 3D triangle mesh, and each segment can be independently selected (e.g., when presenting the segmented model in a graphical user interface (GUI), as described below).

[0106] Notably, since segments 11a to 17a, 2a, and 3a are extracted from the volume scan data, each segment includes all available information from the volume density scan. This means that objects (e.g., neural tubes) and portions of objects (e.g., tooth roots) that cannot be imaged in the surface scan because they lie beneath the visible surface inside and outside the patient's mouth are still modeled in the volume density scan segments. Each volume density scan segment includes complete object information (based on what was imaged in the volume scan data), even information beneath the surface of the scanned anatomical region of the patient. Thus, each tooth 11a to 17a includes root information, which is clearly visible in the segmented model.

[0107] Similarly, reference Figure 3DThe segmentation processor can identify representations of individual teeth 11, 12, 13, 14, 15, 16, and 17 in the patient's surface scan and can segment the identified representations of any of the teeth 11, 12, 13, 14, 15, 16, and 17 and the gingiva 2 into corresponding independently selectable segments 11b, 12b, 13b, 14b, 15b, 16b, 17b, and 2b that collectively form a segmented surface scan surface model 10b. Each segment is converted into an independent surface mesh, such as a 3D triangle mesh.

[0108] Although the segmented model 10a includes all segments of the scanned anatomical region of the patient, each segment is an independently selectable 3D model of the corresponding scanned object. Thus, each segment 11b to 17b and 2b can be viewed individually, e.g., as Figure 3H 16b, which corresponds solely to the patient's tooth 16. Tooth segment 16b includes only a portion of tooth 16 present in the surface scan. Thus, segment 16b represents only the crown of tooth 16, since only the crown (the portion of tooth 16 above the gum line) is visible during the surface scan.

[0109] Figure 3E The segmented volume density scan surface model 10a and the segmented surface scan surface model 10b are shown cross-arranged in a common three-dimensional coordinate system. Separate imaging systems are typically used to capture each of the surface scan data and the volume density scan data. For example, an intra-oral scanner (IOS) can be used to capture a surface scan of an area of ​​the patient's mouth that is of interest, while a CBCT scanner can be used to capture a volume density scan of the patient. Both types of scans are valuable in providing important information and, together, complement each other to provide a more complete image of the patient's actual oral condition. A surface scanner (e.g., an optical scanner) can capture very high-resolution details of the visible topography of a patient's dentition, but can only capture surface details, not internal details.

[0110] In contrast, volume density scans (such as CT or CBCT scans) can capture the internal volume and density details of a patient's dentition, such as the size and density of the jawbone, the complete teeth (including their roots), and the nerve pathways. Together, surface scans and volume density scans can form the basis of dental treatment planning and prosthetic fabrication processes.

[0111] Since the independent imaging systems capture image data relative to the specific 3D coordinate system of the imaging system that captured the scans, in order to cross-lay out the scans in a single viewing window with its own 3D coordinate system, the two scans must be aligned with each other. This process is often referred to as scan matching or registration. Methods exist for aligning 3D meshes to a single 3D coordinate system.

[0112] In an embodiment, each of the surface scan data and the volume density scan data is segmented into 3D triangular mesh segments corresponding to individual teeth and jaws, and then key points of the corresponding tooth segments are determined from each of the surface scan and the volume density scan for each tooth, and then the key points are aligned in a common 3D coordinate system. For example, CoDiagnostix provided by Dental Wings GmbH (a Straumann Group company) can be used. TM Dental implant planning software to perform the process.

[0113] Obviously, in Figure 3E , the positions of the various segments (11a, 12a, 13a, 14a, 15a, 16a, 17a, 2a and 11b, 12b, 13b, 14b, 15b, 16b, 17b, and 2b) from the respective segmented models 10a and 10b correspond to the same corresponding actual anatomical structure (11, 12, 13, 14, 15, 16, 17, and 2) in the patient's mouth. As can be seen, it is important that the segments corresponding to portions of the same actual anatomical structure from each scan type (e.g., interior or surface) are arranged in the same three-dimensional coordinate system. When they are correctly interleaved, the segments representing the same actual anatomical structure substantially coincide, as shown.

[0114] In an embodiment, a segmentation processor processes the scan data to identify and classify portions of the scan data into individual segments classified as anatomical structure types based on a set of labeled training data comprising multiple instances of each anatomical structure type. In an embodiment, the segmentation processor is a trained convolutional neural network (CNN) that has been trained on a large dataset of scanned images obtained from a large number of different people with different anatomical conditions, including or lacking different teeth, gums, bones, and other natural and artificial (e.g., implants, prostheses, etc.) anatomical structures.

[0115] Figure 3F The tooth scan segment 16b is shown when it is removed from the surface scan (see Figure 3D ). As shown, the removal of the crown segment 16b results in a hole 16c in the model 10b where the crown 16b once was. This is expected because the segmented surface scan 3D model 10b is generated based solely on surface scan data that does not contain bone or other subsurface information (e.g., root information of the tooth). Therefore, when removing the crown segment 16b from the segmented surface scan model 10b (see Figure 3D ) and remove the tooth segment 16b, no tooth socket information is available, and the surface scan model 10b only has the hole 16c before the tooth segment 16b is removed.

[0116] Figure 3G The volume density scan 3D model (from Figure 3C ) of the tooth segment 16a are jointly arranged in the same 3D coordinate system to scan the segmented surface 3D model. Figure 3H The tooth segment 16a is shown separated and isolated from the other segments of the volume density scan model 10b. The tooth segment 16a includes a crown portion 16a. c and root portion 16a r Obviously, the root portion 16a of the tooth 16 r Including root stem 16a t and three separate roots (lingual root 16a r_I , mesiobuccal root 16a r_mbs (exist Figure 3H (not visible) and distal buccal root 16a r_dbr While tooth 16 may have three separate roots, other teeth may have only one root, or may have two or more roots. For simplicity, the root stem and individual roots of any given tooth may be collectively referred to herein as the "root" of the tooth. In the surface scan, only the crown 16a is visible. c Visible above the gum line. Root portion 16a r Above the gum line it is not visible to the naked eye or the camera in an intraoral scanner.

[0117] Figure 3I Shown is a separate tooth segment 16b (from Figure 3G As previously mentioned, tooth segment 16b only represents the crown of tooth 16, because the surface scanning camera can only see the crown of the tooth (because the crown is above the gum line and can be seen by both the naked eye and the camera lens).

[0118] Obviously, since both the surface scan and the volume density scan image the same region of interest, both scans include surface information related to the same actual corresponding anatomical structure (assuming that the same region of the scan is scanned). This means that for a visible surface (e.g., a crown of a tooth), both the surface scan and the volume density scan will include surface information or surface boundary information related to the crown of the tooth, respectively.

[0119] Surface scans using optical sensors tend to produce higher resolution images, resulting in 3D models of the surface with greater detail. Volume density scans typically use modalities that are either not as accurate as optical scans or are medically unsafe to be as accurate as optical scans. For example, volume density scans produced using X-ray technology (including CT or CBCT modalities) are based on X-ray radiation, and while high-precision images can be obtained using high doses of X-rays, doing so is medically unsafe for patients. Therefore, CT and CBCT modalities for patients need to be set up with very low X-ray radiation levels to make them safer for humans. The trade-off is that the image is less accurate. Therefore, the crown surface data from a surface scan typically includes higher detail than the crown surface data from a volume density scan.

[0120] In order to generate a 3D model of the patient's oral condition after tooth extraction, the application scans the root portion 16a of the tooth segment 16a with volume density preservation. r , and remove the crown portion 16a c To do this, the application determines a volume density scan of the gum line around tooth segment 16b based on points along the surface scan of the lower edge of tooth segment 16b.

[0121] Figure 3J A cross-arranged surface scan segment 16a and a volume density scan segment 16b are shown (both displayed in the same 3D coordinate system). As shown, the gum line 16b gl is a set of points corresponding to the lower edge of the surface scanned tooth segment 16b. Since the application knows the gum line 16b gl position, so that the crown portion 16a c It is calculated as all points on the same side of the gum line (also called cutting line) where the surface scan segment 16b lies within the application's specific 3D coordinate system.

[0122] In simple terms, the application removes all points of the volume density scan tooth segment 16a that coincide with or substantially fall within the same volume of the 3D coordinate system region as the surface scan tooth segment 16b (i.e., the crown of the tooth) (i.e., the corresponding portions 604 of the volume density scan tooth segment and the surface scan tooth segment are jointly represented). More simply, the root portion 16a r is obtained by subtracting 16b from 16a (and removing any outliers if necessary).

[0123] Figure 3K Shown is the removal of the crown portion 16a from the volume density scan tooth segment 16a c Root 16a afterward r Since this is a surface model, only the external points of the segment exist in the 3D model; therefore, when the crown portion 16a is removed from the segment 16ac When the inner side 16a r_interior The tooth root portion 16a is empty. r The shape and form of the tooth root 16a r The points on the outer surface of the segment are defined as being defined based on the surface models of the individual segments obtained from a volume density scan.

[0124] Thus, the contour of the inside of the root follows the contour of the outer surface of the root itself. r Can be used with Figure 3F The surface model 10a of the patient is displayed together with the crown segment 16a of the patient to generate a surface 3D model 10d representing the oral cavity of the patient with the tooth 16 extracted. Figure 3L 、 Figure 3M and Figure 3N shown. Figure 3L The 3D model 10d is presented in a substantially horizontal plane with a lingual view to show the hole 16c and the slot outline 16s (by extracting 16b from 16b). r to indicate). Figure 3M Shown along with Figure 3L Model 10d is viewed from the rear side of the model at the same horizontal plane. From this angle, the groove outline is more obvious. Figure 3N Another view of the model 10d is shown showing the socket into which the tooth 16 is virtually extracted. The outline of the socket 16s is visible, showing the positions where two of the three individual root cusps are located prior to the virtual extraction of the tooth 16.

[0125] The slot 16s includes the root stem 16b of the virtual tooth before extraction t As shown, the slot 16s follows the contour of the root of the extracted tooth and includes the root stem slot portion 16a. t and three separate root canals, the three separate root canals including the lingual root 16a and the lingual root 16b. r_I , mesiobuccal root 16a r_mbs and distal buccal root 16a r_dbr The corresponding lingual root groove is 16s r_I 、Mesiobuccal root canal 16s r_mbs and distal buccal root canal 16s r_dbr .

[0126] Since the volume density scan segment model of a tooth only includes the outer (boundary) surface of the tooth object, it does not contain information about the interior of the tooth itself. That is, for segmentation, the segmentation processor generates a 3D mesh of the outer surface of the tooth without any modeling of the interior of the tooth. For a closed object (e.g., a tooth), the 3D mesh model is also a closed triangular mesh (with an equal number of edges and triangular facets associated with any given vertex). Therefore, since the cut root segment 16a r (ie, the crown portion 16a is removed c The interior of the segment 16) is hollow, so the root segment 16a r The inner surface follows the root segment 16a r That is, the inner surface is just the root segment 16a. r The same outer wall (except when viewed from the inside of the wall).

[0127] Crown portion 16a c The removal of the volume density scan segment 16a results in an open mesh (i.e., there is at least one vertex in the mesh where the number of edges associated with the vertex exceeds the number of triangular facets associated with the vertex). As used herein, an edge facet is a facet where the number of its adjacent facets (shared edges) is not equal to the number of edges of the facet. c In the case of r ) includes a set of edge facets along the margin line (where the crown meets the gum line) that never make it into an open mesh. r There is no information inside, so the inner surface of the opening mesh is consistent with the cut root segment 16a. r The outer surface is the same.

[0128] A second aspect of the present invention relates to a virtual object extraction tool, which includes the method for generating a 3D slot model described so far (e.g., Figures 3A to 3N ). This virtual object extraction tool can be implemented in various anatomical treatment planning and design software tools.

[0129] For example, but not limited to, in various embodiments, a virtual object extraction tool is determined and generated in association with any and all virtual tooth extraction tools in a dental treatment planning software tool, an implant planning software tool, and / or a prosthesis design and manufacturing planning (CAD / CAM) software tool. For example, in a dental tooth extraction procedure, the novel apparatus, systems, graphical user interfaces, computer tools, methods, and processes presented herein enable virtual tooth extraction of a patient's teeth to be virtually performed on an electronic display prior to actual extraction from the patient's teeth.

[0130] The virtual tooth extraction tool enables dental professionals to view a highly accurate model that precisely represents the contours of the actual socket where the object will be placed and will remain and be exposed after the object is removed from the patient's mouth. After virtually removing the target tooth for extraction, a socket model (and the surrounding area of ​​the patient's mouth) can be generated and displayed. The socket contours are accurately represented, with the inside of the socket matching the outer surface of the patient's actual tooth (including the root) below the gum line (i.e., the margin line).

[0131] The socket model can be used to perform virtual object extraction, wherein the target extraction object (e.g., a tooth) can be removed from the 3D model of the anatomical region of interest, and the virtual 3D socket model can be added to the model (or can be displayed with the model). The display of the 3D model with the removed object and the visible virtual socket itself facilitates the extraction of the actual object from the patient's anatomy. This is further useful in subsequent treatment planning (e.g., dental implant planning and prosthesis design planning discussed below).

[0132] refer to Figure 4 , the virtual object removal method 400 may include: a step 401 of receiving a surface scan and a volume density scan of an anatomical region of interest, and a step 402 of receiving surface scan segments and volume density scan segments corresponding to objects identified in the surface scan and the volume density scan of the anatomical region of interest. Steps 401 and 402 may occur outside of the execution of the application, or may be an integral part of the application, similar to the step 403 of Figure 1 The method is associated with steps 101 and 102 in the discussion.

[0133] Method 400 may further include step 403 of cross-arranging the surface scan segments and the volume density scan segments into a common 3D coordinate system. At step 404, the method includes displaying at least the cross-arranged segments associated with the target extraction object and adjacent cross-arranged segments of interest on an electronic display. At step 405, the method includes receiving a selection of one or more target extraction objects. At step 406, the method includes identifying the surface scan segments and volume density scan segments associated with the selected objects of interest. At step 407, the method includes, for each selected target extraction object, generating a 3D slot model corresponding to the selected target extraction object.

[0134] The method 400 may further include: a step 408 of removing each of the identified surface scan segments and volume density scan segments corresponding to the selected target extraction object from the display, and a step 409 of displaying the generated 3D socket model on the electronic display. The method 400 may further include: a step 409 of saving and / or exporting the 3D surface model representing the extracted tooth model (including the generated 3D socket model and the associated segments of the anatomical region of interest, but excluding the segments corresponding to the selected target extraction object).

[0135] Any function in step 401, step 402, step 403, step 405, step 406 and step 407 can be performed as described above. Figure 1 The corresponding steps 101, 102, 103, 104, 105 and 106 are described in detail, or can be executed by calling Figure 1 The function of the relevant method steps and returning the generated 3D slot model to the 3D model generation tool ( Figure 2 215a) in the implementation.

[0136] Method 400 may be implemented in a system such as Figure 2 A computer virtual object removal application 215b is shown executing in the system 200. Various aspects of the virtual object removal application 215b may be implemented as computer instructions that may be stored in the local memory 204 of the system 200 and that, when executed by the processor 201, may implement features and aspects of the method 400.

[0137] The computer instructions may include instructions for implementing a graphical user interface (GUI), which may include a graphical user interface environment facing the user (or "front end") and an underlying operational (or "back end") GUI that performs functions to cause operations indicated by user input received via GUI environment controls. The front end GUI includes input controls through which user controls, input, and data are received via input devices 207, and through which patient data can be loaded into the environment. The front end GUI further includes an output display area, such as user control elements and view panes, wherein user controls, various views of the scan data and model, and other information are displayed and output via output devices 208, 209 based on GUI control settings and user input to the controls.

[0138] 5A to 5D An exemplary embodiment of a graphical user interface (GUI) display environment 500 is shown during various steps in a dental treatment planning workflow. The GUI display environment can be displayed on the electronic display 209 of the system 200 implementing the dental treatment planning application 215b. The GUI display environment 500 includes controls 501 (not separately shown) to enable a user to select and load a patient's scan data 220 into the system 200's mass storage 206 or into an external storage device (not shown) accessible by the system 200 or accessible from a remote service 212 via a network adapter 211.

[0139] In the context of the described aspects of the invention, the scan data 220 includes surface scan data and volume density scan data of the patient's anatomical region of interest. In an embodiment, both the surface scan and the volume density scan are obtained prior to activating the dental treatment planning application; in other embodiments, one or both of the surface scan data and the volume density scan data are obtained in conjunction with using the application 215b.

[0140] For example, the remote service 212 may include an optical scanner application that communicates with the optical scanner and transmits the optical scan data to the dental treatment planning application during or after completing an intraoral scan of an area of ​​interest of the patient's oral condition. Similarly, the remote service 212 may include a volume density scanner application that communicates with the volume density scanner and transmits the volume density scan data to the application 215b during or after completing an intraoral scan of an area of ​​interest of the patient's oral condition.

[0141] The application 215a manages the display of graphical content in the GUI display environment 500, including monitoring user input to graphical controls received through user input devices (e.g., a mouse, keyboard, joystick, voice recognition, etc.). The user input can correspond to an action to be taken (e.g., calling various application functions specific to the substantive features of the application, or GUI functions for changing the layout or content of features displayed on the display). More specifically, the front-end GUI displays user input controls and monitors user input associated with the function controls. Upon receiving user input associated with the user input controls, the GUI calls the appropriate function corresponding to the specific user input control and the type and content of the user input. The GUI also responds to a back-end process that communicates with the back-end GUI, which in turn communicates with the front-end GUI to display information on the electronic display, remove information on the electronic display from the display, and / or modify the display of information on the electronic display.

[0142] Such user-selected functionality may result in, but is not limited to, displaying models, views, segments and / or annotations, removing models, views, segments and / or annotations from display, and modifying the display of models, views, segments and / or annotations, as well as displaying various user controls and information displayed in the GUI display environment 500, removing various user controls and information displayed in the GUI display environment 500 from display, and updating the appearance of various user controls and information displayed in the GUI display environment 500, as well as receiving and returning information to facilitate the substantive functional features of the application 215b (including, but not limited to: substantive treatment assessment, substantive treatment planning, virtual performance of treatments or operations (e.g., tooth extraction, implant placement, prosthesis design and placement, etc.)).

[0143] refer to Figure 5A GUI display environment 500 includes global controls 501, such as file management, general display controls, and other controls common to the GUI display environment. For example, controls 501 may include file selection controls, file save / export controls, view pane formatting controls, etc. GUI display environment 500 also includes patient-specific controls 502, such as dental arch and individual tooth model controls.

[0144] GUI display environment 500 includes functional controls 503, including a tooth extraction control 512. Tooth extraction control 512 is typically displayed as a single control, but may include multiple controls, such as a guided dialog or other well-known GUI interaction techniques for displaying information and information requests and pop-up display panels for receiving user input. GUI 500 also includes and displays at least one view pane 503 for displaying therein a three-dimensional model of a patient's 3D anatomical model (or a selected portion thereof) of a selected patient's oral condition, as obtained from scan data of the patient and selected via a selection control in controls 502.

[0145] The control 501 includes one or more controls (not shown) that, when selected, enable the surface and volume density scan data 220 of a user-selected patient to be loaded from local, mass, or remote storage into the mass storage 206 of the system 200. In an embodiment, when the patient scan data 220 is initially loaded, the GUI display environment 500 may display one or more view panes 503 (only one shown) to present a visual overview of the patient's oral condition on the display. Figure 5A , the view pane 503 shows a 3D model 10a displaying a volume density scan. The environment 500 may also include various additional views of the patient's oral cavity based on the volume density scan data. For example, the environment 500 may include a panoramic view pane, an axial view pane, a cross-sectional view pane, and a tangential view pane (not shown).

[0146] An important objective of the virtual tooth extraction tool (accessible via controls 512) is to virtually represent the patient's oral condition while virtually removing one or more teeth or other objects selected for extraction. For example, in the dental treatment application 215b, when teeth are virtually removed and displayed within the GUI display environment 500, the resulting displayed 3D model should include a representation of the tooth socket that would be visible to the naked eye after removal of the target tooth.

[0147] Previously, dental treatment planning applications and prosthesis design software (e.g., dental CAD / CAM) software were unable to provide detailed accuracy of the socket of a removed tooth because the object surface model generated from the scan data did not include subsurface information. Compared to prior art dental treatment planning and / or dental prosthesis computer-aided design (CAD) and computer-aided manufacturing (CAM) tools, the virtual tooth extraction tool extracts information from both surface scans and volume density scans of the patient's dentition and utilizes information corresponding to the same target tooth in both scan types to automatically determine and provide a highly accurate anatomically based representation of the socket remaining after tooth removal. Application 215b provides a virtual tooth extraction tool (activated via control 512) that automatically determines the outline of the socket of a selected tooth oriented for removal and generates a virtual 3D model of the extracted socket for display, storage, and / or extraction.

[0148] like Figure 5A As shown, a user may activate the virtual tooth extraction tool by selecting the tooth extraction control 512 by moving a graphical cursor 520 over the control 512 via a mouse (not shown) and mouse-clicking the control 512 . Figure 5B An embodiment of a pop-up dialog box 513 is shown that is displayed in the GUI environment 500 when the tooth extraction control 512 is activated. As shown, the dialog box may include a tooth selection diagram that allows a user of the application 215b to select one or more individual teeth for virtual tooth extraction.

[0149] In an embodiment, the user can click on a single tooth in the diagram to select the tooth as a target tooth for extraction. The user can optionally select instructions for saving the socket model generated by the tool when generating the socket and / or instructions for extracting a tooth extraction model (which includes a model of the socket model generated for the one or more target teeth for extraction in the view pane 503 minus one or more target teeth for extraction and plus the socket model generated for the one or more target teeth for extraction) by selecting the corresponding selection click box or radio button or other such selection function. When the user completes the selection of one or more target teeth for extraction and the save / extraction option, the user can click the select button 517 to invoke the tooth extraction tool.

[0150] Figure 5C A posterior view of the 3D tooth extraction model 10d is presented (looking from the patient's back to the front of the maxillary dental arch), which more conveniently shows a 3D socket model 16s corresponding to the socket of the extracted tooth 16. The socket model 16s is displayed together with a 3D surface scan model of the extracted tooth 16. Figure 5D The same model 10d is shown viewed from below (from the bottom up towards the maxilla). As shown, the tooth 16 is missing, but the interior 16c of the socket 16s is visible and it follows the contour of the root of the extracted tooth 16.

[0151] Virtual tooth extraction is often a precursor to dental implant placement. Figure 6 A flow chart of an exemplary method 600 of the third aspect of the present invention (i.e., for generating a surface model having a tooth extraction model and an implant placed in a socket of a virtual extracted tooth) is shown. According to the method 600, at step 601, an implant planning application (e.g., in Figure 2 The application 215c) executed in the system 200 obtains a virtual model of the patient's dentition based on both a volume density scan and a surface scan of a region of interest of the patient's dentition.

[0152] In an embodiment, at step 602a, the dental implant planning application 215c, under control of user input received via a GUI control, places a virtual implant in the virtual model of the patient's dentition. At step 603a, following user activation of a tooth extraction control, the dental implant planning application 215c performs a virtual tooth extraction on the tooth targeted for replacement by the implant, thereby generating an extraction socket model and a tooth extraction model in which the target tooth to be extracted is removed from the virtual model of the patient's dentition and replaced with the generated extraction socket model. Since the virtual implant is already in place in the virtual model of the patient's dentition, the tooth extraction model includes both the extraction socket model and the virtually placed implant model.

[0153] In an alternative embodiment, steps 602a and 603a are reversed. In this alternative embodiment, at step 602b, a tooth extraction is first performed to generate a tooth extraction model. At step 603b, a virtual implant is placed in the tooth extraction model. The virtual tooth extraction model can then be saved and / or exported to a file (step 604). Optionally, a surface scanned crown segment is exported in the same 3D coordinate system as the exported tooth extraction model (step 605).

[0154] Optionally, at step 606 , the exported tooth extraction model and crown segment file may be sent to a prosthesis design tool for importing and designing an implant prosthesis.

[0155] Implant placement planning is typically performed by pre-planning the selection of implants and virtual placement of the implants in a virtual model of the patient's dentition. Virtual implant planning and placement can be performed using several dental implant planning tools available on the market. One example is provided by Dental Wings GmbH (a Straumann Group company). Dental implant planning software. This dental implant planning software includes software-implemented tools including a graphical user interface for importing and displaying patient internal and surface scans, selection of dental implants, and placement of the selected dental implants in a model of the patient's dentition generated based on the imported scans.

[0156] For example, Figure 7A Describes the Figure 2 The GUI display environment 700 generated by the application 215c in the system 200 is shown in which the surface and volume density scans of the patient have been imported and loaded into the memory 206 of the system 200. Figure 7A Depicts the patient's teeth after a dental professional has selected and virtually placed an implant. Techniques for virtually placing implants in a virtual model of a patient's dentition are known in the art, e.g., according to Use of dental implant planning software. Figure 7A , a virtual implant post 710 is placed and shown in various types of views in corresponding view panes of the graphical environment 700. In the example shown, the implant post 710 is shown virtually placed in a cross-sectional view (view pane 703d, an axial view (view pane 703c), a panoramic view (view pane 703b), a tangential view (view pane 703e), and a 3D view (view pane 703a)).

[0157] As shown in the various views in panes 703a to 703e, the placement of the implant is represented by the placement of an implant post or screw 710 (which is the base of the entire implant). The entire implant includes the implant post 710, an abutment (not shown) attached to the implant post 710, and an abutment (also not shown) for a prosthetic or dental restoration (which can be a crown, bridge, or denture).

[0158] During the initial planning phase, only the implant post 710 needs to be placed virtually. The implant planning software application provides a virtual implant placement guide 711 which does not correspond to a physical component - it is only a visual indicator to help the dental professional place the implant at the correct angle. Figure 7A In the 3D view pane 703a, the virtual guide 711 is displayed as a long cylindrical rod with a central axis that coincides with the central axis of the implant post 710 and a diameter that corresponds to the diameter of the abutment connection slot within the implant post. Preferably, the cylinder of the virtual implant placement guide 711 extends along the central axis above the occlusal plane of the tooth, such that the cylinder length is much longer than the cylinder diameter. Preferably, the guide 711 is displayed in a color that contrasts sharply with the colors used in the 3D model and other view panes, so that the application user can immediately see the guide relative to the content in each view pane.

[0159] The GUI display environment 700 includes a tooth extraction control 712, which, in an exemplary embodiment, is accessed by selecting a control from the view pane display control 702 corresponding to the portion of the patient's dentition where the implant under consideration is to be placed. In the illustrated embodiment, the dental professional selects the lower arch control, right-clicks it to pull up a context menu, and selects the tooth extraction control 712 from the context menu. The tooth extraction control can be selected to instruct the dental treatment planning application to automatically perform a virtual tooth extraction (utilizing the principles described above). There are many ways to implement a control that invokes an automated virtual tooth extraction tool—the key is to provide one or more controls that allow the user to invoke the tooth extraction workflow.

[0160] Figure 7B A pop-up window 713 is shown that appears in the GUI display environment 700 when the user selects the tooth extraction control 712. The pop-up window presents several options and user input controls for obtaining the input required by the virtual tooth extraction tool, including a tooth selection control 718, a mode control 714. Figure 7B In the illustrated embodiment, the tooth selection control 718 displays a set of selectable Figure 7A 7. A tooth icon corresponding to a tooth in the selected portion of the patient's dentition is displayed. The user (i.e., dental professional) can select a tooth corresponding to the tooth where the virtual implant post 710 is to be placed. In the example, the user selects tooth 35, which corresponds to the tooth in the lower left dental arch where the virtual implant post 710 is to be placed. For mode, the user selects "Mode: Cut Alveolus" 715 from the options drop-down menu 714, clicks on a checkbox control 716 to indicate that the extracted tooth should be saved as a separate file for future planning, and invokes the virtual tooth extraction tool by clicking on an extraction control 717.

[0161] Figure 7C The 3D surface model of the patient's dentition is shown in the view pane 703a. Upon completion, the virtual tooth extraction tool adds two 3D model files to the list of available model scans and 3D models in the control portion 702 of the GUI display environment 700. The user can select these files to display them in the pane 403a. One file is a dentition model of a tooth extraction (indicated by 721 in the file list). The model of the tooth extraction is generated by the virtual tooth extraction tool based on the information about the patient's dentition. Figure 1 and Figure 4 The described technique creates a tooth extraction model that is a 3D surface model of the patient's dentition (including previously placed implant posts 310) where selected teeth 35 are removed from the model and sockets are generated and included in the model in the appropriate locations.

[0162] The second file is an extracted tooth model (indicated by 722) in the file list, and is a model of tooth 35 in which the crown has been removed from the root.

[0163] Once these files are created, the user can click on the planning menu 723 in the GUI display environment 700, such as Figure 7D As shown, and select the virtual plan export control 724. In the next step, as Figure 7E As shown, the user can then select the format of the exported file in the format selection control 727 of the pop-up window 726. In the example, the user selects the STL format option 728 and clicks "Next" 729 to move to the next menu. Figure 7F In the next step shown, the user selects button control 732 to activate the option for exporting the selected model scan or segmentation without further processing. Clicking the "Next" button 733, in Figure 7G , select the tooth extraction file 731 from the export file selection pop-up window 730. Click the "Next" button 732 to pop up the implant selection pop-up window 735. Figure 7H As shown, the implant selection pop-up window 735 provides a scan body selection control 736. The scan body selection control 736 includes a scan selection control 737, which displays and allows selection of a suitable scan body from a set of possible scan body types. The user can select a scan body from the menu of scan bodies to add the selected scan body to the model for export. The user then clicks the "Next" button 738. Figure 7I , the user can select additional options, such as the 3D coordinate system to which the model should be exported and whether the exported objects should be exported as separate files sharing the same coordinate system. Clicking on the Export Plan line 741 invokes the export function based on the selection options and parameters selected by the user in the previous screen. The exported file is saved in a known location in computer-readable memory.

[0164] exist Figure 7J In

[15] , the same process can be followed to export surface scanned crown segments of the virtual extraction tooth (and optionally, the antagonist crown segments—that is, the crown segments of the teeth in the contralateral jaw that meet the target extraction tooth in the occlusal plane when the jaws are closed). It is important to ensure that the surface scanned tooth segments are exported in the same coordinate system as the exported virtual extraction model.

[0165] The resulting export file includes a 3D model of the patient's dentition, including virtual extractions of the teeth where the intended implant replacements will be placed. In place of the extracted teeth are virtual sockets where the virtual teeth once sat. This model also includes virtual implant posts placed in the sockets that the dental professional placed during the implant planning process.

[0166] The next step in the implant planning process is to design the prosthesis or dental restoration, for example, a temporary or permanent abutment with a crown, bridge or dentures. Figure 8 is a flow chart illustrating an exemplary process for designing an anatomically correct prosthesis, which is particularly useful for designing a temporary abutment for placement in a patient's mouth and while the tissue surrounding the surgical site heals after implant placement.

[0167] According to aspects of the present invention, as described above, the design of a temporary abutment based on a virtual tooth extraction enables the design of a custom abutment (or other prosthesis) based on the patient's anatomy as determined from the virtual tooth extraction. This means that the temporary abutment (or other prosthesis) can be designed and manufactured even before the implant placement surgery, allowing the implant to be ready for placement immediately (or shortly thereafter) after the implant post is placed. Because the virtual tooth extraction generates an anatomically correct socket specific to the patient's extracted tooth anatomy, there is no need to scan the patient's actual socket to obtain the socket surface contour after the actual tooth extraction.

[0168] This saves a considerable amount of time, as normally such scans must be postponed until some initial healing has occurred, as bleeding from the surgical site would interfere with obtaining a high-precision surface scan of the trough.

[0169] exist Figure 8 The process described in includes: obtaining a virtual tooth extraction model based on both a volume density scan and a surface scan of a region of interest of a patient's dentition (step 801) and obtaining a surface scanned crown segment of the virtually extracted tooth (step 802). In an embodiment, a virtual tooth extraction model can be obtained according to the above-described method and system. The obtained surface scanned crown segment is imported into the model and used as the prosthetic crown (i.e., the portion of the prosthesis visible above the gum line). In an embodiment, the design is designed electronically in a CAD / CAM tool that provides a cloning function to clone a virtual diagnostic wax up of the original crown.

[0170] In the GUI of the prosthesis design tool, a virtual tooth extraction model in which the virtual implant is placed is displayed to allow the user to view the model (step 804). The GUI provides user controls to allow the user to design the base of the prosthesis so that, at least for some portions, the design follows the contours of the interior of the extraction socket (step 805).

[0171] The final design is a prosthesis design having a top and a bottom, the top substantially conforming to the surface scanned crown segment, and the bottom having an outer surface substantially conforming to the inner surface of the tooth extraction socket of the virtual tooth extraction model. The prosthesis design can be exported to one or more electronic files in a format suitable for subsequent manufacturing (step 806). The physical prosthesis can then be manufactured based on the electronic files (step 807). In an embodiment, the electronic file includes or is converted into 3D printing instructions for printing by a 3D printer. In another embodiment, the electronic file includes an STL file.

[0172] Figures 9A to 9R A GUI display environment 900 is depicted for a prosthesis design application, such as a computer-aided design (CAD) or computer-aided manufacturing (CAM) tool. In an embodiment, the prosthesis design tool is provided in a computer-aided design environment such as that previously described in Figure 2 An application 215d is run in the system 200 described in detail.

[0173] Figure 9A 9 is a GUI display environment 900 displayed on the electronic display 209 and having user input controls and display areas as described below. To design a prosthesis, the user begins a new case by: clicking on control 901 ( Figure 9A ), enter case information (e.g., into the Case ID, Patient ID, and Dentist ID text boxes associated with the new case), and select a 3D model generated from the patient scan data and load it into memory for use by application 215b. In this example, a crown is to be designed. The user enters the file name of the virtual tooth extraction file (in this case, the lower tooth model input) and the extracted tooth file (the lower diagnostic wax-up), and loads the file into the system (e.g., by clicking the Save button ( Figure 9B )). The application displays the 3D model from the selected virtual tooth extraction file in the view pane 903 ( Figure 9C If necessary, the application provides controls in environment 900 for cleaning the scan (e.g., to fill holes where the scan data is incomplete, smooth scan lines, remove noise, etc.). The application may then provide tools to adjust the orientation of the model to the occlusal plane if necessary ( Figure 9D ).

[0174] Before designing, the user marks the tooth positions in the displayed model to indicate to the application 215 the positions of the tooth or teeth for which the prosthesis is to be designed and which teeth are adjacent to the tooth or teeth for which the prosthesis is to be designed (see Figure 9E ). Next, in Figure 9FIn the Implant Planning application, the user selects the platform (implant manufacturer, implant type, and connection) and the scan body. These selections should match the implants and scan bodies selected in the Implant Planning application, and the virtual tooth extraction files are generated based on these selections.

[0175] Once the setup is complete, the user can proceed to design the prosthesis. Figure 9J , the surface scanned crown segments from the 3D model are exported as separate segments in a 3D coordinate system that matches the virtual tooth extraction model. Since the surface scanned crown model is generated by optical scanning of the patient's original teeth (before the real teeth are actually extracted), the surface scanned crown segments can be used as a digital diagnostic wax-up model without scanning the patient's mouth again. Since the surface scanned crown segments are exported as separate segments that match the same 3D coordinate system as the virtual tooth extraction model, the surface scanned crown segments of the virtually extracted tooth can be mounted in the view pane together with the virtual tooth extraction model and can be used directly by the application 215d as the upper part of the prosthetic crown. By importing the surface scanned crown segment file as a digital diagnostic wax-up file ( Figure 9B ), designers can choose to clone digital diagnostic wax controls ( Figure 9G ) to instruct the prosthesis design application 215d to clone the digital diagnostic wax model in the digital diagnostic wax model file to be used as the prosthesis crown surface. Once the clone digital diagnostic wax tool clones the digital diagnostic wax model into the prosthesis, the user can then perform fine-tuning adjustments to the prosthesis shape through the fit, molding, and sculpting controls available in the GUI display environment 900. The environment 900 also includes controls for rotating and changing the view of the model displayed in the view pane 903a so that the user can view the prosthesis 904 from all angles. For example, in Figure 9H In FIG, the model 905 is rotated so that the prosthesis 904 can be viewed from the mid-buccal side. This enables the designer to make adjustments to the prosthesis by viewing the prosthesis in situ within the virtual tooth extraction model 905.

[0176] Once the visible surface of the crown has been designed based on the surface scan of the extracted crown segment obtained during the tooth extraction process, the user can design the base of the denture. The application can provide the designer with a tool for entering the restoration specifications (see Figure 9I ) controls, fixing specifications such as material type, color, and whether or not what should be output (e.g., output STL file, output order (which can communicate directly with a remote manufacturing facility)).

[0177] exist Figure 9J In FIG. 9 , a virtual tooth extraction model 905 is displayed in the view pane 903a. 9A to 9T The example case in FIG. 1 is a new case of prosthetic design for designing implants, and the virtual tooth extraction model 905 is provided with the implants placed in the model (e.g., using a Figures 7A to 7J The virtual tooth extraction model 905 includes a virtual implant post. In this example, a temporary abutment is selected and automatically connected virtually to the implant post and displayed as shown. The user can then select the thickness of the cementum space ( Figure 9K ), set the thickness of the material ( Figure 9L ), and the prosthesis 904 is displayed within the model 905 including the slot profile (or "emergence profile") Figure 9M ). The user can then also turn off the display of the model 905 to display only the prosthesis ( Figure 9N ).

[0178] Figure 9O The model 905 is shown reopened for display (see Figure 9O 910) and rotated to obtain a good outside view of the socket 910. With the anatomical transparency level set to a lower level, in order to view the implant post and abutment inside the socket 910, it is apparent that one can design an anatomically correct prosthesis 904 that conforms to the patient's oral anatomy by using the socket contour to guide the design of the lower crown portion of the prosthesis to relatively fit the inner contour of the socket 910. To this end, the prosthesis design application provides controls for adjusting the shape and fit of the lower portion of the crown.

[0179] Once the bottom of the crown prosthesis is shaped to conform to the contours of the slot 910, the designer can proceed to specify the shell of the prosthesis. The application can automatically calculate the proximal distance information between the prosthesis surface and the teeth on either side of the prosthesis (when it is virtually attached to the virtual implant post 906) ( Figure 9P ) and generate the shell surface (from Figure 9Q View mid-buccal and Figure 9R occlusal plane viewed from above). Figure 9S The final prosthesis design is shown in the model, wherein both the maxillary and mandibular bones with the anatomical model are partially set to transparent to partially see the implant post 906, abutment and prosthetic crown. The user can easily check the placement and shape of the prosthesis by visual inspection of the model. Figure 9T Shown with Figure 9S Same model and orientation, but the anatomy is completely opaque. The workflow continues with the usual steps before the crown is sent for production.

[0180] After the prosthesis design is complete, the design file can be exported and used to manufacture the design. In an embodiment, the exported design file can be sent to a manufacturing facility or remote manufacturing service. In an embodiment, the exported prosthesis design file can be used to generate 3D printer instructions to be submitted to a 3D printer in response to such instructions for 3D printing the prosthesis.

[0181] The above-described aspects and embodiments of the present invention provide multiple advantages in virtual socket visualization, anatomical treatment planning, and anatomical prosthesis design. According to one advantage, anatomical treatment professionals and prosthesis designers can plan treatment and design anatomically accurate prostheses based on an accurate three-dimensional model of the socket that serves as the setting for treatment planning and prosthesis design and that simulates the patient's specific socket anatomy.

[0182] The model can be generated before the anatomical object is extracted from the patient, which enables accurate treatment planning and design of the prosthesis before or at the same time as (i.e., in parallel with) the actual surgical extraction of the anatomical object from the patient. This means that the patient can have only one visit to the treating professional. In only one or two visits, the patient's anatomical region of interest including the target anatomical object for extraction can be scanned. The scan data can be imported into a digital treatment planning tool, which includes a virtual slot model generation tool and / or a virtual object extraction tool, which respectively generate virtual slot models, which are included in the display of the virtual anatomical model of the patient's anatomical region of interest (i.e., the region including the target extraction object and adjacent anatomical objects or features).

[0183] By including a virtual socket model in the displayed virtual anatomical model, the treating professional can more accurately virtually place the implant or other treatment within the virtual socket model, design and print 3D printable surgical guides, and export the virtual anatomical model as a virtual socket model for use in a separate prosthesis design software tool to design an anatomically accurate prosthesis. If the treating professional has immediate access to prosthesis manufacturing equipment, the prosthesis can be manufactured while the patient is still in the clinic. Otherwise, the prosthesis may be sent to a laboratory for fabrication, and the patient can return to the clinic when the anatomical area surrounding the implant has sufficiently healed so that the prosthesis can be attached to the implant.

Claims

1. A computer-implemented method (100) for automatically generating, by one or more computer processors, a three-dimensional model (10d) for use in a virtual extraction (602b, 603a) of a target extraction object of a patient, the target extraction object comprising an object in the patient's anatomy, the method being based on each of a surface scan (1b) and a volume density scan (1a) of an anatomical region of the patient's oral cavity, the anatomical region comprising at least the target extraction object, the method comprising: receiving a first dataset of labeled surface scan segments, each surface scan segment comprising a three-dimensional surface model (10b) of a corresponding object identified and segmented from surface scan data of the surface scan, and each surface scan segment having an associated label identifying the surface scan segment; receiving a second dataset of labeled volume density scan segments, each volume density scan segment comprising a three-dimensional volume density model (10a) of a boundary surface of a corresponding object identified and segmented from volume density scan data of the volume density scan, and each volume density scan segment having an associated label identifying the volume density scan segment; Arranging the labeled surface scan segments (10b) from the first dataset crosswise with the labeled volume density scan segments (10a) from the second dataset in a common three-dimensional coordinate system; receiving an identification of a target removal object (16); identifying a three-dimensional volume density model (16a) associated with a volume density scan segment label corresponding to the identified target extraction object; identifying a three-dimensional surface model (16b) associated with a surface scan segment label corresponding to the identified target extraction object; A third data set is generated that includes a model, the model including: a) a three-dimensional model of the groove (16s), which corresponds to the identified three-dimensional volume density model (16a) minus the portion of the identified three-dimensional volume density model (16a) jointly represented in the identified three-dimensional surface model (16b); b) at least a portion of the identified three-dimensional volume density model (16a) jointly represented in the identified three-dimensional surface model (16b) and / or at least a portion of the identified three-dimensional surface model (16b) jointly represented in the identified three-dimensional volume density model (16a); c) subtracting at least a portion of the identified three-dimensional volume density model (16a) from a portion of the identified three-dimensional volume density model (16a) jointly represented in the identified three-dimensional surface model (16b); and / or d) subtracting at least a subset (10b) of the first data set from portions of the identified three-dimensional surface model (16b) jointly represented in the identified three-dimensional volume density model (16a).

2. The method (100) according to claim 1, wherein the generating step comprises: determining portions of the identified three-dimensional volume density model (16a) that are not jointly represented in the identified three-dimensional surface model (16b); The determined portion of the identified three-dimensional volume density model (16a) is stored in a computer readable data storage component as a three-dimensional model of the well (16s).

3. The method (100) according to claim 1, wherein the generating step comprises: determining a portion of the identified three-dimensional volume density model (16a) jointly represented in the identified three-dimensional surface model (16b); determining a difference between the determined joint representation portion and the identified three-dimensional volume density model (16a) by removing the determined joint representation portion from the identified three-dimensional volume density model (16a); The determined differences are stored in a computer readable data storage component as a three-dimensional model of the groove (16s).

4. The method (100) according to claim 1, wherein the generating step comprises: generating a fourth data set by removing portions of the identified three-dimensional surface model (16b) jointly represented in the identified three-dimensional volume density model (16a) from a copy of at least one subset (10b) of the first data set; The fourth data set is stored in the computer-readable data storage component.

5. The method (100) of claim 1, wherein: The labeled surface scan segments from the first data set are interleaved with the corresponding labeled volume density scan segments from the second data set.

6. The method (100) of claim 1, wherein: Cross-arranging the first dataset of labeled surface scan segments (10b) against the second dataset of labeled volume density scan segments (10a) includes generating a fifth dataset of labeled segments, each segment including a combined three-dimensional model representing the anatomical object.

7. The method (100) according to claim 1, comprising: The boundaries of the identified three-dimensional surface model (16b) are determined, and a cutting line (16b) is generated therefrom. gl ); The cutting line is projected onto the identified three-dimensional volume density model (16a).

8. The method (100) of claim 7, comprising generating a sixth data set comprising the data at the cutting line (16b gl ) on one side of the identified three-dimensional surface model (16b) and / or the identified three-dimensional volume density model (16a), the sixth data set substantially including all parts of the identified three-dimensional volume density model (16a) jointly represented in the identified three-dimensional surface model (16b).

9. The method (100) of claim 1, comprising generating a seventh data set from the first data set, the second data set, the third data set, the fourth data set, the fifth data set and / or the sixth data set or the identified three-dimensional surface model and / or the identified three-dimensional volume density model, wherein Gaps in the surface defined by the dataset or model, respectively, are enhanced by filling the gaps with the generated surface information.

10. The method (100) according to claim 9, comprising generating the generated surface information by interpolation of boundaries of the void and / or based on standard anatomical modeling.

11. The method (100) of claim 1, wherein: The target extraction object is a tooth, and the socket model (16s) includes a three-dimensional model of the patient's tooth socket where the target extraction object (16) is to be placed.

12. The method (100) of claim 1, wherein: The associated label of each surface scan segment and / or each volume density scan segment identifies the surface scan segment or volume density scan segment as corresponding to a tooth, a portion of a tooth, a prosthetic tooth, a portion of gum tissue, a portion of bone, an implant, or other object or structure present in the patient's oral cavity and / or anatomical region, respectively.

13. The method (100) of claim 1, comprising storing any one of the third, fourth, fifth, sixth and / or seventh data sets and / or merged or interleaved versions thereof in a computer-readable data storage component.

14. A system (200) for automatically generating a three-dimensional model for use in virtual extraction of a target extraction object of a patient, the system comprising one or more computer processing units (201), the one or more computer processing units (201) configured to load and execute computer-readable instructions, the one or more computer processing units (201) being configured to implement the method (100) according to claim 1 when executing the computer-readable instructions.

15. A computer-readable medium comprising computer-readable instructions that, when executed by one or more computer processing units, configure the one or more computer processing units to implement the method of claim 1.

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