Dynamic data acquisition method and system for temporomandibular joint health level assessment

Abstract

The invention discloses a data dynamic acquisition method and system for temporomandibular joint health level assessment, and relates to the technical field of clinical medical data acquisition. According to the method, after a subject wears a lower jaw marking device and an upper jaw marking device and sits right opposite to optical positioning equipment to enable the head of the subject to be within the view field range of the optical positioning equipment, the subject is guided to conduct large mouth opening movement, lower jaw left side movement and lower jaw right side movement; continuous multi-frame positioning data are acquired by utilizing optical positioning equipment, then the movement track, the movement range and the rotation angle of a lower jaw incisor point are reversely derived based on the continuous multi-frame positioning data, and finally the data are output and displayed as data for evaluating the health level of the temporomandibular joint, so that the reconstruction processing difficulty can be reduced, and the reconstruction efficiency is improved. And the mandibular movement data for accurately judging the mandibular movement and the temporomandibular joint health condition can be quickly, simply and conveniently obtained, so that the money and time cost of a subject is greatly reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of clinical medical data acquisition, and particularly relates to a method and system for dynamically collecting data for evaluating the health level of the temporomandibular joint. Background Technique

[0002] The temporomandibular joint is the only bilateral synovial joint between the human skull and the mandible. Many human oral movements are completed by the alternating contraction of related maxillofacial muscles under the restraint of the temporomandibular joint (TMJ). It has a very high usage frequency, exceeding 2,000 times per day. The temporomandibular joint is often under pressure during movement, and its surface is fibrous cartilage, which is extremely prone to structural remodeling. Therefore, its complex anatomical structure makes the temporomandibular joint very vulnerable to damage. A series of muscle, occlusion, and joint-related problems are collectively referred to as temporomandibular disorders (TMD). Moreover, the proportion of initial patients among patients with temporomandibular disorders is the largest.

[0003] The clinical symptoms of temporomandibular disorders are mostly manifested as: pain around the joint and muscles, joint clicking and friction sounds, limited mouth opening and deviation, headache, dizziness, tinnitus, morning facial stiffness, etc. However, there is currently no clear clinical diagnosis standard, mainly relying on medical imaging data (such as computerized tomography CT images or magnetic resonance imaging MRI pictures, etc.) and combining the clinical experience (palpation) of doctors to diagnose patients. The traditional diagnostic process is time-consuming and laborious for both doctors and patients, and is extremely dependent on the judgment of the diagnosing doctor. In addition, the occurrence and aggravation of temporomandibular disorders both originate from daily life. Bad habits such as staying up late, unilateral chewing, grinding teeth, and clenching teeth may all lead to temporomandibular disorders. It should be noted that before reaching a certain degree of severity, patients are unable to perceive the changes in their own temporomandibular joints. Therefore, the vast majority of patients will choose to seek medical treatment only after they experience relevant symptoms, but at this time, their temporomandibular joints may have undergone irreversible changes, thus greatly increasing the difficulty of cure and resulting in the current situation of low cure rate of this disease. To sum up, for temporomandibular disorders, we should start from prevention, maintain good living habits, regularly check the health status of the temporomandibular joint, detect and seek medical treatment in a timely manner, and prevent the condition from deteriorating further unconsciously.

[0004] At present, in order to increase the diagnostic means for the temporomandibular joint, a few devices and systems have emerged that can directly reconstruct the movement of the temporomandibular joint, but the process is very complex. To completely restore the mandibular movement of the patient, in addition to the cooperation of the patient, subsequent processing by the operator is also required. For example, CT and MRI images of the patient are needed to establish a three-dimensional model of the complete head, and all images need to be carefully processed during this process. In addition, image registration is also required to assign the collected mandibular movement trajectory to the reconstructed model to complete the movement reconstruction. There are many such operations in the relevant reconstruction methods, resulting in high time and financial costs for the movement field reconstruction. Therefore, complete mandibular movement reconstruction is difficult to apply to routine clinical diagnosis.

[0005] In summary, how to provide a convenient and low-cost temporomandibular joint movement reconstruction solution to obtain mandibular movement data for evaluating the health level of the temporomandibular joint is an urgent research topic for those skilled in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a method and system for dynamically collecting data for evaluating the health level of the temporomandibular joint, so as to solve the problems of complex technology, long time required, and high implementation cost existing in the existing temporomandibular joint movement reconstruction solutions.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] In the first aspect, a method for dynamically collecting data for evaluating the health level of the temporomandibular joint is provided, including:

[0009] After the subject wears a mandibular marking device and a maxillary marking device and sits upright facing the optical positioning device so that the subject's head is within the field of view of the optical positioning device, the subject is guided to perform a wide opening movement, a left mandibular movement, and a right mandibular movement. Among them, the mandibular marking device is used to be worn on the mandibular incisors of the subject and has a mandibular-specific marker, and the mandibular-specific marker has a fixed relative position relationship matrix with the mandibular incisor point of the subject after wearing. The maxillary marking device is used to be worn at the center of the subject's head between the eyebrows and has a maxillary-specific marker. The optical positioning device is used to determine the spatial coordinates of the mandibular-specific marker and the maxillary-specific marker in the world coordinate system in real time;

[0010] During the process of guiding the subject to perform a wide opening movement, a left mandibular movement, and a right mandibular movement, continuous multiple frames of positioning data are collected by using the optical positioning device, where the positioning data includes the spatial coordinates of the mandibular-specific marker and the maxillary-specific marker in the world coordinate system respectively;

[0011] For each frame of positioning data in the continuous multi-frame positioning data, according to the corresponding spatial coordinates of the mandibular special marker and the maxillary special marker in the world coordinate system respectively, the three-dimensional coordinates of the corresponding mandibular special marker in the relative coordinate system are calculated through a spatial coordinate transformation algorithm, where the relative coordinate system is a three-dimensional coordinate system with the maxillary special marker as the coordinate origin;

[0012] For each pair of adjacent frame positioning data in the continuous multi-frame positioning data, according to the corresponding front and back three-dimensional coordinates of the mandibular special marker in the relative coordinate system, the inter-frame coordinate transformation matrix corresponding to the pair is calculated;

[0013] According to the relative position relationship matrix and the inter-frame coordinate transformation matrices of each pair of adjacent frame positioning data, the movement trajectory, movement range and rotation angle of the mandibular incisor point are determined and output and displayed as data for evaluating the health level of the temporomandibular joint.

[0014] Based on the above invention content, a temporomandibular joint movement reconstruction scheme based on optical positioning technology is provided. That is, after the subject wears the mandibular marking device and the maxillary marking device and sits upright facing the optical positioning device so that the subject's head is within the field of view of the optical positioning device, the subject is guided to perform a wide opening movement, a left mandibular movement and a right mandibular movement, and the optical positioning device is used to collect continuous multi-frame positioning data. Then, based on the continuous multi-frame positioning data, the movement trajectory, movement range and rotation angle of the mandibular incisor point are deduced in reverse. Finally, these data are output and displayed as data for evaluating the health level of the temporomandibular joint. In this way, it is not necessary to take images such as CT and MRI for movement reconstruction, reducing the difficulty of reconstruction processing, and the movement data of the mandible for accurately judging mandibular movement and the health status of the temporomandibular joint can be obtained quickly and simply, greatly reducing the financial and time costs of the subject and facilitating practical application and promotion.

[0015] In a possible design, the mandibular marking device further includes a snap-on mandibular connector, where the snap-on mandibular connector includes an external mouth clamping part, a marker connecting part, a cross-tooth connecting part and an internal mouth clamping part connected in sequence. The external mouth clamping part and the internal mouth clamping part are used to cooperate and clamp the mandibular incisors, and the marker connecting part is fixedly connected to the mandibular special marker.

[0016] In a possible design, the optical positioning device includes a light emitter and a binocular camera. The mandibular special marker includes a mandibular cross and four mandibular reflective marker balls. The four mandibular reflective marker balls are respectively and fixedly installed at the four ends of the mandibular cross;

[0017] The four mandibular reflective marker balls are respectively used to reflect the light from the light emitter to the binocular camera, so that after the binocular camera images the four mandibular reflective marker balls, the three-dimensional coordinates of four reflective points corresponding to the four mandibular reflective marker balls respectively in the camera coordinate system are extracted from the imaging data, and the spatial coordinates of the mandibular special marker in the world coordinate system are obtained according to the three-dimensional coordinates of the four reflective points respectively in the camera coordinate system.

[0018] In a possible design, the optical positioning device includes a light emitter and a binocular camera, and the maxillary special marker includes a maxillary cross and four maxillary reflective marker balls. Among them, the four maxillary reflective marker balls are respectively and fixedly installed at the four ends of the maxillary cross;

[0019] The four maxillary reflective marker balls are respectively used to reflect the light from the light emitter to the binocular camera, so that after the binocular camera images the four maxillary reflective marker balls, the three-dimensional coordinates of four reflective points corresponding to the four maxillary reflective marker balls respectively in the camera coordinate system are extracted from the imaging data, and the spatial coordinates of the maxillary special marker in the world coordinate system are obtained according to the three-dimensional coordinates of the four reflective points respectively in the camera coordinate system.

[0020] In a possible design, the world coordinate system and the camera coordinate system are the same coordinate system.

[0021] In a possible design, the coordinate origin of the relative coordinate system is the midpoint of a pair of relative reflective points among the four reflective points. The X-axis direction of the relative coordinate system is the ray direction from this midpoint to any one of the pair of relative reflective points. The Y-axis direction of the relative coordinate system is the ray direction from this midpoint to any one of the other pair of relative reflective points. The entire relative coordinate system conforms to the right-hand rule.

[0022] In a possible design, for each pair of adjacent frame positioning data in the continuous multi-frame positioning data, according to the corresponding front and back three-dimensional coordinates of the mandibular special marker in the relative coordinate system, the corresponding inter-frame coordinate transformation matrix is calculated, including:

[0023] For each pair of adjacent frame positioning data in the continuous multi-frame positioning data, according to the corresponding front and back three-dimensional coordinates of the mandibular special marker in the relative coordinate system, the corresponding rotation matrix is calculated by using the singular value decomposition method, and the corresponding front and back translation vectors are also obtained, and then the corresponding inter-frame coordinate transformation matrix including the rotation matrix and the front and back translation vectors is obtained.

[0024] In a possible design, according to the relative position relationship matrix and the inter-frame coordinate transformation matrix of each pair of adjacent frame positioning data, determining the movement trajectory, movement range and rotation angle of the mandibular incisor point includes:

[0025] Using the relative position relationship matrix and the three-dimensional coordinates of the mandibular dedicated marker in the relative coordinate system of the first frame positioning data in the continuous multi-frame positioning data, determining the initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system;

[0026] According to the inter-frame coordinate transformation matrix of each pair of adjacent frame positioning data and the initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system, calculating frame by frame to obtain each non-initial three-dimensional coordinate of the mandibular incisor point in the relative coordinate system and corresponding one by one to each non-first frame positioning data in the continuous multi-frame positioning data;

[0027] According to the initial three-dimensional coordinates and each non-initial three-dimensional coordinate of the mandibular incisor point in the relative coordinate system, determining the movement trajectory, movement range and rotation angle of the mandibular incisor point.

[0028] In a second aspect, a data dynamic acquisition system for evaluating the health level of the temporomandibular joint is provided, including a mandibular marking device, a maxillary marking device, an optical positioning device and a processing device, wherein the processing device is communicatively connected to the optical positioning device;

[0029] The mandibular marking device is used to be worn on the mandibular incisors of a subject and has a mandibular dedicated marker, wherein the mandibular dedicated marker has a fixed relative position relationship matrix with the mandibular incisor point of the subject after being worn;

[0030] The maxillary marking device is used to be worn at the center of the eyebrows of the subject's head and has a maxillary dedicated marker;

[0031] The optical positioning device is used to determine the spatial coordinates of the mandibular dedicated marker and the maxillary dedicated marker in the world coordinate system in real time;

[0032] The processing device is used to execute the data dynamic acquisition method for evaluating the health level of the temporomandibular joint as described in the first aspect or any possible design in the first aspect.

[0033] Beneficial effects of the above solution:

[0034] (1) The present invention provides a temporomandibular joint movement reconstruction solution based on optical positioning technology. That is, after the subject wears a mandibular marking device and a maxillary marking device and sits upright facing the optical positioning device so that the subject's head is within the field of view of the optical positioning device, the subject is guided to perform a wide opening movement, a left mandibular movement, and a right mandibular movement, and continuous multi-frame positioning data is collected by using the optical positioning device. Then, based on the continuous multi-frame positioning data, the movement trajectory, movement range, and rotation angle of the mandibular incisor point are deduced in reverse. Finally, these data are output and displayed as data for evaluating the health level of the temporomandibular joint. In this way, it is not necessary to take images such as CT and MRI for movement reconstruction, reducing the difficulty of reconstruction processing, and the mandibular movement data for accurately judging mandibular movement and the health status of the temporomandibular joint can be obtained quickly and simply, greatly reducing the financial and time costs of the subject (for example, the subject can conduct a movement test on the same day and know their mandibular movement situation), which is convenient for practical application and promotion;

[0035] (2) It can be used for the dynamic evaluation of the temporomandibular joint. Since the mandibular marking device can be directly installed in the human mouth, it is not necessary to carry out individualized customization, which does not affect the mandibular movement of the subject and is convenient for providing a fast and simple mandibular movement detection environment. It makes a significant contribution to improving the detection efficiency, can be used for the rapid evaluation of mandibular movement and temporomandibular joint movement, increases the diagnostic means of the mandible and temporomandibular joint, assists in improving the doctor's diagnostic efficiency, and improves the diagnosis and treatment quality;

[0036] (3) It can provide convenience for improving the data analysis efficiency, reduce the work burden of medical staff, and also reduce the diagnostic difficulty of temporomandibular joint problems, which helps to improve the accuracy of the diagnosis of temporomandibular joint problems and also helps to further solve the problem that the number of patients with this problem is far more than the medical treatment capacity;

[0037] (4) Since it is to reconstruct the relative movement of the mandible relative to the head, the interference caused by the movement of the head and torso is excluded, which can further improve the diagnostic accuracy;

[0038] (5) It completely does not require image data. It can directly evaluate parameters such as the movement range and movement symmetry of the subject from the perspective of pure movement, and make judgments based on data. Abnormal joints in terms of health status will definitely lead to abnormalities in these parameters. Without observing through images, this undoubtedly greatly improves the diagnostic efficiency and reduces the costs of both doctors and patients. Brief Description of the Drawings

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0040] Figure 1 It is a schematic flowchart of the method for dynamically collecting data for evaluating the health level of the temporomandibular joint provided by the embodiment of the present application.

[0041] Figure 2 It is an example diagram of wearing the mandibular marking device and the maxillary marking device provided by the embodiment of the present application.

[0042] Figure 3 It is a schematic structural diagram of the snap - type lower jaw connector in the mandibular marking device provided by the embodiment of the present application.

[0043] Figure 4 It is an example diagram of the wearing relationship between the snap - type lower jaw connector and the mandibular incisors in the mandibular marking device provided by the embodiment of the present application.

[0044] Figure 5 It is a schematic structural diagram of the optical positioning device provided by the embodiment of the present application.

[0045] In the above - mentioned drawings: 10 - mandibular special marker; 101 - mandibular cross; 102 - mandibular reflective marker ball; 11 - snap - type lower jaw connector; 111 - external oral clamping part; 112 - marker connection part; 113 - cross - tooth connection part; 114 - internal oral clamping part; 20 - maxillary special marker; 201 - maxillary cross; 202 - maxillary reflective marker ball; 30 - light emitter; 40 - binocular camera; 50 - touch screen; 600 - mandibular incisors; A - incisor lingual contact area of the snap - type lower jaw connector; B - cusp contact area of the snap - type lower jaw connector; C - filling and reinforcement area of the snap - type lower jaw connector; D - jaw fork connection area of the snap - type lower jaw connector; E - incisor labial contact area of the snap - type lower jaw connector; F - lingual surface of the mandibular incisors; G - labial surface of the mandibular incisors. Detailed implementation manners

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and the description of the embodiments or the prior art. Obviously, the following description of the structures of the accompanying drawings is only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention.

[0047] It should be understood that although terms such as first and second etc. may be used herein to describe various objects, these objects should not be limited by these terms. These terms are only used to distinguish one object from another. For example, the first object can be called the second object, and similarly the second object can be called the first object, without departing from the scope of the exemplary embodiments of the present invention.

[0048] It should be understood that for the term "and / or" that may appear in this article, it is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, or A and B exist simultaneously, etc.; for another example, A, B and / or C can mean any one of A, B and C or any combination of them; for the term " / and" that may appear in this article, it is a description of another association relationship of associated objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone or A and B exist simultaneously, etc.; in addition, for the character " / " that may appear in this article, generally it means that the front and rear associated objects are in an "or" relationship.

[0049] Embodiment:

[0050] As Figures 1 to 5 shown, the dynamic data acquisition method for evaluating the health level of the temporomandibular joint provided in the first aspect of this embodiment may, but is not limited to, include the following steps S1 to S5.

[0051] S1. After the subject wears the mandibular marker device and the maxillary marker device and sits upright facing the optical positioning device so that the subject's head is within the field of view of the optical positioning device, guide the subject to perform wide opening of the mouth, left mandibular movement, and right mandibular movement. Among them, the mandibular marker device is used to be worn on the mandibular incisors of the subject and has a special mandibular marker 10. After wearing, the special mandibular marker 10 has a fixed relative position relationship matrix with the mandibular incisor point of the subject. The maxillary marker device is used to be worn at the center of the subject's head between the eyebrows and has a special maxillary marker 20. The optical positioning device is used to determine the spatial coordinates of the special mandibular marker 10 and the special maxillary marker 20 in the world coordinate system in real time.

[0052] In the step S1, preferably, as Figures 2 to 4 shown, the mandibular marker device further includes a snap-on mandibular connector 11. Among them, the snap-on mandibular connector 11 includes an external mouth clamping part 111, a marker connecting part 112, a cross-tooth connecting part 113, and an internal mouth clamping part 114 that are connected in sequence. The external mouth clamping part 111 and the internal mouth clamping part 114 are used to cooperate and clamp the mandibular incisors, and the marker connecting part 112 fixedly connects the special mandibular marker 10. As Figure 4 shown, through the specific design of the aforementioned snap-on mandibular connector 11, the entire mandibular marker device can be worn on the mandibular incisors by pressing it along the mandibular incisors through the snap-on mandibular connector 11 and can be easily removed at any time.

[0053] In the step S1, specifically, the optical positioning device includes, but is not limited to, a light emitter 30 and a binocular camera 40 (as Figure 5 shown). The special mandibular marker 10 includes, but is not limited to, a mandibular cross 101 and four mandibular reflective marker balls 102. Among them, the four mandibular reflective marker balls 102 are respectively fixedly installed at the four ends of the mandibular cross 101 (as Figure 2 shown); the four mandibular reflective marker balls 102 are respectively used to reflect the light from the light emitter 30 to the binocular camera 40. After the binocular camera 40 images the four mandibular reflective marker balls 102, the three-dimensional coordinates of four reflective points corresponding to the four mandibular reflective marker balls 102 in the camera coordinate system are extracted from the imaging data, and the spatial coordinates of the special mandibular marker 10 in the world coordinate system are obtained based on the three-dimensional coordinates of the four reflective points in the camera coordinate system. The light emitter 30 is used to provide a light source so that the four mandibular reflective marker balls 102 reflect light as the four reflective points, which is conducive to identifying the four reflective points in the imaging data. AsFigure 5 As shown, the binocular camera 40 is composed of two left and right cameras. In this way, for each reflective point in the imaging data, based on the binocular ranging principle (that is, there is an inverse proportional relationship between the difference in the horizontal / vertical coordinates of the target point's image on the left and right views and the distance from the target point to the imaging plane, and thus the distance from the target point to the origin of the camera coordinate system can be calculated, that is, the Z-axis coordinate of the target point in the camera coordinate system), the distance from the reflective point to the origin of the camera coordinate system can be obtained. Furthermore, the three-dimensional coordinates of the four reflective points in the camera coordinate system can be conventionally extracted from the imaging data. Generally, the midpoint of the optical centers of the left and right cameras is the origin of the camera coordinate system, the line connecting the optical centers of the left and right cameras is the X-axis of the camera coordinate system, the Z-axis of the camera coordinate system is coplanar with the X-axis of the camera coordinate system and the left camera optical axis and perpendicular to the X-axis of the camera coordinate system. The direction of the Z-axis of the camera coordinate system points to the field of view direction, and the Y-axis of the camera coordinate system is perpendicular to the X-axis and the Z-axis, so that the entire camera coordinate system conforms to the right-hand rule. The world coordinate system refers to the absolute coordinate system of the system. To reduce coordinate transformation, preferably, the world coordinate system and the camera coordinate system are the same coordinate system. In this way, the three-dimensional coordinates of the four reflective points in the camera coordinate system or the three-dimensional coordinates of their center points can be directly used as the spatial coordinates of the mandibular special marker 10 in the world coordinate system. Additionally, specifically, the maxillary special marker 20 includes, but is not limited to, a maxillary cross 201 and four maxillary reflective marker balls 202. Among them, the four maxillary reflective marker balls 202 are respectively fixedly installed at the four ends of the maxillary cross 201; the four maxillary reflective marker balls 202 are respectively used to reflect the light from the light emitter 30 to the binocular camera 40. After the binocular camera 40 images the four maxillary reflective marker balls 202, the three-dimensional coordinates of the four reflective points corresponding to the four maxillary reflective marker balls 202 in the camera coordinate system can be extracted from the imaging data, and the spatial coordinates of the maxillary special marker 20 in the world coordinate system can be obtained based on the three-dimensional coordinates of the four reflective points in the camera coordinate system. In addition, each component of the mandibular marking device and the maxillary marking device can be, but is not limited to, printed by 3D printing technology and assembled by a rigid connection method to ensure the fixed invariance of the relative position relationship matrix.

[0054] In step S1, the maximum mouth opening movement, the left mandibular movement, and the right mandibular movement are all common terms in clinical medicine. Additionally, the specific ways to guide the subject to perform the maximum mouth opening movement, the left mandibular movement, and the right mandibular movement can be, but are not limited to, Figure 5The way of outputting and displaying prompt words on the touch screen 50 in it. In addition, the height of the optical positioning device from the ground is preferably fixed at 1.2 meters so that the field of view range is a pyramid volume range.

[0055] S2. During the period of guiding the subject to perform mouth-opening wide movement, left mandibular movement and right mandibular movement, continuous multi-frame positioning data is collected by using the optical positioning device, wherein the positioning data includes the spatial coordinates of the mandibular special marker 10 and the maxillary special marker 20 in the world coordinate system respectively.

[0056] S3. For each frame of positioning data in the continuous multi-frame positioning data, according to the corresponding spatial coordinates of the mandibular special marker 10 and the maxillary special marker 20 in the world coordinate system respectively, the three-dimensional coordinates of the corresponding mandibular special marker 10 in the relative coordinate system are calculated through a spatial coordinate transformation algorithm, wherein the relative coordinate system is a three-dimensional coordinate system with the maxillary special marker 20 as the coordinate origin.

[0057] In step S3, specifically, the coordinate origin of the relative coordinate system is the midpoint of a pair of opposite reflecting points among the four reflecting points, the X-axis direction of the relative coordinate system is the ray direction from this midpoint to any one of the reflecting points in this pair of opposite reflecting points, the Y-axis direction of the relative coordinate system is the ray direction from this midpoint to any one of the other pair of opposite reflecting points, and the whole relative coordinate system conforms to the right-hand rule. In addition, the spatial coordinate transformation algorithm is an existing algorithm and can be conventionally derived based on geometric knowledge.

[0058] S4. For each pair of adjacent frame positioning data in the continuous multi-frame positioning data, according to the corresponding front and back three-dimensional coordinates of the mandibular special marker 10 in the relative coordinate system, the corresponding inter-frame coordinate transformation matrix is calculated.

[0059] In step S4, specifically, for each pair of adjacent frame positioning data in the continuous multi-frame positioning data, according to the corresponding front and back three-dimensional coordinates of the mandibular special marker 10 in the relative coordinate system, the corresponding rotation matrix is calculated by using the singular value decomposition method, and the corresponding front and back translation vectors are also obtained, and then the corresponding inter-frame coordinate transformation matrix including the rotation matrix and the front and back translation vectors is obtained. In addition, the singular value decomposition method is also an existing algorithm.

[0060] S5. According to the relative position relationship matrix and the inter-frame coordinate transformation matrix of each pair of adjacent frame positioning data, the movement trajectory, movement range and rotation angle of the mandibular incisor point are determined and output and displayed as data for evaluating the health level of the temporomandibular joint.

[0061] In step S5, since the movement trajectory, movement range, rotation angle, etc. of the mandibular incisor point are the incisor movement parameters during movements such as the wide opening movement, the left mandibular movement, and the right mandibular movement, if compared with the corresponding standards, the mandibular movement of the subject can be evaluated in terms of whether the movement range is sufficient, whether the movement is symmetric, and whether the movement is offset. Therefore, it can be used as the data for evaluating the health level of the temporomandibular joint, so as to evaluate the health level of the temporomandibular joint after output display (since the specific evaluation rules are existing medical knowledge, not technical means, they will not be elaborated here). Specifically, according to the relative position relationship matrix and the inter-frame coordinate transformation matrix of each pair of adjacent frame positioning data, the movement trajectory, movement range, and rotation angle of the mandibular incisor point are determined, including but not limited to the following steps S51 to S53.

[0062] S51. Using the relative position relationship matrix and the three-dimensional coordinates of the mandibular special marker 10 in the first frame positioning data of the continuous multi-frame positioning data in the relative coordinate system, determine the initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system.

[0063] S52. According to the inter-frame coordinate transformation matrix of each pair of adjacent frame positioning data and the initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system, calculate frame by frame the respective non-initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system that correspond one by one to each non-first frame positioning data in the continuous multi-frame positioning data.

[0064] S53. According to the initial three-dimensional coordinates and the respective non-initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system, determine the movement trajectory, movement range, and rotation angle of the mandibular incisor point.

[0065] Based on the dynamic data acquisition method for temporomandibular joint health level assessment described in the foregoing steps S1 to S5, a temporomandibular joint movement reconstruction scheme based on optical positioning technology is provided. That is, after the subject wears the mandibular marker device and the maxillary marker device and sits upright facing the optical positioning device so that the subject's head is within the field of view of the optical positioning device, the subject is guided to perform wide opening movement, left mandibular movement, and right mandibular movement, and continuous multi-frame positioning data is collected by using the optical positioning device. Then, based on the continuous multi-frame positioning data, the movement trajectory, movement range, and rotation angle of the mandibular incisor point are deduced backward. Finally, these data are output and displayed as data for temporomandibular joint health level assessment. In this way, it is not necessary to take images such as CT and MRI for movement reconstruction, the reconstruction processing difficulty is reduced, and the mandibular movement data for accurately judging mandibular movement and temporomandibular joint health status can be obtained quickly and simply, greatly reducing the financial and time costs of the subject (for example, the subject can perform a movement test on the same day and know their mandibular movement situation), which is convenient for practical application and promotion.

[0066] In the second aspect of this embodiment, an entity system applying the dynamic data acquisition method for temporomandibular joint health level assessment described in the first aspect is provided, including but not limited to a mandibular marker device, a maxillary marker device, an optical positioning device, and a processing device. Among them, the processing device is communicatively connected to the optical positioning device; the mandibular marker device is used to be worn on the mandibular incisors of the subject and has a mandibular special marker 10, where the mandibular special marker 10 has a fixed relative position relationship matrix with the mandibular incisor point of the subject after being worn; the maxillary marker device is used to be worn at the center of the subject's head between the eyebrows and has a maxillary special marker 20; the optical positioning device is used to determine the spatial coordinates of the mandibular special marker 10 and the maxillary special marker 20 in the world coordinate system in real time; the processing device is used to execute the dynamic data acquisition method for temporomandibular joint health level assessment described in the first aspect.

[0067] For the working process, working details, and technical effects of the foregoing system provided in the second aspect of this embodiment, reference can be made to the dynamic data acquisition method for temporomandibular joint health level assessment described in the first aspect, which will not be elaborated here.

[0068] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for dynamically collecting data for evaluating the health level of the temporomandibular joint, characterized in that, Comprising: After the subject wears the mandibular marker device and the maxillary marker device and sits upright facing the optical positioning device so that the subject's head is within the field of view of the optical positioning device, guide the subject to perform wide opening of the mouth, left mandibular movement, and right mandibular movement. Among them, the mandibular marker device is used to be worn on the mandibular incisors of the subject and has a mandibular specific marker (10), the maxillary marker device is used to be worn at the center of the subject's head between the eyebrows and has a maxillary specific marker (20), the mandibular specific marker (10) has a fixed relative position relationship matrix with the mandibular incisor point of the subject after wearing, and the optical positioning device is used to determine the spatial coordinates of the mandibular specific marker (10) and the maxillary specific marker (20) in the world coordinate system in real time; During the process of guiding the subject to perform wide opening of the mouth, left mandibular movement, and right mandibular movement, use the optical positioning device to collect a continuous multi-frame of positioning data. Among them, the positioning data includes the spatial coordinates of the mandibular specific marker (10) and the maxillary specific marker (20) in the world coordinate system respectively; For each frame of positioning data in the continuous multi-frame of positioning data, according to the corresponding spatial coordinates of the mandibular specific marker (10) and the maxillary specific marker (20) in the world coordinate system respectively, calculate the corresponding three-dimensional coordinates of the mandibular specific marker (10) in the relative coordinate system through a spatial coordinate transformation algorithm. Among them, the relative coordinate system is a three-dimensional coordinate system with the maxillary specific marker (20) as the coordinate origin; For each pair of adjacent frame positioning data in the continuous multi-frame of positioning data, calculate the corresponding inter-frame coordinate transformation matrix according to the corresponding front and back three-dimensional coordinates of the mandibular specific marker (10) in the relative coordinate system; According to the relative position relationship matrix and the inter-frame coordinate transformation matrix of each pair of adjacent frame positioning data, determine the movement trajectory, movement range, and rotation angle of the mandibular incisor point and output and display them as data for evaluating the health level of the temporomandibular joint.

2. The dynamic data acquisition method for temporomandibular joint health level assessment according to claim 1, wherein The mandibular marker device further includes a snap-on mandibular connector (11). Among them, the snap-on mandibular connector (11) includes an external mouth clamping part (111), a marker connecting part (112), a cross-tooth connecting part (113), and an internal mouth clamping part (114) connected in sequence. The external mouth clamping part (111) and the internal mouth clamping part (114) are used to cooperate and clamp the mandibular incisors, and the marker connecting part (112) fixedly connects the mandibular specific marker (10).

3. The dynamic data acquisition method for temporomandibular joint health level assessment according to claim 1, wherein, The optical positioning device includes a light emitter (30) and a binocular camera (40). The mandibular specific marker (10) includes a mandibular cross (101) and four mandibular reflective marker balls (102). Among them, the four mandibular reflective marker balls (102) are respectively fixedly installed at the four ends of the mandibular cross (101); The four mandibular reflective marker balls (102) are respectively used to reflect the light from the light emitter (30) to the binocular camera (40). After the binocular camera (40) images the four mandibular reflective marker balls (102), the three-dimensional coordinates of four reflective points corresponding to the four mandibular reflective marker balls (102) in the camera coordinate system are extracted from the imaging data, and the spatial coordinates of the mandibular special marker (10) in the world coordinate system are obtained according to the three-dimensional coordinates of the four reflective points in the camera coordinate system.

4. The dynamic data acquisition method for temporomandibular joint health level assessment according to claim 1, wherein, The optical positioning device includes a light emitter (30) and a binocular camera (40). The maxillary special marker (20) includes a maxillary cross (201) and four maxillary reflective marker balls (202). Among them, the four maxillary reflective marker balls (202) are respectively and fixedly installed at the four ends of the maxillary cross (201); The four maxillary reflective marker balls (202) are respectively used to reflect the light from the light emitter (30) to the binocular camera (40). After the binocular camera (40) images the four maxillary reflective marker balls (202), the three-dimensional coordinates of four reflective points corresponding to the four maxillary reflective marker balls (202) in the camera coordinate system are extracted from the imaging data, and the spatial coordinates of the maxillary special marker (20) in the world coordinate system are obtained according to the three-dimensional coordinates of the four reflective points in the camera coordinate system.

5. The dynamic data acquisition method for temporomandibular joint health level assessment according to claim 3 or 4, characterized in that The world coordinate system and the camera coordinate system are the same coordinate system.

6. The dynamic data acquisition method for temporomandibular joint health level assessment according to claim 4, characterized in that The coordinate origin of the relative coordinate system is the midpoint of a pair of relative reflective points among the four reflective points. The X-axis direction of the relative coordinate system is the ray direction from this midpoint to any one of the pair of relative reflective points. The Y-axis direction of the relative coordinate system is the ray direction from this midpoint to any one of the other pair of relative reflective points. The entire relative coordinate system conforms to the right-hand rule.

7. The method for dynamically collecting data for evaluating the health level of the temporomandibular joint according to claim 1, wherein For each pair of adjacent frame positioning data in the continuous multi-frame positioning data, according to the corresponding three-dimensional coordinates of the mandibular special marker (10) before and after in the relative coordinate system, calculate the corresponding inter-frame coordinate transformation matrix, including: For each pair of adjacent frame positioning data in the continuous multi-frame positioning data, according to the corresponding three-dimensional coordinates of the mandibular special marker (10) before and after in the relative coordinate system, use the singular value decomposition method to calculate the corresponding rotation matrix, and also obtain the corresponding front-back translation vector, and then obtain the corresponding inter-frame coordinate transformation matrix including the rotation matrix and the front-back translation vector.

8. The method for dynamically collecting data for evaluating the health level of the temporomandibular joint according to claim 1, wherein, According to the relative position relationship matrix and the inter-frame coordinate transformation matrix of each pair of adjacent frame positioning data, determine the movement trajectory, movement range and rotation angle of the mandibular incisor point, including: Using the relative position relationship matrix and the three-dimensional coordinates of the mandibular dedicated marker (10) in the first frame positioning data among the continuous multi-frame positioning data, determine the initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system; According to the inter-frame coordinate transformation matrix of each pair of adjacent frame positioning data and the initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system, calculate frame by frame to obtain the respective non-initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system that correspond one by one to each non-first frame positioning data in the continuous multi-frame positioning data; According to the initial three-dimensional coordinates and the respective non-initial three-dimensional coordinates of the mandibular incisor point in the relative coordinate system, determine the movement trajectory, movement range and rotation angle of the mandibular incisor point.

9. A dynamic data acquisition system for evaluating the health level of the temporomandibular joint, characterized in that, It includes a mandibular marking device, a maxillary marking device, an optical positioning device and a processing device, wherein the processing device is communicatively connected to the optical positioning device; The mandibular marking device is used to be worn on the mandibular incisors of the subject and has a mandibular dedicated marker (10), wherein the mandibular dedicated marker (10) has a fixed relative position relationship matrix with the mandibular incisor point of the subject after being worn; The maxillary marking device is used to be worn at the center of the eyebrows of the subject's head and has a maxillary dedicated marker (20); The optical positioning device is used to determine the spatial coordinates of the mandibular dedicated marker (10) and the maxillary dedicated marker (20) in the world coordinate system in real time; The processing device is used to execute the method for dynamically collecting data for evaluating the health level of the temporomandibular joint according to any one of claims 1 to 8.

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