Information processing device and information processing method

Abstract

The present invention provides an information processing device and an information processing method that can accurately superimpose jaw movement data and dental arch morphology data. [Solution] The information processing device of the present disclosure is an information processing device comprising a control unit that performs calculations, wherein the control unit acquires at least three imaging data obtained by imaging at least three feature points arranged at different positions on the dental arch together with at least one registration unit whose relative position to a reference position relating to jaw movement is known, acquires dental arch morphology data, and matches a reference coordinate system that defines jaw movement data with a morphological coordinate system that defines dental arch morphology data based on the at least three imaging data and the dental arch morphology data.

Description

[Technical Field]

[0001] This disclosure relates to an information processing device and an information processing method. [Background technology]

[0002] Patent Document 1 discloses a jaw movement measuring device comprising a primary coil rigidly coupled to the teeth of either the maxilla or the mandible, and a secondary coil rigidly coupled to the teeth of the opposite jaw. The primary coil comprises three sets of excitation coils wound in mutually orthogonal directions. The secondary coil comprises two or more sets of sensor coils wound in mutually orthogonal directions. Each excitation coil of the primary coil is connected to an AC power source and excited by AC of different frequencies. The measuring device described in Patent Document 1 calculates the AC induced in the multiple sensor coils using a calculation circuit to detect the relative position between the mandible and the maxilla. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Patent No. 4324386 specification [Overview of the project] [Problems that the invention aims to solve]

[0004] In recent years, there has been a growing demand for information processing devices and methods capable of accurately overlaying jaw movement data and dental arch morphology data.

[0005] This disclosure aims to provide an information processing device and an information processing method that can accurately superimpose jaw movement data and dental arch morphology data. [Means for solving the problem]

[0006] An information processing apparatus according to one aspect of the present disclosure is an information processing apparatus comprising a control unit that performs calculations, wherein the control unit acquires at least three imaging data obtained by imaging at least three feature points arranged at different positions on the dentition, together with at least one registration unit whose relative position to a reference position relating to jaw movement is known, acquires dentition morphology data, and matches a reference coordinate system that defines jaw movement data with a morphological coordinate system that defines the dentition morphology data based on the at least three imaging data and the dentition morphology data.

[0007] An information processing method according to one aspect of the present disclosure includes the steps of: a control unit acquiring at least three imaging data obtained by imaging at least three feature points arranged at different positions on the dentition, together with at least one registration unit whose relative position to a reference position for jaw movement is known; the control unit acquiring dentition morphology data; and the control unit matching a reference coordinate system defining jaw movement data with a morphological coordinate system defining dentition morphology data based on the at least three imaging data and the dentition morphology data. [Effects of the Invention]

[0008] According to this disclosure, an information processing device and an information processing method are provided that can accurately superimpose jaw movement data and dental arch morphology data. [Brief explanation of the drawing]

[0009] [Figure 1] Schematic diagram illustrating the overlay of jaw movement data and dental arch morphology data. [Figure 2] A schematic diagram illustrating the concept of superimposing the reference coordinate system of jaw movement data and the morphological coordinate system of dental arch morphology data in this disclosure. [Figure 3] A schematic block diagram showing an example of the configuration of the jaw movement measurement system of Embodiment 1 according to this disclosure. [Figure 4]A schematic diagram showing an example of how the measuring device of Embodiment 1 of this disclosure is used. [Figure 5] A schematic diagram showing an example of a biological targeting probe according to Embodiment 1 of this disclosure. [Figure 6] A schematic perspective view showing an example of a registration cap according to Embodiment 1 of this disclosure. [Figure 7] Figure 5 shows a schematic enlarged view of portion A1 of the biological targeting probe. [Figure 8] Schematic cross-sectional view of the biological targeting probe shown in Figure 7, cut along line BB. [Figure 9] A flowchart illustrating an example of the superposition of jaw movement data and dental arch morphology data in Embodiment 1 of this disclosure. [Figure 10] Schematic perspective view of the registration cap in a modified example. [Figure 11] Table showing the results of the error evaluation when selecting feature points in conventional technology. [Figure 12] Table showing the results of the error evaluation when selecting feature points in conventional technology. [Figure 13] Table showing the results of the error evaluation when selecting feature points in conventional technology. [Figure 14] The first case is shown in the figure illustrating the error evaluation results in Embodiment 1 of this disclosure. [Figure 15] Regarding the second case, the figure shows the error evaluation results in Embodiment 1 relating to this disclosure. [Figure 16] The third case is shown in the figure illustrating the error evaluation results in Embodiment 1 of this disclosure. [Figure 17] Regarding the fourth case, the figure shows the error evaluation results in Embodiment 1 relating to this disclosure. [Figure 18] Regarding the fifth case, the figure shows the error evaluation results in Embodiment 1 relating to this disclosure. [Modes for carrying out the invention]

[0010] [About the concepts in this disclosure] In recent years, dental CAD / CAM systems have been required to digitize not only the fabrication of prosthetic devices, but also the entire treatment cycle, from examination and diagnosis to treatment and evaluation. For example, in dental practice, there is a need to visualize the patient's jaw movements in the virtual space of CAD / CAM and diagnose the occlusion of the upper and lower teeth. As an example of diagnosis using a CAD / CAM system, the dynamic occlusion of the upper and lower teeth is visualized in the virtual space, and the areas that dynamically make occlusal contact are displayed in different colors according to the distance between the upper and lower dental arches.

[0011] To visualize jaw movement in the virtual space of CAD / CAM, visualization techniques are utilized that include measuring jaw movement, measuring dental arch morphology, and overlaying the measured jaw movement data with the dental arch morphology data.

[0012] The jaw movement can be measured, for example, by a jaw movement measuring device described in Patent Document 1.

[0013] The morphology of the dental arch is measured, for example, by scanning a model that reproduces the morphology of the dental arch. For example, the model is made by pouring plaster into a mold of the dental arch, which has been prepared using impression material, and then hardening it.

[0014] Here, the coordinate systems of the jaw movement data obtained by measuring jaw movement and the dental arch morphology data obtained by measuring dental arch morphology are different. Therefore, in order to superimpose the jaw movement data and the dental arch morphology data, it is necessary to make these coordinate systems the same.

[0015] Figure 1 is a schematic diagram illustrating the overlay of jaw movement data and dental arch morphology data.

[0016] As shown in Figure 1, the superposition of jaw movement data and dental arch morphology data is performed using the reference coordinate system O of the jaw movement data. U -X U Y U Z U and morphological coordinate system O of dental arch morphology data S -X S Y S Z SThis is performed by matching the two. For example, the morphological coordinate system O of dental arch shape data S -X S Y S Z S is converted to the reference coordinate system O of jaw movement data U -X U Y U Z U .

[0017] The reference coordinate system O of jaw movement data U -X U Y U Z U is the maxillary occlusal plane coordinate system. The maxillary occlusal plane coordinate system is a coordinate system defined based on three reference points, and is a right-handed coordinate system in which the forward, leftward, and upward directions are positive. For example, the three reference points are the incisor point IN of the maxillary dental arch, the central fossa L6 of the left first molar, and the central fossa R6 of the right first molar. The reference coordinate system O of jaw movement data U -X U Y U Z U defines a plane including the three reference points as a reference plane, the center of gravity of the three reference points as the origin O U , the origin O U the straight line connecting the origin O and the incisor point IN as the X U axis, the origin O U the normal line of the reference plane passing through the origin O as the Z U axis, and the straight line perpendicular to both axes as the Y U axis. Note that the maxillary occlusal plane coordinate system O U -X U Y U Z U and the mandibular occlusal plane coordinate system O L -X L Y L Z L coincide with each other at the intercuspal position.

[0018] The three reference points are directly recorded, for example, by inserting a living body reference point probe having three styluses into the oral cavity of a patient. Specifically, the tip of the stylus of the living body reference point probe is brought into contact with a characteristic point of a tooth to be recorded as a reference point.

[0019] The morphological coordinate system O of dental arch shape data S -X S YS Z S The reference coordinate system O for jaw movement data U -X U Y U Z U To convert to this format, three reference points (IN, the incisal point of the maxillary dentition, L6, the central fossa of the left first molar, and R6, the central fossa of the right first molar) are recorded in the dental arch morphology data. Here, it is required that the three reference points in the dental arch morphology data be recorded to coincide with the three reference points in the jaw movement data.

[0020] However, as a method for recording the three reference points in the dental arch morphology data, users manually record the three reference points on the CAD / CAM application. Specifically, they manually record three points in the dental arch of the dental arch morphology data that are in approximately the same positions as the three reference points in the jaw movement data.

[0021] Therefore, it is difficult to accurately match the three reference points recorded in the dental arch morphology data with the three reference points recorded in the jaw movement data.

[0022] Therefore, the present inventors investigated the configuration of a bio-referenced probe that acquires tooth morphology including three characteristic points (reference points) in imaging data, and investigated how to superimpose two coordinate systems, jaw movement data and tooth morphology data, by superimposing the morphology of the entire dentition from tooth morphology data onto the tooth morphology from imaging data acquired with the bio-referenced probe.

[0023] Figure 2 is a schematic diagram illustrating the concept of superimposing the reference coordinate system of jaw movement data and the morphological coordinate system of dental arch morphology data in this disclosure.

[0024] As shown in Figure 2, the reference coordinate system O of the jaw movement data in Embodiment 1 of this disclosure U -X U Y U Z U and dental arch morphology data D s Morphological coordinate system O S -X S Y S ZS In the superposition, three imaging data D containing tooth morphology with characteristic points are obtained. IN , D L6 ,D R6 And, dental arch morphology data D s And, superimpose them.

[0025] Image data D IN , D L6 ,D R6 This is image data of the patient's oral cavity. Image data D IN , D L6 ,D R6 This is the reference coordinate system O for jaw movement data. U -X U Y U Z U This is imaging data that includes the morphology of the tooth portion corresponding to the incisal point IN of the maxillary dentition, the central fossa L6 of the left first molar, and the central fossa R6 of the right first molar.

[0026] Three imaging data D IN , D L6 ,D R6 For the tooth morphology recorded, dental arch morphology data D includes the morphology of the entire dentition. s The data is superimposed. From the superimposed data, three feature points, namely three reference points (the incisal point IN of the maxillary dentition, the central fossa L6 of the left first molar, and the central fossa R6 of the right first molar), are selected. The three feature points selected from the superimposed data are the jaw movement data and the dentition morphology data D. s These are the same points. Therefore, the three reference points in the dental arch morphology data coincide with the three reference points in the jaw movement data. As a result, the reference coordinate system O of the jaw movement data is U -X U Y U Z U and morphological coordinate system O of dental arch morphology data S -X S Y S Z S This allows for a highly accurate matching of the data. As a result, it becomes possible to accurately superimpose jaw movement data and dental arch morphology data.

[0027] Each of the embodiments described below is an example of the present disclosure. The numerical values, shapes, configurations, steps, and order of steps shown in each of the following embodiments are illustrative and not limiting to the present disclosure. Among the components in Embodiment 1 below, those components that are not described in the independent claim representing the highest-level concept are described as optional components.

[0028] An embodiment of this disclosure will be described below with reference to the accompanying drawings. The following description is essentially illustrative and is not intended to limit this disclosure, its applications, or its uses. Furthermore, the drawings are schematic, and the proportions of the dimensions, etc., do not necessarily correspond to those of reality.

[0029] In this specification, terms such as "First," "Second," etc., are used for illustrative purposes only and should not be understood as expressing or implying relative importance or ranking of technical features. Features designated as "First" or "Second" express or imply that they include one or more such features.

[0030] (Embodiment 1) 1. Structure 1-1. Configuration of the jaw movement measurement system Figure 3 is a schematic block diagram showing an example of the configuration of the jaw movement measurement system 100 according to Embodiment 1 of the present disclosure. The jaw movement measurement system 100 measures jaw movement, for example, the movement of the mandible relative to the maxilla. The jaw movement measurement system 100 includes a measuring device 1 and an information processing device 40 which is data-communicable with the measuring device 1. The measuring device 1 acquires information for measuring jaw movement and transmits it to the information processing device 40. The information processing device 40 receives information from the measuring device 1 and analyzes the jaw movement.

[0031] 1-2. Configuration of the Information Processing Device As shown in Figure 3, the information processing device 40 comprises a control unit 41, a storage unit 42, a display unit 43, and an interface 44.

[0032] The control unit 41 performs information processing to realize the function of jaw movement analysis. Such information processing is realized, for example, by the control unit 41 operating according to the instructions of a program stored in the memory unit 42. The control unit 41 includes an arithmetic circuit that performs calculations for information processing. For example, the control unit 41 is composed of circuits such as a CPU, MPU, and FPGA.

[0033] The storage unit 42 is a recording medium that non-temporarily records various data, including programs. The storage unit 42 can be implemented, for example, as a semiconductor storage device such as flash memory or a solid-state drive (SSD), a magnetic storage device such as a hard disk drive (HDD), or other recording media, either alone or in combination thereof. The storage unit 42 may also include volatile memory such as SRAM or DRAM.

[0034] The display unit 43 displays information in accordance with the control unit 41. For example, the display unit 43 includes a display device such as a liquid crystal display or an organic EL display.

[0035] Interface 44 is an interface circuit that connects the information processing device 40 and the measuring device 1 in order to input information such as image data from the image sensor 11 (described later), detection data or signals from the second sensor 4 to the information processing device 40. Interface 44 may also be an input / output interface that can further transmit signals from the control unit 41 to the measuring device 1. Interface 44 may also be a communication circuit that performs data communication according to an existing wired communication standard or wireless communication standard.

[0036] Furthermore, the interface 44 may also have the function of an input unit that connects the information processing device 40 and an input device in order to input information from the input device, such as a touch panel, touchpad, keyboard, mouse, or pointing device, to the information processing device 40. For example, the interface 44 accepts operations from the user via the input device.

[0037] 1-3. Configuration of the measuring device Figure 4 is a schematic diagram showing an example of how the measuring device 1 is used. Figure 4 shows an example of how the tooth morphology is being imaged using the biometric probe 2.

[0038] As shown in Figures 3 and 4, the measuring device 1 comprises a biological reference probe 2, a first sensor 3, and a second sensor 4. The measuring device 1 may also include a controller for controlling the biological reference probe 2, the first sensor 3, and the second sensor 4. Alternatively, these controls may be performed by the control unit 41 of the information processing device 40.

[0039] The biological target probe 2 comprises a housing 10, a registration cap 20, and a sensor frame 30.

[0040] The housing 10 is a housing that houses the components constituting the biometric probe 2. The housing 10 has a longitudinal direction. For example, the housing 10 has a rod shape. For example, the housing 10 tapers towards the tip. The tip portion of the housing 10 is large enough to be inserted into the patient's oral cavity. The rear end portion of the housing 10 functions as a gripping portion. The rear end portion of the housing 10 may be provided with an input interface for controlling the operation of the biometric probe 2.

[0041] The housing 10 houses the image sensor 11. The image sensor 11 captures an image of a subject formed through the optical system and generates imaging data that represents the captured image. The image sensor 11 is composed of, for example, a CCD (charge-coupled device) image sensor or a CMOS image sensor. The image sensor 11 is positioned at the front end of the housing 10. The image sensor 11 has an imaging surface 12. For example, the imaging surface 12 has a rectangular shape when viewed from a direction perpendicular to the imaging surface 12.

[0042] The bio-targeting probe 2 collects jaw movement data and dental arch morphology data D s This probe acquires imaging data for superimposing. The bio-targeting probe 2 is inserted into the patient's oral cavity and acquires multiple imaging data D including tooth morphology. IN , D L6 ,DR6 is acquired. Specifically, the biological landmark probe 2 images the tooth morphology corresponding to the incisal point IN of the maxillary dentition, the left first molar central fossa L6, and the right first molar central fossa R6 that define the reference coordinate system O for jaw movement data U -X U Y U Z U . In addition, the biological landmark probe 2 images the tooth morphology together with a plurality of registration units described later.

[0043] The first sensor 3 is a sensor attached to the patient's maxilla. For example, the first sensor 3 is a coil. Specifically, the first sensor 3 is a 3-axis coil. The first sensor 3 is connected to an AC power supply and excited by alternating currents of three different frequencies.

[0044] The second sensor 4 is a sensor attached to the biological landmark probe 2. The second sensor 4 is attached to the mandible during jaw movement measurement. For example, the second sensor 4 is a coil. Specifically, the second sensor 4 receives the 3-axis magnetic field emitted from the first sensor 3, that is, alternating magnetic fields of three different frequencies.

[0045] The signal received by the second sensor 4 is transmitted to the control unit 41 of the information processing device 40. For example, the control unit 14 performs signal processing such as FFT on the signal, and calculates the position and orientation of the second coordinate system O2-X2Y2Z2 of the second sensor 4 relative to the first coordinate system O1-X1Y1Z1 of the first sensor 3 using a 4×4 homogeneous transformation matrix (6-degree-of-freedom data). Thereby, the relative position and orientation between the maxilla and the mandible can be detected, and jaw movement data including the movement of the mandible relative to the maxilla can be acquired.

[0046] Note that when jaw movement data is displayed and analyzed by CAD / CAM, as the reference coordinate system for jaw movement, the maxillary occlusal plane coordinate system O defined by three points on the dentition (for example, the incisal point IN, the left first molar central fossa L6, and the right first molar central fossa R6) U -X U Y U Z Uis used. Therefore, a 4×4 homogeneous transformation matrix representing the position and orientation of the second coordinate system O2-X2Y2Z2 relative to the first coordinate system O1-X1Y1Z1 is used to perform coordinate transformation from the first coordinate system O1-X1Y1Z1 to the maxillary occlusal plane coordinate system O U -X U Y U Z U .

[0047] To perform the coordinate transformation, three reference points on the maxillary dentition relative to the first coordinate system O1-X1Y1Z1, for example, the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6, are recorded. Based on the three recorded reference points, coordinate transformation from the first coordinate system O1-X1Y1Z1 to the maxillary occlusal plane coordinate system O U -X U Y U Z U can be performed.

[0048] The detailed configuration of the living body reference point probe 2 will be described with reference to FIGS. 5 to 8.

[0049] FIG. 5 is a schematic diagram showing an example of the living body reference point probe according to Embodiment 1 of the present disclosure. FIG. 6 is a schematic perspective view showing an example of the registration cap according to Embodiment 1 of the present disclosure. FIG. 7 is a schematic enlarged view showing an enlarged portion A1 of the living body reference point probe shown in FIG. 5. FIG. 8 is a schematic cross-sectional view of the living body reference point probe shown in FIG. 7 cut along line B-B.

[0050] As shown in FIG. 3 and FIG. 5, the living body reference point probe 2 includes a housing 10, a registration cap 20, and a sensor frame 30.

[0051] The housing 10 is a housing that houses the components constituting the biometric probe 2. The housing 10 has a longitudinal direction. For example, the housing 10 has a rod shape. For example, the housing 10 tapers towards the tip. The tip portion of the housing 10 is large enough to be inserted into the patient's oral cavity. The rear end portion of the housing 10 functions as a gripping portion. The rear end portion of the housing 10 may be provided with an input interface for controlling the operation of the biometric probe 2.

[0052] The housing 10 houses the image sensor 11. The image sensor 11 is composed of, for example, a CCD (charge-coupled device) image sensor or a CMOS image sensor. The image sensor 11 is positioned at the front end of the housing 10. The image sensor 11 has an imaging surface 12. For example, the imaging surface 12 has a rectangular shape when viewed from a direction perpendicular to the imaging surface 12.

[0053] The registration cap 20 is a component that is placed on the housing 10. The registration cap 20 is attached to the portion of the housing 10 where the image sensor 11 is positioned. Specifically, the registration cap 20 is attached to the housing 10 so as to be positioned around the image surface 12 when viewed from a direction perpendicular to the image surface 12.

[0054] As shown in Figures 5 to 8, the registration cap 20 comprises a plurality of registration sections RS1 to RS4 and a plurality of calibration sections CS1 to CS4.

[0055] In this embodiment, the multiple registration units RS1 to RS4 include four registration units RS1 to RS4. Also, in this embodiment, the multiple calibration units CS1 to CS4 include four calibration units CS1 to CS4.

[0056] Furthermore, the registration cap 20 has an opening 21 that is positioned to overlap with the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12 of the image sensor 11. The opening 21 is positioned opposite the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12.

[0057] The opening 21 is formed by a through-hole provided in the registration cap 20. This through-hole penetrates the registration cap 20 in a direction perpendicular to the imaging surface 12. When viewed from a direction perpendicular to the imaging surface 12, the opening 21 is larger than the imaging surface 12. When viewed from a direction perpendicular to the imaging surface 12, the opening 21 has, for example, a rectangular shape.

[0058] The multiple registration sections RS1 to RS4 are positioned so as to overlap with the imaging surface 12 of the image sensor 11 when viewed from a direction perpendicular to the imaging surface 12. The multiple registration sections RS1 to RS4 are positioned within the aperture 21 when viewed from a direction perpendicular to the imaging surface 12.

[0059] The multiple registration sections RS1 to RS4 have, for example, a spherical shape. The diameter of the multiple registration sections RS1 to RS4 is, for example, 1 mm to 10 mm in diameter. Preferably, the diameter of the multiple registration sections RS1 to RS4 is 2 mm to 6 mm in diameter. More preferably, the diameter of the multiple registration sections RS1 to RS4 is 3 mm to 5 mm in diameter. Furthermore, the multiple registration sections RS1 to RS4 have substantially the same shape and substantially the same size. Here, "subjectively" means that a difference of up to 5% error is allowed.

[0060] The multiple registration sections RS1 to RS4 are made of, for example, aluminum oxide and polyamide synthetic resin. A scanning spray may also be applied to the surfaces of the multiple registration sections RS1 to RS4.

[0061] As shown in Figure 7, the multiple registration sections RS1 to RS4 are arranged with a distance between them. The multiple registration sections RS1 to RS4 are positioned away from the central portion CR1 of the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12. The central portion CR1 of the imaging surface 12 is the region that includes the center C1 of the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12. The central portion CR1 of the imaging surface 12 is the region within a predetermined distance from the center C1 of the imaging surface 12 when viewed from a direction perpendicular to the imaging surface 12. The center C1 of the imaging surface 12 is the point where the two diagonals of the rectangular imaging surface 12 intersect when viewed from a direction perpendicular to the imaging surface 12.

[0062] The multiple registration units RS1 to RS4 are arranged with a distance between them when viewed from a direction perpendicular to the imaging surface 12.

[0063] In this specification, the longitudinal direction of the housing 10, viewed from a direction perpendicular to the imaging surface 12, is defined as the first direction DR1, and the direction perpendicular to the first direction DR1 is defined as the second direction DR2. In this specification, the four registration sections RS1 to RS4 may be referred to as the first to fourth registration sections RS1 to RS4.

[0064] When viewed from a direction perpendicular to the imaging surface 12, the first registration section RS1 and the third registration section RS3 are spaced apart with the central portion CR1 of the imaging surface 12 in between. The second registration section RS2 and the fourth registration section RS4 are spaced apart with the central portion CR1 of the imaging surface 12 in between.

[0065] The first registration section RS1 and the second registration section RS2 are arranged with a first spacing SP1 in the first direction DR1. The third registration section RS3 and the fourth registration section RS4 are also arranged with a first spacing SP1 in the first direction DR1.

[0066] The second registration section RS2 and the third registration section RS3 are arranged with a second spacing SP2 in the second direction DR2. The first registration section RS1 and the fourth registration section RS4 are also arranged with a second spacing SP2 in the second direction DR2.

[0067] The first interval SP1 is larger than the second interval SP2.

[0068] As shown in Figure 7, at least a portion of the multiple registration sections RS1 to RS4 protrude from the opening 21 in a direction perpendicular to the imaging surface 12. Furthermore, the multiple registration sections RS1 to RS4 are positioned away from the imaging surface 12 in a direction perpendicular to the imaging surface 12. For example, the distance between the multiple registration sections RS1 to RS4 and the imaging surface 12 is 3 mm to 13 mm. Preferably, the distance between the multiple registration sections RS1 to RS4 and the imaging surface 12 is 3 mm to 7 mm. More preferably, the distance between the multiple registration sections RS1 to RS4 and the imaging surface 12 is 3 mm to 5 mm.

[0069] As shown in Figures 6 to 8, the multiple registration sections RS1 to RS4 are supported by multiple support frames 22 that protrude from the registration cap 20. For example, the multiple support frames 22 are frames that extend in the second direction DR2.

[0070] Multiple registration units RS1 to RS4 are imaged by the image sensor 11 along with the tooth morphology. The position coordinates of the multiple registration units RS1 to RS4 are calibrated so that they are known with respect to the second coordinate system O2-X2Y2Z2 of the second sensor 4. The position coordinates of the multiple registration units RS1 to RS4 are, for example, the centroids. The position coordinates of the multiple registration units RS1 to RS4 are used to superimpose jaw movement data and dental arch morphology data.

[0071] As shown in Figures 5 to 8, the multiple calibration units CS1 to CS4 are positioned outside the multiple registration units RS1 to RS4 when viewed from a direction perpendicular to the imaging surface 12.

[0072] The multiple calibration units CS1 to CS4 are positioned on the registration cap 20 outside the aperture 21 when viewed from a direction perpendicular to the imaging surface 12. Specifically, when viewed from a direction perpendicular to the imaging surface 12, the multiple calibration units CS1 to CS4 are positioned outside the corners of the aperture 21.

[0073] The multiple calibration sections CS1 to CS4 are protrusions that project in a direction perpendicular to the imaging surface 12. For example, the protrusions have a rounded, curved convex shape. For example, the protrusions have a spherical shape. Furthermore, the multiple calibration sections CS1 to CS4 have substantially the same shape and substantially the same size.

[0074] Multiple calibration units CS1 to CS4 are used to calibrate multiple registration units RS1 to RS4. Specifically, the position coordinates of the multiple registration units RS1 to RS4 relative to the multiple calibration units CS1 to CS4 are known by design. Therefore, the position coordinates of the multiple calibration units CS1 to CS4 are calibrated so that they are known with respect to the second coordinate system O2-X2Y2Z2 of the second sensor 4. The position coordinates of the multiple calibration units CS1 to CS4 are, for example, the center of gravity. In this way, the position coordinates of the multiple registration units RS1 to RS4 relative to the second coordinate system O2-X2Y2Z2 can be indirectly calculated based on the position coordinates of the multiple calibration units CS1 to CS4.

[0075] The sensor frame 30 is a frame that allows the second sensor 4 to be positioned away from the multiple registration sections RS1 to RS4. One end of the sensor frame 30 is connected to the housing 10, and the other end of the sensor frame 30 is positioned away from the housing 10 and the registration cap 20. The second sensor 4 is positioned on the other end of the sensor frame 30.

[0076] The sensor frame 30 has a plate shape and is curved. For example, when viewed from a direction perpendicular to the imaging surface 12, the sensor frame 30 extends from the housing 10 in a second direction DR2 and is curved in a first direction DR1.

[0077] 2.Operation Referring to Figure 9, an example of overlaying jaw movement data and dental arch morphology data using the bio-targeting probe 2 will be explained.

[0078] Figure 9 is a flowchart showing an example of the superposition of jaw movement data and dental arch morphology data according to Embodiment 1 of this disclosure. The example shown in Figure 9 illustrates the process for superimposing jaw movement data and dental arch morphology data. The process in Figure 9 is performed by the control unit 41 of the information processing device 40.

[0079] As shown in Figure 9, step ST1 involves calibrating the biological reference point probe 2. In step ST1, the position coordinates of multiple registration sections RS1 to RS4 of the second sensor 4, which is located on the sensor frame 30, are obtained relative to the second coordinate system O2-X2Y2Z2. For example, the position coordinates of the multiple registration sections RS1 to RS4 are the position coordinates of the centroids of the multiple registration sections RS1 to RS4. The second sensor 4 is located on the sensor frame 30 of the biological reference point probe 2.

[0080] Calibration can be performed using techniques such as pivot calibration.

[0081] In this embodiment, the image sensor 11 simultaneously records three feature points on the dentition (for example, the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6) and the shapes of multiple registration parts RS1 to RS4, in terms of their position and orientation in the second coordinate system O2-X2Y2Z2 of the second sensor 4 relative to the first coordinate system O1-X1Y1Z1 of the first sensor 3. Therefore, due to the structure, it may be difficult to directly measure the position coordinates of the centroids of the multiple registration parts RS1 to RS4 using pivot calibration technology.

[0082] Therefore, the position coordinates of multiple calibration units CS1 to CS4 relative to the second coordinate system O2-X2Y2Z2 of the second sensor 4 are obtained, and the position coordinates of multiple registration units RS1 to RS4 are indirectly calculated based on the position coordinates of the multiple calibration units CS1 to CS4. Note that the position coordinates of the multiple registration units RS1 to RS4 and the position coordinates of the multiple calibration units CS1 to CS4 are known from the design.

[0083] Using pivot calibration technology, the position coordinates of the centroids of multiple calibration units CS1 to CS4 relative to the second coordinate system O2-X2Y2Z2 of the second sensor 4 are obtained.

[0084] Pivot calibration may be performed using, for example, dynamic pivot calibration or static pivot calibration.

[0085] Dynamic pivot calibration is performed by moving the position and orientation of the second coordinate system O2-X2Y2Z2 relative to the first coordinate system O1-X1Y1Z1. For example, by fitting multiple calibration units CS1-CS4 to the pivot and moving the second sensor 4 relative to the first sensor 3 for 10 seconds, the center of gravity of the multiple calibration units CS1-CS4 can be determined.

[0086] Static pivot calibration is performed with the second coordinate system O2-X2Y2Z2 fixed in the same position and orientation as the first coordinate system O1-X1Y1Z1. For example, multiple calibration units CS1-CS4 are fitted to the pivot, and the positional relationship between the first sensor 3 and the second sensor 4 is fixed and recorded for 1 second. Alternatively, the second sensor 4 is fixed at 10 different positions relative to the first sensor 3, and a 1-second recording is performed at each position.

[0087] Next, the position coordinates of the center of gravity of the multiple registration units RS1 to RS4 are calculated based on the position coordinates of the center of gravity of the multiple calibration units CS1 to CS4. Since the positions of the center of gravity of the multiple registration units RS1 to RS4 relative to the positions of the center of gravity of the multiple calibration units CS1 to CS4 are known from the design, the position coordinates of the center of gravity of the multiple registration units RS1 to RS4 can be easily calculated based on the position coordinates of the center of gravity of the multiple calibration units CS1 to CS4.

[0088] In this way, the position coordinates of multiple registration units RS1 to RS4 relative to the second coordinate system O2-X2Y2Z2 of the second sensor 4 can be obtained.

[0089] In step ST2, three sets of imaging data D were obtained using the bio-targeting probe 2 to which the second sensor 4 was fixed, capturing multiple registration areas RS1 to RS4 and the morphology of teeth including feature points on the maxillary dentition. IN , D L6 ,D R6 This acquires the data. This records the position of the feature points on the maxillary dentition relative to the first coordinate system O1-X1Y1Z1 of the first sensor 3.

[0090] Specifically, the bio-targeting probe 2 is inserted into the patient's oral cavity, and the tooth morphology (tooth surface shape) is imaged, including the incisor point IN of the maxillary dentition, the left first molar fossa L6, and the right first molar fossa R6, along with multiple registration points RS1 to RS4. The imaging may be performed, for example, by the user pressing a shutter button on the bio-targeting probe 2, or it may be performed automatically. Image data D IN , D L6 ,D R6 In this case, the position of the feature point on the maxillary dentition relative to the first coordinate system O1-X1Y1Z1 can be determined based on the position coordinates of multiple registration parts RS1 to RS4 relative to the second coordinate system O2-X2Y2Z2 obtained in step ST1.

[0091] Three imaging data D IN , D L6 ,D R6 This refers to data, for example, that captures the morphology of one or two teeth, and is a point cloud data such as an STL file.

[0092] Step ST3 involves dentition morphology data D s To obtain the following: For example, dental arch morphology data D s This data is acquired by scanning a model that reproduces the dentition morphology with a scanner before measuring jaw movement, and is recorded in the storage unit 42 of the information processing device 40. Dental morphology data D s This is obtained from the memory unit 42. Dental morphology data D s This is a different coordinate system O from the first coordinate system O1-X1Y1Z1 and the second coordinate system O2-X2Y2Z2. S -X S Y S Z S It is recorded there.

[0093] Dental arch morphology data D s This is morphological data of the entire dentition, such as point cloud data like STL data.

[0094] Step ST4 involves three imaging data D IN , D L6 ,DR6 and dental arch morphology data D s Based on this, maxillary occlusal plane coordinate system O U -X U Y U Z U and dental arch morphology data D s Morphological coordinate system O S -X S Y S Z S Superimpose them together.

[0095] Specifically, three imaging data D IN , D L6 ,D R6 For the tooth morphology recorded in, dentition morphology data D s Three imaging data D are used to ensure that the morphology of the entire dentition recorded matches. IN , D L6 ,D R6 and dental arch morphology data D s The three image data D are superimposed. IN , D L6 ,D R6 The morphological features of the teeth recorded and the dental arch morphology data D s Three imaging data D are selected so that the difference between the morphological features of the entire dentition recorded is minimized (the similarity between the two features is maximized). IN , D L6 ,D R6 and dental arch morphology data D s Superimpose them together.

[0096] Three imaging data D IN , D L6 ,D R6 Since it records the position of feature points on the maxillary dentition relative to the first coordinate system O1-X1Y1Z1, three imaging data D IN , D L6 ,D R6 For the tooth morphology recorded in, dentition morphology data D s When the morphology of the entire dentition recorded is superimposed, the dentition morphology data D s Morphological coordinate system O S -X S Y S Z SThis is integrated into the first coordinate system O1-X1Y1Z1. That is, the dental arch morphology data D s Morphological coordinate system O S -X S Y S Z S This is the three imaging data D IN , D L6 ,D R6 Based on this, it is transformed into the first coordinate system O1-X1Y1Z1.

[0097] Here, we have three imaging data D IN , D L6 ,D R6 and dental arch morphology data D s Since it is point cloud data, it contains morphological information for multiple points. For example, three imaging data D IN , D L6 ,D R6 These contain approximately 24,000, 17,000, and 18,000 morphological information points, respectively. Based on this multi-point morphological information, three imaging data D IN , D L6 ,D R6 The tooth morphology recorded and 、 Dental arch morphology data D s The morphology of the entire dentition recorded is superimposed. Therefore, three imaging data D IN , D L6 ,D R6 The tooth morphology recorded and 、 Dental arch morphology data D s The morphology of the entire dentition recorded in the image can be accurately superimposed onto the image.

[0098] Next, three feature points (reference points) are selected from the superimposed data: the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6. For example, the superimposed data is displayed on a CAD / CAM application, and the user inputs a user operation to select the three feature points using an input device such as a mouse, and the control unit 41 receives the user operation via the interface 44. Alternatively, the control unit 41 selects the three feature points by automatically extracting the feature points corresponding to the incisor point IN, the left first molar fossa L6, and the right first molar fossa R6 from the superimposed data using a CAD / CAM application.

[0099] In this way, the three feature points used to define the reference coordinate system for mandibular movement and the three feature points used to superimpose the dental arch morphology and the jaw movement coordinate system can be selected from the same morphology within the same coordinate system (first coordinate system O1-X1Y1Z1). This allows the reference coordinate system O of the jaw movement data to be selected. U -X U Y U Z U And, dental arch morphology data D s Morphological coordinate system O S -X S Y S Z S And can be made to match.

[0100] In step ST5, the control unit 41 generates jaw movement data that includes jaw movement relative to the maxilla, based on the detection signal received from the second sensor 4.

[0101] In this way, jaw movement data and dental arch morphology data can be superimposed.

[0102] 3. Effects The effects of processing by the information processing device 40 according to this embodiment will be explained below in comparison with the prior art.

[0103] As mentioned above, in the conventional technique where users manually record three reference points (feature points) on a CAD / CAM application, it is difficult to accurately match the three feature points recorded in the dental morphology data with the three feature points recorded in the jaw movement data. The processing by the information processing device 40 according to this embodiment can solve this problem. In order to quantitatively evaluate the effect of the processing according to this embodiment, the conventional technique and the processing according to this embodiment were performed on five subjects on the same day, and the error in selecting feature points in both methods was evaluated. Below, the evaluation results for the conventional technique will be described first.

[0104] Figures 11 and 12 are tables showing the results of evaluating the error in selecting feature points in the conventional technique for a particular case. In the conventional technique, prior to measuring jaw movement, the central fossa of the right first molar, the incisor point, and the central fossa of the left first molar are recorded as feature points. In this case, the central fossa of the right first molar, the incisor point, and the central fossa of the left first molar were each recorded three times in that order, and then the incisor point was recorded again, resulting in a total of 10 feature point recordings. Each recording is based on, for example, 100 consecutive data points acquired over 1 second at 100 Hz.

[0105] During the processing of jaw movement data, an application is executed to select feature points for each recorded data acquired in the first coordinate system. This application records the mean (mm) and standard deviation (μm) of coordinate values ​​based on 100 consecutive data points contained in each recorded data. The user then selects representative values ​​(e.g., mean values) from three or four recordings for each feature point. The representative coordinate values ​​of these three selected feature points are then recorded, for example, as a single data file, and a transformation from the first coordinate system to the maxillary occlusal plane coordinate system is performed based on this data file.

[0106] Figure 11 is a table showing the coordinate values ​​(difference between the representative value and the coordinate value in each recording) for each feature point selected as described above, for the x, y, and z axes. Figure 12 is a table showing the 3D distance calculated for each feature point based on the differences in each axis direction shown in Figure 11. In this case, the average value of the 3D distance over 10 recordings calculated as described above was 0.158 mm. This can be said to represent the error when selecting feature points in the conventional technique.

[0107] Figure 13 is a table showing the error in selecting feature points for multiple cases (5 individuals), calculated using the same evaluation method as in Figures 11 and 12. The table in Figure 13 shows the mean, standard deviation, maximum, and minimum values ​​for the 5 cases in the x, y, and z axes, respectively, based on the 3D distance calculated for each case.

[0108] From the table in Figure 13, it can be seen that the error in selecting feature points using the conventional technique was 0.187 mm on average for 5 cases, with a standard deviation of 0.047 mm. This standard deviation indicates that there is a certain degree of variability in the error in feature point selection between cases, and it can be understood that the accuracy of overlaying jaw movement data and dental arch morphology data is easily affected from case to case in the conventional technique.

[0109] In contrast, the processing by the information processing device 40 according to this embodiment involves, as described above, three imaging data (biological target morphology data) D IN , D L6 ,D R6 The tooth morphology recorded and 、 Dental arch morphology data D s The morphology of the entire dentition recorded can be accurately superimposed with the data. The evaluation results obtained by the processing according to this embodiment will be explained below with reference to Figures 14 to 18.

[0110] In the evaluation, first, the biometric probe 2 was calibrated (ST1), and the relative position coordinates of the registration parts RS1 to RS4 of the second sensor 4 with respect to the second coordinate system were obtained. For the calibration, the pivot calibration technique described above was used for step ST1. For the evaluation, Dentsply Sirona's Primescan® was used as the biometric probe 2, and Connect SW 5.2.10 software was used for calibration.

[0111] Next, using the bio-probe probe 2, images of multiple registration areas RS1 to RS4 and the tooth morphology including characteristic points on the maxillary dentition are captured, and the resulting image data D IN , D L6 ,D R6 Obtained (ST2).

[0112] Before measuring jaw movement, a model reproducing the dentition morphology is scanned using a scanner (3shape E4) to obtain dentition morphology data D s I obtained (ST3).

[0113] Three imaging data D IN , D L6 ,D R6 For the tooth morphology recorded in, dentition morphology data D s These data were superimposed so that the morphology of the entire dentition recorded matched. The automatic alignment function of Rapidform®, a 3D shape analysis software, was used for superimposition. This automatic alignment function automatically adjusts the position and orientation (translation and rotation) of one of the shape data to minimize the deviation between the two 3D shape data, and aligns the two shapes to achieve the best fit.

[0114] Figures 14 to 18 show distribution maps illustrating the three-dimensional distance distribution for the first to fifth subjects, respectively, after the dentition morphology data and biological reference point morphology data have been superimposed on the first coordinate system using the processing according to this embodiment.

[0115] In the distribution maps shown on the dentition morphology in Figures 14-18, the three-dimensional distance between the dentition morphology data calculated after superimposition and the biological reference point morphology data is represented by differences in grayscale. As shown by the scale in the figures, areas with smaller distances are displayed in a lighter shade, and areas with larger distances are displayed in a darker shade.

[0116] The histogram-like distribution shown below the dental arch morphology indicates the distribution of three-dimensional distances calculated within the target area of ​​the dental arch morphology, which is indicated by varying shades in the figure. The vertical direction of the distribution represents the magnitude of the distance (mm). The horizontal direction of the distribution represents the distribution of positions belonging to the distance range indicated vertically, and is shown as horizontally extending bars for each distance range.

[0117] In the case shown in Figure 14, the mean value of the 3D distance was 0.08 mm, and the standard deviation was 0.08 mm, which can be said to represent the average error when selecting feature points in this embodiment. In Figure 14, this is expressed as 0.08 ± 0.08 mm. Similarly, the error when selecting feature points was 0.08 ± 0.07 mm in the case shown in Figure 15, 0.11 ± 0.08 mm in the case shown in Figure 16, 0.07 ± 0.05 mm in the case shown in Figure 17, and 0.10 ± 0.12 mm in the case shown in Figure 18.

[0118] In summary, the results obtained for the five cases described above show that the average error in selecting feature points in this embodiment was 0.088 mm, and the standard deviation was 0.016 mm. Thus, according to this embodiment, the accuracy of superposition can be improved by using imaging data to match the reference coordinate system and the morphological coordinate system when superimposing jaw movement data and dental arch morphology data.

[0119] 4. Summary According to the information processing device 40 of Embodiment 1 of this disclosure, the following effects can be achieved.

[0120] The information processing device 40 of Embodiment 1 according to this disclosure includes a control unit 41 that performs calculations. The control unit 41 acquires three imaging data (ST2) obtained by imaging three feature points located at different positions on the dentition together with a plurality of registration units RS1 to RS4 whose relative positions to a reference position related to jaw movement are known. The control unit 41 acquires dentition morphology data (ST3) and, based on the three imaging data and the dentition morphology data, matches the reference coordinate system that defines the jaw movement data with the morphological coordinate system that defines the dentition morphology data. In superimposing the jaw movement data and the dentition morphology data, the accuracy of the superimposition can be improved by matching the reference coordinate system and the morphological coordinate system using the imaging data.

[0121] The control unit 41 may superimpose the three imaging data and the dental arch morphology data, and then align the reference coordinate system and the morphological coordinate system based on the relative positions of the multiple registration areas in the superimposed data. This can further improve the accuracy of the superimposition.

[0122] The control unit 41 may specify the positions of three feature points in the superimposed data and, based on the fact that the positions of the three specified feature points coincide in the three imaging data and the dental morphology data, align the reference coordinate system and the morphological coordinate system. This can further improve the accuracy of the superimposition.

[0123] The information processing device 40 may further include an interface 44, which is an example of an input unit that receives user input for selecting the positions of three feature points. The control unit 41 specifies the positions of the three feature points according to the user input received via the interface 44. This can further improve the accuracy of the superposition.

[0124] The control unit 41 may match the reference coordinate system and the morphological coordinate system by superimposing the three imaging data and the dentition morphology data in such a way that the difference between the morphological features of the teeth shown by the three imaging data and the morphological features of the entire dentition shown by the dentition morphology data is minimized. This can further improve the accuracy of the superposition.

[0125] The reference position may be determined based on the position of a second sensor 4, which is an example of a jaw movement sensor that detects signals indicating the relative position information between the upper and lower jaws. The control unit 41 may generate jaw movement data based on the signals acquired from the second sensor 4. This makes it possible to obtain highly accurate jaw movement data.

[0126] In this embodiment, an example has been described in which the biological reference probe 2 has four registration sections RS1 to RS4, but it is not limited to this. The biological reference probe 2 may have at least one registration section. Preferably, the biological reference probe 2 may have at least three registration sections.

[0127] In this embodiment, an example in which the multiple registration sections RS1 to RS4 have a spherical shape has been described, but the embodiment is not limited to this. The multiple registration sections RS1 to RS4 may have any shape from which their position coordinates can be obtained. For example, the multiple registration sections RS1 to RS4 may be semicircular, elliptical, or polygonal in shape.

[0128] In this embodiment, an example has been described in which the biological reference probe 2 has four calibration units CS1 to CS4, but it is not limited to this. For example, the biological reference probe 2 may have at least one calibration unit. Furthermore, if the position coordinates of the multiple registration units RS1 to RS4 with respect to the second coordinate system O2-X2Y2Z2 of the second sensor 4 can be directly determined, the calibration unit is not an essential component. In other words, the biological reference probe 2 may not have a calibration unit.

[0129] In this embodiment, an example in which the multiple calibration sections CS1 to CS4 are protrusions has been described, but the embodiment is not limited to this. The multiple calibration sections CS1 to CS4 may also be recesses. Furthermore, an example in which the protrusions have a rounded, curved convex shape has been described, but the embodiment is not limited to this. The protrusions may have any shape as long as they have a shape that allows the position coordinates of the multiple calibration sections CS1 to CS4 with respect to the second coordinate system O2-X2Y2Z2 to be measured.

[0130] In this embodiment, an example in which the biological reference point probe 2 includes a registration cap 20 has been described, but it is not limited to this. The registration cap 20 is not an essential component of the biological reference point probe 2. For example, a plurality of registration sections RS1 to RS4 and a plurality of calibration sections CS1 to CS4 may be provided on the housing 10, or they may be provided on a component other than the registration cap 20.

[0131] In this embodiment, an example in which the first sensor 3 and the second sensor 4 are coils has been described, but the embodiment is not limited to this. The first sensor 3 and the second sensor 4 can be any sensors capable of measuring jaw movement.

[0132] In this embodiment, an example in which the sensor frame 30 is connected to the housing 10 has been described, but the embodiment is not limited to this. For example, the sensor frame 30 may be connected to a member that is detachably attached to the housing 10.

[0133] In this embodiment, three imaging data D are obtained by the biological target probe 2. IN , D L6 ,D R6 An example of how the data can be acquired has been described, but it is not limited to this. At least three imaging data may be acquired by the biological target probe 2. Also, imaging data D IN , D L6 ,D R6While examples have been described that include the morphology of tooth portions corresponding to the incisor point IN of the maxillary dentition, the central fossa L6 of the left first molar, and the central fossa R6 of the right first molar, the data is not limited to these examples. The imaging data may also include tooth morphology with feature points other than those described above.

[0134] In this embodiment, an example has been described in which the control unit 41 generates jaw movement data indicating jaw movement including mandibular movement relative to the maxilla based on a detection signal received from a second sensor 4, which is an example of a jaw movement sensor, but the embodiment is not limited to this. For example, the second sensor 4 may include a detection circuit that detects an induced current generated in the second sensor 4 (3-axis detection coil) by an alternating current flowing through the first sensor 3, which is a 3-axis excitation coil. Furthermore, it is not essential that the first sensor 3 is an excitation coil and the second sensor 4 is a detection coil; the second sensor 4 may be an excitation coil and the first sensor 3 may be a detection coil. In this case, the control unit 41 generates jaw movement data indicating jaw movement including mandibular movement relative to the maxilla based on a detection signal received from the first sensor 3, which is an example of a jaw movement sensor.

[0135] In this embodiment, an example has been described in which the information processing device 40 is connected to the measuring device 1 in a data communication manner, but the embodiment is not limited to this. For example, each component of the information processing device 40 may be configured integrally with the measuring device 1 or the biological target probe 2.

[0136] In Figure 3, for convenience, an example is shown in which each component of the information processing device 40 is contained within a single block. However, it is not necessary for each component to be housed in a single enclosure; they may be distributed across multiple enclosures. For example, the information processing device 40 may be implemented using a computer system consisting of multiple server devices. At least some of the functions of the information processing device 40, such as some of the functions of the control unit 41, may be implemented through cloud computing or the like.

[0137] Figure 10 is a schematic perspective view of a registration cap in one modified example.

[0138] As shown in Figure 10, in the modified example, the registration cap 20A has three registration sections RS1 to RS3. The four calibration sections CS1 to CS4 are recesses with a rounded, curved concave shape.

[0139] Even with this configuration, jaw movement data and dental arch morphology data can be accurately superimposed.

[0140] Furthermore, by configuring the four calibration sections CS1 to CS4 with rounded, curved recesses, the risk of injury to the patient's oral cavity can be further reduced when the bio-targeting probe 2 is inserted into the patient's oral cavity.

[0141] In the modified example, an example was described in which three registration sections RS1 to RS3 and four calibration sections CS1 to CS4 are provided on the registration cap 20A. However, the three registration sections RS1 to RS3 and four calibration sections CS1 to CS4 on the registration cap 20A may be provided on the housing 10, or on a component other than the registration cap 20A.

[0142] Although this disclosure has described each embodiment with a certain degree of detail, the details of the configuration of these embodiments are subject to change, and changes in the combination and order of elements in each embodiment can be realized without departing from the claimed scope and spirit of the invention.

[0143] Furthermore, general and specific aspects of this disclosure may be implemented by systems, methods, computer programs and computer-readable recording media, or combinations thereof.

[0144] (Summary of the embodiment) (1) The information processing apparatus of the present disclosure is an information processing apparatus comprising a control unit that performs calculations, wherein the control unit acquires at least three imaging data obtained by imaging at least three feature points arranged at different positions on the dental arch together with at least one registration unit whose relative position to a reference position relating to jaw movement is known, acquires dental arch morphology data, and matches a reference coordinate system that defines jaw movement data with a morphological coordinate system that defines the dental arch morphology data based on the at least three imaging data and the dental arch morphology data.

[0145] (2) In the information processing device of (1), the control unit may superimpose the at least three imaging data and the dental arch morphology data, and make the reference coordinate system and the morphology coordinate system coincide based on the relative position of the at least one registration portion in the superimposed data.

[0146] (3) In the information processing device of (2), the control unit may specify the positions of the at least three feature points in the superimposed data, and based on the fact that the positions of the specified at least three feature points coincide in the at least three imaging data and the dental morphology data, it may make the reference coordinate system and the morphology coordinate system coincide.

[0147] (4)(3) The information processing device may further include an input unit that receives input of a user operation to select the positions of the at least three feature points, and the control unit may specify the positions of the at least three feature points in accordance with the user operation received via the input unit.

[0148] (5) In any one of the information processing devices of (1) to (4), the control unit may make the reference coordinate system and the morphological coordinate system coincide by superimposing the at least three imaging data and the dentition morphology data such that the difference between the feature quantities of tooth morphology shown by the at least three imaging data and the feature quantities of overall dentition morphology shown by the dentition morphology data is minimized.

[0149] (6) In any one of the information processing devices described in (1) to (5), the at least one registration unit may include a plurality of registration units, and the plurality of registration units may be spaced apart from each other.

[0150] (7) In any one of the information processing devices described in (1) to (6), the reference position may be determined based on the position of a jaw movement sensor that detects a signal indicating the relative position information of the upper jaw and the lower jaw, and the control unit may generate the jaw movement data based on the signal obtained from the jaw movement sensor.

[0151] (8) In any one of the information processing devices described in (1) to (7), the control unit may superimpose the jaw movement data and the dental arch morphology data based on the fact that the reference coordinate system and the morphological coordinate system coincide.

[0152] (9) In any one of the information processing devices described in (1) to (8), the dentition may be the maxillary dentition.

[0153] (10) The information processing method of the present disclosure includes the step of a control unit acquiring at least three imaging data obtained by imaging at least three feature points arranged at different positions on the dentition, together with at least one registration unit whose relative position to a reference position with respect to jaw movement is known, The control unit performs the steps of acquiring dental arch morphology data, The control unit performs the step of matching a reference coordinate system that defines jaw movement data with a morphological coordinate system that defines the dental arch morphology data, based on the at least three imaging data and the dental arch morphology data. Includes. [Industrial applicability]

[0154] The information processing device and information processing method relating to this disclosure are useful for overlaying jaw movement data and dental arch morphology data. [Explanation of Symbols]

[0155] 1. Measuring device 2. Biological target probe 3. First Sensor 4. Second Sensor 10 cabinets 11 Image sensor 12 Imaging surface 20 Registration Caps 21 Aperture 22 Support frame 30 sensor frames RS1~RS4 Registration Section CS1~CS4 Calibration Section

Claims

1. An information processing apparatus comprising a control unit that performs calculations, The control unit, At least three imaging data sets are obtained by imaging at least three feature points located at different positions on the dentition, each together with at least one registration area whose relative position to a reference position for jaw movement is known. Acquire dental arch morphology data, Based on the at least three imaging data and the dental arch morphology data, the reference coordinate system defining the jaw movement data and the morphological coordinate system defining the dental arch morphology data are made to coincide. Information processing device.

2. The information processing apparatus according to claim 1, wherein the control unit superimposes the at least three imaging data and the dental arch morphology data, and aligns the reference coordinate system and the morphology coordinate system based on the relative position of the at least one registration portion in the superimposed data.

3. The information processing apparatus according to claim 2, wherein the control unit specifies the positions of the at least three feature points in the superimposed data, and matches the reference coordinate system and the morphological coordinate system based on the fact that the positions of the specified at least three feature points coincide in the at least three imaging data and the dental morphology data.

4. The system further includes an input unit that accepts user input for selecting the positions of the at least three feature points. The control unit specifies the positions of the at least three feature points according to the user operation received via the input unit. The information processing apparatus according to claim 3.

5. The information processing apparatus according to claim 1, wherein the control unit makes the reference coordinate system and the morphological coordinate system coincide by superimposing the at least three imaging data and the dentition morphology data such that the difference between the feature quantities of tooth morphology shown by the at least three imaging data and the feature quantities of overall dentition morphology shown by the dentition morphology data is minimized.

6. The at least one registration unit includes a plurality of registration units, The plurality of registration units are arranged with space between them. The information processing apparatus according to claim 1.

7. The aforementioned reference position is determined based on the position of a jaw movement sensor that detects signals indicating the relative position information of the upper and lower jaws. The control unit generates the jaw movement data based on the signal obtained from the jaw movement sensor. The information processing apparatus according to claim 1.

8. The information processing apparatus according to claim 1, wherein the control unit superimposes the jaw movement data and the dental arch morphology data based on the fact that the reference coordinate system and the morphological coordinate system coincide.

9. The information processing apparatus according to claim 1, wherein the dentition is the maxillary dentition.

10. The control unit acquires at least three imaging data obtained by imaging at least three feature points located at different positions on the dentition, each together with at least one registration unit whose relative position to a reference position for jaw movement is known. The control unit performs the steps of acquiring dental arch morphology data, The control unit performs the step of matching a reference coordinate system that defines jaw movement data with a morphological coordinate system that defines the dental arch morphology data, based on the at least three imaging data and the dental arch morphology data. Information processing methods including

Images