• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    ARRANGEMENT AND METHOD FOR TRACKING A PERSON'S JAW MOVEMENT. The invention relates to tracking the movement of a patient's jaw, wherein the movement of a tracking item (50) representing the movement of the jaw is followed by at least one camera (22) arranged in a medical training device. X-ray imaging (10) and in which the movement detected by at least one camera (22) is applied to a digital model representing the hard tissue of the jaw. The digital model in motion of the hard tissue of the jaw thus generated is shown on a display (31) to visualize the movement of the hard tissue.
    公开号:BR112017019077B1
    申请号:R112017019077-0
    申请日:2016-03-09
    公开日:2021-05-11
    发明作者:Lasse Toimela；Kustaa Nyholm
    申请人:Planmeca Oy；
    IPC主号:
    专利说明:

    [001] The invention relates to arrangements and methods for tracking and generating a digital model that visualizes the movement of hard tissue in a person's jaw. FUNDAMENTALS OF THE INVENTION
    [002] Various systems, such as those employing mechanical, electronic, ultrasonic, electromagnetic and optical techniques have been used in conjunction with recordings of human jaw movements. A typical solution includes attaching physical markers to both the maxilla and mandible and recoding their respective relative motions. Such systems are known to include visualization of measured or detected movement on a display, possibly as applied to, for example, a digital surface model of cranial hard tissue.
    [003] Regardless of the technology, the workflow involved in these procedures is often time-consuming and laborious as it can include the use of separate devices and operations performed individually and separately from each other. These operations allow you to add fixation markers to the anatomy, generate jaw movements and detect and record marker movements, and generate a visualization of jaw movements that can then be shown on a display. On the one hand, the jaw movement modeling process is visualized as a separate process later on and it is only later ascertained what additional movement information would be needed or desired, to improve the digital model movement, this will not be possible until next time where someone can apply the markers to the patient and detect and record the new jaw movements.
    [004] Prior art examples for tracking jaw movement include systems described in published patents US 4,836,778, US 2013.0157218 and WO 2013/0175018. BRIEF DESCRIPTION OF THE INVENTION
    [005] The invention and its preferred embodiments include an arrangement and method in which a digital model showing the movement of a person's jaw is generated in the context of a medical X-ray imaging device such that the CT device is arranged to acquire image information by generating surface cranial hard tissue anatomy models. This allows you to acquire both X-ray image data and jaw movement data with the same device. By equipping the arrangement with ways to process the image and a viewfinder in which the patterned movement of a hard tissue can be viewed in the same context in which photographing the movement of reference objects fixed in a cranial anatomy is performed, modalities of the invention allow for follow-up of real-time hard tissue movements while the patient is present to generate any desired chewing or other jaw movement to be modelled.
    [006] According to an embodiment, the method according to the invention includes providing at least one camera arranged in physical connection with a CT imaging apparatus. The method includes attaching a first tracking item to a person's jaw and attaching a second tracking item to the jaw or a part of the person's anatomy where there is a stationary connection to the jaw. A CT reconstruction of the person's hard tissue anatomy is generated and the locations of the tracking items related to the anatomical hard tissue are identified. In one modality, a series of images of tracking items using at least one camera are captured while the patient performs a jaw movement and locations of image items are determined. The anatomical hard tissue positions are then determined using knowledge of the relationship between the tracking items and the anatomy and the positions of the hard tissue anatomies which are transferred to a visual system to show the jaw chewing motion of the digital model. BRIEF DESCRIPTION OF THE FIGURES
    [007] The following Figures are used to present some aspects of the various embodiments of the invention.
    [008] Figure 1 shows basic parts of a preferred arrangement according to the invention.
    [009] Figure 2 shows an arrangement of principles for detecting jaw movement according to a system applicable for use in the context of the invention.
    [0010] Figure 3 shows a detector module for an X-ray medical device that includes components applicable for use in the context of the invention.
    [0011] Figure 4 shows an arrangement for tracking image movement in which a tracking device that is fitted to a jaw, in the field of view of two cameras.
    [0012] Figure 5 shows an arrangement for image movement tracking as in Figure 4, but that only a potion of the tracking device's reference objects is in the field of view of both two cameras.
    [0013] Figures 6 and 7 show procedures (by a flowchart) applicable for use in the invention to generate a digital model that visualizes the movement of the mandible. DETAILED DESCRIPTION OF THE INVENTION
    [0014] Figure 1 shows basic parts of a preferred arrangement according to the invention. The arrangement of Figure 1 includes an x-ray medical imaging apparatus (10) comprising a vertical support construction (11) in which a horizontally extending arm (12) supports a patient support means (17 ) and a portion of an arm (13) supporting a portion of an arm (14) supports the imaging means of the apparatus. The part of the arm (14) which supports the image forming means is rotatably arranged. The imaging means of the apparatus includes an X-ray source (15) and an X-ray image information receiver (21) arranged at a distance from each other. The imaging means are located with respect to the patient support means (17) so that an imaging station (18) is created within an area between the X-ray source (15) and the information receiver. X-ray image (21) so that a beam generated by the X-ray source (15) can be directed through said imaging station (18) towards the receiver of X-ray image information (21). The apparatus includes control means wherein Figure 1 shows a user interface (16) arranged to the arm (12) which supports a patient support means (17) and an operating procedure selection means (19) that belongs to the same. In the apparatus according to Figure 1, the X-ray image information receiver (21) is arranged as part of an image information receiver module (20), a detector module in which it is arranged in an operative connection with the computer (30). A means for processing image information is arranged with the computer (30) and the computer which is also arranged in an operational connection with a display (31). The user interface (16) may be equipped with a display, too, and there may be a display arranged in some other structure of the X-ray imaging apparatus as well. Physical components and subsystems of the control system (CS) may be arranged at various places in the arrangement, some may be included in the computer (30) and some may be arranged, for example, in the vertical support construction (11) or in proximity or integrated with the component of the arrangement to be controlled.
    [0015] Figure 2 shows a principle of jaw movement detector arrangement according to a system applicable for use in the context of the invention. The arrangement includes two cameras (22) arranged at a distance from each other and directed to photograph a person's head where the tracking means (50) is connected. In the arrangement according to Figure 2, the tracking means (50) consists of two separate support constructions (51) for reference objects so that light reflects objects (52). One of the bearing constructions (51) is attached to a person's forehead, the other to a person's jaw. The arrangement of Figure 2 also includes light sources (23) arranged in close proximity to the cameras (22). The light source (23) is arranged so that it essentially emits light in a direction that the nearby camera (22) is directed.
    [0016] Figure 3 shows a detector module (20) attachable to an X-ray medical apparatus including applicable components for use in the context of the invention. Contrary to what was shown in Figure 2, the cameras (22) are arranged to the module (20), not at a vertical distance, but at a horizontal distance from one to the other, and there are light sources (23) above and below the cameras (22). An X-ray imaging detector (21) is also arranged in the module. The attachment of the module (20) to the X-ray medical apparatus must be carried out in such a way that the X-ray image detector (21) is or can be aligned with the image forming station (18) of the apparatus.
    [0017] Figure 4 shows an arrangement for image motion tracking in which a tracking means is attached to a jaw and in the field of view of two cameras. The tracking means (50) of Figure 4 comprises a support structure (51) for five reference objects of light reflectors (52). The two cameras (22) of the array are located and oriented relative to the light reflectors reference objects (52) all five of which are in the line of sight of both cameras (22). The arrangement includes a light source (23) in close proximity to both cameras (22), the light sources (23) are arranged to emit light essentially in a direction in which the nearby camera (22) is directed.
    [0018] Figure 5 shows a motion tracking imaging arrangement as in Figure 4, but in which the cameras (22) are located at a greater distance from each other. Such an arrangement can be applied for example in the context as shown in Figure 3, where (22) are located on opposite sides of the X-ray image detector (21) of the detector module (20).
    [0019] In the arrangement of Figure 5, only a portion of the reference objects (52) of the tracking means (50) are in the field of view of both two cameras (22), but determining the position of the tracking means (50 ) is also possible in the context of such an arrangement, provided that at least one of the reference objects (52) is in the field of view of both cameras (22). Such a procedure may comprise solving, first, the three dimensional positions of a reference object (52) in the field of view of both cameras. This can be done for example by positioning triangularly using camera calibration information and detected locations of reference objects (52) after a corresponding point on a tracking device model is translated into a given position. The tracking device model is then rotated approximately at that point so that when projected in both views of the camera, the square distance between the position of the projection point and the position of the corresponding detected reference object is minimized. Rotation and translation define the position of the tracking module.
    [0020] The arrangements for acquiring information to generate a digital model showing the movement of a cranial anatomical hard tissue discussed above are based on the use of two cameras, but the invention can be implemented using arrangements based on the use of any number of cameras .
    [0021] Figure 6 shows a procedure applicable for use in the arrangement of the invention to visualize movement of the jaw. When a person positioned for image projection by at least one camera fitted to an X-ray imaging medical device performs jaw movement, movement tracking is initiated by taking pictures of at least one tracked item (as a reference to cited above, jaw tracking means comprising light reflection on the reference object). The array control system then detects a photo said in at least one of the tracking items and determines its position based on the tracking item's model reference and camera calibration information. A modeled jaw movement can then be visualized on a display even in real-time by repeatedly transforming the tracking item's determined position to a digital anatomy model.
    [0022] A method for producing the reference model of the tracking means includes firstly using the medical X-ray imaging apparatus to generate a CT reconstruction of a mandible and the tracking means which includes reference objects, and a visualization this reconstruction is then presented in a display. When the array user interface includes means of pointing out the location of the reference objects in the displayed view, the array image processing software is able to generate a reference model that defines the spatial relationship between the reference objects and the reconstruction. of anatomy.
    [0023] The camera calibration information cited in Figure 6 includes the intrinsic and extrinsic parameters of one or more cameras for the array. Such calibration information can be acquired using standard computer camera vision calibration methods known to those skilled in the art.
    [0024] Figure 7 shows another way of presenting an embodiment according to the invention. According to Figure 7, a tracking item comprising reference objects is fitted to a person's jaw and another to a part of the person's anatomy where there is a stationary connection to the jaw. Then, a CT reconstruction is generated that comprises hard tissue anatomies on which tracking items are fixed and locations of reference objects in relation to the hard tissue anatomies that are determined. When a person performs a jaw movement, one or more of a camera fitted to a CT imaging device is used to capture a series of images of the reference objects during the jaw movement and the location of the reference objects are detected from the captured images. Positions of the hard tissue anatomies are then determined using the detected locations of the reference objects and the determined relationship between the locations of the reference objects and the hard tissue anatomies and the determined positions are transferred to a visualization system to show a digital model of movement of hard tissue anatomies according to the movement of a person's jaw.
    [0025] It is obvious that for a person skilled in the art that, by its details, the present invention allows to be implemented also in other ways than according to the embodiments of the invention described above and that various details of the embodiments can be performed in other ways as well. combinations rather than literally discussed above. As an example, the X-ray imaging medical apparatus need not be exactly as shown in Figure 1. The X-rays of the X-ray imaging medical apparatus imaging means can be arranged to, rather than a support arm, inside a tubular structure in the shape of a ring, for example.
    [0026] In summary, various aspects of the invention can be considered to comprise tracking the movement of a person's jaw by at least one camera configured to photograph the movement of the tracking items, wherein the tracking items comprise reference objects and are attached to a person's lower jaw and a person's jaw, or to a part of the person's anatomy where there is a stationary connection to the jaw. One arrangement can be used to comprise a control system including a first subsystem to control operations of at least one camera to photograph the movement of tracking items, and a second subsystem includes image information processing means to detect projections and resolve positions of tracking items in images captured by at least one camera and to apply this information to a digital model representing hard tissue of at least the mandible and to generate a moving digital model to be shown on a display that visualizes tissue movement jaw stiffness according to the photographed movement of the reference objects. The arrangement may go further to comprise an X-ray medical imaging apparatus including an X-ray source and an X-ray image detector (21) and the control system of the array will go further to comprise a third subsystem. , the third subsystem including control functions related to control operations of the medical X-ray imaging apparatus to acquire cranial X-ray image information and to generate a CT reconstruction of a cranial anatomy. At least one camera for photographing the movement of the tracking items can be arranged to be a physical part of the medical X-ray imaging apparatus.
    [0027] In the case of the X-ray medical apparatus, it may include a first structure that carries the X-ray source and the X-ray image detector and a second structure that supports the first structure. At least one camera can be connected to both the first frame and the second frame. Preferably, the arrangement includes two cameras arranged at a distance from each other to the first structure carrying said x-ray source and x-ray image detector. In addition, the x-ray medical imaging apparatus may include a source of light arranged in close proximity to said at least one camera and the light source (23) to be arranged to emit light essentially in a direction in which said at least one camera is directed.
    [0028] The display of the arrangement can be connected to structures of the medical X-ray imaging apparatus and the control system can be configured to view on the display the digital model showing hard tissue movement according to said photographed detected movement for at least one camera. Preferably, the control system is configured to visualize the movement of the digital model generated by the second subsystem essentially simultaneously while said first subsystem operates said at least one camera to photograph the movement of the reference objects. The digital model representing the hard tissue can be a CT reconstruction visualization of a person's mandible or generated mandibles based on image data detected by the X-ray image detector of the medical X-ray imaging apparatus.
    [0029] According to an embodiment, a user interface arranged in a connection with the control system is configured to allow the marking of an accessory of interest in the digital model representing hard tissue and to include that marking in said digital model in movement. The control system can be additionally configured to present an image on the display that is a visualization of a CT reconstruction of at least a part of the subject's cranial anatomy together with a tracking item that includes reference objects attached to the subject when the image information for said reconstruction was acquired and, as a response to a user input indicating locations of reference objects of said tracking item of said image, to generate a reference model that defines a spatial relationship between said objects of reference and CT reconstruction.
    [0030] The present disclosure combines an X-ray imaging apparatus with an advantageous camera system to track the movement of the mandible physically arranged thereto. This streamlines the workflow of the imaging procedure and allows control of the CT instrument and camera movement tracking system by the same control system.
    [0031] By arranging the camera system jaw movement to the X-ray imaging apparatus by itself, the present process provides the possibility for both to generate a CT reconstruction that includes the anatomy and tracking items (ie, the scan of anatomy while the tracking items are attached to a person) and to track movement of the jaw within the same procedure while a person is present and available to project image to the X-ray imaging apparatus. it is necessary to reproject the person's image or reconnect the tracking items if any process failure or image quality issues are noticed while the person is still present to repeat or perform additional jaw movements.
    权利要求:
    Claims (19)
    [0001]
    1. Arrangement for tracking the movement of a person's jaw, the arrangement comprising: - at least one camera (22) configured to photograph movement of the tracking items (50), wherein the tracking items (50) comprise objects reference (52) and are attached to a person's jaw and to a person's jaw or a part of the person's anatomy that is in stationary connection with the jaw; - a control system including a first subsystem for controlling operations of said at least one camera (22) for photographing said movement of the tracking items (50), and - a second subsystem including image information processing means for detect projections and resolve positions of the tracking item (50) in the images captured by said at least one camera (22) and to apply this information to a digital model representing at least hard tissue of the jaw and to generate a moving digital model for be shown on a display (31) which visualizes movement of the hard tissue of the jaw in accordance with said photographed movement of the reference objects (52); the arrangement further comprising - an x-ray medical imaging apparatus (10) including an x-ray source (15) and an x-ray imaging detector (21) and - the control system further comprising a third subsystem, the third subsystem includes control functions related to controlling operations of said x-ray medical imaging apparatus (10) to acquire cranial X-ray image information and to generate a CT reconstruction of a cranial anatomy, characterized in that - said at least one camera (22) arranged to photograph said movement of the tracking items (50) is a physical part of said medical x-ray imaging apparatus (10).
    [0002]
    2. Arrangement according to claim 1, characterized in that said x-ray medical device (10) includes a first structure (14) carrying said x-ray source (15) and the x-ray image detector (21) and a second frame (11, 13) supporting the first frame (14), and wherein said at least one camera (22) is connected to both the first frame (14) and the second frame (11, 13 ).
    [0003]
    3. Arrangement according to claim 2 or 3, characterized in that the arrangement includes two cameras (22) arranged at a distance from each other for said first structure (14) carrying said X-ray source (15) and X-ray imaging detector (21).
    [0004]
    4. Arrangement according to any one of claims 1 to 3, characterized in that said x-ray imaging medical apparatus (10) includes a light source (23) arranged in close proximity to the at least one camera (22) and said light source (23) is arranged to emit light essentially in a direction in which said at least one camera (22) is directed.
    [0005]
    5. Arrangement according to any one of claims 1 to 4, characterized in that said display (31) is connected to structures of the X-ray imaging medical device (10) and said control system is configured to visualize on the display (31) said digital model showing movement of the hard tissue according to said photographed movement detected by said at least one camera (22).
    [0006]
    6. Arrangement according to any one of claims 1 to 5, characterized in that the control system is configured to view said movement of the digital model generated by said second subsystem essentially simultaneously while said first subsystem operates said at least a camera (22) for photographing the movement of the reference objects (52).
    [0007]
    7. Arrangement according to any one of claims 1 to 6, characterized in that said digital model representing the hard tissue is a visualization of a CT reconstruction of a person's jaw or mandibles generated based on image data detected by the X-ray imaging detector (21) of said X-ray imaging medical apparatus (10).
    [0008]
    8. Arrangement according to any one of claims 1 to 7, characterized in that it further comprises a user interface (16) in connection with said control system, wherein the user interface (16) is configured to allow marking an accessory of interest on said digital model representing hard tissue and wherein the control system is configured to include that marking on said moving digital model.
    [0009]
    9. Arrangement according to any one of claims 1 to 8, characterized in that the control system is configured to present on said display (31) an image that is a visualization of a CT reconstruction of at least a part of the anatomy skull of a person in conjunction with a tracking item (50) which includes reference objects (52) attached to the person when image information from said reconstruction has been acquired and as a response to user input indicating object locations of reference (52) of said tracking item (50) in said image, to generate a reference pattern that defines a spatial relationship between said reference objects (52) and the CT reconstruction.
    [0010]
    10. Arrangement according to any one of claims 2 to 9, characterized in that said first structure (14) is a rotating arm in which the X-ray source (15) and the X-ray image detector (21 ) are arranged at a distance from each other and wherein said at least one camera (22) is arranged on said swivel arm adjacent to said X-ray information receiver (21).
    [0011]
    11. Arrangement according to any one of claims 1 to 10, characterized in that the reference objects (52) are light reflectors.
    [0012]
    12. Method for tracking a person's jaw movement comprising: - attaching a first tracking item comprising reference objects to a person's jaw and a second tracking item comprising reference objects to a part of the person's anatomy that it is in a stationary connection with the person's jaw; - generate a CT reconstruction that comprises the hard tissue anatomies to which the tracking items are attached; - determine locations of reference objects in relation to hard tissue anatomies; - capture a series of images of the reference objects while a person performs a jaw movement; - detect locations of reference objects of captured images; - resolve positions of the hard tissue anatomies using the detected locations of the reference objects and the determined relationship between locations of the reference objects and the hard tissue anatomies; - transfer the solved positions to a visualization system to show a digital model of the movement of the hard tissue anatomies according to the movement of a person's jaw; characterized by the fact that - said series of images is captured by at least one camera arranged in a CT imaging apparatus.
    [0013]
    13. Method according to claim 12, characterized in that said movement of the digital model of the hard tissue anatomies is viewed essentially simultaneously while said at least one camera captures said images.
    [0014]
    14. Method according to claim 12 or 13, characterized in that said second tracking item is connected to the patient's forehead.
    [0015]
    15. Method according to any one of claims 12 to 14, characterized in that said anatomical hard tissue comprises cranial hard tissue.
    [0016]
    16. Method according to any one of claims 12 to 15, characterized in that at least one camera and a light source are arranged on a rotating arm of a CT imaging device.
    [0017]
    17. Method according to claim 16, characterized in that it further comprises illuminating the reference objects of the first and second tracking items by said light source during image capture.
    [0018]
    18. Method according to any one of claims 12 to 17, characterized in that it further comprises marking the locations of reference objects in said CT reconstruction using a user interface and representing said locations in the images.
    [0019]
    19. Method according to any one of claims 12 to 18, characterized in that at least one tracking item includes at least 5 light-reflecting objects separated from each other.
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    法律状态:
    2020-05-12| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-02-23| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-05-11| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 09/03/2016, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201562130447P| true| 2015-03-09|2015-03-09|
    US62/130,447|2015-03-09|
    PCT/FI2016/050142|WO2016142584A1|2015-03-09|2016-03-09|Tracking a motion of a jaw|
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