基于点云的口腔修复体曲面测量与重建基础技术研究及应用
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摘要
随着逆向工程在生物医学领域的拓展及应用,CAD/CAM技术在口腔修复学得到了长足的发展,一门新兴的口腔修复工艺开始形成,CAD/CAM系统使口腔修复学从传统手工设计制作步入了口腔修复数字化和自动化时代。本文结合口腔医学临床应用,以口腔修复体三维点云数据测量及其曲面重建关键技术为研究对象,系统研究了口腔修复体从数据获取到三维实体模型重建的相关基础理论、方法及关键技术。本文主要研究内容和创新成果如下:
(1)研究了口腔修复体三维点云数据测量技术,提出了基于格雷码和相移组合编码技术的光栅投影式测量方法,自主研发了基于该方法的三维测量系统,并实现了系统的实验标定,应用到口腔修复CAD/CAM系统,实现了修复体数据的高效快速采集。
(2)改进了基于聚类的核估计去噪算法,通过定义一个似然函数来反映测量点云数据中任意一点在采样表面上的概率,并利用自适应核尺寸检测并剔除离群点和不同振幅的噪声点,使得处理后的测量点云数据光顺平滑。
(3)研究了基于空间划分策略的k近邻搜索算法,并对测量点云数据进行了搜索算法实验分析,提出了基于测量步距的k近邻搜索算法,有效地缩小了k近邻的搜索区域,提高了搜索速度,兼顾邻近点数k的取值,弹性地改变搜索半径,实现了测量点云数据k近邻的最优搜索。
(4)提出了基于法向距离的切平面法矢方向调整算法,根据法向距离阈值,调整路径选择的速度,提高了法矢方向调整的效率,并用三次最近距离法解决了法矢传播过程中可能出现的死锁问题,实现了切平面法矢方向的协调一致。
(5)采用改进步进立方体等值面抽取算法重建了口腔修复体三维模型,基于双曲线渐近线判别方法,消除了MC算法中的歧义三角片和孔洞,并通过实验发现了立方体边长的最佳取值,提高了算法效率,使重建后的模型效果更为逼真和清晰。
(6)结合口腔修复临床需要,开发了Dental CAD系统,并针对具体患者,进行了贴面、烤瓷基底冠、金属全冠修复体以及颌面钛网修复体的重建和设计,在口腔医院的临床应用取得了良好效果。
Along with the development and extended application of RE(reverse engineering ) technology in the field of bio-medical, CAD/CAM applied in Prosthodontics has seen significant development which makes Prosthodontics from traditional manual design into the digital &automatic era. Combined with the clinical application of oral medicine, this dissertation mainly does research on the measurement technology for 3D dental restoration objects and surface reconstruction technology from sampled point clouds, and Design&develop the professional medical system named dental CAD based on clinical experiments.
The main contributions of this dissertation are as follows:
(1)Propose an grating measurement method based on the combination coding technology of gray code and phase-shifting. the 3D measurement system with the proposed method is researched and developed independently,and also implement the correspondent system calibration. The 3D measurement system is integrated into Dental CAD, and can sample the surface points quickly and efficiently.
(2)Modify an kernel estimation de-noising algorithm based on point clustering. A local likelihood measure capturing the probability that a 3D point is located on the sampled surface is associated with each point of the input data. The filtering procedure suppresses noise of different amplitudes and allows for an easy detection of outliers which are then automatically removed by simple thresholding.
(3)Propose an novel KNN(K nearest neighbor)search algorithm based on measurement step, which can make the search region of KNN narrowed sharply and searching speed improved greatly, compared to The KNN algorithm based on space subdivision strategy. According to the k values of adjacent neighbors, Searching radius of current point is changed flexibly. The proposed algorithm implements the optimization KNN search of point clouds
(4) Propose an normal direction adjustment algorithm based on distance between adjacent normals. The speed of path selection is given according to the normal distance threshold, and the deadlock problem which may appear during the normal spreading stage is solved by the third minimum distance method. The proposed normal direction algorithm is proved efficient and high qualitative.
(5)The 3D dental restoration model is reconstructed through the improved MC isosurface extraction algorithm. Ambiguity triangles and holes are eliminated with hyperbola asymptotical discrimination approach. The optimization value of the cube’length of the MC algorithm is found through many experiments, which make the algorithm more efficient and improve fidelity and clearness of the reconstruction model greatly.
(6)Design and develop the professional medical system named dental CAD based on clinical experiments. Restorations of veneer, procelain-fused metal crown, metal full crown and maxillofacial titanium mesh for specific patients reconstructed and designed under dental CAD system are achieved good results in clinical application
(1)研究了口腔修复体三维点云数据测量技术,提出了基于格雷码和相移组合编码技术的光栅投影式测量方法,自主研发了基于该方法的三维测量系统,并实现了系统的实验标定,应用到口腔修复CAD/CAM系统,实现了修复体数据的高效快速采集。
(2)改进了基于聚类的核估计去噪算法,通过定义一个似然函数来反映测量点云数据中任意一点在采样表面上的概率,并利用自适应核尺寸检测并剔除离群点和不同振幅的噪声点,使得处理后的测量点云数据光顺平滑。
(3)研究了基于空间划分策略的k近邻搜索算法,并对测量点云数据进行了搜索算法实验分析,提出了基于测量步距的k近邻搜索算法,有效地缩小了k近邻的搜索区域,提高了搜索速度,兼顾邻近点数k的取值,弹性地改变搜索半径,实现了测量点云数据k近邻的最优搜索。
(4)提出了基于法向距离的切平面法矢方向调整算法,根据法向距离阈值,调整路径选择的速度,提高了法矢方向调整的效率,并用三次最近距离法解决了法矢传播过程中可能出现的死锁问题,实现了切平面法矢方向的协调一致。
(5)采用改进步进立方体等值面抽取算法重建了口腔修复体三维模型,基于双曲线渐近线判别方法,消除了MC算法中的歧义三角片和孔洞,并通过实验发现了立方体边长的最佳取值,提高了算法效率,使重建后的模型效果更为逼真和清晰。
(6)结合口腔修复临床需要,开发了Dental CAD系统,并针对具体患者,进行了贴面、烤瓷基底冠、金属全冠修复体以及颌面钛网修复体的重建和设计,在口腔医院的临床应用取得了良好效果。
Along with the development and extended application of RE(reverse engineering ) technology in the field of bio-medical, CAD/CAM applied in Prosthodontics has seen significant development which makes Prosthodontics from traditional manual design into the digital &automatic era. Combined with the clinical application of oral medicine, this dissertation mainly does research on the measurement technology for 3D dental restoration objects and surface reconstruction technology from sampled point clouds, and Design&develop the professional medical system named dental CAD based on clinical experiments.
The main contributions of this dissertation are as follows:
(1)Propose an grating measurement method based on the combination coding technology of gray code and phase-shifting. the 3D measurement system with the proposed method is researched and developed independently,and also implement the correspondent system calibration. The 3D measurement system is integrated into Dental CAD, and can sample the surface points quickly and efficiently.
(2)Modify an kernel estimation de-noising algorithm based on point clustering. A local likelihood measure capturing the probability that a 3D point is located on the sampled surface is associated with each point of the input data. The filtering procedure suppresses noise of different amplitudes and allows for an easy detection of outliers which are then automatically removed by simple thresholding.
(3)Propose an novel KNN(K nearest neighbor)search algorithm based on measurement step, which can make the search region of KNN narrowed sharply and searching speed improved greatly, compared to The KNN algorithm based on space subdivision strategy. According to the k values of adjacent neighbors, Searching radius of current point is changed flexibly. The proposed algorithm implements the optimization KNN search of point clouds
(4) Propose an normal direction adjustment algorithm based on distance between adjacent normals. The speed of path selection is given according to the normal distance threshold, and the deadlock problem which may appear during the normal spreading stage is solved by the third minimum distance method. The proposed normal direction algorithm is proved efficient and high qualitative.
(5)The 3D dental restoration model is reconstructed through the improved MC isosurface extraction algorithm. Ambiguity triangles and holes are eliminated with hyperbola asymptotical discrimination approach. The optimization value of the cube’length of the MC algorithm is found through many experiments, which make the algorithm more efficient and improve fidelity and clearness of the reconstruction model greatly.
(6)Design and develop the professional medical system named dental CAD based on clinical experiments. Restorations of veneer, procelain-fused metal crown, metal full crown and maxillofacial titanium mesh for specific patients reconstructed and designed under dental CAD system are achieved good results in clinical application
引文
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