An Analytical Mode of Interdependent Movement Patterns of Upper and Lower Jaw Teeth by Bidirectional Synchronisation of Digital Image Acquisition of These Movements with Haptic Technology in Digital Analysis of Chewing, a Positioning Patterns and a Digital Chewing Recorder

Abstract

A mode of analysis of a pattern of interdependent movements of the upper jaw teeth and of the lower jaw teeth by bidirectional synchronising of the digital movement image acquisition technology with haptic technology in a digital analysis of chewing, on the feedback principle, using the Motion Capture technology, based on the identification of the position of preferably optical markers and recording their movements in camera systems, wherein the cameras to be preferably integrated into, at least, two systems, one on the right and the other on the left side of the mouth/face, or as one system to be centrally positioned, opposite to the centre line of the face, wherein each of the systems has at least one, preferably three, cameras including at least one and preferably two monochromatic or colour cameras of a minimum resolution of 2.3 Mpx.

Claims

1. A mode of analysis of a pattern of interdependent movements of the upper jaw and lower jaw teeth by bidirectional synchronising of the digital movement image acquisition technology with haptic technology in a digital analysis of chewing, based on the feedback principle, using Motion Capture technology, based on the position identification of optical markers and recording their movements in camera systems is characterised in that the cameras are arranged into at least two systems, one on the right side and the other on the left side of the mouth/face, or one centrally positioned opposite to the centre line of the face, whereas each of the systems has at least one, preferably three, cameras including at least one (stereoscopic), with two monochromatic or colour cameras of a minimum resolution of 2.3 Mpx and with a high frame rate of a minimum 1,000 FPS (frames per second), with dedicated optics/lens (preferably with the focus from 35 mm and a diaphragm from f. 1.4, and at least one colour camera with a high resolution of a minimum of 12 Mpx and a low frame rate of a minimum 25 FPS, enabling the recording of indirectly fixed markers (M1) with a positioning pattern, or M2 markers—preferably with technology for individually designed dental braces—fixed directly to the veneer surface of the crowns of natural or artificial teeth (the latter installed on the patient's own teeth or fixed on implants) in the upper jaw and, independently, to the veneer surface of the crowns of natural or artificial teeth (the latter installed on the patient's own teeth or fixed on implants) in the lower jaw, (M1 and/or M2), whereas the operation of the cameras is synchronised thanks to their connection with triggering cards, and is responsible for recording of the position/movement of the crowns of the upper teeth (natural/artificial, on implants) with M1 and/or M2 markers relative to the crowns of the lower teeth (natural/artificial, on implants) with M1 and/or M2 markers and of the crowns of the above mentioned teeth (natural/artificial, on implants), upper and/or lower, relative to the bone of the dental process of either jaw, as well as relative to the patient's face with M2 markers stuck on it at characteristic anatomical points (preferably a minimum of 3 markers in the region of the temporomandibular joints on the right and left side and on the agger nasi) thanks to their simultaneous recording in the video film technology and then (thanks to M1 and/or M2 markers) the stitching of 3D scans into the video film, where the 3D scans are the scans of the upper and lower teeth with M1 and/or M2 markers, acquired by the technique of intra- and extraoral scanning, and enables the conversion of dislocations of these M1 and/or M2 markers, recorded by the system of cameras during movement in the course of the examination of the patient's chewing function, followed by the transfer of the data to the software environment, where the digital acquisition of data from the optical markers, M1 and/or M2, is submitted to further analysis, enabling the conversion of these marker dislocations into the number of collisions, which occur between the crowns of the upper and lower teeth (natural/artificial, on implants) with M1 and/or M2 markers, fixed to them, where the vibrations are read by haptic devices, preferably haptic manipulators, enabling the mapping/control these collision-made dislocations, converted into vibrations, by the tactile sense at a frequency between 1 kHz and 4 kHz, enabling in this way the monitoring the course of amplitude changes of the provisional angle of collision, higher/lower than 10 degrees between the pairs of crowns of the upper and lower teeth (natural/artificial, on implants) with M1 and/or M2 markers, in a set unit of time, divided into time intervals, preferably 0.001 second intervals, on the pathway of each phase of movement/chewing cycle, i.e. on the distance of adduction to intercuspation and on the distance of abduction from intercuspation (on average, at a distance of 0.2 mm during the time of 116 ms—for intercuspation, on average, at a distance from 1.3 mm to 1.5 mm in a time of 200 ms—for the adduction phase and the abduction phase, respectively), expressed by the number of vibrations on the haptic manipulator at the moment of contact/collision of these pairs of crowns of the upper and lower teeth (natural/artificial, on implants) with M1 and/or M2 markers in a set unit of time.

2. The mode according to claim 1 characterised in that the positioning of the location of the implants, embedded into the bones of the upper and/or the lower jaw (in case of a total anodontia of the upper and lower jaw) is carried out by means of the supragingival structures, seated on the implants (for example, impression connectors/transfers/transfers for scanning by the 3D technique—scan post/scan base) by the making and rigid fixing of them on an individually designed para-occlusion brackets/spoons, constituting the internal part of the positioning pattern, connected with the ready-made, prefabricated external part of this pattern, protruding from the mouth and tipped with at least three markers, preferably stickers, in order to designate the spatial setting of the positioning pattern and, in this way, of the supragingival structures, seated on the implants, relative to the system of recording cameras, which allows the positioning of the teeth/supragingival structures, seated on the implants, relative to one another within one dental arch, relative to the teeth/supragingival structures, seated on the implants of the opposite dental arch, and for the entrance into the patient's face with M2 markers, stuck on it at characteristic anatomical points (preferably a min. of 3 markers at the region of the temporomandibular joints on the right and left side and on the agger nasi) and/or a video film.

3. The mode according to claim 1, characterised in that in case of the lack of space in dental occlusion or in articulation movements of the crowns of the upper/lower teeth relative to each other, resulting in an inability to record free movement, a method of the markers positioning is used (also for orthodontic treatment procedures) by a direct plotting/positioning of the markers (M2) on the veneer surface of the crowns of the teeth, (natural/artificial, on implants), preferably on the crown of each tooth separately, preferably by the use of the method of individually designed orthodontic appliances.

4. A pattern, positioning the crowns of the teeth, (natural/artificial on implants), characteristic in that it consists of two separable parts, i.e. the external, ready-made, prefabricated part, protruding from the mouth and tipped with at least three markers, preferably optical, so as to designate the spatial setting of the positioning pattern with the markers (M1) relative to the recording cameras, and of the internal part, individually designed and tailored to the veneer surface of the crowns of the patient's teeth (natural/artificial, on implants), whereas the internal part and the external part are rigidly joined with each other.

5. A digital recorder of chewing, characterised in that its monolithic enclosure has the shape of a recess (cavity), such as an arch, made in such a way as to simultaneously record from both sides, right and left, the three-dimensional shape of the face (concave, convex, flat), whereas, at the ends of the arched cavity there are two sets of cameras (or one set, centrally positioned opposite the centre line of the face), recording independently or synchronically the mouth and both sides of the patient's face and the visible markers, M1.

Description

[0023] The subject of the invention is presented in one example of embodiment and visualised in the enclosed figures, FIG. 1, FIG. 1a, FIG. 2, FIG. 3, FIG. 4 and FIG. 5.

[0024] In FIG. 1, the example presents a model of the positioning pattern, consisting of the external part (1), tipped with three markers (M1) in the form of geometric stickers (optical markers), the internal part (2), individually designed, made, for example, in the 3D printing technology, and rigidly adjacent to the veneer surface of the patient's teeth crowns (3), whereas the internal part (2) and the external part (1) are rigidly joined with each other, for example, by insertion of the end of the external part (1) into the end of the internal part (2).

[0025] In FIG. 1a, the example presents a model of the positioning pattern, consisting of the external part (1), tipped with three markers (M1), such as geometric stickers (optical markers), the internal part (2i), individually designed, made, for example, in the 3D printing technology, and rigidly adjacent in the form of clamps/para-occlusion spoons to embrace the supragingival structures, which protrude from the implants are seated on the implants (3i) (for example the impression connectors/transfers for the 3D scanning technique —scan post/scan base), whereas the internal part (2i) and the external part (1) are rigidly joined, for example, by insertion of the end of the external part (1) into the end of the internal part (2i).

[0026] In FIG. 2, the example presents the veneer surface of the patient's teeth (3) with markers (M2), placed on it, using the technology of individually designed orthodontic appliances, where the markers are geometric stickers (optical markers).

[0027] In FIG. 3, the example illustrates a digital recorder in a monolithic enclosure (4) with an arched recess (5) and two sets of cameras (6). Each camera set contains three cameras, arranged in predefined distances towards one another, whereas each set possesses two monochromatic cameras or colour cameras of a minimum resolution of 2.3 Mpx and a high frame rate of a minimum of 1,000 FPS, with a dedicated optics/lens (preferably with the focus from 35 mm and a diaphragm from f 1.4) and one colour camera of high resolution of a minimum of 12 Mpx and with a low frame rate of a minimum of 25 FPS, whereas the operation of both cameras is synchronised by means of a triggering card(s).

[0028] In FIG. 4, the example presents a scheme of actions, aiming at the acquisition and transfer of the information, acquired from the digital image acquisition system, to the haptic manipulator—HM (7) and converting them into vibrations controlled by the tactile sense. In turn, the earlier recorded and defined vibrations from HM (7) can reversely determine/control/impose/prompt such and not another pattern of movement of the upper teeth relative to the lower teeth (by means of dedicated algorithms in the software), individually correlated for every patient and with the amplitude not exceeding 0.2 mm in a set unit of time, in each phase of the chewing cycle, which—in case of construction of new prosthetic embodiments, orthodontic treatment or orthognathic procedures, will protect the periodontium against overloading or the crowns on implants against damage.

[0029] In order to position the upper/lower teeth/crowns/supragingival structures seated on implants (3, 3i) relative to one another and to the patient's face (with M2 markers stuck on it at characteristic anatomical points, preferably a minimum of 3 markers at the region of the temporomandibular joints on the right and left side and on the agger nasi), using the markers (M1) by an indirect method with the positioning pattern as in FIG. 1, FIG. 1a, or by a direct method (M2), as in FIG. 2, scanning is needed (8) of the upper/lower crowns/supragingival structures, seated on implants (3, 3i) with markers (M1 and/or M2) and with an optional embodiment of the internal part (2, 2i) of the positioning pattern in the 3D printing technique (9). In turn, a single/exemplary cycle of chewing is recorded by the markers—M1 and/or M2—using the digital recorder in the monolithic enclosure (4). The information from the recorder is then transferred to the computer (10), where, by means of the application (11), are converted into the haptic manipulator operation, such as vibrations controlled by the tactile sense, in particular for the values of the collisions which occur between the pairs of crowns of the upper/lower teeth/crowns/supragingival structures seated on implants (3, 3i), notably larger than 0.2 mm, while smaller than 1.0 mm in a set unit of time.

[0030] In FIG. 5, the mean values of the distance and time of the correct phases of the chewing cycle, i.e. of an intact functional envelope, where during the phases, there occur collisions of the pairs of teeth crowns, recorded within the reserved method, which are natural, harmless and tolerated by the chewing organ.

[0031] In the preliminary stage of prosthetic construction, a method is selected for the application of markers on the veneer surface of the patient's teeth (3). An indirect mode by means of a positioning pattern, precisely with two independent patterns, one for the veneer surface of the teeth (3) of the lower jaw and one for the veneer surface of the teeth (3) of the upper jaw, whereas each of the patterns consists of an external part (1) with M1 markers, determining the pattern arrangement in the space, and of an internal part (2), matched to the veneer surface of the patient's teeth (3), whereas before measurements, both parts are rigidly joined with each other, or a direct method by a direct application of M2 markers on the teeth (3) of the patient's upper and lower jaw. The direct application of M2 markers on the veneer surface of the patient's teeth (3) is carried out by the method of individually designed orthodontic appliances. Then, the dislocations of the markers (M1, M2) are recorded by the sets of cameras, mounted in a digital recorder (4) with a monolithic enclosure, where the cameras are positioned before the patient's face with M2 markers, stuck on it at characteristic anatomical points (preferably in the region of the temporomandibular joints on the right and left side and on the agger nasi), opposite the mouth or on either side of the face.

[0032] In this way of recording, illustrated in the example during the cycle of chewing of interdependent movements of the teeth of the upper and lower jaw, the cameras are connected into 2 systems, one on the right and the other on the left side of the face, whereas each of the systems has 3 cameras, including 2 monochromatic and/or colour cameras of a minimum resolution of 2.3 Mpx and with a high frame rate of a minimum of 1,000 FPS, with a dedicated optics/lens (preferably with the focus from 35 mm and a diaphragm from f 1.4), and one colour camera of a high resolution of a minimum of 12 Mpx and with a low frame rate of a minimum of 25 FPS, that enables the registering of the M1 or M2 markers, fixed by means of clamps/para-occlusive spoons or by themselves to the veneer surface of the upper and lower teeth (3). The operation of the cameras is synchronised in time, thanks to the connections with triggering cards, and is responsible for recording the position/movement of the upper teeth relative to the lower teeth and the patient's face. In addition, it enables the conversion of the markers deformations, recorded by the system of cameras during movement in the software environment, into the number of collisions that occur between the crowns of teeth, natural/implants (3) and M1 and/or M2 markers, which are fixed to the teeth. The acquired information is transferred to a PC (10) and displayed in the digital environment on the screen.

[0033] The dislocations of the markers (M1 and/or M2) are recorded by the sets of cameras and converted into digital data which, thanks to the above-mentioned markers, enables the stitching of the images of dentition with the markers into a video with 3D scans of dentition with the markers (M1 and/or M2), obtained by the technique of intra- and extraoral scanning in the application (11) of the computer (10) and then transferred to a haptic manipulator. The collisions, which occur during movement/chewing cycle phases between the crowns of the upper and lower teeth, are converted in the haptic manipulator into vibrations, reflecting these collisions, and recorded by the tactile sense of the user in the frequency from 1 kHz to 4 kHz.

[0034] The positioning pattern, mounted in the exemplary embodiment in its individually designed internal part (2), made, for example, in 3D printing technology (9) and rigidly adjacent to the veneer surfaces of the existing crowns of the patient's teeth (3), has a connector, such as a rod, on which the external part is pushed, making a rigid joint, where the external part (1) with M1 markers, such as three stickers/optical markers, placed on its end (1).

[0035] The process of data acquisition in the mode applied in the representative example:

[0036] 1. Two camera systems, (described earlier) triggering cards for synchronic collection and transfer of data (the digital acquisition of image data) from the cameras to the computer.

[0037] 2. The determination/check/control of the interdependent mobility range of the teeth crowns/supragingival structure(s), seated on implants relative to the bones of the dental processes in both jaws, where the mobility is exerted by stomatological intervention thanks to the records of the markers (M1 and/or M2) dislocation, corresponding to the work of the dentition (the attachment apparatus) from 0.1 mm (for the supragingival structure(s) seated on an implant relative to the implant) to 1.0 mm (preferably above 0.2 mm to 1.0 mm) as an example of disturbed functional work of the teeth relative to one another, i.e. a disturbed functional envelope as a result of the above-mentioned stomatological intervention.

[0038] 3. The interdependent position and movement of the markers (M1 and/or M2) with the possibility to be entered into the patient's face with M2 markers, stuck on it at characteristic anatomical points (preferably at 3 points in the regions of the temporomandibular joints on the right and left side and on the agger nasi), all the time being monitored by the system of cameras.

[0039] 4. A minimum interlocking (stitching) of the markers (M1 and/or M2) from the scan of the 3D object with the images of the markers from the video to 0.01 mm preferably to 0.05 mm.

[0040] 5. The conversion of data from the digital image acquisition into vibrations in the haptic manipulator, controlled by the tactile sense for each phase of movement/chewing cycle with a determination of the harmful values of collisions of the crowns of teeth/supragingival structures seated on implants, causing deformations of the dentition/supragingival structure seated on an implant relative to the implant and exceeding 0.2 mm for the teeth and 0.1 mm for the implants in a set time unit, divided into time intervals, preferably 0.001 second intervals, on the pathway of each phase of the movement/chewing cycle, i.e. on the distance of adduction to intercuspation and on the distance of abduction from intercuspation (200 ms on average).

[0041] 6. Based on the feedback principle, vibrations may determine/control/impose such and not another pattern of interdependent movements of the crowns of the upper teeth (natural/artificial on implants) relative to the lower teeth in the bone of the dental process of both jaws, not exceeding 0.2 mm in a set unit of time (200 ms on average), divided into time intervals, preferably 0.001 second intervals in each phase of movement/chewing cycle, which, in the case of the construction of new prosthetic embodiments, orthodontic treatment or orthognathic surgery will prevent overloading of the dentition of teeth or protect the crowns on implants from damage.