DEVICE AND METHOD FOR MEASURING A MOVEMENT OF A MANDIBLE

Abstract

The invention relates to a system for recording, transferring and simulating a relative position and/or movement, measured on a patient, of a mandible (UK) relative to a maxilla (OK) of the patient, comprising: a transmitter coil (8) for transmitting a magnetic measurement field (5), wherein the transmitter coil (8) can be arranged extra-orally laterally or above the maxilla (OK) in a fixed position in relation to the maxilla; at least one sensor (9) placed on the mandible (UK) of the patient and arranged in at least one holding device (3) having a position marking (5) for the sensor (9) a sensor positioning device (13) provided for setting the axis-orbital plane and condylar points and comprising at least one sensor (11) for capturing and emitting positional data which can be introduced into the position marking (5) of the holding device (3); a data set of a relative movement, measured on a patient, of a mandible (UK) relative to a maxilla (OK) of the patient, the data set is generated from the sensor signals of the at least one sensor (9) arranged on the mandible (UK) of the patient and from the positional data from the sensor signals from the sensor positioning device (7); and a computer for recording, processing and displaying the movement data from the data set from the sensor(s) (7, 9), the fusion of the position and movement data producing a three-dimensional image of the movement sequence and enabling the therapeutic positions or functions to be controlled. The invention relates to a corresponding method for recording, transferring and simulating a relative position and/or movement, measured on a patient, of a mandible (UK) relative to a maxilla (OK) of the patient.

Claims

1. A system for recording, transferring and simulating a relative position and/or relative movement, measured at a patient, of a mandible (UK) relative to a maxilla (OK) of the patient, comprising: a transmitter coil for emitting a magnetic measurement field, wherein a transmitter coil is disposable in extraoral fashion to the side or above the maxilla (OK) in a position fixed in place with respect to the maxilla; at least one first sensor attached to the mandible (UK) of the patient, said sensor being disposed in at least one holding device with a position marker for the sensor, a sensor positioning device for setting a reference plane with condyle points, comprising at least one second sensor for receiving and transmitting position data, wherein the sensor positioning device, at least with the tip thereof, is introducible into the position marker of the holding device; a data record of a relative movement, measured at a patient, of a mandible (UK) relative to a maxilla (OK) of the patient, wherein the data record is generated from the sensor signals of the at least one first sensor disposed on the mandible (UK) of the patient and from the position data in the sensor signals of the sensor positioning device with respect to the reference plane; and a computer for recording, processing and presenting the movement data from the data record of the first and second sensor(s), wherein three-dimensional imaging of the motion sequence is implemented by fusing the position data and movement data, and therapeutic and/or function-relevant positions or functions are able to be set.

2. The system as claimed in claim 1, wherein the sensor positioning device is embodied with at least one second sensor as a sensor stylus and said sensor positioning device is freely movable.

3. The system as claimed in claim 1, wherein the sensor positioning device, with at least one second sensor, is introducible into the position marker of the holding device and said sensor positioning device defines and/or calibrates the sensor zero with its tip.

4. The system as claimed in claim 1, wherein the sensor positioning device with at least one second sensor defines the reference plane by way of at least three measurement points.

5. The system as claimed in claim 1, wherein sensor positioning device with at least one second sensor defines the condyle spacing by way of at least two condyle measurement points and wherein the computer ascertains the condyle middle.

6. The system as claimed in claim 1, wherein the position marker in the holding devices is embodied as a conical cutout, the tip of which defines a zero of the relationship of the sensor tip with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK).

7. The system as claimed in claim 1, wherein the tip of the position marker has a direct relationship with a planar surface region around a cutout of the holding device, wherein the sensor position is defined with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK).

8. The system as claimed in claim 1, wherein the position marker is embodied to receive at least the tip of the sensor positioning device in interlocking fashion.

9. A method for recording, transferring and simulating a relative position and/or relative movement, measured at a patient, of a mandible (UK) relative to a maxilla (OK) of the patient using a system as claimed in claim 1, said method including the steps of: disposing at least one sensor at least the mandible (UK) of the patient, wherein the sensor is disposed in at least one holding device with a position marker for the sensor; setting the reference plane by way of 3 measurement points including the condyle points by means of the sensor positioning device, introducing at least the seats of the sensor positioning device into the position marker, embodied as a conical cutout, in the holding devices for setting the zero of the relationship of the sensor tip with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK); recording and processing sensor signals of the sensor; generating a data record from the sensor signals of the at least one sensor disposed on the mandible (UK) of the patient and from the position data in the sensor signals of the sensor positioning device; processing and presenting the movement data from the data record of the sensor(s), wherein three-dimensional imaging of the motion sequence is implemented by fusing the position data and movement data, and therapeutic and/or function-relevant positions or functions are able to be set.

10. A system for recording, transferring and simulating a relative position and/or relative movement, measured at a patient, of a mandible (UK) relative to a maxilla (OK) of the patient, said system comprising: an analog articulator; a real, three-dimensional model from an impression of the maxilla (OK) and the mandible (UK) for introduction into the analog articulator, wherein holding devices with position markers for sensors are modeled at least into the model of the mandible, and a sensor positioning device comprising at least one sensor for receiving and transmitting position data and/or movement data, said sensor positioning device being able to be placed on the real, three-dimensional model and being able to be introduced into the position marker of the holding device; a data record made of a relative movement, measured at a patient, of a mandible (UK) relative to a maxilla (OK) of the patient, wherein the data record is generated from the sensor signals of at least one sensor disposed on the mandible (UK) of the patient and from the position data in the sensor signals of the sensor positioning device; and a computer comprising a virtual articulator for receiving, processing and presenting the movement data from the data record of the sensor(s), wherein three-dimensional imaging of the motion sequence is implemented by fusing the three-dimensional model from the position markers with a determined relative position and/or relative movement, wherein, virtually, a plurality of complicated individual motion sequences, such as opening, closing, masticating, and lateral short movements, such as grinding, are able to be simulated and therapeutic positions or functions are able to be set.

11. The system as claimed in claim 10, wherein the sensor positioning device is embodied as an elastic metal brace, on which at least one, preferably three sensor(s) is/are disposed.

12. The system as claimed in claim 10, wherein the sensor(s) is/are displaceably disposable on the sensor positioning device.

13. The system as claimed in claim 10-12, wherein the sensor(s) is/are embodied as sensor tip(s), which is/are disposable on the real, three-dimensional model of the maxilla (OK) and/or the mandible (UK) in such a way that said sensor tip(s) is/are introducible into the position marker of the holding device in interlocking fashion.

14. The system as claimed in claim 10, wherein the sensors are calibrated to the respective sensor tip and the respective tip defines a zero of the relationship of the sensor with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK) and thus define a horizontal plane.

15. The system as claimed in claim 10, wherein the position of the respective sensor tip is defined with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK).

16. The system as claimed in claim 10, wherein the position marker in the holding devices of the real, three-dimensional model is embodied as a conical cutout, the tip of which defines a zero of the relationship of the sensor tip with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK).

17. The system as claimed in claim 16, wherein the tip of the position marker has a direct relationship with a planar surface region around the cutout of the holding device, wherein the sensor position is defined with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK).

18. The system as claimed in claim 10, wherein the position marker is embodied to receive the sensors in interlocking fashion.

19. The system as claimed in claim 10, wherein the analog articulator and the virtual articulator is adjustable with the measured position data and/or movement data.

20. The system as claimed in claim 19, wherein the measured intercondylar distance is able to be set in the analog articulator and the virtual articulator.

21. The system as claimed in claim 10, wherein a plurality of complicated individual motion sequences, such as opening, closing, masticating, and short movements, such as grinding, are able to be simulated in the analog and the virtual articulator.

22. A method for transferring and simulating a relative position and/or relative movement, measured at a patient, of a mandible (UK) relative to a maxilla (OK) of the patient using the system as claimed in any one of the preceding claim, including the steps of: creating the real, three-dimensional model from an impression of the maxilla (OK) and/or the mandible (UK), wherein holding devices with position markers for sensors are modeled into the model; introducing the real, three-dimensional model of the maxilla (OK) and/or the mandible (UK) into the analog articulator; applying the sensor positioning device comprising a multiplicity of sensors 5 for receiving and transmitting position data and/or movement data on the real, three-dimensional model; disposing the sensors of the sensor positioning device in the position markers at the maxilla (OK) and/or at the mandible (UK) of the real, three-dimensional model; recording sensor signals of the sensors; determining a relative position and/or relative movement between the maxilla (OK) and the mandible (UK) on the basis of the sensor signals; setting the measured intercondylar distance; receiving and transmitting position data and/or movement data; creating a digital, three-dimensional model of the maxilla (OK) and/or the mandible (UK), and fusing the three-dimensional model with the determined relative position and/or relative movement for the purposes of producing an imaging of the motion sequence; imaging the motion sequence and setting therapeutic positions and/or functions in the analog and/or virtual articulator.

23. The method as claimed in claim 22, further comprising the transfer of the motion sequence into a computer program as a virtual actuator, wherein, virtually, a plurality of complex individual motion sequences, such as opening, closing, masticating, and lateral short movements, such as grinding, are able to be simulated.

Description

[0079] Further features, advantages and effects of the invention emerge from the subsequent description of a preferred exemplary embodiment of the invention and the attached figures. In detail:

[0080] FIG. 1 shows a schematic plan view of a sensor positioning device with at least three sensors for attachment to the real, three-dimensional plaster model of maxilla or mandible;

[0081] FIG. 2 shows a schematic illustration of a sensor with a sensor tip, which is displaceably disposed on the sensor positioning device;

[0082] FIGS. 3-5 show a schematic side view, plan view and oblique view of a holding device, embodied as a plaster sensor shoe, with a position marker;

[0083] FIG. 6 shows an analog articulator;

[0084] FIG. 7 shows a transfer table with movement simulator; and

[0085] FIGS. 8-11 show a schematic view of a system according to the invention comprising a transmitter coil, at least one sensor attached to the mandible (UK) of the patient, a holding device with a position marker for the sensor, a sensor positioning device, represented as a pointing tool, for setting the axis-orbital plane and condyle points, and a computer.

[0086] In a very schematic illustration, FIG. 1 shows a sensor positioning device 7 according to the invention with three sensors 9 for attachment to the real, three-dimensional plaster model 1 of the maxilla or mandible. By way of example, the sensor positioning device 7 is embodied as an elastic metal brace, on which at least one, preferably three or more sensors 9 are disposed. The sensors 9 engage in interlocking fashion with the sensor tips in the plaster holding devices 3, provided on the plaster model 1, with position markers 5 for the sensors 9 disposed therein.

[0087] The position marker 5 is embodied as an indentation or cutout in the curved surface region, facing away from the respective tooth, of a holding device 3 represented as a plaster sensor shoe. In particular, the position marker 5 is embodied as a conical cutout such that the tip thereof defines a zero of the relationship of the sensor 9 with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK). The tip of the position marker 5 has a direct relationship with a planar surface region around the cutout of the sensor shoe 3, wherein the sensor position is defined with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK).

[0088] FIG. 2 shows a schematic illustration of a sensor 9 with the sensor tip, which, for example by means of a setscrew, is disposed in lockable and displaceable fashion on the elastic metal brace 7. The sensor 9 engages into the position marker 5 with the sensor tip in interlocking fashion.

[0089] Preferably, three sensors 9 are required in order to be able to image a plane in the virtual articulator.

[0090] FIGS. 3-5 show a schematic side view, plan view and oblique view of an original sensor shoe, which is fastenable to the respective teeth or to a mandibular aid of the mandible (UK) or a maxillary aid of the maxilla (OK) and the plaster cast of which corresponds to the holding device 3. In its form with a slightly arched sole, the sensor shoe is chosen in such a way that it is easy to adhesively bond to the teeth and can even be used in the case of little space.

[0091] The relative position and/or relative movement is measured at a patient and the real three-dimensional model 1 such that the patient's natural jaw movements are recorded, e.g. when masticating, opening and closing, moving laterally to the left, moving laterally to the right, during protrusion and during retrusion. The sensors are connected to an evaluation device by way of a wired connection, wherein sensor signals are guided from the sensors to the evaluation device by way of the cable device. The virtual articulator is integrated in software in this case.

[0092] The sensors 9 are embodied as magnetic field sensors and allow the detection of at least one absolute position in the measurement field. Consequently, an absolute position of the sensors relative to a transmitter coil can be determined from the sensor signals. The absolute position can be output, for example, as XYZ coordinates in a coordinate system K, which is linked to the transmitter coil in stationary fashion. Optionally, the sensors can detect further degrees of freedom, more particularly rotational degrees of freedom, in addition to the absolute position, i.e. three translational degrees of freedom. In this exemplary embodiment, the sensors 9 are each embodied as a six-DOF sensor and are consequently magnetic field sensors that can record the three translational and three rotational degrees of freedom in the magnetic field as a measurement field. The sensor signals are forwarded by way of the cable device to the evaluation device, where they are processed further. By way of example, the evaluation device is embodied as a computer or as any other digital data processing device.

[0093] The evaluation device has a storage device in which a 3D model of the maxilla OK and of the mandible UK is saved. The sensors 9 are respectively included and/or modeled in the 3D model. Since the positions relative to a transmitter coil are known by way of the sensors, the 3D models of the maxilla OK or of the mandible UK can be disposed in virtual fashion with respect to one another with the correct position and orientation. Consequently, it is possible to form an overall model in which the 3D models of the mandible UK and the maxilla OK are positioned relative to one another with the correct position and orientation such that the relative position with respect to one another is determined.

[0094] Further, a relative movement of the maxilla OK and the mandible UK can be presented in the overall model. Then, the overall model can be output by way of an interface, for example in order to be able to be used further in a virtual articulator and/or in a CAD system. In particular, the apparatus allows the output of a motion sequence, wherein the motion sequence comprises a plurality of complicated individual motion sequences, such as opening, closing, masticating, in particular lateral short movements, such as grinding, and the presentation of said motion sequence, for example like a film. In this way, paths of movement of the mandible relative to the maxilla can be determined.

[0095] The 3D models of the maxilla or the mandible are alternatively provided by way of an intraoral scanner, for example, which records the maxilla OK or the mandible UK with the attached sensors. Preferably, a cast of the maxilla OK or of the mandible UK with a cast of the sensors is digitized by way of a 3D scanner in order to obtain the 3D models.

[0096] FIG. 6 shows a suitable transfer table and FIG. 7 shows an analog articulator as a movement simulator for transferring and simulating and a previously measured relative movement of a mandible (UK) relative to the maxilla (OK) of the patient.

[0097] The magnetic field generator 8 and the position markers 5 are used to transfer the positions in the mouth to the transfer table by means of appropriate software, wherein the magnetic field generator is positioned with respect to the worktable. By way of the software, the sensor position/position marker 5 at the transfer table is compared to the position in the mouth of the patient. By way of the software, the correct positioning of the plaster models in the transfer table is indicated by way of the holding devices 3/position markers 5 fastened there.

[0098] The articulator or movement simulator precisely simulates the movements recorded in the mouth. In order to be able to set a therapeutic position for patients or even total prosthesis wearers, markers could likewise be attached to the movement simulator, said markers then being actuated by way of software again.

[0099] Micrometer screws can be used to adjust the x-, y-, and z-axes and hence the therapeutic situation and/or function can be defined and stored in software, wherein the intercondylar distance is set as a first step since the condyles are spaced apart to a different extent in different people.

[0100] The motion sequence is completely created in the movement simulator such that paths of movement are compared with a mandible movement detection established following the tooth replacement insertion.

[0101] An irritation of the patient is completely avoided and free movements, including mastication, are possible for the first time when recording the mandible movement.

[0102] FIGS. 8-11 show a schematic view of a system according to the invention comprising the transmitter coil 8, at least one sensor 9 attached to the mandible (UK) of the patient, a holding device with a position marker 3 for the sensor 9, a sensor positioning device 13, represented as a stylus-like pointing tool, for setting axis-orbital plane and condyle points, and a computer.

[0103] The relative position and/or relative movement is directly measured at a patient such that their natural jaw movement is recorded, for example when masticating, opening and closing, moving laterally to the left, moving laterally to the right, during protrusion and during retrusion. The sensors are connected to an evaluation device by way of a wired connection, wherein sensor signals are guided from the sensors to the evaluation device by way of the cable device. The virtual articulator is integrated in software in this case.

[0104] The sensors 9 are embodied as magnetic field sensors and allow the detection of at least one absolute position in a measurement field. Consequently, an absolute position of the sensors relative to a transmitter coil 8 can be determined from the sensor signals. The absolute position can be output, for example, as XYZ coordinates in a coordinate system K, which is linked to the transmitter coil in stationary fashion. Optionally, the sensors can detect further degrees of freedom, more particularly rotational degrees of freedom, in addition to the absolute position, i.e. three translational degrees of freedom. In this exemplary embodiment, the sensors 9 are each embodied as a six-DOF sensor and are consequently magnetic field sensors that can record three translational and three rotational degrees of freedom in the magnetic field as a measurement field. The sensor signals are forwarded by way of the cable device to the evaluation device, where they are processed further. By way of example, the evaluation device is embodied as a computer or as any other digital data processing device.

[0105] The evaluation device has a storage device in which a virtual 3D model of the maxilla OK and of the mandible UK is saved. The sensors 9 are respectively included and/or modeled in the 3D model. Since the positions relative to a transmitter coil are known by way of the sensors, the 3D models of the maxilla OK or of the mandible UK can be disposed in virtual fashion with respect to one another with the correct position and orientation. Consequently, it is possible to form an overall model in which the 3D models of the mandible UK and the maxilla OK are positioned relative to one another with the correct position and orientation such that the relative position with respect to one another is determined.

[0106] Moving the virtual 3D models, in particular the mandible in the software in relation to the maxilla in the software, requires the following guidelines:

[0107] The condyle points, cf. FIG. 10, set and probed by means of the stylus-like pointing tool 13 define the condylar distance. The software calculates the condyle middle independently by way of averaging.

[0108] The reference points probed by means of the pointing tool 13 and the reference plane set therefrom define, for example, the axis-orbital plane defined by way of 3 points or any other predetermined plane.

[0109] The introduction of the sensor positioning device 13, represented as a pointing tool, into the position marker 5 (marker centers) embodied as a conical cutout in the holding devices 3 (marker shoe) defines the zero of the relationship of the sensor tip with respect to the relative position and/or relative movement of the mandible (UK) relative to the maxilla (OK).

[0110] Probing the marker centers 5 is implemented by means of the sensor positioning device 13 (pointing tool) is implemented after setting the condyle points and the reference plane. The marker center 5 is calibrated and/or defined at the factory as the sensor center point.

[0111] By recording the movements, which can be played back in the software, it is possible to represent any relative movement of the maxilla OK and the mandible UK in the overall model. Then, the overall model can be output by way of an interface, for example in order to be able to be used further in a virtual articulator and/or in a CAD system. In particular, the apparatus allows the output of a motion sequence, wherein the motion sequence comprises a plurality of complicated individual motion sequences, such as opening, closing, masticating, in particular short movements, such as grinding, and the presentation of said motion sequence, for example like a film. In this way, paths of movement of the mandible relative to the maxilla can be determined.

[0112] On account of the simple handling, it is likewise conceivable to combine, or attach in mobile fashion, the system according to the application to existing dental components. Thus, it is conceivable, for example, for the system according to the application to be attached or fully integrated, in addition to or as a replacement of existing imaging systems, on the treatment chair or on large appliances such as x-ray apparatuses, etc. All that would be required here is to position the device containing the transmitter coil on the treatment chair/x-ray apparatus, etc., wherein the device would also have to contain the respective interfaces or connections to the sensors and transmitter positioning devices.