微小型数字化口腔测量关键技术研究及应用
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摘要
数字化技术在口腔修复医学领域的应用引发了口腔修复的技术革命，简洁、高效、精确的数字化流程替代了繁琐、耗时、粗糙的传统手工方式，不仅提高了修复的精度，而且大大减轻了患者的痛苦。数字化口腔测量是口腔数字化修复得以进行的基础，直接决定着口腔修复的质量。本文结合口腔临床医学实际应用，深入研究了基于机器视觉的数字化口腔三维测量关键技术，包括图像处理技术、摄像机标定技术、相位求解技术、测量重建技术、数据拼接技术和系统软硬件研发技术等，并自主研发了两套高精度口腔专用测量原型系统：小型口外测量系统D3DscannerI和微型口内测量系统D3DscannerII。本文的主要研究内容概括为：
1、建立了口腔三维测量模型，从标定和重建方面分别进行了分析，设计了口腔测量系统的研发思路和系统软硬件的总体研发框架。
2、提出了基于整体测量误差分布模型的系统标定解决方案。首先根据CCD成像噪声及清晰度进行了标定前处理，使用基于矩的方法精确提取了标定输入数据，然后，基于径向一致约束，使用最小二乘和分布收敛算法获得系统元器件非线性参数初始标定，建立系统几何结构“捆绑”关系，优化标定结构参数，最后，将系统理论模型与实际物理模型误差作为目标优化函数，基于多平面隐式模型再次优化，实现系统参数的全局优化标定和恢复，其中的全局优化步骤解决了口内微型测量系统的特殊标定需求。
3、提出了一种用于非连续牙齿曲面形态的相位展开算法。首先对相位质量评估因子从物理模型角度进行定义和扩展，并综合数理统计和图像处理技术提出了一种对相位噪声灵敏的“调制度-Laplace”质量评估因子，然后以绝对相位标识为导向进行相位展开，实现了复杂非连续牙齿曲面形态的稳定相位求解，其中的动态链表修改保证了相位展开的速度。
4、提出了对非正弦性相位误差有抵抗力的线性正弦相移算法和无绝对相位线图的相移算法。前者综合利用反正切三角函数极值收敛特性和相位求解零点特性，使非正弦性波动误差降低为传统补偿算法的1/9，提高了相位求解精度；后者巧妙的利用三幅和四幅图像的调制度差异，将绝对相位标识图隐含，使相位求解所需的5幅图像减少为4幅，提高相位求解图像采集时间约20%。
5、提出了面向小型口腔外测量系统的基于双转轴粗拼和ICP精拼的两步优化拼合算法。首先基于平面靶标采用特征值法实现转动轴和摆动轴的初始位姿标定，然后，采用融合点到点距离和点到面距离模型的综合度量函数的迭代收敛算法，通过分层次的迭代终止条件设定，实现小型口腔外测量数据的精确拼合。
6、提出了用于空间无约束微型口内测量的优化拼合算法。基于测量过程中多源图像和三维点云数据的单应性关系，使用尺度不变性特征检测算子对灰度纹理二维图像和基于相移的二维半深度图像进行特征检测，然后，利用图像特征点匹配实现三维测量点云数据的空间初始定位，最后，采用改进的ICP算法实现口腔测量数据的精确、稳定的优化拼合。
7、在基础理论和关键算法研究的基础上，研发两款不同类型的口腔修复用三维测量原型样机系统，实现了精确标定、快速测量、全景拼接、精确重建及同步协调等复杂功能模块，并进行了测量系统精度、效率及应用效果等方面验证，实测结果表明，研发的口腔外专用测量系统性能优越，完全满足口腔测量临床应用需要。研发的国内首套口腔内测量系统，基本达到临床使用要求。
The application of digital technology in the medical field of dental restoration has led to atechnical revolution of dental restoration. The replacement of the cumbersome, time-consuming, andrough manual methods by simple, efficient, and accurate digital process, not only improves theaccuracy of the restoration, but also greatly reduces the suffering of patients. Being the basis of dentalrestoration, digital measurement directly determines the quality of restoration. Combined with thedemands of dental clinic, this dissertation thoroughly studied the digital optical dental measurementmethod based on machine vision including imaging processing, camera calibration, phase computing,reconstruction, registration, software&hardware implementation, etc. Two dental measurementprototype systems: D3DscannerI and D3DscannerII are also developed. The dissertation’s maincontributions are as follows:
1. The dental measurement model is constructed and is analyzed from the perspective of systemcalibration and reconstruction respectively. The overall framework and routing of the development ofdental measurement system is devised.
2. System calibration solution based on the overall measurement error is developed. First, thecalibration pre-treatment technology based on CCD noises and image definition is used to ensure theaccuracy of the input data. Then the nonlinear parameters of the system is calibrated with leastsquares and the distribute convergence algorithm based on the RAC. Thirdly, considering thegeometry restrain of the system structure, the overall optimization calibration method is established.Finally, the error between the ideal system model and the actual physical model is taken as the targetoptimization function to optimize the system again. The developed three-step calibration method canobtain calibration system parameters with high accuracy, and the third step of the optimization meetsthe special requirement of the calibration of the intraoral micro-measurement system.
3. A new robust phase unwrapped algorithm for discontinuous teeth shape measurement isdeveloped. First, this paper elaborates and extends the phase quality factor from physical model, anddevelops a new modulation-Laplace quality factor based on mathematical statistics and imageprocessing technology. The phase unwrapping are achieved along the absolute phase quality map,realizing the settlement of the correct phase of complex discontinuous teeth morphology.
4. The phase shifting algorithm immune to nonsinusoidal phase error and phase-shifting methodwith the absolute phase marker embedded in phase stripes are proposed. The former reduces thenonsinusodial phase error to1/9of the traditional compensation algorithm by compositively utilizing the extremal convergence properties of trigonometric and the zero point of phase computing. Thealgorithm greatly improves the system measurement accuracy. The latter embeds the new designedabsolute phase marker into one of the phase fringe images, and reduces the phase shifting fringesimage from5to4, which avoids the need of additional absolute phase marker map. The methodimproves at least20%efficiency compared with the traditional methods.
5. The registration solution based on double shaft and ICP is developed for small oral dentalmeasurement system. First, the eigenvalue method is used to achieve the initial parameters of rotationand swing axis, then the iterative convergence algorithm based on the integration of point-to-point andpoint-to-surface distance metric function is used for accurate registration.
6. The optimization registration algorithm is proposed for miniature intraoral dental measurementsystem. Based on the homography between a multi-source image and3D measurement points, thematching relationships of two-dimensional (2D) texture gray images andtwo-and-a-half-dimensional(2.5D) range image are constructed using the scale-invariant featuretransform algorithms firstly. According to the index of overlapping image and the local3D bordersearch method, multi-view registration data are rapidly and accurately integrated. At last, theimproved ICP algorithm is used to acquire accurate and stable registration.
7. Two prototype dental measurement systems, namely D3DScannerI and D3DscannerII basedon machine vision is designed and realized with the key algorithms and techniques described above.The system model including accurate system calibration, rapid measurement, multi-view registration,3D reconstruction, cloud polygonization and display algorithm et al. have all been coded,implemented and integrated with VC++for the primary functionality of the system. It has beendemonstrated that the complex teeth shape surface point cloud can be obtained fairly well by theprototype system. Two prototype dental measurement systems developed can meet the requirement ofdental clinic basically.
1、建立了口腔三维测量模型，从标定和重建方面分别进行了分析，设计了口腔测量系统的研发思路和系统软硬件的总体研发框架。
2、提出了基于整体测量误差分布模型的系统标定解决方案。首先根据CCD成像噪声及清晰度进行了标定前处理，使用基于矩的方法精确提取了标定输入数据，然后，基于径向一致约束，使用最小二乘和分布收敛算法获得系统元器件非线性参数初始标定，建立系统几何结构“捆绑”关系，优化标定结构参数，最后，将系统理论模型与实际物理模型误差作为目标优化函数，基于多平面隐式模型再次优化，实现系统参数的全局优化标定和恢复，其中的全局优化步骤解决了口内微型测量系统的特殊标定需求。
3、提出了一种用于非连续牙齿曲面形态的相位展开算法。首先对相位质量评估因子从物理模型角度进行定义和扩展，并综合数理统计和图像处理技术提出了一种对相位噪声灵敏的“调制度-Laplace”质量评估因子，然后以绝对相位标识为导向进行相位展开，实现了复杂非连续牙齿曲面形态的稳定相位求解，其中的动态链表修改保证了相位展开的速度。
4、提出了对非正弦性相位误差有抵抗力的线性正弦相移算法和无绝对相位线图的相移算法。前者综合利用反正切三角函数极值收敛特性和相位求解零点特性，使非正弦性波动误差降低为传统补偿算法的1/9，提高了相位求解精度；后者巧妙的利用三幅和四幅图像的调制度差异，将绝对相位标识图隐含，使相位求解所需的5幅图像减少为4幅，提高相位求解图像采集时间约20%。
5、提出了面向小型口腔外测量系统的基于双转轴粗拼和ICP精拼的两步优化拼合算法。首先基于平面靶标采用特征值法实现转动轴和摆动轴的初始位姿标定，然后，采用融合点到点距离和点到面距离模型的综合度量函数的迭代收敛算法，通过分层次的迭代终止条件设定，实现小型口腔外测量数据的精确拼合。
6、提出了用于空间无约束微型口内测量的优化拼合算法。基于测量过程中多源图像和三维点云数据的单应性关系，使用尺度不变性特征检测算子对灰度纹理二维图像和基于相移的二维半深度图像进行特征检测，然后，利用图像特征点匹配实现三维测量点云数据的空间初始定位，最后，采用改进的ICP算法实现口腔测量数据的精确、稳定的优化拼合。
7、在基础理论和关键算法研究的基础上，研发两款不同类型的口腔修复用三维测量原型样机系统，实现了精确标定、快速测量、全景拼接、精确重建及同步协调等复杂功能模块，并进行了测量系统精度、效率及应用效果等方面验证，实测结果表明，研发的口腔外专用测量系统性能优越，完全满足口腔测量临床应用需要。研发的国内首套口腔内测量系统，基本达到临床使用要求。
The application of digital technology in the medical field of dental restoration has led to atechnical revolution of dental restoration. The replacement of the cumbersome, time-consuming, andrough manual methods by simple, efficient, and accurate digital process, not only improves theaccuracy of the restoration, but also greatly reduces the suffering of patients. Being the basis of dentalrestoration, digital measurement directly determines the quality of restoration. Combined with thedemands of dental clinic, this dissertation thoroughly studied the digital optical dental measurementmethod based on machine vision including imaging processing, camera calibration, phase computing,reconstruction, registration, software&hardware implementation, etc. Two dental measurementprototype systems: D3DscannerI and D3DscannerII are also developed. The dissertation’s maincontributions are as follows:
1. The dental measurement model is constructed and is analyzed from the perspective of systemcalibration and reconstruction respectively. The overall framework and routing of the development ofdental measurement system is devised.
2. System calibration solution based on the overall measurement error is developed. First, thecalibration pre-treatment technology based on CCD noises and image definition is used to ensure theaccuracy of the input data. Then the nonlinear parameters of the system is calibrated with leastsquares and the distribute convergence algorithm based on the RAC. Thirdly, considering thegeometry restrain of the system structure, the overall optimization calibration method is established.Finally, the error between the ideal system model and the actual physical model is taken as the targetoptimization function to optimize the system again. The developed three-step calibration method canobtain calibration system parameters with high accuracy, and the third step of the optimization meetsthe special requirement of the calibration of the intraoral micro-measurement system.
3. A new robust phase unwrapped algorithm for discontinuous teeth shape measurement isdeveloped. First, this paper elaborates and extends the phase quality factor from physical model, anddevelops a new modulation-Laplace quality factor based on mathematical statistics and imageprocessing technology. The phase unwrapping are achieved along the absolute phase quality map,realizing the settlement of the correct phase of complex discontinuous teeth morphology.
4. The phase shifting algorithm immune to nonsinusoidal phase error and phase-shifting methodwith the absolute phase marker embedded in phase stripes are proposed. The former reduces thenonsinusodial phase error to1/9of the traditional compensation algorithm by compositively utilizing the extremal convergence properties of trigonometric and the zero point of phase computing. Thealgorithm greatly improves the system measurement accuracy. The latter embeds the new designedabsolute phase marker into one of the phase fringe images, and reduces the phase shifting fringesimage from5to4, which avoids the need of additional absolute phase marker map. The methodimproves at least20%efficiency compared with the traditional methods.
5. The registration solution based on double shaft and ICP is developed for small oral dentalmeasurement system. First, the eigenvalue method is used to achieve the initial parameters of rotationand swing axis, then the iterative convergence algorithm based on the integration of point-to-point andpoint-to-surface distance metric function is used for accurate registration.
6. The optimization registration algorithm is proposed for miniature intraoral dental measurementsystem. Based on the homography between a multi-source image and3D measurement points, thematching relationships of two-dimensional (2D) texture gray images andtwo-and-a-half-dimensional(2.5D) range image are constructed using the scale-invariant featuretransform algorithms firstly. According to the index of overlapping image and the local3D bordersearch method, multi-view registration data are rapidly and accurately integrated. At last, theimproved ICP algorithm is used to acquire accurate and stable registration.
7. Two prototype dental measurement systems, namely D3DScannerI and D3DscannerII basedon machine vision is designed and realized with the key algorithms and techniques described above.The system model including accurate system calibration, rapid measurement, multi-view registration,3D reconstruction, cloud polygonization and display algorithm et al. have all been coded,implemented and integrated with VC++for the primary functionality of the system. It has beendemonstrated that the complex teeth shape surface point cloud can be obtained fairly well by theprototype system. Two prototype dental measurement systems developed can meet the requirement ofdental clinic basically.
引文
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