This application is a U.S. National Phase of International Application No.: PCT/EP2008/003135, filed Apr. 18, 2008, designating the U.S. and published in English on Oct. 30, 2008 as WO 2008/128720, which claims the benefit of European Application No. 07106650.0, filed Apr. 20, 2007.
The present invention relates to methods for assessing the shape of the skull and dentition that are applicable in the field of orthognathic surgery.
In maxillofacial surgery, the skull and dentition is surgically remodeled or restored. This surgical discipline encompasses surgical interventions of repair, in particular, of a mis-positioning of the jaws with respect to one another, called orthognathic surgery. Typically, orthognathic surgery involves osteotomies of the maxilla and/or mandible to reposition these bone fragments correctly with respect to the rest of the skull and to create a good occlusion. Osteotomies are surgical operations whereby a bone is cut to shorten, lengthen or change its alignments. With ‘occlusion’ is meant the manner in which the teeth from upper and lower arches come together when the mouth is closed.
Today's procedure to prepare orthognathic surgery mainly consists of the following steps:
With the emergence of 3D technologies, methods to carry out the measurement virtually in three dimensions have been established. As a data input, single or multi-slice CT scans were originally applied. With the emergence of cone-beam CT imaging (CBCT) for dental application, acquisition of 3D scan data becomes common sense in the field.
However, no system is available that visualizes the dentition of the patient in a detailed way using a protocol that is clinically feasible without distorting the facial soft tissues. Such a system would allow detailed occlusion planning possibly even including prediction of soft tissue implication and offer the possibilities to create intra-operative tools to establish the planned solution and to maintain it postoperatively.
WO 2006/000063 describes a method to perform a 3D cephalometric analysis of hard and soft tissues and to derive anatomically relevant movements to reposition bone fragments. It also mentions the possibility to enhance the visualization by fusing a scan of plaster models on the basis of a 3D splint with equipped with at least four markers. An important drawback of said approach is that the 3D splint always disturbs the facial profile.
WO 03/028577 describes a method to generate a surgical splint. The key component in this method is the usage of some markers relative to the patient's dentition identifiable in both the digital dental computer model and the computed tomography computer model to visualize the patient's dentition in detail. The registration method is based on point-based matching. However, this method has as fundamental drawback that the markers are disturbing the natural facial expression during the patient scan. This method to create a visualization of the dentition can be seen as a straightforward extension of the work in the field of dental implant planning (see e.g. ‘An image-guided planning system for endosseous oral implants’, Verstreken et al., IEEE Trans Med Imaging 1998, 17, pp. 842-852).
U.S. Pat. No. 6,152,731 describes a method for using digital dental models in a digital articulator. It is a digital analogue for the traditional articulator with plaster dental casts. However, this method has as fundamental drawback that the relationship with the anatomy of the patient's head is lost since only the teeth are visible.
The present invention aims to provide a method to derive information from an augmented skull model that offers a detailed visualization of the dentition whereby the use of markers is avoided. In a second aspect the invention aims to provide a method for deriving orthognathic planning information. A further aim of the invention is to provide methods for producing intra- and postoperative tools wherein said method to derive information is applied.
The present invention relates to a method for deriving shape information of a person's skull and dentition, comprising the steps of:
Preferably the step of taking the impression is performed with a predefined occlusion.
In a preferred embodiment the method further comprises the step of taking a third scan of the person's head alone without the impression. In that case said step of taking the first scan is performed with a dose less than 45 μSv. The third scan comprises the person's maxillofacial complex. The third scan is taken with a predefined occlusion and facial expression.
Advantageously the second scan is taken with said impression being positioned on a foam-like material. The step of taking the impression is preferably performed with alginate or silicone as impression material. The impression may be taken by means of a wax-bite. In an advantageous embodiment the impression of the person's dentition is a double-sided impression. Preferably the step of taking the impression is performed in a CT scanner.
In a preferred embodiment the method further comprises the step of computing the mandibular autorotation.
In a second aspect the invention relates to a method for deriving orthognathic planning information for repositioning a bone fragment wherein information of a person's skull and dentition is derived with the method as previously described.
The invention further relates to a method for designing and producing an intraoperative splint for transferring a planned occlusion to the surgical field, wherein the splint is designed according to shape information derived from the method as set out above.
The invention also relates to a method for designing and producing a fixation structure for connecting upper and lower dentition, such that a planned occlusion is can be transferred, whereby said fixation structure is designed according to shape information derived from the method for deriving shape information as described. The fixation structure advantageously comprises a set of dental brackets on the lower and upper dentition and a structure for connecting said brackets together in such a way that the planned occlusion is transferred.
In yet another aspect the invention relates to a method for designing and producing customised osteosynthesis plates, designed according to shape information derived from the method as previously described.
The invention further presents a method for designing and producing a postoperative retention tool for preserving a surgically achieved setting, whereby shape information is applied, derived with the method as above described.
The invention also relates to a software program, executable on a programmable device containing instructions, which when executed, perform any of the methods as described.
To plan orthognathic surgery and to perform orthognathic surgery according to the planning three main clinical requirements are obvious:
To meet these clinical requirements, technical requirements are derived:
Furthermore, economical requirements are defined:
The proposed image acquisition protocol supports the generation of an augmented model possibly without the soft tissue deformation, without the need to position markers, in a fairly easy and realistic clinical setting. The usage of plaster casts of the patient's dentition is not necessary anymore.
The planning protocol extends the anatomically relevant movements of bone fragments with occlusal planning optimization based on the augmented model. Optionally it includes soft tissue simulation and the design of an ideal 3D soft tissue profile.
Next, these planning results are transferred to the operative field by means of a computer-generated surgical splint, or an anchorage system between the brackets on the upper and lower dental arch, or by customized osteosynthesis plates.
Possibly postoperative tools are generated to preserve the surgical result.
The patient can be imaged in two ways: without preservation of the soft tissues in natural rest position (the so-called double-scan procedure) (see
The double-scan procedure is now described. First an impression of the patient's dentition is produced (see (1) in
Next the patient is scanned while wearing the impression (see (2) in
Further, a second high-resolution scan of the impression alone is acquired (see step (4) in
The various scans are then combined in the following way (step (6) in
In a preferred embodiment the method as set out above comprises an additional step, typically carried out between the steps (2) and (4) of
Now during step (1), the occlusion while biting into the impression material is not important and can be randomly chosen. Technically, also single sided impressions could be applied. However this would require an extra patient scan in a further step, which needs to be avoided as much as possible from a clinical point of view.
Step 2 is a scan of the patient wearing the impression (see (2) in
In the additional step, the patient is scanned again, but now without the impression (see (3) in
Further, a third high-resolution scan of the impression alone is acquired (see step (4) in
These various scans are then combined in the following way:
In the triple-scan procedure, the patient is imaged twice (patient scan and patient+impression scan). In those scans, the patient has a different mouth opening. From these two scans, the rotational axis which defines the movement of the mandible during initial mouth opening and closing can be estimated in the 3D space. This estimated rotational axis can be used for example during the planning of orthognathic surgical procedures: after maxillary impaction surgery the mandible will reposition itself according to this axis. To compute this mandibular movement, first both scans are aligned based on the anatomy of the maxilla. In a second step, the mandible of the second registered scan is aligned with the mandible of the first scan. The alignment can be computed using voxel-based registration, marker-based registration or surface-based registration. The resulting transformation matrix describes the mandibular movement. Out of this transformation matrix, the rotation axis is computed in the 3D space. The initial mouth opening/closing is a rotation around that rotation axis.
As an extra guideline for orthognathic surgery planning, the ideal skin surface based on the current skin surface of the patient can be designed.
A first method to design the ideal skin surface is based on clinical relevant parameters, including functional as well as aesthetic parameters, such as the degree of malocclusion or cephalometric measures, and/or body property parameters (such as body mass index, age, racial properties, gender, etc. . . . ).
A second method to design the ideal skin surface is based on the repositioning of points of the skin surface. These points can be important anatomical landmarks. Based on the new positions of these points, a new skin surface is computed.
As a computational strategy for these methods, a statistical model, based on an extensive database of skin surfaces on a large group of persons, is built. These skin surfaces can be acquired by 3D photography, or extracted from CT or MR imaging. The latter allows also including volumetric data into the statistical model. In this case the relation to the bony structures can also be included in the model. For the first method, the model is parameterized according to said parameters. The initial skin surface is altered according to the changes of the parameter values. For the second method, a statistically relevant skin surface is derived from the initial skin surface adapted according to the repositioned points.
Also a combination of both methods is possible.
The ideal skin surface can be set as a target for surgery planning. In order to evaluate how close the surgical plan meets the ideal skin surface, the differences between both surfaces need to be visualised. This can be done by computing a distance map between both surfaces. Ideally, this distance map is based on the distance between anatomically related points. When the differences between both the ideal skin surface and the expected skin surface are minimal, a pleasing surgical plan is obtained.
Orthognathic Surgery Planning
After virtual osteotomies the bone fragments need to be moved to the correct position. Bone fragments are moved with respect to the other skeletal features, to match a desirable occlusion and to obtain an acceptable facial skin surface.
Typically, a bone fragment (e.g. the maxilla) or a group of bone fragments is moved to the appropriate position using anatomical relevant directions, reference planes and anatomical landmarks. Next, bone fragments are moved to optimize the dental occlusion. In the approach according to the present invention, the bone fragments are moved together by spring forces, taking into account the collisions. This technique is called solid body simulation. Finally, further adjustments of the position of bone fragments or groups thereof can be performed.
While doing so, the soft tissue deformation can be simulated and compared with the ideal skin surface.
Intraoperative Tools
To transfer the virtual planning into the surgical field, several approaches are possible. With the intraoperative tools, the planned occlusion can be transferred to the patient. Possibly also the correct position of the bone fragments (like the maxilla) with respect to the skull base and the ascending ramus of the mandible with respect to the TMJ fossa (TMJ means the temporomandibular joint) can be transferred.
A first method to transfer the virtual planning is to produce a surgical splint based on the digital planning data. The splint is designed from the planning data and produced by rapid prototyping techniques or milling techniques (see
A second method is to produce a fixation structure that connects the upper and lower brackets or the archbars that are wired to the teeth, in order to create the planned occlusion. This method transfers the correct occlusion.
A third method is to produce personalized osteosynthesis plates. When the osteosynthesis plates are in the correct position and the bone fragments are fixed against these plates, the planned bone fragment positions are obtained during surgery. The plates are entered into the correct position based on anatomical features or based on bone anchors that are positioned before patient scanning and segmented from image data obtained from the patient+impression scan in the double-scan method or from the patient scan in the triple-scan method.
Postoperative Tools
In order to stabilize and preserve the surgical result, a postoperative splint might be needed. Also this personalized part can be produced from the results of the planning software.
The advantages of the proposed approach can be summarised as follows. No plaster casts are needed any more, nor the usage of a 3D splint with markers since a different registration concept is applied. This substantially increases the clinical applicability. Moreover, the invention allows having an accurate visualization of the teeth in combination with a natural soft tissue profile, which is a prerequisite to do correct soft tissue deformation prediction.
Also in the field of the planning process, this improved visualization of the teeth enables accurate occlusion planning and the production of intra- and postoperative tools.
Although the present invention has been illustrated by reference to specific embodiments, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied with various changes and modifications without departing from the spirit and scope thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. In other words, it is contemplated to cover any and all modifications, variations or equivalents that fall within the spirit and scope of the basic underlying principles and whose essential attributes are claimed in this patent application. It will furthermore be understood by the reader of this patent application that the words “comprising” or “comprise” do not exclude other elements or steps, that the words “a” or “an” do not exclude a plurality, and that a single element, such as a computer system, a processor, or another integrated unit may fulfil the functions of several means recited in the claims. Any reference signs in the claims shall not be construed as limiting the respective claims concerned. The terms “first”, “second”, third”, “a”, “b”, “c”, and the like, when used in the description or in the claims are introduced to distinguish between similar elements or steps and are not necessarily describing a sequential or chronological order. Similarly, the terms “top”, “bottom”, “over”, “under”, and the like are introduced for descriptive purposes and not necessarily to denote relative positions. It is to be understood that the terms so used are interchangeable under appropriate circumstances and embodiments of the invention are capable of operating according to the present invention in other sequences, or in orientations different from the one(s) described or illustrated above.
Number | Date | Country | Kind |
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07106650 | Apr 2007 | EP | regional |
Filing Document | Filing Date | Country | Kind | 371c Date |
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PCT/EP2008/003135 | 4/18/2008 | WO | 00 | 11/30/2010 |
Publishing Document | Publishing Date | Country | Kind |
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WO2008/128720 | 10/30/2008 | WO | A |
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“Medical Image Registration” by J. Michael Fitzpatrick from the Dept of Electrical Engineering and Computer Science at Vanderbilt Univertiy, Nashville, TN—Published on Nov. 3, 2008—http://bluecoat-02/?cfru=aHR0cDovL2VIY3MudmFuZGVyYmIsdC5IZHUvcGVvcGxIL21pa2VmaXR6cGF0cmljay9wYXBIcnMvcmVnaXN0cmF0aW9uX292ZXJ2aWV3LnBwdA==. |
“Medical Image Registration” by J. Michael Fitzpatrick from the Dept of Electrical Engineering and Computer Science at Vanderbilt Univertiy, Nashville, TN—Published on Nov. 3, 2008—http://bluecoat-02/?cfru=aHR0cDovL2V1Y3MudmFuZGVyYmIsdC5IZHUvcGVvcGxIL21pa2VmaXR6cGF0cmIjay9wYXBIcnMvcmVnaXN0cmF0aW9uX292ZXJ2aWV3LnBwdA==. |
“Medical Image Registration” by J. Michael Fitzpatrick from the Dept of Electrical Engineering and Computer Science at Vanderbilt Univertiy, Nashville, TN—Published on Nov. 3, 2008—http://bluecoat-02/?cfru=aHR0cDovL2VIY3MudmFuZGVyYmIsdC51ZHUvcGVvcGxIL21pa2VmaXR6cGF0cmIjay9wYXBIcnMvcmVnaXN0cmF0aW9uX292ZXJ2aWV3LnBwdA==. |
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Number | Date | Country | |
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20110059413 A1 | Mar 2011 | US |