Systems and methods for automated bite-setting of tooth models

BACKGROUND OF THE INVENTION

[0002] The present invention is related generally to the field of orthodontics, and more particularly to systems and methods for bite-setting teeth models.

[0003] One objective in orthodontics is to move a patient's tooth to a position where the tooth functions optimally and aesthetically. Conventionally, appliances such as braces are applied to the teeth of the patient by an orthodontist; each appliance exerts continual forces on the teeth and gradually urges the teeth toward their ideal positions. Over a period of time, the orthodontist adjusts the appliances to move the teeth toward their final destination.

[0004] Generally, the orthodontist specifies the final tooth arrangement in a prescription. The prescription is based on the orthodontist's knowledge and experience in selecting the intended final position of each tooth. The orthodontist or an assistant implements the prescription to move the teeth over a number of office visits.

[0005] The process of attaching the braces to teeth is tedious and painful to the patient. Additionally, each visit reduces “chair-time” available to the orthodontist that can be used for another patient.

[0006] New methods such as those described in U.S. Pat. No. 5,975,893, allow the treatment to be planned in advance and all individual appliances fabricated at the outset of treatment. The appliances may thus be provided to the patient as a single package or system. Unlike braces, the patient need not visit the treating professional every time an adjustment in the treatment is made. While the patients will usually want to visit their treating professionals periodically to assure that treatment is going according to the original plan, eliminating the need to visit the treating professional each time an adjustment is to be made allows the treatment to be carried out in many more, but smaller, successive steps while still reducing the time spent by the treating professional with the individual patient. Moreover, the ability to use polymeric shell appliances that are more comfortable, less visible, and removable by the patient, greatly improves patient compliance, comfort, and satisfaction.

[0007] In the above system, and in other computer-aided teeth treatment system, as a first step, a digital data set representing an initial tooth arrangement is obtained, referred to hereinafter as the IDDS. The IDDS may be obtained in a variety of ways. For example, the patient's teeth may be scanned or imaged using well known technology, such as X-rays, three-dimensional x-rays, computer-aided tomographic images or data sets, magnetic resonance images, etc. Methods for digitizing such conventional images to produce data sets useful in the present invention are well known and described in the patent and medical literature. Usually, however, the present invention will rely on first obtaining a plaster cast of the patient's teeth by well known techniques, such as those described in Graber, Orthodontics: Principle and Practice, Second Edition, Saunders, Philadelphia, 1969, pp. 401-415. After the tooth casting is obtained, it can be digitally scanned using a conventional laser scanner or other range acquisition system to produce the IDDS. The data set produced by the range acquisition system may, of course, be converted to other formats to be compatible with the software which is used for manipulating images within the data set, as described in more detail below. General techniques for producing plaster casts of teeth and generating digital models using laser-scanning techniques are described, for example, in U.S. Pat. No. 5,605,459. After scanning, computer models of teeth on an upper jaw and a lower jaw are generated. However, these models are not aligned relative to each other. Thus, a bite setting operation is manually performed using human operators.

SUMMARY

[0008] The present invention includes a system, apparatus and computer-implemented method for bite setting a dental model. This is done by scanning upper and lower arches of the dental model; scanning the upper and lower arches in their bite position; splitting the scan of the arches in their bite position into two jaw models; and registering the bite.

[0009] Implementations of the system may include one or more of the following.

[0010] Advantages of the invention include one or more of the following. When digital data relating to teeth on the upper and lower jaws is provided, a bite-aligned computer model can be generated. By providing a visual picture of one jaw relative to another jaw, the system eliminates guesswork as to the bite setting for the models of the teeth on the jaws. The operation can be performed using little or no human labor.

BRIEF DESCRIPTION OF THE DRAWINGS

[0011]
FIG. 1 is an elevational diagram showing the anatomical relationship of the jaws of a patient.

[0012]
FIG. 2A illustrates in more detail the patient's lower jaw and provides a general indication of how teeth may be moved by the methods and apparatus of the present invention.

[0013]
FIG. 2B illustrates a single tooth from FIG. 2A and defines how tooth movement distances are determined.

[0014]
FIG. 2C illustrates the jaw of FIG. 2A together with an incremental position adjustment appliance.

[0015]
FIG. 3 is a block diagram illustrating a process for producing incremental position adjustment appliances.

[0016] FIGS. 4-6 are flow charts illustrating a process for bite-setting two jaws.

[0017]
FIG. 7 illustrates the geometry matching process using circles.

[0018] FIGS. 8-11 are computer images of an exemplary bite registration process using a cast model of a patient's teeth.

[0019] FIGS. 12-14 are flow charts illustrating a process for creating a proper occlusion between the two jaws.

[0020]
FIG. 15 is a block diagram illustrating a system for generating appliances in accordance with the present invention.

DESCRIPTION

[0021]
FIG. 1 shows a skull 10 with an upper jawbone 22 and a lower jawbone 20. The lower jawbone 20 hinges at a joint 30 to the skull 10. The joint 30 is called a temporal mandibular joint (TMJ). The upper jawbone 22 is associated with an upper jaw 101, while the lower jawbone 20 is associated with a lower jaw 100. A computer model of the jaws 100 and 101 is generated, and a computer simulation models interactions among the teeth on the jaws 100 and 101. The computer simulation allows the system to focus on motions involving contacts between teeth mounted on the jaws. The computer simulation allows the system to render realistic jaw movements that are physically correct when the jaws 100 and 101 contact each other. The model of the jaw places the individual teeth in a treated position. Further, the model can be used to simulate jaw movements including protrusive motions, lateral motions, and “tooth guided” motions where the path of the lower jaw 100 is guided by teeth contacts rather than by anatomical limits of the jaws 100 and 101. Motions are applied to one jaw, but may also be applied to both jaws. Based on the occlusion determination, the final position of the teeth can be ascertained.

[0022] Referring now to FIG. 2A, the lower jaw 100 includes a plurality of teeth 102, for example. At least some of these teeth may be moved from an initial tooth arrangement to a final tooth arrangement. As a frame of reference describing how a tooth may be moved, an arbitrary centerline (CL) may be drawn through the tooth 102. With reference to this centerline (CL), each tooth may be moved in orthogonal directions represented by axes 104, 106, and 108 (where 104 is the centerline). The centerline may be rotated about the axis 108 (root angulation) and the axis 104 (torque) as indicated by arrows 110 and 112, respectively. Additionally, the tooth may be rotated about the centerline, as represented by an arrow 114. Thus, all possible free-form motions of the tooth can be performed.

[0023]
FIG. 2B shows how the magnitude of any tooth movement may be defined in terms of a maximum linear translation of any point P on a tooth 102. Each point P1 will undergo a cumulative translation as that tooth is moved in any of the orthogonal or rotational directions defined in FIG. 2A. That is, while the point will usually follow a nonlinear path, there is a linear distance between any point in the tooth when determined at any two times during the treatment. Thus, an arbitrary point P1 may in fact undergo a true side-to-side translation as indicated by arrow d1, while a second arbitration point P2 may travel along an accurate path, resulting in a final translation d2. Many aspects of the present invention are defined in terms of the maximum permissible movement of a point P1 induced on any particular tooth. Such maximum tooth movement, in turn, is defined as the maximum linear translation of that point P1 on the tooth that undergoes the maximum movement for that tooth in any treatment step.

[0024]
FIG. 2C shows one adjustment appliance 111, which is worn by the patient in order to achieve an incremental repositioning of individual teeth in the jaw, as described generally above. The appliance is a polymeric shell having a teeth-receiving cavity. This is described in U.S. application Ser. No. 09/169,036, filed Oct. 8, 1998, which claims priority from U.S. application Ser. No. 08/947,080, filed Oct. 8, 1997, which in turn claims priority from provisional application No. 06/050,352, filed Jun. 20, 1997 (collectively the “prior applications”), the full disclosures of which are incorporated by reference.

[0025] As set forth in the prior applications, each polymeric shell may be configured so that its tooth-receiving cavity has a geometry corresponding to an intermediate or final tooth arrangement intended for the appliance. The patient's teeth are repositioned from their initial tooth arrangement to a final tooth arrangement by placing a series of incremental position adjustment appliances over the patient's teeth. The adjustment appliances are generated at the beginning of the treatment, and the patient wears each appliance until the pressure of each appliance on the teeth can no longer be felt. At that point, the patient replaces the current adjustment appliance with the next adjustment appliance in the series until no more appliances remain. Conveniently, the appliances are generally not affixed to the teeth and the patient may place and replace the appliances at any time during the procedure. The final appliance or several appliances in the series may have a geometry or geometries selected to overcorrect the tooth arrangement, i.e., have a geometry which would (if fully achieved) move individual teeth beyond the tooth arrangement which has been selected as the “final.” Such over-correction may be desirable in order to offset potential relapse after the repositioning method has been terminated, i.e., to permit movement of individual teeth back toward their pre-corrected positions. Over-correction may also be beneficial to speed the rate of correction, i.e., by having an appliance with a geometry that is positioned beyond a desired intermediate or final position, the individual teeth will be shifted toward the position at a greater rate. In such cases, the use of an appliance can be terminated before the teeth reach the positions defined by the appliance.

[0026] The polymeric shell 111 can fit over all teeth present in the upper or lower jaw. Often, only certain one(s) of the teeth will be repositioned while others of the teeth will provide a base or an anchor region for holding the appliance 111 in place as the appliance 111 applies a resilient repositioning force against the tooth or teeth to be repositioned. In complex cases, however, multiple teeth may be repositioned at some point during the treatment. In such cases, the moved teeth can also serve as a base or anchor region for holding the repositioning appliance.

[0027] The polymeric appliance 111 of FIG. 2C may be formed from a thin sheet of a suitable elastomeric polymer, such as Tru-Tain 0.03 in, thermal forming dental material, available from Tru-Tain Plastics, Rochester, Minn. Usually, no wires or other means will be provided for holding the appliance in place over the teeth. In some cases, however, it will be desirable or necessary to provide individual anchors on teeth with corresponding receptacles or apertures in the appliance 100 so that the appliance can apply an upward force on the tooth that would not be possible in the absence of such an anchor.

[0028]
FIG. 3 shows a process 200 for producing the incremental position adjustment appliances for subsequent use by a patient to reposition the patient's teeth. As a first step, an initial digital data set representing an initial tooth arrangement is obtained (202). The initial data set may be obtained in a variety of ways. For example, the patient's teeth may be scanned or imaged using X-rays, three dimensional X-rays, computer-aided tomographic images or data sets, or magnetic resonance images, among others. The teeth data may be generated by a destructive scanner, as described in the incorporated-by-reference U.S. application Ser. No. 09/169,034, filed Oct. 8, 1998. The initial data set is then manipulated using a computer having a suitable graphical user interface (GUI) and software appropriate for viewing and modifying the images. More specific aspects of this process will be described in detail below. Individual tooth and other components may be segmented or isolated in the model to permit their individual repositioning or removal from the digital model.

[0029] After segmenting or isolating the components, the teeth are moved based on rules and algorithms programmed into the computer. In this step, an attraction model between selected points on adjacent teeth determines each stage of tooth movement. This step is iterated until an acceptable result is achieved (206). In one embodiment, the system stops the movement when the relative positions of the teeth satisfy a predetermined target.

[0030] In step 206, positions for the upper and lower teeth in a masticatory system of a patient are determined by generating a computer representation of the masticatory system. An occlusion of the upper and lower teeth is computed from the computer representation; and a functional occlusion is computed based on interactions in the computer representation of the masticatory system. The occlusion may be determined by generating a set of ideal models of the teeth. Each ideal model in the set of ideal models is an abstract model of idealized teeth placement, which is customized to the patient's teeth, as discussed below. After applying the ideal model to the computer representation, the position of the teeth can be optimized to fit the ideal model. One or more arch forms may specify the ideal model, or may be specified using various features associated with the teeth.

[0031] During this process, the teeth models may be rotated until their roots are in the proper vertical position, for example. Next, the teeth models may be rotated around their vertical axis into the proper orientation. The teeth models are then observed from the side, and translated vertically into their proper vertical position. Finally, the two arches are placed together, and the teeth models moved slightly to ensure that the upper and lower arches properly mesh together. The meshing of the upper and lower arches together can be visualized using a collision detection process to highlight the contacting points of the teeth.

[0032] Once the teeth arrangements are determined, a series of appliances that move the teeth in a specified sequence are generated (208).

[0033] As part of the generation of the initial digital data set representing an initial tooth arrangement of step 202, a bite-setting operation is performed on the upper and lower jaws. FIG. 4 shows one embodiment (300) of an Automated Bite Setting process. First, the system scans the lower arch. This can be done using a destructive scanner or a non-destructive scanner such as a white light scanner (302). Then, the upper arch is scanned, using the destructive Scanner or white light scanner (304). The upper and lower arches are wax-scanned in their bite position using white light scanner (306). Then the upper and lower arch scans are split apart (308). Finally, the bite is registered (310).

[0034]
FIG. 5 describes the Wax Scan process (306) listed in FIG. 4. In one embodiment, a wax bite is placed between the upper and lower arches (322). The upper and lower arches are aligned, based on the wax bite, to indicate their normal bite position (324). Then the wax bite is removed (326). Finally, a buccal-view scan of the upper and lower arches is performed using the normal bite position without wax bite (328).

[0035] Referring now to FIG. 6, the process for generating the bite registration is described. This process is called geometry matching. The geometry matching iteration is the meshing of the three geometries involved in Bite Registration: the upper arch, the lower arch, and either the upper or lower arch in the normal bite position. In one implementation, the geometry matching iteration includes the following steps: first, select a number of points on the object (332). By default the points are evenly distributed over the object. Any other points should not be taken into consideration and are removed (334). In one implementation, if two non-identical surfaces are being matched, certain points should not be included. For example, two surfaces can have a common area that should be used for matching as well as undesirable or noisy data. To remove noisy data, the points may be filtered by analysis of the distance distribution. Only points that do not deviate from the average than +− dispersion are included in matching. It removes points that are far away compared with average, so the probability that matching would not converge is reduced. (It is likely that these points do not represent the area to be matched.) From the array of points obtained in (334), the closest points on the corrector are computed (336). Finally, the process computes the transformation that matches two points on the arches (338). It computes rigid transformation that minimizes the sum of squared distances between corresponding points. If the result is acceptable, proceed or go to the next iteration. If results need to be modified, adjust the initial approximation and return to (334).

[0036] Since the process is statistical (it requires many random iterations to compute the result) there is a small possibility that results may not fall within in the acceptable range. In this case the process is run again, or some random transformation may be added. Alternatively, the process may be stopped if the iterations exceed a predetermined threshold.

[0037]
FIG. 7 is a diagram illustrating the geometry matching process using two circles. The red circle is matched against the black one, which represent the two non-identical surfaces being matched. Following the process described in FIG. 6, a number of points are selected on the red circle. Then each point is matched up with the closest point that can be found on the black circle. This process is called matching the two point sets. After the geometry matching transformation is complete, the red circle is moved to its new position, indicated by the green circle.

[0038]
FIGS. 8 through 11 are computer graphic images of an upper and lower jaw as it undergoes the bite registration process. FIG. 8 is a screenshot of the initial bite scan. FIG. 9 shows the first approximation once the initial orientation with the normal bite is guessed. FIG. 10 shows the separated bites for the lower and upper jaws. FIG. 11 shows the final result of the matching process.

[0039]
FIG. 12 depicts the process of utilizing physical simulation and collision detection to determine proper occlusion. Assuming that the jaws are nearly in the correct and optimal position, the ideal process simulates the way a patient closes his mouth. Implementation of the algorithm is as follows: first, the upper jaw is moved closer to the lower, for example, in the Z-axis direction (350). It is to be noted that the approach is not limited to the upper jaw: one can apply the application to the lower jaw or to both jaws at the same time. The collisions are computed (352). The collision areas are minimized using an appropriate algorithm (354). There are numerous possible implementations of such an algorithm. FIGS. 13 and 14 describe potential implementations of minimizing collision areas.

[0040]
FIG. 13 shows one such collision minimization implementation. This implementation attempts to rotate or shift the upper jaw in all 5 degrees of freedom, with the Z direction excluded (360). Then the position is selected where the collision area or any other appropriate measure of collision (for example, collision volume) is minimal (362).

[0041]
FIG. 14 describes the second implementation of the algorithm. This implementation is a ‘brute force’ approach, which can be more computationally lengthy, but is a cost effective approach. The direction to move the jaw is selected by using dental knowledge of the collision areas between the jaws (370). For example, each collision area exerts a force on the upper jaw. The direction of the force may be the average normal for the all faces in the collision area. By using simple mechanical laws (Arnold, 1973, 1989), one creates a system of differential equations, and then solves them in a number of iterative steps (372). The process stops when it is impossible to move the upper jaw further down without introducing acceptable (i.e. smaller than a user-specified value) collision areas that cannot be achieved through translation and rotation (374). Thus, using one of these two methods, proper occlusion is achieved.

[0042] In both algorithms, the user can control the limit of movement in all 5 degrees of freedom; this ensures that the algorithm does not converge to an undesirable local minimum. Both algorithms can be used to finding multiple paths to the best occlusion, by analyzing the paths; both algorithms provide a simulation of the actual teeth grinding with each other.

[0043] Exemplary pseudo-code to perform a bite setting with two jaw models is as follows:

[0044] Scan Lower Arch using the Destructive Scanner or White Light Scanner.

[0045] Scan Upper Arch using the Destructive Scanner or White Light Scanner.

[0046] Wax Scan the Upper and Lower Arches in their bite position using White Light Scanner:

[0047] Place wax bite between upper and lower arches.

[0048] Align the upper and lower arches based on wax bite to indicate their normal bite position.

[0049] Remove wax bite.

[0050] Perform buccal scan of upper & lower arch in normal bite position without wax bite.

[0051] Split apart the upper and lower arch scans.

[0052] Register the bite using Geometry Matching.

[0053] Select a number of points on the object. By default the points are evenly distributed over the object.

[0054] Remove points that should not be taken into consideration.

[0055] For the array of points obtained, compute closest points on the jaw.

[0056] Compute the transformation that matches two points, one from each arch. If points are acceptable, proceed to next iteration (i.e. repeat all steps listed above for the next set of points).

[0057] If points are unacceptable, modify the points by adjusting the initial approximation, remove the points that should not be taken into consideration, compute the closest points on the jaw, and then compute the transformation that matches two points, one from each jaw.

[0058] Exemplary pseudo-code to create a proper occlusion between the two jaw models is as follows:

[0059] Move the upper jaw closer to the lower, for example, in the Z axis direction.

[0060] Compute collisions.

[0061] Minimize the collision areas using an appropriate algorithm. Two potential implementations can be done:

[0062] Implementation 1:

[0063] Attempt to rotate or shift the upper jaw in all 5 degrees of freedom, with the Z direction excluded.

[0064] Select the position in which the collision area or any other appropriate measure (for example, collision volume) is minimal.

[0065] Minimize the collision areas using an appropriate algorithm.

[0066] Implementation 2:

[0067] Select the direction to move the jaw by using dental knowledge of the collision areas between the jaws.

[0068] Using mechanical laws, one creates a system of differential equations, which are used to reduce the collision area.

[0069] The process stops when it is impossible to move the upper jaw further down without introducing acceptable collision areas that cannot be achieved through translation and rotation.

[0070]
FIG. 15 is a simplified block diagram of a data processing system 500. Data processing system 500 typically includes at least one processor 502 that communicates with a number of peripheral devices over bus subsystem 504. These peripheral devices typically include a storage subsystem 506 (memory subsystem 508 and file storage subsystem 514), a set of user interface input and output devices 518, and an interface to outside networks 516, including the public switched telephone network. This interface is shown schematically as “Modems and Network Interface” block 516, and is coupled to corresponding interface devices in other data processing systems over communication network interface 524. Data processing system 500 may include a terminal or a low-end personal computer or a high-end personal computer, workstation or mainframe. The user interface input devices typically include a keyboard and may further include a pointing device and a scanner. The pointing device may be an indirect pointing device such as a mouse, trackball, touch pad, or graphics tablet, or a direct pointing device such as a touch screen incorporated into the display. Other types of user interface input devices, such as voice recognition systems, may be used. User interface output devices may include a printer and a display subsystem, which includes a display controller and a display device coupled to the controller. The display device may be a cathode ray tube (CRT), a flat-panel device such as a liquid crystal display (LCD), or a projection device. The display subsystem may also provide non-visual display such as audio output.

[0071] Storage subsystem 506 maintains the basic programming and data constructs that provide the functionality of the present invention. The software modules discussed above are typically stored in storage subsystem 506. Storage subsystem 506 typically comprises memory subsystem 508 and file storage subsystem 514. Memory subsystem 508 typically includes a number of memories including a main random access memory (RAM) 510 for storage of instructions and data during program execution and a read only memory (ROM) 512 in which fixed instructions are stored. In the case of Macintosh-compatible personal computers the ROM would include portions of the operating system; in the case of IBM-compatible personal computers, this would include the BIOS (basic input/output system). File storage subsystem 514 provides persistent (nonvolatile) storage for program and data files, and typically includes at least one hard disk drive and at least one floppy disk drive (with associated removable media). There may also be other devices such as a CD-ROM drive and optical drives (all with their associated removable media). Additionally, the system may include drives of the type with removable media cartridges. The removable media cartridges may, for example be hard disk cartridges, such as those marketed by Syquest and others, and flexible disk cartridges, such as those marketed by Iomega. One or more of the drives may be located at a remote location, such as in a server on a local area network or at a site on the Internet's World Wide Web. In this context, the term “bus subsystem” is used generically so as to include any mechanism for letting the various components and subsystems communicate with each other as intended. With the exception of the input devices and the display, the other components need not be at the same physical location. Thus, for example, portions of the file storage system could be connected over various local-area or wide-area network media, including telephone lines. Similarly, the input devices and display need not be at the same location as the processor, although it is anticipated that the present invention will most often be implemented in the context of PCS and workstations. Bus subsystem 504 is shown schematically as a single bus, but a typical system has a number of buses such as a local bus and one or more expansion buses (e.g., ADB, SCSI, ISA, EISA, MCA, NuBus, or PCI), as well as serial and parallel ports. Network connections are usually established through a device such as a network adapter on one of these expansion buses or a modem on a serial port. The client computer may be a desktop system or a portable system. Scanner 520 is responsible for scanning casts of the patient's teeth obtained either from the patient or from an orthodontist and providing the scanned digital data set information to data processing system 500 for further processing. In a distributed environment, scanner 520 may be located at a remote location and communicate scanned digital data set information to data processing system 500 over network interface 524. Fabrication machine 522 fabricates dental appliances based on intermediate and final data set information received from data processing system 500. In a distributed environment, fabrication machine 522 may be located at a remote location and receive data set information from data processing system 500 over network interface 524.

[0072] Various alternatives, modifications, and equivalents may be used in lieu of the above components. Although the final position of the teeth may be determined using computer-aided techniques, a user may move the teeth into their final positions by independently manipulating one or more teeth while satisfying the constraints of the prescription. Additionally, the techniques described here may be implemented in hardware or software, or a combination of the two. The techniques may be implemented in computer programs executing on programmable computers that each includes a processor, a storage medium readable by the processor (including volatile and nonvolatile memory and/or storage elements), and suitable input and output devices. Program code is applied to data entered using an input device to perform the functions described and to generate output information. The output information is applied to one or more output devices. Each program can be implemented in a high level procedural or object-oriented programming language to operate in conjunction with a computer system. However, the programs can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Each such computer program can be stored on a storage medium or device (e.g., CD-ROM, hard disk or magnetic diskette) that is readable by a general or special purpose programmable computer for configuring and operating the computer when the storage medium or device is read by the computer to perform the procedures described. The system also may be implemented as a computer-readable storage medium, configured with a computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner. Further, while the invention has been shown and described with reference to an embodiment thereof, those skilled in the art will understand that the above and other changes in form and detail may be made without departing from the spirit and scope of the following claims.

Systems and methods for automated bite-setting of tooth models

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CROSS-REFERENCES TO RELATED APPLICATIONS