Unified workstation for virtual craniofacial diagnosis, treatment planning and therapeutics

• US 7,234,937 B2
• Filed: 05/02/2003
• Issued: 06/26/2007
• Est. Priority Date: 11/30/1999
• Status: Expired due to Term

• Current Assignee: Orametrix Incorporated
• Original Assignee: Orametrix Incorporated
• Inventors: Getto, Phillip, Imgrund, Hans, Abraham, Charles L., Taneja, Sanjeev, Sporbert, Peer, Sachdeva, Rohit, Maetzel, Stephan
• Primary Examiner(s): Lewis; Ralph A.
• Application Number:
  US10/429,123
• Publication Number:
  US 20040015327A1
• Time in Patent Office: 1,516 Days
• Field of Search: 433/6, 433/18, 433/20, 433/24
• US Class Current: 433/24
• CPC Class Codes: A61C 2007/004 Automatic construction of a set of axes for a tooth or a plurality of teeth
• CPC Class Codes: A61C 7/00 Orthodontics, i.e. obtaining or maintaining the desired position of teeth, e.g. by straightening, evening, regulating, separating, or by correcting malocclusions
• CPC Class Codes: A61C 7/002 Orthodontic computer assisted systems
• CPC Class Codes: A61C 7/146 Positioning or placement of brackets; Tools therefor
• CPC Class Codes: A61C 8/009 for selecting the right implanting element, e.g. templates
• CPC Class Codes: A61C 9/0046 Data acquisition means or methods
• CPC Class Codes: A61C 9/0086 Acoustic means or methods
• CPC Class Codes: A61F 2002/30953 using a remote computer network, e.g. Internet
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture

Abstract

An integrated system is described in which digital image data of a patient, obtained from a variety of image sources, including CT scanner, X-Ray, 2D or 3D scanners and color photographs, are combined into a common coordinate system to create a virtual three-dimensional patient model. Software tools are provided for manipulating the virtual patient model to simulation changes in position or orientation of craniofacial structures (e.g., jaw or teeth) and simulate their affect on the appearance of the patient. The simulation (which may be pure simulations or may be so-called “morphing” type simulations) enables a comprehensive approach to planning treatment for the patient. In one embodiment, the treatment may encompass orthodontic treatment. Similarly, surgical treatment plans can be created. Data is extracted from the virtual patient model or simulations thereof for purposes of manufacture of customized therapeutic devices for any component of the craniofacial structures, e.g., orthodontic appliances.

Claims

1. A system for use in diagnosis and planning treatment of a human patient, comprising:

a general purpose computer system having a processor and a user interface;

a memory accessible to said general purpose computer system storing a) a first set of digital data representing patient craniofacial image information obtained from a first imaging device, and b) a second set of digital data representing patient craniofacial image information obtained from a second image device different from said first image device, said first and second sets of data representing at least in part common craniofacial anatomical structures of said patient, at least one of said first and second sets of digital data including data representing the external visual appearance or surface configuration of the face of the patient, wherein said first and second digital data sets are each obtained at different points in time and are not captured in a correlated fashion; and

a set of computer instructions stored on a machine readable storage medium accessible to said general purpose computer system, wherein said set of instructions comprises instructions for causing said general computer system to;

1) automatically, and/or with the aid of operator interaction, superimpose said first set of digital data and said second set of digital data so as to provide a composite, combined digital representation of said craniofacial anatomical structures created from said first and second digital data sets each obtained at different points in time and not captured in a correlated fashion in a common coordinate system;

wherein said set of instructions comprise instructions for creating a virtual 3D face at least from a portion of said craniofacial anatomical structures using an active model matching strategy;

2) display said composite, combined digital representation of said craniofacial anatomical structures, including said virtual 3D face, to a user of said system.

2. The system of claim 1, wherein said composite, combined digital representation comprises a three-dimensional representation.

3. The system of claim 2, wherein said craniofacial structures comprise the upper and lower jaws of said patient, the teeth of said patient, and soft tissue, and wherein said tools comprise tools for modifying the position of said teeth of said patient.

4. The system of claim 3, wherein said first set of digital data is obtained from a scan of a model of the patients'"'"' dentition, or a scan of a facial moulage.

5. The system of claim 2, wherein said craniofacial structures comprise soft tissue, bone and dentition, and wherein said tools comprise tools for modifying the position of any region of interest of said soft tissue, bone and dentition.

6. The system of claim 2, wherein said first set of digital data comprises a set of individual tooth models representing facial components of the patient.

7. The system of claim 6, said facial components comprise teeth, and wherein said first set of digital data further comprising the position of said teeth relative to each other in the current position of the patent.

8. The system of claim 1, further comprising a set of instructions providing said user with user interface tools for visually studying on said user interface the interaction of said craniofacial anatomical structures and their relationship to the external, visual appearance of said patient, said tools including tools for simulating changes in the anatomical position or shape of said craniofacial anatomical structures.

9. The system of claim 8, wherein said instructions simulating changes in the anatomical position or shape of craniofacial anatomical structures include simulations of the effect of such changes on the external, visual appearance of said patient.

10. The system of claim 1, further comprising a set of instructions for movement of said craniofacial structures and display of said movement a dynamic format on said user interface.

11. The system of claim 1, wherein said tools comprise a tool for displaying the smile of said patient and for viewing said smile after simulation of changing the position of said craniofacial anatomical structures.

12. The system of claim 1, wherein said first set of digital data is obtained from an in-vivo scan of facial components and associated anatomical structures.

13. The system of claim 12, wherein said facial components comprise teeth.

14. The system of claim 1, wherein said first set of data and said second set of data are obtained from imaging devices selected from the group of imaging devices consisting of digital cameras, X-ray devices, hand-held 3-D scanners, laser scanners, computed tomography (CT) scanners, MRI scanners, coordinate measuring machines, destructive scanners, and ultrasound scanners.

15. The system of claim 1, further comprising a routine for storing a three-dimensional representation of said patient'"'"'s craniofacial structures in a format suitable for use by a manufacturer of orthodontic appliances.

16. The system of claim 1, further comprising a routine for transmitting said composite, combined digital three-dimensional representation of said craniofacial anatomical structures over a computer network.

17. The system of claim 1, wherein said set of instructions further comprises interactive treatment planning software for planning orthodontic treatment of said patient.

18. The system of claim 17, wherein the orthodontic treatment comprises a hybrid treatment in which different types of appliances (fixed or removable) are selected and designed to treat the patient.

19. The system of claim 1, wherein said set of tools further comprise tools providing the user with the ability to simulate the changing at least one of the following:

the age of the patient, the facial expression of the patient, and the coloring of the skin or teeth of the patient.

20. The system of claim 1, wherein said set of tools further comprise tools for simulating the modification of the shape of any craniofacial structure.

21. The system of claim 1, wherein said set of instructions comprise a set of instructions for merging data representing a three-dimensional scan of the surface of the face of the patient and data representing a two-dimensional color picture of the face of the patient to thereby create a three-dimensional colored virtual model of the face of the patient.

22. The system of claim 1, wherein said first and second sets of data are obtained from imaging devices selected from the group of imaging devices consisting of two dimensional cameras, X-ray devices, hand-held 3-D scanners, laser scanners, computed tomography (CT) scanners, MRI scanners, coordinate measuring machines, destructive scanners, and ultrasound scanners;

and

wherein said memory further stores a third or more sets of data representing images, including one or more X-rays of said craniofacial structures, and

wherein said set of instructions includes instructions for superimposing, either automatically or with user involvement, the three-dimensional model of said craniofacial structures from the combination of said first and second data sets with said one or more images of said craniofacial structures.

23. The system of claim 1, wherein said set of instructions are integrated with a patient management program having a scheduling feature for scheduling appointments for said patient.

24. The system of claim 23, wherein said patient management program provides a flexible scheduling of patient appointments based on progress of treatment of said craniofacial anatomical structures.

25. The system of claim 24, wherein said progress of treatment is obtained from periodically obtaining updated three-dimensional information regarding the progress of treatment of the craniofacial features of the patient.

26. The system of claim 25, wherein said Three-dimensional information is obtained from a scanning of the craniofacial anatomical structures with an optical, hand-held scanner.

27. The system of claim 25, wherein said craniofacial anatomical structures include the teeth of the patient.

28. The system of claim 1, wherein said set of instructions superimpose said first set of digital data and said second set of digital data with the use of operator interaction, and wherein said operator interaction comprises:

displaying said first and second sets of digital data on said user interface, said operator selecting points on said user interface in said first set of data which are common to said second set of data.

29. The system of claim 1, wherein said set of tools further comprise tools for simulation of change in the position of the teeth of the patient.

30. The system of claim 1, wherein said set of tools further comprise tools for simulation of changes in soft tissue of the patient.

31. The system of claim 1, wherein said set of instructions further comprises measurement tools for making measurements of said craniofacial anatomical structures.

32. The method of claim 1, wherein said composite, combined digital representation comprises a two-dimensional representation.

33. The method of claim 1, wherein said composite, combined digital representation comprises a superposition of a two-dimensional representation and a three dimensional representation.

34. The method of claim 1, wherein said set of instructions model growth in craniofacial structure of functional movement of craniofacial structures.

35. An orthodontic treatment planning system, comprising:

a scanner for scanning the dentition of the patient;

a general purpose computer receiving scan data from said scanner and responsively generating a three-dimensional virtual model of the dentition of the patient;

software stored on a machine-readable memory containing instructions for combining, either automatically or with the aid of an operator, said scan data with digital data of the facial appearance of the patient, to thereby create a combined digital three-dimensional representation of said dentition and said facial appearance in a common three-dimensional coordinate system, wherein said scan data and the digital data of the facial appearance of the patient are obtained at different points in time and are not captured in a correlated fashion;

wherein said instructions enable superimposition of such image data not captured in a correlated fashion,

wherein said instructions further comprise instructions for creating a virtual 3D face from said digital data of the facial appearance of the patient using an active model matching strategy;

said instructions further comprising software providing the user with tools to manipulate the position of the virtual teeth in said three-dimensional virtual model of the dentition relative to other anatomical structures of the patient and to visualize the effect of proposed changes in tooth position on the facial appearance of the patient,

wherein said tools thereby provide the user with the ability to design on said computer a desired three-dimensional configuration of said virtual teeth while viewing the effect of changing tooth position on the visual appearance of the face of the patient.

36. The system of claim 35, wherein said software further comprises tools for designing a hybrid orthodontic treatment in which different types of appliances (fixed or removable) are used to treat the patient.

37. The system of claim 35, wherein said scanner comprises a hand-held, three-dimensional optical scanner.

38. The system of claim 35, wherein said digital data of the facial appearance of the patient is obtained from said band-held, three-dimensional optical scanner.

39. The system of claim 35, wherein said digital data of the facial appearance of the patient comprises a combination of color photographic data and three-dimensional facial data obtained from a scanning of the face of the patient with a three-dimensional scanner.

40. The system of claim 35, wherein said combined digital three-dimensional representation includes X-ray data superimposed on said scan data and said digital data of the facial appearance of the patient.

41. The system of claim 35, wherein said combined digital three-dimensional representation includes computed tomography (CT) data superimposed on said scan data and said digital data of the facial appearance of the patient.

42. The system of claim 35, wherein said instructions further comprises measurement tools for making measurements of said virtual model of the dentition.

43. A unified workstation system for facilitating treatment of an orthodontic patient, comprising:

a plurality of imaging devices for obtaining two or three dimensional images of a patient;

a general purpose computer including software for constructing, either automatically or with user involvement, a virtual three-dimensional patient model, said virtual three-dimensional patient model including data representing the patient'"'"'s teeth, data representing the patients bone, and data representing soft tissue of the patient, wherein said data representing the patient'"'"'s teeth and the data representing the patients bone are obtained at different points in time and are not captured in a correlated fashion; and

wherein said software enables construction of said virtual thee-dimensional patient model from the data obtained at different points in time and not captured in a correlated fashion using a cylindrical projection technique; and

a set of instructions for treatment planning for said patient using the virtual three-dimensional patient model.

44. The system of claim 43, further comprising instructions for changing the position or orientation of any one of said teeth, bone and soft tissue and its affect on the facial appearance of the patient.

45. The system of claim 43, further comprising a database of standard orthodontic appliances.

46. The system of claim 43, further comprising software for designing a customized orthodontic appliance.

47. The system of claim 43, wherein said imaging devices comprise a hand-held in-vivo 3D scanner and a digital color camera.

48. The system of claim 47, wherein said digital color camera is incorporated into said 3D scanner.

49. The system of claim 43, further comprising instructions (1) enabling a user of said general purpose computer to select a treatment modality for treatment of said patient and (2) for enabling transmission of data representing said patient and the position of the teeth of the patient to a manufacturer of a customized orthodontic appliance.

50. The system of claim 43, wherein said treatment planning software comprises tools for designing a hybrid orthodontic treatment in which different types of appliances (fixed or removable) are used to treat the patient.

51. The system of claim 43, wherein the treatment planning software comprises tools facilitating a requirements analysis for treatment of the patient.

52. The system of claim 43, further comprising instructions for planning dental care of the patient, including restorative dentistry.

53. The system of claim 43, further comprising instructions for planning surgical treatment of the patient.

54. The system of claim 43, wherein said instructions further comprises measurement tools for making measurements of said virtual three-dimensional patient model.

55. A workstation for treatment planning, comprising:

a processor and a memory storing image data pertaining to a patient;

wherein said image data are obtained by superimposing a) a first set of digital data representing patient craniofacial image information obtained from a first imaging device, and b) a second set of digital data representing patient craniofacial image information obtained from a second image device different from said first image device, said first and second sets of data representing at least in part common craniofacial anatomical structures of said patient, wherein said first and second digital data sets are obtained at different points in time and are not captured in a correlated fashion;

instructions for said processor to automatically, and/or with the aid of operator interaction, superimpose said first set of digital data and said second set of digital data so as to provide a composite, combined digital representation of said craniofacial anatomical structures created from said first and second digital data sets each obtained at different points in time and not captured in a correlated fashion in a common coordinate system;

wherein said set of instructions comprise instructions for creating a virtual 3D face at least from a portion of said craniofacial anatomical structures using an active model matching strategy;

instructions for said processor comprising treatment planning software for accessing said image data and viewing a proposed a treatment and appliance design for the patient;

wherein said treatment planning software instructions are capable of providing output appliance design data in a format suitable for automated computer processing by software of any one of a plurality of different appliance manufacturers.

56. The workstation of claim 55, wherein said image data comprises scan data representing a virtual three-dimensional model of the dentition and wherein the virtual model of the dentition is capable of being represented in a plurality of different formats so as to be compatible with the treatment planning software of a plurality of different orthodontic appliance manufacturers.

57. A system for use in diagnosis and planning treatment of a human patient, comprising:

a general purpose computer system having a processor and a user interface;

a memory accessible to said general purpose computer system storing a) a first set of digital data representing two dimensional patient craniofacial image information obtained from a first imaging device, and b) a second set of digital data representing three-dimensional patient craniofacial image information obtained from a second image device different from said first image device, said first and second sets of data representing at least in part common craniofacial anatomical structures of said patient, wherein said first and second digital data sets are obtained at different points in time and are not captured in a correlated fashion; and

a set of computer instructions stored on a machine readable storage medium accessible to said general purpose computer system, wherein said set of instructions comprises instructions for causing said general computer system to;

1) automatically, and/or with the aid of operator interaction, superimpose said first set of digital data and said second set of digital data so as to provide a composite, combined digital representation of said craniofacial anatomical structures created from said first and second digital data sets each obtained at different points in time and not captured in a correlated fashion in a common coordinate system;

wherein said set of instructions comprise instructions for creating a virtual 3D face at least from a portion of said craniofacial anatomical structures using an active model matching strategy;

2) displaying display said composite, combined digital representation of said craniofacial anatomical structures, including said virtual 3D face, to a user of said system.

58. A system for use in diagnosis and planning treatment of a human patient, comprising:

a general purpose computer system having a processor and a user interface;

a memory accessible to said general purpose computer system storing a) a first set of digital data representing three dimensional patient craniofacial image information obtained from a first imaging device, and b) a second set of digital data representing three-dimensional patient craniofacial image information obtained from a second image device different from said first image device, said first and second sets of data representing at least in part common craniofacial anatomical structures of said patient, wherein said first and second digital data sets are obtained at different points in time and are not captured in a correlated fashion; and

a set of computer instructions stored on a machine readable storage medium accessible to said general purpose computer system, wherein said set of instructions comprises instructions for causing said general computer system to;

1) automatically, and/or with the aid of operator interaction, superimpose said first set of digital data and said second set of digital data so as to provide a composite, combined three-dimensional digital representation of said craniofacial anatomical structures created from said first and second digital data sets each obtained at different points in time and not captured in a correlated fashion in a common coordinate system;

wherein said set of instructions comprise instructions for creating a virtual 3D face at least from a portion of said craniofacial anatomical structures using an active model matching strategy;

2) display said composite, combined digital three-dimensional representation of said craniofacial anatomical structures, including said virtual 3D face, to a user of said system.

59. A workstation providing craniofacial treatment planning tools in the form of interactive software for display of a virtual tree-dimensional model of teeth, and wherein said software comprises a routine for flattening said tree-dimensional virtual model of teeth and presenting said model as a two-dimensional line of virtual teeth, said routine further superimposing said line of teeth on a two dimensional image containing tooth roots and associated anatomical structures.

60. The workstation of claim 59, wherein said image comprises an X-ray.

61. The workstation of claim 59, wherein said image comprises a CT scan.

62. A workstation providing craniofacial treatment planning tools in the form of interactive software for display of a virtual three-dimensional model of teeth, and wherein said software comprises a routine displaying a three-dimensional virtual model of teeth superimposed on a image containing tooth roots and associated anatomical structures, wherein said tree-dimensional virtual model of teeth and image containing toot roots and associated anatomical structures are obtained at different points in time and are not captured in a correlated fashion, and wherein said three-dimensional virtual model of teeth and said image containing tooth roots and associated anatomical structures are properly sealed using one or more scaling reference points.