Computers in Biology and Medicine 66 (2015) 103–112

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Computers in Biology and Medicine

journal homepage: www.elsevier.com/locate/cbm

Prediction of facial deformation after complete denture prosthesis

using BP neural network
Cheng Cheng a, Xiaosheng Cheng a, Ning Dai a,n, Xiaotong Jiang a, Yuchun Sun b, Weiwei Li b
a
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Mailbox 357, 29 Yudao Street, Qinhuai District,
Nanjing 210016, PR China
b
Research Centre of Engineering and Technology for Computerized Dentistry, Ministry of Health, Peking University School and Hospital of Stomatology,
Beijing 100081, PR China

art ic l e i nf o a b s t r a c t

Article history: With the accelerated aging of world population, complete denture prosthesis plays an increasingly
Received 12 May 2015 important role in mouth rehabilitation. In addition to recovering stomatognathic system function,
Accepted 24 August 2015 restoring the appearance of a third of the area under the face has become a great challenge in complete
denture prosthesis. This study analyzes the interactive relationship between the appearance of a third of
Keywords: the area under the face and complete denture, and proposes a new method to predict facial deformation
BP neural network after complete denture prosthesis. Firstly, to improve computational efficiency, the feature template is
Laplacian deformation constructed to replace the deformed facial region. Secondly, a forecast model of elastic deformation is
Complete denture constructed using BP neural network and predicts elastic deformation amount because of the inhomo-
Soft tissue simulation
geneous, anisotropic and nonlinear material properties of soft tissue. Finally, a new feature template is
Feature Template
calculated using deformation amount, and the deformation of preoperative model is simulated using
Laplacian deformation technique. The average error rates of different hidden layer nodes in the neural
network are analysed. Deformation and postoperative models are superimposed for match analysis.
Experimental results show that this method can predict facial soft tissue deformation quickly and
accurately.
& 2015 Elsevier Ltd. All rights reserved.

1. Introduction In the past years, many scholars employed quantitative facial

The complex process of complete denture prosthesis includes
many treatments and testing steps. Complete denture prosthesis
mainly targets edentulous patients, which not only improves
function but also restores the appearance of the face. The optimum
operation scheme is developed before operation to produce the
best results. Delicate surgeries require doctors to develop treat-
ment plans, which integrate clinical examination, dental cast and
cephalometry. The doctors must predict the facial aesthetic and
facial soft tissue changes of the patients after operations. Cur-
rently, the prediction of facial deformation depends on the sub-
jective judgments and experience of doctors, but this process lacks
scientific quantitative analysis.
n
Corresponding author. Tel.: þ 86 13512503032.
E-mail addresses: baojia117@126.com (C. Cheng),
1603841029@qq.com (X. Cheng), dai_ning@nuaa.edu.cn (N. Dai),
jxt_nuaa@sina.com (X. Jiang), polarshining@163.com (Y. Sun),
liww@bjmu.edu.cn (W. Li).
analysis after maxillofacial surgery [1,2]. Many studies on facial
soft tissue modelling have been conducted, and they are classified
into three categories, namely, mass-spring model (MSM), finite-
element model (FEM) and mass-tensor model (MTM). MSM was
initially accepted for face animation because of its well-known
physics and computational efficiency. Koch et al. [3] reconstructed
facial model and skull model according to CT data. They con-
structed MSM between facial and skull models for deformation
simulation. Keeve et al. [4] constructed MSM with prismatic ele-
ment and compare its precision with FEM. Teschner et al. [5]
computed the state of equilibrium of soft tissue by using multi-
layer nonlinear MSM. FEM has high precision, but requires long
calculation time. Sarti et al. [6] used a super computer to compute
voxel-based FEM. Zachow et al. [7] proposed fast tetrahedral ele-
ments for FEM and applied the model in clinical practise. Gladilin
[8] applied FEM to the simulation of facial muscles. Chabanas et al.
[9] reduced the pretreatment time with a mesh morphing algo-
rithm to prepare FEM. Many studies optimised computing strate-
gies and models [10–12] because of the substantial and long cal-
culation time of FEM. MTM was developed to balance calculation

http://dx.doi.org/10.1016/j.compbiomed.2015.08.018
0010-4825/& 2015 Elsevier Ltd. All rights reserved.
104 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112
speed and precision. Mollemans et al. [13] applied MTM to soft
tissue simulation for maxillofacial surgery. They reconstructed the
facial and skull models by using CT data and then simulated the
displacement of skull and facial deformation. MTM is a combina-
tion of FEM and MSM. On the one hand, MTM has the bio-
mechanical relevance of FEM. On the other hand, MTM retains the
easy architecture of MSM. Patients require CT scans to analyse the
soft tissue model to determine the boundary conditions of the
model. This procedure could affect the health of patients.
Artificial neural networks (ANNs) have been widely applied to
complex system modelling and are particularly suitable to pro-
blems that involve the manipulation of multiple parameters and
nonlinear interpolation. BP neural network is a typical ANN, which
can implement any complex nonlinear mapping functions. Scott
et al. [14] predicted the material properties of ceramic using ANNs.
Suganthi et al. [15] applied BP neural network to predict the
multiple quality responses in micro-EDM operations. Oktem [16]
constructed BP neural network model for surface roughness pre-
diction. Models of the diffusion of oxygen through mixed ionic
conductors have provided accurate predictions of the diffusion
coefficient [17]. ANNs have provided accurate predictions in the
performance of materials with highly complex behaviour [18,19].
However, ANNs have not been applied in facial deformation pre-
diction research.
No current studies have analysed the prediction of facial
deformation after complete denture prosthesis. This paper pro-
poses a new facial deformation prediction method after complete
denture prosthesis. This method has high computational efficiency
and good predictive accuracy and does not require CT scan. Pre-
operative and postoperative models of 48 patients were obtained
from doctors. The feature templates containing several feature
points were designed to replace the deformed area of facial
models. They also improved the computational efficiency. The
transformation from preoperative to postoperative models must
be examined with BP neural network. Then, BP neural network
was applied to construct the nonlinear elastic prediction model of
soft tissue. Forecast output data can be obtained through elastic
prediction model. According to the forecast output data, the
Fig. 1. (a) Facial model and denture model; (b) deformation model; and (c) relationship between fullness constraint surface and denture model.
deformations of preoperative models were simulated using
Laplacian deformation technique.
This study aims to predict the facial deformation of a patient
after complete denture prosthesis and to provide the constraints
related to the digital arrangement of artificial teeth in the com-
plete denture. The proposed method in this paper is prepared for
the digital design and manufacturing of complete denture. The
traditional production of complete denture requires skilled tech-
nicians, high treatment costs, and long production cycle. A CAD/
CAM (Computer Aided Design/Computer Aided Manufacturing)
system can assist the completion of manual arrangement and wax
production by using a computer and a rapid prototyping tech-
nology. A 3D model of the edentulous mould is obtained through
scanning. Then critical features are very necessary to provide the
basis of tooth-arrangement and the constraints on the spatial
position and posture of complete denture. The fullness constraint
surface is one of the most important features of complete denture
production, as shown in Fig. 1. The completely arranged artificial
articulation is related to the fullness surface and satisfies indivi-
dualised needs. The fullness constraint surface, which is the inner
surface of the skin, is ratiocinated by the prediction of facial
deformation of a patient after complete denture prosthesis.
2. Materials and methods
The models used in this paper were supplied by the Depart-
ment of Orthodontics, School of Stomatology, Peking University. A
total of 48 edentulous patients agreed to participate in this
research. Preoperative and postoperative models of each patient
were acquired. Face Scan (3D SHAPE, Germany) was used to obtain
the models (scan time: 0.3/0.8 s; scan accuracy: 0.1 mm). Finally,
preoperative and postoperative facial 3D point cloud data of 48
patients were collected.
The main work of this study is to predict the facial deformation
of edentulous patients after complete denture prosthesis. The
overview of our simulation pipeline is depicted in Fig. 2. The work
flow includes the following steps:
 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112
Fig. 2. Pipeline of facial deformation prediction method.
(1) Model matching. According to the positions of the eyes and nose,
ICP-based registration can be performed between preoperative
and postoperative models.
(2) Constructing feature templates. Feature templates are con-
structed for the preoperative and postoperative models and
consisted of several feature points.
(3) Constructing elastic deformation prediction model. BP neural
network can be trained using feature templates. Thereafter, BP
neural network becomes an elastic deformation prediction
model.
(4) Prediction and simulation. According to the output data pre-
dicted by elastic deformation prediction model, the deformation
of preoperative model can be simulated using Laplacian defor-
mation technique.
(5) Validation. The computed facial appearance is qualitatively and
quantitatively compared with the real postoperative model. The
average error rates of a different number of hidden layer nodes
of neural network are analysed.
2.1. Constructing the feature template
3D face scan data have considerable differences. The vertices
among the models have no corresponding relationship and the
number of vertices contradicts the number of triangle meshes. The
feature template is constructed to replace the deformed facial
region to allow manoeuvrability of data, to improve the calculation
efficiency and to simplify the point cloud models.
Before constructing the feature template, ICP-based registration
is performed between preoperative and postoperative models
according to the positions of the eyes and nose, as shown in Fig. 3.
The feature template is constructed as shown in Fig. 4(b). The
main steps include the following:
(1) The maximum point A (Fig. 4(a)) in the Z direction is founded in
the coordinates, as shown in Fig. 3.
(2) The vertical isoline across point A in the Y direction is shown in
Fig. 4(a). According to the contour curvature, the feature points
under the nose and on upper lip part are located and labelled as
points 1, 3, 4 and 5. The contour curvature is expressed by mean
curvature
n [21] proved that three layers of feedforward network with one
1
H= ∑ Ki i = 1, 2, …, n
n i=1
2∙(pj − pi )∙n⃑
Ki =
(pj − pi )∙(pj − pi )
where H is the mean curvature; n is the number of points in one
ring neighbourhood of pi ; pi is the centre point; pj is the point in
one ring neighbourhood of pi ; Ki is the curvature of the surface
between pi and pj ; and n⃑ is the normal vector at pi . The middle
point 2 between points 1 and 3 is computed, and the symmetric
points 6 and 7 of points 1 and 2 are relative to point 4 in X and Y
plane.
105
Fig. 3. Model matching.
(3) The horizontal isoline across point A in the X direction can be
obtained. According to the contour curvature, the feature points
E and F on both sides of the nose are located. Similar to the
middle point G between points A and E, the middle point H
between points A and F is computed.
(4) Similar to step (2), the vertical isolines across points E, G, H, F in
the Y direction are obtained. The feature points are located
according to the contour curvature. Finally, the feature template
comprising feature points 1–29 is collected (Fig. 4(b)).
2.2. Constructing the elastic deformation prediction model
Human skin tissue is a heterogeneous material. Its mechanical
properties include nonlinearity and anisotropism. BP neural net-
work can express complex, nonlinear and uncertain systems.
In this paper, BP neural network is used to obtain the rela-
tionship between elastic deformation and the feature template of
the preoperative model. The facial elastic deformation prediction
model can be constructed.
BP neural network is a feedforward neural network. The main
characteristic of this network is that the signals are transmitted
forward, and the errors are transmitted in reverse. Hecht-Nielsen
hidden layer can approach any multivariable polynomial function.
(1)
Therefore, the three layers of BP neural network are used to pre-
dict the amount of elastic deformation in the preoperative model.
The topology of BP neural network is shown in Fig. 5.
(2)
Fig. 5 shows that {X1, X2 , … , Xn } are the input data of BP neural
network. Xi (i¼ 1,2,…,n) preserves the coordinates of feature points
on the preoperative model. {Y1, Y2, … , Yn } are the predicted values.
Yi (i ¼1,2,…,n) preserves the displacements of corresponding fea-
ture points from preoperative to postoperative model, also known
as amount of elastic deformation. The number of neuron of input
layer is the same as that of the output layer at 29. ωij and ωjk are
the weights of the BP neural network.
106 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112

Fig. 4. Constructing feature template: (a) vertical isoline cross point A; and (b) feature template.

Fig. 7. Laplacian coordinate.

Fig. 5. Topology of BP neural network.

Table 1
Prediction results of BP neural network.

Feature Actual output Expected output

point's
no. ∆x (mm) ∆y (mm) ∆z (mm) ∆x′(mm) ∆y′(mm) ∆z′(mm)

1 1.168336  1.34523 2.138298 1.942  2.385 1.952

2 0.987358 2.27345 4.988957 1.245 3.182 5.842
3 0.793458  0.82734 5.182492 1.142  0.081 5.941
4 0.873264  1.09485 4.891209 1.131  0.206 5.275
5 1.634878  2.23746 4.929589 1.759  2.442 4.458
6 1.023384  1.93247 3.827464 0.972  2.113 3.293
7 0.623843  0.37434 4.923487 0.41 1.247 3.868
8 0.929345 0.827355 3.989454 1.725 0.688 3.886
9 2.737564 4.824812 4.138563 3.062 5.008 3.979
10 1.234857 0.123497 5.728974 2.415 0.878 5.936
11 0.934756 1.938947 7.217462 1.992 2.834 7.833
12 1.936457 0.392934 6.998474 2.305 0.418 7.935
13 0.993248  0.07463 5.234764 1.251 0.117 6.597
14 1.893428 0.234875 4.392834 3.092  0.82 4.552
15 0.923476 3.238534 3.323948 1.835 4.758 3.781
16 1.347564  1.08327 4.623948 1.936  0.84 4.702
17 0.634985  0.02348 5.929384 0.725 2.247 6.568
18 0.934587  0.82348 6.132483 1.459  0.588 6.792
19 1.102394 0.134857 4.812345 1.097 0.219 5.24
20 1.523498 0.523498 3.923487 1.694 0.723 3.626
21 0.234985 2.234753 2.693482 0.679 5.822 2.906
22 0.837425  0.09823 6.489734 0.057 0.644 6.242
23 0.808923 2.289345 7.293843 0.898 4.158 8.864
24 1.093274 0.132645 8.921495 0.753 0.173 9.413
25 0.120934  0.02382 7.121894 0.332 0.196 6.994
26 0.108487 1.832898 7.847283  0.637 1.958 7.548
27 0.029481 2.834875 8.932847  0.254 4.883 9.192
28 0.198527 0.032092 7.139843  0.543  0.133 7.624
Fig. 6. Pipeline of BP neural network.
29 0.020394 0.028934 5.928793  0.576  0.096 6.696

The node transfer function of neuron in the hidden layer is the

tangent transfer function The space partition of different samples is achieved. The node
transfer function of neuron in output layer is linear transfer
1 − e−x function. The initial weights are the key trigger for the local
f (x) =
1 + e−x (3) minimum and the convergence in the training because of the
 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112
Fig. 8. (a) Original and new coordinates of feature points; and (b) original and new coordinates of feature points in XY plane.
nonlinear mapping relationship between input and output.
Therefore, the initial weights are even-distributed empirical dec-
imal. L–M algorithm (Levenberg–Marquardt algorithm) is chosen
to update and compute for ωij and ωjk because L–M algorithm has
fast convergence speed. Nonlinear mapping between input and
output can be realized. The training of BP neural network is shown
in Fig. 6.
The completely trained BP neural network is the prediction
model of nonlinear facial elastic deformation and has the ability to
predict the elastic deformation of preoperative model.
2.3. Simulation using Laplacian deformation technique
The required deformation is obtained by moving many control
points in the facial point cloud data. If one control point is moved,
then new coordinates for every point in the point cloud data must
be computed, and the calculation burden is too heavy. The ideal
method is to calculate the relevant points after moving all control
points to the specified location.
107
Elastic deformation prediction model predicts the amount of
elastic deformation, in which feature points in preoperative
models move, that is Yi (i¼1, 2,…, n). The new coordinates of fea-
ture points are expressed as Zi = Xi + Yi (i ¼1, 2,…, n). The feature
points in preoperative models are control points applied to
deformation. When all control points are moved to their new
positions, all points in the point cloud data are computed using
Laplacian deformation technique.
Vertex p in the point cloud data is given as vp . The Laplacian
coordinate corresponding to vp is shown as δp . The centre point of
one ring neighbourhood of vp is expressed as
1
v¯p = ∑ vq
dp q ∈ N (p ) (4)
where vp̅ is the centre point and dp is the number of the neigh-
bourhood points.
According to uniform weight, the Cartesian coordinate of the
triangle mesh is transformed into Laplacian coordinate, as shown
in Fig. 7 and expressed as
108 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112

Fig. 9. (a) Preoperative model from the front; (b) preoperative model from the side; and (c) deformation model from the front; (d) deformation model from the side.

The new coordinates of all points in the facial point cloud data
can be computed by
⎡ L⎤ ⎡ δ ⎤
⎢⎣ ⎥⎦ V ′ = ⎢⎣ ⎥⎦
I W (8)

where W is the coordinate of the control points and V′ is the new

coordinate of all points.
The new coordinates of all points in the facial point cloud data
are computed based on the changes in the positions of the control
points. The deformation of preoperative models is simulated.

3. Results
Fig. 10. Preoperative model matches with deformation model.

Deformation simulation and the construction of the feature

template were programmed using Visual Cþ þ, and the elastic
1 deformation prediction model was constructed using MATLAB.
δ p = L ( vp ) = vp − ∑ vq
dp q ∈ N (p ) (5) This paper first applied BP neural network to the facial model
deformation prediction after complete denture prosthesis and
Based on discrete mathematics, the adjacent matrix A can be constructed the nonlinear elastic prediction model because of the
expressed as complexity of the skin tissue structure. A total of 48 patients
participated in this study. The data from 43 patients were used as
⎧ 1, (p, q) ∈ edge training sample, and the data from 5 patients were used as pre-
Apq = ⎨
⎩ 0, otherwise (6) dicting sample.
Based on the network structure test, 20 nodes in the hidden
The Laplacian coefficient matrix L can be expressed as layers of BP neural network resulted in minimum error and short
calculation time. Prediction results such as the increments of three
L = I − D−1A (7) directions are listed in Table 1. Original and new coordinates after
incremental iteration of feature points on the prediction model are
where D is the diagonal matrix, Dpp=dp and I contains the weights shown in Fig. 8. The deformation of preoperative model was
of control points. simulated using Laplacian deformation technique, employing
 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112
Fig. 11. An additional 4 predicting samples.
Fig. 12. Training process of BP neural network.
feature points as control points. The results are shown in Fig. 9.
The deformation model matches with the original model, as
shown in Fig. 10. An additional 4 predicting samples are shown in
Fig. 11.
4. Discussion
4.1. Error analysis
Reports and literature of the relevant studies on deformation
prediction of facial appearance are scarce. By combining BP neural
network and Laplacian deformation technique, this paper
109
proposed a new prediction method for facial appearance after
complete denture prosthesis.
The training process of BP neural network is shown in Figs. 12
and 13. The elastic deformation of model is mainly in the Z
direction and smaller in the X and Y directions, as shown in
Table 1. The distribution of sample points caused the deformation
in the X and Y directions because of the variability of the curva-
tures on the face. Deformation in the X and Y directions was
ignored. Average error rate was used to forecast the evaluation of
the deformation in the Z direction. The calculation is expressed as
n Z i − Z ‵i
∑i = 1 Z ‵i
Ep = × 100%
n (9)
where Ep is the average error rate; Zi is the actual output; Z ′i is the
expected output and n is the number of sample points. The hidden
layer plays a very important role in BP neural network. The aver-
age error rate of the deformation in the Z direction was computed
for the different hidden layer nodes, as shown in Table 2.
The prediction results were collected by adjusting the number
of hidden layer nodes in the experiment. The number of hidden
layer nodes was fixed based on the comparison of prediction error.
This study conclusively regarded the number of hidden layer
nodes as 20, and the average error rate was 22.49%.
The postoperative model was acquired from the edentulous
patient after complete denture prosthesis, as shown in Fig. 14.
According to the positions of the eyes and nose, the deformation
and postoperative models were superimposed for matching ana-
lysis. The relative deviations of the deformation model were
analysed using the postoperative model as reference, as shown in
Fig. 15. A third of the area under the face was the main deforma-
tion area, and the deviations of this area were from  2.021 mm to
2.021 mm in colour gradation. The deviations of more than 95% of
the main deformation area were less than 2 mm. The average
110 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112

Fig. 13. Regression analysis diagram of BP neural network.

Table 2
Average error rate for the different hidden layer nodes.

Number of nodes 5 10 15 20 25 30

Ep 48.93% 40.65% 27.01% 22.49% 28.11% 39.24%

Fig. 14. (a) Postoperative model from the front; and (b) postoperative model from the side.
 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112
deviations of all five prediction samples were less than 2 mm, as
shown in Fig. 16.
4.2. Efficiency analysis
The total run time for the three programs, such as constructing
feature template, elastic deformation prediction and deformation
Fig. 15. Deviation analysis.
Fig. 16. Deviation analysis of an additional 4 samples.
111
simulation, was less than 10 s, and the run time in single mode
was less than 3 s. Chabanas et al. [20] presented a complete
maxillofacial planning and the prediction of the new facial
appearance. The computation times ranged from 2 min to 7 min.
The differences were not more than 2 mm. The accuracy was
similar to this study, but the method used in this study was more
efficient.
4.3. CT scan not necessary
FEM and MTM are widely used in current facial soft tissue
simulation. When the soft tissue model is analysed, patients need
CT scans to determine the boundary conditions of the model [13].
Frequent CT scan could be very harmful to health. This research
does not require skull model but uses facial models for prediction
and simulation.
4.4. Contribution to the design therapeutic schemes
This method can predict facial soft tissue changes in patients
after complete denture prosthesis, and shows the changes as 3D
models for doctors and patients. The doctors and patients com-
prehend the changes of face intuitively. The doctors can make
personalised tooth-arrangement scheme for the complete denture
of patients.
112 C. Cheng et al. / Computers in Biology and Medicine 66 (2015) 103–112
5. Conclusion
Complex treatment and unpredictable results are some char-
acteristics of complete denture restoration. Doctors need to pre-
dict the facial aesthetic and facial soft tissue changes in patients
before treatment, leading to repeated treatment. This paper first
applied BP neural network to facial model deformation prediction
after complete denture prosthesis. This method used the proper-
ties of BP neural network, such as self-learning, self-adapting and
nonlinearity. The elastic deformation prediction model was then
constructed for the complicated soft tissue. The deformation of
preoperative model was simulated using Laplacian deformation
technique, and 3D model was intuitive. The comparison between
the deformation and postoperative models showed that this
method is feasible.
BP neural network is easy to converge to the local minimum,
and accuracy has a considerable relationship to the number of
samples. Future studies will focus on improving the structure of
neural network and obtaining more samples to enhance prediction
precision. The feature template should be further discussed. Many
different forms of feature template will be tested to receive more
accurate results.
Conflict of interest statement
The authors declare that there is no conflict of interests
regarding the publication of this paper.
Acknowledgements
This study was supported by the National Natural Science
Foundation of China (51205192, 51175248).
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Cheng Cheng. Gender: Male. Education background: Ph.D. Candidate. University:
Nanjing University of Aeronautics and Astronautics. College: College of Mechanical
and Electrical Engineering.
Xiaosheng Cheng. Gender: Male. Education background: Ph.D. The title of a
technical post: Professor. University: Nanjing University of Aeronautics and Astro-
nautics. College: College of Mechanical and Electrical Engineering.
Ning Dai. Gender: Male. Education background: Ph.D. The title of a technical post:
Professor. University: Nanjing University of Aeronautics and Astronautics. College:
College of Mechanical and Electrical Engineering.
Xiaotong Jiang. Gender: Male. Education background: Ph.D. Candidate. University:
Nanjing University of Aeronautics and Astronautics. College: College of Mechanical
and Electrical Engineering.
Yuchun Sun. Gender: Male. Education background: Ph.D. University: Peking Uni-
versity School and Hospital of Stomatology. Department: Research Centre of
Engineering and Technology for Computerised Dentistry.
Weiwei Li. Gender: Female. Education background: Master. University: Peking
University School and Hospital of Stomatology. Department: Research Centre of
Engineering and Technology for Computerised Dentistry.