We study a general problem how the gap in a nonmagnetic band insulator closes by tuning a parameter. We review our recent results on the classification of all the possible gap closing in two and three dimensions. We show that they accompany the change of Z(2) topological numbers, and that the gap closings correspond to phase transitions between the quantum spin Hall and the insulator phases. Interestingly, in inversion-asymmetric three-dimensional systems there appears a gapless phase between the quantum spin Hall and insulator phases. This gapless phase is due to a topological nature of gap-closing points in three dimensions, but not in two dimensions. (C) 2010 Elsevier B.V. All rights reserved.