CN110664483A - Navigation method, device, electronic equipment and storage medium for apical surgery - Google Patents
Navigation method, device, electronic equipment and storage medium for apical surgery Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61C5/00—Filling or capping teeth
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The application relates to a navigation method, a navigation device, an electronic device and a storage medium for a root tip surgical operation. The method comprises the following steps: planning a surgical path in CBCT oral cavity image data; acquiring reference image coordinate data of the affected tooth and calibrating the coordinate data of the surgical instrument; carrying out coordinate transformation on CBCT oral cavity image data by adopting image registration according to reference image coordinate data of the affected teeth; and determining the relative position relation of the surgical instrument and the navigation path corresponding to the operation. According to the method and the device, the operation path planning and the image registration are carried out in the CBCT, and the coordinate data of the surgical instrument are calibrated according to the reference image coordinate data of the affected tooth, so that the coordinate data of the surgical instrument, the CBCT for which the operation path planning is carried out and the reference image coordinate data of the affected tooth all have the same coordinate system, the relative position relation of the surgical instrument and the navigation path corresponding to the operation is further obtained, a doctor is guided to complete the corresponding operation through the relative position relation, and the accurate positioning of the operation is realized.
Description
Technical Field
The present application relates to the field of medical navigation technologies, and in particular, to a navigation method and apparatus for an apical surgical operation, an electronic device, and a storage medium.
Background
The root canal therapy is the first choice method for treating endodontic diseases and periapical diseases, which can solve most of the problems, but because of the complexity of the root canal dissection system, the clinical diagnosis and operation technology still has limitations, and a part of oral cavity diseases still need to be treated by the root canal surgery, wherein the most common method is the apical surgery.
The difficulty of the apical surgery lies in the location of the apical area during bone removal and fenestration, and when there is no lesion around the apical area and the cortical bone is intact, it is difficult to locate the affected tooth apical area and the lesion area, and the affected root and the root of the adjacent tooth may be damaged by blind drilling. Generally, the length of the root, the location of the apex, and the anatomical shape of the root are determined approximately by the anatomy of the root, preoperative X-ray and physician experience, by surgically removing bone near the apex to the root surface exposure and then removing bone along the root until the apex is exposed. Such an operation is limited by the surgical field and the experience of the doctor, so that the bone removal range and the damage to the bone tissue can be enlarged, the wound healing time can be prolonged, and some intraoperative and postoperative complications are easily caused, and therefore, the precise positioning of the apical part in the apical surgical operation cannot be realized.
Disclosure of Invention
In view of the above, it is necessary to provide a navigation method, an apparatus, an electronic device, and a storage medium for a root tip surgical operation, which can accurately position a root tip portion, in order to solve the above-mentioned problem that accurate positioning of a root tip portion in the root tip surgical operation cannot be achieved.
To achieve the above object, in one aspect, the present application provides a method for navigating a root tip surgical procedure, the method including:
performing surgical path planning in CBCT oral cavity image data to generate a path corresponding to a surgery;
acquiring reference image coordinate data of the affected tooth and calibrating the coordinate data of the surgical instrument;
performing coordinate transformation on the CBCT oral cavity image data of the path corresponding to the operation by adopting image registration according to the reference image coordinate data of the affected tooth to obtain a navigation path corresponding to the operation after coordinate transformation;
and determining the relative position relation of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.
In another aspect, an embodiment of the present application provides a navigation device for root tip surgery, including:
the operation path planning module is used for planning an operation path in the CBCT oral cavity image data so as to generate a path corresponding to an operation;
the data acquisition module is used for acquiring the coordinate data of the reference image of the affected tooth and the coordinate data of the surgical instrument;
the coordinate transformation module is used for carrying out coordinate transformation on the CBCT oral cavity image data of the path corresponding to the operation by adopting image registration according to the reference image coordinate data of the affected tooth so as to obtain a navigation path corresponding to the operation after coordinate transformation;
and the navigation module is used for determining the relative position relation of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.
In yet another aspect, an embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method as described above when executing the computer program.
In yet another aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method as described above.
According to the navigation method, the navigation device, the navigation electronic equipment and the storage medium for the root tip surgical operation, the operation path planning and the image registration are carried out in the CBCT oral cavity image data, the coordinate data of the surgical instrument are calibrated according to the reference image coordinate data of the affected tooth, so that the coordinate data of the surgical instrument, the CBCT oral cavity image data with the operation path planning and the reference image coordinate data of the affected tooth all have the same coordinate system, the relative position relation of the surgical instrument and the navigation path corresponding to the operation is further determined according to the coordinate data of the surgical instrument, a doctor is guided to complete the corresponding operation through the relative position relation, and the accurate positioning of the operation is realized.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating a method for navigating an apical surgical procedure, according to one embodiment;
FIG. 2 is a schematic flow chart illustrating the steps of image registration in one embodiment;
FIG. 3 is a schematic flow chart diagram illustrating a method of navigation for apical surgery in one embodiment;
FIG. 4 is a schematic flow chart illustrating a method for navigating bone removal and windowing in an apical surgery, according to an embodiment;
FIG. 5 is a schematic representation of a path plan for bone removal and windowing in an apical surgery, according to one embodiment;
FIG. 6 is a diagrammatic illustration of a navigation display for bone removal and windowing during an apical surgery, under an embodiment;
FIG. 7 is a schematic flow chart illustrating a method for navigating the excision of a root tip during a root tip surgical procedure, according to one embodiment;
FIG. 8 is a schematic representation of a path plan for a root tip resection in a root tip surgical procedure, in accordance with an embodiment;
FIG. 9 is a schematic view of a tooth structure according to one embodiment;
FIG. 10 is a navigation display diagram of a tip resection during a tip surgery, under an embodiment;
FIG. 11 is a flow chart illustrating a method for tip preparation navigation in a tip surgery, according to one embodiment;
FIG. 12 is a schematic diagram of path planning for tip preparation in a tip surgery, according to an embodiment;
FIG. 13 is a diagrammatic illustration of a navigation display of apical retrograde preparation during apical surgery in one embodiment;
FIG. 14 is a block diagram showing the structure of a navigation device for root tip surgery in one embodiment;
FIG. 15 is a diagram illustrating an internal structure of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The root tip surgical operation is divided into three stages of bone removal and windowing, root tip resection and root tip preparation, and in the traditional root tip surgical operation, the position of the root tip during bone removal and windowing is usually found by the experience of a doctor, the root tip resection and the root tip preparation are carried out, the requirement on the experience of the doctor is higher in the stage, and otherwise, the root tip cannot be precisely found and the tissue of the root tip cannot be avoided. In the traditional bone removing and windowing process, the bone removing range is generally more than 10mm, so that the bone removing range and the damage to bone tissues are larger; the amount of the root tip is also inaccurate, the branch of the root canal cannot be completely removed due to the short cutting, the remaining of the root is too short due to the long cutting, and the stability of the tooth is poor; the hole shape and direction of the reverse preparation are not standard, which causes the deviation of the hole shape of the reverse preparation and the long axis direction of the tooth body, and may cause the serious problems of side penetration and the like.
Based on this, the present application provides a navigation method for root tip surgery, which may include the following steps, as shown in fig. 1:
Wherein, CBCT is short for Cone beam CT, namely oral maxillofacial Cone beam CT. Specifically, the CBCT oral cavity image data may be CBCT oral cavity image data of a patient acquired in advance, and since a full-oral cavity double-dentition three-dimensional stereoscopic image can be obtained by CBCT and has a very high isotropic spatial resolution, a surgical path can be planned in the obtained CBCT oral cavity image data, that is, a starting point and an end point of the path can be specified in the obtained CBCT oral cavity image data according to the path corresponding to the apical surgery, so that the path corresponding to the surgery can be generated according to the starting point and the end point.
And step 104, acquiring the coordinate data of the reference image of the affected tooth and calibrating the coordinate data of the surgical instrument.
In this embodiment, the coordinate data of the surgical instrument is calibrated by using the coordinate data of the actual image of the affected tooth as the reference image, so as to obtain the coordinate data of the calibrated surgical instrument. For example, the surgical instrument may be calibrated to a line segment, and the tip of the surgical instrument is the coordinate of the tip point of the corresponding line segment, so that the coordinate data of the surgical instrument and the reference image coordinate data of the affected tooth have the same coordinate system.
And 106, performing coordinate transformation on the CBCT oral cavity image data of the path corresponding to the operation by adopting image registration according to the reference image coordinate data of the affected tooth to obtain a navigation path corresponding to the operation after coordinate transformation.
The navigation path refers to a moving path of a tip of a surgical instrument when a doctor is guided to perform an operation in the root tip surgical procedure. Specifically, in this embodiment, the CBCT oral cavity image data subjected to the surgical path planning is subjected to coordinate transformation by using an image registration method, so that the CBCT oral cavity image data of the path corresponding to the surgery and the reference image coordinate data of the affected tooth have the same coordinate system, and thus the navigation path corresponding to the surgery after the coordinate transformation is obtained.
And 108, determining the relative position relation of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.
The relative position relationship includes a relative deviation value between the two. Through the steps, the coordinate data of the surgical instrument, the CBCT oral cavity image data subjected to the surgical path planning and the reference image coordinate data of the affected tooth all have the same coordinate system, so that the relative deviation value of the surgical instrument and the navigation path corresponding to the surgery is determined by acquiring the current coordinate data of the surgical instrument when the doctor moves the surgical instrument during the surgical surgery, and the doctor is guided to complete the corresponding surgery through the navigation path and the relative deviation value.
According to the navigation method for the root tip surgical operation, the operation path planning and the image registration are carried out in the CBCT oral cavity image data, the coordinate data of the surgical instrument are calibrated according to the reference image coordinate data of the affected tooth, so that the coordinate data of the surgical instrument, the CBCT oral cavity image data with the operation path planning and the reference image coordinate data of the affected tooth all have the same coordinate system, the relative position relation of the surgical instrument and the navigation path corresponding to the operation is further determined according to the coordinate data of the surgical instrument, a doctor is guided to complete the corresponding operation through the relative position relation, and the accurate positioning of the operation is realized.
In one embodiment, as shown in fig. 2, the coordinate transformation of the CBCT oral cavity image data by image registration according to the reference image coordinate data of the affected tooth specifically includes the following steps:
and step 202, extracting characteristic points matched with the reference image coordinate data of the affected teeth in the CBCT oral cavity image data.
Specifically, the CBCT oral cavity image data and the reference image coordinate data of the affected tooth may be divided into feature regions (including pixel points, lines or regions), and the feature points matched with each other in the two image data may be obtained by a mathematical calculation method. For example, the mathematical calculation method may adopt a least square matching algorithm and a relaxation algorithm of global matching, which are not limited in the present embodiment.
And step 204, determining space coordinate transformation parameters between CBCT oral cavity image data and reference image coordinate data of the affected teeth according to the matched feature points.
Specifically, in this embodiment, spatial transformation and grayscale transformation may be performed on the CBCT oral cavity image data according to the matched feature points, that is, the matched feature points in the CBCT oral cavity image data are extracted, and spatial coordinate transformation and grayscale transformation are performed on the matched feature points, so that the degree of coincidence between the transformed feature points and the matched feature points in the reference image coordinate data of the affected tooth is maximized, and a specific numerical range may be determined according to a precision range required by the surgery, which is not limited in this embodiment, so as to determine corresponding spatial coordinate transformation parameters.
And step 206, carrying out space coordinate transformation on the CBCT oral cavity image data through the space coordinate transformation parameters to obtain a navigation path corresponding to the operation after the coordinate transformation.
In this embodiment, the CBCT oral cavity image data subjected to the surgical path planning is subjected to spatial coordinate transformation according to the spatial coordinate transformation parameters determined in the above steps to obtain transformed CBCT oral cavity image data, so that the transformed CBCT oral cavity image data and the reference image coordinate data of the affected tooth have the same coordinate system, thereby obtaining a surgical navigation path corresponding to the coordinate system of the reference image coordinate data of the affected tooth after transformation.
In the embodiment, the CBCT oral cavity image data is subjected to space coordinate transformation by an image registration method based on rigid body transformation of the characteristic points, so that the CBCT oral cavity image data is unified with reference image coordinate data of the affected teeth, namely, the actual position, and a navigation path corresponding to the operation after transformation is obtained, so that a doctor can be guided to realize accurate positioning in the operation process according to the navigation path.
In one embodiment, as shown in fig. 3, the method for navigating the root tip surgery may further include the following steps:
and step 110, displaying the relative position relation and CBCT oral cavity image data after coordinate transformation.
The relative position relationship includes a relative distance relationship, a relative angle relationship and a relative depth relationship between the two. The CBCT oral cavity image data after coordinate transformation comprises a navigation path corresponding to an operation.
Since the nature of the surgical instrument is a line segment during the calibration process of the surgical instrument, the tip of the surgical instrument is the coordinate of the tip point of the corresponding line segment. Therefore, in this embodiment, the relative distance between the surgical instrument and the navigation path corresponding to the surgery may be determined according to the shortest distance between the coordinate point corresponding to the tip of the surgical instrument and the navigation path corresponding to the surgery, that is, the shortest distance may be obtained by calculating the distance between the points, and the shortest distance may be determined as the relative distance between the two, and the relative distance may be displayed. Whether the surgical instrument moves along the preset navigation path can be clearly known through the shortest distance, the larger the distance is, the more the surgical instrument deviates from the navigation path, and when the distance is zero, the surgical instrument moves according to the preset navigation path.
And determining the relative angle of the surgical instrument and the navigation path corresponding to the operation according to the angle between the tip axis of the surgical instrument and the navigation path corresponding to the operation, namely determining the angle of the calibration space straight line (the angle between the tip axis of the surgical instrument and the navigation path corresponding to the operation) as the relative angle between the tip axis of the surgical instrument and the navigation path corresponding to the operation, and displaying the relative angle. Whether the surgical instrument moves along the direction of the preset navigation path or not can be clearly known through the relative angle, the larger the relative angle is, the more the surgical instrument deviates from the direction of the navigation path, and when the relative angle is reduced, the surgical instrument moves according to the direction of the preset navigation path.
The relative depth of the navigation path corresponding to the surgical instrument and the surgery can be determined according to the coordinate point corresponding to the tip of the surgical instrument and the end point of the navigation path corresponding to the surgery, namely the relative depth between the two is obtained by calculating the distance between the point and the point, and the relative depth is displayed. Whether the surgical instrument reaches the end point of the preset navigation path or not can be clearly known through the relative depth, the larger the absolute value of the relative depth is, the farther the surgical instrument deviates from the end point of the navigation path is, and when the relative depth is zero, the surgical instrument reaches the end point of the preset navigation path, namely, the operation is completed.
The above-mentioned embodiment is through showing the relative position relation between surgical instruments and the navigation route and carrying out the CBCT oral cavity image data after the coordinate transform for the doctor is surveyable to surgical instruments anatomical structure position relative to the patient, will see not clearly or can't see the treatment process, realizes whole virtual visual and quantization, thereby realizes quick, accurate location in the root tip surgery, and because whole process is controllable, the operation is also safer.
Since the root tip surgical operation is divided into three stages of bone removal and windowing, root tip resection and root tip preparation, the navigation method of the root tip surgical operation in the present application is further described below by using different stages of the root tip surgical operation respectively.
Specifically, as shown in fig. 4, taking bone removal and windowing in a root tip surgical operation as an example for explanation, the navigation method may specifically include the following steps:
Specifically, the bone removal and windowing procedure is designed in the CBCT oral cavity image data, and in this embodiment, as shown in fig. 5, the deepest point of the tooth root (i.e., the apical hole) that needs to be subjected to the apical surgical operation is first selected on the CBCT oral cavity image data, and a subsequent surgical path is generated based on the deepest point.
Wherein, the approximate straight line can be determined by adopting a linear approximation method according to the axis of the apical pore. And determining the area which is just in front of the labial side, the buccal side, the palatal side or the lingual side and corresponds to the apical pore as an area needing windowing, wherein the area needing windowing is an approximate straight line which is vertical to the axis of the apical pore, the section of the area is parallel to the bone plane of the affected tooth as much as possible, the area which corresponds to the labial side, the buccal side, the palatal side or the lingual side and meets the requirements is determined as the starting point of the bone-removing and windowing operation, and the position which corresponds to the apical pore is the end point of the bone-removing and windowing operation.
At step 406, a path for the bone removal and windowing procedure is generated based on the start point and the end point.
And generating a path of the bone-removing windowing operation in the CBCT oral cavity image data according to the starting point and the end point.
And step 408, acquiring the coordinate data of the reference image of the affected tooth and calibrating the coordinate data of the surgical instrument.
And step 410, performing coordinate transformation on the CBCT oral cavity image data of the generated bone-removing windowing operation path by adopting image registration according to the reference image coordinate data of the diseased tooth to obtain a navigation path corresponding to the bone-removing windowing operation after the coordinate transformation.
Specifically, the image registration can be completed by referring to the method shown in fig. 2, and details are not repeated here.
And step 412, determining the relative position relationship of the surgical instrument and the navigation path corresponding to the bone removal windowing operation according to the coordinate data of the surgical instrument.
The relative position relationship comprises the relative distance, the relative angle and the relative depth between the surgical instrument and the navigation path corresponding to the bone-removing and window-opening operation.
And step 414, displaying the relative position relation and the CBCT oral cavity image data after coordinate transformation.
The specific display is as shown in fig. 6, namely, the position of a real surgical instrument is virtualized in a CBCT image through image registration and calibration, and a doctor is guided to perform a bone-removing and window-opening operation through a quantitative reference value of a relative position, and because the display precision is in millimeter level and the error can be controlled in 0.1 millimeter level, a higher operation precision requirement can be realized.
In one embodiment, as shown in fig. 7, taking root tip resection in root tip surgery as an example for explanation, the navigation method may specifically include the following steps:
Specifically, the root apex resection procedure is designed in the CBCT oral cavity image data, and in this embodiment, as shown in fig. 8, first, the deepest point of the root (i.e., the root apex hole) that needs to be subjected to the root apex surgical operation is selected from the CBCT oral cavity image data, and a subsequent surgical path is generated with this point as a starting point.
From the above selected location of the apical pore, as shown in fig. 9, a second point is determined at a first predetermined distance along the coronal direction of the apical pore from the first point, and the second point is used as an end point, and the apical pore is used as a starting point for the apical resection. Specifically, because this application can carry out accurate positioning to each position point in CBCT oral cavity image data, and the root tip excision volume of ideal in the root tip excision operation is 3mm, promptly through excising 3 mm's root tip, can realize excising 90% branching in the root tip to reach best root tip excision effect. Therefore, the first preset distance of the present embodiment may be 3mm, i.e. the second point is determined along the coronal 3mm of the apical hole, thereby achieving the best apical resection effect.
In step 706, a path of the resection plane in the root tip resection procedure is generated based on the start point and the end point.
The cutting plane is vertical to the approximate straight line of the axis of the root tip hole, the second point is the end point of the path of the root tip cutting operation and the direction of the cutting plane cutting the root tip, and the path of the cutting plane in the root tip cutting operation is generated in CBCT oral cavity image data according to the start point and the end point. I.e. the cutting plane cuts the root tip along a path from the start point to the end point.
And step 708, acquiring the coordinate data of the reference image of the affected tooth and calibrating the coordinate data of the surgical instrument.
And 710, performing coordinate transformation on the CBCT oral cavity image data with the generated root tip resection operation path by adopting image registration according to the reference image coordinate data of the affected tooth to obtain a navigation path corresponding to the root tip resection operation after coordinate transformation.
Specifically, the image registration can be completed by referring to the method shown in fig. 2, and details are not repeated here.
And 712, determining the relative position relation of the surgical instrument and the navigation path corresponding to the root tip resection operation according to the coordinate data of the surgical instrument.
The relative position relationship comprises the relative distance, the relative angle and the relative depth between the surgical instrument and the navigation path corresponding to the root tip resection operation.
And 714, displaying the relative position relation and the CBCT oral cavity image data after coordinate transformation.
Specifically, as shown in fig. 10, the position of a real surgical instrument is virtualized in a CBCT image through image registration and calibration, and a doctor is guided to perform a root tip resection operation through a reference value of position quantification, and since the display accuracy is in the millimeter level and the error can be controlled in the 0.1 millimeter level, a higher operation accuracy requirement can be realized.
In one embodiment, as shown in fig. 11, taking the root tip preparation in the root tip surgical operation as an example for explanation, the navigation method may specifically include the following steps:
step 1102, selecting the root canal center point of the plane where the root apex is cut as a starting point.
Specifically, the pre-apical-retrograde operation procedure is designed in the CBCT oral cavity image data, and in this embodiment, as shown in fig. 12, a root canal center point of a plane where the apical part is resected, that is, a center point of the resection plane is first selected from the CBCT oral cavity image data, and the center point is determined as a starting point of the pre-apical-retrograde operation procedure.
And 1104, taking a second preset distance along the coronal direction of the root canal axis from the starting point as an end point.
The third point is determined in the same manner as the second point found in fig. 9, i.e., at a second predetermined distance coronally along the root canal axis from the starting point, and is determined as the third point, which is the direction of the apical reciprocal approach and the end point of the apical reciprocal approach procedure. The second preset distance of the present embodiment may be 3mm, that is, a third point is determined at a position 3mm away from the root canal axis along the coronal direction of the root canal axis, so as to achieve the optimal apical preparation effect.
Step 1106, generating a hole-type path of the root tip reversal preparatory operation according to the starting point and the end point.
And generating a hole type path of the apical inverted preparatory operation in the CBCT oral cavity image data according to the starting point and the ending point, wherein an axis of the generated hole type is an approximate straight line of the root canal axis, and the approximate straight line of the root canal axis can be determined by the root canal axis by adopting a linear approximation method, which is not limited in the embodiment.
And step 1108, acquiring the coordinate data of the reference image of the affected tooth and calibrating the coordinate data of the surgical instrument.
Step 1110, performing coordinate transformation on the CBCT oral cavity image data with the generated root-tip-reverse-preparation surgery path by using image registration according to the reference image coordinate data of the affected tooth to obtain a navigation path corresponding to the root-tip-reverse-preparation surgery after coordinate transformation.
Specifically, the image registration can be completed by referring to the method shown in fig. 2, and details are not repeated here.
And step 1112, determining the relative position relationship of the surgical instrument and the navigation path corresponding to the root-tip-back preparatory surgery according to the coordinate data of the surgical instrument.
The relative position relationship comprises the relative distance, the relative angle and the relative depth between the surgical instrument and the navigation path corresponding to the root tip preparation operation.
Step 1114, displaying the relative position relationship and the CBCT oral cavity image data after coordinate transformation.
Specifically, as shown in fig. 13, the position of a real surgical instrument is virtualized in a CBCT image through image registration and calibration, and a doctor is guided to perform a root tip preparation operation through a reference value of position quantification, and since the display accuracy is in the millimeter level and the error can be controlled in the 0.1 millimeter level, a higher operation accuracy requirement can be realized.
It should be understood that although the various steps in the flow charts of fig. 1-13 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-13 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 14, there is provided a navigation device for root tip surgery, including:
a surgical path planning module 1401, configured to perform surgical path planning in CBCT oral cavity image data to generate a path corresponding to a surgery;
the data acquisition module 1402 is used for acquiring reference image coordinate data of the affected tooth and calibrating the coordinate data of the surgical instrument;
a coordinate transformation module 1403, configured to perform coordinate transformation on the CBCT oral cavity image data of the path corresponding to the operation by using image registration according to the reference image coordinate data of the affected tooth, so as to obtain a navigation path corresponding to the operation after coordinate transformation;
and the navigation module 1404 is configured to determine a relative position relationship between the surgical instrument and the navigation path corresponding to the surgery according to the coordinate data of the surgical instrument.
In one embodiment, the system further comprises a display module for displaying the relative position relationship and the CBCT oral cavity image data after the coordinate transformation, wherein the CBCT oral cavity image data after the coordinate transformation includes a navigation path corresponding to the operation.
In one embodiment, the surgical path planning module 1401 is specifically configured to select a foramen root for performing a bone removal and windowing procedure in CBCT intraoral image data; determining the labial side, the buccal side, the jaw side or the lingual side which are perpendicular to the approximate straight line of the axis of the apical foramen as the starting point of the bone-removing and windowing operation, wherein the apical foramen is the end point of the bone-removing and windowing operation; and generating a path of the bone removal windowing operation according to the starting point and the end point.
In one embodiment, the surgical path planning module 1401 is specifically configured to select an apical pore for performing an apical resection operation in CBCT oral imaging data, starting with the apical pore; determining the position of the first preset distance from the crown of the apical foramen as the terminal point of the apical excision; a path of a resection plane in an apical resection is generated based on the start and end points, wherein the resection plane is perpendicular to an approximate line of the apical hole axis.
In one embodiment, the surgical path planning module 1401 is specifically configured to select a root canal center point of a plane where the root apex is located after the root apex is resected as a starting point; taking a coronal second preset distance from the starting point along the axis of the root canal as an end point; and generating a hole type path of the root tip inverting preparatory operation according to the starting point and the ending point, wherein the axis of the hole type is an approximate straight line of the axis of the root canal.
In one embodiment, the coordinate transformation module 1403 is specifically configured to extract feature points in CBCT oral cavity image data that match the reference image coordinate data of the affected tooth; determining space coordinate transformation parameters between CBCT oral cavity image data and reference image coordinate data of the affected teeth according to the matched feature points; and carrying out space coordinate transformation on the CBCT oral cavity image data through the space coordinate transformation parameters to obtain a navigation path which is subjected to the coordinate transformation and corresponds to the operation.
In one embodiment, the positional relationship includes distance, angle, and depth; the navigation module 1404 is specifically configured to determine a relative distance between the surgical instrument and the navigation path corresponding to the surgery according to the shortest distance between the coordinate point of the tip of the surgical instrument and the navigation path corresponding to the surgery; determining the relative angle of the surgical instrument and the navigation path corresponding to the operation according to the angle between the axis of the tip of the surgical instrument and the navigation path corresponding to the operation; and determining the relative depth of the surgical instrument and the navigation path corresponding to the operation according to the coordinate point of the tip of the surgical instrument and the end point of the navigation path corresponding to the operation.
For the specific definition of the navigation device for the apical surgery, reference may be made to the above definition of the navigation method for the apical surgery, which is not described herein again. The various modules in the root tip surgical navigation device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, an electronic device is provided that may be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. The internal structure thereof may be as shown in fig. 15. The electronic equipment comprises a processor, a memory, a network interface, a display screen, an input device and a database which are connected through a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the electronic device is used for storing image data required by the root tip surgical operation. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like. The computer program is executed by a processor to implement a method of navigating an apical surgical procedure.
Those skilled in the art will appreciate that the structure shown in fig. 15 is a block diagram of only a portion of the structure relevant to the present application, and does not constitute a limitation on the electronic device to which the present application is applied, and a particular electronic device may include more or less components than those shown in the drawings, or combine certain components, or have a different arrangement of components.
In one embodiment, an electronic device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
performing surgical path planning in CBCT oral cavity image data to generate a path corresponding to a surgery;
acquiring reference image coordinate data of the affected tooth and calibrating the coordinate data of the surgical instrument;
performing coordinate transformation on the CBCT oral cavity image data of the path corresponding to the operation by adopting image registration according to the reference image coordinate data of the affected tooth to obtain a navigation path corresponding to the operation after coordinate transformation;
and determining the relative position relation of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.
In one embodiment, surgical path planning is performed in CBCT intraoral imaging data to generate a path corresponding to a surgery, including: selecting a apical pore for bone and window removal operation from CBCT oral cavity image data; determining the labial side, the buccal side, the palatal side or the lingual side which are vertical to the approximate straight line of the axis of the apical foramen as the starting point of the bone-removing windowing operation, and determining the apical foramen as the end point of the bone-removing windowing operation; and generating a path of the bone removal windowing operation according to the starting point and the end point.
In one embodiment, surgical path planning is performed in CBCT intraoral imaging data to generate a path corresponding to a surgery, including: selecting a apical pore for carrying out an apical resection operation in CBCT oral cavity image data, and taking the apical pore as a starting point; determining the position of the first preset distance from the crown of the apical foramen as the terminal point of the apical excision; a path of a resection plane in an apical resection is generated based on the start and end points, wherein the resection plane is perpendicular to an approximate line of the apical hole axis.
In one embodiment, surgical path planning is performed in CBCT intraoral imaging data to generate a path corresponding to a surgery, including: selecting the root canal center point of the plane where the root tip is cut off as a starting point; taking a coronal second preset distance from the starting point along the axis of the root canal as an end point; and generating a hole type path of the root tip inverting preparatory operation according to the starting point and the ending point, wherein the axis of the hole type is an approximate straight line of the axis of the root canal.
In one embodiment, the coordinate transformation of the CBCT intraoral image data using image registration based on the reference image coordinate data of the diseased tooth comprises: extracting characteristic points matched with reference image coordinate data of the affected teeth in CBCT oral cavity image data; determining space coordinate transformation parameters between CBCT oral cavity image data and reference image coordinate data of the affected teeth according to the matched feature points; and carrying out space coordinate transformation on the CBCT oral cavity image data through the space coordinate transformation parameters to obtain a navigation path which is subjected to the coordinate transformation and corresponds to the operation.
In one embodiment, the positional relationship includes distance, angle, and depth; determining the relative position relationship of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument, including: determining the relative distance between the surgical instrument and the navigation path corresponding to the operation according to the shortest distance between the coordinate point of the pointed end of the surgical instrument and the navigation path corresponding to the operation; determining the relative angle of the surgical instrument and the navigation path corresponding to the operation according to the angle between the axis of the tip of the surgical instrument and the navigation path corresponding to the operation; and determining the relative depth of the surgical instrument and the navigation path corresponding to the operation according to the coordinate point of the tip of the surgical instrument and the end point of the navigation path corresponding to the operation.
In one embodiment, after determining the relative position relationship between the surgical instrument and the navigation path corresponding to the surgery according to the coordinate data of the surgical instrument, the method further includes: and displaying the relative position relation and the CBCT oral cavity image data after coordinate transformation, wherein the CBCT oral cavity image data after coordinate transformation comprises a navigation path corresponding to the operation.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
performing surgical path planning in CBCT oral cavity image data to generate a path corresponding to a surgery;
acquiring reference image coordinate data of the affected tooth and calibrating the coordinate data of the surgical instrument;
performing coordinate transformation on the CBCT oral cavity image data of the path corresponding to the operation by adopting image registration according to the reference image coordinate data of the affected tooth to obtain a navigation path corresponding to the operation after coordinate transformation;
and determining the relative position relation of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.
In one embodiment, surgical path planning is performed in CBCT intraoral imaging data to generate a path corresponding to a surgery, including: selecting a apical pore for bone and window removal operation from CBCT oral cavity image data; determining the labial side, the buccal side, the palatal side or the lingual side which are vertical to the approximate straight line of the axis of the apical foramen as the starting point of the bone-removing windowing operation, and determining the apical foramen as the end point of the bone-removing windowing operation; and generating a path of the bone removal windowing operation according to the starting point and the end point.
In one embodiment, surgical path planning is performed in CBCT intraoral imaging data to generate a path corresponding to a surgery, including: selecting a apical pore for carrying out an apical resection operation in CBCT oral cavity image data, and taking the apical pore as a starting point; determining the position of the first preset distance from the crown of the apical foramen as the terminal point of the apical excision; a path of a resection plane in an apical resection is generated based on the start and end points, wherein the resection plane is perpendicular to an approximate line of the apical hole axis.
In one embodiment, surgical path planning is performed in CBCT intraoral imaging data to generate a path corresponding to a surgery, including: selecting the root canal center point of the plane where the root tip is cut off as a starting point; taking a coronal second preset distance from the starting point along the axis of the root canal as an end point; and generating a hole type path of the root tip inverting preparatory operation according to the starting point and the ending point, wherein the axis of the hole type is an approximate straight line of the axis of the root canal.
In one embodiment, the coordinate transformation of the CBCT intraoral image data using image registration based on the reference image coordinate data of the diseased tooth comprises: extracting characteristic points matched with reference image coordinate data of the affected teeth in CBCT oral cavity image data; determining space coordinate transformation parameters between CBCT oral cavity image data and reference image coordinate data of the affected teeth according to the matched feature points; and carrying out space coordinate transformation on the CBCT oral cavity image data through the space coordinate transformation parameters to obtain a navigation path which is subjected to the coordinate transformation and corresponds to the operation.
In one embodiment, the positional relationship includes distance, angle, and depth; determining the relative position relationship of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument, including: determining the relative distance between the surgical instrument and the navigation path corresponding to the operation according to the shortest distance between the coordinate point of the pointed end of the surgical instrument and the navigation path corresponding to the operation; determining the relative angle of the surgical instrument and the navigation path corresponding to the operation according to the angle between the axis of the tip of the surgical instrument and the navigation path corresponding to the operation; and determining the relative depth of the surgical instrument and the navigation path corresponding to the operation according to the coordinate point of the tip of the surgical instrument and the end point of the navigation path corresponding to the operation.
In one embodiment, after determining the relative position relationship between the surgical instrument and the navigation path corresponding to the surgery according to the coordinate data of the surgical instrument, the method further includes: and displaying the relative position relation and the CBCT oral cavity image data after coordinate transformation, wherein the CBCT oral cavity image data after coordinate transformation comprises a navigation path corresponding to the operation.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of navigating a root tip surgical procedure, the method comprising:
performing surgical path planning in CBCT oral cavity image data to generate a path corresponding to the surgery;
acquiring reference image coordinate data of the affected tooth and calibrating the coordinate data of the surgical instrument;
performing coordinate transformation on the CBCT oral cavity image data of the path corresponding to the operation by adopting image registration according to the reference image coordinate data of the affected tooth to obtain a navigation path corresponding to the operation after coordinate transformation;
and determining the relative position relation of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.
2. The method for navigating a root tip surgical procedure according to claim 1, wherein after determining the relative positional relationship between the surgical instrument and the navigation path corresponding to the surgical procedure from the coordinate data of the surgical instrument, further comprising:
and displaying the relative position relation and CBCT oral cavity image data after coordinate transformation, wherein the CBCT oral cavity image data after coordinate transformation comprises a navigation path corresponding to the operation.
3. The method for navigating a root tip surgical procedure according to claim 1, wherein the performing a surgical path planning in CBCT oral cavity image data to generate a path corresponding to the procedure comprises:
selecting a apical pore for bone and window removal operation from the CBCT oral cavity image data;
determining labial side, buccal side, palatal side or lingual side perpendicular to an approximate straight line of the axis of the apical hole as a starting point of the bone-removing windowing operation, and determining the apical hole as an end point of the bone-removing windowing operation;
and generating a path of the bone-removing window-opening operation according to the starting point and the end point.
4. The method for navigating a root tip surgical procedure according to claim 1, wherein the performing a surgical path planning in CBCT oral cavity image data to generate a path corresponding to the procedure comprises:
selecting a tip hole for performing a tip excision operation from the CBCT oral cavity image data, and taking the tip hole as a starting point;
determining the position of a first preset distance from the crown of the apical foramen as the terminal point of the apical resection;
and generating a path of a resection plane in the root tip resection operation according to the starting point and the end point, wherein the resection plane is vertical to an approximate straight line of the axis of the root tip hole.
5. The method for navigating a root tip surgical procedure according to claim 1, wherein the performing a surgical path planning in CBCT oral cavity image data to generate a path corresponding to the procedure comprises:
selecting the root canal center point of the plane where the root tip is cut off as a starting point;
taking a coronal second preset distance of the starting point along the root canal axis as an end point;
and generating a hole type path of the root tip inverting preparation operation according to the starting point and the end point, wherein the axis of the hole type is an approximate straight line of the root canal axis.
6. The method for navigating the root tip surgery according to claim 1, wherein the performing the coordinate transformation of the CBCT intraoral image data by using image registration according to the reference image coordinate data of the affected tooth comprises:
extracting characteristic points matched with the reference image coordinate data of the affected teeth in the CBCT oral cavity image data;
determining space coordinate transformation parameters between the CBCT oral cavity image data and the reference image coordinate data of the affected tooth according to the matched feature points;
and carrying out space coordinate transformation on the CBCT oral cavity image data through the space coordinate transformation parameters to obtain a navigation path which is subjected to coordinate transformation and corresponds to the operation.
7. The method of navigating a root tip surgical procedure of claim 1, wherein the positional relationship comprises a distance, an angle, and a depth; the determining the relative position relationship of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument includes:
determining the relative distance between the surgical instrument and the navigation path corresponding to the operation according to the shortest distance between the coordinate point of the pointed end of the surgical instrument and the navigation path corresponding to the operation;
determining a relative angle of the surgical instrument and a navigation path corresponding to the surgery according to an angle between a tip axis of the surgical instrument and the navigation path corresponding to the surgery;
and determining the relative depth of the surgical instrument and the navigation path corresponding to the operation according to the coordinate point of the tip of the surgical instrument and the end point of the navigation path corresponding to the operation.
8. A navigation device for apical surgery, the device comprising:
the operation path planning module is used for planning an operation path in the CBCT oral cavity image data so as to generate a path corresponding to the operation;
the data acquisition module is used for acquiring the coordinate data of the reference image of the affected tooth and the coordinate data of the surgical instrument;
the coordinate transformation module is used for carrying out coordinate transformation on the CBCT oral cavity image data of the path corresponding to the operation by adopting image registration according to the reference image coordinate data of the affected tooth so as to obtain a navigation path corresponding to the operation after coordinate transformation;
and the navigation module is used for determining the relative position relation of the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN201910614347.8A CN110664483A (en) | 2019-07-09 | 2019-07-09 | Navigation method, device, electronic equipment and storage medium for apical surgery |
| PCT/CN2019/123866 WO2021003995A1 (en) | 2019-07-09 | 2019-12-09 | Apical surgery navigation method and apparatus, electronic device, and storage medium |
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Application publication date: 20200110 |