CN107951561B - Tooth-supported type maxillofacial augmented reality positioning and tracking device based on 3D printing - Google Patents
Tooth-supported type maxillofacial augmented reality positioning and tracking device based on 3D printing Download PDFInfo
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- CN107951561B CN107951561B CN201711324034.6A CN201711324034A CN107951561B CN 107951561 B CN107951561 B CN 107951561B CN 201711324034 A CN201711324034 A CN 201711324034A CN 107951561 B CN107951561 B CN 107951561B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
- A61C11/06—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings with incisal guide
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention relates to the related fields of oral and maxillofacial surgery medical instruments and augmented reality technologies, in particular to a dental support type maxillofacial augmented reality positioning and tracking device based on 3D printing, which is characterized in that: the visual capture mark module is provided with a retainer, a connector and a replaceable visual capture mark, the occlusion guide plate is connected with the retainer, and the retainer and the replaceable visual capture mark are connected into a whole through the connector. The device has the advantages of simple structure, convenient operation, low cost, convenience, high efficiency, accurate positioning, dynamic visualization and the like, assists in the jaw face operation and achieves a good effect.
Description
Technical Field
The invention relates to the related fields of medical instruments for oral and maxillofacial surgery and augmented reality technologies, in particular to a dental support type maxillofacial augmented reality positioning and tracking device based on 3D printing.
Background
The traditional maxillofacial surgery is determined by the experience judgment of the operating doctor, so the success or failure of the surgery depends on the mastering degree of the local anatomical structure by the main doctor to a great extent, if the surgery is young or the case with large local structure variation, the difficulty of the surgery is greatly increased, the effect of the surgery is seriously influenced, and even the time of the surgery is prolonged.
With the rapid development of the digital technology of oral and maxillofacial surgery, means such as a digital guide plate and surgical navigation are developed for positioning and tracking the anatomical structure in the surgery, but the technical problems of strong professional and high cost of the related technology, complex registration technology and the like exist. In recent years, a new digital technology, namely an augmented reality/mixed reality technology for assisting the maxillofacial surgery, is gradually emphasized, and the technology is an important component in intraoperative positioning (preoperative virtual surgery planning and real patient matching) and real-time tracking (during surgery, the virtual surgery plan is ensured to be consistent with the maxillofacial anatomy of a real patient dynamically in real time along with the body position change of the patient and the visual angle change of a main doctor).
Because the jaw face is in a nonlinear structure, the anatomical structure is complex and has large variation, the conventional positioning and tracking technology needs to implant a retention nail with trauma on the skull, and then the related technology is utilized to perform positioning and tracking, so that the surgical trauma and the surgical time are increased. In addition, the positioning and tracking based on the manually made dental support cannot meet the requirements of grasping the consistency of parameters and the stability of three-dimensional coordinates, the error of visual positioning and tracking is increased, and if the error is larger, even the operation can be adversely affected.
Disclosure of Invention
In order to solve the technical problems, the invention provides a dental-support type maxillofacial augmented reality positioning and tracking device based on 3D printing, which is simple in structure, convenient to operate, low in cost, convenient, efficient, accurate in positioning, dynamic in visualization and the like, is beneficial to assisting maxillofacial surgery, and achieves a good effect.
The invention solves the technical problem and provides a tooth-supported maxillofacial augmented reality positioning and tracking device based on 3D printing, which is characterized in that: the visual capture mark module is provided with a retainer, a connector and a replaceable visual capture mark, the occlusion guide plate is connected with the retainer, and the retainer and the replaceable visual capture mark are connected into a whole through the connector.
The retainer is hollow and is connected with the connector in a semi-fixed mode.
In the optimization scheme, a clamping groove is formed in one end of the retainer, a clamping block is arranged at one end of the connector, and the clamping block is inserted into the clamping groove to enable the retainer and the edge connector to form a whole body when in use.
In the further optimization scheme, the drawer retainer is arranged on the inner wall of the clamping groove of the retainer, the corresponding position of the connecting body is provided with a groove, the groove contains the drawer retainer, and the position and the structure of the drawer retainer and the position and the structure of the groove are completely matched. The drawer retainer can be arranged on the inner walls of the two sides of the clamping groove.
The drawer fixing bodies are a pair, have the effect of holding the fixed connector, and play the three-dimensional space position's of connecting body and vision capture sign fixed.
The front end part of the retainer connected with the occlusal plate is provided with an occlusal anterior boundary marking line which plays a role in defining the anterior boundary of the occlusal plate during virtual fusion.
The connecting body and the visual capture mark are in cross fixed connection, and in optimization, the cross fixed connection is in 2 x 5 x 3mm cross fixed connection.
The connecting angle of the vision capture marking module and the connecting body is correspondingly designed according to different parts, different angles can be designed for the same case, and the same case can be replaced according to specific conditions in the operation.
The replaceable visual capture marker is provided with a first marker area, a second marker area and an intermediate marker square block, wherein the second marker area is arranged at the central position of the first marker area, and the intermediate marker square block is arranged at the central position of the second marker.
The first mark area is 40-40 mm in size and 3-3 mm in thickness, the second mark area is 3.1mm in thickness, the middle mark square block is 10-10 mm in size, and the second mark area is L-shaped in optimization and consists of three 10-10 mm small square blocks, and the size of each small square block is 10-10 mm.
The shell and the connecting body of the retainer are cuboid or cube.
The bite plate is in a hoof shape and is provided with an upper surface of the bite plate, a lower surface of the bite plate and a buccal tongue side of the bite plate, tooth sockets are respectively arranged on the upper occlusion surface and the lower occlusion surface, and the tooth sockets are fitted with corresponding tooth crown shapes; the first alveolus close to the end of the occluding body is the position of first molar on both sides, and the shape of the first alveolus is attached to the corresponding shape of the first molar crown on the left side and the right side.
The width of the buccal side and the lingual side is 2-7mm, the buccal side and the lingual side are 2mm larger than the maximum diameter of the dental crowns at different dental positions, the thickness of the buccal side and the lingual side is 1.5-3mm, and all the position-fixing positions are positioned between the outline high points of the dental crowns at the dental positions and the space of the jaw plane. The width of the buccal side and the lingual side of the invention refers to the front and back width from the oral cavity to the lips of the tooth, the upper and lower (the direction from the crown to the tooth root) forms of the tooth with thick middle and thin two ends, the thick part is the outline high point, and the depth and the size of the alveolus are the space from the outline high point to the jaw plane.
The occlusion guide plate is a personalized occlusion guide plate obtained based on patient image data, and the vision capture marking module is completed through unified three-dimensional modeling design and manufacture, 3D printing and calibration. The occlusion guide plate provides stable, accurate, repeatable and atraumatic fixation of the whole device on the upper and lower teeth, ensures the repeatability of the three-dimensional coordinates of the virtual design model and the jaw face tissues of the real patient and the uniformity of the visual coordinates and the jaw face tissues, and does not affect the operation. The replaceable visual capture markers provide augmented reality system recognition.
In the invention, one end of the connector is connected with the retainer, and the other end of the connector and the visual capture mark are subjected to ST L model fusion during three-dimensional modeling, so that the connection effect is realized, the visual mark is favorably reduced outside the operation range of the operation, and the visual capture of a computer and the acquisition of preoperative data are favorably realized.
According to the invention, the dentition is rigidly supported and fixed through the occlusal plate, so that the replaceable visual capture mark is placed at the planned three-dimensional space position, the application of an augmented reality system is better performed, the three-dimensional dynamic visualization of an anatomical structure in an operation is improved, the operation time is reduced by about more than 1 hour, and the operation complications are reduced. In clinical application, the device can be used for guiding the positioning of operations and the three-dimensional space position of fracture reduction and the like in operations such as jaw cystic lesion, jaw facial fracture and the like, and the satisfactory effect is achieved.
The device is manufactured, the requirements on software and hardware are not high, and the consumption-level three-dimensional modeling software and the 3D printing equipment can be independently completed.
The device is suitable for guiding the positioning of the operation, the fracture reduction and the like in operations such as jaw cystic lesion, jaw facial fracture and the like. The device is suitable for assisting the operation treatment of patients with relatively stable occlusion and unilateral maxillofacial bone tissue pathological changes (such as maxillofacial fracture, restoration of maxillofacial bone malformation, jaw cystic lesion, dental implantation and the like), preoperative doctor-patient communication, consultation of corresponding diseases and the like.
Drawings
The invention will be described in further detail with reference to the following drawings and detailed description:
FIG. 1 is a schematic view of the structure of the apparatus of the present invention
FIG. 2 is a schematic view of the combination of a retainer and a linker of the present invention
FIG. 3 is a schematic view of the structure of the colored visual capture mark of the present invention
FIG. 4 is a view of the combination of the device of the present invention and the maxillofacial region
FIG. 5 is a schematic view of the dental crown structure of the tooth site of the present invention
Wherein the identification is specifically:
1. an occlusal plate, 2, a visual capture mark module, 3, a retainer, 4, a connector, 5, a replaceable visual capture mark, 6, an occlusal anterior border mark line, 7, a drawer retainer, 8, a groove, 9, a shell, 10, a fixture block, 11, a clamping groove, 12, a jaw face, 13, a first mark area, 14, a second mark area, 15, a middle mark block, 16, a right first molar, 17, a contour high point, 18, a jaw plane, 19, a space from the contour high point to the jaw plane, 20, an upper surface of the occlusal plate, 21, a lower surface of the occlusal plate, 22, a tooth groove, 23, a first molar on two sides, 24, a buccal side and a lingual side of the occlusal plate
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description below:
example 1
But individualized jaw facial augmented reality positioning and tracking device of formula is supported to replaceable tooth based on 3D prints, including being equipped with interlock baffle and vision and catching the sign module, the vision catches the sign module and is equipped with the retainer, connector and can replace the vision and catch the sign, the interlock baffle is connected with the retainer, and the retainer with can replace the vision and catch the sign and connect through the connector and form an organic whole. The retainer is hollow and is connected with the connector in a semi-fixed mode.
The connecting angle of the visual capture mark module and the connecting body is correspondingly designed according to different positions, different angles can be designed for the same case, and the connecting body is replaced according to specific conditions in the operation, so that the connecting body plays a role in connection, the visual mark is favorably reduced outside the operation range of the operation, and simultaneously, the visual capture of a computer and the acquisition of preoperative data are favorably realized.
The replaceable visual capture marker is provided with a first marker area, a second marker area and an intermediate marker square, wherein the second marker area is arranged at the central position of the first marker area, and the intermediate marker square is arranged at the central position of the second marker.
The shell and the connecting body of the retainer are cuboids.
The occlusion plate body is in a hoof shape and is provided with an upper surface of the occlusion plate, a lower surface of the occlusion plate and a buccal tongue side of the occlusion plate, tooth sockets are respectively arranged on the upper surface of the occlusion plate and the lower surface of the occlusion plate, and the shapes of the tooth sockets are fitted with the corresponding tooth crown shapes; the first alveolus close to the end of the occluding body is the position of first molar on both sides, and the shape of the first alveolus is attached to the corresponding shape of the first molar crown on the left side and the right side.
The width of the buccal side and the lingual side of the occlusal plate is 2-7mm, the occlusal plate is 2mm larger than the maximum diameter of the dental crowns of different dental positions, the thickness of the occlusal plate is 1.5-3mm, and all the position-fixing positions are positioned between the outline high point of the dental crowns of the dental positions and the space of the jaw plane. The width of the buccal side and the lingual side of the occlusal plate refers to the front and back width from the oral cavity to the lips of the teeth, the upper and lower shapes of the teeth (the direction from the dental crown to the dental root) are in the states of thick middle and thin two ends, the thick position is an external high point, and the depth and the size of the alveolus are the spaces from the external high point to the jaw plane.
The occlusion guide plate provides stable, accurate, repeatable and atraumatic fixation of the whole device on the upper and lower teeth, ensures the repeatability of the three-dimensional coordinates of the virtual design model and the jaw face tissues of the real patient and the uniformity of the visual coordinates and the jaw face tissues, and does not affect the operation. The replaceable visual capture markers provide augmented reality system recognition.
The retainer, the connector and the replaceable visual capture mark are designed in a unified way according to the requirements of an augmented reality system, and the consistency of module design is ensured.
Example 2
But individualized jaw facial augmented reality positioning and tracking device of formula is supported to replaceable tooth based on 3D prints, including being equipped with interlock baffle and vision and catching the sign module, the vision catches the sign module and is equipped with the retainer, connector and can replace the vision and catch the sign, the interlock baffle is connected with the retainer, and the retainer with can replace the vision and catch the sign and connect through the connector and form an organic whole. The retainer is hollow and is connected with the connector in a semi-fixed mode.
A clamping groove is arranged at one end of the retainer, a clamping block is arranged at one end of the connector, and the clamping block is inserted into the clamping groove to enable the retainer and the edge connector to form a whole body when in use. The drawer fixing bodies are arranged on the inner walls of the clamping grooves, grooves are formed in the corresponding positions of the connecting bodies, the grooves accommodate the drawer fixing bodies, and the drawer fixing bodies and the grooves are completely matched in position and structure. The drawer retainer can be arranged on the inner walls of the two sides of the clamping groove. The drawer retainer is a pair of, and the drawer retainer has the effect of holding fixed connector, plays the three-dimensional space position's of connecting body and vision capture sign fixed.
The front end part of the retainer connected with the occlusal plate is provided with an occlusal front boundary marking line which plays a role in defining the front boundary of the occlusal plate during virtual fusion.
The hollow retainers are box-shaped, and the outer body size is 10 x 6 x 4 mm. Interior empty size is 7 × 4 × 3mm, matches with the embedding link of connector. Two drawer retainers 6.9 x 1mm in the inner box match the recesses of the connectors. The overall length of the connector was 30mm, the size of the connecting portion to the hollow retainer was 6.9 × 3.8 × 2.8mm, the size of the groove was 6.9 × 1.2mm, and the cross-sectional size of the remaining portion of the connector was 6 × 4 mm.
The connector and the visual capture mark are in cross fixed connection of 2 × 5 × 3mm, different connection angles are designed according to different positions, and the specific corresponding relation is as follows:
if multi-part lesion is involved, different angles (meeting the requirement between a visual mark plane and a surgical part tangent plane by 30-180 degrees) can be selected and designed, and the hollow retainer fixed on the bite plate can be detached and replaced during the operation according to the requirement of non-blocking operation.
The replaceable visual capture marker is provided with a first marker area, a second marker area and an intermediate marker square, wherein the second marker area is arranged at the central position of the first marker area, and the intermediate marker square is arranged at the central position of the second marker.
The first mark area is 40-40 mm in size and 3mm in thickness, the second mark area is 3.1mm in thickness, the middle mark square block is 10-10 mm in size, the second mark area is L in optimization and consists of three 10-10 mm small square blocks, the small square blocks are 10-10 mm in size, the first mark area and the middle mark square blocks can be set to be black, and the second mark area can be set to be white so as to be identified and obtain the visual mark of the augmented reality system (black and white grid layout).
The oversize can prolong the manufacturing time, increase the occupied space of the object and influence the operation in the operation. Irregularities in size can affect scaling by a divisor, affecting accuracy.
The shell and the connecting body of the retainer are cubic.
The occlusion plate body is in a hoof shape and is provided with an upper surface of the occlusion plate, a lower surface of the occlusion plate and a buccal tongue side of the occlusion plate, tooth sockets are respectively arranged on the upper surface of the occlusion plate and the lower surface of the occlusion plate, and the shapes of the tooth sockets are fitted with the corresponding tooth crown shapes; the first alveolus close to the end of the occluding body is the position of first molar on both sides, and the shape of the first alveolus is attached to the corresponding shape of the first molar crown on the left side and the right side.
The width of the buccal side and the lingual side of the occlusal plate is 2-7mm, the occlusal plate is 2mm larger than the maximum diameter of the dental crowns of different dental positions, the thickness of the occlusal plate is 1.5-3mm, and all the position-fixing positions are positioned between the outline high point of the dental crowns of the dental positions and the space of the jaw plane.
The occlusion guide plate provides stable, accurate, repeatable and atraumatic fixation of the whole device on the upper and lower teeth, ensures the repeatability of the three-dimensional coordinates of the virtual design model and the jaw face tissues of the real patient and the uniformity of the visual coordinates and the jaw face tissues, and does not affect the operation. The replaceable visual capture markers provide augmented reality system recognition.
The specific operation steps of the preparation method of the invention are as follows:
(1) the patient bites the wax block to open and bite and is fixed in the open and close state to carry out conventional spiral CT scanning to obtain DICOM data;
(2) after the virtual operation plan is manufactured conventionally, the upper jaw and the lower jaw are divided on virtual operation software, the upper jaw and the lower jaw are adjusted to be positioned at the last position of bilateral joints and the upper tooth and the lower tooth are positioned at the cusp staggered position, and an occluded tooth model is subtracted by an irregular arc-shaped plate (the far middle adjacent surface of the first molar on the back side and the two sides, the width of the bucco-lingual side is greater than the diameter of a tooth body by 1mm, the thickness is greater than the distance 1/2 between the outline high points of the upper jaw and the lower jaw, and the occlusal plate is divided by a jaw plane) to obtain an occlusal plate;
(3) in three-dimensional modeling software, designing a hollow retainer, a connecting body and a visual mark model according to corresponding sizes, deriving a corresponding ST L model, adding the hollow retainer and the hollow retainer by using Bohr operation under the condition of keeping the spatial position of the occlusal plate balanced, wherein the positions before and after superposition are at the rear edge of a mark line of the front boundary of the occlusal plate, and the plane is consistent with the jaw plane;
the replaceable visual capture mark adopts a graph edge extraction technology to identify the three-dimensional space position of an entity, in the manufacturing process, the traditional paper printing means is abandoned, a three-dimensional modeling method is adopted, different thickness shapes (the difference value is 0.1 mm) are designed for different gray parts, the edges of all the parts are sharpened, and then the 3D technology is adopted for printing, so that the better identification precision and the better repeatability than the traditional paper printing are obtained.
Specifically, in three-dimensional modeling software, a cube of 5 × 0.3cm is used as an original model, original point registration is carried out on the cube model according to an extracted edge frame, the thickness of a white part of a visual mark is increased to 0.4cm, and edge sharpening is carried out. And both sides were mirror-image designed and after printing, the 0.3cm thick area was blackened.
(4) The ST L model (hereinafter referred to as a synthetic model), the connector and the visual mark model of the synthetic occlusal plate and the hollow retainer are manufactured for standby by 3D printing;
(5) keeping the position of the synthetic model and the three-dimensional space of the virtual plan constant, carrying out three-dimensional matching on the visual capture marking module in the virtual space by using a drawer fixing shape, and deriving the whole model containing the operation virtual plan into an ST L file (hereinafter referred to as an augmented reality model);
(6) matching the augmented reality model with the origin of a world coordinate system by taking the gravity center of the visual capture mark as the center in three-dimensional modeling software, and reducing the whole with the scaling of 0.025;
(7) during operation, the occlusal plate is stably fixed on corresponding teeth of a patient, and a virtual operation plan which is consistent with the shape, size and spatial position of the real anatomical structure of the patient is presented in reality under the recognition of an augmented reality vision capturing system, so that the operation of an operator is assisted.
According to the invention, the dentition is rigidly supported and fixed through the occlusal plate, so that the visual capture mark is placed at the planned three-dimensional space position, the application of an augmented reality system is better performed, the three-dimensional dynamic visualization of an anatomical structure in the operation is improved, the operation time is reduced, and the accuracy of the operation is increased. In clinical application, the device can be used for guiding the positioning of operations and the three-dimensional space position of fracture reduction and the like in operations such as jaw cystic lesion, jaw facial fracture and the like, and the satisfactory effect is achieved.
The personalized occlusion guide plate is fixed between the upper jaw and the lower jaw by utilizing the rigid clamping principle.
Test example 1
The patient, male, 30 years old, because the fracture of the upper jaw bone, malar bone of left side needs to carry on "the fracture of the upper jaw bone, malar bone of left side cuts open and resets the internal fixation operation under the general anesthesia", patient bites wax block and carries on the spiral CT after opening the occlusion and scans, cut apart after obtaining the data, the virtual design of the bite-block, and the design of the virtual operation plan, guarantee the three-dimensional relation of the virtual operation plan model and bite-block is fixed invariably, fuse hollow retainer ST L model and bite-block, carry on the origin matching of the three-dimensional coordinate to the whole model, get the bite-block and hollow retainer after fusing, derive ST L model, print with S L A3D printing technique, the model that changes the coordinate is led into the augmented reality system and stored, utilize drawer position form clamp connection of vision capture module that has been made in advance and hollow retainer, wear on the patient' S dentition and fix on one side of bite-block after the general anesthesia in the operation, utilize the enhanced equipment of head to catch the mark on the tracker, in order to hold the virtual operation plan with the real patient in real time, finish the analysis of the three-dimensional operation, the comfort level of the operation, finish the analysis of the three-dimensional operation plan of the situation of the surgery, receive the three-dimensional analysis before the surgery.
Test example two
A patient, female, 45 years old, needs to perform 'cutting reduction internal fixation operation of old fracture of maxillary bone and zygomatic arch of right side' under general anesthesia, the patient bites wax block and opens occlusion and then carries out spiral CT scanning, image segmentation is carried out after data is obtained, virtual design of an occlusal plate and a virtual operation plan is carried out, the relative three-dimensional relationship of a virtual operation plan model and the occlusal plate is fixed and unchanged, after a hollow fixing body ST L model and the occlusal plate are fused, origin matching of three-dimensional coordinates is carried out on the whole model, the fused occlusal plate and the hollow fixing body are taken out to derive an ST L model, printing is carried out by utilizing an S L A3D printing technology, the model with changed coordinates is led into an augmented reality system for storage, a pre-manufactured visual capture module and the hollow fixing body are connected by utilizing a drawer fixing shape clamp, two connectors of 90 degrees and 180 degrees are respectively selected for connection, after full anesthesia in operation, one side of the occlusal plate is worn on the patient in a dental column for fixation, a head-worn type augmented reality tracking device, a mark is used for smoothly tracking, the fracture of the patient, the real-time of the traditional operation plan is smoothly displayed, the early-time of the patient is successfully, the early-stage reduction of the surgery is carried out, the early-stage dynamic evaluation is carried out, and the early-stage reduction of the surgery is carried out, and the early-stage dynamic evaluation of the surgery is.
Test example three
The method comprises the following steps of performing spiral CT scanning after opening occlusion of a wax-biting block of a patient, obtaining data, segmenting the data, virtually designing an occlusal plate and a virtual operation plan, ensuring that the three-dimensional relationship between a virtual operation plan model and the occlusal plate is fixed, fusing a hollow retainer ST L model and the occlusal plate, performing origin matching of three-dimensional coordinates on the whole model, taking the fused occlusal plate and the hollow retainer to derive an ST L model, printing by using an S L A3D printing technology, guiding the model with changed coordinates into an augmented reality system for storage, connecting a pre-manufactured visual capture module and the hollow retainer by using a drawer fixing clamp, respectively selecting two connectors with 90 degrees and 150 degrees to be connected, wearing one side of the occlusal plate on the dentition of the patient after full anesthesia in the operation, capturing a mark on a head-wearing type augmented reality device positioning tracker to display numbness on a display screen, displaying the virtual operation on the whole screen, displaying the virtual operation plan, displaying the real time, displaying the dynamic resistance of the nerve tissue of the patient, taking out the nerve canvases, and taking out the discomfort of the patient, and the nerve canvases of the patient, and performing real-time analysis on the operation plan, and the discomfort of the nerve tissues of the patient, and the surgery.
Claims (5)
1. The utility model provides a tooth supports formula jaw face reinforcing reality localization tracking device based on 3D prints which characterized in that: the device comprises an occlusal plate and a visual capture mark module, wherein the visual capture mark module is provided with a retainer, a connector and a replaceable visual capture mark, the occlusal plate is connected with the retainer, and the retainer and the replaceable visual capture mark are connected into a whole through the connector; the front end part of the retainer connected with the occlusal plate is provided with an occlusal front boundary marking line; the connector and the replaceable visual capture mark are in cross fixed connection, the cross fixed connection is 2 x 5 x 3mm, different connection angles are designed according to different positions, and the requirements of a visual mark plane and an operation position section are met, wherein the connection angle of a lower jaw operation part is 30-90 degrees, the connection angle of an upper jaw operation part is 90-180 degrees, and the connection angle of a comprehensive part operation part is 90 degrees and 180 degrees;
the replaceable visual capture mark is provided with a first mark area, a second mark area and a middle mark square block, wherein the second mark area is arranged at the center of the first mark area, the middle mark square block is arranged at the center of the second mark, the size of the first mark area is 40-40 mm, the thickness of the first mark area is 3mm, the thickness of the second mark area is 3.1mm, the size of the middle mark square block is 10-10 mm, the second mark area is L-shaped in optimization and consists of three 10-10 mm small square blocks, the size of the small square blocks is 10-10 mm, the first mark area and the middle mark square block are set to be black, and the second mark area is set to be white;
the bite plate is in a hoof shape and is provided with an upper surface of the bite plate, a lower surface of the bite plate and a buccal tongue side of the bite plate, the upper surface and the lower surface of the bite plate are respectively provided with a tooth socket, and the tooth socket is fitted with a corresponding tooth crown shape; the first alveolus close to the end of the occluding body is the position of first molar on both sides, and the shape of the first alveolus is attached to the corresponding shape of the first molar crown on the left side and the right side.
2. The dental-support type maxillofacial augmented reality positioning and tracking device based on 3D printing of claim 1, wherein: the retainer is hollow and is connected with the connector in a semi-fixed mode.
3. The dental-support type maxillofacial augmented reality positioning and tracking device based on 3D printing of claim 1, wherein: a clamping groove is formed in one end of the retainer, a clamping block is arranged at one end of the connector, and the clamping block is inserted into the clamping groove to enable the retainer and the edge connector to form a whole when the connector is used.
4. The dental-support type maxillofacial augmented reality positioning and tracking device based on 3D printing of claim 3, wherein: the drawer fixing bodies are arranged on the inner walls of the clamping grooves of the fixing bodies, grooves are formed in the corresponding positions of the connecting bodies, and the positions and the structures of the drawer fixing bodies and the grooves are completely matched.
5. The dental-support type maxillofacial augmented reality positioning and tracking device based on 3D printing of claim 1, wherein: the shell and the connecting body of the retainer are cuboid or cube.
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| CN108836533B (en) * | 2018-06-27 | 2019-12-24 | 雅客智慧（北京）科技有限公司 | Denture plate for visual marking and manufacturing method thereof |
| CN109512511A (en) * | 2019-01-14 | 2019-03-26 | 常州锦瑟医疗信息科技有限公司 | The method and apparatus of operation augmented reality positioning based on positioning guide plate |
| CN111768495A (en) * | 2020-06-28 | 2020-10-13 | 上海交通大学医学院附属第九人民医院 | Limbs fracture manual reduction training method |
| CN111823595B (en) * | 2020-07-01 | 2022-04-08 | 四川大学 | Personalized intraoral stent for deep-covered crowds |
| CN112842586A (en) * | 2021-01-08 | 2021-05-28 | 孙晓功 | Auxiliary screw placing and drilling method for dental implant based on mixed reality and 3D printing |
| CN113349927B (en) * | 2021-05-19 | 2022-11-22 | 上海交通大学 | Navigation system for face autologous fat transplantation operation and virtual scale prompting method |
| RU210665U1 (en) * | 2021-06-01 | 2022-04-25 | Владимир Михайлович Иванов | Marker holder for performing surgery on the patient's head using mixed reality |
| CN115919463B (en) * | 2023-02-15 | 2023-06-27 | 极限人工智能有限公司 | Oral cavity image processing method and device, readable storage medium and equipment |
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| CN202036324U (en) * | 2011-04-08 | 2011-11-16 | 上海交通大学 | Positioning tracking mechanism used for craniomaxillofacial surgery navigation |
| US20160220316A1 (en) * | 2011-10-28 | 2016-08-04 | Navigate Surgical Technologies, Inc. | Surgical location monitoring system and method with surgical guidance graphic user interface |
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| CN105342708B (en) * | 2015-12-14 | 2017-10-24 | 四川大学 | Digitlization bite guide and its method for reconstructing based on CT and CBCT fused datas |
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