CN109846561A - Digitize the method, apparatus and system of root canal preparation - Google Patents
Digitize the method, apparatus and system of root canal preparation Download PDFInfo
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- CN109846561A CN109846561A CN201811601946.8A CN201811601946A CN109846561A CN 109846561 A CN109846561 A CN 109846561A CN 201811601946 A CN201811601946 A CN 201811601946A CN 109846561 A CN109846561 A CN 109846561A
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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
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/40—Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots
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Abstract
The present invention provides a kind of method, apparatus and system for digitizing root canal preparation, solve root canal preparation art in the prior art because can not accurately be positioned between surgical instrument and root canal, caused by root canal preparation it is improper the problems such as.A kind of method digitizing root canal preparation provided by the embodiment of the present invention, including obtaining the three-dimensional voxel data in oral cavity, the surgical instrument coordinate data of surgical instrument and that suffers from tooth suffer from tooth coordinate data；Root canal entrance is determined according to the three-dimensional voxel data, and designs root canal path；The relative positional relationship of the surgical instrument Yu the root canal path is determined according to the surgical instrument coordinate data；And root canal preparation is carried out according to the surgical instrument and the relative positional relationship in the root canal path.
Description
Technical field
The present invention relates to oral medical field and navigation fields, and in particular to it is a kind of digitize root canal preparation method, dress
It sets and system.
Background technique
In the treatment means of dental pulp disease and periapical disease, root canal therapy is means most conventional at present.Root canal treatment by
Three root canal preparation, root canal disinfection and root-canal filling step compositions.With the development of root canal treatment theory and instrument, root canal preparation
Method experienced the process constantly improve.Root canal preparation mode can be divided into hand instrument preparation method and machine instrumentation
Method.But whether being hand mechanical apparatus or machine mechanical apparatus, root canal preparation art all can be because between surgical instrument and root canal
Can not accurately be positioned, caused by root canal preparation it is improper the problems such as.
Summary of the invention
In view of this, the embodiment of the present invention is dedicated to providing a kind of method, apparatus and system for digitizing root canal preparation, with
Root canal preparation art in the prior art is solved because can not accurately be positioned between surgical instrument and root canal, caused by root canal
The problems such as preparation is improper.
One aspect of the present invention provides a kind of method for digitizing root canal preparation, comprising: obtains the said three-dimensional body prime number in oral cavity
According to, surgical instrument surgical instrument coordinate data and that suffers from tooth suffer from tooth coordinate data；Root is determined according to the three-dimensional voxel data
Tube inlet, and design root canal path；The surgical instrument and the root canal path are determined according to the surgical instrument coordinate data
Relative positional relationship；And root canal preparation is carried out according to the surgical instrument and the relative positional relationship in the root canal path.
In one embodiment, it is carried out described according to the surgical instrument and the relative positional relationship in the root canal path
Before root canal preparation, further comprise: presetting the point between the surgical instrument tip of the surgical instrument and the root canal path
The position maximum safety value of deviation and the maximum safety value of angular deviation.
In one embodiment, the relative position according to the surgical instrument and the root canal path puts row root canal into
Preparation specifically includes: according to the relative positional relationship of the surgical instrument and the root canal path, calculating the surgical instrument
The point deviation and the angular deviation between the surgical instrument tip and the root canal path；And according to being calculated
The point deviation and the angular deviation out, the surgical instrument tip aim at it is described suffer from tooth during prompt doctor
Root canal preparation is carried out according to the root canal path.
In one embodiment, the relative positional relationship according to the surgical instrument and the root canal path calculates
The point deviation and the angular deviation between the surgical instrument tip and the root canal path of the surgical instrument
It specifically includes: according to the relative positional relationship of the surgical instrument and the root canal path, calculating the institute of the surgical instrument
State the point deviation between surgical instrument tip and the root canal entrance；And according to the surgical instrument and the root canal
The relative positional relationship in path calculates the axis where the surgical instrument tip of the surgical instrument and the root canal road
The angular deviation between diameter.
In one embodiment, described according to the calculated point deviation of institute and the angular deviation, in the hand
Art instrument tip aims at the prompt doctor during suffering from tooth and specifically includes according to root canal path progress root canal preparation: when
The calculated point deviation be more than or equal to the point deviation maximum safety value when and/or work as the calculated angle
When deviation is more than or equal to the maximum safety value of the angular deviation, stop root canal preparation.
In one embodiment, further comprise: in the root canal preparation surgical instrument described in real-time display with it is described
The relative positional relationship in root canal path.
In one embodiment, the three-dimensional voxel data for obtaining oral cavity specifically include: importing by shooting patient institute
The image scan data comprising at least three mark points, wherein at least three mark point includes described suffering from tooth itself
Characteristic point, and/or the developing mark point of external addition；And it according to the image scan data, is obtained by three-dimensional reconstruction process
Take the three-dimensional voxel data for suffering from tooth.
In one embodiment, the surgical instrument and described are determined according to the surgical instrument coordinate data described
Before the relative positional relationship of canal path, further comprise: demarcating the surgical instrument to obtain the operation of the surgical instrument
Instrument tip coordinate data and surgical instrument tip axis line number evidence；And the tooth of suffering from is sat according at least three mark point
It marks data and the three-dimensional voxel data and carries out image registration, and according to calibrated surgical instrument tip coordinate data,
The three-dimensional voxel data, the surgical instrument coordinate data and the tooth coordinate data of suffering from are integrated into a common coordinate
In system.
In one embodiment, the surgical instrument coordinate data for obtaining the surgical instrument and the tooth of suffering from
The tooth coordinate data of suffering from specifically includes: reading navigator coordinate data, wherein the navigator coordinate data includes passing through peace
Surgical instrument positioning device in the surgical instrument and the surgical instrument coordinate data that obtains and by being mounted on
It is described suffer from tooth suffer from tooth positioning device and what is obtained described suffers from tooth coordinate data.
In one embodiment, described to determine that the root canal entrance specifically includes according to the three-dimensional voxel data: according to
The difference of gray value in the three-dimensional voxel data determines the root canal entrance.
In one embodiment, the root canal path according to the three-dimensional voxel design data specifically includes: according to
The difference of gray value in the three-dimensional voxel data, automatic Fitting go out using the root canal entrance as the root of the preset length of starting point
Canal path；And/or the three-dimensional voxel data according to the discrete point of at least two in the root canal path of the preset length, automatically
It fits using the root canal entrance as the root canal path of the preset length of starting point.
One embodiment of the invention also provides a kind of device for digitizing root canal preparation, comprising: data acquisition module is configured to
It obtains the three-dimensional voxel data in oral cavity, the surgical instrument coordinate data of surgical instrument and that suffers from tooth suffers from tooth coordinate data；Root canal enters
Mouth determining module, is configured to determine root canal entrance according to the three-dimensional voxel data；Module is designed in root canal path, is configured to basis
The three-dimensional voxel design data root canal path；Relative positional relationship determining module is configured to according to the surgical instrument coordinate
Data determine the relative positional relationship of the surgical instrument Yu the root canal path；And root canal preparation navigation module, it is configured to
According to the relative positional relationship of the surgical instrument and the root canal path, root canal preparation is carried out.
In one embodiment, further comprise: presetting module is configured to preset the surgical instrument point of the surgical instrument
The maximum safety value of point deviation between end and the root canal path and the maximum safety value of angular deviation.
In one embodiment, the root canal preparation navigation module specifically includes: computing unit is configured to according to the hand
The relative positional relationship of art instrument and the root canal path calculates the surgical instrument tip of the surgical instrument and described
The point deviation and the angular deviation between canal path；And processing unit, it is configured to calculated described according to institute
Point deviation and the angular deviation, the surgical instrument tip aim at it is described suffer from tooth during prompt doctor according to described
Root canal path carries out root canal preparation.
In one embodiment, the computing unit is specifically configured to:
According to the relative positional relationship of the surgical instrument and the root canal path, the described of the surgical instrument is calculated
The point deviation between surgical instrument tip and the root canal entrance；And
According to the relative positional relationship of the surgical instrument and the root canal path, the described of the surgical instrument is calculated
The angular deviation between axis and the root canal path where surgical instrument tip.
In one embodiment, the processing unit is specifically configured to: when the calculated point deviation be greater than etc.
When the maximum safety value of the point deviation and/or when the calculated angular deviation is more than or equal to the angular deviation
When maximum safety value, stop root canal preparation.
In one embodiment, further comprise: display module is configured in the root canal preparation described in real-time display
The relative positional relationship of surgical instrument and the root canal path.
In one embodiment, the data acquisition module specifically includes: import unit, is configured to import and suffer from by shooting
Person is resulting include at least three mark points image scan data, wherein at least three mark point include it is described suffer from tooth from
The characteristic point of body, and/or the developing mark point of external addition；And three-dimensional reconstruction unit, it is configured to according to the image scan
Data obtain the three-dimensional voxel data for suffering from tooth by three-dimensional reconstruction process.
In one embodiment, further comprise: demarcating module is configured to demarcate the surgical instrument to obtain the hand
The surgical instrument tip coordinate data and surgical instrument tip axis line number evidence of art instrument；And registration module, it is configured to according to institute
State at least three mark points and image registration carried out to tooth coordinate data and the three-dimensional voxel data suffered from, and according to calibration after
Surgical instrument tip coordinate data, by the three-dimensional voxel data, the surgical instrument coordinate data and described suffer from tooth
Coordinate data is integrated into a common coordinate system.
In one embodiment, the data acquisition module further include: reading unit is configured to read navigator number of coordinates
According to, wherein the navigator coordinate data includes the surgical instrument positioning device by being mounted in the surgical instrument and obtains
The surgical instrument coordinate data and by be mounted on it is described suffer from tooth obtained and suffering from tooth positioning device described suffer from tooth
Coordinate data.
In one embodiment, the root canal entrance determining module is specifically configured to: according to the three-dimensional voxel data
In gray value difference, determine the root canal entrance.
In one embodiment, the root canal path design module is specifically configured to: according to the three-dimensional voxel data
In gray value difference, automatic Fitting go out using the root canal entrance as the root canal path of the preset length of starting point；And/or according to
The three-dimensional voxel data of 1 discrete points in the root canal path of the preset length, automatic Fitting go out with the root canal
Entrance is the root canal path of the preset length of starting point.
One embodiment of the invention also provides a kind of system for digitizing root canal preparation, comprising: surgical instrument positioning device is used
In acquisition surgical instrument coordinate data；Suffer from tooth positioning device, suffers from tooth coordinate data for obtaining；Navigator, it is described for receiving
Surgical instrument coordinate data and/or described suffer from tooth coordinate data；And the digitlization as described in claim 12-22 any one
The device of root canal preparation.
In one embodiment, the navigator is by receiving the infrared ray of the surgical instrument positioning device sending to obtain
The surgical instrument coordinate data and/or navigator are obtained by receiving the infrared ray for suffering from the sending of tooth positioning device to obtain
It is described to suffer from tooth coordinate data.
A kind of method, apparatus and system for digitizing root canal preparation, preoperative by obtaining provided by the embodiment of the present invention
It takes three-dimensional voxel data that root canal entrance has been determined, and fits root canal path；It is determined by the surgical instrument coordinate data of acquisition
The relative positional relationship of surgical instrument and root canal path；According to the root canal of Design during subsequent root canal preparation
Path carries out root canal preparation, to efficiently avoid accurate because that can not carry out between surgical instrument and root canal in root canal preparation art
Positioning, caused by root canal preparation it is improper the problems such as.
Detailed description of the invention
Fig. 1 show the flow diagram of the method for digitlization root canal preparation provided by one embodiment of the present invention.
Fig. 2 show the specific of the root canal preparation in the method for digitlization root canal preparation provided by one embodiment of the present invention
Flow diagram.
Fig. 3 show root canal entrance and root canal in the method for digitlization root canal preparation provided by one embodiment of the present invention
The structural schematic diagram in path.
Fig. 4 show the structural schematic diagram of the device of digitlization root canal preparation provided by one embodiment of the present invention.
Fig. 5 show the structural schematic diagram of the device of the digitlization root canal preparation of another embodiment of the present invention offer.
Fig. 6 show the structural schematic diagram of the system of digitlization root canal preparation provided by one embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Fig. 1 show the flow diagram of the method for digitlization root canal preparation provided by one embodiment of the present invention.Such as Fig. 1
It is shown, this method comprises:
Step 101: obtaining the three-dimensional voxel data in oral cavity, the surgical instrument coordinate data of surgical instrument and that suffers from tooth suffer from tooth
Coordinate data；
It should be appreciated that the three-dimensional voxel data in oral cavity can first pass through the image scan number that image scan technology obtains oral cavity
According to the image scan data may include three-dimensional dot array data or continuous two-dimensional projection data sequence.It is calculated again by computer
Method carries out three-dimensional reconstruction to image scan data, thus just obtains three-dimensional voxel data.
It should be noted that can also be by being split acquired three-dimensional voxel data to obtain the surface for suffering from tooth
Grid data suffers from tooth so as to tell from multiple teeth, and for the root of the tooth for suffering from tooth is split, so as to
Subsequent root canal preparation.
Step 102: determining root canal entrance according to three-dimensional voxel data, and design root canal path；
It should be appreciated that because root canal entrance and the gray value of other tissues are different, first according to root canal entrance
The difference of gray value of three-dimensional voxel data determine root canal entrance, herein, root canal entrance refers to that root canal is preced with to inlet.Again
According to identified root canal entrance, using root canal entrance as starting point, a smooth root canal path is designed.
Step 103: the relative positional relationship of surgical instrument Yu root canal path is determined according to surgical instrument coordinate data；
It should be appreciated that converted, that is, rotate or translated by corresponding coordinate after surgical instrument coordinate data has been determined,
To obtain the relative positional relationship of surgical instrument Yu root canal path.
Step 104: root canal preparation is carried out according to surgical instrument and the relative positional relationship in root canal path.
It is preoperative that root canal entrance has been determined by obtaining three-dimensional voxel data, and fit root canal path；Pass through the hand of acquisition
Art instrument coordinate data has determined the relative positional relationship of surgical instrument Yu root canal path；During subsequent root canal preparation
Root canal preparation is carried out according to the root canal path of Design, to efficiently avoid in root canal preparation art because of surgical instrument and root
Can not accurately be positioned between pipe, caused by root canal preparation it is improper the problems such as.
In an embodiment of the present invention, in order to more accurate safe carry out root canal preparation, it is pre- to prevent root canal
It the problems such as standby improper, can be before carrying out root canal preparation, between the surgical instrument tip and root canal path of default surgical instrument
Point deviation maximum safety value and angular deviation maximum safety value.It should be appreciated that point deviation maximum safety value and
As long as the default of the maximum safety value of angular deviation carries out default, the present invention before the operation of each root canal preparation starts
Embodiment is not intended to limit the preset opportunity of the maximum safety value of point deviation and the maximum safety value of angular deviation.
It is as described in Figure 2 in this way, when carrying out root canal preparation, can further comprise:
Step 201: according to the relative positional relationship of surgical instrument and root canal path, calculating surgical instrument tip and root canal road
Point deviation and angular deviation between diameter；
It should be appreciated that surgical instrument tip refers to the point for being equipped with the surgical instrument of surgical instrument accessory and suffering from tooth and being in contact
End position；Point deviation and angular deviation are used to characterize surgical instrument in the course of surgery and the relative position in root canal path is closed
System, and compared during subsequent with the maximum safety value of preset point deviation and the maximum safety value of angular deviation
Compared with.
Step 202: according to the calculated point deviation of institute and angular deviation, the process for suffering from tooth is aimed at surgical instrument tip
Middle prompt doctor carries out root canal preparation according to root canal path.
If surgical instrument tip carries out root canal preparation in the case where not having prompt devious, when point deviation and angular deviation
When respectively greater than equal to the maximum safety value of point deviation and the maximum safety value of angular deviation, it is more likely that root canal preparation occur
The problems such as improper.Thus it needs to return to a prompt information by digitlization or patterned mode to prompt surgical instrument sharp
The relative positional relationship at end and root canal path has had exceeded normal range (NR), and such doctor more intuitive can observe surgical device
The relative position of tool and root canal path, i.e. surgical instrument tip have had moved away from the operation road at root canal entrance and surgical instrument tip
Diameter has had deviated from root canal path, accurately judges to facilitate doctor, improves user experience.
In an embodiment of the present invention, according to the relative positional relationship of surgical instrument and root canal path, surgical instrument is calculated
Point deviation and angular deviation between tip and root canal path specifically include: according to the opposite position of surgical instrument and root canal path
Relationship is set, the point deviation between the surgical instrument tip of surgical instrument and root canal entrance is calculated；And according to surgical instrument
With the relative positional relationship in root canal path, the axis where the surgical instrument tip of surgical instrument is calculated and between root canal path
Angular deviation.
Specifically, according to the relative positional relationship of surgical instrument and root canal path, being calculated during root canal preparation
The deviation of distance of the operation instrument tip apart from root canal entrance out；After having found root canal entrance, according to surgical instrument and root canal
The relative positional relationship in path calculates the deviation of the axis where surgical instrument tip and the angle in root canal path；Work as determination
After surgical instrument tip enters the angle in root canal path, according to the relative positional relationship and root canal of surgical instrument and root canal path
Path is observed the depth that surgical instrument tip enters root canal path by digitlization or patterned mode, is allowed in deviation
The depth that surgical instrument tip enters root canal path is observed in the range of maximum safety value, when the entrance depth at surgical instrument tip
For designed root canal path total length when, that is, complete entire root canal preparation.
In an embodiment of the present invention, it according to the calculated point deviation of institute and angular deviation, is taken aim at surgical instrument tip
Standard prompts doctor to specifically include according to root canal path progress root canal preparation during suffering from tooth: when calculated point deviation is greater than
Equal to point deviation maximum safety value when and/or when calculated angular deviation be more than or equal to angular deviation maximum safety value
When, stop root canal preparation.
Specifically, when calculated point deviation is more than or equal to the maximum safety value of point deviation and/or when calculating
When angular deviation out is more than or equal to the maximum safety value of angular deviation, caution sound can be issued, and pass through amputation instrument
The mode of power supply, allows surgical instrument to stop working；After being adjusted surgical instrument and the relative positional relationship in root canal path, work as a little
Position deviation be less than point deviation maximum safety value, while angular deviation be less than angular deviation maximum safety value when, caution sound
Stopping and surgical instrument service restoration, so as to avoid there is the problems such as root canal preparation is improper.
In an embodiment of the present invention, the method for the digitlization root canal preparation further comprises: in root canal preparation in real time
Show the relative positional relationship of surgical instrument and root canal path.
It should be appreciated that real-time display can be performed the operation by way of graphical or digitlization display in root canal preparation
The relative positional relationship of instrument and root canal path, such doctor more intuitive can observe the phase of surgical instrument with root canal path
To position, facilitates doctor and accurately judge, improve user experience.
In an embodiment of the present invention, the three-dimensional voxel data for obtaining oral cavity specifically include: importing by shooting patient institute
The image scan data comprising at least three mark points obtained, wherein at least three mark point includes suffering from the characteristic point of tooth itself,
And/or the developing mark point of external addition；According to image scan data, the three-dimensional voxel of patient is obtained by three-dimensional reconstruction process
Data.
It should be appreciated that at least three mark points mentioned above are the coordinate systems for suffering from tooth for determination, and for
Make to suffer from tooth image and suffer from tooth to carry out image registration.By computerized algorithm to the three-dimensional dot array data or company of image scan data
Continuous two-dimensional projection data sequence carries out three-dimensional reconstruction, thus just obtains three-dimensional voxel data.
In an embodiment of the present invention, determining that surgical instrument is opposite with root canal path according to surgical instrument coordinate data
Before positional relationship, further comprise: demarcating surgical instrument to obtain the surgical instrument tip coordinate data and hand of surgical instrument
Art instrument tip axis data；And image is carried out to tooth coordinate data and three-dimensional voxel data are suffered from according at least three mark points
Registration, and according to calibrated surgical instrument tip coordinate data, by three-dimensional voxel data, surgical instrument coordinate data and suffer from tooth
Coordinate data is integrated into a common coordinate system.
It should be appreciated that the process of calibration is the surgical device for being equipped with surgical instrument positioning device by computerized algorithm calibration
Tool is to obtain surgical instrument tip coordinate data and surgical instrument tip axis line number evidence.Herein, surgical instrument tip axis line number
Determine the angle between surgical instrument tip and root canal path, according to being to prompt surgical device in root canal preparation
The angular deviation at tool tip.
It is also understood that the process of registration is will to suffer from tooth image by least three mark points to match with tooth progress image is suffered from
Standard, while tooth coordinate data will be suffered from the preoperative three-dimensional voxel data for suffering from tooth, art and surgical instrument coordinate data is integrated into one
In common coordinate system, these combined informations will be finally used in root canal preparation accurately determine that root canal enters by doctor
Mouth and root canal path.It should be noted that registration process specifically further includes the conversion to corresponding coordinate, that is, translates or rotate.
In an embodiment of the present invention, it obtains the surgical instrument coordinate data of surgical instrument and that suffers from tooth suffers from tooth coordinate data
It specifically includes: reading navigator coordinate data, wherein navigator coordinate data includes the operation by being mounted in surgical instrument
Instrument positioning device and the surgical instrument coordinate data that obtains and suffer from obtaining on tooth and suffering from tooth positioning device by being mounted on
Suffer from tooth coordinate data.
It should be appreciated that navigator passes through surgical instrument positioning device in real time and obtains operation during root canal preparation
Instrument coordinate data and suffer from tooth coordinate data by suffering from the acquisition of tooth positioning device, such surgical instrument coordinate data and suffers from tooth coordinate
Data will be read in real time, thus during root canal preparation, it can be by way of graphical or digitlization display
The relative positional relationship of display surgical instrument and root canal path, such doctor more intuitive can observe surgical instrument in real time
With the relative position in root canal path, facilitates doctor and accurately judge, improve user experience.
In an embodiment of the present invention, determine that root canal entrance specifically includes according to three-dimensional voxel data: according to three-dimensional voxel
The difference of gray value in data determines root canal entrance, it should be understood that because the gray value of root canal entrance and other tissues is not
With, it is possible to the position of root canal entrance is determined according to the difference of the gray value of the three-dimensional voxel data of root canal entrance.
In an embodiment of the present invention, according to the difference of the gray value in three-dimensional voxel data, automatic Fitting goes out with root canal
Entrance is the root canal path of the preset length of starting point；And/or it is discrete according at least two in the root canal path of preset length
The three-dimensional voxel data of point, automatic Fitting go out using root canal entrance as the root canal path of the preset length of starting point.
It should be appreciated that as shown in figure 3, preset length include be preced with from root canal entrance 31 to root canal from upward one third 32 it
Between arbitrary length.Specifically, the design in root canal path can be according to the difference of the gray value in three-dimensional voxel data, automatically
Fit any one length that root canal entrance 31 and root canal with root canal entrance 31 for starting point are preced between 32 at upward one third
The root canal path 33 of degree, can also according to root canal entrance 31 and root canal be preced between 32 at upward one third at least two from
The three-dimensional voxel data of scattered point, automatic Fitting go out upward three points of root canal entrance 31 and the root canal hat with root canal entrance 31 for starting point
One of any one length between place 32 root canal path 33.
It is also understood that because root canal path 33 and the gray value of other tissues are different, it is possible to by automatic
The method of fitting forms a smooth root canal path 33 so that root canal entrance 31 is starting point；It can also be in root canal entrance 31 and root
Pipe is preced with the 1 discrete points of manual selection between upward one third 32, according to the three-dimensional of 1 discrete points
Voxel data forms a smooth root canal path 33 with root canal entrance 31 by the method for automatic Fitting for starting point.Herein
Can arbitrarily choose root canal path 33 to be formed length, the embodiment of the present invention is not intended to limit the length in root canal path 33
Degree, as long as the length for being formed by root canal path 33 is less than or equal to the length of root canal straight line portion or near linear part,
It should be noted that root canal straight line portion or refer to close to straight line portion from root canal entrance 31 to root canal is preced with from upward one third
Part between 32.The embodiment of the present invention is also unlimited simultaneously sets up the method that root canal path 33 is taken of counting, as long as being capable of forming
One smooth root canal path 33.
Based on the method for digitlization root canal preparation as described above, the present invention also provides a kind of dresses for digitizing root canal preparation
It sets, shown in Fig. 4, the device 40 of the digitlization root canal preparation includes:
Data acquisition module 41 is configured to obtain three-dimensional voxel data, the surgical instrument number of coordinates of surgical instrument in oral cavity
Suffer from tooth coordinate data according to suffer from tooth；
Root canal entrance determining module 42 is configured to determine root canal entrance according to three-dimensional voxel data；
Module 43 is designed in root canal path, is configured to according to three-dimensional voxel design data root canal path；
Relative positional relationship determining module 44 is configured to determine surgical instrument and root canal road according to surgical instrument coordinate data
The relative positional relationship of diameter；And
Root canal preparation navigation module 45 is configured to carry out root canal according to surgical instrument and the relative positional relationship in root canal path
Preparation.
In an embodiment of the present invention, as shown in figure 5, the device 40 of the digitlization root canal preparation further comprises: default
Module 46, be configured to the point deviation between the surgical instrument tip and root canal path of default surgical instrument maximum safety value and
The maximum safety value of angular deviation.
In an embodiment of the present invention, as shown in figure 5, root canal preparation navigation module 45 specifically includes:
Computing unit 451 is configured to calculate surgical instrument according to the relative positional relationship of surgical instrument and root canal path
Point deviation and angular deviation between surgical instrument tip and root canal path；And
Processing unit 452 is configured to be aimed at according to the calculated point deviation of institute and angular deviation at surgical instrument tip
Doctor is prompted to carry out root canal preparation according to root canal path during suffering from tooth.
In an embodiment of the present invention, computing unit 451 mentioned above is specifically configured to:
According to the relative positional relationship of surgical instrument and root canal path, surgical instrument tip and the root of surgical instrument are calculated
Point deviation between tube inlet；And
According to the relative positional relationship of surgical instrument and root canal path, where the surgical instrument tip for calculating surgical instrument
Axis and root canal path between angular deviation.
In an embodiment of the present invention, processing unit 452 mentioned above is specifically configured to:
When calculated point deviation is more than or equal to the maximum safety value of point deviation and/or when calculated angle is inclined
When difference is more than or equal to the maximum safety value of angular deviation, stop root canal preparation；
In an embodiment of the present invention, as shown in figure 5, the device of the digitlization root canal preparation further comprises:
Display module 47 is configured to the relative position in real-time display surgical instrument and root canal path in root canal preparation and closes
System.
In an embodiment of the present invention, as shown in figure 5, data acquisition module 41 specifically includes:
Import unit 411, be configured to import through shooting patient it is resulting include at least three mark points image scan
Data, wherein at least three mark point include suffering from the characteristic point of tooth itself, and/or the developing mark point of external addition；
Three-dimensional reconstruction unit 412, is configured to according to image scan data, obtains the three-dimensional for suffering from tooth by three-dimensional reconstruction process
Voxel data.
In an embodiment of the present invention, as shown in figure 5, the device 40 of the digitlization root canal preparation further comprises:
Demarcating module 48 is configured to calibration surgical instrument to obtain the surgical instrument tip coordinate data and point of surgical instrument
Hold axis data；
Registration module 49 is configured to according at least three mark points to suffering from tooth coordinate data and three-dimensional voxel data carry out figure
As registration, and according to calibrated surgical instrument tip coordinate data, by three-dimensional voxel data, surgical instrument coordinate data and trouble
Tooth coordinate data is integrated into a common coordinate system.
In an embodiment of the present invention, as shown in figure 5, data acquisition module 41 further include: reading unit 413 is configured to
Read navigator coordinate data, wherein navigator coordinate data includes positioning by the surgical instrument being mounted in surgical instrument
Device and the surgical instrument coordinate data that obtains and by being mounted on obtain suffer from tooth coordinate and suffering from tooth positioning device suffered from tooth
Data.
In an embodiment of the present invention, root canal entrance determining module 52 mentioned above is specifically configured to: according to three-dimensional
The difference of gray value in voxel data determines root canal entrance.
In an embodiment of the present invention, design module 53 in root canal path mentioned above is specifically configured to:
According to the difference of the gray value in three-dimensional voxel data, automatic Fitting goes out using root canal entrance as the preset length of starting point
Root canal path；And/or
According to the three-dimensional voxel data of the discrete point of at least two in the root canal path of preset length, automatic Fitting go out with
Root canal entrance is the root canal path of the preset length of starting point.
It should be appreciated that each module or list recorded in the device 50 of digitlization root canal preparation provided by above-described embodiment
Member is all corresponding with a method and step above-mentioned.Operation, feature and the beneficial effect of method and step description above-mentioned as a result,
Be equally applicable to the digitlization root canal preparation device 50 and its included in corresponding module and unit, duplicate content exists
This is repeated no more.
The teachings of the present invention is also implemented as a kind of computer program product of computer readable storage medium, including meter
Calculation machine program code is enabled a processor to when computer program code is executed by processor according to embodiment party of the present invention
The method of formula come realize as embodiments herein digitlization root canal preparation method.Computer storage medium can have to be any
Shape medium, such as floppy disk, CD-ROM, DVD, hard disk drive, even network medium etc..
Although being produced it should be appreciated that can be computer program the foregoing describe a kind of way of realization of embodiment of the present invention
Product, but the method or apparatus of embodiments of the present invention can be come in fact according to the combination of software, hardware or software and hardware
It is existing.Hardware components can use special logic to realize；Software section can store in memory, by instruction execution appropriate
System, such as microprocessor or special designs hardware execute.It will be understood by those skilled in the art that above-mentioned side
Method and equipment can be used computer executable instructions and/or is included in the processor control code to realize, such as such as
Disk, the mounting medium of CD or DVD-ROM, the programmable memory of such as read-only memory (firmware) or such as optics or
Such code is provided in the data medium of electrical signal carrier.Methods and apparatus of the present invention can be by such as ultra-large
The semiconductor or such as field programmable gate array of integrated circuit or gate array, logic chip, transistor etc. can be compiled
The hardware circuit realization of the programmable hardware device of journey logical device etc., can also be soft with being executed by various types of processors
Part is realized, can also be realized by the combination such as firmware of above-mentioned hardware circuit and software.
It will be appreciated that though being referred to several moulds of the device 50 of the digitlization root canal preparation in the detailed description above
Block or unit, but this division is merely exemplary and not mandatory.In fact, exemplary embodiment party according to the present invention
Formula, two or more above-described module/unit feature and function can realize in a module/unit, conversely, on
One module/unit feature and function of text description can be to be realized by multiple module/units with further division.In addition,
Above-described certain module/unit can be omitted under certain application scenarios.
Based on the device of digitlization root canal preparation as described above, what it is the present invention also provides a kind of digitlization root canal preparation is
System, shown in Fig. 6, the system of the digitlization root canal preparation includes:
Surgical instrument positioning device 601, for obtaining surgical instrument coordinate data；
Suffer from tooth positioning device 602, suffers from tooth coordinate data for obtaining；
Navigator 603, for receiving surgical instrument coordinate data and/or suffering from tooth coordinate data；And number mentioned above
The device 604 of word root canal preparation.
It should be appreciated that as shown in fig. 6, surgical instrument positioning device 601 is mounted in surgical instrument, and pacify in surgical instrument
Equipped with surgical instrument accessory, by the method for calibration mentioned above can obtain surgical instrument tip 609 coordinate data and
Axis data.Suffer from tooth positioning device 602 to be fixed on the tooth for the side for suffering from tooth by fixed device 608.
It should be noted that the embodiment of the present invention is to for receiving surgical instrument coordinate data and/or suffering from tooth coordinate data
Navigator and with no restrictions, other can obtain in real time surgical instrument coordinate data and/or suffer from tooth coordinate data device it is equal
Within protection scope of the present invention.Meanwhile the embodiment of the present invention is to the surgical instrument for obtaining surgical instrument coordinate data
Positioning device and for obtain suffer from tooth coordinate data suffer from tooth positioning device also and with no restrictions, other can determine operation in real time
The device of instrument coordinate data and the real-time determining device for suffering from tooth coordinate data are within the scope of the present invention.It should manage
It solves, several modules or unit of the device 604 of the digitlization root canal preparation in the system of the digitlization root canal preparation can all execute
Method and step above-mentioned.
In one embodiment of the invention, navigator 603 is by receiving the infrared ray of the sending of surgical instrument positioning device 601 to obtain
Surgical instrument coordinate data and/or navigator 603 are obtained by receiving the infrared ray for suffering from the sending of tooth positioning device 602 to be suffered from
Tooth coordinate data.
It should be appreciated that navigator is obtained by the infrared ray that the controller 610 received in surgical instrument positioning device issues
Surgical instrument coordinate data is obtained, suffers from tooth number of coordinates by receiving the infrared ray for suffering from the sending of the controller 610 on tooth device and obtaining
According to.Method of the device 604 of root canal preparation by executing digitlization root canal preparation mentioned above is digitized, entire root canal is completed
Preparation.It obtains surgical instrument coordinate data it should be noted that the embodiment of the present invention is not intended to limit navigator and suffers from tooth number of coordinates
According to mode, other can obtain surgical instrument coordinate data and suffer from tooth coordinate data mode in protection scope of the present invention
Within.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, made any modification, equivalent replacement etc. be should all be included in the protection scope of the present invention.
Claims (24)
1. a kind of method for digitizing root canal preparation characterized by comprising
It obtains the three-dimensional voxel data in oral cavity, the surgical instrument coordinate data of surgical instrument and that suffers from tooth suffers from tooth coordinate data；
Root canal entrance is determined according to the three-dimensional voxel data, and designs root canal path；
The relative positional relationship of the surgical instrument Yu the root canal path is determined according to the surgical instrument coordinate data；And
Root canal preparation is carried out according to the surgical instrument and the relative positional relationship in the root canal path.
2. the method for digitlization root canal preparation according to claim 1, which is characterized in that described according to the surgical device
Before the relative positional relationship in tool and the root canal path carries out root canal preparation, further comprise:
Preset the point deviation between the surgical instrument tip of the surgical instrument and the root canal path maximum safety value and
The maximum safety value of angular deviation.
3. the method for digitlization root canal preparation according to claim 2, which is characterized in that described according to the surgical instrument
Root canal preparation is carried out with the relative positional relationship in the root canal path to specifically include:
According to the relative positional relationship of the surgical instrument and the root canal path, the surgical device of the surgical instrument is calculated
The point deviation and the angular deviation between tool tip and the root canal path；And
According to the institute's calculated point deviation and angular deviation, the tooth of suffering from is aimed at the surgical instrument tip
Prompt doctor carries out root canal preparation according to the root canal path in the process.
4. the method for digitlization root canal preparation according to claim 3, which is characterized in that described according to the surgical instrument
With the relative positional relationship in the root canal path, the surgical instrument tip and the root canal path of the surgical instrument are calculated
Between the point deviation and the angular deviation specifically include:
According to the relative positional relationship of the surgical instrument and the root canal path, the operation of the surgical instrument is calculated
The point deviation between instrument tip and the root canal entrance；And
According to the relative positional relationship of the surgical instrument and the root canal path, the operation of the surgical instrument is calculated
The angular deviation between axis and the root canal path where instrument tip.
5. the method for digitlization root canal preparation according to claim 3, which is characterized in that described according to calculated institute, institute
State point deviation and the angular deviation, the surgical instrument tip aim at it is described suffer from tooth during prompt doctor according to institute
Root canal path progress root canal preparation is stated to specifically include:
When the calculated point deviation is more than or equal to the maximum safety value of the point deviation and/or when calculated institute
When stating maximum safety value of the angular deviation more than or equal to the angular deviation, stop root canal preparation.
6. the method for root canal preparation is digitized described in -5 according to claim 1, which is characterized in that further comprise:
The relative positional relationship of surgical instrument described in real-time display and the root canal path in the root canal preparation.
7. the method for root canal preparation is digitized described in -5 any one according to claim 1, which is characterized in that the acquisition mouth
The three-dimensional voxel data of chamber specifically include:
Import through shooting patient it is resulting include at least three mark points image scan data, wherein it is described at least three mark
Note point includes the characteristic point for suffering from tooth itself, and/or the developing mark point of external addition；And
According to the image scan data, the three-dimensional voxel data for suffering from tooth are obtained by three-dimensional reconstruction process.
8. the method for digitlization root canal preparation according to claim 7, which is characterized in that described according to the surgical device
Before tool coordinate data determines the surgical instrument and the relative positional relationship in the root canal path, further comprise:
The surgical instrument is demarcated to obtain the surgical instrument tip coordinate data of the surgical instrument and surgical instrument tip axis
Line number evidence；And
Image registration is carried out to tooth coordinate data and the three-dimensional voxel data suffered from according at least three mark point, and
According to calibrated surgical instrument tip coordinate data, by the three-dimensional voxel data, the surgical instrument coordinate data
It is integrated into a common coordinate system with the tooth coordinate data of suffering from.
9. the method for root canal preparation is digitized described in -5 any one according to claim 1, which is characterized in that the acquisition institute
The surgical instrument coordinate data and the tooth coordinate data of suffering from for suffering from tooth for stating surgical instrument specifically include:
Read navigator coordinate data, wherein the navigator coordinate data includes by being mounted in the surgical instrument
Surgical instrument positioning device and the surgical instrument coordinate data that obtains and by be mounted on it is described suffer from suffer from tooth positioning on tooth
Device and what is obtained described suffer from tooth coordinate data.
10. the method for root canal preparation is digitized described in -5 according to claim 1, which is characterized in that described according to the three-dimensional
Voxel data determines that the root canal entrance specifically includes:
According to the difference of the gray value in the three-dimensional voxel data, the root canal entrance is determined.
11. the method for root canal preparation is digitized described in -5 according to claim 1, which is characterized in that described according to the three-dimensional
Voxel data designs the root canal path and specifically includes:
According to the difference of the gray value in the three-dimensional voxel data, automatic Fitting goes out using the root canal entrance as the default of starting point
The root canal path of length；And/or
According to the three-dimensional voxel data of the discrete point of at least two in the root canal path of the preset length, automatic Fitting go out with
The root canal entrance is the root canal path of the preset length of starting point.
12. a kind of device for digitizing root canal preparation characterized by comprising
Data acquisition module is configured to obtain three-dimensional voxel data, the surgical instrument coordinate data of surgical instrument and the trouble in oral cavity
Tooth suffers from tooth coordinate data；
Root canal entrance determining module is configured to determine root canal entrance according to the three-dimensional voxel data；
Module is designed in root canal path, is configured to according to the three-dimensional voxel design data root canal path；
Relative positional relationship determining module, be configured to be determined according to the surgical instrument coordinate data surgical instrument with it is described
The relative positional relationship in root canal path；And
Root canal preparation navigation module is configured to carry out root according to the surgical instrument and the relative positional relationship in the root canal path
Pipe preparation.
13. the device of digitlization root canal preparation according to claim 12, which is characterized in that further comprise:
Presetting module is configured to preset the point deviation between the surgical instrument tip of the surgical instrument and the root canal path
Maximum safety value and angular deviation maximum safety value.
14. the device of digitlization root canal preparation according to claim 13, which is characterized in that the root canal preparation navigation mould
Block specifically includes:
Computing unit is configured to calculate the operation according to the relative positional relationship of the surgical instrument and the root canal path
The point deviation and the angular deviation between the surgical instrument tip and the root canal path of instrument；And
Processing unit is configured to according to the calculated point deviation of institute and the angular deviation, in the surgical instrument point
The prompt doctor during suffering from tooth is aimed at according to root canal path progress root canal preparation in end.
15. the device of digitlization root canal preparation according to claim 14, which is characterized in that the specific quilt of the computing unit
It is configured that
According to the relative positional relationship of the surgical instrument and the root canal path, the operation of the surgical instrument is calculated
The point deviation between instrument tip and the root canal entrance；And
According to the relative positional relationship of the surgical instrument and the root canal path, the operation of the surgical instrument is calculated
The angular deviation between axis and the root canal path where instrument tip.
16. the device of digitlization root canal preparation according to claim 14, which is characterized in that the specific quilt of the processing unit
It is configured that
When the calculated point deviation is more than or equal to the maximum safety value of the point deviation and/or when calculated institute
When stating maximum safety value of the angular deviation more than or equal to the angular deviation, stop root canal preparation.
17. the device of root canal preparation is digitized described in 2-16 according to claim 1, which is characterized in that further comprise:
Display module is configured to the opposite position of surgical instrument described in real-time display and the root canal path in the root canal preparation
Set relationship.
18. the device of root canal preparation is digitized described in 2-16 any one according to claim 1, which is characterized in that the number
It is specifically included according to module is obtained:
Import unit, be configured to import through shooting patient it is resulting include at least three mark points image scan data,
Described at least three mark points include the characteristic point for suffering from tooth itself, and/or the developing mark point of external addition；And
Three-dimensional reconstruction unit, is configured to according to the image scan data, is obtained by three-dimensional reconstruction process and described suffers from the three of tooth
Tie up voxel data.
19. the device of digitlization root canal preparation according to claim 18, which is characterized in that further comprise:
Demarcating module, be configured to demarcate the surgical instrument with obtain the surgical instrument tip coordinate data of the surgical instrument and
Surgical instrument tip axis line number evidence；And
Registration module is configured to suffer from tooth coordinate data and the three-dimensional voxel data to described according at least three mark point
Image registration is carried out, and according to calibrated surgical instrument tip coordinate data, by the three-dimensional voxel data, the hand
Art instrument coordinate data and the tooth coordinate data of suffering from are integrated into a common coordinate system.
20. the device of root canal preparation is digitized described in 2-16 any one according to claim 1, which is characterized in that the number
According to acquisition module further include:
Reading unit is configured to read navigator coordinate data, wherein the navigator coordinate data includes by being mounted on
State the surgical instrument positioning device in surgical instrument and the surgical instrument coordinate data that obtains and by being mounted on the trouble
On tooth suffer from tooth positioning device and what is obtained described suffers from tooth coordinate data.
21. the device of root canal preparation is digitized described in 2-16 according to claim 1, which is characterized in that the root canal entrance is true
Cover half block is specifically configured to:
According to the difference of the gray value in the three-dimensional voxel data, the root canal entrance is determined.
22. the device of root canal preparation is digitized described in 2-16 according to claim 1, which is characterized in that the root canal path is set
Meter module is specifically configured to:
According to the difference of the gray value in the three-dimensional voxel data, automatic Fitting goes out using the root canal entrance as the default of starting point
The root canal path of length；And/or
According to the three-dimensional voxel data of the discrete point of at least two in the root canal path of the preset length, automatic Fitting go out with
The root canal entrance is the root canal path of the preset length of starting point.
23. a kind of system for digitizing root canal preparation characterized by comprising
Surgical instrument positioning device, for obtaining surgical instrument coordinate data；
Suffer from tooth positioning device, suffers from tooth coordinate data for obtaining；
Navigator, for receiving the surgical instrument coordinate data and/or described suffering from tooth coordinate data；And
The device of digitlization root canal preparation as described in claim 12-22 any one.
24. the system of digitlization root canal preparation according to claim 23, which is characterized in that the navigator passes through reception
The infrared ray that the surgical instrument positioning device issues is to obtain the surgical instrument coordinate data and/or navigator by connecing
It receives the infrared ray for suffering from the sending of tooth positioning device and described suffers from tooth coordinate data to obtain.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811601946.8A CN109846561A (en) | 2018-12-26 | 2018-12-26 | Digitize the method, apparatus and system of root canal preparation |
| PCT/CN2019/121071 WO2020134802A1 (en) | 2018-12-26 | 2019-11-26 | Method, apparatus, and system for digitizing root canal preparation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811601946.8A CN109846561A (en) | 2018-12-26 | 2018-12-26 | Digitize the method, apparatus and system of root canal preparation |
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| WO (1) | WO2020134802A1 (en) |
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