CN112022387A - Implant positioning method, device, equipment and storage medium - Google Patents
Implant positioning method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN112022387A CN112022387A CN202010891743.8A CN202010891743A CN112022387A CN 112022387 A CN112022387 A CN 112022387A CN 202010891743 A CN202010891743 A CN 202010891743A CN 112022387 A CN112022387 A CN 112022387A
- Authority
- CN
- China
- Prior art keywords
- implant
- dimensional data
- data
- dimensional
- scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000007943 implant Substances 0.000 title claims abstract description 199
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003860 storage Methods 0.000 title abstract description 13
- 238000007408 cone-beam computed tomography Methods 0.000 claims abstract description 24
- 210000003484 anatomy Anatomy 0.000 claims abstract description 14
- 210000000214 mouth Anatomy 0.000 claims description 11
- 238000001356 surgical procedure Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 abstract description 14
- 230000002980 postoperative effect Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 4
- 238000002513 implantation Methods 0.000 description 15
- 210000001847 jaw Anatomy 0.000 description 15
- 238000004422 calculation algorithm Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 14
- 210000000988 bone and bone Anatomy 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000005457 optimization Methods 0.000 description 5
- 230000005855 radiation Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 210000001909 alveolar process Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000004053 dental implant Substances 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000004086 maxillary sinus Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 241000446313 Lamella Species 0.000 description 1
- 208000008312 Tooth Loss Diseases 0.000 description 1
- 230000037182 bone density Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000004513 dentition Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 210000002698 mandibular nerve Anatomy 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000010603 microCT Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000011505 plaster Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000036346 tooth eruption Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
- A61B6/032—Transmission computed tomography [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/40—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for generating radiation specially adapted for radiation diagnosis
- A61B6/4064—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for generating radiation specially adapted for radiation diagnosis specially adapted for producing a particular type of beam
- A61B6/4085—Cone-beams
-
- A61B6/51—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/08—Volume rendering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/41—Medical
Abstract
The invention relates to a positioning method, a positioning device, positioning equipment and a storage medium for an implant. The method comprises the steps of matching first three-dimensional data of an implant with scanning rod data to obtain second three-dimensional data, wherein the scanning rod data are three-dimensional data of a scanning rod; step two, before the operation of implanting the implant conventionally, CBCT shooting is carried out on the operation position to obtain medical image data; step three, after the implant is implanted conventionally, inserting a scanning rod matched with the implant, and carrying out oral scanning to obtain third three-dimensional data; step four, registering the second three-dimensional data and the third three-dimensional data to obtain fourth three-dimensional data; and fifthly, registering the medical image data and the fourth three-dimensional data to obtain the position of the implant in the jaw bone and the relation with the surrounding anatomical structure, so that the technical effects of saving the step of postoperative imaging examination and reducing the radiation exposure of a patient can be achieved.
Description
Technical Field
The invention relates to the field of oral implant surgery, in particular to a positioning method, a positioning device, positioning equipment and a storage medium for an implant.
Background
In clinical implantation, common methods for imaging examination include apical lamella, curved lamina, Cone Beam Computed Tomography (CBCT).
The apex sheet and the curved surface body sheet belong to two-dimensional imaging examination, and have the advantages of low price and low radiation dose, but have a plurality of defects at the same time: 1. the two-dimensional image is obtained by compressing the form of a three-dimensional object onto a two-dimensional image, and cannot completely and truly show the specific information of an implant implantation area; 2. the buccal-lingual width of the alveolar ridge of the patient cannot be specifically evaluated by shooting the two-dimensional image before the implantation, and the buccal-lingual relative position of the implant in the jaw cannot be evaluated by shooting the two-dimensional image after the implantation; 3. several studies have demonstrated that conventional apex and curved body lamellae suffer from twisting, distortion and magnification of the image.
Furthermore, the CBCT image can clearly display the height, width and shape of alveolar ridge of jaw bone, accurate position of bone defect, bone density and key anatomical structures related to implantation (including mental foramen, inferior alveolar nerve, nasal floor, maxillary sinus floor and the like) after three-dimensional reconstruction and visualization processing, and in addition, a positioning guide plate of the implant also needs three-dimensional reconstruction data based on the CBCT. However, CBCT has the disadvantage of high radiation dose, 30-477 μ Sv (median 87 μ Sv), which is reduced by 76.2% -98.5% compared to the conventional maxillofacial CT radiation dose (2000 μ Sv), but still higher compared to other imaging examinations (apex < 2 μ Sv, curved volume slice 3-24 μ Sv).
Generally, imaging examination is required both before and after the implant surgery. Based on the advantages and disadvantages of various imaging examinations, the current imaging examination before implantation is mainly CBCT (suitable for most cases, including cases with anterior teeth, superior posterior teeth, multiple tooth loss, horizontal or vertical bone defect, and cases needing to make an implantation positioning guide plate) and curved surface body laminae (suitable for simple cases with sufficient bone mass in posterior teeth). In order to reduce the radioactive ray exposure of a patient as much as possible, the imaging examination after the current implantation mainly comprises a curved surface lamina and a root tip sheet, and CBCT needs to be taken after a few cases of performing the maxillary sinus lateral wall windowing bone grafting.
Therefore, most post-implant evaluation can only analyze the direction of the implant and the position relation with the adjacent teeth based on two-dimensional images, and cannot observe the relative position of the implant in the jaw bone in the buccal-lingual direction and the relative three-dimensional space position of the implant and the key anatomical structure. Currently, no tool is available to obtain the three-dimensional position of the implant in the jaw bone after dental implantation, except for CBCT, which has a high radiation dose.
Disclosure of Invention
The invention aims to provide a positioning method, a positioning device, positioning equipment and a storage medium for an implant, so as to save the step of postoperative imaging examination and achieve the technical effect of reducing the radiation exposure of a patient.
To achieve the above object, a first aspect of the present application provides a method for positioning an implant, comprising:
matching first three-dimensional data of an implant with scanning rod data to obtain second three-dimensional data, wherein the scanning rod data are three-dimensional data of a scanning rod;
step two, before the operation of implanting the implant conventionally, CBCT shooting is carried out on the operation position to obtain medical image data;
step three, after the implant is implanted conventionally, inserting a scanning rod matched with the implant, and carrying out oral scanning to obtain third three-dimensional data;
registering the second three-dimensional data and the third three-dimensional data to obtain fourth three-dimensional data;
and step five, registering the medical image data and the fourth three-dimensional data to obtain the position of the implant in the jaw bone and the relation with surrounding anatomical structures.
Further, the first step includes:
acquiring first three-dimensional data of an implant;
acquiring scanning rod data and surrogate volume data;
matching the first three-dimensional data, the scanning rod data and the substitute volume data into the same coordinate system;
and replacing the substitute body data with the first three-dimensional data in the coordinate system to obtain three-dimensional data after the first three-dimensional data of the implant is matched with the scanning rod data, and using the three-dimensional data as second three-dimensional data.
Further, the acquiring the first three-dimensional data of the implant includes:
constructing a three-dimensional outline of the implant according to the parameters of the implant;
outputting the three-dimensional data of the three-dimensional contour as first three-dimensional data of the implant.
Further, the parameters of the implant include: data of two-dimensional shape, diameter and length of the implant.
Further, the third step includes:
after the implant is implanted conventionally, inserting a scanning rod matched with the implant;
and carrying out oral cavity scanning on the insertion position of the scanning rod and the tooth positions with preset number in the near and far directions to obtain third three-dimensional data.
Further, the fourth step includes:
taking the local area which is the same or similar between the second three-dimensional data and the third three-dimensional data as a common area;
and registering the second three-dimensional data and the third three-dimensional data according to the common region to obtain registered fourth three-dimensional data.
To achieve the above object, a second aspect of the present application provides a positioning device for an implant, comprising:
the matching module is used for matching the first three-dimensional data of the implant with the scanning rod data to obtain second three-dimensional data, wherein the scanning rod data are three-dimensional data of a scanning rod;
the shooting module is used for carrying out CBCT shooting on a surgical position before a surgery of conventionally implanting an implant to obtain medical image data;
the scanning module is used for inserting a scanning rod matched with the implant after the implant is implanted into the implant conventionally, and carrying out oral scanning to obtain third three-dimensional data;
the first registration module is used for registering the second three-dimensional data and the third three-dimensional data to obtain fourth three-dimensional data;
a second registration module for registering the medical image data and the fourth three-dimensional data to obtain a position of the implant in the jaw bone and a relation to surrounding anatomical structures.
To achieve the above object, a third aspect of the present application provides an implant positioning apparatus comprising a processor and a memory for storing a computer program which, when executed by the processor, performs the method according to any of the first aspect.
To achieve the above object, a fourth aspect of the present application provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, performs the method according to any one of the first aspect.
It can be seen from above that, the technical scheme that this application provided can realize following technological effect: the oral cavity scanning process is simple and rapid, no radioactivity exists, the specific three-dimensional implantation position of the implant in the jaw bone can be obtained by performing registration twice through postoperative oral cavity scanning and a pre-drawn virtual implant, the step of postoperative imaging examination is omitted, and the radioactive ray exposure of a patient is reduced.
Drawings
Fig. 1 is a schematic view illustrating a positioning method of an implant according to embodiment 1 of the present invention;
fig. 2 is an operation diagram of each data in a positioning method of an implant according to embodiment 1 of the present invention;
FIG. 3 is a parameter diagram of an implant according to example 1 of the present invention;
FIG. 4 is a schematic view of first three-dimensional data of an implant according to example 1 of the present invention;
fig. 5 is a schematic view of replacement of surrogate volume data with first three-dimensional data of an implant according to example 1 of the present invention;
FIG. 6 is a schematic view of the second three-dimensional data after the first three-dimensional data of the implant is matched with the scan bar data in example 1 of the present invention;
FIG. 7 is a schematic representation of third three-dimensional data of a post-operative oral scan in example 1 of the present invention;
FIG. 8 is a diagram showing fourth three-dimensional data in example 1 of the present invention;
fig. 9 is a schematic diagram of medical image data before operation and fourth three-dimensional data after registration in embodiment 1 of the present invention;
FIG. 10 is a two-dimensional coronal section of FIG. 9 illustrating a position relationship between a virtual implant represented by the first three-dimensional data and an adjacent tooth;
FIG. 11 is a two-dimensional sagittal cross-section of FIG. 9, illustrating the first three-dimensional data representing the position of the virtual implant in relation to the bucco-lingual plate;
FIG. 12 is a schematic diagram of post-operative medical image data and fourth three-dimensional data after registration according to embodiment 1 of the present invention;
FIG. 13 is a schematic view of the position of the implant obtained from the post-operative medical image data of FIG. 12 in a two-dimensional coronal section with a virtual implant represented by the first three-dimensional data;
FIG. 14 is a schematic representation of the position of the implant in the two-dimensional sagittal section of the post-operative medical image data acquisition of FIG. 12 with a virtual implant represented by the first three-dimensional data;
fig. 15 is a schematic structural view of a positioning device for an implant according to embodiment 1 of the present invention;
fig. 16 is a schematic structural view of a positioning apparatus for an implant according to embodiment 1 of the present invention.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
Fig. 1 is a schematic view illustrating a positioning method of an implant according to embodiment 1 of the present invention; fig. 2 is an operation diagram of each data in a positioning method of an implant according to embodiment 1 of the present invention. In this embodiment, the positioning method of the implant may be performed on positioning equipment of the implant, wherein the positioning equipment of the implant may be equipment such as a computer and a mobile terminal. In the present embodiment, the positioning device of the implant is taken as a computer for a detailed description. Specifically, referring to fig. 1 and 2, the method may include the steps of:
step one, matching the first three-dimensional data of the implant with the scanning rod data to obtain second three-dimensional data.
The implant, also called oral implant, dental implant or artificial tooth root, is implanted into the upper and lower jawbone of edentulous part of human body by means of surgical operation, and after the operation wound is healed, the artificial tooth is repaired. And the scanning rod is used for scanning the position transfer of the high-precision implant inside and outside the mouth. Generally, a set of implant systems is provided in which the implant and scan shaft can be interrogated with respect to each other.
Further, in this embodiment, the implant and the scan shaft may be digitized, e.g., modeled using three-dimensional data.
Specifically, the first three-dimensional data of the implant is three-dimensional data of a virtual implant, and may be in a Standard Triangle Language (STL) format. The scan bar data is three-dimensional data of the scan bar, and likewise, may be in the format of STL. The STL format file is commonly used to describe the surface geometry of three-dimensional objects, and many software packages support this format, which is widely used in the fields of rapid prototyping, 3D printing, and computer aided manufacturing.
In this embodiment, the obtaining manner of the first three-dimensional data of the implant may include: forward modeling, reverse modeling, existing model derivation, and the like.
1. Forward modeling
Existing implant therapy related software may include: implant surgical guide design software. Guide plate design software is used for assisting preoperatively designing the position of the implant in the jaw bone and then generating an implant surgical guide plate; the guide plate is used in the operation, and can assist the implant to be implanted to a preset position. That is, there is data of the virtual implant in the guide design software, but most of the implant data in the software is encrypted and cannot be used directly, so as to prevent other competitive companies from imitating the data and producing dental implants.
In this embodiment, due to property protection, the implant three-dimensional data and the template design software of each implant manufacturer cannot be shared openly, for example, the implant three-dimensional data in the template design software (such as Nobel Clinician) cannot be used directly. Therefore, in the embodiment, the shape profile of the implant (without the need of a detailed structure such as a thread) can be constructed by using forward modeling industrial mapping software (such as SolidWorks or 3 maps) according to the parameters of the implant; and outputting the three-dimensional data of the outline as first three-dimensional data of the implant, namely the virtual implant.
Specifically, fig. 3 is a parameter diagram of an implant in embodiment 1 of the present invention, and fig. 4 is a first three-dimensional data diagram of the implant in embodiment 1 of the present invention. Referring to fig. 3, the parameters of the implant may include: the diameter A of the top circle, the height B of the neck ring, the height C of the thread, the distance D of the thread, the pitch E of the thread, the total length F, the outer diameter G, the contact surface H of the base table, the contact surface I of the bridge and the like.
It should be noted that, the post-operation evaluation of the implant aims to evaluate the three-dimensional spatial position of the implant in the jaw bone and the relationship with the surrounding anatomical structure, so that detailed structures such as implant threads are not needed, in this embodiment, detailed structures such as thread form, collar height, abutment bevel angle of a specific implant do not need to be constructed, and only the outline of the implant needs to be constructed, and therefore, in this embodiment, the parameters belonging to the implant for constructing the virtual implant may include: two-dimensional shape, diameter and length of the implant. That is, a three-dimensional outline of the implant may be constructed based on data of a two-dimensional outline, a diameter, a length, etc. of the implant, and as shown in fig. 4, three-dimensional data of the outline may be output as first three-dimensional data of the implant, i.e., a virtual implant.
2. Reverse modeling
An optical scanner may be used to scan the actual implant and obtain the corresponding three-dimensional data of the implant as the first three-dimensional data. Of course, the actual scanning rod may be connected to the implant to perform optical scanning as a whole, and the obtained three-dimensional data is the second three-dimensional data described in this embodiment.
3. Existing model derivation
With the gradual source opening and further functional development of the design software of the guide plate for the implant surgery in the future, the three-dimensional data of the virtual implant can be directly exported for use; and a scanning rod can be inserted for oral cavity scanning after the implantation, and then the virtual implant is directly matched below the scanning rod and is registered with the three-dimensional data of the preoperative medical image, so that a functional module of the implant implantation position is verified.
Through the above manner, further, in this embodiment, the first three-dimensional data of the implant may be acquired as the virtual implant;
further, scanning rod data and substitute body data matched with the implant system are obtained; the existing software related to implant therapy may further include: and (5) planting prosthesis design software. Generally, a prosthesis design software is matched with an implant, and the prosthesis design software comprises scanning rod data and substitute body data. Specifically, three-dimensional data such as scan bar data and surrogate volume data can be derived from the prosthesis design software.
Matching the first three-dimensional data, the scanning rod data and the substitute body data into the same coordinate system; and replacing the substitute volume data with the first three-dimensional data in the coordinate system to obtain three-dimensional data after the first three-dimensional data of the implant is matched with the scanning rod data, and using the three-dimensional data as second three-dimensional data.
Wherein, the substitute is an implantation restoration component which is used for replacing the implant and is embedded in the plaster model when the model is taken for implantation restoration. The surrogate volume data is three-dimensional data of a surrogate volume. In digital restoration design software matched with an implant system, the spatial relative positions of the scanning rod data and the substitute body data in a coordinate system are preset by the system.
Fig. 5 is a schematic diagram of replacing substitute data with first three-dimensional data of an implant in embodiment 1 of the present invention, and fig. 6 is a schematic diagram of second three-dimensional data after matching the first three-dimensional data of the implant with scan bar data in embodiment 1 of the present invention, specifically, referring to fig. 5 and 6, the first three-dimensional data 51 of a virtual implant, scan bar data 52, and substitute data 53 may be matched into the same coordinate system by using digital repair design software (e.g., Exocad or 3shape, etc.), and the position of the substitute data 53 is replaced with the virtual implant (i.e., the first three-dimensional data 51), so as to obtain three-dimensional data after matching the virtual implant (i.e., the first three-dimensional data 51) with the scan bar data, i.e., the second three-dimensional data shown in fig. 6.
Furthermore, the first three-dimensional data and the second three-dimensional data can be manufactured into finished products according to the brand and specification of the implant, and the finished products can be used repeatedly without repeated drawing after each operation.
And step two, before the operation of conventionally implanting the implant, CBCT shooting is carried out on the operation position to obtain medical image data.
In this embodiment, CBCT photographing refers to using CBCT equipment, i.e., cone beam projection computer tomography equipment, to perform three-dimensional Imaging on a surgical site to obtain medical image data, which can be saved using the Digital Imaging and Communications in Medicine (DICOM) standard. That is, the medical image data is DICOM data.
It should be noted that the principle of CBCT imaging is that the X-ray generator makes a ring digital projection (DR) around the projection object with a low dose (usually, the current of the bulb is about 10 ma). Then, the data obtained in the "intersection" after digital projection for a plurality of times (180-360 times, different according to different products) around the projection is "recombined, reconstructed" in the computer, and then a three-dimensional image is obtained. Therefore, the time or number of CBCT acquisitions should be reduced to reduce the exposure of the patient to radiation.
And step three, after the implant is implanted conventionally, inserting a scanning rod matched with the implant, and carrying out oral scanning to obtain third three-dimensional data.
In this embodiment, fig. 7 is a schematic diagram of third three-dimensional data of post-operative oral cavity scanning in embodiment 1 of the present invention, in which a scanning rod matched with an implant can be inserted after the implant is conventionally implanted; oral cavity scanning is carried out on the insertion position of the scanning rod and a preset number (such as 2-3) of tooth positions in the near and far positions, data of contralateral dentition and occlusion relation of the upper jaw and the lower jaw are obtained without scanning, and third three-dimensional data shown in figure 7 is obtained. Wherein the third three dimensional data in figure 7 shows the scan bar at position 71.
And step four, registering the second three-dimensional data and the third three-dimensional data to obtain fourth three-dimensional data.
In this embodiment, the second three-dimensional data is three-dimensional data of the virtual implant and the scanning rod complex obtained by modeling, and the third three-dimensional data is three-dimensional data obtained by actual scanning. The third three-dimensional data obtained by scanning cannot observe the specific position of the implant, and cannot determine the position relationship between the implanted implant and the adjacent teeth, so that whether the implant operation is successful or not cannot be evaluated.
To solve the above problem, fig. 8 is a schematic diagram of fourth three-dimensional data in embodiment 1 of the present invention, and referring to fig. 8, in this embodiment, the fourth three-dimensional data shown in fig. 8 may be obtained by registering the second three-dimensional data with the third three-dimensional data. Wherein, the fourth three-dimensional data in fig. 8 shows that the second three-dimensional data is located at the position 81 in the third three-dimensional data, so that the position of the virtual implant in the third three-dimensional data can be determined, and the position of the virtual implant can also be regarded as the position where the implant is implanted, so as to further evaluate whether the implant implantation operation is successful.
In this embodiment, the local region that is the same as or similar to the second three-dimensional data and the third three-dimensional data may be used as the common region, for example, the common region of the second three-dimensional data and the third three-dimensional data is the position of the scanning bar data. Then, the second three-dimensional data and the third three-dimensional data may be registered according to the common region to obtain fourth three-dimensional data with which registration is completed. In particular, image analysis software such as geogic, etc. may be used for registration.
And step five, registering the medical image data and the fourth three-dimensional data to obtain the position of the implant in the jaw bone and the relation with surrounding anatomical structures.
In this embodiment, the medical image data and the fourth three-dimensional data may be registered based on an Iterative Closest Point (ICP) algorithm and a preset related optimization algorithm.
The ICP algorithm is a method for carrying out registration by finding the optimal matching position among data sets based on a least square method, and is used for matching out a common region of the medical image data and the fourth three-dimensional data. The medical image Data in this embodiment is Volume Data (Volume Data), the Volume Data refers to voxel/body layer information of craniomaxillofacial soft and hard tissues obtained by CT/CBCT/MRI/Micro-CT and the like, the precision is 100 μm to 3mm, and the Volume Data includes information of the whole object and not only surface information; the fourth three-dimensional Data in this embodiment is Surface Data (Surface Data), which is mainly external Surface three-dimensional shape Data of the oral cavity and the facial part obtained by optical scanning, and has a precision of 5 μm to 20 μm, and the Surface Data only includes three-dimensional information of the Surface of the object. When medical image data and fourth three-dimensional data are registered, a common region of volume data and surface data can be obtained through matching. However, the ICP algorithm can only obtain a preliminary registration result due to the fact that the two data are different in accuracy, and further accurate registration needs an additional related optimization algorithm.
The optimization algorithm can score the result of the preliminary matching and further adjust the matching position according to the score, so that the matching result is optimized. The optimization algorithm may include, but is not limited to: optimizing an energy function by adopting a quasi-Newton method; automatically selecting a characteristic point by adopting a ratio sampling algorithm to accurately match the initial matching model; and performing image segmentation calculation by adopting a coupling level algorithm.
In this embodiment, the medical image data and the fourth three-dimensional data may be registered according to a registration algorithm for manufacturing the guide plate.
The application of the surgical implanting guide plate can improve the accuracy of operation implementation and the predictability of the repairing effect. The digital guide software for the implant surgery can perform registration of the CBCT and the three-dimensional grid model of the soft and hard tissues of the oral cavity based on an ICP algorithm and a related optimization algorithm.
Specifically, fig. 9 is a schematic diagram of medical image data before operation and fourth three-dimensional data after registration in embodiment 1 of the present invention; FIG. 10 is a two-dimensional coronal section of FIG. 9 illustrating the positional relationship of the first three-dimensional data of the implant with the adjacent tooth; fig. 11 is a two-dimensional sagittal cross section of fig. 9, which is a schematic view of the positional relationship between the first three-dimensional data of the implant and the bucco-lingual bone plate, and referring to fig. 9-11, the preoperative medical image data and the fourth three-dimensional data may be imported into a digital guide generation software (e.g., Exocad or Nobel Clinician), and the preoperative medical image data and the fourth three-dimensional data may be registered according to a registration algorithm for making a guide, so as to obtain the positional relationship between the implant (first three-dimensional data, i.e., the virtual implant) in the jaw bone and the surrounding anatomical structure, fig. 10 may determine the positional relationship between the implant (first three-dimensional data, i.e., the virtual implant) and the neighboring teeth, and fig. 11 may determine the positional relationship between the implant (first three-dimensional data, i.e., the virtual implant) and the bucco-lingual bone plate.
In this embodiment, the registration algorithm for manufacturing the guide plate may be to use a same or similar local region between the preoperative medical image data and the fourth three-dimensional data as a common region, for example, the common region of the preoperative medical image data and the fourth three-dimensional data is the shape of the proximal and distal neighboring teeth of the implant. Then, the medical image data and the fourth three-dimensional data can be matched into the same coordinate system according to the common region, so as to complete the registration.
FIG. 12 is a schematic diagram of post-operative medical image data and fourth three-dimensional data after registration according to embodiment 1 of the present invention; FIG. 13 is a schematic view of the position of the implant obtained from the post-operative medical image data of FIG. 12 in a two-dimensional coronal section with a virtual implant represented by the first three-dimensional data; fig. 14 is a schematic view of the position relationship of the implant obtained from the post-operative medical image data of fig. 12 and the virtual implant represented by the first three-dimensional data in a two-dimensional sagittal section.
Further, in order to verify the feasibility of the positioning method of the implant provided in the present embodiment, referring to fig. 12-14, in the present embodiment, the post-operation medical image data may be captured, and then, the post-operation medical image data and the fourth three-dimensional data may be registered to obtain the three-dimensional data shown in fig. 12.
It can be determined that the position of the virtual implant (i.e. the first three-dimensional data) in the jaw bone and the relationship with the surrounding anatomical structure determined by the positioning method for an implant provided in the present embodiment are consistent with the position of the actual implant in the jaw bone and the relationship with the surrounding anatomical structure obtained by using CBCT imaging after the operation, and the results of the two are consistent, and the virtual implant coincides with the position of the implant captured by CBCT.
Example 2
Fig. 15 is a schematic structural view of a positioning device for an implant according to embodiment 1 of the present invention; the positioning device for an implant provided in this embodiment may be integrated on a positioning device for an implant, where the positioning device for an implant may be a computer, a mobile terminal, or other devices. In the present embodiment, the positioning device of the implant is taken as a computer for a detailed description. Specifically, referring to fig. 15, the apparatus may include the following structure: a matching module 1510, a photographing module 1520, a scanning module 1530, a first registration module 1540, and a second registration module 1550.
The matching module 1510 is configured to match the first three-dimensional data of the implant with the scan rod data to obtain second three-dimensional data, where the scan rod data is three-dimensional data of a scan rod;
the shooting module 1520 is used for performing CBCT shooting on a surgical position before a conventional implant implanting operation to obtain medical image data;
the scanning module 1530 is used for inserting a scanning rod matched with the implant after the implant is implanted conventionally, and performing oral scanning to obtain third three-dimensional data;
a first registration module 1540, configured to register the second three-dimensional data and the third three-dimensional data to obtain fourth three-dimensional data;
a second registration module 1550 for registering the medical image data and the fourth three-dimensional data to obtain a position of the implant in the jaw bone and a relation to surrounding anatomical structures.
On the basis of the above technical solution, the matching module 1510 includes:
the data construction unit is used for acquiring first three-dimensional data of the implant;
a data acquisition unit for acquiring scan bar data and surrogate volume data;
a matching unit for matching the first three-dimensional data, the scan bar data, and the surrogate volume data into the same coordinate system;
and the replacing unit is used for replacing the substitute body data with the first three-dimensional data in the coordinate system to obtain three-dimensional data after the first three-dimensional data of the implant is matched with the scanning rod data, and the three-dimensional data is used as second three-dimensional data.
On the basis of the above technical solution, the data construction unit is specifically configured to: constructing a three-dimensional outline of the implant according to the parameters of the implant; outputting the three-dimensional data of the three-dimensional contour as first three-dimensional data of the implant.
On the basis of the technical scheme, the parameters of the implant comprise: data of two-dimensional shape, diameter and length of the implant.
On the basis of the above technical solution, the scanning module 1530 is specifically configured to: after the implant is implanted conventionally, inserting a scanning rod matched with the implant; and carrying out oral cavity scanning on the insertion position of the scanning rod and the tooth positions of preset number (such as 2-3) in the near and far positions to obtain third three-dimensional data.
On the basis of the above technical solution, the first registration module 1540 includes:
a common region determining unit configured to determine a local region that is the same as or similar to the second three-dimensional data and the third three-dimensional data as a common region;
and the first registration unit is used for registering the second three-dimensional data and the third three-dimensional data according to the common region to obtain registered fourth three-dimensional data.
Example 3
Fig. 16 is a schematic structural view of a positioning apparatus for an implant according to embodiment 3 of the present invention.
As shown in fig. 16, the positioning apparatus of the implant comprises: a processor 160, a memory 161, an input device 162, and an output device 163. The number of processors 160 in the positioning apparatus of the implant may be one or more, and one processor 160 is exemplified in fig. 16. The number of the memory 161 in the positioning device of the implant may be one or more, and one memory 161 is exemplified in fig. 16. The processor 160, the memory 161, the input device 162 and the output device 163 of the positioning apparatus of the implant may be connected by a bus or other means, as exemplified by a bus in fig. 16. The positioning device of the implant can be a computer, a server and the like. The present embodiment will be described in detail with the positioning device of the implant as a computer.
The memory 161 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning method of the implant according to any embodiment of the present invention (e.g., the matching module 1510, the photographing module 1520, the scanning module 1530, the first registration module 1540, and the second registration module 1550 in the positioning device of the implant). The memory 161 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 161 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 161 may further include memory located remotely from processor 160, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 162 may be used to receive input numeric or character information and generate key signal inputs related to audience user settings and function controls of the implant positioning apparatus, as well as a camera for acquiring images and a sound pickup apparatus for acquiring audio data. The output device 163 may include an audio device such as a speaker. The specific composition of the input device 162 and the output device 163 may be set according to actual conditions.
The processor 160 implements the above-mentioned implant positioning method by executing software programs, instructions and modules stored in the memory 161 to perform various functional applications of the device and data processing.
Example 4
Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for positioning an implant, comprising:
matching first three-dimensional data of an implant with scanning rod data to obtain second three-dimensional data, wherein the scanning rod data are three-dimensional data of a scanning rod;
step two, before the operation of implanting the implant conventionally, CBCT shooting is carried out on the operation position to obtain medical image data;
step three, after the implant is implanted conventionally, inserting a scanning rod matched with the implant, and carrying out oral scanning to obtain third three-dimensional data;
registering the second three-dimensional data and the third three-dimensional data to obtain fourth three-dimensional data;
and step five, registering the medical image data and the fourth three-dimensional data to obtain the position of the implant in the jaw bone and the relation with surrounding anatomical structures.
Of course, the storage medium provided by the embodiments of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the positioning method for an implant described above, and may also perform related operations in the positioning method for an implant provided by any embodiments of the present invention, and have corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the method for positioning an implant according to any embodiment of the present invention.
It should be noted that, in the positioning device for an implant, the units and modules included in the positioning device are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "in an embodiment," "in another embodiment," "exemplary" or "in a particular embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the invention has been described in detail hereinabove by way of general description, specific embodiments and experiments, it will be apparent to those skilled in the art that many modifications and improvements can be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. A method of positioning an implant, comprising:
matching first three-dimensional data of an implant with scanning rod data to obtain second three-dimensional data, wherein the scanning rod data are three-dimensional data of a scanning rod;
step two, before the operation of implanting the implant conventionally, CBCT shooting is carried out on the operation position to obtain medical image data;
step three, after the implant is implanted conventionally, inserting a scanning rod matched with the implant, and carrying out oral scanning to obtain third three-dimensional data;
registering the second three-dimensional data and the third three-dimensional data to obtain fourth three-dimensional data;
and step five, registering the medical image data and the fourth three-dimensional data to obtain the position of the implant in the jaw bone and the relation with surrounding anatomical structures.
2. The positioning method according to claim 1, wherein the first step comprises:
acquiring first three-dimensional data of an implant;
acquiring scanning rod data and surrogate volume data;
matching the first three-dimensional data, the scanning rod data and the substitute volume data into the same coordinate system;
and replacing the substitute body data with the first three-dimensional data in the coordinate system to obtain three-dimensional data after the first three-dimensional data of the implant is matched with the scanning rod data, and using the three-dimensional data as second three-dimensional data.
3. The positioning method of claim 2, wherein said obtaining first three-dimensional data of the implant comprises:
constructing a three-dimensional outline of the implant according to the parameters of the implant;
outputting the three-dimensional data of the three-dimensional contour as first three-dimensional data of the implant.
4. The positioning method according to claim 3, wherein the parameters of the implant comprise: two-dimensional shape, diameter and length data of the implant.
5. The positioning method according to claim 1, wherein the third step comprises:
after the implant is implanted conventionally, inserting a scanning rod matched with the implant;
and carrying out oral cavity scanning on the insertion position of the scanning rod and the tooth positions with preset number in the near and far directions to obtain third three-dimensional data.
6. The positioning method according to claim 1, wherein the fourth step comprises:
taking the local area which is the same or similar between the second three-dimensional data and the third three-dimensional data as a common area;
and registering the second three-dimensional data and the third three-dimensional data according to the common region to obtain fourth three-dimensional data.
7. A positioning device for an implant, comprising:
the matching module is used for matching the first three-dimensional data of the implant with the scanning rod data to obtain second three-dimensional data, wherein the scanning rod data are three-dimensional data of a scanning rod;
the shooting module is used for carrying out CBCT shooting on a surgical position before a surgery of conventionally implanting an implant to obtain medical image data;
the scanning module is used for inserting a scanning rod matched with the implant after the implant is implanted into the implant conventionally, and carrying out oral scanning to obtain third three-dimensional data;
the first registration module is used for registering the second three-dimensional data and the third three-dimensional data to obtain fourth three-dimensional data;
a second registration module for registering the medical image data and the fourth three-dimensional data to obtain a position of the implant in the jaw bone and a relation to surrounding anatomical structures.
8. An implant positioning device, characterized in that the implant positioning device comprises a processor and a memory for storing a computer program which, when executed by the processor, carries out the method according to any one of claims 1 to 6.
9. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010891743.8A CN112022387A (en) | 2020-08-27 | 2020-08-27 | Implant positioning method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010891743.8A CN112022387A (en) | 2020-08-27 | 2020-08-27 | Implant positioning method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112022387A true CN112022387A (en) | 2020-12-04 |
Family
ID=73586294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010891743.8A Pending CN112022387A (en) | 2020-08-27 | 2020-08-27 | Implant positioning method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112022387A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113483695A (en) * | 2021-07-01 | 2021-10-08 | 先临三维科技股份有限公司 | Three-dimensional scanning system, auxiliary member, processing method, apparatus, device, and medium |
| CN113792747A (en) * | 2021-11-12 | 2021-12-14 | 极限人工智能有限公司 | Implant model generation method and device, electronic equipment and storage medium |
| CN114343895A (en) * | 2021-12-09 | 2022-04-15 | 深圳市菲森科技有限公司 | Workflow method for improving scanning efficiency of planting rod |
| CN115120372A (en) * | 2022-05-25 | 2022-09-30 | 北京大学口腔医学院 | Three-dimensional prosthesis form and position determining method |
| CN115177386A (en) * | 2022-07-19 | 2022-10-14 | 成都煜康医疗技术服务有限公司 | Implant implantation pose measuring method, device and equipment and storage medium |
| CN116310144A (en) * | 2023-05-12 | 2023-06-23 | 南方医科大学 | Automatic calibration method for chin hole operation safety area of lower jaw |
| WO2023213253A1 (en) * | 2022-05-02 | 2023-11-09 | 先临三维科技股份有限公司 | Scanning data processing method and apparatus, and electronic device and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130172731A1 (en) * | 2011-12-30 | 2013-07-04 | Philip D. Gole | Image-overlay medical evaluation devices and techniques |
| WO2013144200A1 (en) * | 2012-03-27 | 2013-10-03 | Straumann Holding Ag | Method and device for comparison of a pre- and post-operative position of a dental implant |
| WO2015030281A1 (en) * | 2013-08-26 | 2015-03-05 | 주식회사 디오 | Scan body for implant, implant assembly, and implant method using same |
| US20160128796A1 (en) * | 2013-05-31 | 2016-05-12 | Josep Soler Cegarra | Dental implant |
| CN109833109A (en) * | 2019-01-18 | 2019-06-04 | 上海交通大学医学院附属第九人民医院 | Detection system, method, computer readable storage medium and the processing equipment of body position are planted after a kind of Implant |
| CN111105458A (en) * | 2018-10-25 | 2020-05-05 | 深圳市深蓝牙医疗科技有限公司 | Oral implant positioning method, oral tissue identification model establishing method, device, equipment and storage medium |
-
2020
- 2020-08-27 CN CN202010891743.8A patent/CN112022387A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130172731A1 (en) * | 2011-12-30 | 2013-07-04 | Philip D. Gole | Image-overlay medical evaluation devices and techniques |
| WO2013144200A1 (en) * | 2012-03-27 | 2013-10-03 | Straumann Holding Ag | Method and device for comparison of a pre- and post-operative position of a dental implant |
| US20160128796A1 (en) * | 2013-05-31 | 2016-05-12 | Josep Soler Cegarra | Dental implant |
| WO2015030281A1 (en) * | 2013-08-26 | 2015-03-05 | 주식회사 디오 | Scan body for implant, implant assembly, and implant method using same |
| CN111105458A (en) * | 2018-10-25 | 2020-05-05 | 深圳市深蓝牙医疗科技有限公司 | Oral implant positioning method, oral tissue identification model establishing method, device, equipment and storage medium |
| CN109833109A (en) * | 2019-01-18 | 2019-06-04 | 上海交通大学医学院附属第九人民医院 | Detection system, method, computer readable storage medium and the processing equipment of body position are planted after a kind of Implant |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113483695A (en) * | 2021-07-01 | 2021-10-08 | 先临三维科技股份有限公司 | Three-dimensional scanning system, auxiliary member, processing method, apparatus, device, and medium |
| CN113483695B (en) * | 2021-07-01 | 2024-01-26 | 先临三维科技股份有限公司 | Three-dimensional scanning system, auxiliary part, processing method, device, equipment and medium |
| CN113792747A (en) * | 2021-11-12 | 2021-12-14 | 极限人工智能有限公司 | Implant model generation method and device, electronic equipment and storage medium |
| CN114343895A (en) * | 2021-12-09 | 2022-04-15 | 深圳市菲森科技有限公司 | Workflow method for improving scanning efficiency of planting rod |
| CN114343895B (en) * | 2021-12-09 | 2024-02-13 | 深圳市菲森科技有限公司 | Workflow method for improving scanning efficiency of planting rod |
| WO2023213253A1 (en) * | 2022-05-02 | 2023-11-09 | 先临三维科技股份有限公司 | Scanning data processing method and apparatus, and electronic device and medium |
| CN115120372A (en) * | 2022-05-25 | 2022-09-30 | 北京大学口腔医学院 | Three-dimensional prosthesis form and position determining method |
| CN115120372B (en) * | 2022-05-25 | 2023-04-14 | 北京大学口腔医学院 | Three-dimensional prosthesis form and position determining method |
| CN115177386A (en) * | 2022-07-19 | 2022-10-14 | 成都煜康医疗技术服务有限公司 | Implant implantation pose measuring method, device and equipment and storage medium |
| CN115177386B (en) * | 2022-07-19 | 2024-01-09 | 成都煜康医疗技术服务有限公司 | Implant implantation pose measuring method, device, equipment and storage medium |
| CN116310144A (en) * | 2023-05-12 | 2023-06-23 | 南方医科大学 | Automatic calibration method for chin hole operation safety area of lower jaw |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112022387A (en) | Implant positioning method, device, equipment and storage medium | |
| US9348973B2 (en) | Method and system providing improved data matching for virtual planning | |
| Vercruyssen et al. | Computer‐supported implant planning and guided surgery: a narrative review | |
| CN104125814B (en) | Virtual design customizes gingival former | |
| US10136969B2 (en) | Method and system for tooth restoration | |
| JP2017006658A (en) | Generating design for dental restorative product from dental images | |
| US8682043B2 (en) | Method of merging anatomical data and surface data of a patient's dentition | |
| US20130172731A1 (en) | Image-overlay medical evaluation devices and techniques | |
| CN106725936B (en) | Dental 3D printing system based on cloud technology | |
| Pozzi et al. | The smiling scan technique: Facially driven guided surgery and prosthetics | |
| CN102626347A (en) | Method for manufacturing oral implant positioning guiding template based on CBCT data | |
| Barone et al. | Interactive design of dental implant placements through CAD-CAM technologies: from 3D imaging to additive manufacturing | |
| US20060212158A1 (en) | System for manufacturing an implant | |
| CN106580495B (en) | Dental 3D printing system | |
| Ye et al. | Integration accuracy of laser-scanned dental models into maxillofacial cone beam computed tomography images of different voxel sizes with different segmentation threshold settings | |
| Jamjoom et al. | Impact of number of registration points on the positional accuracy of a prosthetic treatment plan incorporated into a cone beam computed tomography scan by surface scan registration: An in vitro study | |
| CN110403725B (en) | Post-operation precision measuring method for implant operation | |
| CN112419476A (en) | Method and system for creating three-dimensional virtual image of dental patient | |
| Apostolakis et al. | Use of CBCT and Low-Cost Additive Manufacturing in Implant Surgical Guide Fabrication. | |
| CN113057733B (en) | Method and device for determining zygomatic bone implant implantation position based on three-dimensional model | |
| CN114617652B (en) | Novel manufacturing method of digital fence type planting guide plate | |
| Paoli et al. | A CAD-based methodology for dental implant surgery | |
| Zone | The Aesthetic Challenge | |
| Fontão et al. | Real versus virtual position of single implants installed in premaxilla via guided surgery: A proof of concept analyzing positional deviations | |
| Stephen et al. | Computer guided implant surgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201204 |