CN113208755B - Device and method for obtaining orientable scanning of real-time position in implantation drilling needle operation - Google Patents
Device and method for obtaining orientable scanning of real-time position in implantation drilling needle operation Download PDFInfo
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- CN113208755B CN113208755B CN202110611413.3A CN202110611413A CN113208755B CN 113208755 B CN113208755 B CN 113208755B CN 202110611413 A CN202110611413 A CN 202110611413A CN 113208755 B CN113208755 B CN 113208755B
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- sleeve
- drill point
- blind hole
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C9/00—Impression cups, i.e. impression trays; Impression methods
- A61C9/004—Means or methods for taking digitized impressions
- A61C9/0046—Data acquisition means or methods
- A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
Abstract
The invention discloses a orientable scanning device for acquiring a real-time position in a planting drill bit operation, which comprises a sleeve, wherein a vertical blind hole is formed in the center of the bottom of the sleeve, the hole diameter of the blind hole is matched with that of a drill bit, a visible window penetrating through the side wall of the sleeve is formed in one side of the top of the blind hole, and a pointing structure consisting of two cross-shaped pointers is arranged at the top of the sleeve. The invention is matched with the mouth-scanning system to check the position and the angle of the drill point in the implantation in real time, and the direction is indicated by combining the scanning device to deduce the three-way position of the hole shape in the bone and compare the three-way position with the preoperative design for correction, thereby further improving the preparation precision of the implanted hole in the implantation operation process and being beneficial to the smooth implementation of the subsequent repair. The mode is convenient and simple to operate, the oral scanning system is well matched, and the operation time of a doctor and the diagnosis time of a patient are reduced. This patent and drill point direct nested connection, extensive applicability, and the product is small and exquisite not taking too much intraoral space.
Description
Technical Field
The invention belongs to the technical field of implant teeth, and particularly relates to a device and a method for acquiring real-time position orientable scanning in an implant drilling needle operation.
Background
The most central process in the dental implant surgery process is the preparation of an implant cavity and the implantation of an implant. Before the dental implant operation, firstly, digital image examination is carried out, after CT three-dimensional reconstruction of upper and lower jawbones, the condition of bone mass in an operation area of a patient is evaluated, then, the preparation of an implant cavity is simulated by combining the position of a final restoration, and the ideal implantation direction and depth of an implant are determined. The operation is completed in the operation through a plurality of guiding modes such as free hands, static guide plates, dynamic video navigation and the like. The free hand operation means that an operator holds an implantation operation tool (an implantation mobile phone) by hand and performs operation in the oral cavity of a patient according to own experience and hand feeling. The method lacks accurate and stable guidance, and easily causes overlarge deviation between the actual implant position of the implant and the preoperative planning scheme, thereby influencing the smooth implementation of the subsequent repair scheme. Although the static guide plate can restrict the position and the angle of the drill point to a certain extent, the guide plate-guided implantation operation has the defects of difficult heat dissipation, limited operation space, narrow visual field, insufficient flexibility, high opening degree requirement and the like. Meanwhile, as the drill point has a certain moving range in the guide plate lantern ring, the cavity preparation guided by the guide plate has deviation, but the cavity preparation does not have the functions of checking and correcting, and the deviation accumulation causes that the position of the postoperative implant is difficult to keep consistent with the preoperative design; the dynamic navigation brings the implant mobile phone, the patient operation area and the preoperative design into the same coordinate system, can realize the real-time tracking of the positions of the drill point and the implant, and guides a doctor to accurately complete the operation. Because the doctor needs to look at the screen to operate in the art, the relevant navigation equipment is expensive, and the use complexity is higher. In addition, the guiding precision of the dynamic navigation is the cooperation between the doctor and the equipment, and since the guiding preparation and the implantation have no rigid and stable constraint, the precision of the dynamic navigation guiding implantation operation has similar deviation.
The existing scanning device is mainly designed based on different implant systems, aims to obtain the actual position of a post-operation implant in a jaw bone, belongs to the repair stage after the implant operation at the moment, and cannot be used for scanning and checking the implant before implantation due to the special interface design matched with the implant.
The existing intraoperative examination mainly comprises the following three modes: (1) in the operation, an axial indicating rod is used for referring to adjacent teeth and visually checking the axial direction and the depth of the prepared cavity of the jaw teeth; (2) after preparation of a certain stage is completed, an axial indication rod is inserted to shoot the tip slice for inspection; (3) intra-operative verification under dynamic navigation guidance. These three verification methods have the following disadvantages: (1) the visual inspection is easily influenced by the visual field of the operation area, the observation angle, the personalized anatomical features and the experience of the operator to generate misjudgment; (2) the image examination is carried out on the premise of opening the wound in the operation, so that the risk of infection in the operation area is increased, the radiation exposure and the operation time of a patient are increased, the direction indication is poor, and the direct corresponding relation between the examination result and the actual operation is not favorably established by an operator; (3) the equipment is expensive, the technical sensitivity is high, and the scheme is not favorable for popularization.
In addition, an intraoperative axial checking device is disclosed in patent document "dental implantation guide gauge (201410037034.8)", the jaw thickness safety range for comparison is estimated based on an average value, so that the measurement result and the axial direction do not correspond to each other one to one, the device is easily blocked by adjacent teeth, vestibular sulcus and tissues on labial and buccal sides in actual operation, the measurement process is interfered by more artificial factors, for example, a depth rod is not placed in place, a needle point does not completely abut against a bone surface, the measurement result itself has larger deviation, and the personalized jaw shape and thickness also influence the rationality of the reference value range.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a device capable of directionally scanning for acquiring the real-time position in the planting drill point operation, which can be connected with a drill point handle of any planting system, can be matched with an intraoral scanning device, can carry out real-time scanning and checking on the position and the angle of the drill point in the operation, and can correct the position and the angle in time under the condition of deviation.
The technical scheme adopted by the invention is as follows: the utility model provides a can orientate scanning device for obtaining real-time position in planting drilling needle art, includes the sleeve, open at sleeve bottom center has vertical blind hole, and the blind hole aperture matches with the drill point, open blind hole top one side has the visual window that runs through the sleeve lateral wall, the sleeve top is equipped with the directional structure that constitutes by two hands that are the cross form, the central line and the cover barrel axial lead coincidence of directional structure, and one of them pointer and the visual window alignment of directional structure.
A scanning method using the orientable scanning device for acquiring the real-time position in the implantation drilling operation, which is characterized in that: the method comprises the following steps:
s1, dividing the drill point into a plurality of times to drill into the planting cavity;
s2, after a certain displacement is drilled each time, the mobile phone is detached, the sleeve of the scanning device is sleeved on the top of the drill point through the blind hole, whether the top of the drill point is matched with the top of the blind hole in an attaching mode or not is observed through the visual window, and after the drill point is matched with the top of the blind hole in the attaching mode, the sleeve is rotated to enable one pointer of the pointing structures to face the buccolingual direction;
s3, scanning the scanning device and the adjacent tooth area by using an intraoral scanning device to obtain a digital model, observing the scanning device from the occlusion direction, and determining the bucco-lingual direction and the mesial-distal direction by using a pointing structure so as to finally determine the direction and the position of the scanning device;
s4, establishing a drill point three-dimensional model database, and matching the direction and the position of the scanning device obtained in the step S4 with the data in the drill point three-dimensional model database so as to determine the actual direction and the actual position of the drill point;
s5 fitting the actual position and the design position of the drill point on the same digital model by selecting the mark points on the dentition to fit the digital model which is designed before the operation and is actually obtained;
s6, extracting the actual position and the designed position of the drill point, and analyzing the actual position data of the drill point according to the direction determined by the pointing structure, so as to guide the subsequent operation;
s7 repeats steps S2-S6 each time a certain amount of displacement is drilled.
Preferably, the determining of the direction according to the pointing structure in step S7 is performed by establishing a coordinate system at a center point of the pointing structure, thereby analyzing deviations of the actual position of the drill point from the design position in the coronal direction, the buccolingual direction and the mesial-distal direction.
The invention has the beneficial effects that:
(1) the blind hole design of the scanning device realizes the direct sleeve joint with the drill point, and the use is convenient and quick;
(2) the design of the visual window of the scanning device realizes that whether the sleeve joint of the scanning device and the drill point is matched or not can be conveniently and rapidly checked after the sleeve joint of the scanning device and the drill point is realized, and sufficient guarantee is provided for subsequent scanning work;
(3) the directional structure design of the scanning device is used for carrying out position pointing in the subsequent scanning and adjusting processes;
(4) one of the pointers to the structure is vertically aligned with the viewing window so that when the pointer to the structure is adjusted buccally, it can be adjusted by the orientation of the viewing window;
(5) the scanning device adopts a sleeve type structure, and the top of the sleeve is provided with a pointing structure which is coaxial with the sleeve, so that a coordinate system is conveniently established after scanning, and meanwhile, one pointer is adjusted to point to the bucco-lingual direction before scanning, and the other pointer points to the near-far middle direction, namely, the established coordinate system is established in the bucco-lingual direction and the near-far middle direction, so that the deviation from a designed position is conveniently analyzed;
(6) the intraoral scanning equipment is matched with the scanning device to complete the position orientation of the drill point in the operation, so that the drill point is digitally fitted with the designed position of the drill point, and the drill point is compared and corrected after fitting, thereby improving the preparation precision of the planting cavity in the process of the planting operation and being beneficial to the smooth implementation of the subsequent repair.
The invention is matched with the mouth-scanning system to check the position and the angle of the drill point in the implantation in real time, and the direction is indicated by combining the scanning device to deduce the three-way position of the hole shape in the bone and compare the three-way position with the preoperative design for correction, thereby further improving the preparation precision of the implanted hole in the implantation operation process and being beneficial to the smooth implementation of the subsequent repair. The mode is convenient and simple to operate, the oral scanning system is well matched, and the operation time of a doctor and the diagnosis time of a patient are reduced. This patent and drill point direct nested connection, extensive applicability, and the product is small and exquisite not taking too much intraoral space.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is another schematic structural view of the present invention;
FIG. 3 is a cross-sectional view of the present invention;
FIG. 4 is a schematic view of the present invention after step S2 drilling the drill bit;
FIG. 5 is a schematic diagram of the drill pin set scanning device of step S2 according to the present invention;
FIG. 6 is a schematic view of the invention viewed from the bite direction after scanning in step S4;
FIG. 7 is a schematic diagram of the actual position and the designed position of the drill point after the digital model is fitted in step S6 according to the present invention;
fig. 8 is a schematic diagram of the actual position and the designed position of the drill point extracted in step S7 according to the present invention.
In the figure: 1. a sleeve; 2. blind holes; 3. a visible window; 4. a pointing structure.
Detailed Description
The invention will be described in further detail with reference to the following drawings and specific embodiments.
Examples
As shown in fig. 1, fig. 2 and fig. 3, the orientable scanning device for obtaining the real-time position in the implant drilling needle operation provided in this embodiment includes a sleeve 1, a vertical blind hole 2 is formed in the center of the bottom of the sleeve 1, the blind hole 2 is coaxially disposed with the sleeve 1, the aperture of the blind hole 2 is matched with the drill point, that is, after the drill point is sleeved in the blind hole 2, the drill point is in clearance fit with the blind hole 2, a visible window 3 penetrating through the side wall of the sleeve 1 is formed on one side of the top of the blind hole 2, a pointing structure 4 composed of two cross-shaped pointers is disposed on the top of the sleeve 1, the center line of the pointing structure 4 coincides with the axial line of the sleeve 1, and one of the pointers of the pointing structure 4 is aligned with the visible window 3.
The embodiment also provides a scanning method using the scanning device, which comprises the following steps:
s1, dividing the drill point into a plurality of times of drilling into the planting cavity, wherein the drilling depth is one third of the planting cavity in the embodiment of three times of drilling;
s2, after the drill point drills into one third of the cavity, the mobile phone planter at the top of the drill point is detached, as shown in figure 4; sleeving a sleeve 1 of the scanning device on the top of the drill point through a blind hole 2, as shown in fig. 5; observing whether the top of the drill point is matched with the top of the blind hole 2 in an attaching way through the visual window 3, observing from the occlusion direction after the attaching way is matched, rotating the sleeve 1 to enable one pointer of the pointing structures 4 to face the buccolingual direction, and enabling the other pointer to be in the same direction with the mesial-distal direction, namely one pointer of the pointing structures 4 represents the buccolingual direction, and the other pointer represents the mesial-distal direction; the same direction in S2 indicates that the directions are substantially the same, and are not completely the same;
s3 scanning the scanning device and the adjacent tooth region with an intraoral scanning device to obtain a digital model, and then viewing the scanning device from the occlusal direction, as shown in fig. 6; since scanning is performed with the dentition, the bucco-lingual and mesial-distal directions can be determined by the pointer to the structure 4, thus determining the orientation and position of the scanning device on the dentition;
s4, scanning the scanning device and the drill point before operation, establishing a three-dimensional model database of the drill point and the scanning device, matching data of the scanning device in the three-dimensional model database with direction and position data of the scanning device obtained in the step S4, and obtaining the direction and the position of the corresponding drill point in the three-dimensional database after matching, wherein the direction and the position of the drill point obtained from the database are the actual direction and the position of the drill point in operation;
s5 fitting the actual position and the design position of the drill point on the same digital model by selecting the mark points on the dentition to fit the digital model designed before the operation and the digital model actually obtained as shown in figure 7;
s6, in the fitted digital model, establishing a cylindrical model by using the axis of the sleeve 1, establishing a coordinate system by using the center of the bottom surface of the cylindrical model as an origin, using one pointer pointing to the structure 4 as an X axis, using the other pointer as a Y axis, and using the axial direction of the cylindrical model as a Z axis, and then extracting the actual position and the design position of the drill point in the established coordinate system, as shown in FIG. 8, analyzing the deviation of the actual position of the drill point in the coronal direction, the bucco-lingual direction and the mesial direction from the design position by using the coordinate system, namely analyzing the deviation of the drill point in the Z axis direction, the X axis direction and the Y axis direction, thereby guiding the subsequent operation so as to correct in time; after the actual position and the designed position of the drill point are extracted separately, the direction of the pointer pointing to the structure 4 cannot be determined due to the absence of dentition, at this time, the bucco-lingual direction can be determined according to the visual window 3, the pointer which is determined to be in the same direction as the visual window 3 is the bucco-lingual direction, and the other pointer is the near-far-middle direction.
S7, drilling the drill point one third again, and repeating the steps S2-S6;
s8 finally, the drill point is drilled into one third, and the steps S2-S6 are repeated.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and inventive concept provided by the present invention should be covered within the scope of the present invention.
Claims (1)
1. The utility model provides a can orientate scanning device for acquireing real-time position in planting drilling needle art which characterized in that: the sleeve comprises a sleeve, open at sleeve bottom center has vertical blind hole, blind hole aperture and drill point phase-match, open blind hole top one side has the visual window that runs through the sleeve lateral wall, the sleeve top is equipped with the directional structure that is two and is the cross form pointer and constitutes, the central line and the coincidence of sleeve axial lead of directional structure, and one of them pointer and the visual window of directional structure align.
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| CN202110611413.3A CN113208755B (en) | 2021-06-02 | 2021-06-02 | Device and method for obtaining orientable scanning of real-time position in implantation drilling needle operation |
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| CN202110611413.3A CN113208755B (en) | 2021-06-02 | 2021-06-02 | Device and method for obtaining orientable scanning of real-time position in implantation drilling needle operation |
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| CN113208755A CN113208755A (en) | 2021-08-06 |
| CN113208755B true CN113208755B (en) | 2022-03-18 |
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| CN115153922B (en) * | 2022-07-07 | 2023-02-28 | 四川大学 | Planting drill research device and method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130034315A (en) * | 2011-09-28 | 2013-04-05 | 조선대학교산학협력단 | Point drill guider for operating implant |
| CN103598920A (en) * | 2013-12-04 | 2014-02-26 | 杭州六维齿科医疗技术有限公司 | Whole-tooth lost dental implantation operation guide plate and making method thereof |
| JP2018061636A (en) * | 2016-10-12 | 2018-04-19 | ローランドディー．ジー．株式会社 | Inspection device, inspection method, and inspection program |
| CN209154051U (en) * | 2018-04-09 | 2019-07-26 | 上海术凯机器人有限公司 | A kind of dentistry plantation drill point registration apparatus |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8434337B2 (en) * | 2010-08-02 | 2013-05-07 | Sean W. Meitner | Method and apparatus for bending a guide post used in forming a template for locating a dental implant hole |
| CN108852498A (en) * | 2018-08-06 | 2018-11-23 | 中南大学湘雅医院 | The implant operation guide plate and production method of a kind of band orientation and depthkeeping structure |
| CN113677262A (en) * | 2019-04-05 | 2021-11-19 | 阿莱恩技术有限公司 | Authentication and identification of intraoral scanner sleeves |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130034315A (en) * | 2011-09-28 | 2013-04-05 | 조선대학교산학협력단 | Point drill guider for operating implant |
| CN103598920A (en) * | 2013-12-04 | 2014-02-26 | 杭州六维齿科医疗技术有限公司 | Whole-tooth lost dental implantation operation guide plate and making method thereof |
| JP2018061636A (en) * | 2016-10-12 | 2018-04-19 | ローランドディー．ジー．株式会社 | Inspection device, inspection method, and inspection program |
| CN209154051U (en) * | 2018-04-09 | 2019-07-26 | 上海术凯机器人有限公司 | A kind of dentistry plantation drill point registration apparatus |
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| CN113208755A (en) | 2021-08-06 |
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