CN113813067B

CN113813067B - Method and device for controlling dental implantation instrument

Info

Publication number: CN113813067B
Application number: CN202111394688.2A
Authority: CN
Inventors: 王迎智; 袁平; 徐高峰
Original assignee: Jixian Artificial Intelligence Co Ltd
Current assignee: Jixian Artificial Intelligence Co Ltd
Priority date: 2021-11-23
Filing date: 2021-11-23
Publication date: 2022-02-18
Anticipated expiration: 2041-11-23
Also published as: CN113813067A

Abstract

The invention provides a method and a device for controlling a dental implantation instrument, a surgical robot and a storage medium, wherein a cross section is obtained from a three-dimensional model of an oral cavity and displayed; determining the safety radius of a safe operation area at the periphery of the implant and the socket hole radius of an implant socket for placing the implant according to the model parameters of the implant model; projecting the model central point of the implant model to the cross section to obtain a display central point, and drawing a socket target ring and a safe operation area target ring by taking the display central point obtained by projection as the circle center and the socket radius and the safe radius respectively; displaying a dental implant instrument on a dental implant instrument display surface on which the socket target ring and the safe operation area target ring are drawn; and controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relationship between the dental implant instrument and the implant model. Therefore, the dental implant instrument is convenient to avoid drilling into other organ tissues, deep dental nerve tissues and the like.

Description

Method and device for controlling dental implantation instrument

Technical Field

The invention relates to the technical field of dental implants, in particular to a method and a device for controlling a dental implant instrument.

Background

In oral dental implant surgery, the oral field of vision is not direct-view and the space is narrow, and it is generally necessary to perform the surgery by image display.

In the prior art, in the process of implanting the implant into the oral cavity, a doctor introduces an oral medical image of a patient through a software system, acquires a coronal image of a tooth according to the medical image, sets an implant implantation position on the coronal image, and then drives a vehicle needle to drill at the implant implantation position by a mechanical arm. In the above process, in order to facilitate the doctor to observe the hole rotating process of the needle, the software system displays the position relation between the needle and the implantation position on the coronal plane image.

The inventor finds that in the prior art, in practical application, because the implant is placed obliquely to the coronal plane, the drilling motion of the lathe needle is also oblique to the coronal plane, the movement of the lathe needle cannot be controlled by observation in the operation process, inconvenience is brought to the dental implant operation, the operation difficulty of a doctor is increased, the patient is easily injured, and the operation effect is influenced.

Disclosure of Invention

In view of the above, the present invention has been made to provide a dental implant instrument control method and apparatus that overcomes or at least partially solves the above problems.

In order to solve the above problems, the present application is implemented as follows:

in a first aspect, an embodiment of the present application provides a method for controlling a dental implant apparatus, where the method includes:

acquiring medical image information of the oral cavity of a patient and reconstructing an oral cavity three-dimensional model of the patient in a virtual three-dimensional space;

acquiring a cross section from the oral cavity three-dimensional model and displaying the cross section;

determining a safety radius of a safe operation area at the periphery of the implant and a socket radius of an implant socket for placing the implant according to model parameters of an implant model, wherein the hole diameter of the socket is smaller than the safety radius;

projecting the model central point of the implant model to the cross section to obtain a display central point, and drawing a socket target ring and a safe operation area target ring by taking the display central point obtained by projection as the circle center and the socket radius and the safe radius respectively;

displaying the dental implant instrument on a dental implant instrument display surface on which the socket target ring and the safe operation area target ring are drawn;

and controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relationship between the dental implant instrument and the implant model.

Optionally, the controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relationship between the dental implant instrument and the implant model comprises:

acquiring the instrument position of the dental implant instrument in the virtual three-dimensional space;

stopping the advancement of the dental implant instrument if it is determined from the instrument position that the tip of the dental implant instrument is offset from the socket target ring;

stopping the advancement of the dental implant instrument if it is determined from the instrument position that the trailing end of the dental implant instrument is offset from the safe surgical area target ring.

Optionally, said determining that the tip of the dental implant instrument is offset from the socket target ring based on the instrument position comprises:

determining a first distance between a tip projection point of a tip of the dental implant instrument on the cross section and the display central point;

determining that the tip of the dental implant instrument is offset from the socket target ring if the first distance is greater than the radius of the socket target ring.

Optionally, the determining that the tail end of the dental implant instrument deviates from the safe surgical area target ring according to the instrument position comprises:

determining a second distance between a tail end projection point of the tail end central point of the dental implant instrument on the cross section and the display central point;

determining that the tip of the dental implant instrument is offset from the safe surgical area target ring if the second distance is greater than the radius of the safe surgical area target ring.

Optionally, the method further comprises:

under the condition that the dental implant instrument walks in the socket target ring and the safe operation area target ring, adjusting the socket target ring and the safe operation area target ring to be in a first color;

and under the condition that the dental implant instrument deviates from walking in the socket target ring or the safe operation area target ring, adjusting the socket target ring and the safe operation area target ring to be in a second color.

Optionally, the method further comprises:

adjusting the socket target ring to a first color with the tip of the dental implant instrument within the socket target ring; and adjusting the socket target ring to a second color in the event that the tip of the dental implant instrument is offset from the socket target ring;

under the condition that the central point of the tail end of the dental implant instrument is in the target ring of the safe operation area, adjusting the target ring of the safe operation area to be a first color; and adjusting the socket target ring to a second color in the event that the tip of the dental implant instrument is offset from the safe surgical area target ring.

Optionally, the method further comprises:

determining a depth parameter of the tip of the dental implant instrument from the central point of the top end of the implant according to the instrument position and the central point of the top end of the implant;

stopping the implant instrument advancement if the depth parameter is less than or equal to a preset depth threshold.

Optionally, the determining a depth parameter from the implant apical center point in the tip of the dental implant instrument according to the instrument position and the implant apical center point includes:

determining a third distance from the center point of the top end of the implant to the axis of the needle and a fourth distance from the center point of the top end of the implant to the tip end of the needle;

and calculating the distance between the tip of the needle and the projection point of the implant according to a right triangle formed by the central point of the top end of the implant, the tip of the needle, the projection point of the central point of the top end of the implant on the axis of the needle, the third distance and the fourth distance, and obtaining the depth parameter.

Optionally, the dental implant device is a lathed needle.

Optionally, the method further comprises:

acquiring an implant real object image, and performing image preprocessing on the implant real object image to generate an appearance contour line image of an implant, wherein the appearance contour line image comprises target pixel points forming an appearance contour line of the implant;

carrying out segmentation processing on the appearance contour line in the appearance contour line image along the central axis of the appearance contour line to obtain a plurality of implant segmentation areas;

determining implant model key parameters corresponding to each implant segmentation area, wherein the implant model key parameters at least comprise: the length of the segmented region, the thread type of the segmented region, the diameter of the segmented region, and the thread depth of the segmented region;

determining key parameters of an implant safety zone according to the thread depth of the segmentation zone and the thread type of the segmentation zone and preset rules; wherein the safety zone key parameters include: the radius of the safe zone. In a second aspect, embodiments of the present application provide a dental implant instrument control apparatus, the apparatus including:

the model reconstruction module is used for acquiring medical image information of the oral cavity of a patient and reconstructing an oral cavity three-dimensional model of the patient in a virtual three-dimensional space;

the display surface acquisition module is used for acquiring and displaying a cross section from the oral cavity three-dimensional model;

the radius calculation module is used for determining the safety radius of the safe operation area at the periphery of the implant and the socket radius of an implant socket for placing the implant according to model parameters of an implant model, and the hole diameter of the socket is smaller than the safety radius;

the target ring generation module is used for projecting the model central point of the implant model to the cross section to obtain a display central point, and drawing a socket target ring and a safe operation area target ring by taking the display central point obtained by projection as the circle center and the socket radius and the safe radius respectively;

the target ring drawing module is used for displaying the dental implant instrument on the dental implant instrument display surface on which the socket target ring and the target ring in the safe operation area are drawn;

and the instrument control module is used for controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relation between the dental implant instrument and the implant model.

Optionally, the instrument control module comprises:

the position acquisition module is used for acquiring the instrument position of the dental implant instrument in the virtual three-dimensional space;

a tip determination module for stopping the advance of the dental implant instrument if the tip of the dental implant instrument is determined to be offset from the socket target ring based on the instrument position;

and the tail end determining module is used for stopping the advancing of the dental implant instrument under the condition that the tail end of the dental implant instrument is determined to deviate from the target ring of the safe operation area according to the instrument position.

Optionally, the tip determination module comprises:

a first distance module for determining a first distance between a tip projection point of the tip of the dental implant instrument on the cross section and the display center point;

a first tip offset module to determine that the tip of the dental implant instrument is offset from the socket target ring if the first distance is greater than a radius of the socket target ring.

Optionally, the tail end determining module includes:

the second distance module is used for determining a second distance between a tail end projection point of the tail end central point of the dental implant instrument on the cross section and the display central point;

a second tip offset module to determine that the tip of the dental implant instrument is offset from the safe surgical area target ring if the second distance is greater than the radius of the safe surgical area target ring.

Optionally, the apparatus further comprises:

a first color module for adjusting the socket target ring and the safe operation area target ring to a first color when the dental implant instrument walks in the socket target ring and the safe operation area target ring;

and the second color module is used for adjusting the socket target ring and the safe operation area target ring to be a second color under the condition that the dental implant instrument deviates from walking in the socket target ring or the safe operation area target ring.

Optionally, the apparatus further comprises:

a socket target ring module for adjusting the socket target ring to a first color if the tip of the dental implant instrument is within the socket target ring; and adjusting the socket target ring to a second color in the event that the tip of the dental implant instrument is offset from the socket target ring;

the safe operation area target ring module is used for adjusting the safe operation area target ring to be a first color under the condition that the central point of the tail end of the dental implant instrument is in the safe operation area target ring; and adjusting the socket target ring to a second color in the event that the tip of the dental implant instrument is offset from the safe surgical area target ring.

Optionally, the apparatus further comprises:

the depth parameter module is used for determining the depth parameter of the tip of the dental implant instrument from the central point of the top end of the implant according to the instrument position and the central point of the top end of the implant;

an instrument stopping module for stopping the advance of the dental implant instrument if the depth parameter is less than or equal to a preset depth threshold.

Optionally, the depth parameter module comprises:

the fourth distance module is used for determining a third distance from the center point of the top end of the implant to the axis of the needle and a fourth distance from the center point of the top end of the implant to the tip end of the needle;

and the depth calculation module is used for calculating the distance between the point of the vehicle needle and the projection point of the implant according to a right triangle formed by the center point of the top end of the implant, the point of the vehicle needle, the projection point of the center point of the top end of the implant on the axis of the vehicle needle, the third distance and the fourth distance, and obtaining the depth parameter.

Optionally, the dental implant device is a lathed needle.

In a third aspect, embodiments of the present application further provide a surgical robot, the surgical robot includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, and when executed by the processor, the program or instructions implement the steps of the dental implant instrument control method according to the first aspect.

In a fourth aspect, the present invention further provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the dental implant apparatus control method according to the first aspect.

The invention has the following advantages: the method comprises the steps of reconstructing an oral cavity three-dimensional model of a patient in a virtual three-dimensional space by acquiring medical image information of the oral cavity of the patient; acquiring a cross section from the oral cavity three-dimensional model and displaying the cross section; determining a safety radius of a safe operation area at the periphery of the implant and a socket radius of an implant socket for placing the implant according to model parameters of an implant model, wherein the hole diameter of the socket is smaller than the safety radius; projecting the model central point of the implant model to the cross section to obtain a display central point, and drawing a socket target ring and a safe operation area target ring by taking the display central point obtained by projection as the circle center and the socket radius and the safe radius respectively; displaying the dental implant instrument on a dental implant instrument display surface on which the socket target ring and the safe operation area target ring are drawn; and controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relationship between the dental implant instrument and the implant model. From this, through control the walking process of planting the dental implant apparatus avoids planting the dental implant apparatus and bores the neural tissue of tooth and other organ tissues of depths, has reduced the operation degree of difficulty, has improved the operation effect, has promoted the stability and the implantation precision of planting the dental implant operation, has reduced the risk of operation, has avoided the injury to the patient.

Drawings

FIG. 1 is a block diagram showing the operation of a dental implant apparatus according to the present invention;

FIG. 2 is a schematic cross-sectional image of the oral cavity in the navigation and positioning software for dental implant surgery according to the present invention;

FIG. 3 is a schematic representation of a coronal image of an oral cavity within the dental implant surgery navigation and positioning software of the present invention;

FIG. 4 is a schematic view of a sagittal image of the oral cavity within the dental implant surgery navigation and positioning software of the present invention;

FIG. 5 is a schematic view of the oral cavity three-dimensional structure of the planning implant in the navigation and positioning software for dental implant surgery of the present invention;

FIG. 6 is a schematic diagram of the intraoral coordinate system established in accordance with the present invention;

FIG. 7 is a schematic structural view of an implant model of the present invention;

FIG. 8 is a schematic view of a display surface of a dental implant apparatus of the present invention;

FIG. 9 is a schematic illustration of the calculation of the needle depth parameter of the present invention;

FIG. 10 is a schematic edge profile of an implant taken along an axial line in accordance with an embodiment of the present invention;

figure 11 is a schematic view of the construction of a dental implant instrument control device of the present invention;

fig. 12 is a schematic structural view of a surgical robot of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1, a block diagram of a method for displaying the operation of a dental implant apparatus according to the present invention is shown, which may specifically include:

step 101: acquiring medical image information of the oral cavity of a patient and reconstructing an oral cavity three-dimensional model of the patient in a virtual three-dimensional space.

In the embodiment of the present invention, medical image information of an oral cavity photographed and scanned by a patient may be acquired through a software system of a main control vehicle station, where the medical image information may include CBCT (Cone Beam Computed Tomography) images of the oral cavity of the patient, including multiple layered scanning images of a three-dimensional entity of the oral cavity of the patient.

And a virtual three-dimensional space can be set in the software system, and a three-dimensional model of the oral cavity of the patient is reconstructed in the three-dimensional space according to a plurality of images of the three-dimensional entity of the oral cavity which are scanned in a layered manner based on the obtained medical image information of the oral cavity of the patient.

Alternatively, the CBCT image may be reconstructed three-dimensionally using a medical image processing library mitk (medical Imaging toolki), obtaining a three-dimensional model of the patient's mouth. In the embodiment of the invention, the three-dimensional model is established in a dental implant surgery navigation and positioning system (Focus Point) through dental implant surgery navigation and positioning software (dental implant _ Control), wherein the dental implant surgery navigation and positioning system belongs to one of the MITKs. The dental implant surgery navigation and positioning system is provided with a virtual three-dimensional space which is provided with a three-dimensional image coordinate system, so that the dental implant surgery navigation and positioning software in the dental implant surgery navigation and positioning system can be directly used in the embodiment of the application, and based on the scanned image, the three-dimensional model of the oral cavity of the patient is reconstructed in the virtual three-dimensional space. A three-dimensional model of the reconstructed patient's mouth is shown in fig. 6.

Step 102: and acquiring a cross section from the oral cavity three-dimensional model and displaying the cross section.

In the embodiment of the invention, the image of the cross section of the medical image preset in the three-dimensional model can be directly obtained through the navigation and positioning software of the dental implant operation. As shown in fig. 2, the cross section in the medical image refers to a cross section that transects the oral cavity into upper and lower parts along a transverse axis direction perpendicular to a long axis of the human body, and is also referred to as an axial plane. As shown in fig. 3, the coronal plane refers to a longitudinal section of the mouth along the long axis of the human body into two parts, namely, the anterior part and the posterior part, and is also called as the frontal plane, and as shown in fig. 4, the sagittal plane refers to a longitudinal section of the mouth along the long axis of the human body into two parts, namely, the left part and the right part.

After an operator selects upper and lower jaws according to an occlusal surface, an implant socket where an implant model is placed is obtained based on an obtained three-dimensional model of the oral cavity of a patient, and as the implant model is placed obliquely to a plane (as determined by human oral cavity characteristics, an implant is basically not perpendicular to a cross section), as shown in fig. 5, inconvenience is brought to a doctor in the process of dental implant surgery, so that the cross section is obtained from the oral cavity three-dimensional model as a display surface to display the distance between a dental implant instrument and the implant socket as well as the distance between the dental implant instrument and a safe surgery area on the cross section, and the doctor can conveniently observe the positions of the dental implant instrument and the dental implant socket and the safe surgery area in the process of dental implant surgery.

Step 103: and determining the safety radius of the safe operation area at the periphery of the implant and the socket radius of an implant socket for placing the implant according to the model parameters of the implant model, wherein the hole diameter of the socket is smaller than the safety radius.

As shown in fig. 7, parameters such as the diameter and the height of the implant model are obtained in the three-dimensional space, the coordinates of the implant model in the three-dimensional space are obtained, and the socket radius of the implant socket of the implant is determined. Setting safety parameters, and obtaining a safe operation area at the periphery of the implant according to the obtained implant model parameters and the safety parameters to obtain the safe radius of the safe operation area. Since the safe surgical area is placed around the implant model, the socket aperture is smaller than the safe radius. Through nest hole aperture with safe radius, can draw nest hole target ring and safe operation region target ring, the more accurate scope of the operation of doctor observation in the implant operation process of being convenient for.

It should be noted that the specific values of the safety parameters can be set by those skilled in the art according to the tooth bone condition of different patients. The embodiment of the present invention may not limit the specific numerical value of the safety parameter.

An image coordinate system of a three-dimensional virtual space is preset in the dental implant surgery navigation positioning software, and the coordinate axis and the direction of the coordinate system are automatically determined by the software. The coordinate system comprises an origin, an X-axis, a Y-axis and a Z-axis, and each point on the reconstructed three-dimensional model of the oral cavity has corresponding X, Y and Z coordinates. Illustratively, coordinates X1 and X2 of two points of a boundary where the diameter of the implant model is the largest in the X-axis direction, coordinates Y1 and Y2 of two points of a boundary where the diameter is the largest in the Y-axis direction, and coordinates Z1 and Z2 of two points of a boundary where the diameter is the largest in the Z-axis direction are obtained. Socket radius R1 of an implant socket for placing the implant:

R1=∣X1-X2∣/2

if the model center point of the implant model is set as A, the calculation method of the coordinates of the point A is as follows:

Ax=(X1+X2)/2

Ay=(Y1+Y2)/2

Az=(Z1+Z2)/2

the coordinates of the point A are obtained as (Ax, Ay, Az).

Setting a safety parameter S, and obtaining boundary values Mx1, Mx2, My1, My2, Mz1 and Mz2 of the safe operation area M according to the implant model and the safety parameter S, wherein the method for calculating the boundary values of the safe operation area M comprises the following steps:

Mx1=X1+S

Mx2=X2+S

My1=Y1+S

My2=Y2+S

Mz1=Z1+S

Mz2=Z2+S

the safe radius R2 of the safe surgical area at the periphery of the implant can be calculated:

R2=∣Mx1-Mx2∣/2

the socket radius R1 is less than the safety radius R2.

The software system generates the safe operation area in a three-dimensional space according to the boundary values of the safe operation area M, namely Mx1, Mx2, My1, My2, Mz1 and Mz2, which are obtained through calculation, and the central point A of the implant model.

Wherein, aiming at the implants of different teeth, the safety parameters S are set differently, and the radiuses of the target rings are different.

It should be noted that the safety parameter S can be set by those skilled in the art, and the safety parameter S can be set by those skilled in the art according to the tooth bone condition, the position of the dental nerve, and the like of different patients, and the safety parameters of different implants are different.

Step 104: and projecting the model central point of the implant model to the cross section to obtain a display central point, and drawing a socket target ring and a safe operation area target ring by taking the display central point obtained by projection as the circle center and the socket radius and the safe radius respectively.

As shown in fig. 8, drawing a socket target ring with the projection point of the model center point of the implant model as the center of the circle and the socket radius as the radius; and drawing a safe operation area target ring by taking the projection point of the model central point of the implant model as the circle center and the safe radius as the radius. Therefore, the socket target ring and the safe operation area target ring are displayed as concentric target rings which both use the projection point of the model central point of the implant model as the circle center, and a doctor can observe the target rings conveniently in the process of the dental implant operation.

Optionally, the safety zone target ring comprises an outer safety target ring and an inner safety zone target ring; because the implant is the cone, the implant model also is the cone, safe operation region centers on the implant model sets up also for the cone, the safe operation region of cone has relative distribution's last conical surface and lower conical surface, it is less than to go up the conical surface under the conical surface. Drawing an upper conical surface of the inner safe target ring corresponding to the safe operation area, and drawing a lower conical surface of the outer safe target ring corresponding to the safe operation area to form the safe area target ring.

As an example, the model center point may be determined by calculating the point a as described above.

Step 105: and displaying the dental implant instrument on the dental implant instrument display surface on which the socket target ring and the safe operation area target ring are drawn.

As shown in fig. 8, the dental implant instrument is displayed on the dental implant instrument display surface on which the socket target ring and the safe operation area target ring are drawn, so that the distance between the dental implant instrument and the implant socket and the safe operation area can be judged, and a doctor can observe whether the movement of the dental implant instrument exceeds the range of the implant socket and the safe operation area in the dental implant operation process, so as to make adjustment in time.

Step 106: and controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relation between the dental implant instrument and the implant model.

And monitoring the distance change between the dental implant instrument and the implant socket hole and between the dental implant instrument and the implant safe operation area in real time on the cross section on which the socket hole target ring, the target ring of the safe operation area and the dental implant instrument are displayed, and controlling the walking process of the dental implant instrument in the dental implant operation process according to the relative position relationship between the socket hole target ring, the target ring of the safe operation area and the dental implant instrument and the implant model.

Illustratively, because the implant model is placed obliquely to the cross section, when the situation that the dental implant instrument is inclined relative to the implant model and the tip of the dental implant instrument is positioned at the edge of the implant model is monitored, the dental implant machine continuously advances beyond the range of the implant socket hole, and at the moment, the dental implant instrument is controlled to stop advancing, so that the dental implant instrument is prevented from touching other tissues and organs and causing damage to a patient. Or when the situation that the dental implant instrument is relative to the safe operation area and the tip of the dental implant instrument is located at the edge position of the safe operation area is monitored, the dental implant machine continuously advances beyond the range of the safe operation area, at the moment, the dental implant instrument is controlled to stop advancing, and the dental implant instrument is prevented from touching other tissue organs and causing damage to a patient.

When the relative position relationship between the dental implant instrument and the implant model is monitored to prevent the dental implant instrument from deviating out of the socket target ring and the safe operation area target ring, the advancing of the dental implant instrument is shown to meet the requirement, the dental implant instrument is controlled to continue to walk, and the operation is continued.

Optionally, step 106 includes sub-steps 1061-1063:

step 1061: and acquiring the instrument position of the dental implant instrument in the virtual three-dimensional space.

Specifically, the following steps may be employed:

firstly, projecting the coordinates of the tip of a dental implant instrument on the cross section;

secondly, determining the coordinates of the tail end of the dental implant instrument according to the direction vector of the dental implant instrument and the preset length of the dental implant instrument;

thirdly, projecting the coordinates of the tail end of the dental implant instrument on the cross section;

and fourthly, finishing the position display of the whole dental implant instrument.

Optionally, the implant instrument tip and the implant instrument end can both be displayed as rings, respectively being a tip ring and an end ring, and further, the tip ring and the end ring can be connected to form the projection shape of the implant instrument, so that the skilled person in the art can observe the implant instrument conveniently.

Step 1062: stopping the implant instrument advancement if it is determined from the instrument position that the tip of the implant instrument is offset from the socket target ring.

And displaying the position relation between the tip of the dental implant instrument and the socket target ring on the cross section, judging that the dental implant instrument deviates from the socket hole when the tip of the dental implant instrument deviates from the socket hole, namely the tip of the dental implant instrument is not in the range of the socket hole target ring, sending a stop instruction to the dental implant instrument by the system, stopping the dental implant instrument from continuing to advance, and avoiding the dental implant instrument from touching other tissues and organs to cause injury to a patient.

Step 1063: stopping the advancement of the dental implant instrument if it is determined from the instrument position that the trailing end of the dental implant instrument is offset from the safe surgical area target ring.

Displaying the position relation between the tail end of the dental implant instrument and the target ring of the safe operation area on the cross section, judging that the dental implant instrument deviates from the safe operation area when judging that the tail end of the dental implant instrument deviates from the safe operation area, namely when the tail end of the dental implant instrument is not in the range of the target ring of the safe operation area, sending a stop instruction to the dental implant instrument by a system, stopping the continuous advancing of the dental implant instrument, and avoiding the dental implant instrument from touching other tissues and organs to cause injury to a patient.

Optionally, adjusting the socket target ring and the safe operation area target ring to a first color in case the dental implant instrument walks within the socket target ring and the safe operation area target ring; and under the condition that the dental implant instrument deviates from walking in the socket target ring or the safe operation area target ring, adjusting the socket target ring and the safe operation area target ring to be in a second color.

Under the condition that the dental implant instrument is displayed to walk in the socket target ring and the safe operation area target ring, the walking of the dental implant instrument is judged to meet the requirement, the socket target ring and the safe operation area target ring are adjusted to be in a first color, for example, green, and a doctor is prompted to normally operate the dental implant instrument at present. In this embodiment of the present invention, the first color may be green, red, yellow, and the like, and the specific color of the first color may not be limited in this embodiment of the present invention. Through showing nest hole target ring and safe operation area target ring for first colour, can be so that the technical staff observes more clearly convenient.

And under the condition that the dental implant instrument deviates from walking in the socket target ring or the safe operation area target ring, judging that the walking of the dental implant instrument is not qualified, and adjusting the socket target ring and the safe operation area target ring to be in a second color, for example, red, so as to prompt a doctor that the current dental implant instrument is abnormal in operation. In the embodiment of the present invention, the second color may be red, green, yellow, and the like, and the specific color of the second color may not be limited in the embodiment of the present invention. Through showing nest hole target ring and safe operation area target ring for the second colour, can be so that the technical staff observes more clearly convenient.

Optionally, adjusting the socket target ring to a first color with the tip of the dental implant instrument within the socket target ring; and adjusting the socket target ring to a second color in the event that the tip of the dental implant instrument is offset from the socket target ring; under the condition that the central point of the tail end of the dental implant instrument is in the target ring of the safe operation area, adjusting the target ring of the safe operation area to be a first color; and adjusting the socket target ring to a second color in the event that the tip of the dental implant instrument is offset from the safe surgical area target ring.

And under the condition that the tip of the dental implant instrument is in the socket target ring, the dental implant instrument is displayed, the walking of the dental implant instrument is judged to meet the requirement, the socket target ring and the target ring in the safe operation area are adjusted to be in a first color, for example, green, and a doctor is prompted that the current dental implant instrument works normally. In this embodiment of the present invention, the first color may be green, red, yellow, and the like, and the specific color of the first color may not be limited in this embodiment of the present invention. Through showing nest hole target ring and safe operation area target ring for first colour, can be so that the technical staff observes more clearly convenient.

And under the condition that the central point of the tail end of the dental implant instrument is in the safe operation area target ring, judging that the walking of the dental implant instrument is not qualified, and adjusting the socket hole target ring and the safe operation area target ring to be in a second color, for example, red, so as to prompt a doctor that the operation of the current dental implant instrument is abnormal. In the embodiment of the present invention, the second color may be red, green, yellow, and the like, and the specific color of the second color may not be limited in the embodiment of the present invention. Through showing nest hole target ring and safe operation area target ring for the second colour, can be so that the technical staff observes more clearly convenient.

Optionally, determining a depth parameter of the tip of the dental implant instrument from the central point of the top end of the implant according to the instrument position and the central point of the top end of the implant; stopping the implant instrument advancement if the depth parameter is less than or equal to a preset depth threshold.

Based on the instrument position obtained in the virtual three-dimensional space, the tip position of the dental implant instrument and the central point of the top end of the implant are determined, the distance between the tip of the dental implant instrument and the central point of the top end of the implant is calculated, and the distance is used as the depth parameter of the dental implant instrument. A depth threshold is preset in system software, and the numerical range of the depth threshold can be preset according to the thickness of a gum in the oral cavity of a patient, the depth of a dental nerve and the like, so that the depth threshold according with the condition of the patient is preset.

And under the condition that the depth parameter is less than or equal to the preset depth threshold value, judging that the dental implant instrument is too deep to drill, and the walking of the dental implant instrument is not in line with the requirement, sending a stop instruction to the dental implant instrument by the system, stopping the dental implant instrument to continuously advance, and avoiding the dental implant instrument from touching other tissues and organs to cause damage to the patient.

Optionally, the method further comprises: determining a third distance from the center point of the top end of the implant to the axis of the needle and a fourth distance from the center point of the top end of the implant to the tip end of the needle;

Illustratively, referring to fig. 9, a third distance L3 from the implant apical center point to the needle axis and a fourth distance L4 from the implant apical center point to the needle tip are determined; calculating the distance between the needle tip and the implant projection point according to a right triangle formed by the implant tip center point, the needle tip, the implant projection point of the implant tip center point on the needle axis, the third distance L3 and the fourth distance L4, and obtaining the depth parameter Dp:

Dp²+L3²=L4²

optionally, in a case that the depth parameter is less than or equal to a preset depth parameter, displaying warning information.

The preset depth parameter can be preset in system software, and the preset depth parameter can be preset according to the thickness of a gum in the oral cavity of a patient, the depth of a dental nerve and the like, wherein the preset depth parameter accords with the condition of the patient. And displaying warning information, such as warning information of 'over-deep walking', on the display surface of the dental implant instrument under the condition that the obtained depth parameter Dp is less than or equal to a preset depth parameter. Therefore, the technical staff is prompted that the current operation is wrong, the operation precision is improved conveniently in the dental implant operation process, and the operation error rate is reduced.

Optionally, in order to ensure that the axial direction of the needle is aligned with the axial direction of the implant model, in the three-dimensional space, the tip of the needle is set as point E, the end of the needle is set as point F, and a connecting line of the point E of the tip of the needle and the point F of the end of the needle is taken as a needle vector V4. Calculating an included angle theta between the vectors V4 and V according to the needle vector V4 and the reference direction vector V of the planting direction of the implant obtained as described above:

θ=cos(V*V4)

optionally, if θ is smaller than the preset degree threshold, it is determined that the axial direction of the needle is on the same line with the axial direction of the implant model, and the needle reaches the in-place condition, the system software may display an indication mark, such as a green pass mark, to prompt the user that the position of the needle meets the requirement. Optionally, the preset degree threshold may be 0.5 degrees, and a specific value of the preset degree threshold is not limited in this embodiment of the application.

The method comprises the steps of reconstructing an oral cavity three-dimensional model of a patient in a virtual three-dimensional space by acquiring medical image information of the oral cavity of the patient; acquiring a cross section from the oral cavity three-dimensional model and displaying the cross section; determining a safety radius of a safe operation area at the periphery of the implant and a socket radius of an implant socket for placing the implant according to model parameters of an implant model, wherein the hole diameter of the socket is smaller than the safety radius; projecting the model central point of the implant model to the cross section to obtain a display central point, and drawing a socket target ring and a safe operation area target ring by taking the display central point obtained by projection as the circle center and the socket radius and the safe radius respectively; displaying the dental implant instrument on a dental implant instrument display surface on which the socket target ring and the safe operation area target ring are drawn; and controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relationship between the dental implant instrument and the implant model. From this, through control the walking process of planting the dental implant apparatus avoids planting the dental implant apparatus and bores the neural tissue of tooth and other organ tissues of depths, has reduced the operation degree of difficulty, has improved the operation effect, has promoted the stability and the implantation precision of planting the dental implant operation, has reduced the risk of operation, has avoided the injury to the patient.

Optionally, the method further comprises steps 1011-:

step 1011, acquiring an implant real object image, and performing image preprocessing on the implant real object image to generate an appearance contour line image of the implant, wherein the appearance contour line image comprises target pixel points forming an appearance contour line of the implant.

After the real object of the implant is obtained, the relatively accurate appearance picture of the real object of the implant can be obtained by methods such as real object photographing or caliper measurement, and the process does not depend on complex equipment. The real appearance picture of the implant is processed, after the RGF color image is grayed, each pixel value of the image is scanned, the pixel value of less than 127 is set to 0 (black), and the pixel value of 127 or more is set to 255 (white), so that the appearance contour line image of the implant as shown in fig. 12 is obtained, which is composed of a plurality of target pixel points.

And 1012, segmenting the appearance contour line in the appearance contour line image along the central axis of the appearance contour line to obtain a plurality of implant segmented areas.

A plane coordinate system is established by taking the top tip of the implant corresponding to the appearance contour line image of the implant as an origin and taking the axial direction as an X axis, and straight line fitting is carried out based on pixel points on the contour line in the first quadrant. By the straight line fitting method, a fitting line set consisting of a plurality of fitting line set can be obtained in the first quadrant of the contour line. And segmenting according to the coverage relation of the projections of the plurality of fitting line segments on the X axis in the coordinate system, namely according to the number of the projection points of the plurality of fitting line segments on the X axis. For example, taking the generated fitting line segments 1, 2, 3, and 4 as an example, for an arbitrary pixel point m, the abscissa value corresponding to the pixel point m in the coordinate system is E, a point exists on the fitting line segment 1, the coordinate thereof is (E, y 1), a point exists on the fitting line segment 2, the coordinate thereof is (E, y 2), a pixel point with the coordinate thereof being (E, y 3) does not exist on the fitting line segment 3, a pixel point with the coordinate thereof being (E, y 4) does not exist on the fitting line segment 4, that is, the corresponding pixel point m, and the fitting line segments satisfying the coverage relationship with the point are the fitting line segment 1 and the fitting line segment 2, that is, the number 2 of the fitting line segments satisfying the coverage relationship with the point is two. For any adjacent pixel point N and M, the abscissa value of N is E-1, the abscissa value of M is E, the number of fitting line segments meeting the coverage relation with the pixel point N is N, and the number of fitting line segments meeting the coverage relation with the pixel point M is M. If N is equal to M, the pixel point N and M belong to the same implant segmentation area; and if N is not equal to M, the pixel points N and M do not belong to the same implant segmentation region.

And 1013, determining the implant model key parameters corresponding to each implant segment area.

The implant model key parameters are used for describing the length characteristic of the implant, the width characteristic of the implant and the thread type characteristic of the implant, and the model key parameters reflecting model information can be determined according to the contour line image of the implant, namely, the data for generating the implant model is obtained by simply parameterizing the characteristics reflecting the implant model. The method specifically comprises the following steps: the length characteristic of the implant segmentation region can be determined according to the abscissa values of the starting point and the ending point of each implant segmentation region, the diameter characteristic of the implant segmentation region can be determined according to the ordinate of each pixel point, and the thread type characteristic of the implant segmentation region is determined according to the number of the fitting line segments in the implant segmentation region. For example, for any segment region of the implant, the abscissa value of the starting point is E, and the abscissa value of the end point is F, the length of the segment region is the absolute value of E-F; for any pixel point of the segment region, if the longitudinal coordinate value corresponding to the point is R, the diameter of the segment region corresponding to the point is 2R; for any segment region of the implant, if the number of the fitting line segments covered by the segment is one, determining that the thread type corresponding to the segment of the implant is a triangular thread or a non-thread; if the number of the fitting line segments covered by the implant segment is two, determining that the thread type corresponding to the implant segment is a common trapezoidal thread, and determining the starting point and the stopping point of the segment as the starting point and the stopping point of the common trapezoidal thread; and if the number of the fitting line segments covered by the implant segment is three, determining that the thread type corresponding to the implant segment is the staggered trapezoidal thread, and determining the starting point and the ending point of the segment as the starting point and the ending point of the staggered trapezoidal thread. The thread depth of the segmented region is determined based on the correspondence with the thread type. Based on the above, the implant model key parameters including the length of the segment region, the thread type of the segment region, the diameter of the segment region, the thread depth of the segment region and the like in each implant segment region can be determined. The plant model key parameters may also include other parameters, which are determined according to the fineness of the generated plant model, such as thread pitch parameters, material parameters, etc., and the present application does not limit this, and only considers the plant model key parameters necessary for generating the plant model.

In one possible embodiment, the method further comprises: determining key parameters of an implant safety zone according to the thread depth of the segmentation zone and the thread type of the segmentation zone and preset rules;

wherein the safety zone key parameters include: the radius of the safe zone.

In this embodiment, according to the corresponding relationship between the thread type parameter and the thread depth in the multidimensional key parameter, the corresponding thread depth of the implant segment region is determined, and the corresponding safety zone extension distance is determined according to the thread type. Since the safety zone extension (the extension of the safety zone in the radial direction with respect to the thread) is significantly different for different threads, the same thread type is inversely proportional to the approximate external surface area (circumference law implant diameter length) of the screw and has a positive correlation with the thread depth. Therefore, the safety zone extension distance and the thread depth are in a preset corresponding relation, namely the safety zone extension distance corresponding to the thread depth can be obtained according to the thread depth, and the corresponding safety zone radius can be determined based on the safety zone extension distance. A simple example is given below, see table 1 for details.

TABLE 1

Segment number	Length of section mm	Starting diameter mm	End diameter mm	Thread type	Height mm of thread	Extension of safety zone mm
							1	1.5	3.5	3.5	Is free of	/	1.2
2	1.5	3.5	3.	Triangular shape	0.5	1.2
							3	2	3.5	3.5	Is free of	/	2.1
4	8.5	3.5	2	Trapezoidal double thread	1	2.1
							5	0.5	2	1.2	Is free of	/	2.1

Taking table 1 as an example, under the field of "segment number", segment numbers of different implant segment areas are stored; under the field of 'segment length', storing length characteristic information of different implant segment areas; under the fields of 'starting diameter' and 'ending diameter', diameter characteristic information of the same implant section area is stored; under the 'thread type' field, the thread type characteristic information corresponding to the implant segmentation area is stored, and under the 'thread depth' field, the thread depth characteristic information corresponding to the implant segmentation area is stored.

In a possible embodiment, the segmenting the appearance contour line in the appearance contour line image along the central axis of the appearance contour line to obtain a plurality of implant segmentation areas includes:

determining a first pixel point and a second pixel point of the intersection of the central axis of the appearance contour line and the appearance contour line;

rotating an appearance contour line in the appearance contour line image based on target coordinates of the first pixel point and the second pixel point, wherein the target coordinates are row coordinates or column coordinates;

dividing the target pixel point into two pixel point sequences based on the target coordinate;

selecting any pixel point sequence, and performing straight line fitting based on pixel points in the pixel point sequence to obtain a plurality of fitting straight line segments with the length larger than a set threshold;

and carrying out segmentation processing on the appearance contour line according to the corresponding relation between the non-target coordinates of each pixel point and the fitting line segment.

In this embodiment, the appearance contour line image is an image created based on pixel points, and therefore a pixel point array coordinate system corresponding to the appearance contour line image can be created, first, two intersection points of the central axis of the implant and the appearance contour line are searched in the appearance contour line image, the appearance contour line image is rotated by aligning target coordinates of the two intersection points, the target coordinates are row coordinates or column coordinates, the pixel points of the appearance contour line are divided into two pixel point sequences according to the aligned target coordinates of the two intersection points, one of the pixel point sequences is selected, and the pixel point sequence which is positive is determined according to the creation condition of the coordinate system. Performing straight line fitting by using the pixel points in the selected pixel point sequence to obtain a plurality of fitting straight line segments with the length larger than a set threshold; and carrying out segmentation processing on the appearance contour line according to the corresponding relation between the non-target coordinates of each pixel point and the fitting line segment.

In a possible implementation manner, the segmenting processing of the appearance contour line according to the correspondence between the non-target coordinates of each pixel point and the fitting line segment includes:

sequentially reading the non-target coordinates of each pixel point in the selected pixel point sequence;

matching fitting straight line segments of the points corresponding to the non-target coordinates, and recording the number of the fitting straight line segments matched with each pixel point;

and if the number of the matched fitting straight line segments of the pixel points adjacent to any non-target coordinate is the same, determining that the pixel points adjacent to the horizontal non-target coordinate belong to the same implant segmentation area.

In this embodiment, taking the generated fitting line segments 1, 2, 3, and 4 as an example, for an arbitrary pixel point m, if the selected target coordinate is a row coordinate, the non-target coordinate is a column coordinate, the corresponding column coordinate in the coordinate system is E, a point exists on the fitting line segment 1, the coordinate thereof is (E, y 1), a point exists on the fitting line segment 2, the coordinate thereof is (E, y 2), a pixel point whose coordinate is (E, y 3) does not exist on the fitting line segment 3, a pixel point whose coordinate is (E, y 4) does not exist on the fitting line segment 4, that is, the corresponding pixel point m, the fitting line segments satisfying a coverage relationship with the point are the fitting line segment 1 and the fitting line segment 2, that is, the number 2 of the fitting line segments satisfying a coverage relationship with the point is two. For any adjacent pixel point N and M, the column coordinate of N is E-1, the column coordinate value of M is E, the number of fitting line segments meeting the coverage relation with the pixel point N is N, and the number of fitting line segments meeting the coverage relation with the pixel point M is M. If N is equal to M, the pixel point N and M belong to the same implant segmentation area; and if N is not equal to M, the pixel points N and M do not belong to the same implant segmentation region.

In one possible embodiment, the method further comprises: and determining the length of the segmentation region, the thread type of the segmentation region, the diameter of the segmentation region and the thread depth of the segmentation region according to the non-target coordinates and the target coordinates of the pixel points in the segmentation region of each implant.

For any segment region of the implant, the row coordinate value of the starting point is E, the row coordinate value of the end point is F, and the length of the segment region is the absolute value of E-F; for any pixel point of the segment region, the row coordinate value corresponding to the point is R, and the diameter of the segment region corresponding to the point is 2R. The thread type of the segment region and the thread depth of the segment region are determined in the same manner as in the above embodiment, and therefore, the details are not repeated.

Example two

Optionally, step 1062 of the embodiment of the present invention includes: sub-step 1066-:

sub-step 1066: determining a first distance between a tip projection point of a tip of the dental implant instrument on the cross section and the display central point;

determining a tip projection point B (Bx, By) of the tip of the needle on the cross section, wherein the coordinates of the display central point can be the projection point of the point A on the cross section obtained By the calculation, the coordinates of the projection point of the point A are A (Ax, Ay), and calculating a first distance LAB between the tip projection point and the display central point in a software system:

(Bx-Ax)²+(By-Ay)²=LAB²

sub-step 1067: determining that the tip of the dental implant instrument is offset from the socket target ring if the first distance is greater than the radius of the socket target ring.

Comparing the LAB with the R1 according to the obtained socket radius R1, if the LAB is larger than the R1, determining that the tip of the dental implant instrument deviates from the socket target ring, judging that the advancing of the dental implant instrument deviates from the implant socket, and further sending a stop instruction to the dental implant instrument by the system to stop the continuous advancing of the dental implant instrument so as to avoid the damage to the patient caused by the fact that the dental implant instrument touches other tissues and organs.

Optionally, step 1063 of the embodiment of the present invention includes: sub-step 1068-:

sub-step 1068: determining a second distance between a tail end projection point of the tail end central point of the dental implant instrument on the cross section and the display central point;

determining a projected point C (Cx, Cy) of the tail end of the needle on the cross section, wherein the coordinates of the display central point can be the projected point of the point A on the cross section obtained by the calculation, the coordinates of the projected point of the point A are A (Ax, Ay), and calculating a second distance LAC between the projected point of the tip and the display central point in a software system:

(Cx-Cx)²+(Cy-Cy)²=LAC²

sub-step 1069: determining that the tip of the dental implant instrument is offset from the safe surgical area target ring if the second distance is greater than the radius of the safe surgical area target ring

According to the radius R2 of the target ring of the safe operation area obtained in the first embodiment, the LAC is compared with the R2, if the LAC is larger than the R2, the fact that the tip end of the dental implant instrument deviates from the target ring of the safe operation area is determined, the fact that the advancing of the dental implant instrument deviates from the safe operation area is judged, then a stop instruction is sent to the dental implant instrument by the system, the dental implant instrument is stopped from continuing advancing, and the dental implant instrument is prevented from touching other tissues and organs and causing damage to a patient.

By the dental implant instrument control method, medical image information of the oral cavity of a patient is obtained, and a three-dimensional model of the oral cavity of the patient is reconstructed in a virtual three-dimensional space; acquiring a cross section from the oral cavity three-dimensional model and displaying the cross section; determining a safety radius of a safe operation area at the periphery of the implant and a socket radius of an implant socket for placing the implant according to model parameters of an implant model, wherein the hole diameter of the socket is smaller than the safety radius; projecting the model central point of the implant model to the cross section to obtain a display central point, and drawing a socket target ring and a safe operation area target ring by taking the display central point obtained by projection as the circle center and the socket radius and the safe radius respectively; displaying the dental implant instrument on a dental implant instrument display surface on which the socket target ring and the safe operation area target ring are drawn; and controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relationship between the dental implant instrument and the implant model. From this, through control the walking process of planting the dental implant apparatus avoids planting the dental implant apparatus and bores the neural tissue of tooth and other organ tissues of depths, has reduced the operation degree of difficulty, has improved the operation effect, has promoted the stability and the implantation precision of planting the dental implant operation, has reduced the risk of operation, has avoided the injury to the patient.

EXAMPLE III

Referring to fig. 10, there is shown a schematic structural view of a dental implant instrument control apparatus in an embodiment of the present invention.

The dental implant instrument operation device 200 according to the embodiment of the present invention includes: a model reconstruction module 210, a display surface acquisition module 220, a radius calculation module 230, a target ring generation module 240, a target ring rendering module 250, and an instrument control module 260.

The functions of the modules and the interaction relationship between the modules are described in detail below.

A model reconstruction module 210, configured to obtain medical image information of an oral cavity of a patient and reconstruct a three-dimensional model of the oral cavity of the patient in a virtual three-dimensional space;

a display surface obtaining module 220, configured to obtain a cross section from the oral cavity three-dimensional model and display the cross section;

a radius calculation module 230, configured to determine, according to model parameters of an implant model, a safety radius of a safe surgical area around the implant and a socket radius of an implant socket for placing the implant, where a hole diameter of the socket is smaller than the safety radius;

the target ring generation module 240 is configured to project a model center point of the implant model to the cross section to obtain a display center point, and draw a socket target ring and a safe operation region target ring by using the socket radius and the safe radius respectively, with the display center point obtained by projection as a center of a circle;

a target ring drawing module 250, configured to display the dental implant instrument on a dental implant instrument display surface on which the socket target ring and the safe surgery area target ring are drawn;

and the instrument control module 260 is used for controlling the walking process of the dental implant instrument according to the socket target ring, the safe operation area target ring and the relative position relationship between the dental implant instrument and the implant model.

Optionally, the instrument control module 260 comprises:

a position obtaining module 261, configured to obtain an instrument position of the dental implant instrument in the virtual three-dimensional space;

a tip determination module 262 for stopping advancement of the dental implant instrument if it is determined from the instrument position that the tip of the dental implant instrument is offset from the socket target ring;

a tail end determining module 263, configured to stop the advancement of the dental implant instrument if it is determined from the instrument position that the tail end of the dental implant instrument deviates from the safe surgical area target ring.

Optionally, the tip determining module 262 includes:

a first distance module 2621 for determining a first distance between a tip projection point of the tip of the dental implant instrument on the cross section and the display center point;

a first tip offset module 2622 to determine that the tip of the dental implant instrument is offset from the socket target ring if the first distance is greater than the radius of the socket target ring.

Optionally, the tail-end determining module 263 includes:

a second distance module 2631, configured to determine a second distance between a tail end projection point of the tail end central point of the dental implant instrument on the cross section and the display central point;

a second tip offset module 2632 to determine that the tip of the dental implant instrument is offset from the safe surgical area target ring if the second distance is greater than the radius of the safe surgical area target ring.

Optionally, the apparatus further comprises:

a first color module 270 for adjusting the socket target ring and the safe surgery area target ring to a first color if the dental implant instrument is walking in the socket target ring and the safe surgery area target ring;

a second color module 280 for adjusting the socket target ring and the safe surgery area target ring to a second color if the dental implant instrument is walking off the socket target ring or off the safe surgery area target ring.

Optionally, the apparatus further comprises:

a socket target ring module 290 for adjusting the socket target ring to a first color if the tip of the dental implant instrument is within the socket target ring; and adjusting the socket target ring to a second color in the event that the tip of the dental implant instrument is offset from the socket target ring;

a safe operation area target ring module 300, configured to adjust the safe operation area target ring to a first color when a central point of a tail end of the dental implant instrument is in the safe operation area target ring; and adjusting the socket target ring to a second color in the event that the tip of the dental implant instrument is offset from the safe surgical area target ring.

Optionally, the apparatus further comprises:

a depth parameter module 310, configured to determine a depth parameter of the tip of the dental implant instrument from the center point of the top end of the implant according to the instrument position and the center point of the top end of the implant;

an instrument stopping module 320 for stopping the dental implant instrument advancement if the depth parameter is less than or equal to a preset depth threshold.

Optionally, the depth parameter module comprises:

a fourth distance module 330, configured to determine a third distance from the center point of the implant tip to the needle axis and a fourth distance from the center point of the implant tip to the tip of the needle;

and the depth calculating module 340 is configured to calculate a distance between the tip of the needle and the projection point of the implant according to a right triangle formed by the center point of the top end of the implant, the tip of the needle, and the projection point of the top end of the implant on the axis of the needle, as well as the third distance and the fourth distance, so as to obtain the depth parameter.

Optionally, the dental implant device is a lathed needle.

With reference to fig. 11, an embodiment of the present application further provides a surgical robot including a processor, a memory, and a program or instructions stored on the memory and executable on the processor, which when executed by the processor implements the steps of the dental implant instrument display method according to the first aspect.

The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when being executed by a processor, the computer program realizes each process of the dental implant instrument display method embodiment, can achieve the same technical effect, and is not repeated here in order to avoid repetition. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

While alternative embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the true scope of the embodiments of the application.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The above detailed description of the method and apparatus for controlling a dental implant instrument provided by the present invention is provided, and the principle and the embodiments of the present invention are explained in detail by using specific examples, and the above descriptions of the embodiments are only used to help understanding the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A method of controlling a dental implant instrument, the method comprising:

2. The method of claim 1, wherein said controlling the walking process of the dental implant instrument based on the relative positional relationship between the socket target ring, the safe surgical area target ring, and the dental implant instrument and the implant model comprises:

3. The method of claim 2, wherein determining that the tip of the dental implant instrument is offset from the socket target ring based on the instrument position comprises:

4. The method of claim 2, wherein said determining from the instrument position that the trailing end of the dental implant instrument is offset from the safe surgical field target ring comprises:

5. The method of claim 1, further comprising:

6. The method of claim 1, further comprising:

7. The method according to any one of claims 2-4, further comprising:

8. The method of claim 7, wherein said determining a depth parameter in the tip of the dental implant instrument from the implant apical center point based on the instrument position and the implant apical center point comprises:

determining a third distance from the center point of the top end of the implant to the axis of the dental implant instrument and a fourth distance from the center point of the top end of the implant to the tip of the dental implant instrument;

and calculating the distance between the tip of the dental implant instrument and the projection point of the implant according to the right triangle formed by the central point of the top end of the implant, the tip of the dental implant instrument, the projection point of the central point of the top end of the implant on the axis of the dental implant instrument, the third distance and the fourth distance, and obtaining the depth parameter.

9. The method of any one of claims 1 to 6, wherein the dental implant device is a needle.

10. The method of claim 1, further comprising:

determining key parameters of an implant safety zone according to the thread depth of the segmentation zone and the thread type of the segmentation zone and preset rules; wherein the safety zone key parameters include: the radius of the safe zone.

11. A dental implant instrument control device, the device comprising:

12. The apparatus of claim 11, wherein the instrument control module comprises:

13. The apparatus of claim 12, wherein the tip determination module comprises:

14. The apparatus of claim 12, wherein the tail end determining module comprises:

15. The apparatus of claim 11, further comprising:

16. The apparatus of claim 11, further comprising:

17. The apparatus according to any one of claims 12-14, further comprising:

18. The apparatus of claim 17, wherein the depth parameter module comprises:

a fourth distance module for determining a third distance from the center point of the top end of the implant to the axis of the dental implant instrument and a fourth distance from the center point of the top end of the implant to the tip of the dental implant instrument;

and the depth calculation module is used for calculating the distance between the tip of the dental implant instrument and the projection point of the implant according to the right triangle formed by the central point of the top end of the implant, the tip of the dental implant instrument and the projection point of the top end of the implant on the axis of the dental implant instrument, the third distance and the fourth distance, and obtaining the depth parameter.

19. The apparatus according to any one of claims 11-16, wherein the dental implant device is a needle.

20. A surgical robot comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the method of controlling a dental implant instrument according to any one of claims 1 to 10.

21. A readable storage medium, on which a program or instructions are stored which, when executed by a processor, carry out the steps of a method for controlling a dental implant apparatus according to any one of claims 1 to 10.