CN113974879A - Rapid registration device and registration method for oral implant navigation surgery - Google Patents
Rapid registration device and registration method for oral implant navigation surgery Download PDFInfo
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- CN113974879A CN113974879A CN202111416102.8A CN202111416102A CN113974879A CN 113974879 A CN113974879 A CN 113974879A CN 202111416102 A CN202111416102 A CN 202111416102A CN 113974879 A CN113974879 A CN 113974879A
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- 239000007943 implant Substances 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001356 surgical procedure Methods 0.000 title claims description 21
- 230000000007 visual effect Effects 0.000 claims abstract description 24
- 239000003550 marker Substances 0.000 claims description 22
- 238000002513 implantation Methods 0.000 claims description 12
- 230000036544 posture Effects 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 3
- 210000000214 mouth Anatomy 0.000 description 7
- 238000002591 computed tomography Methods 0.000 description 6
- 239000000758 substrate Substances 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 4
- 230000009466 transformation Effects 0.000 description 3
- 239000004053 dental implant Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 208000002354 Edentulous Jaw Diseases 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000004513 dentition Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000002200 mouth mucosa Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000036346 tooth eruption Effects 0.000 description 1
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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
- A61C8/009—Implanting tools or instruments for selecting the right implanting element, e.g. templates
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
- A61B2090/3941—Photoluminescent markers
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Pathology (AREA)
- Dental Prosthetics (AREA)
Abstract
The invention relates to the technical field of medical instruments, and provides a rapid registration device and a registration method for an oral implant navigation operation. The registration apparatus includes: the connecting piece is of an arc-shaped structure and comprises a first positioning plate and a second positioning plate, the first positioning plate is connected with the second positioning plate, a first positioning hole is formed in the first positioning plate, and a second positioning hole is formed in the second positioning plate; the first marking plate is detachably connected with the connecting piece through a second positioning hole, and a plurality of marking pieces are arranged on the first marking plate; the second marking plate is detachably connected with the connecting piece through a second positioning hole, and a plurality of visual marking points are arranged on the second marking plate. The rapid registration device and the registration method for the oral implant navigation operation improve the structure fixing precision, can realize the registration rapidly, unify different coordinate systems and provide a foundation for the subsequent navigation operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a rapid registration device and a registration method for an oral implant navigation operation.
Background
With the development of computer technology, the surgical navigation brings revolutionary changes to surgical operations with the advantages of precision, flexibility, minimal invasion and the like, leads modern medicine to move towards precise medical treatment, and also provides directions for further development of oral medicine. At present, related work and research of oral implant navigation are carried out at home and abroad, but the existing oral implant navigation operation has a series of problems and can not well meet the requirements of oral dental implant operation. For a patient with more missing teeth, even a edentulous jaw patient with missing dentition, when the traditional oral implanting guide plate or the visual marking plate in the robot navigation operation is worn, because the elasticity of the oral mucosa is difficult to achieve higher fixing precision, accurate tooth implanting operation cannot be carried out.
Disclosure of Invention
The invention provides a rapid registering device and a registering method for an oral implanting navigation operation, which are used for solving the defects that an oral implanting guide plate or a visual marking plate in the prior art has lower precision and cannot ensure accurate tooth implanting operation; through first mark board, second mark board and detachable the being connected of connecting piece, unify different coordinate systems, provide the basis for follow-up navigation operation.
The invention provides a rapid registration device for an oral implantation navigation operation, which comprises:
the connecting piece is of an arc-shaped structure and comprises a first positioning plate and a second positioning plate, the first positioning plate is connected with the second positioning plate, a first positioning hole is formed in the first positioning plate, and a second positioning hole is formed in the second positioning plate;
the first marking plate is detachably connected with the connecting piece through the second positioning hole, and a plurality of marking pieces are arranged on the first marking plate;
the second marking plate is detachably connected with the connecting piece through the second positioning hole, and a plurality of visual marking points are arranged on the second marking plate.
According to the rapid registering device for the oral implantation navigation surgery provided by the invention, the connecting piece further comprises a connecting plate, and the connecting plate is connected between the first positioning plate and the second positioning plate.
According to the rapid registration device for the oral implantation navigation operation, which is provided by the invention, the connecting plate is a U-shaped connecting plate.
According to the rapid registering device for the oral implantation navigation surgery, provided by the invention, a third positioning hole is formed in the first marking plate and is connected with the second positioning hole through a fastener; and a fourth positioning hole is formed in the second marking plate and is connected with the second positioning hole through a fastener.
According to the rapid registering device for the oral implantation navigation surgery provided by the invention, one end surface of the second positioning hole is a first concave surface or a first convex surface, one end surface of the third positioning hole is a second concave surface matched with the first convex surface or a second convex surface matched with the first concave surface, and one end surface of the fourth positioning hole is a third concave surface matched with the first convex surface or a third convex surface matched with the first concave surface.
According to the rapid registering device for the oral implantation navigation surgery, which is provided by the invention, the first marking plate comprises a base plate and a plurality of reinforcing ribs, the grooves are formed in the base plate, and the reinforcing ribs and the grooves are alternately connected.
According to the rapid registering device for the oral implantation navigation operation, provided by the invention, a plurality of grooves are arranged on the first marking plate, the grooves are of hemispherical structures, and the marking piece is a sphere and is in interference fit with the grooves.
According to the rapid registering device for the oral implantation navigation operation, provided by the invention, the marker is made of an X-ray blocking material.
According to the rapid registering device for the oral implantation navigation operation, provided by the invention, the first marking plate is of an arc-shaped structure.
The invention also provides a registration method of the rapid registration device for the oral implant navigation surgery, which comprises the following steps:
installing the first marking plate on the connecting piece through the second positioning hole, scanning the marking piece on the first marking plate and acquiring the position coordinate of the marking piece;
taking down the first marking plate by the connecting piece, installing a second marking plate on the connecting piece through a second positioning hole, capturing visual marking points on the second marking plate, and calculating the spatial positions and postures of the visual marking points so as to obtain the position coordinates of the visual marking points;
and uniformly registering the position coordinates of the marking piece and the position coordinates of the visual marking points to the same coordinate system.
According to the rapid registering device for the oral implantation navigation surgery, the first positioning plate of the connecting piece can be in rigid connection with the oral cavity of a patient, the second positioning plate can be correspondingly connected with the first marking plate or the second marking plate, CT scanning and navigation positioning are respectively carried out, the coordinate system of the navigation positioning sensor can be connected with the space coordinate system of a CT image through registration, a virtual image of the navigation surgery and the actual position of the patient can be unified, and the surgery can be guided to be accurately carried out through the virtual medical image. The rapid registration device for the oral implant navigation operation improves the structure fixing precision, can realize the registration rapidly, unifies different coordinate systems and provides a foundation for the subsequent navigation operation.
Furthermore, the invention also provides a registration method using the rapid registration device for the oral implant navigation surgery, and the first marking plate and the second marking plate are connected and fixed on the connecting piece to determine the position and the posture and are both precise workpieces, so that the position and posture relation between the second marking plate and the first marking plate is determined and unchanged, a coordinate system formed by visual marking points can be matched with a CT image coordinate system, and rapid and precise registration is completed.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a connector provided by the present invention;
FIG. 2 is a schematic view of the connection between the connector and the first marking plate;
FIG. 3 is a schematic view of the connection between the connector and the second marking plate;
FIG. 4 is a schematic view of a second positioning hole and a third positioning hole matched according to the present invention;
FIG. 5 is a schematic flow chart of a registration method using the rapid registration device for oral implant guided surgery according to the present invention;
reference numerals:
1: a connecting member; 2: a first marking plate; 3: a second marking plate;
4: a marker; 5: a fastener;
11: a first positioning plate; 12: a first positioning hole; 13: a second positioning plate;
14: a second positioning hole; 15: a connecting plate;
21: a substrate; 22: reinforcing ribs; 23: a groove;
24: a third positioning hole;
31: and visually marking points.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but 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.
The following describes the rapid registration device for the dental implant navigation surgery of the present invention with reference to fig. 1-4. The registration apparatus includes: a connecting piece 1, a first marking plate 2, a second marking plate 3 and a marking piece 4.
The connecting piece 1 is of an arc-shaped structure and comprises a first positioning plate 11 and a second positioning plate 13, the first positioning plate 11 is connected with the second positioning plate 13, a first positioning hole 12 is formed in the first positioning plate 11, and a second positioning hole 14 is formed in the second positioning plate 13. Specifically, the connecting member 1 has an arc-shaped overall structure to accommodate the maxillofacial curve of the patient, and the connecting member 1 is mainly used for being fixed on the jaw bone and providing stable support for other components (i.e., the first marking plate 2 or the second marking plate 3). In the registration process, anchorage nails can be used to be driven into the jaw bone through the corresponding first positioning holes 12 on the first positioning plate 11, so as to firmly fix the connecting piece 1 on the jaw bone of the patient; a second positioning plate 13 at the other end of the connecting member 1 is used to connect with other components, the second positioning plate 13 extends out of the patient's mouth and connects with other components of the registration device (e.g., the first marker plate 2 or the second marker plate 3) through a plurality of second positioning holes 14 formed therein.
The first marking plate 2 is detachably connected with the connecting piece 1 through the second positioning hole 14, and a plurality of grooves 23 are formed in the first marking plate 2; the marker 4 is mounted on the recess 23. Specifically, the first marking plate 2 can be connected with the second positioning hole 14 through the fastener 5, so that the detachable connection of the first marking plate 2 and the connecting piece 1 is realized, and the outline of the first marking plate 2 is in an arc shape fitting the curve of the face of a human body and used for CT scanning. The groove 23 of the first marking plate 2 is used for installing the marking element 4, and the marking element 4 and the groove 23 can be detachably connected. The marker 4 may be a marker sphere made of a ceramic material or other X-ray blocking materials, which is used as a marker point for CT scanning, and the position coordinates of the geometric center of the marker 4 may be accurately obtained in a three-dimensional image of CT scanning by means of data fitting or the like.
The second marking plate 3 is detachably connected with the connecting piece 1 through the second positioning hole 14, and a plurality of visual marking points 31 are arranged on the second marking plate 3. Specifically, when the navigation operation is performed, the first marking plate 2 is taken down from the connecting piece 1, the second marking plate 3 can be connected with the second positioning hole 14 through the fastening piece 5, a series of visual marking points 31 (which can be light reflecting sheets or light reflecting balls) are fixed on the second marking plate 3, the positions of the visual marking points 31 can be captured and detected in real time by using an optical or electromagnetic navigation positioning sensor, and the spatial position and the posture of the whole visual marking can be calculated accordingly.
Based on this, since the position and posture of the second marking plate 3 and the first marking plate 2 which are connected and fixed on the connecting member 1 are determined and are both precision workpieces, the position and posture relationship between the second marking plate 3 and the first marking plate 2 is determined and not changed. The coordinate system of the navigation positioning sensor and the space coordinate system of the CT image can be connected together through registration, so that the virtual image of the navigation operation and the actual position of the patient can be unified, and the operation can be guided to be accurately performed through the virtual medical image.
It should be understood that the connecting plate 1, the first marker plate 2 and the second marker plate 3 are all made of a material with high rigidity, so as to avoid deformation during the measurement process.
According to the rapid registering device for the oral implantation navigation surgery, the first positioning plate 11 of the connecting piece 1 can be in rigid connection with the oral cavity of a patient, the second positioning plate 13 can be correspondingly connected with the first marking plate 2 or the second marking plate 3 to respectively perform CT scanning and navigation positioning, a coordinate system of a navigation positioning sensor can be connected with a space coordinate system of a CT image through registering, a virtual image of the navigation surgery and the actual position of the patient can be unified, and the virtual medical image can guide the surgery to be accurately performed. The rapid registration device for the oral implant navigation operation improves the structure fixing precision, can realize the registration rapidly, unifies different coordinate systems and provides a foundation for the subsequent navigation operation.
In one embodiment of the present invention, the connecting member 1 further comprises a connecting plate 15, and the connecting plate 15 is connected between the first positioning plate 11 and the second positioning plate 13. Further, the connecting plate 15 is a "U" shaped connecting plate 15. Specifically, as shown in fig. 1, the first positioning plate 11 is connected to the second positioning plate 13 through a "U" -shaped connecting plate 15, and the "U" -shaped connecting plate 15 can span the mouth of the patient and guide the second positioning plate 13 out of the mouth of the patient.
In one embodiment of the present invention, a third positioning hole 24 is formed on the first marking plate 2, and the third positioning hole 24 is connected with the second positioning hole 14 through a fastener 5; the second marking plate 3 is provided with a fourth positioning hole, and the fourth positioning hole is connected with the second positioning hole 14 through a fastener 5. In the present embodiment, the fastener 5 can respectively pass through the second positioning hole 14 and the third positioning hole 24 to connect and fix the connecting member 1 and the first marking plate 2; the fastener 5 can penetrate through the second positioning hole 14 and the fourth positioning hole respectively so as to connect and fix the connecting piece 1 and the second marking plate 3.
Further, an end surface of the second positioning hole 14 is a first concave surface or a first convex surface, an end surface of the third positioning hole 24 is a second concave surface adapted to the first convex surface or a second convex surface adapted to the first concave surface, and an end surface of the fourth positioning hole is a third concave surface adapted to the first convex surface or a third convex surface adapted to the first concave surface. In the present embodiment, the second positioning hole 14 is respectively matched with the third positioning hole 24 on the first marking plate 2 and the fourth positioning hole on the second marking plate 3, and the matching degree between the positioning holes can be improved by the convex surface and the concave surface. Specifically, as shown in fig. 4, the contact surface of the second positioning hole 14 is a hemispherical convex surface, and the contact surface of the third positioning hole 24 (or the fourth positioning hole) is a matched hemispherical concave surface, so that the connection fit between the connecting piece 1 and the marking plate is more precise, and the system registration error is reduced. The connector 1 can be connected and fixed with other components (i.e. corresponding marking plates) by using screws through matched positioning holes. It should be understood that other shapes or slope designs between the alignment holes may be used to ensure a precise fit between the corresponding alignment holes. It is understood that the connection manner of the second positioning hole 14 and the fourth positioning hole is similar to the connection manner of the second positioning hole 14 and the third positioning hole 24 in fig. 4, and the description thereof is omitted.
Further, the second positioning hole 14, the third positioning hole 24 and the fourth positioning hole are respectively multiple, and stable connection between the connecting member 1 and the marking plate is achieved through multi-point positioning. As shown in fig. 2 and 3, the number of the second positioning holes 14, the third positioning holes 24 and the fourth positioning holes is three, and the corresponding positioning holes are fastened by three fasteners 5.
In one embodiment of the present invention, the first marking plate 2 includes a base plate 21 and a plurality of ribs 22, the grooves 23 are formed on the base plate 21, and the ribs 22 and the grooves 23 are alternately connected. Specifically, as shown in fig. 2, the grooves 23 are disposed on the inner contour of the substrate 21, the grooves 23 may be disposed on the top contour or the bottom contour of the substrate 21 at intervals along the length direction of the substrate 21, and the grooves 23 are connected by the reinforcing ribs 22, so that on one hand, the overall structural rigidity is improved, the deformation amount is reduced, and on the other hand, the substrate 21 may be integrally hollowed out, thereby reducing the weight.
In one embodiment of the present invention, the recess 23 is a hemispherical structure, and the marker 4 is a sphere and is in interference fit with the recess 23. In this embodiment, the interference fit of the groove 23 with the marker 4 ensures that the marker 4 is accurately and securely mounted in the groove 23. It will be appreciated that the configuration of the recess 23 and the flag 4 may take other shapes to suit installation requirements.
In one embodiment of the present invention, the connecting member 1 and the first marking plate 2 are both arc-shaped structures. In this embodiment, the first positioning plate 11 of the connecting member 1 has an arc structure mainly for fitting the jaw bone of the patient, so as to be fixed by the first positioning hole 12 and the fastener 5, while the second positioning plate 13 extends out of the oral cavity of the patient, and has an arc structure mainly for matching the external shape of the oral cavity of the patient; the base plate 21 in the first marking plate 2 is of an arc-shaped structure and can be attached to the curve of the human face. Further, the base plate 21 of the first marker plate 2 may have the same shape as the second positioning plate 13 and be disposed to extend in the direction of the second positioning plate 13, i.e., a structure as shown in fig. 2.
As shown in fig. 5, the present invention further provides a registration method of the rapid registration apparatus for oral implant navigation surgery described in the foregoing embodiment, including:
installing the first marking plate 2 on the connecting piece 1 through the second positioning hole 14, scanning the marking piece 4 on the first marking plate 2 and acquiring the position coordinate of the marking piece 4;
taking down the first marking plate 2 from the connecting piece 1, installing the second marking plate 3 on the connecting piece 1 through the second positioning hole 14, capturing the visual marking point 31 on the second marking plate 3, and calculating the spatial position and the posture of the visual marking point 31 so as to obtain the position coordinate of the visual marking point 31;
the position coordinates of the marking member 4 and the position coordinates of the visual marking point 31 are registered to the same coordinate system.
Specifically, before the registration is started, the connecting member 1 needs to be fixed at the position of the jaw bone of the patient through the first positioning hole 12 and the anchorage nail, and is connected with the first marking plate 2 or the second marking plate 3 by using the second positioning hole 14.
Since the position and the posture of the first marking plate 2 and the second marking plate 3 which are fixedly connected to the connecting member 1 are determined and are both precision workpieces, the position and posture relationship between the second marking plate 3 and the first marking plate 2 is determined and not changed. The coordinates of the marking elements 4 in the coordinate system formed by the visual marking points 31 can be determined beforehand from the three-dimensional design of the registration device, set as
After a anchorage nail is driven into a patient, a first marking plate 2 is installed for CT scanning, and the coordinate point of the spherical center of a marking piece 4 in a CT image space is obtained
For the point set with the determined corresponding relation, the optimal transformation can be calculated by a singular value decomposition (namely SVD) method to obtain the spatial conversion relation between the two point sets. After the spatial transformation relationship (i.e., transformation matrix T) of the two corresponding point sets is calculated, the coordinate system { V } formed by the visual marker points 31 can be matched with the coordinate system { C } of the CT image, and then the registration is completed.
The structural relationship of each part is fixed, the registration can be completed by calculation only after the coordinates of the mark part 4 on the first mark plate 2 are obtained, and the registration is performed without touching a specific mark point by using a probe tool to establish the mapping relationship of two spaces, so that the registration operation process is simplified, and the positioning accuracy of the navigation operation system is improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an oral implantation navigation operation quick registration device which characterized in that includes:
the connecting piece is of an arc-shaped structure and comprises a first positioning plate and a second positioning plate, the first positioning plate is connected with the second positioning plate, a first positioning hole is formed in the first positioning plate, and a second positioning hole is formed in the second positioning plate;
the first marking plate is detachably connected with the connecting piece through the second positioning hole, and a plurality of marking pieces are arranged on the first marking plate;
the second marking plate is detachably connected with the connecting piece through the second positioning hole, and a plurality of visual marking points are arranged on the second marking plate.
2. The oral implant navigation procedure fast registration device of claim 1, wherein the connector further comprises a connecting plate connected between the first positioning plate and the second positioning plate.
3. The oral implant navigation procedure fast registration device of claim 2, wherein the connection plate is a "U" shaped connection plate.
4. The oral implant navigation surgery rapid registration device of claim 1, wherein a third positioning hole is provided on the first marker plate, and the third positioning hole is connected with the second positioning hole by a fastener; and a fourth positioning hole is formed in the second marking plate and is connected with the second positioning hole through a fastener.
5. The oral implant navigation surgery rapid registration device according to claim 4, wherein an end surface of the second positioning hole is a first concave surface or a first convex surface, an end surface of the third positioning hole is a second concave surface adapted to the first convex surface or a second convex surface adapted to the first concave surface, and an end surface of the fourth positioning hole is a third concave surface adapted to the first convex surface or a third convex surface adapted to the first concave surface.
6. The oral implant navigation procedure fast registration device of claim 1, wherein the first marker plate comprises a base plate and a plurality of ribs, the grooves are disposed on the base plate, and the ribs and the grooves are alternately connected.
7. The oral implant navigation surgery rapid registration device according to claim 1, wherein the first marker plate is provided with a plurality of grooves, the grooves are of a hemispherical structure, and the marker is a sphere and is in interference fit with the grooves.
8. The oral implant navigation procedure fast registration device of claim 1, wherein the marker is made of X-ray blocking material.
9. The oral implant navigation procedure rapid registration device of any of claims 1-8, wherein the first marker plate is an arc-shaped structure.
10. A registration method using the oral implant navigation surgery fast registration apparatus of any one of claims 1 to 9, comprising:
installing the first marking plate on the connecting piece through the second positioning hole, scanning the marking piece on the first marking plate and acquiring the position coordinate of the marking piece;
taking down the first marking plate by the connecting piece, installing a second marking plate on the connecting piece through a second positioning hole, capturing visual marking points on the second marking plate, and calculating the spatial positions and postures of the visual marking points so as to obtain the position coordinates of the visual marking points;
and uniformly registering the position coordinates of the marking piece and the position coordinates of the visual marking points to the same coordinate system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111416102.8A CN113974879A (en) | 2021-11-25 | 2021-11-25 | Rapid registration device and registration method for oral implant navigation surgery |
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| CN202111416102.8A CN113974879A (en) | 2021-11-25 | 2021-11-25 | Rapid registration device and registration method for oral implant navigation surgery |
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| CN113974879A true CN113974879A (en) | 2022-01-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115869067A (en) * | 2023-03-08 | 2023-03-31 | 北京大学口腔医学院 | Guiding device, assembly and preparation method for dental operation |
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