CN114668534B - Intraoperative implantation precision detection system and method for dental implant surgery - Google Patents
Intraoperative implantation precision detection system and method for dental implant surgery Download PDFInfo
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- 239000004053 dental implant Substances 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000002513 implantation Methods 0.000 title claims abstract description 29
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 239000007943 implant Substances 0.000 claims abstract description 127
- 239000000523 sample Substances 0.000 claims abstract description 56
- 210000000214 mouth Anatomy 0.000 claims abstract description 27
- 230000008569 process Effects 0.000 claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims description 31
- 239000011159 matrix material Substances 0.000 claims description 24
- 238000006243 chemical reaction Methods 0.000 claims description 21
- 230000009466 transformation Effects 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000007408 cone-beam computed tomography Methods 0.000 claims description 3
- 210000003128 head Anatomy 0.000 claims description 3
- 210000003781 tooth socket Anatomy 0.000 claims description 3
- 238000006748 scratching Methods 0.000 claims description 2
- 230000002393 scratching effect Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/04—Measuring instruments specially adapted for dentistry
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
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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
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The invention relates to the technical field of medical treatment, in particular to an intraoperative implantation precision detection system and method for oral implantation dental surgery. The system comprises: the dental implant comprises a dental socket, a probe, a connector, an implant, an oral cavity positioning clamp, an implant navigation system, an infrared binocular camera and a mechanical arm. The three-dimensional position of the current implant is obtained in real time by using the interaction mode of the probe and the implant in the operation, so that the implantation precision is calculated in real time in the dental implant operation process, whether the implant is implanted to an ideal position is judged by the real-time display of the dental implant navigation system, and a doctor can timely adjust the implantation depth according to the real-time position of the dental implant, so that the operation is completed more accurately and efficiently.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to an intraoperative implantation precision detection system and method for oral implantation dental surgery.
Background
With the rapid development of robotics, surgical robots have become an important research direction in the field of medical surgery. The surgical robot can reduce the learning cost of doctors and standardize and simplify the surgical process while enabling the surgical result to become more accurate. Meanwhile, the oral cavity implantation technology has been rapidly developed in recent years, the dental implant operation has become a mainstream treatment scheme for tooth loss and restoration, and research on dental implant operation robots has also become a popular research trend.
The accuracy judgment standard of the dental implant operation is a deviation value of the position of the dental implant after the dental implant operation is completed and the expected implant position in the three-dimensional space during operation planning. At present, the traditional artificial tooth implantation and surgical robot tooth implantation operations need to be evaluated after the operation to calculate the implantation precision, namely, the CT images before the operation, the implant at the theoretical implantation position planned before the operation and the CT images of the implant implanted after the operation are subjected to image fusion, the angle and distance error values of the theoretical implant and the actual implant are measured and calculated, and the operation precision is judged. However, the method is not flexible and low in efficiency, and cannot feed back the current accurate implantation accuracy in real time in the operation process, a doctor can only observe whether the implantation is in place or not by experience and naked eyes, and the doctor is more required to acquire the current implantation position, namely the implantation accuracy, in the operation process and adjust the implantation depth in time according to the real-time position of the implantation teeth. There is therefore a need for a detection system and method that can achieve implant accuracy during dental implant procedures.
The invention comprises the following steps:
in order to solve the problem that the implant accuracy cannot be obtained in the dental implant operation process in the background art, the invention provides an intraoperative implant accuracy detection system and method for dental implant operation.
In a first aspect, the present invention provides an intraoperative implant accuracy detection system for use in dental implant surgery, the system comprising: the dental implant comprises a dental socket, a probe, a connector, an implant, an oral cavity positioning clamp, an implant navigation system, an infrared binocular camera and a mechanical arm.
Further, the probe head is provided with a reflecting structure, the reflecting structure is used as a first visual mark, the three-dimensional position can be identified by an infrared binocular camera, and the tail end of the probe is conical or hook-shaped.
Further, one end of the oral cavity positioning clamp is provided with a reflecting structure, the reflecting structure is used as a second visual mark, and the other end of the reflecting structure is in the shape of letter U and is matched with the tooth socket of the oral cavity of a patient.
Further, one end of the connecting body is a connecting rod and is used for being connected with the tail end of the mechanical arm, and the other end of the connecting body is connected with the implant.
Further, the distance from the top of the connecting rod to the top of the implant is fixed.
Further, the infrared binocular camera comprises a left lens and a right lens, and the left lens and the right lens are used as a visual navigator.
Further, the implant navigation system can accurately visualize objects in the operation scene and the relative positions thereof in real time and feed back the accuracy of the current implant in real time.
In a second aspect, the present invention also provides a method for detecting intraoperative implant accuracy for dental implant surgery, the method comprising:
device and system preparation: the oral cavity positioning fixture is worn at a specified position in the oral cavity of a patient, the infrared binocular camera can identify a first visual mark and a second visual mark which move in a scene, and the dental implant navigation system is started to display the implantation precision in real time;
registering a CT coordinate system and an infrared binocular camera coordinate system, and matching a virtual scene displayed by the dental implant navigation system with a real operation scene facing in a dental implant operation;
performing conversion between an implant coordinate system and the infrared binocular camera coordinate system;
calibrating the position of the probe end, and calculating the coordinates of the probe end under the infrared binocular camera coordinate system in real time;
calculating the representation of the top surface of the currently implanted implant under a theoretical implant coordinate system;
and calculating the planting precision, and judging whether the current implant is planted in place or not.
1. Further, the registering CT coordinate system and the infrared binocular camera coordinate system match a virtual scene displayed by the dental implant navigation system with a real operation scene facing in a dental implant operation, and the registering CT coordinate system and the infrared binocular camera coordinate system include the following steps:
determining a CT coordinate system RAS according to the CBCT scanning equipment;
establishing an infrared binocular camera coordinate system: the infrared binocular camera coordinate system XYZ takes the left eye of the infrared binocular camera as the center, the horizontal axis parallel to the camera surface as the x axis and the vertical axis parallel to the camera surface as the z axis;
the relative positional relationship of the CT coordinate system and a second visual indicia on the oral positioning fixture is fixed, and the infrared binocular camera can identify a second visual indicia;
calculating the conversion relation between the CT coordinate system RAS and the infrared binocular camera coordinate system XYZ, and meeting the following conditions:
wherein T1 is a transformation relation matrix from the infrared binocular camera coordinate system to the oral cavity positioning fixture coordinate system, T2 is a transformation matrix from the oral cavity positioning fixture coordinate system to the CT coordinate system, and T is a transformation relation matrix from the infrared binocular camera coordinate system to the CT coordinate system.
Further, the transforming the implant coordinate system and the infrared binocular camera coordinate system includes:
establishing a coordinate system X for planned implant i Y i Z i ；
Calculating the conversion relation between the planned implant coordinate system and the CT coordinate system;
according to the calculated conversion relation between the CT coordinate system and the infrared binocular camera coordinate system, a conversion relation matrix T' of the planning implant coordinate system and the infrared binocular camera coordinate system XYZ can be obtained, and the following conditions are satisfied:
wherein T3 is the transformation relation matrix from the CT coordinate system to the planned implant coordinate system, and T' is the transformation relation matrix from the infrared binocular camera coordinate system to the planned implant coordinate system.
Further, the coordinates of the planned implant top center under the CT coordinate system RAS are P, and the planned implant top center is in a theoretical implant coordinate system X i Y i Z i The lower coordinate is P 1 (0, 0) with a normal direction N 1 。
Further, the calibrating the probe end position is used for calculating coordinates of the probe end in real time under the infrared binocular camera coordinate system, and includes:
touching the probe end to a point with a certain coordinate in the infrared binocular camera calibration space, wherein the coordinate of the point is the coordinate Q of the probe end in the infrared binocular camera coordinate system at the current position 4 ；
The current coordinates of the three reflective balls under the infrared binocular camera coordinate system are respectively Q 1 、Q 2 And Q 3 ；
Establishing a probe coordinate system X p Y p Z p ；
In the probe coordinate system, the relative position relationship T of the first visual mark and the probe end can be determined 1 The method comprises the following steps:
as the probe moves, the first visual mark and the position of the probe end change, but the relative position relationship between the first visual mark and the probe end does not change, according to the conversion relationship T 1 The coordinate Q of the probe tip in the infrared binocular camera coordinate system can be calculated in real time 4 。
Further, the calculating a representation of the top surface of the currently implanted implant in a theoretical implant coordinate system includes:
in the process of implanting the implant, the tail end of the probe is used for scratching the top of the connector to form a plurality of groups of Q under the infrared binocular camera coordinate system 1 ,Q 2, Q 3 Is a collection of (3);
conversion relation matrix T calculated according to the above 1 To obtain a group of Q on the same plane 4 A collection of points;
defining the plane of the top surface of the connecting rod as M 1 Defining the plane of the top surface of the implant as M 2 ，M 1 Plane sum M 2 Planes being parallel, i.e. the distance between the planes being determined, the length L of the connecting rod can be determined according to the known M 1 Plane calculation to obtain M under the infrared binocular camera coordinate system 2 The position of the plane;
m can be obtained according to the transformation relation matrix T' of the infrared binocular camera coordinate system and the planning implant coordinate system 2 Representation M 'of a plane in the theoretical implant coordinate system' 2 The method comprises the following steps:
according to the obtained representation M 'of the current implant plane under the theoretical implant coordinate system' 2 To obtain the normal direction N 2 ；
Further, the calculating the planting precision, judging whether the current implant is planted in place, includes:
calculating the deviation of the planting angle:
α＝arccos(N 1 ,N 2 )(0≤α≤90)
calculating a distance deviation D of planting: top center of the theoretical implantPosition P 1 (0, 0), the distance deviation D of planting is P 1 Point to a known plane M' 2 Is a distance of (2);
judging whether the current implant is implanted in place or not according to the angle deviation alpha and the distance deviation D.
The invention provides an intraoperative implantation precision detection device and method for oral implant surgery, wherein the method acquires the three-dimensional position of the current implant in real time by using an interaction mode that a probe is contacted with the implant in the surgery, so that the implantation precision is verified in real time in the dental implant surgery process, whether the implant is implanted to an ideal position is judged, and a doctor can timely adjust the implantation depth according to the real-time position of the implant, thereby completing the surgery more accurately and efficiently.
Drawings
Features, advantages, and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an intra-oral implant accuracy detection apparatus for oral implant surgery according to an embodiment of the present invention;
fig. 2 is a schematic view of a scenario for dental implant surgery provided in an embodiment of the present invention;
fig. 3 is a flowchart of an intraoperative implant accuracy detection method for dental implant surgery according to an embodiment of the present invention.
Reference numerals illustrate: 1. tooth socket; 2. a probe; 3. a connecting body; 4. an implant; 5. an oral cavity positioning clamp; 6. a dental implant navigation system; 7. an infrared binocular camera; 8. and (5) a mechanical arm.
Detailed Description
Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the present disclosure and not limiting. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by showing examples of the present disclosure.
It is noted that relational terms such as first and second, and the like are 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
For a better understanding of the present invention, the apparatus and method of embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an intra-oral implant accuracy detection system for an oral implant operation according to an embodiment of the present invention, and fig. 2 is a schematic diagram of a scenario for an oral implant operation according to an embodiment of the present invention, and as shown in fig. 1 and fig. 2, the present invention provides an intra-operative implant accuracy detection system for an oral implant operation, including: the dental implant comprises a dental socket 1, a probe 2, a connector 3, an implant 4, an oral cavity positioning clamp 5, a dental implant navigation system 6, an infrared binocular camera 7 and a mechanical arm 8.
As an alternative embodiment, the head of the probe 2 is provided with a reflective sphere, as a first visual marker, the three-dimensional position can be recognized by the infrared binocular camera 7, and the end of the probe 2 takes on a cone shape. Furthermore, it is also a preferred embodiment that the distal end of the probe is hooked.
As an alternative embodiment, the head of the probe 2 may also use a reflective plate as the first visual mark, and the end of the probe 2 may also take other shapes to achieve the same technical effect, for example, a hook shape or the like.
As an alternative embodiment, one end of the oral cavity positioning fixture 5 is provided with a reflective ball, and the other end of the oral cavity positioning fixture is provided with a second visual mark, and the other end of the oral cavity positioning fixture is in the shape of a letter U and is matched with the dental socket 1 of the oral cavity of a patient.
As an alternative embodiment, the oral positioning fixture 5 may also use a light reflecting plate as the second visual marker.
As an alternative embodiment, one end of the connector 3 is a connecting rod, and is used for being connected with the tail end of the mechanical arm 8, and the other end is connected with the implant 4.
As an alternative embodiment, the distance from the top of the connecting rod to the top of the implant 4 is fixed and known at the time of production.
As an alternative embodiment, the infrared binocular camera 7 includes left and right lenses as a visual navigator.
As an alternative embodiment, the dental implant navigation system 6 can accurately visualize objects in the surgical scene and their relative positions in real time, and feed back the accuracy of the current dental implant in real time.
Fig. 3 is a flowchart of an intraoperative implant accuracy detection method for dental implant surgery according to an embodiment of the present invention. As shown in fig. 3, the present invention further provides a method for detecting intraoperative implant accuracy for dental implant surgery, the method comprising:
s301, preparing equipment and a system;
s302, calibrating the position of the tail end of the probe 2, and calculating the coordinates of the tail end of the probe 2 under the infrared binocular camera coordinate system in real time;
s303, registering the CT coordinate system and the infrared binocular camera coordinate system, and matching the virtual scene displayed by the dental implant navigation system 6 with the real operation scene facing the dental implant operation;
s304, converting an implant coordinate system and the infrared binocular camera coordinate system;
s305, calculating the representation of the top surface of the currently implanted implant 4 under a theoretical implant coordinate system;
s306, calculating the planting precision, and judging whether the current implant 4 is planted in place or not.
As an alternative embodiment, the device and system preparation in S301 includes:
the oral cavity positioning fixture 5 is worn at a prescribed position in the oral cavity of a patient, the infrared binocular camera 7 can identify a first visual mark and a second visual mark of movement in a scene, and the dental implant navigation system 6 is started to display the implantation precision in real time.
As an alternative embodiment, the calibrating the position of the end of the probe 2 in S302, for calculating the coordinates of the end of the probe 2 under the infrared binocular camera coordinate system in real time, includes:
touching the tail end of the probe 2 to a point with a certain coordinate in the calibration space of the infrared binocular camera 7, wherein the coordinate of the point is the coordinate Q of the tail end of the probe 2 in the infrared binocular camera coordinate system at the current position 4 ；
The current coordinates of the three reflective balls under the infrared binocular camera coordinate system are respectively Q 1 、Q 2 And Q 3 ；
Establishing a probe coordinate system X p Y p Z p ；
In the probe coordinate system, the relative position relationship T of the first visual mark and the probe end can be determined 1 The method comprises the following steps:
as the probe 2 moves, the first visual mark and the end position of the probe 2 will change, but the relative position relationship will not change, according to the conversion relationship T 1 The coordinates Q of the tip of the probe 2 in the infrared binocular camera coordinate system can be calculated in real time 4 。
As an alternative embodiment, the registering CT coordinate system and the infrared binocular camera coordinate system in S303, to match the virtual scene displayed by the dental implant navigation system 6 with the real surgery scene facing in the dental implant surgery, includes:
determining a CT coordinate system RAS according to the CBCT scanning equipment;
establishing an infrared binocular camera coordinate system: the infrared binocular camera coordinate system XYZ takes the left eye of the infrared binocular camera 7 as the center, the horizontal axis parallel to the camera surface as the x axis and the vertical axis parallel to the camera surface as the z axis;
the relative positional relationship of the CT coordinate system and the second visual indicia on the oral positioning fixture 5 is fixed, and the infrared binocular camera 7 can identify the second visual indicia;
calculating the conversion relation between the CT coordinate system RAS and the infrared binocular camera coordinate system XYZ, and meeting the following conditions:
wherein T1 is a transformation relation matrix from the infrared binocular camera coordinate system to the oral cavity positioning fixture coordinate system, T2 is a transformation matrix from the oral cavity positioning fixture coordinate system to the CT coordinate system, and T is a transformation relation matrix from the infrared binocular camera coordinate system to the CT coordinate system.
As an alternative embodiment, the converting the implant coordinate system and the infrared binocular camera coordinate system in S304 includes:
establishing a coordinate system X for planned implant i Y i Z i ；
Calculating the conversion relation between the planned implant coordinate system and the CT coordinate system;
according to the calculated conversion relation between the CT coordinate system and the infrared binocular camera coordinate system, a conversion relation matrix T' of the planning implant coordinate system and the infrared binocular camera coordinate system XYZ can be obtained, and the following conditions are satisfied:
wherein T3 is the transformation relation matrix from the CT coordinate system to the planned implant coordinate system, and T' is the transformation relation matrix from the infrared binocular camera coordinate system to the planned implant coordinate system.
As an alternative embodiment, the planned implant tip center has a coordinate P in the CT coordinate system RAS, and is in the theoretical implant coordinate system X i Y i Z i The lower coordinate is P 1 (0, 0) with a normal direction N 1 。
As an alternative embodiment, the calculating of the representation of the top surface of the currently implanted implant 4 in the theoretical implant coordinate system in S305 includes:
during the implantation of the implant 4, the tail end of the probe 2 is used to scratch the top of the connector 3 to form a plurality of groups of Q under the infrared binocular camera coordinate system 1 ,Q 2, Q 3 Is a collection of (3);
conversion relation matrix T calculated according to the above 1 To obtain a group of Q on the same plane 4 A collection of points;
defining the plane of the top surface of the connecting rod as M 1 Defining the plane of the top surface of the implant 4 as M 2 ，M 1 Plane sum M 2 Planes being parallel, i.e. the distance between the planes being determined, the length L of the connecting rod can be determined according to the known M 1 Plane calculation to obtain M under the infrared binocular camera coordinate system 2 The position of the plane;
m can be obtained according to the transformation relation matrix T' of the infrared binocular camera coordinate system and the planning implant coordinate system 2 Plane under the theoretical implant coordinate systemRepresentation M' 2 The method comprises the following steps:
according to the obtained representation M 'of the current implant 4 plane under the theoretical implant coordinate system' 2 To obtain the normal direction N 2 ；
As an alternative embodiment, the calculating the planting accuracy in S306, determining whether the current implant 4 is implanted in place, includes:
calculating the deviation of the planting angle:
α＝arccos(N 1 ,N 2 )(0≤α≤90)
calculating a distance deviation D of planting: the top center position of the theoretical implant is P 1 (0, 0), the distance deviation D of planting is P 1 Point to a known plane M' 2 Is a distance of (2);
and judging whether the current implant 4 is implanted in place or not according to the angle deviation alpha and the distance deviation D.
The invention provides an intraoperative implantation precision detection device and method for oral implant surgery, wherein the method acquires the three-dimensional position of the current implant in real time by using an interaction mode that a probe is contacted with the implant in the surgery, so that the implantation precision is verified in real time in the dental implant surgery process, whether the implant is implanted to an ideal position is judged, and a doctor can timely adjust the implantation depth according to the real-time position of the implant, thereby completing the surgery more accurately and efficiently.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present disclosure are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present disclosure is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure, and these modifications or substitutions should be included in the scope of the present disclosure.
Claims (5)
1. An intraoperative implant accuracy detection system for dental implant surgery, comprising: the dental implant comprises a dental socket, a probe, a connector, an implant, an oral cavity positioning clamp, an implant navigation system, an infrared binocular camera and a mechanical arm; the head of the probe is provided with a reflecting structure which is used as a first visual mark, one end of the oral cavity positioning clamp is provided with a reflecting structure which is used as a second visual mark, and the other end of the oral cavity positioning clamp is in a letter U shape and is matched with the tooth socket of the oral cavity of a patient;
the intraoperative implant precision detection system is used for executing an intraoperative implant precision detection method in the oral implant surgery, and specifically comprises the following steps:
device and system preparation: the oral cavity positioning fixture is worn at a specified position in the oral cavity of a patient, the infrared binocular camera can identify a first visual mark and a second visual mark which move in a scene, and the dental implant navigation system is started to display the implantation precision in real time;
calibrating the position of the probe end, and calculating the coordinates of the probe end under the infrared binocular camera coordinate system in real time;
registering a CT coordinate system and an infrared binocular camera coordinate system, and matching a virtual scene displayed by the dental implant navigation system with a real operation scene facing in a dental implant operation;
performing conversion between an implant coordinate system and the infrared binocular camera coordinate system;
calculating the representation of the top surface of the currently implanted implant under a theoretical implant coordinate system;
calculating planting precision, and judging whether the current implant is planted in place or not;
wherein, the calibrating the probe end position comprises the following steps:
touching the probe end to a point with a certain coordinate in the infrared binocular camera calibration space, wherein the coordinate of the point is the coordinate Q of the probe end in the infrared binocular camera coordinate system at the current position 4 ；
The current coordinates of the three reflective balls under the infrared binocular camera coordinate system are respectively Q 1 、Q 2 And Q 3 ；
Establishing a probe coordinate system X p Y p Z p ；
In the probe coordinate system, the relative position relationship T of the first visual mark and the probe end can be determined 1 The method comprises the following steps:
with the movement of the probe, the first visual calibration and the position of the probe end are changed, the relative position relationship between the first visual calibration and the probe end is not changed, and the first visual calibration and the position relationship are not changed according to the conversion relationship T 1 The probe can be calculated in real timeCoordinates Q of the tip in the infrared binocular camera coordinate system 4 。
2. An intraoperative implant accuracy detection system for dental implant surgery according to claim 1, wherein the registration CT coordinate system matches an infrared binocular camera coordinate system, a virtual scene displayed by the implant navigation system with a real surgical scene facing in dental implant surgery, comprising the steps of:
determining a CT coordinate system RAS according to the CBCT scanning equipment;
establishing an infrared binocular camera coordinate system: the infrared binocular camera coordinate system XYZ takes the left eye of the infrared binocular camera as the center, the horizontal axis parallel to the camera surface as the x axis and the vertical axis parallel to the camera surface as the z axis;
the relative positional relationship of the CT coordinate system and a second visual indicia on the oral positioning fixture is fixed, and the infrared binocular camera can identify a second visual indicia;
calculating the conversion relation between the CT coordinate system RAS and the infrared binocular camera coordinate system XYZ, and meeting the following conditions:
wherein T1 is a transformation relation matrix from the infrared binocular camera coordinate system to the oral cavity positioning fixture coordinate system, T2 is a transformation matrix from the oral cavity positioning fixture coordinate system to the CT coordinate system, and T is a transformation relation matrix from the infrared binocular camera coordinate system to the CT coordinate system.
3. An intraoperative implant accuracy detection system for dental implant surgery according to claim 2 wherein the conversion of implant coordinate system to the infrared binocular camera coordinate system comprises:
establishing a coordinate system X for planned implant i Y i Z i ；
Calculating the conversion relation between a planned implant coordinate system and the CT coordinate system according to the conversion relation between the RAS and the XYZ, namely a conversion relation matrix T' between the planned implant coordinate system and the XYZ, and meeting the following conditions:
wherein T3 is a transformation relation matrix from the CT coordinate system to the planned implant coordinate system, and T' is a transformation relation matrix from the infrared binocular camera coordinate system to the planned implant coordinate system; the coordinate of the top center of the planned implant under the CT coordinate system RAS is P, and the top center of the planned implant is X in a theoretical implant coordinate system i Y i Z i The lower coordinate is P 1 (0, 0) with a normal direction N 1 。
4. An intraoperative implant accuracy detection system for dental implant surgery according to claim 3 wherein the computing of a representation of the top surface of the currently implanted implant in a theoretical implant coordinate system comprises:
in the process of implanting the implant, the tail end of the probe is used for scratching the top of the connector to form a plurality of groups of Q under the infrared binocular camera coordinate system 1 ,Q 2, Q 3 Is a collection of (3);
according to the conversion relation matrix T 1 To obtain a group of Q on the same plane 4 A collection of points;
defining the plane of the top surface of the connector as M 1 Defining the plane of the top surface of the implant as M 2 ，M 1 Plane sum M 2 Planes being parallel, i.e. the distance between the planes being determined, the length L of the connector, according to the known M 1 Plane calculation to obtain M under the infrared binocular camera coordinate system 2 The position of the plane;
m can be obtained according to the transformation relation matrix T' of the infrared binocular camera coordinate system and the planning implant coordinate system 2 Representation M 'of a plane in the theoretical implant coordinate system' 2 The method comprises the following steps:
according to the obtained representation M 'of the current implant plane under the theoretical implant coordinate system' 2 To obtain the normal direction N 2 。
5. An intraoperative implant accuracy detection system for dental implant surgery according to claim 4 wherein the calculating implant accuracy, determining whether a current implant is in place, comprises:
calculating the deviation of the planting angle:
α＝arccos(N 1 ,N 2 )(0≤α≤90)
calculating a distance deviation D of planting: the top center position of the theoretical implant is P 1 (0, 0), the distance deviation D of planting is P 1 Point to a known plane M' 2 Is a distance of (2);
judging whether the current implant is implanted in place or not according to the angle deviation alpha and the distance deviation D.
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