CN115177386B - Implant implantation pose measuring method, device, equipment and storage medium - Google Patents
Implant implantation pose measuring method, device, equipment and storage medium Download PDFInfo
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- CN115177386B CN115177386B CN202210848489.2A CN202210848489A CN115177386B CN 115177386 B CN115177386 B CN 115177386B CN 202210848489 A CN202210848489 A CN 202210848489A CN 115177386 B CN115177386 B CN 115177386B
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- 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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- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention belongs to the technical field of oral medical treatment, and particularly relates to a method, a device, equipment and a storage medium for measuring implant implantation pose. The method for measuring the implant pose of the implant comprises the following steps: acquiring a dentition model comprising the intermediate connecting piece when the intermediate connecting piece is in a connecting state with the implant; acquiring the pose of the auxiliary positioning piece in the three-dimensional space when the auxiliary positioning piece is in a connection state with the intermediate connecting piece and the intermediate connecting piece is in a connection state with the implant; acquiring the pose of the implant in the three-dimensional space according to the pose of the auxiliary positioning piece in the three-dimensional space, the shapes of the auxiliary positioning piece, the middle connecting piece and the implant and the connection relation among the three; and acquiring the pose of the implant in the dentition according to the pose of the implant in the three-dimensional space and the dentition model. The invention can accurately measure the implantation pose of the implant.
Description
Technical Field
The invention relates to the technical field of oral medical treatment, in particular to a method, a device, equipment and a storage medium for measuring implant implantation pose.
Background
Dental implant (Dental implant) is a Dental restoration method for supporting and retaining an upper Dental restoration based on a lower structure implanted in bone tissue, and this restoration method mainly aims at treatment work of a Dental defect and a loss. The implant with high compatibility with human bone is implanted into the alveolar bone of the tooth-missing area in a surgical operation mode, and after the implant is tightly adhered to the alveolar bone, the manufactured dental crown is fixed with the alveolar bone of the human body through the implant. In order to accurately match the implant teeth with the original dentition in the patient's mouth, it is necessary to obtain an accurate pose of implant implantation. Because the implant is often implanted into the alveolar bone, it is difficult to accurately and conveniently detect the precise pose of implant implantation. At present, although the implantation pose of the implant in the human body can be obtained by utilizing CT, the CT irradiation has certain radiation, the health of the human body can be influenced, the accuracy of the way of measuring the implantation pose of the implant by CT is lower, and the requirement of accurately matching the implanted teeth with the original dentition in the oral cavity of a patient can not be met.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for measuring the implant pose, which are used for solving the technical problem that the implant pose cannot be accurately measured in the prior art.
The technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides a method for measuring the pose of implant implantation, the method comprising the steps of measuring with an implant pose measuring tool, wherein the implant pose measuring tool comprises an auxiliary positioning member and an intermediate connecting member, and the auxiliary positioning member is provided with a signal reflection pattern; the intermediate connecting piece is fixedly connected with the auxiliary positioning piece and the implant forming relative pose, and the method comprises the following steps:
acquiring a dentition model comprising the intermediate connecting piece when the intermediate connecting piece is in a connecting state with the implant;
acquiring the pose of the auxiliary positioning piece in the three-dimensional space when the auxiliary positioning piece is in a connection state with the intermediate connecting piece and the intermediate connecting piece is in a connection state with the implant;
acquiring the pose of the implant in the three-dimensional space according to the pose of the auxiliary positioning piece in the three-dimensional space, the shapes of the auxiliary positioning piece, the middle connecting piece and the implant and the connection relation among the three;
and acquiring the pose of the implant in the dentition according to the pose of the implant in the three-dimensional space and the dentition model.
Preferably, the step of obtaining the pose of the auxiliary positioning member in the three-dimensional space when the auxiliary positioning member is in the connection state with the intermediate connecting member and the intermediate connecting member is in the connection state with the implant further comprises the steps of:
Acquiring a reflection signal of a signal reflection pattern on the auxiliary positioning piece when the auxiliary positioning piece is in a connection state with the intermediate connecting piece and the intermediate connecting piece is in a connection state with the implant;
and acquiring the pose of the auxiliary positioning piece in the three-dimensional space according to the reflected signals.
Preferably, the step of obtaining the pose of the implant in the three-dimensional space according to the pose of the auxiliary positioning element in the three-dimensional space, the shapes of the auxiliary positioning element, the intermediate connecting element and the implant, and the connection relation between the three parts further comprises the following steps:
acquiring the pose of the intermediate connecting piece in the three-dimensional space according to the pose of the auxiliary positioning piece in the three-dimensional space, the shapes of the auxiliary positioning piece and the intermediate connecting piece and the connection relation between the auxiliary positioning piece and the intermediate connecting piece;
and acquiring the pose of the implant in the three-dimensional space according to the pose of the intermediate connecting piece in the three-dimensional space, the shapes of the intermediate connecting piece and the implant and the connection relation between the intermediate connecting piece and the implant.
Preferably, the step of obtaining the pose of the intermediate connecting member in the three-dimensional space according to the pose of the auxiliary positioning member in the three-dimensional space, the shapes of the auxiliary positioning member and the intermediate connecting member, and the connection relation between the auxiliary positioning member and the intermediate connecting member further comprises the following steps:
Acquiring a three-dimensional model of the auxiliary positioning piece;
acquiring a three-dimensional model of the intermediate connecting piece;
and determining the pose of the intermediate connecting piece in the three-dimensional space according to the pose of the auxiliary positioning piece in the three-dimensional space, the three-dimensional model of the auxiliary positioning piece, the three-dimensional model of the intermediate connecting piece and the connection relation between the auxiliary positioning piece and the intermediate connecting piece.
Preferably, the method for obtaining the pose of the implant in the three-dimensional space according to the pose of the inter-connecting piece in the three-dimensional space, the shape of the inter-connecting piece, the shape of the implant and the connection relation between the inter-connecting piece and the shape of the implant further comprises the following steps:
acquiring a three-dimensional model of the intermediate connecting piece;
acquiring a three-dimensional model of the implant;
and determining the pose of the intermediate connecting piece in the three-dimensional space according to the pose of the intermediate connecting piece in the three-dimensional space, the three-dimensional model of the intermediate connecting piece, the three-dimensional model of the implant and the connection relation between the intermediate connecting piece and the implant.
Preferably, the step of obtaining the pose of the implant in the dentition according to the pose of the implant in the three-dimensional space and the dentition model further comprises the following steps:
acquiring a model of the intermediate connecting piece and the implant in a connecting state according to the pose of the implant in a three-dimensional space, and taking the model as a model to be registered;
Registering the model of the dentition with the model to be registered according to the model of the intermediate connecting piece in the model to be registered and the model of the intermediate connecting piece in the dentition model;
and acquiring the pose of the implant in the dentition according to the registration result.
Preferably, the signal reflection pattern includes a circular ring pattern having a missing portion at a preset position, and the method further includes the steps of:
acquiring codes representing brands and/or models of the respective measured implants according to the circular ring patterns;
acquiring implant data of a corresponding brand and/or model in an implant database according to the codes, wherein the implant data comprise three-dimensional model data of the implant;
the three-dimensional model of each implant is arranged in the model of the dentition according to the pose of each implant in the dentition and the three-dimensional model data of the implant.
The second aspect of the invention also provides an implant implantation pose measuring device, which uses an implant pose measuring tool to measure, wherein the implant pose measuring tool comprises an auxiliary positioning piece and an intermediate connecting piece, and the auxiliary positioning piece is provided with a signal reflection pattern; the intermediate connecting piece is fixedly connected with the auxiliary positioning piece and the implant forming relative pose respectively, and the device comprises:
The dentition model acquisition module is used for acquiring a dentition three-dimensional model comprising the intermediate connecting piece when the intermediate connecting piece is in a connection state with the implant;
the auxiliary positioning piece pose acquisition module is used for acquiring the pose of the auxiliary positioning piece in the three-dimensional space when the auxiliary positioning piece is in a connection state with the intermediate connecting piece and the intermediate connecting piece is in a connection state with the implant;
the implant position acquisition module is used for acquiring the pose of the implant in the three-dimensional space according to the pose of the auxiliary positioning piece in the three-dimensional space, the shapes of the auxiliary positioning piece, the middle connecting piece and the implant and the connection relation among the three;
the implant implantation pose acquisition module is used for acquiring the pose of the implant in the dentition according to the pose of the implant in the three-dimensional space and the dentition three-dimensional model.
In a third aspect, the present invention also provides an implant implantation pose measurement apparatus, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method of the first aspect.
In a fourth aspect, the invention also provides a storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of the first aspect.
The beneficial effects are that: according to the implant implantation pose measuring method, device and equipment, and the storage medium, the auxiliary positioning piece and the implant are kept to be fixed in a certain pose relation through the intermediate connecting piece. And obtaining the dentition model containing the intermediate connecting piece under the condition that the intermediate connecting piece is in a connection state with the implant. And acquiring the pose of the auxiliary positioning piece in the three-dimensional space under the condition that the auxiliary positioning piece is in a connection state with the intermediate connecting piece and the intermediate connecting piece is in a connection state with the implant. And then calculating the pose of the implant with a certain connection relation in the three-dimensional space according to the pose of the auxiliary positioning piece in the three-dimensional space, and finally measuring the pose of the implant in the dentition by utilizing the dentition model. Because the auxiliary positioning piece and the implant keep a fixed pose relationship by utilizing the intermediate connecting piece in the process, the pose of the implant can be accurately measured by measuring the pose of the auxiliary positioning piece. And because the respective appearance of the positioning auxiliary, the middle connecting piece and the implant is known, the process of reversely pushing out the pose of the implant by the pose of the auxiliary positioning piece is simpler, and the method is beneficial to quickly and accurately measuring the pose of the implant.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described, and it is within the scope of the present invention to obtain other drawings according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an implant pose measurement method of the present invention;
FIG. 2 is a flow chart of a method for acquiring the pose of an auxiliary positioning member according to the present invention;
FIG. 3 is a flow chart of a method for acquiring the pose of an implant according to the pose of an auxiliary positioning member according to the present invention;
FIG. 4 is a flow chart of a method of acquiring the pose of an intermediate connector according to the pose of an auxiliary positioning member according to the present invention;
FIG. 5 is a flow chart diagram of a method of obtaining a pose of an implant from a pose of an intermediate positioner according to the present invention;
FIG. 6 is a flow chart of a method of obtaining the pose of an implant in a dentition according to the present invention;
FIG. 7 is a flow chart of a method of invoking an implant database according to the present invention;
FIG. 8 is a block diagram showing the construction of an implant pose measuring apparatus according to the present invention;
FIG. 9 is a block diagram showing the construction of the implant pose measurement apparatus of the present invention;
FIG. 10 is a three-dimensional block diagram of an implant pose measurement tool of the present invention;
FIG. 11 is a cross-sectional view of the implant pose measurement tool of the present invention;
FIG. 12 is a cross-sectional view of the present invention with an intermediate connector and implant connected;
FIG. 13 is a three-dimensional block diagram of an intermediate connector of the present invention;
FIG. 14 is a three-dimensional block diagram of an auxiliary positioning member of the present invention;
FIG. 15 is a schematic view of a disassembled structure of an intermediate connector of the present invention;
parts and numbers in the figure:
auxiliary positioning member 10, first connecting member 11, first screw 111, first stopper surface 12, third flat surface 13, signal reflection pattern 14, circular pattern 15, intermediate connecting member 20, second screw 21, second stopper surface 22, third screw 23, first boss 24, second connecting member 25, second pressing surface 251, mounting hole 26, first pressing surface 261, first flat surface 27, second flat surface 28, first part 291, second angular position defining structure 2911, groove 2912, second part 292, third angular position defining structure 2921, implant 30, inner wall 31, and internal screw 32.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. 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. In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. 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. If not conflicting, the embodiments of the present invention and the features of the embodiments may be combined with each other, which are all within the protection scope of the present invention.
Example 1
The embodiment provides a method for measuring the implantation pose of an implant 30, which measures by means of an implant 30 pose measuring tool, wherein the implant 30 pose measuring tool comprises an auxiliary positioning piece 10 and an intermediate connecting piece 20, and the auxiliary positioning piece 10 is provided with a signal reflection pattern 14; the intermediate connecting piece 20 is fixedly connected with the auxiliary positioning piece 10 and the implant 30 in a relative pose. As shown in fig. 10, wherein the pose of the implant 30 refers to the pose of the implant 30 in three-dimensional space defined by the position of a certain selected reference point on the implant 30 in three-dimensional space and the axial direction (x-direction in fig. 10) of the implant 30.
Wherein the relative posture fixation between the auxiliary positioning member 10 and the intermediate connecting member 20 means that the auxiliary positioning member 10 cannot rotate around a direction other than the axial direction of the intermediate connecting member 20, and the position of the auxiliary positioning member 10 with respect to the intermediate connecting member 20 remains unchanged in the axial direction of the intermediate connecting member 20.
Wherein the relative pose between the coupling member and the implant 30 is fixed means that the intermediate coupling member 20 cannot be rotated around a direction other than the axial direction of the implant 30, and the position of the intermediate coupling member 20 with respect to the implant 30 is maintained unchanged in the axial direction of the implant 30.
As shown in fig. 1, the method comprises the steps of:
s1: acquiring a dentition model comprising the intermediate connector 20 when the intermediate connector 20 is in a connected state with the implant 30;
in the implementation, the intermediate connecting piece 20 and the implant 30 can be connected together in a mode, so that the intermediate connecting piece 20 and the implant 30 are in a connected state, and the relative positions of the intermediate connecting piece 20 and the implant 30 are kept fixed (the auxiliary positioning piece 10 is not connected with the intermediate connecting piece 20). A dentition model is then acquired that includes the intermediate connector 20 and the original teeth in the patient's mouth. As an alternative but advantageous embodiment, the dental model may be obtained by scanning the patient's mouth directly after the intermediate connection 20 is connected to the implant 30. In other embodiments the dentition model may be obtained indirectly by scanning the impression after taking the impression in the patient's mouth by way of a model taking.
S2: acquiring the pose of the auxiliary positioning member 10 in the three-dimensional space when the auxiliary positioning member 10 is in a connection state with the intermediate connecting member 20 and the intermediate connecting member 20 is in a connection state with the implant 30;
in this step, the auxiliary positioning element 10 and the intermediate connecting element 20 can be connected together on the basis of connecting the intermediate connecting element 20 and the implant 30 together, so that the auxiliary positioning element 10 and the implant 30 are in a connection state, and the relative positions of the auxiliary positioning element 10, the intermediate connecting element 20 and the implant 30 are kept fixed. Wherein the acquired pose of the auxiliary positioning element 10 in the three-dimensional space can be represented by a vector in the three-dimensional space coordinate system. The axial direction of the auxiliary positioning member 10 can be expressed, for example, by the direction of the vector, and the position of the start point of the vector is expressed as the position of a certain preset point on the auxiliary positioning member 10.
As an alternative but advantageous embodiment, as shown in fig. 2, said S2: acquiring the pose of the auxiliary positioning member 10 in the three-dimensional space when the auxiliary positioning member 10 is in the connected state with the intermediate connecting member 20 and the intermediate connecting member 20 is in the connected state with the implant 30 further comprises the steps of:
s21: acquiring a reflection signal of the signal reflection pattern 14 on the auxiliary positioning element 10 when the auxiliary positioning element 10 is in a connection state with the intermediate connecting element 20 and the intermediate connecting element 20 is in a connection state with the implant 30;
this step collects the reflected signal of the signal reflection pattern 14 on the auxiliary positioning member 10. As a preferred manner, the reflected signal of the signal reflection pattern 14 may employ an infrared signal. Since the infrared signal is not affected by visible light, the accuracy of measurement can be improved.
S22: and acquiring the pose of the auxiliary positioning piece 10 in the three-dimensional space according to the reflected signals.
The step of processing the reflected signal after receiving the reflected signal to obtain the pose of the auxiliary positioning member 10 in the three-dimensional space specifically comprises the following steps:
s221: acquiring the pose of the signal reflection pattern 14 in a three-dimensional space according to the reflection signal;
S222: the pose of the auxiliary positioning member 10 in the three-dimensional space is determined according to the relative pose of the signal reflection pattern 14 and the auxiliary positioning member 10.
When the reflected signal of the signal reflection pattern 14 is an infrared signal, an infrared image of the signal reflection pattern 14 may be generated from the reflected signal, and then the pose of the reflection pattern in three-dimensional space may be obtained from the infrared image.
S3: acquiring the pose of the implant 30 in the three-dimensional space according to the pose of the auxiliary positioning element 10 in the three-dimensional space and the shapes of the auxiliary positioning element 10, the middle connecting element 20 and the implant 30 and the connection relation among the three;
the connection relationship between the three includes the connection relationship between the auxiliary positioning member 10 and the intermediate connecting member 20 and the connection relationship between the intermediate connecting member 20 and the implant 30. The connection relationship between the auxiliary positioning member 10 and the intermediate connecting member 20 refers to a spatial relative positional relationship when the auxiliary positioning member 10 is connected to the intermediate connecting member 20. The connection relationship between the intermediate connector 20 and the implant 30 refers to a relative positional relationship in space when the intermediate connector 20 and the implant 30 are connected. Because the connection structures of the auxiliary positioning member 10, the intermediate connecting member 20 and the implant 30 are designed in advance, the three are connected to form a fixed connection relationship, and when the auxiliary positioning member 10, the intermediate connecting member 20 and the implant 30 are in a connection state, the relative pose of the three is determined. Since the external dimensions of the auxiliary positioning member 10, the intermediate connecting member 20 and the implant 30 are also determined and known in advance, the pose of the implant 30 in three-dimensional space can be estimated from the pose of the positioning auxiliary in three-dimensional space according to their shapes, connection relations.
As shown in fig. 3, in the implementation, S3: acquiring the pose of the implant 30 in the three-dimensional space according to the pose of the auxiliary positioning member 10 in the three-dimensional space and the shapes of the auxiliary positioning member 10, the intermediate connecting member 20 and the implant 30 and the connection relation among the three, further comprises the following steps:
s31: acquiring the pose of the intermediate connecting piece 20 in the three-dimensional space according to the pose of the auxiliary positioning piece 10 in the three-dimensional space, the shapes of the auxiliary positioning piece 10 and the intermediate connecting piece 20 and the connection relation between the two;
the present step first obtains the pose of the intermediate connecting member 20 connected thereto in three-dimensional space by using the pose of the auxiliary positioning member 10 in three-dimensional space. As shown in fig. 4, as an alternative but advantageous embodiment. In this embodiment, the step S31: the method for obtaining the pose of the intermediate connecting piece 20 in the three-dimensional space according to the pose of the auxiliary positioning piece 10 in the three-dimensional space, the shapes of the auxiliary positioning piece 10 and the intermediate connecting piece 20 and the connection relation between the two further comprises the following steps:
s311: acquiring a three-dimensional model of the auxiliary positioning piece 10;
s312: acquiring a three-dimensional model of the intermediate connection 20;
s313: the pose of the intermediate connection member 20 in the three-dimensional space is determined according to the pose of the auxiliary positioning member 10 in the three-dimensional space, the three-dimensional model of the auxiliary positioning member 10, the three-dimensional model of the intermediate connection member 20, and the connection relationship of the positioning auxiliary member and the intermediate connection member 20.
According to the embodiment, the three-dimensional model of the auxiliary positioning element 10 and the three-dimensional model of the intermediate connecting element 20 can be assembled together according to the designed connection relation between the auxiliary positioning element and the intermediate connecting element 20, and the three-dimensional model of the auxiliary positioning element 10 is placed in the three-dimensional space coordinate system according to the pose measured by the steps, and then the three-dimensional model of the intermediate connecting element 20 connected with the three-dimensional model of the auxiliary positioning element 10 is placed in the three-dimensional space coordinate system. The pose of the intermediate link 20 in three-dimensional space can be obtained by the direction of the axial direction of the intermediate link 20 in the three-dimensional space coordinate system and the coordinates of a certain preset point on the intermediate link 20 in the three-dimensional space coordinate system.
S32: the pose of the implant 30 in the three-dimensional space is obtained according to the pose of the intermediate connector 20 in the three-dimensional space and the shapes of the intermediate connector 20 and the implant 30 and the connection relation between the two.
This step utilizes the pose of the intermediate connector 20 connected to the implant 30 in three-dimensional space to obtain the pose of the implant 30 in three-dimensional space.
As an alternative but advantageous embodiment, as shown in fig. 5, the step S32: acquiring the pose of the implant 30 in the three-dimensional space based on the pose of the inter-connecting member in the three-dimensional space and the shapes of the inter-connecting member 20 and the implant 30 and the connection relationship therebetween further includes the steps of:
S321: acquiring a three-dimensional model of the intermediate connection 20;
s322: acquiring a three-dimensional model of the implant 30;
s323: the pose of the intermediate connector 20 in the three-dimensional space is determined according to the pose of the intermediate connector 20 in the three-dimensional space, the three-dimensional model of the intermediate connector 20, the three-dimensional model of the implant 30, and the connection relationship of the intermediate connector 20 and the implant 30.
According to the embodiment, the three-dimensional model of the intermediate connecting piece 20 and the three-dimensional model of the implant 30 can be assembled together according to the designed connection relation between the intermediate connecting piece 20 and the implant 30, and the three-dimensional model of the intermediate connecting piece 20 is placed in the three-dimensional space coordinate system according to the pose determined by the steps, and then the three-dimensional model of the implant 30 connected with the three-dimensional model of the intermediate connecting piece 20 is also placed in the three-dimensional space coordinate system. The pose of the intermediate connection member 20 in three-dimensional space can be obtained by the direction of the axial direction of the implant 30 in the three-dimensional space coordinate system and the coordinates of a certain preset point on the implant 30 in the three-dimensional space coordinate system.
S4: and acquiring the pose of the implant 30 in the dentition according to the pose of the implant 30 in the three-dimensional space and the dentition model. As shown in fig. 6, this step, when implemented, specifically includes the following steps:
S41: acquiring a model of the intermediate connecting piece 20 and the implant 30 in a connecting state according to the pose of the implant 30 in a three-dimensional space as a model to be registered;
the present step connects the model of the intermediate connector 20 and the model of the implant 30 together, and installs the pose of the implant 30 in three-dimensional space measured in the previous step, and places the model of the intermediate connector 20 and the model of the implant 30 connected together in a three-dimensional coordinate system as the model to be registered.
S42: registering the model of the dentition with the model to be registered according to the model of the intermediate connection 20 in the model to be registered and the model of the intermediate connection 20 in the dentition model;
in the step, the model of the intermediate connecting piece 20 in the dentition model and the model of the intermediate connecting piece 20 in the model to be registered are used as reference of registration, so that the models of the intermediate connecting piece 20 and the model to be registered are mutually aligned, and the registered model is obtained. The model of the implant 30, the model of the dentition and the model of the intermediate connection 20 are included simultaneously in the registered model.
S43: the pose of the implant 30 in the dentition is acquired from the result of the registration.
Since the model of the implant 30 and the model of the dentition are in the same model, the pose of the implant 30 in the dentition can be obtained using the registered model.
Example 2
When a patient has a plurality of positions for planting teeth, since different brands and/or models of implants 30 are often applied to different parts of the oral cavity of the patient, in order to achieve the best planting effect, theoretically, the implant 30 with the most suitable brand and/or model for each planting position should be planted in each planting position, so that the implant 30 with the brand and/or model exists in the oral cavity of the same patient. Because of the different brands and/or models of implants 30, the prior art is unable to accurately identify the pose of these different brands and/or models of implants 30 in their entirety, resulting in patients having to forego the treatment regimen with the optimal implant 30. This embodiment is further modified on the basis of the previous embodiment.
In this embodiment, as shown in fig. 14, the signal reflection pattern 14 includes a circular ring pattern 15 having a missing portion at a preset position, and as shown in fig. 7, the method further includes the steps of:
s5: acquiring codes representing the brand and/or model of each measured implant 30 according to the circular ring pattern 15;
the present embodiment may assign a code to the brand and/or model of implant 30 and may make each of the circular ring patterns 15 having different missing portions correspond to the code one by one in advance. The ring pattern 15 can be obtained by collecting the reflected signal reflected by the ring pattern 15, and the position of the missing part in the ring can be identified from the ring pattern 15. And then find the code corresponding to the circular pattern 15 according to the aforementioned position.
S6: acquiring the data of the implant 30 of the corresponding brand and/or model in the implant 30 database according to the code, wherein the data of the implant 30 comprise three-dimensional model data of the implant 30;
the present embodiment may store the implant 30 data of various brands and/or models in the implant 30 database in advance, then find the implant 30 of the corresponding brands and/or models according to the codes, and finally obtain the three-dimensional model data of the implant 30 according to the brands and/or models of the implant 30.
S7: the three-dimensional model of each implant 30 is arranged in the model of the dentition based on the pose of each implant 30 in the dentition and the three-dimensional model data of the implant 30.
In this step, three-dimensional model data corresponding to each implant 30 is extracted from a database to generate a corresponding three-dimensional model of each implant 30, and then the three-dimensional model of each implant 30 is placed in a model of dentition according to the respective pose measured in the previous step, so that a plurality of implants 30 with different brands and/or models can be simultaneously configured in the dentition model according to the measured precise pose, and the implants 30 can be the most suitable brands and/or models for each implant site of a patient. On the basis, the related personnel can design the optimal tooth planting scheme according to the implantation pose of the implants 30.
For ease of understanding, the implant pose measurement tool is further described herein.
As shown in fig. 10, the detection tool includes: auxiliary positioning member 10 and intermediate connecting member 20. Wherein the auxiliary positioning member 10 is provided with a signal reflection pattern 14 for three-dimensional space pose recognition and a first connection structure;
wherein the signal reflecting pattern 14 is made of a material that can reflect a signal that the signal acquisition device is capable of sensing. The signal reflected by the signal reflection pattern 14 may be an electromagnetic signal, an optical signal, an acoustic signal, etc., without limitation. According to an alternative but advantageous embodiment, the signal reflecting pattern 14 is made of a material that can reflect infrared light. The signal acquisition device may acquire at least a portion of the signal reflected by the signal reflection pattern 14 and obtain the position and posture of the signal reflection pattern 14 in the three-dimensional space based on the acquired signal.
The invention can select the binocular infrared camera as the signal acquisition equipment for acquiring the infrared signals reflected by the reflection patterns. The infrared signal reflected by the signal reflection pattern 14 forms an infrared image including the aforementioned signal reflection pattern 14 by a binocular infrared camera.
One end of the intermediate connecting member 20 is provided with a second connecting structure, and the opposite end is provided with a third connecting structure. Since the first and second connection structures are provided at opposite ends of the intermediate connection member 20, respectively, the implant 30 and the auxiliary positioning member 10 can be connected to the intermediate connection member 20 at both sides of the intermediate connection member 20, respectively. The implant 30 and the auxiliary positioning member 10 can be connected with the intermediate connecting member 20 conveniently and quickly without mutual influence.
As shown in fig. 11, the first connection structure includes a first connection member 11 and a first limiting surface 12, a first thread 111 is disposed on the first connection member 11, the second connection structure includes a second thread 21 and a second limiting surface 22, the first thread 111 cooperates with the second thread 21, and the first limiting surface 12 is used for limiting the axial positions of the auxiliary positioning member 10 and the intermediate connection member 20 by abutting against the second limiting surface 22.
The first thread 111 and the second thread 21 can maintain accurate coaxiality of the auxiliary positioning member 10 and the intermediate connecting member 20 after being matched, thereby realizing accurate positioning of the intermediate connecting member 20 in the axial direction. After the first limiting surface 12 and the second limiting surface 22 abut, the axial positions of the auxiliary positioning element 10 and the corresponding intermediate connecting element 20 are also limited, so that the auxiliary positioning element 10 and the intermediate connecting element 20 form a connection fixed relative to each other.
The first connecting piece 11 may be a screw, one end of which is provided with an external thread, and correspondingly, the end of the intermediate connecting piece 20 facing the auxiliary positioning is provided with a threaded hole, and the thread of the threaded hole is matched with the external thread of the screw. For easy installation, the auxiliary positioning member 10 may further have a through hole, in which a limiting surface is disposed, and a corresponding limiting surface is disposed at the head of the screw. The screw is inserted into the through hole of the auxiliary positioning member 10 at the time of installation, and one end of the screw having a thread is passed through the position of the limiting surface in the through hole. After the screw is connected with the intermediate connecting piece 20, the limiting surface on the screw abuts against the limiting surface in the through hole.
As shown in fig. 11 and 12, the third connection structure includes a third thread 23 and a first boss 24 with a conical outer wall, the third thread 23 is matched with at least a part of internal threads 32 of the implant 30, and at least a part of the first boss 24 is used for abutting against a conical inner wall 31 of the implant 30. The implant 30 may be provided with a threaded hole, and the conical inner wall 31 communicates with the threaded hole. The intermediate connection member 20 is inserted into the hole of the implant 30 at the time of installation, and the third screw thread 23 is connected with the female screw thread 32 in the screw hole of the implant 30. The conical surface of the first boss 24 abuts against the conical inner wall 31 of the implant 30 during insertion. The conical surface of the first boss 24 and the conical inner wall 31 of the implant 30 can keep better concentricity of the intermediate connecting piece 20 and the implant 30, and the axial position between the intermediate connecting piece 20 and the implant 30 after the first boss 24 is abutted with the conical inner wall 31 is limited, so that the auxiliary positioning piece 10 and the intermediate connecting piece 20 form a connection fixed relative to each other.
As shown in fig. 12, the third connection structure includes a second connection member 25, the third thread 23 is disposed on the second connection member 25, a mounting hole 26 is disposed in the intermediate connection member 20, a first compression surface 261 is disposed in the mounting hole 26, a second compression surface 251 is disposed on the second connection member 25, one end of the second connection member 25 having the third thread 23 passes through the mounting hole 26 and is in threaded connection with the implant 30, and the second compression surface 251 of the second connection member 25 abuts against the first compression surface 261.
The second connecting element 25 may be a screw, and the third thread 23 is provided at the end of the screw facing the implant 30. The second connector 25 is screwed with the implant 30, and the second pressing surface 251 presses the first pressing surface 261 to fix the axial position between the intermediate connector 20 and the implant 30.
For certain brands or types of implants 30, it is necessary to obtain the angular position of the implant 30 in its circumferential direction in addition to the axial direction of the implant 30 and the position of the selected reference point.
In this regard, as shown in fig. 13, the third connection structure further includes a first angular position defining structure for cooperating with the angular position defining structure of the implant 30 to define a relative angular position of the intermediate connection member 20 and the implant 30 in the circumferential direction of the implant 30, and an angular position identifying structure is further provided on the intermediate connection member 20, and a predetermined angular position relationship is provided between the angular position identifying structure and the first angular position defining structure.
The angular position defining structure provided on the implant 30 will be referred to herein as a fourth angular position defining structure for convenience of description. The first angular position limiting structure provided on the intermediate coupling member 20 and the fourth angular position limiting structure provided on the implant 30 are matched with each other such that the intermediate coupling member 20 cannot rotate about the axis of the implant 30 after being coupled to the implant 30, and thus the angular position of the intermediate coupling member 20 with respect to the implant 30 in the circumferential direction can be maintained unchanged.
In order to be able to easily identify the angular position of the intermediate connection member 20 after connection with the implant 30, an angular position identification structure is provided, which features can identify the angular position of the intermediate connection member 20 in rotation about the axial direction of the implant 30. In addition, the present embodiment may make the angular position identifying structure and the first angular position defining structure have a certain preset angle, that is, a preset angular position relationship between the position identifying structure and the first angular position defining structure, and take the angle as a known condition. After the angular position of the intermediate connection member 20 identified by the angular position identifying structure is identified, the angular position of the implant 30 in the circumferential direction thereof can be calculated based on the known angular position relationship between the angular position identifying structure and the first angular position defining structure.
The first and fourth angular position defining structures are structures that can hinder rotation of the intermediate connector 20 relative to the implant 30 in the circumferential direction (direction a in fig. 10), and such structures include, but are not limited to, structures having a polygonal cross-section, structures having an elliptical cross-section, and structures having a non-circular cross-section.
As shown in fig. 13, the first angular position defining structure comprises a first plane 27 and the angular position identifying structure comprises a second plane 28, the first plane 27 and the second plane 28 being parallel to each other.
The provision of the angular position detection structure in the form of a plane is advantageous for precise machining and shaping on the one hand, and on the other hand, the normal direction of the second plane can be quickly and accurately detected, and the angular position of the second plane 28 in space can be easily and accurately detected from the normal direction of the first plane 27. Meanwhile, the first angular position limiting structure is arranged to be the first plane 27 which is parallel to the second plane 28, so that the normal directions of the first plane 27 and the second plane 28 are the same, and the angular position of the intermediate connecting piece 20 relative to the circumferential direction of the implant 30 can be directly obtained through the normal direction of the second plane 28, so that the identification process of the angular position of the implant 30 is simple, and the identification result is more accurate.
As a preferred embodiment, the first plane 27 is parallel to the axis of the implant 30, and the normal direction of the second plane 28 is parallel to the axial direction of the implant 30 after the foregoing solution is adopted, and the angular position of the implant 30 in the circumferential direction can be directly obtained through the normal direction of the first plane 27, so that the process of identifying the angular position of the implant 30 is further simplified.
As shown in fig. 15, in the present embodiment, the intermediate connection member 20 includes a first member 291 and a second member 292, the second connection structure is provided on the first member 291, a second angular position defining structure 2911 is provided on the first member 291, a third angular position defining structure 2921 is provided on the second member 292, and an angular position between the first member 291 and the second member 292 in a circumferential direction of the second member 292 is defined by the second angular position defining structure 2911 and the third angular position defining structure 2921.
Wherein second angular position defining structure 2911 and third angular position defining structure 2921 are structures capable of impeding rotation of first member 291 relative to second member 292 in a circumferential direction, such structures include, but are not limited to, structures having a polygonal cross-section, structures having an elliptical cross-section, and structures having a non-circular cross-section. The aforementioned first angular position recognition structure may be provided on the first part 291, so that the first part 291 and the second part 292 may be assembled together to form the intermediate connection 20 in place after the first angular position recognition structure is precisely machined on the first part 291.
Further, a feature may be provided on the intermediate connector 20 to facilitate identification of the intermediate connector 20, for example, a groove 2912 may be provided at an end of the first part 291 facing the auxiliary positioning member 10 and recessed away from the auxiliary positioning member 10. Since the recessed groove 2912 is provided at an end facing the auxiliary fixture 10, the characteristics of the groove 2912 are exposed outside the alveolar bone after the intermediate connector 20 is connected to the implant 30 in the oral cavity of the patient, and can be conveniently collected by the collecting device. The shape of the area of the recess 2912 is significantly different from other surrounding areas, and thus can be easily recognized. In addition, the second plane 28 may be disposed on the first member 291 such that the second plane 28 and the groove 2912 are located on opposite sides of the second member 292 in the radial direction, such that the second plane 28 and the groove 2912 may collectively form a set of features to further enhance the speed and accuracy with which the intermediate connector 20 may be identified.
Wherein the auxiliary positioning member 10 is provided with a third plane 13, the signal reflection pattern 14 is positioned on the third plane 13, and the signal reflection pattern 14 is used for identifying the normal direction of the third plane 13. The present embodiment provides the signal reflection pattern 14 on the same plane, i.e., the aforementioned third plane 13. By identifying and processing the reflected signal of the signal reflection pattern 14, the normal direction and position of the plane in which the signal reflection pattern 14 is located can be obtained. After the auxiliary positioning member 10 is manufactured, the third plane 13 has a certain spatial positional relationship with the rest of the auxiliary positioning member 10, so that the position and posture of the auxiliary positioning member 10 in the three-dimensional space are obtained by recognizing the normal direction and position of the third plane 13 obtained by the signal reflection pattern 14.
Example 3
Referring to fig. 8, the present embodiment provides a device for measuring the implantation pose of an implant 30, the device uses a tool for measuring the pose of the implant 30, the tool for measuring the pose of the implant 30 includes an auxiliary positioning member 10 and an intermediate connecting member 20, the auxiliary positioning member 10 is provided with a signal reflection pattern 14; the intermediate connecting piece 20 forms a connection with the auxiliary positioning piece 10 and the implant 30 in a fixed relative pose, and the device comprises:
A dentition model acquisition module for acquiring a dentition three-dimensional model including the intermediate connection piece 20 when the intermediate connection piece 20 is in a connection state with the implant 30;
the auxiliary positioning piece 10 pose acquisition module is used for acquiring the pose of the auxiliary positioning piece 10 in a three-dimensional space when the auxiliary positioning piece 10 is in a connection state with the intermediate connecting piece 20 and the intermediate connecting piece 20 is in a connection state with the implant 30;
the position acquisition module of the implant 30 is used for acquiring the position of the implant 30 in the three-dimensional space according to the position of the auxiliary positioning piece 10 in the three-dimensional space, the shapes of the auxiliary positioning piece 10, the middle connecting piece 20 and the implant 30 and the connection relation among the three;
the implant 30 is implanted into a pose acquisition module, and the implant 30 is implanted into the pose acquisition module to acquire the pose of the implant 30 in the dentition according to the pose of the implant 30 in the three-dimensional space and the dentition three-dimensional model.
The apparatus further comprises:
a code acquisition module for acquiring a code representing the brand and/or model of each measured implant 30 according to the circular pattern 15;
The implant 30 data acquisition module is used for acquiring implant 30 data of a corresponding brand and/or model in an implant 30 database according to the codes, wherein the implant 30 data comprise three-dimensional model data of the implant 30;
and an implant 30 model configuration module, wherein the implant 30 model configuration module is used for configuring the three-dimensional model of each implant 30 in the model of the dentition according to the pose of each implant 30 in the dentition and the three-dimensional model data of the implant 30.
Example 4
In addition, the implant 30 implantation pose measurement method of the foregoing embodiment of the present invention described in connection with fig. 9 may be implemented by the implant 30 implantation pose measurement apparatus of the present embodiment. Fig. 9 shows a hardware structure schematic of an implant 30 implantation pose measurement apparatus according to an embodiment of the present invention.
The implant 30 implantation pose measurement apparatus of the present embodiment may include a processor 401 and a memory 402 storing computer program instructions.
In particular, the processor 401 described above may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured as one or more integrated circuits implementing embodiments of the present invention.
Memory 402 may include mass storage for data or instructions. By way of example, and not limitation, memory 402 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the foregoing. Memory 402 may include removable or non-removable (or fixed) media, where appropriate. Memory 402 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 402 is a non-volatile solid state memory. In a particular embodiment, the memory 402 includes Read Only Memory (ROM). The ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these, where appropriate.
The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement the data addressing method of the implantation pose measurement of the regional random implant 30 according to any of the above embodiments.
The implant 30 implantation pose measurement apparatus of the present embodiment may further include a communication interface 403 and a bus 410 in one example. As shown in fig. 6, the processor 401, the memory 402, and the communication interface 403 are connected by a bus 410 and perform communication with each other.
The communication interface 403 is mainly used to implement communication between each module, device, unit and/or apparatus in the embodiment of the present invention.
Bus 410 includes hardware, software, or both, coupling components for fractional ink volume output to each other. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 410 may include one or more buses, where appropriate. Although embodiments of the invention have been described and illustrated with respect to a particular bus, the invention contemplates any suitable bus or interconnect.
Example 5
In addition, in combination with the implant 30 implantation pose measurement method in the above embodiment, the embodiment of the present invention may be implemented by providing a computer readable storage medium. The computer readable storage medium has stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the implant 30 implant pose measurement methods of the above embodiments.
The above is a detailed description of the method, the device, the equipment and the storage medium for measuring the implantation pose of the implant 30 according to the embodiment of the present invention.
It should be understood that the invention is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after appreciating the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
In the foregoing, only the specific embodiments of the present invention 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 invention 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 invention, and they should be included in the scope of the present invention.
Claims (5)
1. The implant implantation pose measurement method is characterized by comprising the steps of measuring by using an implant pose measurement tool, wherein the implant pose measurement tool comprises an auxiliary positioning piece and an intermediate connecting piece, and the auxiliary positioning piece is provided with a signal reflection pattern; the intermediate connecting piece is fixedly connected with the auxiliary positioning piece and the implant forming relative pose, and the method comprises the following steps:
Acquiring a dentition model comprising the intermediate connecting piece when the intermediate connecting piece is in a connecting state with the implant;
the method for acquiring the pose of the auxiliary positioning piece in the three-dimensional space when the auxiliary positioning piece is in a connection state with the intermediate connecting piece and the intermediate connecting piece is in a connection state with the implant comprises the following steps:
acquiring a reflection signal of a signal reflection pattern on the auxiliary positioning piece when the auxiliary positioning piece is in a connection state with the intermediate connecting piece and the intermediate connecting piece is in a connection state with the implant;
acquiring the pose of the auxiliary positioning piece in a three-dimensional space according to the reflected signals;
according to the pose of the auxiliary positioning piece in the three-dimensional space, the shapes of the auxiliary positioning piece, the middle connecting piece and the implant and the connection relation among the three, the pose of the implant in the three-dimensional space is obtained, and the method comprises the following steps:
acquiring the pose of the intermediate connecting piece in the three-dimensional space according to the pose of the auxiliary positioning piece in the three-dimensional space, the shapes of the auxiliary positioning piece and the intermediate connecting piece and the connection relation between the auxiliary positioning piece and the intermediate connecting piece;
according to the pose of the intermediate connecting piece in the three-dimensional space, the shapes of the intermediate connecting piece and the implant and the connection relation between the intermediate connecting piece and the implant, the pose of the implant in the three-dimensional space is obtained, and the method comprises the following steps:
Acquiring a three-dimensional model of the intermediate connecting piece;
acquiring a three-dimensional model of the implant;
determining the pose of the implant in the three-dimensional space according to the pose of the intermediate connecting piece in the three-dimensional space, the three-dimensional model of the intermediate connecting piece, the three-dimensional model of the implant and the connection relation between the intermediate connecting piece and the implant;
acquiring the pose of the implant in the dentition according to the pose of the implant in the three-dimensional space and the dentition model, comprising the following steps:
acquiring a model of the intermediate connecting piece and the implant in a connecting state according to the pose of the implant in a three-dimensional space, and taking the model as a model to be registered;
registering the model of the dentition with the model to be registered according to the model of the intermediate connecting piece in the model to be registered and the model of the intermediate connecting piece in the dentition model;
and acquiring the pose of the implant in the dentition according to the registration result.
2. The method according to claim 1, wherein the step of obtaining the pose of the intermediate connector in the three-dimensional space based on the pose of the auxiliary positioning member in the three-dimensional space, the shapes of the auxiliary positioning member and the intermediate connector, and the connection relationship therebetween, further comprises the steps of:
Acquiring a three-dimensional model of the auxiliary positioning piece;
acquiring a three-dimensional model of the intermediate connecting piece;
and determining the pose of the intermediate connecting piece in the three-dimensional space according to the pose of the auxiliary positioning piece in the three-dimensional space, the three-dimensional model of the auxiliary positioning piece, the three-dimensional model of the intermediate connecting piece and the connection relation between the auxiliary positioning piece and the intermediate connecting piece.
3. The implant pose measurement method according to claim 1, wherein the signal reflection pattern includes a circular ring pattern having a missing portion at a preset position, the method further comprising the steps of:
acquiring codes representing brands and/or models of the respective measured implants according to the circular ring patterns;
acquiring implant data of a corresponding brand and/or model in an implant database according to the codes, wherein the implant data comprise three-dimensional model data of the implant;
the three-dimensional model of each implant is arranged in the model of the dentition according to the pose of each implant in the dentition and the three-dimensional model data of the implant.
4. Implant implantation position appearance measuring equipment, its characterized in that includes: at least one processor, at least one memory and computer program instructions stored in the memory, which when executed by the processor, implement the method of any one of claims 1-3.
5. A storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of any of claims 1-3.
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| CN114668534A (en) * | 2022-03-25 | 2022-06-28 | 杭州键嘉机器人有限公司 | Intraoperative implantation precision detection system and method for oral dental implant surgery |
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