CN116703902A - Multi-image-based implant comprehensive precision evaluation and adjustment method - Google Patents
Multi-image-based implant comprehensive precision evaluation and adjustment method Download PDFInfo
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- 239000007943 implant Substances 0.000 title claims abstract description 179
- 238000011156 evaluation Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 33
- 210000000214 mouth Anatomy 0.000 claims abstract description 112
- 238000002513 implantation Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 10
- 238000013461 design Methods 0.000 claims abstract description 5
- 238000004088 simulation Methods 0.000 claims abstract description 4
- 230000000007 visual effect Effects 0.000 claims abstract description 4
- 230000004927 fusion Effects 0.000 claims description 29
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- 239000011159 matrix material Substances 0.000 claims description 18
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 claims description 15
- 239000004053 dental implant Substances 0.000 claims description 15
- 238000004422 calculation algorithm Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 14
- 210000001847 jaw Anatomy 0.000 claims description 10
- 210000004746 tooth root Anatomy 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 210000002455 dental arch Anatomy 0.000 claims description 5
- 238000012216 screening Methods 0.000 claims description 5
- 210000003464 cuspid Anatomy 0.000 claims description 3
- 238000007499 fusion processing Methods 0.000 claims description 3
- 210000004283 incisor Anatomy 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012854 evaluation process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 229910052573 porcelain Inorganic materials 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application discloses a multi-image-based comprehensive accuracy evaluation and adjustment method for implant teeth, and belongs to the technical field of image processing. Wherein, the comprehensive accuracy evaluation adjustment formula of implant includes: acquiring an image set of an oral cavity to be planted under multiple visual angles; acquiring oral characteristic points of each oral image to be planted in the set of oral images to be planted; obtaining a standard oral cavity image to be planted according to the set of oral cavity images to be planted by utilizing the oral cavity characteristic points of each oral cavity image to be planted; performing implantation simulation design processing according to the standard to-be-implanted oral cavity image to obtain a preset oral cavity implantation image; obtaining a preset oral implant image evaluation result as an implant comprehensive accuracy evaluation result according to the oral implant image by using the oral feature points; and finishing the adjustment of the implant by using the comprehensive accuracy evaluation result of the implant.
Description
Technical Field
The application belongs to the technical field of image processing, and particularly relates to a multi-image-based comprehensive dental implant accuracy assessment and adjustment method.
Background
The artificial tooth root is implanted into the gum of the missing tooth part, and after the tooth root is firmly grown with the gum, a vivid porcelain tooth is connected on the tooth root, so that the artificial tooth root is firm, attractive, firm and durable, but a plurality of complications caused by substandard implantation precision, such as serious influence on the occlusion state of the tooth due to the flatness proportion of the implant, and the service life and experience of the tooth are seriously influenced if the conditions of shallower installation depth, inclined installation and the like occur in the implantation process.
The existing evaluation method is used for evaluating the implantation effect of the implant by measuring or observing the position of the implant through CT after the implant is planted on the patient, the evaluation method cannot accurately evaluate the design scheme, and the evaluation process is greatly subjectively affected by doctors, so that the accuracy cannot be determined.
Disclosure of Invention
The application aims to: the method for evaluating and adjusting the comprehensive accuracy of the implant based on multiple images comprises the following steps:
s1, acquiring an image set of an oral cavity to be planted under multiple visual angles;
s2, acquiring oral characteristic points of each oral image to be planted in the set of oral images to be planted;
s3, obtaining a standard oral cavity image to be planted according to the set of the oral cavity images to be planted by utilizing the oral cavity characteristic points of each oral cavity image to be planted;
s4, carrying out implantation simulation design processing according to the standard to-be-implanted oral cavity image to obtain a preset oral cavity implantation image;
s5, obtaining a preset oral implant image evaluation result by using the oral feature points according to the oral implant image as an implant comprehensive accuracy evaluation result;
s6, completing the adjustment of the implant by using the comprehensive accuracy evaluation result of the implant.
Further, the obtaining the oral characteristic points by using the tooth curve to be planted according to the corner detection algorithm comprises:
acquiring the corner points on the tooth curves to be planted according to a corner point detection algorithm;
adjusting the response value of the angle detection algorithm until the number of the residual angular points in the tooth curve to be planted is 4
Acquiring the position of a tooth to be implanted;
and screening the residual corner points according to the position of the tooth to be implanted to obtain the characteristic points of the oral cavity.
Further, the step of screening the remaining corner points according to the position of the tooth to be implanted to obtain the oral cavity feature points includes:
acquiring a tooth area of the jaw part corresponding to the position of the tooth to be implanted;
acquiring the corner point closest to the position of the tooth to be implanted on a tooth curve according to the tooth area of the jaw part corresponding to the position of the tooth to be implanted as an oral cavity characteristic point;
wherein the jaw portion includes an upper jaw portion and a lower jaw portion, and the tooth region includes a molar region, a cuspid region, and a central incisor region.
Preferably, the obtaining the standard oral cavity image to be planted by using the oral cavity feature points of each oral cavity image to be planted according to the set of oral cavity images to be planted includes:
s3-1, projecting each oral cavity image to be planted in the oral cavity image collection to the same plane to obtain an oral cavity superposition image to be planted;
s3-2, obtaining standard oral characteristic points according to the to-be-planted oral superimposed image;
s3-3, obtaining image correlation coefficients of each oral cavity image to be planted according to the standard oral cavity characteristic points;
s3-4, obtaining an affine transformation matrix between the oral cavity images to be planted according to the image correlation coefficients of the oral cavity images to be planted;
s3-5, completing fusion of the oral cavity images to be planted according to an affine transformation matrix between the oral cavity images to be planted to obtain standard oral cavity images to be planted.
Further, the step of completing the fusion of the oral cavity images to be planted according to the affine transformation matrix between the oral cavity images to be planted to obtain the standard oral cavity images to be planted comprises the following steps:
s3-5-1, obtaining offset between images according to an affine transformation matrix between the images of the oral cavity to be planted;
s3-5-2, superposing the to-be-planted oral cavity images according to the offset between the to-be-planted oral cavity images to obtain a superposed image;
s3-5-3, performing fusion processing on pixels of the overlapping region in the superimposed image to obtain a fusion image;
s3-5-4, returning the fusion image to S3-5-1 as a new oral image to be planted, and adding a fusion mark in the fusion image;
s3-5-5, acquiring the number n of the oral cavity images to be planted;
s3-5-6, judging whether the number of fusion marks on the fusion image is m, if so, using the fusion image as a standard oral image to be planted, otherwise, returning to S3-5-4;
wherein m=n-1.
Preferably, the obtaining the preset oral implant image evaluation result by using the oral feature points according to the oral implant image as the dental implant comprehensive precision evaluation result includes:
s5-1, selecting four implant marking points on the implant to be used as a first implant marking point, a second implant marking point, a third implant marking point and a fourth implant marking point respectively;
s5-2, establishing a first coordinate system by taking the characteristic points of the oral cavity as the origin according to a preset oral cavity planting image;
s5-3, respectively acquiring coordinates (x) of the first implant marking point, the second implant marking point, the third implant marking point and the fourth implant marking point in a first coordinate system 1 ，y 1 ）、（x 2 ，y 2 ）、（x 3 ，y 3 ) And (x) 4 ，y 4 ）；
S5-4 according to the coordinates (x 1 ，y 1 ）、（x 2 ，y 2 ）、（x 3 ，y 3 ) And (x) 4 ，y 4 ) Obtaining a preset oral implant image evaluation result as an implant comprehensive accuracy evaluation result;
the first implant tooth mark point and the second implant tooth mark point are respectively positioned on two symmetrical sides of the dental crown, and the third implant tooth mark point and the fourth implant tooth mark point are respectively positioned on two symmetrical sides of the dental root.
Further, judging whether the occlusion matching degree of the implant meets the standard according to a first error value of the first dental crown point and the second dental crown point; judging the condition of reaching the standard of the tooth flatness of the implant according to the first crown point, the second crown point, the first root point and the first error value of the second root point;
and determining the occlusion precision evaluation result of the implant according to the occlusion matching degree standard condition of the implant and the tooth flatness standard condition.
Preferably, the said method is based on the coordinates (x 1 ，y 1 ）、（x 2 ，y 2 ）、（x 3 ，y 3 ) And (x) 4 ，y 4 ) The step of obtaining the preset oral implant image evaluation result as the implant comprehensive accuracy evaluation result comprises the following steps:
s5-4-1, obtaining the coordinates (x 1 ，y 1 ) And coordinates (x) 3 ，y 3 ) As a first distance;
s5-4-2, obtaining the coordinates (x 2 ，y 2 ) And coordinates (x) 4 ，y 4 ) As a second distance;
s5-4-3, judging whether the difference value between the first distance and the second distance is larger than a first threshold value, if so, judging that the standard condition of the appearance of the implant does not reach the standard, otherwise, judging that the standard condition of the appearance of the implant reaches the standard;
s5-4-4, obtaining the coordinates (x 1 ，y 1 ) And coordinates (x) 2 ，y 2 ) X in the middle 1 And x 2 As a first difference;
s5-4-5, obtaining the coordinates (x 3 ，y 3 ) And coordinates (x) 4 ，y 4 ) X in the middle 3 And x 4 As a second difference;
s5-4-6, obtaining an average value of the first difference value and the second difference value as a third difference value;
s5-4-7, judging whether the third difference value is larger than a second threshold value, if so, judging that the standard condition of the mounting flatness of the implant is not standard, otherwise, judging that the standard condition of the mounting flatness of the implant is standard;
s5-4-8, obtaining a preset oral implant image evaluation result according to the standard condition of the implant appearance and the standard condition of the implant installation flatness as an implant comprehensive precision evaluation result.
Further, the step of obtaining the preset oral implant image evaluation result as the implant comprehensive precision evaluation result according to the standard condition of the implant appearance and the standard condition of the implant installation flatness comprises the following steps:
s5-4-8-1, judging whether the appearance of the implant meets the standard or not, if so, executing S5-4-8-2, otherwise, judging that the evaluation result of the preset oral implant image is unqualified;
s5-4-8-2, judging whether the standard reaching condition of the mounting flatness of the implant is standard or not, if so, judging that the preset oral implant image evaluation result is qualified, otherwise, judging that the preset oral implant image evaluation result is unqualified;
s5-4-8-3, and taking the evaluation result according to the preset oral implant image as an evaluation result of the comprehensive accuracy of the implant.
Preferably, the adjusting the implant by using the comprehensive accuracy evaluation result of the implant comprises:
s6-1, judging whether the comprehensive accuracy evaluation result of the implant is qualified or not, if so, giving up adjustment, otherwise, executing S6-2;
s6-2, judging whether the appearance of the implant corresponding to the comprehensive accuracy evaluation result of the implant meets the standard, if so, executing S6-3, otherwise, returning to S4;
s6-3, judging whether the standard reaching condition of the mounting flatness of the implant corresponding to the comprehensive accuracy evaluation result of the implant is standard, if so, giving up adjustment, otherwise, returning to S4.
The beneficial effects are that: the application provides a multi-image-based comprehensive accuracy evaluation adjustment method for dental implants, which comprises the steps of firstly extracting characteristic points from a dental jaw curve and a dental arch curve of teeth, evaluating the accuracy of the dental implants on preset post-implant oral cavity images by utilizing the characteristic points and selected dental implant mark points, improving the evaluation reliability, accurately comparing the implant result with a preset scheme, and avoiding the influence of subjective factors in the comparison process to achieve the effect of accurate evaluation. On the one hand, the influence of the shape of the tooth on the evaluation precision is avoided, the evaluation accuracy is improved, on the other hand, the accurate subsequent adjustment of the implant can be performed more intuitively according to the obtained precision result, the application range is wide, the universality is strong, and the operation is simple.
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FIG. 1 is a flow chart of a method for adjusting the comprehensive accuracy evaluation of implant teeth based on multiple images;
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the application.
As shown in fig. 1, the present embodiment provides a method for evaluating and adjusting the comprehensive accuracy of implant teeth based on multiple images, including:
s1, acquiring an image set of an oral cavity to be planted under multiple visual angles;
s2, acquiring oral characteristic points of each oral image to be planted in the set of oral images to be planted;
s3, obtaining a standard oral cavity image to be planted according to the set of the oral cavity images to be planted by utilizing the oral cavity characteristic points of each oral cavity image to be planted;
s4, carrying out implantation simulation design processing according to the standard to-be-implanted oral cavity image to obtain a preset oral cavity implantation image;
s5, obtaining a preset oral implant image evaluation result by using the oral feature points according to the oral implant image as an implant comprehensive accuracy evaluation result;
s6, completing the adjustment of the implant by using the comprehensive accuracy evaluation result of the implant.
The step S2 specifically comprises the following steps:
s2-1, acquiring a to-be-planted state tooth curve set of each to-be-planted oral cavity image in the to-be-planted oral cavity image set;
s2-2, obtaining a tooth curve to be planted according to the position of the implant by using the tooth curve set of the state to be planted;
s2-3, obtaining oral cavity characteristic points according to an angular point detection algorithm by utilizing the tooth curve to be planted;
the to-be-planted state tooth curve set comprises a first upper dental curve, a first lower dental curve, a first upper dental arch curve and a second lower dental arch curve.
In this embodiment, according to the curve characteristics of the required tooth curve, a suitable corner point is selected from the curve by a corner point detection algorithm, if there are points with distributed curvature variation in the tooth curve, points with curvature variation in the continuous curve in the image are obtained by a corner point detection algorithm, if there are points with discontinuous direction variation in the tooth curve, points with discontinuous direction variation in the image are obtained by a corner point detection algorithm, and if there are points with gradient values and gradient variation rates in the tooth curve, points with gradient values and gradient variation rates in the image are obtained by a corner point detection algorithm.
The step S2-3 specifically comprises the following steps:
s2-3-1, acquiring the corner points on the tooth curves to be planted according to a corner point detection algorithm;
s2-3-2, adjusting the response value of the angle detection algorithm until the number of the residual corner points in the tooth curve to be planted is 4
S2-3-3, acquiring the position of the tooth to be planted;
s2-3-4, screening the residual corner points according to the position of the tooth to be implanted to obtain the characteristic points of the oral cavity.
The step S2-3-4 specifically comprises the following steps:
s2-3-4-1, acquiring a tooth area of a jaw part corresponding to the position of the tooth to be implanted;
s2-3-4-2, acquiring an angular point closest to the position of the tooth to be implanted on a tooth curve according to the tooth area of the jaw part corresponding to the position of the tooth to be implanted as an oral characteristic point;
wherein the jaw portion includes an upper jaw portion and a lower jaw portion, and the tooth region includes a molar region, a cuspid region, and a central incisor region.
The step S3 specifically comprises the following steps:
s3-1, projecting each oral cavity image to be planted in the oral cavity image collection to the same plane to obtain an oral cavity superposition image to be planted;
s3-2, obtaining standard oral characteristic points according to the to-be-planted oral superimposed image;
s3-3, obtaining image correlation coefficients of each oral cavity image to be planted according to the standard oral cavity characteristic points;
s3-4, obtaining an affine transformation matrix between the oral cavity images to be planted according to the image correlation coefficients of the oral cavity images to be planted;
s3-5, completing fusion of the oral cavity images to be planted according to an affine transformation matrix between the oral cavity images to be planted to obtain standard oral cavity images to be planted.
In this embodiment, the projection transformation of the image is also an indispensable process for image superposition, and the image materials to be superimposed are often not in a coordinate system, so that the direct stitching can cause distortion of the scene due to the angle problem, and the current common way is to project the image onto a geometric surface, such as a sphere, a cube or a cylinder. The feature points are the basis for carrying out the image matching method, the quality of the image matching method directly influences the matching precision and efficiency, and the feature points have the characteristics of rotation, translation, no deformation and the like, so that the image is not erroneously matched due to the exposure of a camera and the like. After the image feature points are extracted, the radiation matrix of the image is required to be calculated according to the feature points, so that the image is transformed to realize stitching. During the radiometric transformation, the interpolation method ensures that the image is not distorted. It is not enough to find only the feature points, and some descriptions are added to the feature points, so that the feature points have the property of distinguishing other feature points, and thus affine transformation matrixes of the two images can be obtained through calculation of the feature points matched with each other. Each feature point describes the feature point statistically according to the directions of points around the feature point, and the feature point has a description factor which has scale invariance and rotation invariance. The change in scale does not change direction, whereas a rotating transformation will only cause the histogram to shift left or right. The degree of correlation of the two images can be calculated through the description factors of the characteristic points, and the ordering of the images can be determined, so that the correct order of the images can be automatically found. The description factors of the characteristic points between the two images are obtained, and the relative relation (stretching and rotation relation) between the two images can be obtained according to the one-to-one correspondence relation of the characteristic points. So that an affine transformation matrix between the images can be calculated.
The images of each oral cavity to be planted are images shot at different angles, and two oral cavity images (x) to be planted are needed to be obtained according to the image correlation coefficient of each oral cavity image to be planted 1 ，y 1 The relationship between (x, y, 1) is as follows:
transformation matrix for affine transformation matrixAnd (5) expression.
The transformation matrix of the affine transformation matrix can be used for completing the transformation between the oral cavity images to be planted through translation, rotation, scaling, shearing and reflection, and then the transformation matrix is converted into the images which can be overlapped, and then fusion treatment of the oral cavity images to be planted is carried out, so that the standard oral cavity images to be planted are obtained.
The step S3-5 specifically comprises the following steps:
s3-5-1, obtaining offset between images according to an affine transformation matrix between the images of the oral cavity to be planted;
s3-5-2, superposing the to-be-planted oral cavity images according to the offset between the to-be-planted oral cavity images to obtain a superposed image;
s3-5-3, performing fusion processing on pixels of the overlapping region in the superimposed image to obtain a fusion image;
s3-5-4, returning the fusion image to S3-5-1 as a new oral image to be planted, and adding a fusion mark in the fusion image;
s3-5-5, acquiring the number n of the oral cavity images to be planted;
s3-5-6, judging whether the number of fusion marks on the fusion image is m, if so, using the fusion image as a standard oral image to be planted, otherwise, returning to S3-5-4;
wherein m=n-1.
In this embodiment, firstly, according to the offset between the oral cavity images to be planted, the planted oral cavity images are respectively placed on different vertical image layers, the different image layers are laminated and overlapped to obtain a superimposed image, the two oral cavity images to be planted determine whether the fusion position is insufficient, and obvious boundaries can appear in the fusion area, and the reasons for the phenomenon generally include: on the one hand the presence of a luminance difference; on one hand, the deviation between the theoretical value and the actual value of the parameter of the cylindrical surface is caused by projecting the cylindrical surface; it is also possible that the acquired image itself may exhibit edge distortion during image acquisition. Aiming at the splicing trace, a shallow-in and shallow-out method is adopted. The two images of the spliced portion are multiplied by a coefficient, respectively, which varies with the distance.
The step S5 specifically comprises the following steps:
s5-1, selecting four implant marking points on the implant to be used as a first implant marking point, a second implant marking point, a third implant marking point and a fourth implant marking point respectively;
s5-2, establishing a first coordinate system by taking the characteristic points of the oral cavity as the origin according to a preset oral cavity planting image;
s5-3, respectively acquiring coordinates (x) of the first implant marking point, the second implant marking point, the third implant marking point and the fourth implant marking point in a first coordinate system 1 ，y 1 ）、（x 2 ，y 2 ）、（x 3 ，y 3 ) And (x) 4 ，y 4 ）；
S5-4 according to the coordinates (x 1 ，y 1 ）、（x 2 ，y 2 ）、（x 3 ，y 3 ) And (x) 4 ，y 4 ) Obtaining a preset oral implant image evaluation result as an implant comprehensive accuracy evaluation result;
the first implant tooth mark point and the second implant tooth mark point are respectively positioned on two symmetrical sides of the dental crown, and the third implant tooth mark point and the fourth implant tooth mark point are respectively positioned on two symmetrical sides of the dental root.
The step S5-4 specifically comprises the following steps:
s5-4-1, obtaining the coordinates (x 1 ，y 1 ) And coordinates (x) 3 ，y 3 ) As a first distance;
s5-4-2, obtaining the coordinates (x 2 ，y 2 ) And coordinates (x) 4 ，y 4 ) As a second distance;
s5-4-3, judging whether the difference value between the first distance and the second distance is larger than a first threshold value, if so, judging that the standard condition of the appearance of the implant does not reach the standard, otherwise, judging that the standard condition of the appearance of the implant reaches the standard;
s5-4-4, obtaining the coordinates (x 1 ，y 1 ) And coordinates (x) 2 ，y 2 ) X in the middle 1 And x 2 As a first difference;
s5-4-5, obtaining the coordinates (x 3 ，y 3 ) And coordinates (x) 4 ，y 4 ) X in the middle 3 And x 4 As a second difference;
s5-4-6, obtaining an average value of the first difference value and the second difference value as a third difference value;
s5-4-7, judging whether the third difference value is larger than a second threshold value, if so, judging that the standard condition of the mounting flatness of the implant is not standard, otherwise, judging that the standard condition of the mounting flatness of the implant is standard;
s5-4-8, obtaining a preset oral implant image evaluation result according to the standard condition of the implant appearance and the standard condition of the implant installation flatness as an implant comprehensive precision evaluation result.
In this embodiment, the condition of the appearance of the implant reaching the standard is determined according to the euclidean distance difference value of the implant marking points on the same side, wherein the range of the first threshold is 200um to 250um, when the method is specifically implemented, the numerical value of the first threshold is customized according to the size of the teeth, for example, the size proportion of the teeth is larger than the size of the normal teeth, the numerical value of the first threshold is properly adjusted in the implementation process, and the occlusion matching degree condition of the implant with the error value of the implant changed by 30um is found according to the multiple experimental results. Judging the situation that the mounting flatness of the implant meets the standard according to the difference value of the crown height difference and the root height difference of the implant, wherein the range of the second threshold value is 150-200 um, when the method is implemented, the numerical value of the first threshold value is customized according to the size of the tooth, for example, the size proportion of the tooth is larger than the size of a normal tooth, the numerical value of the first threshold value is properly regulated in the implementation process, and the mounting flatness of the implant can be obviously changed when the error value of the implant changes by 20um according to the result of multiple experiments.
The step S5-4-8 specifically comprises the following steps:
s5-4-8-1, judging whether the appearance of the implant meets the standard or not, if so, executing S5-4-8-2, otherwise, judging that the evaluation result of the preset oral implant image is unqualified;
s5-4-8-2, judging whether the standard reaching condition of the mounting flatness of the implant is standard or not, if so, judging that the preset oral implant image evaluation result is qualified, otherwise, judging that the preset oral implant image evaluation result is unqualified;
s5-4-8-3, and taking the evaluation result according to the preset oral implant image as an evaluation result of the comprehensive accuracy of the implant.
The step S6 specifically comprises the following steps:
s6-1, judging whether the comprehensive accuracy evaluation result of the implant is qualified or not, if so, giving up adjustment, otherwise, executing S6-2;
s6-2, judging whether the appearance of the implant corresponding to the comprehensive accuracy evaluation result of the implant meets the standard, if so, executing S6-3, otherwise, returning to S4;
s6-3, judging whether the standard reaching condition of the mounting flatness of the implant corresponding to the comprehensive accuracy evaluation result of the implant is standard, if so, giving up adjustment, otherwise, returning to S4.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or 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, embedded processor, 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the application without departing from the spirit and scope of the application, which is intended to be covered by the claims.
Claims (10)
1. The method for evaluating and adjusting the comprehensive accuracy of the implant based on multiple images is characterized by comprising the following steps of:
s1, acquiring an image set of an oral cavity to be planted under multiple visual angles;
s2, acquiring oral characteristic points of each oral image to be planted in the set of oral images to be planted;
s3, obtaining a standard oral cavity image to be planted according to the set of the oral cavity images to be planted by utilizing the oral cavity characteristic points of each oral cavity image to be planted;
s4, carrying out implantation simulation design processing according to the standard to-be-implanted oral cavity image to obtain a preset oral cavity implantation image;
s5, obtaining a preset oral implant image evaluation result by using the oral feature points according to the oral implant image as an implant comprehensive accuracy evaluation result;
s6, completing the adjustment of the implant by using the comprehensive accuracy evaluation result of the implant.
2. The method for adjusting the comprehensive dental implant accuracy evaluation based on multiple images according to claim 1, wherein the step of obtaining the oral feature points of each oral image to be implanted in the set of oral images to be implanted comprises:
acquiring a tooth curve set of a state to be planted of each oral cavity image to be planted in the oral cavity image set to be planted;
obtaining a tooth curve to be planted according to the position of the implant by using the tooth curve set of the state to be planted;
obtaining oral characteristic points according to an angular point detection algorithm by utilizing the tooth curve to be planted;
the to-be-planted state tooth curve set comprises a first upper dental curve, a first lower dental curve, a first upper dental arch curve and a second lower dental arch curve.
3. The method for adjusting the comprehensive accuracy evaluation of the implant based on multiple images according to claim 2, wherein the step of obtaining the characteristic points of the oral cavity according to the corner detection algorithm by using the tooth curve to be implanted comprises the following steps:
acquiring the corner points on the tooth curves to be planted according to a corner point detection algorithm;
adjusting the response value of the angle detection algorithm until the number of the residual corner points in the tooth curve to be planted is 4;
acquiring the position of a tooth to be implanted;
and screening the residual corner points according to the position of the tooth to be implanted to obtain the characteristic points of the oral cavity.
4. The method for adjusting the comprehensive accuracy evaluation of the implant based on multiple images according to claim 3, wherein the step of screening the remaining corner points according to the position of the implant to obtain the oral characteristic points comprises the steps of:
acquiring a tooth area of the jaw part corresponding to the position of the tooth to be implanted;
acquiring the corner point closest to the position of the tooth to be implanted on a tooth curve according to the tooth area of the jaw part corresponding to the position of the tooth to be implanted as an oral cavity characteristic point;
wherein the jaw portion includes an upper jaw portion and a lower jaw portion, and the tooth region includes a molar region, a cuspid region, and a central incisor region.
5. The method for adjusting the comprehensive dental implant accuracy evaluation based on multiple images according to claim 1, wherein the step of obtaining the standard oral cavity image to be implanted by using the oral cavity characteristic points of each oral cavity image to be implanted according to the set of oral cavity images to be implanted comprises the steps of:
s3-1, projecting each oral cavity image to be planted in the oral cavity image collection to the same plane to obtain an oral cavity superposition image to be planted;
s3-2, obtaining standard oral characteristic points according to the to-be-planted oral superimposed image;
s3-3, obtaining image correlation coefficients of each oral cavity image to be planted according to the standard oral cavity characteristic points;
s3-4, obtaining an affine transformation matrix between the oral cavity images to be planted according to the image correlation coefficients of the oral cavity images to be planted;
s3-5, completing fusion of the oral cavity images to be planted according to an affine transformation matrix between the oral cavity images to be planted to obtain standard oral cavity images to be planted.
6. The method for adjusting the comprehensive dental implant accuracy evaluation based on multiple images according to claim 5, wherein the step of completing the fusion of the oral cavity images to be implanted according to the affine transformation matrix between the oral cavity images to be implanted to obtain the standard oral cavity images to be implanted comprises the steps of:
s3-5-1, obtaining offset between images according to an affine transformation matrix between the images of the oral cavity to be planted;
s3-5-2, superposing the to-be-planted oral cavity images according to the offset between the to-be-planted oral cavity images to obtain a superposed image;
s3-5-3, performing fusion processing on pixels of the overlapping region in the superimposed image to obtain a fusion image;
s3-5-4, returning the fusion image to S3-5-1 as a new oral image to be planted, and adding a fusion mark in the fusion image;
s3-5-5, acquiring the number n of the oral cavity images to be planted;
s3-5-6, judging whether the number of fusion marks on the fusion image is m, if so, using the fusion image as a standard oral image to be planted, otherwise, returning to S3-5-4;
wherein m=n-1.
7. The method for adjusting the comprehensive dental implant accuracy assessment based on multiple images according to claim 1, wherein the step of obtaining a preset oral implant image assessment result as the comprehensive dental implant accuracy assessment result according to the oral implant image by using the oral feature points comprises the steps of:
s5-1, selecting four implant marking points on the implant to be used as a first implant marking point, a second implant marking point, a third implant marking point and a fourth implant marking point respectively;
s5-2, establishing a first coordinate system by taking the characteristic points of the oral cavity as the origin according to a preset oral cavity planting image;
s5-3, respectively acquiring coordinates (x) of the first implant marking point, the second implant marking point, the third implant marking point and the fourth implant marking point in a first coordinate system 1 ，y 1 ）、（x 2 ，y 2 ）、（x 3 ，y 3 ) And (x) 4 ，y 4 ）；
S5-4 according to the coordinates (x 1 ，y 1 ）、（x 2 ，y 2 ）、（x 3 ，y 3 ) And (x) 4 ，y 4 ) Obtaining a preset oral implant image evaluation result as an implant comprehensive accuracy evaluation result;
the first implant tooth mark point and the second implant tooth mark point are respectively positioned on two symmetrical sides of the dental crown, and the third implant tooth mark point and the fourth implant tooth mark point are respectively positioned on two symmetrical sides of the dental root.
8. The method for adjusting the overall accuracy assessment of a dental implant based on multiple images according to claim 7, wherein the step of adjusting the overall accuracy assessment of the dental implant based on coordinates (x 1 ，y 1 ）、（x 2 ，y 2 ）、（x 3 ，y 3 ) And (x) 4 ，y 4 ) The step of obtaining the preset oral implant image evaluation result as the implant comprehensive accuracy evaluation result comprises the following steps:
s5-4-1, obtaining the coordinates (x 1 ，y 1 ) And coordinates (x) 3 ，y 3 ) As a first distance;
s5-4-2, obtaining the coordinates (x 2 ，y 2 ) And coordinates (x) 4 ，y 4 ) As a second distance;
s5-4-3, judging whether the difference value between the first distance and the second distance is larger than a first threshold value, if so, judging that the standard condition of the appearance of the implant does not reach the standard, otherwise, judging that the standard condition of the appearance of the implant reaches the standard;
s5-4-4, obtaining the coordinates (x 1 ，y 1 ) And coordinates (x) 2 ，y 2 ) X in the middle 1 And x 2 As a first difference;
s5-4-5, obtaining the coordinates (x 3 ，y 3 ) And coordinates (x) 4 ，y 4 ) X in the middle 3 And x 4 As a second difference;
s5-4-6, obtaining an average value of the first difference value and the second difference value as a third difference value;
s5-4-7, judging whether the third difference value is larger than a second threshold value, if so, judging that the standard condition of the mounting flatness of the implant is not standard, otherwise, judging that the standard condition of the mounting flatness of the implant is standard;
s5-4-8, obtaining a preset oral implant image evaluation result according to the standard condition of the implant appearance and the standard condition of the implant installation flatness as an implant comprehensive precision evaluation result.
9. The method for adjusting the overall accuracy evaluation of the implant based on multiple images according to claim 8, wherein the step of obtaining the preset oral implant image evaluation result as the overall accuracy evaluation result of the implant according to the up-to-standard condition of the appearance of the implant and the up-to-standard condition of the flatness of the implant comprises:
s5-4-8-1, judging whether the appearance of the implant meets the standard or not, if so, executing S5-4-8-2, otherwise, judging that the evaluation result of the preset oral implant image is unqualified;
s5-4-8-2, judging whether the standard reaching condition of the mounting flatness of the implant is standard or not, if so, judging that the preset oral implant image evaluation result is qualified, otherwise, judging that the preset oral implant image evaluation result is unqualified;
s5-4-8-3, and taking the evaluation result according to the preset oral implant image as an evaluation result of the comprehensive accuracy of the implant.
10. The method for adjusting the overall dental implant accuracy assessment based on multiple images according to claim 9, wherein the step of using the overall dental implant accuracy assessment result to complete the adjustment of the dental implant comprises:
s6-1, judging whether the comprehensive accuracy evaluation result of the implant is qualified or not, if so, giving up adjustment, otherwise, executing S6-2;
s6-2, judging whether the appearance of the implant corresponding to the comprehensive accuracy evaluation result of the implant meets the standard, if so, executing S6-3, otherwise, returning to S4;
s6-3, judging whether the standard reaching condition of the mounting flatness of the implant corresponding to the comprehensive accuracy evaluation result of the implant is standard, if so, giving up adjustment, otherwise, returning to S4.
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