CN116758128A - Method, system and storage medium for registration of oral implantation surgery - Google Patents
Method, system and storage medium for registration of oral implantation surgery Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000002513 implantation Methods 0.000 title abstract description 15
- 238000001356 surgical procedure Methods 0.000 title abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims abstract description 35
- 238000012545 processing Methods 0.000 claims description 21
- 210000000214 mouth Anatomy 0.000 claims description 19
- 239000011159 matrix material Substances 0.000 claims description 16
- 238000007408 cone-beam computed tomography Methods 0.000 claims description 13
- 239000007943 implant Substances 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 11
- 238000004422 calculation algorithm Methods 0.000 claims description 10
- 239000013598 vector Substances 0.000 claims description 10
- 238000013519 translation Methods 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000013459 approach Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000007405 data analysis Methods 0.000 claims description 2
- 238000013075 data extraction Methods 0.000 claims description 2
- 239000004053 dental implant Substances 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 4
- 230000003287 optical effect Effects 0.000 description 9
- 239000000919 ceramic Substances 0.000 description 7
- 239000008188 pellet Substances 0.000 description 7
- 238000002591 computed tomography Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910052581 Si3N4 Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000037182 bone density Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000004268 dentin Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- HQVNEWCFYHHQES-UHFFFAOYSA-N silicon nitride Chemical compound N12[Si]34N5[Si]62N3[Si]51N64 HQVNEWCFYHHQES-UHFFFAOYSA-N 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30036—Dental; Teeth
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- Oral & Maxillofacial Surgery (AREA)
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Abstract
The invention provides a registration method, a registration system and a storage medium for oral implantation surgery, which are characterized in that a CT three-dimensional model is constructed, a corresponding CT two-dimensional cross-section image is obtained, a registration circular spot corresponding to a registration sphere is identified, CT three-dimensional coordinate values of the registration sphere are obtained, a register model is matched to the CT three-dimensional model based on at least 4 CT three-dimensional coordinate values of the registration sphere obtained through fitting, and a conversion relation is established between a CT three-dimensional coordinate system and a camera coordinate system according to camera three-dimensional coordinate values and CT three-dimensional coordinate values of pits for registration. The method is clearer in the aspects of scanning, cutting and identifying the registration circular spots, acquiring CT three-dimensional coordinate values of the registration spheres based on the registration circular spots, registering based on camera three-dimensional coordinate values and CT three-dimensional coordinate values of pits, and the like, and compared with the prior art, the method automatically identifies the registration circular spots and automatically generates the registration spheres, the method has the advantages that on the basis of ensuring that the scheme is simple in implementation logic, the efficiency and the accuracy of registration are improved, and therefore the planting precision and the treatment effect are effectively ensured.
Description
Technical Field
The present invention relates to the field of medical technology, and relates to a method, system and storage medium for registration to establish a conversion relationship between a CT coordinate system and a camera coordinate system prior to performing an implant procedure.
Background
The oral cavity implantation is a treatment mode for repairing the missing teeth in the oral cavity of a patient in a dental implantation mode, and the optical navigation system is used for guiding the whole implantation process in a navigation mode, so that the oral cavity implantation method has the advantages of high implantation precision and good treatment effect.
The optical navigation system at least comprises an optical positioning instrument, a planting mobile phone, a human body reference plate, a mobile phone reference plate and other devices, wherein the human body reference plate is fixedly arranged on a patient, the mobile phone reference plate is fixedly arranged on the planting mobile phone, the optical positioning instrument determines the real-time relative positions of the patient and the planting mobile phone by collecting the human body reference plate and the mobile phone reference plate, and then the real-time guiding is performed.
The existing oral implanting navigation systems on the market all need to be registered by using a register before use so as to obtain the matrix change relation between the CT coordinate system and the camera coordinate system. The prior art includes the following operations when registering: and selecting a region of the register distributed in the CT image, and setting a CT scanning threshold value to only display the morphology of the ceramic ball and the tooth of the register on the CT three-dimensional image, and identifying the position of the ceramic ball on the CT three-dimensional image based on an automatic registration algorithm to finish registration. The method can realize the basic registration function, but in the operation process, the distribution area of the register needs to be adjusted and the CT scanning threshold value needs to be set, the automatic identification rate is low, and the registration efficiency and the accuracy are not high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the method, the system and the storage medium for registering the oral implantation surgery, which can improve the registering efficiency and the registering accuracy, thereby effectively guaranteeing the implantation precision and the treatment effect.
The technical scheme adopted for solving the technical problems is as follows:
a method of intraoral implant surgical registration comprising the steps of:
s1, collecting oral cavity CBCT data of a patient with a registration device, and constructing a CT three-dimensional model based on the oral cavity CBCT data, wherein the registration device is provided with a plurality of registration balls and a plurality of pits;
s2, acquiring a CT two-dimensional section image corresponding to the CT three-dimensional model, wherein the CT two-dimensional section image comprises an XY two-dimensional section image, a YZ two-dimensional section image and an XZ axis two-dimensional section image;
s3, scanning and cutting the CT three-dimensional model along the normal direction of the section until a registration circular spot corresponding to the registration ball is identified in the CT two-dimensional section image;
s4, selecting a registration circular spot obtained by two-dimensional cross-section image recognition, fitting the registration circular spot to obtain a plane two-dimensional coordinate of a circle center of the registration circular spot, converting the plane two-dimensional coordinate of the circle center of the registration circular spot into a corresponding CT three-dimensional coordinate based on a conversion relation between a screen coordinate system and a CT three-dimensional coordinate system, selecting a corresponding spherical ROI (region of interest) in a CT three-dimensional model by taking the CT three-dimensional coordinate of the circle center of the registration circular spot as a central point, fitting a registration sphere in the spherical ROI, and obtaining a CT three-dimensional coordinate value of the registration sphere;
s5, matching the register model to the CT three-dimensional model based on CT three-dimensional coordinate values of the registration spheres obtained by at least 4 fitting;
s6, when the planting mobile phone is abutted to the pits of the register through the spherical drill bit, acquiring three-dimensional coordinate values of a camera of the planting mobile phone, and determining the three-dimensional coordinate values of the camera of the pits through the three-dimensional coordinate values of the camera of the planting mobile phone;
s7, determining CT three-dimensional coordinate values of the pits by combining the CT three-dimensional coordinate values of the registration spheres through the register model;
s8, according to the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits, a conversion relation is established between the CT three-dimensional coordinate system and the camera coordinate system, and registration is completed.
Compared with the prior art, the beneficial effects of the technical scheme are as follows: the technical scheme is clearer in the aspects of scanning, cutting and identifying the registration circular spots, acquiring the CT three-dimensional coordinate values of the registration spheres based on the registration circular spots, registering based on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits, and the like, and is better than the prior art in which the registration circular spots are automatically identified and the registration spheres are automatically generated.
Correspondingly, an oral implant surgical registration system comprising:
the model construction module is used for collecting oral cavity CBCT data of a patient with a registration device, constructing a CT three-dimensional model based on the oral cavity CBCT data, and arranging a plurality of registration balls and a plurality of pits on the registration device;
the cross-section data acquisition module is used for acquiring CT two-dimensional cross-section images corresponding to the CT three-dimensional model, wherein the CT two-dimensional cross-section images comprise XY two-dimensional cross-section images, YZ two-dimensional cross-section images and XZ two-dimensional cross-section images;
the circular spot identification module is used for scanning and cutting the CT three-dimensional model along the normal direction of the section until the registration circular spot corresponding to the registration ball is identified in the CT two-dimensional section image;
the sphere fitting module is used for selecting a registration circular spot obtained by two-dimensional cross-section image recognition, fitting the registration circular spot to obtain a plane two-dimensional coordinate of the center of the registration circular spot, converting the plane two-dimensional coordinate of the center of the registration circular spot into a corresponding CT three-dimensional coordinate based on a conversion relation between a screen coordinate system and a CT three-dimensional coordinate system, selecting a corresponding spherical ROI (region of interest) in the CT three-dimensional model by taking the CT three-dimensional coordinate of the center of the registration circular spot as a central point, fitting a registration sphere in the spherical ROI region, and obtaining a CT three-dimensional coordinate value of the registration sphere;
the model matching module is used for matching the register model to the CT three-dimensional model based on CT three-dimensional coordinate values of the registration spheres obtained by at least 4 fitting;
the first coordinate acquisition module is used for acquiring a camera three-dimensional coordinate value of the planting mobile phone when the planting mobile phone is propped against the pits of the register through the spherical drill bit, and determining the camera three-dimensional coordinate value of the pits through the camera three-dimensional coordinate value of the planting mobile phone;
the second coordinate acquisition module is used for determining CT three-dimensional coordinate values of the pits by combining the CT three-dimensional coordinate values of the registration spheres through the register model;
and the registration module is used for establishing a conversion relation between the CT three-dimensional coordinate system and the camera coordinate system according to the camera three-dimensional coordinate value and the CT three-dimensional coordinate value of the pit to finish registration.
Correspondingly, a storage medium storing a computer program comprising program instructions which, when executed by a processor, perform the method of oral implant surgery registration as described above.
Drawings
Fig. 1 is a flow chart of the method of intraoral implant surgical registration of the present invention.
Fig. 2 is a schematic structural view of the intraoral surgical registration system of the present invention.
In the drawings, the list of components represented by the respective reference numerals is as follows:
the system comprises a model construction module 1, a section data acquisition module 2, a circular spot identification module 3, a sphere fitting module 4, a model matching module 5, a first coordinate acquisition module 6, a second coordinate acquisition module 7 and a registration module 8.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or component to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of the two components. When an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. It will be understood by those of ordinary skill in the art that the terms described above are in the specific sense of the present invention.
The oral cavity implantation is a treatment mode of repairing the missing teeth in the oral cavity of a patient in a dental implantation mode, and the full implantation process is guided by the optical navigation system, so that the oral cavity implantation method has the advantages of high implantation precision and good treatment effect.
The optical navigation system at least comprises an optical positioning instrument, a planting mobile phone, a human body reference plate, a mobile phone reference plate and other devices, wherein the human body reference plate is fixedly arranged on a patient, the mobile phone reference plate is fixedly arranged on the planting mobile phone, the optical positioning instrument determines the real-time relative positions of the patient and the planting mobile phone by collecting the human body reference plate and the mobile phone reference plate, and then the real-time guiding is performed.
The existing oral implanting navigation systems on the market all need to be registered by using a register before use so as to obtain the matrix change relation between the CT coordinate system and the camera coordinate system. The prior art includes the following operations when registering: and selecting a region of the register distributed in the CT image, and setting a CT scanning threshold value to only display the morphology of the ceramic ball and the tooth of the register on the CT three-dimensional image, and identifying the position of the ceramic ball on the CT three-dimensional image based on an automatic registration algorithm to finish registration. The method can realize the basic registration function, but in the operation process, the distribution area of the register needs to be adjusted and the CT scanning threshold value needs to be set, the automatic identification rate is low, and the registration efficiency and the accuracy are not high.
As shown in fig. 1, a method of intraoral implant surgical registration, the method comprising the steps of:
s1, collecting oral cavity CBCT data of a patient with a registration device, and constructing a CT three-dimensional model based on the oral cavity CBCT data, wherein the registration device is provided with a plurality of registration balls and a plurality of pits. Prior to registration, the register needs to be worn in the patient's mouth and held relatively fixed with the patient's teeth; the registration device is clamped and fixed on the teeth, at least 4 silicon nitride ceramic pellets with the radius of 1mm are arranged on the registration device and serve as registration pellets, and a patient wears the registration device to shoot CBCT, so that CT image data with the registration device are obtained; the density of the ceramic pellet is 3.20g/cm3, the bone density of the adult skull is usually 0.8-1.2g/cm, the density of dentin is usually 2.5-3.0 g/cm, and the gray value of the registration pellet is higher in a CT three-dimensional model and is easy to show because the density of the ceramic pellet is higher than that of bones and teeth.
S2, acquiring a CT two-dimensional section image corresponding to the CT three-dimensional model, wherein the CT two-dimensional section image comprises an XY two-dimensional section image, a YZ two-dimensional section image and an XZ axis two-dimensional section image. And cutting the CT three-dimensional model in three directions to obtain corresponding sections, wherein an XY two-dimensional section image is obtained by cutting a plane formed by an X axis and a Y axis, a YZ two-dimensional section image is obtained by cutting a plane formed by a Y axis and a Z axis, and an XZ two-dimensional section image is obtained by cutting a plane formed by an X axis and a Z axis.
S3, scanning and cutting the CT three-dimensional model along the normal direction of the section until the registration circular spots corresponding to the registration pellets are identified in the CT two-dimensional section image. The term "scan-cut" in step S3 means that any one of the XY two-dimensional cross-sectional image, the YZ two-dimensional cross-sectional image, and the XZ two-dimensional cross-sectional image is scanned. Taking an XY two-dimensional cross-sectional image as an example, acquiring the XY two-dimensional cross-sectional image in a CT three-dimensional model, and continuously acquiring a plurality of XY two-dimensional cross-sectional images along a cross-sectional normal direction (namely, the Z-axis direction) until registration circular spots appear on the XY two-dimensional cross-sectional image.
S4, selecting a registration circular spot obtained by two-dimensional cross-section image recognition, fitting the registration circular spot to obtain a plane two-dimensional coordinate of the center of the registration circular spot, converting the plane two-dimensional coordinate of the center of the registration circular spot into a corresponding CT three-dimensional coordinate based on a conversion relation between a screen coordinate system and a CT three-dimensional coordinate system, selecting a corresponding spherical ROI (region of interest) in the CT three-dimensional model by taking the CT three-dimensional coordinate of the center of the registration circular spot as a central point, fitting a registration sphere in the spherical ROI region, and obtaining a CT three-dimensional coordinate value of the registration sphere.
S5, matching the register model to the CT three-dimensional model based on CT three-dimensional coordinate values of the registration sphere obtained by at least 4 fitting. Step S4 is repeated for at least 4 times to obtain 4 registration spheres and obtain CT three-dimensional coordinate values corresponding to the registration spheres, and positioning can be performed in a three-dimensional space based on the CT three-dimensional coordinate values of the 4 registration spheres so as to match the register model to the CT three-dimensional model. To this end, the first stage work of registration is completed based on the register.
S6, when the planting mobile phone is abutted to the pits of the register through the spherical drill bit, acquiring three-dimensional coordinate values of the cameras of the planting mobile phone, and determining the three-dimensional coordinate values of the cameras of the pits through the three-dimensional coordinate values of the cameras of the planting mobile phone. The planting mobile phone used in the step S6 is calibrated, the calibrated planting mobile phone can directly obtain the camera three-dimensional coordinate value of the planting mobile phone through the optical positioning instrument, and the three-dimensional coordinate conversion relationship between the planting mobile phone and the spherical drill bit is known in the design stage, and meanwhile, the spherical drill bit is propped against the pit of the register, so that the camera three-dimensional coordinate value of the pit can be determined through the camera three-dimensional coordinate value of the planting mobile phone.
S7, determining the CT three-dimensional coordinate value of the pit by combining the CT three-dimensional coordinate value of the registration sphere through the register model. In step S7, the three-dimensional coordinate conversion relationship between the registration sphere and the pit on the registration device can be known in the design stage, and the CT three-dimensional coordinate value of the registration sphere has been acquired in step S4, so the CT three-dimensional coordinate value of the pit can be acquired through the CT three-dimensional coordinate value of the registration sphere.
S8, establishing a conversion relation between the CT three-dimensional coordinate system and the camera coordinate system according to the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits. So far, based on the registration device and the planting mobile phone, the conversion relation between the CT coordinate system and the camera coordinate system can be established after the registration is completed.
The core innovation point of the technical scheme is that an XY two-dimensional cross-section image, a YZ two-dimensional cross-section image and an XZ axis two-dimensional cross-section image corresponding to a CT three-dimensional model are obtained, then the CT three-dimensional model is cut along a cross-section normal scan based on any CT two-dimensional cross-section image, and registration is carried out after at least 4 registration circular spots are identified and CT three-dimensional coordinate values corresponding to registration spheres are obtained.
The technical scheme is clearer in the aspects of scanning, cutting and identifying the registration circular spots, acquiring the CT three-dimensional coordinate values of the registration spheres based on the registration circular spots, registering based on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits, and the like, and is better than the prior art in which the registration circular spots are automatically identified and the registration spheres are automatically generated.
Preferably, in the step S4, selecting a registration circular spot obtained by identifying a two-dimensional cross-section image, and fitting the registration circular spot to obtain a planar two-dimensional coordinate of a center of the circle specifically includes the following steps:
and selecting a registration circular spot searching area in the two-dimensional sectional image according to a specific circle center and a specific radius, performing binarization processing and denoising filtering processing on the searching area, collecting registration circular spot data points, and recording two-dimensional coordinates corresponding to all the data points. In this step, the circle center can be determined by clicking the mouse, and the radius of the search area can be determined by presetting parameters, so that the corresponding search area can be determined by clicking the registration circular spot on the screen. Further, the data point collection is carried out after the binarization processing and the denoising filtering processing are carried out on the area, and the binarization processing and the denoising filtering processing can improve the reliability of the data point, so that the two-dimensional coordinates of the data point are more accurate.
The circle center coordinates of the estimated registration circular spot are (x 0, y 0) and the estimated circle center radius r are obtained, and the two-dimensional coordinates (x, y) corresponding to all data points are expressed as (x-x 0) square + (y-y 0) square =r. The circle center coordinates of the registration circular spot are estimated, namely, the circle center and the radius are estimated according to the two-dimensional coordinates of all data points collected in the searching area; the two-dimensional coordinates of all data points are further represented by the above equation.
The error square sum E (x 0, y 0) =Σ [ (xi-x 0) and + (yi-y 0) t [ j-r ] are analyzed by the error equation. The purpose of this step is to build an error pattern, building a least squares problem.
Calculating the error square sum E (x 0, y 0) partial derivative, and obtaining an equation set about the circle center coordinates of the registration circular spot based on the E (x 0, y 0) partial derivative:
∂E/∂x0=-4Σ[(xi-x0)²+(yi-y0)²-r²](xi-x0)=0
∂E/∂y0=-4Σ[(xi-x0)²+(yi-y0)²-r²](yi-y0)=0
and solving the equation set to obtain the accurate value of the circle center and the accurate value of the radius of the registration circular spot, and finishing fitting. So far, by solving the least square problem, the circle center accurate value and the radius accurate value are obtained, and the best fit circle can be obtained.
Based on the technical scheme, the searching area corresponding to the registration circular spot can be effectively identified and determined in the two-dimensional sectional image, the definition and the readability of data points in the area are improved through binarization processing and denoising filtering processing, and then the precise value of the circle center and the precise value of the radius are obtained through constructing and solving the least square problem so as to accurately obtain the plane two-dimensional coordinates of the circle center of the registration circular spot.
Preferably, in the step S4, the converting the planar two-dimensional coordinate of the circle center of the registration circular spot into the corresponding CT three-dimensional coordinate based on the conversion relationship between the screen coordinate system and the CT three-dimensional coordinate system specifically includes the following steps:
and converting the plane two-dimensional coordinates of the circle center of the registration circular spot into CT section coordinates according to the pixel size and the slice spacing of the CT three-dimensional model. In this step, the planar two-dimensional coordinates are (x 2, y 2), and the CT cross-sectional coordinates are (px 2, py 2), where px 2=x2×pixel size, py 2=y2×pixel size.
And converting the CT section coordinates of the circle center of the registration circular spot into CT volume coordinates according to the slice spacing and the pixel size of the CT two-dimensional section image in the CT three-dimensional model. And acquiring CT volume coordinates according to pz2=slice_index, wherein slice_index is an index of a CT section and represents the section of the CT volume.
And acquiring origin coordinates and direction vector information of the CT three-dimensional model, and converting the CT volume coordinates into CT three-dimensional coordinates in the CT three-dimensional model. Wherein the origin coordinates represent the origin position in the CT three-dimensional model, and the direction vectors represent directions of the x-axis, the y-axis and the z-axis.
Based on the steps, the point directly clicked during screen operation can be directly embodied in the CT three-dimensional model, and the method has the advantages of intuitiveness, rapidness, convenience and the like.
Preferably, in the step S4, selecting a corresponding spherical ROI area in the CT three-dimensional model with the CT three-dimensional coordinate of the center of the registration circular spot as a center point and fitting a registration sphere in the spherical ROI area specifically includes the following steps:
selecting a fitting region, obtaining a fitting radius, and selecting a spherical ROI region taking a CT three-dimensional coordinate registered with the circle center of the circular spot as a center point and taking the fitting radius as a radius on a CT three-dimensional model;
and performing CT value binarization processing on the selected spherical ROI region to obtain binarized image data. In this step, the CT values are binarized, and a threshold segmentation method is used to select a suitable threshold to separate the object from the background, so that the binarized image data can be highlighted from the back image.
And denoising the binarized image data. And denoising the binarized image to remove discrete noise points, so that the data processing efficiency can be improved. In practice, morphological operations such as corrosion and swelling may be used to remove small noise.
And fitting based on a fitting algorithm to obtain a registration sphere according to the binarized image data after denoising. In this step, a least squares method or other fitting algorithm may be used to fit the points in the binarized image to a sphere, i.e. the registration sphere.
Calculating the roundness of the registration sphere obtained by fitting; and when the roundness exceeds a preset threshold, finishing the fitting of the registration sphere, otherwise, re-selecting a fitting area and performing re-fitting. Roundness refers to the degree of similarity between an actual object and a fitted sphere. The roundness can be calculated using a roundness equation, with a closer roundness to 1 indicating a better fit. When the technical scheme is implemented in detail, the roundness is higher than 0.8 as a judgment standard.
Preferably, in the step S5, the matching the register model to the CT three-dimensional model based on the CT three-dimensional coordinate values of the registration spheres obtained by at least 4 fitting specifically includes the following steps:
and analyzing according to at least 4 CT three-dimensional coordinate values to obtain the point cloud data of each registration sphere. In three-dimensional space, 3 points form a plane, so that the basic pose of an object can be determined based on at least 4 points. In the step, point cloud data of 4 registration spheres are used for data processing before matching.
And extracting point cloud data of the CT three-dimensional model.
And (3) preprocessing data, namely denoising, filtering and sampling the point cloud data of the registration sphere and the point cloud data of the CT three-dimensional model. The purpose of this step is to improve the accuracy and efficiency of the data processing.
And aligning the point cloud data of each registration sphere to an initial position for taking the CT three-dimensional model according to the initial transformation matrix. The point cloud data of the 4 registration spheres are approximately aligned to the initial position of the CT three-dimensional model by selecting an initial transformation matrix. In particular, a manual selection or an automatic selection algorithm may be used to estimate the initial transformation matrix.
Using an iterative approach, matching is accomplished by optimizing the results of the initial alignment by minimizing the distance between the point clouds or maximizing the metric function of the alignment. In this step, an iteration may be performed using the ICP (Iterative Closest Point) algorithm and the non-rigid registration algorithm.
Based on the technical scheme, the register model can be matched to the CT three-dimensional model in a simple mode.
Preferably, in the step S8, establishing a conversion relationship between the CT three-dimensional coordinate system and the camera coordinate system specifically includes:
and acquiring the camera three-dimensional coordinate values of the pits and the CT three-dimensional coordinate values of the pits.
And carrying out mean value operation on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits to obtain a translation vector.
And obtaining the rotation matrix by carrying out least square operation on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits.
Calculating Euclidean distance A of a camera three-dimensional coordinate value of the pit in a camera coordinate system, calculating Euclidean distance B of a CT three-dimensional coordinate value of the pit in the CT three-dimensional coordinate system, and analyzing according to a scaling factor delta sigma (Euclidean distance A/Euclidean distance B) to obtain a scaling factor; wherein Σ represents summing euclidean distance a/euclidean distance B corresponding to a plurality of pits.
And establishing a conversion relation between the CT three-dimensional coordinate system and the camera coordinate system according to the translation vector, the rotation matrix and the scaling factor.
The aim of registration before the implant surgery is to establish a conversion relation between a CT coordinate system and a camera coordinate system, thereby laying a data foundation for real-time navigation. Through the steps, a conversion relation can be established between the CT three-dimensional coordinate system and the camera coordinate system, and registration is completed.
As shown in fig. 2, correspondingly, an oral implant surgical registration system comprising:
the model construction module 1 is used for collecting oral cavity CBCT data of a patient with a registration device, constructing a CT three-dimensional model based on the oral cavity CBCT data, and arranging a plurality of registration balls and a plurality of pits on the registration device;
the section data acquisition module 2 is used for acquiring a CT two-dimensional section image corresponding to the CT three-dimensional model, wherein the CT two-dimensional section image comprises an XY two-dimensional section image, a YZ two-dimensional section image and an XZ two-dimensional section image;
the circular spot identification module 3 is used for scanning and cutting the CT three-dimensional model along the normal direction of the section until the registration circular spot corresponding to the registration pellet is identified in the CT two-dimensional section image;
the sphere fitting module 4 is used for selecting a registration circular spot obtained by two-dimensional cross-section image recognition, fitting the registration circular spot to obtain a plane two-dimensional coordinate of the center of the registration circular spot, converting the plane two-dimensional coordinate of the center of the registration circular spot into a corresponding CT three-dimensional coordinate based on a conversion relation between a screen coordinate system and a CT three-dimensional coordinate system, selecting a corresponding spherical ROI (region of interest) in the CT three-dimensional model by taking the CT three-dimensional coordinate of the center of the registration circular spot as a central point, fitting a registration sphere in the spherical ROI region, and obtaining a CT three-dimensional coordinate value of the registration sphere;
a model matching module 5, configured to match the register model to the CT three-dimensional model based on CT three-dimensional coordinate values of the registration spheres obtained by at least 4 fitting;
the first coordinate acquisition module 6 is used for acquiring a camera three-dimensional coordinate value of the planting mobile phone when the planting mobile phone is propped against the pits of the register through the spherical drill bit, and determining the camera three-dimensional coordinate value of the pits through the camera three-dimensional coordinate value of the planting mobile phone;
the second coordinate acquisition module 7 is used for determining CT three-dimensional coordinate values of the pits by combining the CT three-dimensional coordinate values of the registration sphere through the register model;
and the registration module 8 is used for establishing a conversion relation between the CT three-dimensional coordinate system and the camera coordinate system according to the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits to finish registration.
Preferably, for selecting a corresponding spherical ROI area in the CT three-dimensional model with the CT three-dimensional coordinate of the center of the registration circular spot as a center point and fitting a registration sphere in the spherical ROI area, the sphere fitting module includes:
the circular area selecting unit is used for selecting a registration circular spot searching area in the two-dimensional cross-section image according to a specific circle center and a specific radius, performing binarization processing and denoising filtering processing on the searching area, collecting registration circular spot data points, and recording two-dimensional coordinates corresponding to all the data points;
the estimating unit is used for acquiring the estimated circle center coordinates of the registration circular spots as (x 0, y 0) and the estimated circle center radius r, and representing the two-dimensional coordinates (x, y) corresponding to all data points as (x-x 0) and + (y-y 0) as (x-x 0);
a least squares problem building unit for analyzing the error square sum E (x 0, y 0) =Σ [ (xi-x 0) for + (yi-y 0) jj-r by an error equation;
the least square problem solving unit is used for calculating the error square sum E (x 0, y 0) partial derivative and obtaining an equation set about the circle center coordinates of the registration circular spot based on the E (x 0, y 0) partial derivative:
∂E/∂x0=-4Σ[(xi-x0)²+(yi-y0)²-r²](xi-x0)=0
∂E/∂y0=-4Σ[(xi-x0)²+(yi-y0)²-r²](yi-y0)=0
and solving the equation set to obtain the accurate value of the circle center and the accurate value of the radius of the registration circular spot, and finishing fitting.
Preferably, for converting the planar two-dimensional coordinates of the circle center of the registration circular spot into corresponding CT three-dimensional coordinates based on the conversion relation between the screen coordinate system and the CT three-dimensional coordinate system, the sphere fitting module includes:
the first coordinate conversion unit is used for converting the plane two-dimensional coordinates of the circle center of the registration circular spot into CT section coordinates according to the pixel size and the slice spacing of the CT three-dimensional model;
the second coordinate conversion unit is used for converting CT section coordinates of the circle center of the registration circular spot into CT volume coordinates according to the slice spacing and the pixel size of the CT two-dimensional section image in the CT three-dimensional model;
the third coordinate conversion unit is used for converting the CT volume coordinate into a CT three-dimensional coordinate in the CT three-dimensional model;
selecting a corresponding spherical ROI region in a CT three-dimensional model by taking CT three-dimensional coordinates of the circle center of the registration circular spot as a center point and fitting a registration sphere in the spherical ROI region, wherein the sphere fitting module comprises:
the spherical region selecting unit is used for acquiring a fitting radius and selecting a spherical ROI region taking the CT three-dimensional coordinate registered with the circle center of the circular spot as a center point and taking the fitting radius as a radius on the CT three-dimensional model;
the binarization unit is used for performing CT value binarization processing on the selected spherical ROI area to obtain binarized image data;
the denoising unit is used for denoising the binarized image data;
the sphere fitting unit is used for fitting to obtain a registration sphere based on a fitting algorithm according to the binarized image data after denoising;
the roundness calculation unit is used for calculating the roundness of the registration sphere obtained by fitting; and when the roundness exceeds a preset threshold, finishing the fitting of the registration sphere, otherwise, re-selecting a fitting area and performing re-fitting.
Preferably, the model matching module includes:
the data analysis unit is used for analyzing and obtaining point cloud data of each registration sphere according to at least 4 CT three-dimensional coordinate values;
the data extraction unit is used for extracting point cloud data of the CT three-dimensional model;
the data preprocessing unit is used for denoising, filtering and sampling the point cloud data of the registration sphere and the point cloud data of the CT three-dimensional model;
the alignment unit is used for aligning the point cloud data of each registration sphere to an initial position for taking the CT three-dimensional model according to the initial transformation matrix;
and the iteration matching unit is used for optimizing the initial alignment result by minimizing the distance between the point clouds or maximizing the alignment metric function so as to complete matching.
Preferably, the registration module comprises:
the coordinate acquisition unit is used for acquiring the camera three-dimensional coordinate values of the pits and the CT three-dimensional coordinate values of the pits;
the first operation unit is used for obtaining a translation vector by carrying out mean value operation on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits;
the second operation unit is used for obtaining a rotation matrix by carrying out least square operation on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits;
the third operation unit is used for calculating Euclidean distance A of the camera three-dimensional coordinate value of the pit in the camera coordinate system, calculating Euclidean distance B of the CT three-dimensional coordinate value of the pit in the CT three-dimensional coordinate system, and analyzing according to the scaling factor = Σ (Euclidean distance A/Euclidean distance B) to obtain a scaling factor; wherein, sigma represents summing Euclidean distance A/Euclidean distance B corresponding to the plurality of pits;
and the comprehensive analysis unit is used for establishing a conversion relation between the CT three-dimensional coordinate system and the camera coordinate system according to the translation vector, the rotation matrix and the scaling factor.
Correspondingly, a storage medium storing a computer program comprising program instructions which, when executed by a processor, perform the method of oral implant surgery registration as described above.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (10)
1. A method of intraoral implant surgical registration comprising the steps of:
s1, collecting oral cavity CBCT data of a patient with a registration device, and constructing a CT three-dimensional model based on the oral cavity CBCT data, wherein the registration device is provided with a plurality of registration balls and a plurality of pits;
s2, acquiring a CT two-dimensional section image corresponding to the CT three-dimensional model, wherein the CT two-dimensional section image comprises an XY two-dimensional section image, a YZ two-dimensional section image and an XZ axis two-dimensional section image;
s3, scanning and cutting the CT three-dimensional model along the normal direction of the section until a registration circular spot corresponding to the registration ball is identified in the CT two-dimensional section image;
s4, selecting a registration circular spot obtained by two-dimensional cross-section image recognition, fitting the registration circular spot to obtain a plane two-dimensional coordinate of a circle center of the registration circular spot, converting the plane two-dimensional coordinate of the circle center of the registration circular spot into a corresponding CT three-dimensional coordinate based on a conversion relation between a screen coordinate system and a CT three-dimensional coordinate system, selecting a corresponding spherical ROI (region of interest) in a CT three-dimensional model by taking the CT three-dimensional coordinate of the circle center of the registration circular spot as a central point, fitting a registration sphere in the spherical ROI, and obtaining a CT three-dimensional coordinate value of the registration sphere;
s5, matching the register model to the CT three-dimensional model based on CT three-dimensional coordinate values of the registration spheres obtained by at least 4 fitting;
s6, when the planting mobile phone is abutted to the pits of the register through the spherical drill bit, acquiring three-dimensional coordinate values of a camera of the planting mobile phone, and determining the three-dimensional coordinate values of the camera of the pits through the three-dimensional coordinate values of the camera of the planting mobile phone;
s7, determining CT three-dimensional coordinate values of the pits by combining the CT three-dimensional coordinate values of the registration spheres through the register model;
s8, according to the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits, a conversion relation is established between the CT three-dimensional coordinate system and the camera coordinate system, and registration is completed.
2. The method according to claim 1, wherein in the step S4, selecting a registration circular spot obtained by identifying a two-dimensional cross-section image, and fitting the registration circular spot to obtain a planar two-dimensional coordinate of a center of the circle comprises the following steps:
selecting a registration circular spot searching area according to a specific circle center and a specific radius, performing binarization processing and denoising filtering processing on the searching area, collecting registration circular spot data points, and recording two-dimensional coordinates corresponding to all the data points;
acquiring the circle center coordinates of an estimated registration circular spot as (x 0, y 0) and the estimated circle center radius r, and representing two-dimensional coordinates (x, y) corresponding to all data points as (x-x 0) set + (y-y 0) set =r;
analyzing the error square sum E (x 0, y 0) =Σ [ (xi-x 0) and + (yi-y 0) jj, ] by an error equation;
calculating the error square sum E (x 0, y 0) partial derivative, and obtaining an equation set about the circle center coordinates of the registration circular spot based on the E (x 0, y 0) partial derivative:
∂E/∂x0=-4Σ[(xi-x0)²+(yi-y0)²-r²](xi-x0)=0
∂E/∂y0=-4Σ[(xi-x0)²+(yi-y0)²-r²](yi-y0)=0
solving the equation set to obtain an accurate value of the circle center and an accurate value of the radius of the registration circular spot, and finishing fitting;
in the step S4, converting the planar two-dimensional coordinates of the circle center of the registration circular spot into corresponding CT three-dimensional coordinates based on the conversion relationship between the screen coordinate system and the CT three-dimensional coordinate system specifically includes the following steps:
converting the plane two-dimensional coordinates of the circle center of the registration circular spot into CT section coordinates according to the pixel size and the slice spacing of the CT three-dimensional model;
converting CT section coordinates of the circle center of the registration circular spot into CT volume coordinates according to the slice spacing and the pixel size of the CT two-dimensional section image in the CT three-dimensional model;
and converting the CT volume coordinates into CT three-dimensional coordinates in the CT three-dimensional model.
3. The method according to claim 1, wherein in the step S4, selecting a corresponding spherical ROI area in the CT three-dimensional model with the CT three-dimensional coordinate of the center of the circle of the registration circular spot as a center point and fitting a registration sphere in the spherical ROI area comprises the following steps:
selecting a fitting region, obtaining a fitting radius, and selecting a spherical ROI region taking a CT three-dimensional coordinate registered with the circle center of the circular spot as a center point and taking the fitting radius as a radius on a CT three-dimensional model;
performing CT value binarization processing on the selected spherical ROI region to obtain binarization image data;
denoising the binarized image data;
fitting based on a fitting algorithm to obtain a registration sphere according to the binarized image data after denoising;
calculating the roundness of the registration sphere obtained by fitting; and when the roundness exceeds a preset threshold, finishing the fitting of the registration sphere, otherwise, re-selecting a fitting area and performing re-fitting.
4. The method according to claim 1, wherein in the step S5, the matching the register model to the CT three-dimensional model based on the CT three-dimensional coordinate values of the at least 4 fitted registration spheres comprises the following steps:
analyzing according to at least 4 CT three-dimensional coordinate values to obtain point cloud data of each registration sphere;
extracting point cloud data of a CT three-dimensional model;
data preprocessing, namely denoising, filtering and sampling point cloud data of the registration sphere and point cloud data of the CT three-dimensional model;
aligning the point cloud data of each registration sphere to an initial position of a CT three-dimensional model according to the initial transformation matrix;
using an iterative approach, matching is accomplished by optimizing the results of the initial alignment by minimizing the distance between the point clouds or maximizing the metric function of the alignment.
5. The method according to claim 1, wherein in step S8, the step of establishing a conversion relationship between the CT three-dimensional coordinate system and the camera coordinate system specifically includes:
acquiring a camera three-dimensional coordinate value of the pit and a CT three-dimensional coordinate value of the pit;
obtaining a translation vector by carrying out mean value operation on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits;
obtaining a rotation matrix by carrying out least square operation on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits;
calculating Euclidean distance A of a camera three-dimensional coordinate value of the pit in a camera coordinate system, calculating Euclidean distance B of a CT three-dimensional coordinate value of the pit in the CT three-dimensional coordinate system, and analyzing according to a scaling factor delta sigma (Euclidean distance A/Euclidean distance B) to obtain a scaling factor; wherein, sigma represents summing Euclidean distance A/Euclidean distance B corresponding to the plurality of pits;
and establishing a conversion relation between the CT three-dimensional coordinate system and the camera coordinate system according to the translation vector, the rotation matrix and the scaling factor.
6. An oral implant surgical registration system, comprising:
the model construction module is used for collecting oral cavity CBCT data of a patient with a registration device, constructing a CT three-dimensional model based on the oral cavity CBCT data, and arranging a plurality of registration balls and a plurality of pits on the registration device;
the cross-section data acquisition module is used for acquiring CT two-dimensional cross-section images corresponding to the CT three-dimensional model, wherein the CT two-dimensional cross-section images comprise XY two-dimensional cross-section images, YZ two-dimensional cross-section images and XZ two-dimensional cross-section images;
the circular spot identification module is used for scanning and cutting the CT three-dimensional model along the normal direction of the section until the registration circular spot corresponding to the registration ball is identified in the CT two-dimensional section image;
the sphere fitting module is used for selecting a registration circular spot obtained by two-dimensional cross-section image recognition, fitting the registration circular spot to obtain a plane two-dimensional coordinate of the center of the registration circular spot, converting the plane two-dimensional coordinate of the center of the registration circular spot into a corresponding CT three-dimensional coordinate based on a conversion relation between a screen coordinate system and a CT three-dimensional coordinate system, selecting a corresponding spherical ROI (region of interest) in the CT three-dimensional model by taking the CT three-dimensional coordinate of the center of the registration circular spot as a central point, fitting a registration sphere in the spherical ROI region, and obtaining a CT three-dimensional coordinate value of the registration sphere;
the model matching module is used for matching the register model to the CT three-dimensional model based on CT three-dimensional coordinate values of the registration spheres obtained by at least 4 fitting;
the first coordinate acquisition module is used for acquiring a camera three-dimensional coordinate value of the planting mobile phone when the planting mobile phone is propped against the pits of the register through the spherical drill bit, and determining the camera three-dimensional coordinate value of the pits through the camera three-dimensional coordinate value of the planting mobile phone;
the second coordinate acquisition module is used for determining CT three-dimensional coordinate values of the pits by combining the CT three-dimensional coordinate values of the registration spheres through the register model;
and the registration module is used for establishing a conversion relation between the CT three-dimensional coordinate system and the camera coordinate system according to the camera three-dimensional coordinate value and the CT three-dimensional coordinate value of the pit to finish registration.
7. The system of claim 6, wherein for selecting a corresponding spherical ROI area in the CT three-dimensional model with the CT three-dimensional coordinates of the center of the registered circular spot as the center point and fitting a registered sphere in the spherical ROI area, the sphere fitting module comprises:
the circular area selecting unit is used for selecting a registration circular spot searching area according to a specific circle center and radius, performing binarization processing and denoising filtering processing on the searching area, collecting registration circular spot data points, and recording two-dimensional coordinates corresponding to all the data points;
the estimating unit is used for acquiring the estimated registration circular spot circle center coordinates as (x 0, y 0) and the estimated circle center radius r, and representing the two-dimensional coordinates (x, y) corresponding to all data points as (x-x 0) and + (y-y 0) as (x-x 0);
a least squares problem building unit for analyzing the error square sum E (x 0, y 0) =Σ [ (xi-x 0) for + (yi-y 0) jj-r by an error equation;
the least square problem solving unit is used for calculating the error square sum E (x 0, y 0) partial derivative and obtaining an equation set about the circle center coordinates of the registration circular spot based on the E (x 0, y 0) partial derivative:
∂E/∂x0=-4Σ[(xi-x0)²+(yi-y0)²-r²](xi-x0)=0
∂E/∂y0=-4Σ[(xi-x0)²+(yi-y0)²-r²](yi-y0)=0
solving the equation set to obtain an accurate value of the circle center and an accurate value of the radius of the registration circular spot, and finishing fitting;
for converting the plane two-dimensional coordinates of the circle center of the registration circular spot into corresponding CT three-dimensional coordinates based on the conversion relation between the screen coordinate system and the CT three-dimensional coordinate system, the sphere fitting module comprises:
the first coordinate conversion unit is used for converting the plane two-dimensional coordinates of the circle center of the registration circular spot into CT section coordinates according to the pixel size and the slice spacing of the CT three-dimensional model;
the second coordinate conversion unit is used for converting CT section coordinates of the circle center of the registration circular spot into CT volume coordinates according to the slice spacing and the pixel size of the CT two-dimensional section image in the CT three-dimensional model;
the third coordinate conversion unit is used for converting the CT volume coordinate into a CT three-dimensional coordinate in the CT three-dimensional model;
selecting a corresponding spherical ROI region in a CT three-dimensional model by taking CT three-dimensional coordinates of the circle center of the registration circular spot as a center point and fitting a registration sphere in the spherical ROI region, wherein the sphere fitting module comprises:
the spherical region selecting unit is used for acquiring a fitting radius and selecting a spherical ROI region taking the CT three-dimensional coordinate registered with the circle center of the circular spot as a center point and taking the fitting radius as a radius on the CT three-dimensional model;
the binarization unit is used for performing CT value binarization processing on the selected spherical ROI area to obtain binarized image data;
the denoising unit is used for denoising the binarized image data;
the sphere fitting unit is used for fitting to obtain a registration sphere based on a fitting algorithm according to the binarized image data after denoising;
the roundness calculation unit is used for calculating the roundness of the registration sphere obtained by fitting; and when the roundness exceeds a preset threshold, finishing the fitting of the registration sphere, otherwise, re-selecting a fitting area and performing re-fitting.
8. The dental implant surgical registration system of claim 6, wherein the model matching module comprises:
the data analysis unit is used for analyzing and obtaining point cloud data of each registration sphere according to at least 4 CT three-dimensional coordinate values;
the data extraction unit is used for extracting point cloud data of the CT three-dimensional model;
the data preprocessing unit is used for denoising, filtering and sampling the point cloud data of the registration sphere and the point cloud data of the CT three-dimensional model;
the alignment unit is used for aligning the point cloud data of each registration sphere to an initial position for taking the CT three-dimensional model according to the initial transformation matrix;
and the iteration matching unit is used for optimizing the initial alignment result by minimizing the distance between the point clouds or maximizing the alignment metric function so as to complete matching.
9. The dental implant surgical registration system of claim 6, wherein the registration module comprises:
the coordinate acquisition unit is used for acquiring the camera three-dimensional coordinate values of the pits and the CT three-dimensional coordinate values of the pits;
the first operation unit is used for obtaining a translation vector by carrying out mean value operation on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits;
the second operation unit is used for obtaining a rotation matrix by carrying out least square operation on the camera three-dimensional coordinate values and the CT three-dimensional coordinate values of the pits;
the third operation unit is used for calculating Euclidean distance A of the camera three-dimensional coordinate value of the pit in the camera coordinate system, calculating Euclidean distance B of the CT three-dimensional coordinate value of the pit in the CT three-dimensional coordinate system, and analyzing according to the scaling factor = Σ (Euclidean distance A/Euclidean distance B) to obtain a scaling factor; wherein, sigma represents summing Euclidean distance A/Euclidean distance B corresponding to the plurality of pits;
and the comprehensive analysis unit is used for establishing a conversion relation between the CT three-dimensional coordinate system and the camera coordinate system according to the translation vector, the rotation matrix and the scaling factor.
10. A storage medium storing a computer program comprising program instructions which, when executed by a processor, perform the method of oral implant surgical registration of any one of claims 1-5.
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