CN117137659A - Navigation guide plate, navigation system and navigation method for oral implantation operation - Google Patents
Navigation guide plate, navigation system and navigation method for oral implantation operation Download PDFInfo
- Publication number
- CN117137659A CN117137659A CN202311067792.XA CN202311067792A CN117137659A CN 117137659 A CN117137659 A CN 117137659A CN 202311067792 A CN202311067792 A CN 202311067792A CN 117137659 A CN117137659 A CN 117137659A
- Authority
- CN
- China
- Prior art keywords
- guide plate
- planting
- plate base
- oral cavity
- patient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000002513 implantation Methods 0.000 title claims abstract description 22
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 10
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 210000000214 mouth Anatomy 0.000 claims description 74
- 239000007943 implant Substances 0.000 claims description 57
- 239000000523 sample Substances 0.000 claims description 16
- 238000001356 surgical procedure Methods 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 abstract description 7
- 239000000700 radioactive tracer Substances 0.000 abstract description 7
- 230000005855 radiation Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 239000003550 marker Substances 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 210000004400 mucous membrane Anatomy 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000004053 dental implant Substances 0.000 description 1
- 210000004513 dentition Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000003589 local anesthetic agent Substances 0.000 description 1
- 238000010882 preoperative diagnosis Methods 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000036346 tooth eruption Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
- A61C8/009—Implanting tools or instruments for selecting the right implanting element, e.g. templates
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
- A61C11/005—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings with tracing devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C9/00—Impression cups, i.e. impression trays; Impression methods
- A61C9/004—Means or methods for taking digitized impressions
- A61C9/0046—Data acquisition means or methods
- A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Dental Prosthetics (AREA)
Abstract
The invention provides a navigation guide plate, a navigation system and a navigation method for oral implantation operation, which relate to the technical field of oral implantation and comprise the following steps: the tooth guide plate is matched with the shape of the remained teeth of the patient and is used for being attached to the remained teeth of the patient after being fixedly connected with the guide plate base; the middle part of the guide plate base is provided with a cavity through which the dental bed of the patient is exposed; the side wall of the guide plate base is provided with a guide hole, and the guide plate base is fixed on an alveolar bone by penetrating the guide hole through a fixing needle; a plurality of marking holes are formed in the edge of the outer surface of the top of the guide plate base; one side of the guide plate base close to the outer side of the gum is provided with a connecting part, and a tracing mark is inserted into the connecting part. The beneficial effects are that through the mark point of pre-opening on the baffle base, inaccurate factor when having avoided the registration operation has improved the uniformity of registration operation, for the tracer mark provides reliable and stable installation basis, the planting point of accurate positioning planting dental crown avoids the secondary oral scan in the art, reduces the radiation uptake.
Description
Technical Field
The invention relates to the field of oral implantation, in particular to a navigation guide plate, a navigation system and a navigation method for oral implantation operation.
Background
With the continuous development of oral implant medicine and the increasingly mature digital auxiliary technology, especially the popularization of CBCT (Cone Beam CT), intraoral (external) scanning technology and 3D printing technology, doctors can carry out preoperative diagnosis and implant scheme planning by means of professional digital implant design software based on CT image information and related restoration of patients, and then the preoperative planned implant scheme is accurately applied to implant operations to assist doctors to complete accurate treatment through implant guide plates, dynamic navigation or a robot positioning navigation system. The key step is that the independent coordinate systems in the navigation (board) system are combined together through registration, and the space mapping relation among the coordinate systems is established, so that the virtual medical image model is used for guiding the operation in the real environment.
At present, a mark point registration method is commonly adopted, namely, a space mapping relation is established by establishing a mapping relation between mark points on a medical image and corresponding mark points on a human body, and the mark points are commonly selected from jawbones or teeth as anatomical mark points. However, the method depends on the selection method of doctors during the registration operation, the inaccurate selection can generate registration errors, the implant implantation precision is finally affected, and the consistency of the operations of all doctors cannot be ensured.
For the patient with dentition deficiency, only mucous membrane supports under the guide plate when the guide plate is worn in the oral navigation (plate) operation, and the mucous membrane has certain elasticity, can not provide a rigid support foundation, and is difficult to achieve higher fixing precision, so that the accurate full-mouth implantation navigation (plate) operation can not be carried out. And when the temporary dental crown is installed after operation, as the reference of installation positioning is not available, the temporary dental crown has larger movable quantity at the position installed on the temporary abutment, and the abnormal occlusion relationship between the upper jaw and the lower jaw can be caused by the inaccurate installation position, so that the oral health is influenced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a navigation guide plate for oral implantation operation, which comprises the following components:
the tooth guide plate is matched with the shape of the remained teeth of the patient and is used for being attached to the remained teeth of the patient after being fixedly connected with the guide plate base;
a cavity is formed in the middle of the guide plate base, and the gum of the patient is exposed through the cavity;
a guide hole is formed in the side wall of the guide plate base, and the guide plate base is fixed on an alveolar bone through a fixing needle penetrating through the guide hole;
a plurality of marking holes are formed in the edge of the outer surface of the top of the guide plate base;
and a connecting part is arranged on one side of the guide plate base close to the outer side of the gum, and a tracing mark is inserted into the connecting part.
Preferably, the tooth guide plate and the guide plate base are fixedly connected through a mortise and tenon structure, and the mortise and tenon structure comprises:
the bottom of the tooth guide plate is provided with a clamping groove, and the top of the guide plate base is correspondingly provided with a clamping block;
or (b)
The bottom of the tooth guide plate is provided with a clamping block, and the top of the guide plate base is correspondingly provided with a clamping groove.
Preferably, each guide hole is obliquely arranged on the guide plate base, and the opening direction of each guide hole is inconsistent.
Preferably, each marking hole is a conical hole or a spherical hole.
The invention also provides a navigation system for oral implantation surgery, comprising:
the oral cavity scanning device is used for scanning the oral cavity of a patient to obtain a digital oral cavity model, and marking holes and planting points on the digital oral cavity model;
the navigation guide plate is manufactured according to the digital oral cavity model and is then worn on the dental bed of a patient;
implanting dental crowns, and manufacturing according to the digital oral cavity model;
the positioning sensor is arranged towards the oral cavity of the patient and is used for scanning the tracing marks through infrared light after the navigation guide plate is worn on the dental bed of the patient to obtain mark coordinates of the tracing marks under a sensor coordinate system of the positioning sensor, and then registering the corresponding plurality of registration points with each mark hole on the navigation guide plate through a matching probe which is in wireless connection with the positioning sensor to obtain a plurality of corresponding registration points, and determining the registration point coordinates of each registration point under the sensor coordinate system by taking the mark coordinates as a datum point;
the planting robot is connected with the positioning sensor and used for determining planting coordinates of the planting points according to the registering point coordinates and planting the planting body at the planting points, and then a doctor combines and fixes the planting dental crowns with the guide plate base on the planting body.
The invention also provides a navigation method for the oral implantation operation, which is applied to the navigation system and comprises the following steps:
step S1, controlling an oral cavity scanning device to scan the oral cavity of a patient to obtain an oral cavity digital model, marking points and implantation points, and manufacturing the tooth guide plate, the guide plate base and the implantation dental crowns according to the oral cavity digital model;
s2, the dental guide plate is assembled with the dental guide plate, the guide plate base is worn on the dental bed of a patient, the guide plate base plate is fixed on the dental bed, and then the dental guide plate is disassembled;
step S3, the positioning sensor scans the tracing mark to obtain the mark coordinate of the tracing mark under a sensor coordinate system of the positioning navigator, then the matching probe is used for registering the guide plate base to obtain a plurality of registration points, and the registration point coordinates of the registration points under the sensor coordinate system are determined by taking the mark coordinate as a datum point;
and S4, determining the planting coordinates of the planting points under the sensor coordinate system according to the registering point coordinates by the planting robot, planting the implant at the planting points, and combining and fixing the implant crowns and the guide plate base on the implant by a doctor.
Preferably, the oral scanning device includes an intraoral scanner and a cone beam CT, and the step S1 includes:
step S11, scanning the oral cavity of the patient by using the cone beam CT to obtain a first oral model;
step S12, scanning the oral cavity of the patient by using the oral cavity scanner to obtain a second oral cavity model;
step S13, registering and fusing the first oral cavity model and the second oral cavity model to be used as the oral cavity digital model, and marking the planting points and the marking holes on the oral cavity digital model;
and S14, manufacturing the tooth guide plate, the guide plate base and the implant dental crowns according to the oral cavity digital model.
Preferably, the step S2 includes:
step S21, after the tooth guide plate is fixedly connected with the guide plate base plate, the tooth guide plate is worn on the remained teeth of the patient;
and S22, fixing the guide plate base on the alveolar bone of the patient through the guide holes by the fixing nails, and then detaching the tooth guide plate.
Preferably, the step S3 includes:
step S31, the positioning sensor detects the tracing mark by using infrared light to obtain the mark coordinate of the tracing mark under a sensor coordinate system of the positioning navigator as a reference point;
and S32, sequentially contacting the tip of a matching probe in wireless connection with a positioning sensor with each marking hole on the guide plate base to register to obtain corresponding registration points, and obtaining the registration point coordinates of each registration point under the sensor coordinate system according to the spatial distance between each registration point and the reference point.
Preferably, the step S4 includes:
step S41, the positioning sensor detects the mark coordinates of the tracing mark in real time, and updates the registration point coordinates according to the mark coordinates;
step S42, the planting robot determines planting point coordinates of the planting points under the sensor coordinate system according to the spatial distance of the planting points relative to each registered point;
step S43, the doctor combines the implant dental crown with the guide plate base and fixes the implant dental crown on the implant.
The technical scheme has the following advantages or beneficial effects:
1) By pre-arranging the marking points on the guide plate base, inaccurate registration caused by marking anatomical feature points selected according to experience of doctors during registration operation is avoided, consistency of registration operation is improved, and the marking holes are positioned near an intraoral operation area of a patient, so that registration errors are reduced compared with the positions arranged at other positions;
2) The guide plate base and the remained teeth of the patient are guided to be in place through the tooth guide plate, the guide plate base and the tooth guide plate are fixed in an auxiliary mode through the mortise and tenon structure, and then the guide plate base and the tooth guide plate are rigidly connected through the fixed bone nails or the fixed needles, so that a stable and reliable installation basis is provided for the patient tracing marking plate, the implantation point for implanting the dental crown is accurately positioned, the positioning accuracy of the operation is improved, the secondary CBCT which needs registration and patient shooting in the operation is avoided, and the radiation intake is reduced;
3) The temporary implant dental crowns are manufactured by taking repair as a guide and accurately worn on the dental beds of the patients after the implant is planted by the planting robot, so that the accurate occlusion is realized by taking repair as the guide to manufacture the implant dental crowns, and the effect of immediate repair is achieved.
Drawings
FIG. 1 is a schematic view of a guide plate for an oral implant surgery according to a preferred embodiment of the present invention;
FIG. 2 is a schematic side view of a guide plate for oral implant surgery after being worn according to a preferred embodiment of the present invention
FIG. 3 is a schematic view of a navigation system for oral implant surgery according to a preferred embodiment of the present invention;
FIG. 4 is a flow chart of a navigation method for oral implant surgery in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic flow chart of step S1 in a preferred embodiment of the invention;
FIG. 6 is a schematic flow chart of step S2 in the preferred embodiment of the present invention;
FIG. 7 is a schematic flow chart of step S3 in the preferred embodiment of the present invention;
fig. 8 is a schematic flow chart of step S4 in the preferred embodiment of the invention.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present invention is not limited to the embodiment, and other embodiments may fall within the scope of the present invention as long as they conform to the gist of the present invention.
In accordance with the above-mentioned problems of the prior art, a navigation guide for an oral implant surgery is provided according to a preferred embodiment of the present invention, as shown in fig. 1 and 2, comprising:
the tooth guide plate 1 is matched with the shape of the remained teeth of the patient and is used for being attached to the remained teeth of the patient after being fixedly connected with the guide plate base 2;
the middle part of the guide plate base 2 is provided with a cavity through which the dental beds of the patients are exposed;
a guide hole 21 is formed in the side wall of the guide plate base 2, and the guide plate base is fixed on an alveolar bone by a fixing needle penetrating through the guide hole 21;
a plurality of marking holes 22 are arranged on the top outer surface of the guide plate base 2 along the edge;
a connecting part 23 is arranged on one side of the guide plate base 2 close to the outer side of the gum, and a tracing mark is inserted into the connecting part 23.
In a preferred embodiment of the present invention, the tooth guide plate 1 and the guide plate base 2 are fixedly connected by a mortise and tenon structure, as shown in fig. 1 and 2, the mortise and tenon structure includes:
the bottom of the tooth guide plate 1 is provided with a clamping groove, and the top of the guide plate base 2 is correspondingly provided with a clamping block; or (b)
The bottom of the tooth guide plate 1 is provided with a clamping block, and the top of the guide plate base 2 is correspondingly provided with a clamping groove.
In the preferred embodiment of the present invention, each guide hole 21 is provided obliquely to the guide base 2, and the opening directions of each guide hole 21 are not uniform.
Specifically, in this embodiment, as shown in fig. 1, a plurality of marking holes 22 are formed on the outer edge of the side wall of the guide plate base 2, before the guide plate base 2 is manufactured, the positions of the marking holes 22 need to be determined according to the oral cavity digital model of the patient, in the operation process, the doctor does not need to search for the characteristic points of the anatomical structure of the patient to mark by self experience, the consistency of the registration operation is ensured, and the marking holes 22 are located near the intraoral operation area of the patient, so that the registration error is reduced compared with the arrangement at other positions;
guide holes 21 are provided at both sides of the guide plate base 2 near the inside of the gum, the guide plate base 2 is fixed to the alveolar bone by passing the fixing pin through the guide holes 21, the guide holes located at the outside of the gum may be provided at the middle or both sides of the guide plate base, the guide holes located at the inside of the gum may be provided at the positions in fig. 1, the guide holes 21 located at the outside of the gum may be horizontally provided, and the guide holes 21 located at the inside of the gum may be required to be obliquely provided in order to facilitate the insertion of the fixing pin or the fixing pin. The plurality of guide holes 21 are required to be provided in a non-uniform direction, so that the guide plate base can be prevented from loosening and shifting.
The present invention also provides a navigation system for oral implantation surgery, as shown in fig. 3, comprising:
the oral cavity scanning device is used for scanning the oral cavity of a patient to obtain a digital oral cavity model, and marking holes and planting points on the digital oral cavity model;
the navigation guide plate is manufactured according to the digital oral cavity model and is then worn on the dental bed of a patient;
implanting dental crowns, and making according to a digital oral cavity model;
the positioning sensor 3 is arranged towards the oral cavity of the patient, the positioning sensor 3 is used for obtaining the mark coordinates of the tracing marks under the sensor coordinate system of the positioning sensor by scanning the tracing marks through infrared light after the navigation guide plate is worn on the gum of the patient, then registering with each mark hole 21 on the navigation guide plate through a matching probe 31 which is connected with the positioning sensor 3 in a wireless way to obtain a plurality of corresponding registration points, and determining the registration point coordinates of each registration point under the sensor coordinate system by taking the mark coordinates as reference points;
the planting robot 4, the planting robot 4 is connected with the positioning sensor 3, is used for determining the planting coordinates of planting points according to each registration point coordinate and planting the implant at the planting points, and then a doctor combines the planting dental crown with the guide plate base 2 and fixes the planting dental crown on the implant.
Specifically, in this embodiment, as shown in fig. 1 and 2, the dental guide plate 1 is a guide plate designed according to the shape of the remaining teeth of the patient (or the original complete denture), the inner surface of which is attached to the remaining teeth of the patient, and which can be mounted on the remaining teeth (or the surface of which is attached to the tissue surface of the patient without teeth according to the original complete denture), and the guide plate base 2 is mounted and fixed based on this. The clamping groove on the bottom surface of the tooth guide plate 1 is tightly connected with the protruding clamping block on the top surface of the guide plate base 2 (or the clamping block on the bottom surface of the tooth guide plate 1 and the clamping groove on the top surface of the guide plate base 2) through a mortise and tenon structure, namely the tooth guide plate 1 can be mounted on the guide plate base 2 in a cascade mode. The doctor assists the guide plate base 2 to be positioned in the mouth through the tooth guide plate 1, so that the problem that the temporary dental crowns are installed on the temporary abutment due to the fact that no standard for installation and positioning is available is avoided, and the problem that the upper jaw and lower jaw occlusion relationship is abnormal and the oral health is affected due to an inaccurate installation position is avoided.
In the preferred embodiment of the present invention, each of the marking holes 22 is a conical hole or a spherical hole, as shown in fig. 1 and 2.
Specifically, in this embodiment, a series of marking holes 22 are distributed along the outline of the outer edge of the side wall of the guide base 2, and the marking holes 22 are shaped and sized to match the tips of the matching probes 31. Depending on the matching probe 31, the marking hole 21 is usually a conical hole or a spherical hole, and the representative marking point is the tip point of the conical hole or the center of the spherical hole. The matching probe 31 is a measuring tool used with the positioning sensor 3, and is wirelessly connected with the positioning sensor to obtain a registration point, i.e. the spatial position of a point contacted with the tip of the matching probe 31 under the coordinate system of the positioning sensor as the coordinate of the registration point. The tip of the matching probe 31 is used to contact the marking hole 22 in the registration process, and the matching probe 31 is kept towards the positioning sensor, so that the corresponding registration point coordinates of the marking hole under the coordinate system of the positioning sensor can be obtained. Setting as many marking holes as possible within a reasonable range can reduce random errors in the registration process.
The invention also provides a navigation method for the oral implantation operation, which is applied to the navigation system, as shown in fig. 4, and comprises the following steps:
step S1, controlling an oral cavity scanning device to scan the oral cavity of a patient to obtain an oral cavity digital model, marking points and implantation points, and manufacturing a tooth guide plate, a guide plate base and an implantation dental crown according to the oral cavity digital model;
s2, wearing a guide plate base on a dental bed of a patient by matching with the tooth guide plate, and detaching the tooth guide plate after fixing the guide plate base plate on the dental bed;
step S3, the positioning sensor scans the tracer marks to obtain mark coordinates of the tracer marks under a sensor coordinate system of the positioning navigator, then the matching probe is used for registering the guide plate base to obtain a plurality of registration points, and the registration point coordinates of each registration point under the sensor coordinate system are determined by taking the mark coordinates as reference points;
and S4, the planting robot determines the planting coordinates of the planting points under the sensor coordinate system according to the coordinates of each registration point, implants the dental implant at the planting points, and then a doctor combines the dental crown with the guide plate base and fixes the dental crown on the implant.
In a preferred embodiment of the present invention, the oral scanning device includes an intraoral scanner and a cone beam CT, and step S1 includes:
step S11, scanning the oral cavity of a patient by using cone beam CT to obtain a first oral cavity model;
step S12, an oral scanner is used for scanning the oral cavity of a patient to obtain a second oral cavity model;
step S13, registering and fusing the first oral cavity model and the second oral cavity model to be used as an oral cavity digital model, and marking planting points and marking holes on the oral cavity digital model;
and S14, manufacturing a tooth guide plate, a guide plate base and a dental crown according to the oral cavity digital model.
In a preferred embodiment of the present invention, as shown in fig. 6, step S2 includes:
s21, after the tooth guide plate is fixedly connected with the guide plate base plate, the tooth guide plate is worn on the remained teeth of a patient;
step S22, fixing the guide plate base on the alveolar bone of the patient through the guide holes by the fixing nails, and then detaching the tooth guide plate.
In a preferred embodiment of the present invention, as shown in fig. 7, step S3 includes:
step S31, the positioning sensor detects the tracer marks by using infrared light to obtain mark coordinates of the tracer marks under a sensor coordinate system of the positioning navigator as reference points;
and S32, sequentially contacting the tip of the matching probe in wireless connection with the positioning sensor with each marking hole on the guide plate base to register to obtain corresponding registration points, and obtaining the registration point coordinates of each registration point under the sensor coordinate system according to the spatial distance between each registration point and the reference point.
In a preferred embodiment of the present invention, as shown in fig. 8, step S4 includes:
step S41, the positioning sensor detects the mark coordinates of the trace mark in real time, and updates the coordinates of each registration point according to the mark coordinates;
step S42, the planting robot determines the planting point coordinates of the planting points under the sensor coordinate system according to the space distance between the planting points and each registered point, and then plants the planting crowns at the planting points according to the planting point coordinates;
in step S43, the doctor combines the implant crown with the guide plate base and fixes the implant crown to the implant.
Specifically, in this embodiment, the foregoing navigation guide plate is used to digitally locate and determine a planting point of the planting operation in the planting operation, then the planting robot implants the implant on the planting point, and then a doctor wears the implant crown on the gum of the patient through the implant to complete the planting operation process, a connecting buckle is further arranged on one side of the implant crown, the edge of the implant crown can be connected and combined with the edge of the base through the buckle in the wearing process to enable the mounting position to be accurate, the implant crown is designed by taking restoration as a guide, and after the implant crown is worn, the implant crown can be accurately engaged by taking restoration as the guide, so as to achieve the effect of immediate restoration;
firstly, based on the residual teeth (or the original complete denture) and the occlusion relation in the mouth of a patient, using a CBCT and an intraoral scanner to acquire data by using a double scanning technology to generate an oral cavity digital model, and designing a guide plate base 2, a tooth guide plate 1 and a temporary complete fixed implant dental crown which is matched with the guide plate base 2 and simultaneously accords with the repairing function and the aesthetic; for the guide plate base 2, the wearing position of the guide plate base 2 on the dental bed and the positions of the guide hole 21, the marking hole 22 and the mortise and tenon structure on the guide plate base 2 are determined in advance according to the oral cavity digital model before the guide plate base 2 is manufactured, and a doctor does not need to rely on self experience to find characteristic points of the anatomical structure of a patient as marking points in the registration process in the operation process, so that the error of the selection points of the registration points is reduced, and the consistency of the registration operation is ensured;
then, the tooth guide plate 1 and the guide plate base 2 are fixedly connected and combined through the mortise structure, and then the tooth guide plate is installed on the dental bed of a patient, and the tooth guide plate 1 is manufactured according to the shape of the remained teeth of the patient, so that the guide plate base 2 can be installed on the dental bed of the patient through the tooth guide plate 1 in an auxiliary mode, and the installation accuracy of the guide plate base 2 is guaranteed. The middle part of the guide plate base 2 is provided with a cavity, the operation area is exposed, the operation of the operation instrument in the operation area is facilitated, then the operation instrument is inserted into the guide hole of the guide plate base through the fixing screw or the fixing needle, one end of the fixing screw or the fixing needle is inserted into the alveolar bone for fixing, and then the tooth guide is detached, so that the operation area is exposed;
next, a doctor is required to operate a positioning sensor for registration operation, the positioning sensor 3 is disposed above the operation area and faces the oral cavity of the patient, then a sensor coordinate system is established, an optional coordinate system is established by taking the self as a coordinate system origin, the direction facing the oral cavity of the patient as a positive direction of a Z axis, a horizontal plane as an XY plane, and other ways of establishing the sensor coordinate system are also applicable as long as the coordinates of a registration point, a planting point and the like under the sensor coordinate system can be determined, the positioning sensor 3 detects a trace mark (detection mode adopts infrared light detection) on the guide plate base 2 and obtains a mark coordinate under the sensor coordinate system, and takes the trace mark as a reference point, the doctor sequentially stretches the tip of a matching probe 31 of the positioning sensor into each mark hole 22 to obtain the registration point for registration operation, the registration sensor 3 determines the registration point coordinates of each registration point in the sensor coordinate system according to the spatial distance between each registration point and the reference point, because each registration point corresponds to one marking hole, the spatial coordinates of the guide plate base 2 in the sensor coordinate system can be determined according to each registration point coordinate, and because the guide plate base 2 is manufactured according to the oral cavity digital model, the spatial coordinates of the guide plate base 2 in the sensor coordinate system are determined, namely, the virtual position of the oral cavity digital model in the sensor coordinate system can be determined, and the spatial mapping relation is formed between the virtual position of the oral cavity digital model in the sensor coordinate system and the oral cavity of the patient, in other words, after the registration process is completed, the registration sensor 3 can know the actual position of the oral cavity of the patient relative to the registration sensor 3, no second oral cavity scanning is needed, the radiation influence on the patient is reduced, the method comprises the steps that when an oral cavity digital model is generated, implant points which need to be implanted with dental crowns are marked, the corresponding space distance between each register point and each implant point can be determined according to the space distance between each register point and each implant point and the space distance between each register point and each implant point, and the coordinates of each implant point under a sensor coordinate system can be determined, and an implant robot which is in communication connection with a positioning sensor can know the position where the dental crowns need to be installed, so that oral cavity implant surgery is completed;
in particular, in this embodiment, since the oral implantation surgery adopts a local anesthetic mode, and the head of the patient is generally not fixed, the head of the patient may slightly move during the surgery. In order to capture patient movement and improve surgical accuracy and safety, it is necessary that the positioning sensor detects the marker coordinates of the tracer marker in real time and updates the spatial coordinates of the guide plate base according to the marker coordinates after the tracer marker is moved, thereby avoiding implantation of the implant at the wrong position.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations herein, which should be included in the scope of the present invention.
Claims (10)
1. A navigation guide for an oral implant procedure, comprising:
the tooth guide plate is matched with the shape of the remained teeth of the patient and is used for being attached to the remained teeth of the patient after being fixedly connected with the guide plate base;
a cavity is formed in the middle of the guide plate base, and the gum of the patient is exposed through the cavity;
a guide hole is formed in the side wall of the guide plate base, and the guide plate base is fixed on an alveolar bone through a fixing needle penetrating through the guide hole;
a plurality of marking holes are formed in the edge of the outer surface of the top of the guide plate base;
and a connecting part is arranged on one side of the guide plate base close to the outer side of the gum, and a tracing mark is inserted into the connecting part.
2. The guide plate of claim 1, wherein the tooth guide plate is fixedly connected to the guide plate base by a mortise and tenon structure comprising:
the bottom of the tooth guide plate is provided with a clamping groove, and the top of the guide plate base is correspondingly provided with a clamping block;
or (b)
The bottom of the tooth guide plate is provided with a clamping block, and the top of the guide plate base is correspondingly provided with a clamping groove.
3. The navigation guide plate according to claim 1, wherein each guide hole is provided obliquely to the guide plate base, and the opening direction of each guide hole is not uniform.
4. The guide plate according to claim 1, wherein each of the marking holes is a conical hole or a spherical hole.
5. A navigation system for an oral implant procedure, comprising:
the oral cavity scanning device is used for scanning the oral cavity of a patient to obtain a digital oral cavity model, and marking holes and planting points on the digital oral cavity model;
a navigation bar according to any one of claims 1-4, produced from the digital oral model, and subsequently worn on the patient's dental bed;
implanting dental crowns, and manufacturing according to the digital oral cavity model;
the positioning sensor is arranged towards the oral cavity of the patient and is used for scanning the tracing marks through infrared light after the navigation guide plate is worn on the dental bed of the patient to obtain mark coordinates of the tracing marks under a sensor coordinate system of the positioning sensor, and then registering the corresponding plurality of registration points with each mark hole on the navigation guide plate through a matching probe which is in wireless connection with the positioning sensor to obtain a plurality of corresponding registration points, and determining the registration point coordinates of each registration point under the sensor coordinate system by taking the mark coordinates as a datum point;
the planting robot is connected with the positioning sensor and used for determining planting coordinates of the planting points according to the registering point coordinates and planting the planting body at the planting points, and then a doctor combines and fixes the planting dental crowns with the guide plate base on the planting body.
6. A navigation method for oral implant surgery, characterized by being applied to a navigation system as claimed in claim 5, the navigation method comprising:
step S1, controlling an oral cavity scanning device to scan the oral cavity of a patient to obtain an oral cavity digital model, marking points and implantation points, and manufacturing the tooth guide plate, the guide plate base and the implantation dental crowns according to the oral cavity digital model;
s2, the dental guide plate is assembled with the dental guide plate, the guide plate base is worn on the dental bed of a patient, the guide plate base plate is fixed on the dental bed, and then the dental guide plate is disassembled;
step S3, the positioning sensor scans the tracing mark to obtain the mark coordinate of the tracing mark under a sensor coordinate system of the positioning navigator, then the matching probe is used for registering the guide plate base to obtain a plurality of registration points, and the registration point coordinates of the registration points under the sensor coordinate system are determined by taking the mark coordinate as a datum point;
and S4, determining the planting coordinates of the planting points under the sensor coordinate system according to the registering point coordinates by the planting robot, planting the implant at the planting points, and combining and fixing the implant crowns and the guide plate base on the implant by a doctor.
7. The method according to claim 6, wherein the oral scanning device comprises an intraoral scanner and a cone-beam CT, the step S1 comprises:
step S11, scanning the oral cavity of the patient by using the cone beam CT to obtain a first oral model;
step S12, scanning the oral cavity of the patient by using the oral cavity scanner to obtain a second oral cavity model;
step S13, registering and fusing the first oral cavity model and the second oral cavity model to be used as the oral cavity digital model, and marking the planting points and the marking holes on the oral cavity digital model;
and S14, manufacturing the tooth guide plate, the guide plate base and the implant dental crowns according to the oral cavity digital model.
8. The navigation method according to claim 6, wherein the step S2 includes:
step S21, after the tooth guide plate is fixedly connected with the guide plate base plate, the tooth guide plate is worn on the remained teeth of the patient;
and S22, fixing the guide plate base on the alveolar bone of the patient through the guide holes by the fixing nails, and then detaching the tooth guide plate.
9. The navigation method according to claim 6, wherein the step S3 includes:
step S31, the positioning sensor detects the tracing mark by using infrared light to obtain the mark coordinate of the tracing mark under a sensor coordinate system of the positioning navigator as a reference point;
and S32, sequentially contacting the tip of a matching probe in wireless connection with a positioning sensor with each marking hole on the guide plate base to register to obtain corresponding registration points, and obtaining the registration point coordinates of each registration point under the sensor coordinate system according to the spatial distance between each registration point and the reference point.
10. The navigation method according to claim 6, wherein the step S4 includes:
step S41, the positioning sensor detects the mark coordinates of the tracing mark in real time, and updates the registration point coordinates according to the mark coordinates;
step S42, the planting robot determines the planting point coordinates of the planting points under the sensor coordinate system according to the spatial distance of the planting points relative to each registration point, and then plants the planting crowns at the planting points according to the planting point coordinates;
step S43, the doctor combines the implant dental crown with the guide plate base and fixes the implant dental crown on the implant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311067792.XA CN117137659A (en) | 2023-08-23 | 2023-08-23 | Navigation guide plate, navigation system and navigation method for oral implantation operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311067792.XA CN117137659A (en) | 2023-08-23 | 2023-08-23 | Navigation guide plate, navigation system and navigation method for oral implantation operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117137659A true CN117137659A (en) | 2023-12-01 |
Family
ID=88901851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311067792.XA Pending CN117137659A (en) | 2023-08-23 | 2023-08-23 | Navigation guide plate, navigation system and navigation method for oral implantation operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117137659A (en) |
-
2023
- 2023-08-23 CN CN202311067792.XA patent/CN117137659A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112294467B (en) | Dental implant surgery planning method, device and computer program | |
| JP5243339B2 (en) | Image guided transplantation | |
| KR101473192B1 (en) | method of manufacturing guide stent for dental implant | |
| KR101273386B1 (en) | Intraoral marker for the synchronization of three dimensional image data | |
| US9901417B2 (en) | Assisted dental implant treatment | |
| US20110245951A1 (en) | Assisted dental implant treatment and replication system | |
| US20100255445A1 (en) | Assisted dental implant treatment | |
| CN111407443A (en) | Accurate positioning and intelligent navigation method for oral implantation robot | |
| KR101594497B1 (en) | method for manufacturing surgical guide and crown, abutment using occlusal vertical dimension marker in mouth for dental implant | |
| CN109172011B (en) | Tooth implantation guide plate and preparation method thereof | |
| KR101550369B1 (en) | method for manufacturing surgical guide and crown, abutment in mouth for dental implant | |
| CN114098964A (en) | Edentulous jaw navigation system and method | |
| KR101706332B1 (en) | surgical guide for dental implant having alignment reference point and manufacturing method of thereof | |
| KR101797743B1 (en) | System for Transplant Guide of Dental Implant | |
| EP2044903A2 (en) | Method for making surgical guides and six degrees-of-freedom pointing device | |
| CN111743647A (en) | Dental implant guide plate, visual guide system and registration method thereof | |
| CN216854897U (en) | Planting guide plate | |
| CN108926398B (en) | Lower jaw edentulous jaw planting assembly, tracker, navigation system and implantation tool | |
| CN217090890U (en) | Edentulous jaw navigation device | |
| CN117137659A (en) | Navigation guide plate, navigation system and navigation method for oral implantation operation | |
| KR101452718B1 (en) | bite tray for image matching | |
| CN113208755B (en) | Device and method for obtaining orientable scanning of real-time position in implantation drilling needle operation | |
| US20230301747A1 (en) | Three-point locating dental implant locating guide and three-point locating modeling method | |
| CN216535578U (en) | Aesthetic region bone grafting guide plate | |
| CN115531012A (en) | Preoperative planting deviation acquisition method and system for dental planting operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |