CN117731428A - Digital implant customization system and method - Google Patents

Abstract

The invention discloses a digital implant customizing system, which comprises an image acquisition module, a three-dimensional visualization module, a digital sectioning module, an image feature extraction module, an upper computer, a control module and an executing mechanism, wherein the image acquisition module is used for acquiring a digital image; the image acquisition module is used for acquiring a two-dimensional tomographic image of a silica gel template worn by a user after scanning; the three-dimensional visualization module is used for carrying out three-dimensional reconstruction to generate a three-dimensional jawbone model image; the digital sectioning module is used for digitally sectioning the three-dimensional jawbone model image to generate a plurality of different azimuth views; the image feature extraction module is used for extracting planting information; the upper computer is used for calculating a motion coordinate value based on the planting information; the control module drives the executing mechanism based on the received motion coordinate value; the actuating mechanism is used for processing the guide holes on the silica gel template to obtain the guide plate for planting. On the premise of ensuring accurate positioning and accurate registration of the implant positions, the implant positioning device can meet the requirements of different types of artificial tooth implantation planning.

Description

Digital implant customization system and method

Technical Field

The invention relates to the technical field of dental restoration, in particular to a digital implant customizing system and method.

Background

At present, denture implantation adopted by most dental offices in China comprises the following steps: firstly, knowing the condition of an alveolar bone of a planned planting area through a root tip, an oral cavity full-view film or a CT two-dimensional tomographic image; secondly, adopting methods such as wax carving and the like on the repairing mould to recover the dentition of the tooth-missing model; third, surgical guides (positioning only) are made from transparent materials by a plastic suction method; finally, a ball drill is used for positioning on the alveolar ridge through a guide plate, a pioneer drill with scales is used for drilling the planting nest to mark scales, and a measuring rod is inserted into the planting nest to judge the depth and direction of the drilling hole. In the planning process, a dentist can only qualitatively estimate the conditions of alveolar bones and proper positions and angles of to-be-implanted bodies according to medical images, a manufactured surgical guide plate can only have a positioning function, the grasping of the implantation angle can only depend on the judgment of the medical images, the trend of a guide plate dental crown and the repeated insertion and inspection of a measuring rod in an implantation pit, the excessive emphasis is placed on the uncertain operation process, the great blindness exists, the defect of a guiding function is overcome, the direction of the implantation pit (hole) is extremely easy to deviate, and therefore, the implantation operation risk is high, and the reliability is difficult to predict.

The above problems are to be solved.

Disclosure of Invention

In order to solve the above-mentioned problems in the prior art, embodiments of the present invention provide a digital implant customization system and method. The technical scheme is as follows:

in a first aspect, a digital implant customization system is provided, the system comprising an image acquisition module, a three-dimensional visualization module, a digital sectioning module, an image feature extraction module, an upper computer, a control module and an execution mechanism; the image acquisition module is used for acquiring a two-dimensional tomographic image of a silica gel template worn by a user after scanning; the three-dimensional visualization module is used for carrying out three-dimensional reconstruction on the acquired two-dimensional tomographic image to generate a three-dimensional jawbone model image; the digital sectioning module is used for digitally sectioning the generated three-dimensional jawbone model image to generate various different azimuth views; the image feature extraction module is used for extracting planting information based on the three-dimensional jawbone model image and the cut view; the upper computer is used for calculating a motion coordinate value based on the received planting information and transmitting the motion coordinate value to the control module; the control module drives the executing mechanism based on the received motion coordinate value; the actuating mechanism is used for machining the guide holes in the silica gel template to obtain the planting guide plate.

Further, a grid with coordinate information is adhered to the silica gel template.

Further, the three-dimensional visualization module comprises an image analysis module, an image preprocessing module and a three-dimensional drawing module; the image analysis module is used for reading the two-dimensional tomographic image and analyzing the two-dimensional tomographic image by adopting window transformation; the image preprocessing module is used for carrying out image smoothing filtering, image interpolation and data split charging on the analyzed two-dimensional tomographic image; the three-dimensional drawing module is used for generating a three-dimensional visual jaw model image by adopting a ray tracing volume drawing algorithm on the preprocessed two-dimensional tomographic image.

Further, the digital sectioning module is used for re-cutting the three-dimensional jawbone model image to generate a new two-dimensional tomographic image.

Furthermore, the digital sectioning model is also used for generating an image re-section by performing digital sectioning on the jaw three-dimensional model based on an interactive section extraction method.

Further, the image re-slice includes one or a combination of a cross-sectional slice, a sagittal slice, and a coronal slice.

Further, the planting information includes implant position, angle, and depth information.

Further, the image feature extraction module comprises a planting area planning module, a planting shaft extraction module and a planting shaft area density extraction module; the planting area planning module is used for dividing a to-be-planted bed so as to determine the position of a planting shaft; the planting shaft extraction module is used for: dividing the planned planting bed to obtain the cross section of the planned planting bed; solving the centroid point of the non-used cross section of the planned planting bed as the optimal implantation position of the planting shaft in each cross-section image; fitting all the obtained centroids into a straight line to be used as the position direction of a planting shaft; the planting shaft region density extraction module is used for calculating the bone density value based on CT values obtained by CT tomography.

Further, the positions of the guide holes are determined based on grids with coordinate information stuck on the silica gel templates and the extracted position information of the planting shafts.

In a second aspect, the present invention provides a method of digital dental implant customization, the method comprising: acquiring a two-dimensional tomographic image of a silica gel template worn by a user after scanning; performing three-dimensional reconstruction on the acquired two-dimensional tomographic image to generate a three-dimensional jawbone model image; performing digital sectioning on the generated three-dimensional jawbone model image to generate various views with different orientations; extracting planting information based on the three-dimensional jaw model image and the view after sectioning; calculating a motion coordinate value based on the received planting information; and processing the guide holes on the silica gel template based on the motion coordinate values to obtain the guide plate for planting.

In yet another aspect, the present invention further provides a computer readable storage medium having one or more instructions stored therein, the computer instructions for causing the computer to perform the above-described digital implant customization method.

In yet another aspect, the present invention provides an electronic device, including: a memory and a processor; at least one program instruction is stored in the memory; the processor implements the digital dental implant customization method described above by loading and executing the at least one program instruction.

The technical scheme provided by the embodiment of the invention has the beneficial effects that:

the system comprises an image acquisition module, a three-dimensional visualization module, a digital sectioning module, an image feature extraction module, an upper computer, a control module and an executing mechanism; the image acquisition module is used for acquiring a two-dimensional tomographic image of a silica gel template worn by a user after scanning; the three-dimensional visualization module is used for carrying out three-dimensional reconstruction on the acquired two-dimensional tomographic image to generate a three-dimensional jawbone model image; the digital sectioning module is used for digitally sectioning the generated three-dimensional jawbone model image to generate various different azimuth views; the image feature extraction module is used for extracting planting information based on the three-dimensional jawbone model image and the cut view; the upper computer is used for calculating a motion coordinate value based on the received planting information and transmitting the motion coordinate value to the control module; the control module drives the executing mechanism based on the received motion coordinate value; the actuating mechanism is used for machining the guide holes in the silica gel template to obtain the planting guide plate. On the premise of ensuring accurate positioning and accurate registration of the implant positions, the implant positioning device can meet the requirements of different types of artificial tooth implantation planning.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a digital implant customization system according to one embodiment of the present invention;

fig. 2 is a flowchart of a method for customizing digital implant according to an embodiment of the present invention.

Fig. 3 is a partial block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.

In order to facilitate the subsequent understanding, terms of art that may appear in the following embodiments are explained herein:

planting guide plate: the template is generally manufactured according to a plaster mold pressed by the oral cavity of a patient or a three-dimensional image of the oral cavity of the patient displayed by a computer, so that the template can be accurately matched with the plaster mold or the three-dimensional image and can be tightly combined with an actual oral cavity planned implantation area of the patient and surrounding tissues. The guiding hole of the template can guide the pioneer drill to drill the planned planting bed.

Ray tracing method: a three-dimensional volume rendering algorithm in order of image space is disclosed, which starts from each pixel of the image space, emits a ray according to the viewpoint direction and passes through a three-dimensional data field, selects K equidistant sampling points in the data field space along the ray, and uses the color value and the opacity value of 8 nearest to each sampling point to conduct three-time linear interpolation as the color value and the opacity value of the sampling point. And fitting the color value and the opacity value of each sampling point on each ray from front to back or from back to front to obtain the opacity value and the color value of the pixel point emitting the ray, thereby obtaining the final image on the display screen.

VTK: (The Visualization Toolkits) is a set of powerful visualization and graphic image processing toolkits designed based on the object-oriented method of the three-dimensional function library OpenGL. The VTK is constructed on the C++ language, not only based on the C++ class library, but also supporting the script language TCL & Tk, java, python and supporting operating systems such as Windows, unix and the like. The VTK may support and process data in various formats, such as images, regular or irregular point sets (points), volume metadata (volumes), and the like. In addition, the VTK can encapsulate some common algorithms, and meanwhile, a user can develop a class library belonging to the user on the basis of the VTK base class.

Example 1

FIG. 1 is a schematic diagram of a digital implant customization system according to one embodiment of the present invention.

As an example, the system comprises an image acquisition module 1, a three-dimensional visualization module 2, a digital sectioning module 3, an image feature extraction module 4, a host computer 5, a control module 6 and an actuator 7.

Preferably, the image acquisition module 1 is used for acquiring a two-dimensional tomographic image of a silica gel template worn by a user after scanning. Specifically, a grid with coordinate information is stuck on the silica gel template.

Preferably, the three-dimensional visualization module 2 is configured to perform three-dimensional reconstruction on the acquired two-dimensional tomographic image to generate a three-dimensional jawbone model image.

Preferably, the three-dimensional visualization module 2 includes an image parsing module 210, an image preprocessing module 220, and a three-dimensional rendering module 230.

Preferably, the image analysis module 210 is configured to read and analyze the two-dimensional tomographic image using a window transformation. Specifically, by window transformation technique is meant that by defining a data viewing window, the image data within the window is linearly transformed into the maximum range of displayable gray levels of the PC, and data above and below the upper and lower limits of the window are set to the highest or lowest gray levels, respectively. By dynamically adjusting the window width value (display range of image data) and the window level value (center value of display range), not only all information of the image can be observed, but also targeted area display can be performed.

Preferably, the image preprocessing module 220 is configured to perform image smoothing filtering, image interpolation and data sub-packaging processing on the resolved two-dimensional tomographic image. Specifically, due to the fact that the medical image has the characteristics of ambiguity and non-uniformity compared with the common image, the medical image mainly has the ambiguity, local effect and uncertainty knowledge on gray scale, in order to make up the deficiency of the medical image, tissues such as gingiva, alveolar bone and teeth in the CT image of the jaw are accurately distinguished, the two-dimensional tomographic image of the jaw is required to be processed, and the processing content comprises filtering and enhancing of the medical image, interpolation of the medical image, segmentation of the medical image and the like. More specifically, various types of noise may be generated during the process of acquiring the CT image, for example, interference noise, thermal noise, quantization noise and the like of the electronic system, and the noise in the image and the image signal are interwoven together, so that details of the image, such as boundary contours, lines and the like, become blurred, and the image is degraded, so that the noise in the image can be smoothed by adopting a filtering mode, such as an image mean filtering mode, a gaussian smoothing mode, a median filtering mode and the like. The distance between any two slices acquired by the existing CT equipment is larger than the distance between pixels on the slice. When reconstructing the surface or three-dimensional structure of an object by using the slice data, the reconstructed model is often severely deformed due to insufficient slice numbers, and the three-dimensional meaning is lost. Interpolation using existing slice information to generate new pictures is an effective way to change this situation, such as using Lagrange interpolation algorithm. Since the volume data set of a CT image is composed of a series of two-dimensional slices, if the resolution of each slice is mxn and the number of slices (including virtual slices formed by interpolation between images) is L, these slices constitute a spatially discrete data field with resolution mxnxl, and this data field can be regarded as a result of sampling the continuous function f (x, y, z) at certain intervals in the x, y, z directions.

Preferably, the three-dimensional rendering module 230 is configured to generate a three-dimensional visualized jawbone model image on the preprocessed two-dimensional tomographic image by adopting a ray tracing volume rendering algorithm.

Specifically, the three-dimensional visualization of human jawbone can be realized by using the VTK, CT data is read by using the vtkVolume16 Reader/vtkDICIOMlmagereader class, the data type processed by the VTK is required to be of an un-detected Short type or an un-detected Char type, but the CT image data type is of a Short type, and therefore, the data type conversion is also required to be carried out by using the vtkImageShift Scale class or the vtkImagecast class; preprocessing CT images by fully utilizing image processing classes provided by the VTK according to requirements, for example, generating a cube box by using a filter vtkOutfilter class to determine the range of a three-dimensional space of read-in data, and performing median filtering on the data by using a vtkImageMedian3D class; the color and transparency settings will be directly related to the volume rendering imaging effect and generally need to be set according to the tissue CT values of interest. Setting color attributes by adopting an AddRGBPoint () function in a vtkColorTransferFunction class, and setting transparent attributes by utilizing an AddPoint () function in a vtkPiecewieFunction class; three-dimensional visualization is achieved in the VTK through the vtkvolumeraycastcomposite function class.

Preferably, the digital sectioning module 3 is configured to digitally section the generated three-dimensional jawbone model image to generate a plurality of different azimuth views. The digital sectioning module is used for re-cutting the three-dimensional jawbone model image to generate a new two-dimensional tomographic image. The digital sectioning model is also used for performing digital sectioning on the jaw three-dimensional model based on an interactive slice extraction method to generate an image re-section. The image re-slice includes one or a combination of a cross-sectional slice, a sagittal slice, and a coronal slice. The principle of generating image re-slicing by performing digital analysis on a three-dimensional jawbone model based on an interactive slice extraction method is that a cross section slice is firstly generated by using a Z-axis slicing method in a display area of the three-dimensional jawbone model, then two mutually perpendicular sectioning lines are defined on the jawbone model by a user, and finally the jawbone model is split by a plane slicing method, so that a sagittal plane and a coronal plane of the jawbone model are obtained, and the sagittal plane and the coronal plane of the jawbone model are respectively displayed in two other display areas of the system. Specifically, the system is divided into four display areas, one of the display areas is a three-dimensional jawbone model, the jawbone model can rotate at any angle and can be enlarged and reduced, and the other three areas are image re-sections obtained by cutting at any angle on the basis of the jawbone model.

Preferably, the image feature extraction module 4 is configured to extract the planting information based on the three-dimensional jawbone model image and the cut view. The planting information includes implant position, angle, and depth information. The image feature extraction module 4 includes a planting area planning module 410, a planting shaft extraction module 420, and a planting shaft area density extraction module 430; the planting area planning module 410 is used for dividing a to-be-planted bed so as to determine the position of a planting shaft; the planting shaft extraction module 420 is configured to: dividing the planned planting bed to obtain the cross section of the planned planting bed; solving the centroid point of the non-used cross section of the planned planting bed as the optimal implantation position of the planting shaft in each cross-section image; fitting all the obtained centroids into a straight line to be used as the position direction of a planting shaft; the planting axis region density extraction module 430 is configured to calculate a bone density value based on a CT value obtained by CT tomography.

Specifically, the planting area planning module 410 is specifically configured to segment the planned planting bed with diagnostic significance based on the three-dimensional modeling and digital dissection of the jawbone, so as to fully understand the bone mass and bone mass thereof, and further determine the optimal position of the planting shaft. The dividing mode is to divide each slice independently and then combine the extracted contours for three-dimensional reconstruction or other digital processing. The planning of the implantation area aims at cutting the divided extremely irregular secondary layers on the simulated dental implant bed to obtain a series of jawbone sections, further calculating the optimal implantation points of each layer through the gray level change of the jawbone sections, and finally fitting the optimal implantation points of each layer into a straight line, namely the optimal artificial dental implant shaft. More specifically, the view angle of the three-dimensional image is adjusted to a proper position, a closed quadrangle wrapping the outline of the to-be-planted bed is drawn on the cross section display window, a cluster of cross sections parallel to the cross section can be generated by adjusting the sliding block below the display window, the process of cutting layer by layer according to a certain distance can be understood, and a closed three-dimensional bounding box is formed by the quadrangle of each layer.

The planting axis extraction module 420 is specifically configured to calculate a centroid point on a cross section of a gum cut by the planning of the planned planting area, take the centroid point as an optimal implantation position of the planting axis in each cross section image, and finally fit all centroids obtained in a straight line as a position direction of the planting axis.

The implant shaft region density extraction module 430 is specifically configured to further measure the bone density of the implant shaft region after determining the implant position angle and depth, and determine the bone type thereof, so as to ensure compliance with the implant conditions and reduce the implant failure rate.

Preferably, the upper computer 5 is configured to calculate a motion coordinate value based on the received planting information and transmit the motion coordinate value to the control module; the control module 6 drives the executing mechanism based on the received motion coordinate value; the actuating mechanism 7 is used for machining guide holes in the silica gel template to obtain the planting guide plate. That is, the guide hole is processed on the silica gel template through the upper computer 5, the control module 6 and the executing mechanism 7, so that the follow-up drilling processing of the quasi-planting bed based on the pioneer drill guided by the guide hole is facilitated. Wherein the guide holes are one or more inclined holes. The control module is integrated with an STM32F103VCT6 chip, and the actuating mechanism is an artificial tooth implantation navigator. The system control flow is as follows: the PC upper computer communicates with the processor STM32F103VCT6 through serial port RS-232, the microprocessor receives the control instruction, generates pulse signals and direction signals for controlling the stepping motor through data processing, amplifies power after the signals pass through the driver to drive the stepping motor, and in addition, when the workbench reaches the limit position, the sensor detection elements such as the proximity switch, the Hall switch and the like are touched, and the signals are fed back to the microprocessor so as to control the actions such as starting and stopping of the stepping motor.

Example 2

As shown in fig. 2, an embodiment of the present invention further proposes a digital implant customizing method, which includes:

s210: and acquiring a two-dimensional tomographic image of the silica gel template worn by the user after scanning.

S220: and carrying out three-dimensional reconstruction on the acquired two-dimensional tomographic image to generate a three-dimensional jawbone model image.

S230: and performing digital sectioning on the generated three-dimensional jawbone model image to generate various azimuth views.

S240: and extracting planting information based on the three-dimensional jaw model image and the view after sectioning.

S250: and calculating a motion coordinate value based on the received planting information.

S260: and processing the guide holes on the silica gel template based on the motion coordinate values to obtain the guide plate for planting.

The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature of a "first" or "second" as defined may include one or more such feature, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

The foregoing is merely an embodiment of the present invention, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application day or before the priority date of the present invention, and can know all the prior art in the field, and have the capability of applying the conventional experimental means before the date, so that a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.

The foregoing is merely an embodiment of the present invention, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application day or before the priority date of the present invention, and can know all the prior art in the field, and have the capability of applying the conventional experimental means before the date, so that a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.

Claims (10)

1. The digital implant customizing system is characterized by comprising an image acquisition module, a three-dimensional visualization module, a digital sectioning module, an image feature extraction module, an upper computer, a control module and an executing mechanism;

the image acquisition module is used for acquiring a two-dimensional tomographic image of a silica gel template worn by a user after scanning;

the three-dimensional visualization module is used for carrying out three-dimensional reconstruction on the acquired two-dimensional tomographic image to generate a three-dimensional jawbone model image;

the digital sectioning module is used for digitally sectioning the generated three-dimensional jawbone model image to generate various different azimuth views;

the image feature extraction module is used for extracting planting information based on the three-dimensional jawbone model image and the cut view;

the upper computer is used for calculating a motion coordinate value based on the received planting information and transmitting the motion coordinate value to the control module;

the control module drives the executing mechanism based on the received motion coordinate value;

the actuating mechanism is used for machining the guide holes in the silica gel template to obtain the planting guide plate.

2. The digital implant customization system according to claim 1, wherein the silica gel template is adhered with a grid with coordinate information.

3. The digital dental implant customization system according to claim 1, wherein the three-dimensional visualization module includes an image parsing module, an image preprocessing module, and a three-dimensional rendering module;

the image analysis module is used for reading the two-dimensional tomographic image and analyzing the two-dimensional tomographic image by adopting window transformation;

the image preprocessing module is used for carrying out image smoothing filtering, image interpolation and data split charging on the analyzed two-dimensional tomographic image;

the three-dimensional drawing module is used for generating a three-dimensional visual jaw model image by adopting a ray tracing volume drawing algorithm on the preprocessed two-dimensional tomographic image.

4. The digital dental implant customization system according to claim 1, wherein the digital sectioning module is configured to re-cut the three-dimensional jaw model image to generate a new two-dimensional tomographic image.

5. The digital dental implant customization system according to claim 4, wherein the digital dissecting model is further configured to digitally dissect the three-dimensional model of the jawbone based on an interactive slice extraction method to generate an image re-slice.

6. The digital dental implant customization system according to claim 5, wherein the image re-cut includes one or a combination of a cross-sectional slice, a sagittal slice and a coronal slice.

7. The digital implant customization system according to claim 1, wherein the implant information includes implant position, angle and depth information.

8. The digital dental implant customization system according to claim 1, wherein the image feature extraction module includes a implant area planning module, an implant axis extraction module, and an implant axis area density extraction module;

the planting area planning module is used for dividing a to-be-planted bed so as to determine the position of a planting shaft;

the planting shaft extraction module is used for:

dividing the planned planting bed to obtain the cross section of the planned planting bed;

solving the centroid point of the non-used cross section of the planned planting bed as the optimal implantation position of the planting shaft in each cross-section image;

fitting all the obtained centroids into a straight line to be used as the position direction of a planting shaft;

the planting shaft region density extraction module is used for calculating the bone density value based on CT values obtained by CT tomography.

9. The digital dental implant customization system according to claim 1, wherein the position of the guide hole is determined based on a grid with coordinate information attached to a silica gel template and the extracted positional information of the implant shaft.

10. A method of digital dental implant customization, the method comprising:

acquiring a two-dimensional tomographic image of a silica gel template worn by a user after scanning;

performing three-dimensional reconstruction on the acquired two-dimensional tomographic image to generate a three-dimensional jawbone model image;

performing digital sectioning on the generated three-dimensional jawbone model image to generate various views with different orientations;

extracting planting information based on the three-dimensional jaw model image and the view after sectioning;

calculating a motion coordinate value based on the received planting information;

and processing the guide holes on the silica gel template based on the motion coordinate values to obtain the guide plate for planting.