CN117731439A - Oral implantation positioning method and system - Google Patents
Oral implantation positioning method and system Download PDFInfo
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- CN117731439A CN117731439A CN202311830279.1A CN202311830279A CN117731439A CN 117731439 A CN117731439 A CN 117731439A CN 202311830279 A CN202311830279 A CN 202311830279A CN 117731439 A CN117731439 A CN 117731439A
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- 238000002513 implantation Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000003550 marker Substances 0.000 claims abstract description 114
- 239000007943 implant Substances 0.000 claims abstract description 59
- 210000000214 mouth Anatomy 0.000 claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 16
- 238000006243 chemical reaction Methods 0.000 claims description 13
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 210000002698 mandibular nerve Anatomy 0.000 abstract description 5
- 210000003484 anatomy Anatomy 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 238000012216 screening Methods 0.000 description 7
- 238000013527 convolutional neural network Methods 0.000 description 6
- 239000013598 vector Substances 0.000 description 6
- 210000004086 maxillary sinus Anatomy 0.000 description 5
- 238000005553 drilling Methods 0.000 description 4
- 239000011521 glass Substances 0.000 description 4
- 238000013256 Gubra-Amylin NASH model Methods 0.000 description 2
- 208000008312 Tooth Loss Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 208000016607 Mandibular Nerve injury Diseases 0.000 description 1
- 208000025157 Oral disease Diseases 0.000 description 1
- 206010044048 Tooth missing Diseases 0.000 description 1
- 230000003042 antagnostic effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 208000030194 mouth disease Diseases 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention discloses a method and a system for positioning oral implantation, which comprises the following steps: step S1, obtaining a first marker image and a second marker image according to a first marker on teeth and a second marker on a planting mobile phone; s2, obtaining an AR display model of the oral cavity of the patient according to CT image data in the oral cavity of the patient; and S3, registering the AR display model with the first marker and the second marker image, monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path. By adopting the technical scheme of the invention, the implanted teeth are tidy and beautiful, the position of the implanted tooth root is ideal and accurate, and the damage to mandibular nerves or other important anatomical structures is avoided.
Description
Technical Field
The invention relates to the technical field of stomatology, in particular to an oral implantation positioning method and system.
Background
Dental implantation is an important technique in dentistry, and tooth loss is a common oral disease, for example, tooth lesions need to be removed; with the age, the teeth are easy to fall off by themselves; as various accidental bumps can also cause tooth loss. In order not to affect the beauty and the eating function and the pronunciation function, a denture is usually planted in the original position.
However, when a tooth is to be planted, a hole is first drilled at the site of the tooth, the root of an artificial tooth is installed in the drilled hole, and then a dental prosthesis is fabricated on the artificial root. However, the drilling position is usually determined manually by a doctor during drilling, so that the operation requirement on the doctor is very high, and important anatomical structures such as mandibular nerve injury, maxillary sinus injury and the like around the drilling deflection injury are easily caused when the space of the tooth-missing position is limited; or the poor control of the drilling position by doctors can cause the non-ideal position of the implanted tooth roots, thereby causing the irregular and beautiful implanted teeth or poor transmission of force.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the method and the system for positioning the oral cavity, so that the implanted teeth are neat and beautiful, the force conduction is good, and the situation of damaging surrounding important anatomical structures is avoided.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a method of positioning for oral implantation comprising the steps of:
step S1, obtaining a first marker image and a second marker image according to a first marker on teeth and a second marker on a planting mobile phone;
s2, obtaining an AR display model of the oral cavity of the patient according to CT image data in the oral cavity of the patient;
and S3, registering the AR display model with the first marker and the second marker image, monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
Preferably, step S3 includes:
respectively carrying out calculation processing on the first marker image and the second marker image to obtain coordinate positions of the first marker and the second marker under a binocular camera coordinate system;
registering the AR display model and the first marker, and calculating to obtain the coordinate position of the AR display model under the binocular camera coordinate system through the coordinate position of the first marker under the binocular camera coordinate system;
calculating to obtain the coordinate position of the implant on the implant mobile phone under the binocular camera coordinate system through the coordinate position of the second marker under the binocular camera coordinate system;
converting the coordinate positions of the AR display model and the implant under the binocular camera coordinate system into the coordinate positions of the AR display model and the implant under the projection coordinate system respectively;
and monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
Preferably, based on a binocular vision algorithm, the first marker image and the second marker image are respectively calculated to obtain coordinate positions of the first marker and the second marker under a binocular camera coordinate system.
Preferably, step S2 includes:
preparing CT image data into a planning model file before implantation operation;
and (5) according to the planning model file before implantation, making an AR display model of the oral cavity of the patient.
The invention also provides an oral implantation positioning system, comprising:
the first processing module device is used for obtaining a first marker image and a second marker image according to the first marker on the teeth and the second marker on the planting mobile phone;
the second processing device is used for obtaining an AR display model of the oral cavity of the patient according to the CT image data in the oral cavity of the patient;
and the navigation device is used for registering the AR display model with the first marker and the second marker image, monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
Preferably, the navigation device includes:
the first calculation module is used for respectively carrying out calculation processing on the first marker image and the second marker image to obtain coordinate positions of the first marker and the second marker under a binocular camera coordinate system;
the registration module is used for registering the AR display model and the first marker, and calculating the coordinate position of the AR display model under the binocular camera coordinate system through the coordinate position of the first marker under the binocular camera coordinate system;
the second calculation module is used for calculating the coordinate position of the implant on the implant mobile phone under the binocular camera coordinate system through the coordinate position of the second marker under the binocular camera coordinate system;
the conversion module is used for converting the coordinate positions of the AR display model and the implant under the binocular camera coordinate system into the coordinate positions of the AR display model and the implant under the projection coordinate system respectively;
and the navigation module is used for monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
Preferably, the first calculation module is configured to calculate the first marker image and the second marker image based on a binocular vision algorithm, so as to obtain coordinate positions of the first marker and the second marker in a binocular camera coordinate system.
Preferably, the second processing device includes:
the first manufacturing module is used for manufacturing CT image data into a preimplantation planning model file;
and the second manufacturing module is used for manufacturing an AR display model of the oral cavity of the patient according to the preimplantation planning model file.
According to the invention, based on the mixed reality technology, the intraoral environment is displayed through the AR glasses technology, so that a doctor can conveniently perform an operation, the monitoring and navigation precision is improved, and the reliability and safety of treatment are ensured.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of positioning oral implant in accordance with an embodiment of the present invention;
fig. 2 is a schematic structural view of an oral implant positioning system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1:
as shown in fig. 1, an embodiment of the present invention provides an oral implant positioning method, including the following steps:
step S1, obtaining a first marker image and a second marker image according to a first marker on teeth and a second marker on a planting mobile phone;
s2, obtaining an AR display model of the oral cavity of the patient according to CT image data in the oral cavity of the patient;
and S3, registering the AR display model with the first marker and the second marker image, monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
As one implementation of the embodiment of the present invention, step S2 includes:
preprocessing the acquired CT image data;
the preprocessed CT image data is manufactured into a planning model file before the implantation operation through implant design software;
and (3) through model making software, according to the planning model file before implantation, an AR display model of the oral cavity of the patient is made.
The preoperative planning model file of the implant can adopt a stl format; the implant design software can be one of MIICS software, amira software, avizo software and ORS Visual software; the model making software can adopt a Unity real-time content development platform.
Further, preprocessing the acquired CT image data, and performing data cleaning on the CT image data, wherein the data cleaning is used for eliminating the influence of the original dimension of the data on the result; comprising the following steps:
screening out disorder code data and offside data from the CT image data to obtain screening feature data;
vectorizing the screening feature data to obtain a screening feature vector set, and adding space-time vectors to each screening feature vector in the screening feature vector set to obtain a space-time vector set;
performing feature clustering on the space-time vector set to obtain a clustering center data set;
and filling each null value data in the screening characteristic data according to the clustering center data set.
Further, the method further comprises the following steps: the identification mark is carried out on the planting area and the positions of the maxillary sinus and/or the mandibular nerve tube in the CT image data,
based on generating a mixed model of an antagonistic network DD-GAN and a selective kernel convolutional neural network SK-CNN, establishing an oral structure identification model; the selective kernel convolutional neural network SK-CNN comprises an implicit layer and an output layer, wherein the implicit layer comprises an countermeasure network DD-GAN model, and the countermeasure network DD-GAN model is parallel to the selective kernel convolutional neural network SK-CNN;
and analyzing the CT image data according to the oral structure identification model, identifying the positions of the implantation area and the maxillary sinus and/or the mandibular nerve tube, and carrying out color marking.
The positions of the first markers are marked correspondingly on the CT image data and the generated AR display model and marked as marking points of the first markers; the implant area and the position of the maxillary sinus and/or mandibular nerve canal are correspondingly marked.
As one implementation of the embodiment of the present invention, step S3 includes:
based on a binocular vision algorithm, respectively carrying out calculation processing on the first marker image and the second marker image to obtain coordinate positions of the first marker and the second marker under a binocular camera coordinate system;
registering the AR display model and the first marker, and calculating to obtain the coordinate position of the AR display model under the binocular camera coordinate system through the coordinate position of the first marker under the binocular camera coordinate system;
calculating to obtain the coordinate position of the implant on the implant mobile phone under the binocular camera coordinate system through the coordinate position of the second marker under the binocular camera coordinate system;
converting the coordinate positions of the AR display model and the implant under the binocular camera coordinate system into the coordinate positions of the AR display model and the implant under the projection coordinate system respectively;
and monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
Further, the calculating to obtain the coordinate position of the AR display model under the binocular camera coordinate system includes:
acquiring the coordinate position of a first marker under a binocular camera coordinate system;
and overlapping and matching the mark points of the first marker in the AR display model with the first marker to obtain the coordinate positions of each region in the AR display model under the binocular camera coordinate system.
Further, converting the coordinate position of the target object under the binocular camera coordinate system into the coordinate position of the target object under the world coordinate system through a first coordinate conversion relation; and converting the coordinate position of the target object under the world coordinate system into the coordinate position of the target object under the projection coordinate system through a second coordinate conversion relation.
Specifically, the binocular camera coordinate system refers to: in constructing the field of view space by a binocular camera, a coordinate system is established. After capturing the target object, the binocular camera can determine the coordinate position of the target object in the coordinate system constructed by the binocular camera, and the position of the target object relative to the binocular camera can be known.
The world coordinate system refers to: a coordinate system established in real space. The conversion into the coordinate position of the target object under the world coordinate system through the first coordinate conversion relation means that: since the binocular camera exists in the real space, the position of the binocular camera in the real space can be determined, and the position of the target object in the real space can be deduced according to the position of the binocular camera, namely, the coordinate position of the target object in the real world coordinate system can be determined.
The projection coordinate system refers to: in the field space constructed by AR glasses, a coordinate system is established. The conversion into the coordinate position of the target object under the projection coordinate system through the second coordinate conversion relation means that: since the view space constructed by the AR glasses is constructed based on the real space, only the origin of the coordinate system is distinguished. Therefore, in the case of determining the origins of the two coordinate systems, the coordinate position of the object in the projected coordinate system can be deduced from the coordinate position of the object in the real world coordinate system.
Converting the coordinate position of the AR display model under the binocular camera coordinate system into the coordinate position of the AR display model under the world coordinate system through a first coordinate conversion relation;
and converting the coordinate position of the AR display model under the world coordinate system into the coordinate position of the AR display model under the projection coordinate system through a second coordinate conversion relation.
Calculating the first marker image through a binocular vision algorithm to obtain the coordinate position of the first marker under a binocular camera coordinate system; converting the coordinate position of the first marker under the binocular camera coordinate system into the coordinate position of the first marker under the world coordinate system through a preset first coordinate conversion relation; registering the AR display model through first marker matching to obtain the coordinate position of the AR display model under the world coordinate system; and converting the coordinate position of the AR display model under the world coordinate system into the coordinate position of the AR display model under the projection coordinate system through a preset second coordinate conversion relation.
Further, the real-time monitoring of the relative position of the implant and the AR display model, and generating and prompting the planting navigation planning path include:
acquiring coordinate positions of the implant and the AR display model under a projection coordinate system in real time;
generating a planting navigation planning path according to the coordinate positions of the implant and the planting area under a projection coordinate system, and displaying and prompting in the AR glasses;
when the coordinate positions of the implant and the planting area are overlapped under the projection coordinate system, namely the implant reaches the planting area, a prompt tone is sent out;
when the implant approaches to the coordinate position of the maxillary sinus or the mandibular nerve tube under the projection coordinate system, that is, the implant deviates from the implantation area, an alarm sound is emitted.
Example 2:
as shown in fig. 2, an embodiment of the present invention provides an oral implant positioning system, including:
the first processing module device is used for obtaining a first marker image and a second marker image according to the first marker on the teeth and the second marker on the planting mobile phone;
the second processing device is used for obtaining an AR display model of the oral cavity of the patient according to the CT image data in the oral cavity of the patient;
and the navigation device is used for registering the AR display model with the first marker and the second marker image, monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
As one implementation of the embodiment of the present invention, a navigation device includes:
the first calculation module is used for respectively carrying out calculation processing on the first marker image and the second marker image to obtain coordinate positions of the first marker and the second marker under a binocular camera coordinate system;
the registration module is used for registering the AR display model and the first marker, and calculating the coordinate position of the AR display model under the binocular camera coordinate system through the coordinate position of the first marker under the binocular camera coordinate system;
the second calculation module is used for calculating the coordinate position of the implant on the implant mobile phone under the binocular camera coordinate system through the coordinate position of the second marker under the binocular camera coordinate system;
the conversion module is used for converting the coordinate positions of the AR display model and the implant under the binocular camera coordinate system into the coordinate positions of the AR display model and the implant under the projection coordinate system respectively;
and the navigation module is used for monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
As an implementation manner of the embodiment of the present invention, the first calculation module is configured to perform calculation processing on the first marker image and the second marker image based on a binocular vision algorithm, so as to obtain coordinate positions of the first marker and the second marker under a binocular camera coordinate system.
As one implementation of the embodiment of the present invention, the second processing device includes:
the first manufacturing module is used for manufacturing CT image data into a preimplantation planning model file;
and the second manufacturing module is used for manufacturing an AR display model of the oral cavity of the patient according to the preimplantation planning model file.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but various modifications and improvements made by those skilled in the art to which the present invention pertains are made without departing from the spirit of the present invention, and all modifications and improvements fall within the scope of the present invention as defined in the appended claims.
Claims (8)
1. The method for positioning the oral cavity is characterized by comprising the following steps of:
step S1, obtaining a first marker image and a second marker image according to a first marker on teeth and a second marker on a planting mobile phone;
s2, obtaining an AR display model of the oral cavity of the patient according to CT image data in the oral cavity of the patient;
and S3, registering the AR display model with the first marker and the second marker image, monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
2. The method of positioning for oral implantation according to claim 1, wherein step S3 of registering the AR display model with the first marker and the second marker image, monitoring the relative position of the implant and the AR display model in real time, generating and prompting an implant navigation planning path comprises:
respectively carrying out calculation processing on the first marker image and the second marker image to obtain coordinate positions of the first marker and the second marker under a binocular camera coordinate system;
registering the AR display model and the first marker, and calculating to obtain the coordinate position of the AR display model under the binocular camera coordinate system through the coordinate position of the first marker under the binocular camera coordinate system;
calculating to obtain the coordinate position of the implant on the implant mobile phone under the binocular camera coordinate system through the coordinate position of the second marker under the binocular camera coordinate system;
converting the coordinate positions of the AR display model and the implant under the binocular camera coordinate system into the coordinate positions of the AR display model and the implant under the projection coordinate system respectively;
and monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
3. The method for positioning oral implantation according to claim 2, wherein the first marker image and the second marker image are respectively calculated based on a binocular vision algorithm to obtain coordinate positions of the first marker and the second marker in a binocular camera coordinate system.
4. The method of positioning for oral implants of claim 3 wherein step S2 comprises:
preparing CT image data into a planning model file before implantation operation;
and (5) according to the planning model file before implantation, making an AR display model of the oral cavity of the patient.
5. An oral implant positioning system, comprising:
the first processing module device is used for obtaining a first marker image and a second marker image according to the first marker on the teeth and the second marker on the planting mobile phone;
the second processing device is used for obtaining an AR display model of the oral cavity of the patient according to the CT image data in the oral cavity of the patient;
and the navigation device is used for registering the AR display model with the first marker and the second marker image, monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
6. The oral implant positioning system according to claim 5, wherein the navigation device comprises:
the first calculation module is used for respectively carrying out calculation processing on the first marker image and the second marker image to obtain coordinate positions of the first marker and the second marker under a binocular camera coordinate system;
the registration module is used for registering the AR display model and the first marker, and calculating the coordinate position of the AR display model under the binocular camera coordinate system through the coordinate position of the first marker under the binocular camera coordinate system;
the second calculation module is used for calculating the coordinate position of the implant on the implant mobile phone under the binocular camera coordinate system through the coordinate position of the second marker under the binocular camera coordinate system;
the conversion module is used for converting the coordinate positions of the AR display model and the implant under the binocular camera coordinate system into the coordinate positions of the AR display model and the implant under the projection coordinate system respectively;
and the navigation module is used for monitoring the relative positions of the implant and the AR display model in real time, and generating and prompting a planting navigation planning path.
7. The oral implant positioning system according to claim 6, wherein the first calculation module is configured to calculate the first marker image and the second marker image based on a binocular vision algorithm, respectively, to obtain coordinate positions of the first marker and the second marker in a binocular camera coordinate system.
8. The oral implant positioning system according to claim 7, wherein the second processing device comprises:
the first manufacturing module is used for manufacturing CT image data into a preimplantation planning model file;
and the second manufacturing module is used for manufacturing an AR display model of the oral cavity of the patient according to the preimplantation planning model file.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311830279.1A CN117731439A (en) | 2023-12-28 | 2023-12-28 | Oral implantation positioning method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311830279.1A CN117731439A (en) | 2023-12-28 | 2023-12-28 | Oral implantation positioning method and system |
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| Publication Number | Publication Date |
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| CN117731439A true CN117731439A (en) | 2024-03-22 |
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| CN202311830279.1A Pending CN117731439A (en) | 2023-12-28 | 2023-12-28 | Oral implantation positioning method and system |
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| CN (1) | CN117731439A (en) |
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- 2023-12-28 CN CN202311830279.1A patent/CN117731439A/en active Pending
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