CN215078735U - Tool for matching CT image and positioning passive infrared reflecting ball position - Google Patents

Tool for matching CT image and positioning passive infrared reflecting ball position Download PDF

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CN215078735U
CN215078735U CN202120480288.2U CN202120480288U CN215078735U CN 215078735 U CN215078735 U CN 215078735U CN 202120480288 U CN202120480288 U CN 202120480288U CN 215078735 U CN215078735 U CN 215078735U
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passive infrared
positioning
ball
reflective
infrared reflecting
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汪阳
房鹤
孙孝男
崔小飞
田忠正
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Sichuan Fengzhun Robot Technology Co ltd
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Sichuan Fengzhun Robot Technology Co ltd
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Abstract

The utility model provides a tool for matching CT images and positioning the position of a passive infrared reflecting ball, which is a tool for accurately matching CT images and positioning the position of the passive infrared reflecting ball and comprises a tooth socket, a connecting rod, a bracket main body and a positioning passive infrared reflecting ball component; the bracket main body is of a cross-shaped arm structure and is provided with four mounting points which are distributed in a cross shape; correspondingly mounting one positioning passive infrared reflecting ball assembly at each mounting point; each positioning passive infrared reflecting ball assembly comprises a connecting stud, a reflecting titanium bead and a passive infrared reflecting ball; the passive infrared reflective ball and the reflective titanium bead are concentrically arranged. The utility model discloses effectively save the complex operation degree to target point E location, practice thrift the time to target point E location, improve the precision to target point E location. The utility model has the advantages of simple assembly and convenient use.

Description

Tool for matching CT image and positioning passive infrared reflecting ball position
Technical Field
The utility model belongs to the technical field of medical instrument, concretely relates to match CT image and instrument of location passive form infrared reflection of light ball position.
Background
When the oral teeth are repaired or implanted, a tooth socket needs to be sleeved outside the teeth of a patient, and then the teeth are scanned by CBCT to obtain a tooth CT image; three-dimensional coordinates of the tooth target position point under a CT coordinate system { C } can be obtained by analyzing and reading the tooth CT image; wherein the tooth target position point is a tooth defect position; then, in the process of repairing the teeth, the patient needs to lie on the dental chair and repair the teeth by using the repair tool.
When the restoration tool restores the tooth, the three-dimensional coordinate of the tooth target position point under the coordinate system of the positioner needs to be obtained, and the effective positioning of the tooth target position point can be realized.
In the prior art, the three-dimensional coordinates of the tooth target position point under a coordinate system of a positioning instrument can be obtained only by adopting another set of auxiliary tools separated from the tooth socket and a manual operation mode, so that the positioning of the tooth target position point is realized, and the problems of complex realization process and low positioning accuracy are solved.
SUMMERY OF THE UTILITY MODEL
The defect that exists to prior art, the utility model provides a match CT image and fix a position instrument of passive form infrared reflection of light ball position can effectively solve above-mentioned problem.
The utility model adopts the technical scheme as follows:
the utility model provides a tool for matching CT images and positioning the position of a passive infrared reflecting ball, which comprises a tooth socket (1), a connecting rod (2), a bracket main body (3) and a positioning passive infrared reflecting ball component (4);
the front surface of the tooth socket (1) is fixedly connected with one end of the connecting rod (2); the other end of the connecting rod (2) extends out of the oral cavity and is fixedly connected with the central position of the bracket main body (3);
the support main body (3) is of a cross-shaped arm structure and is provided with four mounting points which are distributed in a cross shape, namely a 1 st mounting point (3.1), a 2 nd mounting point (3.2), a 3 rd mounting point (3.3) and a 4 th mounting point (3.4); at each mounting point, correspondingly mounting one positioning passive infrared reflective ball assembly (4);
each positioning passive infrared reflecting ball assembly (4) comprises a connecting stud (4.1), a reflecting titanium bead (4.2) and a passive infrared reflecting ball (4.3);
one end of the connecting stud (4.1) is embedded and mounted on a corresponding mounting point of the bracket main body (3); the other end of the connecting stud (4.1) is fixedly provided with the reflective titanium bead (4.2); the passive infrared reflective ball (4.3) is sleeved outside the reflective titanium bead (4.2) and screwed outside the connecting stud (4.1), so that the passive infrared reflective ball (4.3) and the reflective titanium bead (4.2) are concentrically arranged.
Preferably, a first inner hexagonal screw (5) is installed in front of the tooth socket (1), the tail end of the first inner hexagonal screw (5) penetrates through one end of the connecting rod (2), and then the straight thread knob (6) is adopted to be screwed, so that the tooth socket (1) and the connecting rod (2) are fixedly connected.
Preferably, a 1 st threaded hole (3.5) is formed in the center of the bracket main body (3); the other end of the connecting rod (2) is provided with a 2 nd threaded hole (2.1); and after the tail end of the second inner hexagonal screw (7) passes through the 2 nd threaded hole (2.1), screwing the 1 st threaded hole (3.5), and further realizing the fixed connection of the connecting rod (2) and the support main body (3).
Preferably, the reflective titanium bead (4.2) is bonded with the other end of the connecting stud (4.1).
The utility model provides a tool that matches CT image and fix a position passive form infrared reflection of light ball position has following advantage:
the utility model discloses effectively save the complex operation degree to target point E location, practice thrift the time to target point E location, improve the precision to target point E location. The utility model has the advantages of simple assembly and convenient use.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure of a tool for matching CT images and positioning the position of a passive infrared reflective ball provided by the present invention;
FIG. 2 is an exploded view of the tool for matching CT images and positioning the position of the passive infrared reflective ball according to the present invention;
fig. 3 is a cross-sectional view of the relative position between the reflective titanium beads and the passive infrared reflective balls.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to further explain the present invention in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
The utility model provides a tool for matching CT images and positioning the position of a passive infrared reflecting ball, which belongs to the field of medical instruments, computers, navigation and positioning of medical instrument robots, the utility model ingeniously combines a reflecting titanium bead and the passive infrared reflecting ball together to ensure that the reflecting titanium bead and the passive infrared reflecting ball are concentrically arranged, therefore, the reflecting titanium bead and the passive infrared reflecting ball have the same three-dimensional position coordinate, because the reflecting titanium bead is imaged in the CT images, and the passive infrared reflecting ball obtains the three-dimensional position coordinate through an optical positioning instrument, therefore, a coordinate conversion matrix of a CT coordinate system { CT } and an optical coordinate system { O } can be established, and after obtaining the three-dimensional position coordinate of a target point E under the CT coordinate system { CT } through the CT images, the three-dimensional position coordinate of the target point E under the optical positioning instrument coordinate system { O } can be obtained, and finally positioning the target point E.
The utility model discloses effectively save the complex operation degree to target point E location, practice thrift the time to target point E location, improve the precision to target point E location. The utility model has the advantages of simple assembly and convenient use.
Referring to fig. 1 and 2, the utility model provides a tool for matching CT images and positioning the position of a passive infrared reflective ball, which comprises a tooth socket 1, a connecting rod 2, a bracket main body 3 and a positioning passive infrared reflective ball component 4;
the front of the tooth socket 1 is fixedly connected with one end of the connecting rod 2; in the concrete implementation, a first inner hexagon screw 5 is installed in front of the tooth socket 1, the tail end of the first inner hexagon screw 5 penetrates through one end of the connecting rod 2, and then the straight thread knob 6 is adopted to screw tightly, so that the tooth socket 1 and the connecting rod 2 are fixedly connected.
The other end of the connecting rod 2 extends out of the mouth cavity and is fixedly connected with the central position of the bracket main body 3; in the concrete implementation, a 1 st threaded hole 3.5 is formed in the center of the bracket main body 3; the other end of the connecting rod 2 is provided with a 2 nd threaded hole 2.1; after the tail end of the second inner hexagon screw 7 passes through the 2 nd threaded hole 2.1, the 1 st threaded hole 3.5 is screwed in, and then the connecting rod 2 and the support main body 3 are fixedly connected.
The support main body 3 is of a cross-shaped arm structure and is provided with four mounting points which are distributed in a cross shape, namely a 1 st mounting point 3.1, a 2 nd mounting point 3.2, a 3 rd mounting point 3.3 and a 4 th mounting point 3.4; a positioning passive infrared reflective ball assembly 4 is correspondingly arranged at each mounting point;
each positioning passive infrared reflective ball assembly 4 comprises a connecting stud 4.1, a reflective titanium bead 4.2 and a passive infrared reflective ball 4.3;
referring to fig. 3, one end of the connecting stud 4.1 is embedded and mounted to a mounting point of the corresponding bracket body 3; the other end of the connecting stud 4.1 is fixedly provided with a reflective titanium bead 4.2; in the concrete implementation, the reflective titanium beads 4.2 are bonded with the other end of the connecting stud 4.1.
The passive infrared reflective ball 4.3 is sleeved outside the reflective titanium bead 4.2 and screwed outside the connecting stud 4.1, so that the passive infrared reflective ball 4.3 and the reflective titanium bead 4.2 are concentrically arranged.
Therefore, a reflective titanium bead is concentrically arranged inside each passive infrared reflective ball. The reflective titanium beads and the passive infrared reflective balls have the same three-dimensional position coordinates. Through coordinate conversion, the three-dimensional position coordinates of the target point E on the CT image under the coordinate system of the optical positioning instrument can be simply and quickly obtained, the identification error and the secondary assembly error of the positioning instrument are avoided, and the positioning precision of the target point E is improved. Wherein, the target point E can be a tooth injury position or a position where a tooth needs to be planted.
The positioning method for matching the CT image with the tool for positioning the position of the passive infrared reflecting ball comprises the following steps:
step 1, setting four mounting points of a bracket main body 3, wherein the light-reflecting titanium beads 4.2 are a light-reflecting titanium bead A, a light-reflecting titanium bead B, a light-reflecting titanium bead C and a light-reflecting titanium bead D; the passive infrared reflective balls corresponding to the reflective titanium bead A, the reflective titanium bead B, the reflective titanium bead C and the reflective titanium bead D are respectively as follows: the infrared reflection device comprises a passive infrared reflection ball A, a passive infrared reflection ball B, a passive infrared reflection ball C and a passive infrared reflection ball D;
step 2, coating medical epoxy resin glue in the curved surface facing, adhering the curved surface facing to the teeth firmly, and scanning the teeth by CBCT to obtain a clear tooth CT image; processing the tooth CT image to obtain three-dimensional position coordinates of each reflective titanium bead in a CT coordinate system { CT } and three-dimensional position coordinates of a target point E in the CT coordinate system { CT };
because the reflective titanium beads and the passive infrared reflective spheres are concentrically arranged, the three-dimensional position coordinates of each reflective titanium bead under a CT coordinate system { CT } are equal to the three-dimensional position coordinates of each passive infrared reflective sphere under the CT coordinate system { CT };
step 3, forming a tracer by the passive infrared reflective ball A, the passive infrared reflective ball B, the passive infrared reflective ball C and the passive infrared reflective ball D; the coordinate system of the tracer is expressed as { S }, and the tracer obtains the three-dimensional position coordinates of each passive infrared reflective sphere in the coordinate system of the tracer { S };
wherein the tracer coordinate system S can be arbitrarily established.
Positioning each passive infrared reflective ball of the tracer by adopting an optical position finder, and identifying the three-dimensional position coordinate of each passive infrared reflective ball under the coordinate system { O } of the optical position finder;
the coordinate system { O } of the optical position finder is a target coordinate system, coordinates of other coordinate systems are converted into the coordinate system { O } of the optical position finder in a unified mode, and operation of related tools can be achieved.
Obtaining a coordinate conversion matrix between the coordinate system { O } of the optical position finder and the coordinate system { S } of the tracer according to the three-dimensional position coordinates of the passive infrared reflective ball in the coordinate system { O } of the optical position finder and the three-dimensional position coordinates of the passive infrared reflective ball in the coordinate system { S } of the tracerS OT；
Step 4, obtaining a coordinate conversion matrix between the tracer coordinate system { S } and the CT coordinate system { CT } according to the three-dimensional position coordinates of the passive infrared reflective ball in the tracer coordinate system { S } and the three-dimensional position coordinates of the passive infrared reflective ball in the CT coordinate system { CT }
Figure BDA0002964355260000063
Step 5, converting the matrix according to the coordinates
Figure BDA0002964355260000062
Converting the three-dimensional position coordinates of the target point E in a CT coordinate system { CT } into the three-dimensional position coordinates of the target point E in a tracer coordinate system { S };
step 6, converting the matrix according to the coordinates
Figure BDA0002964355260000061
Converting the three-dimensional position coordinates of the target point E in the tracer coordinate system { S } into the three-dimensional position coordinates of the target point E in the optical position finder coordinate system { O };
and 7, after the three-dimensional position coordinates of the target point E in the optical position finder coordinate system { O } are obtained, the final positioning of the target point E is realized.
The utility model provides an instrument of accurate matching CT image and the infrared reflection of light ball position of location passive form, the concentric installation reflection of light titanium pearl in the infrared reflection of light ball of passive form, reflection of light titanium pearl are the titanium alloy steel ball, and the steel ball chooses for use the titanium alloy reason: diffraction can not take place under CT scanning, can obtain clearer CT image, titanium alloy steel ball central point puts and keeps the coincidence with passive form infrared reflection of light ball central point all the time moreover, and the later stage optical positioning appearance of being convenient for is quick, accurate discernment, reduces the error that arouses because of the artificial assembly, improves positioning accuracy.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be viewed as the protection scope of the present invention.

Claims (4)

1. A tool for matching CT images and positioning the position of a passive infrared reflecting ball is characterized by comprising a tooth socket (1), a connecting rod (2), a bracket main body (3) and a positioning passive infrared reflecting ball assembly (4);
the front surface of the tooth socket (1) is fixedly connected with one end of the connecting rod (2); the other end of the connecting rod (2) extends out of the oral cavity and is fixedly connected with the central position of the bracket main body (3);
the support main body (3) is of a cross-shaped arm structure and is provided with four mounting points which are distributed in a cross shape, namely a 1 st mounting point (3.1), a 2 nd mounting point (3.2), a 3 rd mounting point (3.3) and a 4 th mounting point (3.4); at each mounting point, correspondingly mounting one positioning passive infrared reflective ball assembly (4);
each positioning passive infrared reflecting ball assembly (4) comprises a connecting stud (4.1), a reflecting titanium bead (4.2) and a passive infrared reflecting ball (4.3);
one end of the connecting stud (4.1) is embedded and mounted on a corresponding mounting point of the bracket main body (3); the other end of the connecting stud (4.1) is fixedly provided with the reflective titanium bead (4.2); the passive infrared reflective ball (4.3) is sleeved outside the reflective titanium bead (4.2) and screwed outside the connecting stud (4.1), so that the passive infrared reflective ball (4.3) and the reflective titanium bead (4.2) are concentrically arranged.
2. The tool for matching CT images and locating the position of a passive infrared reflecting ball according to claim 1, wherein a first socket head cap screw (5) is installed in front of the mouthpiece (1), the end of the first socket head cap screw (5) penetrates through one end of the connecting rod (2), and then a straight-line knob (6) is adopted to screw tightly, so that the mouthpiece (1) and the connecting rod (2) are fixedly connected.
3. The tool for matching CT images and positioning the passive infrared reflecting ball according to claim 1, wherein a 1 st threaded hole (3.5) is formed in the center of the support main body (3); the other end of the connecting rod (2) is provided with a 2 nd threaded hole (2.1); and after the tail end of the second inner hexagonal screw (7) passes through the 2 nd threaded hole (2.1), screwing the 1 st threaded hole (3.5), and further realizing the fixed connection of the connecting rod (2) and the support main body (3).
4. Tool for matching CT images with the positioning of passive infrared reflector balls according to claim 1, characterized in that the reflective titanium beads (4.2) are glued to the other end of the connecting studs (4.1).
CN202120480288.2U 2021-03-05 2021-03-05 Tool for matching CT image and positioning passive infrared reflecting ball position Active CN215078735U (en)

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