JP7255927B2 - Treatment support system, treatment support method and treatment support program - Google Patents

Description

The present invention relates to a treatment support system and the like for supporting dental implant treatment.

Conventional dental implants involve visually locating the implant and using a surgical drill to drill a hole in the jaw. However, since this method relies on the experience of the doctor, problems can occur when the procedure is performed by an inexperienced doctor.

Therefore, techniques for accurately guiding the position of implants using plaster casts and surgical guides are spreading. As another method, the state of the oral cavity is expressed in three dimensions, and implants are designed or performed while viewing images.

However, when using a surgical guide, it is possible to insert the implant in an accurate position, but considering the thickness of the surgical guide itself and the depth of the drill, it depends on the size of the patient's jaw. There is a problem that a deep position cannot be treated. In designing and performing implants while viewing 3D images, it is easier to grasp the state of the oral cavity compared to visual observation, but there is a problem that it is difficult to grasp the state of treatment in real time with intuitive 3D images. be.

For example, Patent Documents 1 to 3 disclose techniques related to dental treatment and dental implant methods. The technique shown in Patent Document 1 is a denture and jaw model 2 having predetermined position markers 1 and 3, a treatment instrument 4, and an arbitrary cross-sectional or perspective view of the denture and jaw model 2 and the treatment instrument 4 from three-dimensional data. Image reconstruction means 5 for generating a reconstructed image; Position measurement means 6 for measuring the three-dimensional positions and inclinations of the dental jaw model 2 and the treatment instrument 4 by detecting the position markers 1 and 3; The reconstructed image of the dental jaw model 2 and the reconstructed image of the therapeutic instrument 4 are superimposed according to the three-dimensional relative relationship between the dental jaw model 2 and the therapeutic instrument 4 calculated from the data obtained by the measuring means 6. An image display means 7 is used to display images displayed on the image display means 7, and dental practice is performed using the images displayed on the image display means 7. FIG.

The technique shown in Patent Document 2 includes 3D image information input means 20 for inputting 3D image information including at least a part of the upper or lower jaw obtained by inspection using scanning lines, and the shape and position of the intraoral surface. Based on the recognition means 30 for recognition, the shape/position recognized by the recognition means 30 and the 3D image information, the positioning means 40 for positioning both, and all or part of the positioned 3D image information, and output means 50 for outputting to the retina operation display 80 .

The technique shown in Patent Document 3 is a marker to be adhered to the mucosa in the patient's oral cavity, the marker contains an X-ray opaque substance and has an adhesive surface that adheres to the mucous membrane in the patient's oral cavity, When measuring with an intraoral measuring instrument, it is made of a material that can be distinguished from the mucosa in the patient's oral cavity, and (1) the marker is adhered to the mucous membrane in the patient's oral cavity, and X-ray CT By CT imaging with the device, CT three-dimensional data including the patient's jawbone and the marker can be obtained, and (2) measurement by an intraoral measuring instrument with the marker adhered to the intraoral mucosa of the patient. , the intraoral measuring device three-dimensional data including the intraoral mucosa and the marker of the patient can be obtained.

JP-A-2001-51593 JP 2011-212367 A Japanese Patent Application Laid-Open No. 2013-322

The technique disclosed in Patent Document 1 aligns a dental jaw model and a treatment instrument, and superimposes and displays a three-dimensional image according to the three-dimensional relative relationship. It is not possible to intuitively and in real time grasp the proper position for burying the implant and create it as design information.

Similarly, in Patent Documents 2 and 3, it is possible to simulate a treatment using a three-dimensional image. It is not something that can be comprehended in real time and created as design information.

The present invention captures and saves a virtual three-dimensionally displayed implant with only simple operations, so that the proper position for implant placement can be intuitively and real-time grasped to create design information. Provide a support system, etc.

A treatment support system according to the present invention comprises CT imaging means for taking a CT image of teeth of a person to be treated together with a reference marker indicating a reference position; A first position marker indicating the position of the operator, a second position marker attached to the operation unit operated by the operator and specifying the position and direction of the operation unit, and generated based on at least the CT image 3D model information storage means for storing 3D model information and 3D model information of a virtual implant attached to the distal end portion of the operation portion in a direction perpendicular to the longitudinal direction of the operation portion; The position of the CT image and the virtual implant are aligned from the position information of the marker, the first position marker and the second position marker, and the three-dimensional model information is transmitted to the operation unit and the subject. display control means for displaying according to the movement of the person; and capture means for storing the position and angle as design information when the three-dimensional model of the virtual implant is displayed at a desired position and angle. is provided.

Thus, in the treatment support system according to the present invention, the first and second position markers are used to align the CT image of the person to be treated and the operating unit operated by the operator, and are attached to the operating unit during treatment. When the virtual three-dimensional model of the implant is displayed at a desired position and angle, the position and angle are stored as design information. Therefore, in the design stage of dental implant treatment, it is possible to create design information while intuitively and in real time grasping the proper position for embedding the implant.

The treatment support system according to the present invention has an elastic body that generates an elastic force in a direction perpendicular to the longitudinal direction of the operation portion at the distal end portion of the operation portion.

As described above, in the treatment support system according to the present invention, since the distal end portion of the operation portion has an elastic body that generates an elastic force in the direction perpendicular to the longitudinal direction of the operation portion, the treatment support system can The tip of the elastic body is fixed to some extent at the treatment position of the tooth model created based on the CT image of the practitioner, and in a stable state, the position and angle of the virtual implant are determined using the elastic force of this elastic body. can be freely changed and the proper position can be visually recognized, the operability can be significantly improved and the position of the implant can be designed accurately.

In addition, since the elastic force of the elastic body absorbs the pushing motion of the operation part to some extent, even for a patient with thick gums, for example, the virtual implant can be positioned accurately based on only the positioning information. It is possible to perform three-dimensional display pushed up to.

In the treatment support system according to the present invention, the three-dimensional processing means is attached to the distal end portion of the operation portion in a direction perpendicular to the longitudinal direction of the operation portion, and a three-dimensional model of a drill or an implant used in the operation. and the display control means displays the three-dimensional model of the CT image and the three-dimensional model of the virtual implant, and displays the three-dimensional model of the drill or the implant on the operation unit and the subject. It is superimposed and displayed according to the movement.

As described above, in the treatment support system according to the present invention, a three-dimensional model of a drill or an implant that is attached to the distal end portion of the operation part in a direction perpendicular to the longitudinal direction of the operation part and used in the treatment is generated. and displaying the 3D model of the CT image and the 3D model of the virtual implant, superimposing and displaying the 3D model of the drill or the implant according to the movement of the operation unit and the subject. Therefore, it is possible to intuitively operate in real time using visual information.

In the treatment support system according to the present invention, the display control means displays the design information stored by the capture means before starting the treatment, and a virtual image with the distal end portion of the drill or the implant as a starting point. display the three-dimensional model of the drill or the implant, and erase the virtual three-dimensional model of the drill or the implant when the drill or the implant is advanced to a predetermined depth after the start of the treatment, and The three-dimensional model of the drill or the implant is aligned and the display is switched.

As described above, in the treatment support system according to the present invention, before starting treatment, the design information stored by the capture means is displayed, and a virtual image with the tip portion of the drill or the implant as a starting point is displayed. A three-dimensional model of the drill or the implant is displayed, and the virtual three-dimensional model of the drill or the implant is erased when the drill or the implant is advanced to a predetermined depth after the start of the treatment, and the real one is displayed. Since the 3D model of the drill or the implant is aligned and the display is switched, the implant can be performed accurately only by performing an operation to align the 3D model of the drill or the implant with the displayed design information. There is an effect that it becomes possible to perform

The treatment support system according to the present invention includes: a support portion having a predetermined length from a position where the reference marker is fixed to a position of an arbitrary tooth of the person to be treated; and a marker portion disposed at a position that does not adhere to other teeth of the tooth.

As described above, in the treatment support system according to the present invention, the reference marker has a support portion having a predetermined length from a position fixed to an arbitrary tooth of the subject, and Since it has a marker portion which is connected to and is disposed at a position not attached to any other tooth, the marker portion can be placed on the tongue of the user regardless of which tooth of the user it is attached to. It is possible to arrange the markers in the vicinity, avoiding artifacts such as halation that may occur in CT imaging, such as silver teeth, and clearly imaging the markers to specify an accurate reference position.

1 is a system configuration diagram of a treatment support system according to a first embodiment; FIG. FIG. 2 is a first diagram showing the structure of a fiducial marker and a first position marker; FIG. 2B is a second diagram showing the structure of the fiducial marker and the first position marker; FIG. 10 is a diagram showing a state in which the reference marker and the first position marker are fixed to teeth other than the front teeth; It is a figure which shows the structure of an operation part. It is a figure which shows the structure of the components for design. It is a figure which shows the example of a design method. It is a figure which shows the state before pushing in and the state after pushing in the components for design. 2 is a hardware configuration diagram of a treatment support device in the treatment support system according to the first embodiment; FIG. It is a functional block diagram which shows the structure of the treatment assistance apparatus in the treatment assistance system which concerns on 1st Embodiment. FIG. 10 is a diagram showing changes in display mode during treatment; It is a flow chart which shows operation of a medical treatment support system concerning a 1st embodiment.

Embodiments of the present invention will be described below. Also, the same reference numerals are given to the same elements throughout the present embodiment.

(First embodiment of the present invention)
A treatment support system according to this embodiment will be described with reference to FIGS. 1 to 11. FIG. The treatment support system according to this embodiment relates to the treatment of dental implants, and supports the practitioner using a three-dimensional interface.

FIG. 1 is a system configuration diagram of a treatment support system according to this embodiment. The treatment support system 1 includes a reference marker 11 that is fixed to the teeth of the user and serves as a reference position for specifying the positions of the teeth of the user, and an upper jaw of the user with the reference marker 11 attached. a CT device 12 for performing tomographic imaging of the whole or a part of the lower jaw from the inside; A first imaging unit 14 that captures an infrared image of the first position marker 13 and an operation unit 15 operated by the treatment person are attached, and the position and direction of the operation unit 15 are determined in relation to the first position marker 13. Obtained from a second position marker 16 that is an infrared marker for identification, a second imaging unit 17 that captures an infrared image of the second marker 16, the first imaging unit 14, and the second imaging unit 17 and a treatment support device 19 that aligns a three-dimensional CT image of the person to be treated, at least the tip portion of the operation unit 15, and treatment parts such as a drill based on the obtained position information, and displays the three-dimensional model on the display 18. Prepare.

The practitioner can intuitively operate the implant in three dimensions by designing and performing the implant while viewing the three-dimensional image displayed on the display 18 .

2 and 3 are first and second diagrams showing the structures of the reference marker 11 and the first position marker 13. FIG. Here, FIG. 2 shows a structure in which the reference marker 11 and the first position marker 13 are connected and integrated with the fixing portion 21 fixed to the teeth of the user. On the other hand, as shown in FIG. 3, in actual use, the first position marker 13 is removed during CT imaging (FIG. 3(A)). It is used with the reference marker 11 excluded (FIG. 3(B)).

At the time of CT imaging, the fixed part 21 is attached to the teeth of the user. The fixed part 21 is prepared in advance in accordance with the teeth of the user. At the time of CT imaging, only the reference marker 11 is fixed to the fixing portion 21, and a CT image of the whole or a part of the patient's lower jaw to upper jaw is imaged by CT scanning. The reference marker 11 has a support portion 22 having a predetermined length extending from a fixed portion 21 toward the inner side of the tooth, and a marker portion 23 having a metal piece inserted therein is connected to the support portion 22 . In FIG. 2, the support 22 is fixed to the front teeth of the user and extends inwardly of the teeth from there, but as shown in FIG. It is also possible to fix the marker part 23 on the part of the tongue, and the marker part 23 can be arranged in the vicinity of the tongue by extending in the inner direction of the tooth from the fixed part.

The fiducial marker 11 must be very clearly imaged in the CT image for accurate positioning. In FIG. 2, since the metal piece is inserted into the marker portion 23, the metal piece can be clearly imaged during CT scanning and used as a reference position. In addition, since it is possible to fix the supporting part 22 at any position regardless of which tooth is to be treated, the metal piece can be used as a reference while the supporting part 22 is fixed at a position that does not interfere with the treatment. It is possible to obtain the position clearly. Furthermore, when a metal such as a silver tooth is attached to the person to be treated, artifacts such as halation are avoided by always arranging the marker part 23 near the tongue, so that the metal piece can be clearly imaged. becomes possible.

When the imaging of the CT image is completed, the marker part 23 becomes unnecessary and is removed. The marker portion 23 may be detachably attached to the support portion 22, or may be bent and removed after the CT scan. Then, when the marker portion 23 is removed, the first position marker 13 is attached to the connecting portion 24, resulting in the state shown in FIG. 3(B). The first position marker 13 includes a first support portion 25 connected to the connection portion 24, a first hinge portion 26 having a rotation axis about the yaw axis with respect to the first support portion 25, and the first hinge portion 26. a second support portion 27 connected to the second support portion 26, a second hinge portion 28 whose rotation axis is the pitch axis with respect to the second support portion 26, a third support portion 29 connected to the second hinge portion 28, and a position and at least three infrared markers 30 arranged to identify information. This infrared marker 30 has three or more markers arranged non-linearly on the same plane in order to specify a position on three-dimensional coordinates.

Only the first hinge portion 26 and the second hinge portion 28 are movable in the first position marker 13, and the positions of the rest are fixed so as not to be movable. A memory indicating the rotation angle is displayed on each of the first hinge portion 26 and the second hinge portion 28, and the positional relationship with the reference marker 11 is specified in advance and converted into data according to each memory. That is, by specifying the coordinates of the infrared marker 30, it is possible to easily convert them into the coordinates on the CT image.

FIG. 5 is a diagram showing the structure of the operation unit 15, that is, the handpiece used by the therapist during treatment. The handpiece 31 itself is generally used by a therapist, and has three or more infrared markers 33 near the handle 32 to identify the position and angle of the handpiece 31 . A drill 35 that cuts the gums and bones of the user is attached to the distal end portion 34 of the handpiece 31 while rotating about a direction perpendicular to the longitudinal direction of the handpiece 31 .

The drill 35 is attached when cutting gums and bones, and the artificial tooth root is attached when embedding an artificial tooth root. That is, the parts attached to the distal end portion 34 are detachable.

The infrared marker 33 is arranged at a fixed position with respect to the handpiece 31, and if the position of the infrared marker 33 is specified, the positions of the distal end portion 34 and parts such as the drill 35 mounted thereon can be accurately determined. can be specified. Therefore, when the relative positional relationship between the infrared marker 33 arranged on the handpiece 31 and the infrared marker 30 arranged on the first position marker 13 is identified, the position of the part such as the drill 35 can be determined. and the position of the dentition and jaw of the treatment person can be aligned.

In this embodiment, the handpiece 31 is used to design an implant. In the design work, a gypsum model imitating the user's dentition may be used, or the user's dentition itself may be used. Also, in the design work, a part for design is attached to the distal end portion 34 instead of the drill 35 . FIG. 6 is a diagram showing the structure of design parts used in designing.

The design component 40 is attached by fitting the connecting portion 41 to the distal end portion 34 of the handpiece 31 . The distal end portion of the design component 40 has a fixing portion 42 that is brought into contact with and fixed to the teeth or gums of the user or the teeth of the plaster model. The direction and angle of the handpiece 31 are adjusted while it is in contact with the gums or the teeth of the gypsum model. An elastic body 43 having an elastic force in the longitudinal direction of the design component 40 is arranged at an intermediate position of the design component 40 so that the handpiece 31 can be pushed.

FIG. 7 is a diagram showing a specific design method. As shown in FIG. 7A, the direction and angle of the handpiece 31 are adjusted while the fixing portion 42 at the tip of the design component 40 is in contact with the teeth of the gypsum model. The above-described alignment processing and the like are executed by the treatment support device 19 (the details of the processing of the treatment support device 19 will be described later), and a three-dimensional model as shown in FIG. 7B is displayed on the display 18. Is displayed.

In FIG. 7B, the virtual artificial tooth root (a) already embedded on the three-dimensional model after designing, the virtual artificial tooth root for design (b), and the part for design 40 (drill) (c) are displayed. The practitioner (or designer) moves the design virtual artificial tooth root (b) by operating the handpiece 31 based on the displayed contents, and accordingly moves the design virtual artificial tooth root (b). When the display of the position and angle changes and the artificial tooth root is placed at the desired position on the display 18, the screen is captured. At this time, if it is desired to place the artificial tooth root deeper into the gum, pushing the hand piece 31 in the depth direction causes the elastic body 43 of the design part 40 to contract, thereby enabling the artificial tooth root to be displayed deep. (see FIG. 8). The captured image is stored as design information. The design work is finished when captured images are obtained in which the virtual artificial tooth root is displayed at the desired position in all the places (a) where the artificial tooth root is to be embedded.

Next, the treatment support device 19 will be described. FIG. 9 is a hardware configuration diagram of the treatment support device. The treatment support device 19 can be realized by a general computer. The treatment support device 19 includes a CPU 61 , a RAM 62 , a ROM 63 , a hard disk (HD) 64 , a communication I/F 65 and an input/output I/F 66 . The ROM 63 and HD 64 store an operating system, programs, three-dimensional model data, and the like, and the programs are read out to the RAM 62 as necessary and executed by the CPU 61 .

Communication I/F 65 is an interface for performing communication between devices. The input/output I/F 66 is an interface for receiving input from input devices such as a touch panel, keyboard, mouse, and camera, and for outputting data to a printer, display, or the like. This input/output I/F 66 can be connected to an external device or the like as necessary. Each processing unit is connected via a bus and exchanges information. Note that the hardware configuration described above is merely an example, and can be changed as necessary.

FIG. 10 is a functional block diagram showing the configuration of the treatment support device. The treatment support device 19 includes a CT image storage unit 71 that acquires and stores CT images captured by the CT device 12, and a three-dimensional processing unit that converts the CT images stored in the CT image storage unit 71 into three-dimensional models. 72, a three-dimensional model storage unit 73 for storing three-dimensional modeled objects displayed on the display 18 such as a CT image, a drill 35, a handpiece 31, an artificial tooth root, etc.; a position information acquiring unit 74 for acquiring position information of the first marker 13 and position information of the second marker 16 captured by the second imaging unit 17; A positioning unit 75 that positions the CT image, the drill 35, the handpiece 31, the artificial tooth root, etc. based on the position information of the marker 16, and the position of the artificial tooth root displayed on the display 18 based on the operation of the treatment person. A capture unit 76 that captures positions and acquires them as design information, a design information storage unit 77 that stores the captured design information, and a CT image, a drill 35, a handpiece 31, and an artificial tooth root based on the aligned information. and the like on the display 18, and display control section 78 for displaying the design information stored in the design information storage section 77 on the display 18 as required.

As described with reference to FIG. 7, at the time of designing, the CT image, the design component 40, the handpiece 31, and the three-dimensional model of the virtual artificial tooth root are aligned by the alignment unit 75 and displayed. The direction and angle are adjusted, and the capture unit 76 performs capture processing based on the user's operation while the virtual artificial tooth root is displayed at the desired position and angle. The captured image is stored in the design information storage unit 77 as design information. When the design information is stored for all implants, the design process ends.

During treatment, the CT image, the drill 35, the handpiece 31, and the three-dimensional model of the artificial tooth root are aligned and displayed by the alignment unit 75, and the design information stored in the design information storage unit 77 is superimposed. displayed. FIG. 11 is a diagram showing changes in the display mode during treatment. As shown in FIG. 11A, at the start of treatment, a three-dimensional model is displayed in which an artificial tooth root is virtually arranged at the tip of the drill 35 . Of course, at this time, no artificial tooth root or the like is actually placed at the tip of the drill 35, and it is only processed for display purposes. As shown in FIG. 11(B), the practitioner operates the handpiece 31 so that the virtually arranged artificial tooth root overlaps the artificial tooth root of the design information. In other words, by performing cutting with the drill 35 in this state, it is possible to accurately match the treatment with the design information.

After the start of treatment, by proceeding with the cutting work with the drill 35, the virtual artificial tooth root gradually shifts from the artificial tooth root as design information on the display 18, and only the virtual artificial tooth root enters deep ( FIG. 11(C)). At this time, in the actual treatment, the drill 35 is cutting halfway to the position where the artificial tooth root is to be embedded. Then, in actual treatment, when the drill 35 cuts to a predetermined depth (for example, a position about ⅓ to half of the deepest position where the artificial tooth root is to be embedded), the display control unit 78 controls the display as shown in FIG. 11(D). switch the display to That is, the virtually displayed artificial tooth root is deleted, and the three-dimensional model of the drill 35 (or the artificial tooth root may be displayed on the display 18 (the artificial tooth root is displayed in FIG. 11)) is placed in the actual position of the drill 35. display. In other words, after cutting to a certain depth, the display state matches the actual treatment state, so subsequent treatments can be performed in accordance with the design information, making it possible to accurately match the treatment to the design ( FIG. 11(E)).

As described above, in the actual treatment work, the treatment person may operate the handpiece 31 so that the virtual artificial tooth root matches the artificial tooth root as design information before cutting with the drill 35. Even in the cutting stage, the displayed state and the treatment state match when cutting has progressed to a certain extent. Therefore, the handpiece is arranged so that the displayed artificial tooth root or drill 35 matches the position of the artificial tooth root as design information. It is only necessary to perform the operation of 31, and it becomes possible to perform accurate treatment while reducing the burden on the treatment person.

After cutting with the drill 35 is completed, the treatment support system according to the present embodiment can also be applied in the same manner in the treatment of actually embedding the artificial tooth root.

Next, the operation of the treatment support system according to this embodiment will be described. FIG. 12 is a flow chart showing the operation of the treatment support system according to this embodiment. First, the reference marker 11 is attached to the tooth of the user (S1). In this state, the CT device 12 captures a CT image of the treated area of the treated person together with the reference marker 11 (S2). The captured CT image is stored in the CT image storage unit 71 and three-dimensionally modeled by the three-dimensional processing unit 72 (S3). The three-dimensional modeled information is stored in the three-dimensional model storage unit 73 . At this time, the three-dimensional model storage unit 73 also stores in advance three-dimensional model information for other objects displayed on the display 18 (for example, artificial tooth roots, drills, handpieces, etc.).

It should be noted that the three-dimensional modeling of the CT image does not necessarily have to be performed by the medical treatment support device 19, and the medical treatment support device 19 may acquire information obtained by three-dimensional modeling on the CT device 12 side.

After CT imaging is completed, the reference marker 11 is removed and the first position marker 13 is attached. The first imaging unit 14 images the first position marker 13 to acquire its position information, and the second imaging unit 17 images the second position marker 16 attached to the operation unit 15. and obtain its position information (S4). Based on the acquired position information, the alignment unit 75 aligns the position of the tooth in the CT image with the drill 35 and the artificial tooth root in the operation unit 15 (S5), and the display control unit 78 displays the aligned state. to display the three-dimensional model on the display 18 (S6). It should be noted that the processing up to this point is a common display processing during both design and treatment. Hereinafter, processing at the time of design and processing at the time of treatment will be described.

With the registered three-dimensional model displayed on the display 18, the design work is started. In the design work, as shown in FIG. 7, the hand piece 31 is operated to search for a suitable position for embedding the artificial tooth root in the gypsum model or the treatment person. At this time, the display control unit 78 displays the three-dimensional model of the artificial tooth root so as to match the operation of the handpiece 31 (S7). When the handpiece 31 is operated so that the artificial tooth root is positioned appropriately, the capture unit 76 acquires a captured image of the artificial tooth root by the operation of the treatment person (S8). The acquired captured image is stored in the design information storage unit 77 as design information (S9). When design information is captured for all treatment locations, the design process is terminated.

Then, the actual treatment is performed. In the treatment work, as shown in FIG. 11, the display control unit 78 displays a virtual artificial tooth root at the tip of the drill 35 (S10). At the same time, the artificial tooth root of the design information stored in the design information storage unit 77 is superimposed on the CT image and displayed (S11). The practitioner operates the handpiece 31 so that the positions and directions of the virtual artificial tooth root and the artificial tooth root of the design information match to start treatment (S12). It is determined whether or not the drill 35 attached to the tip of the handpiece 31 has cut to a predetermined depth (S13). or the three-dimensional model of the artificial tooth root at the actual position of the drill 35 (the position of the tip of the handpiece 31) (S14). When the display is switched, the treatment proceeds so that the artificial tooth root in the design information matches the drill 35 displayed at the tip of the handpiece 31 or the three-dimensional model of the artificial tooth root (S15). finish cutting or implanting the artificial tooth root.

As described above, in the treatment support system according to the present embodiment, it is possible to create design information in the design stage of dental implant treatment while intuitively and in real time grasping the proper position for embedding the implant. In addition, when the drill or implant is advanced to a predetermined depth after the start of the treatment, to erase the virtual 3D model of the drill or implant, align the 3D model of the actual drill or implant, and switch the display. , the implant can be performed accurately by simply matching the drill or the three-dimensional model of the implant to the displayed design information.

1 Treatment support system 11 Reference marker 12 CT device 13 First position marker 14 First imaging unit 15 Operation unit 16 Second position marker 17 Second imaging unit 18 Display 19 Treatment support device 21 Fixing unit 22 Support unit 23 Marker part 24 Connecting part 25 First support part 26 First hinge part 27 Second support part 28 Second hinge part 29 Third support part 30 Infrared marker 31 Hand piece 32 Handle part 33 Infrared marker 34 Tip part 35 Drill 40 Design parts 41 connecting part 42 fixing part 43 elastic body 61 CPU
62 RAMs
63 ROMs
64 Hard disk 65 Communication I/F
66 input/output I/F
71 CT image storage unit 72 3D processing unit 73 3D model storage unit 74 Position information acquisition unit 75 Alignment unit 76 Capture unit 77 Design information storage unit 78 Display control unit

Claims (7)

CT imaging means for imaging teeth of a person to be treated with a CT image together with a reference marker indicating a reference position;
a first position marker attached to the subject and indicating a position whose relative position to the reference marker is fixed in advance;
a second position marker attached to an operation unit operated by a practitioner and specifying the position and direction of the operation unit;
3D model information generated based on at least the CT image, and 3D model information of a virtual implant attached to the distal end portion of the operation portion in a direction perpendicular to the longitudinal direction of the operation portion are stored. three-dimensional model information storage means;
aligning the position of the CT image with the virtual implant based on the position information of the reference marker, the first position marker and the second position marker, and the virtual implant based on the three-dimensional model information; display control means for displaying the image of according to the movement of the operation unit ;
capture means for storing the position of the displayed virtual implant as design information based on a predetermined operation;
A treatment support system comprising: In the treatment support system according to claim 1,
A treatment support system, comprising: an elastic body that generates an elastic force in a direction perpendicular to a longitudinal direction of the operation portion at a distal end portion of the operation portion. In the treatment support system according to claim 1 or 2,
further comprising a three-dimensional processing means for generating a three-dimensional model of the drill or implant used in the operation, which is attached to the distal end portion of the operation portion in a direction perpendicular to the longitudinal direction of the operation portion;
The display control means displays the three-dimensional model of the CT image and the three-dimensional model of the virtual implant, and displays the three-dimensional model of the drill or the implant according to the movement of the operation unit and the subject. A treatment support system characterized by superimposing and displaying. In the treatment support system according to claim 3,
The display control means displays a virtual three-dimensional model of the drill or the implant with the distal end portion of the drill or the implant as a starting point, and the drill or the implant is advanced to a predetermined depth after the start of treatment. A treatment support system characterized by deleting the displayed virtual three-dimensional model of the drill or the implant at a point in time, aligning the actual three-dimensional model of the drill or the implant, and switching the display. In the treatment support system according to any one of claims 1 to 3,
The fiducial marker is
a support part having a predetermined length from a point fixed to the position of any one tooth of the subject;
and a marker portion connected to the support portion and arranged at a position not attached to any other tooth. the computer
A CT image of the subject's teeth together with a reference marker indicating a reference position, and a virtual implant attached to the tip of an operation unit operated by the practitioner in a direction perpendicular to the longitudinal direction of the operation unit. a three-dimensional processing step of three-dimensionally modeling the
the reference marker, a first position marker attached to the person to be treated and indicating a position where the relative position with respect to the reference marker is fixed in advance, and the operation unit attached to the operation unit to indicate the position and direction of the operation unit. The position of the CT image and the virtual implant are aligned from the position information of the second position marker to be specified, and the image of the virtual implant based on the three-dimensional model is displayed according to the movement of the operation unit. a display control step for displaying
a capturing step of storing the displayed position of the virtual implant as design information based on a predetermined operation;
A treatment support method characterized by executing A CT image of the subject's teeth together with a reference marker indicating a reference position, and a virtual implant attached to the tip of an operation unit operated by the practitioner in a direction perpendicular to the longitudinal direction of the operation unit. three-dimensional processing means for three-dimensional modeling of
the reference marker, a first position marker attached to the person to be treated and indicating a position where the relative position with respect to the reference marker is fixed in advance, and the operation unit attached to the operation unit to indicate the position and direction of the operation unit. The position of the CT image and the virtual implant are aligned from the position information of the second position marker to be specified, and the image of the virtual implant based on the three-dimensional model is displayed according to the movement of the operation unit. and display control means for displaying
A treatment support program characterized by causing a computer to function as capture means for storing the displayed position of the virtual implant as design information based on a predetermined operation.

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