KR102122034B1 - Method for designing a dental surgical guide, apparatus, and recording medium thereof - Google Patents

Abstract

The present invention relates to a method for designing a dental surgical guide, a device therefor, and a recording medium recording the same, according to a method for designing a dental surgical guide according to the present invention, an efficient process for digital design of a dental surgical guide Technical significance exists in that it has been prepared.
In addition, design efficiency is greatly increased by minimizing user input during the entire surgical guide design process, from image registration to implant planning and surgical guide design, through crown library, guide library, and automatic undercut reflection.

Description

Method for designing a dental surgical guide, a device therefor, and a recording medium recording the same{METHOD FOR DESIGNING A DENTAL SURGICAL GUIDE, APPARATUS, AND RECORDING MEDIUM THEREOF}

The present invention relates to a method for designing a dental surgical guide, a device therefor, and a recording medium recording the same, and more specifically, a method for digitally designing a surgical guide guiding an implant procedure, a device therefor, and a record therefor It is about the record carrier.

The implant procedure to replace the teeth involves cutting the Gingiva to expose the alveolar bone, and using a drill on it to form a hole in which the fixture is placed. In this way, when performing a hole forming hole, a surgical guide is used as an auxiliary device for guiding the position of the hole formed in the alveolar bone and the placement direction of the fixture.

1 is a view showing a schematic structure of a surgical guide.

Referring to FIG. 1, a surgical guide covers a gingival or tooth and a guide hole (1a) in which a drill is inserted when forming a hole in the alveolar bone, a drill guide (1b) for guiding the position of the drill, and a gingival or tooth. It includes a guide support (1c) that serves as the main body of the curl guide. Here, the guide support may be formed to cover the entire tooth, but may be partially formed to cover only the peripheral tooth and the surrounding gingival surface located close to the target tooth according to the number and location of the implant target teeth.

The surgical guide is designed on a software program, and output to a 3D printer or the like according to the design result, and is created in real life. Although the digital design of the surgical guide differs slightly from program to program, implants that determine the implantation position or orientation of implant objects, including crowns, abutments, and fixtures, are usually prepared in advance, such as patient medical imaging. Planning (Implant planning) step, and the design step of designing a surgical guide based on the planning result.

According to a conventional program, there are many tasks that a user must input or perform in each step. For example, in the implant planning stage, the user sees the image and inserts the crown directly into the tooth loss area and manually adjusts the size or angle of the crown according to the size of the tooth loss area, and the placement position and angle of the fixture. The user is making manual adjustments. Also, in the surgical guide design stage, the user manually determines and designs the guide shape, size, and thickness according to the number and position of the tooth loss area.

As described above, according to the prior art, there are a large number of inputs required by the user in the surgical guide design process, and a very cumbersome and time-consuming problem because the user must repeat a series of operations for each patient.

Accordingly, if a process is provided to digitally design a surgical guide optimized for the patient's mouth while minimizing user input, it is expected that design efficiency can be greatly improved.

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Korea Open Patent No. 2013-0126450 (2013.11.20)

The present invention is proposed to solve the problem of the prior art, which requires a lot of user input at each step of the surgical guide digital design process, which takes a lot of design time, and the user's convenience by minimizing the user's input at each step. It is an object of the present invention to provide a method for designing a dental surgical guide, an apparatus therefor, and a recording medium recording the same, as well as to improve the design efficiency throughout the process of designing the surgical guide.

The above object is a dental surgical guide design method performed by a dental surgical guide design device providing a digital design of a surgical guide according to an aspect of the present invention, the oral CT image of the patient and the oral scan image Obtaining a; Registering the CT image and the scanned image; Generating a gingival plane corresponding to the upper gingival boundary based on the CT image or the scanned image; Generating an arch form of the patient based on the CT image or the scanned image; Performing implant planning to determine an implantation position and angle of an implant object constituting the implant based on the gingival plane and the dental arch line; And generating a surgical guide based on the results of the implant planning.

Here, the step of matching the CT image and the scanned image includes: generating a plurality of view images respectively corresponding to different directions for the CT image based on image coordinate system information of the CT image; Generating a plurality of view images respectively corresponding to the different directions with respect to the scanned image based on image coordinate system information of the scanned image; Displaying the CT image and the view image for the scanned image on a divided screen; Receiving a feature point serving as a reference for image registration through a user interface in the plurality of view images; And performing registration of the CT image and the oral scan image based on the feature point.

Meanwhile, the dental arch line may be created on the gingival plane.

In addition, the step of performing the implant planning, determining the position and size of the crown corresponding to the position and size of the tooth loss area; And determining the position of the fixture and the placement angle based on the position of the crown.

At this time, further comprising receiving the boundary of the left and right second molars through the user interface, respectively, and determining the position and size of the crown, the dental arch to the boundary of the left and right second molars. Calculating the length of the line; Calculating the crown size of the missing tooth number corresponding to the length of the arch form to the distal boundary of the left and right second molars based on the crown library in which the size of the crown according to the number of teeth according to the length of the reference arch form is defined. ; And generating a crown having the calculated size in the tooth loss area.

In addition, the step of determining the position and the mounting angle of the fixture, the central axis of the crown and the central axis of the fixture coincide, the distance between the top of the crown and the top of the fixture to meet a predetermined reference distance The position of the fixture and the placement angle can be determined.

In addition, the step of generating the surgical guide determines the basic shape of the surgical guide corresponding to the missing tooth number of the patient based on a guide library storing shape information of the surgical guide according to the tooth number to be implanted. To do; And calculating an undercut region to which a gap is provided between the surgical guide and the oral object of the patient based on the inclination of the gingival plane, and determining the internal shape of the surgical guide by reflecting the undercut region. can do.

Here, the guide library, the position information of the text bar in which text is inserted corresponding to the shape of the surgical guide and the position information of the guide window corresponding to the opening formed to grasp the mounting state of the surgical guide during the procedure are further added. It can contain.

On the other hand, calculating the undercut region, and determining the inner shape of the surgical guide by reflecting the undercut region, determining the oral insertion direction of the surgical guide based on the inclination of the gingival plane; Generating a plurality of straight lines corresponding to the oral insertion direction on the CT image or the scanned image; Determining the undercut region based on a position of a contact point between the straight line and the surface of the oral object of the image; And deforming an internal shape of the surgical guide so that a gap exists between the oral object and the undercut region.

In addition, the generating of the surgical guide may include: determining a location of the surgical guide based on the dental arch line; And determining a position of a guide hole into which a drill for drilling an alveolar bone is inserted on the surgical guide in correspondence to an implantation position of a fixture according to the implant planning.

The above object is a dental surgical guide design device for providing a digital design of a surgical guide according to another aspect of the present invention, an image acquisition unit for acquiring an oral CT image and an oral scan image of a patient; An image matching unit matching the CT image and the scanned image; A gingival plane generating unit generating a gingival plane corresponding to the upper gingival boundary based on the CT image or the scanned image; An arch form generator for generating the arch form of the patient based on the CT image or the scan image; A planning unit performing implant planning to determine an implantation position and an angle of the implant object constituting the implant based on the gingival plane and the dental arch line; And it can be achieved by a dental surgical guide design device including a guide generator for generating a surgical guide based on the results of the implant planning.

As described above, according to the present invention, design efficiency is greatly increased by minimizing user input on the entire surgical guide design process, from the image matching step to the surgical guide generation step.

In addition, according to the present invention, the user's convenience is improved through a crown library, a guide library, and automatic reflection of an undercut area, and a surgical guide that is more suitable for the patient's mouth can be designed.

1 shows a schematic structure of a surgical guide;
Figure 2 is a block diagram showing the configuration of a dental surgical guide design device according to an embodiment of the present invention;
3 is a reference diagram for explaining the gingival plane generated by the gingival plane generating unit according to an embodiment of the present invention;
4 is an example of an oral scan image in which the gingival plane and the arch form are generated according to an embodiment of the present invention;
Figure 5 is a flow chart showing a dental surgical guide design method according to an embodiment of the present invention;
6 is a flowchart illustrating an image matching method according to an embodiment of the present invention;
7 is an example of a screen in which a view image generated in an image matching process according to the embodiment of FIG. 6 is displayed;
8 is a flowchart of an implant planning method according to an embodiment of the present invention;
9 is an example of receiving the boundary of the distal surface of the left and right second molars;
10 is a reference diagram for explaining an example of a method of adjusting the size of the crown;
11 is a reference diagram for explaining an example of an implant planning method for fixtures and abutments;
12 is a flowchart illustrating a method for generating a surgical guide according to an embodiment of the present invention;
13 is a reference diagram for explaining a method for determining the position of a surgical guide according to an embodiment of the present invention;
14 is a flowchart illustrating an example of a method of calculating an undercut region according to an embodiment of the present invention;
15 is a reference diagram for explaining a method of determining the oral insertion direction of a surgical guide according to an embodiment of the present invention;
16 is a reference diagram for explaining a method of determining an undercut region according to an embodiment of the present invention;
17 is an example of a screen in which the calculated undercut region is displayed on the oral image;
18 is a view showing an example of a part of a surgical guide shape in which the undercut area is reflected; And
19 is a diagram illustrating an example in which a surgical guide is generated in an oral image.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, in the following description and accompanying drawings, detailed descriptions of well-known functions or configurations that may obscure the subject matter of the present invention are omitted. In addition, it should be noted that the same components throughout the drawings are denoted by the same reference numerals as much as possible.

The terms or words used in the present specification and claims described below should not be construed as being limited to ordinary or dictionary meanings, and the inventor is appropriate as a concept of terms for explaining his or her invention in the best way. Based on the principle that it can be defined, it should be interpreted as meanings and concepts consistent with the technical spirit of the present invention. Therefore, the configuration shown in the embodiments and drawings described in this specification is only one of the most preferred embodiments of the present invention, and does not represent all of the technical spirit of the present invention, and can replace them at the time of this application. It should be understood that there may be equivalents and variations.

The surgical surgical guide design device for dentistry according to the present invention is to perform a computer-aided design of a surgical guide, which is an auxiliary device for guiding the puncture position, puncture depth, and fixture depth direction of a drill when drilling an alveolar bone for implant surgery, It supports not only the curl guide design itself, but also the overall process required for the design of the surgical guide, including image creation and processing, and implant planning, which are used when designing the surgical guide.

2 is a block diagram showing the configuration of a dental surgical guide design device according to an embodiment of the present invention. Referring to FIG. 2, the dental surgical guide design device 100 according to an embodiment of the present invention includes a user interface unit 10, an image acquisition unit 20, an image registration unit 30, and a gingival plane generation unit ( 40), an arch form generating unit 50, a planning unit 60, and a guide generating unit 70.

The user interface unit 10 is configured to receive necessary information from a user and to display information, input means for inputting information such as a mouse, keyboard, button, keypad, input menu and processing results, and various images and information. , A display means for displaying a GUI (Graphic User Interface), a touch screen for providing input and output through a single device, and the like can be implemented by various input and output means.

The image acquisition unit 20 is an oral image in which the patient's mouth appears, and acquires a computed tomography (CT) image and an oral scan image.

Here, the CT image includes a 3D image and a cross-sectional image generated by reconstructing the patient's head and neck with a CT imaging device based on the scan data scanned while rotating 360 degrees. For reference, the 3D image is reconstructed by using the Fast Furier Transform (FFT) of the image data acquired through the imaging device, or the multi-face reconstruction is performed to reconstruct the cross-sectional image through various projections (Multi) The -planar reformation (MPR) and curved-planar reformation (CPR) algorithms are well known, and detailed descriptions thereof will be omitted for the sake of brevity.

The oral scan image includes an image obtained by scanning an oral model obtained by using an impression material or an oral scanner that directly scans hard and soft tissues in the patient's mouth with a model scanner. Stereo matching is performed on the image acquired through the scanner, and point cloud data is generated by reflecting the depth information obtained using triangulation, and mesh data is generated based on this. 3 A series of algorithms for generating dimensional oral scan images are well known, and detailed descriptions thereof will be omitted for simplicity.

The image acquisition unit 20 adjusts the enlargement/reduction of the image size and the image field of view (FOV) according to the user input through the user interface unit 10, and generates a cross-sectional image and a 3D image corresponding to a specific direction. To provide.

The image registration unit 30 performs registration of a CT image and an oral scan image. Image registration refers to processing for displaying images according to different coordinate systems in one coordinate system. In order to generate implant planning and surgical guides, it is necessary to consider not only hard tissues such as teeth and alveolar bones, but also soft tissues including gingiva. CT images include many artifacts due to prosthetics, etc. Because it is difficult, it is necessary to match with the oral scan image that can clearly identify the soft tissue and the boundary between the teeth and the gingiva.

The image registration unit 30 receives the feature points at positions corresponding to each other to be used for image matching from the CT image and the oral scan image through the user interface unit 10, and the CT image based on various known image matching algorithms based on the feature points. And oral scan images can be matched.

Also, as described above, the feature point may be automatically detected through the feature point detection algorithm without receiving the feature point through the user interface 10. For example, the image matching unit 30 uses a feature point detection algorithm using brightness, color, structure, and shape analysis on an image to provide an edge that is a portion in which the brightness value of a pixel changes rapidly in one direction in a CT image and an oral scan image. ) Or an appropriate feature point as a reference for image registration, such as a corner in which the brightness value changes rapidly in all directions, and a CT image and an oral scan image can be matched based on this.

The gingival plane generating unit 40 generates a gingival plane on the oral image. The gingival plane refers to the plane corresponding to the upper gingival boundary. The gingival plane may be generated based on a CT image, but is preferably generated based on an oral scan image in which soft tissue including gingiva is clearly visible. For reference, when the gingival plane is generated in one oral image, the location of the gingival plane generated in other types of oral images can be shared by matching the coordinate system through image registration.

3 is a reference diagram for explaining the gingival plane generated by the gingival plane generating unit 40 according to the embodiment of the present invention.

Referring to Figure 3, the gingival (Margin gingiva, 301) is a collar-shaped gingiva surrounding the cervical margin of the tooth (Collar), the papillary gingiva (Papillary gingiva, 303) is the teeth and teeth of the free gingiva It means a pyramid-shaped gingiva that fills the triangular space (Embrasure) between them.

Here, the upper gingival boundary at least a portion of the gingival plane may be a boundary (b1) or a nipple gingival boundary (b2) where the tooth and the free gingiva contact.

As such, there may be cases where the height of each gingival is different, so that it may not exist on a single plane, so that even if the gingival plane does not exactly contact all upper gingival boundaries, a portion of the plane contacts at least some upper gingival boundaries. Can be created.

For example, the gingival plane may be determined with an appropriate slope to abut the upper boundary of the gingiva proximal to the missing tooth to be implanted, and to be positioned as close as possible to the other gingival upper boundary. By generating in this way, the gingival plane may be useful when performing implant planning to determine the position or angle of an implant object such as an abutment, fixture, crown, etc., or when designing a surgical guide.

The gingival plane generating unit 40 recognizes a point on the upper gingival boundary that separates the crown from the gingiva based on an algorithm that analyzes the brightness, color, and shape of the image of the oral image or gingiva through machine learning. Points on the upper boundary can be automatically recognized to generate a gingival plane that includes or is close to the points. Alternatively, the gingival plane generation unit 40 may receive points on the gingival boundary that is the basis of the gingival plane generation through the user interface unit 10 and may generate a gingival plane based on the points.

The number of points to be recognized or input to create a gingival plane is not particularly limited, but it is preferable to input three points to create a single plane. If less than three points are input or recognized, a plane containing the point is generated, but the specific slope of the plane can be determined by applying statistical or reference data on the location or angle of the gingiva. In addition, when more than three points are defined, a plane including all points may not exist. In this case, one plane closest to the defined points can be determined by interpolation based on the position of the points. . To this end, the gingival plane generating unit 40 may store reference data or an interpolation algorithm for generating the gingival plane.

The arch form generator 50 generates a arch form, which is a curve formed by a patient's dentition based on a CT image or an oral scan image. The arch form is a curve that is also used when reconstructing a CT image to generate a panoramic image, and various algorithms for generating an arch form are known. The arch form is an automatic generation method that generates an arch form by recognizing the insulation of the anterior teeth, the peaks of the canines, the peaks of the buccal cusps of the molars through an image recognition algorithm based on brightness, color, shape, etc., or wholly It may be generated in a manual manner, which is generated based on a user input through the interface unit 10, or in a semi-automatic manner, which receives some input from the user and uses it to generate an entire arch form.

4 shows an example of an oral scan image in which the gingival plane and the arch form are generated according to an embodiment of the present invention.

Area A of the screen is the mandibular scan image where the gingival plane (GP) and the arch form (DL) are overlapped, and the area B is the mandibular scan image according to various angles, and the three points that are the basis for creating the gingival plane and the gingival plane. The positions of (P1, P2, P3) can be grasped.

Referring to FIG. 4, the gingival plane is shown to include three points P1, P2, and P3, and it can be seen that P1, P2, and P3 are respectively located on the upper gingival boundary. For reference, FIG. 4 shows an example in which the gingival plane is created to contact the gingival gingiva, but as described above, the gingival plane may be created to contact the boundary between the teeth and the free gingiva.

If the points for generating the gingival plane exist on or near the upper gingival boundary, the location is not particularly limited, but in order for the gingival plane to reflect the entire gingival boundary as much as possible, as shown in FIG. It is desirable to do.

On the other hand, in FIG. 4, the arch form shows an example generated using three points as points between the anterior teeth (P4) and points between the molar teeth (P5, P6), but the position of the points or the number thereof are necessarily limited to this. It can be determined manually or automatically with an appropriate position and number so that the arch form is formed close to the patient's arch form.

The arch form generating unit 50 may arrange a control point (CP) on the generated arch form as shown in FIG. 4 to allow the user to adjust the shape or length of the arch form.

Meanwhile, FIG. 4 shows an example in which an arch form is generated based on an oral scan image, but an arch form may also be generated based on a CT image. At this time, the same may be generated through an automatic generation method through image recognition, a manual generation method, or a semi-automatic generation method. On the other hand, when creating an arch form, the arch form may be created on the gingival plane. By doing so, a process of finding a slice to generate an arch form in the CT image data can be omitted. In addition, even if the dental arch line is generated based on any one of the oral scan image and the CT image, the dental arch line generated from either image in the state where the coordinate systems are matched to each other through the image matching by the image matching unit 30 Of course, the location of can be shared in other videos.

The planning unit 60 is the size of the implant object based on a CT image including a 3D or cross-sectional image reconstructed based on CT data, such as a panoramic image, a multi-faceted reconstruction image, an oral scan image, or an image in which two images are matched. Establish implant planning to determine location, angle, etc. The implant object is an element constituting the implant, and includes a fixture, a crown, and an abutment.

The planning unit 60 determines the position or angle of each implant object in consideration of the location of the gingival plane and the arch form, and this implant planning process first determines the position and size of the crown and based on the planning results for the crown. It proceeds in the order of determining the position and angle of the fixture and abutment.

To perform the planning for the crown as described above, the dental surgical guide design device 100 according to the embodiment of the present invention may include the crown library 61.

Crown library 61 defines the size of the crown for each tooth number according to the length of the reference dental arch. Here, the length of the reference arch form is a standard length of the arch form connecting from the centrifugal surface of one second molar to the distal surface of the other second molar, passing through the entire tooth, and statistical length values of a large number of ordinary people can be applied.

Crown library 61, for example, assuming that the reference arch length is 20cm, the entire teeth from the anterior teeth to the second molars constituting the 20cm arch form, that is, according to the tooth number classification, from 11 to 28 in the maxillary case In the case of the teeth and the mandible, the size of the crowns for each tooth number from 31 to 48 is defined, and the crown library 61 may be constructed based on experimental and statistical tooth size values.

At this time, the length of the reference dental arch and the size of the crown for each tooth number may be provided for the maxilla and the mandible, respectively, and the length of the reference dental arch may be defined for various reference arch length cases, such as 20cm, 22cm, 24cm. In addition, the length of the arch form differs according to gender, age, race, etc., and the crown library 61 reflects the size of the crown according to the length of the arch form. The size of each can be stored, and the size of the crown for each tooth number can be defined by considering not only the reference length of the arch form but also the width of the arch form, which is the distance across the arch form. For example, a case is classified by considering two items at the same time, such as a first case with a reference arch length of 20 cm, an arch width of 12 cm, a reference case of 21 cm with an arch length of 13 cm, and a second case with a width of 13 cm. You will be able to define the size of the crown by number.

In addition, the crown library 61 may further define the size of the crown by tooth number by further including the shape of the dental arch. For example, according to the shape of the arch form, it can be divided into a square (Square), a pointed form (Tapered), an egg form (Oval), etc., and the crown library 61 has a specific arch form according to the specific arch form. You can also define the size of each crown.

The crown library 61 is used when the planning unit 60 performs planning for the crown corresponding to the position and size of the tooth loss area.

The planning unit 60 receives the left and right second molar centrifugal surface boundaries through the user interface unit 10, measures the length of the entered arch form to the left and right boundaries, and applies it to the crown library 61 Determine the size of the crown of the missing tooth number. This reflects the relationship between the length of the arch form and the size of each crown since the entire tooth is placed on the arch form. For reference, the length measurement of the arch form may be made based on various known algorithms for calculating the length of the curve, including, for example, a length calculation algorithm based on a static component, and a detailed description will be omitted for the sake of simplicity.

The planning unit 60 generates a crown having a size determined based on the crown library 61 in the tooth loss area, and adjusts the crown position and size by reflecting a tooth boundary and a gingival boundary adjacent to the tooth loss area, and the like. Complete planning for. At this time, the color or brightness value of the image changes near the border of the tooth or the gingival border, automatically detecting the border of the tooth or the gingival border based on the pixel or voxel value of the image, or automatic detection through machine learning. It is possible.

The planning unit 60 determines the position of the fixture and the abutment and the placement angle based on the previous crown planning results. The planning unit 60 is one such as the angle of the fixture, the distance between the crown and the fixture, and the distance between the crown and the abutment, compared to the central axis of the crown, such as placing the fixture such that the central axis of the crown coincides with the central axis of the fixture. Reference information about the distance between the same objects, such as the distance between each object constituting the implant and the distance between adjacent fixtures, etc., which are placed at adjacent positions, can be stored in advance, and based on this, the location of the fixture and the abutment can be determined. .

The guide generating unit 70 generates a surgical guide by reflecting the implant planning result by the planning unit 60, and the guide generating unit 70 is the position of the surgical guide, the shape of the surgical guide, and the position of the guide hole , Undercut area, etc. are determined.

Here, the guide hole means a hole into which a drill and an implant object are inserted for drilling of the alveolar bone during the implant operation. On the other hand, since the tooth has a shape that gradually narrows toward the neck, which is the neck portion, manufacturing a surgical guide according to the shape of the tooth may damage the oral cavity. Accordingly, the undercut region refers to an area in which a predetermined gap is provided between the surgical guide and the surface of the patient's oral object for smooth mounting in the oral cavity, and the undercut region is to be actually mounted with the surgical guide to the patient. At this time, it relates to the internal shape of the surgical guide in direct contact with the patient's oral object, such as gingiva and teeth.

As described above, the guide generation unit 70 may utilize the guide library 71 to generate a surgical guide.

The guide library 71 holds shape information of the surgical guide according to the number of teeth to be implanted.

For example, assuming that the first molar on the left side of the mandible has lost tooth 36 and needs an implant procedure, the surgical guide has a shape that covers some of the mandible near tooth 36, not the shape that covers the entire mandible. Can be formed. On the other hand, if the second molar on the right side, the 47th tooth, in addition to the 36th tooth, is additionally lost, the surgical guide needs to have a shape corresponding to the entire arch of the mandible so as to cover both the left and right sides.

In this way, the guide library 71 is the shape information of the surgical guide corresponding to the tooth number case, which is the target of the implant procedure due to the loss of the tooth, for example, the area covered by the entire shape / partial shape, guide size, shape curvature, It includes information on guide height, guide thickness, guide width, and the like. The shape of the surgical guide can be largely classified into a whole shape covering the entire mandible or the maxilla or a partial shape covering a part, and the curvature of the area and the shape of the cover may vary depending on the number of teeth to be treated for some shapes. In addition, the guide library 71 can distinguish the upper and lower jaw and retain shape information, respectively, and may be provided according to the patient's gender, age, and race. This reflects that the curvature or length of the arch form differs depending on gender, age, and race.

In addition, the guide library 71 may each hold the surgical guide shape information corresponding to the tooth number case according to the shape of the dental arch. For example, the arch form can be divided into square, pointed, and egg forms, and this form of arch form reflects a close relationship with the curvature of the surgical guide.

The guide library 71 can be built on the basis of statistical and experimental data accumulated through various clinical cases, and new shape information is added or continuously added to the guide library 71 by reflecting the user's surgical guide design history. Of course, it can be updated.

On the other hand, in addition to the guide shape information described above, the guide library 71 may include text bars generated on the surgical guide and location information of the guide window corresponding to the shape of the surgical guide. Through this, the guide generation unit 70 can generate not only the basic shape of the surgical guide from the guide library 71 but also a text bar and a guide window at a time. Here, the text bar is a type of label in which various text data necessary for managing the surgical guide, such as the patient's name, hospital name, and chart number, is entered, and the guide window is used to implant the surgical guide in order to understand the state of the surgical guide. It means an opening formed around the target area.

For example, the text bar may be positioned where the left and right sides are crossed across the tongue or palate when the surgical guide has the entire shape covering the entire mandible or maxilla. It may be located outside the tooth to be treated so as not to interfere with the procedure. In addition, the guide window may be positioned where it is possible to grasp between two consecutive teeth adjacent to the target tooth.

The guide generation unit 70 determines the basic shape of the surgical guide corresponding to the tooth number lost in the oral image from the guide library 71, and generates a surgical guide according to the determined shape. At this time, the undercut region is reflected in the internal shape where the surgical guide directly contacts the gingiva or the teeth.

The guide generation unit 70 determines the oral insertion direction of the surgical guide based on the inclination of the gingival plane generated by the gingival plane generation unit 40, and CT images or oral scan images of a plurality of straight lines in the oral insertion direction The undercut region can be calculated based on the position of the contact point where the surface of the oral object corresponding to the straight line and the image object is generated by generating in. In the undercut region, a portion of the internal shape is removed to provide a gap spaced apart from the oral object, so that the surgical guide can be smoothly mounted to the patient's mouth during the procedure. In this way, when the undercut region is reflected in the inner shape, the outer shape of the surgical guide may be left as it is, but only the inner shape may be changed, but in this process, the surgical thickness can be thinned compared to other portions, so that the surgical thickness is uniformly overall. Of course, the external shape may also be changed to be maintained.

On the other hand, when the guide generator 70 generates a surgical guide by importing the shape of the guide from the guide library 71, the position of the surgical guide is located in the center line of the surgical guide and the dental arch generator 50. It can be determined to correspond to the dental arch line.

In addition, the height of the surgical guide is important in the implant procedure. For example, if the guide height is too low, there is a risk that the surgical guide may move when drilling because the surgical guide is not well fixed to the patient's mouth. There is a possibility of causing gingival pain. Accordingly, the guide generating unit 70 determines the height of the surgical guide based on the position of the gingival plane generated through the gingival plane generating unit 40, so that the user can arbitrarily determine the guide height compared to the prior art in which the patient's oral cavity is You can design a surgical guide customized to.

On the other hand, as described above, the guide generating unit 70 determines the basic shape of the surgical guide based on the guide library 71, and the guide hole formed in the surgical guide is planned by the planning unit 60. It is decided by considering the placement position of the fixture. The guide generation unit 70 may determine the position of the guide hole to correspond to the fixture placement position by the planning unit 60, and the diameter of the guide hole may be determined by the width of the fixture.

As described above, the dental surgical guide design device 100 according to an embodiment of the present invention utilizes the crown library 61 and the guide library 71 to size or implant the implant object from the user in the surgical guide design process. , It is possible to design a surgical guide suitable for the patient's mouth without receiving a separate input for determining the shape of the surgical guide.

However, the guide library 71 is generated based on the size or shape of the oral cavity of a large number of ordinary people, and there may be a case in which the shape or shape of the guide library 71 does not exactly fit the patient outside the general category. To this end, the guide generating unit 70 does not utilize the guide shape according to the guide library 71 as it is before the final creation of the surgical guide on the patient's oral image, but based on the length, curvature, etc. of the patient's arch form. The guide shape can be corrected to customize the patient more appropriately.

For example, when the length of the actual arch form of the patient is shorter than a predetermined reference value, compared to the length of the arch form, which is the standard of the guide form according to the guide library 71, the length of the guide form can be reduced, and vice versa. If it is longer than the reference value, the length of the guide shape may be extended. In addition, when the actual curvature of the patient's arch form is greater than or less than the reference curvature of the guide shape according to the guide library 71, the curvature of the guide shape may be adjusted accordingly.

The surgical guide finally generated through the guide generator 70 is superimposed and displayed on an oral scan image, a CT image, or a matched image, and the user can correct or supplement the surgical guide.

5 is a flowchart illustrating a method for designing a dental surgical guide according to an embodiment of the present invention. Hereinafter, with reference to FIG. 5, the organic operation of the above-described dental surgical guide design device 100 will be described.

Referring to FIG. 5, it is presumed that the image acquisition unit 20 acquires an oral CT image or an oral scan image in which a dental arrangement of a patient in need of an implant is performed through a CT device and an imaging device such as an oral scanner (S10). . In addition, an image pre-processing process, such as processing noise or correcting a tilt, or the like, in a captured image, may be involved in reconstructing an image into a 3D image and a cross-sectional image.

In order to perform implant planning and surgical guide design in consideration of both hard tissue and soft tissue, a process of matching the CT image and the scanned image through the image matching unit 30 is necessary (S20).

6 is a flowchart illustrating an image matching method according to an embodiment of the present invention

Referring to FIG. 6, image coordinate system information of CT image data and image coordinate system information of a scanned image are respectively obtained, and a plurality of view images are generated for each of the CT image and the scanned image (S200). Here, the view image is an image looking at an object from a predetermined direction or angle. For example, the view image may include a left side image, a right side image, and a front image, and is not necessarily limited to the above three directions. It may include images according to various directions and angles, including directions, bottom directions, and the like. Each view image generated corresponds to a different direction. For reference, since it is a known algorithm to generate a view image in which an object is expressed in a predetermined direction based on an image coordinate system, a detailed description will be omitted to simplify the description.

The generated view image is displayed through the user interface unit 10 and provided to the user (S210).

When the user inputs a feature point to the view image through the user interface unit 10, the image matching unit 30 matches the two images based on the input feature point (S220, S230). It is as described above that image matching can be performed by various image matching algorithms based on feature points.

7 shows an example of a screen on which a view image generated in the image matching process according to the embodiment of FIG. 6 is displayed.

Area A of FIG. 7 is an area in which view images 701, 702, and 703 for a scanned image are displayed, and area B is an area in which view images 704, 705, and 706 for a CT image are displayed, and is right from the left in order. Shows an example in which view images 701 to 706 along the direction, the front direction, and the left direction are displayed on a divided screen.

As shown in FIG. 7, the view image for the CT image and the view image for the scan image are generated with respect to the same direction. For example, when it is assumed that three view images are generated as a left image, a right image, and a front image for a CT image, the view images for the scanned image are also generated for the left, right, and front views. do.

Among the view images of the CT image and the scan image, the view images along the same direction are displayed at positions corresponding to each other. For example, the right-view image 701 for the scanned image and the right-view image 704 for the CT image are displayed at positions corresponding to each other up and down. Through this, the user can easily grasp the feature points corresponding to the same location for the two oral images. In addition, by generating a view image so that the scales of the two oral images correspond to each other, the user can more intuitively grasp the feature points.

For reference, points c1 to c6 input to the six view images 701 to 706 show examples of feature points input through the user interface 10.

The image registration result can be provided to the user through the user interface unit 10, and the user evaluates the matching result based on the provided result image and, if necessary, changes the location of the feature point or adds a new feature point to match the previous image. Results can be modified. Or, of course, unlike this, the image matching result may not be provided to the user and may be passed to the next step.

In FIG. 6, an example in which a feature point used for registration is directly input from a user through the user interface unit 10 has been described, but by analyzing the brightness and color of the image, feature points suitable for image matching such as edges and corners are automatically detected. It may be as described above.

As described above, when registration of the oral CT image and the oral scan image is completed, the gingival plane and the dental arch line are generated in the oral image (S30).

The gingival plane generating unit 40 may generate a gingival plane corresponding to an upper gingival boundary based on a point input through the user interface unit 10, or based on brightness, color, or object shape in the oral image. The gingiva may be implemented to recognize points on the upper gingival and automatically generate a gingival plane.

On the other hand, considering that the gingival plane is also used in designing a simulation and surgical guide for implant planning, it is preferable that the gingival plane is created to contact the gingival boundary close to the missing tooth, which is the target of the implant. To this end, the gingival plane generating unit 40 may recognize a region where a tooth is lost, and display a guide box for guiding a region in which a point is to be input around the corresponding region, thereby inducing a point to be input around the tooth loss region. will be. In addition, when three or more points are input and interpolation is necessary, the weight may be applied differently during interpolation depending on the proximity of the distance to the tooth loss area.

The arch form generator 50 may generate an arch form by applying various known algorithms for generating the arch form. For example, the dental arch line may be automatically generated through processes such as hole filling, connected component analysis, thinning work, and curve fitting. For reference, hole filling is a process for filling empty areas such as a tooth missing area or a tooth root canal area, and connection component analysis is a process for extracting the connection component of an individual tooth, and thinning operation is thinning the connection component. By performing the task, an arch form can be generated based on the centerline of the connecting component. Curve fitting is a process for obtaining a smooth curved arch form by applying a predetermined function formula to the arch form created primarily through the thinning operation. In addition to this automatic generation method, the arch form generator 50 may manually generate an arch form based on user input through the user interface unit 10.

Subsequently, the implant planning for determining the position, size, and angle of the implant object constituting the implant, such as a crown, fixture, abutment, is performed through the planning unit 60 (S40 ). Implant planning may be performed based on an oral scan image, a 3D image reconstructed from CT data, a cross-sectional image, and a matched image obtained by matching a scan image with a CT image.

For example, when planning for a crown, abutment, or fixture, hard tissue such as alveolar bone may be performed based on a CT image, but planning for the crown takes into account that the relationship between the gingival border and the adjacent tooth border is important. It can also be done on an oral scan image that shows the teeth or soft tissue. As described above, planning may be performed on different types of images for each object, and of course, planning results made on other images may be shared through image matching.

Implant planning is performed in such a way that the position and size of the fixture and the abutment are determined in response to the crown, after first determining the position and size of the crown according to the tooth loss area. The above process is performed manually according to a user input through the user interface unit 10, or a tooth loss area is detected using an image recognition algorithm, and the distance between each object constituting one implant and the adjacent position are set. It is as described above that reference information on the distance between the same object and the like may be previously stored and planning may be automatically performed based on this.

8 is a flowchart of an implant planning method according to an embodiment of the present invention.

Referring to FIG. 8, a centrifugal surface boundary of the left and right second molars is input through the user interface unit (S400 ).

9 is an example of receiving the boundary of the distal surface of the left and right second molar teeth. Referring to FIG. 9, the control bar CB is generated and provided on the left and right sides of the arch form, and the user provides the control bar CB. It may be implemented to receive the left and right second molar centrifugal surface boundaries 901 and 902 in such a way as to move to a point corresponding to the centrifugal surface boundary of the 2 molars.

Subsequently, the planning unit 60 calculates the length of the left and right second molars of the arch form to the distal surface boundary (S410).

As described above, when the length of the arch form is calculated, the planning unit 60 determines the length of the arch form calculated in the crown library 61 that defines the size of the crown for each tooth number according to the length of the reference arch form. By applying it to determine the size of the crown corresponding to the missing tooth number (S420). At this time, in addition to the length of the arch form according to the definition of the crown library 61, of course, additional information such as the gender, age, race of the patient, and the shape of the specific arch form of the patient can be used together.

However, when the length of the arch form measured from the left and right second molars to the boundary of the distal surface of the second molar does not exist in the crown library 61, the planning unit 60 is the reference closest to the length measured from the crown library 61 The crown size value corresponding to the length of the arch form may be determined, or interpolation is performed based on the crown size value corresponding to the length of the reference arch line close to the measured length to determine the crown size corresponding to the measured length. It could be calculated.

Here, the missing tooth number is directly input to the user through the user interface unit 10, or an electronic medical record (EMR) for managing chart data in which patient medical information and dental conditions are recorded according to patient visits. It may be linked to a server or the like to receive information about the missing tooth number.

Alternatively, the planning unit 60 divides each tooth area by using a change in color or brightness value at the inter-dental boundary, and then allocates a tooth number for each divided tooth area, and the missing tooth area and teeth exist. It is also possible to detect the missing tooth number by detecting the missing tooth area based on the pixel or voxel value of the image using different colors or brightness between different areas. For example, since the density of the portion where the tooth is lost and the portion where the tooth is different is different, the attenuation rate of X-rays is different, and thus the brightness is different in the CT image. The part where the tooth was lost appears relatively dark. For reference, the tooth region segmentation is a clustering method, a compression-based method, a histogram-based method, an edge detection method, and a region growing method. ) Can be divided using various known image segmentation techniques.

When the size of the crown corresponding to the missing tooth number is determined through the above-described steps, the planning unit 60 generates a crown having the determined size in the tooth loss area (S430). At this time, the planning unit 60 may create a crown on the arch form, the lower portion of the crown does not go down beyond the predetermined reference gingival plane, and the upper portion of the crown exceeds the occlusal plane above the predetermined reference. You can restrict it from going up. In addition, when the gingival plane is created to contact the upper gingival boundary of the missing tooth to be implanted, the lower portion of the crown may be created to contact the gingival plane.

For reference, the occlusal plane is a plane formed by the occlusal surface where the upper and lower dentition meets, and a point on the occlusal surface is input through the user interface unit 10 and is generated as a plane containing the corresponding points, or insulation of the mandibular incisor through image recognition. , Recognizing the buccal centrifugal cusps of the left and right second molars of the mandible, it can be automatically generated as a plane connecting the above points.

Since the crown library 61 is based on the average tooth size of a large number of ordinary people, fine adjustment may be necessary depending on the patient. Accordingly, a process of adjusting the size of the crown generated based on the gingival boundary of the tooth loss area and the adjacent tooth boundary may be involved. The resizing may be done automatically or manually with user input through the user interface 10.

10 is a reference diagram for explaining a method of adjusting the size of the crown.

Referring to FIG. 10, the lower end C _L of the crown C, which is a planning target, may be created to contact the gingival plane GP, and the mesial boundary C _M and the distal surface of the crown are distal. Sizes may be adjusted such that the borders C _D contact the adjacent teeth 1005 and 1007, respectively.

10 shows an example in which the crown is enlarged only in the mesial direction. As described above, the size of the crown may be enlarged/reduced in only one direction, but the size of the crown may be enlarged/reduced at an equal ratio in all directions in the mesial, centrifugal, lingual, buccal, ie. As such, even when enlarged/reduced together in all directions, the buccal/lingual direction is not enlarged beyond the buccal fusion line 1009 connecting the buccal tooth ridge and the lingual breeze line 1010 connecting the buccal tooth fusion. In the case of the second molar, which is located at the end of the dentition and does not have one adjacent tooth in the mesial/centrifugal direction, it may be restricted. 2 Magnification may be restricted so as not to exceed the boundary of the distal surface of the molar.

On the other hand, when planning for a plurality of consecutive crowns, it is needless to say that the size of each crown can be individually adjusted as described above with reference to FIG. 10. In addition, if the size of one of the consecutive crowns is changed, considering that there are many cases where the size of the adjacent crown is also changed, grouping of consecutive crowns and recognizing it as one object makes it possible to enlarge/reduce multiple crowns. By working together, planning efficiency can be improved.

As described above, when the implant planning for the crown is completed, the implant planning procedure for the fixture and the abutment is subsequently followed (S440). To this end, the planning unit 60 may store reference information about the distance between the crown, abutment, and fixture, and set an appropriate location for each object based on this. For example, the planning unit 60 may determine the position of the fixture and the abutment such that the distance between the top of the crown and the top of the fixture satisfies a predetermined reference distance.

11 is a reference diagram for explaining an example of an implant planning method for fixtures and abutments.

Referring to FIG. 11, the planning unit 60 may determine the placement angle of the fixture F such that the central axis C ₀ of the crown C and the central axis F _{0 of the} fixture F coincide with each other. . Further, the abutment the center axis of the (AB) the central axis (C _0), the crown (C) from the abutment fastening reference information, gingival border 1101 of the distance d1 to the top on the crown from the top of the (C ₀ Crown height reference information about the height d3 of the crown (C) where the crown (C) is exposed above the gingival border 1101 to the top of the image, vertical from the gingival border 1101 to the top of the fixture (F) placed in the alveolar bone The fixture placement height reference information for the distance d4 may be previously stored, and planning may be performed to conform to this.

According to this, when the distance d1 and d3 is determined to satisfy stored reference information, d2, which is the length at which the abutment AB is engaged with the crown C, is automatically determined. On the other hand, since the distance d5 between the gingival boundary 1101 and the alveolar bone boundary 1103 is a fixed value according to the oral structure of the patient, the distance d6 between the alveolar bone boundary 1103 and the top of the fixture is satisfied to satisfy d4 according to the reference information. Is variable.

Meanwhile, the reference distance information may be provided for each tooth number, or may be provided for each group by dividing the tooth group into anterior and posterior teeth. In addition, specific distance values may be set differently according to implant types such as cement type, screw type, and screw and cement retained prosthesis type.

For example, for cement type, the sum of d3 and d4 corresponding to the distance from the top of the crown to the top of the fixture is 9mm, and d1 2mm, d3 6mm, and d4 3mm are stored as reference information. The sum of d4 is 10mm, and d1 2mm, d3 6mm, and d4 4mm can be stored as reference information.

Referring to FIG. 5 again, as described above, when planning for each implant object is completed, the guide generator 70 then designs a surgical guide based on the planning result (S50).

12 is a flowchart illustrating a method for generating a surgical guide according to an embodiment of the present invention.

Referring to FIG. 12, first, based on the guide library 71, the basic shape of the surgical guide corresponding to the missing tooth number in the oral image is determined (S500). The guide library 71 may include the text bar and the position information of the guide window according to the basic shape of the surgical guide, and the position of the text bar and the guide window may be determined together with the basic shape.

When determining the basic shape of the surgical guide according to the construction form of the guide library 71, in addition to the missing tooth number, additional information such as the gender, age, race of the patient, and the shape of the specific arch form of the patient may be used together.

On the other hand, along with determining the basic shape of the guide based on the guide library 71, the location of the guide hole on the surgical guide, the position of the surgical guide, and the height can be made together (S510).

The position of the guide hole may be determined in correspondence with the placement position of the fixture according to the implant planning. For example, the position of the guide hole may be determined such that the center axis of the fixture and the center of the guide hole coincide with each other, and the size of the guide hole may be determined based on the width of the fixture. Meanwhile, the position of the surgical guide may be determined as a position where the center line of the surgical guide corresponds to the dental arch line.

FIG. 13 is a reference diagram for explaining a method for determining the position of the surgical guide. Referring to FIG. 13, it is difficult for the central line OL of the surgical guide to completely coincide with the arch form DL. Therefore, it is possible to determine where the surgical guide is generated such that predetermined points 1301 and 1303 on the center line OL of the surgical guide are positioned on the arch form DL. For reference, the position or number of points that become a reference for positioning the surgical guide relative to the dental arch line may be changed according to the setting in addition to the example in FIG. 13.

In addition, the height of the surgical guide may apply a default height determined as the default in the guide library 71, but the specific height of the surgical guide may be determined based on the location of the gingival plane. For example, the height of the surgical guide may be determined to cover the gingiva to the same height as the location of the gingival plane, or may be generated to cover the gingiva further by a predetermined distance than the location of the gingival plane, or the direction of the teeth than the gingival plane. It could be created in a higher position.

As described above, the height of the surgical guide may be generated based on the location of the gingival plane, but a specific height may be determined differently from the location of the gingival plane according to a user or device setting.

When the basic shape of the surgical guide is determined through the above-described steps, the guide generation unit 70 calculates the undercut area of the surgical guide and reflects it in the surgical guide shape (S520, S530).

14 is a flowchart illustrating an example of a method of calculating an undercut region according to an embodiment of the present invention, and FIGS. 15 and 16 are reference diagrams for explaining a method of calculating an undercut region according to FIG. 14.

First, referring to FIG. 14, the oral insertion direction of the surgical guide is determined based on the inclination of the gingival plane (S521 ).

15 is a reference diagram for explaining a method of determining the oral insertion direction of the surgical guide. Referring to FIG. 15, oral insertion of the surgical guide is basically inserted from the occlusal plane OP to the gingival plane GP. However, the specific direction is determined to be inserted in the perpendicular direction to the gingival plane GP, and consequently determined according to the inclination of the gingival plane. The determined insertion direction may be displayed on the oral image, and the user may check it and correct the direction.

When the guide insertion direction is determined, a plurality of straight lines corresponding to the determined insertion direction for the oral object in the oral image are then generated (S523).

The undercut region is determined based on the position of the contact point where the generated straight line and the surface of the oral object contact (S525).

16 is a reference diagram for explaining a method for determining an undercut region according to an embodiment of the present invention, and shows a cross section of the maxillary tooth object in the lingual/narrow direction. Referring to FIG. 16, when it is assumed that straight lines L1, L2, L3, and L4 corresponding to the oral insertion direction are generated for one dental object T1 corresponding to a part of the oral object, the straight line L1 is a dental object The surface of (T1) has a contact CP1, and the straight line L3 has the surface of the tooth object (T1) and a contact CP2. Based on the insertion direction of the surgical guide, an area corresponding to the position below the positions of the contacts CP1 and CP2 may be calculated as the undercut area UC.

17 shows an example of a screen in which the calculated undercut region is displayed on the oral image. As shown in FIG. 17, an undercut region in which a portion indicated by a red color in the image is calculated. In this way, the undercut area is displayed on the oral image and provided, and the user can be given an opportunity to check and correct it.

The guide generation unit 70 reflects the undercut region calculated as described above in the internal shape of the surgical guide.

18 shows an example of a part of the surgical guide shape in which the undercut region is reflected.

Referring to FIG. 18, the internal shape S _IN of the surgical guide S corresponding to a position below the positions of the contacts CP1 and CP2 calculated as the undercut area in FIG. 16 corresponds to the contacts CP1 and CP2. It shows the removed shape to correspond to the width of the inner shape (S _IN ). The removed portion will have a predetermined gap with the oral object T1, where the size of the gap can be determined based on the distance between the contact point and the straight line contacting the oral object. In this way, the undercut region is reflected in the internal shape of the surgical guide to give a free space, so that when the surgical guide is actually inserted into the oral cavity, it can be easily inserted without getting caught in the maximum swelling of the tooth.

For reference, in FIG. 18, the outer shape S _OUT is also changed outwardly so that as the guide thickness becomes thinner compared to other portions while the portion of the inner shape is removed in response to the reflection of the undercut region, the overall guide thickness is maintained. Although an example is shown, it is needless to say that the undercut region may be reflected only in the inner shape without changing the outer shape.

Referring back to FIG. 12, when the shape of the surgical guide is completed by reflecting the undercut region in the above-described step, a surgical guide according to the determined shape is generated and provided in the oral image (S540 ).

19 shows an example in which a surgical guide is generated in an oral image.

Referring to FIG. 19, the surgical guide S may be displayed in a form that covers an oral object of an oral image as if it is actually mounted on the patient's oral cavity. 19, the shape of the surgical guide S according to the guide library 71, the text bar 1901, and the position of the guide window 1903 can be confirmed. Here, in conjunction with a PMS system (Patient Management System) that manages patient information, necessary text information such as a patient's name and chart number may be automatically inserted into the text bar.

The user may modify the shape or height of the surgical guide generated through the user interface unit 10. The shape of the final surgical guide according to the user modification may be added to the guide library 71 according to the user's selection or used to update existing information.

Of course, each of the steps described above can be modified, added, or the order can be changed and applied as needed.

For example, in the above-described embodiment, it has been described that the registration of the CT image and the oral scan image is performed first, and the gingival plane and the dental arch line are described. Of course, it is possible to generate and then perform image registration. Even in this way, the location of the gingival plane and the arch form created by another image through image registration can be shared.

In addition, an implant planning is automatically performed, and when the implant planning is completed, a step of providing a correction opportunity for the placement angle or position of each object is added by providing the planning result image to the user through the user interface 10. You can.

Alternatively, even if the implant planning is completed, the process of providing the planning result image may be omitted, and the planning result image and the surgical guide generation image may be provided together on one screen after completing the surgical guide design step. The user can modify the implant planning result as well as the surgical guide on the corresponding screen. Here, when the user corrects the placement position or angle of the fixture, the position of the guide hole of the surgical guide may be automatically changed according to the correction.

As described above, according to the dental surgical guide design apparatus 100 and method according to the present invention, the user's input is minimized in the entire surgical guide design process from the image matching step to the surgical guide generation step. It is possible to design a surgical guide suitable for the patient's mouth while significantly increasing design efficiency.

On the other hand, the dental surgical guide design method according to the present invention is written in a program that can be executed on a computer, and can also be implemented with various recording media such as a magnetic storage medium, an optical reading medium, and a digital storage medium.

Implementations of the various techniques described herein may be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. Implementations are computer program products, ie information carriers, eg machine readable storage, for processing by, or controlling, the operation of a data processing apparatus, eg a programmable processor, a computer, or multiple computers It can be embodied as a computer program recorded on a device (computer readable medium). Computer programs, such as the computer program(s) described above, can be written in any form of programming language, including compiled or interpreted languages, and as a standalone program or in a module, component, subroutine, or computing environment. It can be deployed in any form including as other units suitable for use. The computer program can be deployed to be processed on one computer or multiple computers at one site or distributed across multiple sites and interconnected by a communication network.

Processors suitable for processing a computer program include, by way of example, both general purpose and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, the processor will receive instructions and data from read-only memory or random access memory or both. Elements of a computer may include at least one processor executing instructions and one or more memory devices storing instructions and data. Generally, a computer may include one or more mass storage devices that store data, such as magnetic, magneto-optical disks, or optical disks, or receive data from or transmit data to them, or both. It may be combined as possible. Information carriers suitable for embodying computer program instructions and data include, for example, semiconductor memory devices, for example, magnetic media such as hard disks, floppy disks, and magnetic tapes, CD-ROM (Compact Disk Read Only Memory). ), Optical Media such as DVD (Digital Video Disk), Magnetic-Optical Media such as Floptical Disk (Magneto-Optical Media), ROM (ROM, Read Only Memory), RAM (RAM) , Random Access Memory), Flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and the like. The processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

Also, the computer-readable medium may be any available medium that can be accessed by a computer, and may include both computer storage media and transmission media.

This specification includes details of many specific implementations, but these should not be understood as limiting on the scope of any invention or claim, but rather as a description of features that may be specific to a particular embodiment of a particular invention. It should be understood. Certain features that are described in this specification in the context of separate embodiments may be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable subcombination. Further, although features may operate in a particular combination and may be initially depicted as so claimed, one or more features from the claimed combination may in some cases be excluded from the combination, and the claimed combination subcombined. Or sub-combinations.

Likewise, although the operations are depicted in the drawings in a particular order, it should not be understood that such operations should be performed in the particular order shown or in sequential order, or that all shown actions should be performed in order to obtain desirable results. In certain cases, multitasking and parallel processing may be advantageous. In addition, the separation of various device components of the above-described embodiments should not be understood as requiring such separation in all embodiments, and the described program components and devices will generally be integrated together into a single software product or packaged in multiple software products. You should understand that you can.

On the other hand, the embodiments of the present invention disclosed in the specification and drawings are merely presented as specific examples for ease of understanding, and are not intended to limit the scope of the present invention. It is apparent to those skilled in the art to which the present invention pertains that other modified examples based on the technical idea of the present invention can be implemented in addition to the embodiments disclosed herein.

10: user interface unit 20: image acquisition unit
30: image registration unit 40: gingival plane generation unit
50: dental arch generating unit 60: planning unit
70: guide generation unit

Claims (12)

In the dental surgical guide design method performed by a dental surgical guide design device for providing a digital design of the surgical guide,
Obtaining an oral CT image and an oral scan image of the patient;
Registering the CT image and the scanned image;
Generating a gingival plane corresponding to the upper gingival boundary based on the CT image or the scanned image;
Generating an arch form of the patient based on the CT image or the scanned image;
Performing implant planning to determine an implantation position and angle of an implant object constituting an implant based on the gingival plane and the dental arch line; And
And generating a surgical guide based on the results of the implant planning.
According to claim 1,
The step of matching the CT image and the scanned image is
Generating a plurality of view images respectively corresponding to different directions for the CT image based on the image coordinate system information of the CT image;
Generating a plurality of view images respectively corresponding to the different directions with respect to the scanned image based on image coordinate system information of the scanned image;
Displaying the CT image and the view image for the scanned image on a divided screen;
Receiving a feature point serving as a reference for image registration through a user interface in the plurality of view images; And
And a step of performing registration of the CT image and the oral scan image based on the feature points.
According to claim 1,
The dental arch guide line is a dental surgical guide design method characterized in that generated on the gingival plane.
According to claim 1,
The step of performing the implant planning,
Determining the position and size of the crown corresponding to the position and size of the tooth loss area; And
And determining a position and an angle of the fixture based on the position of the crown.
The method of claim 4,
Further comprising the step of receiving the boundary of each of the left and right second molar through the user interface, respectively,
Determining the position and size of the crown,
Calculating a length of the arch form of the left and right second molars to a boundary of the distal surface;
Calculating the crown size of the missing tooth number corresponding to the length of the arch form to the distal boundary of the left and right second molars based on the crown library in which the size of the crown according to the number of teeth according to the length of the reference arch form is defined. ; And
And generating the calculated crown having the size in the tooth loss region.
The method of claim 4,
Determining the position and the mounting angle of the fixture,
The center axis of the crown and the center axis of the fixture are coincident, and the distance between the top of the crown and the top of the fixture determines the position and placement angle of the fixture so as to satisfy a predetermined reference distance Surgical guide design method.
According to claim 1,
The step of generating the surgical guide,
Determining a basic shape of the surgical guide corresponding to the missing tooth number of the patient based on a guide library storing shape information of the surgical guide according to the tooth number to be implanted; And
Comprising the step of calculating an undercut region to which a gap is provided between the surgical guide and the oral object of the patient based on the inclination of the gingival plane, and determining the internal shape of the surgical guide by reflecting the undercut region. Dental surgical guide design method, characterized in that.
The method of claim 7,
The guide library further includes location information of a text bar in which text is inserted corresponding to the shape of the surgical guide, and location information of a guide window corresponding to an opening formed to grasp the mounting state of the surgical guide during the procedure. Dental surgical guide design method, characterized in that.
The method of claim 7,
The step of calculating the undercut area and determining the internal shape of the surgical guide by reflecting the undercut area,
Determining an oral insertion direction of the surgical guide based on the inclination of the gingival plane;
Generating a plurality of straight lines corresponding to the oral insertion direction on the CT image or the scanned image;
Determining the undercut region based on a position of a contact point between the straight line and the surface of the oral object of the image; And
And modifying the internal shape of the surgical guide so that a gap exists between the oral object and the oral cut object in the undercut region.
According to claim 1,
The step of generating the surgical guide,
Determining a generation position of the surgical guide based on the arch form; And
And determining a position of a guide hole into which a drill for drilling an alveolar bone is inserted on the surgical guide in response to the implantation position of the fixture according to the implant planning.
A computer-readable recording medium in which a program for executing the dental surgical guide design method according to any one of claims 1 to 10 is recorded.
In the surgical surgical guide design device for providing a digital design of the surgical guide,
An image acquisition unit acquiring an oral CT image and an oral scan image of the patient;
An image matching unit matching the CT image and the scanned image;
A gingival plane generating unit generating a gingival plane corresponding to the upper gingival boundary based on the CT image or the scanned image;
An arch form generator for generating the arch form of the patient based on the CT image or the scan image;
A planning unit performing implant planning to determine an implantation position and angle of an implant object constituting an implant based on the gingival plane and the dental arch line; And
A surgical surgical guide design device comprising a guide generating unit for generating a surgical guide based on the results of the implant planning.

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