KR20170052101A - Implanting system using real-time image guidance - Google Patents

Abstract

An implant implantation guide system using real-time image guide is disclosed. The implant implantation guide system using real-time image guide, according to the present invention, comprises: a sensor unit for sensing a position and posture of a handpiece on which a drill is mounted, and sensing a position and posture of a guide stent inserted into oral cavity of a subject; a position and posture calculation unit connected to the sensor unit by wire or wirelessly, and measuring a relative position and posture of the drill based on a predetermined implantation reference position according to position and attitude information obtained from the sensor unit; and a real-time display unit connected to the position and posture calculation unit by wire or wirelessly, and displaying the relative position and posture of the drill based on the implantation reference position.

Description

[0001] The present invention relates to an implant placement guide system using real-

The present invention relates to an implant placement guide system using real-time image guidance. More particularly, the present invention relates to an implant placement guide system using real-time image guidance, Guide system.

A dental implant is a substitute that restores when the original tissue is lost, but in dentists it refers to a series of procedures for implanting an artificial tooth.

In order to replace the missing root (root), a tooth fixture, made of titanium or the like, which has no rejection to the human body, is planted in the alveolar bone that has exited the tooth, and then the artificial tooth is fixed to restore the function of the tooth .

In general prostheses or dentures, the surrounding teeth and bones are damaged over time, but the implants do not injure the surrounding dental tissue, and they have the same function and shape as the natural teeth, but do not have cavities. Therefore, they can be used semi-permanently.

The artificial tooth procedure (also referred to as an implant or implant procedure) varies depending on the type of fixture, but after a predetermined drill is used to puncture the fixation position, the fixture is placed on the alveolar bone to perform an artificial fusion to the bone, After the abutments are combined, it is common to finish the abutment with a final prosthesis.

Dental implants enhance the function of dentures in single-tooth restorations, as well as in partial and total toothless patients, improve the aesthetic aspects of dental prosthesis restoration, and further dissipate excessive stresses on the surrounding supporting bone tissue It helps to stabilize the dentition as well as sikim.

Such a dental implant generally includes a fixture to be placed as an artificial root, an abutment to be coupled onto the fixture, an abutment screw to fix the abutment to the fixture, Of the artificial teeth. Here, the abutment is engaged with the fixture before the abutment is coupled to the fixture, that is, during the period until the fixture is fusion-bonded to the alveolar bone, thereby maintaining the engagement state.

The fixture, which is a component of the dental implant, serves as an artificial root as a part to be placed in a drill hole formed in the alveolar bone using a drill or the like at a position where the implant is performed. Therefore, the fixture should be securely mounted on the alveolar bone.

Thus, a screw thread is formed on the outer surface of the fixture so as to be firmly engaged with the inner wall portion of the alveolar bone forming the drill hole. Such a screw portion is inserted into the alveolar bone to securely fix the fixture and the alveolar bone, as well as to increase the contact area between the fixture and the alveolar bone, thereby enhancing the fixing force, particularly initial stability, of the fixture to the alveolar bone. do.

In the dental implant procedure, a hole is drilled in the alveolar bone using a drill, a fixture is placed in the drilled hole, and then, when the fusion is completed, the alveolar bone is bonded to the fixture and finally the artificial tooth (prosthesis) Lt; / RTI >

In such a conventional dental implant procedure, the drilling operation of the alveolar bone is often performed depending on the physician's hand feel. Such a hand-operated procedure is difficult to achieve high accuracy because it relies on the operator's ability to exercise and sense of space.

In particular, because of the physiological limitations of humans, it is very difficult to achieve the ideal three-dimensional angle of the handpiece drill, so many dentists, except for some 'craftsmen' with special talents and years of experience, I am having difficulty reproducing it.

Accordingly, it is possible to confirm whether the drilling direction and the angle are progressing accurately in a predetermined direction and angle until the drilling operation for the alveolar bone is completed by checking the real-time image information or the like, and real- Development is necessary,

Korean Patent Registration No. 10-0990742 (Wonjin Lee, Dae Hyun Kim, Tae Il Kim), October 29, 2010.

Accordingly, an object of the present invention is to provide an implant placement guiding system using real-time image guidance, which allows a practitioner to confirm the position of the operation site, the position of the operation tool, and the topography in real time during the implant procedure, .

According to an aspect of the present invention, there is provided a surgical instrument comprising: a sensor unit for sensing a position and an attitude of a guide stent inserted into an oral cavity of a subject and detecting the position and posture of the handpiece equipped with the drill; A position and orientation calculation unit connected to the sensor unit by wire or wirelessly and calculating a relative position and posture of the drill to a predetermined reference position according to position and attitude information obtained from the sensor unit; And a real-time display unit connected to the position / posture calculation unit via a wireless or wired connection and displaying a relative position and posture of the drill relative to the placement reference position.

The sensor unit includes: a stent reference unit connected to the guide stent; A reference unit for a handpiece connected to the handpiece; And a sensor for sensing a reference part for sensing the reference part for the stent and the reference part for the handpiece and obtaining the position and attitude information of the reference part for the stent and the reference part for the handpiece, respectively.

The stent reference portion may include: a first body portion detachably coupled to the guide stent; And a plurality of first optical markers provided on the first body part, wherein the reference part for the handpiece includes: a second body part detachably coupled to the handpiece; And a plurality of second optical markers provided on the second body part.

The sensor section for sensing the reference part may include an optical sensor for recognizing the first optical marker and the second optical marker.

Wherein the sensor unit comprises: a stent sensor unit mounted on the guide stent and acquiring position and attitude information of the guide stent; And a handpiece sensor unit mounted on the handpiece for acquiring position and attitude information of the handpiece, wherein the position and orientation calculating unit is connected to the stent sensor unit and the handpiece sensor unit by wire or wirelessly And the relative position and posture of the drill to a predetermined reference position can be calculated according to information obtained from the stent sensor unit and the handpiece sensor unit.

The stent sensor unit may include a first gyro sensor and a first acceleration sensor, and the sensor unit for the handpiece may include a second gyro sensor and a second acceleration sensor.

Wherein the sensor unit comprises: a position tracker for a stent detachably coupled to the guide stent; And a position tracker for a handpiece detachably coupled to the handpiece, wherein the position and orientation calculating unit is connected to the position tracker for the stent and the position tracker for the handpiece by wire or wireless, the position tracker for the stent, And the relative position and posture of the drill to a predetermined placement reference position according to the position information obtained in the hand track position tracker.

Wherein the position / posture calculation unit comprises: an oral structure library unit storing image information on the mouth structure of the subject; And a prosthetic structure library unit in which image information on the structure of the implant prosthesis is stored.

The real-time display unit may include a wearable display having a head-up display (HUD).

The wearable display may be provided in a goggle shape.

In the embodiments of the present invention, the relative position and posture of the drill relative to the placement reference position is calculated in real time according to the information of the sensor unit, and the real time display unit visually displays the relative position and posture of the drill relative to the placement reference position The accuracy of the operation of the operator can be increased.

FIG. 1 is a view showing an implant placement guide system using real-time image guidance according to a first embodiment of the present invention.
Fig. 2 is a view showing the sensor unit of Fig. 1. Fig.
Fig. 3 is a view showing the stent reference portion of Fig. 2; Fig.
4 is a view showing the reference portion for the handpiece of Fig.
FIG. 5 is a view illustrating an implant placement guide system using real-time image guidance according to a second embodiment of the present invention.
Fig. 6 is a view showing the sensor unit of Fig. 5;
FIG. 7 is a view illustrating an implant placement guide system using real-time image guidance according to a third embodiment of the present invention.
8 is a view showing the sensor unit of Fig.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in order to avoid unnecessary obscuration of the present invention.

FIG. 1 is a view showing an implant placement guide system using real-time image guidance according to a first embodiment of the present invention, FIG. 2 is a view showing the sensor unit of FIG. 1, Fig. 4 is a view showing the reference portion for the handpiece of Fig. 2. Fig.

In the case of the implant treatment according to the present embodiment, the image data acquisition step of acquiring the anatomical information of the alveolar bone and the oral cavity of the patient is performed prior to the direct implant procedure of the practitioner.

In the present embodiment, the step of acquiring image data is performed through panoramic imaging, Cone Beam Computed Tomography (CBCT), magnetic resonance imaging (MRI), ultrasonography, or the like.

The 3D image data of the alveolar bone and the oral cavity of the subject are prepared through the acquisition of the image data.

By analyzing the acquired image data, the practitioner determines the placement reference position of the implant (artificial tooth). The position, depth, puncture direction, etc. of the alveolar bone perforations are determined by the position of the reference position. The placement reference position determined by the practitioner is stored in the position / posture calculation unit 200, which will be described later, and can be imaged and displayed by the real-time display unit 300 described later.

After the ideal virtual placement reference position is planned in advance by the practitioner, the implant placement is performed in earnest.

1 to 4, the implant placement guide system using real-time image guidance according to the present embodiment senses the position and posture of the guide stent J inserted into the oral cavity of the subject, and the drill H1 is mounted A sensor unit 100 connected to the sensor unit 100 in a wired or wireless manner and configured to detect a position and an attitude of the handpiece H, A position and orientation calculation unit 200 for calculating a relative position and an attitude of the drill H1 relative to the position and a relative position and orientation of the drill H1 connected to the position and orientation calculation unit 200 wirelessly or by wire, And a real-time display unit 300 for displaying an attitude.

The guide stent J is manufactured by a 3D printer according to the shapes of the alveolar bone and teeth of the patient who is obtained by the image data acquisition step performed before the above-mentioned implant procedure. The prepared guide stent J is inserted into the teeth of the subject and can be fixed to the mouth of the subject.

In the guide stent J, a guide hole (not shown) is provided at a position corresponding to the placement reference position. The guide hole (not shown) is formed to a size such that the drill H1 can penetrate, and guides the drilling direction and the angle of the drill H1. This guide hole (not shown) is difficult to accurately guide the drill H1 to the placement reference position, and the guide of the drill H1 by the sensor unit 100 is added.

The sensor unit 100 according to the present embodiment includes a stent reference portion 110 connected to the guide stent J, a reference portion 120 for a handpiece connected to the handpiece H, Sensing unit 130 for sensing the position and attitude information of the stent reference unit 110 and the handpiece reference unit 120 by sensing the reference unit 110 and the handpiece reference unit 120, .

The stent reference portion 110 is connected to the guide stent J and is located outside the mouth of the patient. The stent reference portion 110 includes a first body portion 111 detachably coupled to the guide stent J and a plurality of first optical markers 111 provided on the first body portion 111, 112).

The reference part 120 for the handpiece is connected to the handpiece H on which the drill H1 is mounted. The reference portion 120 for the handpiece includes a second body portion 121 detachably coupled to the handpiece H and a plurality of second optical markers 122 provided on the second body portion 121. [ . Here, the first optical marker 112 and the second optical marker 122 are indicia that can be recognized by the sensor portion 130 for sensing a reference portion.

The size and shape of the reference portion 110 for a stent and the reference portion 120 for a handpiece, the positions of the first optical marker 112 and the first optical marker 122, And is stored in the operation unit 200. The position where the stent reference portion 110 and the guide stent J are coupled to each other and the position where the handpiece reference portion 120 and the handpiece H are engaged and the position between the handpiece reference portion 120 and the drill H1 And the like are also stored in the position / posture calculation unit 200.

The reference sensing unit 130 senses the reference portion 110 for a stent and the reference portion 120 for a handpiece and detects the position of each of the reference portion 110 for a stent and the reference portion 120 for a handpiece And attitude information. In this embodiment, the reference sensing unit 130 recognizes the first optical marker 112 and the first optical marker 122 provided in the stent reference unit 110 and the reference unit 120 for handpiece (Not shown).

The position and orientation calculation unit 200 is connected to the sensor unit 130 for sensing the reference position by wire or wirelessly and is connected to the drill H1 for the predetermined reference position according to the information obtained by the sensor unit 130 for sensing the reference unit. And calculates the relative position and posture.

The position and orientation calculation unit 200 calculates a placement reference position to be displayed on the real time display unit 300 based on the position and attitude information of the stent reference unit 110 transmitted from the reference sensor unit 130 . Therefore, when changing the position of the subject's mouth for convenience of operation or the like, the position and orientation calculation unit 200 recalculates the three-dimensional coordinates of the placement reference position according to the position and attitude information of the stent reference unit 110.

The position and orientation calculation unit 200 calculates coordinates of the position and posture of the handpiece reference unit 120 from the position and attitude information of the reference unit 120 for handpiece transmitted from the sensor unit for reference sensing 130 do.

As described above, since the relative distance and angle between the handpiece reference portion 120 and the drill H1 are both stored in the position and orientation calculating portion 200, the position and attitude information of the handpiece reference portion 120 is acquired The coordinates of the position and posture of the drill H1 can be calculated and the position and orientation calculation unit 200 can calculate the relative position and posture of the drill H1 with respect to the placement reference position in real time.

The data calculated in the position and orientation calculation unit 200 is transmitted to the real-time display unit 300. [ The real-time display unit 300 is connected to the position / posture calculation unit 200 wirelessly or by wire, and displays a relative position and posture of the drill H1 with respect to the placement reference position.

The position and orientation calculation unit 200 according to the present embodiment includes an oral structure library unit (not shown) storing image information about the mouth structure of the subject and a prosthesis structure library unit (not shown) storing image information about the structure of the implant prosthesis (Not shown).

The image information on the mouth structure of the subject is the three-dimensional structure data such as a computer tomography (CBCT), a 3D scanner and the like on the oral structure of the patient who is obtained in the above-mentioned acquisition step of the image data, and the prosthesis structure library unit is a fixture ), Abutment (not shown), and the like. The position and orientation calculation unit may be connected to an unshown operating unit (not shown) and adjusted by a person who is to be treated.

Therefore, the operator can read the data stored in the prosthodontic structure library unit and the prosthodontic prosthesis library unit by adjusting the position / posture calculation unit 200 through an operation unit (not shown) before implantation, The virtual operation can be performed on the basis of the virtual operation.

Meanwhile, in this embodiment, the real-time display unit 300 includes a wearable display having a head-up display (HUD).

In this embodiment, the wearable display is provided in a goggle shape. This goggle-like wearable display is worn on the wearer's face and includes a wear portion to which a head-up display (HUD) is coupled.

The head-up display (HUD) includes a glass (not shown) arranged at a predetermined distance from the operator's eye and a projection unit (not shown) projecting information to be displayed on the glass.

As described above, the real-time display unit 300 according to the present embodiment includes a wearable display having a head-up display (HUD), so that the operator can monitor the position and orientation of the implanted tissue It is possible to view the information received from the position / orientation calculating unit 200 through the glass and the actual operation site at the same time without needing to look at it. Therefore, it is possible to maintain the operator's gaze on the operation site during the operation, thereby further enhancing the operator's concentration.

In this real-time display unit 300, information on the placement reference position calculated by the position and orientation calculation unit 200 is visually displayed. In addition, the relative position and posture of the drill H1 relative to the placement reference position is imaged and displayed in the real-time display unit 300. [

Therefore, the practitioner can visually grasp the position and angle of the drill H1 relative to the reference position when the alveolar bone is perforated, thereby improving the accuracy of the procedure.

Hereinafter, the operation of the implant placement guide system using real-time image guidance according to the present embodiment will be described.

The reference sensing unit 130 senses the reference portion 110 for a stent and the reference portion 120 for a handpiece and determines the position and orientation of each of the reference portion 110 for a stent and the reference portion 120 for a handpiece Obtain information.

The obtained position and attitude information is transmitted to the position and orientation calculation unit 200. The position and orientation calculation unit 200 calculates three-dimensional coordinates of the three-dimensional position and orientation of the placement reference position according to the information of the stent reference unit 110 acquired by the sensor unit 130 for sensing a reference portion.

Also, the position and orientation calculation unit 200 calculates three-dimensional coordinates of the relative position and posture of the drill H1 with respect to the placement reference position in accordance with the information of the reference unit 120 for handpiece.

The coordinates thus calculated are transmitted to the real-time display unit 300 and displayed on the real-time display unit 300 as an image. Accordingly, the practitioner can adjust the position and posture of the handpiece H according to the visual screen displayed on the real-time display unit 300 to perform the correct procedure.

The implant placement guide system using the real-time image guidance according to the present embodiment is configured such that the relative position of the reference portion 120 for the handpiece with respect to the reference portion 110 for stent via the reference portion sensing sensor 130, Dimensional coordinates of the relative position and posture of the drill H1 with respect to the placement reference position in real time through the position and orientation calculation unit 200 and displays the three- By displaying the relative position and posture of the drill H1 with respect to the position in a visual manner, it is possible to improve the practicing accuracy of the operator.

FIG. 5 is a view showing an implant placement guide system using real-time image guidance according to a second embodiment of the present invention, and FIG. 6 is a view showing the sensor unit of FIG.

The present embodiment differs from the first embodiment only in the configuration of the sensor unit 100a. In other respects, the configuration of the sensor unit 100a is the same as that of the first embodiment of FIG. 1, ) Will be mainly described.

The sensor unit 100a according to the present embodiment includes a sensor part 110a for stent which is mounted on a guide stent J and acquires position and attitude information of the guide stent J, And a handpiece sensor portion 120a for acquiring the position and attitude information of the handpiece H.

The stent sensor part 110a is mounted on the guide stent J and acquires the position and attitude information of the guide stent J. The stent sensor portion 110a may be disposed inside or outside the mouth of the subject.

The stent sensor part 110a is for measuring the moving distance and the moving angle of the head or chin of the subject. In the present embodiment, the stent sensor portion 110a includes a first gyro sensor (not shown) and a first acceleration sensor (not shown). A first acceleration sensor (not shown) measures a relative acceleration with respect to gravity acceleration, and a first gyro sensor (not shown) integrates the measured angular velocity to obtain a rotation distance.

In the present embodiment, the stent sensor unit 110a includes a third body portion (not shown) detachably coupled to the guide stent J and having a first gyro sensor (not shown) and a first acceleration sensor Time).

In addition, the stent sensor unit 110a further includes a temperature sensor (not shown) for sensing the temperature. The temperature sensor (not shown) is used to correct a difference between measured values of a first gyro sensor (not shown) and a first acceleration sensor (not shown) that varies depending on temperature through the position and orientation calculating unit 200a.

The handpiece sensor portion 120a is mounted on the handpiece H on which the drill H1 is mounted and acquires the position and attitude information of the reference portion 120 for the handpiece. The handpiece sensor portion 120a is used for measuring the three-dimensional positional change and attitude change of the handpiece H.

The handpiece sensor portion 120a includes a second gyro sensor (not shown) and a second acceleration sensor (not shown). The second acceleration sensor (not shown) measures the relative acceleration to the gravitational acceleration, and the second gyro sensor (not shown) integrates the measured angular velocity to obtain the rotation distance. The handpiece sensor 120a according to the present embodiment includes a fourth body part 120a detachably coupled to the handpiece H and having a second gyro sensor (not shown) and a second acceleration sensor (not shown) (Not shown).

In addition, the handpiece sensor unit 120a further includes a temperature sensor (not shown) for sensing the temperature. The temperature sensor (not shown) is used to correct a difference between measured values of a second gyro sensor (not shown) and a second acceleration sensor (not shown) that varies depending on the temperature through the position and orientation calculating unit 200a.

The position and orientation calculation unit 200a according to the present embodiment is connected to the stent sensor unit 110a and the handpiece sensor unit 120a by wire or wirelessly and includes the stent sensor unit 110a and the handpiece And calculates the relative position and posture of the drill H1 with respect to the predetermined placement reference position according to the information obtained from the sensor unit 120a.

More specifically, the position / posture arithmetic operation unit 200a according to the present embodiment receives the movement information of the head or the jaw of the subject from the stent sensor unit 110a, and moves the placement reference position by movement of the head or jaw of the subject And calculates the three-dimensional coordinates of the position and posture.

The position and orientation calculation unit 200a receives the movement information of the handpiece H from the handpiece sensor unit 120a and calculates the position and orientation of the drill H1 by the movement of the handpiece H, Calculate dimension coordinates.

The position and orientation calculation unit 200a according to the present embodiment can measure the measurement values obtained at the stent sensor unit 110a and the handpiece sensor unit 120a through a correction algorithm such as a Kalman filter algorithm By correcting, the accuracy can be increased.

The position and orientation calculation unit 200a calculates the three-dimensional coordinates of the relative position and posture of the drill H1 with respect to the placement reference position, and the calculated information is imaged on the real-time display unit 300 as in the first embodiment, .

The implant placement guide system using the real-time image guidance according to the present embodiment is capable of positioning the guide stent J and the handpiece H through the stent sensor part 110a and the handpiece sensor part 120a, Dimensional coordinates of the relative position and attitude of the drill H1 with respect to the placement reference position in real time through the position and orientation calculating unit 200a and outputs this information to the real time display unit 300 So that the accuracy of the operation performed by the operator can be increased.

FIG. 7 is a view showing an implant placement guide system using real-time image guidance according to a third embodiment of the present invention, and FIG. 8 is a view showing the sensor unit of FIG.

The present embodiment differs from the first embodiment only in the configuration of the sensor unit 100b. In other respects, the configuration of the sensor unit 100b is the same as that of the first embodiment of FIG. 1, ) Will be mainly described.

The sensor unit 100b according to the present embodiment includes a position tracker 110b for a stent detachably coupled to a guide stent J and a position tracker 120b which is detachably coupled to the handpiece H, ).

The stent position tracker 110b and the hand piece position tracker 120b receive the radio waves from the plurality of radio wave transmitters S and acquire the position information. The stent tracker 110b for a stent and the position tracker 120b for a handpiece receive a radio wave from a plurality of radio wave transmitters S and track their positions in a manner such as triangulation.

In this embodiment, the radio transmitter S may be a satellite and the stent location tracker 110b and the handpiece location tracker 120b may include GPS receivers for receiving GPS information. have.

The stent position tracker 110b is detachably coupled to the guide stent J inserted into the mouth of the subject. Such a stent position tracker 110b may be disposed inside or outside of the subject's mouth.

The stent position tracker 110b moves along with the head or jaw of the subject's surgeon when the subject's head or jaw moves, and receives the positional information.

The hand track position tracker 120b is detachably coupled to the handpiece H on which the drill H1 is mounted. The handpiece position tracker 120b is moved together with the handpiece H when the handpiece H is moved, and receives the position information.

The position and orientation calculation unit 200b according to the present embodiment is connected to the stent position tracker 110b and the handpiece position tracker 120b by wire or wirelessly and includes a stent position tracker 110b and a handpiece position And calculates the relative position and posture of the drill H1 to the predetermined placement reference position in accordance with the position information obtained at the tracker 120b.

That is, the position and orientation calculation unit 200b according to the present embodiment can recognize the position and posture of the guide stent J moved even if the head or jaw of the subject is moved through the positional information transmitted from the stent position tracker 110b Based on this, it is possible to calculate three-dimensional coordinates of the position and attitude of the moved reference reference position.

The position and orientation calculation unit 200b can determine the position and posture of the handpiece H moved when the handpiece H is moved through the positional information transmitted from the handpiece position tracker 120b, The three-dimensional coordinates of the position and the posture of the drill H1 moved to the three-

The relative position and posture of the drill H1 with respect to the placement reference position is calculated by the position and orientation calculating unit 200b by the calculated placement reference position and the coordinates of the drill H1, Is displayed on the real-time display unit (300) and displayed visually.

The implant placement guide system using the real-time image guidance according to the present embodiment is configured such that the position of the guide stent J and the position of the handpiece H through the position tracker 110b for a stent and the position tracker 120b for a handpiece, Posture calculating unit 200b calculates the three-dimensional coordinates of the relative position and posture of the drill H1 relative to the placement reference position in real time, and outputs this information to the real-time display unit 300, So that the accuracy of the operator's operation can be increased.

Although the embodiment has been described in detail with reference to the drawings, the scope of the scope of the present embodiment is not limited to the above-described drawings and description.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

100, 100a, 100b: sensor unit 110: stent reference unit
111: first body part 112: first optical marker
110a: Stent sensor part 110b: Stent locator
120: Reference part for handpiece 121: Second body part
122: second optical marker 120a: sensor unit for handpiece
130: Sensor part for sensing the reference part
200, 200a, 200b: Position /
300: real-time display part J: guide stent
H: Handpiece H1: Drill

Claims (10)

A sensor unit for detecting the position and posture of the guide stent inserted into the mouth of the subject and detecting the position and posture of the handpiece equipped with the drill;
A position and orientation calculation unit connected to the sensor unit by wire or wirelessly and calculating a relative position and an attitude of the drill to a predetermined reference position according to position and attitude information obtained from the sensor unit; And
And a real-time display unit connected to the position / posture calculation unit wirelessly or by wire to display a relative position and posture of the drill relative to the placement reference position. The method according to claim 1,
The sensor unit includes:
A stent reference portion connected to the guide stent;
A reference unit for a handpiece connected to the handpiece; And
And a reference sensor sensing part for sensing the reference part for the stent and the reference part for the handpiece and acquiring the position and attitude information of each of the reference part for the stent and the reference part for the handpiece, Installation guide system. 3. The method of claim 2,
The stent reference portion includes:
A first body part detachably coupled to the guide stent; And
And a plurality of first optical markers provided on the first body part,
The handpiece-
A second body detachably coupled to the handpiece; And
And a plurality of second optical markers provided on the second body part. The method of claim 3,
Wherein the sensor part for sensing the reference part includes an optical sensor for recognizing the first optical marker and the second optical marker. The method according to claim 1,
The sensor unit includes:
A stent sensor unit mounted on the guide stent for acquiring position and attitude information of the guide stent; And
And a handpiece sensor unit mounted on the handpiece and for acquiring position and attitude information of the handpiece,
Wherein the position /
A sensor unit for a stent, and a sensor unit for a handpiece, wherein the relative position of the drill to a predetermined reference position according to information obtained from the stent sensor unit and the handpiece sensor unit, Implant placement guide system using real - time image guidance for calculating posture. 6. The method of claim 5,
The stent sensor unit includes:
A first gyro sensor and a first acceleration sensor,
The handpiece-
A second gyro sensor, and a second acceleration sensor. The method according to claim 1,
The sensor unit includes:
A position tracker for the stent detachably coupled to the guide stent; And
And a hand track position tracker detachably coupled to the hand piece,
Wherein the position /
And a position detector for detecting a relative position of the drill relative to a predetermined reference position according to position information obtained from the stent tracker and the position tracker for a handpiece, the position tracker for a stent, and the position tracker for a handpiece, Implant placement guide system using real - time image guidance to calculate posture. 8. The method according to any one of claims 1 to 7,
Wherein the position /
A mouth structure library unit in which image information on the mouth structure of the subject is stored; And
Implant placement guide system using real - time image guidance including a prosthodontic structure library part storing image information about the structure of implant prosthesis. 8. The method according to any one of claims 1 to 7,
The real-
And a wearable display having a head-up display (HUD). 10. The method of claim 9,
The wearable display is provided with a goggle-like shape and real-time image guidance.

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