WO2020082500A1

WO2020082500A1 - Oral implant positioning method, oral tissue recognition model establishment method, apparatus and device, and storage medium

Info

Publication number: WO2020082500A1
Application number: PCT/CN2018/118021
Authority: WO
Inventors: 沈琼茂; 董昱彦; 朱汝维
Original assignee: 深圳市深蓝牙医疗科技有限公司
Priority date: 2018-10-25
Filing date: 2018-11-28
Publication date: 2020-04-30
Also published as: CN111105458A

Abstract

Disclosed are an oral implant positioning method, an oral tissue recognition model establishment method, apparatus and device, and a storage medium. The oral implant positioning method comprises: recognizing an oral digital medical image by means of a pre-set tissue recognition model to acquire an oral tissue model (S101); and determining a target implant and a target posture of the target implant according to the oral tissue model (S102). By means of the method, the problem, in the traditional technology, of positioning efficiency and positioning accuracy being low due to the repeated adjustment of an implant and the position of the implant caused by manual positioning of the implant can be avoided, and a target implant and a posture of the target implant which satisfy implantation requirements can be directly determined according to tissue distribution in an oral tissue model, thereby improving the positioning efficiency and the positioning accuracy of the implant.

Description

Oral implant positioning method, oral tissue identification model establishment method, device, equipment and storage medium

Technical field

The present application relates to the field of computer technology, and in particular, to an oral implant positioning method, an oral tissue recognition model establishment method, device, equipment, and storage medium.

Background technique

With the rapid development of science and technology and the improvement of people's living standards, people's requirements for dental restoration are also increasing. Dental implants are becoming more and more popular as a means of dental restoration.

In the dental implant technique, the position of the implant needs to be determined before the implant operation, and then the operation is performed according to the determined position of the implant. Among them, whether the position of the implant is reasonable greatly affects the post-implant effect. In traditional digital oral implants, a doctor or a professional designer in the 3D digital design center usually determines the position of the implant on the oral cavity model of the human body according to their own experience before the operation, and then repeatedly adjusts according to the experience until it meets Claim.

However, the traditional method of manually positioning the implant has low positioning efficiency.

Summary of the invention

Based on this, it is necessary to provide an oral implant positioning method, an oral tissue recognition model building method, device, equipment, and storage medium that can improve implant positioning efficiency in view of the above technical problems.

In a first aspect, an embodiment of the present application provides a method for positioning an oral implant, the method includes:

Use a preset tissue identification model to identify and process oral digital medical images to obtain oral tissue models;

According to the oral tissue model, the target implant and the target posture of the target implant are determined.

In one of the embodiments, the determining the target implant and the target posture of the target implant according to the oral tissue model includes:

Obtaining the number of teeth to be implanted and the functional position of the teeth to be implanted in the oral tissue model;

Determine the target posture and the target posture of the target implant according to the number of teeth to be implanted, the functional position of the tooth to be implanted, and a preset positioning rule; the positioning rule is used to characterize the target implant Constraints for body positioning in the oral tissue model.

In one of the embodiments, the acquiring the number of teeth to be implanted and the functional position of the teeth to be implanted in the oral tissue model includes:

Receiving the number of the teeth to be implanted and the functional position of the teeth to be implanted input by the user based on the oral tissue model; or,

According to the tissue distribution in the oral tissue model, the number of the teeth to be implanted and the functional position of the teeth to be implanted are determined.

In one embodiment, if the number of teeth to be implanted is a single tooth, the target implant is determined according to the number of teeth to be implanted, the functional position of the teeth to be implanted, and preset positioning rules The body and the target posture of the target implant include:

Determine the first implant according to the functional position of the tooth to be implanted;

Determine the initial posture of the central axis of the first implant according to the oral tissue model;

Determine the first posture of the first implant according to the initial posture of the central axis of the first implant and the preset initial embedding depth;

The target posture of the target implant and the target implant are determined according to a preset safety rule and the first posture of the first implant; the safety rule is used to determine whether the implant meets the planting requirements.

In one of the embodiments, the determining the initial posture of the central axis of the first implant according to the oral tissue model includes:

Determine the initial posture of the central axis of the first implant according to the average dental arch surface of the oral tissue model or the central axis of adjacent teeth on both sides of the tooth to be implanted; or,

Determine the initial posture of the central axis of the first implant according to the central axis of the counter-tooth of the tooth to be implanted by mirror image; or,

Acquiring the target crown and the position of the target crown corresponding to the target implant; and determining the initial pose of the central axis of the first implant according to the positions of the target crown and the target crown .

In one embodiment, the determining the target posture and the target posture of the target implant according to the preset safety rules and the posture of the first implant includes:

Determine whether the first posture of the first implant meets the safety rules;

If yes, determine the first implant as the target implant, and determine the first pose as the target pose of the target implant;

If not, adjust the first posture and / or the first implant according to a preset adjustment rule to determine the target posture of the target implant and the target implant.

In one of the embodiments, the judging whether the first posture of the first implant satisfies the safety rule includes:

According to the safety information of the first implant, determine whether the first posture of the first implant meets the safety rules; the safety information includes the distance between the implant and the adjacent tooth, the implant and the lip / The distance between the jaw, the distance between the implant and the superior frontal sinus, the distance between the implant and the nerve, the distance between the implant and the nerve hole, the distance between the implant and the bone surface, the contact area between the implant and the bone, and whether the central axis of the implant At least one of the central regions passing through the crown surface.

In one of the embodiments, the acquiring the target crown corresponding to the target implant and the position of the target crown include:

Acquiring the initial crown corresponding to the target implant and the initial position of the initial crown;

Determine crown adjustment information according to the initial crown corresponding to the target implant, the initial position of the initial crown and the oral tissue model; the crown adjustment information includes the length, width, height and position to be adjusted;

Adjusting the initial crown and the initial position of the initial crown according to the crown adjustment information to obtain the target crown and the position of the target crown corresponding to the target implant.

In one of the embodiments, the acquiring the initial crown corresponding to the target implant and the initial position of the initial crown include:

Acquiring the initial crown corresponding to the target implant and the initial position of the initial crown using a mirror image;

or,

According to the functional position of the target implant, determine the initial crown corresponding to the target implant from the preset crown library; and according to the position of the opposing tooth of the target crown, use mirror image to determine the The initial position of the initial crown corresponding to the target implant;

or,

According to the functional position of the target implant, determine the initial crown corresponding to the target implant from a preset crown library; and determine the corresponding to the target implant according to the dental arch line of the oral tissue model The initial position of the initial crown.

In one of the embodiments, the adjusting the first posture and / or the first implant according to a preset adjustment rule to determine the target posture of the target implant and the target implant, include:

Adjusting the first posture and / or the first implant according to a preset adjustment rule, and determining multiple second postures and corresponding multiple second implants;

Obtain the safety information corresponding to each of the second posture and the second implant; the safety information includes the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, the distance between the implant and the nerve, At least one of the distance between the implant and the bone surface, the contact area between the implant and the bone, and whether the central axis of the implant passes through the central area of the crown surface;

It is determined that the second posture with the highest safety information level is the target posture, and the second implant corresponding to the highest safety information level is determined as the target implant.

In one embodiment, if the number of teeth to be implanted is multiple, the target implant is determined according to the number of teeth to be implanted, the functional position of the teeth to be implanted, and preset positioning rules The body and the target posture of the target implant include:

Determine the number of target implants according to the tooth root spacing of the teeth to be implanted, the preset tooth root spacing threshold and the number of teeth to be implanted;

Acquiring the third implant corresponding to each tooth to be implanted and the third pose of the third implant according to the functional position of each tooth to be implanted and the preset positioning rule;

The target posture of the target implant and the target implant is determined according to the number of the target implant, each of the third implant, and the third posture of the third implant.

Receiving the initial implant and the initial posture of the initial implant input by the user based on the oral tissue model;

Judging whether the initial implant and the initial posture of the initial implant meet the preset safety rules; the safety rules are used to judge whether the implant meets the requirements for implantation;

If yes, determine the initial implant as the target implant, and determine the initial posture as the target posture of the initial implant;

If not, a prompt message is output.

According to the tissue distribution in the oral tissue model, a preset positioning model is used to determine the target implant and the target posture of the target implant; wherein, the positioning model is performed on the oral digital medical image The model obtained by artificial intelligence training.

In one of the embodiments, according to the tissue distribution in the oral tissue model, using a preset positioning model to determine the target implant and the target posture of the target implant, including:

The oral digital medical training image is input to the initial positioning model, and an artificial intelligence algorithm is used to determine the actual value of the model parameters in the initial positioning model; wherein, the initial tissue identification model includes the initial values of the model parameters;

Replacing the initial value of the model parameter with the actual value of the model parameter to obtain the positioning model.

In one embodiment, the oral digital medical training image includes a training image that calibrates the implant and the posture of the implant; the model parameters include implant positioning parameters.

In one of the embodiments, the oral digital medical training image includes a training image that calibrates the implant, the posture and tissue of the implant; the model parameters include implant positioning parameters and tissue segmentation parameters.

In one embodiment, after determining the target implant and the target posture of the target implant according to the oral tissue model, the method includes:

Judging whether the target implant and the target posture of the target implant meet the preset safety rules; the safety rules are used to judge whether the implant meets the planting requirements;

If not, adjust the model parameters of the positioning model.

In one of the embodiments, the preset tissue identification model is used to perform identification processing on the oral digital medical image, and before acquiring the oral tissue model, it includes:

The oral digital medical training image is input to an initial tissue recognition model, and an artificial intelligence algorithm is used to determine the actual value of the tissue recognition parameter in the initial tissue recognition model; wherein, the initial tissue recognition model is a neural network model, including The initial value of the organization identification parameter;

Replace the initial value of the tissue identification parameter with the actual value of the tissue identification parameter to obtain the tissue identification model.

In one of the embodiments, the method further includes:

Receive implant adjustment information input by the user; the implant adjustment information includes at least one of adjusting the number, posture, specifications, model, manufacturer, and material of the implant;

Adjusting the target posture of the target implant and the target implant according to the implant adjustment information.

In one of the embodiments, the method further includes: determining whether the adjusted target implant and the target posture of the target implant satisfy preset safety rules; the safety rules are used to determine whether the implant Meet the planting requirements.

In one of the embodiments, the method further includes: outputting prompt information.

In a second aspect, an embodiment of the present application provides a method for establishing an oral tissue recognition model. The method includes:

In a third aspect, an embodiment of the present application provides an oral implant positioning device, the device includes: a first acquisition module and a first processing module;

The first acquisition module is configured to adopt a preset tissue identification model to perform identification processing on the oral digital medical image to acquire an oral tissue model;

The first processing module is configured to determine a target implant and a target posture of the target implant according to the oral tissue model.

According to a fourth aspect, an embodiment of the present application provides an apparatus for establishing an oral tissue recognition model, the apparatus includes: a sixth processing module and a seventh processing module;

The sixth processing module is used to input the oral digital medical training image into the initial tissue recognition model, and an artificial intelligence algorithm is used to determine the actual value of the tissue segmentation parameter in the initial tissue recognition model; wherein, the initial The tissue identification model includes initial values of tissue segmentation parameters;

The seventh processing module is configured to replace the initial value of the tissue segmentation parameter with the actual value of the tissue segmentation parameter to obtain the tissue identification model.

According to a fifth aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

According to a sixth aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

The oral digital medical training image is input to an initial tissue identification model, and an artificial intelligence algorithm is used to determine the actual value of the tissue identification parameter in the initial tissue identification model; The initial value of the organization identification parameter;

According to a seventh aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

According to an eighth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

The above oral implant positioning method, oral tissue identification model establishment method, device, equipment and storage medium adopt a predetermined tissue identification model through a computer device to identify and process oral digital medical images to obtain an oral tissue model; and according to the described The oral cavity tissue model determines the target implant and the target posture of the target implant. It avoids the problems of repeated adjustment of the implant and the position of the implant caused by manual positioning of the implant in the traditional technology, which leads to the problem of low positioning efficiency and low positioning accuracy. The above method can be based on the tissue distribution in the oral tissue model. Directly determine the target implant and the posture of the target implant that meet the requirements of planting, thus greatly improving the positioning efficiency of the implant and greatly improving the positioning accuracy of the implant.

BRIEF DESCRIPTION

FIG. 1 is an internal structure diagram of a computer device provided by an embodiment;

2 is a schematic flowchart of a method for positioning an oral implant provided by an embodiment;

FIG. 3 is a schematic flowchart of an oral implant positioning method according to another embodiment;

FIG. 3a is a schematic diagram of functional positions of teeth in an embodiment;

4 is a schematic flowchart of a method for positioning an oral implant provided by another embodiment;

4a is a schematic diagram of an implant and its central axis in an embodiment;

4b is a schematic diagram of an average dental arch surface in an embodiment;

FIG. 5 is a schematic flowchart of an oral implant positioning method according to another embodiment;

FIG. 5a is a schematic diagram of dental arch line in an embodiment;

6 is a schematic flowchart of a method for positioning an oral implant provided by another embodiment;

7 is a schematic flowchart of a method for positioning an oral implant provided by yet another embodiment;

8 is a schematic flowchart of a method for positioning an oral implant provided by another embodiment;

9 is a schematic flowchart of an oral implant positioning method provided by another embodiment;

10 is a schematic flowchart of an oral implant positioning method provided by another embodiment;

11 is a schematic flowchart of a method for positioning an oral implant provided by another embodiment;

12 is a schematic flowchart of a method for positioning an oral implant provided by another embodiment;

13 is a schematic flowchart of a method for positioning an oral implant provided by another embodiment;

14 is a schematic flowchart of a method for establishing an oral tissue recognition model provided by an embodiment;

15 is a schematic structural view of an oral implant positioning device provided by an embodiment;

16 is a schematic structural view of an oral implant positioning device provided by another embodiment;

17 is a schematic structural view of an oral implant positioning device provided by another embodiment;

18 is a schematic structural view of an oral implant positioning device provided by another embodiment;

19 is a schematic structural view of an oral implant positioning device provided by another embodiment;

20 is a schematic structural diagram of an apparatus for establishing an oral tissue recognition model provided by an embodiment.

detailed description

In order to make the purpose, technical solutions and advantages of the present application more clear, the following describes the present application in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

The oral implant positioning method provided in this application can be applied to the computer device shown in FIG. 1, and the computer device includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store the oral tissue model involved in the following embodiments, and optionally, can also store preset positioning rules, safety rules, adjustment rules, and related information about the positioning model. For the description of positioning rules, security rules, adjustment rules, and positioning models, reference may be made to the content of the following method embodiments. The network interface of the computer device can be used to communicate with other external devices through a network connection. Optionally, the computer device may be a server, a PC, a personal digital assistant, or other terminal devices, such as a PAD, a mobile phone, etc., or a cloud or a remote server. The specific form of the equipment is not limited. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or may be a button, a trackball or a touchpad provided on the computer device housing , Can also be an external keyboard, touchpad or mouse. Of course, the input device and the display screen may not be part of the computer equipment, but may be external equipment of the computer equipment.

Those skilled in the art can understand that the structure shown in FIG. 1 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may Include more or less components than shown in the figure, or combine certain components, or have a different arrangement of components.

With the rapid development of science and technology and the improvement of people's living standards, people's requirements for dental restoration are also increasing. Dental implants are welcomed by users as a means of tooth restoration. Generally, when performing dental implantation, a doctor or a professional designer of the 3D digital design center will manually determine the position of the implant on the oral cavity model of the human body according to its own experience, and then make repeated adjustments based on experience until it meets the requirements Low positioning efficiency.

The oral implant positioning method, the establishment of an oral tissue recognition model, the device, the computer equipment, and the readable storage medium used in the embodiments of the present application realize the positioning of the implant through the computer equipment, thereby improving the efficiency of implant positioning.

The following describes in detail the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

It should be noted that the execution subject of the following method embodiments may be an oral implant positioning device or an oral tissue recognition model building device, and the device may be implemented as part of the above-mentioned computer equipment through software, hardware, or a combination of software and hardware. All. The following method embodiments are described by taking an example where the execution subject is a computer device.

FIG. 2 is a schematic flowchart of an oral implant positioning method provided by an embodiment. This embodiment relates to a specific process in which the computer device determines the target implant and the target posture of the target implant according to the oral tissue model. As shown in Figure 2, the method includes:

S101. Use a preset tissue recognition model to perform recognition processing on the oral digital medical image to obtain an oral tissue model.

Specifically, the computer device inputs the acquired oral digital medical images to a preset tissue identification model, and the tissue identification model processes the oral digital medical images to establish an oral tissue model corresponding to the oral digital medical images. Among them, the oral tissue model can distinguish the distribution of teeth, bones, nerves, and maxillary sinus, and the oral tissue model can be a three-dimensional model, which can exist in the form of a three-dimensional equation system, and in three-dimensional form in computer equipment Display on the display device.

It should be noted that the above-mentioned oral digital medical image is obtained by photographing a person's oral cavity through an imaging device. Optionally, the above-mentioned oral digital medical image may be a cone beam electronic computed tomography (Cone beam Computerized Tomography, CBCT for short) image, or other oral digital medical images, which is not limited in this embodiment.

Optionally, the above tissue recognition model may be a model established based on experience and experimental data, or a model obtained by training multiple training images through a neural network algorithm, which is not limited in this embodiment.

S102: Determine a target implant and a target posture of the target implant according to the oral tissue model.

Specifically, the computer device can obtain the tissue distribution in the oral tissue model according to the oral tissue model, such as tooth distribution, bone distribution, nerve distribution, and maxillary sinus distribution, so as to determine the target implant to be implanted, including the target The number of implants and the specifications, models, manufacturers and materials of each target implant can also determine the posture of each target implant. Among them, the posture of the target implant includes the position and posture of the target implant.

Optionally, the above-mentioned determination of the target implant and the target posture of the target implant according to the oral tissue model may be determined using preset positioning rules, or may be determined according to positioning information input by a user, or may be determined using a neural network The model is determined, and this embodiment is not limited.

In this embodiment, the computer device adopts a preset tissue recognition model to perform recognition processing on the oral digital medical image, so as to obtain the oral tissue model, and determine the target implant and the target posture of the target implant according to the oral tissue model, thereby The process of positioning the target implant based on the above oral tissue model is realized. The method provided in this embodiment can avoid the problems of repeated adjustment of the implant and the position of the implant caused by manually positioning the implant in the conventional technology, which in turn leads to the problems of low positioning efficiency and low positioning accuracy, which can be based on the oral cavity The tissue distribution in the tissue model directly determines the target implants and the postures of the target implants that meet the requirements of planting, thus greatly improving the positioning efficiency of the implants and the positioning accuracy of the implants.

FIG. 3 is a schematic flowchart of an oral implant positioning method provided by another embodiment. This embodiment relates to a specific process in which the computer device determines the target implant and the target posture of the target implant according to the oral tissue model. Optionally, on the basis of the above embodiment of FIG. 2 and as shown in FIG. 3, the above S102 may specifically include:

S201. Acquire the number of teeth to be implanted and the functional position of the teeth to be implanted in the oral tissue model.

Specifically, the computer device can obtain the number of teeth to be implanted and the functional position of each tooth to be implanted based on the tissue distribution in the oral tissue model, based on the tissue distribution in the oral tissue model.

It should be noted that the functional position of the tooth to be implanted is a position on the upper jaw or lower jaw where the tooth to be implanted is divided according to the function of the tooth, and the functional position may include the maxillary side incisor, the maxillary central incisor, and the cusp Teeth, maxillary first premolar, maxillary second premolar, maxillary first molar, maxillary second molar and maxillary third molar, mandibular incisor and mandibular incisor located in the lower jaw, mandibular incisor, mandibular canine, mandible For the first premolar, the second premolar of the lower jaw, the first molar of the lower jaw, the second molar of the lower jaw, and the third molar of the lower jaw, see FIG. 3a for details.

Optionally, a possible implementation manner of this step S201 is that the computer device can identify the number of teeth to be implanted and the functional location of each tooth to be implanted according to the tissue distribution in the oral tissue model. In this implementation, the computer device can automatically identify the number of teeth to be implanted and the functional position of the teeth to be implanted according to the tissue distribution in the oral tissue model, thereby improving the efficiency and accuracy of determining the number of teeth to be implanted and the functional position, Further improve the efficiency and accuracy of implant positioning.

Optionally, another possible implementation manner of this step S201 is that the computer device can receive the number of teeth to be implanted and the functional position of the teeth to be implanted based on the oral tissue model input by the user. Specifically, the user observes the above oral tissue model and determines the number of teeth to be implanted and the functional position of the teeth to be implanted in the oral tissue model, and then inputs them to the computer device. For example, the user performs three clicks on the corresponding functional positions of the three consecutive missing teeth in the above oral tissue model: the maxillary incisor, the maxillary incisor, and the maxillary canine, thereby inputting the tooth to be implanted into the computer device The number is three, and the functional positions of the three teeth to be implanted are the maxillary lateral incisor, maxillary central incisor, and maxillary canine. Optionally, the computer device may also receive the material or manufacturer of the implant of the tooth to be implanted based on the oral tissue model described by the user, so as to increase the flexibility and convenience of implant selection and positioning. In this implementation, the computer device determines the number of teeth to be implanted and the functional position of the tooth to be implanted based on the user's input, which can determine the number of teeth to be implanted and the functional position of the tooth to be implanted according to the user's needs. For example, although the above oral tissue model appears to have four missing teeth, this time the patient only wants to implant one of the maxillary incisors. At this time, the computer device can determine the number of teeth to be implanted based on user input. And the functional position of this tooth to be implanted is the maxillary incisor, which makes the number of teeth to be implanted and the way to determine the functional position of the teeth to be implanted more flexible, the application scenarios are wider, and the implant positioning is further improved Flexibility and convenience.

S202. Determine the target posture and the target posture of the target implant according to the number of teeth to be implanted, the functional position of the tooth to be implanted, and a preset positioning rule; the positioning rule is used to characterize the Constraints for positioning the target implant in the oral tissue model.

Specifically, the computer device can determine the required number of target implants according to the determined number of teeth to be implanted and the functional position of the teeth to be implanted, using preset positioning rules. The computer device can also determine the type of each target implant according to the functional position of the tooth to be implanted and the number of target implants that have been determined, including the implant specification, model, manufacturer and material, and according to the preset positioning rules Determine the posture of each target implant in the oral tissue model. For example, when the tooth to be implanted is one, the number of target implants can be determined to be one; when the tooth to be implanted is two, the number of target implants can be determined to be one or two; when the tooth to be implanted is three When it is selected, the number of target implants can be determined as two or three.

It should be noted that the above-mentioned preset positioning rules include constraints that enable the target implant to be positioned in the oral tissue model, which may include the distance constraint between the implant and the adjacent tooth, the distance constraint between the implant and the lip / jaw, Constraints between implant and superior frontal sinus, implant and nerve, implant and nerve hole, implant and bone surface, implant and bone contact area constraint, and implant center The axis passes through at least one of the central regions of the crown surface.

Optionally, for other possible implementation manners of this step S202, reference may be made to the embodiments shown in FIGS. 4-8 below, and details are not described herein again.

In this embodiment, the computer device can obtain the number of teeth to be implanted and the functional position of the teeth to be implanted in the oral tissue model, and determine according to the number of teeth to be implanted, the functional position of the teeth to be implanted, and preset positioning rules The target implant and the target posture of the target implant. Among them, since the above positioning rules can characterize the constraint conditions for the positioning of the target implant in the oral tissue model, the target implant and the target posture of the target implant determined by the computer device can satisfy the above constraint conditions, and their determination The target posture and target posture of the target implant are combined with the actual situation of the oral tissue model described above, thereby making the target posture and target posture determined by the target implant more accurate.

FIG. 4 is a schematic flowchart of an oral implant positioning method provided by another embodiment. This embodiment relates to when the number of teeth to be implanted in a computer device is a single tooth, the target implant and the target posture of the target implant are determined according to the number of teeth to be implanted, the functional positions of the teeth to be implanted, and preset positioning rules Specific process. Optionally, as shown in FIG. 4, a possible implementation manner of the foregoing S202 includes:

S301. Determine the first implant according to the functional position of the tooth to be implanted.

Specifically, the computer device may determine the first implant that matches the functional position of the tooth to be implanted according to the correspondence between the preset functional position and the implant. Optionally, the correspondence between the above functional position and the implant may be one-to-one, one-to-many, many-to-one, or many-to-many.

Optionally, the correspondence between the above functional positions and the implants can be obtained by the correspondence between the average tooth size at different functional positions and the size of the implant, or it can be the most frequently used implant at different functional positions and functional positions The corresponding body can be obtained by specifying corresponding implants for different functional positions, which is not limited in this embodiment.

For example, the correspondence between the above functional positions and implants includes maxillary incisors, mandibular incisors, and mandibular incisors corresponding to 3.6mm * 12mm implants. Maxillary incisors, mandibular incisors, mandibular incisors The teeth in the outer anterior region correspond to implants of 4.0mm * 10mm, the second molar corresponds to implants of 4.5mm * 10mm, the first molar corresponds to 4.5mm * 10mm, and the other teeth correspond to 4.0mm * 10mm, then According to this correspondence, the computer device can determine that when the functional position of the tooth to be implanted is the maxillary incisor, the 3.6mm * 12mm implant is used as the first implant, and when the functional position of the tooth to be implanted is the second molar, Take the 4.5mm * 10mm implant as the first implant.

It should be noted that the correspondence between the above functional position and the implant is only an example of the correspondence between the functional position and the specification of the implant. It can be understood that the above correspondence can also be the functional position and the implant The relationship between at least one of the material, size, specification, model, manufacturer and preset number of the body is not listed here.

S302: Determine the initial posture of the central axis of the first implant according to the oral tissue model.

Specifically, the computer device determines the initial posture of the central axis of the first implant according to the distribution of each tissue in the oral tissue model. The central axis of the first implant can be seen in Figure 4a.

Optionally, a possible implementation manner of this step S302 includes: determining the central axis of the first implant according to the average dental arch surface of the oral tissue model or the central axis of adjacent teeth on both sides of the tooth to be implanted Initial pose. It should be noted that the above average dental arch surface may include the average dental arch surface of the upper jaw and the average dental arch surface of the lower jaw. The average dental arch surface is a curved surface determined according to the central axis of all teeth of the upper jaw or lower jaw where it is located. See Figure 4b. Specifically, the computer device can use the middle position of the two adjacent teeth on both sides of and adjacent to the tooth to be implanted as the initial posture of the first implant. The computer device may also use the straight posture of the average dental arch surface that is perpendicular to the tooth surface and located in the missing tooth area as the initial posture of the central axis of the first implant.

Optionally, another possible implementation manner of this step includes: determining the initial posture of the central axis of the first implant according to the central axis of the counter-tooth of the tooth to be implanted in a mirror image manner. Specifically, the computer device can obtain the central axis of the counter-tooth of the tooth to be implanted in the oral tissue model described above, perform a mirror operation on the central axis of the pair of teeth to obtain the mirrored central axis, and set the posture of the mirrored central axis As the initial posture of the central axis of the first implant.

Optionally, another possible implementation manner of this step includes: acquiring a target crown and the position of the target crown corresponding to the target implant; and according to the target crown and the target crown Position to determine the initial posture of the central axis of the first implant. Specifically, the computer device can obtain the target crown corresponding to the target implant and the position of the target crown, and use the posture of the target crown at the central axis of the current position as the initial position of the central axis of the first implant Posture. It can be understood that the central axis of the target dental crown at the current position can pass through the central region of the target dental crown and bite with the tooth.

Optionally, for an implementation manner of “obtaining the target crown corresponding to the target implant and the position of the target crown” in the above implementation manner, reference may be made to the description of the following embodiment in FIG. 5, as shown in FIG. 5 . The method may specifically include:

S401. Acquire an initial dental crown corresponding to the target implant and an initial position of the initial dental crown.

Specifically, the computer device can obtain the initial crown corresponding to the target implant and the initial position of the initial crown.

Optionally, a possible implementation manner of this step S401 includes: acquiring the initial crown corresponding to the target implant and the initial position of the initial crown using a mirror image. Specifically, the computer device can obtain the crown and position of the counter-tooth corresponding to the target implant, and by performing a mirror operation on the crown and position of the counter-tooth, a mirror tooth with the mirror position of the counter-tooth is generated Crown, and use this mirrored crown and this mirrored position as the initial crown corresponding to the target implant and the initial position of the initial crown. In this implementation, the initial crown and the initial position of the initial crown corresponding to the target implant obtained by the computer device in a mirrored manner have a high degree of matching with the target implant, and the acquisition method is simple and easy to implement, so its acquisition efficient.

Optionally, another possible implementation manner of this step S401 includes: determining an initial dental crown corresponding to the target implant from a preset dental crown library according to the functional position of the target implant, and according to the The position of the counter tooth of the target crown is determined in a mirror image to determine the initial position of the initial crown corresponding to the target implant. Specifically, according to the functional position of the target implant, the computer device can select a crown matching the size of the crown required for the functional position of the target implant from the preset crown library as the target crown, for example, the target When the functional position of the implant is the maxillary incisor, select a model in the crown library that is close to the size of the crown of the maxillary incisor as the initial crown; further, the computer device can match the tooth corresponding to the target implant Perform a mirror operation to obtain the mirror position of the tooth as the initial position of the initial crown. In this implementation, the computer device selects an initial crown matching the size of the crown required for the functional position of the target implant from the preset crown library, and determines the position according to the position of the tooth by using a mirror image The initial position of the initial crown, so that the determined initial crown and the target implant have a high degree of matching, and the initial position of the initial crown determined by the mirror image method, the acquisition method is simple and easy to implement, so its acquisition efficiency high.

Optionally, another possible implementation manner of this step S401 includes: determining an initial dental crown corresponding to the target implant from a preset dental crown library according to the functional position of the target implant; and according to all The dental arch line of the oral tissue model determines the initial position of the initial crown corresponding to the target implant. The dental arch line is a line connecting the center points of the occlusal surfaces of the teeth. For details, see FIG. 5a. Specifically, according to the functional position of the target implant, the computer device can select a crown matching the functional position from the preset crown library, for example, a crown with a similar size as the target crown, for example, the functional position of the target implant For the maxillary incisors, select a crown model with a similar size of the maxillary incisors in the crown library as the initial crown; further, the computer equipment uses the dental arch line of the oral tissue model to compare the surface of the initial crown with the The position where the dental arch line fits is used as the initial posture of the initial crown. In this implementation manner, the computer device selects the initial crown matching the functional position of the target implant from the preset crown library according to the functional position of the target implant, and determines according to the dental arch line of the oral tissue model The initial position of the initial crown corresponding to the target implant can realize that in the case of missing teeth, the initial crown corresponding to the target implant and its initial position can still be automatically determined, so that the initial crown corresponding to the target implant The method of determining its initial position is more flexible, and the application scenarios are more extensive.

S402. Determine crown adjustment information according to the initial crown corresponding to the target implant, the initial position of the initial crown, and the oral tissue model; the crown adjustment information includes the length, width, and height to be adjusted. At least one of the position and the occlusal surface.

Specifically, after determining the initial crown and the initial position of the initial crown corresponding to the target implant, the computer device can also determine the position and size of the adjacent teeth, the position and size of the opposing teeth, and the adjacent teeth of the target implant The occlusal surface generates crown adjustment information based on the initial crown and the initial position of the initial crown. Wherein, the crown adjustment information includes at least one of the length, width, height, position and occlusal surface to be adjusted. For example, when the initial crown is placed in the initial position, the distance between its two sides and the adjacent tooth exceeds the preset distance threshold, then the computer device can generate a corresponding width adjustment according to the position and size of the adjacent tooth adjacent to the target implant Information to adjust the width of the initial crown, so that the distance between the adjusted initial crown and the adjacent teeth meets the requirements; the computer device can also be based on the height of the adjacent teeth when the initial crown is lower than the adjacent teeth and exceeds the preset threshold , Generate corresponding height adjustment information to adjust the height of the initial crown; the computer device can also generate bite surface adjustment information according to the occlusal surface of the tooth to adjust the shape of the occlusal surface of the initial crown.

S403. Adjust the initial tooth crown and the initial position of the initial tooth crown according to the tooth crown adjustment information to obtain the target tooth crown and the position of the target tooth crown corresponding to the target implant.

Specifically, the computer device adjusts at least one of the length, width, height, position, and occlusal surface of the initial crown according to the crown adjustment information, so that the length, width, and height of the initial crown form a smooth transition with the adjacent teeth, It meets the requirements of the preset distance and position with the adjacent teeth, and can smoothly occlude its teeth. The computer device uses the adjusted initial crown and initial position as the positions of the target crown and the target crown corresponding to the target implant.

In the embodiment shown in FIG. 5 above, the computer device obtains the initial crown corresponding to the target implant and the initial position of the initial crown, and according to the initial crown corresponding to the target implant, the initial position of the initial crown and the oral tissue The model determines the crown adjustment information, and adjusts the initial crown and the initial position of the initial crown according to the crown adjustment information to obtain the target crown and the target crown position corresponding to the target implant. The dental crown adjustment information includes the length, width, height, position and occlusal surface that need to be adjusted. The method adopted in this embodiment can enable the computer device to automatically determine the crown adjustment information according to the initial crown corresponding to the target implant, the initial position of the initial crown and the oral cavity tissue model, and to perform the initial adjustment based on the crown adjustment information. The initial positions of the crown and initial crown are automatically adjusted, and then the positions of the adjusted crown and crown are used as the positions of the target crown and the target crown corresponding to the target implant. This method avoids the error and low efficiency caused by manually adjusting the position of the target crown and the target crown, so that the determined position of the target crown and the target crown can be compared with other tissues in the oral tissue model, such as teeth To achieve a high degree of matching. Therefore, while ensuring that the positions of the target crown and the target crown are more accurate, the adjustment efficiency of the target crown and the position thereof is improved, thereby enabling the implant positioning method based on the positions of the target crown and the target crown, The positioning efficiency is higher and the positioning accuracy is higher.

S303. Determine the first posture of the first implant according to the initial posture of the central axis of the first implant and the preset initial embedding depth.

It should be noted that the above-mentioned initial embedding depth may be an embedding depth that can satisfy most implants during planting, or may be an embedding depth with the highest frequency of use, which is not limited in this embodiment. The initial embedding depth may be a depth relative to the bone surface, for example, 1 mm below the bone surface.

Specifically, the computer device can determine the first posture of the first implant based on the initial posture of the central axis of the first implant and the initial embedding depth.

S304: Determine the target posture and the target posture of the target implant according to a preset safety rule and the first posture of the first implant; the safety rule is used to determine whether the implant conforms to the planting Claim.

Specifically, the computer device can inspect the first posture of the first implant according to the preset safety rules, so as to determine whether the implant conforms to the implant requirements, and determine the target implant and the target of the target implant according to the inspection result Posture.

It should be noted that the above safety rules can be used to determine whether the implant meets the requirements for planting. If the first posture of the first implant meets the safety rules, it means that the first implant is planted according to the first posture. The planting effect can meet the later use requirements; if the first posture of the first implant does not meet the safety rules, it means that the first implant is planted according to the first posture, and its planting effect cannot meet the later use requirements.

Optionally, for a possible implementation manner of S304, refer to FIG. 6, and the method may include:

S501. Determine whether the first posture of the first implant satisfies the safety rule; if yes, execute S502A; if no, execute S502B.

Specifically, when the first implant is in the first posture, the computer device may check the first implant and its first posture according to the safety rules, and obtain a judgment result. When the judgment result is satisfied, the following step S502A is executed, and when the judgment result is not satisfied, the following step S502B is executed.

Optionally, a possible implementation manner of step S501 may include: judging whether the first posture of the first implant satisfies the safety rule according to the safety information of the first implant; The safety information can include the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, the distance between the implant and the superior frontal sinus, the distance between the implant and the nerve, the distance between the implant and the nerve hole, the implant and the bone At least one of the distance, the contact area of the implant and the bone, and whether the central axis of the implant passes through the central area of the crown surface. Specifically, the computer device can obtain the safety information of the first implant, including the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, the distance between the implant and the superior frontal sinus, the distance between the implant and the nerve, At least one of the distance between the implant and the nerve hole, the distance between the implant and the bone surface, the contact area between the implant and the bone, and whether the central axis of the implant passes through the central area of the crown surface, and in accordance with the above safety rules test. It should be noted that the above safety rules may include the distance requirement between the implant and the adjacent tooth, the distance requirement between the implant and the lip / jaw, the distance requirement between the implant and the superior frontal sinus, the distance requirement between the implant and the nerve, the implant and At least one of the distance requirement of the nerve hole, the distance requirement of the implant and the bone surface, the requirement of the contact area of the implant and bone, and the central axis of the implant need to pass through the central area of the crown surface.

For example, the above safety rules may include: If the implant is an implant in the anterior teeth area, it needs to satisfy that the implant is located 1 mm below the labial bone, and the implant needs to be fully embedded in the bone; in the near and far direction of the implant, its When the adjacent tooth is a natural tooth, the distance to the root of the tooth is not less than 1.5mm, and the distance to the root of the adjacent artificial implant is not less than 3mm; in the lip / jaw direction, the distance between the implant and the labial bone is not less than 1.5 mm, the distance between the implant and the jaw width is not less than 1.5mm; in the crown root, the distance between the implant and the nostril is not less than 1mm, the distance between the implant and the maxillary sinus is not less than 1mm, the implant and the inferior alveolar nerve Not less than 2mm, the implant and the mandibular nerve hole are not less than 5mm; when the tooth to be implanted has a cavity caused by tooth extraction, the implant needs to be deep into the bottom of the tooth extraction cavity not less than 2mm, or the implant and bone contact area More than 20% of the implant surface area. When the computer device determines that the first implant and the first implant are in the first posture, whether their safety information can meet the above safety rules.

In this implementation manner, the computer device determines whether the first posture of the first implant meets the safety rules based on the safety information of the first implant, thereby making the judgment result more accurate.

S502A. Determine the first implant as the target implant, and determine the first posture as the target posture of the target implant.

S502B: Adjust the first posture and / or the first implant according to a preset adjustment rule to determine the target posture of the target implant and the target implant.

Specifically, the computer device directly determines the first implant as the target implant and the first pose is directly determined as the target position of the target implant when the first implant and the first posture satisfy the safety rules Posture; and in the case that the first implant and the first posture do not meet the safety rules, by automatically adjusting the first posture and / or the first implant, so that the adjusted posture and planting The body can meet the above safety rules. Alternatively, the replacement implant with the next smallest surface area can be used as the target implant; the first posture can also be adjusted gradually by keeping the specifications of the first implant unchanged, including at least the position or depth of the first implant One, so that the adjusted posture meets safety rules.

Optionally, for a possible implementation manner of "adjusting the first posture and / or the first implant according to a preset adjustment rule" in this step, refer to the embodiment shown in FIG. 7 described below, I will not repeat them here.

In this embodiment, the computer device can determine the first implant as the target implant and the first pose as the target of the target implant when the first implant and the first posture satisfy the safety rules Posture, so that the target posture and the target posture of the target implant can be determined more efficiently; and if the first posture of the first implant does not meet the safety rules, the first posture is automatically adjusted. And / or the first implant is adjusted to avoid errors caused by manual manual adjustment or low adjustment efficiency, which ensures the accuracy and efficiency of the target implant and its target posture, and further improves the implant Positioning accuracy and efficiency.

7 is a schematic flowchart of a method for positioning an oral implant provided by another embodiment. This embodiment relates to a specific process in which the computer device adjusts the first posture and / or the first implant according to a preset adjustment rule to determine the target posture and the target posture of the target implant. Optionally, based on the embodiment shown in FIG. 6 above, S502B may specifically include:

S601. Adjust the first posture and / or the first implant according to a preset adjustment rule, and determine multiple second postures and corresponding multiple second implants.

Specifically, the computer device adjusts the first posture according to a preset adjustment rule, or adjusts at least one of the specifications, model, manufacturer, or material of the first implant, or adjusts the first posture and the first implant at the same time At least one of the specifications, model, manufacturer or material. Optionally, the above adjustment rule may be to acquire multiple second poses and multiple second implants corresponding to the second pose by traversing. It should be noted that adjusting the first posture may include at least one of adjusting the posture of the central axis of the first implant and adjusting the embedding depth of the first implant. Optionally, a plurality of second implants may be acquired one by one in a progressive manner. For example, an implant with a surface area less than the first implant may be replaced as the second implant obtained for the first time. If the safety rules are not met, Then adjust the posture according to the above adjustment rules and determine whether the safety rules are met. If not, continue to replace the second implant with the second largest implant surface area as the second implant obtained second, Until it is replaced to meet the safety rules. It should be noted that the specifications of the acquired second implant cannot be less than the minimum specification requirements for the implant at the functional position corresponding to the target implant, so as not to affect the implant effect.

S602: Obtain safety information corresponding to each of the second posture and the second implant; the safety information includes the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, and the distance between the implant and the nerve At least one of the distance, the distance between the implant and the bone surface, the contact area between the implant and the bone, and whether the central axis of the implant passes through the central area of the crown surface.

Specifically, the computer device can obtain the corresponding safety information by identifying each adjusted second posture and second implant. The safety information may include the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, the distance between the implant and the nerve, the distance between the implant and the bone surface, the contact area between the implant and the bone, and the implant's Whether the central axis passes through at least one of the central regions of the crown surface.

S603. Determine the second posture with the highest safety information level as the target posture, and determine the second implant corresponding to the highest safety information level as the target implant.

Specifically, the computer device may rank the safety information of each second posture and the corresponding second implant safety information rank, and target the second pose with the highest safety information rank and the corresponding second implant as targets The target posture of the implant and the target implant. Optionally, the computer device can score each item of the above safety information according to a preset method, and calculate the score of each item of safety information according to a preset weight to obtain each second posture and The safety evaluation score of the corresponding second implant, and then the safety level corresponding to the safety evaluation score is determined.

In this embodiment, the computer device adjusts the first posture and / or the first implant according to a preset adjustment rule, determines multiple second postures and corresponding multiple second implants, and acquires each second position Posture and safety information corresponding to the second implant; further determining the second posture corresponding to the highest safety information level as the target posture, and determining the second implant corresponding to the highest safety information level as the target implant. Among them, the safety information includes the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, the distance between the implant and the nerve, the distance between the implant and the bone surface, the contact area between the implant and the bone, and the central axis of the implant Does it pass through at least one of the central areas of the crown surface. The method provided in this embodiment can adjust the first posture and / or the first implant through a preset adjustment rule to determine a plurality of second postures and corresponding safety information of the plurality of second implants, and determine safety The second posture with the highest information level is the target posture, and the second implant corresponding to the highest safety information level is the target implant, so that the target posture and the target posture of the target implant determined by it can be maximized Meets safety rules and reduces the risk of planting.

FIG. 8 is a schematic flowchart of an oral implant positioning method provided by another embodiment. This embodiment relates to the computer device determining the target implant and the target position of the target implant according to the number of teeth to be implanted, the functional position of the tooth to be implanted and the preset positioning rule when the number of teeth to be implanted is multiple The specific process of posture. Optionally, as shown in FIG. 8, another possible implementation manner of the foregoing S202 includes:

S701. Determine the number of target implants according to the tooth root spacing of the teeth to be implanted, a preset tooth root spacing threshold, and the number of teeth to be implanted.

Specifically, the computer device can obtain the root spacing between the two sides of the tooth to be implanted, and compare the root spacing with a preset threshold value of the root spacing to obtain a comparison result, and then determine the number of target implants in combination with the number of teeth to be implanted. For example, the preset tooth root spacing threshold is 7 * Nmm, where N is the number of teeth to be implanted; when there are 3 teeth to be implanted and the tooth root spacing is 22mm, since 22 is greater than 7 * 3, the computer device determines the target implant ’s The number is 3; when there are 3 teeth to be implanted and the root spacing is 15mm, since 15 is less than 7 * 3, the computer device determines the number of target implants is 2; when there are 4 teeth to be implanted and the root spacing is 30mm , Because 30 is greater than 7 * 4, the computer equipment determines the number of target implants is 4; when there are 4 teeth to be implanted and the root spacing is 25mm, since 25 is less than 7 * 4, the computer equipment determines the number of target implants 2 or 3.

S702: Acquire a third implant corresponding to each tooth to be implanted and a third pose of the third implant according to the functional position of each tooth to be implanted and the preset positioning rule.

Specifically, the computer device determines the third implant corresponding to each tooth to be implanted and the third posture of the third implant according to the functional position of each tooth to be implanted and preset positioning rules. For the specific process of determining the third implant and the third posture of the third implant according to the functional position of each tooth to be implanted and the preset positioning rule, reference may be made to the tooth to be implanted in the embodiment of FIG. 4 above When the number is single, the specific process of determining the target implant and the target posture of the target implant according to the number of teeth to be implanted, the functional position of the tooth to be implanted, and preset positioning rules will not be repeated here.

Optionally, during the process of acquiring the third implant and the third posture of the third implant by the computer device, it may also be adjusted according to a preset adjustment rule. About adjusting the implant and the implant according to the preset adjustment rule The specific process of the posture can be referred to the foregoing embodiment, and will not be repeated here.

S703. Determine the target posture of the target implant and the target implant according to the number of the target implant, each of the third implant, and the third posture of the third implant.

Specifically, the computer device ranks the safety information of the third implants and the third pose of the third implants above, and selects a third implant with a high safety level that is consistent with the number of target implants And the third posture of the third implant is the target posture of the target implant and the target implant, respectively. It should be noted that, for a specific description of ranking the safety information of each third implant and the third posture of the third implant in the safety rank, reference may be made to the specific description of S603 above, and details are not repeated here.

In this embodiment, when there are multiple teeth to be implanted, the computer device automatically determines the number of target implants through the root spacing of the teeth to be implanted, the preset threshold value of the root spacing and the number of teeth to be implanted, and according to The functional position of each tooth to be implanted and the preset positioning rule to obtain the third implant and the third pose of the third implant corresponding to each tooth to be implanted, and then according to the number of target implants, each third implant The third posture of the body and the third implant determines the target posture of the target implant and the target implant. According to the method provided in this embodiment, the computer device can determine the number of target implants that meet the root spacing according to the actual root spacing of the number of teeth to be implanted, so as to ensure the implant effect when the root spacing is large, and When the tooth root spacing is small, the number of target implants is reduced while ensuring the implant effect, and the implant conditions are selected to be good, that is, the implant with a high safety level and the posture of the implant, which can maximize the implant effect and reduce cost.

9 is a schematic flowchart of a method for positioning an oral implant provided by another embodiment. This embodiment relates to a specific process in which the computer device determines the target implant and the target posture of the target implant according to the oral tissue model. Optionally, as shown in FIG. 9, another possible implementation manner of the foregoing S102 includes:

S801. Receive an initial implant input by a user based on the oral tissue model and an initial posture of the initial implant.

Specifically, the user can input at least one of the number, specification, model, material and manufacturer of the initial implant based on the oral tissue model to the computer through an external device of the computer device, and the user can also input the initial position of the initial implant Posture, wherein the initial posture can be characterized by the posture of the central axis of the initial implant and the initial embedding depth.

S802. Determine whether the initial implant and the initial posture of the initial implant meet the preset safety rules; the safety rules are used to determine whether the implant meets the requirements for planting. If yes, execute S803A, if no, execute S803B.

Specifically, the computer device can determine whether the initial implant and the initial posture of the initial implant meet the preset safety rules. For the description of the safety rules, refer to the descriptions in S304 and S501 above; for the computer device, determine the initial planting Whether the initial posture of the body and the initial implant satisfies the specific process of the preset safety rules can also be referred to the description in S501 above, which will not be repeated here.

S803A. Determine the initial implant as the target implant, and determine the initial posture as the target posture of the initial implant.

S803B, output prompt information.

Specifically, the computer device may determine the initial implant and the initial posture as the target position of the target implant and the target implant when the initial posture and the initial posture of the initial implant satisfy the preset safety rules, respectively Posture; in the case that the initial implant and the initial posture of the initial implant do not meet the preset safety rules, a prompt message is output for reminding. Optionally, the prompt information may be in the form of a pop-up dialog box, or may highlight a region that does not satisfy the security rules. The specific form of the prompt information is not limited in this embodiment.

In this embodiment, the computer device determines whether the initial posture and the initial posture of the initial implant meet the preset safety rules, and if satisfied, determines the initial posture of the initial implant and the initial implant as The target implant and the target posture of the target implant output prompt information when they are not satisfied, so as to ensure accuracy, the positioning method is more flexible and the application scenarios are more extensive.

Optionally, another possible implementation manner of the above S102 includes: determining the target implant and the target posture of the target implant using a preset positioning model according to the tissue distribution in the oral tissue model ; Wherein, the positioning model is a model obtained by artificial intelligence training of the oral digital medical image.

Specifically, the computer device recognizes the tissue distribution in the above oral tissue model, including tooth distribution, bone distribution, nerve distribution and maxillary sinus distribution, using a preset positioning model to output the target implant and the target posture of the target implant . Among them, the above positioning model is a model obtained by computer equipment through artificial intelligence training of oral digital medical images.

In this implementation, because the positioning model is obtained by artificial intelligence training of oral digital medical images through a computer device, the computer device can use the positioning model to automatically determine the target implant and The target posture of the target implant to automatically complete the positioning of the target implant. It avoids the repeated adjustment of the implant and the position of the implant caused by manual positioning of the implant in the traditional technology, which leads to the problem of low positioning efficiency and low positioning accuracy. The target implant and the posture of the target implant that meet the requirements of planting are determined, so the positioning efficiency of the implant is greatly improved, and the positioning accuracy of the implant is greatly improved.

Optionally, on the basis of the foregoing embodiment, as shown in FIG. 10, the specific process of establishing the positioning model may include:

S901. Input an oral digital medical training image into an initial positioning model, and use an artificial intelligence algorithm to determine actual values of model parameters in the initial positioning model; wherein, the initial tissue recognition model is a neural network model, including model parameters. Initial value.

Specifically, the computer device may calibrate the above-mentioned oral digital medical training image and input it into an initial positioning model, where the initial positioning model is a neural network model, and the initial positioning model includes initial values of model parameters. The computer equipment uses artificial intelligence algorithms to learn and train the above-mentioned oral digital medical training images to determine the actual values of the model parameters in the initial positioning model.

S902. Replace the initial value of the model parameter with the actual value of the model parameter to obtain the positioning model.

Specifically, the computer device can replace the initial values of the above model parameters one by one with the actual values after training corresponding to them, thereby obtaining a new positioning model.

In this embodiment, the computer device can input the oral digital medical training image into the initial positioning model including the initial values of the model parameters, and the artificial intelligence algorithm is used to determine the actual values of the model parameters in the initial model, and the The initial value is replaced with the actual value of the model parameter to obtain the positioning model. Using the method provided in this embodiment, the established positioning model is a model obtained by artificial intelligence algorithm on the oral digital medical training image, so using the positioning model can automatically locate the target implant, which avoids In the traditional technology, manual positioning of the implant results in repeated adjustment of the implant and the position of the implant, which leads to the problem of low positioning efficiency and low positioning accuracy. It can automatically determine the conformity according to the tissue distribution in the oral tissue model The target implant and the posture of the target implant required for planting greatly improve the positioning efficiency of the implant and the positioning accuracy of the implant.

Optionally, on the basis of the embodiment shown in FIG. 10 above, the oral digital medical training image may include a training image that calibrates the implant and the posture of the implant; the model parameters include implant positioning parameters . Specifically, since the oral digital medical training images include training images for calibrating the postures of the implants and implants, the computer device can use artificial intelligence algorithms to determine the postures of the model parameters and the implants and implants The actual values of the relevant positioning parameters further enable the positioning model to automatically determine the target implant and the target posture of the target implant in the oral tissue model to achieve automatic positioning. The method provided in this embodiment can automatically determine the target implant and the target posture of the target implant in the oral tissue model, which further improves the efficiency and accuracy of automatic positioning.

Optionally, on the basis of the embodiment shown in FIG. 10 above, the oral digital medical training image may further include a training image that calibrates the implant, the posture and tissue of the implant; the model parameters include implantation Body positioning parameters and tissue segmentation parameters. Specifically, since the digital medical training images of the oral cavity include training images for calibrating the implant, the posture and tissue of the implant, the computer device can use an artificial intelligence algorithm to determine the actual value and organization of the positioning parameters in the model parameters The actual values of the segmentation parameters enable the positioning model to automatically determine the tissue distribution in the oral tissue model, the target implant, and the target posture of the target implant, thereby achieving automatic positioning. In this embodiment, since the computer device can automatically determine the tissue distribution in the oral tissue model, the target implant and the target posture of the target implant according to the positioning model, it enables automatic positioning to be combined with the tissue distribution in the oral model, further Improve the accuracy of automatic positioning.

Optionally, based on the foregoing embodiments, as shown in FIG. 11, the method further includes:

S1001: Determine whether the target implant and the target posture of the target implant meet preset safety rules. The safety rules are used to judge whether the implant meets the requirements for planting. Specifically, for the description of the specific implementation manner of this step and the description of the security rules, reference may be made to the specific descriptions of S304 and S501 above, and details are not described herein again.

S1002. If not, adjust the model parameters of the positioning model.

Specifically, when the computer device determines that the target implant and the target posture of the target implant do not meet the preset safety rules, the error information for positioning failure is fed back, and the computer can readjust the model parameters in the positioning model according to the error information. Then train the above positioning model.

In this embodiment, the computer device can adjust the parameters of the positioning model so that the positioning model can be adjusted according to the judgment result when the target implant and the target posture of the target implant do not satisfy the preset safety rules. The parameters of the model are more accurate, which in turn makes the positioning of the implant more accurate.

FIG. 12 is a schematic flowchart of an oral implant positioning method provided by another embodiment. This embodiment relates to a specific process in which a computer device uses an artificial intelligence algorithm to establish an organization recognition model. Optionally, as shown in FIG. 12, before S101, the method may further include:

S1101: Input the oral digital medical training image into an initial tissue recognition model, and use an artificial intelligence algorithm to determine the actual value of the tissue recognition parameter in the initial tissue recognition model; wherein, the initial tissue recognition model is a neural network model , Including the initial values of tissue identification parameters.

Specifically, the computer device can perform tissue calibration on the above-mentioned oral digital medical training images, including tooth calibration, bone calibration, maxillary sinus calibration, and nerve calibration, and input it into an initial tissue recognition model, where the initial tissue recognition model is a neural network model , The initial tissue identification model includes initial values of tissue identification parameters. The computer equipment uses artificial intelligence algorithms to learn and train the above-mentioned calibrated oral digital medical training images to determine the actual value of the tissue identification parameters in the initial tissue identification model.

S1102. Replace the initial value of the tissue identification parameter with the actual value of the tissue identification parameter to obtain the tissue identification model.

Specifically, the computer device can replace the initial values of the above-mentioned tissue identification parameters one by one with the actual values after training corresponding to them, thereby obtaining a new tissue identification model.

In this embodiment, the computer device can input the oral digital medical training image into the initial tissue recognition model including the initial value of the tissue segmentation parameter, and the artificial intelligence algorithm is used to determine the actual value of the tissue recognition parameter in the initial tissue recognition model. And replace the initial value of the tissue identification parameter with the actual value of the tissue identification parameter to obtain the tissue identification model. The tissue recognition model established by the method provided in this embodiment is a model obtained by using artificial intelligence algorithms on the oral digital medical training images punctuated by different tissues. Therefore, using this tissue recognition model can automatically carry out different tissues. Distinguish, which avoids the problems of low efficiency and low precision caused by manually distinguishing tissues in the traditional technology. It can automatically determine the tissue distribution in the oral tissue model, thus greatly improving the efficiency and accuracy of tissue recognition, and further The efficiency and accuracy of implant positioning are greatly improved.

Optionally, based on the foregoing embodiment, as shown in FIG. 13, the method may further include:

S1201: Receive implant adjustment information input by the user; the implant adjustment information includes adjusting at least one of the number, posture, specifications, model, manufacturer, and material of the implant, and adjust the position according to the implant adjustment information The target implant and the target posture of the target implant.

Specifically, the user can input the implant adjustment information through the mouse or the keyboard, for example, click the mouse to change the implant selection button and select another implant as a new implant, and then drag the implant to adjust its position with the mouse Or directions. The computer device receives implant adjustment information input by the user, and readjusts the target posture of the target implant and the target implant according to the adjustment information to obtain a new target implant and a new target posture. Since the computer device can determine the new target implant and the new target posture based on the adjustment information input by the user, it makes the way of determining the posture of the implant and the implant more flexible, and its application scenarios are more extensive.

S1202: Determine whether the adjusted target implant and the target posture of the target implant meet preset safety rules; the safety rules are used to determine whether the implant meets the planting requirements.

Specifically, after adjusting the target implant and the target posture of the target implant according to the adjustment information input by the user, the computer device determines whether the new target implant and the new target posture meet the preset safety rules. Among them, for the description of the security rule, reference may be made to the descriptions in S304 and S501 above, which will not be repeated here. In this embodiment, by determining whether the adjusted new target implant and the new target posture meet the safety rules, the validity of the adjustment information input by the user can be ensured, errors caused by adjustment are avoided, and the implantation is further improved Body positioning accuracy.

S1203: Output prompt information. Specifically, the computer device may also output prompt information according to the above judgment result of S1202. The prompt information may include prompt information that satisfies the safety rules, and may also include prompt information that does not satisfy the safety rules. Optionally, the prompt information may be in the form of a pop-up dialog box, or may highlight a region that does not satisfy the security rules. The specific form of the prompt information is not limited in this embodiment. This embodiment prompts whether the target implant and the target posture of the target implant meet the safety rules by outputting prompt information, which can make a prompt when the safety rules are not met, further ensuring the accuracy of implant positioning.

FIG. 14 is a schematic flowchart of establishing an oral tissue recognition model provided by an embodiment. This embodiment relates to a specific process in which a computer device establishes a tissue recognition model based on oral digital medical training images. As shown in Figure 14, the method includes:

S1301: Input the oral digital medical training image into the initial tissue recognition model, and use an artificial intelligence algorithm to determine the actual value of the tissue recognition parameter in the initial tissue recognition model; wherein, the initial tissue recognition model is a neural network model, including The initial value of the tissue identification parameter.

Specifically, the computer device can perform tissue calibration on the above-mentioned oral digital medical training images, including tooth calibration, bone calibration, maxillary sinus calibration and nerve calibration, and input it into an initial tissue recognition model, where the initial tissue recognition model is a neural network model , The initial tissue identification model includes initial values of tissue identification parameters. The computer equipment uses artificial intelligence algorithms to learn and train the above-mentioned calibrated oral digital medical training images to determine the actual value of the tissue identification parameters in the initial tissue identification model.

S1302. Replace the initial value of the tissue identification parameter with the actual value of the tissue identification parameter to obtain the tissue identification model.

In this embodiment, the computer device can input the oral digital medical training image into the initial tissue recognition model including the initial value of the tissue segmentation parameter, and the artificial intelligence algorithm is used to determine the actual value of the tissue recognition parameter in the initial tissue recognition model. And replace the initial value of the tissue identification parameter with the actual value of the tissue identification parameter to obtain the tissue identification model. The tissue recognition model established by the method provided in this embodiment is a model obtained by using artificial intelligence algorithms on the oral digital medical training images of different tissues that have been calibrated. Therefore, using this tissue recognition model can automatically carry out different tissues. Distinguish, which avoids the problems of low efficiency and low precision caused by manually distinguishing tissues in the traditional technology. It can automatically determine the tissue distribution in the oral tissue model, thus greatly improving the efficiency and accuracy of tissue recognition, and further The efficiency and accuracy of implant positioning are greatly improved.

It should be understood that although the steps in the flowcharts of FIGS. 2-14 are sequentially displayed according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless clearly stated in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least some of the steps in FIGS. 2-14 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. These sub-steps or stages The execution order of is not necessarily sequential, but may be executed in turn or alternately with at least a part of other steps or sub-steps or stages of other steps.

In one embodiment, as shown in FIG. 15, an oral implant positioning device is provided, including: a first acquisition module 11 and a first processing module 12.

Specifically, the first obtaining module 11 is configured to adopt a preset tissue recognition model to perform recognition processing on the oral digital medical image to obtain the oral tissue model;

The first processing module 12 is configured to determine a target implant and a target posture of the target implant according to the oral tissue model.

In one embodiment, as shown in FIG. 16, the first processing module 12 may specifically include: an obtaining unit 121 and a determining unit 122.

The obtaining unit 121 is configured to obtain the number of teeth to be implanted and the functional position of the teeth to be implanted in the oral tissue model;

The determining unit 122 is configured to determine the target posture and the target posture of the target implant according to the number of teeth to be implanted, the functional position of the tooth to be implanted, and preset positioning rules; To characterize the constraints of positioning the target implant in the oral tissue model.

In one embodiment, the acquiring unit 121 may be specifically configured to receive the number of teeth to be implanted and the functional position of the teeth to be implanted based on the oral tissue model; or, according to the oral tissue model Distribution of tissues to determine the number of teeth to be implanted and the functional location of the teeth to be implanted.

In one embodiment, the number of the teeth to be implanted is a single tooth, and the determining unit 122 may be specifically configured to determine the first implant according to the functional position of the teeth to be implanted; according to the oral tissue model, determine the first The initial posture of the central axis of an implant; the first posture of the first implant is determined according to the initial posture of the central axis of the first implant and the preset initial embedding depth; according to the preset And the first posture of the first implant determine the target posture and the target posture of the target implant; the safety rule is used to determine whether the implant meets the requirements for planting.

In one embodiment, the determining unit 122 may be specifically configured to determine the initial position of the central axis of the first implant according to the average dental arch surface of the oral tissue model or the central axis of adjacent teeth on both sides of the tooth to be implanted Posture; or, by mirroring, the initial posture of the central axis of the first implant is determined according to the central axis of the tooth to be implanted; or, the target crown and the corresponding position of the target implant are obtained The position of the target crown; and according to the position of the target crown and the target crown, determine the initial posture of the central axis of the first implant.

In one embodiment, the determining unit 122 may be specifically configured to determine whether the first posture of the first implant satisfies the safety rule; if so, determine the first implant as the target An implant and determine the first posture as the target posture of the target implant; if not, adjust the first posture and / or the first implant according to a preset adjustment rule, To determine the target implant and the target posture of the target implant.

In one embodiment, the determining unit 122 may be specifically configured to determine whether the first posture of the first implant satisfies the safety rules based on the safety information of the first implant; the safety information Including the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, the distance between the implant and the upper frontal sinus, the distance between the implant and the nerve, the distance between the implant and the nerve hole, the distance between the implant and the bone surface, At least one of the contact area of the implant and the bone and whether the central axis of the implant passes through the central area of the crown surface.

In one embodiment, the obtaining unit 121 may be specifically configured to obtain the initial crown corresponding to the target implant and the initial position of the initial crown; according to the initial crown corresponding to the target implant, the initial The initial position of the crown and the oral tissue model determine the crown adjustment information; the crown adjustment information includes the length, width, height, and position to be adjusted; and the initial crown and the position are adjusted according to the crown adjustment information The initial position of the initial crown, to obtain the target crown corresponding to the target implant and the position of the target crown.

In one embodiment, the obtaining unit 121 may be specifically configured to obtain the initial crown corresponding to the target implant and the initial position of the initial crown in a mirror image manner; or, according to the functional position of the target implant , Determine the initial crown corresponding to the target implant from the preset crown library; and determine the initial crown corresponding to the target implant in a mirror image according to the position of the counter teeth of the target crown The initial position of the target implant; or, based on the functional position of the target implant, the initial crown corresponding to the target implant is determined from a preset crown library; and the dental arch line of the oral tissue model is used to determine The initial position of the initial crown corresponding to the target implant.

In one embodiment, the determining unit 122 may be specifically configured to adjust the first posture and / or the first implant according to a preset adjustment rule, and determine multiple second postures and corresponding multiple first positions Two implants; obtain the safety information corresponding to each of the second posture and the second implant; the safety information includes the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, the implant and At least one of the distance of the nerve, the distance between the implant and the bone surface, the contact area between the implant and the bone, and whether the central axis of the implant passes through the central area of the crown surface; determine the second posture with the highest safety information level For the target posture, it is determined that the second implant corresponding to the highest safety information level is the target implant.

In one embodiment, the number of the teeth to be implanted is multiple, and the determining unit 122 may be specifically configured to determine the number of teeth to be implanted based on the root spacing of the teeth to be implanted, a preset threshold value of the root spacing, and the number of teeth to be implanted The number of the target implants; according to the functional position of each tooth to be implanted and the preset positioning rule, acquiring the third implant corresponding to each tooth to be implanted and the third position of the third implant Posture; determine the target posture of the target implant and the target implant according to the number of the target implant, each of the third implant, and the third posture of the third implant.

In one embodiment, as shown in FIG. 17, the first processing module 12 may specifically include: a receiving unit 123, a judging unit 124, and a processing unit 125.

Specifically, the receiving unit 123 is configured to receive the initial implant and the initial posture of the initial implant input by the user based on the oral tissue model;

The judging unit 124 is used to judge whether the initial implant and the initial posture of the initial implant meet the preset safety rules; the safety rules are used to judge whether the implant meets the planting requirements;

The processing unit 125 is configured to determine the initial implant as the target implant and determine the initial posture when the initial implant and the initial posture of the initial implant satisfy the preset safety rules Is the target posture of the initial implant; and when the initial implant and the initial posture of the initial implant do not satisfy the preset safety rules, a prompt message is output.

In one embodiment, the first processing module 12 may be specifically configured to determine the target implant and the target posture of the target implant using a preset positioning model according to the tissue distribution in the oral tissue model ; Wherein, the positioning model is a model obtained by artificial intelligence training of the oral digital medical image.

In one embodiment, as shown in FIG. 18, the apparatus may further include: a second processing module 13.

Specifically, the second processing module 13 may be specifically used to input the oral digital medical training image into the initial positioning model, and use an artificial intelligence algorithm to determine the actual value of the model parameters in the initial positioning model; wherein, the initial organization The identification model includes initial values of model parameters; replacing the initial values of the model parameters with actual values of the model parameters to obtain the positioning model.

In one embodiment, the oral digital medical training image includes a training image that calibrates the implant, posture and tissue of the implant; the model parameters include implant positioning parameters and tissue segmentation parameters.

In one embodiment, as shown in FIG. 18, the apparatus may further include: a third processing module 14.

Specifically, the third processing module 14 may be specifically used to determine whether the target implant and the target posture of the target implant meet preset safety rules; the safety rules are used to determine whether the implant meets the planting requirements . When the target implant and the target posture of the target implant do not satisfy the preset safety rules, the model parameters of the positioning model are adjusted.

In one embodiment, as shown in FIG. 18, the apparatus may further include: a fourth processing module 15.

Specifically, the fourth processing module 15 may be specifically used to input the oral digital medical training image into the initial tissue recognition model, and use an artificial intelligence algorithm to determine the actual value of the tissue recognition parameter in the initial tissue recognition model; wherein , The initial tissue identification model is a neural network model, including initial values of tissue identification parameters; replacing the initial values of the tissue identification parameters with actual values of the tissue identification parameters, to obtain the tissue identification model.

In one embodiment, as shown in FIG. 19, the apparatus may further include: a second acquisition module 16 and a fifth processing module 17.

Specifically, the second acquisition module 16 is configured to receive implant adjustment information input by the user; the implant adjustment information includes at least one of adjusting the number, posture, specifications, model, manufacturer, and material of the implant.

The fifth processing module 17 is configured to adjust the target posture of the target implant and the target implant according to the implant adjustment information.

In one embodiment, the fifth processing module 17 may be specifically used to determine whether the adjusted target implant and the target posture of the target implant meet preset safety rules; the safety rules are used to determine Whether the implant meets the requirements for planting.

In an embodiment, the fifth processing module 17 may be specifically used to output prompt information.

The oral implant positioning device provided by the embodiment of the present invention can execute the above method embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

In one embodiment, as shown in FIG. 20, an apparatus for establishing an oral tissue recognition model is provided, including: a sixth processing module 21 and a seventh processing module 22.

Specifically, the sixth processing module 21 is used to input the oral digital medical training image into the initial tissue recognition model, and an artificial intelligence algorithm is used to determine the actual value of the tissue segmentation parameter in the initial tissue recognition model; The initial tissue identification model is a neural network model, including initial values of tissue segmentation parameters.

The seventh processing module 22 is configured to replace the initial value of the tissue segmentation parameter with the actual value of the tissue segmentation parameter to obtain the tissue identification model.

The establishment of the oral tissue identification model provided by the embodiment of the present invention can execute the above method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

For specific definitions of the oral implant positioning device and the oral tissue recognition model building device, reference may be made to the above limitations on the oral implant positioning method and the oral tissue recognition model building method, which will not be repeated here. Each module in the above oral implant positioning device and oral tissue recognition model building device may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in the hardware or independent of the processor in the computer device, or may be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor is used to execute the program, any of the foregoing implementations are also implemented Examples of the steps of the method. Specifically, the processor implements the following steps when executing the program:

A preset tissue recognition model is used to recognize and process the oral digital medical image to obtain an oral tissue model; according to the oral tissue model, the target implant and the target posture of the target implant are determined.

The implementation principle and technical effect of the computer device provided by this embodiment are similar to the above method embodiments, and are not repeated here.

The oral digital medical training image is input to an initial tissue recognition model, and an artificial intelligence algorithm is used to determine actual values of tissue segmentation parameters in the initial tissue recognition model; wherein, the initial tissue recognition model is a neural network model, The initial value of the tissue segmentation parameter; replace the initial value of the tissue segmentation parameter with the actual value of the tissue segmentation parameter to obtain the tissue identification model.

In one embodiment, a computer-readable storage medium is also provided on which computer instructions are stored, and when executed by the processor, the computer instructions implement the steps of the method described in any of the above embodiments. Specifically, the processor implements the following steps when executing the above computer program:

The computer-readable storage medium provided in this embodiment has similar implementation principles and technical effects as the above method embodiments, and will not be repeated here.

The oral digital medical training image is input to an initial tissue recognition model, and an artificial intelligence algorithm is used to determine actual values of tissue segmentation parameters in the initial tissue recognition model; wherein, the initial tissue recognition model is a neural network model, including The initial value of the tissue segmentation parameter; replace the initial value of the tissue segmentation parameter with the actual value of the tissue segmentation parameter to obtain the tissue identification model.

It should be clear that the process of executing the computer program by the processor in the embodiment of the present application is consistent with the execution process of each step in the above method, for details, please refer to the description above.

Those of ordinary skill in the art may understand that all or part of the processes in the method of the above embodiments may be completed by instructing relevant hardware through a computer program, and the computer program may be stored in a non-volatile computer readable storage In the medium, when the computer program is executed, the process of the foregoing method embodiments may be included. Wherein, any reference to the memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be arbitrarily combined. To simplify the description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, all It is considered as the scope described in this specification.

The above-mentioned embodiments only express several implementations of the present application, and their descriptions are more specific and detailed, but they should not be understood as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, without departing from the concept of the present application, a number of modifications and improvements can also be made, which all fall within the protection scope of the present application. Therefore, the protection scope of the patent of this application shall be subject to the appended claims.

Claims

An oral implant positioning method, characterized in that the method includes:

Use a preset tissue identification model to identify and process oral digital medical images to obtain oral tissue models;

According to the oral tissue model, the target implant and the target posture of the target implant are determined.
The method according to claim 1, wherein the determining the target implant and the target posture of the target implant according to the oral tissue model includes:

Obtaining the number of teeth to be implanted and the functional position of the teeth to be implanted in the oral tissue model;

Determine the target posture and the target posture of the target implant according to the number of teeth to be implanted, the functional position of the tooth to be implanted, and a preset positioning rule; the positioning rule is used to characterize the target implant Constraints for body positioning in the oral tissue model.
The method according to claim 2, wherein the obtaining the number of teeth to be implanted and the functional position of the teeth to be implanted in the oral tissue model includes:

Receiving the number of the teeth to be implanted and the functional position of the teeth to be implanted input by the user based on the oral tissue model; or,

According to the tissue distribution in the oral tissue model, the number of the teeth to be implanted and the functional position of the teeth to be implanted are determined.
The method according to claim 3, characterized in that, if the number of teeth to be implanted is a single tooth, the method according to the number of teeth to be implanted, the functional position of the teeth to be implanted and preset positioning rules To determine the target implant and the target posture of the target implant, including:

Determine the first implant according to the functional position of the tooth to be implanted;

Determine the initial posture of the central axis of the first implant according to the oral tissue model;

Determine the first posture of the first implant according to the initial posture of the central axis of the first implant and the preset initial embedding depth;

The target posture of the target implant and the target implant are determined according to a preset safety rule and the first posture of the first implant; the safety rule is used to determine whether the implant meets the planting requirements.
The method according to claim 4, wherein the determining the initial posture of the central axis of the first implant according to the oral tissue model includes:

Determine the initial posture of the central axis of the first implant according to the average dental arch surface of the oral tissue model or the central axis of adjacent teeth on both sides of the tooth to be implanted; or,

Determine the initial posture of the central axis of the first implant according to the central axis of the counter-tooth of the tooth to be implanted by mirror image; or,

Acquiring the target crown and the position of the target crown corresponding to the target implant; and determining the initial pose of the central axis of the first implant according to the positions of the target crown and the target crown .
The method according to claim 4, wherein the determining the target posture of the target implant and the target implant according to the preset safety rules and the posture of the first implant includes: :

Determine whether the first posture of the first implant meets the safety rules;

If yes, determine the first implant as the target implant, and determine the first pose as the target pose of the target implant;

If not, adjust the first posture and / or the first implant according to a preset adjustment rule to determine the target posture of the target implant and the target implant.
The method according to claim 6, wherein the determining whether the first posture of the first implant satisfies the safety rule includes:

According to the safety information of the first implant, determine whether the first posture of the first implant meets the safety rules; the safety information includes the distance between the implant and the adjacent tooth, the implant and the lip / The distance between the jaw, the distance between the implant and the superior frontal sinus, the distance between the implant and the nerve, the distance between the implant and the nerve hole, the distance between the implant and the bone surface, the contact area between the implant and the bone, and whether the central axis of the implant At least one of the central regions passing through the crown surface.
The method according to claim 5, wherein the acquiring the target crown corresponding to the target implant and the position of the target crown include:

Acquiring the initial crown corresponding to the target implant and the initial position of the initial crown;

Determine crown adjustment information according to the initial crown corresponding to the target implant, the initial position of the initial crown and the oral tissue model; the crown adjustment information includes the length, width, height and position to be adjusted;

Adjusting the initial crown and the initial position of the initial crown according to the crown adjustment information to obtain the target crown and the position of the target crown corresponding to the target implant.
The method according to claim 8, wherein the acquiring the initial crown corresponding to the target implant and the initial position of the initial crown include:

Acquiring the initial crown corresponding to the target implant and the initial position of the initial crown using a mirror image;

or,

According to the functional position of the target implant, determine the initial crown corresponding to the target implant from the preset crown library; and according to the position of the opposing tooth of the target crown, use mirror image to determine the The initial position of the initial crown corresponding to the target implant;

or,

According to the functional position of the target implant, determine the initial crown corresponding to the target implant from a preset crown library; and determine the corresponding to the target implant according to the dental arch line of the oral tissue model The initial position of the initial crown.
The method according to claim 6, wherein the first posture and / or the first implant are adjusted according to a preset adjustment rule to determine the target implant and the target implant The target posture of the body includes:

Adjusting the first posture and / or the first implant according to a preset adjustment rule, and determining multiple second postures and corresponding multiple second implants;

Obtain the safety information corresponding to each of the second posture and the second implant; the safety information includes the distance between the implant and the adjacent tooth, the distance between the implant and the lip / jaw, the distance between the implant and the nerve, At least one of the distance between the implant and the bone surface, the contact area between the implant and the bone, and whether the central axis of the implant passes through the central area of the crown surface;

It is determined that the second posture with the highest safety information level is the target posture, and the second implant corresponding to the highest safety information level is determined as the target implant.
The method according to claim 3, characterized in that, if the number of teeth to be implanted is multiple, the number of teeth to be implanted, the functional position of the teeth to be implanted, and preset positioning rules To determine the target implant and the target posture of the target implant, including:

Determine the number of target implants according to the tooth root spacing of the teeth to be implanted, the preset tooth root spacing threshold and the number of teeth to be implanted;

Acquiring the third implant corresponding to each tooth to be implanted and the third pose of the third implant according to the functional position of each tooth to be implanted and the preset positioning rule;

The target posture of the target implant and the target implant is determined according to the number of the target implant, each of the third implant, and the third posture of the third implant.
The method according to claim 1, wherein the determining the target implant and the target posture of the target implant according to the oral tissue model includes:

Receiving the initial implant and the initial posture of the initial implant input by the user based on the oral tissue model;

Judging whether the initial implant and the initial posture of the initial implant meet the preset safety rules; the safety rules are used to judge whether the implant meets the requirements for implantation;

If yes, determine the initial implant as the target implant, and determine the initial posture as the target posture of the initial implant;

If not, a prompt message is output.
The method according to claim 1, wherein the determining the target implant and the target posture of the target implant according to the oral tissue model includes:

According to the tissue distribution in the oral tissue model, a preset positioning model is used to determine the target implant and the target posture of the target implant; wherein, the positioning model is performed on the oral digital medical image The model obtained by artificial intelligence training.
The method according to claim 13, characterized in that before determining the target posture and the target posture of the target implant using a preset positioning model according to the tissue distribution in the oral tissue model, :

The oral digital medical training image is input into the initial positioning model, and an artificial intelligence algorithm is used to determine the actual value of the model parameters in the initial positioning model; wherein, the initial tissue recognition model includes the initial values of the model parameters;

Replacing the initial value of the model parameter with the actual value of the model parameter to obtain the positioning model.
The method according to claim 13, wherein the oral digital medical training image includes a training image for calibrating the implant and the posture of the implant; the model parameters include implant positioning parameters.
The method according to claim 13, wherein the oral digital medical training image includes a training image for calibrating the implant, the posture and tissue of the implant; the model parameters include implant positioning parameters and tissue segmentation parameter.
The method of claim 13, wherein after determining the target implant and the target posture of the target implant according to the oral tissue model, comprising:

Judging whether the target implant and the target posture of the target implant meet the preset safety rules; the safety rules are used to judge whether the implant meets the planting requirements;

If not, adjust the model parameters of the positioning model.
The method according to claim 1, characterized in that, before using the preset tissue identification model to perform identification processing on the oral digital medical image, before acquiring the oral tissue model, it includes:

The oral digital medical training image is input to an initial tissue recognition model, and an artificial intelligence algorithm is used to determine the actual value of the tissue recognition parameter in the initial tissue recognition model; wherein, the initial tissue recognition model is a neural network model, including The initial value of the organization identification parameter;

Replace the initial value of the tissue identification parameter with the actual value of the tissue identification parameter to obtain the tissue identification model.
The method according to any one of claims 8-18, wherein the method further comprises:

Receive implant adjustment information input by the user; the implant adjustment information includes at least one of adjusting the number, posture, specifications, model, manufacturer, and material of the implant;

Adjusting the target posture of the target implant and the target implant according to the implant adjustment information.
The method according to claim 19, wherein the method further comprises: determining whether the adjusted target implant and the target posture of the target implant satisfy preset safety rules; the safety rules Used to judge whether the implant meets the requirements of planting.
The method according to claim 20, wherein the method further comprises: outputting prompt information.
A method for establishing an oral tissue recognition model, characterized in that the method includes:

The oral digital medical training image is input to an initial tissue recognition model, and an artificial intelligence algorithm is used to determine the actual value of the tissue recognition parameter in the initial tissue recognition model; wherein, the initial tissue recognition model is a neural network model, including The initial value of the organization identification parameter;

Replace the initial value of the tissue identification parameter with the actual value of the tissue identification parameter to obtain the tissue identification model.
An oral implant positioning device, characterized in that the device includes: a first acquisition module and a first processing module;

The first acquisition module is configured to adopt a preset tissue identification model to perform identification processing on the oral digital medical image to acquire an oral tissue model;

The first processing module is configured to determine a target implant and a target posture of the target implant according to the oral tissue model.
An apparatus for establishing an oral tissue recognition model, characterized in that the apparatus includes: a sixth processing module and a seventh processing module;

The sixth processing module is used to input the oral digital medical training image into the initial tissue recognition model, and an artificial intelligence algorithm is used to determine the actual value of the tissue segmentation parameter in the initial tissue recognition model; wherein, the initial The tissue identification model includes initial values of tissue segmentation parameters;

The seventh processing module is configured to replace the initial value of the tissue segmentation parameter with the actual value of the tissue segmentation parameter to obtain the tissue identification model.
A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, when the processor executes the computer program, the steps of the method according to any one of claims 1 to 21 are implemented.
A computer device includes a memory and a processor, and the memory stores a computer program, wherein the processor executes the computer program to implement the steps of the method of claim 22.
A computer-readable storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 21 are implemented.
A computer-readable storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of the method of claim 22 are implemented.