WO2020134802A1

WO2020134802A1 - Method, apparatus, and system for digitizing root canal preparation

Info

Publication number: WO2020134802A1
Application number: PCT/CN2019/121071
Authority: WO
Inventors: 卢曙光; 陈云; 谢韬; 朱成广; 朱文伟
Original assignee: 苏州迪凯尔医疗科技有限公司
Priority date: 2018-12-26
Filing date: 2019-11-26
Publication date: 2020-07-02
Also published as: CN109846561A

Abstract

The present invention provides a method, apparatus, and system for digitizing root canal preparation, and solves a problem in the prior art that the root canal preparation is improper because a surgical instrument and a root canal cannot be precisely positioned in a root canal preparation operation. The method for digitizing root canal preparation provided by the embodiments of the present invention comprises: obtaining the three-dimensional voxel data of an oral cavity, the coordinate data of the surgical instrument, and the coordinate data of an offending tooth; according to the three-dimensional voxel data, determining a root canal inlet, and designing a root canal path; according to the coordinate data of the surgical instrument, determining a relative position relationship between the surgical instrument and the root canal path; and according to the relative position relationship between the surgical instrument and the root canal path, performing root canal preparation.

Description

Digital root canal preparation method, device and system

Technical field

The invention relates to the field of oral medicine and navigation, and in particular to a method, device and system for digital root canal preparation.

Background technique

Among the treatments for dental pulp disease and periapical disease, root canal therapy is currently the most conventional method. Root canal treatment consists of three steps: root canal preparation, root canal disinfection and root canal filling. With the development of root canal therapy theory and equipment, the method of root canal preparation has undergone a continuous improvement process. The root canal preparation method can be divided into hand instrument preparation method and machine instrument preparation method. However, no matter whether it is a hand-use mechanical device or a machine-use mechanical device, root canal preparation will cause problems such as improper root canal preparation due to the inability to accurately position the surgical instrument and the root canal.

Summary of the invention

In view of this, the embodiments of the present invention are dedicated to providing a digital root canal preparation method, device and system, to solve the problem that root canal preparation in the prior art cannot be accurately positioned between surgical instruments and root canals, and Root canal improper preparation and other problems.

One aspect of the present invention provides a digital root canal preparation method, which includes: acquiring three-dimensional voxel data of an oral cavity, surgical instrument coordinate data of a surgical instrument, and dental tooth coordinate data of an affected tooth; determining a root according to the three-dimensional voxel data Canal entrance and design root canal path; determine the relative positional relationship between the surgical instrument and the root canal path based on the surgical instrument coordinate data; and perform rooting based on the relative positional relationship between the surgical instrument and the root canal path Tube preparation.

In one embodiment, before the root canal preparation is performed according to the relative positional relationship between the surgical instrument and the root canal path, it further includes: presetting between the surgical instrument tip of the surgical instrument and the root canal path The maximum safe value of the point deviation and the maximum safe value of the angle deviation.

In one embodiment, the root canal preparation according to the relative position of the surgical instrument and the root canal path specifically includes: calculating the surgery based on the relative positional relationship between the surgical instrument and the root canal path The point deviation and the angle deviation between the surgical instrument tip of the instrument and the root canal path; and based on the calculated point deviation and the angle deviation, at the surgical instrument tip During the aiming of the affected tooth, the doctor is prompted to prepare the root canal according to the root canal path.

In one embodiment, the point deviation between the surgical instrument tip of the surgical instrument and the root canal path is calculated according to the relative positional relationship between the surgical instrument and the root canal path The angular deviation specifically includes: calculating the point deviation between the surgical instrument tip of the surgical instrument and the root canal inlet according to the relative positional relationship between the surgical instrument and the root canal path; And according to the relative positional relationship between the surgical instrument and the root canal path, calculate the angular deviation between the axis of the surgical instrument where the tip of the surgical instrument is located and the root canal path.

In one embodiment, according to the calculated position deviation and angle deviation, the doctor is prompted to perform root canal preparation according to the root canal path during the aiming of the surgical instrument tip to the affected tooth Specifically, when the calculated point deviation is greater than or equal to the maximum safety value of the point deviation and/or when the calculated angle deviation is greater than or equal to the maximum safety value of the angle deviation, stopping the root canal preparation.

In one embodiment, it further includes: displaying the relative positional relationship between the surgical instrument and the root canal path in real time in the root canal preparation.

In one embodiment, the acquiring three-dimensional voxel data of the oral cavity specifically includes: importing image scan data obtained by photographing the patient and including at least three marked points, wherein the at least three marked points include the affected tooth's own Feature points, and/or externally added development marker points; and according to the image scan data, obtain the three-dimensional voxel data of the affected tooth through a three-dimensional reconstruction process.

In one embodiment, before the determining the relative positional relationship between the surgical instrument and the root canal path according to the surgical instrument coordinate data, the method further includes: calibrating the surgical instrument to obtain the surgical instrument Tip coordinate data and surgical instrument tip axis data; and image registration of the affected tooth coordinate data and the three-dimensional voxel data according to the at least three marked points, and according to the calibrated surgical instrument tip coordinate data , Integrate the three-dimensional voxel data, the surgical instrument coordinate data and the affected tooth coordinate data into a common coordinate system.

In one embodiment, the acquiring the surgical instrument coordinate data of the surgical instrument and the affected tooth coordinate data of the affected tooth specifically includes: reading navigator coordinate data, wherein the navigator coordinate data It includes the surgical instrument coordinate data obtained by the surgical instrument positioning device mounted on the surgical instrument and the affected tooth coordinate data obtained by the affected tooth positioning device installed on the affected tooth.

In one embodiment, the determining the root canal entrance according to the three-dimensional voxel data specifically includes: determining the root canal entrance according to a difference in gray value in the three-dimensional voxel data.

In one embodiment, the designing of the root canal path according to the three-dimensional voxel data specifically includes: automatically fitting the root canal entrance based on the difference in gray values in the three-dimensional voxel data. A root canal path of a preset length at the starting point; and/or based on the three-dimensional voxel data of at least two discrete points in the root canal path of the preset length, automatically fitting the root canal entrance as the starting point The root canal path of the preset length.

An embodiment of the present invention also provides a digital root canal preparation device, including: a data acquisition module configured to acquire three-dimensional voxel data of the oral cavity, surgical instrument coordinate data of surgical instruments, and dental coordinate data of affected teeth; The entrance determination module is configured to determine the root canal entrance based on the three-dimensional voxel data; the root canal path design module is configured to design the root canal path based on the three-dimensional voxel data; the relative position relationship determination module is configured to be based on the operation The instrument coordinate data determines the relative positional relationship between the surgical instrument and the root canal path; and a root canal preparation navigation module configured to perform root canal preparation based on the relative positional relationship between the surgical instrument and the root canal path.

In one embodiment, it further includes: a preset module configured to preset the maximum safe value of the point deviation and the maximum safe value of the angle deviation between the surgical instrument tip of the surgical instrument and the root canal path.

In one embodiment, the root canal preparation navigation module specifically includes a calculation unit configured to calculate the surgical instrument tip and the position of the surgical instrument according to the relative positional relationship between the surgical instrument and the root canal path The point deviation and the angle deviation between the root canal paths; and a processing unit configured to aim the patient at the tip of the surgical instrument based on the calculated point deviation and the angle deviation During the process of teeth, the doctor is prompted to prepare the root canal according to the root canal path.

In one embodiment, the calculation unit is specifically configured to:

Calculating the point deviation between the tip of the surgical instrument of the surgical instrument and the entrance of the root canal according to the relative positional relationship between the surgical instrument and the root canal path; and

According to the relative positional relationship between the surgical instrument and the root canal path, the angular deviation between the axis of the surgical instrument where the tip of the surgical instrument is located and the root canal path is calculated.

In an embodiment, the processing unit is specifically configured to: when the calculated point deviation is greater than or equal to the maximum safe value of the point deviation and/or when the calculated angle deviation is greater than or equal to When the maximum safe value of the angle deviation is stated, the root canal preparation is stopped.

In one embodiment, it further includes: a display module configured to display the relative positional relationship between the surgical instrument and the root canal path in real time in the root canal preparation.

In one embodiment, the data acquisition module specifically includes: an importing unit configured to import image scan data obtained by photographing the patient and including at least three marked points, wherein the at least three marked points include the affected tooth itself Feature points and/or externally added development marker points; and a three-dimensional reconstruction unit configured to acquire three-dimensional voxel data of the affected tooth through a three-dimensional reconstruction process based on the image scan data.

In one embodiment, it further includes: a calibration module configured to calibrate the surgical instrument to obtain surgical instrument tip coordinate data and surgical instrument tip axis data of the surgical instrument; and a registration module configured to be based on the at least three Image points are registered to the coordinate data of the affected tooth and the three-dimensional voxel data, and the three-dimensional voxel data, the coordinate data of the surgical instrument and the coordinate data of the surgical instrument are The coordinate data of the affected tooth is integrated into a common coordinate system.

In one embodiment, the data acquisition module further includes: a reading unit configured to read coordinate data of the navigator, wherein the coordinate data of the navigator includes a positioning device of a surgical instrument mounted on the surgical instrument. The obtained surgical instrument coordinate data and the affected tooth coordinate data obtained by the affected tooth positioning device installed on the affected tooth.

In one embodiment, the root canal entrance determination module is specifically configured to determine the root canal entrance according to the difference in gray values in the three-dimensional voxel data.

In one embodiment, the root canal path design module is specifically configured to automatically fit a preset length starting from the root canal entrance according to the difference in gray values in the three-dimensional voxel data Root canal path; and/or based on the three-dimensional voxel data of at least two discrete points in the root canal path of the preset length, automatically fitting the preset length starting from the root canal entrance Root canal path.

An embodiment of the present invention also provides a digital root canal preparation system, including: a surgical instrument positioning device for acquiring coordinate data of a surgical instrument; an affected tooth positioning device for acquiring coordinate data of an affected tooth; a navigator for receiving The surgical instrument coordinate data and/or the affected tooth coordinate data; and the digital root canal preparation device according to any one of claims 12-22.

In one embodiment, the navigator obtains the coordinate data of the surgical instrument by receiving infrared rays from the surgical instrument positioning device, and/or the navigator obtains the infrared rays from the dental appliance positioning device The tooth coordinate data.

An embodiment of the present invention provides a digital root canal preparation method, device, and system. The root canal entrance is determined by acquiring three-dimensional voxel data before operation, and the root canal path is fitted; by obtaining coordinate data of surgical instruments The relative positional relationship between the surgical instruments and the root canal path is determined; in the subsequent root canal preparation process, root canal preparation is performed according to the pre-designed root canal path, thereby effectively avoiding the surgical instruments and roots during root canal preparation Can not be accurately positioned between the tubes, resulting in improper root canal preparation and other problems.

BRIEF DESCRIPTION

FIG. 1 is a schematic flowchart of a digital root canal preparation method according to an embodiment of the present invention.

FIG. 2 is a schematic flowchart of root canal preparation in a digital root canal preparation method according to an embodiment of the present invention.

FIG. 3 is a schematic structural diagram of a root canal entrance and a root canal path in a digital root canal preparation method according to an embodiment of the present invention.

4 is a schematic structural diagram of a digital root canal preparation device according to an embodiment of the present invention.

FIG. 5 is a schematic structural diagram of a digital root canal preparation device according to another embodiment of the present invention.

6 is a schematic structural diagram of a digital root canal preparation system according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present invention.

FIG. 1 is a schematic flowchart of a digital root canal preparation method according to an embodiment of the present invention. As shown in Figure 1, the method includes:

Step 101: Obtain three-dimensional voxel data of the oral cavity, surgical instrument coordinate data of the surgical instrument, and coordinate data of the affected tooth;

It should be understood that the three-dimensional voxel data in the oral cavity can first obtain image scanning data of the oral cavity through image scanning technology, and the image scanning data may include three-dimensional lattice data or continuous two-dimensional projection data sequences. Then, a computer algorithm is used to reconstruct the three-dimensional image scan data, thereby obtaining three-dimensional voxel data.

It should be noted that the obtained three-dimensional voxel data can also be segmented to obtain the surface mesh data of the affected tooth, so that the affected tooth can be distinguished from multiple teeth, and also to segment the root of the affected tooth For the subsequent root canal preparation process.

Step 102: Determine the root canal entrance according to the three-dimensional voxel data, and design the root canal path;

It should be understood that because the gray value of the root canal entrance and other tissues are different, first determine the root canal entrance according to the difference of the gray value of the three-dimensional voxel data of the root canal entrance. Here, the root canal entrance refers to the root canal Crown towards the entrance. According to the determined root canal entrance, a smooth root canal path is designed with the root canal entrance as a starting point.

Step 103: Determine the relative positional relationship between the surgical instrument and the root canal path according to the surgical instrument coordinate data;

It should be understood that after the coordinate data of the surgical instrument is determined, the relative positional relationship between the surgical instrument and the root canal path is obtained through corresponding coordinate transformation, that is, rotation or translation.

Step 104: Perform root canal preparation according to the relative positional relationship between the surgical instrument and the root canal path.

Before surgery, the root canal entrance was determined by acquiring three-dimensional voxel data, and the root canal path was fitted; the relative positional relationship between the surgical instrument and the root canal path was determined by the acquired surgical instrument coordinate data; in the subsequent root canal preparation process The root canal preparation is performed according to the pre-designed root canal path, thereby effectively avoiding the problem of improper root canal preparation caused by the inability to accurately position the surgical instruments and the root canal during root canal preparation.

In an embodiment of the present invention, in order to be able to perform root canal preparation more accurately and safely and prevent problems such as improper root canal preparation, it is possible to preset the surgical instrument tip between the surgical instrument and the root canal path before performing root canal preparation The maximum safety value of the point deviation and the maximum safety value of the angle deviation. It should be understood that the maximum safety value of the point deviation and the maximum safety value of the angle deviation can be preset as long as they are preset before the start of each root canal preparation operation, and the embodiment of the present invention does not limit the maximum safety of the point deviation The preset timing of the maximum safe value of the value and angle deviation.

In this way, as shown in FIG. 2, during root canal preparation, it may further include:

Step 201: Calculate the point deviation and angle deviation between the surgical instrument tip and the root canal path according to the relative positional relationship between the surgical instrument and the root canal path;

It should be understood that the surgical instrument tip refers to the tip portion where the surgical instrument with the surgical instrument accessory is in contact with the affected tooth; the point deviation and the angle deviation are used to characterize the relative positional relationship between the surgical instrument and the root canal path during the surgery, and In the subsequent process, it is compared with the preset maximum safety value of the point deviation and the maximum safety value of the angle deviation.

Step 202: According to the calculated point deviation and angle deviation, the doctor is prompted to perform root canal preparation according to the root canal path during the aiming of the surgical instrument tip to the affected tooth.

If the tip of the surgical instrument is prepared for root canal without the prompt of deviation, when the point deviation and the angle deviation are greater than or equal to the maximum safe value of the point deviation and the maximum safe value of the angle deviation, it is likely that improper root canal preparation occurs And other issues. Therefore, it is necessary to return a prompt message in a digital or graphical manner to indicate that the relative position relationship between the surgical instrument tip and the root canal path has exceeded the normal range, so that the doctor can more intuitively observe the relative position of the surgical instrument and the root canal path That is, the surgical instrument tip has been away from the root canal entrance and the surgical path of the surgical instrument tip has deviated from the root canal path, which helps the doctor to make accurate judgments and improve the user experience.

In an embodiment of the present invention, calculating the point deviation and angle deviation between the surgical instrument tip and the root canal path according to the relative positional relationship between the surgical instrument and the root canal path specifically includes: according to the relative position of the surgical instrument and the root canal path Relationship, calculate the point deviation between the surgical instrument tip of the surgical instrument and the root canal entrance; and according to the relative positional relationship between the surgical instrument and the root canal path, calculate the axis of the surgical instrument tip of the surgical instrument and the root canal path Angle deviation.

Specifically, in the process of root canal preparation, the deviation of the distance between the tip of the surgical instrument and the root canal entrance is calculated according to the relative positional relationship between the surgical instrument and the root canal path; when the root canal entrance is found, according to the surgical instrument and The relative position relationship of the root canal path, calculate the deviation of the axis of the surgical instrument tip and the angle of the root canal path; when the angle of the surgical instrument tip entering the root canal path is determined, according to the relative position relationship of the surgical instrument and the root canal path And the root canal path, observe the depth of the surgical instrument tip into the root canal path in a digital or graphical manner, and observe the depth of the surgical instrument tip into the root canal path within the range of the maximum safe value allowed by the deviation, when the surgical instrument tip enters When the depth is the total length of the designed root canal path, the entire root canal preparation is completed.

In an embodiment of the present invention, according to the calculated point deviation and angle deviation, the doctor is prompted to perform root canal preparation according to the root canal path during the process of the surgical instrument tip aiming at the affected tooth. Specifically, it includes: when the calculated point deviation When the maximum safety value of the point deviation is greater than or equal to and/or when the calculated angle deviation is greater than or equal to the maximum safety value of the angle deviation, the root canal preparation is stopped.

Specifically, when the calculated point deviation is greater than or equal to the maximum safety value of the point deviation and/or when the calculated angle deviation is greater than or equal to the maximum safety value of the angle deviation, a warning sound will be emitted and the surgical instrument will be cut off The way of power supply can stop the operation of the surgical instrument; after adjusting the relative positional relationship between the surgical instrument and the root canal path, when the point deviation is less than the maximum safe value of the point deviation, and the angle deviation is less than the maximum safe value of the angle deviation, the warning The sound stops and the surgical instrument power is restored, thereby avoiding problems such as improper root canal preparation.

In an embodiment of the present invention, the digital root canal preparation method further includes: displaying the relative positional relationship between the surgical instrument and the root canal path in real time in the root canal preparation.

It should be understood that during the root canal preparation process, the relative positional relationship between the surgical instrument and the root canal path can be displayed in real time through graphical or digital display, so that the doctor can more intuitively observe the relative position of the surgical instrument and the root canal path. It helps doctors make accurate judgments and improve user experience.

In an embodiment of the present invention, acquiring the three-dimensional voxel data of the oral cavity specifically includes: importing image scan data obtained by photographing the patient and including at least three marked points, wherein at least three marked points include characteristic points of the affected tooth itself, and /Or externally added development markers; based on the image scan data, the patient’s 3D voxel data is obtained through the 3D reconstruction process.

It should be understood that the at least three marker points mentioned above are for determining the coordinate system of the affected tooth, and also for image registration of the affected tooth image and the affected tooth. Three-dimensional reconstruction of the three-dimensional lattice data or continuous two-dimensional projection data sequence of the image scan data through computer algorithms is performed, and thus the three-dimensional voxel data is acquired.

In an embodiment of the present invention, before determining the relative positional relationship between the surgical instrument and the root canal path according to the surgical instrument coordinate data, the method further includes: calibrating the surgical instrument to obtain surgical instrument tip coordinate data and surgical instrument tip axis data of the surgical instrument; And image registration of the coordinate data of the affected tooth and the three-dimensional voxel data according to at least three marked points, and integration of the three-dimensional voxel data, coordinate data of the surgical instrument and the coordinate data of the affected tooth according to the coordinate data of the calibrated surgical instrument tip In a common coordinate system.

It should be understood that the calibration process is to calibrate the surgical instrument installed with the surgical instrument positioning device through a computer algorithm to obtain surgical instrument tip coordinate data and surgical instrument tip axis data. Here, the surgical instrument tip axis data is to determine the angle between the surgical instrument tip and the root canal path, so as to indicate the angular deviation of the surgical instrument tip during the root canal preparation process.

It should also be understood that the registration process is to register the image of the affected tooth with the affected tooth through at least three marked points, and at the same time, the three-dimensional voxel data of the affected tooth before surgery, the coordinate data of the affected tooth during surgery and the coordinate data of the surgical instrument Integrated into a common coordinate system, these combined information will eventually be used by doctors to accurately determine the root canal entrance and root canal path during root canal preparation. It should be noted that the registration process also specifically includes the conversion of the corresponding coordinates, that is, translation or rotation.

In an embodiment of the present invention, acquiring the coordinate data of the surgical instrument of the surgical instrument and the coordinate data of the affected tooth includes: reading the coordinate data of the navigator, wherein the coordinate data of the navigator includes the surgical instrument installed on the surgical instrument The coordinate data of the surgical instrument obtained by positioning the device and the coordinate data of the affected tooth obtained by the positioning device of the affected tooth mounted on the affected tooth.

It should be understood that in the process of root canal preparation, the navigator acquires surgical instrument coordinate data through the surgical instrument positioning device and the affected tooth coordinate data through the affected tooth positioning device in real time, so that the surgical instrument coordinate data and the affected tooth coordinate data will be Real-time reading, so that during the preparation of the root canal, the relative positional relationship between the surgical instrument and the root canal path can be displayed in real time through graphical or digital display, so that the doctor can more intuitively observe the surgical instrument and the root The relative position of the tube path helps the doctor make accurate judgments and improves the user experience.

In an embodiment of the present invention, determining the root canal entry based on the three-dimensional voxel data specifically includes: determining the root canal entry based on the difference in gray values in the three-dimensional voxel data. It should be understood that the root canal entry is different from the gray of other tissues. The degree values are different, so the position of the root canal entrance can be determined according to the difference in the gray value of the three-dimensional voxel data of the root canal entrance.

In an embodiment of the present invention, a root canal path of a preset length starting from the root canal entrance is automatically fitted according to the difference in gray values in the three-dimensional voxel data; and/or a root canal according to the preset length The three-dimensional voxel data of at least two discrete points in the path automatically fits a root canal path of a preset length starting from the root canal entrance.

It should be understood that, as shown in FIG. 3, the preset length includes any length from the root canal inlet 31 to the root canal crown 32 at the upper third. Specifically, the design of the root canal path can automatically fit the root canal entrance 31 starting from the root canal entrance 31 and the root canal crown to the upper third 32 of the root canal according to the difference in gray values in the three-dimensional voxel data. The root canal path 33 of any length can be automatically fitted based on the three-dimensional voxel data of at least two discrete points between the root canal entrance 31 and the root canal crown one third 32 The root canal inlet 31 is a root canal path 33 of any length between the root canal inlet 31 at the starting point and the root canal crown at the upper third 32.

It should also be understood that because the gray value of the root canal path 33 is different from that of other tissues, a smooth root canal path 33 can be formed by using the root canal entrance 31 as a starting point by an automatic fitting method; At least two discrete points are manually selected between the entrance 31 and the upper third of the root canal crown. According to the three-dimensional voxel data of the at least two discrete points, the root canal entrance 31 is used as an automatic fitting method. The starting point forms a smooth root canal path 33. Here, the length of the root canal path 33 to be formed can be arbitrarily selected. The embodiment of the present invention does not limit the length of the root canal path 33, as long as the length of the formed root canal path 33 is less than or equal to the straight portion or approximate straight portion of the root canal The length of the root canal is sufficient. It should be noted that the straight or near straight portion of the root canal refers to the portion from the root canal inlet 31 to the root canal crown one third 32. At the same time, the embodiment of the present invention does not limit the method used to design the root canal path 33, as long as a smooth root canal path 33 can be formed.

Based on the digital root canal preparation method described above, the present invention also provides a digital root canal preparation device. As shown in FIG. 4, the digital root canal preparation device 40 includes:

The data acquisition module 41 is configured to acquire three-dimensional voxel data of the oral cavity, surgical instrument coordinate data of the surgical instrument and affected tooth coordinate data of the affected tooth;

The root canal entry determination module 42 is configured to determine the root canal entry based on the three-dimensional voxel data;

The root canal path design module 43 is configured to design the root canal path according to the three-dimensional voxel data;

The relative position relationship determination module 44 is configured to determine the relative position relationship between the surgical instrument and the root canal path according to the surgical instrument coordinate data; and

The root canal preparation navigation module 45 is configured to perform root canal preparation according to the relative positional relationship between the surgical instrument and the root canal path.

In an embodiment of the present invention, as shown in FIG. 5, the digital root canal preparation device 40 further includes: a preset module 46 configured to preset a point deviation between the surgical instrument tip of the surgical instrument and the root canal path The maximum safety value of the angle and the maximum safety value of the angle deviation.

In an embodiment of the present invention, as shown in FIG. 5, the root canal preparation navigation module 45 specifically includes:

The calculation unit 451 is configured to calculate the point deviation and the angle deviation between the surgical instrument tip of the surgical instrument and the root canal path according to the relative positional relationship between the surgical instrument and the root canal path; and

The processing unit 452 is configured to prompt the doctor to perform root canal preparation according to the root canal path during the process of the surgical instrument tip aiming at the affected tooth according to the calculated point position deviation and angle deviation.

In an embodiment of the present invention, the calculation unit 451 mentioned above is specifically configured as:

Calculate the point deviation between the surgical instrument tip and the root canal entrance based on the relative positional relationship between the surgical instrument and the root canal path; and

According to the relative positional relationship between the surgical instrument and the root canal path, the angular deviation between the axis where the surgical instrument tip of the surgical instrument is located and the root canal path is calculated.

In an embodiment of the present invention, the above-mentioned processing unit 452 is specifically configured as:

When the calculated point deviation is greater than or equal to the maximum safe value of the point deviation and/or when the calculated angle deviation is greater than or equal to the maximum safe value of the angle deviation, the root canal preparation is stopped;

In an embodiment of the present invention, as shown in FIG. 5, the digital root canal preparation device further includes:

The display module 47 is configured to display the relative positional relationship between the surgical instrument and the root canal path in real time during root canal preparation.

In an embodiment of the present invention, as shown in FIG. 5, the data acquisition module 41 specifically includes:

The importing unit 411 is configured to import image scan data obtained by photographing the patient and including at least three marked points, wherein the at least three marked points include the characteristic points of the affected tooth itself, and/or externally added development marked points;

The three-dimensional reconstruction unit 412 is configured to acquire three-dimensional voxel data of the affected tooth through the three-dimensional reconstruction process according to the image scan data.

In an embodiment of the present invention, as shown in FIG. 5, the digital root canal preparation device 40 further includes:

The calibration module 48 is configured to calibrate the surgical instrument to obtain surgical instrument tip coordinate data and tip axis data of the surgical instrument;

The registration module 49 is configured to perform image registration on the coordinate data of the affected tooth and the three-dimensional voxel data according to at least three marked points, and to coordinate the three-dimensional voxel data, the coordinate data of the surgical instrument and the coordinate data of the surgical instrument tip after the calibration The coordinate data of the affected tooth is integrated into a common coordinate system.

In an embodiment of the present invention, as shown in FIG. 5, the data acquisition module 41 further includes: a reading unit 413 configured to read the coordinate data of the navigator, wherein the coordinate data of the navigator includes operations performed on the surgical instrument The surgical instrument coordinate data obtained by the instrument positioning device and the affected tooth coordinate data obtained by the affected tooth positioning device mounted on the affected tooth.

In an embodiment of the present invention, the root canal entrance determination module 52 mentioned above is specifically configured to determine the root canal entrance according to the difference in the gray value in the three-dimensional voxel data.

In an embodiment of the present invention, the root canal path design module 53 mentioned above is specifically configured to:

According to the difference of the gray value in the three-dimensional voxel data, automatically fit the root canal path of the preset length starting from the root canal entrance; and/or

Based on the three-dimensional voxel data of at least two discrete points in the root canal path of the preset length, the root canal path of the preset length starting from the root canal entrance is automatically fitted.

It should be understood that each module or unit described in the digital root canal preparation device 50 provided by the foregoing embodiment corresponds to one of the foregoing method steps. Therefore, the operations, features, and beneficial effects described in the foregoing method steps are also applicable to the digital root canal preparation device 50 and the corresponding modules and units contained therein, and the repeated contents will not be repeated here.

The teachings of the present invention can also be implemented as a computer program product of a computer-readable storage medium, including computer program code. When the computer program code is executed by a processor, it enables the processor to be implemented according to the method of the embodiment of the present invention. The method of digital root canal preparation of the embodiments herein. The computer storage medium can be any tangible medium, such as a floppy disk, CD-ROM, DVD, hard drive, or even network media.

It should be understood that although it has been described above that one implementation form of the embodiments of the present invention may be a computer program product, the method or apparatus of the embodiments of the present invention may be implemented by software, hardware, or a combination of software and hardware. The hardware part can be implemented with dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or specially designed hardware. Those of ordinary skill in the art may understand that the above methods and devices may be implemented using computer-executable instructions and/or contained in processor control code, for example, on a carrier medium such as a magnetic disk, CD, or DVD-ROM, such as a read-only memory Such codes are provided on programmable memory (firmware) or data carriers such as optical or electronic signal carriers. The method and apparatus of the present invention can be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc. It may be implemented by software executed by various types of processors, or may be implemented by a combination of the above hardware circuits and software, such as firmware.

It should be understood that although several modules or units of the digital root canal preparation device 50 are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the exemplary embodiments of the present invention, the features and functions of the two or more modules/units described above can be implemented in one module/unit, and conversely, the features and functions of one module/unit described above The function can be further divided into multiple modules/units to achieve. In addition, some modules/units described above may be omitted in certain application scenarios.

Based on the digital root canal preparation device as described above, the present invention also provides a digital root canal preparation system. As shown in FIG. 6, the digital root canal preparation system includes:

Surgical instrument positioning device 601, used to obtain coordinate data of surgical instruments;

The tooth positioning device 602 is used to obtain coordinate data of the tooth;

The navigator 603 is used to receive coordinate data of the surgical instrument and/or coordinate data of the affected tooth; and the above-mentioned digital root canal preparation device 604.

It should be understood that, as shown in FIG. 6, the surgical instrument positioning device 601 is installed on the surgical instrument, and the surgical instrument accessories are installed on the surgical instrument, the coordinate data and axis data of the surgical instrument tip 609 can be obtained by the calibration method mentioned above . The tooth positioning device 602 is fixed to the tooth on the side close to the tooth by the fixing device 608.

It should be noted that the embodiment of the present invention does not limit the navigator used to receive the coordinate data of the surgical instrument and/or coordinate data of the affected tooth, and other devices that can obtain the coordinate data of the surgical instrument and/or coordinate data of the affected tooth in real time are all Within the protection scope of the present invention. At the same time, the embodiment of the present invention does not limit the positioning device of the surgical instrument for acquiring coordinate data of the surgical instrument and the positioning device of the affected tooth for acquiring coordinate data of the affected tooth, and other devices and real-time devices that can determine the coordinate data of the surgical instrument in real time The devices for determining the coordinate data of the affected tooth are within the protection scope of the present invention. It should be understood that several modules or units of the digital root canal preparation device 604 in the digital root canal preparation system all perform the foregoing methods and steps.

In an embodiment of the present invention, the navigator 603 receives infrared rays from the surgical instrument positioning device 601 to obtain coordinate data of the surgical instrument, and/or the navigator 603 receives infrared rays from the affected tooth positioning device 602 to obtain coordinate data of the affected tooth.

It should be understood that the navigator obtains the coordinate data of the surgical instrument by receiving infrared rays emitted by the controller 610 on the positioning device of the surgical instrument, and the coordinate data of the affected tooth by receiving infrared rays emitted by the controller 610 on the dental device. The digital root canal preparation device 604 performs the entire root canal preparation by performing the aforementioned digital root canal preparation method. It should be noted that the embodiment of the present invention does not limit the way in which the navigator obtains the coordinate data of the surgical instrument and the coordinate data of the affected tooth, and other ways of obtaining the coordinate data of the surgical instrument and the coordinate data of the affected tooth are within the scope of the present invention .

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention within.

Claims

A digital root canal preparation method, characterized in that it includes:

Obtain the three-dimensional voxel data of the oral cavity, the coordinate data of the surgical instruments of the surgical instruments and the coordinate data of the affected teeth;

Determine the root canal entrance according to the three-dimensional voxel data, and design the root canal path;

Determining the relative positional relationship between the surgical instrument and the root canal path based on the surgical instrument coordinate data; and

Root canal preparation is performed according to the relative positional relationship between the surgical instrument and the root canal path.
The method for digital root canal preparation according to claim 1, before the root canal preparation is performed according to the relative positional relationship between the surgical instrument and the root canal path, further comprising:

The maximum safety value of the point deviation and the maximum safety value of the angle deviation between the surgical instrument tip of the surgical instrument and the root canal path are preset.
The method for digital root canal preparation according to claim 2, wherein the root canal preparation according to the relative positional relationship between the surgical instrument and the root canal path specifically includes:

Calculating the point deviation and the angle deviation between the surgical instrument tip of the surgical instrument and the root canal path according to the relative positional relationship between the surgical instrument and the root canal path; and

Based on the calculated point position deviation and the angle deviation, the doctor is prompted to perform root canal preparation according to the root canal path while the surgical instrument tip is aimed at the affected tooth.
The method for digital root canal preparation according to claim 3, wherein the surgical instrument tip and the surgical instrument tip are calculated according to the relative positional relationship between the surgical instrument and the root canal path The point deviation and the angle deviation between root canal paths specifically include:

Calculating the point deviation between the surgical instrument tip of the surgical instrument and the root canal entrance according to the relative positional relationship between the surgical instrument and the root canal path; and

According to the relative positional relationship between the surgical instrument and the root canal path, the angular deviation between the axis of the surgical instrument where the tip of the surgical instrument is located and the root canal path is calculated.
The method for digital root canal preparation according to claim 3, characterized in that, during the process of aiming the tip of the surgical instrument to the affected tooth according to the calculated point deviation and the angle deviation Reminding the doctor to perform root canal preparation according to the root canal path specifically includes:

When the calculated point deviation is greater than or equal to the maximum safety value of the point deviation and/or when the calculated angle deviation is greater than or equal to the maximum safety value of the angle deviation, root canal preparation is stopped.
The digital root canal preparation method according to claims 1-5, further comprising:

In the root canal preparation, the relative positional relationship between the surgical instrument and the root canal path is displayed in real time.
The digital root canal preparation method according to any one of claims 1 to 5, wherein the acquiring three-dimensional voxel data of the oral cavity specifically includes:

Importing image scan data obtained by photographing the patient and containing at least three marked points, wherein the at least three marked points include characteristic points of the affected tooth itself, and/or externally added developed marked points; and

Based on the image scan data, the three-dimensional voxel data of the affected tooth is acquired through a three-dimensional reconstruction process.
The method for digital root canal preparation according to claim 7, before the determining the relative positional relationship between the surgical instrument and the root canal path according to the coordinate data of the surgical instrument, further comprising:

Calibrating the surgical instrument to obtain surgical instrument tip coordinate data and surgical instrument tip axis data of the surgical instrument; and

Image registration of the coordinate data of the affected tooth and the three-dimensional voxel data according to the at least three marked points, and according to the coordinate data of the tip of the surgical instrument after calibration, the three-dimensional voxel data and the The coordinate data of the surgical instrument and the coordinate data of the affected tooth are integrated into a common coordinate system.
The method for digital root canal preparation according to any one of claims 1 to 5, characterized in that the acquiring of the surgical instrument coordinate data of the surgical instrument and the affected tooth coordinate data of the affected tooth is specific include:

Reading navigator coordinate data, wherein the navigator coordinate data includes the surgical instrument coordinate data obtained by a surgical instrument positioning device mounted on the surgical instrument and the affected tooth installed on the affected tooth The tooth coordinate data obtained by positioning the device.
The method for digital root canal preparation according to claims 1-5, wherein the determining the root canal entrance according to the three-dimensional voxel data specifically includes:

The root canal entrance is determined according to the difference in gray values in the three-dimensional voxel data.
The method for digital root canal preparation according to claims 1-5, wherein the design of the root canal path according to the three-dimensional voxel data specifically includes:

Automatically fitting a root canal path of a preset length starting from the root canal entrance according to the difference in gray values in the three-dimensional voxel data; and/or

Based on the three-dimensional voxel data of at least two discrete points in the root canal path of the preset length, the root canal path of the preset length starting from the root canal entrance is automatically fitted.
A digital root canal preparation device, characterized in that it includes:

The data acquisition module is configured to acquire the three-dimensional voxel data of the oral cavity, the surgical instrument coordinate data of the surgical instrument, and the coordinate data of the affected tooth

A root canal entry determination module configured to determine a root canal entry based on the three-dimensional voxel data;

A root canal path design module configured to design a root canal path according to the three-dimensional voxel data;

A relative position relationship determination module configured to determine the relative position relationship between the surgical instrument and the root canal path according to the surgical instrument coordinate data; and

The root canal preparation navigation module is configured to perform root canal preparation according to the relative positional relationship between the surgical instrument and the root canal path.
The apparatus for digital root canal preparation according to claim 12, further comprising:

The preset module is configured to preset the maximum safe value of the point deviation and the maximum safe value of the angle deviation between the surgical instrument tip of the surgical instrument and the root canal path.
The apparatus for digital root canal preparation according to claim 13, wherein the root canal preparation navigation module specifically includes:

A calculation unit configured to calculate the point deviation and the angle between the surgical instrument tip of the surgical instrument and the root canal path based on the relative positional relationship between the surgical instrument and the root canal path Deviation; and

The processing unit is configured to prompt the doctor to perform root canal preparation according to the root canal path during the process of the surgical instrument tip aiming at the affected tooth based on the calculated position deviation and angle deviation.
The digital root canal preparation device according to claim 14, wherein the calculation unit is specifically configured to:

Calculating the point deviation between the surgical instrument tip of the surgical instrument and the root canal entrance according to the relative positional relationship between the surgical instrument and the root canal path; and

According to the relative positional relationship between the surgical instrument and the root canal path, the angular deviation between the axis of the surgical instrument where the tip of the surgical instrument is located and the root canal path is calculated.
The apparatus for digital root canal preparation according to claim 14, wherein the processing unit is specifically configured to:

When the calculated point deviation is greater than or equal to the maximum safety value of the point deviation and/or when the calculated angle deviation is greater than or equal to the maximum safety value of the angle deviation, root canal preparation is stopped.
The device for digital root canal preparation according to claims 12-16, further comprising:

The display module is configured to display the relative positional relationship between the surgical instrument and the root canal path in real time in the root canal preparation.
The digital root canal preparation device according to any one of claims 12 to 16, wherein the data acquisition module specifically includes:

An importing unit, configured to import image scan data obtained by photographing the patient and including at least three marked points, wherein the at least three marked points include characteristic points of the affected tooth itself, and/or externally added developed marked points; as well as

The three-dimensional reconstruction unit is configured to obtain three-dimensional voxel data of the affected tooth through a three-dimensional reconstruction process according to the image scan data.
The device for digital root canal preparation according to claim 18, further comprising:

A calibration module configured to calibrate the surgical instrument to obtain surgical instrument tip coordinate data and surgical instrument tip axis data of the surgical instrument; and

The registration module is configured to perform image registration on the coordinate data of the affected tooth and the three-dimensional voxel data according to the at least three marked points, and according to the coordinate data on the tip of the surgical instrument after calibration, the three-dimensional The voxel data, the surgical instrument coordinate data and the affected tooth coordinate data are integrated into a common coordinate system.
The digital root canal preparation device according to any one of claims 12-16, wherein the data acquisition module further comprises:

A reading unit configured to read coordinate data of the navigator, wherein the coordinate data of the navigator includes coordinate data of the surgical instrument obtained by a surgical instrument positioning device installed on the surgical instrument and The tooth coordinate data obtained by the tooth positioning device on the tooth.
The apparatus for digital root canal preparation according to claims 12-16, wherein the root canal inlet determination module is specifically configured to:

The root canal entrance is determined according to the difference in gray values in the three-dimensional voxel data.
The apparatus for digital root canal preparation according to claims 12-16, wherein the root canal path design module is specifically configured to:

Automatically fitting a root canal path of a preset length starting from the root canal entrance according to the difference in gray values in the three-dimensional voxel data; and/or

Based on the three-dimensional voxel data of at least two discrete points in the root canal path of the preset length, the root canal path of the preset length starting from the root canal entrance is automatically fitted.
A digital root canal preparation system is characterized by including:

Surgical instrument positioning device, used to obtain coordinate data of surgical instruments;

Positioning device for affected teeth, used to obtain coordinate data of affected teeth;

A navigator for receiving the coordinate data of the surgical instrument and/or the coordinate data of the affected tooth; and

The device for digital root canal preparation according to any one of claims 12-22.
The system for digital root canal preparation according to claim 23, wherein the navigator obtains the coordinate data of the surgical instrument by receiving infrared rays from the surgical instrument positioning device, and/or the navigator receives the Infrared rays emitted from the positioning device of the affected tooth to obtain coordinate data of the affected tooth.