WO2021003995A1

WO2021003995A1 - Apical surgery navigation method and apparatus, electronic device, and storage medium

Info

Publication number: WO2021003995A1
Application number: PCT/CN2019/123866
Authority: WO
Inventors: 卢曙光; 朱成广; 纪友文; 陈云
Original assignee: 苏州迪凯尔医疗科技有限公司
Priority date: 2019-07-09
Filing date: 2019-12-09
Publication date: 2021-01-14
Also published as: CN110664483A

Abstract

An apical surgery navigation method and apparatus, an electronic device, and a storage medium. The method comprises: performing surgical path planning in CBCT oral cavity image data (102); acquiring reference image coordinate data of an affected tooth and calibrating the coordinate data of a surgical instrument (104); on the basis of the reference image coordinate data of the affected tooth, using image registration to perform coordinate transformation on the CBCT oral cavity image data (106); and determining the relative positional relationship of the surgical instrument and the navigation path corresponding to the surgery (108). By means of performing surgical path planning and image registration in CBCT and calibrating the coordinate data of the surgical instrument on the basis of the reference image coordinate data of the affected tooth, the coordinate data of the surgical instrument, the CBCT with surgical path planning, and the reference image coordinate data of the affected tooth all have the same coordinate system, such that the relative positional relationship of the surgical instrument and the navigation path corresponding to the surgery is obtained and the physician is guided to implement the corresponding surgery by means of said relative positional relationship, achieving precise surgical positioning.

Description

Navigating method, device, electronic equipment and storage medium for apical surgery

Technical field

This application relates to the technical field of medical navigation, in particular to a navigation method, device, electronic equipment and storage medium for apical surgery.

Background technique

Root canal therapy is the first choice for the treatment of endodontic and periapical diseases. It can solve most of their problems. However, due to the complexity of the root canal anatomy system, there are still limitations in clinical diagnosis and operation techniques. The disease requires root canal surgery, the most common of which is apical surgery.

The difficulty of apical surgery lies in the positioning of the apical area when the bone is removed and the window is opened. When there is no damage around the apex and the cortical bone is intact, it is difficult to determine the position of the apex and the damaged area of the tooth. Grinding may damage the roots of the affected and adjacent teeth. Under normal circumstances, the length of the root and the position of the root tip can be roughly determined according to the anatomical shape of the root, preoperative X-rays and the doctor’s experience. During the operation, the bone near the root tip is removed until the root surface is exposed, and then along The direction of the tooth root is deboned until the root tip is exposed. This operation is limited by the surgical field of vision and the doctor’s experience, which will increase the scope of bone removal and damage to the bone tissue, prolong the wound healing time, and easily bring some intraoperative and postoperative complications. Therefore, it cannot be achieved. Accurate positioning of the apical part during apical surgery.

Summary of the invention

Based on this, it is necessary to provide a navigation method, device, electronic device and storage for apical surgery that can accurately locate the apical part in response to the above-mentioned problem of the inability to accurately locate the apical part during apical surgery. medium.

In order to achieve the foregoing objective, on the one hand, an embodiment of the present application provides a navigation method for apical surgery, the method includes:

Perform surgical path planning in the CBCT oral image data to generate a path corresponding to the operation;

Obtain the reference image coordinate data of the affected tooth and calibrate the coordinate data of the surgical instrument;

According to the reference image coordinate data of the affected tooth, use image registration to transform the CBCT oral image data that has generated the path corresponding to the operation to obtain the navigation path corresponding to the operation after the coordinate conversion;

The relative position relationship between the surgical instrument and the navigation path corresponding to the operation is determined according to the coordinate data of the surgical instrument.

On the other hand, an embodiment of the present application provides a navigation device for apical surgery, including:

The surgical path planning module is used to plan the surgical path in the CBCT oral image data to generate a path corresponding to the operation;

The data acquisition module is used to acquire the reference image coordinate data of the tooth and the coordinate data of the surgical instrument;

The coordinate transformation module is used to perform coordinate transformation on the CBCT oral image data for which the path corresponding to the operation has been generated using image registration according to the reference image coordinate data of the affected tooth, so as to obtain the navigation path corresponding to the operation after the coordinate transformation;

The navigation module is used to determine the relative position relationship between the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.

In another aspect, an embodiment of the present application provides an electronic device including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method when the computer program is executed.

In another aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and the computer program implements the steps of the above method when executed by a processor.

The above-mentioned navigation method, device, electronic equipment and storage medium for apical surgery, through CBCT oral image data for surgical path planning and image registration, the coordinate data of the surgical instrument is calibrated according to the reference image coordinate data of the affected tooth, Make the coordinate data of the surgical instrument, the CBCT oral image data of the surgical path planning and the reference image coordinate data of the tooth all have the same coordinate system, and then determine the relative navigation path of the surgical instrument and the operation according to the coordinate data of the surgical instrument Position relationship, and guide the doctor to complete the corresponding operation through the relative position relationship to achieve precise positioning of the operation.

Description of the drawings

Fig. 1 is a schematic flowchart of a navigation method for apical surgery in an embodiment;

FIG. 2 is a schematic flowchart of the steps of image registration in an embodiment;

Fig. 3 is a schematic flow chart of a navigation method for apical surgery in an embodiment;

Fig. 4 is a schematic flowchart of a navigation method for bone removal and fenestration in apical surgery in an embodiment;

Figure 5 is a schematic diagram of path planning for bone removal and fenestration in apical surgery in an embodiment;

Fig. 6 is a schematic diagram showing the navigation display of bone removal and fenestration during apical surgery in an embodiment;

Fig. 7 is a schematic flow chart of a navigation method for apical resection in apical surgery in an embodiment;

Figure 8 is a schematic diagram of path planning for apical resection in apical surgery in an embodiment;

Figure 9 is a schematic diagram of the tooth structure in an embodiment;

Fig. 10 is a schematic diagram showing the navigation display of apical resection during apical surgery in an embodiment;

Figure 11 is a schematic flow chart of a navigation method for apical reversal preparation in apical surgery in an embodiment;

Fig. 12 is a schematic diagram of path planning for apical reversal preparation in apical surgery in an embodiment;

Fig. 13 is a schematic diagram showing the navigation display of apical reversal preparation in apical surgery in an embodiment;

14 is a structural block diagram of a navigation device for apical surgery in an embodiment;

Fig. 15 is an internal structure diagram of an electronic device in an embodiment.

Detailed ways

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

Apical surgery is divided into three stages: bone removal and fenestration, apical resection, and apex preparation. In traditional apical surgery, the position of the apex during bone removal and fenestration is usually found and performed based on the doctor’s experience. Apical resection and preparation of apex, this stage requires the doctor's experience to be high, otherwise it is impossible to accurately find the apex and avoid the apical tissue. In the traditional bone removal fenestration process, the bone removal range is generally more than 10mm, which makes the bone removal range and the damage to the bone tissue larger; the amount of apical resection is not accurate, and the cutting is shortened and the root canal branch is not clean The cut length causes the tooth root to remain too short, and the stability of the tooth is poor; the hole shape and direction of the inverted preparation are also very non-standard, resulting in the deviation of the inverted preparation hole and the long axis direction of the tooth, which may cause more serious problems such as side penetration.

Based on this, an embodiment of the present application provides a navigation method for apical surgery. As shown in FIG. 1, the method may include the following steps:

Step 102: Perform surgical path planning in the CBCT oral image data to generate a path corresponding to the operation.

Among them, CBCT is the abbreviation of Cone beam CT, that is, oral and maxillofacial cone beam CT. Specifically, the CBCT oral image data may be pre-collected CBCT oral image data of the patient. Since CBCT can obtain a three-dimensional image of the whole oral cavity and double dentition, and the image has a high isotropic spatial resolution, it can be The surgical path planning is performed in the obtained CBCT oral image data, that is, the starting point and end point of the path can be calibrated in the obtained CBCT oral image data according to the path corresponding to the apical surgery, so as to generate the corresponding operation corresponding to the starting point and end point path.

Step 104: Obtain the reference image coordinate data of the tooth and calibrate the coordinate data of the surgical instrument.

Among them, the reference image coordinate data of the affected tooth refers to the actual image coordinate data of the affected tooth. In this embodiment, the actual image coordinate data of the affected tooth is used as the reference image to calibrate the coordinate data of the surgical instrument to obtain the calibrated surgical instrument The coordinate data. For example, the surgical instrument can be calibrated as a line segment, and the tip of the surgical instrument corresponds to the tip point coordinates of the line segment, so that the coordinate data of the surgical instrument and the reference image coordinate data of the tooth have the same coordinate system.

Step 106: Use image registration to perform coordinate transformation on the CBCT oral image data for which the path corresponding to the operation has been generated according to the reference image coordinate data of the affected tooth, so as to obtain the navigation path corresponding to the operation after the coordinate conversion.

Among them, the navigation path refers to the movement path of the tip of the surgical instrument when guiding the doctor to perform the operation during the apical surgery. Specifically, in this embodiment, the CBCT oral image data that has been planned for the surgical path is coordinate transformed by the image registration method, so that the CBCT oral image data of the generated path corresponding to the surgery and the reference image coordinate data of the affected tooth have The same coordinate system is used to obtain the navigation path corresponding to the operation after coordinate transformation.

Step 108: Determine the relative position relationship between the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.

Among them, the relative position relationship includes the relative deviation between the two. After the above steps, the coordinate data of the surgical instrument, the CBCT oral image data that has been planned for the surgical path, and the reference image coordinate data of the tooth have the same coordinate system. Therefore, by obtaining the doctor’s information when moving the surgical instrument during surgery The current coordinate data of the surgical instrument determines the relative deviation value of the navigation path corresponding to the surgical instrument and the operation, so as to guide the doctor to complete the corresponding operation through the navigation path and the relative deviation value.

The above-mentioned apical surgical navigation method uses surgical path planning and image registration in the CBCT oral image data, and calibrates the coordinate data of the surgical instrument according to the reference image coordinate data of the affected tooth, so that the coordinate data of the surgical instrument is The CBCT oral image data for surgical path planning and the reference image coordinate data of the tooth have the same coordinate system, and then the relative position relationship between the surgical instrument and the navigation path corresponding to the operation is determined according to the coordinate data of the surgical instrument, and the relative position is passed The relationship guides the doctor to complete the corresponding operation and realize the precise positioning of the operation.

In one embodiment, as shown in FIG. 2, the coordinate transformation of the CBCT oral image data using image registration according to the reference image coordinate data of the affected tooth specifically includes the following steps:

Step 202: Extract feature points in the CBCT oral image data that match the reference image coordinate data of the tooth.

Specifically, the CBCT oral image data and the reference image coordinate data of the tooth can be divided into characteristic regions (including pixels, lines, or regions), and the matching features in the two image data can be obtained through mathematical calculations. point. For example, the mathematical calculation method may use the least squares matching algorithm and the global matching relaxation algorithm, which are not limited in this embodiment.

Step 204: Determine the spatial coordinate transformation parameter between the CBCT oral image data and the reference image coordinate data of the tooth according to the matched feature points.

Specifically, in this embodiment, the CBCT oral image data can be spatially transformed and gray-scale transformed according to the matched feature points, that is, the matched feature points in the CBCT oral image data can be extracted, and the matched feature points can be subjected to spatial coordinate transformation and transformation. The gray scale transformation maximizes the degree of coincidence between the transformed feature points and the matched feature points in the reference image coordinate data of the affected tooth. The specific numerical range can be determined according to the accuracy range required by the operation, which is not correct in this embodiment It is defined to determine the corresponding space coordinate transformation parameters.

Step 206: Perform spatial coordinate transformation on the CBCT oral image data through the spatial coordinate transformation parameters to obtain a navigation path corresponding to the operation after the coordinate transformation.

In this embodiment, according to the spatial coordinate transformation parameters determined in the above steps, the spatial coordinate transformation of the CBCT oral image data that has undergone surgical path planning is performed to obtain the transformed CBCT oral image data, so that the transformed CBCT oral image data It has the same coordinate system as the reference image coordinate data of the affected tooth, so that a transformed surgical navigation path corresponding to the coordinate system of the reference image coordinate data of the affected tooth is obtained.

The above embodiment uses the image registration method based on the rigid body transformation of the feature points to transform the CBCT oral image data into spatial coordinates to unify it with the reference image coordinate data of the tooth, that is, the actual position, and obtain the transformed corresponding to the operation The navigation path can guide the doctor to achieve precise positioning during the operation according to the navigation path.

In an embodiment, as shown in FIG. 3, the above-mentioned apical surgery navigation method may further include the following steps:

Step 110: Display the relative position relationship and the CBCT oral image data after coordinate transformation.

Among them, the relative position relationship includes the relative distance relationship, relative angle relationship and relative depth relationship between the two. The CBCT oral image data after coordinate transformation includes the navigation path corresponding to the operation.

In the process of calibrating the surgical instrument, the essence of the surgical instrument is a line segment, and the tip of the surgical instrument corresponds to the coordinates of the tip point of the line segment. Therefore, in this embodiment, the relative distance between the surgical instrument and the navigation path corresponding to the operation can be determined according to the shortest distance from the coordinate point corresponding to the tip of the surgical instrument to the navigation path corresponding to the operation, that is, by calculating the point-to-point distance Get the shortest distance from the distance, determine the shortest distance as the relative distance between the two, and display the relative distance. Through the shortest distance, you can clearly know whether the surgical instrument moves along the established navigation path. The larger the distance, the more the surgical instrument deviates from the navigation path. When the distance is zero, the surgical instrument is in accordance with the established navigation. The path moves.

Determine the relative angle of the surgical instrument and the navigation path corresponding to the operation according to the angle between the tip axis of the surgical instrument and the navigation path corresponding to the operation, that is, determine the angle of the calibration space line (the tip axis of the surgical instrument and the navigation path corresponding to the operation) The angle between the two is the relative angle between the two, and the relative angle is displayed. Through the relative angle, it can be clearly known whether the surgical instrument moves along the direction of the established navigation path. The larger the relative angle, the more the surgical instrument deviates from the navigation path. When the relative angle decreases, the surgical instrument It is to move in the direction of the established navigation path.

The relative depth between the surgical instrument and the navigation path corresponding to the operation can also be determined from the coordinate point corresponding to the tip of the surgical instrument to the end point of the navigation path corresponding to the operation, that is, the relative depth between the two can be obtained by calculating the distance between the point and the point. And display the relative depth. The relative depth can clearly know whether the surgical instrument has reached the end of the established navigation path. The greater the absolute value of the relative depth, the farther the surgical instrument deviates from the end of the navigation path. When the relative depth is zero, it means The surgical instrument has reached the end of the established navigation path and the operation is completed.

The above embodiment displays the relative position relationship between the surgical instrument and the navigation path and the CBCT oral image data after coordinate transformation, so that the doctor can understand the position of the surgical instrument relative to the patient's anatomical structure at a glance, and will not see clearly or see the treatment The entire process is visualized and quantified to achieve rapid and accurate positioning during apical surgery. Because the entire process is controllable, the operation is safer.

Since the apical surgery is divided into three stages: bone removal and fenestration, apical resection, and apex preparation, the navigation method of the apical surgery in this application will be further explained through different stages of apical surgery.

Specifically, as shown in Fig. 4, taking bone removal and window opening in apical surgery as an example, the navigation method may specifically include the following steps:

Step 402: Select the apical foramen for bone removal and fenestration in the CBCT oral image data.

Specifically, the bone removal and fenestration surgery process is designed in the CBCT oral image data. In this embodiment, as shown in Figure 5, first select the root of the tooth that needs apical surgery on the CBCT oral image data. The deepest point (that is, the apical foramen), which is the basis for generating the subsequent surgical path.

Step 404: Determine that the labial, buccal, jaw, or lingual side perpendicular to the approximate straight line of the apical foramen axis is the starting point of the fenestration operation, and the apical foramen is the end point of the fenestration operation.

Among them, the approximate straight line can be determined according to the axis of the apical hole and using a linear approximation method. According to the position of the apical foramen selected above, it is determined that the labial, buccal, jaw, or lingual side corresponding to the apical foramen is the area that needs to be windowed, and the area that needs to be windowed should be perpendicular to the root. The axis of the sharp hole is approximately straight, and the section of this area is as parallel as possible to the bone plane of the tooth. The corresponding areas on the labial, buccal, jaw or lingual sides that meet the requirements are determined as the starting point of the bone removal and fenestration surgery. The location corresponding to the apical foramen is the end point of the fenestration surgery.

In step 406, the path of the bone removal fenestration operation is generated according to the start point and the end point.

According to the above starting point and ending point, the path of bone removal fenestration operation is generated in the CBCT oral image data.

Step 408: Obtain the reference image coordinate data of the tooth and calibrate the coordinate data of the surgical instrument.

Step 410: Use image registration to perform coordinate transformation on the CBCT oral image data for which the bone removal fenestration surgery path has been generated according to the reference image coordinate data of the affected tooth, so as to obtain a navigation path corresponding to the bone removal fenestration surgery after the coordinate conversion.

For details, refer to the method shown in FIG. 2 to complete the image registration, which will not be repeated here.

Step 412: Determine the relative position relationship between the surgical instrument and the navigation path corresponding to the bone removal fenestration operation according to the coordinate data of the surgical instrument.

The relative position relationship includes the relative distance, relative angle, and relative depth between the surgical instrument and the navigation path corresponding to the bone removal fenestration operation.

Step 414: Display the relative position relationship and the CBCT oral image data after coordinate transformation.

The specific display is shown in Figure 6, that is, through image registration and calibration, the position of the real surgical instrument is virtualized in the CBCT image, and the quantitative reference value of the relative position is used to guide the doctor to perform the bone removal and fenestration operation, and because of its display The accuracy is millimeter level, and the error can be controlled within 0.1 millimeter level. Therefore, higher surgical accuracy requirements can be achieved.

In one embodiment, as shown in Fig. 7, taking the apexectomy in apical surgery as an example, the navigation method may specifically include the following steps:

Step 702: Select an apical hole for apical resection in the CBCT oral image data.

Specifically, the apical surgery process is designed in the CBCT oral image data. In this embodiment, as shown in Figure 8, first select the deepest root of the tooth that needs apical surgery on the CBCT oral image data. Point (that is, at the apical foramen), use this point as the starting point to generate the subsequent surgical path.

Step 704: Determine the first preset distance from the coronal direction of the apical foramen as the end point of the apical resection operation.

According to the position of the apical foramen selected above, as the first point in Figure 9, the first preset distance along the coronal direction of the apical foramen from the first point is determined as the second point, and the second point The point is the end point, and the apical hole is the starting point of the apical resection. Specifically, because this application can accurately locate each position point in the CBCT oral image data, and the ideal apical resection amount in apical resection surgery is 3mm, that is, by resecting a 3mm apex, the resection of the apex can be achieved 90% of the bifurcation, so as to achieve the best apexectomy effect. Therefore, the first preset distance in this embodiment may be 3 mm, that is, the second point is determined to be 3 mm along the coronal direction of the apical hole, so as to achieve the best apexectomy effect.

In step 706, the path of the resection plane in the apexectomy operation is generated according to the start point and the end point.

Among them, the resection plane is perpendicular to the approximate straight line of the apical hole axis, and the second point is both the end point of the apical resection path and the direction of the resection plane to remove the apex. According to the above starting point and end point, the apex is generated in the CBCT oral image data The path of the resection plane during the resection operation. That is, the cutting plane cuts the root tip along the path from the start point to the end point.

Step 708: Obtain the reference image coordinate data of the tooth and calibrate the coordinate data of the surgical instrument.

Step 710: Use image registration to perform coordinate transformation on the CBCT oral image data for which the apical resection surgery path has been generated according to the reference image coordinate data of the affected tooth to obtain a navigation path corresponding to the apexectomy surgery after the coordinate transformation.

Step 712: Determine the relative position relationship between the surgical instrument and the navigation path corresponding to the apexectomy operation according to the coordinate data of the surgical instrument.

Among them, the relative position relationship includes the relative distance, relative angle, and relative depth between the surgical instrument and the navigation path corresponding to the apexectomy.

Step 714: Display the relative position relationship and the CBCT oral image data after coordinate transformation.

The specific display is shown in Figure 10, that is, through image registration and calibration, the position of the real surgical instrument is virtualized in the CBCT image, and the quantitative reference value of the position is used to guide the doctor to perform the apexectomy, and the display accuracy is millimeters The error can be controlled at 0.1 mm level, so higher surgical accuracy requirements can be achieved.

In one embodiment, as shown in FIG. 11, taking the preparation of apex in apical surgery as an example, the navigation method may specifically include the following steps:

In step 1102, the center point of the root canal on the plane after the apexectomy is selected as the starting point.

Specifically, in the CBCT oral image data, the apical resection procedure is designed. In this embodiment, as shown in Figure 12, the root canal at the plane after the apical resection is first selected on the CBCT oral image data. The center point is the center point of the above-mentioned resection plane, and the center point is determined as the starting point of the apical operation.

In step 1104, the start point is a second preset distance along the coronal direction of the root canal axis as the end point.

The third point is determined using the same method as in Figure 9 for finding the second point, that is, the second preset distance along the coronal direction of the root canal axis from the starting point is determined as the third point, and the third point determines the root apex The direction of preparation is also the end point of apical inversion surgery. Wherein, the second preset distance in this embodiment may be 3 mm, that is, the third point is determined to be 3 mm from the starting point in the coronal direction of the root canal axis, so as to achieve the best apex preparation effect.

Step 1106: Generate a hole-shaped path for the apical operation based on the start point and the end point.

According to the above-mentioned starting point and ending point, a hole-shaped path for apical reversal surgery is generated in the CBCT oral image data. The axis of the generated hole is an approximate straight line of the root canal axis, and the approximate straight line of the root canal axis can be combined with the root canal axis. It is determined by a linear approximation method, which is not limited in this embodiment.

Step 1108: Obtain the reference image coordinate data of the tooth and calibrate the coordinate data of the surgical instrument.

Step 1110: Use image registration to perform coordinate transformation on the CBCT oral image data for which the apical preparation surgery path has been generated according to the reference image coordinate data of the affected tooth, to obtain the navigation path corresponding to the apical preparation surgery after the coordinate transformation.

Step 1112: Determine the relative positional relationship between the surgical instrument and the navigation path corresponding to the apical operation based on the coordinate data of the surgical instrument.

Among them, the relative position relationship includes the relative distance, relative angle, and relative depth between the surgical instrument and the navigation path corresponding to the apical operation.

Step 1114: Display the relative position relationship and the CBCT oral image data after coordinate transformation.

The specific display is shown in Figure 13, that is, through image registration and calibration, the position of the real surgical instrument is virtualized in the CBCT image, and the quantitative reference value of the position is used to guide the doctor to perform apical preparatory surgery, and because the display accuracy is Millimeter level, the error can be controlled at 0.1 millimeter level, therefore, higher surgical accuracy requirements can be achieved.

It should be understood that although the various steps in the flowcharts of FIGS. 1-13 are displayed in sequence as indicated by the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless specifically 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 Figures 1-13 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. These sub-steps or stages The execution order of is not necessarily performed sequentially, but may be performed alternately 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. 14, a navigation device for apical surgery is provided, including:

The surgical path planning module 1401 is used to perform surgical path planning in the CBCT oral image data to generate a path corresponding to the operation;

The data acquisition module 1402 is used to acquire reference image coordinate data of the tooth and calibrate the coordinate data of the surgical instrument;

The coordinate transformation module 1403 is used to perform coordinate transformation on the CBCT oral image data of the generated path corresponding to the operation using image registration according to the reference image coordinate data of the affected tooth, so as to obtain the navigation path corresponding to the operation after the coordinate conversion;

The navigation module 1404 is used to determine the relative position relationship between the surgical instrument and the navigation path corresponding to the operation according to the coordinate data of the surgical instrument.

In one embodiment, it further includes a display module for displaying the relative position relationship and the CBCT oral image data after coordinate transformation, wherein the CBCT oral image data after coordinate transformation includes the navigation path corresponding to the operation.

In one embodiment, the surgical path planning module 1401 is specifically used to select the apical foramen for bone removal and fenestration in the CBCT oral image data; determine the labial and buccal sides that are approximately perpendicular to the axis of the apical foramen The jaw side or the lingual side is the starting point of the fenestration surgery, and the apical foramen is the end point of the fenestration surgery; the path of the fenestration surgery is generated according to the starting point and the end point.

In one embodiment, the surgical path planning module 1401 is specifically used to select the apical foramen for apical resection in the CBCT oral image data, with the apical foramen as the starting point; determine the first prediction of the coronal direction of the apical foramen Set the distance as the end point of the apical resection operation; generate the path of the resection plane in the apexectomy operation according to the starting point and the end point, where the resection plane is perpendicular to the approximate straight line of the apical hole axis.

In one embodiment, the surgical path planning module 1401 is specifically configured to select the root canal center point on the plane after apexectomy as the starting point; take the starting point at the second preset distance along the coronal axis of the root canal as the end point; The starting point and the ending point generate a hole-shaped path for apical reversal surgery, where the axis of the hole is an approximate straight line of the root canal axis.

In an embodiment, the coordinate transformation module 1403 is specifically configured to extract feature points in the CBCT oral image data that match the reference image coordinate data of the affected tooth; determine the CBCT oral image data and the reference image coordinate of the affected tooth according to the matched feature points Spatial coordinate transformation parameters between data; the CBCT oral image data is transformed into spatial coordinates through the spatial coordinate transformation parameters to obtain the navigation path corresponding to the operation after the coordinate transformation.

In one embodiment, the position relationship includes distance, angle, and depth; the navigation module 1404 is specifically configured to determine the relative distance between the surgical instrument and the navigation path corresponding to the operation according to the shortest distance from the tip coordinate point of the surgical instrument to the navigation path corresponding to the operation Distance; Determine the relative angle of the surgical instrument and the navigation path corresponding to the operation according to the angle between the tip axis of the surgical instrument and the navigation path corresponding to the operation; Determine the surgical instrument and the end point of the navigation path corresponding to the operation according to the tip coordinate point of the surgical instrument The relative depth of the navigation path corresponding to the operation.

For the specific definition of the navigation device for apical surgery, please refer to the above definition of the navigation method for apical surgery, which will not be repeated here. The various modules in the navigation device for apical surgery can be implemented in whole or in part by software, hardware and a combination thereof. The foregoing modules may be embedded in the form of hardware or independent of the processor in the computer device, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the foregoing modules.

In one embodiment, an electronic device is provided. The electronic device may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices. The internal structure diagram can be shown in Figure 15. The electronic equipment includes a processor, a memory, a network interface, a display screen, an input device and a database connected through a system bus. Among them, the processor of the electronic device is used to provide calculation and control capabilities. The memory of the electronic 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 electronic device is used to store image data required for apical surgery. The network interface of the electronic device is used to communicate with an external terminal through a network connection. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covered on the display screen, or a button, trackball or touch pad set on the housing of the electronic device , It can also be an external keyboard, touchpad, or mouse. The computer program is executed by the processor to realize a navigation method for apical surgery.

Those skilled in the art can understand that the structure shown in FIG. 15 is only a block diagram of part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.

In one embodiment, an electronic device is provided, including a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program:

In one embodiment, performing surgical path planning in the CBCT oral image data to generate a path corresponding to the operation includes: selecting the apical foramen for bone removal and fenestration in the CBCT oral image data; The lip, buccal, jaw or lingual side of the axis of the hole, which is approximately straight and perpendicular, is the starting point of the fenestration operation, and the apical hole is the end point of the fenestration operation; the fenestration operation is generated according to the starting point and end point route of.

In one embodiment, performing surgical path planning in the CBCT oral image data to generate a path corresponding to the operation includes: selecting the apical foramen for apical resection in the CBCT oral image data, and taking the apical foramen as Starting point; the first preset distance from the coronal direction of the apical foramen is determined as the end point of the apical resection; the path of the resection plane in the apical resection is generated according to the starting point and the end point, where the resection plane and the axis of the apical foramen are approximately straight vertical.

In one embodiment, performing surgical path planning in CBCT oral image data to generate a path corresponding to the operation includes: selecting the root canal center point on the plane after apexectomy as the starting point; taking the starting point along the root canal axis The second preset distance from the coronal direction is the end point; according to the starting point and the end point, a hole-shaped path for apical reversal surgery is generated, wherein the axis of the hole is an approximate straight line of the root canal axis.

In one embodiment, using image registration to perform coordinate transformation on the CBCT oral image data according to the reference image coordinate data of the affected tooth includes: extracting feature points in the CBCT oral image data that match the reference image coordinate data of the affected tooth; The feature points determine the spatial coordinate transformation parameters between the CBCT oral image data and the reference image coordinate data of the tooth; the spatial coordinate transformation is performed on the CBCT oral image data through the spatial coordinate transformation parameters to obtain the navigation path corresponding to the operation after the coordinate transformation .

In one embodiment, the positional relationship includes distance, angle, and depth; the relative positional relationship between the surgical instrument and the navigation path corresponding to the operation is determined according to the coordinate data of the surgical instrument, including: the navigation corresponding to the operation according to the tip coordinate point of the surgical instrument The shortest distance of the path determines the relative distance between the surgical instrument and the navigation path corresponding to the operation; the relative angle between the surgical instrument and the navigation path corresponding to the operation is determined according to the angle between the tip axis of the surgical instrument and the navigation path corresponding to the operation; The tip coordinate point to the end point of the navigation path corresponding to the operation determines the relative depth of the surgical instrument and the navigation path corresponding to the operation.

In one embodiment, after determining the relative position relationship between the surgical instrument and the navigation path corresponding to the operation based on the coordinate data of the surgical instrument, the method further includes: displaying the relative position relationship and the CBCT oral image data after coordinate transformation, wherein the coordinate transformation is performed The CBCT oral image data includes the navigation path corresponding to the operation.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage. In the medium, when the computer program is executed, it may include the procedures of the above-mentioned method embodiments. Wherein, any reference to 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 may include random access memory (RAM) or external cache memory. As an illustration and not a 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 Channel (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 combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, they should It is considered as the range described in this specification.

The above-mentioned embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent of this application shall be subject to the appended claims.

Claims

A navigation method for apical surgery, characterized in that the method comprises:

Performing surgical path planning in the CBCT oral image data to generate a path corresponding to the operation;

Obtain the reference image coordinate data of the affected tooth and calibrate the coordinate data of the surgical instrument;

Use image registration to perform coordinate transformation on the CBCT oral image data of the path corresponding to the operation according to the reference image coordinate data of the affected tooth, so as to obtain the navigation path corresponding to the operation after the coordinate transformation;

The relative position relationship between the surgical instrument and the navigation path corresponding to the operation is determined according to the coordinate data of the surgical instrument.
The navigation method for apical surgery according to claim 1, wherein after determining the relative position relationship between the surgical instrument and the navigation path corresponding to the surgery according to the coordinate data of the surgical instrument, the method further comprises :

The relative position relationship and the CBCT oral image data after coordinate transformation are displayed, and the CBCT oral image data after coordinate transformation includes a navigation path corresponding to the operation.
The navigation method for apical surgery according to claim 1, characterized in that said performing surgical path planning in CBCT oral image data to generate a path corresponding to said operation comprises:

Selecting the apical foramen for bone removal and fenestration in the CBCT oral image data;

Determine that the labial, buccal, jaw, or lingual side perpendicular to the approximate straight line of the apical foramen axis is the starting point of the bone removal and fenestration surgery, and the apical foramen is the bone removal and fenestration operation end;

The path of the bone removal fenestration operation is generated according to the start point and the end point.
The navigation method for apical surgery according to claim 1, characterized in that said performing surgical path planning in CBCT oral image data to generate a path corresponding to said operation comprises:

Selecting the apical foramen for apical resection in the CBCT oral image data, taking the apical foramen as a starting point;

Determining that the first predetermined distance from the coronal direction of the apical foramen is the end point of the apical resection;

The path of the resection plane in the apical resection operation is generated according to the start point and the end point, and the resection plane is perpendicular to the approximate straight line of the apical hole axis.
The navigation method for apical surgery according to claim 1, characterized in that said performing surgical path planning in CBCT oral image data to generate a path corresponding to said operation comprises:

Select the root canal center point on the plane after apexectomy as the starting point;

Taking a second preset distance from the starting point along the coronal direction of the root canal axis as the ending point;

According to the starting point and the ending point, a hole-shaped path for the pre-apical operation is generated, and the axis of the hole is an approximate straight line of the axis of the root canal.
The navigation method for apical surgery according to claim 1, wherein the coordinate transformation of the CBCT oral image data by image registration according to the reference image coordinate data of the affected tooth comprises:

Extracting feature points in the CBCT oral image data that match the reference image coordinate data of the affected tooth;

Determining the spatial coordinate transformation parameter between the CBCT oral image data and the reference image coordinate data of the affected tooth according to the matched feature points;

Performing a spatial coordinate transformation on the CBCT oral image data through the spatial coordinate transformation parameter to obtain a navigation path corresponding to the operation after the coordinate transformation.
The navigation method for apical surgery according to claim 1, wherein the positional relationship includes distance, angle, and depth; and it is determined that the surgical instrument corresponds to the surgery according to the coordinate data of the surgical instrument The relative position relationship of the navigation path includes:

Determining the relative distance between the surgical instrument and the navigation path corresponding to the operation according to the shortest distance from the tip coordinate point of the surgical instrument to the navigation path corresponding to the operation;

Determining the relative angle between the surgical instrument and the navigation path corresponding to the operation according to the angle between the tip axis of the surgical instrument and the navigation path corresponding to the operation;

The relative depth between the surgical instrument and the navigation path corresponding to the operation is determined according to the tip coordinate point of the surgical instrument to the end point of the navigation path corresponding to the operation.
A navigation device for apical surgery, characterized in that the device comprises:

The surgical path planning module is used to perform surgical path planning in the CBCT oral image data to generate a path corresponding to the operation;

The data acquisition module is used to acquire the reference image coordinate data of the tooth and the coordinate data of the surgical instrument;

The coordinate transformation module is used to perform coordinate transformation on the CBCT oral image data that has generated the path corresponding to the operation by using image registration according to the reference image coordinate data of the affected tooth to obtain the navigation path corresponding to the operation after the coordinate transformation ；

The navigation module is used to determine the relative position relationship between the surgical instrument and the navigation path corresponding to the surgery according to the coordinate data of the surgical instrument.
An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when the computer program is executed by the processor.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any one of claims 1 to 7 when the computer program is executed by a processor.