WO2021074475A1 - Système pour la localisation automatique d'un module en position, orientation et rotation à partir d'un tomodensitogramme - Google Patents

Système pour la localisation automatique d'un module en position, orientation et rotation à partir d'un tomodensitogramme Download PDF

Info

Publication number
WO2021074475A1
WO2021074475A1 PCT/ES2020/070633 ES2020070633W WO2021074475A1 WO 2021074475 A1 WO2021074475 A1 WO 2021074475A1 ES 2020070633 W ES2020070633 W ES 2020070633W WO 2021074475 A1 WO2021074475 A1 WO 2021074475A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
hole
cavity
rotation
orientation
Prior art date
Application number
PCT/ES2020/070633
Other languages
English (en)
Spanish (es)
Inventor
Josep Soler Cegarra
Original Assignee
Luengo Soler, Luis
MANERO MARTÍ, Ana Mª
RICO IRIBARNE, José-Jaime
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from ES201930929A external-priority patent/ES2779503R1/es
Application filed by Luengo Soler, Luis, MANERO MARTÍ, Ana Mª, RICO IRIBARNE, José-Jaime filed Critical Luengo Soler, Luis
Publication of WO2021074475A1 publication Critical patent/WO2021074475A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computerised tomographs
    • A61B6/51—
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C13/00—Dental prostheses; Making same
    • A61C13/34—Making or working of models, e.g. preliminary castings, trial dentures; Dowel pins [4]

Definitions

  • the present invention refers to a system for the self-localization of a module in position, orientation and rotation from a computerized tomography, presenting technical characteristics that improve systems and modules of similar use existing on the market and everything that is part of the corresponding state of the art.
  • the field of the art of this invention corresponds to the treatment and / or generation of image data, in particular the analysis of said images by means of different comparative techniques.
  • the detection of objects inserted in natural or artificial physical bodies is one of the usual needs in various disciplines of knowledge and technical activities, in particular to establish the position, orientation and rotation coordinates of such objects.
  • the dental sector needs to position and securely fix the position of dental implants, made of biocompatible materials and seated by thread on the base of the bone.
  • Patent US20140377714 refers to a "scanning body to determine the position and orientation of a dental implant ", which includes” a base portion that comprises an interface, that includes a three-dimensional scan region that comprises at least four different scan areas, that includes a transition region axially between the scan of the region and the interface , in addition to including a fixation screw to fix the exploration body in the implant. "
  • Document W02007074201 develops a “Mini autonomous gamma camera that includes a localization system for intra-surgical use” that is based on “scintillation crystals and comprises an independent module, that is, all the necessary systems have been integrated together with the sensor head and no other system is required.
  • the camera can be hot-plugged to any computer using different types of interface, such as to meet medical grade specifications.
  • the camera can be self-powered, can save energy, and allows software and firmware to be updated from the Internet and images to be formed in real time.
  • Any continuous scintillation crystal-based gamma ray detector can be provided with a system to focus the scintillation light emitted by the gamma ray to improve spatial resolution.
  • Document WO2016102721 refers to a "method and system for spatial localization of a target in a three-dimensional environment that comprises at least one luminous marker comprising: - a stereo camera to capture a first image frame at a current moment and a second frame of image in a previous instant; - an angle measurement module to obtain an angle of rotation of the target and a signal processor with access to a memory for storing radii "using triangulation techniques, stereo geometry and image coordinates of the marker at the current moment and at the previous.
  • European patent EP1501051A2 refers to a "position and orientation detection method and apparatus", in which "a signal is produced indicating a change in the position of an image sensor apparatus to predict the current position and orientation of the Image sensor apparatus using previously obtained position and orientation, identifying corresponding pairs of indicators detected from an image in real space detected by the image detection apparatus and indicators contained in an image when detected from a position and orientation predicted and using a correction method determined by the number of identified indicator pairs to correct all or some of the degrees of freedom from the predicted Camera position and orientation or to use the predicted camera position and orientation directly as it is.
  • the patent AU 2008296518 develops a “system and a method for 3D measurement of the shape of material objects by means of a non-contact structured light triangulation.
  • the system includes a light projector to project a structured light pattern onto the surface of any object and a camera to capture an image of the structured light pattern acting on the surface of the object.
  • the system also includes a computer module for determining the 3D measurement of the surface shape of the illuminated object through a triangulation algorithm used based on a calculated correspondence between the projected structured light and the captured image.
  • Structured light includes encoded elements that are within planes that pass through the vertices of the central projection areas of the projector and camera, as well as that pass through the space of the object being measured.
  • Patent US9829564 which refers to a "detector for optically detecting at least one longitudinal coordinate of an object by determining a number of illuminated pixels”.
  • the aforementioned background describes various advances in techniques for locating hidden parts, using location systems either by means of light points or by calculating different three-dimensional parameters.
  • the techniques used may, in certain cases, not guarantee the accuracy of the position of the hidden part since it is nothing more than an object that itself lacks parameters that allow its location unequivocally.
  • Applicants are not aware that there is a module that is self-locating in position, orientation and rotation or of a system that allows such location from a computed tomography.
  • the object of this invention is a system for the self-localization of a module in position, orientation and rotation from a computerized tomography of any type (CT, CBCT, etc ).
  • This system comprises a physical part and a mathematical software support that works with known geometric coordinates of the physical part.
  • the physical part is specified in a module as a piece of undefined configuration characterized by being internally perforated forming a hole or cavity open at both ends, regular or irregular, said hole or cavity presenting a predetermined and known inclination and / or shape, and that allow to indicate the position, orientation and determined rotation of the part where said hole or cavity is located.
  • This hole or open cavity can be empty, forming a cavity or contain a filling material according to the needs of the module or part.
  • said hole or open cavity has a constant diameter throughout its length and is angled with respect to the vertical of the module to be located, such angulation being certain degrees depending on the needs of each module.
  • Both the angulation of the hole or cavity and the distance from the point of intersection of the vertical of the module with the center of the hole or cavity, are known vectors, as is the shape of the aforementioned hole or cavity.
  • Said angulation is oriented indicating where the flat reference face of the module is located, which indicates the rotation.
  • this self-locating module Since one of the preferred applications of this self-locating module is in the medical field and more particularly in dental practice, it works with the DICOM protocol (Digital Imaging and Communication On Medicine), suitable for the visualization, storage, printing and transmission of images and data.
  • DICOM protocol Digital Imaging and Communication On Medicine
  • the computer system is made up of two elements. The first accesses the DICOM file, filters the images by their density, showing only the module to be searched, for example a dental implant, including the entire module and with it the cavity or hole, and then proceeds to convert the image into a mesh (STL or other format).
  • the first accesses the DICOM file, filters the images by their density, showing only the module to be searched, for example a dental implant, including the entire module and with it the cavity or hole, and then proceeds to convert the image into a mesh (STL or other format).
  • the second performs a "best fit" of said mesh with a 3D model.
  • the 3D model would consist of the cavity or hole, the central axis of the implant of known distance and a scan post on the top of the implant.
  • the scanning post When performing the "best fit” the scanning post would be positioned on the implant in position, oriented along the axis and rotation due to the angulation of the cavity or hole or by determining a larger or smaller diameter as appropriate for a cavity or hole with evolutionary diameter.
  • a comparative "best fit" of the cavity or hole (21) (22) is carried out and its axis aligns with the axis (5) of the flat face to be located (3) or another known distance , with the exact known distance to the adjustment zone of the module (1), computing the exact axis of said module (1), so that, as indicated, this "best fit” is placed in position by the cavity or hole, in orientation along the axis and in rotation through the angle of said cavity or hole (21) (22).
  • the hole or cavity cannot be angled due to the characteristics and / or restrictions of the module.
  • the hole or cavity must have a shape such that it determines different diameters at different points of its structure, for example, a conical hole or cavity.
  • the hole or cavity therefore has an evolving diameter, thereby creating a sequence of different diameters between the ends and / or inside the hole or cavity, which also determines the rotation.
  • the "Best Fit” works with the same guidelines that occur when the hole or cavity is angled, that is, the objective is to distinguish the flat face of the module, which is achieved by determining which is the diameter of greater or lesser dimension as appropriate of those that may exist in the conformation of the hole or cavity. Based on all of the above, and by extension, the position of the module to be located is also achieved precisely thanks to the presence of the hole or open cavity.
  • the self-locating module can be inserted into a second hidden, artificial or natural physical body, that is, not visible, such as a surgical implant, or the second physical body can be partially or totally exposed to view, screwed into a non-buried base.
  • a dental implant that protrudes from the gum or screwed to an object that can be subjected to an industrial CT scan.
  • the hole or open cavity of the module can be filled with a material in a solid, semi-solid, pasty, liquid or gaseous state.
  • Figure 1 Schematic view of the self-locating module in position, orientation and rotation claimed in detail of the hole or interior cavity open in oblique position.
  • Figure 2. Schematic perspective view of the self-locating module with detail of the hole or interior open cavity in oblique position.
  • Figure 3 Schematic view of the self-locating module with detail of the hole or interior open cavity in a vertical and centered position.
  • Figure 4 Schematic example of the hole or open cavity angled with respect to the vertical of the module.
  • Figure.5 Schematic example of the hole or open cavity not angled and with an evolutionary sequence of diameter.
  • the object of this invention is a system for the self-localization of a module in position, orientation and rotation from a computerized tomography.
  • this module is shaped, by way of example, as a post (1) applied to dental implants.
  • the self-locating module is made of a piece (1) with an upper body (11) extended by an anchor post (12), the upper body (11) being internally perforated with a hole or cavity open at both ends. , (21) (22) with a previously known inclination and / or shape.
  • the open hole or cavity (21) is arranged in an oblique position with respect to the mentioned upper body of the part (1) while in Figure 3, the open hole or cavity (22) is located in the longitudinal with respect to the body (11) of the part (1).
  • Figures 4 and 5 show in detail the hole or cavity angled or with an evolving diameter.
  • Figure 4 shows the hole or open cavity positioned at an angle (61) with respect to the vertical of the module (1B) to be located, with a constant diameter determined throughout its length while in figure 5 the hole or cavity does not it is angled (62) with respect to the module (1B) to be located and it has an evolutionary and sequential diameter throughout its length, with notable differences in its extension.
  • Both figures show the plane to be located (3) as well as the reference module face (4) of the module for rotation and the axis (5) of the plane face to be located (3) or another known distance.
  • the inclination and / or shape of the hole are previously known and are the only geometrically recognizable part of the part, for what these data constitute the only information that will allow that, by means of a computerized tomography of any type (CT, CBCT, etc 7), compiling the geometric data that identify the orifice or open cavity described and using such data for the reconstruction tomography of the same based on a mathematical algorithm of computer-processed software, the position, orientation and rotation of the aforementioned piece are determined.
  • CT computerized tomography of any type
  • the module or part that is, the predetermined and known inclination and / or shape of its inner hole, which make said module a self-locating body by means of the system. described.
  • locating the module or part inserted in an artificial or natural physical body is much more complex and does not guarantee satisfactory results.
  • the angled position or not of the hole or open cavity with respect to the vertical of the module allow a better location of the same through the mesh pattern generated by the computerized repositioning system or "best fit", with greater speed and consequent cost reduction in the process, achieving a highly decisive image.

Abstract

L'objet de la présente invention concerne un système pour la localisation automatique d'un module en position, orientation et rotation à partir d'un tomodensitogramme qui comprend une partie physique et un support de logiciel mathématique qui travaille avec des coordonnées géométriques connues de la partie physique, laquelle partie physique est un module ou une pièce (1) à configuration non définie et perforée à l'intérieur formant un orifice ou une cavité ouverte régulière ou irrégulière (21) (22), lequel orifice ou laquelle cavité (21) (22) présentant une forme géométrique et/ou une inclinaison prédéterminées et connues, un logiciel mathématique participant à la localisation automatique de la pièce (1), ce logiciel mathématique étant mis en oeuvre dans un système informatique de repositionnement ou "meilleur ajustement" d'un modèle de points correspondant à l'inclinaison et/ou la forme, à l'orifice ou la cavité ouverte (21) (22), ce qui permet audit orifice ou à ladite cavité (21) (22) d'être visible, localisant et positionnant ledit module ou pièce (1), ainsi que son orientation et rotation.
PCT/ES2020/070633 2019-10-19 2020-10-19 Système pour la localisation automatique d'un module en position, orientation et rotation à partir d'un tomodensitogramme WO2021074475A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
ES201930929A ES2779503R1 (es) 2019-10-19 2019-10-19 Sistema para la autolocalizacion de un modulo en posicion, orientacion y rotacion a partir de una tomografia computerizada
ESP201930929 2019-10-19
ES202032251 2020-10-19
ESU202032251 2020-10-19

Publications (1)

Publication Number Publication Date
WO2021074475A1 true WO2021074475A1 (fr) 2021-04-22

Family

ID=75538613

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2020/070633 WO2021074475A1 (fr) 2019-10-19 2020-10-19 Système pour la localisation automatique d'un module en position, orientation et rotation à partir d'un tomodensitogramme

Country Status (1)

Country Link
WO (1) WO2021074475A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005084576A1 (fr) * 2004-02-25 2005-09-15 De Clerck Rene Procede et element de marquage pour determination de la position d'un implant dentaire
US20150230895A1 (en) * 2014-02-18 2015-08-20 Josep Soler Cegarra Post for modelling dental implants by means of a radiologic test
US20160015488A1 (en) * 2013-02-20 2016-01-21 Gc Europe Precalibrated dental implant aid
US20160128796A1 (en) * 2013-05-31 2016-05-12 Josep Soler Cegarra Dental implant
US20170112598A1 (en) * 2015-10-21 2017-04-27 Biomet 31, Llc Attachment members with internally located radiopaque information markers for ct scan

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005084576A1 (fr) * 2004-02-25 2005-09-15 De Clerck Rene Procede et element de marquage pour determination de la position d'un implant dentaire
US20160015488A1 (en) * 2013-02-20 2016-01-21 Gc Europe Precalibrated dental implant aid
US20160128796A1 (en) * 2013-05-31 2016-05-12 Josep Soler Cegarra Dental implant
US20150230895A1 (en) * 2014-02-18 2015-08-20 Josep Soler Cegarra Post for modelling dental implants by means of a radiologic test
US20170112598A1 (en) * 2015-10-21 2017-04-27 Biomet 31, Llc Attachment members with internally located radiopaque information markers for ct scan

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
"Dental implants", WIKIPEDIA, 13 March 2018 (2018-03-13), Retrieved from the Internet <URL:https://web.archive.org/web/20180313235820/https://en.wikipedia.org/wiki/Dentalimplant> [retrieved on 20210123] *
ANONYMOUS: "Computer representation of surfaces", WIKIPEDIA, 21 July 2017 (2017-07-21), pages 1 - 5, XP055816020, Retrieved from the Internet <URL:https://web.archive.org/web/20170721165143/https://en.wikipedia.org/wiki/Computer_representation_of_surfaces> [retrieved on 20210121] *
ANONYMOUS: "Create accurate 3D models using medical imagining processing software", MATERIALISE MIMICS, 13 August 2019 (2019-08-13), pages 1 - 12, XP055816018, Retrieved from the Internet <URL:https;//web.archive.org/web/20190813214815/https://www.materialise.com/en/medical/software/mimics> [retrieved on 20210123] *
ANONYMOUS: "Finite element method", WIKIPEDIA, 20 August 2018 (2018-08-20), XP055816025, Retrieved from the Internet <URL:https://web.archive.org/web/20180820073217/https://en.wikipedia.org/wiki/Finite_element_method> [retrieved on 20210123] *
SURAPANENI HEMCHAND, YALAMANCHILI PALLAVISAMATHA, YALAVARTHY RAVISHANKAR, RESHMARANI ARUNIMAPADMAKUMAR: "Role of computed tomography imaging in dental implantology: An overview", JOURNAL OF ORAL AND MAXILLOFACIAL RADIOLOGY, vol. 1, no. 2, 31 May 2013 (2013-05-31), pages 43 - 47, XP055816009 *

Similar Documents

Publication Publication Date Title
JP4662514B2 (ja) ３ｄボリュウムデータレコード内のマークの座標を求める方法
US7372935B2 (en) Method for minimizing image artifacts and medical imaging system
US6206566B1 (en) X-ray apparatus for producing a 3D image from a set of 2D projections
ES2872345T3 (es) Sistema para determinar la posición de objetos en una sala de irradiación para radioterapia
US9443302B2 (en) Method and system for roentgenography-based modeling
CN106999247A (zh) 用于执行导航外科手术过程的跟踪标记支承结构以及采用其的表面配准方法
US10219774B2 (en) Quality control phantom
CN103096804A (zh) X射线断层像摄影装置
US10143533B2 (en) Blood vessel sizing device
US9662085B2 (en) Method and system for controlling computer tomography imaging
US10314519B2 (en) Blood vessel sizing device
JP2004508086A (ja) 視覚化可能なビーム角度調節付きｘ線イメージング・システム
ES2898936T3 (es) Procedimiento de imagen radiográfica, dispositivo de procesamiento de imagen radiográfica y dispositivo de imagen radiográfica
US20190231284A1 (en) Portable bite part for determining an imaging area of a patient in panoramic, computed tomography, or cephalometric x-ray imaging
KR20220159359A (ko) 증강 현실 디스플레이들에서의 의료 이미지들의 정렬
WO2021074475A1 (fr) Système pour la localisation automatique d&#39;un module en position, orientation et rotation à partir d&#39;un tomodensitogramme
JP5100907B1 (ja) Ｘ線撮影装置、ｘ線撮影を行う際の頭部傾き測定方法、ｘ線撮影装置用スタンド、ｘ線撮影装置用椅子および頭部傾き設定装置
US20190231285A1 (en) Portable bite part for correcting a motion of an object in panoramic, computed tomography, or cephalometric x-ray imaging
Coward et al. Identifying the position of an ear from a laser scan: The significance for planning rehabilitation
ES2779503A2 (es) Sistema para la autolocalizacion de un modulo en posicion, orientacion y rotacion a partir de una tomografia computerizada
JP2014138692A (ja) Ｘ線撮影装置、ｘ線撮影を行う際の頭部傾き測定方法、ｘ線撮影装置用スタンドおよびｘ線撮影装置用椅子
CN113520593A (zh) 用于确定一个或多个成像标记物在图像坐标系中的位置的技术
CA3129081A1 (fr) Dispositif et procede de synchronisation pour la determination d&#39;un instant du cycle respiratoire d&#39;un patient, et ensemble comportant un robot medical
US11419523B2 (en) Blood vessel sizing device and method for sizing blood vessel
JP2005111115A (ja) 立体マーカ、これを用いた被験体の向き位置測定方法及び装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20876550

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20876550

Country of ref document: EP

Kind code of ref document: A1