WO2024019287A1

WO2024019287A1 - Method and system for comparing implant insertion positions

Info

Publication number: WO2024019287A1
Application number: PCT/KR2023/006257
Authority: WO
Inventors: 김종문
Original assignee: 오스템임플란트 주식회사
Priority date: 2022-07-19
Filing date: 2023-05-09
Publication date: 2024-01-25
Also published as: KR20240011924A

Abstract

The present disclosure provides a method and a system for comparing implant insertion positions. The method for comparing implant insert positions, according to the present disclosure, may comprise the steps of: acquiring scan data on the upper and lower jaws of a patient before surgery and a first three-dimensional image of the upper and lower jaws of the patient before surgery; generating a design image by performing first matching of the scan data and the first three-dimensional image; calculating a first matching rate at a feature point of the upper and lower jaws of the patient according to the execution result of the first matching; and using the first matching rate so as to perform second matching between the design image and a second three-dimensional image of the upper and lower jaws of the patient after surgery.

Description

Implant placement location comparison method and system

The present disclosure relates to a method and system for comparing implant placement positions. More specifically, it relates to a method and system for comparing the implant position planned before implant surgery and the implant position after surgery based on scan data obtained before surgery.

When performing dental implant surgery, software is provided to create a surgical plan prior to surgery.

The process of establishing an implant surgery plan through software involves the dental surgery performer acquiring the patient's three-dimensional image and oral scan data, matching them, and considering the patient's anatomical structure to determine the implant structure (e.g., crown, implant, abutment, It consists of the process of establishing a surgical plan to determine the location of the anchor pin, etc., and the process of designing the shape of the guide template for implant surgery based on the plan information.

However, errors may occur in the process of acquiring the patient's oral scan data or in the process of printing the designed guide template through a 3D printer or milling machine.

In order to review implant surgery errors due to such errors, it is required to provide a function that compares the three-dimensional implant position designed before surgery with the position of the three-dimensional implant actually placed after surgery. However, existing dental software does not allow this. This function is not provided.

The technical task to be achieved through some embodiments of the present disclosure is to provide the user with a method to review factors that caused errors in surgery in the future by accurately comparing the implant position designed before surgery and the implant position actually placed after surgery. will be.

Another technical task to be achieved through some embodiments of the present disclosure is to provide a new and useful method that can serve as a standard when matching stereoscopic images obtained from patients before surgery and stereoscopic images obtained after surgery.

Another technical task to be achieved through some embodiments of the present disclosure is the proximity to the bone border without considering complex factors such as the installation angle and upper center position difference between the implant designed before surgery and the implant actually installed after surgery. It provides a way to calculate distance.

Another technical task to be achieved through some embodiments of the present disclosure is to provide a method of accurately calculating the distance between the outermost point of the installed implant and the bone margin.

Another technical task to be achieved through some embodiments of the present disclosure is to perform implant surgery using pre-surgical three-dimensional images and pre-surgical oral scan data in the process of designing a guide template for implant surgery without performing new work. It provides a way to evaluate results.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

The method for comparing implant placement positions according to an embodiment of the present disclosure to solve the above-described technical problem includes obtaining scan data for the upper and lower jaw of a patient before surgery and a first stereoscopic image of the upper and lower jaw before surgery. and calculating a first registration rate at the characteristic point of the upper and lower jaw of the patient according to the results of the first registration performance, and using the first registration rate to create a design image and a second registration rate for the upper and lower jaw of the patient after surgery. It may include performing a second registration of the stereoscopic image.

In one embodiment, performing the second registration may include performing the second registration so that the second registration rate at the feature point of the first stereoscopic image and the second stereoscopic image is equal to the first matching rate. It may include steps to be performed.

In one embodiment, the feature point may include a plurality of points defined by user input.

In one embodiment, the plurality of points defined by the user input may include a specific point on the central incisor, a specific point on the left first molar, and a specific point on the right first molar.

In one embodiment, the step of calculating the first registration rate at the characteristic point of the upper and lower jaw of the patient according to the first registration performance result includes registration rate information at each location indicating the first registration performance result in the design image. It may include the step of overlaying and displaying the first matching ratio information on the design image and determining a user-specified position on the displayed image as one of the plurality of points.

In one embodiment, the characteristic point may include a plurality of preset points, wherein the plurality of points include an incisal margin point of a cross section parallel to the mesiodistal axis of the central incisor, the first left It may include one or more points among the cusp and fovea or groove area or fovea point in a cross section parallel to the mesiodistal axis of the molar.

In one embodiment, when the central incisor is a missing tooth, the plurality of points include an incisal edge point of a cross section parallel to the mesiodistal axis of an adjacent tooth of the central incisor,

In one embodiment, when the left first molar is a missing tooth, the plurality of points may include a cusp and a groove or groove portion of a cross-section parallel to the mesiodistal axis of the adjacent tooth of the left first molar, and the right When the first molar is a missing tooth, the plurality of points may include a cusp and a groove or groove portion of a cross section parallel to the mesiodistal axis of the adjacent tooth of the right first molar.

In one embodiment, the feature point includes a plurality of preset points, wherein the plurality of points is a first point determined based on the curvature of the outline of the cross section of the central incisor, and the curvature of the outline of the cross section of the left first molar. It may include a second point determined and a third point determined based on the curvature of the outline of the cross section of the right first molar.

A method for comparing implant placement positions according to another embodiment of the present disclosure to solve the above-described technical problem includes identifying a bone margin in a three-dimensional image of a patient, and determining the distance between the upper center point of the virtual implant and the bone margin. Calculating a first center distance, calculating a second center distance between the upper center point of the actually installed implant and the bone boundary, and based on the first center distance, an outermost point of the virtual implant and calculating a first boundary distance between the bone boundaries, and separately calculating a second boundary distance between the bone boundary and an outermost point of the actually installed implant based on the second center distance; It may include providing a warning to the user when the actually installed implant is within a certain distance of the bone boundary.

In one embodiment, the step of detecting the bone boundary includes extracting a bone boundary with the highest water content value from a cross-sectional image when the central portion of at least one of the virtual implant and the actually installed implant is formed as a cross-section. may include.

In one embodiment, the cross-sectional image uses at least one of the virtual implant or the actually installed implant as a reference axis, and the MA (from the mesial to the distal plane based on each implant axis or distal to the respective implant axis) cross section cut from the surface to the mesial surface), BA (section cut from the buccal surface to the lingual surface based on each implant axis, or from the lingual surface to the buccal direction based on each implant axis), AA (cross section perpendicular to each implant axis, crown It may include at least one of a cross-section cut from the tooth root direction in the direction of the tooth root or from the tooth root direction to the crown direction based on each implant axis.

In one embodiment, the distance between the outermost point of the virtual implant and the bone border may be the distance between the bone border and the uppermost center point of the virtual implant minus half the diameter of the virtual implant, and the outermost point of the actually installed implant The distance between the point and the bone border may be obtained by subtracting half of the actual implant diameter from the distance between the bone border and the upper center point of the actually installed implant.

An implant placement position comparison system according to another embodiment of the present disclosure for solving the above technical problem includes a network interface for receiving a plurality of dental images, a memory for loading an implant placement position comparison program, and an implant placement position comparison program loaded into the memory. It may include one or more processors that execute a position comparison program, wherein the implant placement position comparison program acquires scan data for the upper and lower jaw of the patient before the procedure and a first three-dimensional image of the upper and lower jaw before the patient's procedure. An instruction for generating a design image by performing a first registration of the scan data and the first three-dimensional image, a first registration at the characteristic point of the upper and lower jaw of the patient according to the result of the first registration. It may include an instruction for calculating a rate and an instruction for performing a second registration of the design image and a second stereoscopic image of the upper and lower jaw of the patient after the procedure using the first registration rate.

An implant placement position comparison system according to another embodiment of the present disclosure for solving the above technical problem includes a network interface for receiving a plurality of dental images, a memory for loading an implant placement position comparison program, and an implant placement position comparison program loaded into the memory. It may include one or more processors that execute a position comparison program, wherein the implant placement position comparison program includes instructions for detecting bone margins in a three-dimensional image of the patient, the virtual implant, and the actually installed implant. Instructions for separately calculating the distance between each upper center and the bone border, based on the calculation result and the diameter distance of the implant, the distance between the outermost point of each of the virtual implant and the actually installed implant and the bone border It may include instructions for separately calculating , and instructions for providing a warning to the user when the actually installed implant is within a certain distance of the bone boundary.

1 is a configuration diagram of an implant placement position comparison system according to an embodiment of the present disclosure.

Figure 2 is a block diagram for explaining an implant placement position comparison system according to another embodiment of the present disclosure.

Figure 3 is a flowchart of a method for comparing implant placement positions according to another embodiment of the present disclosure.

FIG. 4 is a diagram illustrating a method of matching pre-surgery scan data and a stereoscopic image that can be performed in some embodiments of the present disclosure.

FIG. 5 is a diagram illustrating a user interface displaying a registration rate of pre-surgical scan data and stereoscopic image registration results that can be displayed in some embodiments of the present disclosure.

6 is a three-dimensional image captured after an exemplary implant surgery that can be generated as a result of performing some embodiments of the present disclosure.

FIG. 7 is a diagram illustrating a method of matching stereoscopic images obtained after surgery and scan data obtained before surgery, which may be performed in some embodiments of the present disclosure.

FIG. 8 is a flowchart for explaining in detail some of the operations described with reference to FIG. 3.

FIG. 9 is a diagram illustrating a method for a user to manually designate a feature point to match a dental image, which can be performed in some embodiments of the present disclosure.

FIG. 10 is a diagram illustrating a method for a user to manually designate a feature point to match a dental image, which can be performed in some embodiments of the present disclosure.

FIG. 11 is a diagram illustrating a method for a user to manually designate a feature point to match a dental image, which can be performed in some embodiments of the present disclosure.

FIG. 12 is a flowchart for explaining in detail some of the operations described with reference to FIG. 3.

FIG. 13 is a flowchart for explaining in detail some of the operations described with reference to FIG. 12.

FIG. 14 is a diagram illustrating a method of forming a hexahedron and dividing cross sections using information on segmented teeth, which can be performed in some embodiments of the present disclosure.

FIG. 15 is a diagram illustrating a method of analyzing the registration rate of a dental image registered before surgery based on extracted feature points that can be performed in some embodiments of the present disclosure.

FIG. 16 is a diagram illustrating a method of registering stereoscopic images obtained after surgery to be the same as the registration rate of images registered before surgery, which may be performed in some embodiments of the present disclosure.

FIG. 17 is a diagram illustrating the front view of a screen where registration is completed between a design image that can be generated as a result of performing some embodiments of the present disclosure and a three-dimensional image obtained after surgery.

FIG. 18 is a diagram illustrating a side view of a screen where registration is completed between a design image that can be generated as a result of performing some embodiments of the present disclosure and a three-dimensional image obtained after surgery.

Figure 19 is a flowchart of a method for comparing implant placement positions according to another embodiment of the present disclosure.

FIG. 20 is a diagram illustrating a method of comparing a planned implant placement location before surgery and an actual implant placement location that can be performed in some embodiments of the present disclosure.

FIG. 21 is a diagram illustrating a cross section cut to compare the actual implant placement location with the planned implant placement location before surgery that may be performed in some embodiments of the present disclosure.

FIG. 22 is a diagram illustrating the appearance of the implant in a cross-section cut through the center of the implant that can be derived as a result of performing some embodiments of the present disclosure.

FIG. 23 is a diagram illustrating a method of measuring the distance from the top center of the implant to the detected bone boundary that can be performed in some embodiments of the present disclosure.

Figure 24 is a diagram for explaining a method of measuring the distance of implant diameter distance/2 that can be performed in some embodiments of the present disclosure.

FIG. 25 is a diagram illustrating a method of measuring the distance between the bone margin and the outermost diameter of the implant that can be performed in some embodiments of the present disclosure.

FIG. 26 is a diagram illustrating a method of comparing a planned implant placement location before surgery and an actual implant placement location that can be performed in some embodiments of the present disclosure.

Figure 27 is a diagram illustrating an interface screen that provides a warning to the user when there is an error in the actual implant placement position that can be displayed as a result of the performance in some embodiments of the present disclosure.

Figure 28 illustrates a method of comparing the distance and angle from the center of each implant when the designed implant and the installed implant, which can be performed in some embodiments of the present disclosure, are viewed from the Apex, Buccal, M-D (Mesiodistal), and Top directions. This is a drawing.

29 is a hardware configuration diagram of a computing system that can be used as a component in some embodiments of the present disclosure.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the attached drawings. The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the technical idea of the present invention is not limited to the following embodiments and may be implemented in various different forms. The following examples are merely intended to complete the technical idea of the present invention and to be used in the technical field to which the present invention pertains. It is provided to fully inform those skilled in the art of the scope of the present invention, and the technical idea of the present invention is only defined by the scope of the claims.

In describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

Before describing various embodiments of the present disclosure, terms used in the following embodiments will be clarified.

In the following embodiments, 'Mesiodistal Axis' may mean a virtual straight line extending in both the mesiodistal and distal directions of a specific tooth.

Hereinafter, several embodiments of the present disclosure will be described with reference to the drawings.

1 is a configuration diagram of an implant surgery support system according to an embodiment of the present disclosure. As shown in FIG. 1, the implant surgery support system according to this embodiment may include an implant surgery guide creation system 400, a patient management system (PMS) 200, and an implant placement position comparison system 100. Although FIG. 1 shows the implant surgical guide creation system 400 and the implant placement position comparison system 100 as separate systems, in some embodiments, the implant surgery guide creation system 400 and the implant placement position comparison system Of course, (100) may be implemented in the form of software modules included in a single system. In addition, the implant surgery guide creation system 400, the implant placement position comparison system 100, and the PMS 200 are each based on cloud technology such as a virtual machine, and one or more physical servers included in a server farm. ) can be configured using.

Hereinafter, each component shown will be described in more detail with reference to FIGS. 1 and 2.

PMS 200 is a patient management system that includes patient information. The PMS 200 may output an electronic chart of a specific patient according to input from the user terminal 300. Here, the electronic chart may include the patient's personal information, disease history information, diagnosis information, and a panoramic image of the patient's affected area. As such, the viewed document may be a web document in a format such as HTML (HyperText Markup Language) or XML (eXtensible Markup Language), but is not limited thereto.

Additionally, the PMS 200 may receive input information from the user terminal 300 before performing the implant surgery and determine the implant placement site, according to an embodiment of the present disclosure.

Additionally, the PMS 200 can be linked to a photography program to capture images of the patient. Through this linked imaging program, oral images of the patient's affected area can be captured. Here, oral images may include CT images, panoramic images, and oral scan images, but are not limited thereto.

The user terminal 300 may output the received electronic chart on the screen. The user terminal 300 may be equipped with a specific display device to output an electronic chart. The user terminal 300 can output the electronic chart received from the PMS 200 through the network, and any device that can receive the dental number for performing the implant surgery from the user in the printed electronic chart is allowed. It can be. For example, the user terminal 300 according to an embodiment of the present disclosure may be a desktop, workstation, server, laptop, tablet, or smart phone. ) can be any one of the following.

The implant surgery guide creation system 400 acquires scan data for the patient's upper and lower jaw before surgery and a first stereoscopic image for the patient's upper and lower jaw before surgery from the PMS 200, and the scan data and the first stereoscopic image By performing the first registration of the three-dimensional image, a design image can be generated. Here, the scan data and the first three-dimensional image of the patient's upper and lower jaw before surgery may be used to produce a guide template for the patient's implant surgery.

The design image is an image that can design the guide template for the implant surgery, and can be understood as an image representing the upper and lower jaw on which the first alignment was performed before the implant surgery to produce a guide template for the patient's implant surgery. will be.

In addition, in some embodiments of the present disclosure, the design image may be understood as an image generated by the implant surgery guide generation system 400, but the previously generated design image is received and used by the implant placement position comparison system 100. It may be possible. In addition, the design image is a state in which a virtual implant is placed, and whether to display the virtual implant together with the design image may be determined by system settings.

Here, the implant surgery guide template acquires the patient's CT image and the scan data, matches them, is designed in consideration of the patient's anatomical structure, and is then fastened to the patient's oral cavity during the implant surgery process to improve surgical accuracy. This is a surgical guide template used for this purpose. The implant surgery guide template may be printed using a 3D printer or milling machine to be fastened to the patient's oral cavity during implant surgery.

The implant placement position comparison system 100 is based on dental image information received from the PMS 200 and the implant surgery guide creation system 400, and user input received from the user terminal 300, to install the implant planned before surgery. You can compare the location with the actual implant location after surgery.

Dental image information received from the implant surgery guide creation system 400 may be, for example, the design image. Here, the received dental image information may be stored in the dental image data storage unit 120 of FIG. 2. The dental image information may include a first registration rate generated as a result of the first registration between the scan data and the first stereoscopic image.

The implant placement position comparison system 100 may match a plurality of received dental image information to each other to compare the implant positions. The above operation may be performed in the dental image data registration unit 110 shown in FIG. 2.

In addition, the implant placement position comparison system 100 calculates a first registration rate at the characteristic point of the upper and lower jaw of the patient according to the first registration performance result, and uses the first registration rate to display the design image and the patient. A second registration may be performed between the second stereoscopic images of the upper and lower jaw after the surgery.

In the process of performing the second registration, the implant placement position comparison system 100 ensures that a second registration rate between the first stereoscopic image and the second stereoscopic image at the feature point is equal to the first registration rate, The design image and the second stereoscopic image may be matched.

In addition, the implant placement position comparison system 100 determines the distance between the virtual implant arranged to produce the guide template for implant surgery and the bone boundary, based on the registration result of the design image and the second stereoscopic image. The distance between the actually installed implant and the bone border can be calculated. Additionally, based on the calculated results, the results of the implant surgery can be evaluated. Furthermore, a warning may be provided to the user in response to the assessment of the surgical outcome not meeting preset criteria. The method of providing the warning may be provided through the user interface of the present disclosure, but is not limited to any type of warning that can be recognized by the user.

The operation of evaluating the results of implant surgery by calculating the distance between bone boundaries may be performed by the implant placement position comparison unit 130.

The characteristic point includes a plurality of preset points, the plurality of points being an incisal margin point of a cross section parallel to the mesiodistal axis of the central incisor, parallel to the mesiodistal axis of the left first molar. It may include a cusp and a groove, or a groove area, in one cross-section, and a cusp, a groove, or a groove area in a cross-section parallel to the mesiodistal axis of the right first molar. Here, the groove portion may be a gap between cusps, between ridges, and between a cusp and a ridge.

In other words, the implant placement position comparison system 100 uses a new and useful method that can serve as a standard when matching stereoscopic images obtained from patients before surgery and stereoscopic images obtained after surgery to obtain pre-surgery and post-surgery images. can be accurately matched.

A specific method by which the implant placement position comparison system 100 compares the implant position planned before surgery and the actual implant position placed after surgery based on the registration result will be described in detail later.

Hereinafter, with reference to FIGS. 3 to 19, a method for registering stereoscopic images before and after implant surgery according to another embodiment of the present disclosure will be described in more detail. Hereinafter, the steps to be described in several flow charts may be understood as being performed by the implant placement position comparison system 100 unless otherwise specified.

Figure 3 is a flowchart of a method for matching three-dimensional images before and after implant surgery according to this embodiment.

In step S100, stereoscopic images and scan data may be acquired before the patient's implant surgery. The stereoscopic image may be a CT (Computed Tomography) image 40 as shown in FIG. 4 . The pre-surgical three-dimensional image 40 may be acquired from a separately provided dental CT imaging device, and the three-dimensional image 40 may be stored in the PMS system together with the pre-surgical scan data 50. Additionally, the three-dimensional image 40 may be stored after undergoing tooth segmentation processing, and as a result of the tooth segmentation processing, the image area corresponding to the designated dental formula number may be immediately identified.

In some embodiments related to step S100, the scan data 50 may include bite scan data, upper jaw scan data, and lower jaw scan data. In addition, the scan data 50 is three-dimensional data and can be obtained by scanning a plaster model modeling the patient's oral cavity with a 3D scanner, or by scanning the inside of the patient's oral cavity using a 3D scanner. Example scan data 50 is shown in FIG. 4 .

Next, in step S200, the implant surgery guide creation system may perform a first registration between the obtained pre-surgical three-dimensional image and scan data. The result of the first registration will be referred to as 'design image'. In order to explain the step of performing the first matching in more detail, it will be described with reference to FIG. 5.

Here, the first registration may refer to dental image registration performed based on the characteristic points of the pre-surgical three-dimensional image and pre-surgical scan data to produce a guide template for implant surgery. The feature points will be described in detail later.

According to this embodiment, it is possible to provide a method of evaluating the results of implant surgery using pre-surgery stereoscopic images and pre-surgery intraoral scan data obtained during the implant surgery process without performing any new work. Therefore, time costs can be saved in the method of evaluating the results of implant surgery, and the computational burden on the computing device is not large.

In step S300, the implant placement position comparison system may be set to display the first matching rate at the feature point on the user terminal based on the first matching result. At this time, the matching rate may be displayed at each point as a number, written in a table, or managed in the form of a color map.

In step S400, the implant placement position comparison system may perform a second registration between the design image and the three-dimensional image of the upper and lower jaw after implant surgery using the first registration rate.

The feature point may include a plurality of preset points. That is, the implant placement position comparison system can perform the second registration using the first registration rate at a plurality of points predefined by an automatic registration method. The second matching of the automatic matching method will be described in detail later.

The feature point may include a plurality of points designated by the user. That is, the implant placement position comparison system may perform the second registration using the first registration rate at a plurality of points manually designated by the user. Hereinafter, the second matching using the manual matching method will be described in detail.

In order to explain the operation of calculating the first matching ratio in more detail, it will be described with reference to FIG. 5.

Referring to FIG. 5, the first matching result 90 may be displayed along with a user interface on the user terminal. The user interface displayed on the user terminal can provide a rough matching rate of each part through a color map, receives the user's selection of a specific point 95, and provides the user with a matching point 95. Rates may also be provided. Additionally, the user interface is a UI provided when displaying a specific point, and may include an area for displaying the color map and controls for selecting a feature point to be used in the manual matching method.

Referring to FIG. 5, the green area of the color map 90 is the area with the highest matching rate, the purple and red areas are the areas with the lowest matching rate, and the yellow and blue areas have the intermediate matching rate. It's an area. Of course, settings related to the matching rate corresponding to the area color can be set separately according to the user's will.

Here, the matching rate may mean the accuracy of the first matching result between the stereoscopic image 70 and the scan data 80. For example, in the registration result, if the lower left central incisor of the three-dimensional image 70 and the tooth at the same point 95 of the scan data 80 overlapped without an error of 1 pixel, the registration rate of that point is 100%.

Next, in step S400, the implant placement position comparison system may perform a second registration between the design image and the three-dimensional image of the upper and lower jaw after implant surgery based on the first registration rate. Referring to FIG. 6, a three-dimensional image 200b obtained after implant surgery may be captured. The three-dimensional image 200b may include the actually installed implant 210a.

Additionally, the second registration is performed to compare the implant position planned before surgery and the actual implant position placed after surgery. Referring to FIG. 7, the surgery may be performed in a state 402 in which the virtual implant is displayed in the first registration image obtained by matching the stereoscopic image 200a obtained before surgery with the scan data 220 (402), and in a state in which the virtual implant is hidden (401). ) can also be performed.

Hereinafter, in some embodiments related to step S400, a method of matching dental images based on one or more feature points directly designated by the user will be described with reference to FIGS. 8 to 11.

FIG. 9 is a diagram illustrating a method for a user to manually designate a feature point to match a dental image, which can be performed in some embodiments of the present disclosure. The rectangular parallelepiped 904 at the bottom right of FIG. 9 may be a component for identifying the direction of the patient's dental image displayed on the user interface.

Specifically, the rectangular parallelepiped 904 represents the direction information of the current screen being viewed three-dimensionally, including B (Buccal), L (Lingual), A (Anterior), P (Posterior), H (Head), and F. It is displayed as (Foot).

In step S410-1 of FIG. 8, the user can manually designate a feature point to match the dental image. For example, referring to FIG. 9 , the user may specify a feature point to register the dental image in the user interface 600 including the first registration image 500 displayed through the user terminal. The designated feature points can be clearly understood by referring to the first point 810, second point 820, and third point 830 shown in FIG. 11.

In some embodiments related to step S410-1, the implant placement position comparison system may recommend a plurality of feature points with a high matching rate so that the user can preferably designate the feature point. For example, a list of feature points with a matching rate above a threshold may be provided, or each tooth with a matching rate above a threshold may be separately marked on the patient's dental image displayed on the user interface.

The

interface components

601a, 601b, and 601c are interface components that control display sides of the first registered image, such as the left side, front side, and right side, respectively. In addition, the interface component 700 is a component that contains the stereoscopic image acquired after surgery, and 701a, 702a, and 703c are interface components that control the display aspects of the stereoscopic image acquired after surgery, such as the left side, front side, and right side, respectively. . According to this embodiment, the user can clearly designate the feature point by observing the registration image and the stereoscopic image obtained after surgery from various aspects.

Next, in step S420-1 of FIG. 8, the implant placement position comparison system may analyze the registration rate of the design image registered before surgery based on the manually designated feature point. Here, the matching rate can be used as a reference value for matching a three-dimensional image obtained after surgery, which will be described later, with the design image.

Next, in step S430-1 of FIG. 8, the implant placement position comparison system may perform a second registration based on the manually specified feature point. For example, referring to Figure 11, the second registration is performed when matching the design image 600 produced by matching the pre-surgery scan data and the pre-surgery stereoscopic image with the three-dimensional image obtained after the surgery. This may be performed to minimize the registration error rate at the first to third points of the three-dimensional image obtained after surgery corresponding to the feature points 810, 820, and 830 of 600.

According to some embodiments of the present disclosure, the second registration is performed when matching the design image 600 produced by matching the pre-surgery scan data and the pre-surgery stereoscopic image with the three-dimensional image obtained after the surgery. ) may be carried out so that the number of feature points whose registration error rate at the feature point of the three-dimensional image obtained after surgery corresponding to the plurality of feature points is below the standard value is maximized.

Hereinafter, in some other embodiments related to step S400, an automatic registration method using information values in the cross sections of three specific teeth will be described in detail with reference to FIGS. 12 to 18.

Referring to FIG. 12, in step S410-2, the implant placement position comparison system may extract a feature point for analyzing the registration rate from the cross-sectional curve of a designated tooth. The method for automatically extracting the feature points will be described in detail later with reference to FIGS. 13 and 14.

Referring to FIG. 13, in step S411, the implant placement position comparison system can evaluate whether there are missing teeth in both first molars and anterior teeth using the tooth image segmentation information and tooth formula number information.

Here, the first molars on both sides may include at least one of an upper right first molar, an upper left first molar, a lower left first molar, and a lower right first molar. And the anterior teeth may include an upper right central incisor, an upper left central incisor, a lower left central incisor, and a lower right central incisor.

Next, in step S412, the implant placement position comparison system responds to the fact that there are no missing teeth in both first molars and anterior teeth, and can extract characteristic points from a cross section passing through the center of the tooth indicated by the corresponding dental formula number.

A cross section passing through the center of the tooth can be clearly understood by referring to Figure 14. Referring to Figure 14, a cube (1400, 1500a, 1500b) is formed around the tooth using the image-segmented tooth information, and a mesiodistal axial cross section (MA) is formed across the exact center of the cube (1400, 1500a, 1500b). (Mesiodistal Axis), a cross section cut from the mesial surface to the distal surface based on the dental axis or from the distal surface to the mesial surface based on the dental axis) or buccolingual axis cross section (BA (Buccolingual Axis), from the buccal surface to the lingual surface based on the dental axis) It may refer to any one of the cross sections cut from the lingual surface to the buccal surface based on the tooth axis.

In addition, the feature point may be determined by the implant placement position comparison system to be at least one of the parts with the greatest inflection in the tooth curve shape that appears in the cross section passing through the center of the tooth as the feature point.

Next, in step S413, the implant placement position comparison system responds to the fact that there are missing teeth in both first molars and anterior teeth, and can extract feature points from a cross section passing through the center of the rear teeth closest to the missing teeth.

So far, we have explained how the implant placement position comparison system extracts feature points for analyzing the registration rate from the cross-section curve of a designated tooth. The scope of the present disclosure is not limited by this, and feature points may be extracted by selecting teeth under the condition that a cross section across the center of the tooth can be created at the furthest distance from each other. In other words, the implant placement position comparison system selects teeth so that the distance between specific points has the greatest distance, and specific points can be extracted from the selected teeth.

Next, in step S420-2, the matching rate of the first matching result performed before surgery can be analyzed based on the extracted feature points. In order to explain in detail the method of analyzing the first matching result, it will be described with reference to FIG. 15.

Referring to FIG. 15, the implant placement position comparison system can extract the groove areas of both posterior teeth (1500a, 1500b) in the pre-surgical scan data (200a) as feature points. For example, the cross section (1501b) shown by cutting the cross section of the left posterior tooth (1500b) in the mesial axis (1502b) direction has a curved shape, and the three largest inflection points (groove and cusp area) in the curved shape are characteristic points. It can be extracted as .

In some other embodiments of the present disclosure, the cross-section 1501a shown by cutting the cross-section of the right posterior tooth 1500a in the mesial axis 1502a direction has a curved shape, and the largest inflection point (groove and cusp area) in the curved shape is ) three may be extracted as feature points.

In some embodiments related to step S520-2, the implant placement position comparison system may extract the incisal edge area of the anterior teeth 1401 as a feature point. For example, the cross-section 1403 shown by cutting the cross-section of the right anterior tooth 1401 in the mesial axis 1402 direction has a curved shape, and one of the largest inflection points (incisal edge area) in the curved shape is the characteristic point. It can be extracted.

In some other embodiments related to step S420-2, the implant placement position comparison system may analyze the registration rate of teeth including the point in response to the determination that a feature point pre-designated by the user exists. For example, in the anterior region, the matching rate of the incisal edge region can be analyzed, and in the posterior region, the matching rate of the groove and cusp region can be analyzed.

The implant placement position comparison system can match the two images by arranging the extracted feature points of the pre-surgery three-dimensional image and the extracted feature points of the pre-surgery scan data to have the same coordinates. Furthermore, the implant placement position comparison system can analyze the matching rate of the cross section of the left posterior tooth in the three-dimensional image data and the cross section of the left posterior tooth in the scan data at the three extracted feature points.

Next, in step S430-2, the implant placement position comparison system may perform a second registration based on the extracted feature points. In order to explain in more detail the step of performing the second matching based on the extracted feature points, the description will be made with reference to FIG. 16.

In some embodiments related to step S430-2, referring to FIG. 16, the system attaches the feature points of the three-dimensional image data 200b acquired after surgery to the feature points identified from the

cross sections

1403, 1503a, and 1503b of the teeth. When arranging the same, the second matching can be performed by arranging them to have the same matching rate as the matching rate of the first matching result.

Figures 17 and 18 are diagrams illustrating the completed registration between the pre-surgical design image that can be generated as a result of the second registration and the CT data acquired after the surgery.

In some embodiments of the present disclosure, the matched copy may be displayed on the user terminal in the form of a user interface. Furthermore, the results of a comparative analysis of the implant placement location can be provided, and a warning window such as whether bone grafting is necessary can be displayed depending on the results. If you select the corresponding warning window, a cross-section of the installed implant with the distance from the bone border described may be displayed. Additionally, the cross section of the installed implant, the bone boundary, and the distance between the bone boundary may be displayed in numbers or colors.

In some other embodiments of the present disclosure, the implant placement position comparison system uses the registration completion to measure the Apex, Buccal, M-D, Top distances of the center of the designed implant and the installed implant in three dimensions as shown in FIG. 28, and You can also compare angles. Additionally, as shown in FIG. 28, a table including the actually installed implant and the virtual implant can be displayed on the user terminal so that the user can intuitively compare positions. The step of displaying the table is not limited even when there are multiple implants actually installed.

So far, a method for registering stereoscopic images before and after implant surgery according to an embodiment of the present disclosure has been described. The operations related to the method for registering the three-dimensional image may be used independently, but the scope of the present disclosure is not limited thereto, and a plurality of operations may be used together.

Hereinafter, a method for comparing implant placement positions according to another embodiment of the present disclosure will be described with reference to FIGS. 19 to 28. To facilitate understanding of some embodiments of the present disclosure, unless otherwise specified, an implant described below may include both a virtual implant and an actually installed implant.

Figure 19 is a flowchart of a method for comparing implant placement positions according to another embodiment of the present disclosure. According to some embodiments of the present disclosure, the implant placement position comparison system uses the outermost point 1900 of the actually installed implant and the outermost point 2000 of the virtual implant shown in FIG. 20 to compare the actually installed implant. Position comparison between and virtual implants can be performed.

In step S500, the implant placement position comparison system may detect a bone margin in at least one of the first stereoscopic image, the second stereoscopic image, or the registration complete image. Here, the first three-dimensional image is a three-dimensional image obtained to design a guide template for implant surgery before surgery.

In some embodiments related to step S500, referring to FIG. 20, the bone boundary 1800 can be extracted as the bone boundary with the highest water content value in the soft tissue 1700 on a cross section passing through the center of the implant in the three-dimensional image. there is.

FIG. 21 is a diagram illustrating a cross section of the implant 2300 by way of example. Component 2400 of FIG. 21 is a bottom view of implant 2300. The side cross section 2800a of the implant 2300 may be obtained by observing a cross section of the bottom surface 2400 of the implant 2300 cut along the virtual axis 2400a from the side.

Referring to FIG. 21, the section passing through the center of the implant in the three-dimensional image (2800a) is the buccolingual axis, mesiodistal axis, and horizontal axis section (AA (Axial Axis)) of the three-dimensional image, a section cut from the root direction to the crown direction. or a cross section cut from the crown direction to the tooth root direction).

The upper center point 2500a of the virtual implant or the actually installed implant may point to the upper center point 2500a of the cylindrical implant in the occlusal axis direction.

Referring to the implant side cross-section 2800a of FIG. 22, the outermost point 2600 of the virtual implant or the actually installed implant extends to both sides of the upper center point 2500a in the occlusal axis direction on the top surface of the implant. When done, it can be determined by the end points on both sides of the top surface of the implant.

Next, in step S600, the implant placement position comparison system may calculate the

distances

2900a and 2900b between the upper center point 2500a and the bone boundary 2700 of each of the virtual implant and the actual implant. To explain in more detail the step of calculating the

distances

2900a and 2900b between the uppermost center point 2500a and the valley boundary 2700, the process will be described with reference to FIG. 23.

23 , the distance 2900b between the top center point 2500a of the implant and the right bone border 2700 and the distance 2900a between the top center point 2500a of the implant and the left bone border 2700 are the same. It may be shown or explained as such, but it should be noted that this is only intended to aid understanding of the present disclosure and is not limiting.

In some embodiments related to step S600, the implant placement position comparison system determines the distance to the point where it meets the bone boundary 2700 when extending to both sides based on the implant top center point 2500a as a virtual implant top center point ( 2500a) and the distance between the bone boundaries (2900a, 2900b).

Next, in step S700, the implant placement position comparison system may calculate the distance between the outermost point of each of the virtual implant and the actually installed implant and the bone boundary. In order to explain in more detail the step of calculating the distance between the outermost point and the bone boundary, it will be described with reference to FIGS. 24 and 25.

In some other embodiments related to step S700, referring to FIGS. 24 and 25, the distance 2900c between the outermost point 2600 of the virtual implant and the bone boundary 2700 is the virtual calculated in step S700. From the distance between the top center point of the implant (2500a) and the bone boundary 2700, the distance (2900d) between the top center of the virtual implant (2500a) and the outermost point 2600 of the virtual implant may be determined as a limit value. .

In some other embodiments related to step S700, referring to FIGS. 24 to 25, the distance 2900c between the outermost point 2600 of the actually installed implant and the bone boundary 2700 is calculated in step S700. In the distance between the top center point (2500a) of the actually installed implant and the bone boundary (2700), the distance (2900d) between the top center point (2500a) of the actually installed implant and the outermost point (2600) of the actually installed implant This amount can be determined as a limiting value.

In some other embodiments related to step S700, the implant placement position comparison system compares the distance between the outermost point of the virtual implant and the bone border with the distance between the outermost point of the actually installed implant and the bone border to compare the distance between the outermost point of the actually installed implant and the bone border. The distance between the actual implant and the actually installed implant can be calculated. Additionally, the calculation results can be displayed to the user through the user terminal.

Next, in step S800, the implant placement position comparison system can confirm whether the actually installed implant exists within a certain distance of the bone boundary. In order to explain the step of checking the existence in more detail, it will be described with reference to FIG. 26.

In some embodiments related to step S800, a rectangle 3000 of a predetermined height is virtually created from a straight line connecting the outermost points 2600 on both sides of the actually installed implant. In response to contacting even a portion of the bone boundary within the range of the square 3000, the system may determine that the actually installed implant is within a certain distance of the bone boundary.

Here, the specific distance may be set in advance by the user and may be the default value of the implant placement position comparison system, but is not limited to this and may include distances in various preset cases.

Next, in step S900, a warning window may be provided to the user. The warning window may be provided in the form of a user interface through the user terminal. In order to explain the step of providing the warning window in more detail, it will be described with reference to FIG. 27.

In some embodiments related to step S900, the implant placement position comparison system responds that the actually placed implant is within a certain distance of the bone border, including a message that bone grafting is needed and information about the area in which bone grafting is needed. A warning window 3100 may be provided. Here, the information about the area requiring bone grafting may include information such as the implant placement number and height relative to the lingual or labial area.

Figure 29 is a hardware configuration diagram of an implant placement position comparison system according to some embodiments of the present disclosure. The implant placement position comparison system 100 shown in FIG. 29 may refer to, for example, the implant placement position comparison system 1000 described with reference to FIG. 1 . The implant placement position comparison system 100 includes one or more processors 1100, a system bus 1600, a communication interface 1200, and a memory 1400 that loads a computer program 1500 performed by the processor 1100. ) and a storage 1300 that stores the computer program 1500.

The processor 1100 controls the overall operation of each component of the implant placement position comparison system 100. The processor 1100 may perform operations on at least one application or program to execute methods/operations according to various embodiments of the present disclosure. The memory 1400 stores various data, commands and/or information. The memory 1400 may load one or more computer programs 1500 from the storage 1300 to execute methods/operations according to various embodiments of the present disclosure. The bus 1600 provides a communication function between components of the implant placement position comparison system 100. The communication interface 1200 supports Internet communication of the implant placement position comparison system 100. Storage 1300 may non-temporarily store one or more computer programs 1500. The computer program 1500 may include one or more instructions implementing methods/operations according to various embodiments of the present disclosure. When the computer program 1500 is loaded into the memory 1400, the processor 1100 can perform methods/operations according to various embodiments of the present disclosure by executing the one or more instructions.

In some embodiments, the implant placement position comparison system described with reference to FIG. 29 may be configured using one or more physical servers included in a server farm based on cloud technology such as a virtual machine. there is. In this case, at least some of the processor 1100, memory 1400, and storage 1300 among the components shown in FIG. 29 may be virtual hardware, and the communication interface 1200 may also be a virtual switch. It may be composed of virtualized networking elements such as switches.

The computer program 1500 performs an operation of acquiring scan data for the upper and lower jaw of the patient before surgery and a first stereoscopic image of the upper and lower jaw of the patient before surgery, and first registration of the scan data and the first stereoscopic image. By performing, an operation of generating a design image, an operation of calculating a first registration rate at a characteristic point of the upper and lower jaw of the patient according to a result of performing the first registration, the design image using the first registration rate, and the An operation of performing a second registration between a second three-dimensional image of the upper and lower jaw after surgery of the patient, an operation of detecting a bone boundary in the three-dimensional image of the patient, the uppermost center point of each of the virtual implant and the actually installed implant and the bone boundary An operation of separately calculating the distance between the two, an operation of separately calculating the distance between the outermost point of each of the virtual implant and the actual implant and the bone boundary, based on the calculation result and the diameter distance of the implant, and the actual implant It may include instructions for performing an operation that provides a warning window to the user when the installed implant is within a certain distance of the bone boundary.

So far, various embodiments of the present disclosure and effects according to the embodiments have been mentioned with reference to FIGS. 1 to 29 . The effects according to the technical idea of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below.

The technical ideas of the present disclosure described so far can be implemented as computer-readable code on a computer-readable medium. The computer program recorded on the computer-readable recording medium can be transmitted to another computing device through a network such as the Internet, installed on the other computing device, and thus used on the other computing device.

Although operations are shown in the drawings in a specific order, it should not be understood that the operations must be performed in the specific order shown or sequential order or that all illustrated operations must be performed to obtain the desired results. In certain situations, multitasking and parallel processing may be advantageous. Although embodiments of the present disclosure have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical idea or essential features. I can understand that there is. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the technical ideas defined by this disclosure.

Claims

In a method performed by a computing system,

Obtaining scan data for the patient's upper and lower jaw before surgery and a first stereoscopic image of the patient's upper and lower jaw before surgery;

calculating a first registration rate at characteristic points of the upper and lower jaw of the patient according to the first registration result;

Comprising the step of performing a second registration of the design image and a second stereoscopic image of the patient's postoperative upper and lower jaw using the first registration rate,

How to compare implant placement locations.
According to claim 1,

The step of performing the second matching is,

Comprising the step of performing the second registration so that the second registration rate at the feature point of the first stereoscopic image and the second stereoscopic image is equal to the first registration rate,

How to compare implant placement positions.
According to claim 1,

The feature point includes a plurality of points defined by user input,

How to compare implant placement positions.
According to clause 3,

The plurality of points defined by the user input include a specific point on the central incisor, a specific point on the left first molar, and a specific point on the right first molar,

How to compare implant placement positions.
According to claim 1,

The step of calculating the first registration rate at the characteristic point of the upper and lower jaw of the patient according to the result of the first registration performance,

Overlaying and displaying matching rate information at each position indicating a result of performing the first matching on the design image; and

Comprising the step of determining a user-specified position on the displayed image by overlaying the first matching rate information on the design image as one of the plurality of points,

How to compare implant placement locations.
According to claim 1,

The feature point includes a plurality of preset points,

The plurality of points are among the incisal margin point of the cross section parallel to the mesiodistal axis of the central incisor, the cusp and fovea or groove area or fovea point of the cross section parallel to the mesiodistal axis of the left first molar. Containing one or more points,

How to compare implant placement locations.
According to clause 6,

When the central incisor is a missing tooth, the plurality of points include incisal edge points of a cross section parallel to the mesiodistal axis of the adjacent tooth of the central incisor,

When the left first molar is a missing tooth, the plurality of points include a cusp and a groove or groove portion of a cross section parallel to the mesiodistal axis of the adjacent tooth of the left first molar,

When the right first molar is a missing tooth, the plurality of points include a cusp and a groove or groove portion of a cross section parallel to the mesiodistal axis of the adjacent tooth of the right first molar,

How to compare implant placement locations.
According to claim 1,

The feature point includes a plurality of preset points,

The plurality of points are a first point determined based on the curvature of the outline of the cross section of the central incisor, a second point determined based on the curvature of the outline of the cross section of the left first molar, and the curvature of the outline of the cross section of the right first molar. Including a third point determined by,

How to compare implant placement positions.
In a method performed by a computing system,

Identifying bone margins in a three-dimensional image of a patient;

calculating a first central distance between a top center point of a virtual implant and the bone boundary;

calculating a second center distance between the upper center point of the actually installed implant and the bone boundary;

calculating a first boundary distance between the outermost point of the virtual implant and the bone boundary, based on the first center distance;

Based on the second center distance, separately calculating a second boundary distance between the outermost point of the actually installed implant and the bone boundary; and

Comprising the step of providing a warning to the user when the actually installed implant is within a certain distance of the bone boundary,

How to compare implant placement locations.
According to clause 9,

The step of detecting the bone boundary is,

Comprising the step of extracting a bone boundary with the highest water content value from a cross-sectional image when the central portion of at least one of the virtual implant or the actually installed implant is formed as a cross-section,

How to compare implant placement locations.
According to claim 10,

The cross-sectional image uses at least one of the virtual implant or the actually installed implant as a reference axis and displays MA (from the mesial surface to the distal surface based on each implant axis, or from the distal surface to the mesial surface based on each implant axis). cross section), BA (section cut from the buccal surface to the lingual surface based on each implant axis, or from the lingual surface to the buccal surface based on each implant axis), AA (cross section perpendicular to each implant axis, from the crown direction to the root direction or Comprising at least one of a cross section cut from the tooth root direction to the crown direction based on the axis of each implant,

How to compare implant placement locations.
According to clause 9,

The distance between the outermost point of the virtual implant and the bone boundary is,

Half of the virtual implant diameter is limited to the distance between the bone boundary and the uppermost center point of the virtual implant,

The distance between the outermost point of the actually installed implant and the bone boundary is,

Half of the actual implant diameter is subtracted from the distance between the bone boundary and the upper center point of the actually installed implant,

How to compare implant placement locations.
In computing systems,

A network interface for receiving a plurality of dental images;

A memory into which the implant placement position comparison program is loaded; and

Includes one or more processors that execute an implant placement position comparison program loaded in the memory,

The implant placement position comparison program is,

Instructions for acquiring scan data for the upper and lower jaw of the patient before surgery and a first stereoscopic image of the upper and lower jaw before surgery;

Instructions for generating a design image by performing a first registration of the scan data and the first stereoscopic image;

Instructions for calculating a first registration rate at characteristic points of the upper and lower jaw of the patient according to the results of the first registration;

Including instructions for performing a second registration of the design image and a second stereoscopic image of the upper and lower jaw of the patient after surgery using the first registration rate,

Implant placement position comparison system.
In computing systems,

A network interface for receiving a plurality of dental images;

A memory into which the implant placement position comparison program is loaded; and

Includes one or more processors that execute an implant placement position comparison program loaded in the memory,

The implant placement position comparison program is,

Instructions for detecting bone margins in a three-dimensional image of the patient;

Instructions for separately calculating the distance between the upper center point of each of the virtual implant and the actually installed implant and the bone boundary;

Instructions for separately calculating the distance between the outermost point of each of the virtual implant and the actually installed implant and the bone boundary, based on the calculation result and the diameter distance of the implant;

Containing instructions that provide a warning to the user when the actually installed implant is within a certain distance of the bone boundary,

Implant placement position comparison system.