CN114587650A - Tooth root canal orifice treatment auxiliary navigation method and system based on mixed reality technology - Google Patents
Tooth root canal orifice treatment auxiliary navigation method and system based on mixed reality technology Download PDFInfo
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- 239000003550 marker Substances 0.000 claims abstract description 149
- 210000004262 dental pulp cavity Anatomy 0.000 claims abstract description 36
- 238000013473 artificial intelligence Methods 0.000 claims abstract description 12
- 210000004746 tooth root Anatomy 0.000 claims description 83
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- 238000006243 chemical reaction Methods 0.000 claims description 19
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- 238000002560 therapeutic procedure Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 210000003298 dental enamel Anatomy 0.000 description 1
- 210000004268 dentin Anatomy 0.000 description 1
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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Abstract
The invention provides a method and a system for assisting navigation in tooth root canal orifice treatment based on a mixed reality technology, belonging to the field of root canal treatment.A first marker and a second marker are respectively preassembled on teeth of a patient, the first marker and the second marker are taken as base points, the shape and the position of a tooth root canal orifice are identified and marked based on an AI (artificial intelligence) depth learning algorithm and an image identification algorithm, and the coordinate positions of the tooth root canal orifice marking point and the first marker in a world coordinate system are matched to obtain the coordinate position of the tooth root canal orifice marking point in a projection coordinate system; and matching the coordinate position of the second marker in the projection coordinate with the coordinate position of the tooth root canal orifice mark point in the projection coordinate system, and acquiring the relative position of the second marker and the tooth root canal orifice mark point in the projection coordinate system. The invention can effectively carry out accurate navigation auxiliary treatment on the root canal, thereby improving the efficiency and the accuracy of the root canal treatment.
Description
Technical Field
The invention belongs to the technical field of root canal treatment, and particularly relates to a method and a system for assisting navigation in tooth root canal orifice treatment based on a mixed reality technology.
Background
The canal orifice is the junction between the pulp chamber and the root canal, or the transition between the pulp chamber floor and the root canal. The positioning of the root canal orifices is a critical step in the proper positioning of each root canal. The pulp chamber of a single canal tooth and the root canal are continuous and tubular, so that the root canal mouth is difficult to identify morphologically; the multiple roots are in the form of funnel-shaped root canals, which can only be found after careful treatment of the contents of the pulp chamber of the crown.
Endodontic surgery, also known as endodontic treatment, is an operation for treating pulpal necrosis and root infection in dentistry, which preserves the teeth, thus being complementary to tooth extraction, and is cumbersome and generally completed with 2-4 visits. With the development of technology and materials, disposable root canal therapy is accepted by more doctors and patients, painless therapy is also widely applied clinically, and the treatment is not painful any more.
Clinically, a plurality of tube teeth are difficult to find the root canal orifice for some reasons, the traditional root canal orifice positioning method is not capable of excessively damaging dentin or enamel, but is large in error, most of the traditional root canal orifice positioning method needs to be judged in a hypothesis mode by means of own experience of doctors, and the operation and implementation risk is prone to trial and error.
Disclosure of Invention
The embodiment of the invention provides a method and a system for assisting navigation in dental root canal treatment based on a mixed reality technology, and aims to solve the problems in the background technology.
The embodiment of the invention is realized by a method for assisting navigation in dental root canal orifice treatment based on a mixed reality technology, which comprises the following steps:
the method comprises the steps that a first marker and a second marker are pre-installed on teeth of a patient and an operating instrument respectively;
acquiring CT image data in the oral cavity of a patient, and making an AR display model of the teeth of the patient by using the CT image data;
identifying the AR display model based on an AI deep learning algorithm and an image identification algorithm, acquiring the root canal shape and position of the root canal orifice of the tooth, and marking the AR display model by using colors;
respectively scanning the first marker and the second marker by using a binocular camera on the AR glasses to obtain a first marker image and a second marker image;
respectively applying a binocular vision slam-based algorithm to the first marker image and the second marker image to obtain the coordinate positions of the first marker and the second marker in a binocular camera coordinate system;
converting the coordinate position of the first marker in the binocular camera coordinate system into the coordinate position in the world coordinate system, and then registering the coordinate position of the first marker with the tooth root and canal orifice mark point in the AR display model to obtain the coordinate position of the tooth root and canal orifice mark point in the world coordinate system;
converting the coordinate position of the tooth root canal orifice mark point in the world coordinate system into the coordinate position of the tooth root canal orifice mark point in the projection coordinate system;
converting the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system;
and matching the coordinate position of the second marker in the projection coordinate system with the coordinate position of the tooth root canal orifice mark point in the projection coordinate system to obtain the relative position relation of the second marker and the tooth root canal orifice mark point.
Preferably, the AR display model of the patient's teeth is created using CT image data, and includes:
extracting tooth characteristic data of a patient through a three-dimensional visualization tool, and generating a triangular grid map;
converting the triangular grid diagram into a stl format file;
and calling the contents of the stl format file to make an AR display model of the teeth of the patient.
Preferably, the converting the coordinate position of the first marker in the binocular camera coordinate system to the coordinate position in the world coordinate system includes:
converting the coordinate position of the first marker in the coordinate system of the binocular camera into the coordinate position of the first marker in the coordinate system of the AR glasses according to the conversion relation between the coordinate system of the binocular camera and the coordinate system of the AR glasses;
and converting the coordinate position of the marker in the AR glasses coordinate system into the coordinate position of the marker in the world coordinate system according to the conversion relation between the AR glasses coordinate system and the world coordinate system.
Preferably, the converting the coordinate position of the tooth root canal orifice mark point in the world coordinate system into the coordinate position of the tooth root canal orifice mark point in the projection coordinate system includes:
converting the coordinate position of the tooth root canal marking point under the world coordinate system into the coordinate position of the tooth root canal orifice marking point under the AR glasses coordinate system according to the conversion relation between the AR glasses coordinate system and the world coordinate system;
and converting the coordinate position of the tooth root canal marking point under the AR glasses coordinate system into the coordinate position of the tooth root canal orifice marking point under the projection coordinate system according to the conversion relation between the AR glasses coordinate system and the projection coordinate system.
Preferably, the converting the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system includes:
converting the coordinate position of the second marker in the coordinate system of the binocular camera into the coordinate position of the second marker in the coordinate system of the AR glasses according to the coordinate conversion relation between the coordinate system of the binocular camera and the coordinate system of the AR glasses;
and converting the coordinate position of the second marker in the AR glasses coordinate system into the coordinate position of the second marker in the projection coordinate system according to the coordinate conversion relation between the AR glasses coordinate system and the projection coordinate system.
Preferably, the relative positional relationship includes a direction, an angle, and a distance.
Preferably, the three-dimensional visualization tool comprises at least one of a MIMICS software tool, an Amira software tool, an Avizo software tool, and an ORS Visual software tool.
Preferably, the conversion of the triangular grid diagram into the stl format file is performed through an ORS Visual software tool.
Preferably, the method for creating the AR display model of the patient's teeth by calling the content of the stl format file calls the content of the stl format file through a Unity real-time content development platform to create the AR display model of the patient's teeth.
A system for assisting navigation in dental root canal treatment based on mixed reality technology, the system is used for executing the method, and the system comprises a processor and AR glasses;
preassembling a first marker and a second marker on the patient's teeth and the operating instrument, respectively;
the processor receives CT image data in the oral cavity of a patient, utilizes the CT image data to manufacture an AR display model of the teeth of the patient, identifies the AR display model based on an AI (Artificial intelligence) deep learning algorithm and an image identification algorithm, obtains the root canal shape and position of the root canal orifice of the teeth, and marks the root canal shape and position with colors on the AR display model;
respectively scanning a first marker and a second marker by using a binocular camera on the AR glasses to obtain a first marker image and a second marker image;
the processor applies slam algorithm to the first marker image and the second marker image respectively to obtain coordinate positions of the first marker and the second marker in a binocular camera coordinate system;
the processor converts the coordinate position of the first marker in the binocular camera coordinate system into the coordinate position in the world coordinate system, then registers the coordinate position with the tooth root canal orifice mark point in the AR display model, acquires the coordinate position of the tooth root canal orifice mark point in the world coordinate system, and converts the coordinate position of the tooth root canal orifice mark point in the world coordinate system into the coordinate position of the tooth root canal orifice mark point in the projection coordinate system;
the processor converts the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system, matches the coordinate position of the second marker in the projection coordinate system with the coordinate position of the tooth root and nozzle mark point in the projection coordinate system, and obtains the relative position relation of the second marker and the tooth root and nozzle mark point in the projection coordinate system.
The invention can effectively and accurately position the tooth root canal orifice, and can acquire the coordinate position of the operating instrument under the projection coordinate system in real time, further acquire the relative position of the operating instrument and the tooth root canal orifice, and move the operating instrument according to the relative position of the operating instrument and the tooth root canal orifice, thereby accurately navigating and assisting the treatment of the root canal, and effectively improving the efficiency and the accuracy of the root canal treatment.
Drawings
FIG. 1 is a flow chart of a method for assisting navigation in dental root canal treatment based on mixed reality technology;
FIG. 2 is a schematic flow chart illustrating the fabrication of an AR display model of a patient's teeth using CT image data;
FIG. 3 is a schematic flow chart illustrating a process for obtaining a coordinate position of a first marker in a world coordinate system;
FIG. 4 is a schematic view of a process for obtaining the coordinate position of the tooth root canal orifice mark point in the projection coordinate system;
FIG. 5 is a schematic flow chart illustrating the process of obtaining the coordinate position of the second marker in the projected coordinate system;
fig. 6 is a system architecture diagram of a system for assisting navigation in dental root canal treatment based on mixed reality technology.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a method for assisting navigation in dental root canal orifice treatment based on a mixed reality technology, which comprises the following steps of:
s1, pre-installing a first marker and a second marker on the teeth of the patient and the operating instrument respectively;
s2, acquiring CT image data in the oral cavity of the patient, and making an AR display model of the teeth of the patient by using the CT image data;
s3, identifying the AR display model based on an AI deep learning algorithm and an image identification algorithm, acquiring the root canal shape and position of the tooth root canal orifice, and marking the AR display model with colors;
s4, scanning the first marker and the second marker respectively by using a binocular camera on the AR glasses to obtain a first marker image and a second marker image;
s5, respectively applying a binocular vision slam-based algorithm to the first marker image and the second marker image to obtain coordinate positions of the first marker and the second marker in a binocular camera coordinate system;
s6, converting the coordinate position of the first marker in the binocular camera coordinate system into the coordinate position in the world coordinate system, and then registering the coordinate position of the first marker with the tooth root canal orifice mark point in the AR display model to obtain the coordinate position of the tooth root canal orifice mark point in the world coordinate system;
s7, converting the coordinate position of the tooth root canal orifice mark point in the world coordinate system into the coordinate position of the tooth root canal orifice mark point in the projection coordinate system;
s8, converting the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system;
s9, matching the coordinate position of the second marker in the projection coordinate system with the coordinate position of the tooth root canal orifice mark point in the projection coordinate system to obtain the relative position relation between the second marker and the tooth root canal orifice mark point; wherein the relative positional relationship includes a direction, an angle, and a distance.
The method comprises the steps of pre-installing a first marker and a second marker on teeth of a patient respectively, taking the first marker and the second marker as base points, respectively obtaining the coordinate positions of the first marker and the second marker under a binocular camera coordinate system, converting the coordinate position of the first marker under the binocular camera coordinate system into the coordinate position under a world coordinate system, carrying out identification marking on the shape and the position of a tooth root canal orifice based on an AI deep learning algorithm and an image identification algorithm, matching the tooth root canal orifice marking point with the coordinate position of the first marker under the world coordinate system, obtaining the coordinate position of the tooth root canal orifice marking point under the world coordinate system, and converting the coordinate position of the tooth root canal orifice marking point under the world coordinate system into the coordinate position under a projection coordinate system; and converting the coordinate position of the second marker in the binocular camera coordinate system into a coordinate position in the projection coordinate system, matching the coordinate position of the second marker with the coordinate position of the tooth root canal orifice mark point in the projection coordinate system, acquiring the relative position of the second marker and the tooth root canal orifice mark point in the projection coordinate system, and performing operation and treatment according to the relative position of the second marker and the tooth root canal orifice mark point.
It can be further understood that, in practical application, the coordinate position of the second marker in the projection coordinate system may be used as the coordinate position of the operation instrument in the projection coordinate system, and in order to accurately position the operation instrument, the coordinate position of the operation instrument in the projection coordinate system may be obtained according to the coordinate transformation relationship between the second marker and the operation instrument, that is, the relative position of the operation instrument and the tooth root canal orifice mark point in the projection coordinate system is finally obtained, and the position of the operation instrument is adjusted to perform the operation and the treatment according to the relative position of the operation instrument and the tooth root canal orifice mark point in the projection coordinate system, thereby effectively improving the efficiency and the accuracy of the root canal treatment.
In S2 of the above aspect, as shown in fig. 2, the above-described creating an AR display model of a patient' S teeth using CT image data includes:
s21, extracting tooth feature data of the patient through three-dimensional visualization tools such as MIMICS software, Amira software, Avizo software, ORS Visual software and the like, and generating a triangular grid diagram;
s22, converting the triangular grid diagram into a stl format file through an ORS Visual software tool;
and S23, calling the content of the stl format file through the Unity real-time content development platform to make an AR display model of the teeth of the patient.
In S6 of the above aspect, as shown in fig. 3, the converting the coordinate position of the first marker in the binocular camera coordinate system to the coordinate position in the world coordinate system includes:
s61, converting the coordinate position of the first marker in the binocular camera coordinate system into the coordinate position of the first marker in the AR glasses coordinate system according to the conversion relation between the binocular camera coordinate system and the AR glasses coordinate system;
and S62, converting the coordinate position of the first marker in the AR glasses coordinate system into the coordinate position of the first marker in the world coordinate system according to the conversion relation between the AR glasses coordinate system and the world coordinate system.
In S7 of the foregoing embodiment, as shown in fig. 4, the converting the coordinate position of the tooth root canal tip mark point in the world coordinate system into the coordinate position of the tooth root canal tip mark point in the projection coordinate system includes:
s71, converting the coordinate position of the tooth root canal marking point in the world coordinate system into the coordinate position of the tooth root canal orifice marking point in the AR glasses coordinate system according to the conversion relation between the AR glasses coordinate system and the world coordinate system;
and S72, converting the coordinate position of the tooth root canal marking point under the AR glasses coordinate system into the coordinate position of the tooth root canal orifice marking point under the projection coordinate system according to the conversion relation between the AR glasses coordinate system and the projection coordinate system.
In S8 of the above aspect, as shown in fig. 5, the converting the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system includes:
s81, converting the coordinate position of the second marker in the coordinate system of the binocular camera into the coordinate position of the second marker in the coordinate system of the AR glasses according to the coordinate conversion relation between the coordinate system of the binocular camera and the coordinate system of the AR glasses;
and S82, converting the coordinate position of the second marker in the AR glasses coordinate system into the coordinate position of the second marker in the projection coordinate system according to the coordinate conversion relation between the AR glasses coordinate system and the projection coordinate system.
In addition, the invention also provides a system for assisting navigation in dental root canal treatment based on mixed reality technology, which is used for executing the method, and as shown in fig. 6, the system comprises a processor and AR glasses;
preassembling a first marker and a second marker on the patient's teeth and the operating instrument, respectively;
the processor receives CT image data in the oral cavity of a patient, utilizes the CT image data to manufacture an AR display model of the teeth of the patient, identifies the AR display model based on an AI (Artificial intelligence) deep learning algorithm and an image identification algorithm, obtains the root canal shape and position of the root canal orifice of the teeth, and marks the root canal shape and position with colors on the AR display model;
respectively scanning a first marker and a second marker by using a binocular camera on the AR glasses to obtain a first marker image and a second marker image;
the processor respectively applies an s-am algorithm to the first marker image and the second marker image to obtain the coordinate positions of the first marker and the second marker in a binocular camera coordinate system;
the processor converts the coordinate position of the first marker in the binocular camera coordinate system into the coordinate position in the world coordinate system, then registers the coordinate position with the tooth root canal orifice mark point in the AR display model, acquires the coordinate position of the tooth root canal orifice mark point in the world coordinate system, and converts the coordinate position of the tooth root canal orifice mark point in the world coordinate system into the coordinate position of the tooth root canal orifice mark point in the projection coordinate system;
the processor converts the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system, matches the coordinate position of the second marker in the projection coordinate system with the coordinate position of the tooth root and nozzle mark point in the projection coordinate system, and obtains the relative position relation of the second marker and the tooth root and nozzle mark point in the projection coordinate system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for assisting navigation of dental root canal orifice treatment based on mixed reality technology is characterized by comprising the following steps:
the method comprises the steps that a first marker and a second marker are respectively preassembled on the teeth of a patient and an operating instrument;
acquiring CT image data in the oral cavity of a patient, and making an AR display model of the teeth of the patient by using the CT image data;
identifying the AR display model based on an AI deep learning algorithm and an image identification algorithm, acquiring the root canal shape and position of the root canal orifice of the tooth, and marking the AR display model by using colors;
respectively scanning the first marker and the second marker by using a binocular camera on the AR glasses to obtain a first marker image and a second marker image;
respectively applying a binocular vision slam-based algorithm to the first marker image and the second marker image to obtain the coordinate positions of the first marker and the second marker in a binocular camera coordinate system;
converting the coordinate position of the first marker in the binocular camera coordinate system into the coordinate position in the world coordinate system, and then registering the coordinate position of the first marker with the tooth root and canal orifice mark point in the AR display model to obtain the coordinate position of the tooth root and canal orifice mark point in the world coordinate system;
converting the coordinate position of the tooth root canal orifice mark point in the world coordinate system into the coordinate position of the tooth root canal orifice mark point in the projection coordinate system;
converting the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system;
and matching the coordinate position of the second marker in the projection coordinate system with the coordinate position of the tooth root canal orifice mark point in the projection coordinate system to obtain the relative position relation of the second marker and the tooth root canal orifice mark point.
2. The method for assisting navigation in treating odontopathy based on mixed reality technology according to claim 1, wherein the using CT image data to make AR display model of patient's teeth comprises:
extracting tooth characteristic data of a patient through a three-dimensional visualization tool, and generating a triangular grid map;
converting the triangular grid diagram into a stl format file;
and calling the contents of the stl format file to make an AR display model of the teeth of the patient.
3. The method for assisting guidance in treating odontopathy based on mixed reality technology according to claim 1, wherein the step of converting the coordinate position of the first marker in the coordinate system of the binocular camera into the coordinate position in the coordinate system of the world comprises the following steps:
converting the coordinate position of the first marker in the coordinate system of the binocular camera into the coordinate position of the first marker in the coordinate system of the AR glasses according to the conversion relation between the coordinate system of the binocular camera and the coordinate system of the AR glasses;
and converting the coordinate position of the marker in the AR glasses coordinate system into the coordinate position of the marker in the world coordinate system according to the conversion relation between the AR glasses coordinate system and the world coordinate system.
4. The method for assisting guidance in dental root canal treatment based on mixed reality technology according to claim 1, wherein the step of converting the coordinate position of the dental root canal orifice mark point in the world coordinate system into the coordinate position of the dental root canal orifice mark point in the projection coordinate system comprises the following steps:
converting the coordinate position of the tooth root canal marking point under the world coordinate system into the coordinate position of the tooth root canal orifice marking point under the AR glasses coordinate system according to the conversion relation between the AR glasses coordinate system and the world coordinate system;
and converting the coordinate position of the tooth root canal marking point under the AR glasses coordinate system into the coordinate position of the tooth root canal orifice marking point under the projection coordinate system according to the conversion relation between the AR glasses coordinate system and the projection coordinate system.
5. The method for assisting guidance in treating odontopathy based on mixed reality technology according to claim 1, wherein the step of converting the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system comprises the following steps:
converting the coordinate position of the second marker in the coordinate system of the binocular camera into the coordinate position of the second marker in the coordinate system of the AR glasses according to the coordinate conversion relation between the coordinate system of the binocular camera and the coordinate system of the AR glasses;
and converting the coordinate position of the second marker in the AR glasses coordinate system into the coordinate position of the second marker in the projection coordinate system according to the coordinate conversion relation between the AR glasses coordinate system and the projection coordinate system.
6. The method for mixed reality technology-based guidance-assisted for the treatment of the orifice of the dental root according to claim 1, wherein the relative positional relationship comprises direction, angle and distance.
7. The method for mixed reality technology-based guidance-assisted for treatment of the orifice of the dental root according to claim 2, wherein the three-dimensional visualization tool comprises at least one of a MIMICS software tool, an Amira software tool, an Avizo software tool, and an ORS Visual software tool.
8. The method for mixed reality technology-based guidance-assisted for treating odontopathy according to claim 2, wherein the transformation of the triangular grid diagram into stl format file is performed by ORS Visual software tool.
9. The method and system for assisting in navigation of dental root canal treatment based on mixed reality technology as claimed in claim 2, wherein the calling of the content of stl-format file creates an AR display model of the patient's teeth, and the calling of the content of stl-format file by the Unity real-time content development platform creates an AR display model of the patient's teeth.
10. A system for assisted navigation of a dental root canal procedure based on mixed reality technology, the system being configured to perform the method of any one of claims 1-9, the system comprising a processor and AR glasses;
preassembling a first marker and a second marker on the patient's teeth and the operating instrument, respectively;
the processor receives CT image data in the oral cavity of a patient, utilizes the CT image data to manufacture an AR display model of the teeth of the patient, identifies the AR display model based on an AI (Artificial intelligence) deep learning algorithm and an image identification algorithm, obtains the root canal shape and position of the root canal orifice of the teeth, and marks the root canal shape and position with colors on the AR display model;
respectively scanning the first marker and the second marker by using binocular cameras on the AR glasses to obtain a first marker image and a second marker image;
the processor applies slam algorithm to the first marker image and the second marker image respectively to obtain coordinate positions of the first marker and the second marker in a binocular camera coordinate system;
the processor converts the coordinate position of the first marker in the binocular camera coordinate system into the coordinate position in the world coordinate system, then registers the coordinate position with the tooth root canal orifice mark point in the AR display model, acquires the coordinate position of the tooth root canal orifice mark point in the world coordinate system, and converts the coordinate position of the tooth root canal orifice mark point in the world coordinate system into the coordinate position of the tooth root canal orifice mark point in the projection coordinate system;
the processor converts the coordinate position of the second marker in the binocular camera coordinate system into the coordinate position of the second marker in the projection coordinate system, matches the coordinate position of the second marker in the projection coordinate system with the coordinate position of the tooth root canal orifice mark point in the projection coordinate system, and obtains the relative position relation of the second marker and the tooth root canal orifice mark point in the projection coordinate system.
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