CN115944416B - Auxiliary determination method, system, medium and electronic equipment for oral implantation scheme - Google Patents
Auxiliary determination method, system, medium and electronic equipment for oral implantation scheme Download PDFInfo
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Abstract
The invention belongs to the technical field of planting scheme planning, and provides an auxiliary determination method, an auxiliary determination system, an auxiliary determination medium and electronic equipment for an oral planting scheme in order to solve the problem of efficiency of planning the planting scheme. The auxiliary determining method of the oral cavity planting scheme comprises the steps of obtaining measurement data of a pre-planting position and a dental arch panoramic view and a small dental film which are sketched with the outline of the implant; calculating the position of an in-out point of the implant sketched on the dental arch panoramic view and the small dental film to obtain the position information of the two-dimensional in-out point of the implant; mapping the two-dimensional implant access point position information to a dental curved surface three-dimensional space, and determining the implant access point position of the implant in the dental curved surface three-dimensional space; and generating an implant planting scheme according to the implant access point position in the dental curved surface three-dimensional space and the pre-planting position measurement data. The method can automatically generate a planting scheme based on the implant outline pre-drawn on the dental arch panoramic view and the small dental film, and improves the efficiency of planning the planting scheme.
Description
Technical Field
The invention belongs to the technical field of planting scheme planning, and particularly relates to an auxiliary determination method, an auxiliary determination system, an auxiliary determination medium and electronic equipment for an oral planting scheme.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In the process of planning oral cavity planting, proper implant is selected according to the relevant data of the planted area and the implantation angle of the implant to make a tooth planting plan. The inventor finds that the related data of the implanted region and the implantation angle of the implant are mostly obtained by adopting image processing software to process, but for the image processing software, doctors are required to learn from basic operation, and for the doctors who are unfamiliar with the image processing software, the operation is difficult, and the doctors cannot feel the reality of oral implantation planning, so that the efficiency of planning the implantation scheme is reduced.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides an auxiliary determination method, an auxiliary determination system, an auxiliary determination medium and an auxiliary determination electronic device for an oral cavity planting scheme, which can automatically generate the planting scheme based on the implant outline sketched on an dental arch panoramic view and a small dental film in advance and improve the efficiency of planning the planting scheme.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a first aspect of the invention provides a method of assisting in determining an oral implant regimen.
A method of assisting in determining an oral implant regimen, comprising:
acquiring measurement data of a pre-planting part and a dental arch panoramic view and a small dental film which are sketched with the outline of the implant; wherein, the dental arch panoramic view and the small dental film are obtained based on the oral cavity CBCT image reconstruction of the target object;
calculating the position of an in-out point of the implant sketched on the dental arch panoramic view and the small dental film to obtain the position information of the two-dimensional in-out point of the implant;
mapping the two-dimensional implant access point position information to a dental curved surface three-dimensional space, and determining the implant access point position of the implant in the dental curved surface three-dimensional space;
and generating an implant planting scheme according to the implant access point position in the dental curved surface three-dimensional space and the pre-planting position measurement data.
The implant planting scheme comprises implant access point positions and implant type number information, wherein the implant type information is obtained by pre-planting position measurement data, and the pre-planting position measurement data comprise implant size data.
As one embodiment, the pre-implant site measurement data is obtained by measuring the dental arch panoramic view and the missing tooth site on the small dental film by a film template ruler.
The technical scheme has the advantages that the depth, the width and the thickness of the implanted region and the implantation angle of the implant are accurately measured by using the film template ruler, then the implant with the matched model is selected, the printed dental arch curved surface and the small dental film are sketched, a doctor can operate more easily, and the doctor has stronger sense of reality.
As one embodiment, implant contours on the dental arch panoramic view and the small dental film are manually delineated on the pre-printed dental arch panoramic view and small dental film based on pre-implant site measurement data.
As one embodiment, the pre-implant site measurement data includes depth, width, thickness of the implanted region and implant implantation angle.
As one embodiment, the in-out point locations of the implant delineated on the dental arch panoramic view and the small dental film are calculated by traversing the pixel value coordinates.
As an embodiment, before traversing the pixel value coordinates, the method further comprises:
generating a corresponding contour image based on the dental arch panoramic image and the small dental film on which the implant contour is sketched;
the corresponding contour image is binarized, generating a corresponding contour mask image with a foreground of 1 and a background of 0.
As an embodiment, the implant access point positions outlined on the dental arch panoramic view and the small dental film are:
the position of the exit point ipontiout = w point_min [ j ] +point_min [ i ];
point-in location ipoint in = w x point_max [ j ] +point_max [ i ];
the image size is w.h, w is the width of the corresponding outline mask image, h is the height of the corresponding outline mask image, and point_min [ j ], point_min [ i ], point_max [ j ], and point_max [ i ] are the point of the ordinate minimum value, the point of the abscissa minimum value, the point of the ordinate maximum value, and the point of the abscissa maximum value of the pixel value of 1 in the corresponding outline mask image respectively.
As one embodiment, implant access points pointIn and pointOut of the implant in the dental curved surface three-dimensional space are respectively:
pointIn = (sPointIn +iPointIn)/（N+1）
pointOut = (sPointOut +iPointOut)/（N+1）
where N is the number of small teeth, and sPointOut and sPointIn are access points projected onto the normal section, respectively.
A second aspect of the invention provides an auxiliary determination system for an oral implant regimen.
An auxiliary determination system for an oral implant regimen, comprising:
the information acquisition module is used for acquiring measurement data of the pre-planting part and a dental arch panoramic view and a small dental film which are contoured with the implant; wherein, the dental arch panoramic view and the small dental film are obtained based on the oral cavity CBCT image reconstruction of the target object;
the two-dimensional access point calculation module is used for calculating the access point positions of the implant sketched on the dental arch panoramic view and the small dental film to obtain the two-dimensional access point position information of the implant;
the three-dimensional access point calculation module is used for mapping the two-dimensional access point position information of the implant to the three-dimensional space of the dental curved surface and determining the position of the implant access point of the implant in the three-dimensional space of the dental curved surface;
the implant scheme generating module is used for generating an implant scheme according to implant access point positions in the dental curved surface three-dimensional space and pre-implant position measurement data.
In one embodiment, in the information acquisition module, the pre-implant site measurement data is obtained by measuring a dental arch panoramic view and a missing tooth site on a small dental film through a film template ruler.
In one embodiment, in the information acquisition module, the implant contours on the dental arch panoramic view and the small dental film are manually delineated on the dental arch panoramic view and the small dental film which are printed in advance according to the pre-implantation site measurement data.
In one embodiment, in the information acquisition module, the pre-implantation site measurement data includes depth, width, thickness of the implanted region and implant implantation angle.
In one embodiment, in the two-dimensional access point calculation module, access point positions of the implant delineated on the dental arch panoramic view and the small dental film are calculated by traversing pixel value coordinates.
As one embodiment, before traversing the pixel value coordinates, the two-dimensional access point calculating module further includes:
generating a corresponding contour image based on the dental arch panoramic image and the small dental film on which the implant contour is sketched;
the corresponding contour image is binarized, generating a corresponding contour mask image with a foreground of 1 and a background of 0.
As an embodiment, in the two-dimensional access point calculation module, the access point positions of the implant sketched on the dental arch panoramic view and the small dental film are as follows:
the position of the exit point ipontiout = w point_min [ j ] +point_min [ i ];
point-in location ipoint in = w x point_max [ j ] +point_max [ i ];
the image size is w.h, w is the width of the corresponding outline mask image, h is the height of the corresponding outline mask image, and point_min [ j ], point_min [ i ], point_max [ j ], and point_max [ i ] are the point of the ordinate minimum value, the point of the abscissa minimum value, the point of the ordinate maximum value, and the point of the abscissa maximum value of the pixel value of 1 in the corresponding outline mask image respectively.
As an embodiment, in the three-dimensional access point calculation module, the implant access points pointIn and pointOut of the implant in the dental curved surface three-dimensional space are respectively:
pointIn = (sPointIn +iPointIn)/（N+1）
pointOut = (sPointOut +iPointOut)/（N+1）
where N is the number of small teeth, and sPointOut and sPointIn are access points projected onto the normal section, respectively.
A third aspect of the present invention provides a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps in a method of assisting in determining an oral planting regimen as described above.
A fourth aspect of the invention provides an electronic device.
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the method of assisting in determining a dental implant plan as described above when the program is executed.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, based on the measurement data of the pre-planting part and the dental arch panoramic view and the small dental film which are sketched with the implant outline, the positions of the in-out points of the implant sketched on the dental arch panoramic view and the small dental film are calculated and mapped to the three-dimensional space of the dental jaw curved surface, so that the positions of the in-out points of the implant in the three-dimensional space of the dental jaw curved surface are determined, the implant planting scheme can be automatically generated quickly and accurately, and the efficiency of planning the planting scheme is improved.
(2) According to the invention, the depth, width and thickness of the implanted region and the implantation angle of the implant are accurately measured by using the film template ruler, the measurement data of the pre-implanted part is obtained, and the outline of the implant is sketched on the dental arch panoramic view and the small dental film based on the measurement data of the pre-implanted part, so that the problem that a doctor is difficult to use software is solved, the doctor is easier to operate, and the reality is stronger.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a flow chart of an auxiliary determination method of an oral planting regimen according to an embodiment of the present disclosure;
FIG. 2 is a panoramic view of an arch of an embodiment of the present invention;
FIG. 3 is a small dental film of an embodiment of the present invention;
FIG. 4 is a film template ruler according to an embodiment of the present invention;
FIG. 5 is an implant profile delineated on an arch panorama in accordance with an embodiment of the present invention;
FIG. 6 is a profile of an implant sketched on a small dental film according to an embodiment of the present invention;
FIG. 7 is a two-dimensional illustration of an implant contour to normal cross-section projection delineated on an arch panoramic view in accordance with an embodiment of the invention;
FIG. 8 is a graphical representation of an implant profile projected onto a normal cross-section from an implant profile delineated on an arch panoramic view in accordance with an embodiment of the invention;
FIG. 9 is a three-dimensional illustration of an implant contour to normal cross-section projection delineated on an arch panoramic view in accordance with an embodiment of the invention;
fig. 10 is a schematic structural view of an auxiliary determining system of the oral planting scheme according to the embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
Referring to fig. 1, the method for assisting in determining an oral cavity planting scheme provided in this embodiment specifically includes the following steps:
step S101: acquiring measurement data of a pre-planting part and a dental arch panoramic view and a small dental film which are sketched with the outline of the implant; wherein the dental arch panoramic view and the small dental film are reconstructed based on the oral cavity CBCT image of the target object, as shown in fig. 2 and 3.
In the specific implementation process, the pre-planting position measurement data are obtained by measuring dental arch panoramic images and tooth missing positions on the small dental films through a film template ruler. Wherein the film template ruler is shown in fig. 4.
The pre-planting position measurement data comprise the depth, width and thickness of a planted area and the implantation angle of the implant. The implant outline on the dental arch panoramic view and the small dental film is manually sketched on the dental arch panoramic view and the small dental film which are printed in advance according to the measured data of the pre-planting position. The sketched results are shown in fig. 5 and 6.
According to the embodiment, the depth, the width and the thickness of the implanted region and the implantation angle of the implant are accurately measured by using the film template ruler, then the implant with the matched model is selected, and the printed dental arch curved surface and the small dental film are sketched, so that a doctor can operate more easily, and the doctor has stronger sense of reality.
In some embodiments, the already delineated dental arch panoramic view and the small dental film digitization may be scanned by a scanning device.
It should be noted that, in other embodiments, the dental arch panoramic view and the small dental film information that delineate the implant in advance may be obtained by other existing methods, which will not be described in detail herein.
Step S102: and calculating the position of the in-out point of the implant sketched on the dental arch panoramic view and the small dental film to obtain the position information of the two-dimensional in-out point of the implant.
In this embodiment, the in-out point positions of the implant delineated on the dental arch panoramic view and the small dental film are calculated by traversing the pixel value coordinates.
In the implementation process of step S102, the process of calculating the position of the access point of the implant depicted on the dental arch panoramic view includes:
step S10211: subtracting the original two-dimensional panorama from the contoured two-dimensional panorama digital image to generate a contour image, binarizing the contour image, setting the foreground as 1 and the background as 0 to generate a contour mask image; assuming ptrMask as a starting address of a contour mask image, wherein the contour mask image is w×h, and any point in the contour mask image is pointx (i, j); wherein i and j are respectively the abscissa and ordinate values of any point in the outline mask image; the coordinate system of the outline mask image is manually preset.
Step S10212: traversing the mask image data, and calculating a point_min (i, j) with j being the minimum value and a point_max (i, j) with j being the maximum value in the pixel value of 1:
point-in location ipoint in = w x point_max [ j ] +point_max [ i ];
the position of the exit point ipontiout=w+point_min [ j ] +point_min [ i ].
The image size is w.h, w is the width of the corresponding outline mask image, h is the height of the corresponding outline mask image, and point_min [ j ], point_min [ i ], point_max [ j ], and point_max [ i ] are the point of the ordinate minimum value, the point of the abscissa minimum value, the point of the ordinate maximum value, and the point of the abscissa maximum value of the pixel value of 1 in the corresponding outline mask image respectively.
And calculating the position of the obtained implant access point by using a point-to-plane projection formula, and projecting the position of the obtained implant access point onto a normal cross section to obtain new access point positions, namely sPontOut and sPointIn.
Step S103: mapping the two-dimensional implant access point position information to a dental curved surface three-dimensional space, and determining the implant access point position of the implant in the dental curved surface three-dimensional space.
FIG. 7 shows a two-dimensional view of the projection of the implant contour onto the normal cross-section delineated on the dental arch panoramic view; fig. 8 shows an implant profile projected onto a normal cross-section from an implant profile delineated on an arch panoramic view. Wherein, lin1 and Lin2 in FIG. 7 refer to the axial face of the implant and the inclined face of the implant, respectively. The axial and inclined planes of the implant and the implant profile to normal cross-section projection three-dimensional view of the implant in fig. 7 is shown in fig. 9.
And calculating implant access points pointIn and pointOut in the dental curved surface three-dimensional space by combining the sketched implant position on the dental curved surface panoramic view and the sketched implant position on the small dental film. The formula is as follows:
n number of small teeth sheets
pointIn = (sPointIn +iPointIn)/（N+1）；
pointOut = (sPointOut +iPointOut)/（N+1）。
The method for calculating the position of the access point planted in the original three-dimensional space can be as follows:
it is known that:
ptrSrc is the head address of the original three-dimensional image volume data, origin is the head address of the original point of the stored image, spacing: for storing the head address of the pixel interval;
ptrCprsrc is the first address for storing the three-dimensional image volume data of the original dental curved surface; cprOrigin is the initial address of the original point of the stored dental curved surface image; cprSpacing: for storing the first address of the pixel interval of the dental curved surface, cprDimensions is the first address of the number of pixels for storing the dental curved surface;
ptrsrcdimevec is the first address of the container, and the container stores the position of each voxel in the dental curved surface volume data in the original image space;
ptrsrcwordtvec is the first address of a container in which the point ptrpointwordtvec (x, y, z) of each voxel in the dental surface volume data in space is stored;
the formula for calculating the points (word_x, word_y) of the implant access points in the world coordinate system in the three-dimensional space of the dental curved surface is as follows:
let point=pointin and point=pointout be calculated as the following formulas, respectively:
word_x = (point[0] –cprOrigin[0]) / cprSpacing[0];
word_y=(cprOrigin[1]+cprDimensions[1]*cprSpacing[1]–point[0]) /cprSpacing[1];
calculating coordinate points (wordpoint_x, wordpoint_y, wordpoint_z) in the world coordinate system:
worldPoint_x = ptrScrWordVec[word_x][0]
worldPoint_y = ptrScrWordVec[word_x][1]
worldPpoin_z = origin[2] + word_y * spacing[2];
the coordinate points in the world coordinate system are calculated to be Point (wordpoint_x, wordpoint_y, wordpoint_z), wherein wordpoint_x, wordpoint_y, wordpoint_z are the coordinates of the x-axis, y-axis and z-axis in the world coordinate system.
Step S104: and generating an implant planting scheme according to the implant access point position in the dental curved surface three-dimensional space and the pre-planting position measurement data.
The implant planting scheme comprises implant access point positions and implant type number information, wherein the implant type information is obtained by pre-planting position measurement data, and the pre-planting position measurement data comprise implant size data.
According to the embodiment, based on the measurement data of the pre-planted part and the dental arch panoramic view and the small dental film which are sketched with the outline of the implant, the positions of the in-out points of the implant sketched on the dental arch panoramic view and the small dental film are calculated and mapped to the three-dimensional space of the dental jaw curved surface, the positions of the in-out points of the implant in the three-dimensional space of the dental jaw curved surface are determined, the implant planting scheme can be automatically generated quickly and accurately, and the efficiency of planning the planting scheme is improved.
Example two
Referring to fig. 10, the present embodiment provides an auxiliary determination system of an oral implant regimen, comprising:
(1) The information acquisition module is used for acquiring measurement data of the pre-planting part and a dental arch panoramic view and a small dental film which are contoured with the implant; wherein, the dental arch panoramic view and the small dental film are obtained based on the oral cavity CBCT image reconstruction of the target object.
Specifically, in the information acquisition module, the pre-planting position measurement data is obtained by measuring a dental arch panoramic image and a tooth missing position on a small dental film through a film template ruler.
In the information acquisition module, implant outlines on the dental arch panoramic view and the small dental film are manually sketched on the dental arch panoramic view and the small dental film which are printed in advance according to the measurement data of the pre-planting position.
In the information acquisition module, the pre-implantation site measurement data includes depth, width, thickness of the implanted region and implant implantation angle.
(2) The two-dimensional access point calculation module is used for calculating the access point positions of the implant sketched on the dental arch panoramic view and the small dental film, and obtaining the two-dimensional access point position information of the implant.
In the specific implementation process, in the two-dimensional access point calculation module, the access point positions of the implant sketched on the dental arch panoramic view and the small dental film are calculated by traversing pixel value coordinates.
In some implementations, before traversing the pixel value coordinates in the two-dimensional access point calculation module, the method further includes:
generating a corresponding contour image based on the dental arch panoramic image and the small dental film on which the implant contour is sketched;
the corresponding contour image is binarized, generating a corresponding contour mask image with a foreground of 1 and a background of 0.
The positions of the in-out points of the implant sketched on the dental arch panoramic view and the small dental film are as follows:
the position of the exit point ipontiout = w point_min [ j ] +point_min [ i ];
point-in location ipoint in = w x point_max [ j ] +point_max [ i ];
the image size is w.h, w is the width of the corresponding outline mask image, h is the height of the corresponding outline mask image, and point_min [ j ], point_min [ i ], point_max [ j ], and point_max [ i ] are the point of the ordinate minimum value, the point of the abscissa minimum value, the point of the ordinate maximum value, and the point of the abscissa maximum value of the pixel value of 1 in the corresponding outline mask image respectively.
(3) The three-dimensional access point calculation module is used for mapping the two-dimensional access point position information of the implant to the three-dimensional space of the dental curved surface and determining the position of the implant access point of the implant in the three-dimensional space of the dental curved surface.
In the three-dimensional access point calculation module, the implant access points pointIn and pointOut of the implant in the dental curved surface three-dimensional space are respectively as follows:
pointIn = (sPointIn +iPointIn)/（N+1）
pointOut = (sPointOut +iPointOut)/（N+1）
where N is the number of small teeth, and sPointOut and sPointIn are access points projected onto the normal section, respectively.
(4) The implant scheme generating module is used for generating an implant scheme according to implant access point positions in the dental curved surface three-dimensional space and pre-implant position measurement data.
Example III
The present embodiment provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps in the method of assisting in determining an oral planting regimen as described above.
Example IV
The present embodiment provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the method for assisting in determining an oral implant plan as described above when executing the program.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (18)
1. A method of assisting in determining an oral implant regimen, comprising:
acquiring measurement data of a pre-planting part and a dental arch panoramic view and a small dental film which are sketched with the outline of the implant; wherein, the dental arch panoramic view and the small dental film are obtained based on the oral cavity CBCT image reconstruction of the target object;
calculating the position of an in-out point of the implant sketched on the dental arch panoramic view and the small dental film to obtain the position information of the two-dimensional in-out point of the implant;
mapping the two-dimensional implant access point position information to a dental curved surface three-dimensional space, and determining the implant access point position of the implant in the dental curved surface three-dimensional space;
and generating an implant planting scheme according to the implant access point position in the dental curved surface three-dimensional space and the pre-planting position measurement data.
2. The method of claim 1, wherein the pre-implant site measurement data is obtained by measuring dental arch panoramic views and edentulous sites on small dental films with a film template ruler.
3. The method of assisted determination of an oral implant regimen according to claim 1 or 2, characterized in that implant contours on dental arch panoramas and small dental films are manually delineated on pre-printed dental arch panoramas and small dental films based on pre-implant site measurement data.
4. The method of assisted determination of an oral implant regimen of claim 1 or 2, wherein the pre-implant site measurement data comprises depth, width, thickness of the implanted region and implant implantation angle.
5. The method of assisted determination of an oral implant regimen according to claim 1, wherein the in-out point locations of the implant delineated on the dental arch panoramic view and the small dental film are calculated by traversing pixel value coordinates.
6. The method of assisted determination of an oral implant regimen of claim 5, further comprising, prior to traversing the pixel value coordinates:
generating a corresponding contour image based on the dental arch panoramic image and the small dental film on which the implant contour is sketched;
the corresponding contour image is binarized, generating a corresponding contour mask image with a foreground of 1 and a background of 0.
7. The method of assisted determination of an oral implant regimen according to claim 6, wherein the implant access point locations delineated on the dental arch panoramic view and the small dental film are:
the position of the exit point ipontiout = w point_min [ j ] +point_min [ i ];
point-in location ipoint in = w x point_max [ j ] +point_max [ i ];
the image size is w.h, w is the width of the corresponding outline mask image, h is the height of the corresponding outline mask image, and point_min [ j ], point_min [ i ], point_max [ j ], and point_max [ i ] are the point of the ordinate minimum value, the point of the abscissa minimum value, the point of the ordinate maximum value, and the point of the abscissa maximum value of the pixel value of 1 in the corresponding outline mask image respectively.
8. The method for assisting in determining an oral implant solution according to claim 7, wherein implant access points pointIn and pointOut of the implant in the three-dimensional space of the dental curved surface are respectively:
pointIn = (sPointIn +iPointIn)/（N+1）
pointOut = (sPointOut +iPointOut)/（N+1）
where N is the number of small teeth, and sPointOut and sPointIn are access points projected onto the normal section, respectively.
9. An auxiliary determination system for an oral implant regimen, comprising:
the information acquisition module is used for acquiring measurement data of the pre-planting part and a dental arch panoramic view and a small dental film which are contoured with the implant; wherein, the dental arch panoramic view and the small dental film are obtained based on the oral cavity CBCT image reconstruction of the target object;
the two-dimensional access point calculation module is used for calculating the access point positions of the implant sketched on the dental arch panoramic view and the small dental film to obtain the two-dimensional access point position information of the implant;
the three-dimensional access point calculation module is used for mapping the two-dimensional access point position information of the implant to the three-dimensional space of the dental curved surface and determining the position of the implant access point of the implant in the three-dimensional space of the dental curved surface;
the implant scheme generating module is used for generating an implant scheme according to implant access point positions in the dental curved surface three-dimensional space and pre-implant position measurement data.
10. The system for assisted determination of an oral implant regimen of claim 9, wherein in the information acquisition module, the pre-implant site measurement data is obtained by measuring dental arch panoramas and edentulous sites on small dental films with a film template ruler.
11. The system for assisted determination of an oral implant regimen according to claim 9 or 10, wherein in the information acquisition module, implant contours on the dental arch panoramic view and the small dental film are manually delineated on pre-printed dental arch panoramic view and small dental film based on pre-implant site measurement data.
12. The system for assisting determination of an oral implant regimen according to claim 9 or 10, wherein in the information acquisition module, the pre-implant site measurement data comprises depth, width, thickness of the implanted region and implant implantation angle.
13. The system of claim 9, wherein in the two-dimensional access point calculation module, access point locations of implants delineated on dental arch panoramic views and small dental films are calculated by traversing pixel value coordinates.
14. The system for assisted determination of an oral implant regimen of claim 13, further comprising, prior to traversing pixel value coordinates in the two-dimensional access point calculation module:
generating a corresponding contour image based on the dental arch panoramic image and the small dental film on which the implant contour is sketched;
the corresponding contour image is binarized, generating a corresponding contour mask image with a foreground of 1 and a background of 0.
15. The system for assisting determination of an oral implant regimen according to claim 14, wherein in the two-dimensional access point calculation module, the access point locations of the implant depicted on the dental arch panoramic view and the small dental film are:
the position of the exit point ipontiout = w point_min [ j ] +point_min [ i ];
point-in location ipoint in = w x point_max [ j ] +point_max [ i ];
the image size is w.h, w is the width of the corresponding outline mask image, h is the height of the corresponding outline mask image, and point_min [ j ], point_min [ i ], point_max [ j ], and point_max [ i ] are the point of the ordinate minimum value, the point of the abscissa minimum value, the point of the ordinate maximum value, and the point of the abscissa maximum value of the pixel value of 1 in the corresponding outline mask image respectively.
16. The system for assisting in determining an oral implant solution according to claim 15, wherein in the three-dimensional access point calculation module, implant access points pointIn and pointOut of the implant in the three-dimensional space of the dental curved surface are respectively:
pointIn = (sPointIn +iPointIn)/（N+1）
pointOut = (sPointOut +iPointOut)/（N+1）
where N is the number of small teeth, and sPointOut and sPointIn are access points projected onto the normal section, respectively.
17. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps in the method of assisting in determining an oral planting regimen according to any one of claims 1-8.
18. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps in the method of assisting in determining an oral planting regimen according to any one of claims 1-8 when the program is executed.
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