CN117116413B

CN117116413B - Oral planting optimization method, system and storage medium

Info

Publication number: CN117116413B
Application number: CN202311329324.5A
Authority: CN
Inventors: 张锐钊
Original assignee: Shenzhen Calvin Technology Co ltd
Current assignee: Shenzhen Calvin Technology Co ltd
Priority date: 2023-10-16
Filing date: 2023-10-16
Publication date: 2023-12-26
Anticipated expiration: 2043-10-16
Also published as: CN117116413A

Abstract

The invention provides an oral implant optimization method, an oral implant optimization system and a storage medium, wherein the method comprises the following steps: acquiring the target pose parameters of the implant; acquiring actual pose parameters of an implant; obtaining a target three-dimensional image and an actual three-dimensional image of the implant, and obtaining a contrast three-dimensional image of the implant according to matching of the matching feature points; performing an implant deviation amount analysis based on the compared three-dimensional images; establishing an implant three-dimensional coordinate system, and obtaining a corresponding implantation point offset value, a root tip offset value and a direction offset value; analyzing to obtain the pose parameters of the base station target; acquiring actual pose parameters of the base station through oral cavity scanning; analyzing the base station offset; judging whether the planting optimization is qualified or not. After the operation is carried out according to the preset implant target pose parameters, the actual pose parameters of the implant are obtained and compared to determine the implant deviation amount, and after the sleeve joint part target axial direction and the thread part target axial direction of the base station are determined based on the implant deviation amount, the base station deviation amount is further analyzed to determine the optimization effect.

Description

Oral planting optimization method, system and storage medium

Technical Field

The present invention relates to the field of medical technology, and to a method, system and storage medium for optimizing deviations present on implants after performing oral implant surgery.

Background

The oral implantation refers to a treatment mode of repairing the missing teeth in the oral cavity of a patient in a dental implantation mode, the dental implant is installed after drilling holes on alveolar bones where the missing teeth appear in the oral cavity of the patient, then a base and a dental crown are fixedly installed on the implant, and false teeth are formed through the implant, the base and the dental crown to replace the missing teeth so as to realize the functions of normal teeth.

The oral environments of each person are different, and for each special oral environment, an optimal planting scheme theoretically exists, namely, the optimal planting scheme is designed based on the three-dimensional structure of the oral cavity of a patient, and parameters such as the planting point position, the planting direction and the planting depth of the implant are determined so as to fix the implant on the alveolar bone according to the specific parameters when the implant is implemented. Compared with manual planting based on personal experience of doctors, the planting mobile phone is assisted in the operation based on the planting navigation system, and the planting mobile phone is guided in real time based on the preset optimal planting scheme according to the real-time relative position between the planting mobile phone and a patient, so that the planting precision can be guaranteed better.

The implant can be adjusted only before and during the planting process in clinic to approach the optimal planting scheme infinitely, but the deviation is not avoided in the actual operation process, and the implant can not be adjusted once being driven into and fixed on the alveolar bone. Therefore, the prior art cannot optimize after planting.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an oral cavity planting optimization method, an oral cavity planting optimization system and a storage medium aiming at the defects in the prior art, wherein the implant deviation amount can be optimized after the planting drilling and implant fixing operation is completed, and a better oral cavity treatment effect is ensured.

The technical scheme adopted for solving the technical problems is as follows:

an oral implant optimization method comprising the steps of:

s1, acquiring implant target pose parameters of an implant, wherein the implant target pose parameters comprise target implantation point coordinate values, target root tip point coordinate values and implant target directions;

s2, acquiring actual pose parameters of the implant by CT scanning, wherein the actual pose parameters of the implant comprise actual implantation point coordinate values, actual root tip point coordinate values and actual direction of the implant; the target implantation point coordinate value, the actual implantation point coordinate value, the target root tip point coordinate value and the actual root tip point coordinate value are coordinate values on a three-dimensional coordinate system of a camera;

s3, acquiring a target three-dimensional image and an actual three-dimensional image of the implant, and matching the target three-dimensional image and the actual three-dimensional image of the implant according to at least three matching characteristic points on the implant to obtain a comparison three-dimensional image of the implant, wherein the comparison three-dimensional image comprises the target three-dimensional image and the actual three-dimensional image;

S4, performing implant deviation amount analysis based on the comparison three-dimensional image, comparing the coordinate value of the target implant point with the coordinate value of the actual implant point to obtain the implant point deviation amount, comparing the coordinate value of the target root point with the coordinate value of the actual root point to obtain the root point deviation amount, and comparing the target direction of the implant with the actual direction of the implant to obtain the direction deviation amount;

s5, establishing an implant three-dimensional coordinate system by taking the implant as a reference, and obtaining an implant point offset value, a root point offset value and a direction offset value under the implant three-dimensional coordinate system through coordinate conversion operation according to the implant point offset, the root point offset and the direction offset;

s6, analyzing and obtaining a base station target pose parameter according to an implantation point offset value, a root tip offset value and a direction offset value under an implant three-dimensional coordinate system, wherein the base station target pose parameter at least comprises a sleeve joint part target axial direction and a thread part target axial direction under the implant three-dimensional coordinate system;

s7, after a base station manufactured based on the sleeve joint part target axial direction and the thread part target axial direction under the three-dimensional coordinate system of the implant is installed and fixed on the implant, acquiring actual pose parameters of the base station through oral scanning, wherein the actual pose parameters of the base station comprise the sleeve joint part actual axial direction and the thread part actual axial direction under the three-dimensional coordinate system of the implant;

S8, analyzing the abutment offset, wherein the abutment offset comprises an abutment sleeve joint part offset and an abutment thread part offset, comparing a sleeve joint part target axial direction with a sleeve joint part actual axial direction to obtain the abutment sleeve joint part offset, and comparing a thread part target axial direction with a thread part actual axial direction to obtain the abutment thread part offset;

s9, acquiring a preset base station sleeving part deviation threshold and a base station thread part deviation threshold, and judging whether planting optimization is qualified or not by comparing the base station sleeving part deviation amount with the base station sleeving part deviation threshold and comparing the base station sleeving part deviation amount with the base station thread part deviation threshold.

Compared with the prior art, the beneficial effects of the technical scheme are as follows: after an operation is carried out according to preset implant target pose parameters, the actual pose parameters of the implant are obtained and compared to determine the implant deviation amount, the sleeve joint part target axial direction and the thread part target axial direction of the base station are determined based on the implant deviation amount, the prepared base station is fixed on the implant, and the base station deviation amount is further analyzed to determine the optimization effect.

Correspondingly, an oral implant optimization system comprising:

the system comprises a target parameter acquisition module, a target parameter extraction module and a target parameter extraction module, wherein the target parameter acquisition module is used for acquiring the target pose parameter of an implant, and the target pose parameter of the implant comprises a target implantation point coordinate value, a target root point coordinate value and a target direction of the implant;

The device comprises an actual parameter acquisition module, a CT scanning module and a control module, wherein the actual parameter acquisition module is used for acquiring the actual pose parameters of the implant by CT scanning, and the actual pose parameters of the implant comprise actual implantation point coordinate values, actual root tip point coordinate values and actual direction of the implant; the target implantation point coordinate value, the actual implantation point coordinate value, the target root tip point coordinate value and the actual root tip point coordinate value are coordinate values on a three-dimensional coordinate system of a camera;

the matching module is used for acquiring a target three-dimensional image and an actual three-dimensional image of the implant, matching the target three-dimensional image and the actual three-dimensional image of the implant according to at least three matching characteristic points on the implant to obtain a comparison three-dimensional image of the implant, wherein the comparison three-dimensional image comprises the target three-dimensional image and the actual three-dimensional image;

the deviation analysis module is used for carrying out implant deviation analysis based on the comparison three-dimensional image, obtaining implant deviation by comparing the coordinate value of the target implant point with the coordinate value of the actual implant point, obtaining root deviation by comparing the coordinate value of the target root point with the coordinate value of the actual root point, and obtaining direction deviation by comparing the target direction of the implant with the actual direction of the implant;

the coordinate system construction module is used for establishing an implant three-dimensional coordinate system by taking the implant as a reference, and obtaining an implant point offset value, a root point offset value and a direction offset value under the implant three-dimensional coordinate system through coordinate conversion operation according to the implant point offset, the root point offset and the direction offset;

The abutment target parameter analysis module is used for analyzing and obtaining abutment target pose parameters according to the implantation point offset value, the root tip offset value and the direction offset value in the three-dimensional coordinate system of the implant, wherein the abutment target pose parameters at least comprise a sleeve joint part target axial direction and a thread part target axial direction in the three-dimensional coordinate system of the implant;

the system comprises a base station actual parameter acquisition module, a base station actual pose acquisition module and a processing module, wherein the base station actual pose acquisition module is used for acquiring base station actual pose parameters through oral scanning after a base station manufactured based on the axial direction of a sleeving part target and the axial direction of a threaded part target in an implant three-dimensional coordinate system is installed and fixed on an implant, and the base station actual pose parameters comprise the actual axial direction of the sleeving part and the actual axial direction of the threaded part in the implant three-dimensional coordinate system;

the base station offset analysis module is used for analyzing base station offset, wherein the base station offset comprises base station sleeve joint part offset and base station thread part offset, the base station sleeve joint part offset is obtained by comparing the sleeve joint part target axial direction with the sleeve joint part actual axial direction, and the base station thread part offset is obtained by comparing the thread part target axial direction with the thread part actual axial direction;

the comparison module is used for acquiring a preset base station sleeving part deviation threshold and a preset base station thread part deviation threshold, and judging whether the planting optimization is qualified or not by comparing the base station sleeving part deviation amount with the base station sleeving part deviation threshold and comparing the base station sleeving part deviation amount with the base station thread part deviation threshold.

Correspondingly, a storage medium storing a computer program comprising program instructions which, when executed by a processor, perform the method of oral implant optimisation as described above.

Drawings

Fig. 1 is a flow chart of the oral implant optimization method of the present invention.

Fig. 2 is a schematic structural view of the oral implant optimizing system of the present invention.

In the drawings, the list of components represented by the respective reference numerals is as follows:

the system comprises a target parameter acquisition module 1, an actual parameter acquisition module 2, a matching module 3, a deviation analysis module 4, a coordinate system construction module 5, a base station target parameter analysis module 6, a base station actual parameter acquisition module 7, a base station deviation analysis module 8 and a comparison module 9.

Description of the embodiments

In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or component to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of the two components. When an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. It will be understood by those of ordinary skill in the art that the terms described above are in the specific sense of the present invention.

The implant can be adjusted only before and during the planting process in clinic to approach the optimal planting scheme infinitely, but the deviation is not avoided in the actual operation process, and the implant can not be adjusted once being driven into and fixed on the alveolar bone. In the prior art, the implant cannot be optimized after implantation, and even if deviation appears in the process of clearly implementing the implant operation, the targeted error correction cannot be performed.

As shown in fig. 1, a method for optimizing oral implant, the method comprising the steps of:

s1, acquiring implant target pose parameters of an implant, wherein the implant target pose parameters comprise target implantation point coordinate values, target root tip point coordinate values and implant target directions. In step S1, the implant target pose parameter is designed by a doctor according to a specific environment of a patient' S mouth, and the obtained design structure is the implant target pose parameter, including a target implantation point coordinate value, a target root point coordinate value and an implant target direction, that is, the implantation point of the implant on the surface of the alveolar bone, the bottom point of the inside of the alveolar bone and the direction extending from the surface of the alveolar bone are defined. The implant target pose parameters provide fundamental compliance for performing dental implant operations.

S2, acquiring actual pose parameters of the implant through CT scanning, wherein the actual pose parameters of the implant comprise actual implantation point coordinate values, actual root tip point coordinate values and actual direction of the implant. The step S2 is performed after the dental implant drilling operation is performed, and in the step S2, the patient oral cavity in which the implant is implanted is scanned based on the CT scanning equipment, so that the actual pose parameters of the implant are obtained, wherein the parameters comprise actual implant point coordinate values, actual root tip point coordinate values and actual direction of the implant. The implant target pose parameter is in an ideal state, and the actual pose parameter of the implant is in an actual state, opposite to the implant target pose parameter. In the steps S1 and S2, the target implantation point coordinate value, the actual implantation point coordinate value, the target root point coordinate value, and the actual root point coordinate value are coordinate values on a three-dimensional coordinate system of the camera. The three-dimensional coordinate system of the camera is the coordinate system inside the optical positioner system.

S3, acquiring a target three-dimensional image and an actual three-dimensional image of the implant, and matching the target three-dimensional image and the actual three-dimensional image of the implant according to at least three matching feature points on the implant to obtain a comparison three-dimensional image of the implant, wherein the comparison three-dimensional image comprises the target three-dimensional image and the actual three-dimensional image. In step S3, the target three-dimensional image is a three-dimensional image obtained by designing before the dental implant drilling operation is performed, the actual three-dimensional image is a three-dimensional image obtained by collecting after the dental implant drilling operation and the implant fixing operation are performed, and the matching process can be understood as a process of overlapping and fusing the target three-dimensional image and the actual three-dimensional image in one picture, and overlapping the target three-dimensional image and the actual three-dimensional image together through specific characteristic points in the same picture to obtain a comparative three-dimensional image so as to facilitate the implant deviation amount analysis.

S4, performing implant deviation amount analysis based on the comparison three-dimensional image, comparing the coordinate value of the target implant point with the coordinate value of the actual implant point to obtain the implant point deviation amount, comparing the coordinate value of the target root point with the coordinate value of the actual root point to obtain the root point deviation amount, and comparing the target direction of the implant with the actual direction of the implant to obtain the direction deviation amount. In step S3, the target three-dimensional image and the actual three-dimensional image are already matched to obtain a comparative three-dimensional image, and in the actual operation process, the target three-dimensional image and the actual three-dimensional image are not overlapped together, but have a certain deviation, and the purpose of step S4 is to quantify the deviation to obtain the implantation point deviation, the root point deviation and the direction deviation.

S5, establishing an implant three-dimensional coordinate system by taking the implant as a reference, and obtaining an implant point offset value, a root point offset value and a direction offset value under the implant three-dimensional coordinate system through coordinate conversion operation according to the implant point offset, the root point offset and the direction offset. The offset of the implantation point, the offset of the root tip point and the offset of the direction in the step S4 are offset obtained by taking the three-dimensional coordinate system of the camera as a reference, and the prior art often judges the planting precision by using the offset. The technical scheme has the innovation points that an implant three-dimensional coordinate system is established, and an implant point offset value, a root tip offset value and a direction offset value are obtained by taking the implant three-dimensional coordinate system as a reference, so that an optimization scheme is directly and accurately formulated.

S6, analyzing and obtaining a base station target pose parameter according to the implantation point offset value, the root tip offset value and the direction offset value under the three-dimensional coordinate system of the implant, wherein the base station target pose parameter at least comprises a sleeve joint part target axial direction and a thread part target axial direction under the three-dimensional coordinate system of the implant. Fixing a base on the implant, fixing a dental crown on the base, and replacing missing teeth by a fixing structure formed by the implant, the base and the dental crown to realize chewing and attractive functions. The optimization thinking of this technical scheme is correcting through the base station design to the planting body, and the base station uses the neck ring as the boundary can divide into two parts of cup joint portion and screw thread portion, and the crown is fixed on cup joint portion, and the base station passes through screw thread portion to be fixed on the planting body, and this is prior art. Generally, the offset of the implant needs to be represented on the base station through a camera three-dimensional coordinate system, in the step S6, based on the implant point offset value, the root point offset value and the direction offset value obtained by taking the implant three-dimensional coordinate system as a reference, the base station target pose parameter is designed, the socket part target axial direction and the thread part target axial direction are obtained according to the implant point offset value, the root point offset value and the direction offset value analysis under the implant three-dimensional coordinate system, the offset of the implant can be directly represented on the base station, and compared with the socket part target axial direction and the thread part target axial direction of the base station under the camera three-dimensional coordinate system, the technical scheme can be more directly optimized, and the deviation correcting effect is better.

S7, after the base station manufactured based on the sleeve joint part target axial direction and the thread part target axial direction under the three-dimensional coordinate system of the implant is installed and fixed on the implant, the actual pose parameters of the base station are obtained through oral scanning, and the actual pose parameters of the base station comprise the sleeve joint part actual axial direction and the thread part actual axial direction under the three-dimensional coordinate system of the implant. Between steps S6 and S7, it is also necessary to manufacture a solid abutment according to the socket target axis and the screw target axis in the three-dimensional coordinate system of the implant, and mount the abutment on the implant. The abutment is obtained by adaptively optimizing according to the offset value on the implant, and after the abutment is installed and fixed on the implant, the position of the dental crown can be more ideal, so that the oral implantation is optimized. In step S7, after the installation is completed, the actual axial direction of the socket part and the actual axial direction of the screw part in the three-dimensional coordinate system of the implant are obtained through oral scanning.

S8, analyzing the abutment offset, wherein the abutment offset comprises an abutment sleeve joint part offset and an abutment thread part offset, comparing the sleeve joint part target axial direction with the sleeve joint part actual axial direction to obtain the abutment sleeve joint part offset, and comparing the thread part target axial direction with the thread part actual axial direction to obtain the abutment thread part offset. In the step S6, the target axial direction of the sleeve joint part and the target axial direction of the threaded part under the three-dimensional coordinate system of the implant are known, in the step S7, the actual axial direction of the sleeve joint part and the actual axial direction of the threaded part under the three-dimensional coordinate system of the implant are known, and in the step S8, the base station offset and the base station threaded part offset can be obtained by quantitatively evaluating the optimization measures through comparing and analyzing the base station offset.

S9, acquiring a preset base station sleeving part deviation threshold and a base station thread part deviation threshold, and judging whether planting optimization is qualified or not by comparing the base station sleeving part deviation amount with the base station sleeving part deviation threshold and comparing the base station sleeving part deviation amount with the base station thread part deviation threshold. In step S9, the abutment offset can be determined based on the abutment socket offset and the abutment thread offset, and whether the planting optimization is qualified or not is determined by comparing the abutment socket offset with the abutment socket offset threshold and comparing the abutment socket offset with the abutment thread offset threshold. If the result is qualified, the optimization measures are effective; if the optimization measures are not qualified, the optimization measures are ineffective, and then the optimization can be selected again.

Based on the technical scheme, after an operation is carried out according to preset implant target pose parameters, the actual pose parameters of the implant are obtained to be compared so as to determine the implant deviation, the sleeve joint part target axial direction and the thread part target axial direction of the base station are determined based on the implant deviation, the prepared base station is fixed on the implant, and the base station deviation is further analyzed so as to determine the optimization effect.

In particular, three matching feature points, namely a first matching feature point, a second matching feature point and a third matching feature point, are provided in the implant, and preferably, the step S3 specifically includes:

S301, extracting target image characteristic parameters of the first matching characteristic point, the second matching characteristic point and the third matching characteristic point from the target three-dimensional image, wherein the target image characteristic parameters comprise positions, directions and pixel values of the matching characteristic points on the target three-dimensional image. In step S301, the positions, directions, and pixel values of the first matching feature point, the second matching feature point, and the third matching feature point on the target three-dimensional image are determined by the target three-dimensional image.

S302, extracting actual image characteristic parameters of the first matching characteristic point, the second matching characteristic point and the third matching characteristic point from an actual three-dimensional image, wherein the actual image characteristic parameters comprise positions, directions and pixel values of the matching characteristic points on the actual three-dimensional image. In step S302, the positions, directions, and pixel values of the first matching feature point, the second matching feature point, and the third matching feature point on the actual three-dimensional image are each determined by the actual three-dimensional image.

S303, traversing and calculating the distance or similarity of each matching characteristic point in the target three-dimensional image and the actual three-dimensional image according to the target image characteristic parameters and the actual image characteristic parameters of each of the first matching characteristic point, the second matching characteristic point and the third matching characteristic point. The purpose of step S303 is to match the first matching feature point, the second matching feature point and the third matching feature point of the target three-dimensional image with the first matching feature point, the second matching feature point and the third matching feature point of the actual three-dimensional image, that is, the first matching feature point on the target three-dimensional image is matched with the first matching feature point on the actual three-dimensional image, the second matching feature point on the target three-dimensional image is matched with the second matching feature point on the actual three-dimensional image, and the third matching feature point on the target three-dimensional image is matched with the third matching feature point on the actual three-dimensional image.

S304, according to the traversal calculation result, the shortest distance or the highest similarity is used as a judgment standard, and corresponding relations are established for all the matching characteristic points in the target three-dimensional image and the actual three-dimensional image, so that the first matching characteristic point on the target three-dimensional image is matched with the first matching characteristic point on the actual three-dimensional image, the second matching characteristic point on the target three-dimensional image is matched with the second matching characteristic point on the actual three-dimensional image, and the third matching characteristic point on the target three-dimensional image is matched with the third matching characteristic point on the actual three-dimensional image. In step 304, two matching criteria are provided in this embodiment according to the difference of the matching algorithms, and matching can be performed with the shortest distance or the highest similarity as the criterion.

S305, calculating to obtain a matrix conversion relation between the target three-dimensional image and the actual three-dimensional image based on the corresponding relation of each matching characteristic point on the target three-dimensional image and the actual three-dimensional image. The step 305 is to determine the coordinate values of a certain matching feature point on the target three-dimensional image and the actual three-dimensional image, and then analyze and calculate to obtain the matrix conversion relationship between the target three-dimensional image and the actual three-dimensional image.

S306, matching the target three-dimensional image and the actual three-dimensional image in the same picture according to the matrix conversion relation between the target three-dimensional image and the actual three-dimensional image, and obtaining a contrast three-dimensional image of the implant. In step 306, based on the matrix conversion relationship between the target three-dimensional image and the actual three-dimensional image, when the two sets of first matching feature points, the second matching feature points and the third matching feature points on the target three-dimensional image and the actual three-dimensional image are overlapped in a one-to-one correspondence manner, the target three-dimensional image and the actual three-dimensional image can be matched in the same picture, and a contrast three-dimensional image of the implant is obtained.

Based on the technical scheme, the target three-dimensional image and the actual three-dimensional image can be matched based on the first matching feature points, the second matching feature points and the third matching feature points, so that a contrast three-dimensional image of the implant is obtained, preparation is made for subsequent analysis of the deviation amount of the implant, and the method has the advantages of simplicity in generation, convenience in implementation, reliability in data and the like.

Preferably, the step S4 specifically includes:

s401, obtaining target implantation point coordinate values (X1, Y1, Z1) and actual implantation point coordinate values (X2, Y2, Z2), and calculating to obtain an implantation point offset delta implant, wherein delta implant is the implant (X2-X1, Y2-Y1, Z2-Z1).

S402, acquiring a target root point coordinate value root (X1, Y1, Z1) and an actual root point coordinate value root (X2, Y2, Z2), and calculating to obtain a root point offset delta root, wherein delta root is root (X2-X1, Y2-Y1, Z2-Z1).

S403, analyzing according to the target implantation point coordinate values (X1, Y1, Z1) and the target root tip point coordinate values root (X1, Y1, Z1) to obtain a target direction of the implant, analyzing according to the actual implantation point coordinate values (X2, Y2, Z2) and the actual root tip point coordinate values root (X2, Y2, Z2) to obtain an actual direction of the implant, and comparing the target direction of the implant with the actual direction of the implant to obtain a direction offset.

And step S3, matching the target three-dimensional image and the actual three-dimensional image, and matching the target three-dimensional image and the actual three-dimensional image in the same picture to obtain a contrast three-dimensional image of the implant. In steps S401-S403, based on the compared three-dimensional images, the implant point offset, root tip offset, and direction offset are respectively quantized for more scientific analysis of the implant offset.

Preferably, the step S5 specifically includes:

s501, selecting the midpoint of the top end of the implant as a coordinate origin, taking the connecting line of the midpoint of the top end and the midpoint of the bottom end of the implant as a Z axis, setting the Z axis and the Y axis in any vertical plane connecting the midpoint of the top end and the midpoint of the bottom end of the implant, and establishing a three-dimensional coordinate system of the implant. The process of establishing the three-dimensional coordinate system comprises establishing a coordinate origin and a coordinate axis, in the step S501, the midpoint of the top end of the implant is taken as the coordinate origin, the effect of convenient conversion can be achieved, and the special points on the two structures of the midpoint of the top end and the midpoint of the bottom end of the implant are connected as the Z axis, so that the coordinate axis can be established according to the structural characteristics of the implant, and the method is more scientific and reasonable.

S502, analyzing a matrix conversion relation between the three-dimensional coordinate system of the camera and the three-dimensional coordinate system of the implant based on coordinate values of the midpoint of the top end of the implant on the three-dimensional coordinate system of the camera. The coordinate value of the midpoint of the top end of the implant on the three-dimensional coordinate system of the camera is known, the point is the origin of the three-dimensional coordinate system of the implant, the coordinate value of the point on the three-dimensional coordinate system of the implant is also known, and based on the coordinate value, the matrix conversion relation between the three-dimensional coordinate system of the camera and the three-dimensional coordinate system of the implant can be analyzed.

S503, inputting the offset of the implantation point, the offset of the root point and the offset of the direction based on the matrix conversion relation between the three-dimensional coordinate system corresponding to the three-dimensional image and the three-dimensional coordinate system of the implant, and calculating to obtain the offset value of the implantation point, the offset value of the root point and the offset value of the direction under the three-dimensional coordinate system of the implant. In step S503, since the matrix conversion relationship between the three-dimensional coordinate system corresponding to the contrast three-dimensional image and the three-dimensional coordinate system of the implant is known, the implant point offset value, the root tip point offset value and the direction offset value under the three-dimensional coordinate system of the implant can be calculated by combining the implant point offset value, the root tip point offset value and the direction offset value obtained before.

Based on the technical scheme, the implant can be used as a reference system, the offset of the implant can be quantified based on the structure of the implant, and compared with the optical positioning instrument used as the reference system, the method is more direct and has higher precision.

Preferably, the step S7 specifically includes:

s701, acquiring oral scanning data of a base station fixed on an implant. Before step S701 is performed, a base station has been fixed to the implant in order to optimize the deviation of the implant by the base station. In step S701, oral scan data of the abutment in the oral cavity of the patient can be acquired from the oral scan data. In addition, the radiation of the oral cavity scanning is lower than that of CT scanning, so that the influence on the body of a patient is reduced.

S702, carrying out weighted average interpolation processing and filtering processing on the oral cavity scanning data of the base station, and establishing a three-dimensional model of the oral cavity scanning of the base station based on the oral cavity scanning data of the base station. In order to solve the problem that some noise and interference may exist in the oral scan data in step S701, the oral scan data in step S702 is subjected to weighted average interpolation processing and filtering processing, where weighted average interpolation is an interpolation method for estimating the value of an unknown data point based on the distance or weight of the known data point, and different interpolation weights may be set according to the distance or weight to adapt to different data distribution and noise conditions; and the filtering processing can remove invalid data, so that the validity and accuracy of the data are ensured.

S703, identifying a base station neck ring area in the base station port scanning three-dimensional model, and dividing the base station port scanning three-dimensional model into a base station sleeving part model and a base station thread part model by taking the base station neck ring area as a boundary. The prior art base station is divided into a sleeving part and a threaded part by taking the base station neck ring as a boundary, so that a three-dimensional model is scanned at the base station mouth, and a base station sleeving part model and a base station threaded part model can be divided by taking the base station neck ring area as a boundary

S704, positioning the midpoint of the upper end of the base station sleeving part model, the midpoint of the lower end of the base station threaded part model and the midpoint of the base station neck ring area on the base station mouth sweep three-dimensional model. In step S704, several special points on the base station are selected to prepare for determining the axial direction

S705, establishing a center axis connecting line, wherein the connecting line between the middle point of the upper end of the base platform sleeving part model and the middle point of the base platform neck ring area is taken as the actual axial direction of the sleeving part, and the connecting line between the middle point of the lower end of the base platform threaded part model and the middle point of the base platform neck ring area is taken as the actual axial direction of the threaded part.

Based on the scheme, the structure reality of the base station can be combined, the actual axial direction of the sleeve joint part and the actual axial direction of the thread part are obtained in the model, and data preparation is made for judging planting optimization measures.

As shown in fig. 2, correspondingly, the oral implant optimizing system comprises a target parameter acquiring module 1, an actual parameter acquiring module 2, a matching module 3, a deviation analyzing module 4, a coordinate system constructing module 5, a base target parameter analyzing module 6, a base actual parameter acquiring module 7, a base deviation analyzing module 8 and a comparing module 9. The system comprises a target parameter acquisition module, a target parameter extraction module and a target parameter extraction module, wherein the target parameter acquisition module is used for acquiring the target pose parameter of an implant, and the target pose parameter of the implant comprises a target implantation point coordinate value, a target root point coordinate value and a target direction of the implant; the device comprises an actual parameter acquisition module, a CT scanning module and a control module, wherein the actual parameter acquisition module is used for acquiring the actual pose parameters of the implant by CT scanning, and the actual pose parameters of the implant comprise actual implantation point coordinate values, actual root tip point coordinate values and actual direction of the implant; the target implantation point coordinate value, the actual implantation point coordinate value, the target root tip point coordinate value and the actual root tip point coordinate value are coordinate values on a three-dimensional coordinate system of a camera. The matching module is used for acquiring a target three-dimensional image and an actual three-dimensional image of the implant, matching the target three-dimensional image and the actual three-dimensional image of the implant according to at least three matching characteristic points on the implant to obtain a comparison three-dimensional image of the implant, wherein the comparison three-dimensional image comprises the target three-dimensional image and the actual three-dimensional image; the deviation analysis module is used for carrying out implant deviation analysis based on the comparison three-dimensional image, obtaining implant deviation by comparing the coordinate value of the target implant point with the coordinate value of the actual implant point, obtaining root deviation by comparing the coordinate value of the target root point with the coordinate value of the actual root point, and obtaining direction deviation by comparing the target direction of the implant with the actual direction of the implant; the coordinate system construction module is used for establishing an implant three-dimensional coordinate system by taking the implant as a reference, and obtaining an implant point offset value, a root point offset value and a direction offset value under the implant three-dimensional coordinate system through coordinate conversion operation according to the implant point offset, the root point offset and the direction offset; the abutment target parameter analysis module is used for analyzing and obtaining abutment target pose parameters according to the implantation point offset value, the root tip offset value and the direction offset value in the three-dimensional coordinate system of the implant, wherein the abutment target pose parameters at least comprise a sleeve joint part target axial direction and a thread part target axial direction in the three-dimensional coordinate system of the implant; the system comprises a base station actual parameter acquisition module, a base station actual pose acquisition module and a processing module, wherein the base station actual pose acquisition module is used for acquiring base station actual pose parameters through oral scanning after a base station manufactured based on the axial direction of a sleeving part target and the axial direction of a threaded part target in an implant three-dimensional coordinate system is installed and fixed on an implant, and the base station actual pose parameters comprise the actual axial direction of the sleeving part and the actual axial direction of the threaded part in the implant three-dimensional coordinate system; the base station offset analysis module is used for analyzing base station offset, wherein the base station offset comprises base station sleeve joint part offset and base station thread part offset, the base station sleeve joint part offset is obtained by comparing the sleeve joint part target axial direction with the sleeve joint part actual axial direction, and the base station thread part offset is obtained by comparing the thread part target axial direction with the thread part actual axial direction; the comparison module is used for acquiring a preset base station sleeving part deviation threshold and a preset base station thread part deviation threshold, and judging whether the planting optimization is qualified or not by comparing the base station sleeving part deviation amount with the base station sleeving part deviation threshold and comparing the base station sleeving part deviation amount with the base station thread part deviation threshold.

In particular, three matching feature points, namely a first matching feature point, a second matching feature point and a third matching feature point, are arranged in the implant, and preferably, the matching module comprises a first feature point extraction unit, a second feature point extraction unit, a matching calculation unit, a feature point matching unit, a first matrix analysis unit and a matching execution unit. Specifically, a first feature point extraction unit is used for extracting target image feature parameters of a first matching feature point, a second matching feature point and a third matching feature point in a target three-dimensional image, wherein the target image feature parameters comprise positions, directions and pixel values of all the matching feature points on the target three-dimensional image; the second feature point extraction unit is used for extracting actual image feature parameters of the first matching feature point, the second matching feature point and the third matching feature point from the actual three-dimensional image, wherein the actual image feature parameters comprise positions, directions and pixel values of the matching feature points on the actual three-dimensional image; the matching calculation unit is used for calculating the distance or the similarity of each matching characteristic point in the target three-dimensional image and the actual three-dimensional image in a traversing way according to the target image characteristic parameter and the actual image characteristic parameter of each of the first matching characteristic point, the second matching characteristic point and the third matching characteristic point; the characteristic point matching unit is used for establishing corresponding relations between the matching characteristic points in the target three-dimensional image and the actual three-dimensional image by taking the shortest distance or the highest similarity as a judgment standard according to the traversal calculation result, so that the first matching characteristic point on the target three-dimensional image is matched with the first matching characteristic point on the actual three-dimensional image, the second matching characteristic point on the target three-dimensional image is matched with the second matching characteristic point on the actual three-dimensional image, and the third matching characteristic point on the target three-dimensional image is matched with the third matching characteristic point on the actual three-dimensional image; the first matrix analysis unit is used for calculating and obtaining a matrix conversion relation between the target three-dimensional image and the actual three-dimensional image based on the corresponding relation of each matching characteristic point on the target three-dimensional image and the actual three-dimensional image; the matching execution unit is used for matching the target three-dimensional image and the actual three-dimensional image in the same picture according to the matrix conversion relation between the target three-dimensional image and the actual three-dimensional image, so as to obtain a contrast three-dimensional image of the implant.

Preferably, the deviation analysis module comprises an implantation point deviation analysis unit, a root point deviation analysis unit and a direction deviation analysis unit. Specifically, an implantation point offset analysis unit is configured to obtain a target implantation point coordinate value (X1, Y1, Z1) and an actual implantation point coordinate value (X2, Y2, Z2), and calculate an implantation point offset Δimplant, where Δimplant is the implant (X2-X1, Y2-Y1, Z2-Z1); the root point offset analysis unit is used for acquiring a target root point coordinate value root (X1, Y1, Z1) and an actual root point coordinate value root (X2, Y2, Z2), and calculating to obtain a root point offset delta root, wherein delta root is root (X2-X1, Y2-Y1, Z2-Z1); the direction offset analysis unit is used for analyzing according to the target implantation point coordinate value (X1, Y1, Z1) and the target root point coordinate value root (X1, Y1, Z1) to obtain the target direction of the implant, analyzing according to the actual implantation point coordinate value (X2, Y2, Z2) and the actual root point coordinate value root (X2, Y2, Z2) to obtain the actual direction of the implant, and comparing the target direction of the implant with the actual direction of the implant to obtain the direction offset;

preferably, the coordinate system construction module includes an origin establishing unit, a second matrix analyzing unit, and an offset value calculating unit. Specifically, an origin establishing unit is used for selecting the midpoint of the top end of the implant as a coordinate origin, taking the connecting line of the midpoint of the top end and the midpoint of the bottom end of the implant as a Z axis, setting the Z axis and the Y axis in any vertical plane connected with the midpoint of the top end and the midpoint of the bottom end of the implant, and establishing a three-dimensional coordinate system of the implant; the second matrix analysis unit is used for analyzing the matrix conversion relation between the three-dimensional coordinate system of the camera and the three-dimensional coordinate system of the implant based on the coordinate value of the midpoint of the top end of the implant on the three-dimensional coordinate system of the camera; the offset value calculating unit is used for inputting the offset of the implantation point, the offset of the root point and the offset of the direction based on the matrix conversion relation between the three-dimensional coordinate system corresponding to the comparison three-dimensional image and the three-dimensional coordinate system of the implant, and calculating the offset value of the implantation point, the offset value of the root point and the offset value of the direction under the three-dimensional coordinate system of the implant.

Preferably, the abutment actual parameter acquiring module comprises an oral cavity scanning unit, a model establishing unit, a model decomposing unit, a midpoint positioning unit and an axis establishing unit. Specifically, an oral scanning unit is used for acquiring oral scanning data of a base station fixed on an implant; the model building unit is used for carrying out weighted average interpolation processing and filtering processing on the oral cavity scanning data of the base station and building a three-dimensional model of the oral cavity scanning of the base station based on the oral cavity scanning data of the base station; the model decomposing unit is used for identifying a base station neck ring area in the base station mouth sweeping three-dimensional model, and dividing the base station mouth sweeping three-dimensional model into a base station sleeve joint part model and a base station thread part model by taking the base station neck ring area as a boundary; the middle point positioning unit is used for positioning the middle point of the upper end of the base station sleeving part model, the middle point of the lower end of the base station threaded part model and the middle point of the base station neck ring area on the base station mouth sweeping three-dimensional model; and the axis line establishment unit is used for establishing a center axis connecting line, taking a connecting line between the middle point of the upper end of the base platform sleeving part model and the middle point of the base platform neck ring area as an actual axial direction of the sleeving part, and taking a connecting line between the middle point of the lower end of the base platform threaded part model and the middle point of the base platform neck ring area as an actual axial direction of the threaded part.

It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

Claims

1. An optimization method for oral implantation, which is characterized by comprising the following steps:

2. The method according to claim 1, wherein three matching feature points are provided in the implant, namely a first matching feature point, a second matching feature point and a third matching feature point, and the step S3 specifically includes:

S301, extracting target image characteristic parameters of a first matching characteristic point, a second matching characteristic point and a third matching characteristic point from a target three-dimensional image, wherein the target image characteristic parameters comprise positions, directions and pixel values of the matching characteristic points on the target three-dimensional image;

s302, extracting actual image characteristic parameters of a first matching characteristic point, a second matching characteristic point and a third matching characteristic point from an actual three-dimensional image, wherein the actual image characteristic parameters comprise positions, directions and pixel values of the matching characteristic points on the actual three-dimensional image;

s303, traversing and calculating the distance or similarity of each matching characteristic point in the target three-dimensional image and the actual three-dimensional image according to the target image characteristic parameter and the actual image characteristic parameter of each of the first matching characteristic point, the second matching characteristic point and the third matching characteristic point;

s304, according to a traversal calculation result, taking the shortest distance or the highest similarity as a judgment standard, establishing a corresponding relation between each matching characteristic point in the target three-dimensional image and the actual three-dimensional image, so that a first matching characteristic point on the target three-dimensional image is matched with the first matching characteristic point on the actual three-dimensional image, a second matching characteristic point on the target three-dimensional image is matched with the second matching characteristic point on the actual three-dimensional image, and a third matching characteristic point on the target three-dimensional image is matched with the third matching characteristic point on the actual three-dimensional image;

S305, calculating to obtain a matrix conversion relationship between the target three-dimensional image and the actual three-dimensional image based on the corresponding relationship of each matching characteristic point on the target three-dimensional image and the actual three-dimensional image;

s306, matching the target three-dimensional image and the actual three-dimensional image in the same picture according to the matrix conversion relation between the target three-dimensional image and the actual three-dimensional image, and obtaining a contrast three-dimensional image of the implant.

3. The method according to claim 1, wherein the step S4 specifically comprises:

s401, acquiring target implantation point coordinate values (X1, Y1, Z1) and actual implantation point coordinate values (X2, Y2, Z2), and calculating to obtain an implantation point offset delta implant, wherein delta implant is the implant (X2-X1, Y2-Y1, Z2-Z1);

s402, acquiring a target root point coordinate value root (X1, Y1, Z1) and an actual root point coordinate value root (X2, Y2, Z2), and calculating to obtain a root point offset delta root, wherein delta root is root (X2-X1, Y2-Y1, Z2-Z1);

4. The method according to claim 1, wherein the step S5 specifically comprises:

s501, selecting the midpoint of the top end of the implant as a coordinate origin, taking the connecting line of the midpoint of the top end and the midpoint of the bottom end of the implant as a Z axis, setting the Z axis and the Y axis in any vertical plane connecting the midpoint of the top end and the midpoint of the bottom end of the implant, and establishing a three-dimensional coordinate system of the implant;

s502, analyzing a matrix conversion relation between the three-dimensional coordinate system of the camera and the three-dimensional coordinate system of the implant based on coordinate values of the midpoint of the top end of the implant on the three-dimensional coordinate system of the camera;

s503, inputting the offset of the implantation point, the offset of the root point and the offset of the direction based on the matrix conversion relation between the three-dimensional coordinate system corresponding to the three-dimensional image and the three-dimensional coordinate system of the implant, and calculating to obtain the offset value of the implantation point, the offset value of the root point and the offset value of the direction under the three-dimensional coordinate system of the implant.

5. The method according to claim 1, wherein the step S7 specifically comprises:

s701, acquiring oral scanning data of a base station fixed on an implant;

s702, carrying out weighted average interpolation processing and filtering processing on oral cavity scanning data of a base station, and establishing a base station oral cavity scanning three-dimensional model based on the oral cavity scanning data of the base station;

S703, identifying a base station neck ring area in the base station port scanning three-dimensional model, and dividing the base station port scanning three-dimensional model into a base station sleeving part model and a base station thread part model by taking the base station neck ring area as a boundary;

s704, positioning the middle point of the upper end of the base station sleeving part model, the middle point of the lower end of the base station threaded part model and the middle point of the base station neck ring area on the base station port scanning three-dimensional model;

6. An oral implant optimization system, comprising:

7. The oral implant optimization system of claim 6, wherein three matching feature points are provided in the implant, namely a first matching feature point, a second matching feature point, and a third matching feature point, and the matching module comprises:

The first feature point extraction unit is used for extracting target image feature parameters of the first matching feature point, the second matching feature point and the third matching feature point from the target three-dimensional image, wherein the target image feature parameters comprise positions, directions and pixel values of the matching feature points on the target three-dimensional image;

the second feature point extraction unit is used for extracting actual image feature parameters of the first matching feature point, the second matching feature point and the third matching feature point from the actual three-dimensional image, wherein the actual image feature parameters comprise positions, directions and pixel values of the matching feature points on the actual three-dimensional image;

the matching calculation unit is used for calculating the distance or the similarity of each matching characteristic point in the target three-dimensional image and the actual three-dimensional image in a traversing way according to the target image characteristic parameter and the actual image characteristic parameter of each of the first matching characteristic point, the second matching characteristic point and the third matching characteristic point;

the characteristic point matching unit is used for establishing corresponding relations between the matching characteristic points in the target three-dimensional image and the actual three-dimensional image by taking the shortest distance or the highest similarity as a judgment standard according to the traversal calculation result, so that the first matching characteristic point on the target three-dimensional image is matched with the first matching characteristic point on the actual three-dimensional image, the second matching characteristic point on the target three-dimensional image is matched with the second matching characteristic point on the actual three-dimensional image, and the third matching characteristic point on the target three-dimensional image is matched with the third matching characteristic point on the actual three-dimensional image;

The first matrix analysis unit is used for calculating and obtaining a matrix conversion relation between the target three-dimensional image and the actual three-dimensional image based on the corresponding relation of each matching characteristic point on the target three-dimensional image and the actual three-dimensional image;

the matching execution unit is used for matching the target three-dimensional image and the actual three-dimensional image in the same picture according to the matrix conversion relation between the target three-dimensional image and the actual three-dimensional image, so as to obtain a contrast three-dimensional image of the implant.

8. The oral implant optimization system of claim 6, wherein the deviation analysis module comprises:

an implantation point offset analysis unit, configured to obtain a target implantation point coordinate value (X1, Y1, Z1) and an actual implantation point coordinate value (X2, Y2, Z2), and calculate an implantation point offset Δimplant, where Δimplant is the implant (X2-X1, Y2-Y1, Z2-Z1);

the root point offset analysis unit is used for acquiring a target root point coordinate value root (X1, Y1, Z1) and an actual root point coordinate value root (X2, Y2, Z2), and calculating to obtain a root point offset delta root, wherein delta root is root (X2-X1, Y2-Y1, Z2-Z1);

the direction offset analysis unit is used for analyzing according to the target implantation point coordinate value (X1, Y1, Z1) and the target root point coordinate value root (X1, Y1, Z1) to obtain the target direction of the implant, analyzing according to the actual implantation point coordinate value (X2, Y2, Z2) and the actual root point coordinate value root (X2, Y2, Z2) to obtain the actual direction of the implant, and comparing the target direction of the implant with the actual direction of the implant to obtain the direction offset;

The coordinate system construction module includes:

the origin establishing unit is used for selecting the midpoint of the top end of the implant as a coordinate origin, taking the connecting line of the midpoint of the top end and the midpoint of the bottom end of the implant as a Z axis, setting the Z axis and the Y axis in any vertical plane connected with the midpoint of the top end and the midpoint of the bottom end of the implant, and establishing a three-dimensional coordinate system of the implant;

the second matrix analysis unit is used for analyzing the matrix conversion relation between the three-dimensional coordinate system of the camera and the three-dimensional coordinate system of the implant based on the coordinate value of the midpoint of the top end of the implant on the three-dimensional coordinate system of the camera;

the offset value calculating unit is used for inputting the offset of the implantation point, the offset of the root point and the offset of the direction based on the matrix conversion relation between the three-dimensional coordinate system corresponding to the comparison three-dimensional image and the three-dimensional coordinate system of the implant, and calculating the offset value of the implantation point, the offset value of the root point and the offset value of the direction under the three-dimensional coordinate system of the implant.

9. The oral implant optimization system of claim 6, wherein the abutment actual parameter acquisition module comprises:

the oral cavity scanning unit is used for acquiring oral cavity scanning data of a base station fixed on the implant;

the model building unit is used for carrying out weighted average interpolation processing and filtering processing on the oral cavity scanning data of the base station and building a three-dimensional model of the oral cavity scanning of the base station based on the oral cavity scanning data of the base station;

The model decomposing unit is used for identifying a base station neck ring area in the base station mouth sweeping three-dimensional model, and dividing the base station mouth sweeping three-dimensional model into a base station sleeve joint part model and a base station thread part model by taking the base station neck ring area as a boundary;

the middle point positioning unit is used for positioning the middle point of the upper end of the base station sleeving part model, the middle point of the lower end of the base station threaded part model and the middle point of the base station neck ring area on the base station mouth sweeping three-dimensional model;

and the axis line establishment unit is used for establishing a center axis connecting line, taking a connecting line between the middle point of the upper end of the base platform sleeving part model and the middle point of the base platform neck ring area as an actual axial direction of the sleeving part, and taking a connecting line between the middle point of the lower end of the base platform threaded part model and the middle point of the base platform neck ring area as an actual axial direction of the threaded part.

10. A storage medium storing a computer program comprising program instructions which, when executed by a processor, perform the oral implant optimization method of any one of claims 1-5.