A control method and oral display device based on oral image

Abstract

The present invention relates to the field of dental image display technology, and more specifically to an oral image-based control method and oral display device. The method comprises: using a current dental CT image with a current affected area marked as input data into a neural network model to output navigation information corresponding to the current affected area on the current dental CT image; generating a corresponding navigation route for the dental instrument corresponding to the navigation information based on the navigation information corresponding to the current affected area on the current dental CT image; detecting the current position of the dental instrument corresponding to the navigation information within the current patient's oral cavity; and displaying the navigation area, navigation route, avoidance area, and anti-deflection area corresponding to the current position of the dental instrument on a display screen of the dental instrument based on the current position. The present invention is advantageous in resolving the drawback of low dental operation precision in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of dental image display, and in particular to a control method and oral display device based on oral images. Background Art

[0002] The anatomical structure of the oral cavity is very complex, including teeth, gums, jaws, nerves, blood vessels, etc. These structures are closely arranged and easily affect each other, increasing the difficulty of operation.

[0003] The space inside the mouth is smaller and the field of vision is limited, which makes dental operations more difficult.

[0004] Current dental procedures must avoid damaging healthy surrounding tissue, and the placement of the procedure relies on the surgeon's clinical experience and skill. However, dental procedures are plagued by numerous factors, including anatomical complexity, limited visibility, limitations of surgical instruments, human factors, limitations of traditional methods, lack of real-time monitoring, and individual patient differences, resulting in low precision in dental procedures.

[0005] Dental procedures often require high precision. If the precision is not enough, the surrounding healthy tissue and important structures such as nerves, blood vessels and other teeth may be damaged during the dental procedures, especially during implant surgery, root canal treatment and other complex oral surgeries.

[0006] Because the internal structure of teeth and surrounding tissues is invisible during dental procedures, existing technology displays dental CT images on a large screen to improve the accuracy of the procedure. This allows the dentist to view the corresponding CT images while operating on the teeth and surrounding tissues, and adjust the operation of the dental instruments based on the CT images. This technology allows dentists to operate dental instruments without blindness and instead adjust their operating strategies based on the CT images.

[0007] However, existing technology is limited in its ability to provide dentists with operational recommendations. After comparing CT images, dentists must rely on their own experience and skills to adjust the operation of dental instruments, relying primarily on their own skills and experience. Therefore, improving dental operation accuracy remains a challenge in this area of ​​technology. Summary of the Invention

[0008] The main purpose of the present invention is to provide a control method based on oral images, aiming to solve the disadvantage of low precision of dental operations in the prior art.

[0009] To achieve the above objectives, the oral image-based control method proposed in the present invention comprises the following steps:

[0010] Obtaining a current dental CT image of a current patient and determining a current affected area on the current dental CT image;

[0011] A current dental CT image with the current affected area marked is used as input data and fed into a neural network model to output navigation information corresponding to the current affected area on the current dental CT image, wherein the navigation information includes navigation areas, avoidance areas, and anti-deflection areas of the dental instrument corresponding to several operation steps on the affected area;

[0012] According to the navigation information corresponding to the current affected area on the current dental CT image, a corresponding navigation route is generated for the dental instrument corresponding to the navigation information;

[0013] Detecting a current position of the dental instrument corresponding to the navigation information in the oral cavity of the current patient;

[0014] According to the current position, a navigation area corresponding to the current position of the dental instrument is displayed on the display screen of the dental instrument, and a navigation route, an avoidance area and an anti-deviation area of ​​the dental instrument are displayed in the navigation area corresponding to the current position.

[0015] Preferably, before the step of obtaining the current dental CT image of the current patient and determining the current affected area on the current dental CT image, the method further includes:

[0016] Acquire historical dental CT images of multiple historical patients, and perform image segmentation on each historical dental CT image to segment the image into different affected areas;

[0017] Obtaining operation trajectories of dental instruments used in several operation steps of the affected area corresponding to historical dental CT images, and obtaining a correction trajectory of each operation trajectory;

[0018] A neural network model for determining navigation information of the affected area is constructed based on historical dental CT images, the affected areas corresponding to the historical dental CT images, the dental instruments used in several operation steps corresponding to each affected area, and the operation trajectory and correction trajectory of each dental instrument.

[0019] Preferably, the step of obtaining the operation trajectories of the dental instruments used in the multiple operation steps of the affected area corresponding to the historical dental CT images, and obtaining the corrected trajectory of each operation trajectory, comprises:

[0020] Obtaining operation tracking records of dental instruments corresponding to a plurality of operation steps on the affected area corresponding to each historical dental CT image;

[0021] Determine, based on the operation tracking records, the dental instruments used in the several operation steps of the affected area corresponding to each historical dental CT image, and form an operation track of the dental instruments used in the several operation steps corresponding to each affected area;

[0022] A correction trajectory is generated based on each operation trajectory.

[0023] Preferably, the step of generating a correction trajectory according to each operation trajectory includes:

[0024] Calculate the avoidance position and avoidance size for each affected area based on the dental instruments corresponding to several operation steps of each affected area, and determine the avoidance area based on the avoidance position and avoidance size;

[0025] According to the avoidance area, a correction trajectory of the dental instrument corresponding to several operation steps of each affected area is generated.

[0026] Preferably, the step of constructing a neural network model for determining navigation information of the affected area based on historical dental CT images, the affected area corresponding to the historical dental CT images, the dental instruments used in the multiple operation steps corresponding to each affected area, and the operation trajectory and correction trajectory of each dental instrument includes:

[0027] Build a neural network model;

[0028] Obtaining avoidance areas of operating trajectories of dental instruments used in several operating steps on each affected area;

[0029] Calculate the deviation-prevention area of ​​the dental instrument's operating trajectory relative to the corrected trajectory during several operating steps on each affected area;

[0030] The neural network model is trained with the affected area in each historical dental CT image as input data, and the dental instruments for several operation steps corresponding to each affected area, the navigation area of ​​the dental instruments for several operation steps corresponding to each affected area, the avoidance area of ​​the operation trajectory of the dental instruments for several operation steps corresponding to each affected area, and the anti-deviation area of ​​the operation trajectory relative to the correction trajectory as output data to obtain a neural network model for determining the navigation information of the affected area.

[0031] Preferably, the step of generating a corresponding navigation route for the dental instrument corresponding to the navigation information based on the navigation information corresponding to the current affected area on the current dental CT image includes:

[0032] Acquire a three-dimensional coordinate system established based on the three-dimensional image of the current patient's teeth;

[0033] According to the three-dimensional coordinate system, the current affected area of ​​the current patient is established in the three-dimensional coordinate system;

[0034] Establishing the navigation area, avoidance area and anti-deviation area of ​​the dental instrument for several operation steps corresponding to the current affected area in a three-dimensional coordinate system;

[0035] Establish associations between dental instruments of several operation steps corresponding to the current affected area and corresponding navigation areas, avoidance areas, and anti-deviation areas;

[0036] In the navigation area associated with the dental instruments of the multiple operation steps corresponding to the current affected area, a corresponding navigation route is generated according to the dental instruments, the avoidance area and the anti-deviation area.

[0037] Preferably, the step of generating a corresponding navigation route according to the dental instrument, the avoidance area and the anti-deviation area in the navigation area associated with the dental instrument of the multiple operation steps corresponding to the current affected area includes:

[0038] In the navigation area associated with the dental instruments of the multiple operation steps corresponding to the current affected area, the operation position, operation angle and operation depth of the dental instruments in the affected area are calculated based on the dental instruments, the avoidance area and the anti-deflection area;

[0039] Generate a navigation route in a three-dimensional coordinate system according to the operating position, operating angle and operating depth of the dental instrument in the affected area;

[0040] A navigation route along the occlusal surface and a navigation route along the longitudinal section of the tooth are generated for each navigation route in the three-dimensional tooth image.

[0041] Preferably, the corrected trajectory of the dental instrument corresponding to the several operation steps for each affected area is generated in the following manner:

[0042] The avoidance area of ​​dental instruments corresponding to the several operation steps of each affected area is P, P = {P1, P2, ..., P i ,…P n}, where P i is the i-th coordinate point in the avoidance area P, and n is the number of coordinate points contained in the avoidance area P;

[0043] The operation trajectory of the dental instrument corresponding to the several operation steps of each affected area is Q, Q = {Q1, Q2, ..., Q j ,…Q m}, where Q j is the jth coordinate point in the operation trajectory Q, and m is the number of coordinate points contained in the operation trajectory Q;

[0044] Calculate P min :

[0045] P min =(min(x1,x2,…,x i ,…x n ),min(y1,y2,…,y i ,…y n ),min(z1,z2,…,z i ,…z n ));

[0046] Calculate Pmax :

[0047] P max =(max(x1,x2,…,x i ,…x n ),max(y1,y2,…,y i ,…y n ),max(z1,z2,…,z i ,…z n ));

[0048] Among them, P min To avoid the minimum coordinate value of area P in each coordinate axis direction, x i is the x-axis coordinate value of the i-th coordinate point in the avoidance area P, y i is the y-axis coordinate value of the i-th coordinate point in the avoidance area P, z i is the z-axis coordinate value of the i-th coordinate point in the avoidance area P; max The maximum coordinate value of the avoidance area P in each coordinate axis direction;

[0049] Calculate Q min :

[0050] Q min =(min(x'1,x'2,…,x' j ,…x' m ),min(y'1,y'2,…,y' j ,…y' m ),min(z'1,z'2,…,z' j ,…z' m ));

[0051] Calculate Q max :

[0052] Q max =(max(x'1,x'2,…,x' j ,…x' m ),max(y'1,y'2,…,y' j ,…y' m ),max(z'1,z'2,…,z' j ,…z' m ));

[0053] Among them, Q min is the minimum coordinate value of the operation trajectory Q in each coordinate axis direction, x' j is the x-axis coordinate value of the j-th coordinate point in the operation trajectory Q, y' j is the y-axis coordinate value of the j-th coordinate point in the operation trajectory Q, z' jis the z-axis coordinate value of the j-th coordinate point in the operation trajectory Q; Q max is the maximum coordinate value of the operation trajectory Q in each coordinate axis direction;

[0054] Determine whether the following conditions are all met:

[0055]

[0056] Among them, xP min Indicates the minimum coordinate value of the avoidance area P in the x-axis direction, xQ max Indicates the maximum coordinate value of the operation trajectory Q in the x-axis direction; xP max Indicates the maximum coordinate value of the avoidance area P in the x-axis direction, xQ min Indicates the minimum coordinate value of the operation trajectory Q in the x-axis direction;

[0057] yP min Indicates the minimum coordinate value of the avoidance area P in the y-axis direction, yQ max Indicates the maximum coordinate value of the operation trajectory Q in the y-axis direction; yP max Indicates the maximum coordinate value of the avoidance area P in the y-axis direction, yQ min Indicates the minimum coordinate value of the operation trajectory Q in the y-axis direction;

[0058] zP min Indicates the minimum coordinate value of the avoidance area P in the z-axis direction, zQ max Indicates the maximum coordinate value of the operation trajectory Q in the z-axis direction; zP max Indicates the maximum coordinate value of the avoidance area P in the z-axis direction, zQ min Indicates the minimum coordinate value of the operation trajectory Q in the z-axis direction;

[0059] If it holds true, a correction trajectory is generated;

[0060] If not, no correction trajectory is generated.

[0061] Preferably, the correction trajectory is generated by referring to the following method:

[0062] When point Q in the operation trajectory Q j If the following conditions are not met, Q j is not in the avoidance area P. At this time, Q j Determine as a qualified point; when point Q in the operation trajectory Q j When the following conditions are met, Q j Located in the avoidance area P, at this time, Q j Determined as a deviation point:

[0063]

[0064] Calculate the deviation point Q j Correction point Q' j :

[0065] Determine the maximum operating distance A corresponding to the x-axis, the maximum operating distance B corresponding to the y-axis, and the maximum operating distance C corresponding to the z-axis;

[0066] Determine Q based on the coordinate axis corresponding to the maximum value among A, B, and C. j The offset coordinate axis;

[0067] Q j Shift the corresponding coordinate value on the offset coordinate axis according to the set offset amount;

[0068] A correction trajectory is generated based on the correction points corresponding to all qualified points and all deviation points.

[0069] To achieve the above objectives, the present invention further proposes an oral display device, which includes a dental instrument and a display screen arranged on the dental instrument. The dental instrument is communicatively connected to a processing module so that the method is executed through the processing module.

[0070] In the technical solution of the present invention, there may be multiple operation steps for the same affected area, and some of these operation steps may correspond to different dental instruments. Navigation directions can be provided for the operation of multiple dental instruments in the oral cavity as needed. For the dental instruments used in the multiple operation steps on the affected area of ​​the current patient, navigation routes, avoidance areas, and anti-deviation areas are displayed on the display screen of the dental handpiece according to the current position of the dental instruments. Thus, the doctor can view the corresponding navigation routes, avoidance areas, and anti-deviation areas on the display screen set on the corresponding dental instruments during the multiple operation steps on the affected area, providing a reference and guidance for the doctor's operation, thereby improving the accuracy of the dental operation. Furthermore, the navigation route is displayed on the display screen of the dental instrument, rather than on a large display screen of a nearby device. This eliminates the need for the doctor to significantly switch his or her line of sight from the vicinity of the patient's mouth to the large screen nearby during the operation, thus avoiding the positional shift of the dental instruments caused by the shift in line of sight from the oral cavity during the switching process, and further improving the accuracy of the dental operation. Furthermore, the present invention also considers historical data showing deviations in the dental instrument's operating trajectory and corrected trajectory during the same steps in the same affected area. When providing a navigation route, it also displays a deviation prevention area on the dental instrument's display screen to alert the doctor to deviations. Avoidance areas such as blood vessels and nerves are also displayed on the dental instrument's display screen. Therefore, the technical solution of the present invention helps address the drawback of low dental operation accuracy in the prior art. Furthermore, the display screen provided on the dental instrument can display the navigation route corresponding to the dental instrument's position in real time, eliminating the need for manual adjustments when operating steps change, resulting in a higher level of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0072] Figure 1 This is a flow chart of an embodiment of a control method based on oral images of the present invention;

[0073] Figure 2 This is a schematic diagram of the surgical instrument connected to the display screen in the oral display device of the present invention.

[0074] Description of Figure Numbers:

[0075] 1-main structure; 2-ring; 3-display screen; 4-second connecting structure; 5-first connecting structure. DETAILED DESCRIPTION

[0076] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0077] See also Figure 1 To achieve the above objectives, a first embodiment of the present invention provides a control method based on oral images, comprising the following steps:

[0078] Step S400, obtaining a current dental CT image of a current patient and determining a current affected area on the current dental CT image;

[0079] Step S500: A current dental CT image with the current affected area marked is used as input data and fed into a neural network model to output navigation information corresponding to the current affected area on the current dental CT image, wherein the navigation information includes navigation areas, avoidance areas, and anti-deflection areas of dental instruments corresponding to several operation steps on the affected area;

[0080] Step S600, generating a corresponding navigation route for the dental instrument corresponding to the navigation information based on the navigation information corresponding to the current affected area on the current dental CT image;

[0081] Step S700, detecting the current position of the dental instrument corresponding to the navigation information in the oral cavity of the current patient;

[0082] Step S800: displaying a navigation area corresponding to the current position of the dental instrument on the display screen of the dental instrument according to the current position, and displaying a navigation route, an avoidance area and an anti-deviation area of ​​the dental instrument in the navigation area corresponding to the current position.

[0083] In the technical solution of the present invention, there may be multiple operation steps for the same affected area, and some of these operation steps may correspond to different dental instruments. Navigation directions can be provided for the operation of multiple dental instruments in the oral cavity as needed. For the dental instruments used in the multiple operation steps on the affected area of ​​the current patient, navigation routes, avoidance areas, and anti-deviation areas are displayed on the display screen of the dental handpiece according to the current position of the dental instruments. Thus, the doctor can view the corresponding navigation routes, avoidance areas, and anti-deviation areas on the display screen set on the corresponding dental instruments during the multiple operation steps on the affected area, providing a reference and guidance for the doctor's operation, thereby improving the accuracy of the dental operation. Furthermore, the navigation route is displayed on the display screen of the dental instrument, rather than on a large display screen of a nearby device. This eliminates the need for the doctor to significantly switch his or her line of sight from the vicinity of the patient's mouth to the large screen nearby during the operation, thus avoiding the positional shift of the dental instruments caused by the shift in line of sight from the oral cavity during the switching process, and further improving the accuracy of the dental operation. Furthermore, the present invention also considers historical data showing deviations in the dental instrument's operating trajectory and corrected trajectory during the same steps in the same affected area. When providing a navigation route, it also displays a deviation prevention area on the dental instrument's display screen to alert the doctor to deviations. Avoidance areas such as blood vessels and nerves are also displayed on the dental instrument's display screen. Therefore, the technical solution of the present invention helps address the drawback of low dental operation accuracy in the prior art. Furthermore, the display screen provided on the dental instrument can display the navigation route corresponding to the dental instrument's position in real time, eliminating the need for manual adjustments when operating steps change, resulting in a higher level of intelligence.

[0084] In the present invention, the dental instrument is provided with a display screen, so that the doctor can always keep his sight within the range of the dental instrument when performing dental operations, avoiding the doctor's sight switching to the large screen of other surgical equipment.

[0085] The solution of setting up display screens on dental instruments can be extended to a variety of dental instruments, including:

[0086] (1) Dental pneumatic high-speed handpieces (intended for dental cutting, tooth preparation or pulp opening);

[0087] (2) Dental implant handpiece (purposed for dental implant preparation and placement);

[0088] (3) Root canal motor (purposed for root canal treatment);

[0089] (4) Tooth scaler (for periodontal treatment);

[0090] (5) dental chisels, tooth collars, and tooth extraction pliers (for tooth extraction operations);

[0091] (6) Syringe (for injection positioning);

[0092] (7) probe (purpose is tissue exploration);

[0093] (8) Scalpel handle (purpose of tissue cutting).

[0094] Specifically, different dental procedures are required for different affected areas. Taking the affected area with missing teeth as an example, the corresponding operating steps and dental instruments include but are not limited to:

[0095] (1) Anesthesia, anesthetic needle;

[0096] (2) incision, scalpel;

[0097] (3) bone drilling, bone drill;

[0098] (4) Suture, suture device.

[0099] Based on the operation trajectories of several operation steps tracked in the same affected area for a previous patient, navigation can be performed for the same operation steps when navigating the current patient's affected area. For example, if the operation trajectories of incision and bone drilling operations were tracked for the same missing tooth location for a previous patient, navigation can also be performed for the incision and bone drilling steps for the current patient at the same missing tooth location.

[0100] In the step corresponding to the incision, there is a navigation track for the scalpel cutting, and in the step corresponding to the bone drilling, there is a navigation track for the bone drill drilling.

[0101] Taking bone drilling as an example, bone drilling should avoid damaging blood vessels, nerves, and adjacent teeth. Therefore, navigation information during the drilling process is used to provide the path of bone drilling, including: starting position, end position, bone drill deflection angle, etc.

[0102] In the technical solution of the present invention, once the affected area is identified, the navigable operating steps for that area are also determined, and the dental instruments used in these navigable operating steps can also be determined. For each navigable operating step, the present invention generates a navigation route based on dental CT images to avoid damage to adjacent teeth and surrounding tissues caused by misaligned dental instruments.

[0103] Furthermore, the correction trajectory in the present invention is a correction trajectory obtained by analyzing and calculating the operation trajectory in historical dental operations. By comparing the operation trajectory of the dental instrument with the correction trajectory, the area in the operation trajectory of the dental instrument in the same affected area in the historical data that is prone to deviation can be clearly identified. When the navigation route is displayed on the display screen of the dental instrument, the anti-deviation area is also displayed on the display screen of the dental instrument, so that the doctor can clearly identify the area that is prone to deviation under the current operation step, and can give prompts to the doctor's operation, thereby improving the doctor's operation accuracy.

[0104] Based on the first embodiment of the present invention, in a second embodiment of the oral image-based control method of the present invention, before step S400, the method further includes:

[0105] Step S100 , obtaining historical dental CT images of multiple historical patients, and performing image segmentation on each historical dental CT image to divide the image into different affected areas;

[0106] Step S200, obtaining operation trajectories of dental instruments used in several operation steps of the affected area corresponding to the historical dental CT images, and obtaining a correction trajectory of each operation trajectory;

[0107] Step S300, constructing a neural network model for determining navigation information of the affected area based on historical dental CT images, the affected area corresponding to the historical dental CT images, the dental instruments used in several operation steps corresponding to each affected area, and the operation trajectory and correction trajectory of each dental instrument.

[0108] Specifically, step S100 is a specific method of constructing a neural network model for determining navigation information of the affected area using historical dental CT images of multiple historical patients.

[0109] Based on the second embodiment of the present invention, in a third embodiment of the oral image-based control method of the present invention, step S200 includes:

[0110] Step S210, obtaining operation tracking records of dental instruments corresponding to a plurality of operation steps on the affected area corresponding to each historical dental CT image;

[0111] Step S220, determining the dental instruments used in the multiple operation steps of the affected area corresponding to each historical dental CT image based on the operation tracking record, and forming an operation track of the dental instruments used in the multiple operation steps corresponding to each affected area;

[0112] Step S230 : generating a correction trajectory according to each operation trajectory.

[0113] Specifically, in the prior art, infrared positioning and other technologies can be used to track the position changes of dental instruments in the oral cavity during operation. This is a prior art and will not be described in detail here.

[0114] Furthermore, the dental instrument operation trajectory of each affected area can be formed based on the tracking data of the dental instruments during the dental operation.

[0115] Furthermore, since dental operations on the same affected area often require different operating steps and employ a variety of dental instruments, different infrared positioning markers can be used for different types of dental instruments. This allows the user to track the position changes of the dental instruments in the oral cavity while also synchronously identifying the type of dental instrument according to the different infrared positioning markers, thereby matching the operating trajectory of the dental instruments with the corresponding dental instruments and operating steps.

[0116] Based on the third embodiment of the present invention, in a fourth embodiment of the oral image-based control method of the present invention, step S230 includes:

[0117] Step S231, calculating the avoidance position and avoidance size for each affected area based on the dental instruments corresponding to the several operation steps for each affected area, and determining the avoidance area based on the avoidance position and avoidance size;

[0118] Step S232: generating, based on the avoidance area, corrected trajectories of the dental instrument corresponding to a plurality of operation steps for each affected area.

[0119] Specifically, the operation trajectory of each dental instrument in each affected area and the anti-deflection area of ​​the correction trajectory are calculated.

[0120] Avoidance areas include dental nerves, adjacent teeth, blood vessels, healthy pulp, and healthy tissue.

[0121] The avoidance size is the minimum distance between the dental instrument and various avoidance positions, and the avoidance size is the set size.

[0122] According to the avoidance position and the avoidance size, it is possible to determine which areas around the affected area are not allowed to be operated by the dental instrument, that is, the avoidance areas that the operating trajectory of the dental instrument needs to avoid.

[0123] Based on the avoidance area, a correction trajectory of the dental instrument corresponding to several operation steps for each affected area is generated. That is, when the operation trajectory of the dental instrument for that operation step does not avoid the avoidance area, the position points in the operation trajectory that pass through the avoidance area are corrected to obtain a corrected trajectory that completely avoids the avoidance area.

[0124] Based on the fourth embodiment of the present invention, in a fifth embodiment of the oral image-based control method of the present invention, step S300 includes:

[0125] Step S310, constructing a neural network model;

[0126] Step S320, obtaining the avoidance areas of the operation trajectories of the dental instruments used in several operation steps on each affected area;

[0127] Step S330, calculating the anti-deflection area of ​​the operation trajectory of the dental instrument used in several operation steps on each affected area relative to the correction trajectory;

[0128] In step S340, the neural network model is trained using the affected areas in each historical dental CT image as input data, and the dental instruments for several operation steps corresponding to each affected area, the navigation areas of the dental instruments for several operation steps corresponding to each affected area, the avoidance areas of the operation trajectories of the dental instruments for several operation steps corresponding to each affected area, and the anti-deviation areas of the operation trajectories relative to the correction trajectories as output data to obtain a neural network model for determining the navigation information of the affected area.

[0129] The anti-deviation area is an area in the historical operation trajectory where the operation trajectory is prone to deviation.

[0130] Based on the fifth embodiment of the present invention, in a sixth embodiment of the oral image-based control method of the present invention, step S600 includes:

[0131] Step S610, obtaining a three-dimensional coordinate system established based on the three-dimensional image of the current patient's teeth;

[0132] Step S620, establishing the current affected area of ​​the current patient in the three-dimensional coordinate system according to the three-dimensional coordinate system;

[0133] Step S630, establishing the navigation area, avoidance area, and anti-deviation area of ​​the dental instrument for several operation steps corresponding to the current affected area in a three-dimensional coordinate system;

[0134] Step S640, establishing associations between the dental instruments of the several operation steps corresponding to the current affected area and the corresponding navigation areas, avoidance areas, and anti-deviation areas;

[0135] Step S650: generating a corresponding navigation route in the navigation area associated with the dental instruments of the multiple operation steps corresponding to the current affected area according to the dental instruments, the avoidance area and the anti-deviation area.

[0136] Specifically, a 3D dental image can be obtained using an intraoral scanner. After scanning, the 3D dental image is imported into a processing module. A 3D coordinate system is established within the 3D dental image to facilitate displaying the dental instruments, navigation areas, avoidance areas, and anti-deviation areas corresponding to the current affected area, as well as the navigation route, in the 3D coordinate system.

[0137] Furthermore, after establishing the three-dimensional coordinate system, the positioning position of each dental instrument can be marked in the three-dimensional coordinate system to facilitate comparison of the positioning position with the navigation route, avoidance area and anti-deviation area to confirm whether the current position of the dental instrument is appropriate.

[0138] Specifically, after the three-dimensional coordinate system is established for the three-dimensional image of the teeth, the affected area, navigation area, avoidance area and anti-deviation area are all represented by coordinate points in the three-dimensional coordinate system, making observation more intuitive.

[0139] Based on the sixth embodiment of the present invention, in a seventh embodiment of the oral image-based control method of the present invention, step S650 includes:

[0140] Step S651, in the navigation area associated with the dental instruments of the multiple operation steps corresponding to the current affected area, the operation position, operation angle and operation depth of the dental instrument in the affected area are calculated based on the dental instruments, the avoidance area and the anti-deflection area;

[0141] Step S652 , generating a navigation route in a three-dimensional coordinate system according to the operating position, operating angle, and operating depth of the dental instrument in the affected area;

[0142] Step S653 : generating a navigation route along the occlusal surface and a navigation route along the longitudinal section of the tooth in the three-dimensional tooth image for each navigation route.

[0143] The operating site of the dental instrument in the affected area refers to the positioning point where the dental instrument starts to operate; the operating angle refers to the inclination angle of the dental instrument during the operation; and the operating depth refers to the depth to which the dental instrument penetrates into the teeth or surrounding tissues during the operation.

[0144] Based on the seventh embodiment of the present invention, in an eighth embodiment of the oral image-based control method of the present invention, step S700 includes:

[0145] Step S710, obtaining a positioning mark of the dental instrument;

[0146] Step S720 , tracking the positioning mark of the dental instrument to determine the type of the dental instrument, thereby determining the current operation step of the current affected area;

[0147] Step S730: Mark the current position of the dental instrument corresponding to the current step in the oral cavity of the current patient in the three-dimensional coordinate system.

[0148] Specifically, the positioning mark of the dental instrument is an infrared positioning mark. The infrared positioning mark is photographed by the infrared camera of the surgical navigation device to locate the position of the dental instrument. The position of the dental instrument is then converted into a three-dimensional coordinate system.

[0149] Based on the eighth embodiment of the present invention, in a ninth embodiment of the oral image-based control method of the present invention, step S800 includes:

[0150] Step S810: Displaying a three-dimensional coordinate system on a display screen of the dental instrument, and displaying a navigation route of the dental instrument along the occlusal surface and along the longitudinal section of the tooth, an avoidance area, and an anti-deflection area in the three-dimensional coordinate system;

[0151] Step S820: Display the current position of the dental instrument in the navigation route of the dental instrument along the occlusal surface and the navigation route along the longitudinal section of the tooth, respectively.

[0152] In this embodiment, the navigation route of the dental instrument along the occlusal surface and the navigation route along the longitudinal section of the tooth, the avoidance area and the anti-deviation area are displayed, so as to display the navigation route, the avoidance area and the anti-deviation area from multiple directions, which is convenient for the doctor to position during operation.

[0153] Specifically, the correction trajectory of the dental instrument corresponding to several operation steps for each affected area is generated by referring to the following method:

[0154] The avoidance area of ​​dental instruments corresponding to the several operation steps of each affected area is P, P = {P1, P2, ..., P i ,…P n}, where P i is the i-th coordinate point in the avoidance area P, and n is the number of coordinate points contained in the avoidance area P;

[0155] The operation trajectory of the dental instrument corresponding to the several operation steps of each affected area is Q, Q = {Q1, Q2, ..., Q j ,…Q m}, where Q j is the jth coordinate point in the operation trajectory Q, and m is the number of coordinate points contained in the operation trajectory Q;

[0156] Calculate P min :

[0157] P min =(min(x1,x2,…,x i ,…x n ),min(y1,y2,…,y i ,…y n ),min(z1,z2,…,z i ,…z n ));

[0158] Calculate P max :

[0159] P max=(max(x1,x2,…,x i ,…x n ),max(y1,y2,…,y i ,…y n ),max(z1,z2,…,z i ,…z n ));

[0160] Among them, P min To avoid the minimum coordinate value of area P in each coordinate axis direction, x i is the x-axis coordinate value of the i-th coordinate point in the avoidance area P, y i is the y-axis coordinate value of the i-th coordinate point in the avoidance area P, z i is the z-axis coordinate value of the i-th coordinate point in the avoidance area P; max The maximum coordinate value of the avoidance area P in each coordinate axis direction;

[0161] Calculate Q min :

[0162] Q min =(min(x'1,x'2,…,x' j ,…x' m ),min(y'1,y'2,…,y' j ,…y' m ),min(z'1,z'2,…,z' j ,…z' m ));

[0163] Calculate Q max :

[0164] Q max =(max(x'1,x'2,…,x' j ,…x' m ),max(y'1,y'2,…,y' j ,…y' m ),max(z'1,z'2,…,z' j ,…z' m ));

[0165] Among them, Q min is the minimum coordinate value of the operation trajectory Q in each coordinate axis direction, x' j is the x-axis coordinate value of the j-th coordinate point in the operation trajectory Q, y' j is the y-axis coordinate value of the j-th coordinate point in the operation trajectory Q, z' j is the z-axis coordinate value of the j-th coordinate point in the operation trajectory Q; Q maxis the maximum coordinate value of the operation trajectory Q in each coordinate axis direction;

[0166] Determine whether the following conditions are all met:

[0167]

[0168] Among them, xP min Indicates the minimum coordinate value of the avoidance area P in the x-axis direction, xQ max Indicates the maximum coordinate value of the operation trajectory Q in the x-axis direction; xP max Indicates the maximum coordinate value of the avoidance area P in the x-axis direction, xQ min Indicates the minimum coordinate value of the operation trajectory Q in the x-axis direction;

[0169] yP min Indicates the minimum coordinate value of the avoidance area P in the y-axis direction, yQ max Indicates the maximum coordinate value of the operation trajectory Q in the y-axis direction; yP max Indicates the maximum coordinate value of the avoidance area P in the y-axis direction, yQ min Indicates the minimum coordinate value of the operation trajectory Q in the y-axis direction;

[0170] zP min Indicates the minimum coordinate value of the avoidance area P in the z-axis direction, zQ max Indicates the maximum coordinate value of the operation trajectory Q in the z-axis direction; zP max Indicates the maximum coordinate value of the avoidance area P in the z-axis direction, zQ min Indicates the minimum coordinate value of the operation trajectory Q in the z-axis direction;

[0171] If it holds true, a correction trajectory is generated;

[0172] If this is not true, no correction trajectory is generated;

[0173] The corrected trajectory is generated as follows:

[0174] When point Q in the operation trajectory Q j If the following conditions are not met, Q j is not in the avoidance area P. At this time, Q j Determine as a qualified point; when point Q in the operation trajectory Q j When the following conditions are met, Q j Located in the avoidance area P, at this time, Q j Determined as a deviation point:

[0175]

[0176] Calculate the deviation point Q j Correction point Q'j :

[0177] Determine the maximum operating distance A corresponding to the x-axis, the maximum operating distance B corresponding to the y-axis, and the maximum operating distance C corresponding to the z-axis;

[0178] Determine Q based on the coordinate axis corresponding to the maximum value among A, B, and C. j The offset coordinate axis;

[0179] Q j Shift the corresponding coordinate value on the offset coordinate axis according to the set offset amount;

[0180] A correction trajectory is generated based on the correction points corresponding to all qualified points and all deviation points.

[0181] To achieve the above objectives, the present invention further proposes an oral display device, which includes a dental instrument and a display screen arranged on the dental instrument. The dental instrument is communicatively connected to a processing module so that the method is executed through the processing module.

[0182] In the present invention, the oral display device is formed by arranging a display screen on a dental instrument, thereby forming a device with oral display function and surgical navigation function.

[0183] In one specific embodiment, the display screen on the dental instrument can be arranged as needed. For example, the display screen is embedded in the main structure 1 of the dental instrument, or attached to the side of the main structure 1 of the dental instrument that is away from the axis. In another specific embodiment, the main structure 1 of the dental instrument is provided with a collar 2 on its outer periphery. The collar 2 is provided with a first connecting structure 5 on the side away from the main structure 1. The first connecting structure 5 is used to connect to a second connecting structure 4. The second connecting structure 4 is provided with a display screen 3 on the side away from the first connecting structure 5. The display screen 3 is connected to the first connecting structure 5 via the second connecting structure 4. The display screen 3 is rotatably connected to the second connecting structure 4. The display screen 3 can rotate around the axial direction of the main structure 1; the display screen 3 can rotate around the axial direction of the main structure 1 to facilitate the doctor to view the screen.

[0184] The display screen 3 can rotate in any direction around the connection point relative to the second connection structure 4, similar to a ball head structure.

[0185] Specifically, such as Figure 2 As shown, the second connection structure 4 can be a latch, and the first connection structure 5 can be a slot. Of course, the second connection structure 4 and the first connection structure 5 can also be other structures, which are also included in the protection scope of the present invention.

[0186] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made based on the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A control method based on oral images, characterized in that: The steps include: Acquire historical dental CT images of multiple historical patients, and perform image segmentation on each historical dental CT image to segment the image into different affected areas; Obtaining operation trajectories of dental instruments used in several operation steps of the affected area corresponding to historical dental CT images, and obtaining a correction trajectory of each operation trajectory; A neural network model for determining navigation information of the affected area is constructed based on historical dental CT images, affected areas corresponding to the historical dental CT images, dental instruments used in several operation steps corresponding to each affected area, and operation trajectories and correction trajectories of each dental instrument, including: constructing a neural network model; obtaining avoidance areas of the operation trajectories of the dental instruments used in several operation steps of each affected area; calculating anti-deviation areas of the operation trajectories of the dental instruments used in several operation steps of each affected area relative to the correction trajectories; training the neural network model using the affected areas in each historical dental CT image as input data, and using the dental instruments in several operation steps corresponding to each affected area, the navigation areas of the dental instruments in several operation steps corresponding to each affected area, the avoidance areas of the operation trajectories of the dental instruments in several operation steps corresponding to each affected area, and the anti-deviation areas of the operation trajectories relative to the correction trajectories as output data, so as to obtain a neural network model for determining navigation information of the affected area; Obtaining a current dental CT image of a current patient and determining a current affected area on the current dental CT image; A current dental CT image with the current affected area marked is used as input data and fed into a neural network model to output navigation information corresponding to the current affected area on the current dental CT image, wherein the navigation information includes navigation areas, avoidance areas, and anti-deflection areas of the dental instrument corresponding to several operation steps on the affected area; According to the navigation information corresponding to the current affected area on the current dental CT image, a corresponding navigation route is generated for the dental instrument corresponding to the navigation information; Detecting a current position of the dental instrument corresponding to the navigation information in the oral cavity of the current patient; According to the current position, a navigation area corresponding to the current position of the dental instrument is displayed on the display screen of the dental instrument, and a navigation route, an avoidance area and an anti-deviation area of ​​the dental instrument are displayed in the navigation area corresponding to the current position.

2. The oral image-based control method according to claim 1, characterized in that: The step of obtaining the operation trajectories of the dental instruments used in the multiple operation steps of the affected area corresponding to the historical dental CT images, and obtaining the corrected trajectory of each operation trajectory, comprises: Obtaining operation tracking records of dental instruments corresponding to a plurality of operation steps on the affected area corresponding to each historical dental CT image; Determine, based on the operation tracking records, the dental instruments used in the several operation steps of the affected area corresponding to each historical dental CT image, and form an operation track of the dental instruments used in the several operation steps corresponding to each affected area; A correction trajectory is generated based on each operation trajectory.

3. The oral image-based control method according to claim 2, characterized in that: The step of generating a correction trajectory according to each operation trajectory includes: Calculate the avoidance position and avoidance size for each affected area based on the dental instruments corresponding to several operation steps of each affected area, and determine the avoidance area based on the avoidance position and avoidance size; According to the avoidance area, a correction trajectory of the dental instrument corresponding to several operation steps of each affected area is generated.

4. The oral image-based control method according to claim 1, characterized in that: The step of generating a corresponding navigation route for the dental instrument corresponding to the navigation information based on the navigation information corresponding to the current affected area on the current dental CT image includes: Acquire a three-dimensional coordinate system established based on the three-dimensional image of the current patient's teeth; According to the three-dimensional coordinate system, the current affected area of ​​the current patient is established in the three-dimensional coordinate system; Establishing the navigation area, avoidance area and anti-deviation area of ​​the dental instrument for several operation steps corresponding to the current affected area in a three-dimensional coordinate system; Establish associations between dental instruments of several operation steps corresponding to the current affected area and corresponding navigation areas, avoidance areas, and anti-deviation areas; In the navigation area associated with the dental instruments of the multiple operation steps corresponding to the current affected area, a corresponding navigation route is generated according to the dental instruments, the avoidance area and the anti-deviation area.

5. The oral image-based control method according to claim 4, characterized in that: The step of generating a corresponding navigation route according to the dental instrument, the avoidance area, and the anti-deviation area in the navigation area associated with the dental instrument for the multiple operation steps corresponding to the current affected area includes: In the navigation area associated with the dental instruments of the multiple operation steps corresponding to the current affected area, the operation position, operation angle and operation depth of the dental instruments in the affected area are calculated based on the dental instruments, the avoidance area and the anti-deflection area; Generate a navigation route in a three-dimensional coordinate system according to the operating position, operating angle and operating depth of the dental instrument in the affected area; A navigation route along the occlusal surface and a navigation route along the longitudinal section of the tooth are generated for each navigation route in the three-dimensional tooth image.

6. The oral image-based control method according to claim 2, characterized in that: Generate corrected trajectories of dental instruments corresponding to several operation steps for each affected area in the following manner: The avoidance area of ​​dental instruments corresponding to several operation steps on each affected area is P. ,in, is the i-th coordinate point in the avoidance area P, and n is the number of coordinate points contained in the avoidance area P; The operation trajectory of the dental instrument corresponding to the several operation steps on each affected area is Q, ,in is the jth coordinate point in the operation trajectory Q, and m is the number of coordinate points contained in the operation trajectory Q; calculate : ； calculate : ； in, In order to avoid the minimum coordinate value of area P in each coordinate axis direction, is the x-axis coordinate value of the i-th coordinate point in the avoidance area P, is the y-axis coordinate value of the i-th coordinate point in the avoidance area P, is the z-axis coordinate value of the i-th coordinate point in the avoidance area P; The maximum coordinate value of the avoidance area P in each coordinate axis direction; calculate : ； calculate : ； in, is the minimum coordinate value of the operation trajectory Q in each coordinate axis direction, is the x-axis coordinate value of the j-th coordinate point in the operation trajectory Q, is the y-axis coordinate value of the j-th coordinate point in the operation trajectory Q, is the z-axis coordinate value of the j-th coordinate point in the operation trajectory Q; is the maximum coordinate value of the operation trajectory Q in each coordinate axis direction; Determine whether the following conditions are all met: ； in, Indicates the minimum coordinate value of the avoidance area P in the x-axis direction, Indicates the maximum coordinate value of the operation trajectory Q in the x-axis direction; Indicates the maximum coordinate value of the avoidance area P in the x-axis direction, Indicates the minimum coordinate value of the operation trajectory Q in the x-axis direction; Indicates the minimum coordinate value of the avoidance area P in the y-axis direction, Indicates the maximum coordinate value of the operation trajectory Q in the y-axis direction; Indicates the maximum coordinate value of the avoidance area P in the y-axis direction, Indicates the minimum coordinate value of the operation trajectory Q in the y-axis direction; Indicates the minimum coordinate value of the avoidance area P in the z-axis direction, Indicates the maximum coordinate value of the operation trajectory Q in the z-axis direction; Indicates the maximum coordinate value of the avoidance area P in the z-axis direction, Indicates the minimum coordinate value of the operation trajectory Q in the z-axis direction; If it holds true, a correction trajectory is generated; If not, no correction trajectory is generated.

7. The oral image-based control method according to claim 6, characterized in that: Generate the correction trajectory as follows: When the point in the operation trajectory Q If the following conditions are not met, is not within the avoidance area P. At this time, Determine as a qualified point; when the point in the operation trajectory Q When the following conditions are met, Located in the avoidance area P, at this time, Determined as a deviation point: ； Calculate the deviation point Correction point : Determine the maximum operating distance A corresponding to the x-axis, the maximum operating distance B corresponding to the y-axis, and the maximum operating distance C corresponding to the z-axis; According to the coordinate axis corresponding to the maximum value of A, B, and C, determine The offset coordinate axis; Will Shift the corresponding coordinate value on the offset coordinate axis according to the set offset amount; A correction trajectory is generated based on the correction points corresponding to all qualified points and all deviation points.

8. An oral display device, characterized in that: The oral display device comprises a dental instrument and a display screen arranged on the dental instrument. The dental instrument is communicatively connected to a processing module so as to execute the method according to any one of claims 1 to 7 through the processing module.

Images