Path selection method, device, medium and terminal for zygomatic and winged implant surgery

Abstract

The invention provides a zygomatic and wing penetration implantation operation path selection method and device, a medium and a terminal, and the method comprises the steps: setting coordinate information of a plurality of operation path starting points and a target operation region according to the obtained whole head image information of a patient; according to the obtained coordinate information of the multiple preset anatomical points, angle ranges of the multiple preset anatomical points and the target operation area relative to the multiple operation path starting points are obtained through calculation; according to the obtained multiple preset anatomical points and the angle range of the target operation area relative to the multiple operation path starting points, the distances from the operation path to the multiple preset anatomical points are calculated; and according to the calculated distances from the operation path to the plurality of preset anatomical points, calculating to obtain an optimal operation path range and a recommended operation path range. The optimal operation path in the zygomatic and wing penetrating implanting operation process can be calculated, a doctor is assisted in safely and efficiently implementing the zygomatic bone penetrating implanting operation, and the blank of the current market is filled.

Description

Technical Field

[0001] The present application relates to the field of oral implant technology, and in particular to a method, device, medium and terminal for selecting a surgical path for transzygomatic and transalar implantation. Background Art

[0002] After tooth loss, the alveolar bone gradually shrinks due to loss of functional pressure stimulation, trauma, inflammation and other reasons, resulting in insufficient alveolar bone volume in patients who need dental implants. Especially in the maxillary molar area, alveolar bone atrophy is often greatly aggravated by poor bone quality, maxillary sinus pneumatization, periodontal disease, etc., which increases the difficulty of implantation. For such patients, implant restoration requires transzygomatic and transpterygoid implant surgery, which uses the zygomatic bone, pterygoid process of the sphenoid bone, etc. to fix the implant. This can avoid many complications of maxillary sinus lift in traditional solutions, and avoid a large amount of bone grafting, thereby reducing patient trauma, shortening the treatment cycle, and achieving immediate implantation and immediate restoration.

[0003] In transzygomatic implantation, the implant is usually placed from the buccal side of the alveolar ridge, along the zygomatic alveolar ridge or through the maxillary sinus into the zygomatic bone, and the dense zygomatic bone is used to obtain the initial stability of the implant. In transpterygoid implantation, the implant is usually placed through the maxillary tuberosity and palatine cone into the pterygoid bone cortex, supported by the maxillary tuberosity, palatine cone and sphenoid pterygoid process, and the root end of the implant is placed in the pterygoid bone cortex, which can also obtain good initial stability. However, there are complex and important clinical anatomical structures around the transzygomatic and transpterygoid implantation routes, which greatly increase the difficulty of the operation, including the orbital area of ​​the zygomatic region, the pterygoid venous plexus, and the pterygopalatine canal, descending palatine artery and palatine nerve in the maxillary tuberosity-pterygoid region. Once the implant is deviated, serious consequences will occur. Damage to the above-mentioned blood vessels and nerves may cause bleeding, infection, and muscle paralysis; damage to the eyeball and infraorbital nerve may cause blindness; damage to the skull base may cause brain lesions and even endanger life; damage to the facial muscles and skin will lead to facial disfigurement and harm to the patient's physical and mental health. Therefore, when implanting an implant, the implant site, depth, angle and direction are very important, and place extremely high demands on the doctor's anatomical knowledge and clinical experience.

[0004] At present, computer-assisted implant surgery technology has begun to be used clinically, with the help of digital implant guides for surgery, which has greatly improved the accuracy and safety of transzygomatic and transauricular surgery. However, this method still has shortcomings. First, digital implant guides are mainly divided into: tooth-supported, mucosa-supported, and bone-supported. The latter two have extremely high requirements for the placement of the guides. If they are not properly placed, the implant position and direction of the implant cannot be changed during the operation, which can easily lead to a large deviation in the implant path. Secondly, for patients with maxillary edentulous jaws, the remaining bone volume is seriously insufficient, resulting in the inability of digital implant guides to be fixed to the maxilla through retention screws. The accuracy of the implant guide is greatly reduced. In addition, the mouth opening degree of the molar area is already insufficient, and the application of implant guides will make the surgical field more cramped and difficult to operate. In addition to the static navigation of the above-mentioned digital guide, some scholars have proposed a dynamic navigation solution. Through digital twin technology, the position and direction of the implant drill during the operation are displayed in real time and important structure alarm points are set to understand its relative position with the surrounding anatomical structures, so that doctors can adjust the angle in time to avoid damage to important anatomical structures. It has great application prospects in oral implants. At present, this technology still needs to continuously optimize the algorithm to improve precision and accuracy. Summary of the invention

[0005] In view of the shortcomings of the prior art mentioned above, the purpose of the present application is to provide a method, device, medium and terminal for selecting a transzygomatic and transalar implant surgery path, so as to solve the technical problem of how to calculate the optimal surgical path range and recommended surgical path range during the transzygomatic and transalar implant surgery, so as to improve the precision and accuracy of the transzygomatic and transalar implant surgery.

[0006] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides a method for selecting a transzygomatic and transalar implant surgical path, comprising: setting the coordinate information of several surgical path starting points based on the acquired overall head image information of the patient; setting the target surgical area based on the acquired coordinate information of several surgical path starting points; calculating the angle ranges of several preset anatomical points and the target surgical area relative to the several surgical path starting points based on the acquired coordinate information of multiple preset anatomical points; calculating the distances from the surgical path to multiple preset anatomical points based on the acquired angle ranges of the multiple preset anatomical points and the target surgical area relative to the several surgical path starting points; calculating the optimal surgical path range and the recommended surgical path range based on the calculated distances from the surgical path to multiple preset anatomical points.

[0007] In some embodiments of the first aspect of the present application, the method for acquiring the patient's overall head image information includes oral CT image information and / or magnetic resonance imaging information.

[0008] In some embodiments of the first aspect of the present application, the method for obtaining the angle ranges of the plurality of preset anatomical points relative to the starting points of a plurality of surgical paths includes:

[0009]

[0010]

[0011]

[0012] The starting point of the surgical path is the alveolar ridge p, and the spherical coordinates of the i-th preset anatomical point relative to the alveolar ridge p are The coordinates of the i-th preset anatomical point in the rectangular coordinate system of the reconstructed patient head stereo model are (a ix ,a iy ,a iz ), the coordinates of the surgical path starting point p in the rectangular coordinate system of the reconstructed patient head stereo model are (p x ,p y ,p z ).

[0013] In some embodiments of the first aspect of the present application, the method for obtaining the optimal surgical path range includes: the weighted distance from the surgical path to a preset anatomical point and the angle range corresponding to the minimum case.

[0014] In some embodiments of the first aspect of the present application, the method for obtaining the recommended surgical path range includes: the weighted distance from the surgical path to a preset anatomical point and the angle range corresponding to the weighted distance when the weighted distance is less than a preset threshold.

[0015] In some embodiments of the first aspect of the present application, after the optimal surgical path range and the recommended surgical path range are calculated, the following steps are further performed: the optimal surgical path range and the recommended surgical path range are marked and displayed with different color rendering.

[0016] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides a transzygomatic and transalar implant surgical path selection device, including: a position acquisition module, used to set the coordinate information of several surgical path starting points according to the acquired overall head image information of the patient; a target area acquisition module, used to set the target surgical area according to the acquired coordinate information of several surgical path starting points; a surgical path angle acquisition module, used to calculate the angle ranges of multiple preset anatomical points and target surgical areas relative to several surgical path starting points according to the acquired coordinate information of multiple preset anatomical points; a distance calculation module, used to calculate the distances from the surgical path to multiple preset anatomical points according to the acquired angle ranges of multiple preset anatomical points and target surgical areas relative to several surgical path starting points; a surgical path calculation module, used to calculate the optimal surgical path range and the recommended surgical path range according to the calculated distances from the surgical path to multiple preset anatomical points.

[0017] To achieve the above-mentioned purpose and other related purposes, the third aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the transzygomatic and transalar implant surgical path selection method as described above.

[0018] To achieve the above-mentioned purpose and other related purposes, the fourth aspect of the present application provides an electronic terminal, including: a processor and a memory; the memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory, so that the terminal executes the transzygomatic and transalar implant surgical path selection method as described above.

[0019] As described above, the transzygomatic and transalar implant surgery path selection method, device, medium and terminal of the present application have the following beneficial effects: the present application can calculate the optimal surgical path during the transzygomatic and transalar implant surgery, and provides a technical solution that is easy to operate and can assist doctors in safely and efficiently performing transzygomatic implant surgery. It is also a navigation device that assists doctors in safely and efficiently performing transzygomatic implant surgery, filling the gap in the current market. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Shown is a flowchart of a method for selecting a surgical path for transzygomatic and transalar implantation in one embodiment of the present application.

[0021] Figure 2 Shown is a schematic diagram of the structure of a device for selecting a surgical path for transzygomatic and transalar implantation in one embodiment of the present application.

[0022] Figure 3 Shown is a schematic diagram of the structure of an electronic terminal in one embodiment of the present application. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0024] It should be noted that in the following description, with reference to the accompanying drawings, several embodiments of the present application are described in the accompanying drawings. It should be understood that other embodiments may also be used, and mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only for describing specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0025] In this application, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "hold" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions or operations is inherently mutually exclusive in some way.

[0027] In the existing transzygomatic and transwing dental implant surgery, the implant site, depth, angle and direction are very important when implanting the implant. Once the implant is deviated, serious consequences will occur. At present, digital implant guides are used in clinical practice to improve the accuracy and safety of transzygomatic and transwing surgery. However, this technology has extremely high requirements for the placement of the guide. If it is not properly placed, the implant position and direction of the implant cannot be changed during the operation, which can easily lead to a large deviation in the implant path. Secondly, for patients with maxillary edentulous jaws, the remaining bone volume is seriously insufficient, resulting in the inability of digital implant guides to be fixed to the maxillary bone through retention screws. The accuracy of the implant guide is greatly reduced. In addition, the mouth opening degree of the molar area is already insufficient, and the application of implant guides will make the surgical field more cramped and difficult to operate. In addition to the static navigation of the above-mentioned digital guide, some scholars have proposed a dynamic navigation solution. Through digital twin technology, the position and direction of the implant drill during the operation are displayed in real time and important structure alarm points are set to understand its relative position with the surrounding anatomical structures, so that doctors can adjust the angle in time to avoid damage to important anatomical structures. It has great application prospects in oral implants. However, the technology still needs to continuously optimize the algorithm to improve the precision and accuracy of transzygomatic and transallar implant surgery. Therefore, it is of great significance to calculate the best surgical path for transzygomatic and transallar implant surgery before surgery, assist doctors to perform transzygomatic and transallar implant surgery safely, efficiently and more accurately, improve the precision and accuracy of transzygomatic and transallar implant surgery, and ensure the safety of surgery.

[0028] In order to improve the precision and accuracy of transzygomatic and transalar implant surgery and assist doctors to perform transzygomatic and transalar implant surgery safely, efficiently and more accurately, the present invention provides a transzygomatic and transalar implant surgery path selection method, device, medium and terminal, which are easy to operate, can assist doctors to perform transzygomatic and transalar implant surgery safely, efficiently and more accurately, and is a technical solution. It is also a navigation device that assists doctors to perform transzygomatic and transalar implant surgery safely and efficiently, filling the gap in the current market.

[0029] Before further describing the present invention in detail, the nouns and terms involved in the embodiments of the present invention are explained. The nouns and terms involved in the embodiments of the present invention are applicable to the following interpretations:

[0030] <1> LM: Levenberg-Marquardt is a commonly used nonlinear least squares fitting algorithm that can be used to solve various nonlinear fitting problems. The algorithm combines the characteristics of the gradient descent method and the Newton method, aiming to find the parameters that minimize the error between the fitting function and the actual data.

[0031] <2> Trust region algorithm: According to certain principles, the displacement is directly determined without first determining the direction. If the displacement determined according to a certain principle can sufficiently reduce the value of the objective function, the trust region is expanded. If it cannot sufficiently reduce the value of the objective function, the trust region is reduced. This iteration is repeated until convergence.

[0032] <3> Transzygomatic and transalauricular implant surgery: a highly complex dental implant technique that uses the zygomatic bone and alar plate to fix the implant. The dental implant is fixed through the zygomatic bone, the implant is fixed in the zygomatic area, and then the alar plate is fixed in the area adjacent to the maxillary bone.

[0033] At the same time, in order to make the purpose, technical solution and advantages of the present invention more clear, the technical solution in the embodiment of the present invention is further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the invention.

[0034] like Figure 1 As shown, a schematic diagram of a process flow of a method for selecting a surgical path for transzygomatic and transalar implantation in an embodiment of the present invention is shown. The method for selecting a surgical path for transzygomatic and transalar implantation in this embodiment mainly includes the following steps:

[0035] Step S11: according to the acquired whole head image information of the patient, the coordinate information of the starting points of several surgical paths is set.

[0036] In this embodiment, the method for obtaining the patient's overall head image information includes oral CT image information and / or MRI image information, that is, before performing surgery on the patient, the patient's static overall head image information is obtained by using oral CT, MRI and other technologies. The patient's static overall head image information includes the location information of hard tissue and soft tissue information including facial nerves and blood vessels.

[0037] In this embodiment, the starting point of the surgical path is set according to the acquired whole head image information of the patient. The alveolar ridge at the starting point of the surgical path can be represented by p. The coordinates of the alveolar ridge p in the rectangular coordinate system of the reconstructed patient head stereo model are (p x ,p y ,p z ), for example, for transzygomatic and transalar implant surgery on tooth No. 4, the starting points p1 and p2 of the surgical path can be set, then the starting point p1 of the surgical path is at the alveolar ridge of tooth No. 5, and the starting point p2 of the surgical path is at the alveolar ridge of tooth No. 3.

[0038] Step S12: setting the target surgical area according to the acquired coordinate information of the starting points of the several surgical paths.

[0039] In this embodiment, the target surgical area is a curved surface S, and the surgical path range adopts the angle range of the spherical coordinate system. in is the polar angle of the surgical path, that is, the angle with the z-axis; θ is the azimuth angle of the surgical path, that is, the angle with the x-axis.

[0040] Step S13: Calculate the angle ranges of the plurality of preset anatomical points and the target surgical area relative to the starting points of the plurality of surgical paths according to the acquired coordinate information of the plurality of preset anatomical points.

[0041] In this embodiment, it is assumed that the i-th preset anatomical point is denoted as a i , the spherical coordinates of the i-th point relative to the alveolar ridge p are The coordinates in the rectangular coordinate system of the reconstructed patient head stereo model are (a ix ,a iy ,a iz ), there are N preset anatomical points, the starting point of the surgical path is the alveolar ridge p, and the coordinates of the alveolar ridge p in the same rectangular coordinate system are (p x ,p y ,p z ), the method for obtaining the angle ranges of the plurality of preset anatomical points relative to the starting points of the plurality of surgical paths includes:

[0042]

[0043]

[0044] In this embodiment, it is assumed that the target surgical area is a curved surface S, whose boundary curve is Q. Q is projected onto a unit sphere with p as the center, denoted as Q'. A point b (b x ,b y ,b z ), the projection result is b' r =1; Then the expression of Q' can be expressed as The inner area of ​​Q' (i.e., the angular range of the target surgical area) can be expressed as

[0045] Step S14: Calculate the distances from the surgical path to the plurality of preset anatomical points based on the obtained angle ranges of the plurality of preset anatomical points and the target surgical area relative to the starting points of the plurality of surgical paths.

[0046] The distance from the surgical path to the preset anatomical point is a weighted distance, and for ease of calculation, the weights are all set to negative numbers. The weight of the i-th point is w i The weights are set according to the size and importance of the anatomical structure.

[0047] Step S15: Calculate the optimal surgical path range and the recommended surgical path range based on the calculated distances from the surgical path to multiple preset anatomical points.

[0048] In this embodiment, a straight line L is preset to pass through several surgical path starting points and the angle is The angle range corresponding to the minimum sum of the weighted distances from the preset straight line to the multiple preset anatomical points is the optimal surgical path range. The following will describe in detail how to obtain the optimal surgical path.

[0049] In this embodiment, based on the angle ranges of the acquired multiple preset anatomical points and target surgical areas relative to the starting points of several surgical paths, constrained nonlinear functions are constructed for the starting points P1 and P2 of the surgical paths. The constraints are as follows: The nonlinear function is

[0050]

[0051] Where distance(L,a) represents the distance from the preset anatomical point a to the straight line L. represents the desired straight line, w i represents the weight of the i-th preset anatomical point. The constraints are transformed into Substituting into the function, we have the function

[0052]

[0053] Where λ is the Lagrange multiplier. Since the LM algorithm is suitable for unconstrained conditions, by introducing Lagrange multipliers, the problem is transformed from a constrained problem to an unconstrained problem.

[0054] Specifically, in this embodiment, When the value is minimum, the corresponding This is the optimal surgical path range.

[0055] In this embodiment, a function f is set for each preset anatomical point. i , there are N functions in total: set up but

[0056]

[0057] Satisfy the conditions for using the LM method.

[0058] Furthermore, in this embodiment, the unconstrained minimization problem is iteratively calculated, and the pseudo code is as follows:

[0059] Any As the initial value (which can be taken as (0,0)), take a trust region radius μ (which can be taken as 1), and I represents the identity matrix.

[0060] For the kth iteration, calculate the Jacobian matrix J:

[0061]

[0062] in, is the symbol of partial derivative.

[0063] calculate

[0064]

[0065] Where T represents the transpose symbol of the matrix, Represents the angle difference between two adjacent iterations.

[0066] Calculate ρ:

[0067]

[0068] in, represents the actual drop value of function f, represents the estimated drop value, ρ represents the auxiliary variable for updating the trust region radius μ, and the size of ρ is used to determine whether to update θ and Specifically, if ρ>0.9, it means that the actual decline value is very close to the estimated decline value, then if Then μ=2μ; if Then μ=0.5μ.

[0069] It is worth noting that the key to the LM algorithm is to use the model function f to make a linear approximation of the estimated parameter vector p in its domain, ignoring the derivative terms above the second order, thereby converting it into a linear least squares problem, which has the advantages of fast convergence speed. The LM algorithm belongs to a "trust region method". The so-called trust region method means that in the optimization algorithm, the minimum value of a function is required, and the objective function value is required to decrease in each iteration. The trust region method, as the name implies, starts from the initial point, first assumes a reliable maximum displacement s, and then in the area with the current point as the center and s as the radius, by finding the optimal point of an approximate function (quadratic) of the objective function, to solve the real displacement. After obtaining the displacement, calculate the objective function value. If it makes the decrease of the objective function value meet certain conditions, then it means that the displacement is reliable, and continue to iterate according to this rule; if it cannot make the decrease of the objective function value meet certain conditions, the scope of the trust region should be reduced and the solution should be re-solved.

[0070] Furthermore, the trust region method is an important technology in the optimization algorithm to ensure global convergence. Its function is to find the displacement of each iteration in the optimization algorithm, so as to determine the new iteration point. The basic idea of ​​the trust region method is: first, a so-called "trust region radius" is given as the upper limit of the displacement length, and a closed sphere area called "trust region" is determined with the current iteration point as the center and this "upper limit" as the radius. Then, the "candidate displacement" is determined by solving the optimal point of the "trust region subproblem" (quadratic approximation model of the objective function) in this area. If the candidate displacement can make the objective function value drop sufficiently, the candidate displacement is accepted as the new displacement, and the trust region radius is maintained or expanded, and the new iteration continues. Otherwise, it means that the approximation between the quadratic model and the objective function is not ideal, and the trust region radius needs to be reduced, and then a new candidate displacement is obtained by solving the subproblem in the new trust region. Repeat this process until the iteration termination condition is met.

[0071] Furthermore, the technical problem to be solved by this application is how to calculate the optimal surgical path for transzygomatic and transalar implant surgery before surgery. The problem is abstracted into a constrained minimization problem, and the LM algorithm is combined with the trust region to obtain the optimal surgical path and the recommended surgical path range, so that the risk of the operation is minimized. This is a technical solution that can assist doctors in safely and efficiently performing transzygomatic implant surgery, and it is a navigation device that assists doctors in safely and efficiently performing transzygomatic implant surgery, filling the gap in the current market.

[0072] In this embodiment, the method for acquiring the range of the recommended surgical path includes: the weighted distance from the surgical path to the preset anatomical point and the corresponding angle range when the weighted distance is less than a preset threshold.

[0073] In this embodiment, after the best surgical path range and the recommended surgical path range are calculated, the following steps are further performed: the best surgical path range and the recommended surgical path range are rendered and marked with different colors and displayed for clear display to better assist doctors in making decisions. For example, the recommended surgical path range can be rendered in blue, while the best surgical path range can be set to green, etc. This example is for reference only and is not intended to be limiting.

[0074] like Figure 2 FIG. 1 is a schematic diagram showing a structure of a transzygomatic and transalar implant surgery path selection device according to an embodiment of the present invention, comprising:

[0075] The position acquisition module 201 is used to set the coordinate information of the starting points of several surgical paths according to the acquired whole head image information of the patient;

[0076] The target region acquisition module 202 is used to set the target surgical region according to the acquired coordinate information of the starting points of the plurality of surgical paths;

[0077] The surgical path angle acquisition module 203 is used to calculate the angle ranges of the multiple preset anatomical points and the target surgical area relative to the starting points of the multiple surgical paths according to the acquired coordinate information of the multiple preset anatomical points;

[0078] The distance calculation module 204 is used to calculate the distance from the surgical path to the plurality of preset anatomical points according to the angle ranges of the acquired plurality of preset anatomical points and the target surgical area relative to the starting points of the plurality of surgical paths;

[0079] The surgical path calculation module 205 is used to calculate the optimal surgical path range and the recommended surgical path range according to the calculated distances from the surgical path to multiple preset anatomical points.

[0080] In this embodiment, the surgical path angle acquisition module is further used to perform the following: the method for calculating the angle ranges of the plurality of preset anatomical points relative to the starting points of the plurality of surgical paths according to the acquired coordinate information of the plurality of preset anatomical points includes:

[0081]

[0082]

[0083]

[0084] The starting point of the surgical path is the alveolar ridge p, and the spherical coordinates of the i-th preset anatomical point relative to the alveolar ridge p are The coordinates of the i-th preset anatomical point in the rectangular coordinate system of the reconstructed patient head stereo model are (a ix ,a iy ,a iz ), the coordinates of the surgical path starting point p in the rectangular coordinate system of the reconstructed patient head stereo model are (p x ,p y ,p z ).

[0085] In this embodiment, it is assumed that the target surgical area is a curved surface S, whose boundary curve is Q. Q is projected onto a unit sphere with p as the center, denoted as Q'. A point b (b x ,b y ,b z ), the projection result is b' r =1; Then the expression of Q' can be expressed as The inner area of ​​Q' (i.e., the angular range of the target surgical area) can be expressed as

[0086] In this embodiment, the surgical path calculation module is also used to perform the following: a method for calculating the optimal surgical path range based on the calculated distances from the surgical path to multiple preset anatomical points includes: the weighted distance from the surgical path to the preset anatomical point and the angle range corresponding to the minimum case.

[0087] In this embodiment, the surgical path calculation module is also used to perform the following: a method for calculating the recommended surgical path range based on the calculated distances from the surgical path to multiple preset anatomical points includes: the weighted distance from the surgical path to the preset anatomical point and the angle range corresponding to the case where the distance is less than a preset threshold.

[0088] Furthermore, in this embodiment, the surgical path calculation module is further used to perform the following: marking and displaying the optimal surgical path range and the recommended surgical path range in different colors.

[0089] It should be noted that: the transzygomatic and transalar implant surgery path selection device provided in the above embodiment only uses the division of the above program modules as an example to illustrate when selecting the optimal surgical path. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the transzygomatic and transalar implant surgery path selection device provided in the above embodiment and the transzygomatic and transalar implant surgery path selection method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0090] In one embodiment of the present application, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the transzygomatic and transalar implant surgical path selection method as described above is implemented.

[0091] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0092] In the embodiments provided in the present application, the computer readable and writable storage medium may include a read-only memory, a random access memory, an EEPROM, a CD-ROM or other optical disk storage device, a disk storage device or other magnetic storage device, a flash memory, a USB flash drive, a mobile hard disk, or any other medium that can be used to store a desired program code in the form of an instruction or data structure and can be accessed by a computer. In addition, any connection can be appropriately referred to as a computer-readable medium. For example, if the instruction is sent from a website, a server or other remote source using a coaxial cable, an optical fiber cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, optical fiber cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. However, it should be understood that computer readable and writable storage media and data storage media do not include connections, carriers, signals, or other temporary media, but are intended to be non-temporary, tangible storage media. Disk and disc, as used in this application, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

[0093] like Figure 3 As shown, it is a schematic diagram of the structure of the electronic terminal in one embodiment of the present application. The electronic terminal 300 provided in this example includes: a processor 301 and a memory 302; the memory 302 is connected to the processor 301 through a system bus and completes mutual communication, the memory 302 is used to store computer programs, and the processor 301 is used to run the computer programs stored in the memory 302, so that the electronic terminal 300 executes the transzygomatic and transalar implant surgery path selection method as described above.

[0094] The method for selecting a surgical path for transzygomatic and transalar implantation provided in the embodiment of the present invention can be implemented on the terminal side or the server side. As for the hardware structure of the electronic terminal, please refer to Figure 3 , is an optional hardware structure diagram of an electronic terminal 300 provided in an embodiment of the present invention. The terminal 300 may be a mobile phone, a computer device, a tablet device, a personal digital processing device, a factory background processing device, etc. The electronic terminal 300 includes: at least one processor 301, a memory 302, at least one network interface 304 and a user interface 306. The various components in the device are coupled together through a bus system 305. It can be understood that the bus system 305 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 305 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, in Figure 3 In the specification, various buses are labeled as bus systems.

[0095] The user interface 306 may include a display, a keyboard, a mouse, a trackball, a click gun, keys, buttons, a touch pad or a touch screen.

[0096] It is understood that the memory 302 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM). The memory described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable categories of memory.

[0097] The memory 302 in the embodiment of the present invention is used to store various categories of data to support the operation of the electronic terminal 300. Examples of these data include: any executable program for operating on the electronic terminal 300, such as an operating system 3021 and an application 3022; the operating system 3021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application 3022 may include various applications, such as a media player (MediaPlayer), a browser (Browser), etc., for implementing various application services. The method for selecting a transzygomatic and transalar implant surgery path provided in the embodiment of the present invention may be included in the application 3022.

[0098] The method disclosed in the above embodiment of the present invention can be applied to the processor 301, or implemented by the processor 301. The processor 301 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 301 or the instruction in the form of software. The above processor 301 may be a general processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 301 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general processor 301 can be a microprocessor or any conventional processor, etc. In combination with the steps of the accessory optimization method provided in the embodiment of the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0099] In an exemplary embodiment, the electronic terminal 300 may be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD) to execute the aforementioned method.

[0100] In summary, the present application provides a method, device, medium and terminal for selecting a surgical path for transzygomatic and transalar implantation, which can calculate the optimal surgical path during transzygomatic and transalar implantation based on the trust region and Levenberg-Marquardt algorithm, and provides a technical solution that is easy to operate and can assist doctors in safely and efficiently performing transzygomatic implantation surgery. It is also a navigation device that assists doctors in safely and efficiently performing transzygomatic implantation surgery, filling the gap in the current market. Therefore, the present application effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0101] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for selecting a surgical path for transzygomatic and transalar implantation, characterized in that: include: According to the acquired overall head image information of the patient, the coordinate information of the starting points of several surgical paths is set; According to the acquired coordinate information of the starting points of several surgical paths, the target surgical area is set; According to the acquired coordinate information of the plurality of preset anatomical points, the angle ranges of the plurality of preset anatomical points and the target surgical area relative to the starting points of the plurality of surgical paths are calculated; According to the obtained multiple preset anatomical points and the angle range of the target surgical area relative to the starting points of several surgical paths, the distances from the surgical path to the multiple preset anatomical points are calculated; Based on the calculated distances from the surgical path to multiple preset anatomical points, the optimal surgical path range and the recommended surgical path range are calculated.

2. The method for selecting a transzygomatic and transalar implantation surgical path according to claim 1, characterized in that: The patient's overall head image information is obtained by means of oral CT image information and / or magnetic resonance imaging image information.

3. The method for selecting a transzygomatic and transalar implantation surgical path according to claim 1, characterized in that: The method for obtaining the angle ranges of the plurality of preset anatomical points relative to the starting points of the plurality of surgical paths includes: The starting point of the surgical path is the alveolar ridge p, and the spherical coordinates of the i-th preset anatomical point relative to the alveolar ridge p are The coordinates of the i-th preset anatomical point in the rectangular coordinate system of the reconstructed patient head stereo model are (a ix ,a iy ,a iz ), the coordinates of the surgical path starting point p in the rectangular coordinate system of the reconstructed patient head stereo model are (p x ,p y ,p z ).

4. The method for selecting a surgical path for transzygomatic and transalar implantation according to claim 1, characterized in that: The method for acquiring the optimal surgical path range includes: the weighted distance from the surgical path to the preset anatomical point and the angle range corresponding to the minimum.

5. The method for selecting a surgical path for transzygomatic and transalar implantation according to claim 1, characterized in that: The method for acquiring the recommended surgical path range includes: the weighted distance from the surgical path to the preset anatomical point and the corresponding angle range when the weighted distance is less than a preset threshold.

6. The method for selecting a surgical path for transzygomatic and transalar implantation according to claim 1, characterized in that: After the best surgical path range and the recommended surgical path range are obtained by calculation, the following steps are further performed: the best surgical path range and the recommended surgical path range are marked and displayed with different color rendering.

7. A device for selecting a surgical path for transzygomatic and transalar implantation, characterized in that: include: A position acquisition module is used to set the coordinate information of the starting points of several surgical paths according to the acquired overall head image information of the patient; A target area acquisition module is used to set a target surgical area according to the acquired coordinate information of the starting points of several surgical paths; A surgical path angle acquisition module is used to calculate the angle ranges of multiple preset anatomical points and target surgical areas relative to the starting points of several surgical paths according to the acquired coordinate information of multiple preset anatomical points; A distance calculation module is used to calculate the distance from the surgical path to the multiple preset anatomical points according to the obtained multiple preset anatomical points and the angle range of the target surgical area relative to the starting points of the multiple surgical paths; The surgical path calculation module is used to calculate the optimal surgical path range and the recommended surgical path range based on the calculated distances from the surgical path to multiple preset anatomical points.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for selecting a transzygomatic and transalar implant surgery path according to any one of claims 1 to 6 is implemented.

9. An electronic terminal, characterized in that: include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory, so that the terminal performs the transzygomatic and transalar implant surgery path selection method according to any one of claims 1 to 6.

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