Determination method and device for deviation angle of surgical instrument and medium

Abstract

The invention discloses a deviation angle determination method and device of a surgical instrument and a medium, and relates to the technical field of medical imagines.The deviation angle determination method of the surgical instrument comprises the steps that an oral cavity scanning image is obtained, multiple seed points are selected from the oral cavity scanning image, and a dental arch curve is constructed based on the multiple seed points; based on the dental arch curve, establishing a local coordinate system taking a preset implant planning site as a reference, and representing different spatial orientations of the implant planning site through different coordinate axes of the local coordinate system; actual pose data of the surgical instrument are obtained, and the deviation angle of the actual pose of the surgical instrument in each spatial orientation is calculated based on the actual pose data of the surgical instrument. According to the invention, an operator can quickly judge the adjusting direction of the surgical instrument.

Description

Technical Field

[0001] The present application relates to the field of medical imaging technology, and in particular to a method, device, and medium for determining a deviation angle of a surgical instrument. Background Art

[0002] In navigation-assisted dental implant surgery, precise control of the position of surgical instruments (such as dental drills) directly impacts the final positioning of the implant. Due to the complex structure of the human jaw, surgical instruments may deviate during operation. If this deviation is not identified in time, it may affect the safe space of the surrounding tooth root tissue.

[0003] Although existing navigation systems can display the angular deviation between surgical instruments and planned implant sites in real time, providing only a single angular deviation value makes it difficult to fully reflect the complex deviation state in three-dimensional space, resulting in the operator being unable to quickly determine the adjustment direction of the surgical instrument. Summary of the Invention

[0004] The present application provides a method, device, and medium for determining the deviation angle of a surgical instrument, which can judge the deviation angle of the surgical instrument in multiple directions, so that the operator can quickly determine the adjustment direction of the surgical instrument.

[0005] To achieve the above objectives, the present application proposes a method for determining the deviation angle of a surgical instrument, the method comprising:

[0006] Acquire an oral scan image, select multiple seed points in the oral scan image, and construct a dental arch curve based on the multiple seed points;

[0007] Based on the dental arch curve, a local coordinate system is established with a preset implant planning site as a reference, and different coordinate axes of the local coordinate system are used to represent different spatial orientations of the implant planning site;

[0008] The actual posture data of the surgical instrument is acquired, and the deviation angle of the actual posture of the surgical instrument at each of the spatial orientations is calculated based on the actual posture data of the surgical instrument.

[0009] In addition, to achieve the above-mentioned purpose, the present application also proposes a terminal device, which includes: a memory, a processor, and a computer program stored on the memory and runnable on the processor, wherein the computer program is configured to implement the steps of the method for determining the deviation angle of the surgical instrument as described above.

[0010] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the method for determining the deviation angle of the surgical instrument as described above are implemented.

[0011] One or more technical solutions proposed in this application have at least the following technical effects:

[0012] By acquiring an oral scan image and selecting multiple seed points in the oral scan image, a dental arch curve is constructed based on the multiple seed points; based on the dental arch curve, a local coordinate system is established with a preset implant planning site as a reference, and different coordinate axes of the local coordinate system are used to represent different spatial orientations of the implant planning site; the actual posture data of the surgical instrument is acquired, and the deviation angles of the actual posture of the surgical instrument in each spatial orientation are calculated based on the actual posture data of the surgical instrument, which can provide the deviation angles of the surgical instrument in different spatial orientations of the implant planning site, so that the operator can accurately judge the composite deviation state of the surgical instrument in three-dimensional space, and then the operator can quickly judge the adjustment direction of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0014] In order to more clearly illustrate the embodiments of the present application 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] Figure 1 A schematic flow chart of a first embodiment of a method for determining a deviation angle of a surgical instrument according to the present application;

[0016] Figure 2 A dental arch curve diagram provided in an embodiment of the present application;

[0017] Figure 3 The effect diagram of the local coordinate system constructed for the embodiment of the present application;

[0018] Figure 4 This is a rendering of the orientation label involved in the embodiment of the present application;

[0019] Figure 5 This is a rendering of the azimuth offset pointer involved in an embodiment of the present application;

[0020] Figure 6This is a rendering of the warning display assembly involved in an embodiment of the present application;

[0021] Figure 7 This is an effect diagram of triggering a red warning through an alarm display component involved in an embodiment of the present application;

[0022] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the method for determining the deviation angle of the surgical instrument in the embodiment of the present application. DETAILED DESCRIPTION

[0023] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0024] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0025] Although existing navigation systems can display the angular deviation between surgical instruments and planned implant sites in real time, providing only a single angular deviation value makes it difficult to fully reflect the complex deviation state in three-dimensional space, resulting in the operator being unable to quickly determine the adjustment direction of the surgical instrument.

[0026] To solve the above problems, the present invention provides a method for determining the deviation angle of a surgical instrument. The method can be executed by a terminal device, and the following embodiments are described in detail using the terminal device as the execution subject.

[0027] For details, please refer to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for determining the deviation angle of a surgical instrument of the present application. In this embodiment, the method for determining the deviation angle of a surgical instrument includes steps S10 to S30:

[0028] Step S10: Acquire an oral scan image, select multiple seed points in the oral scan image, and construct a dental arch curve based on the multiple seed points.

[0029] Specifically, the oral scan image may be an oral and maxillofacial cone beam CT (CT) scan image.

[0030] In this embodiment, the selected seed points must at least meet the following conditions: first, the number of seed points is greater than or equal to 3; second, the selected seed points must meet the non-collinearity condition, that is, any three seed points are not located on the same straight line.

[0031] In some embodiments, in response to an operator performing a spatially distributed point selection operation in a target area of an oral scan image, the terminal device may identify multiple spatially distributed points selected by the operator, and then determine whether the multiple selected spatially distributed points satisfy a non-collinearity condition. If so, at least three spatially distributed points are selected from the multiple spatially distributed points as seed points; if not, the terminal device prompts the operator to re-mark until it is determined that the multiple spatially distributed points selected by the operator satisfy the non-collinearity condition. The target area may be a tooth cross section.

[0032] In this embodiment, the implementation scheme of the terminal device constructing the dental arch curve based on multiple seed points may include:

[0033] In one embodiment, the terminal device may perform curve fitting on multiple seed points based on a non-uniform rational spline algorithm to obtain a dental arch curve. Non-uniform rational B-spline (NURBS) is a mathematical model commonly used in computer graphics to generate and represent curves and surfaces.

[0034] In another embodiment, the terminal device may perform polynomial fitting on multiple seed points to obtain a dental arch curve.

[0035] The effect diagram of the dental arch curve constructed in this embodiment is as follows Figure 2 shown.

[0036] In step S20 , a local coordinate system is established based on the dental arch curve and is based on the preset implant planning site. Different coordinate axes of the local coordinate system are used to represent different spatial orientations of the implant planning site.

[0037] In this embodiment, a local coordinate system is constructed with the planned implant site as the origin. Since the planned implant site is the target location for precise surgical instrument manipulation, setting it as the origin of the coordinate system allows all subsequent spatial calculations to be directly linked to the surgical instrument and the planned implant site. The position of the surgical instrument is mapped to the virtual model in real time via the coordinate system, allowing the surgeon to directly observe the three-dimensional deviation between the instrument and the planned implant site within the navigation interface, providing data support for dynamic compensation.

[0038] In some embodiments, the constructed local coordinate system includes a first coordinate axis and a second coordinate axis, the first coordinate axis can be a horizontal axis (X axis), and the second coordinate axis can be a vertical axis (Y axis). Thus, the coordinate system constructed based on the implant planning site can be mapped into four spatial orientations of the implant planning site. The four spatial orientations can be distal, mesial, buccal, and lingual (or palatal) directions. The effect of the final constructed local coordinate system is as follows: Figure 3 shown.

[0039] In this embodiment, the implementation scheme of establishing a local coordinate system based on the dental arch curve and taking the preset implant planning site as a reference may include:

[0040] In one embodiment, the implant planning site includes a first planning site and a second planning site. The terminal device uses the first planning site as a reference and selects two points within a preset distance range along the dental arch curve; calculates the unit vector between the two selected points and uses it as the first coordinate axis basis vector of the local coordinate system to be constructed; calculates the normal vector of the fitting plane generated by multiple seed points; calculates the second coordinate axis basis vector of the local coordinate system to be constructed based on the normal vector and the first coordinate axis basis vector; and constructs the local coordinate system based on the first coordinate axis basis vector and the second coordinate axis vector, taking the second planning site as the coordinate origin.

[0041] In another embodiment, the terminal device can generate a tangent to the dental arch curve. If the planned implant site falls on the tangent, the planned implant site is used as the origin of the local coordinate system, and the tangent is used as the first coordinate axis (e.g., X-axis), and a second coordinate axis (e.g., Y-axis) is constructed through a perpendicular relationship. If the planned implant site does not fall on the tangent, the tangent point is used as the origin, the tangent is used as the horizontal axis, and a vertical axis is constructed in the perpendicular direction of the tangent to generate a first coordinate system. The origin of the first coordinate system is then moved to the position of the planned implant site to obtain a local coordinate system.

[0042] Step S30: Acquire actual posture data of the surgical instrument, and calculate the deviation angle of the actual posture of the surgical instrument in each spatial orientation based on the actual posture data of the surgical instrument.

[0043] In some embodiments, the implantation area of the planned implant site is divided into four spatial orientations: distal, mesial, buccal, and lingual (or palatal). The deviation angle of the surgical instrument in each spatial orientation can be calculated using the following formula:

[0044]

[0045] Among them, v probe represents the actual position of the surgical instrument, The basis vector representing the first spatial orientation, i.e., the basis vector in the positive direction of the first coordinate axis (e.g., the horizontal axis) of the local coordinate system, can be used to map the mesial orientation of the implant planning site. The first represents the basis vector of the second spatial orientation, that is, the basis vector in the negative direction of the first coordinate axis of the local coordinate system. The second spatial orientation can be used to map the distal orientation of the implant planning site. The basis vector representing the third spatial orientation, i.e., the basis vector in the positive direction of the second coordinate axis (e.g., the vertical axis) of the local coordinate system, can be used to map the lingual / palatal orientation of the implant planning site. The basis vector representing the fourth spatial orientation, i.e., the basis vector in the negative direction of the second coordinate axis of the local coordinate system, can be used to map the buccal orientation of the implant planning site, θ h+ represents the deviation angle of the surgical instrument in the first spatial orientation, θ h- represents the deviation angle of the surgical instrument in the second spatial orientation, θ v+ Indicates the deviation angle of the surgical instrument in the third space orientation, θ v- Indicates the deviation angle of the surgical instrument in the fourth spatial orientation.

[0046] This embodiment obtains an oral scan image, selects multiple seed points in the oral scan image, and constructs a dental arch curve based on the multiple seed points; based on the dental arch curve, a local coordinate system is established with a preset implant planning site as a reference, and different coordinate axes of the local coordinate system are used to represent different spatial orientations of the implant planning site; the actual posture data of the surgical instrument is obtained, and the deviation angle of the actual posture of the surgical instrument in each spatial orientation is calculated based on the actual posture data of the surgical instrument, which can provide the deviation angle of the surgical instrument in different spatial orientations of the implant planning site, so that the operator can accurately judge the complex deviation state of the surgical instrument in three-dimensional space, and then the operator can quickly judge the adjustment direction of the surgical instrument.

[0047] In a feasible implementation, the above S10, constructing the dental arch curve based on multiple seed points, may include: generating an initial broken line based on the multiple seed points, and performing equal-division interpolation on the initial broken line to obtain the dental arch curve.

[0048] Specifically, the terminal device can import the coordinate data of multiple seed points into the vtkPoints data structure, generate the initial broken line through the vtkCardinalSpline algorithm, and set the second-order derivatives of the curve's first and last endpoints to zero constraints to ensure a smooth transition of the curve at the starting and ending points, avoiding local overshoot or oscillation that may occur with traditional interpolation methods. Then, by using the vtkSplineFilter filter, the initial broken line is divided into equal parts according to the preset length to obtain each segment, and the length of each segment is set to the preset length to perform interpolation optimization on the initial broken line, and finally generate a dental arch curve that fits the actual curvature of the dental arch. The final dental arch curve is as follows: Figure 2 shown.

[0049] In this embodiment, the initial broken line is interpolated in equal parts to make the interpolation points more evenly distributed and to more accurately fit the actual curvature of the dental arch.

[0050] In a feasible embodiment, the above S20, characterizing different spatial orientations of the implant planning site through different coordinate axes of the local coordinate system may include: determining that the direction closer to the midpoint of the dental arch curve in the two directions of the first coordinate axis of the local coordinate system is the first spatial orientation and the direction farther away is the second spatial orientation; and determining that the direction close to the palatal side in the two directions of the second coordinate axis of the local coordinate system is the third spatial orientation and the direction close to the buccal side is the fourth spatial orientation.

[0051] Among them, the first spatial orientation represents the mesial orientation of the implant planning site, the second spatial orientation represents the distal orientation of the implant planning site, the third spatial orientation represents the mesiolingual / mesopalatine orientation of the implant planning site, and the fourth spatial orientation represents the mesiobuccal orientation of the implant planning site.

[0052] That is, the terminal device uses the midpoint of the dental arch curve as a reference, sets the end of the first coordinate axis (e.g., the X-axis) with a smaller distance from the midpoint of the dental arch curve as the first spatial orientation, and the other end with a larger distance as the second spatial orientation. For the two directions of the second coordinate axis (e.g., the vertical axis), if one direction is closer to the palatal side, the direction of this end is set as the third spatial orientation; if the other direction is closer to the buccal side, the direction of this end is set as the fourth spatial orientation, and the first spatial orientation, the second spatial orientation, the third spatial orientation, and the fourth spatial orientation respectively represent the mesial orientation, distal orientation, mesiolingual / palatal orientation, and mesiobuccal orientation of the planned implant site.

[0053] In this embodiment, a local coordinate system is established based on the implant planning site, and different spatial orientations of the implant planning site are mapped to the coordinate axes of the local coordinate system, which can provide a reference for subsequent calculation of the deviation angles of surgical instruments in different spatial orientations.

[0054] In a feasible embodiment, the implant planning site includes a first planning site and a second planning site. The first planning site may be the root apex, and the second planning site may be the entry point. The above S20, based on the dental arch curve, establishes a local coordinate system with the preset implant planning site as the reference, including steps S201 to S205:

[0055] S201 , taking the first planned site as a reference, selecting two points within a preset distance range along the dental arch curve.

[0056] Specifically, the terminal device can find the distance from the first planning point P by traversing the dental arch curve point set. apex The nearest point is denoted as P closet , and obtain P closet Adjacent points P in two directions prev and P next, which is used as the calculation basis for the first coordinate axis.

[0057] S202: Calculate the unit vector between the two selected points and use it as the first coordinate axis basis vector of the local coordinate system to be constructed.

[0058] Specifically, the first coordinate axis basis vector can be calculated by the following formula:

[0059]

[0060] in, represents the first coordinate axis basis vector, Indicates P prev and P next The vector formed, Represents a vector Model.

[0061] S203: Calculate the normal vector of the fitting plane generated by the multiple seed points.

[0062] Specifically, the terminal device may select three seed points, perform plane fitting on the three seed points to obtain a fitting plane, and then calculate the normal vector of the fitting plane through the plane equation.

[0063] S204 , calculating a second coordinate axis basis vector of the local coordinate system to be constructed based on the normal vector and the first coordinate axis basis vector.

[0064] Specifically, the terminal device can calculate the second coordinate axis basis vector using the following formula:

[0065] And there is in, is the second coordinate axis basis vector, is the normal vector, Represents the first coordinate axis basis vector.

[0066] S205 , taking the second planned location as the coordinate origin, and constructing a local coordinate system based on the first coordinate axis basis vector and the second coordinate axis vector.

[0067] It can be understood that the basis vector is a vector with a certain direction. Therefore, after determining the basis vector of the first coordinate axis and the basis vector of the second coordinate axis, the terminal device can determine the direction of the first coordinate axis and the direction of the second coordinate axis, and use the second planning location as the origin to extend along the direction of the first coordinate axis and the direction of the second coordinate axis to construct a cross segment. The constructed local coordinate system is as follows: Figure 3 shown.

[0068] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above introduction and will not be repeated hereafter. On this basis, after the above S30, the method for determining the deviation angle of the surgical instrument further includes step S40:

[0069] S40: Outputting deviation prompt information based on the deviation angles of the actual posture of the surgical instrument in each spatial orientation through at least one of voice, text, and graphic representation.

[0070] Specifically, the terminal device can output the deviation angle of the surgical instrument in each spatial orientation through voice broadcast, or can display the deviation angle of the surgical instrument in each spatial orientation in the form of text output to a preset display module, which can be the display screen of the terminal device or the navigation display interface of the dental implant navigation system. In addition, the terminal device can also graphically display the deviation angle of the surgical instrument in each spatial orientation, so that the operator can intuitively determine in which orientation the surgical instrument has deviated through the graphics, thereby allowing the operator to quickly adjust the direction of the surgical instrument according to the graphical prompts.

[0071] Considering that the graphical representation method can assist the operator in intuitively determining the deviation direction of the surgical instrument, the present application further provides a third embodiment. In this embodiment, the method for determining the deviation angle of the surgical instrument may further include step S22:

[0072] S22 , generating a prompt display component in the local coordinate system, wherein the prompt display component includes an alarm display component, and the alarm display component includes alarm sub-components corresponding to different spatial orientations.

[0073] The prompt display component can be constructed based on the origin of the local coordinate system. The prompt display component at least includes an alarm display component, and the alarm display component at least includes alarm sub-components corresponding to different spatial orientations.

[0074] As a preferred embodiment, the warning display component is displayed in the form of a circular ring, and the circular ring is constructed with the planned implant site as the origin, and the warning subcomponent is displayed in the form of an arc segment.

[0075] Furthermore, the above S40 may include: when the deviation prompt information is outputted through a graphic representation, displaying a display effect matching the corresponding deviation angle in the warning sub-components corresponding to different spatial orientations.

[0076] Thus, the display effect of the warning sub-component at each spatial orientation can be dynamically adjusted according to the deviation angle of different orientations. Specifically, the display effect can include at least one of the display color and display mode (e.g., static display and dynamic display) of the warning sub-component. For example, when the deviation angle of the surgical instrument at a certain spatial orientation does not exceed a preset angle threshold, the warning sub-component corresponding to the spatial orientation will statically display green. Otherwise, the warning sub-component corresponding to the spatial orientation will continuously flash red light frequency to warn.

[0077] Specifically, when the deviation angle of any spatial orientation is greater than a preset deviation threshold, the display effect of the corresponding warning sub-component is changed from the default display effect to the preset warning display effect. The display effects of the warning sub-components corresponding to different deviation angles are pre-set, and the terminal device can read the pre-established correspondence between the deviation angle and the display effect of the warning sub-component from the storage module, thereby dynamically adjusting the display effects of different warning sub-components according to the correspondence and the deviation angles of different spatial orientations. In addition, the default display effect is different from the preset warning display effect. For example, the default display effect is a static green display, and the preset warning display effect is a static red display. The specific design is based on actual needs and is not limited in this application.

[0078] In a feasible implementation manner, the prompt display component may further include orientation labels and / or orientation offset pointers corresponding to different spatial orientations.

[0079] Specifically, the orientation labels corresponding to different spatial orientations can be set in the following manner: taking the origin of the local coordinate system as a reference, the corresponding orientation label is set at a position offset by a preset length along the direction of the corresponding spatial orientation, and the orientation label can be displayed in the form of text. For example, when the first spatial orientation represents the mesial orientation, the "J" label is displayed, and when the second spatial orientation represents the distal orientation, the "Y" label is displayed. When the third spatial orientation represents the near-lingual side (when the area selected by the seed point is located in the mandible), the "S" label is displayed, and when the fourth spatial orientation represents the near-buccal orientation, the "A" label is displayed. Alternatively, when the third spatial orientation represents the near-palatal side (when the area selected by the seed point is located in the maxilla), the "E" label is displayed, and the final display effect is as follows. Figure 4 shown.

[0080] Specifically, the direction of each orientation offset pointer is determined by the four spatial orientation basis vectors. The direction always points to the center point of the constructed local coordinate system model, and the position of the orientation offset pointer is offset from the center point along the basis vector direction by a preset position offset. The preset position offset can be calculated as follows:

[0081] D = d × (LR - 2.0),

[0082] Among them, d is the basis vector corresponding to the spatial orientation, D is the preset position offset, and LR is the preset radius.

[0083] Therefore, the above S40 may include:

[0084] The distribution of different spatial orientations of the implant planning site is visualized through orientation labels and / or orientation offset pointers corresponding to different spatial orientations; combined with the visualized spatial orientation distribution, the display effect matching the corresponding deviation angle is displayed in each warning subcomponent.

[0085] That is, the terminal device displays a local coordinate system in the oral scan image, and the local coordinate system also sets orientation labels and / or orientation offset pointers for different spatial orientations of the implant planning site, so that the operator can intuitively see the distribution of the four spatial orientations of the implant planning site, namely the distal, mesial, buccal and lingual (palatal) directions. Therefore, if the operator finds that the angle of the surgical instrument has deviated during the operation, the operator can intuitively judge the angle deviation of the surgical instrument in different orientations by combining the distribution of the four visualized spatial orientations and the display effects of the warning sub-components corresponding to the four spatial orientations, so that the operator can adjust the angle of the surgical instrument in the corresponding spatial orientation in a timely manner.

[0086] For example, in order to help understand the implementation process of the method for determining the deviation angle of the surgical instrument obtained by combining the first embodiment, the second embodiment, and the third embodiment, the present application also provides the following embodiments, including:

[0087] I. Construct the dental arch curve, including:

[0088] First, an oral scan image is acquired. Then, at least five spatially distributed points are marked on the dental cross-section of the oral scan image, named the "Dental Curve Seeds" point set. The selected spatially distributed points are ensured to meet the non-collinearity condition, meaning that no three points lie on the same straight line. Subsequently, a check is performed to see if the number of spatially distributed points is greater than or equal to five and if the non-collinearity condition is met. If the check fails, the operator is prompted to re-mark the points to ensure that the subsequently constructed dental arch curve accurately reflects the physiological curvature of the dentition. After the check is complete, three points from the non-collinearity condition point set are selected as seed points.

[0089] Then, the seed point coordinates are imported into the vtkPoints data structure, and the initial broken line is generated by the vtkCardinalSpline algorithm. The second-order derivatives of the curve endpoints are set to zero constraints to ensure a smooth transition between the beginning and the end. After that, the vtkSplineFilter filter is used, and the length of each segment is set to 0.3mm (SetLength(0.3)). The initial broken line is interpolated and optimized to generate a dental arch curve that fits the actual curvature of the dental arch. Finally, the optimized curve data is converted into a vtk point set, named "Dental curve" and the point size is set to 0.3mm for visualization. The final dental arch curve is as follows: Figure 2 shown.

[0090] II. Construct a local coordinate system, including:

[0091] The dental arch point set (Dental curve) and implant planning site (implant_tip_pts) are obtained to establish the local coordinate system. Specifically, the root tip point P is first extracted from the implant planning point. apex and entry point P entry , where P apex The first planned site for the implant planning site, P entry The second planning position of the implant planning point is found by traversing the dental arch curve point set. apex The nearest point is denoted as P closet , and obtain P closet The adjacent point P prev and P next , use this as the calculation of the horizontal axis basis vector (i.e. the first coordinate axis basis vector in the above embodiment), and then calculate the normal vector and the vertical axis basis vector (i.e. the second coordinate axis basis vector in the above embodiment). Then, use P entry Point is the center, and cross segments are constructed by extending along the horizontal and vertical axes. The result is as follows Figure 3 shown.

[0092] III. Build the prompt display component, including:

[0093] III-1, Generate orientation labels: For the two endpoints of the horizontal axis, the end with the smaller distance from the midpoint of the dental arch curve is marked as "J" (mesial), and the other end is marked as "Y" (distal). For the vertical axis, if the current position is mandibular, the mesial side is marked as "S" and the mesial side is marked as "A"; if the current position is maxillary, the mesial side is marked as "E" and the mesial side is marked as "A". Finally, the text annotation is rendered into the 3D window through vtkfollower, and the effect is as follows Figure 4 shown.

[0094] III-2, Generate azimuth offset pointer: First, use vtkConeSource in the VTK toolkit to create a conical 3D model with parameters set to 5mm height and 0.8mm bottom radius. The direction of each pointer is determined by the four pre-calculated basis vectors (including the horizontal axis basis vector and its inverse vector, the vertical basis vector and its inverse vector), and the direction always points to the center point of the 3D model. The pointer position is offset from the center point by a certain distance along the basis vector direction, and the effect is as follows: Figure 5 shown.

[0095] III-3, Constructing the Warning Display Component: First, construct the basic ring structure, evenly dividing the circumference into multiple discrete points. The coordinates of each point are calculated using sine and cosine functions. A ring wireframe model is constructed using vtkPolyData, and all discrete points are connected to form a complete circular frame. The basic ring model output at this stage provides a geometric reference for subsequent spatial transformations. Then, based on the local coordinate system calculated from the 3D plane, a rotation matrix is constructed to map the ring baseline from the XY plane to the dental arch plane coordinate system. The basic ring is then translated to its center point using the vtkTransform Translate function. The ring wireframe model is then rotated around the Z axis by 45°, 135°, 225°, and 315° using the RotateWXYZ function, respectively, to generate four orthogonally distributed quarter-circle arc segments. Based on the previously constructed orientation offset pointer, each arc is sequentially assigned a position to ensure consistency between the labeled text and the corresponding arc. Finally, vtkTubeFilter is used to transform the ring model into a tubular structure. The fineness of the model and the rendering effect are balanced by setting the radius of the large ring to 8.0mm, the radius of the small ring to 4.0mm and the number of surface slices to 20. The results are as follows: Figure 6 shown.

[0096] V. Real-time monitoring of the deviation angle of surgical instruments, including:

[0097] Get the planned apex point P of the implant apex and entry point P entry , calculate the normalized planning axis vector:

[0098]

[0099] Then, the actual posture v of the surgical instrument is obtained probe , whose direction is determined by the third column component of the transformation matrix. Calculate the deviation angle of the four spatial orientations:

[0100]

[0101] Among them, the meaning of each parameter in the above formula can be found above and will not be repeated here. Specifically, the horizontal axis is along the direction of the dental arch curve, mapping the distal and mesial orientations, and the vertical axis is perpendicular to the plane of the dental arch curve, mapping the buccal orientation and the lingual / palatal orientation. The axis of the surgical instrument is projected to the two axes through orthogonal decomposition to achieve two-dimensional decomposition of three-dimensional spatial positioning. Subsequently, the mapping from real space to image space is achieved through cusp point registration: on the one hand, cusp points with significant features are selected from the two-dimensional image, and on the other hand, the dental machine is used to collect landmark points corresponding to the actual teeth, and finally the spatial alignment is completed through the landmark registration algorithm. Based on this registration result, the deviation angles between the surgical instrument and the implant planning site in the horizontal and vertical orthogonal directions can be calculated independently. When the deviation angle is greater than the preset angle threshold, a red alarm is triggered in the warning subcomponent of the corresponding spatial orientation. The effect is as follows: Figure 7 shown.

[0102] The present application provides a terminal device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the deviation angle determination method of the surgical instrument of the above-mentioned embodiment.

[0103] Reference below Figure 8 , which shows a schematic diagram of the structure of a terminal device suitable for implementing the embodiments of the present application. The terminal device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 8 The terminal device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0104] like Figure 8As shown, the terminal device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the terminal device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and communication device 1009. The communication device 1009 can allow the terminal device to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a terminal device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0105] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0106] The terminal device provided by this application, using the method for determining the deviation angle of a surgical instrument in the above-mentioned embodiment, can resolve the technical problem of difficulty in fully reflecting the complex deviation state in three-dimensional space, resulting in the operator's inability to quickly determine the adjustment direction of the surgical instrument. Compared with the prior art, the beneficial effects of the terminal device provided by this application are the same as those of the method for determining the deviation angle of a surgical instrument provided in the above-mentioned embodiment, and the other technical features of the terminal device are the same as those disclosed in the above-mentioned embodiment method, and are not further described here.

[0107] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0108] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0109] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the method for determining the deviation angle of the surgical instrument in the above-mentioned embodiment.

[0110] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0111] The computer-readable storage medium may be included in the terminal device, or may exist independently without being incorporated into the terminal device.

[0112] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0113] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0114] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0115] The computer-readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described method for determining the deviation angle of a surgical instrument. This computer-readable storage medium can resolve the technical problem of an operator being unable to quickly determine the correct adjustment direction for a surgical instrument. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the method for determining the deviation angle of a surgical instrument provided in the above-described embodiment, and are not further elaborated here.

[0116] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for determining the deviation angle of a surgical instrument, characterized in that: The method comprises: Acquire an oral scan image, select multiple seed points in the oral scan image, and construct a dental arch curve based on the multiple seed points; Based on the dental arch curve, a local coordinate system is established with a preset implant planning site as a reference, and different coordinate axes of the local coordinate system are used to represent different spatial orientations of the implant planning site; The actual posture data of the surgical instrument is acquired, and the deviation angle of the actual posture of the surgical instrument at each of the spatial orientations is calculated based on the actual posture data of the surgical instrument.

2. The method for determining the deviation angle of a surgical instrument according to claim 1, wherein: The method further comprises: Based on the deviation angle of the actual posture of the surgical instrument in each of the spatial orientations, deviation prompt information is output through at least one of voice, text, and graphic representation.

3. The method for determining the deviation angle of a surgical instrument according to claim 2, wherein: The method further comprises: Generating a prompt display component in the local coordinate system, wherein the prompt display component includes an alarm display component, and the alarm display component includes alarm subcomponents corresponding to different spatial orientations; The outputting of deviation prompt information based on the deviation angle of the actual posture of the surgical instrument in each of the spatial orientations through at least one of voice, text, and graphic representation includes: When the deviation prompt information is outputted through graphic representation, display effects matching the corresponding deviation angles are displayed in warning sub-components corresponding to different spatial orientations.

4. The method for determining the deviation angle of a surgical instrument according to claim 3, wherein: The display effects matching the corresponding deviation angles are displayed in the warning sub-components corresponding to different spatial orientations, including: When the deviation angle of any of the spatial orientations is greater than a preset deviation threshold, the display effect of the corresponding warning sub-component is changed from a default display effect to a preset warning display effect.

5. The method for determining the deviation angle of a surgical instrument according to claim 3, wherein: The prompt display component also includes orientation labels and / or orientation offset pointers corresponding to different spatial orientations; The display effects matching the corresponding deviation angles are displayed in the warning sub-components corresponding to different spatial orientations, including: Visually displaying the distribution of different spatial orientations of the planned implant site through orientation labels and / or orientation offset pointers corresponding to different spatial orientations; In combination with the visualized spatial orientation distribution, a display effect matching the corresponding deviation angle is displayed in each of the warning sub-components.

6. The method for determining the deviation angle of a surgical instrument according to claim 3, wherein: The warning display component is displayed in the form of a circular ring, and the circular ring is constructed with the planned implant site as the origin, and the warning subcomponent is displayed in the form of an arc segment.

7. The method for determining the deviation angle of a surgical instrument according to any one of claims 1 to 6, characterized in that: Characterizing different spatial orientations of the planned implant site by different coordinate axes of the local coordinate system includes: Determine, among the two directions of the first coordinate axis of the local coordinate system, the direction closer to the midpoint of the dental arch curve as a first spatial orientation and the direction farther away as a second spatial orientation; Determine, among the two directions of the second coordinate axis of the local coordinate system, a direction close to the lingual / palatal side as a third spatial orientation and a direction close to the buccal side as a fourth spatial orientation; Among them, the first spatial orientation represents the mesial orientation of the implant planning site, the second spatial orientation represents the distal orientation of the implant planning site, the third spatial orientation represents the mesiolingual / mesopalatine orientation of the implant planning site, and the fourth spatial orientation represents the mesiobuccal orientation of the implant planning site.

8. The method for determining the deviation angle of a surgical instrument according to any one of claims 1 to 6, characterized in that: The implant planning sites include a first planning site and a second planning site; The establishing of a local coordinate system based on the dental arch curve and taking the preset implant planning site as a reference includes: Taking the first planned site as a reference, two points are selected along the dental arch curve within a preset distance range; Calculating the unit vector between the two selected points and using it as the first coordinate axis basis vector of the local coordinate system to be constructed; Calculating a normal vector of a fitted plane generated by the plurality of seed points; Calculating a second coordinate axis basis vector of the local coordinate system to be constructed based on the normal vector and the first coordinate axis basis vector; The local coordinate system is constructed based on the first coordinate axis basis vector and the second coordinate axis vector, taking the second planned location as the coordinate origin.

9. A terminal device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for determining the deviation angle of a surgical instrument according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for determining the deviation angle of a surgical instrument according to any one of claims 1 to 8 are implemented.

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