Method and apparatus for providing an implantation location

Abstract

Methods and apparatus for providing an implant implantation location are disclosed. According to the method and the equipment for providing the implantation position of the implant in the embodiment, surgical data including a radiopaque tool and a surgical guide are matched with surgical data of a patient used in a surgical planning process by shooting the oral cavity of the patient; in one embodiment, an implant is provided to identify whether an actual surgical guide is accurately secured within a patient's oral cavity, and to provide an expected implantation location of the implant based on the identification to identify a deviation from a planned implant.

Description

Technical Field

[0001] The present invention relates to dental image processing technology, and more particularly, to image processing and user interface technology for guided dental implant surgery. Background Art

[0002] When performing dental implant surgery, software is used to create a surgical plan in advance. The process of using software to create a dental implant surgical plan typically involves acquiring the patient's computed tomography (CT) data and dental data, matching these data, creating a surgical plan to determine the position of the implant structure (e.g., crown, implant, abutment, anchor, etc.) while taking into account the patient's anatomy, and then designing the shape of the surgical guide based on the planned information.

[0003] When designing the shape of a surgical guide using software, the patient's dental data is loaded into the software and used as a reference for designing the guide shape. However, if an error occurs in the process of acquiring the patient's dental data, or if an error occurs in the process of outputting the designed guide using a three-dimensional (3D) printer, the surgical guide with such an error may be fastened in the patient's mouth, resulting in the implant being placed in a position different from the planned position.

[0004] Some commercial software offers the ability to compare planned implant positions with actual implant positions after surgery based on CT data. However, once the surgery is complete, it is often difficult to correct the implant position. Summary of the Invention

[0005] [Technical Issues]

[0006] According to an embodiment, a method and apparatus for providing an implant placement position are proposed, which enable identification of whether an actual surgical guide used for implant surgery is accurately fastened within a patient's oral cavity.

[0007] Furthermore, a method and apparatus for providing an implant placement position are proposed, which enable identification of deviations from a preoperatively planned implant position by providing an expected implant placement position using a radiopaque tool before surgery.

[0008] [Technical Solution]

[0009] According to an embodiment, a method for providing an implant placement position may include performing the following steps through an apparatus for providing an implant placement position: acquiring preoperative data of a patient, the preoperative data including a design of a virtual guide shape for surgical planning; acquiring surgical data including a radiopaque tool and a surgical guide by photographing the patient's mouth; matching the surgical data with the preoperative data; generating a virtual implant of intended placement based on the radiopaque tool in the matched surgical data; and providing placement position information of the intended implant.

[0010] The method may further include the following steps: determining a placement position of an object including a virtual implant according to preoperative data of the patient by means of a device for providing an implant placement position, and determining a position of a drill hole based on the determined implant placement position, and then designing and outputting a virtual guide shape including the determined drill hole.

[0011] In the step of acquiring surgical data, the device for providing an implant placement position can fasten an actual radiopaque tool into a drill hole of an actual surgical guide installed in the patient's mouth, and then photograph the mouth to acquire surgical data, and in the step of matching surgical data, the device for providing an implant placement position can match the surgical data based on the preoperative data by adjusting the position and orientation of the surgical data to align with the position and orientation of the preoperative data.

[0012] The method may further include the step of: after the apparatus for providing the implant placement position matches the preoperative data with the surgical data, fine-tuning the matching result using a manipulator.

[0013] The method may further include matching a radiopaque tool provided from a software library based on a radiopaque tool represented in the matched surgical data after the apparatus for providing an implant placement position matches the preoperative data with the surgical data.

[0014] The method may further include the following steps: selecting, by an apparatus for providing an implant placement position, a radiopaque tool that matches the radiopaque tool of the surgical data from a library, wherein the apparatus for providing an implant placement position may select the type of radiopaque tool based on the specifications of the implant planned before surgery for each tooth number.

[0015] In the step of matching the radiopaque tool, the apparatus for providing the implant placement position may match the radiopaque tool by adjusting the position and orientation of the radiopaque tool provided from the software library relative to the radiopaque tool represented in the matched surgical data.

[0016] In the step of matching the radiopaque tools, the device for providing the implant placement position can extract and match the following points for the above-mentioned two radiopaque tools, including the top center point, the point on the stop extending across the drill hole of the surgical guide, and the corresponding point on the opposite side of the stop.

[0017] The method may further include providing, by the apparatus for providing an implant placement position, a matching result in an image frame, the matching result indicating whether a shape of the radiopaque tool in the matched surgical data matches a margin line of the radiopaque tool provided from the software library.

[0018] In the step of providing the matching result in the form of an image frame, the apparatus for providing the implant placement position may provide the matching result while changing the position of the generated cross section within a two-dimensional (2D) cross-sectional image frame providing the matching result between the two radiopaque tools.

[0019] The method may also include the following steps: providing an image screen by a device for providing an implant placement position, which compares the position and orientation of the implant planned using preoperative data with the position and orientation of the virtual implant expected to be placed when the actual surgical guide is fastened in the patient's mouth.

[0020] In the step of providing an image frame, the device for providing the implant placement position can measure the angle between the reference axis of the virtual implant to be placed and the reference axis of the implant planned before surgery, and provide the angle difference, wherein, when the angle difference between the reference axis of the implant planned before surgery and the reference axis of the virtual implant to be placed is greater than a preset angle, the device can determine that an error has occurred and provide error information.

[0021] In the step of providing the image screen, a measurement interface that enables a user to check error information may be provided.

[0022] In the step of providing an image frame, the device for providing an implant placement position may measure an angle between a reference axis of the implant planned before surgery and a reference axis of the virtual implant to be placed, and provide angle deviation information.

[0023] In the step of providing the image frame, when the virtual implant to be placed deviates from the safe area of ​​the implant planned before surgery, the device for providing the implant placement position may provide warning information indicating the deviation.

[0024] According to another embodiment, an apparatus for providing an implant placement position may include: a data acquisition unit configured to acquire preoperative data of a patient, the preoperative data including a design of a virtual guide shape for surgical planning, and to acquire surgical data including a radiopaque tool and a surgical guide by photographing the patient's mouth; a control unit configured to match the surgical data with the preoperative data, and to generate an expected virtual implant based on the radiopaque tool in the matched surgical data; and an output unit configured to output placement position information of the expected implant.

[0025] The control unit may display, via the output unit, an image screen that compares the position and orientation between the implant planned using the preoperative data and the virtual implant expected to be placed in a state where the patient wears the actual surgical guide.

[0026] After matching the preoperative data with the surgical data, the control unit may match the radiopaque tool provided from the software library based on the radiopaque tool represented in the matched surgical data.

[0027] [Effects of the Invention]

[0028] According to the method and apparatus for providing an implant placement position of the embodiment, it is possible to identify whether an actual surgical guide used for an implant surgery is accurately fastened within the patient's oral cavity.

[0029] Additionally, by using radiopaque tools to provide the intended placement of the implant, deviations from the preoperatively planned implant position can be identified.

[0030] In addition, it enables the operator to predict the outcome of guided implant surgery based on the expected placement position of the implant, thereby improving the accuracy of guided surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 : is a diagram showing a configuration of an apparatus for providing an implant placement position according to an embodiment of the present invention.

[0032] Figure 2 FIG. 1 is a diagram illustrating a screen for generating a drill hole based on an implant in first preoperative data according to an embodiment of the present invention.

[0033] Figure 3 FIG. 1 is a diagram illustrating a screen for generating a drill hole and a guide shape in second preoperative data according to an embodiment of the present invention.

[0034] Figure 4is a diagram showing surgical data obtained by imaging a state in which an actual surgical guide including an actual radiopaque tool is fastened within the oral cavity of a patient according to an embodiment of the present invention.

[0035] Figure 5 1 is a diagram showing the shapes of radiopaque tools divided by size according to one embodiment of the present invention.

[0036] Figure 6 FIG. 1 is a diagram showing preoperative data and surgical data of a patient as a matching target in three dimensions according to an embodiment of the present invention.

[0037] Figure 7 is a diagram illustrating an example of matching points between radiopaque tools in surgical data and radiopaque tools from a software library according to an embodiment of the present invention.

[0038] Figure 8 FIG. 1 is a diagram illustrating an image screen providing a matching result of a radiopaque tool on surgical data according to an embodiment of the present invention.

[0039] Figure 9 FIG. 1 is a diagram showing an image screen providing a matching result of a radiopaque tool using a margin line according to an embodiment of the present invention.

[0040] Figure 10 FIG. 1 is a diagram illustrating a screen for generating a virtual implant of intended placement based on a radiopaque tool according to an embodiment of the present invention.

[0041] Figure 11 are diagrams showing (a) an image of an implant planned before surgery, (b) an image of a virtual implant intended to be placed based on surgical data, and (c) an image of two implants overlapping, according to an embodiment of the present invention.

[0042] Figure 12 FIG. 1 is a diagram illustrating an image screen providing error information between the position of an implant planned before surgery and the position of a virtual implant to be placed according to one embodiment of the present invention.

[0043] Figure 13 3 is a diagram illustrating an image screen that provides warning information when a virtual implant to be placed deviates from a safe area of ​​an implant planned before surgery according to an embodiment of the present invention.

[0044] Figure 14 is a flow chart illustrating a method for providing an implant placement location according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The advantages and features of the present invention and the manner in which the advantages and features are achieved will become apparent with reference to the embodiments described in detail below in conjunction with the accompanying drawings. However, the present invention can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein, and the embodiments are provided so that this disclosure will be thorough and complete and will fully convey the scope of the invention to those skilled in the art, and the present invention is limited only by the scope of the appended claims. Throughout the specification, the same or similar reference numerals represent the same or similar elements.

[0046] When describing example embodiments, if it is determined that a detailed description of a related known configuration or function included herein may unnecessarily obscure the subject matter of the present invention, its detailed description will be omitted. The terms described below are defined in consideration of the functions in the present invention and may vary depending on the user, the user's intention, or custom. Therefore, the definitions of the terms used herein should follow the context disclosed herein.

[0047] Hereinafter, example embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the example embodiments may be modified in various forms, and the scope of the present invention is not limited to the example embodiments described below. The embodiments of the present invention are provided to help those skilled in the art to explain and understand the present invention.

[0048] Figure 1 : is a diagram showing a configuration of an apparatus for providing an implant placement position according to an embodiment of the present invention.

[0049] Reference Figure 1 , the device 1 for providing an implant placement position is an electronic device capable of executing a medical image processing program. The electronic device may include a personal computer (PC), a notebook computer, a laptop computer, a tablet computer, a smart phone, a mobile phone, and the like. Examples of medical image processing programs include guide design programs, scanning programs, CAD programs, and the like. In addition, the program can be applied not only to dental implant surgery, but also to general medical image processing applications. In the following, for ease of description, a guide design program for dental implant surgery will be described as an example. However, it should be understood that the present invention is equally applicable to other programs as long as image processing can be performed.

[0050] The image processing process performed using a medical image processing program includes: registering a surgical patient; acquiring dental data of the registered patient; generating a dental arch line based on the dental data and creating a panoramic image using the dental arch line; setting a position of a crown model in the dental data; setting an implant placement position and a guide area in the dental data; and generating and outputting a guide.

[0051] The apparatus 1 for determining an implant placement position according to an embodiment includes a data acquisition unit 10 , a storage unit 12 , a control unit 14 , an input unit 16 , and an output unit 18 .

[0052] The data acquisition unit 10 acquires image data. For example, the data acquisition unit 10 may acquire preoperative data and surgical data through a connected medical imaging device (not shown) or a separate database. Preoperative data refers to data that can be acquired before the actual surgical guide is fastened to the patient, and this data is obtained from the patient's oral cavity, including the damaged target tooth. For example, the preoperative data may include computed tomography (CT) data, scan data, and may also include intraoral model data of the patient.

[0053] The control unit 14 can implant a virtual object according to a surgical plan developed based on preoperative data, and can design a guide shape for implanting the virtual object. The object may include, for example, a crown, an implant, an abutment, an anchor pin, etc.

[0054] Output unit 18 can output the guide shape designed by control unit 14 to a connected 3D printer or milling device. Here, the designed guide shape can be in a data format compatible with the 3D printer or milling device, and the 3D printer or milling device can output a physical guide based on the input guide shape. Hereinafter, the output guide shape is referred to as a "surgical guide."

[0055] The data acquisition unit 10 acquires surgical data by imaging a surgical guide, combined with a radiopaque tool, secured within a patient's oral cavity. For example, the patient can bite down on the surgical guide, and a CT image can be captured using a CT imaging device. The radiopaque tool serves as a marker and can appear in the CT image obtained through CT imaging.

[0056] Preoperative data is data obtained from the patient's mouth before the surgical planning process in order to design the guide shape, while surgical data is data obtained from the patient's mouth after the surgical guide is actually fastened in the patient's mouth. Therefore, these two types of data are distinguished.

[0057] The storage unit 12 stores various types of data, including information required for operating the apparatus 1 for determining the implant placement position and information generated during operation. For example, the storage unit 12 may store preoperative data and surgical data of an individual patient and provide the data to the control unit 14 upon user request.

[0058] The control unit 14 can match the surgical data obtained by imaging the state in which the actual surgical guide combined with the actual radiopaque tool is fastened in the patient's oral cavity with the preoperative data used for surgical planning, so as to determine whether the actual surgical guide has been accurately fastened in the patient's oral cavity. Specifically, the control unit 14 performs matching between the surgical data and the preoperative data using the preoperative data as a reference. For example, the control unit 14 can perform matching based on the preoperative data by adjusting the position and orientation of the surgical data to align with the position and orientation of the preoperative data. In order to match between the two sets of data, the control unit 14 can select the patient's tooth shape or anatomical structure from each set of data as a matching point. Hereinafter, the data in which the surgical data has been matched with the preoperative data is referred to as "matched surgical data."

[0059] The control unit 14 may match the radiopaque tool provided from the software library with the radiopaque tool in the matched surgical data.

[0060] The software library is a database containing information about surgical guides, and may include information such as the shape, size, image, and material of the surgical guides, as well as the shape, size, and position of the radiopaque tools mounted on the corresponding surgical guides. To match radiopaque tools, the control unit 14 may identify information about the surgical guide worn by the patient in the matched surgical data, or, if information about the surgical guide is identified through user input, the control unit 14 may load the radiopaque tool corresponding to the surgical guide from the software library.

[0061] The control unit 14 may display the matching result between the shape of the radiopaque tool in the matched surgical data and the radiopaque tool provided from the software library on a screen of a display device linked via the output unit 18. For example, the control unit 14 may provide the matching result in the form of an image screen via the output unit 18, indicating whether the edge line of the radiopaque tool in the matched surgical data matches the edge line of the radiopaque tool from the software library.

[0062] The matching process between the radiopaque tools described above may be performed depending on whether an error has occurred in the radiopaque tools in the surgical data. For example, when the radiopaque tools are distorted or the shape of the radiopaque tools is not fully represented during the image acquisition process, the control unit 14 may determine that an error has occurred. Figure 7 An embodiment related thereto will be described.

[0063] Subsequently, the control unit 14 may generate the shape of the intended placement virtual implant based on the matched radiopaque tool, and may provide placement position information of the intended placement implant and a guide suitability result to the output unit 18, and the output unit 18 may then output them.

[0064] Here, when the placement position information of the virtual implant is expected to be within the safe area based on the planned implant position information, the control unit 14 can output an indication or guidance that the guide is suitable for the patient's oral cavity via the output unit 18. In addition, the control unit 14 can provide an image screen via the output unit 18 that compares the position and direction of the implant planned using preoperative data with the position and direction of the virtual implant expected to be placed in a state where the actual surgical guide is fastened in the patient's oral cavity. Figure 11 An embodiment related thereto will be described.

[0065] For example, in the superimposed image screen where the planned implant and the virtual implant overlap, the control unit 14 can provide error information indicating how much the position of the virtual implant to be placed deviates from the position of the implant planned before surgery via the output unit 18. In this case, the control unit 14 can provide a measurement interface via the output unit 18, which enables the user to check the error information between the position of the implant planned before surgery and the position of the virtual implant to be placed. Figure 12 An embodiment related thereto will be described.

[0066] As another example, the control unit 14 may measure the angle between the reference axis of the virtual implant to be placed and the reference axis of the implant planned before surgery, and provide the angle difference via the output unit 18. In this case, when the angle difference between the reference axis of the planned implant and the reference axis of the virtual implant exceeds a preset angle, the control unit 14 may determine that an error has occurred and provide error information via the output unit 18. Figure 12 An embodiment related thereto will be described.

[0067] As another example, when the virtual implant to be placed deviates from the safe area of ​​the implant planned before surgery, the control unit 14 may provide a warning message indicating this via the output unit 18. Figure 13 An embodiment related thereto will be described.

[0068] The input unit 16 receives a user operation signal.

[0069] The output unit 18 displays various types of information on the screen and can output the guide shape designed by the control unit 14 to a linked 3D printer or milling machine.

[0070] Figure 2 is a diagram showing a screen for generating a drill hole based on an implant in first preoperative data according to an embodiment of the present invention, and Figure 3 FIG. 1 is a diagram illustrating a screen for generating a drill hole and a guide shape in second preoperative data according to an embodiment of the present invention.

[0071] Reference Figures 1 to 3 , an apparatus 1 for providing an implant placement position determines a placement position of a virtual implant 20 in preoperative data 2 of a patient, determines a position of a drill hole 21 based on the determined placement position of the implant 20, and then designs a virtual guide shape 22 including the determined drill hole 21 and a predetermined tooth. For example, Figure 2 As shown, the device 1 for determining the placement position of an implant can obtain the first preoperative data 2 of the patient (for example, CT data), determine the placement position of the implant 20, and determine the position of the drill hole 21. Figure 3 As shown, the apparatus 1 may acquire second preoperative data 3 (eg, intraoral model data) and design a guide shape 22 including a drill hole 21 .

[0072] The device 1 for determining the placement position of an implant 20 can determine the placement position of the implant 20 by having the user manipulate the position and orientation of the implant 20. In another example, the device 1 can use an algorithm or artificial intelligence (AI) to obtain anatomical structure information such as crown information and adjacent tooth information, and automatically determine the initial position of the implant 20. The device 1 can then determine the final placement position of the implant 20 by allowing the user to adjust the initial position of the implant.

[0073] In this case, the user may adjust the position using a manipulator provided by the apparatus 1 for determining an implant placement position.

[0074] Once the placement position of the implant 20 is determined, the device 1 for determining the placement position of the implant can be used as follows: Figure 2 As shown, based on the reference axis of the implant 20, a drill hole 21 is generated in an area spaced a certain distance (A mm) from a first position of the implant 20 (e.g., the uppermost end point of the implant) to a second position of the drill hole 21 (e.g., the uppermost end point of the drill hole) in the first preoperative data 2 (e.g., CT data).

[0075] Then, if Figure 3As shown, the apparatus 1 for determining an implant placement position can design a guide shape 22 including a drill hole 21 based on second preoperative data (e.g., oral model data) 3. For example, in the process of designing the guide shape 22, the apparatus 1 can generate the guide shape 22 in a manual mode by receiving a point position input by a user along a line for generating a guide shape. In another example, the apparatus 1 for determining an implant placement position can automatically generate an initial guide shape using an algorithm or AI so as to include a certain number of teeth adjacent to the drill hole 21. When the user inputs an adjustment signal for the initial guide shape via a provided manipulator, the apparatus can generate a final guide shape to which the adjustment signal is applied.

[0076] Figure 4 is a diagram showing surgical data obtained by imaging a state in which an actual surgical guide including an actual radiopaque tool is fastened within the oral cavity of a patient according to an embodiment of the present invention.

[0077] Reference Figure 1 and Figure 4 , an apparatus 1 for determining an implant placement position provides a surgical guide by outputting a completed guide shape using a 3D printer or a milling device.

[0078] When the operator combines the actual radiopaque tool that matches the specifications of the drilling hole of the actual surgical guide with the drilling hole of the surgical guide and fastens it in the patient's mouth, the apparatus 1 for determining the implant placement position acquires surgical data 4 by imaging this state. That is, by imaging the patient's mouth, surgical data 4 including the surgical guide in which the radiopaque tool is installed can be acquired. Figure 4 As shown, the surgical data 4 of the patient acquired in this manner includes a surgical guide 40 equipped with a radiopaque tool 42 combined therewith, thereby enabling the operator to visually confirm the shape of the radiopaque tool 42 in the image.

[0079] Figure 5 1 is a diagram showing the shapes of radiopaque tools divided by size according to one embodiment of the present invention.

[0080] Reference Figure 1 and Figure 5 The drill hole size of the surgical guide can vary from manufacturer to manufacturer depending on the implant specifications. For example, implant sizes can be divided into three categories: narrow, regular, and wide. In the case of narrow implants, the diameter can be or smaller, and the drill hole diameter can be In the case of conventional implants, the diameter can be larger than and less than or equal to And the drilling diameter can be In case of wide implants, the diameter can be or larger, and the drill hole diameter can be

[0081] Therefore, if Figure 5 As shown, radiopaque tools 5a, 5b, and 5c corresponding to the sizes of the corresponding drill holes can be used. Each of the radiopaque tools 5a, 5b, and 5c is composed of a gripping portion, a stopper, and a guide hole coupling portion.

[0082] Although the diameters of the radiopaque tools 5a, 5b, and 5c are different so that they can be inserted into the corresponding holes of the surgical guide, the apparatus 1 for determining the placement position of an implant can provide markings on the radiopaque tools for easy identification by the user. For example, the apparatus 1 can mark each radiopaque tool with a number (marker). Figure 5 As shown, each radiopaque tool 5a, 5b and 5c includes a stopper for each size limiting the portion inserted into the bore of the surgical guide, and the user can insert each radiopaque tool 5a, 5b and 5c into the bore until the insertion is blocked by the stopper.

[0083] Figure 6 3D diagram showing preoperative data 61 and surgical data 62 of a patient as a matching target according to an embodiment of the present invention.

[0084] Reference Figure 1 and Figure 6 , a device 1 for determining the placement position of an implant Figure 6 The patient's preoperative data 61 and surgical data 62 are shown to be matched so that the position and orientation of the implant planned before surgery (i.e., the position and orientation of the implant as planned for the preoperative data) are compared with the position and orientation of the implant expected to be placed during the surgical procedure (i.e., the position and orientation of the virtual implant generated in the surgical data).

[0085] The apparatus 1 for providing an implant placement position can automatically match surgical data 62 with preoperative data 61, and AI can be used for this purpose. For example, the apparatus 1 can use training data to track the tooth shape or anatomical structure in the two sets of data 61 and 62, and perform matching by aligning the coordinates of the two sets of data 61 and 62 based on the tracked tooth shape or anatomical structure.

[0086] If the accuracy of the matching result obtained using AI is insufficient (for example, if the coordinates of the two sets of data 61 and 62 are not aligned), the apparatus 1 for providing an implant placement position can perform matching by a semi-automatic method, in which a certain number of points (for example, three points) are input to each of the two sets of data 61 and 62 through a user operation signal so that the coordinates of the data 61 and 62 match each other. In both automatic matching and semi-automatic matching, the user can check the matching results and, if necessary, modify the matching results using a matching adjustment manipulator.

[0087] Since the position of the implant planned preoperatively has already been determined in the preoperative data 61, the apparatus 1 for providing implant placement positions can obtain the position information and shape of the implant planned preoperatively from the preoperative data 61. Because the preoperatively planned implant is used as a reference in subsequent comparisons between implants, during the matching process between the preoperative data 61 and the surgical data 62, the apparatus 1 performs matching between the preoperative data 61 and the surgical data 62 by adjusting the coordinates of the surgical data 62 based on the preoperative data 61. Even if the user fine-tunes the matching results using a manipulator, the preoperative data 61 is still used as a reference, so the apparatus 1 performs fine adjustments by moving the position of the surgical data 62 or rotating its orientation.

[0088] The matched data can be represented in at least one of a 3D image format or a 2D cross-sectional image format. In the case of matched data in a 2D cross-sectional image format, the device 1 for determining the implant placement position can provide basic cross-sectional images for implant placement planning, such as cross-sections in three directions generated from the 3D data, i.e., axial cross-sections, coronal cross-sections, and parallel cross-sections. The device 1 can receive user operation signals to adjust the cross-sectional images and move slices of the cross-sectional images, thereby enabling the user to view the matching results using the entire set of cross-sectional images.

[0089] Figure 7 is a diagram illustrating an example of matching points between radiopaque tools in surgical data and radiopaque tools from a software library according to an embodiment of the present invention.

[0090] Reference Figure 1 and Figure 7During the image acquisition process, the radiopaque tool 42 in the captured surgical data may become distorted or incompletely represented. The apparatus 1 for determining the implant placement position can identify the radiopaque tool 42 in the matched surgical data 4a and extract at least three points from the topmost center point, the center point of the stopper, and the bottommost center point of the radiopaque tool 42. If the virtual line connecting the extracted points is not straight, the apparatus can determine that distortion has occurred. The above is merely an example of how to detect distortion, and the method is not limited to this specific method.

[0091] If no distortion occurs or the shape is completely represented, the apparatus 1 for determining an implant placement position may proceed to the next step without performing a step of matching between the radiopaque tool 42 in the matched surgical data 4a and the radiopaque tool 5 from the library.

[0092] On the contrary, if distortion has occurred or the shape is not fully represented, the apparatus 1 for determining the implant placement position may match the shape of the radiopaque tool 42 represented in the matched surgical data 4a with the shape of the radiopaque tool 5 provided from the software library, as shown in FIG. Figure 7 For example, the device 1 can automatically perform the matching by detecting three points in each of the two radiopaque tools 42 and 5: the topmost center point 71a and 71b, one point 72a and 72b on the stop extending across the drill hole of the surgical guide, and corresponding points 73a and 73b on the opposite side of the stop. Figure 7 The radiopaque tool 42 of the matched surgical data 4a is shown in 2D cross-section form, but the apparatus 1 for determining the implant placement position can detect the matching area in 3D shape. If the results of the automatic matching are not satisfactory, a semi-automatic matching process can be performed, in which the user directly inputs a set of points (e.g., three points). The user can review the results of the automatic or semi-automatic matching and, if necessary, modify the results using the matching adjustment manipulator.

[0093] Figure 8 FIG. 1 is a diagram illustrating an image screen providing a matching result of a radiopaque tool on surgical data according to an embodiment of the present invention.

[0094] Reference Figure 1 and Figure 8 , the apparatus 1 for determining the implant placement position provides a screen showing the matching result between the radiopaque tools 5 and 42 on the matched surgical data 4a, as shown in FIG. Figure 8As shown. The user can determine whether the radiopaque tools 5 and 42 are correctly matched (a) or whether a matching error has occurred (b) via the matching result screen. In the event that a matching error has occurred (b), the apparatus 1 for determining the implant placement position can directly receive two or more matching points from the user and perform an additional re-matching process based on these input points.

[0095] Figure 9 FIG. 1 is a diagram showing an image screen providing a matching result of a radiopaque tool using a margin line according to an embodiment of the present invention.

[0096] Reference Figure 1 、 Figure 8 and Figure 9 , the device 1 for determining the placement position of an implant can be as follows Figure 9 The edge line 50 of the radiopaque tool 5 provided from the software library is shown on the matched surgical data 4a in the form of a 2D cross-section so that it can be visually identified. This enables the user to determine whether the radiopaque tool 42 in the matched surgical data 4a matches the radiopaque tool 5 provided from the software library. If they match, the situation corresponds to a successful match (a), and if they do not match, the situation corresponds to a matching error (b). In addition, the device 1 for determining the implant placement position can provide a user interface that enables the user to check the matching results in multiple 2D cross-sectional images while automatically or manually adjusting the position of the generated cross-section. For example, in the case of surgical data in the format of 2D cross-sectional images, the device 1 can provide basic cross-sectional images for implant placement planning, such as cross-sections in three directions generated from 3D data, namely, axial cross-sections, coronal cross-sections, and coronal cross-sections. The device 1 can receive user operation signals to adjust the cross-sectional images and move the slices of the cross-section, so that the user can use the entire set of cross-sectional images to view the matching results.

[0097] Since the coordinate information of the surgical data is converted into matched surgical data through a matching process between the surgical data and the preoperative data, the apparatus 1 for determining the implant placement position performs matching by adjusting the coordinate information of the radiopaque tool from the software library based on the radiopaque tool in the matched surgical data. Similarly, even when the user inputs a user operation signal via the manipulator to perform fine matching adjustment by changing the position and rotating the orientation of the radiopaque tool, the apparatus 1 maintains the reference coordinates of the matched surgical data and adjusts the position and orientation of the radiopaque tool provided from the software library to perform fine matching adjustment.

[0098] During automatic matching of radiopaque tools, when a radiopaque tool is selected from the software library, the apparatus 1 for determining an implant placement position can select the type of radiopaque tool from among narrow, regular, and wide types based on the specifications of the implant planned for placement before surgery for each tooth number. If a user inputs a user operation signal for changing the specifications of the radiopaque tool, the apparatus 1 can activate the software library and allow the user to change the specifications of the radiopaque tool for the tooth number selected by the user.

[0099] Figure 10 FIG. 1 is a diagram illustrating a screen for generating a virtual implant of intended placement based on a radiopaque tool according to an embodiment of the present invention.

[0100] Reference Figure 1 and Figure 10 Once the data matching between the radiopaque tools is completed, the apparatus 1 for providing an implant placement position can compare the position of the implant planned before surgery with the implantation position of the virtual implant to be placed in a state where the actual surgical guide is tightened, and provide a comparison result. To this end, the apparatus 1 obtains the coordinate information and shape of the implant from the preoperative data to identify the position of the implant planned before surgery, and can determine the expected implantation position of the implant 100 by using the matched radiopaque tool 5 in the matched surgical data 4a.

[0101] When the implant 100 is placed in the matched surgical data 4a, the top of the drill hole 21 of the surgical guide is located at a position spaced a certain distance (e.g., 10.5 mm) upward along the reference axis (e.g., the long axis) of the implant 100, and the stopper of the radiopaque tool 5 is inserted into the top of the drill hole 21.

[0102] For example, if the thickness of the stopper portion of the radiopaque tool 5 is 0.5 mm, and the height of the grid portion above the stopper is 3.0 mm, then Figure 10 As shown, the top of the virtual implant 100 to be placed is located 14.0 mm below the top of the radiopaque tool 5. When generating the shape of the virtual implant 100, the apparatus 1 for providing an implant placement position can determine the central axis of the virtual implant 100 to be the same as the reference axis 102 (e.g., the long axis), wherein the reference axis 102 connects the top center point and the bottom center point of the radiopaque tool 5. At this time, the specifications of the virtually generated implant 100 can be obtained from the software library to match the specifications of the implant planned for placement for the corresponding tooth number during the surgical planning process.

[0103] Figure 11Diagrams showing (a) an image of a pre-operatively planned implant, (b) an image of a virtual implant intended to be placed based on surgical data, and (c) an image of two implants overlapping, according to an embodiment of the present invention.

[0104] Reference Figure 1 and Figure 11 , the apparatus 1 for providing an implant placement position can provide an image screen that compares the position and orientation of the implant 20 planned using the preoperative data 2 with the position and orientation of the virtual implant 100 expected to be placed in the matched surgical data 4a when the actual surgical guide is fastened in the patient's mouth. For example, Figure 11 As shown, the apparatus 1 may provide an overlay image screen 110 of the shape of the implant 20 planned before surgery and the shape of the virtual implant 100 to be placed in the matched surgical data 4 a .

[0105] The apparatus 1 for providing an implant placement position can also display a safety zone 112 of the implant 20 planned before surgery on the superimposed image screen 110 of the two implants. The safety zone 112 is an area set at a preset distance from the implant 20 planned before surgery. The safety zone 112 is set by taking into account errors that may occur during the implant placement process and can be set so that the user can adjust the range of the safety zone 112.

[0106] Figure 12 FIG. 1 is a diagram illustrating an image screen providing error information between the position of an implant planned before surgery and the position of a virtual implant to be placed according to one embodiment of the present invention.

[0107] Reference Figure 1 and Figure 12 , the apparatus 1 for providing an implant placement position can measure the angle between the reference axis of the implant 20 planned before surgery and the reference axis of the virtual implant 100 to be placed, and provide the angle difference. In this case, if the angle difference between the reference axis of the implant planned before surgery and the reference axis of the virtual implant exceeds a preset angle, the apparatus 1 can determine that an error has occurred and provide error information.

[0108] In addition, the device 1 can provide a measurement interface in the implant superimposed image screen 110, allowing the user to check the error information between the two implants 20 and 100. Figure 12 , an example is shown in which a user inputs four points through a measurement interface to generate two lines and measures the angle (e.g., 4.5 degrees) between the two lines. Specifically, the device 1 can generate a central axis for each of the two implants 20 and 100, and measure and provide the angle between the two central axes.

[0109] If the user has set an automatic measurement area through user settings, such as selecting "Measure the coordinate information of the lowest part of the implant", the device 1 for providing the implant placement position can activate a measurement interface, which automatically detects the deviation between the position of the lowest point of the virtual implant 100 in the superimposed image screen 110 and the position of the implant 20 planned before the operation.

[0110] As another example, when the user setting is configured to check the implant direction error based on the reference axis (e.g., the long axis) of each implant 20 and 100, the device 1 for providing the implant placement position can automatically measure the angle (e.g., 4.5 degrees) between the reference axis of the implant 20 planned before surgery and the reference axis of the virtual implant 100, and provide angle deviation information.

[0111] Figure 13 3 is a diagram illustrating an image screen that provides warning information when a virtual implant to be placed deviates from a safe area of ​​an implant planned before surgery according to an embodiment of the present invention.

[0112] Reference Figure 1 and Figure 13 When the virtual implant 100 to be placed deviates from the safety area 112 of the implant 20 planned before surgery, the apparatus 1 for providing an implant placement position may provide a warning message indicating such deviation. Figure 13 As shown, when the virtual implant 100 is outside the safety zone 112, the device 1 can display the virtual implant 100 in a distinguishable color on the overlay image screen 110. Through the warning message, the user can confirm that the intended virtual implant 100 has deviated from the safety zone 112 of the implant 20 planned before the operation.

[0113] Figure 14 is a flow chart illustrating a method for providing an implant placement location according to an embodiment of the present invention.

[0114] Reference Figure 1 and Figure 14 In step S1410, the apparatus 1 for providing an implant placement position acquires preoperative patient data for surgical planning, the preoperative data including a design of a virtual guide shape. The apparatus 1 may determine the placement position of an object including a virtual implant based on the acquired preoperative patient data, and then determine a drill hole location based on the determined implant placement position. The apparatus 1 may then design and output a virtual guide shape including the determined drill hole.

[0115] Next, in step S1420, the apparatus 1 for providing an implant placement position acquires surgical data by imaging the patient's oral cavity, the surgical data including the radiopaque tool and the surgical guide. In step S1420 of acquiring surgical data, the apparatus 1 may secure the actual radiopaque tool to the drill hole of the actual surgical guide installed in the patient's oral cavity, and then photograph the oral cavity to acquire the corresponding surgical data.

[0116] Subsequently, in step S1430, the apparatus 1 for providing an implant placement position matches the surgical data with the preoperative data. In step S1430, the apparatus 1 may perform the matching by adjusting the position and orientation of the surgical data relative to the preoperative data. After matching the preoperative data with the surgical data, the apparatus 1 may receive a user operation signal via the manipulator to fine-tune the matching result.

[0117] Next, in step S1440, the apparatus 1 for providing implant placement positions may match a radiopaque tool provided from the software library based on the radiopaque tool represented in the matched surgical data. To match the radiopaque tool, the apparatus 1 may select a radiopaque tool from the software library that matches the radiopaque tool in the surgical data. At this point, the apparatus 1 may select the type of radiopaque tool based on the specifications of the implant planned for placement before surgery for each tooth number.

[0118] In step S1440 of matching the radiopaque tool, the apparatus 1 for determining the implant placement position may match the radiopaque tool by adjusting the position and orientation of the radiopaque tool provided from the software library with respect to the radiopaque tool represented in the matched surgical data.

[0119] Also in step S1440 , the apparatus 1 may extract and match points for both radiopaque tools, such as the topmost center point, a point on the stopper extending across the drill hole of the surgical guide, and a corresponding point on the opposite side of the stopper.

[0120] Furthermore, the apparatus 1 may provide a matching result in the form of an image screen indicating whether the shape of the radiopaque tool in the surgical data matches the edge line of the radiopaque tool provided from the software library. In this case, the apparatus 1 may provide the matching result while changing the position of the generated cross section within the 2D cross-sectional image screen showing the matching result between the two radiopaque tools.

[0121] Next, in step S1450 , the apparatus 1 for providing an implant placement position generates a virtual implant of intended placement based on the matched radiopaque tool.

[0122] Then, in step S1460 , the device 1 provides placement position information of the intended implant.

[0123] In step S1460, the device 1 may provide an image screen that compares the position and orientation of (or as) the implant planned to be placed using preoperative data with the position and orientation of the virtual implant expected to be placed when the actual surgical guide is fastened in the patient's mouth.

[0124] For example, in the superimposed image frame of the implant, the device 1 can provide error information indicating how much the position of the intended virtual implant deviates from the position of the implant planned to be placed before the operation.

[0125] At this time, the device 1 may provide a measurement interface, which enables the user to check the error information between the implant planned to be placed before the operation and the virtual implant to be placed in anticipation.

[0126] As another example, the device 1 may measure the angle between the reference axis of the implant planned to be placed before surgery and the reference axis of the virtual implant to be placed, and provide angle deviation information.

[0127] As yet another example, if the virtual implant to be placed deviates from the safe area of ​​the implant planned to be placed before surgery, the apparatus 1 may provide a warning message indicating such deviation.

[0128] So far, the present invention has been described with reference to embodiments of the present invention. It will be understood by those skilled in the art that various changes can be made in form and detail without departing from the basic characteristics of the present invention. Therefore, the disclosed embodiments should be considered only in a descriptive sense, rather than for the purpose of limitation. The scope of the present invention should not be limited by the specific embodiments but by the appended claims, and all differences that fall within the scope of equivalence with the claims should be interpreted as included in the present invention.

Claims

1. A method for determining an implant placement position using an apparatus for determining an implant placement position, the method comprising the following steps: Acquiring preoperative data of the patient, the preoperative data including a design of a virtual guide shape for surgical planning; acquiring surgical data including radiopaque tools and surgical guides by photographing the patient's oral cavity; matching the surgical data with the preoperative data; generating a virtual implant of intended placement based on the radiopaque tool in the matched surgical data; and Provides information on the intended placement of implants.

2. The method according to claim 1, further comprising the steps of: The placement position of the object including the virtual implant is determined according to the preoperative data of the patient, and the position of the drill hole is determined based on the determined placement position of the implant, and then a virtual guide shape including the determined drill hole is designed and output.

3. The method according to claim 1, wherein The step of acquiring the surgical data includes: fastening an actual radiopaque tool into a drill hole of an actual surgical guide fastened in the patient's oral cavity, and then photographing the oral cavity to acquire the surgical data, and Matching the surgical data includes matching the surgical data based on the pre-operative data by adjusting a position and an orientation of the surgical data to align with a position and an orientation of the pre-operative data.

4. The method according to claim 1, further comprising the steps of: After matching the preoperative data with the surgical data, a manipulator is used to fine-tune the matching result.

5. The method according to claim 1, further comprising the steps of: After matching the preoperative data with the surgical data, radiopaque tools provided from a software library are matched based on radiopaque tools represented in the matched surgical data.

6. The method according to claim 5, further comprising the steps of: selecting a radiopaque tool from the library that matches the radiopaque tool of the surgical data, Among them, the type of radiopaque tool is selected based on the specifications of the implants planned to be placed before surgery for each tooth number.

7. The method according to claim 5, wherein: The step of matching the radiopaque tool includes matching the radiopaque tool by adjusting a position and an orientation of the radiopaque tool provided from the software library relative to the radiopaque tool represented in the matched surgical data.

8. The method according to claim 5, wherein The step of matching the radiopaque tools includes extracting and matching the following points for the two radiopaque tools: the points including a topmost center point, a point on a stopper extending across a bore of the surgical guide, and a corresponding point on an opposite side of the stopper.

9. The method according to claim 5, further comprising the steps of: A matching result is provided in the form of an image frame, the matching result indicating whether a shape of the radiopaque tool in the matched surgical data matches a margin line of the radiopaque tool provided from the software library.

10. The method according to claim 9, wherein: The step of providing the matching result in the form of an image frame includes providing the matching result while changing the position of the generated section within a two-dimensional 2D cross-sectional image frame providing the matching result between the two radiopaque tools.

11. The method according to claim 1 , further comprising the steps of: An image view is provided that compares the position and orientation of the implant planned for placement using the pre-operative data with the position and orientation of the virtual implant expected to be placed with the actual surgical guide secured in the patient's mouth.

12. The method according to claim 11, wherein The step of providing an image screen includes: measuring the angle between the reference axis of the virtual implant to be placed and the reference axis of the implant planned to be placed before the operation in the superimposed image screen where the planned implant and the virtual implant overlap, and providing the angle difference, wherein when the angle difference between the reference axis of the implant planned to be placed before the operation and the reference axis of the virtual implant to be placed is greater than a preset angle, it is determined that an error has occurred, and error information is provided.

13. The method according to claim 12, wherein: The step of providing an image frame includes providing a measurement interface, wherein the measurement interface enables the user to check error information between the position of the implant planned to be placed before the operation and the position of the virtual implant to be placed.

14. The method according to claim 11, wherein The step of providing an image includes: measuring an angle between a reference axis of an implant planned to be placed before surgery and a reference axis of a virtual implant to be placed, and providing angle deviation information.

15. The method according to claim 11, wherein The step of providing an image includes: when the virtual implant to be placed deviates from the safe area of ​​the implant planned to be placed before the operation, providing a warning message indicating the deviation.

16. A device for determining an implant placement position, comprising: a data acquisition unit configured to: acquire preoperative data of a patient, the preoperative data including a design of a virtual guide shape for surgical planning; and acquire surgical data including a radiopaque tool and a surgical guide by photographing the patient's oral cavity; a control unit configured to: match the surgical data with the preoperative data; and generate a virtual implant of intended placement based on the radiopaque tool in the matched surgical data; as well as An output unit is configured to output placement position information of the implant to be placed.

17. The apparatus according to claim 16, wherein The control unit is configured to display, via the output unit, an image screen that compares the position and orientation of the implant planned for placement using the preoperative data with the position and orientation of the virtual implant expected to be placed in a state where the patient wears the actual surgical guide.

18. The apparatus according to claim 16, wherein The control unit is configured to match a radiopaque tool provided from a software library based on a radiopaque tool represented in the matched surgical data after matching the preoperative data with the surgical data.

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