Oral implantation navigation method and system and storage medium

Abstract

The invention provides an oral implant navigation method and system and a storage medium, after an optical locator is fixedly arranged on an implant mobile phone, three-dimensional data of a rotating shaft of the implant mobile phone, the tail end of the rotating shaft and a spherical drill on an optical three-dimensional coordinate system of the optical locator are obtained, and a registration pit is used as a medium to obtain a three-dimensional coordinate system of the implant mobile phone; and positioning three-dimensional data of the three-dimensional coordinate system in the optical three-dimensional coordinate system, registering the three-dimensional data of the pits on the CT three-dimensional coordinate system to complete registration, calculating the pose of the tip of the drill point and the pose of the ideal path under the positioning three-dimensional coordinate system, and performing real-time navigation on the planted mobile phone according to the difference between the tip of the drill point and the ideal path. An optical positioning instrument is fixedly arranged on the planting mobile phone, and while the planting mobile phone is used for drilling operation, image data of the optical identification points are collected through the optical positioning instrument for real-time navigation; the optical positioning instrument and the planting mobile phone are integrally connected, so that the process of positioning the planting mobile phone in real time can be omitted, and navigation errors are effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, and relates to an oral implant navigation method, system and storage medium for assisting navigation during oral treatment surgery. BACKGROUND

[0002] The oral implant navigation system on the market mainly consists of an optical positioner, a mobile phone tracker and a patient reference plate, and the three are indispensable. During navigation, the optical positioner is installed about 750mm above the head of the patient, and captures and tracks the mobile phone tracker and the patient reference plate downward. When the optical positioner captures the mobile phone tracker, the real-time spatial pose of the implant mobile phone drill needle can be known; when the optical positioner captures the patient reference plate, the position of the operation area of the patient can be known. Through the registration and registration process, the coordinate system conversion relationship among the patient, the CT and the optical positioner can be established. Through the coordinate conversion relationship, the position of the drill needle can be displayed on the CT in real time, and the deviation of the position and angle between the drill needle and the target position of the implant planning can be calculated and displayed on the CT, so that oral implant surgery navigation is realized.

[0003] Firstly, since the navigation process based on the above-mentioned oral implant navigation system must see the mobile phone tracker to obtain the pose of the drill needle, and the optical positioner can only be installed at a certain distance above or in front of the patient, the optical positioner is often blocked by the doctor or the assistant doctor during the surgery process, which puts higher requirements on the actions of the doctor and the assistant, and brings inconvenience to the doctor. Secondly, since the optical positioner recognizes and tracks the mobile phone tracker, an error is generated, and the position of the drill needle is calculated by recognizing the position of the mobile phone tracker, so the recognition error of the mobile phone tracker is superimposed on the final surgery error, thereby increasing the error of the surgery.

[0004] The industry urgently needs to propose a new scheme to solve the problems of optical positioner line-of-sight blocking and mobile phone tracker error introduction in the oral implant navigation process. SUMMARY

[0005] The technical problem to be solved by the present application is to provide an oral implant navigation method, system and storage medium, which can implement oral implant navigation based on an optical positioner integrally arranged on an implant mobile phone, cooperate with basic implant navigation equipment, effectively avoid the problem of optical positioner image acquisition line-of-sight blocking, and reduce navigation error.

[0006] Ensure navigation accuracy and treatment effect.

[0007] The technical scheme adopted by the present application to solve the technical problem is as follows:

[0008] An oral implant navigation method based on an oral implant navigation device, the oral implant navigation device comprising a calibrator, a positioner, an optical positioner and an implant handset, the calibrator being provided with a calibration rod, the positioner comprising a reference plate and a register, the register being provided with a plurality of ceramic balls and a plurality of register recesses, the optical positioner being fixedly arranged on the implant handset, the optical positioner being directed towards a drill sleeve hole on the implant handset, the drill sleeve hole being fixedly sleeved with a spherical drill or a drill needle;

[0009] The oral implant navigation method comprises the following steps:

[0010] S1. When the drill sleeve hole on the implant handset is sleeved on the calibration rod on the calibrator, control the optical positioner to collect image data of the optical identification points on the calibrator;

[0011] S2. According to the image data of the optical identification points on the calibrator collected by the optical positioner when the drill sleeve hole on the implant handset is sleeved on the calibration rod, combined with the model design data of the calibrator, calculate the three-dimensional data of the rotation axis of the implant handset and the end of the rotation axis in the optical three-dimensional coordinate system of the optical positioner; wherein the rotation axis is the central axis when the drill needle rotates, and the end of the rotation axis is the point at the front end of the drill sleeve hole;

[0012] S3. When the drill sleeve hole on the implant handset is fixedly sleeved with the spherical drill and the spherical drill abuts against the calibration recess on the calibration plate, control the optical positioner to collect image data of the optical identification points on the calibrator;

[0013] S4. According to the image data of the optical identification points on the calibrator collected by the optical positioner when the spherical drill abuts against the calibration recess on the calibration plate, combined with the model design data of the calibrator, calculate the three-dimensional data of the spherical drill on the implant handset in the optical three-dimensional coordinate system;

[0014] S5. When the spherical drill abuts against the register recess on the register, calculate the three-dimensional data of the register recess in the optical three-dimensional coordinate system according to the three-dimensional data of the spherical drill in the optical three-dimensional coordinate system;

[0015] S6. When the reference plate and the register on the positioner are mutually locked and fixed, according to the three-dimensional data of the register recess in the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the positioner in the optical three-dimensional coordinate system, calculate the three-dimensional data of the positioning three-dimensional coordinate system of the register recess on the locked and fixed positioner;

[0016] S7. When the positioner is fixed in the patient's oral cavity, control the CT scanning device to collect the three-dimensional data of the plurality of ceramic balls in the CT three-dimensional coordinate system of the CT scanning device;

[0017] S8. According to the three-dimensional data of the plurality of ceramic balls in the CT three-dimensional coordinate system, the model design data of the positioner, and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system, the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is converted;

[0018] S9. According to the three-dimensional data of the registration pit in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system, the conversion relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system and the conversion relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system are calculated to complete registration;

[0019] S10. According to the conversion relationship between any two of the optical three-dimensional coordinate system, the CT three-dimensional coordinate system, and the positioning three-dimensional coordinate system, the pose of the positioner in the optical three-dimensional coordinate system is obtained ;

[0020] S11. According to the pose of the end of the rotation shaft in the optical three-dimensional coordinate system and the pose of the drill needle tip in the end three-dimensional coordinate system of the end of the rotation shaft, the pose of the drill needle tip in the positioning three-dimensional coordinate system is calculated;

[0021] S12. According to the pose of the positioner in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system, the pose of the ideal path in the positioning three-dimensional coordinate system is calculated;

[0022] S13. The pose of the drill needle tip in the positioning three-dimensional coordinate system is compared with the pose of the ideal path in the positioning three-dimensional coordinate system in real time, and the implant mobile phone is navigated in real time through the difference between the drill needle tip and the ideal path.

[0023] Compared with the prior art, the beneficial effects of the technical scheme are: the optical positioner is fixedly arranged on the implant mobile phone, and the optical positioner collects image data of the optical mark point for real-time navigation while the implant mobile phone is used for drilling operation; in addition, the optical positioner and the implant mobile phone are integrally connected, which eliminates the process of real-time positioning of the implant mobile phone compared with the existing equipment, and can effectively reduce the navigation error.

[0024] Further, step S2 specifically includes the following steps:

[0025] S201. Obtain the calibration three-dimensional coordinate system of the known calibrator, further obtain the three-dimensional data of the top of the calibration rod in the calibration three-dimensional coordinate system , and obtain the three-dimensional data of the bottom of the calibration rod in the calibration three-dimensional coordinate system ;

[0026] S202. Obtain the pose of the calibration device in the optical three-dimensional coordinate system according to the image data of the optical mark points on the calibration device collected by the optical positioner when the drill bit sleeve hole on the planting handset is sleeved on the calibration rod on the calibration device ;

[0027] S203. Calculate the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system and the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system according to the pose of the calibration device in the optical three-dimensional coordinate system ; , , , is matrix multiplication

[0028] S204. Calculate the axial vector of the rotation axis of the planting handset in the optical three-dimensional coordinate system and the unit vector of the rotation axis of the planting handset according to the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system and the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system ; , , , ;

[0029] S205. Obtain the three-dimensional coordinates of the end of the rotation axis of the planting handset in the optical three-dimensional coordinate system , ;

[0030] S206. Calculate the rotation normal and the rotation angle corresponding to the rotation normal according to the unit vector of the rotation axis ; , , ; is the direction unit vector of the Z-axis in the optical three-dimensional coordinate system; wherein is the vector cross product

[0031] S207. Obtain the three-dimensional coordinates of the end of the rotation axis of the planting handset in the optical three-dimensional coordinate system , and calculate the translation matrix in combination with the origin of the optical three-dimensional coordinate system ; according to the rotation normal and the rotation angle corresponding to the rotation normal , calculate the rotation matrix ;

[0032] S208. Calculate the pose of the end of the rotation axis in the optical three-dimensional coordinate system according to the translation matrix and the rotation matrix , . ​​​

[0033] The beneficial effect of the above scheme is that the optical positioner is fixedly arranged on the planting handset, and based on the hardware basis, the rotating shaft and the end of the rotating shaft of the planting handset are adaptively calibrated through the calibration rod on the calibrator. After calibration, the relative position between the optical positioner and the planting handset is fixed and unchanged, and at this time, the real-time pose of the rotating shaft and the end of the rotating shaft of the planting handset can be directly obtained through the optical positioner.

[0034] Further, step S8 specifically comprises the following steps:

[0035] S801. Obtain the three-dimensional data of the registration pit and the three-dimensional data of the ceramic ball in the registration three-dimensional coordinate system of the registration device according to the model design data of the positioner;

[0036] S802. Collect the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system;

[0037] S803. According to the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system, the pose of the registration device in the CT three-dimensional coordinate system is calculated according to the rigid registration algorithm

[0038] S804. According to the three-dimensional data of the registration pit in the registration three-dimensional coordinate system and the pose of the registration device in the CT three-dimensional coordinate system , the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is calculated , wherein, , is the three-dimensional data of the registration pit in the registration three-dimensional coordinate system of the registration device, is the three-dimensional data of the registration pit in the CT three-dimensional coordinate system.

[0039] The beneficial effect of the above scheme is that in the technical scheme, the conversion relationship is established between the optical three-dimensional coordinate system, the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system through the registration pit as a medium to perform registration. In this step, the relative positional relationship between the registration pit and the ceramic ball can be obtained in combination with the model design data of the positioner, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system can be analyzed and obtained by using the pose of the registration device in the CT three-dimensional coordinate system and the pose of the registration device in the CT three-dimensional coordinate system.

[0040] Further, step S11 specifically comprises the following steps:

[0041] S1101. Calibrate the planting handset and calculate the pose of the drill needle tip in the optical three-dimensional coordinate system and the pose of the drill needle tip in the end three-dimensional coordinate system ;

[0042] ​S1102. Perform inverse matrix operation on the pose of the positioner in the optical three-dimensional coordinate system to obtain ;

[0043] S1103. According to the pose of the drill needle tip in the optical three-dimensional coordinate system and the pose of the drill needle tip in the end three-dimensional coordinate system , combined with the inverse matrix operation result of the pose of the positioner in the optical three-dimensional coordinate system , the pose of the drill needle tip in the positioning three-dimensional coordinate system is calculated , wherein ;

[0044] Step S12 specifically includes the following steps:

[0045] S1201. Perform inverse matrix operation on the pose of the positioner in the CT three-dimensional coordinate system to obtain the inverse matrix of the pose of the positioner in the CT three-dimensional coordinate system ;

[0046] S1202. Obtain the pose of the preset ideal path in the CT three-dimensional coordinate system ;

[0047] S1203. According to the inverse matrix of the pose of the positioner in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system , the pose of the ideal path in the positioning three-dimensional coordinate system is calculated , wherein .

[0048] The beneficial effects of the above scheme are: the pose of the drill needle tip in the positioning three-dimensional coordinate system is calculated by calibrating the planting mobile phone, the pose of the ideal path in the positioning three-dimensional coordinate system is calculated according to the ideal path in the preset planting aspect, and the pose of the drill needle tip in the positioning three-dimensional coordinate system is compared with the pose of the ideal path, which can be used as the data basis for oral implant navigation.

[0049] Further, step S13 specifically includes the following steps:

[0050] S1301. According to the pose of the drill needle tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system , the real-time difference between the drill needle tip and the ideal path in the X-axis direction is calculated ;

[0051] S1302. According to the pose of the drill needle tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the Y-axis direction in the positioning three-dimensional coordinate system ;

[0052] S1303. According to the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the Z-axis direction in the positioning three-dimensional coordinate system ;

[0053] S1304. According to the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system , calculate the deviation angle between the drill tip and the ideal path in the positioning three-dimensional coordinate system , wherein, is the vector dot product.

[0054] The beneficial effects of the above scheme are: according to the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path, the real-time difference between the drill tip and the ideal path in the X-axis, Y-axis and Z-axis directions and the real-time deviation angle are obtained, so as to realize real-time navigation of the implant mobile phone.

[0055] The technical scheme adopted by the application to solve the technical problems is as follows:

[0056] An oral implant navigation system, the oral implant navigation device comprises:

[0057] A first image data acquisition module is configured to control the optical positioner to acquire image data of the optical marking points on the calibration device when the drill sleeve hole on the implant mobile phone is sleeved on the calibration rod on the calibration device.

[0058] A first three-dimensional data calculation module is configured to calculate three-dimensional data of the rotation axis and the end of the rotation axis of the implant mobile phone in the optical three-dimensional coordinate system of the optical positioner, according to the image data of the optical marking points on the calibration device acquired by the optical positioner when the drill sleeve hole on the implant mobile phone is sleeved on the calibration rod on the calibration device, and in combination with the model design data of the calibration device. The rotation axis is the central axis during rotation of the drill, and the end of the rotation axis is a point at the front end of the drill sleeve hole.

[0059] A second image data acquisition module is configured to control the optical positioner to acquire image data of the optical marking points on the calibration device when the drill sleeve hole on the implant mobile phone is fixedly sleeved with the spherical drill and the spherical drill abuts against the calibration pit on the calibration plate.

[0060] a second three-dimensional data calculation module, configured to calculate three-dimensional data of the ball-shaped drill on the optical three-dimensional coordinate system according to image data of the optical mark point on the calibration device collected by the optical positioner when the ball-shaped drill abuts against the calibration pit on the calibration plate, in combination with model design data of the calibration device;

[0061] a first registration data calculation module, configured to calculate three-dimensional data of the registration pit on the optical three-dimensional coordinate system according to the three-dimensional data of the ball-shaped drill on the optical three-dimensional coordinate system when the ball-shaped drill abuts against the registration pit on the calibration device;

[0062] a second registration data calculation module, configured to calculate three-dimensional data of the registration pit on the positioning three-dimensional coordinate system of the positioning device after the reference plate of the positioning device and the calibration device are locked and fixed to each other according to the three-dimensional data of the registration pit on the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the positioning device on the optical three-dimensional coordinate system;

[0063] a CT data collection module, configured to control the CT scanning device to collect three-dimensional data of the plurality of ceramic balls on the CT three-dimensional coordinate system of the CT scanning device when the positioning device is fixed in the oral cavity of the patient;

[0064] a third registration data calculation module, configured to calculate three-dimensional data of the registration pit on the CT three-dimensional coordinate system according to the three-dimensional data of the plurality of ceramic balls on the CT three-dimensional coordinate system, in combination with model design data of the positioning device and the three-dimensional data of the ceramic balls on the CT three-dimensional coordinate system;

[0065] a registration processing module, configured to calculate a conversion relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system and a conversion relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system according to the three-dimensional data of the registration pit on the optical three-dimensional coordinate system, the three-dimensional data of the registration pit on the positioning three-dimensional coordinate system and the three-dimensional data of the registration pit on the CT three-dimensional coordinate system, to complete registration;

[0066] a positioning device pose acquisition module, configured to acquire a pose of the positioning device in the optical three-dimensional coordinate system according to the conversion relationship between any two of the optical three-dimensional coordinate system, the CT three-dimensional coordinate system and the positioning three-dimensional coordinate system; ;

[0067] a drill needle real-time pose calculation module, configured to calculate a pose of a drill needle tip in the positioning three-dimensional coordinate system according to a pose of the rotation shaft end in the optical three-dimensional coordinate system and a pose of the drill needle tip in an end three-dimensional coordinate system of the rotation shaft end;

[0068] an ideal path calculation module, configured to calculate a pose of an ideal path in the positioning three-dimensional coordinate system according to the pose of the positioning device in the CT three-dimensional coordinate system and a pose of the ideal path in the CT three-dimensional coordinate system;

[0069] The real-time navigation module is configured to compare the position of the drill tip in the three-dimensional coordinate system with the position of the ideal path in the three-dimensional coordinate system in real time, and to guide the implantation handset in real time according to the difference between the drill tip and the ideal path.

[0070] Further, the first three-dimensional data calculation module specifically comprises:

[0071] The calibration three-dimensional coordinate system data acquisition unit is configured to acquire a calibration three-dimensional coordinate system of a known calibrator, and to further acquire three-dimensional data of the top of the calibration rod in the calibration three-dimensional coordinate system and three-dimensional data of the bottom of the calibration rod in the calibration three-dimensional coordinate system .

[0072] The calibrator position calculation unit is configured to acquire the position of the calibrator in the optical three-dimensional coordinate system according to image data of the optical mark point on the calibrator collected by the optical positioner when the drill head sleeve hole on the implantation handset is sleeved on the calibration rod on the calibrator .

[0073] The calibration rod coordinate calculation unit is configured to calculate the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system and the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system according to the position of the calibrator in the optical three-dimensional coordinate system , wherein , , is matrix multiplication;

[0074] The rotation axis data calculation unit is configured to calculate the axial vector of the rotation axis of the implantation handset in the optical three-dimensional coordinate system and the unit vector of the rotation axis of the implantation handset according to the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system and the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system , wherein , .

[0075] The rotation axis end coordinate calculation unit is configured to acquire the three-dimensional coordinates of the end of the rotation axis of the implantation handset in the optical three-dimensional coordinate system , wherein .

[0076] The rotation normal data analysis unit is configured to calculate the rotation normal and the rotation angle corresponding to the rotation normal according to the unit vector of the rotation axis , wherein , . is a direction unit vector of the Z-axis in the optical three-dimensional coordinate system; wherein, is a vector cross product;

[0077] The conversion matrix calculation unit is configured to calculate a translation matrix according to the three-dimensional coordinates of the end of the rotation axis of the implant handset in the optical three-dimensional coordinate system in combination with the coordinate origin of the optical three-dimensional coordinate system ; according to the rotation normal and the rotation angle corresponding to the rotation normal , a rotation matrix is calculated ;

[0078] The rotation axis end pose calculation unit is configured to calculate the pose of the end of the rotation axis in the optical three-dimensional coordinate system according to the translation matrix and the rotation matrix , wherein .

[0079] Further, the third registration data calculation module specifically includes:

[0080] The register three-dimensional data acquisition module is configured to acquire three-dimensional data of the registration concave and three-dimensional data of the ceramic ball of the register in a registration three-dimensional coordinate system according to model design data of the positioner;

[0081] The ceramic ball three-dimensional data acquisition module is configured to collect three-dimensional data of the ceramic ball on the CT three-dimensional coordinate system;

[0082] The register pose calculation module is configured to calculate the pose of the register in the CT three-dimensional coordinate system according to the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system according to a rigid body registration algorithm ;

[0083] The registration concave three-dimensional data calculation module is configured to calculate three-dimensional data of the registration concave in the CT three-dimensional coordinate system according to the three-dimensional data of the registration concave in the registration three-dimensional coordinate system and the pose of the register in the CT three-dimensional coordinate system , wherein , , is the three-dimensional data of the registration concave of the register in the registration three-dimensional coordinate system, is the three-dimensional data of the registration concave in the CT three-dimensional coordinate system;

[0084] The drill needle real-time pose calculation module specifically includes:

[0085] The drill needle tip calibration processing unit is configured to calibrate the implant handset and calculate the pose of the drill needle tip in the optical three-dimensional coordinate system and the pose of the drill needle tip in the end three-dimensional coordinate system according to the calibration result ;​

[0086] The first inverse matrix operation unit is configured to perform inverse matrix operation on the pose of the positioner in the optical three-dimensional coordinate system to obtain ; ;

[0087] The drill tip pose data calculation unit is configured to calculate the pose of the drill tip in the positioning three-dimensional coordinate system according to the pose of the drill tip in the optical three-dimensional coordinate system and the pose of the drill tip in the end three-dimensional coordinate system, and in combination with the inverse matrix operation result of the pose of the positioner in the optical three-dimensional coordinate system, wherein ;

[0088] The ideal path calculation module specifically includes:

[0089] The second inverse matrix operation unit is configured to perform inverse matrix operation on the pose of the positioner in the CT three-dimensional coordinate system to obtain the inverse matrix of the pose of the positioner in the CT three-dimensional coordinate system ; ;

[0090] The ideal path data acquisition unit is configured to acquire the pose of the preset ideal path in the CT three-dimensional coordinate system ;

[0091] The ideal path pose data calculation unit is configured to calculate the pose of the ideal path in the positioning three-dimensional coordinate system according to the inverse matrix of the pose of the positioner in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system, wherein .

[0092] Further, the real-time navigation module specifically includes:

[0093] The X-axis deviation calculation unit is configured to calculate the real-time difference between the drill tip and the ideal path in the X-axis direction in the positioning three-dimensional coordinate system according to the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system ;

[0094] The Y-axis deviation calculation unit is configured to calculate the real-time difference between the drill tip and the ideal path in the Y-axis direction in the positioning three-dimensional coordinate system according to the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system ; ​​​​​​​​​​​

[0095] a Z-axis deviation calculation unit configured to calculate a real-time difference between the drill tip and the ideal path in a Z-axis direction of the positioning three-dimensional coordinate system according to the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system

[0096] an angle deviation calculation unit configured to calculate a deviation angle between the drill tip and the ideal path in the positioning three-dimensional coordinate system according to the pose of the drill tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system wherein, is a vector dot product.

[0097] Correspondingly, a storage medium storing a computer program, the computer program comprising program instructions, when the program instructions are executed by a processor, the processor executes the oral implant navigation method as described above. BRIEF DESCRIPTION OF DRAWINGS

[0098] Figure 1 is a flowchart of the oral implant navigation method of the present application.

[0099] Figure 2 is a schematic diagram of the oral implant navigation system of the present application.

[0100] In the drawings, the components represented by each reference numeral are listed as follows:

[0101] a first image data acquisition module 1, a first three-dimensional data calculation module 2, a second image data acquisition module 3, a second three-dimensional data calculation module 4, a first registration data calculation module 5, a second registration data calculation module 6, a CT data acquisition module 7, a third registration data calculation module 8, a registration processing module 9, a positioner pose acquisition module 10, a drill real-time pose calculation module 11, an ideal path calculation module 12, and a real-time navigation module 13. DETAILED DESCRIPTION

[0102] To make the objectives, technical solutions and advantages of the present application clearer and more explicit, the present application is further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0103] ​​​​​In the description of the present application, it needs to be understood that the terms "center", "upper", "lower", "front", "back", "left", "right" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0104] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two components. When a component is referred to as "fixed to" or "disposed on" another element, it can be directly on another component or there can be a middle component. When a component is considered to be "connected" to another element, it can be directly connected to another element or a middle element can exist at the same time. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0105] To solve the above problems, the present application provides an oral implant navigation method, system and storage medium, which are based on an oral implant navigation device.

[0106] The oral implant navigation device comprises a calibrator, a positioner, an optical positioner and an implant handset. In the technical solution, the calibrator and the positioner have no difference from the structure in the prior art: the calibrator is provided with a calibration rod and a calibration pit, the calibration rod is used to calibrate the rotary shaft and the end of the rotary shaft, and the calibration pit is used to calibrate the spherical drill to determine the pose of the rotary shaft and the end of the rotary shaft. The optical positioner is provided with optical markers on the calibrator and the positioner, and the light emitted by the optical positioner is reflected back to the optical positioner after being reflected on the optical markers, and the optical positioner obtains the real-time pose of the calibrator according to the reflected light.

[0107] The positioner in the technical solution comprises a reference plate and a register, and the reference plate is adjustably arranged on the register. After the register is clamped and fixed in the oral cavity, the angle of the reference plate is adjusted to obtain the best viewing angle for subsequent navigation. The register is provided with a plurality of ceramic balls and a plurality of registration pits, and the registration operation can be performed by using the ceramic balls and the registration pits.

[0108] Unlike the prior art, in the technical solution, the optical positioner is fixedly arranged on the implant handset, the optical positioner faces the direction of the drill bit sleeve hole on the implant handset, and the spherical drill or drill needle is fixedly arranged on the drill bit sleeve hole.

[0109] As shown in the prior art, Figure 1 To solve the above problems, the present application provides an oral implant navigation method, which specifically comprises the following steps:

[0110] S1. When the drill bit sleeve hole on the implant handset is sleeved on the calibration rod on the calibration device, control the optical positioner to collect image data of the optical identification point on the calibration device. After the drill bit sleeve hole on the implant handset is sleeved on the calibration rod, the positions of the drill bit sleeve hole and the calibration rod can be considered as coinciding.

[0111] S2. According to the image data of the optical identification point on the calibration device collected by the optical positioner when the drill bit sleeve hole on the implant handset is sleeved on the calibration rod on the calibration device, and in combination with the model design data of the calibration device, the three-dimensional data of the rotation axis of the implant handset and the end of the rotation axis in the optical three-dimensional coordinate system of the optical positioner is calculated; wherein the rotation axis is the central axis of the drill needle when the drill needle rotates, that is, the drill needle rotates around the rotation axis; the end of the rotation axis is the point at the front end of the drill bit sleeve hole, that is, the end of the rotation axis is the point on the rotation axis and located at the front end of the drill bit sleeve hole. According to the model design data of the calibration device, the relative positions of the calibration rod and the optical identification point on the calibration device can be obtained. At this time, the optical positioner collects the image data of the optical identification point on the calibration device, and since the positions of the drill bit sleeve hole and the calibration rod can be considered as coinciding, the three-dimensional data of the rotation axis of the implant handset and the end of the rotation axis in the optical three-dimensional coordinate system of the optical positioner can be obtained.

[0112] S3. When the drill bit sleeve hole on the implant handset is fixedly sleeved with the spherical drill and the spherical drill abuts against the calibration pit on the calibration plate, control the optical positioner to collect image data of the optical identification point on the calibration device. After separating the drill bit sleeve hole and the calibration rod, the spherical drill is fixedly arranged on the drill bit sleeve hole, and then the spherical drill abuts against the calibration pit on the calibration plate. At this time, the optical positioner collects image data of the optical identification point on the calibration device, which prepares for obtaining the three-dimensional data of the spherical drill in the optical three-dimensional coordinate system.

[0113] S4. According to the image data of the optical mark on the calibration device collected by the optical positioner when the spherical drill abuts against the calibration pit on the calibration plate, and in combination with the model design data of the calibration device, the three-dimensional data of the spherical drill on the optical three-dimensional coordinate system of the optical positioner is calculated. According to the model design data of the calibration device, the position of the calibration pit can be determined, and the optical positioner can collect the image data of the optical mark on the calibration device, so the three-dimensional data of the spherical drill on the optical three-dimensional coordinate system can be obtained. At this point, for the implantation handset, the three-dimensional data of the rotation axis, the end of the rotation axis and the spherical drill on the optical three-dimensional coordinate system of the optical positioner are known, and the calibration of the implantation handset is completed.

[0114] S5. When the spherical drill abuts against the registration pit on the registration device, the three-dimensional data of the registration pit on the optical three-dimensional coordinate system is calculated according to the three-dimensional data of the spherical drill on the optical three-dimensional coordinate system. According to step S4, since the three-dimensional data of the spherical drill on the optical three-dimensional coordinate system of the optical positioner is known, when the spherical drill abuts against the registration pit on the registration device, the positions of the spherical drill and the registration pit can be considered to coincide, and at this time, the three-dimensional data of the spherical drill on the optical three-dimensional coordinate system of the optical positioner can be used as the three-dimensional data of the registration pit on the optical three-dimensional coordinate system.

[0115] S6. After the reference plate on the positioner and the registration device are locked and fixed to each other, the three-dimensional data of the registration pit on the positioning three-dimensional coordinate system of the positioner after being locked and fixed is calculated according to the three-dimensional data of the registration pit on the optical three-dimensional coordinate system and the three-dimensional data of the reference plate on the optical three-dimensional coordinate system. In step S5, the three-dimensional data of the registration pit on the optical three-dimensional coordinate system is known, and accordingly, in combination with the three-dimensional data of the reference plate on the optical three-dimensional coordinate system, the three-dimensional data of the registration pit on the positioning three-dimensional coordinate system can be obtained.

[0116] S7. When the positioner is fixed in the oral cavity of the patient, the CT scanning device is controlled to collect the three-dimensional data of the plurality of ceramic balls on the CT three-dimensional coordinate system of the CT scanning device. The CT scanning device has a CT three-dimensional coordinate system, and when the positioner is scanned by the CT scanning device, the density of the ceramic balls is large, so the three-dimensional data of the plurality of ceramic balls on the CT three-dimensional coordinate system can be obtained.

[0117] S8. According to the three-dimensional data of the plurality of ceramic balls on the CT three-dimensional coordinate system, in combination with the model design data of the positioner and the three-dimensional data of the ceramic balls on the CT three-dimensional coordinate system, the three-dimensional data of the registration pit on the CT three-dimensional coordinate system is converted. According to the model design data of the calibration device, the relative positional relationship between the registration pit and the ceramic balls can be obtained, and since the three-dimensional data of the plurality of ceramic balls on the CT three-dimensional coordinate system is known in step S7, the three-dimensional data of the registration pit on the CT three-dimensional coordinate system can be obtained.

[0118] S9. According to the three-dimensional data of the registration concave pits in the optical three-dimensional coordinate system, the three-dimensional data of the registration concave pits in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration concave pits in the CT three-dimensional coordinate system, the conversion relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system and the conversion relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system are calculated to complete the registration. In the above steps, the registration concave pits are used as the medium to establish the relationship among the optical three-dimensional coordinate system, the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system to complete the registration. After the registration, the matrix conversion relationship between any two of the optical three-dimensional coordinate system, the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system is obtained.

[0119] S10. According to the conversion relationship between any two of the optical three-dimensional coordinate system, the CT three-dimensional coordinate system and the positioning three-dimensional coordinate system, the pose of the positioner in the optical three-dimensional coordinate system is obtained. .

[0120] S11. According to the pose of the end of the rotation axis in the optical three-dimensional coordinate system and the pose of the drill needle tip in the end three-dimensional coordinate system of the end of the rotation axis, the pose of the drill needle tip in the positioning three-dimensional coordinate system is calculated. The pose of the drill needle tip in the positioning three-dimensional coordinate system can be obtained through calibration.

[0121] S12. According to the pose of the positioner in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system, the pose of the ideal path in the positioning three-dimensional coordinate system is calculated. Before the implantation of the implantation handset, the ideal path in the CT three-dimensional coordinate system is preset according to the oral condition of the patient. The purpose of step S12 is to convert the pose of the ideal path in the CT three-dimensional coordinate system to the pose of the ideal path in the positioning three-dimensional coordinate system.

[0122] S13. The pose of the drill needle tip in the positioning three-dimensional coordinate system is compared with the pose of the ideal path in the positioning three-dimensional coordinate system in real time, and the implantation handset is navigated in real time through the difference between the drill needle tip and the ideal path.

[0123] Based on the above technical solution, the optical positioner is fixedly arranged on the implantation handset, and the optical positioner is used to collect image data of the optical mark points to perform real-time navigation while the implantation handset is used to perform drilling operation. In addition, since the optical positioner and the implantation handset are integrally connected, compared with the existing equipment, the process of real-time positioning of the implantation handset is eliminated, and the navigation error can be effectively reduced.

[0124] In step S2, according to the image data of the optical mark points on the calibration device collected by the optical positioner when the drill head sleeve hole of the implantation handset is sleeved on the calibration rod of the calibration device, and combined with the model design data of the calibration device, the three-dimensional data of the rotation axis and the end of the rotation axis of the implantation handset in the optical three-dimensional coordinate system of the optical positioner is calculated. Preferably, step S2 specifically includes the following steps:

[0125] S201. Obtain the calibration three-dimensional coordinate system of the known calibrator, and further obtain the three-dimensional data of the top of the calibration rod in the calibration three-dimensional coordinate system , and obtain the three-dimensional data of the bottom of the calibration rod in the calibration three-dimensional coordinate system The calibration three-dimensional coordinate system of the calibrator is designed to be known, that is, the three-dimensional data of the top of the calibration rod and the bottom of the calibration rod in the calibration three-dimensional coordinate system can be directly obtained. When the drill bit socket is sleeved on the calibration rod, the end of the rotation axis and the bottom of the calibration rod can be considered to be coincident.

[0126] S202. Obtain the pose of the calibrator in the optical three-dimensional coordinate system according to the image data of the optical mark point on the calibrator collected by the optical positioner when the drill bit socket on the planting mobile phone is sleeved on the calibration rod of the calibrator This step can be obtained by directly reading data.

[0127] S203. Calculate the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system according to the pose of the calibrator in the optical three-dimensional coordinate system and the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system , wherein , , is matrix multiplication. In the above formula, the pose of the calibrator in the optical three-dimensional coordinate system , the three-dimensional data of the top of the calibration rod in the calibration three-dimensional coordinate system , and the three-dimensional data of the bottom of the calibration rod in the calibration three-dimensional coordinate system are all known and can be directly obtained by calculation.

[0128] S204. Calculate the axial vector of the rotation axis of the planting mobile phone in the optical three-dimensional coordinate system and the unit vector of the rotation axis of the planting mobile phone according to the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system and the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system , wherein , In space, the vector of the line connecting two points can be obtained by knowing the three-dimensional coordinates of the two points. According to the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system and the three-dimensional coordinates of the bottom of the calibration rod , the axial vector of the rotation axis is obtained by calculation, and the corresponding unit vector is further obtained.

[0129] S205. Obtain the three-dimensional coordinates of the end of the rotation axis of the planting mobile phone in the optical three-dimensional coordinate system ​wherein, Since the position between the drill bit socket hole and the calibration rod can be considered as coinciding when the calibration rod is sleeved into the drill bit socket hole on the planting mobile phone, at this time, the end of the rotation shaft and the bottom of the calibration rod can also be considered as coinciding. Therefore, the three-dimensional coordinates of the bottom of the calibration rod can be taken as the three-dimensional coordinates of the end of the rotation shaft .

[0130] S206. The rotation normal is calculated according to the unit vector of the rotation axis S207. The rotation angle corresponding to the rotation normal is calculated according to the unit vector of the rotation axis and the direction unit vector of the Z-axis in the optical three-dimensional coordinate system wherein, , ; is the direction unit vector of the Z-axis in the optical three-dimensional coordinate system; wherein, is the vector cross product. According to the vector cross product of the unit vector of the rotation axis and the direction unit vector of the Z-axis in the optical three-dimensional coordinate system, the corresponding rotation normal can be obtained; according to the vector dot product of the unit vector of the rotation axis and the direction unit vector of the Z-axis in the optical three-dimensional coordinate system, the corresponding rotation angle can be obtained.

[0131] S207. The three-dimensional coordinates of the end of the rotation axis of the planting mobile phone in the optical three-dimensional coordinate system are calculated according to the three-dimensional coordinates of the bottom of the calibration rod Combined with the coordinate origin of the optical three-dimensional coordinate system, the translation matrix is calculated; according to the rotation normal and the rotation angle corresponding to the rotation normal , the rotation matrix is calculated.

[0132] The optical three-dimensional coordinate system is translated to the end of the rotation axis to obtain the translation matrix . Based on the rotation angle, the rotation matrix of the end of the rotation axis to the optical three-dimensional coordinate system is obtained.

[0133] S208. The pose of the end of the rotation axis in the optical three-dimensional coordinate system is calculated according to the translation matrix and the rotation matrix wherein, .

[0134] Based on the above technical solution, under the premise that the optical positioner is fixedly arranged on the planting mobile phone, based on this hardware basis, the rotation axis and the end of the rotation axis of the planting mobile phone are calibrated through the calibration rod on the calibrator, and after calibration, since the relative position between the optical positioner and the planting mobile phone is fixed and unchanged, the real-time pose of the rotation axis and the end of the rotation axis of the planting mobile phone can be directly obtained through the optical positioner.

[0135] In step S8, according to the three-dimensional data of the plurality of ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system, the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is converted. Step S8 specifically includes the following steps:

[0136] S801. Obtain the three-dimensional data of the registration pit and the three-dimensional data of the ceramic ball in the registration three-dimensional coordinate system of the registration device according to the model design data of the locator. The model design data of the locator already contains the relative position relationship of all components of the locator such as the registration pit and the ceramic ball, and this step can be directly obtained through the model design data of the locator.

[0137] S802. Collect the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system. The density of the ceramic ball is large, which will develop during the CT scanning process, and the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system can be obtained through CT scanning.

[0138] S803. According to the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system, the pose of the registration device in the CT three-dimensional coordinate system is calculated according to the rigid registration algorithm . The rigid registration algorithm is a prior art known to those skilled in the art.

[0139] S804. According to the three-dimensional data of the registration pit in the registration three-dimensional coordinate system and the pose of the registration device in the CT three-dimensional coordinate system , the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is calculated , wherein, , is the three-dimensional data of the registration pit in the registration three-dimensional coordinate system of the registration device, is the three-dimensional data of the registration pit in the CT three-dimensional coordinate system. Based on the data obtained in the above steps, the three-dimensional data of the registration pit in the CT three-dimensional coordinate system is obtained.

[0140] In step S11, according to the pose of the rotating shaft end in the optical three-dimensional coordinate system and the pose of the drill needle tip end in the end three-dimensional coordinate system, the pose of the drill needle tip end in the positioning three-dimensional coordinate system is calculated. Step S11 specifically includes the following steps:

[0141] S1101. Calibrate the implantation handset and calculate the pose of the drill needle tip end in the optical three-dimensional coordinate system and the pose of the drill needle tip end in the end three-dimensional coordinate system according to the calibration result. The rotating shaft end itself has a three-dimensional coordinate system, which can be defined by the origin and the axial direction, that is, the end three-dimensional coordinate system. Through calibration, the pose of the drill needle tip end in the optical three-dimensional coordinate system and the pose of the drill tip in the end three-dimensional coordinate system .

[0142] S1102. The pose of the positioner in the optical three-dimensional coordinate system is known inverse matrix operation to obtain This step can be directly obtained by performing inverse matrix operation.

[0143] S1103. The pose of the drill tip in the positioning three-dimensional coordinate system is calculated according to the pose of the drill tip in the optical three-dimensional coordinate system and the pose of the drill tip in the end three-dimensional coordinate system combined with the inverse matrix operation result of the pose of the positioner in the optical three-dimensional coordinate system to obtain the pose of the drill tip in the positioning three-dimensional coordinate system , wherein According to the above known parameters, the pose of the drill tip in the positioning three-dimensional coordinate system can be directly calculated.

[0144] In step S12, the pose of the ideal path in the positioning three-dimensional coordinate system is calculated according to the pose of the positioner in the CT three-dimensional coordinate system and the pose of the ideal path in the CT three-dimensional coordinate system. Step S12 specifically includes the following steps:

[0145] S1201. The pose of the positioner in the CT three-dimensional coordinate system is known inverse matrix operation to obtain the inverse matrix of the pose of the positioner in the CT three-dimensional coordinate system This step can be directly obtained by performing inverse matrix operation.

[0146] S1202. The pose of the ideal path in the CT three-dimensional coordinate system is obtained The ideal path is specifically formulated according to the patient's oral environment to develop a specific implantation plan, and the pose of the ideal path in the CT three-dimensional coordinate system can be obtained by designing in the CT three-dimensional coordinate system .

[0147] S1203. The pose of the ideal path in the positioning three-dimensional coordinate system is calculated according to the inverse matrix of the pose of the positioner in the CT three-dimensional coordinate system and the pose of the ideal path in the CT three-dimensional coordinate system to obtain the pose of the ideal path in the positioning three-dimensional coordinate system , wherein According to the above known parameters, the pose of the ideal path in the positioning three-dimensional coordinate system can be calculated.

[0148] Based on the above technical scheme, the pose of the drill needle tip in the positioning three-dimensional coordinate system is calculated by calibrating and recalculating the planting mobile phone, the pose of the ideal path in the positioning three-dimensional coordinate system is calculated according to the ideal path in the preset planting aspect, and the pose of the ideal path in the positioning three-dimensional coordinate system is compared with the pose of the drill needle tip in the positioning three-dimensional coordinate system, which can be used as the data basis for oral implant navigation.

[0149] In step S13, the pose of the drill needle tip in the positioning three-dimensional coordinate system is compared with the pose of the ideal path in the positioning three-dimensional coordinate system in real time, and the planting mobile phone is navigated in real time according to the difference between the drill needle tip and the ideal path. Step S13 specifically includes the following steps:

[0150] S1301. According to the pose of the drill needle tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system , the real-time difference value of the drill needle tip and the ideal path in the X-axis direction in the positioning three-dimensional coordinate system is calculated . represent the three-dimensional data of the drill needle tip, represent the three-dimensional data of the ideal path, and the real-time difference value of the drill needle tip and the ideal path in the X-axis direction is obtained by difference.

[0151] S1302. According to the pose of the drill needle tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system , the real-time difference value of the drill needle tip and the ideal path in the Y-axis direction in the positioning three-dimensional coordinate system is calculated . represent the three-dimensional data of the drill needle tip, represent the three-dimensional data of the ideal path, and the real-time difference value of the drill needle tip and the ideal path in the Y-axis direction is obtained by difference.

[0152] S1303. According to the pose of the drill needle tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system , the real-time difference value of the drill needle tip and the ideal path in the Z-axis direction in the positioning three-dimensional coordinate system is calculated . represent the three-dimensional data of the drill needle tip, represent the three-dimensional data of the ideal path, and the real-time difference value of the drill needle tip and the ideal path in the Z-axis direction is obtained by difference.

[0153] S1304. According to the pose of the drill needle tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system , the deviation angle of the drill needle tip and the ideal path in the positioning three-dimensional coordinate system is calculated wherein, is a vector dot product. three-dimensional data representing a tip of the drill, three-dimensional data representing an ideal path, and a real-time difference in the deviation angle between the tip of the drill and the ideal path is obtained by the difference.

[0154] In the three-dimensional space, the tip of the drill can be real-time corrected by the real-time difference in the X-axis, Y-axis, and Z-axis directions and the real-time deviation angle between the tip of the drill and the ideal path. Therefore, the real-time navigation of the implant handset is achieved by obtaining the real-time difference in the X-axis, Y-axis, and Z-axis directions and the real-time deviation angle between the tip of the drill and the ideal path according to the pose of the tip of the drill and the pose of the ideal path in the three-dimensional coordinate system.

[0155] As Figure 2 shown, in order to solve the above problems, the present application provides an oral implant navigation system, which comprises a first image data acquisition module 1, a first three-dimensional data calculation module 2, a second image data acquisition module 3, a second three-dimensional data calculation module 4, a first registration data calculation module 5, a second registration data calculation module 6, a CT data acquisition module 7, a third registration data calculation module 8, a registration processing module 9, a positioner pose acquisition module 10, a drill real-time pose calculation module 11, an ideal path calculation module 12, and a real-time navigation module 13.

[0156] The first image data acquisition module is used to control the optical positioner to acquire image data of the optical mark points on the calibration device when the drill sleeve hole on the implant handset is sleeved on the calibration rod on the calibration device.

[0157] The first three-dimensional data calculation module is used to calculate the three-dimensional data of the rotation axis and the end of the rotation axis of the implant handset in the optical three-dimensional coordinate system of the optical positioner according to the image data of the optical mark points on the calibration device acquired by the optical positioner when the drill sleeve hole on the implant handset is sleeved on the calibration rod on the calibration device, combined with the model design data of the calibration device. The rotation axis is the central axis during the rotation of the drill, and the end of the rotation axis is the point at the front end of the drill sleeve hole.

[0158] The second image data acquisition module is used to control the optical positioner to acquire image data of the optical mark points on the calibration device when the drill sleeve hole on the implant handset is fixedly sleeved with the spherical drill and the spherical drill abuts against the calibration pit on the calibration plate.

[0159] The second three-dimensional data calculation module is used to calculate the three-dimensional data of the spherical drill on the implant handset in the optical three-dimensional coordinate system according to the image data of the optical mark points on the calibration device acquired by the optical positioner when the spherical drill abuts against the calibration pit on the calibration plate, combined with the model design data of the calibration device.

[0160] The first registration data calculation module is configured to calculate three-dimensional data of the registration recess in the optical three-dimensional coordinate system according to three-dimensional data of the spherical drill in the optical three-dimensional coordinate system when the spherical drill abuts against the registration recess on the registration device;

[0161] The second registration data calculation module is configured to calculate three-dimensional data of the registration recess in the positioning three-dimensional coordinate system of the locator after the reference plate on the locator and the registration device are locked and fixed relative to each other according to the three-dimensional data of the registration recess in the optical three-dimensional coordinate system and three-dimensional data of the reference plate of the locator in the optical three-dimensional coordinate system;

[0162] The CT data acquisition module is configured to control a CT scanning device to acquire three-dimensional data of the plurality of ceramic balls in a CT three-dimensional coordinate system of the CT scanning device when the locator is fixed in the oral cavity of the patient;

[0163] The third registration data calculation module is configured to convert the three-dimensional data of the registration recess in the CT three-dimensional coordinate system according to model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system;

[0164] The registration processing module is configured to calculate a conversion relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system and a conversion relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system according to the three-dimensional data of the registration recess in the optical three-dimensional coordinate system, the three-dimensional data of the registration recess in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration recess in the CT three-dimensional coordinate system, and to complete registration;

[0165] The locator pose acquisition module is configured to acquire a pose of the locator in the optical three-dimensional coordinate system according to the conversion relationship between any two of the optical three-dimensional coordinate system, the CT three-dimensional coordinate system, and the positioning three-dimensional coordinate system ;

[0166] The drill needle real-time pose calculation module is configured to calculate a pose of a drill needle tip in the positioning three-dimensional coordinate system according to a pose of the end of the rotating shaft in the optical three-dimensional coordinate system and a pose of the drill needle tip in an end three-dimensional coordinate system of the end of the rotating shaft;

[0167] The ideal path calculation module is configured to calculate a pose of an ideal path in the positioning three-dimensional coordinate system according to the pose of the locator in the CT three-dimensional coordinate system and a pose of the ideal path in the CT three-dimensional coordinate system;

[0168] The real-time navigation module is configured to compare the pose of the drill needle tip in the positioning three-dimensional coordinate system and the pose of the ideal path in the positioning three-dimensional coordinate system in real time, and to perform real-time navigation on the implant handpiece according to a difference between the drill needle tip and the ideal path.

[0169] The first three-dimensional data calculation module specifically comprises:

[0170] a calibration three-dimensional coordinate system data acquisition unit, configured to acquire a calibration three-dimensional coordinate system of a known calibrator, and further acquire three-dimensional data of a top of a calibration rod in the calibration three-dimensional coordinate system and three-dimensional data of a bottom of the calibration rod in the calibration three-dimensional coordinate system ;

[0171] a calibrator pose calculation unit, configured to acquire a pose of the calibrator in an optical three-dimensional coordinate system according to image data of optical mark points on the calibrator collected by an optical positioner when a drill bit sleeve hole on the planting mobile phone is sleeved on the calibration rod of the calibrator ;

[0172] a calibration rod coordinate calculation unit, configured to calculate three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system and three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system according to the pose of the calibrator in the optical three-dimensional coordinate system ; ; wherein, , , is matrix multiplication;

[0173] a rotation axis data calculation unit, configured to calculate an axial vector of a rotation axis of the planting mobile phone in the optical three-dimensional coordinate system and a unit vector of the rotation axis of the planting mobile phone according to the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system and the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system ; ; ; wherein, , ;

[0174] a rotation axis end coordinate calculation unit, configured to acquire three-dimensional coordinates of an end of the rotation axis of the planting mobile phone in the optical three-dimensional coordinate system wherein, ;

[0175] a rotation normal data analysis unit, configured to calculate a rotation normal and a rotation angle corresponding to the rotation normal according to the unit vector of the rotation axis of the planting mobile phone ; ; wherein , ; is a direction unit vector of a Z-axis in the optical three-dimensional coordinate system; wherein, is vector cross product;

[0176] a conversion matrix calculation unit, configured to calculate a conversion matrix according to the three-dimensional coordinates of the end of the rotation axis of the planting mobile phone in the optical three-dimensional coordinate system Combined with the coordinate origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated ; According to the rotation normal The rotation angle corresponding to the rotation normal , calculate the rotation matrix ;

[0177] The rotation axis end pose calculation unit is used to calculate the pose of the rotation axis end in the optical three-dimensional coordinate system based on the translation matrix and the rotation matrix ,in, .

[0178] The third registration data calculation module specifically includes:

[0179] A 3D data acquisition module for the register, used to acquire 3D data of the registration pit and 3D data of the ceramic ball in the registration 3D coordinate system of the register according to the model design data of the locator;

[0180] Ceramic ball three-dimensional data acquisition module, used to collect three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system;

[0181] The registration device posture calculation module is used to calculate the posture of the registration device in the CT three-dimensional coordinate system based on the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system according to the rigid body registration algorithm. ;

[0182] The registration pit 3D data calculation module is used to calculate the 3D data of the registration pit in the registration 3D coordinate system and the position of the register in the CT 3D coordinate system. , calculate the three-dimensional data of the registration pit in the CT three-dimensional coordinate system ,in, , The 3D data of the registration pit is registered in the 3D coordinate system of the registration device. Register the three-dimensional data of the pit in the CT three-dimensional coordinate system;

[0183] The drill bit real-time posture calculation module specifically includes:

[0184] The drill tip calibration processing unit is used to calibrate the implant mobile phone and calculate the position of the drill tip in the optical three-dimensional coordinate system based on the calibration results. and the position of the drill tip in the end three-dimensional coordinate system ;

[0185] The first inverse matrix operation unit of the locator is used to calculate the position of the locator in the known optical three-dimensional coordinate system Perform inverse matrix operation to obtain ;

[0186] The drill tip posture data calculation unit is used to calculate the posture of the drill tip according to the optical three-dimensional coordinate system. and the position of the drill tip in the end three-dimensional coordinate system , combined with the position of the locator in the optical three-dimensional coordinate system The inverse matrix operation result of the 3D coordinate system is used to calculate the position of the drill tip. ,in, .

[0187] The ideal path calculation module specifically includes:

[0188] The second inverse matrix operation unit of the locator is used to calculate the position of the locator in the CT three-dimensional coordinate system. Perform inverse matrix operation to obtain the inverse matrix of the position of the locator in the CT three-dimensional coordinate system ;

[0189] Ideal path data acquisition unit, used to obtain the position and posture of the preset ideal path in the CT three-dimensional coordinate system ;

[0190] Ideal path posture data calculation unit, used to calculate the inverse matrix of the locator's posture in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system , calculate the pose of the ideal path in the three-dimensional coordinate system ,in, .

[0191] The real-time navigation module specifically includes:

[0192] X-axis deviation calculation unit is used to determine the position of the drill tip in the three-dimensional coordinate system. and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the X-axis direction in the three-dimensional coordinate system ;

[0193] Y-axis deviation calculation unit is used to determine the position of the drill tip in the three-dimensional coordinate system. and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the Y-axis direction in the three-dimensional coordinate system ;

[0194] The Z-axis deviation calculation unit is used to determine the position of the drill tip in the three-dimensional coordinate system. and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the Z-axis direction in the three-dimensional coordinate system ;

[0195] an angle deviation calculation unit configured to calculate a deviation angle of the drill tip and the ideal path in the positioning three-dimensional coordinate system according to the pose of the drill tip and the pose of the ideal path in the positioning three-dimensional coordinate system wherein, is a vector dot product.

[0196] In order to solve the above problems, the application provides a storage medium, which stores a computer program, the computer program comprises program instructions, when the program instructions are executed by a processor, the processor executes the oral implant navigation method as described above.

[0197] It should be understood that the application is not limited to the above examples, and can be improved or changed by those skilled in the art according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the application.​​

Claims

1. An oral implant navigation method, characterized in that: The oral implant navigation method is based on an oral implant navigation device, which includes a calibrator, a locator, an optical locator, and an implant handpiece. The calibrator is provided with a calibration rod, the locator includes a reference plate and a register, the register is provided with a plurality of ceramic balls and a plurality of registration pits, the optical locator is fixedly provided on the implant handpiece, the optical locator is oriented toward a drill bit socket hole on the implant handpiece, and a spherical drill or a drill needle is fixedly mounted on the drill bit socket hole. The oral implant navigation method comprises the following steps: S1. When the drill bit socket hole on the planting phone is set on the calibration rod on the calibrator, the optical locator is controlled to collect image data of the optical identification point on the calibrator; S2. Based on the image data of the optical marker points on the calibrator captured by the optical aligner when the drill bit socket on the implant handpiece is fitted over the calibration rod on the calibrator, combined with the model design data of the calibrator, calculate the three-dimensional data of the implant handpiece's rotation axis and the end of the rotation axis in the optical three-dimensional coordinate system of the optical aligner; the rotation axis is the central axis of the drill bit during rotation, and the end of the rotation axis is the point at the front end of the drill bit socket; S3. When the drill bit socket hole on the planting phone is fixed with a spherical drill and the spherical drill abuts the calibration pit on the calibration plate, the control optical locator collects image data of the optical identification point on the calibrator; S4. Based on the image data of the optical marking point on the calibrator collected by the optical locator when the spherical drill abuts the calibration pit on the calibration plate, combined with the model design data of the calibrator, the spherical drill on the mobile phone is calculated to plant three-dimensional data on the optical three-dimensional coordinate system; S5. When the spherical drill abuts the registration pit on the register, the spherical drill calculates the three-dimensional data of the registration pit in the optical three-dimensional coordinate system based on the three-dimensional data in the optical three-dimensional coordinate system; S6. After the reference plate and the aligner on the locator are locked and fixed to each other, the 3D data of the registration pit in the optical 3D coordinate system and the 3D data of the reference plate of the locator in the optical 3D coordinate system are calculated; S7. When the locator is fixed in the patient's mouth, the CT scanning device is controlled to collect three-dimensional data of the plurality of ceramic balls in the CT three-dimensional coordinate system on the CT scanning device; S8. Based on the three-dimensional data of the plurality of ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the locator and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system, the three-dimensional data of the registration pits in the CT three-dimensional coordinate system is converted; S9. Based on the three-dimensional data of the registration pit in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system, calculate the conversion relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system, and the conversion relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system to complete the registration; S10. Obtain the position of the locator in the optical 3D coordinate system based on the transformation relationship between the optical 3D coordinate system, the CT 3D coordinate system, and the positioning 3D coordinate system. ; S11. Calculate the position of the drill tip in the three-dimensional coordinate system based on the position of the end of the rotation axis in the optical three-dimensional coordinate system and the position of the drill tip in the three-dimensional coordinate system of the end of the rotation axis; S12. Calculate the position of the ideal path in the three-dimensional coordinate system according to the position of the locator in the CT three-dimensional coordinate system and the position of the preset ideal path in the CT three-dimensional coordinate system; S13. Compare the position of the drill tip in the three-dimensional positioning coordinate system and the position of the ideal path in the three-dimensional positioning coordinate system in real time, and use the difference between the drill tip and the ideal path to navigate the implant mobile phone in real time.

2. The oral implant navigation method according to claim 1, characterized in that: Step S2 specifically includes the following steps: S201. Obtain the known calibration three-dimensional coordinate system of the calibrator, and further obtain the three-dimensional data of the top of the calibration rod in the calibration three-dimensional coordinate system , obtain the three-dimensional data of the bottom of the calibration rod in the calibration three-dimensional coordinate system ; S202. Obtain the position of the calibrator in the optical three-dimensional coordinate system based on the image data of the optical marking point on the calibrator collected by the optical locator when the drill socket on the implant mobile phone is sleeved on the calibration rod on the calibrator ; S203. Determine the position of the calibrator in the optical three-dimensional coordinate system Calculate the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system And the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system ,in, , , is matrix multiplication; S204. Calibrate the three-dimensional coordinates of the top of the rod according to the optical three-dimensional coordinate system And the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system , calculate the axial vector of the rotation axis of the implant mobile phone in the optical three-dimensional coordinate system and the unit vector of the rotation axis of the planted phone ,in, , ; S205. Obtain the three-dimensional coordinates of the end of the rotation axis of the implant mobile phone in the optical three-dimensional coordinate system ,in, ; S206. According to the unit vector of the rotation axis Calculate the rotation normal The rotation angle corresponding to the rotation normal ,in , ; is the unit vector of the Z axis in the optical three-dimensional coordinate system; is the vector cross product; S207. The three-dimensional coordinates of the end of the rotation axis of the planting mobile phone in the optical three-dimensional coordinate system Combined with the coordinate origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated ; According to the rotation normal The rotation angle corresponding to the rotation normal , calculate the rotation matrix ; S208. Calculate the position of the end of the rotation axis in the optical three-dimensional coordinate system based on the translation matrix and the rotation matrix ,in, .

3. The oral implant navigation method according to claim 1, characterized in that: Step S8 specifically includes the following steps: S801 obtains the three-dimensional data of the registration pit and the three-dimensional data of the ceramic ball under the registration three-dimensional coordinate system of the registration device according to the model design data of the locator; S802. Acquire three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system; S803. Based on the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system, the position of the registration device in the CT three-dimensional coordinate system is calculated according to the rigid body registration algorithm. ; S804. According to the three-dimensional data of the registration pit in the registration three-dimensional coordinate system and the position of the registration device in the CT three-dimensional coordinate system , calculate the three-dimensional data of the registration pit in the CT three-dimensional coordinate system ,in, , The 3D data of the registration pit is registered in the 3D coordinate system of the registration device. Register the 3D data of the pit in the CT 3D coordinate system.

4. The oral implant navigation method according to claim 1, characterized in that: Step S11 specifically includes the following steps: S1101. Calibrate the implant mobile phone and calculate the position of the drill tip in the optical three-dimensional coordinate system based on the calibration results and the position of the drill tip in the end three-dimensional coordinate system ; S1102. The position of the locator in the known optical three-dimensional coordinate system Perform inverse matrix operation to obtain ; S1103. According to the position of the drill tip in the optical three-dimensional coordinate system and the position of the drill tip in the end three-dimensional coordinate system , combined with the position of the locator in the optical three-dimensional coordinate system The inverse matrix operation result of the 3D coordinate system is used to calculate the position of the drill tip. ,in, ; Step S12 specifically includes the following steps: S1201. Position of the locator in the CT three-dimensional coordinate system Perform inverse matrix operation to obtain the inverse matrix of the position of the locator in the CT three-dimensional coordinate system ; S1202. Obtain the position of the preset ideal path in the CT three-dimensional coordinate system ; S1203. According to the inverse matrix of the position of the locator in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system , calculate the pose of the ideal path in the three-dimensional coordinate system ,in, .

5. The oral implant navigation method according to claim 1, characterized in that: Step S13 specifically includes the following steps: S1301. Position the drill tip in the three-dimensional coordinate system and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the X-axis direction in the three-dimensional coordinate system ; S1302. Position the drill tip in the three-dimensional coordinate system and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the Y-axis direction in the three-dimensional coordinate system ; S1303. Position the drill tip in the three-dimensional coordinate system and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the Z-axis direction in the three-dimensional coordinate system ; S1304. Position the drill tip in the three-dimensional coordinate system and the pose of the ideal path in the three-dimensional coordinate system , calculate the deviation angle between the drill tip and the ideal path in the three-dimensional coordinate system ,in, is the vector dot product.

6. An oral implant navigation system, characterized in that: The oral implant navigation system is based on an oral implant navigation device, which includes a calibrator, a locator, an optical locator, and an implant handpiece. The calibrator is provided with a calibration rod, the locator includes a reference plate and a register, the register is provided with a plurality of ceramic balls and a plurality of registration pits, the optical locator is fixedly provided on the implant handpiece, the optical locator is oriented in the direction of a drill bit socket hole on the implant handpiece, and a spherical drill or a drill needle is fixed on the drill bit socket hole. The oral implant navigation device comprises: The first image data acquisition module is used to control the optical locator to acquire image data of the optical marking point on the calibrator when the drill socket on the implant mobile phone is sleeved on the calibration rod on the calibrator; A first three-dimensional data calculation module is used to calculate the three-dimensional data of the rotation axis and the end of the rotation axis of the implant handpiece in the optical three-dimensional coordinate system of the optical locator based on the image data of the optical marking point on the calibrator collected by the optical locator when the drill bit socket on the implant handpiece is sleeved on the calibration rod on the calibrator, combined with the model design data of the calibrator; wherein the rotation axis is the central axis of the drill needle during rotation, and the end of the rotation axis is the point at the front end of the drill bit socket; The second image data acquisition module is used to control the optical locator to collect image data of the optical marking point on the calibrator when the drill socket on the implant mobile phone is fixed with a spherical drill and the spherical drill abuts against the calibration pit on the calibration plate; The second three-dimensional data calculation module is used to calculate the three-dimensional data of the spherical drill on the implant mobile phone in the optical three-dimensional coordinate system based on the image data of the optical marking point on the calibrator collected by the optical locator when the spherical drill abuts the calibration pit on the calibration plate, combined with the model design data of the calibrator; a first registration data calculation module, configured to calculate three-dimensional data of the registration pit in the optical three-dimensional coordinate system based on the three-dimensional data of the spherical drill in the optical three-dimensional coordinate system when the spherical drill abuts against the registration pit on the register; a second registration data calculation module, configured to calculate, after the reference plate on the locator and the locator are locked and fixed to each other, the three-dimensional data of the registration pit in the optical three-dimensional coordinate system and the three-dimensional data of the reference plate of the locator in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the locked and fixed positioning three-dimensional coordinate system; a CT data acquisition module, configured to control a CT scanning device to acquire three-dimensional data of a plurality of ceramic balls in a CT three-dimensional coordinate system on the CT scanning device when the positioner is fixed in the patient's oral cavity; a third registration data calculation module, configured to convert the three-dimensional data of the plurality of ceramic balls in the CT three-dimensional coordinate system into the three-dimensional data of the registration pit in the CT three-dimensional coordinate system based on the three-dimensional data of the plurality of ceramic balls in the CT three-dimensional coordinate system, combined with the model design data of the positioner and the three-dimensional data of the ceramic balls in the CT three-dimensional coordinate system; a registration processing module for calculating, based on the three-dimensional data of the registration pit in the optical three-dimensional coordinate system, the three-dimensional data of the registration pit in the positioning three-dimensional coordinate system, and the three-dimensional data of the registration pit in the CT three-dimensional coordinate system, a conversion relationship between the optical three-dimensional coordinate system and the CT three-dimensional coordinate system, and a conversion relationship between the positioning three-dimensional coordinate system and the optical three-dimensional coordinate system, thereby completing the registration; The locator pose acquisition module is used to obtain the pose of the locator in the optical 3D coordinate system based on the conversion relationship between the optical 3D coordinate system, the CT 3D coordinate system and the positioning 3D coordinate system. ; The drill needle real-time posture calculation module is used to calculate the posture of the drill needle tip in the positioning three-dimensional coordinate system based on the posture of the end of the rotating axis in the optical three-dimensional coordinate system and the posture of the drill needle tip in the end three-dimensional coordinate system of the rotating axis end; An ideal path calculation module is used to calculate the position of the ideal path in the CT three-dimensional coordinate system according to the position of the locator in the CT three-dimensional coordinate system and the position of the preset ideal path in the CT three-dimensional coordinate system; The real-time navigation module is used to compare the position of the drill tip in the three-dimensional coordinate system and the position of the ideal path in the three-dimensional coordinate system in real time, and to perform real-time navigation of the implant mobile phone based on the difference between the drill tip and the ideal path.

7. The oral implant navigation system according to claim 6, characterized in that: The first three-dimensional data calculation module specifically includes: The calibration three-dimensional coordinate system data acquisition unit is used to obtain the calibration three-dimensional coordinate system of the known calibrator and further obtain the three-dimensional data of the top of the calibration rod in the calibration three-dimensional coordinate system. , obtain the three-dimensional data of the bottom of the calibration rod in the calibration three-dimensional coordinate system ; The calibrator posture calculation unit is used to obtain the posture of the calibrator in the optical three-dimensional coordinate system based on the image data of the optical identification point on the calibrator collected by the optical locator when the drill socket on the implant mobile phone is sleeved on the calibration rod on the calibrator. ; Calibration rod coordinate calculation unit, used to calibrate the position of the calibrator in the optical three-dimensional coordinate system Calculate the three-dimensional coordinates of the top of the calibration rod in the optical three-dimensional coordinate system And the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system ,in, , , is matrix multiplication; Rotation axis data calculation unit, used to calibrate the three-dimensional coordinates of the top of the rod according to the optical three-dimensional coordinate system And the three-dimensional coordinates of the bottom of the calibration rod in the optical three-dimensional coordinate system , calculate the axial vector of the rotation axis of the implant mobile phone in the optical three-dimensional coordinate system and the unit vector of the rotation axis of the planted phone ,in, , ; The rotation axis end coordinate calculation unit is used to obtain the three-dimensional coordinates of the rotation axis end of the implant mobile phone in the optical three-dimensional coordinate system ,in, ; Rotation normal data analysis unit, used to calculate the unit vector of the rotation axis Calculate the rotation normal The rotation angle corresponding to the rotation normal ,in , ; is the unit vector of the Z axis in the optical three-dimensional coordinate system; is the vector cross product; The conversion matrix calculation unit is used to calculate the three-dimensional coordinates of the end of the rotation axis of the mobile phone according to the optical three-dimensional coordinate system. Combined with the coordinate origin of the optical three-dimensional coordinate system, the translation matrix is ​​calculated ; According to the rotation normal The rotation angle corresponding to the rotation normal , calculate the rotation matrix ; The rotation axis end pose calculation unit is used to calculate the pose of the rotation axis end in the optical three-dimensional coordinate system based on the translation matrix and the rotation matrix ,in, .

8. The oral implant navigation system according to claim 6, characterized in that: The third registration data calculation module specifically includes: A 3D data acquisition module for the register, used to acquire 3D data of the registration pit and 3D data of the ceramic ball in the registration 3D coordinate system of the register according to the model design data of the locator; Ceramic ball three-dimensional data acquisition module, used to collect three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system; The registration device posture calculation module is used to calculate the posture of the registration device in the CT three-dimensional coordinate system based on the three-dimensional data of the ceramic ball in the CT three-dimensional coordinate system and the three-dimensional data in the registration three-dimensional coordinate system according to the rigid body registration algorithm. ; The registration pit 3D data calculation module is used to calculate the 3D data of the registration pit in the registration 3D coordinate system and the position of the register in the CT 3D coordinate system. , calculate the three-dimensional data of the registration pit in the CT three-dimensional coordinate system ,in, , The 3D data of the registration pit is registered in the 3D coordinate system of the registration device. Register the three-dimensional data of the pit in the CT three-dimensional coordinate system; The drill bit real-time posture calculation module specifically includes: The drill tip calibration processing unit is used to calibrate the implant mobile phone and calculate the position of the drill tip in the optical three-dimensional coordinate system based on the calibration results. and the position of the drill tip in the end three-dimensional coordinate system ; The first inverse matrix operation unit of the locator is used to calculate the position of the locator in the known optical three-dimensional coordinate system Perform inverse matrix operation to obtain ; The drill tip posture data calculation unit is used to calculate the posture of the drill tip in the optical three-dimensional coordinate system. and the position of the drill tip in the end three-dimensional coordinate system , combined with the position of the locator in the optical three-dimensional coordinate system The inverse matrix operation result of the 3D coordinate system is used to calculate the position of the drill tip. ,in, ; The ideal path calculation module specifically includes: The second inverse matrix operation unit of the locator is used to calculate the position of the locator in the CT three-dimensional coordinate system. Perform inverse matrix operation to obtain the inverse matrix of the position of the locator in the CT three-dimensional coordinate system ; Ideal path data acquisition unit, used to obtain the position and posture of the preset ideal path in the CT three-dimensional coordinate system ; Ideal path posture data calculation unit, used to calculate the inverse matrix of the locator's posture in the CT three-dimensional coordinate system and the pose of the preset ideal path in the CT three-dimensional coordinate system , calculate the pose of the ideal path in the three-dimensional coordinate system ,in, .

9. The oral implant navigation system according to claim 6, characterized in that: The real-time navigation module specifically includes: X-axis deviation calculation unit is used to determine the position of the drill tip in the three-dimensional coordinate system. and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the X-axis direction in the three-dimensional coordinate system ; Y-axis deviation calculation unit is used to determine the position of the drill tip in the three-dimensional coordinate system. and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the Y-axis direction in the three-dimensional coordinate system ; The Z-axis deviation calculation unit is used to determine the position of the drill tip in the three-dimensional coordinate system. and the pose of the ideal path in the three-dimensional coordinate system , calculate the real-time difference between the drill tip and the ideal path in the Z-axis direction in the three-dimensional coordinate system ; Angle deviation calculation unit, used to determine the position of the drill tip in the three-dimensional coordinate system and the pose of the ideal path in the three-dimensional coordinate system , calculate the deviation angle between the drill tip and the ideal path in the three-dimensional coordinate system ,in, is the vector dot product.

10. A storage medium, characterized in that: The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by the processor, the processor executes the oral implant navigation method according to any one of claims 1 to 5.

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