Maxillary sinus lifting planning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a maxillary sinus lifting planning method and device, electronic equipment and a storage medium. The method comprises the following steps: for a target object of a to-be-lifted maxillary sinus, determining a three-dimensional model corresponding to at least one maxillary structure in the maxillary of the target object; according to the three-dimensional models, a force threshold value corresponding to at least one maxillary area in the maxillary is determined, and the force threshold value is the maximum force value which can be reached under the condition that maxillary sinus lifting operation is carried out in the corresponding maxillary area; and determining a target plan for performing maxillary sinus lifting operation on the target object according to the force threshold values corresponding to the at least one maxillary region. According to the technical scheme, the accuracy of maxillary sinus lifting planning can be improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of dentistry, and particularly relate to a maxillary sinus lifting planning method and device, an electronic device and a storage medium. BACKGROUND

[0002] In the process of implanting an implant, the maxillary sinus of a target object may need to be lifted.

[0003] At present, the maxillary sinus lifting planning is performed by a doctor based on his own experience, but the accuracy of this planning method is not high, and safety problems may occur in the process of maxillary sinus lifting, which needs to be solved urgently. SUMMARY

[0004] Embodiments of the present application provide a maxillary sinus lifting planning method, device, electronic device and storage medium to improve the accuracy of maxillary sinus lifting planning.

[0005] According to an aspect of the present application, a maxillary sinus lifting planning method is provided, which can include:

[0006] For a target object whose maxillary sinus is to be lifted, three-dimensional models corresponding to at least one maxillary structure in the maxilla of the target object are determined; according to the three-dimensional models, force threshold values corresponding to at least one maxillary region in the maxilla are determined, wherein the force threshold value is the maximum force value that can be reached in the case of performing a maxillary sinus lifting operation in the corresponding maxillary region; and according to the force threshold values corresponding to the at least one maxillary region, a target planning for performing a maxillary sinus lifting operation on the target object is determined.

[0007] According to another aspect of the present application, a maxillary sinus lifting planning device is provided, which can include: a three-dimensional model determination module configured to determine, for a target object whose maxillary sinus is to be lifted, three-dimensional models corresponding to at least one maxillary structure in the maxilla of the target object; a force threshold value determination module configured to determine, according to the three-dimensional models, force threshold values corresponding to at least one maxillary region in the maxilla, wherein the force threshold value is the maximum force value that can be reached in the case of performing a maxillary sinus lifting operation in the corresponding maxillary region; and a target planning determination module configured to determine, according to the force threshold values corresponding to the at least one maxillary region, a target planning for performing a maxillary sinus lifting operation on the target object.

[0008] According to another aspect of the present application, an electronic device is provided, which can include: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to cause the at least one processor to implement the maxillary sinus lifting planning method provided by any of the embodiments of the present application when executed.

[0009] According to another aspect of the present application, a computer readable storage medium is provided, which has stored thereon computer instructions for causing a processor to implement the maxillary sinus lifting planning method provided by any of the embodiments of the present application when executed.

[0010] The technical solution of the embodiments of the present application determines at least one maxillary structure in the maxilla of the target object to be lifted corresponding three-dimensional models, so as to provide a basis for maxillary sinus lifting planning through the at least one maxillary structure corresponding three-dimensional models; determines force threshold values corresponding to at least one maxillary region in the maxilla according to the three-dimensional models, so as to facilitate subsequent maxillary sinus lifting planning based on the force threshold values, wherein the force threshold value is the maximum force value that can be reached in the case of maxillary sinus lifting operation in the corresponding maxillary region; determines a target planning for the target object to perform maxillary sinus lifting operation according to the force threshold values corresponding to the at least one maxillary region, so as to realize maxillary sinus lifting planning. The above technical solution can accurately control the force value used by the maxillary sinus lifting planning for the maxillary sinus lifting operation, so as to improve the accuracy of the maxillary sinus lifting planning, and further avoid safety problems in the process of maxillary sinus lifting.

[0011] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] Figure 1 is an example diagram of placing an implant after maxillary sinus lifting;

[0014] Figure 2 is a flowchart of a maxillary sinus lifting planning method according to an embodiment of the present application;

[0015] Figure 3 is a schematic diagram of a human performing maxillary sinus lifting operation on a target object in a maxillary sinus lifting planning method according to an embodiment of the present application;

[0016] Figure 4 is a schematic diagram of maxillary sinus lifting and implantation according to an embodiment of the present application.

[0017] Figure 5 is a flow chart of another maxillary sinus lifting planning method according to an embodiment of the present application;

[0018] Figure 6 is a flow chart of another maxillary sinus lifting planning method according to an embodiment of the present application;

[0019] Figure 7 is a schematic diagram of implanting an implant in an optional example of another maxillary sinus lifting planning method according to an embodiment of the present application;

[0020] Figure 8 is a schematic diagram of implanting another implant in an optional example of another maxillary sinus lifting planning method according to an embodiment of the present application;

[0021] Figure 9 is a structural block diagram of a maxillary sinus lifting planning device according to an embodiment of the present application;

[0022] Figure 10 is a structural schematic diagram of an electronic device for implementing a maxillary sinus lifting planning method according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The case of "target", "original" and the like is similar, which will not be described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] Before the embodiments of the present application are introduced, the application scenarios of maxillary sinus lifting, the ways of maxillary sinus lifting, the implementation processes of the current schemes for maxillary sinus lifting planning, and the causes of the low accuracy of maxillary sinus lifting planning and the safety problems in the process of maxillary sinus lifting are exemplarily described, so as to better understand the reasons why the scheme proposed in the embodiments of the present application can improve the accuracy of maxillary sinus lifting planning.

[0026] Referring to Figure 1 Maxillary sinus lifting is a step required when the alveolar bone thickness of a target object is insufficient to support implantation of an implant, that is, when an implant needs to be implanted in the target object, only the drilling depth can be planned to reach the thickness of the true alveolar bone, and the implant cannot be placed out of the nasal sinus. When the alveolar bone thickness of the target object is insufficient to support implantation of an implant, maxillary sinus lifting can be performed. After maxillary sinus lifting, the bone surface shaping drill is used to trim the drill hole (the final implant generally has a bevel near the bone surface), so that the implant can be placed at a deeper depth, that is, the depth and width of the maxillary sinus are lifted to the level at which the implant can be placed.

[0027] Maxillary sinus lifting is a less invasive maxillary sinus lifting surgery that does not require additional incisions. Maxillary sinus lifting can be performed using maxillary sinus lifting instruments. The process of maxillary sinus lifting includes using maxillary sinus lifting instruments to lift the maxillary sinus floor at the implant cavity using a tapping method, and then implanting bone powder to increase the alveolar bone height and extend the implantable length of the implant.

[0028] Currently, maxillary sinus lifting planning is performed manually by doctors. Specifically, maxillary sinus lifting planning needs to rely on the experience of manual operation and the interpretation and manual measurement of two-dimensional images (such as panoramic radiographs or computed tomography (CT) slices), and then the target planning is estimated based on the experience and the interpretation and measurement results. However, this method relies on manual operation and usually does not plan in the dimension of operating force, which leads to low accuracy of maxillary sinus lifting planning and easily causes safety problems in the process of maxillary sinus lifting.

[0029] To this end, the embodiments of the present application perform maxillary sinus lifting planning by using at least one force threshold value corresponding to each maxillary region, which can accurately control the force value used in the operation of maxillary sinus lifting, thereby improving the accuracy of maxillary sinus lifting planning and avoiding safety problems in the process of maxillary sinus lifting. This will be described in detail below.

[0030] Figure 2is a flowchart of a maxillary sinus lifting planning method provided in an embodiment of the present application. The embodiment can be applicable to the case of maxillary sinus lifting planning. The method can be executed by a maxillary sinus lifting planning device provided in an embodiment of the present application, which can be implemented in the form of software and / or hardware, and can be integrated on an electronic device, which can be various user terminals or servers.

[0031] Referring to Figure 2 The method of the embodiment of the present application specifically includes the following steps:

[0032] S110, for a target object to be lifted maxillary sinus, determining a three-dimensional model corresponding to at least one maxillary structure in the maxilla of the target object.

[0033] The target object can be understood as an object to be lifted maxillary sinus.

[0034] The maxilla can be understood as the maxilla of the target object.

[0035] The maxillary structure can be understood as a structure in the maxilla; the at least one maxillary structure can include at least one of the maxilla, the maxillary sinus, the maxillary sinus mucosa (maxillary sinus floor membrane), the teeth (including adjacent teeth), the tooth root, the gum, the periodontal membrane, the blood vessels (such as the posterior superior alveolar artery), and the nerves, etc.; in the embodiment of the present application, since the maxillary sinus mucosa is more critical for maxillary sinus lifting planning, the at least one maxillary structure can at least include the maxillary sinus mucosa.

[0036] The three-dimensional model can be understood as a three-dimensional model corresponding to the maxillary structure; the three-dimensional model can be an operable three-dimensional model, for example, the three-dimensional model can be an operable three-dimensional model in the format of stereolithography (STL).

[0037] In the embodiment of the present application, the three-dimensional model corresponding to the at least one maxillary structure can be determined for the target object. For example, the medical digital imaging and communication (Digital Imaging and Communications in Medicine, DICOM) format cone beam computed tomography (Cone Beam Computed Tomography, CBCT) image data of the maxilla of the target object can be obtained (CBCT has advantages in bone tissue detail display and low radiation dose, and other types of medical image data can also be used); the CBCT image data is imported into software for maxillary sinus lifting planning; the CBCT image data can be volume rendered or segmented by the software according to the CBCT image data using the corresponding algorithm of the volume rendering or threshold segmentation function, and the at least one maxillary structure volume rendered or segmented is precisely three-dimensionally reconstructed to convert the three-dimensional model corresponding to the at least one maxillary structure.

[0038] In the embodiments of the present application, different ways can be adopted to segment different maxillary structures to obtain corresponding three-dimensional models. For example, in the case that at least one maxillary structure includes maxillary sinus mucosa, for the maxillary sinus mucosa, the CBCT image data can be preliminarily automatically segmented by image texture, gray value change or edge detection algorithm to obtain a preliminary segmentation model, and the preliminary segmentation model can be fine-tuned by manual or automatic method to obtain a three-dimensional model of the maxillary sinus mucosa; in the case that at least one maxillary structure includes tooth root, for the tooth root, the CBCT image data can be automatically segmented by threshold segmentation algorithm to obtain a three-dimensional model of the tooth root (only the tooth roots of maxillary molars and premolars can be segmented) ; in the case that at least one maxillary structure includes blood vessels and / or nerves, for the blood vessels and / or nerves, the CBCT image data can be preliminarily automatically segmented by artificial intelligence algorithm to obtain a three-dimensional model of the blood vessels and / or nerves.

[0039] S120, determining, according to each three-dimensional model, a force threshold value corresponding to each of the at least one maxillary region in the maxilla, wherein the force threshold value is a maximum force value that can be reached in the case of performing a maxillary sinus lifting operation in the corresponding maxillary region.

[0040] It should be noted that the division of the maxillary region can be obtained according to the position and shape of each three-dimensional model in the spatial dimension, for example, the region within a first predetermined range from the three-dimensional model corresponding to the blood vessels can be regarded as the maxillary region near the blood vessels, and for another example, the region within a second predetermined range from the three-dimensional model corresponding to the maxillary sinus mucosa can be regarded as the maxillary region near the mucosa, and so on.

[0041] The force threshold value can be understood as a maximum force value that can be reached in the case of performing a maxillary sinus lifting operation in the corresponding maxillary region.

[0042] The maxillary sinus lifting operation can be understood as an operation of performing maxillary sinus lifting on a target object.

[0043] In the embodiments of the present application, the force threshold value corresponding to each of the at least one maxillary region can be determined according to the three-dimensional model. For example, different first initial threshold values can be preset for different types of maxillary regions (such as at least one of the maxillary region in bone, the maxillary region near blood vessels, the maxillary region near mucosa, and the maxillary region near nerves, etc.), for example, the first initial threshold value of the maxillary region near mucosa is lower, which can be lower than the first initial threshold value of the maxillary region in bone; the maxilla is divided into regions according to the three-dimensional model (according to the type of the maxillary structure corresponding to the three-dimensional model), at least one maxillary region is obtained, and for each maxillary region, the first initial threshold value corresponding to the type of the maxillary region is taken as the force threshold value of the maxillary region.

[0044] In S130, the target planning of the maxillary sinus lifting operation on the target object is determined according to the force threshold value corresponding to each of the at least one maxillary region.

[0045] The target planning can be understood as a planning of the maxillary sinus lifting operation on the target object, and can include at least one of the operation path, the force control parameter and / or the compliance parameter corresponding to each step of the maxillary sinus lifting operation on the operation path, and the lifting rule, etc.

[0046] In the embodiments of the present application, the target planning can be determined according to the force threshold value corresponding to each of the at least one maxillary region, for example, the target planning can be determined as that the force value corresponding to the force control parameter used in the maxillary sinus lifting operation is less than or equal to the force threshold value of the corresponding maxillary region.

[0047] In the embodiments of the present application, after the target planning is determined, the maxillary sinus lifting operation (bone window cutting operation and mucosa stripping operation) can be performed on the target object according to the target planning; the robot can be controlled to perform the maxillary sinus lifting operation on the target object, see Figure 3 The maxillary sinus lifting operation can also be performed on the target object by a person, and when the maxillary sinus lifting operation is performed on the target object, the target planning can be modified (modified by a person or the step of determining the three-dimensional model corresponding to each of the at least one maxillary structure is performed again for the target object), that is, the target planning can be modified intraoperatively.

[0048] In the embodiments of the present application, at least one lifting rule can also be set, and the target planning is determined according to the force threshold corresponding to each of the at least one maxillary region and the at least one lifting rule. For example, the at least one lifting rule can include allowing a slight adjustment when encountering resistance, and the target planning is determined according to the force threshold corresponding to each of the at least one maxillary region and the at least one lifting rule, so that in the process of performing the maxillary sinus lifting operation according to the target planning, when encountering resistance (for example, resistance greater than a preset resistance), the force value of cutting or peeling is slightly adjusted (for example, the first preset force value is reduced to avoid excessive pressure, and the second preset force value can also be increased).

[0049] It can be understood that, referring to Figure 4 In the case of requiring implantation of an implant, the alveolar bone is usually drilled by artificial means. The doctor manually judges the drilling depth according to experience, uses a hammer to hit the drilling opening of the target object, widens and deepens the opening, finally fills the widened drilling opening with bone powder, and finally places the implant root at a position considered suitable by the doctor for artificial implantation. The placement position is determined by visual observation and experience of the doctor to complete the implantation of the implant. However, this method cannot accurately control the operation path and operation force, which can easily cause safety problems in the process of maxillary sinus lifting. To this end, the embodiments of the present application can perform maxillary sinus lifting and implantation of an implant by a robotic arm according to a target planning, accurately control the operation path and operation force, and avoid safety problems in the process of maxillary sinus lifting. It should be noted that before the robotic arm performs maxillary sinus lifting and implantation of an implant, the image coordinate system corresponding to the CBCT image data of the target object can be registered and calibrated with the working coordinate system of the robotic arm, and the optical tracking or image guidance system can be used to ensure accuracy.

[0050] In the implementation of the present application, in the case of controlling the mechanical arm of the robot to perform the maxillary sinus lifting operation on the target region according to the target planning, the target force value of the mechanical arm can be periodically or in real time obtained (for example, the target force value can be obtained by combining the feedback of the force value sensor or the micro force sensor through an algorithm, and the above-mentioned sensor can be built-in in the mechanical arm), wherein the target force value can be understood as the force value borne in the process of the maxillary sinus lifting operation; in the case that the target force value decreases by more than a preset threshold value within a preset time period (in this case, the force value abnormally drops, and the maxillary sinus mucosa perforation can occur) or the target force value is greater than a safe force value, the mechanical arm is controlled to automatically stop the operation; in addition, a warning such as an audible and light warning can be triggered to prompt the doctor to intervene. For example, in the case of controlling the mechanical arm to perform the mucosa stripping in the maxillary sinus lifting operation on the target region according to the target planning for the mucosa stripping path in the operation path, the target force value (stripping force) of the mechanical arm can be periodically or in real time obtained through the micro force sensor; in the case that the target force value decreases by more than a preset threshold value within a preset time period or the target force value is greater than a safe force value, the mechanical arm is controlled to stop the operation and trigger the warning.

[0051] In the embodiment of the present application, in the process of performing the maxillary sinus lifting operation according to the target planning, the real-time anatomical position of the target object can be matched with the target planning through the optical tracking system or the image fusion technology, so as to more accurately perform the maxillary sinus lifting operation according to the target planning.

[0052] In the embodiment of the present application, intraoperative adjustment can be performed, that is, in the process of performing the maxillary sinus lifting operation according to the target planning, the feedback of the real-time target object or the feedback of the physiological detection instrument and / or the situation of the maxillary sinus lifting operation can be obtained, and the target planning is adjusted, for example, at least one of the operation path, the force control parameter, and the compliance parameter can be adjusted.

[0053] The technical scheme of the embodiment of the present application is that, for a target object to be subjected to maxillary sinus lifting, at least one maxillary structure in the maxilla of the target object is determined to correspond to a three-dimensional model, so as to provide a basis for maxillary sinus lifting planning by means of the three-dimensional model corresponding to the at least one maxillary structure; according to the three-dimensional model, a force threshold value corresponding to at least one maxillary region in the maxilla is determined, so as to facilitate subsequent maxillary sinus lifting planning on the basis of the force threshold value, wherein the force threshold value is a maximum force value that can be reached in the case of maxillary sinus lifting operation in the corresponding maxillary region; and according to the force threshold value corresponding to the at least one maxillary region, a target planning for maxillary sinus lifting operation of the target object is determined, so as to realize maxillary sinus lifting planning. The above technical scheme can make the maxillary sinus lifting planning accurately control the force value used in the maxillary sinus lifting operation, so as to improve the accuracy of the maxillary sinus lifting planning, and further avoid safety problems in the process of maxillary sinus lifting.

[0054] An optional technical scheme, the maxillary sinus lifting planning method further comprises: determining a compliance parameter corresponding to each maxillary region according to the three-dimensional model; and determining the target planning for the maxillary sinus lifting operation of the target object according to the force threshold value corresponding to the at least one maxillary region, comprising: determining the target planning for the maxillary sinus lifting operation of the target object according to the force threshold value corresponding to the at least one maxillary region and the compliance parameter.

[0055] The compliance parameter can be understood as a parameter quantifying dynamic or static mechanical response characteristics; and the compliance parameter can be specifically a compliance parameter of a mechanical arm in the process of cutting or peeling.

[0056] In the embodiment of the present application, the compliance parameter corresponding to each maxillary region can be determined according to the three-dimensional model. For example, different second initial threshold values can be preset for different types of maxillary regions (for example, the second initial threshold value of the maxillary region close to the mucosa is higher, that is, more compliant, which can be higher than the second initial threshold value of the maxillary region in the bone); and for each maxillary region, the second initial threshold value corresponding to the type of the maxillary region is taken as the compliance parameter of the maxillary region.

[0057] In the embodiment of the present application, the target planning can be determined according to the force threshold value corresponding to the at least one maxillary region and the compliance parameter, for example, the target planning can be determined to be that the force value corresponding to the force control parameter used in the operation in the process of maxillary sinus lifting operation is less than or equal to the force threshold value of the corresponding maxillary region in the current operation, and the compliance parameter of the corresponding maxillary region in the current operation is used for operation.

[0058] In the embodiments of the present application, according to each three-dimensional model, a compliance parameter corresponding to each maxillary region is determined; and according to the force threshold value and the compliance parameter corresponding to each maxillary region, a target planning for the maxillary sinus lifting operation on the target object is determined. The above technical solution can improve the accuracy and comprehensiveness of the maxillary sinus lifting planning by determining the target planning according to the force threshold value and the compliance parameter corresponding to each maxillary region, which helps to guide the precise and gentle maxillary sinus lifting and avoid tearing.

[0059] Figure 5 is a flowchart of another maxillary sinus lifting planning method provided in the embodiments of the present application. The present embodiment is optimized on the basis of the above technical solutions. In the present embodiment, the maxillary sinus lifting planning method can further include: determining an operation path for the maxillary sinus lifting operation on the target object; and determining the target planning for the maxillary sinus lifting operation on the target object according to the force threshold value corresponding to each maxillary region, including: determining the target planning for the maxillary sinus lifting operation on the target object according to the operation path and the force threshold value corresponding to each maxillary region.

[0060] Wherein, the explanations of the same or corresponding terms in the above embodiments are not repeated here.

[0061] Referring to Figure 5 The method of the present embodiment can specifically include the following steps:

[0062] S210, for a target object to be lifted maxillary sinus, determining a three-dimensional model corresponding to each maxillary structure in the maxilla of the target object.

[0063] S220, according to each three-dimensional model, determining a force threshold value corresponding to each maxillary region in the maxilla, wherein the force threshold value is the maximum force value that can be reached in the case of performing the maxillary sinus lifting operation in the corresponding maxillary region.

[0064] S230, determining an operation path for the maxillary sinus lifting operation on the target object.

[0065] Wherein, the operation path can be understood as the path for the maxillary sinus lifting operation on the target object; the operation path can be specifically understood as the three-dimensional movement path of the bone window cutting or stripping tool (such as a mechanical arm cutting or stripping tool such as a bone drill) for the maxillary sinus lifting operation on the target object; the operation path can include the cutting or stripping depth, angle and speed in addition to the movement path for the maxillary sinus lifting operation; the operation path can include at least one of the bone window cutting path and the mucosa stripping path, and in the case of including at least two paths, the target planning corresponding to each path can be determined.

[0066] In the embodiments of the present application, the operation path can be determined, for example, according to the three-dimensional models, and the operation path can also be determined, for example, according to at least one of the bone window and the filling area.

[0067] In the embodiments of the present application, the target planning can be determined according to the operation path and the force threshold corresponding to each of the at least one maxillary region, for example, the force control parameter corresponding to each operation step of the maxillary sinus lifting according to the operation path can be determined according to the force threshold corresponding to each of the at least one maxillary region, and the target planning can be determined according to the force control parameter corresponding to each operation step.

[0068] In the embodiments of the present application, the target planning can be determined according to the operation path and the force threshold corresponding to each of the at least one maxillary region, for example, the force control parameter corresponding to each operation step of the maxillary sinus lifting according to the operation path can be determined according to the force threshold corresponding to each of the at least one maxillary region, and the target planning can be determined according to the force control parameter corresponding to each operation step.

[0069] The technical scheme of the embodiments of the present application determines the operation path of the maxillary sinus lifting operation on the target object, and determines the target planning of the maxillary sinus lifting operation on the target object according to the operation path and the force threshold corresponding to each of the at least one maxillary region. The above technical scheme can improve the accuracy and comprehensiveness of the maxillary sinus lifting planning by determining the target planning according to the operation path and the force threshold corresponding to each of the at least one maxillary region.

[0070] Figure 6 The flowchart of another maxillary sinus lifting planning method provided in the embodiments of the present application. The present embodiment is optimized on the basis of the above technical schemes. In the present embodiment, optionally, the three-dimensional models are located in the same spatial dimension, the maxillary sinus lifting operation is performed on the target region in the maxilla, and the at least one maxillary structure at least includes the maxilla and the adjacent tooth adjacent to the target region; the operation path of the maxillary sinus lifting operation on the target object is determined, including: determining the bone density of the maxilla, and determining the filling area of the bone graft required for the maxillary sinus lifting operation in the spatial dimension according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent tooth; and determining the operation path of the maxillary sinus lifting operation on the target object according to the filling area. Wherein, the explanations of the same or corresponding terms as in the above embodiments are not repeated here.

[0071] Referring to Figure 6 The method of the present embodiment can specifically include the following steps:

[0072] S310, for a target object to be lifted maxillary sinus, determining the three-dimensional model corresponding to each of the at least one maxillary structure in the maxilla of the target object, wherein each three-dimensional model is located in the same spatial dimension.

[0073] The spatial dimension can be understood as the same dimension on the spatial level where each three-dimensional model is located.

[0074] In the embodiments of the present application, the three-dimensional models are located in the same spatial dimension, which can also be understood as the three-dimensional models being in the same space, and further can be understood as the three-dimensional models being in the same spatial coordinate system.

[0075] S320, determining, according to the three-dimensional models, force threshold values corresponding to at least one maxillary region in the maxilla respectively, wherein the force threshold value is a maximum force value that can be reached in the case of a maxillary sinus lifting operation in the corresponding maxillary region, the maxillary sinus lifting operation is performed on a target region in the maxilla, and the at least one maxillary structure at least includes the maxilla and adjacent teeth adjacent to the target region.

[0076] The target region can be understood as a region requiring a maxillary sinus lifting operation. The target region can be a region requiring implantation of an implant.

[0077] The maxilla can be understood as a bone in the maxilla.

[0078] The adjacent teeth can be understood as teeth adjacent to the target region.

[0079] S330, determining the bone density of the maxilla, and determining, according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth respectively, a filling region of a bone graft required for the maxillary sinus lifting operation in the spatial dimension.

[0080] The bone density can be understood as the density of the maxilla.

[0081] In the embodiments of the present application, the bone density can be determined, for example, the bone density can be calculated according to primary bone density image big data or medical images related to the bone density of the target object.

[0082] The bone graft can be understood as a graft for replacing bone tissue for lifting the maxillary sinus.

[0083] The filling region can be understood as a region filled with the bone graft.

[0084] In the embodiments of the present application, the filling region can be determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth respectively.

[0085] It can be understood that the related scheme usually adopts an artificial way to determine whether the maxillary sinus needs to be lifted according to the experience of the doctor himself to further determine the lifting height to determine the operation path, but such a scheme will result in low accuracy of the determined operation path. The scheme of the embodiments of the present application can automatically determine the filling region, and determine the operation path on the basis of the filling region, which can improve the accuracy of the determined operation path.

[0086] S340, determining, according to the filling region, an operation path of the maxillary sinus lifting operation on the target object.

[0087] In the embodiments of the present application, the operation path can be determined according to the filling area, for example, the operation path required for cutting out the filling area (or the bone window corresponding to the filling area) and filling the bone graft into the filling area can be determined.

[0088] In the embodiments of the present application, the operation path can also be determined according to the filling area and the bone window.

[0089] S350, determining a target plan for the maxillary sinus lifting operation on the target object according to the operation path and the force threshold value corresponding to each of the at least one maxillary region.

[0090] The technical scheme of the embodiments of the present application, each three-dimensional model is located in the same spatial dimension, the maxillary sinus lifting operation is performed on the target region in the maxilla, and the at least one maxillary structure at least includes the maxilla and the adjacent tooth adjacent to the target region; the bone density of the maxilla is determined, and the filling area of the bone graft required for the maxillary sinus lifting operation in the spatial dimension is determined according to the bone density and the three-dimensional model corresponding to the maxilla and the adjacent tooth respectively; and the operation path for the maxillary sinus lifting operation on the target object is determined according to the filling area. The above technical scheme can determine the filling area more accurately by the bone density and the three-dimensional model corresponding to the maxilla and the adjacent tooth respectively, and then determine the operation path more accurately according to the filling area.

[0091] An optional technical scheme for determining the filling area of the bone graft required for the maxillary sinus lifting operation in the spatial dimension according to the bone density and the three-dimensional model corresponding to the maxilla and the adjacent tooth respectively includes: determining the bone window corresponding to the target region in the spatial dimension according to the bone density and the three-dimensional model corresponding to the maxilla and the adjacent tooth respectively; and determining the filling area of the bone graft required for the maxillary sinus lifting in the spatial dimension according to the bone window and the three-dimensional model corresponding to the maxilla and the adjacent tooth respectively.

[0092] The bone window can be understood as a regular or defect opening made of bone tissue; the bone window can be rectangular, elliptical, circular, etc.

[0093] In the embodiments of the present application, the bone window can be determined according to the bone density and the three-dimensional model corresponding to the maxilla and the adjacent tooth respectively, for example, the region located in the three-dimensional model of the maxilla and located in the middle of the three-dimensional model of the adjacent tooth can be taken as an initial bone window, and then the size and / or shape of the initial bone window can be adjusted according to the bone density to obtain the bone window.

[0094] In the embodiments of the present application, in the case that the at least one maxillary structure includes the maxilla and the adjacent tooth, and also includes the gum and other maxillary structures, the bone window can be determined according to the bone density and the three-dimensional model corresponding to each of the maxillary structures.

[0095] In the embodiments of the present application, the filling region can be determined according to the bone window and the three-dimensional models corresponding to the maxilla and the adjacent teeth respectively, for example, the region in the bone window except the three-dimensional model of the gum can be taken as the filling region.

[0096] In the embodiments of the present application, the filling region can also be determined according to the bone window, the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth respectively.

[0097] In the embodiments of the present application, the filling region can also be determined according to the bone window and the bone density.

[0098] In the embodiments of the present application, the filling region can also be determined according to the bone window.

[0099] In the embodiments of the present application, in the case that the at least one maxillary structure includes other maxillary structures in addition to the maxilla and the adjacent teeth, the filling region can be determined according to the bone window and the three-dimensional models corresponding to the respective maxillary structures.

[0100] In the embodiments of the present application, the bone graft volume of the required bone graft can also be determined according to at least one of the bone window, the bone density and the three-dimensional models corresponding to the respective maxillary structures, so that the target plan can be determined subsequently according to the bone graft volume, the operation path and the force threshold corresponding to the at least one maxillary region.

[0101] In the embodiments of the present application, the implant orientation, the implant specification and the lifting height of the maxillary sinus lifting can be determined according to at least one of the filling region, the bone graft volume, the residual bone amount, the adjacent bone amount corresponding to the adjacent teeth, the bone density and the occlusion relationship of the adjacent teeth, the postoperative model after the maxillary sinus lifting and the implant implantation is simulated to facilitate the doctor to understand the postoperative situation of the target object, and at least one parameter of the filling region, the bone graft volume, the residual bone amount and the bone density involved in the maxillary sinus lifting plan can also be adjusted and the maxillary sinus lifting plan can be re-performed according to the postoperative model.

[0102] In the embodiments of the present application, the bone window is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth respectively, and the filling region is determined according to the bone window and the three-dimensional models corresponding to the maxilla and the adjacent teeth respectively. Through the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth respectively, the more accurate bone window can be determined, and then according to the bone window and the three-dimensional models corresponding to the maxilla and the adjacent teeth respectively, the more accurate filling region can be determined.

[0103] In the above scheme, in another optional technical solution, the bone window corresponding to the target region in the spatial dimension is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, comprising: determining the residual bone amount of the maxilla corresponding to the target region in the spatial dimension according to the three-dimensional models corresponding to the maxilla and the adjacent teeth; and determining the bone window corresponding to the target region in the spatial dimension according to the residual bone amount and the bone density.

[0104] In the above scheme, in another optional technical solution, the bone window corresponding to the target region in the spatial dimension is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, comprising: determining the residual bone amount of the maxilla corresponding to the target region in the spatial dimension according to the three-dimensional models corresponding to the maxilla and the adjacent teeth; and determining the bone window corresponding to the target region in the spatial dimension according to the residual bone amount and the bone density.

[0105] In the above scheme, in another optional technical solution, the bone window corresponding to the target region in the spatial dimension is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, comprising: determining the residual bone amount of the maxilla corresponding to the target region in the spatial dimension according to the three-dimensional models corresponding to the maxilla and the adjacent teeth; and determining the bone window corresponding to the target region in the spatial dimension according to the residual bone amount and the bone density.

[0106] In the above scheme, in another optional technical solution, the bone window corresponding to the target region in the spatial dimension is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, comprising: determining the residual bone amount of the maxilla corresponding to the target region in the spatial dimension according to the three-dimensional models corresponding to the maxilla and the adjacent teeth; and determining the bone window corresponding to the target region in the spatial dimension according to the residual bone amount and the bone density.

[0107] In the above scheme, in another optional technical solution, the bone window corresponding to the target region in the spatial dimension is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, comprising: determining the residual bone amount of the maxilla corresponding to the target region in the spatial dimension according to the three-dimensional models corresponding to the maxilla and the adjacent teeth; and determining the bone window corresponding to the target region in the spatial dimension according to the residual bone amount and the bone density.

[0108] In the above scheme, in another optional technical solution, the bone window corresponding to the target region in the spatial dimension is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, comprising: determining the residual bone amount of the maxilla corresponding to the target region in the spatial dimension according to the three-dimensional models corresponding to the maxilla and the adjacent teeth; and determining the bone window corresponding to the target region in the spatial dimension according to the residual bone amount and the bone density.

[0109] In the above scheme, in another optional technical solution, the bone window corresponding to the target region in the spatial dimension is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, comprising: determining the residual bone amount of the maxilla corresponding to the target region in the spatial dimension according to the three-dimensional models corresponding to the maxilla and the adjacent teeth; and determining the bone window corresponding to the target region in the spatial dimension according to the residual bone amount and the bone density.

[0110] In the above scheme, in another optional technical solution, the bone window corresponding to the target region in the spatial dimension is determined according to the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, comprising: determining the residual bone amount of the maxilla corresponding to the target region in the spatial dimension according to the three-dimensional models corresponding to the maxilla and the adjacent teeth; and determining the bone window corresponding to the target region in the spatial dimension according to the residual bone amount and the bone density.

[0111] In the embodiment of the present application, the residual bone mass is determined according to the three-dimensional model corresponding to the maxilla and the adjacent teeth respectively; and the bone window is determined according to the residual bone mass and the bone density. The above technical solution can determine more accurate residual bone mass through the three-dimensional model corresponding to the maxilla and the adjacent teeth respectively, and then determine more accurate bone window according to the residual bone mass and the bone density.

[0112] In another optional technical solution, the at least one maxillary structure further includes blood vessels and / or nerves; and the method further includes: determining a safe area of the operation of the maxillary sinus lifting in the spatial dimension according to the three-dimensional model corresponding to the blood vessels and / or nerves respectively; and determining the filling area of the bone graft required by the operation of the maxillary sinus lifting in the spatial dimension according to the bone density and the three-dimensional model corresponding to the maxilla and the adjacent teeth respectively, including: determining the filling area of the bone graft required by the operation of the maxillary sinus lifting in the spatial dimension according to the safe area, the bone density and the three-dimensional model corresponding to the maxilla and the adjacent teeth respectively.

[0113] In the above technical solution, the blood vessels can be understood as the blood vessels in the maxilla.

[0114] The nerves can be understood as the nerves in the maxilla.

[0115] The safe area can be understood as the area in which the operation of the maxillary sinus lifting can be safely performed in the spatial dimension.

[0116] In the embodiment of the present application, the safe area can be determined according to the three-dimensional model corresponding to the blood vessels and / or nerves respectively, for example, the area in the spatial dimension except the three-dimensional model corresponding to the blood vessels and / or nerves respectively, or the area with a distance greater than a second preset distance from the three-dimensional model corresponding to the blood vessels and / or nerves respectively, can be taken as the safe area.

[0117] In the embodiment of the present application, the safe area can also be determined according to the three-dimensional model corresponding to the blood vessels and / or nerves respectively and historical operation data.

[0118] In the embodiment of the present application, the at least one maxillary structure can also include tooth roots, blood vessels and / or nerves, that is, the safe area can also be determined according to the three-dimensional model corresponding to the tooth roots, blood vessels and / or nerves respectively. It should be noted that, in the case of taking the three-dimensional model corresponding to the tooth roots as a determining factor of the safe area, it can help to avoid damage in the maxillary sinus lifting operation.

[0119] In the embodiment of the present application, the filling area can be determined according to the safe area, the bone density and the three-dimensional model corresponding to the maxilla and the adjacent teeth respectively. For example, the bone window can be determined according to the safe area, the bone density and the three-dimensional model corresponding to the maxilla and the adjacent teeth respectively; and the filling area can be determined according to the bone window and the three-dimensional model corresponding to the maxilla and the adjacent teeth respectively.

[0120] In the embodiments of the present application, the at least one maxillary structure further comprises a blood vessel and / or a nerve; a safety area is determined according to a three-dimensional model corresponding to the blood vessel and / or the nerve; and a filling area is determined according to the safety area, the bone density, and a three-dimensional model corresponding to the maxilla and the adjacent teeth. The above technical solution can avoid safety problems in the maxillary sinus lifting operation according to the target planning determined based on the filling area by determining the safety area and the filling area based on the safety area.

[0121] In order to better understand the technical solutions of the above embodiments of the present application, an optional example is provided. For example, for a target object, at least one key maxillary structure required for maxillary sinus lifting planning is automatically segmented by an algorithm, and a three-dimensional reconstruction is performed on the at least one maxillary structure to obtain a three-dimensional model corresponding to the at least one maxillary structure; a bone window is automatically determined according to historical operation data and the three-dimensional model corresponding to the at least one maxillary structure, and a filling area is determined; an operation path is determined according to the filling area, and an implant is automatically selected according to the bone window; a force threshold value corresponding to each maxillary area is determined according to the historical operation data and each three-dimensional model; a force control parameter corresponding to each step of operation of the maxillary sinus lifting performed by the mechanical arm according to the operation path is determined according to the force threshold value corresponding to each maxillary area; and a target planning is determined according to the force control parameter corresponding to each step of operation, so as to control the mechanical arm to perform fine maxillary sinus lifting and safety protection according to the target planning. The above technical solution does not require manual intervention throughout, and the accuracy of maxillary sinus lifting planning is high, which helps to realize more accurate, safe and controllable maxillary sinus lifting surgery; and referring to Figure 7 and Figure 8 It can be seen that after the maxillary sinus lifting is performed according to the above technical solution, the implantation of the implant can be helpful for safe, accurate and controllable implantation of the implant.

[0122] Figure 9 A structural block diagram of a maxillary sinus lifting planning device provided for the embodiments of the present application is provided, and the device is used to execute the maxillary sinus lifting planning method provided by any of the above embodiments. The device and the maxillary sinus lifting planning method of each of the above embodiments belong to the same inventive concept, and the details not described in the embodiments of the maxillary sinus lifting planning device can be referred to the embodiments of the above maxillary sinus lifting planning method. Referring to Figure 9 The device can specifically include a three-dimensional model determination module 410, a force threshold value determination module 420, and a target planning determination module 430.

[0123] The three-dimensional model determination module 410 is configured to determine, for a target object to be subjected to maxillary sinus lifting, a three-dimensional model corresponding to each of at least one maxillary structure in the maxilla of the target object.

[0124] Optionally, the device can further include an operation path determination module configured to determine an operation path for the maxillary sinus lifting operation on the target object.

[0125] Optionally, the three-dimensional models are located in the same spatial dimension, the maxillary sinus lifting operation is performed on a target region in the maxilla, and the at least one maxillary structure includes at least a maxillary bone and an adjacent tooth adjacent to the target region.

[0126] Optionally, the filling region determination submodule can include a bone window determination unit configured to determine, according to the bone density and the three-dimensional models corresponding to the maxillary bone and the adjacent tooth, a bone window corresponding to the target region in the spatial dimension; and a filling region determination unit configured to determine, according to the bone window and the three-dimensional models corresponding to the maxillary bone and the adjacent tooth, a filling region of the bone graft in the spatial dimension required for the maxillary sinus lifting operation.

[0127] Optionally, the bone window determination unit can include a residual bone amount determination submodule configured to determine, according to the three-dimensional models corresponding to the maxillary bone and the adjacent tooth, a residual bone amount of the maxillary bone corresponding to the target region in the spatial dimension; and a bone window determination submodule configured to determine, according to the residual bone amount and the bone density, the bone window corresponding to the target region in the spatial dimension.

[0128] Optionally, on the basis of the above device, the at least one maxillary structure further comprises blood vessels and / or nerves; the device can further comprise: a safe area determination, configured to determine a safe area of the maxillary sinus lifting operation in the spatial dimension according to the three-dimensional model corresponding to the blood vessels and / or nerves respectively; and a filling area determination submodule, which can comprise: a filling area determination unit, configured to determine the filling area of the bone graft required by the maxillary sinus lifting operation in the spatial dimension according to the safe area, the bone density, and the three-dimensional model corresponding to the maxilla and adjacent teeth respectively.

[0129] Optionally, the device can further comprise: a compliance parameter determination module, configured to determine the compliance parameter corresponding to each maxillary region according to each three-dimensional model; and a target planning determination module 430, which can comprise: a second target planning determination submodule, configured to determine the target planning of the target object for the maxillary sinus lifting operation according to the force threshold value and the compliance parameter corresponding to the at least one maxillary region respectively.

[0130] The maxillary sinus lifting planning device provided by the embodiments of the present application determines the three-dimensional model corresponding to at least one maxillary structure in the maxilla of the target object to be lifted by the maxillary sinus through the three-dimensional model determination module, so as to provide a basis for maxillary sinus lifting planning through the three-dimensional model corresponding to at least one maxillary structure; determines the force threshold value corresponding to at least one maxillary region in the maxilla according to each three-dimensional model through the force threshold value determination module, so as to facilitate subsequent maxillary sinus lifting planning on the basis of the force threshold value, wherein the force threshold value is the maximum force value that can be reached in the case of maxillary sinus lifting operation in the corresponding maxillary region; and determines the target planning of the target object for the maxillary sinus lifting operation according to the force threshold value corresponding to at least one maxillary region through the target planning determination module, so as to realize the maxillary sinus lifting planning. The above device can make accurate control of the force value adopted by the maxillary sinus lifting planning for the maxillary sinus lifting operation through the force threshold value corresponding to at least one maxillary region, so as to improve the accuracy of the maxillary sinus lifting planning, and further avoid safety problems in the process of maxillary sinus lifting.

[0131] The maxillary sinus lifting planning device provided by the embodiments of the present application can execute the maxillary sinus lifting planning method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0132] It should be noted that in the embodiments of the above maxillary sinus lifting planning device, each unit and module included is only divided according to the function logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for convenient mutual distinction, and does not limit the protection scope of the present application.

[0133] Figure 10 A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0134] As shown, the electronic device 10 includes at least one processor 11, and memory, such as read-only memory (ROM) 12, random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14. Figure 10

[0135] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0136] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the maxillary sinus lift planning method.

[0137] ​In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program in accordance with embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for executing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication unit 19, or installed from the storage unit 18, or installed from the ROM 12. When the computer program is executed by the processor 11, the above-described functions defined in the methods of embodiments of the present application are performed.

[0138] In some embodiments, the maxillary sinus lift planning method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded onto and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the maxillary sinus lift planning method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the maxillary sinus lift planning method by any other suitable means, such as by means of firmware.

[0139] The various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0140] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, causes the machine to implement the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a remote machine or a server.

[0141] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal form, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0142] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0143] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain network, and the Internet.

[0144] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0145] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, and this is not limited herein.

[0146] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for planning maxillary sinus elevation, characterized in that, include: For the target object whose maxillary sinus needs to be lifted, determine the three-dimensional model corresponding to at least one maxillary structure in the maxilla of the target object; Based on each of the three-dimensional models, a force threshold corresponding to at least one maxillary region in the maxilla is determined, wherein the force threshold is the maximum force value that can be achieved when performing a maxillary sinus lift operation in the corresponding maxillary region. Based on the force threshold corresponding to each of the at least one maxillary region, a target plan for performing a maxillary sinus lift operation on the target object is determined.

2. The method according to claim 1, characterized in that, Also includes: Determine the operational path for performing a maxillary sinus lift on the target object; The step of determining the target plan for maxillary sinus lift operation on the target object based on the force threshold corresponding to the at least one maxillary region includes: Based on the operation path and the force thresholds corresponding to the at least one maxillary region, a target plan for performing a maxillary sinus lift operation on the target object is determined.

3. The method according to claim 2, characterized in that, Each of the three-dimensional models is located in the same spatial dimension, and the maxillary sinus lift operation is performed on a target region in the maxilla. The at least one maxillary structure includes at least the maxilla and adjacent teeth adjacent to the target region. The process of determining the operational path for performing a maxillary sinus lift on the target object includes: Determine the bone density of the maxilla, and based on the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, determine the filling area of ​​the bone graft required for the maxillary sinus lift operation in the spatial dimension. Based on the filled area, the operation path for performing a maxillary sinus lift on the target object is determined.

4. The method according to claim 3, characterized in that, The step of determining the filling area of ​​the bone graft required for the maxillary sinus lift operation in the spatial dimension based on the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth includes: Based on the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth, the bone window corresponding to the target region in the spatial dimension is determined. Based on the bone window and the three-dimensional models corresponding to the maxilla and the adjacent teeth, the filling area of ​​the bone graft required for the maxillary sinus lift in the spatial dimension is determined.

5. The method according to claim 4, characterized in that, The step of determining the bone window corresponding to the target region in the spatial dimension based on the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth includes: Based on the three-dimensional models corresponding to the maxilla and the adjacent teeth, the residual bone volume of the maxilla corresponding to the target region in the spatial dimension is determined. Based on the residual bone volume and the bone density, a bone window corresponding to the target region in the spatial dimension is determined.

6. The method according to claim 3, characterized in that, The at least one maxillary structure also includes blood vessels and / or nerves; The method further includes: Based on the three-dimensional models corresponding to the blood vessels and / or nerves, a safe area in the spatial dimension in which the maxillary sinus lift operation can be performed is determined. The step of determining the filling area of ​​the bone graft required for the maxillary sinus lift operation in the spatial dimension based on the bone density and the three-dimensional models corresponding to the maxilla and the adjacent teeth includes: Based on the safety area, the bone density, and the three-dimensional models corresponding to the maxilla and the adjacent teeth, the filling area of ​​the bone graft required for the maxillary sinus lift operation in the spatial dimension is determined.

7. The method according to claim 1, characterized in that, Also includes: Based on each of the three-dimensional models, determine the compliance parameters corresponding to each of the maxillary regions; The step of determining the target plan for maxillary sinus lift operation on the target object based on the force threshold corresponding to the at least one maxillary region includes: Based on the force threshold and compliance parameters corresponding to the at least one maxillary region, a target plan for performing a maxillary sinus lift operation on the target object is determined.

8. A maxillary sinus lift planning device, characterized in that, include: The three-dimensional model determination module is used to determine the three-dimensional model corresponding to at least one maxillary structure in the maxilla of the target object to be lifted, for the target object of the maxillary sinus. The force threshold determination module is used to determine the force threshold corresponding to at least one maxillary region in the maxilla based on each of the three-dimensional models, wherein the force threshold is the maximum force value that can be achieved when performing a maxillary sinus lift operation in the corresponding maxillary region. The target planning and determination module is used to determine the target plan for performing a maxillary sinus lift operation on the target object based on the force thresholds corresponding to the at least one maxillary region.

9. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to cause the at least one processor to perform the maxillary sinus lift planning method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the maxillary sinus lift planning method as described in any one of claims 1-7.

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