Oral implant data acquisition method and restoration generation method

Abstract

The invention provides an oral implant data acquisition method and a restoration generation method.The oral implant data acquisition method comprises the steps that oral CBCT data, oral scanning data and dynamic implant navigation information are acquired; performing data fusion on the oral cavity CBCT data and the oral scanning data, and obtaining a conversion matrix between the oral cavity CBCT data and the oral scanning data based on a fusion result; based on the dynamic implantation navigation information, obtaining a relative pose of a virtual implant model in the oral cavity CBCT data; based on the conversion matrix and the relative pose, pose information of the virtual implant model in the oral scanning data is obtained through calculation. The implant upper crown restoration is designed and manufactured according to the obtained fusion data including the implant body posture information and the gingival height, shape and position of the tooth-missing area, and the purposes of low cost, fast process and high precision are achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of oral cavity, and in particular relates to a method for acquiring oral implant data and a method for generating a restoration. BACKGROUND

[0002] In the field of dental implant restoration, as shown in the following steps, the process is generally divided into two steps of implanting an implant and installing a crown. After the implant is implanted in the bone, in order to accurately design the crown, the accurate pose information of the implant relative to the adjacent crown and the crown-side gingiva needs to be known, so as to provide a high-precision data model for subsequent implant restoration. Figure 1

[0003] The existing method for acquiring the pose information of the implant relative to the adjacent crown and the crown-side gingiva includes a negative mold taking method. The negative mold taking method is a common method for acquiring the accurate pose information of the implant relative to the adjacent crown, which is a silicone rubber negative mold method. First, a transfer rod adapted to the interface is placed in the implant interface, and silicone rubber material is attached to the patient's teeth and the transfer rod to take a negative mold. This method is currently used more frequently. The advantages are relatively low cost, and the disadvantages are low digitalization, relatively low precision, long process time, waste of silicone rubber and subsequent plaster materials, and possible damage to the implant area gingiva during the mold taking process, which causes discomfort to the patient.

[0004] In addition, there is an oral scanning method. The oral scanning method is a common method for acquiring the accurate pose information of the implant relative to the adjacent crown and the crown-side gingiva in recent years. This method relies on an intraoral scan or extraoral scan device. First, a scanning rod (transfer rod) specially used for digital scanning is placed on the implant interface, and then an extraoral scan / intraoral scan device is held to scan the scanning rod, adjacent teeth in the edentulous area, and gingiva in the edentulous area in sequence from the outside or inside of the mouth. This method has the advantages of accurate precision, good patient experience, no need to use silicone rubber and plaster impression and model pouring materials, and fast data transmission compared with the negative mold taking method. However, it needs additional equipment support, and the overall cost is high. SUMMARY

[0005] In view of the problems in the prior art, the present application provides a method for acquiring oral implant data and a method for generating a restoration, which at least partially solves the problem that the prior art cannot balance precision and cost.

[0006] In a first aspect, the present disclosure provides a method for acquiring oral implant data, comprising: acquiring CBCT data, oral scanning data, and dynamic implant navigation information of the oral cavity; ​fusing the oral CBCT data and the oral scan data, and obtaining a conversion matrix between the oral CBCT data and the oral scan data based on a fusion result; based on the dynamic implant navigation information, obtaining a relative pose of the virtual implant model in the oral CBCT data; based on the conversion matrix and the relative pose, calculating and obtaining pose information of the virtual implant model in the oral scan data.

[0007] Optionally, the obtaining of the relative pose of the virtual implant model in the oral CBCT data based on the dynamic implant navigation information comprises: obtaining a conversion relationship between a reference plate fixed to a patient's teeth and a navigation system through a dynamic implant navigation system, the dynamic implant navigation system comprising the reference plate and an instrument positioner; obtaining a relative position relationship between the oral CBCT data and the navigation system based on a conversion relationship between the reference plate and the oral CBCT data pre-calibrated and the conversion relationship between the reference plate and the navigation system; recording a relative pose of the instrument positioner in the navigation coordinate system in a last state before implant implantation is completed; obtaining a conversion relationship between the instrument positioner and the navigation system; calculating end coordinates of an implant instrument drill in the navigation coordinate system and unit axial information of the instrument drill based on geometric parameters of the implant instrument drill and the instrument positioner pre-calibrated and the relative pose of the instrument positioner in the navigation coordinate system; calculating coordinates and unit axial information of the implant in the navigation system based on a length of an implant tip relative to the end coordinates of the instrument drill, the end coordinates and the unit axial information; registering the coordinates and the axial information of the implant in the navigation system with corresponding information of a pre-stored three-dimensional model of the implant, to obtain a conversion matrix of the implant model in the navigation coordinate system; combining the relative position relationship between the oral CBCT data and the navigation system and the conversion matrix of the implant model in the navigation coordinate system, to determine a relative pose of the virtual implant model in the oral CBCT data.

[0008] Optionally, the calculation formula of the end coordinates of the implant instrument drill in the navigation coordinate system and the unit axial information of the instrument drill is: , , , wherein, is the conversion relationship between the instrument positioner and the navigation system, a coordinate point of a tip of the drill of the implant device, unit axial information of the drill of the implant device, a coordinate of the tip of the drill of the implant device under the navigation system, unit axial information of the drill of the implant device, a rotation transformation from the device locator to the navigation system, a translation transformation from the device locator to the navigation system.

[0009] Optionally, the formula for calculating the coordinate and the unit axial information of the implant under the navigation system is as follows: , , wherein, a length of the tip of the implant relative to the coordinate of the tip of the drill of the implant device, a coordinate of the implant under the navigation system, unit axial information of the implant under the navigation system.

[0010] Optionally, the transformation matrix of the implant model under the navigation coordinate system is obtained, and the method comprises the following steps: calculating a rotation axis according to the axial difference, calculating an included angle by cross multiplication, and calculating a rotation matrix ; calculating a translation vector according to the coordinate point difference, so as to obtain the transformation matrix of the implant model under the navigation coordinate system .

[0011] Optionally, , , , , , wherein, unit axial information of the implant, a coordinate point of the implant.

[0012] In a second aspect, the embodiments of the present disclosure further provide a method for generating a restoration, comprising: obtaining digital scanning data of a toothless dentition and gum height, shape and position where the restoration is located; The virtual implant model obtained by the acquisition method of any one of the first aspect is used to obtain a virtual implant containing a central passage of the implant, so as to obtain integrated data of the edentulous dental arch containing the virtual implant, the gum shape and the gum position; The edentulous dental arch data of the prosthesis and the integrated data of the edentulous dental arch containing the virtual implant, the gum shape and the position are matched through the residual tooth, so as to obtain integrated data containing the implant position, the gum position and the temporary crown; Data of the virtual implant and the crown are extracted from the integrated data; An opening passage of the temporary abutment is designed based on the pose information of the virtual implant, so that the opening passage is axially consistent with the axis of the virtual implant, so as to obtain a temporary abutment matched with the virtual implant; The prosthesis is generated based on the temporary abutment.

[0013] Optionally, the prosthesis is generated based on the temporary abutment, including: The gingival penetration height of the temporary abutment is obtained based on the distance between the obtained crown and the implant neck platform; The temporary crown is bonded on the temporary abutment based on the gingival penetration height, so as to generate the prosthesis.

[0014] In a third aspect, the embodiments of the present disclosure further provide an electronic device, including: at least one processor; and a memory in communication connection with the at least one processor; wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the acquisition method of the oral implant data according to any one of the first aspect.

[0015] In a fourth aspect, the embodiments of the present disclosure further provide a computer readable storage medium storing computer instructions for causing a computer to execute the acquisition method of the oral implant data according to any one of the first aspect.

[0016] The application provides an oral implant data acquisition method and a restoration generation method. The oral implant data acquisition method acquires the accurate pose of the implant relative to other crowns immediately after implantation, has high surgical efficiency and high accuracy. Compared with a reverse mold molding method, the method can acquire digital accurate information of the implant, has higher accuracy and is more convenient to operate; compared with an oral scanning method, the method does not need an extraoral scanning device, has lower cost, does not need an additional scanning process, has a more convenient surgical process, does not need an additional scanning rod, and has better patient experience. The fusion data obtained by the embodiment contains implant pose information, gingival height, shape and position of a missing tooth area, and is used for designing and manufacturing an implant upper crown restoration, so that the purposes of low cost, fast process and high accuracy are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the figures, exemplary embodiments of the present disclosure.

[0018] Figure 1 a flowchart of an existing dental implant restoration process; Figure 2 a flowchart of the oral implant data acquisition method provided by the embodiment of the present disclosure; Figure 3 a principle block diagram of an electronic device provided by the embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] The embodiments of the present disclosure will be described in detail below with reference to the drawings.

[0020] It should be apparent that the following describes the embodiments of the present disclosure through specific concrete examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all. The present disclosure can also be implemented or applied through other different specific embodiments, and each detail in the specification can be modified or changed based on different views and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0021] It is to be understood that the embodiments described hereinbelow within the scope of the appended claims. It will be apparent to one of ordinary skill in the art that aspects described herein can be implemented in a wide variety of forms, and that any specific structure and / or function described herein is merely illustrative. Based on the teachings herein one skilled in the art should appreciate that an aspect described herein can be implemented independently of any other aspects and that an aspect described herein can be implemented both as any claim dependent on another and as an independent claim. An aspect can be implemented apart from, and independent of, any other aspect or claim. Variations of examples described herein that are not described can be within the scope of aspects described herein. Implementations are described in the following numbered clauses:

[0022] It is also to be understood that the diagrams provided in the following embodiments are only schematic and that the drawings are only intended to aid in the understanding of the disclosure. In reality, the parts shown in the drawings can differ in shape, size and dimensions, and the disclosed components may, in practice, be more complex in structure and / or function.

[0023] In addition, in the following description, specific details are provided to thoroughly understand examples. However, one of ordinary skill in the art will understand that the aspects described can be practiced without these specific details.

[0024] As shown in Figure 2 The embodiment discloses a method for acquiring oral implant data, comprising: acquiring oral CBCT data, oral scan data and dynamic implant navigation information; performing data fusion on the oral CBCT data and the oral scan data, and obtaining a conversion matrix between the oral CBCT data and the oral scan data based on the fusion result; based on the dynamic implant navigation information, obtaining the relative pose of the virtual implant model in the oral CBCT data; based on the conversion matrix and the relative pose, calculating and obtaining the pose information of the virtual implant model in the oral scan data.

[0025] The dynamic implant navigation system includes a reference plate and an instrument locator. Before the operation starts, the dynamic implant navigation system needs to be calibrated. That is, the navigation system identifies the optical marker points on the reference plate and the navigation instrument, and calculates and establishes the spatial conversion relationship between the reference plate and the navigation system coordinate system, and between the instrument locator and the navigation system coordinate system.

[0026] The specific scheme is as follows: 1. In the pre-implantation design process, the oral CBCT data and the oral scan data (common types include STL, PLY, hereinafter represented by STL) are registered and fused to obtain the conversion matrix between the oral CBCT data and the oral scan data The registration and fusion method between the oral CBCT data and the oral scan data can adopt PCA principal component registration and fusion, or a segmentation-based registration method.

[0027] 2. In the implantation process, the relative pose of the implant in the oral CT data is obtained by using the dynamic implant navigation system. In the actual operation process, the dynamic implant navigation system locates and tracks the "reference plate (or reference locator) fixed to the same side of the patient's to-be-implanted region" and the "instrument locator fixedly connected with the implant region", and the specific calculation steps are as follows: 2.1. The dynamic implant navigation system locates the reference plate to obtain the conversion relationship between the reference plate (ref represents the reference plate in this embodiment) and the dynamic implant navigation system (nav represents the dynamic implant navigation system) Since the relative pose conversion relationship between the reference plate and the oral CBCT has been registered and obtained in advance and stored, it is recorded as Therefore, the relative position relationship between the oral CBCT data and the dynamic implant navigation system can be directly obtained by using the reference plate : , 2.2. The relative pose of the instrument locator under the dynamic implant navigation system is recorded in the last state (simplified as the last drill) before the implant is implanted, and the conversion relationship between the instrument locator (piece represents the instrument locator in this embodiment) and the dynamic implant navigation system is obtained Since the coordinate point of the implant instrument drill needle tip and the drill needle unit axial information have been calibrated with the instrument locator in advance and stored, the end coordinate of the implant instrument drill needle under the navigation system and the drill needle unit axial information can be calculated, and the related calculation formula is as follows: , , , 2.3. According to the end coordinate of the implant instrument drill needle under the navigation system and the drill needle unit axial information Since the length of the implant tip relative to the coordinate of the instrument drill needle tip is known, the coordinate of the implant under the dynamic implant navigation system and the unit axial information .

[0028] , , 2.4, since the 3D triangular facet data model of the known implant (hereinafter referred to as the virtual implant model, denoted as model) can be extracted respectively and unit axial information , and the coordinates and unit axial information of the implant obtained in step 2.3 under the dynamic implant navigation system are matched, the conversion matrix of the implant model under the dynamic implant navigation system is obtained . The calculation process and formula are as follows: 1) according to the axial difference, cross product is calculated to calculate the rotation axis , dot product is calculated to calculate the included angle , and the rotation matrix is calculated ; 2) according to the coordinate point difference, the translation vector is calculated , and finally the conversion matrix is obtained .

[0029] , , , , , 2.5, the relative position relationship between the oral CBCT data and the navigation system obtained in the above steps and the conversion matrix of the implant model under the navigation system , that is, the relative position relationship between the virtual implant model and the oral CBCT data .

[0030] .

[0031] 3, the relative position relationship between the implant model and the oral scanning data can be determined by combining the conversion matrix between the oral CBCT data and the oral scanning data obtained in the above steps and the relative position relationship between the implant model and the oral CBCT data .

[0032] , 4, according to the relative position relationship between the implant model and the oral scanning data , the restoration can be generated correspondingly, and the implant restoration generation scheme based on navigation without additional manual operation is realized. ​

[0033] The embodiment also discloses a method for generating a restoration, comprising the following steps: acquiring digital scanning data of a toothless dentition and gum height, shape and position where the restoration is located; obtaining a virtual implant containing an implant central channel based on the position and posture information of the virtual implant model obtained by the acquisition method in the oral scanning data, so as to obtain toothless dentition integration data containing the virtual implant, gum shape and gum position; matching the toothless dentition data of the restoration and the toothless dentition integration data of the virtual implant, gum shape and gum position through residual teeth, so as to obtain integration data containing implant position, gum position and temporary crown; extracting data of the virtual implant and the crown in the integration data; designing a hole channel of the temporary abutment based on the position and posture information of the virtual implant, so that the hole channel is axial with the virtual implant, so as to obtain a temporary abutment matched with the virtual implant; generating the restoration based on the temporary abutment.

[0034] Optionally, the restoration is generated based on the temporary abutment, comprising: obtaining the gum-penetrating height of the temporary abutment based on the distance between the obtained crown and the implant neck platform; bonding the prepared temporary crown on the temporary abutment based on the gum-penetrating height, so as to generate the restoration.

[0035] Specifically, the imported data includes toothless dentition data 1 of a preoperatively designed temporary restoration and toothless dentition integration data 2 of a postoperatively obtained virtual implant containing an implant central channel and gum shape and position. The data 1 and the data 2 are matched through the tooth tip or tooth pit shape (common point) of the residual teeth; so as to obtain integration data containing implant position, gum position and temporary crown and data 3, and subsequent operations are performed on the data 3.

[0036] The virtual implant and crown data are extracted separately, a hole channel of the temporary abutment (the shape of the temporary abutment is cylindrical) is designed, and the axial direction of the hole channel is consistent with the axial direction of the virtual implant. The distance from the gum side of the crown to the implant neck platform is measured, and the distance can be 4.032 mm. Then, the gum penetration height of the temporary abutment is adjusted based on the measured distance, a resin temporary crown of the temporary abutment channel is digitally cut, and the temporary crown is bonded on the temporary abutment. Then, the temporary crown can be fixed in the implant in the mouth by the central screw in the subsequent treatment. Through the above method, the shape of the temporary restoration can be designed before the surgery of the patient, and the temporary restoration can be quickly made by using the implant pose information generated in the embodiment after the surgery, without using the conventional method of scanning the temporary restoration by using the screw-in restoration scanning rod, thereby saving the time and the cost of consumables such as the scanning rod and the optical scanning head.

[0037] The electronic device disclosed in the embodiment includes a memory and a processor. The memory is configured to store non-transitory computer-readable instructions. Specifically, the memory can include one or more computer program products, which can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory, etc. The non-volatile memory may, for example, include read-only memory (ROM), a hard disk, a flash memory, etc.

[0038] The processor can be a central processing unit (CPU) or other forms of processing units having data processing capability and / or instruction execution capability, and can control other components in the electronic device to perform desired functions. In one embodiment of the disclosure, the processor is configured to run the computer-readable instructions stored in the memory, so that the electronic device performs all or part of the steps of the method for obtaining oral implant data according to the embodiments of the disclosure.

[0039] Those skilled in the art should understand that, in order to solve the technical problem of how to obtain a good user experience effect, the embodiment can also include well-known structures such as a communication bus, an interface, etc., which should also be included in the protection scope of the disclosure.

[0040] As Figure 3 A structural schematic diagram of an electronic device provided by an embodiment of the disclosure is shown. The structural schematic diagram shows a structure suitable for implementing the electronic device in the embodiment of the disclosure. Figure 3 The electronic device shown is only an example, and should not limit the functions and use range of the embodiment of the disclosure.

[0041] As Figure 3As shown, the electronic device can include a processing device (e.g., a central processor, a graphics processor, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device into a random access memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0042] Generally, the following devices can be connected to the I / O interface: input devices including, for example, a sensor or a visual information collection device; output devices including, for example, a display screen; storage devices including, for example, a magnetic tape, a hard disk, etc.; and communication devices. The communication devices can allow the electronic device to communicate wirelessly or wired with other devices (such as edge computing devices) to exchange data. Although Figure 3 The electronic device is shown with various devices, but it is understood that not all of the shown devices are required to be implemented or present. More or fewer devices can alternatively be implemented or present.

[0043] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication device, or installed from the storage device, or installed from the ROM. When the computer program is executed by the processing device, all or part of the steps of the method of acquiring oral implant data according to embodiments of the present disclosure are performed.

[0044] Detailed descriptions of the present embodiments can refer to the corresponding descriptions in the foregoing embodiments, which will not be repeated here.

[0045] The computer-readable storage medium according to embodiments of the present disclosure has non-transitory computer-readable instructions stored thereon. When the non-transitory computer-readable instructions are run by a processor, all or part of the steps of the method of acquiring oral implant data according to embodiments of the present disclosure described above are performed.

[0046] The computer-readable storage medium described above includes, but is not limited to, an optical storage medium (e.g., CD-ROM and DVD), a magneto-optical storage medium (e.g., MO), a magnetic storage medium (e.g., magnetic tape or a mobile hard disk), a medium with a built-in rewritable non-volatile memory (e.g., a memory card), and a medium with a built-in ROM (e.g., a ROM cartridge).

[0047] For details of the present embodiment, reference can be made to the corresponding description in the foregoing embodiments, which will not be repeated here.

[0048] The above has described the basic principles of the present disclosure in combination with specific embodiments, but it needs to be pointed out that the advantages, benefits, effects and the like mentioned in the present disclosure are only examples and not limitations, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present disclosure. In addition, the above specific details of the disclosure are only for the purpose of example and for the purpose of understanding, and not for limitation, and the above details do not limit the present disclosure to be necessarily implemented with the above specific details.

[0049] In the present disclosure, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations, and the block diagrams of the devices, apparatuses, equipment, systems involved in the present disclosure are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration as shown in the block diagram. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, which mean "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0050] In addition, as used herein, "or" used in a list of items, starting with "at least one of", indicates a disjunctive list such that, for example, "at least one of A, B, or C" means A or B or C or AB or AC or BC or ABC (i.e., A and B and C). In addition, the phrase "exemplary" does not mean that a described example is preferred or better than other examples.

[0051] It also needs to be pointed out that in the systems and methods of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present disclosure.

[0052] Various changes, modifications, and alterations to the techniques described herein can be made without departing from the teachings of the attached claims. Moreover, the scope of the claims of this disclosure is not limited to the particular aspects described above. In addition, where a process, machine, manufacture, composition of matter, means, method, or result containing procedural, business, and other steps is described, it is understood that the description is meant to encompass the specific implementation of the steps described, as well as the substitution of equivalent steps, or equivalent steps in the performance order. Accordingly, the attached claims are to be interpreted as embracing the specific aspects and embodiments described herein, as well as future modifications, changes, and alterations of the aspects and embodiments.

[0053] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0054] The above description has been presented for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the disclosure to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate a variety of modifications, alternatives, permutations, additions, and sub-combinations of the aspects and embodiments disclosed herein.

Claims

1. A method of acquiring data of an oral implant, characterized by, The method comprises the following steps: Obtaining oral CBCT data, oral scanning data and dynamic implant navigation information; Data fusion is performed on the oral CBCT data and the oral scanning data, and a conversion matrix between the oral CBCT data and the oral scanning data is obtained based on the fusion result; Based on the dynamic implant navigation information, the relative pose of the virtual implant model in the oral CBCT data is obtained; Based on the conversion matrix and the relative pose, the pose information of the virtual implant model in the oral scanning data is calculated.

2. The method of acquiring dental implant data according to claim 1, wherein, The method comprises the following steps: Through a dynamic implant navigation system, a conversion relationship between a reference plate fixed to a patient's teeth and a navigation system is obtained, and the dynamic implant navigation system comprises the reference plate and an instrument locator; Based on the conversion relationship between the reference plate and the oral CBCT data and the conversion relationship between the reference plate and the navigation system, which are calibrated in advance, a relative position relationship between the oral CBCT data and the navigation system is obtained; In the last state before the implant is implanted, the relative pose of the instrument locator in the navigation coordinate system is recorded; The conversion relationship between the instrument locator and the navigation system is obtained; Based on the geometric parameters of the implant instrument drill and the instrument locator, which are calibrated in advance, and the relative pose of the instrument locator in the navigation coordinate system, the end coordinates and the unit axial information of the implant instrument drill in the navigation coordinate system are calculated; Based on the length of the implant tip relative to the end coordinates of the instrument drill, the end coordinates and the unit axial information, the coordinates and the unit axial information of the implant in the navigation system are calculated; The coordinates and the axial information of the implant in the navigation system are matched with the corresponding information of the pre-stored digital implant three-dimensional model, and a conversion matrix of the virtual implant model in the navigation coordinate system is obtained; The relative pose of the virtual implant model in the oral CBCT data is determined by combining the relative position relationship between the oral CBCT data and the navigation system and the conversion matrix of the virtual implant model in the navigation coordinate system.

3. The method of acquiring dental implant data according to claim 2, wherein, The formula for calculating the end coordinates and the unit axial information of the implant instrument drill in the navigation coordinate system is: ， ， ， wherein, is a conversion relationship between an instrument positioner and a navigation system, is a drill tip coordinate point of an implant instrument, is a drill unit axial information of an implant instrument, is a drill tip coordinate of an implant instrument under a navigation system, is a drill unit axial information of an implant instrument, is a rotation transformation from an instrument positioner to a navigation system, is a translation transformation from an instrument positioner to a navigation system.

4. The method of acquiring dental implant data according to claim 3, wherein, The formula for calculating the coordinates and the unit axial information of the implant in the navigation system is: ， ， wherein, is the length of the implant tip relative to the coordinate of the end of the instrument drill, is the coordinate of the implant under the navigation system, is the unit axial information of the implant under the navigation system.

5. The method of acquiring dental implant data according to claim 4, wherein, The conversion matrix of the virtual implant model in the navigation coordinate system is obtained by the following steps: According to the axial difference, the cross product calculates the rotation axis , the dot product calculates the included angle , and calculates the rotation matrix ; calculating a translation vector from the coordinate point difference and thereby obtaining a conversion matrix of the implant model in the navigation coordinate system .

6. The method for obtaining oral implant data according to claim 5, characterized in that, ， ， ， ， ， wherein, is a unit axial information of the implant, is a coordinate point of the implant.

7. A method of producing a restoration, characterized by The method comprises the following steps: Obtaining digital scanning data of the edentulous dental arch and the height, shape and position of the gum; Based on the pose information of the virtual implant model in the oral scanning data obtained by the method according to any one of claims 1 to 6, a virtual implant containing an implant central channel is obtained, and thus edentulous dental arch integration data containing the virtual implant, the gum shape and the gum position are obtained; The edentulous dental arch data of the restoration and the edentulous dental arch integration data of the virtual implant, the gum shape and the gum position are matched through the remaining teeth, and integration data containing the implant position, the gum position and the temporary crown are obtained. Extracting data of the virtual implant and the crown in the integrated data; Designing a hole channel of the temporary abutment based on the position information of the virtual implant, so that the hole channel is axial with the virtual implant, thereby obtaining the temporary abutment matched with the virtual implant; Generating the restoration based on the temporary abutment.

8. The method of generating a restoration according to claim 7, characterized in that, The method for generating the restoration based on the temporary abutment comprises: Obtaining the gingival penetration height of the temporary abutment based on the distance between the crown and the implant neck platform; Bonding the temporary crown on the temporary abutment based on the gingival penetration height, thereby generating the restoration.

9. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for acquiring the oral implant data according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a computer to execute the method for acquiring the oral implant data according to any one of claims 1-6.

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