Tools and methods for matching CT images and locating the position of passive infrared reflective balls

Abstract

The present invention provides a tool and method for matching CT images with the position of a passive infrared reflective ball. The tool for accurately matching CT images with the position of a passive infrared reflective ball comprises a dental brace, a connecting rod, a bracket body and a passive infrared reflective ball positioning assembly; the bracket body is a cross-shaped arm structure, having four installation points distributed in a cross shape; at each installation point, a corresponding passive infrared reflective ball positioning assembly is installed; wherein each passive infrared reflective ball positioning assembly comprises a connecting stud, a reflective titanium bead and a passive infrared reflective ball; the passive infrared reflective ball and the reflective titanium bead are concentrically arranged. The present invention effectively saves the tediousness of the operation of positioning the target point E, saves the time of positioning the target point E, and improves the accuracy of positioning the target point E. The present invention has the advantages of simple assembly and convenient use.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a tool and method for matching CT images and locating the position of a passive infrared reflective ball. Background Art

[0002] When repairing or implanting teeth, braces need to be put on the outside of the patient's teeth, and then CBCT is used to scan the teeth to obtain a tooth CT image; by analyzing and reading the tooth CT image, the three-dimensional coordinates of the tooth target position point in the CT coordinate system {C} can be obtained; among which, the tooth target position point is the tooth defect position; then, during the tooth repair process, the patient needs to lie on a dental chair and use repair tools to repair the teeth.

[0003] When a tooth is repaired by a repair tool, the three-dimensional coordinates of the tooth target position point in the locator coordinate system need to be obtained in order to effectively locate the tooth target position point.

[0004] In the prior art, another set of auxiliary tools separated from the braces are used for manual operation to obtain the three-dimensional coordinates of the target tooth position point in the locator coordinate system to locate the target tooth position point, which has the problems of complex implementation process and low positioning accuracy. Summary of the invention

[0005] In view of the defects of the prior art, the present invention provides a tool and method for matching CT images and locating the position of passive infrared reflective balls, which can effectively solve the above problems.

[0006] The technical solution adopted by the present invention is as follows:

[0007] The present invention provides a tool for matching a CT image and locating the position of a passive infrared reflective ball, comprising a dental brace (1), a connecting rod (2), a bracket body (3) and a positioning passive infrared reflective ball assembly (4);

[0008] The front of the dental brace (1) is fixedly connected to one end of the connecting rod (2); the other end of the connecting rod (2) extends out of the oral cavity and is fixedly connected to the center position of the bracket body (3);

[0009] The support body (3) is a cross-shaped arm structure having four cross-shaped mounting points, namely a first mounting point (3.1), a second mounting point (3.2), a third mounting point (3.3) and a fourth mounting point (3.4); a positioning passive infrared reflective ball assembly (4) is correspondingly mounted at each mounting point;

[0010] Wherein, each of the positioning passive infrared reflective ball components (4) comprises a connecting stud (4.1), a reflective titanium bead (4.2) and a passive infrared reflective ball (4.3);

[0011] One end of the connecting stud (4.1) is embedded and installed in the corresponding installation point of the bracket body (3); the other end of the connecting stud (4.1) is fixedly installed with the reflective titanium bead (4.2); the passive infrared reflective ball (4.3) is sleeved on the outside of the reflective titanium bead (4.2) and screwed into the outside of the connecting stud (4.1), so that the passive infrared reflective ball (4.3) and the reflective titanium bead (4.2) are concentrically arranged.

[0012] Preferably, a first hexagon socket screw (5) is installed in front of the brace (1), and the end of the first hexagon socket screw (5) passes through one end of the connecting rod (2), and is then tightened using a straight-grained knob (6) to achieve a fixed connection between the brace (1) and the connecting rod (2).

[0013] Preferably, a first threaded hole (3.5) is provided at the center of the bracket body (3); a second threaded hole (2.1) is provided at the other end of the connecting rod (2); and the end of the second hexagon socket screw (7) is passed through the second threaded hole (2.1) and then screwed into the first threaded hole (3.5), thereby achieving a fixed connection between the connecting rod (2) and the bracket body (3).

[0014] Preferably, the reflective titanium bead (4.2) is bonded to the other end of the connecting stud (4.1).

[0015] The present invention also provides a positioning method for matching a CT image with a tool for positioning a passive infrared reflective ball, comprising the following steps:

[0016] Step 1, assuming that the four mounting points of the bracket body (3) are respectively installed with reflective titanium beads (4.2) being reflective titanium beads A, reflective titanium beads B, reflective titanium beads C and reflective titanium beads D; the passive infrared reflective balls corresponding to the reflective titanium beads A, reflective titanium beads B, reflective titanium beads C and reflective titanium beads D are respectively: passive infrared reflective ball A, passive infrared reflective ball B, passive infrared reflective ball C and passive infrared reflective ball D;

[0017] Step 2, CBCT scans the teeth to obtain a tooth CT image; the tooth CT image is processed to obtain the three-dimensional position coordinates of each reflective titanium bead in the CT coordinate system {CT}, and the three-dimensional position coordinates of the target point E in the CT coordinate system {CT};

[0018] Since the reflective titanium beads and the passive infrared reflective balls are concentrically arranged, the three-dimensional position coordinates of each reflective titanium bead in the CT coordinate system {CT} are equal to the three-dimensional position coordinates of each passive infrared reflective ball in the CT coordinate system {CT};

[0019] Step 3, the passive infrared reflective ball A, the passive infrared reflective ball B, the passive infrared reflective ball C and the passive infrared reflective ball D form a tracer; the tracer coordinate system is represented by {S}, and the tracer obtains the three-dimensional position coordinates of each passive infrared reflective ball in the tracer coordinate system {S};

[0020] An optical locator is used to locate each passive infrared reflective ball of the tracer, and the three-dimensional position coordinates of each passive infrared reflective ball in the optical locator coordinate system {O} are identified;

[0021] According to the three-dimensional position coordinates of the passive infrared reflective ball in the optical locator coordinate system {O} and the three-dimensional position coordinates of the passive infrared reflective ball in the tracer coordinate system {S}, the coordinate transformation matrix between the optical locator coordinate system {O} and the tracer coordinate system {S} is obtained.

[0022] Step 4: According to the three-dimensional position coordinates of the passive infrared reflective ball in the tracer coordinate system {S} and the three-dimensional position coordinates of the passive infrared reflective ball in the CT coordinate system {CT}, the coordinate transformation matrix between the tracer coordinate system {S} and the CT coordinate system {CT} is obtained.

[0023] Step 5: According to the coordinate transformation matrix The three-dimensional position coordinates of the target point E in the CT coordinate system {CT} are converted into the three-dimensional position coordinates of the target point E in the tracer coordinate system {S};

[0024] Step 6: According to the coordinate transformation matrix Convert the three-dimensional position coordinates of the target point E in the tracer coordinate system {S} into the three-dimensional position coordinates of the target point E in the optical locator coordinate system {O};

[0025] Step 7, after obtaining the three-dimensional position coordinates of the target point E in the optical positioning instrument coordinate system {O}, the final positioning of the target point E is achieved.

[0026] The tool and method for matching CT images and locating the position of passive infrared reflective balls provided by the present invention have the following advantages:

[0027] The present invention effectively reduces the complexity of the operation of locating the target point E, saves the time of locating the target point E, and improves the accuracy of locating the target point E. The present invention has the advantages of simple assembly and convenient use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the three-dimensional structure of a tool for matching CT images and locating the position of a passive infrared reflective ball provided by the present invention;

[0029] Figure 2 A schematic diagram of the decomposed structure of a tool for matching CT images and locating the position of a passive infrared reflective ball provided by the present invention;

[0030] Figure 3 This is a cross-sectional view of the relative positions of the reflective titanium beads and the passive infrared reflective balls provided by the present invention. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] The present invention provides a tool for matching CT images and locating the position of a passive infrared reflective ball, and belongs to the field of medical equipment, computers, navigation, and medical equipment robot positioning. The present invention skillfully combines reflective titanium beads with passive infrared reflective balls, so that the reflective titanium beads and the passive infrared reflective balls are concentrically arranged. Therefore, the reflective titanium beads and the passive infrared reflective balls have the same three-dimensional position coordinates. Since the reflective titanium beads are imaged on the CT image, and the passive infrared reflective balls obtain the three-dimensional position coordinates through an optical locator, a coordinate conversion matrix of a CT coordinate system {CT} and an optical locator coordinate system {O} can be established, and then after obtaining the three-dimensional position coordinates of a target point E in the CT coordinate system {CT} through a CT image, the three-dimensional position coordinates of the target point E in the optical locator coordinate system {O} can be obtained, thereby realizing the final positioning of the target point E.

[0033] The present invention effectively reduces the complexity of the operation of locating the target point E, saves the time of locating the target point E, and improves the accuracy of locating the target point E. The present invention has the advantages of simple assembly and convenient use.

[0034] refer to Figure 1 and Figure 2 , the present invention provides a tool for matching CT images and positioning the position of a passive infrared reflective ball, comprising a dental brace 1, a connecting rod 2, a bracket body 3 and a positioning passive infrared reflective ball assembly 4;

[0035] The front of the braces 1 is fixedly connected to one end of the connecting rod 2; in a specific implementation, a first hexagon socket screw 5 is installed on the front of the braces 1, the end of the first hexagon socket screw 5 passes through one end of the connecting rod 2, and then a straight-grained knob 6 is used to tighten it to achieve a fixed connection between the braces 1 and the connecting rod 2.

[0036] The other end of the connecting rod 2 extends out of the oral cavity and is fixedly connected to the center position of the bracket body 3; in specific implementation, a first threaded hole 3.5 is opened at the center position of the bracket body 3; a second threaded hole 2.1 is opened at the other end of the connecting rod 2; the end of the second hexagon socket screw 7 passes through the second threaded hole 2.1 and is screwed into the first threaded hole 3.5, thereby realizing the fixed connection between the connecting rod 2 and the bracket body 3.

[0037] The bracket body 3 is a cross-shaped arm structure, having four cross-shaped mounting points, namely the first mounting point 3.1, the second mounting point 3.2, the third mounting point 3.3 and the fourth mounting point 3.4; at each mounting point, a positioning passive infrared reflective ball component 4 is correspondingly installed;

[0038] Each positioning passive infrared reflective ball assembly 4 includes a connecting stud 4.1, a reflective titanium bead 4.2 and a passive infrared reflective ball 4.3;

[0039] refer to Figure 3 One end of the connecting stud 4.1 is embedded and installed in the corresponding installation point of the bracket body 3; the other end of the connecting stud 4.1 is fixedly installed with a reflective titanium bead 4.2; in a specific implementation, the reflective titanium bead 4.2 and the other end of the connecting stud 4.1 are bonded.

[0040] The passive infrared reflective ball 4.3 is sleeved on the outside of the reflective titanium bead 4.2 and screwed into the outside of the connecting stud 4.1, so that the passive infrared reflective ball 4.3 and the reflective titanium bead 4.2 are concentrically arranged.

[0041] Therefore, a reflective titanium bead is concentrically installed inside each passive infrared reflective ball. The reflective titanium bead and the passive infrared reflective ball have the same three-dimensional position coordinates. Through coordinate conversion, the three-dimensional position coordinates of the target point E on the CT image in the optical locator coordinate system can be obtained simply and quickly, avoiding locator recognition errors and secondary assembly errors, and improving the positioning accuracy of the target point E. Among them, the target point E can be the location of tooth damage or the location where a tooth needs to be implanted.

[0042] The positioning method of the tool for matching the CT image with the position of the passive infrared reflective ball comprises the following steps:

[0043] Step 1, setting four installation points of the bracket body 3, the reflective titanium beads 4.2 installed are reflective titanium beads A, reflective titanium beads B, reflective titanium beads C and reflective titanium beads D; the passive infrared reflective balls corresponding to the reflective titanium beads A, reflective titanium beads B, reflective titanium beads C and reflective titanium beads D are passive infrared reflective balls A, passive infrared reflective balls B, passive infrared reflective balls C and passive infrared reflective balls D respectively;

[0044] Step 2: Apply medical epoxy resin glue inside the curved braces and stick them firmly on the teeth. Scan the teeth with CBCT to obtain a clear tooth CT image. Process the tooth CT image to obtain the three-dimensional position coordinates of each reflective titanium bead in the CT coordinate system {CT} and the three-dimensional position coordinates of the target point E in the CT coordinate system {CT}.

[0045] Since the reflective titanium beads and the passive infrared reflective balls are concentrically arranged, the three-dimensional position coordinates of each reflective titanium bead in the CT coordinate system {CT} are equal to the three-dimensional position coordinates of each passive infrared reflective ball in the CT coordinate system {CT};

[0046] Step 3, the passive infrared reflective ball A, the passive infrared reflective ball B, the passive infrared reflective ball C and the passive infrared reflective ball D form a tracer; the tracer coordinate system is represented by {S}, and the tracer obtains the three-dimensional position coordinates of each passive infrared reflective ball in the tracer coordinate system {S};

[0047] Among them, the tracer coordinate system {S} can be established arbitrarily.

[0048] An optical locator is used to locate each passive infrared reflective ball of the tracer, and the three-dimensional position coordinates of each passive infrared reflective ball in the optical locator coordinate system {O} are identified;

[0049] Among them, the optical locator coordinate system {O} is the target coordinate system. The coordinates of other coordinate systems are uniformly converted to the optical locator coordinate system {O} to realize the manipulation of related tools.

[0050] According to the three-dimensional position coordinates of the passive infrared reflective ball in the optical locator coordinate system {O} and the three-dimensional position coordinates of the passive infrared reflective ball in the tracer coordinate system {S}, the coordinate transformation matrix between the optical locator coordinate system {O} and the tracer coordinate system {S} is obtained.

[0051] Step 4: According to the three-dimensional position coordinates of the passive infrared reflective ball in the tracer coordinate system {S} and the three-dimensional position coordinates of the passive infrared reflective ball in the CT coordinate system {CT}, the coordinate transformation matrix between the tracer coordinate system {S} and the CT coordinate system {CT} is obtained.

[0052] Step 5: According to the coordinate transformation matrix The three-dimensional position coordinates of the target point E in the CT coordinate system {CT} are converted into the three-dimensional position coordinates of the target point E in the tracer coordinate system {S};

[0053] Step 6: According to the coordinate transformation matrix Convert the three-dimensional position coordinates of the target point E in the tracer coordinate system {S} into the three-dimensional position coordinates of the target point E in the optical locator coordinate system {O};

[0054] Step 7, after obtaining the three-dimensional position coordinates of the target point E in the optical positioning instrument coordinate system {O}, the final positioning of the target point E is achieved.

[0055] The present invention provides a tool for accurately matching CT images and locating the position of a passive infrared reflective ball. A reflective titanium bead is concentrically installed in the passive infrared reflective ball. The reflective titanium bead is a titanium alloy steel bead. The reason why the steel bead is made of titanium alloy is that no diffraction occurs under CT scanning, and a clearer CT image can be obtained. Moreover, the center position of the titanium alloy steel bead always coincides with the center position of the passive infrared reflective ball, which is convenient for a later optical locator to quickly and accurately identify, reduce errors caused by human assembly, and improve positioning accuracy.

[0056] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be considered as the scope of protection of the present invention.

Claims

1. A positioning method using a tool for matching CT images with the position of a passive infrared reflective ball, characterized in that: The tool for matching the CT image and locating the position of the passive infrared reflective ball comprises a dental brace (1), a connecting rod (2), a bracket body (3) and a positioning passive infrared reflective ball assembly (4); The front of the dental brace (1) is fixedly connected to one end of the connecting rod (2); the other end of the connecting rod (2) extends out of the oral cavity and is fixedly connected to the center position of the bracket body (3); The support body (3) is a cross-shaped arm structure having four cross-shaped mounting points, namely a first mounting point (3.1), a second mounting point (3.2), a third mounting point (3.3) and a fourth mounting point (3.4); a positioning passive infrared reflective ball assembly (4) is correspondingly mounted at each mounting point; Wherein, each of the positioning passive infrared reflective ball assemblies (4) comprises a connecting stud (4.1), a reflective titanium bead (4.2) and a passive infrared reflective ball (4.3); One end of the connecting stud (4.1) is embedded and installed in the corresponding installation point of the bracket body (3); the other end of the connecting stud (4.1) is fixedly installed with the reflective titanium bead (4.2); the passive infrared reflective ball (4.3) is sleeved on the outside of the reflective titanium bead (4.2) and screwed into the outside of the connecting stud (4.1), so that the passive infrared reflective ball (4.3) and the reflective titanium bead (4.2) are concentrically arranged; The positioning method using a tool for matching a CT image with a position of a passive infrared reflective ball comprises the following steps: Step 1, assuming that the four mounting points of the bracket body (3) are reflective titanium beads (4.2) respectively installed are reflective titanium beads A, reflective titanium beads B, reflective titanium beads C and reflective titanium beads D; the passive infrared reflective balls corresponding to the reflective titanium beads A, reflective titanium beads B, reflective titanium beads C and reflective titanium beads D are passive infrared reflective balls A, passive infrared reflective balls B, passive infrared reflective balls C and passive infrared reflective balls D respectively; Step 2, CBCT scans the teeth to obtain a tooth CT image; the tooth CT image is processed to obtain the three-dimensional position coordinates of each reflective titanium bead in the CT coordinate system {CT}, and the three-dimensional position coordinates of the target point E in the CT coordinate system {CT}; Since the reflective titanium beads and the passive infrared reflective balls are concentrically arranged, the three-dimensional position coordinates of each reflective titanium bead in the CT coordinate system {CT} are equal to the three-dimensional position coordinates of each passive infrared reflective ball in the CT coordinate system {CT}; Step 3, the passive infrared reflective ball A, the passive infrared reflective ball B, the passive infrared reflective ball C and the passive infrared reflective ball D form a tracer; the tracer coordinate system is represented by {S}, and the tracer obtains the three-dimensional position coordinates of each passive infrared reflective ball in the tracer coordinate system {S}; An optical locator is used to locate each passive infrared reflective ball of the tracer, and the three-dimensional position coordinates of each passive infrared reflective ball in the optical locator coordinate system {O} are identified; According to the three-dimensional position coordinates of the passive infrared reflective ball in the optical locator coordinate system {O} and the three-dimensional position coordinates of the passive infrared reflective ball in the tracer coordinate system {S}, the coordinate transformation matrix between the optical locator coordinate system {O} and the tracer coordinate system {S} is obtained. ; Step 4: According to the three-dimensional position coordinates of the passive infrared reflective ball in the tracer coordinate system {S} and the three-dimensional position coordinates of the passive infrared reflective ball in the CT coordinate system {CT}, the coordinate transformation matrix between the tracer coordinate system {S} and the CT coordinate system {CT} is obtained. ; Step 5: According to the coordinate transformation matrix , convert the three-dimensional position coordinates of the target point E in the CT coordinate system {CT} into the three-dimensional position coordinates of the target point E in the tracer coordinate system {S}; Step 6: According to the coordinate transformation matrix , convert the three-dimensional position coordinates of the target point E in the tracer coordinate system {S} into the three-dimensional position coordinates of the target point E in the optical locator coordinate system {O}; Step 7, after obtaining the three-dimensional position coordinates of the target point E in the optical positioning instrument coordinate system {O}, the final positioning of the target point E is achieved.

2. The positioning method using a tool for matching CT images with the position of a passive infrared reflective ball according to claim 1, characterized in that: A first hexagon socket screw (5) is installed in front of the toothed brace (1), and the end of the first hexagon socket screw (5) passes through one end of the connecting rod (2), and is then tightened using a straight-threaded knob (6) to achieve a fixed connection between the toothed brace (1) and the connecting rod (2).

3. The positioning method using a tool for matching CT images with the position of a passive infrared reflective ball according to claim 1, characterized in that: A first threaded hole (3.5) is provided at the center of the bracket body (3); a second threaded hole (2.1) is provided at the other end of the connecting rod (2); and the end of the second hexagon socket screw (7) is passed through the second threaded hole (2.1) and then screwed into the first threaded hole (3.5), thereby achieving a fixed connection between the connecting rod (2) and the bracket body (3).

4. The positioning method using a tool for matching CT images with the position of a passive infrared reflective ball according to claim 1, characterized in that: The reflective titanium bead (4.2) is bonded to the other end of the connecting stud (4.1).

Images